Flexible drive knee joint rehabilitation robot

Abstract

A flexible drive knee joint rehabilitation robot comprises a frame, a seat, a left training mechanism and a right training mechanism, the seat is arranged at the bottom of the frame, the left training mechanism and the right training mechanism are located on the left side and the right side of the seat respectively, the left training mechanism comprises a left thigh section, a left shank section and a novel parallel spring type pneumatic artificial muscle driver, the upper end of the left thigh section is fixedly connected with the seat, the lower end of the left thigh section is rotationally connected with the upper end of the left shank section, and two ends of the novel parallel spring type pneumatic artificial muscle driver are rotationally connected with the left thigh section and the left shank section respectively; and the right training mechanism comprises a right thigh section, a right shank section, a flexible cable, a servo driving module and a variable stiffness module, the upper end of the right thigh section is fixedly connected with the seat, the lower end of the right thigh section is rotationally connected with the upper end of the right shank section, one end of the flexible cable is connected with the right shank section, the other end of the flexible cable is connected with the servo driving module, and the variable stiffness module is arranged on the flexible cable.

Description

technical field [0001] The invention relates to the technical field of rehabilitation medicine, in particular to a flexible driving knee joint rehabilitation robot. Background technique [0002] The knee joint is the largest joint in the human body with the most complex structure and more chances of injury. It belongs to the pulley joint. The main modes of motion of the human knee joint are flexion and extension. The range of motion of the knee varies with the position of the hip joint and with active or passive flexion. When the hip joint is flexed, the active knee flexion can reach 140°. When the hip joint is extended, due to the relaxation of the hamstring muscles, part of the effect is lost, the active flexion can reach 120°, and the passive knee flexion can reach 160°. [0003] With the aging of the population and the frequent occurrence of diseases, accidents and natural disasters, more and more patients are suffering from knee joint dysfunction. According to the th...

AI Technical Summary

Problems solved by technology

The device is a parallel mechanism, and its rotation angle is limited, which limits the angle range of knee joint flexion and extension; the three motion branch chains are all directly driven by motors, and this drive mode is rigid drive, which is likely to cause secondary damage to the knee joint during rehabilitation training. harm

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