A new type of lower limb rehabilitation exoskeleton robot and control method

A technology for exoskeleton robots and lower limbs, which is applied in passive exercise equipment, equipment to help people walk, medical science, etc. It can solve the problems of poor flexibility, large inertia of lower limbs, and low comfort, so as to reduce the burden on the legs. Improvement of comfort and effect of lightweight design

Active Publication Date: 2022-04-15
CHANGCHUN UNIV OF TECH
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Problems solved by technology

[0004] The purpose of the present invention is to solve the problem of low patient comfort and poor flexibility caused by the large inertia of the lower extremity exoskeleton joint drive device of the existing lower limbs, and propose a kind of device that can improve the flexibility, stability, safety and wearing comfort of the movement. Novel lower limb rehabilitation exoskeleton robot and control method

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  • A new type of lower limb rehabilitation exoskeleton robot and control method
  • A new type of lower limb rehabilitation exoskeleton robot and control method
  • A new type of lower limb rehabilitation exoskeleton robot and control method

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Embodiment Construction

[0038] According to the attached Figure 1-9 The present invention is described further:

[0039] The technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Apparently, the described embodiments are some of the embodiments of the present invention, but not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0040] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" etc. The indicated orientation or positional relationship is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than ...

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Abstract

The invention discloses a novel exoskeleton robot for rehabilitation of lower limbs, which belongs to the technical field of medical devices and includes: a trunk assembly, a leg assembly, a power supply, an electromyographic signal acquisition instrument, and a central controller; the trunk assembly includes: a bracket , waist belt, triangle bracket and waist pad; the leg assembly includes: knee joint motor, L-shaped universal link, thigh support, universal link motor, thigh strap, flexible shaft, transmission worm, calf support , telescopic bracket, thigh pressure sensor, thigh angle sensor, calf pressure sensor, calf angle sensor and calf strap. A new type of lower limb rehabilitation exoskeleton robot provided by the present invention is connected by spherical joints, and the flexible vest fits the body, making the equipment more stable and improving comfort and flexibility, and realizing the lightweight design of the legs. The flexible shaft transmission increases the flexibility of the device and improves the comfort.

Description

technical field [0001] The invention discloses a novel lower limb rehabilitation exoskeleton robot, which belongs to the technical field of medical equipment. Background technique [0002] The lower limb rehabilitation exoskeleton robot is an exoskeleton robot for rehabilitation and assistance, mainly used in the fields of rehabilitation medicine and assistance to the elderly. In the field of rehabilitation medicine, the lower limb rehabilitation exoskeleton can be used for gait rehabilitation of patients; in the field of helping the elderly, the lower limb rehabilitation exoskeleton can help the elderly walk normally. With the continuous development of robot technology, people have higher and higher requirements for the safety, adaptability and flexibility of lower limb rehabilitation robots. [0003] However, most of the existing lower extremity exoskeleton joint drive devices are directly arranged at the joints, resulting in large inertia at the end of the lower limbs an...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): A61H3/00A61H1/02
CPCA61H3/00A61H1/0262A61H2003/005A61H2003/007A61H2201/5071A61H2201/5069A61H2230/085A61H2201/1652A61H2201/1659
Inventor 刘克平李婉婷孙中波张振国金龙段晓琴易江李岩廉宇峰刘帅师
Owner CHANGCHUN UNIV OF TECH
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