Exoskeleton robot for lower limb paraplegia patient

Abstract

The invention belongs to the technical field of exoskeleton robots, and particularly relates to an exoskeleton robot for a lower limb paraplegia patient. The robot comprises a binding assembly arranged on the upper trunk of a patient, a hip assembly installed on the binding assembly, a lower limb rehabilitation mechanism and a leg supporting mechanism, wherein the lower limb rehabilitation mechanism and the leg supporting mechanism are symmetrically installed on the hip assembly. The lower limb rehabilitation mechanism comprises a hip joint assembly, a thigh training assembly, a shank training assembly and a foot assembly which are connected in sequence. The hip joint assembly, the thigh and shank assembly and the foot assembly of the robot adopt a parallel mechanism, and the leg supporting mechanism is arranged on the inner side of the leg and thigh training mechanism, so a wearer can independently walk without crutch or single-hand crutch, and joint dislocation corresponding to the patient due to long-time wearing of the patient is avoided. All movable joints of the robot correspond to all joints of a human body, all main joint parts have angle limitation, and the phenomenon that the overall stability is poor due to the fact that robot joints are too flexible is avoided.

Description

technical field [0001] The invention belongs to the technical field of exoskeleton robots, and in particular relates to an exoskeleton robot used for patients with lower limb paraplegia. Background technique [0002] In recent years, due to the increase in strokes, spinal injuries and the aging population, exoskeleton robots for the elderly or people with mobility impairments in the lower limbs have been applied and widely promoted. These exoskeleton robots are worn on people with mobility impairments in the lower limbs. Do rehabilitation training. Traditional rehabilitation training nurses and family members repeatedly lead patients, which requires a large workload, requires huge manpower, and is inefficient. [0003] However, the joints of exoskeleton robots currently on the market are mostly driven by disc-shaped motors. The torque generated by them can drive the movement of the legs. It is difficult to balance the torque generated by the center of gravity of the human b...

AI Technical Summary

Problems solved by technology

The traditional rehabilitation training nurses and family members repeatedly pull the patients, the workload is heavy, and it requires huge manpower and low efficiency

[0003] However, most of the joints of exoskeleton robots on the market are driven by disc-shaped motors. The torque generated by them can drive the movement of the legs. It is difficult to balance the torque generated by the center of gravity of the human body. Therefore, wearing an exoskeleton robot requires crutches to walk stably.

Wearing an exoskeleton robot needs to fix the human thigh and calf with the exoskeleton robot with flexible straps, so that the joints of the human body correspond to the joints of the exoskeleton robot; Too tight will affect the blood flow of the lower limbs of the human body, causing secondary damage to the patient

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