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Knee hyperextension flexible exoskeleton rehabilitation robot based on pneumatic muscles, and rehabilitation method

A rehabilitation robot and pneumatic muscle technology, applied in the field of rehabilitation robots, can solve problems such as patients falling down, unable to perform rehabilitation training, and lack of assistance for patients to move forward

Pending Publication Date: 2021-07-30
王镜钧 +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] (1) It is a dynamic process for patients with severe knee hyperextension to fully recover from lying on the hospital bed. There should be corresponding rehabilitation training for patients in different periods. Rehabilitation training that matches the state
[0005] (2) The cause of knee hyperextension is related to the lack of muscle strength near the leg. When the patient's leg is bent forward, the patient with knee hyperextension often shakes backward due to insufficient muscle strength, which will cause the patient Falling backwards, the existing device only performs bending training between the patient's legs and cannot prevent the patient from falling backwards
[0006] (3) In the early stage of upright training, patients with knee hyperextension not only lack the bending strength between the legs, but also lack the strength to move forward. The existing devices lack the function of assisting the patient to move forward

Method used

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  • Knee hyperextension flexible exoskeleton rehabilitation robot based on pneumatic muscles, and rehabilitation method
  • Knee hyperextension flexible exoskeleton rehabilitation robot based on pneumatic muscles, and rehabilitation method
  • Knee hyperextension flexible exoskeleton rehabilitation robot based on pneumatic muscles, and rehabilitation method

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Embodiment 1

[0046] The present invention provides knee hyperextension flexible exoskeleton rehabilitation robot and rehabilitation method based on pneumatic muscle here through improvement, such as Figure 1-Figure 8 As shown, it includes: a leg exoskeleton 3 hingedly formed by a thigh skeleton 31 and a calf skeleton 32, and the upper end of the thigh skeleton 31 of the leg exoskeleton 3 is connected with the upper end of a detachable rear support frame 4 through an adapter frame 2, which can be disassembled. Type rear support frame 4 comprises waist support 41, rear support leg 42 and electric wheel 43, and rear support leg 42 is located at the rear side of waist support 41, and electric wheel 43 is arranged on the lower end of rear support leg 42, and electric wheel 43 is driven by wheel Shaped motor, central transmission shaft and external rubber wheel, the specific structure of this electric wheel 43 is the prior art, and it is the same as the battery car motor tire on the market, betw...

Embodiment 2

[0055] The present invention provides knee hyperextension flexible exoskeleton rehabilitation robot and rehabilitation method based on pneumatic muscle here through improvement, such as Figure 1-Figure 8 As shown, it includes: a leg exoskeleton 3 hingedly formed by a thigh skeleton 31 and a calf skeleton 32, and the upper end of the thigh skeleton 31 of the leg exoskeleton 3 is connected with the upper end of a detachable rear support frame 4 through an adapter frame 2, which can be disassembled. Type rear support frame 4 comprises waist support 41, rear support leg 42 and electric wheel 43, and rear support leg 42 is located at the rear side of waist support 41, and electric wheel 43 is arranged on the lower end of rear support leg 42, and electric wheel 43 is driven by wheel Shaped motor, central transmission shaft and external rubber wheel, the specific structure of this electric wheel 43 is the prior art, and it is the same as the battery car motor tire on the market, betw...

Embodiment 3

[0064] The present invention provides knee hyperextension flexible exoskeleton rehabilitation robot and rehabilitation method based on pneumatic muscle here through improvement, such as Figure 1-Figure 8 As shown, it includes: a leg exoskeleton 3 hingedly formed by a thigh skeleton 31 and a calf skeleton 32, and the upper end of the thigh skeleton 31 of the leg exoskeleton 3 is connected with the upper end of a detachable rear support frame 4 through an adapter frame 2, which can be disassembled. Type rear support frame 4 comprises waist support 41, rear support leg 42 and electric wheel 43, and rear support leg 42 is located at the rear side of waist support 41, and electric wheel 43 is arranged on the lower end of rear support leg 42, and electric wheel 43 is driven by wheel Shaped motor, central transmission shaft and external rubber wheel, the specific structure of this electric wheel 43 is the prior art, and it is the same as the battery car motor tire on the market, betw...

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Abstract

The invention relates to a knee hyperextension flexible exoskeleton rehabilitation robot based on pneumatic muscles, and a rehabilitation method, and belongs to the technical field of rehabilitation robotics. The knee hyperextension flexible exoskeleton rehabilitation robot comprises a leg exoskeleton formed by hinging a thigh skeleton and a shank skeleton, and the upper end of the thigh skeleton of the leg exoskeleton is connected with the upper end of a detachable rear supporting frame through an adapter frame; and the detachable rear supporting frame comprises a waist support, a rear supporting leg and an electric wheel, the rear supporting leg is arranged on the rear side of the waist support, the electric wheel is arranged at the lower end of the rear supporting leg, the waist support and the thigh skeleton are connected through a pneumatic muscle power system, and the thigh skeleton and the shank skeleton are connected through a pneumatic muscle power system. The leg exoskeleton and the detachable rear supporting frame are connected through the transfer frame and can be rapidly disassembled and assembled, and the robot can be changed into a horizontal supporting state, an upright state and a leg exoskeleton independent state according to different rehabilitation periods of patients, so the effect that matched rehabilitation training is conducted according to the states of the patients in different periods is achieved.

Description

technical field [0001] The invention relates to the technical field of rehabilitation robots, in particular to a knee hyperextension flexible exoskeleton rehabilitation robot based on pneumatic muscles and a rehabilitation method. Background technique [0002] Rehabilitation robot is an important branch of medical robot. Its research runs through many fields such as rehabilitation medicine, biomechanics, mechanics, mechanics, electronics, materials science, computer science and robotics. It has become an international robotics field. Research hotspots. At present, rehabilitation robots have been widely used in rehabilitation nursing, artificial limbs and rehabilitation treatment, which not only promotes the development of rehabilitation medicine, but also drives the development of new technologies and new theories in related fields. Knee hyperextension is also called knee hyperextension. The normal extent of human knee extension is until you can fully straighten your knee, ...

Claims

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Application Information

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IPC IPC(8): A61H1/02A61H3/04
CPCA61H1/0237A61H1/024A61H3/04A61H2003/043A61H2201/0157A61H2201/1238A61H2205/102Y02A50/30
Inventor 王镜钧王发善
Owner 王镜钧