A muscle-like driving rope for lower limb rehabilitation training

Abstract

The invention provides a muscle-imitating driving rope for lower limb rehabilitation training, which is composed of a frame, a universal guide wheel, a motor-encoder group, a winch, a steel wire rope, a tension sensor, a spring storage room, a spring and a fixed plate. The muscle-like driving rope used for lower limb rehabilitation training is a highly bionic muscle model. By selecting springs and steel wire ropes with different stiffnesses and adjusting the effective length of the spring in combination with the spring storage room, the rope used for lower limb rehabilitation training can be adjusted in many ways. The driving characteristic of the imitation muscle driving rope improves the comfort of the rehabilitation training equipment, and helps to improve the stability of the rehabilitation equipment movement and the safety of the training object.

Description

technical field [0001] The invention relates to a rehabilitation drive rope, in particular to a muscle-imitation drive rope for lower limb rehabilitation training conforming to the bionic Hill muscle model, which belongs to the equipment for rehabilitation training of patients. Background technique [0002] Medical theory and data show that patients with cerebral palsy sequelae or limb injuries caused by various accidents can recover and improve their motor functions through rehabilitation training; A variety of rehabilitation training equipment has emerged, including exoskeleton and rope-driven rehabilitation robots, which drive limbs to move through the robot to achieve the effect of rehabilitation training; in contrast, rope-driven rehabilitation robots have more advantages . [0003] The musculoskeletal muscle is the power source of human or animal movement. As an important organizational structure of human or animal, it can realize the conversion between chemical energ...

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Problems solved by technology

The patent document with the patent application number 201410424839.8 discloses that based on the two-element function model, a device in which a damping contraction unit is connected in series with an elastic unit is used to simulate human muscles, and the factor of parallel elastic units is not considered. The degree of bionics is not high; the patent application numbers are CN201510789839.2, CN201510789838.8, CN201520916155.X and CN201520916153.0. The contact ends of artificial muscles and human lower limbs are only common ropes, and the rope core in the spring limits the driving of artificial muscles Features; in the master's degree thesis "Research on Lower Limb Rehabilitation Robot Driven by Imitation Muscle Flexible Cables", the muscle-like ropes that are also in contact with the lower limbs of the human body are only common ropes; the common artificial muscles in other patents and articles are pneumatically driven artificial muscle

[0005] The driving characteristics of the imitation muscle-driven rope introduced in the above-mentioned relevant literature are difficult to change, and it has no effect on improving the stability of rehabilitation training equipment; because the pneumatic-driven artificial muscle is driven by gas, it is difficult to guarantee the driving accuracy, and it is also difficult to guarantee the stability during the rehabilitation training process. safety of trainees

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