Center-adjustable spherical hip joint parallel rehabilitation robot

Abstract

The invention provides a center-adjustable spherical hip joint parallel rehabilitation robot, and belongs to the technical field of spherical hip joint rehabilitation robots. The center-adjustable spherical hip joint parallel rehabilitation robot comprises a waist fixing part, a leg fixing part, a spherical center adjusting mechanism and a hip joint rehabilitation mechanism, wherein the leg fixingpart, the spherical center adjusting mechanism and the hip joint rehabilitation mechanism are symmetrically arranged around the median sagittal plane of a human body; the hip joint rehabilitation mechanism comprises an upper platform, a lower platform, and driving branched chains and a spherical assembly which are connected with the upper platform and the lower platform; the upper platform and the lower platform are arc-shaped platforms surrounding the hip joint, and the lower platform is connected with the leg fixing part through a moving pair; and the spherical center adjusting mechanism isconnected with the waist fixing part and the lower platform. The rehabilitation robot is high in rigidity, more compact in structure and small in accumulated error, all the branch chains can receiveinput of a driver at the same time, efficiency is high, and hip joint rehabilitation training can be effectively carried out on a patient.

Description

technical field [0001] The invention belongs to the technical field of spherical hip joint rehabilitation robots, and specifically discloses a center-adjustable spherical hip joint parallel rehabilitation robot. Background technique [0002] Due to traffic accidents, the number of lower extremity disabled persons is large and is increasing year by year. Moreover, due to the gradual deepening of the aging population, there are more and more elderly people with degeneration of lower extremity function and inconvenient walking. Therefore, medical rehabilitation for lower extremity rehabilitation Devices are getting more and more attention. As the largest and most load-bearing joint in the human body, the hip joint is particularly important for the rehabilitation training of the injured hip joint. Currently, the hip joint rehabilitation equipment commonly used still has obvious deficiencies: small stiffness, large error, complex structure, and large volume , the rotation center...

AI Technical Summary

Problems solved by technology

As the largest and most load-bearing joint in the human body, the hip joint is particularly important for the rehabilitation training of the injured hip joint. Currently, the hip joint rehabilitation equipment commonly used still has obvious deficiencies: small stiffness, large error, complex structure, and large volume , the rotation center cannot be adjusted, etc., and many hip joint rehabilitation equipment require the cooperation of multiple caregivers during rehabilitation training, manually helping the patient to swing the limbs, which is time-consuming, laborious and inefficient

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