Parallel ankle rehabilitation robot

Abstract

The invention discloses a parallel ankle rehabilitation robot. The parallel ankle rehabilitation robot comprises a movable platform, a fixed platform, three movement branches and three driving devices. The top ends and the bottom ends of the movement branches are rotationally connected with the movable platform and the fixed platform correspondingly. Each of the fixed platform and the movable platform is provided with three revolute pairs which correspond to one another in position and are parallel relative to a first plane. A pedal on the movable platform is located below the first plane andis parallel to the first plane. Each movement branch comprises a first connecting rod, a second connecting rod and a first ball pair. The parallel ankle rehabilitation robot has two rotational degreesof freedom and one moving degree of freedom, can drive the ankle of a human body to realize pronation / supination and introversion / extroversion movements, and can adjust the initial position of self-rehabilitation to a certain extent according to the structural size of the ankle joint of a patient to ensure that the movement of a mechanism is matched with the movement property of the ankle joint of the human body, thereby ensuring the accuracy of rehabilitation.

Description

technical field [0001] The invention relates to the technical field of rehabilitation robots, in particular to a parallel ankle rehabilitation robot. Background technique [0002] The ankle joint is an important load-bearing and sports joint of the human body. The ankle joint plays an important role in the standing and walking of the human body. Because the ankle joint bears a lot of weight during exercise and is particularly prone to injury due to its own structural characteristics, there are Many people have damaged ankle joints due to sports injuries, strokes, ankle joint diseases and other reasons, and have lost their normal ability to exercise. In the middle and late stages of the treatment of ankle injuries, therapists are often used to massage the patient's ankles. In this physical therapy process, patients and therapists are required to perform one-on-one rehabilitation training, although this treatment method plays an important role in the rehabilitation of patients...

AI Technical Summary

Problems solved by technology

In the middle and late stages of the treatment of ankle injuries, therapists are often used to massage the patient's ankles. In this physical therapy process, patients and therapists are required to perform one-on-one rehabilitation training, although this treatment method plays an important role in the rehabilitation of patients. However, with the increase in the number of patients, the number of physical therapists is seriously lacking. Secondly, this rehabilitation method is time-consuming and labor-intensive, and the efficiency is low. The training process is not interesting, and it cannot record various training rehabilitation parameters of patients in real time, so it is difficult to quantify Evaluate the effect of rehabilitation on patients

[0003] At present, there are some kinds of ankle joint rehabilitation devices on the market, but some of the existing ankle joint rehabilitation devices cannot realize the coincidence of the rotation center of the mechanism and the ankle joint motion center, and some devices only have 1 or 2 degrees of freedom, which do not meet the needs of the ankle joint. The requirements of rehabilitation training, the training mode does not meet the needs of the human body structure, and it is easy to cause secondary damage to the patient

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