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Axis self-adaptive knee joint rehabilitation robot

A rehabilitation robot, knee joint technology, applied in applications, passive exercise equipment, medical science and other directions, can solve problems such as large size and bumps, and achieve the effect of improving comfort, eliminating discomfort, and reducing hidden dangers of joint damage

Active Publication Date: 2021-06-11
ZHONGBEI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, its overall structure is large, and it is easy to cause bumps during walking when the rotating pair rotates outward.

Method used

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  • Axis self-adaptive knee joint rehabilitation robot
  • Axis self-adaptive knee joint rehabilitation robot
  • Axis self-adaptive knee joint rehabilitation robot

Examples

Experimental program
Comparison scheme
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Embodiment Construction

[0022] The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0023] like Figure 1-3 As shown, the present invention provides an axis-adaptive knee joint rehabilitation robot, which is arranged on the human knee and drives the knee to rotate adaptively by connecting the thigh and the calf, including a base assembly 1, a kinematic chain assembly 2 and Moving platform assembly 3;

[0024] The base assembly 1 includes a thigh support 11, a central controller and a driver 12, the thigh support 11 is fixed on the thigh, the central controller is integrated on the thigh support 11, and the central controller is electrically connected to the driver 12;

[0025] The moving platform assembly 3 includes a calf support 31 and a slip ring 32, the slip ring 32 is fixed on the calf, the slip ring 32 is rotatably sleeved on the calf support 31, and the rotation axis of the slip ring 32 is in line with the calf coin...

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PUM

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Abstract

The invention discloses an axis self-adaptive knee joint rehabilitation robot which comprises a base assembly, a kinematic chain assembly and a movable platform assembly. The base assembly comprises a thigh support, a central controller and a driver, the thigh support is fixed on the thigh, the central controller is integrated on the thigh support, and the central controller is electrically connected with the driver; the movable platform assembly comprises a shank support and a sliding ring, the sliding ring is fixed to the shank, the sliding ring is rotatably arranged on the shank support in a sleeving mode, and the rotating axis of the sliding ring coincides with the shank; the kinematic chain assembly comprises three groups of branched chains which are arranged in parallel, each group of branched chains comprises two connecting rods, one ends of the two connecting rods are mutually hinged, and the other ends of the two connecting rods are respectively hinged on the thigh bracket and the shank bracket; the three drivers are arranged on the thigh support and drive the connecting rods hinged to the thigh support respectively.

Description

technical field [0001] The invention relates to the technical field of exoskeleton robots, in particular to an axis-adaptive knee joint rehabilitation robot. Background technique [0002] Knee joint rehabilitation exoskeleton robot is an exoskeleton robot aimed at rehabilitation and power assistance, mainly used in the fields of rehabilitation medicine and assistance to the elderly. At the joints, however, there are two kinds of motions in the joints of the human body: rotation and rolling. These two types of motions are produced at the same time. In addition to the complex surface shape of the human joints, the rotation axis of the human joints will change with the rotation of the joints. Directly Arranging the driving device at the joint will not only lead to a large inertia of the lower limb end, increase the demand for driving power, but also generate "parasitic force". The "parasitic force" generated by the misalignment of the rotation axes will not only bring an uncom...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61H1/02
CPCA61H1/024A61H2230/625A61H2201/1207A61H2201/50Y02P90/02
Inventor 马春生尹晓秦文杰刘建国
Owner ZHONGBEI UNIV
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