Balance control training robot

Abstract

The invention relates to a balance control training robot. The balance control training robot comprises an operating floor, a pelvis fastener, a driving device, a base and a supporting beam. Accordingto the pelvis position and posture change rule in the healthy human body walking process under big data statistics, mechanical structure design is carried out based on human body bionics data, the telescopic movement of three parallel electric servo push rods is controlled, the operating floor is driven upwards to drive the pelvis fastener to perform three-dimensional posture adjustment, and thenthe pelvis of the human body is driven to realize synchronous three-dimensional posture change, so that the user realizes bionic exercise rehabilitation training. On the basis of the force / position hybrid control system, passive, power-assisted and active rehabilitation exercise training modes can be provided, the exercise training requirements of a patient in different rehabilitation stages canbe met, the function balance training function of the robot can be switched, and the telescopic motion of the three parallel electric servo push rods is controlled to hang the base for standing balance training. The balance control training robot is simple and light in structure, small in size, and is beneficial to household use and popularization.

Description

technical field [0001] The invention relates to the field of human motion auxiliary robots, in particular to a balance control training robot. Background technique [0002] Under the increasingly serious social background of my country's aging problem, the number of patients with lower limb motor dysfunction caused by diseases such as spinal cord injury or stroke is increasing day by day, and in the process of rehabilitation exercise, the sense of proprioceptive balance is the primary problem that needs to be solved in rehabilitation training question. Domestic sports balance robots are mostly found in the field of auxiliary sports equipment, or the functions are not bionic enough, the human-computer interaction experience is poor, or the equipment is expensive and not simple and light enough, or the control method is complicated and the function is single, etc., which seriously hinders the popularization of balance training robots. . For example, the patent application No....

AI Technical Summary

Problems solved by technology

However, the control system of the device is complex and the volume is large, and it cannot follow the user to move, which is not conducive to home use

The invention patent with application number 201911147822.1 discloses a single-degree-of-freedom lower limb rehabilitation robot based on a six-bar mechanism, which is connected to the terminal of the six-bar mechanism through a transmission mechanism to simulate the walking trajectory of a healthy human body. The structure is simple but does not consider the bionicity of the position and posture of the human pelvis follow control

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