Flexible lower limb rehabilitation robot for assisting cerebral apoplexy sufferer to recover pace

Abstract

The invention provides a flexible lower limb rehabilitation robot for assisting a cerebral apoplexy sufferer to recover pace. The flexible lower limb rehabilitation robot comprises a flexible exoskeleton kit and a driving execution module; the flexible exoskeleton kit comprises a hip joint-waist fixing module, an ankle joint fixing module and a passive elastic module; the driving execution modulecomprises a driving control module and a flexible sheath type transmission module; the driving control module controls the flexible sheath type transmission module to achieve adjustment on distances among fixing anchor points on the hip joint-waist fixing module and the ankle joint fixing module so as to assist ankle joint plantar flexion and hip joint flexion of the sufferer; and the passive elastic module is free of any power system support and is subjected to passive length changing only by virtue of human body action changing during walking, so as to achieve complementarity assistance to ankle joint rotating. According to the flexible lower limb rehabilitation robot, by using flexible kit designing, driving mechanism designing and control and sensing module building, multi-joint-assisted rehabilitation of people suffering from lower limb abnormal pace is achieved, and safety is guaranteed; and the flexible lower limb rehabilitation robot has the advantages of portability, high degree of freedom and easiness in carry-over.

Description

technical field [0001] The invention relates to the technical field of medical robots, in particular to a flexible lower limb rehabilitation robot for assisting stroke patients in recovering their gait. Background technique [0002] With the aging population in our country and the changes in people's lifestyles, stroke has surpassed tumors and coronary heart disease to become the number one disease in the number of deaths and disabilities in the country, and the average annual incidence rate of the disease has increased by as high as 9%. Among the more than 33 million stroke patients in the world, 80% still have sequelae of gait disturbance after receiving relevant treatment. Stroke or hemiplegia often causes damage to the upper motor neurons, and it is often prone to problems such as foot inversion, foot drop, reduced stride length, slow pace, and asymmetrical posture of the legs during the stepping process. Relevant research data show that 50% of early stroke patients can...

AI Technical Summary

Problems solved by technology

However, the design of this institution is more aimed at the general population, without considering the needs of people with gait abnormalities, and ignoring the dorsiflexion of the ankle joint during walking

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