Exoskeleton robot for ankle rehabilitation

Abstract

An exoskeleton robot for ankle rehabilitation, comprising: an annular support mechanism, a foot plate, and a first branch chain and a second branch chain located between the annular support mechanism and the foot plate. The first chain is located on the side of the user's foot away from the toes, and the second chain is located on the outside of the user's ankle. The first branch chain includes a first electric push rod, a first upper connecting piece and a first lower connecting piece. The second branch chain includes a second electric push rod, a second upper connecting piece and a second lower connecting piece. A bottom groove is provided on the foot plate, and a side connecting piece is arranged on the bottom groove, and the side connecting piece can move on the bottom groove to adapt to different user's foot lengths. The designed exoskeleton robot can automatically match its rotation center with the ankle joint without manual adjustment, avoiding secondary damage. The exoskeleton robot has a large working space, high dexterity, compact structure, easy to wear, and easy to control.

Description

technical field [0001] This application relates to the technical field of exoskeleton robots for rehabilitation, in particular to exoskeleton robots for ankle rehabilitation. Background technique [0002] Stroke has become one of the major diseases causing death and disability worldwide. The nervous system damage caused by it usually leads to severe movement disorders, especially foot drop, which greatly impairs the patient's movement ability. At the same time, due to weakness and damage to the muscles around the ankle joint, it is difficult for stroke patients to recover their functions on their own. Therefore, rehabilitation exercises are needed to stimulate the motor function of the ankle joint, enhance muscle strength and endurance, help patients recover and gradually improve independent walking ability. [0003] In order to achieve a better rehabilitation effect, patients generally have to go through two different stages of static rehabilitation and dynamic rehabilitat...

AI Technical Summary

Problems solved by technology

However, the functions of existing medical equipment are relatively single, and they cannot have the performance required for static rehabilitation and dynamic rehabilitation at the same time.

At the same time, in relevant research materials, according to the form of ankle movement, it is often equivalent to a spherical hinge in design. In the process of rehabilitation training, whether the rotation center of the mechanism matches the ankle joint will directly affect the rehabilitation effect. The deviation will cause discomfort to the patient, and even cause secondary damage

Some early devices such as Rutgers Ankle, ARBOT, etc. did not take this aspect into account. The ankle rehabilitation robot developed by Beijing Jiaotong University solved the problem of matching the rotation center, but it needs manual adjustment to achieve it, which is inconvenient to use.

Images