Lower limb rehabilitation training equipment and biped end executor thereof

Abstract

The invention discloses lower limb rehabilitation training equipment and a biped end executor thereof. The biped end executor comprises two sets of execution devices which have the same structure andare arranged in parallel; each execution device comprises a linear motion mechanism used for achieving forward and backward motion of the corresponding foot, a lifting mechanism connected with the linear motion mechanism and used for achieving height lifting of the foot, and an ankle joint rotating mechanism connected with the lifting mechanism and used for achieving ankle joint rotation. The lower limb rehabilitation training equipment comprises a supporting frame, a weight reduction supporting mechanism used for carrying out weight reduction control on a human body during training, a biped end executor used for carrying out gait training, and a pelvis pose adjusting mechanism used for carrying out cooperative adjustment on a position and a pose of the pelvis of the human body during gaittraining of the lower limbs of the human body so as to achieve balance. The lower limb joint movement can be realized, and the pelvis cooperative movement can also be realized; and the walking capability and the balance capability of a patient can be effectively improved.

Description

technical field [0001] The invention relates to the field of rehabilitation equipment, in particular to a biped end effector and lower limb rehabilitation training equipment for gait balance training. Background technique [0002] At present, there are many lower limb rehabilitation training equipment on the market for gait training for patients with lower limb motor dysfunction caused by stroke sequelae, spinal cord injury, cerebral apoplexy, craniocerebral trauma, accidents, and congenital leg disabilities. [0003] However, the current lower limb rehabilitation training equipment has the following defects: on the one hand, some lower limb rehabilitation training equipment has complex structure, large volume, high price, very inconvenient use and maintenance, and is not conducive to use and promotion. On the other hand, most lower limb rehabilitation training equipment only focuses on the recovery of muscles and lower limb joint activities, and seldom pays attention to bal...

AI Technical Summary

Problems solved by technology

[0003] However, the current lower limb rehabilitation training equipment has the following defects: On the one hand, some lower limb rehabilitation training equipment has complex structure, bulky size, high price, and is very inconvenient to use and maintain, which is not conducive to use and promotion

On the other hand, most lower limb rehabilitation training equipment only focuses on the recovery of muscles and lower limb joint activities, and seldom pays attention to balance training. The rehabilitation methods are relatively single, and the pelvic movement is limited.

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