Ankle joint rehabilitation robot

Abstract

The invention provides an ankle joint rehabilitation robot, which comprises a foot fixing device for fixing the ankle part of a patient, actuators, a central supporting column, a rehabilitation static platform and a rehabilitation movable platform, wherein the rehabilitation static platform and the rehabilitation movable platform are oppositely arranged up and down, the foot fixing device is detachably connected with the rehabilitation movable platform, the central supporting column is connected with the centers of the rehabilitation static platform and the rehabilitation movable platform, the bottom end and the top end of the inclined actuator are respectively hinged with the rehabilitation static platform and the rehabilitation movable platform, the bottom ends and the top ends of the three actuators are evenly distributed in the circumferential direction of the fixed rehabilitation platform and the circumferential direction of the movable rehabilitation platform respectively, the actuator comprises a shell main body, a tension and pressure sensor and a tension and pressure sensor flange which are mutually fixed from top to bottom, a movable body capable of moving along the axial direction of the shell main body is arranged in the shell main body, the tension and pressure sensor can feed back tension and pressure parameters in the operation process of the actuator in real time, and the central supporting column guarantees the overall rigidity, and interaction control, effect evaluation and safety guarantee are facilitated. The ankle joint rehabilitation robot is compact in structure, good in control effect, safe, reliable and capable of meeting ankle joint rehabilitation requirements.

Description

technical field [0001] The invention relates to the technical field of joint medical rehabilitation, in particular to an ankle joint rehabilitation robot. Background technique [0002] The ankle joint is one of the important joints of the human body. With the rise of the national sports and the aggravation of the aging population, the ankle joint injury and rehabilitation issues have been paid more and more attention. At present, ankle joint rehabilitation equipment can be roughly divided into three categories: one is simple rehabilitation equipment with very limited rehabilitation effects, such as foam rollers, elastic bands, etc.; the other is single-degree-of-freedom rehabilitation equipment with limited rehabilitation types, such as the A330 CPM system , Optiflex CPM system, etc.; the third is the rehabilitation robot with good rehabilitation effect and various types of rehabilitation. With the development of robotics technology, ankle rehabilitation robots have gradual...

AI Technical Summary

Problems solved by technology

Rutgers Ankle is driven by 6 degrees of freedom based on the Stewart platform, which has a high power-to-weight ratio and is easy to maintain, but the cylinder drive makes it difficult to achieve good control; PKAnkle is based on the Agile Eye structure, which makes the ankle joint rotation center coincide with the robot rotation center to complete rehabilitation training. However, due to the structural characteristics, the range of motion of the ankle joint is limited, which cannot well meet the rehabilitation needs of the ankle joint.

[0004] At present, ankle joint rehabilitation robots generally have problems such as complex structure, insufficient or redundant degrees of freedom, poor human-computer interaction, and insufficient safety guarantees.

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