A Parallel Ankle Rehabilitation Robot

Abstract

The invention discloses a parallel ankle rehabilitation robot, which comprises a moving platform, a fixed platform, three moving branches and three driving devices. The top and bottom ends of the moving branches are respectively connected in rotation with the moving platform and the fixed platform. The fixed platform and the moving platform are respectively provided with three rotating pairs whose positions correspond to each other and are parallel to the first plane. The pedals on the moving platform are located below the first plane and parallel to the first plane. The motion branch includes the first link, the second link and the first ball pair. The invention has two degrees of freedom of rotation and one degree of freedom of movement, can drive the human ankle to realize pronation / supination, varus / valgus movement, and can determine the initial position of self-rehabilitation according to the structural size of the patient's own ankle joint. Adjustment to ensure that the movement of the mechanism matches the nature of the movement of the human ankle joint, 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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