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Hybrid robot for leg joint rehabilitation

A technology of robots and hybrid mechanisms, applied in passive exercise equipment, physical therapy and other directions, can solve the problems that robots have few practical applications, cannot meet the convenience requirements of knee joint rehabilitation training, etc., and achieves a large range of motion. Improve sports comfort and take up less space

Active Publication Date: 2020-10-13
马鞍山学院
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

At present, the rehabilitation training of the knee and ankle joints mainly relies on the guidance of the rehabilitation therapist, and there are few practical applications for the robots used for the rehabilitation training of the knee and ankle joints, which cannot meet the convenience requirements for people to carry out knee joint rehabilitation training at home

Method used

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  • Hybrid robot for leg joint rehabilitation
  • Hybrid robot for leg joint rehabilitation
  • Hybrid robot for leg joint rehabilitation

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0041] like Figure 1-Figure 8As shown, a hybrid robot for leg joint rehabilitation in this embodiment includes a knee joint parallel mechanism 100 and an ankle joint hybrid mechanism 200, wherein the knee joint parallel mechanism 100 includes a knee joint static platform 101 and a knee joint dynamic platform distributed up and down. Platform 103, knee joint driving module 1 102, knee joint driving module 2 104 and knee joint driving module 3 105 are connected between knee joint static platform 101 and knee joint dynamic platform 103 in a triangular distribution; The tops of group 2 104 and knee joint drive module 3 105 are respectively connected to the knee joint static platform 101 through ball joints; the top of knee joint drive module 1 102 is connected to the knee joint static platform 101 through a Hooke hinge; the knee joint drive module The bottom of the third 105 is connected with the knee joint dynamic platform 103 through a ball joint, and the bottoms of the knee jo...

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Abstract

The invention discloses a hybrid robot for leg joint rehabilitation, and belongs to the field of industrial robots. The invention includes a knee joint parallel mechanism and an ankle joint hybrid mechanism, the knee joint parallel mechanism includes a knee joint static platform and a knee joint dynamic platform, the tops of a knee joint drive module 2 and a knee joint drive module 3 are connectedto the knee joint static platform through spherical hinges; the top of a knee joint drive module 1 is connected to the knee joint static platform through a Hooke hinge; the bottom of the knee joint drive module 3 is connected to the knee joint dynamic platform through a spherical hinge, and the bottoms of the knee joint drive module 1 and the knee joint drive module 2 are connected to the knee joint dynamic platform through revolute joints; and the ankle joint hybrid mechanism is arranged on the knee joint dynamic platform. In view of the higher and higher actual demands for joint rehabilitation robots in the industry, the invention can realize rehabilitation training exercises of the knee joint and the ankle joint, and can be widely used in medical knee joint rehabilitation training occasions.

Description

technical field [0001] The invention relates to the technical field of industrial robots, and more specifically, to a hybrid robot for rehabilitation of leg joints. Background technique [0002] Knee and ankle joints are the weight-bearing joints of the human body and participate in sports, so they are extremely vulnerable to injury, and postoperative rehabilitation training is particularly important. At present, the rehabilitation training of the knee and ankle joints mainly relies on the guidance of the rehabilitation therapist, and there are few practical applications for the robots used for the rehabilitation training of the knee and ankle joints, which cannot meet the convenience requirements for people to carry out knee joint rehabilitation training at home. Therefore, with the rapid development of robot technology, it is particularly important to design a robot mechanism to assist people in rehabilitation training of knee and ankle joints. [0003] After searching, t...

Claims

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Application Information

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IPC IPC(8): A61H1/02
CPCA61H1/0237A61H1/024A61H1/0244A61H1/0266A61H2201/1207A61H2201/1642A61H2201/1659A61H2205/12A61H2205/102A61H2205/088
Inventor 叶增林陈华吴昊孙洒陈田
Owner 马鞍山学院
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