High-performance redundant drive parallel ankle joint rehabilitation mechanism

Abstract

The invention provides a high-performance redundant drive parallel ankle joint rehabilitation mechanism, which comprises a fixed platform, a movable platform, a first driving branch, a second driving branch, a third driving branch, a middle constraint branch chain and an inclination angle adjustable support device, the first driving branch and the second driving branch are respectively provided with a driving unit, the third driving branch is provided with two driving units, and the middle constraint branch chain is provided with a middle constraint branch chain. The three driving branches are connected with the fixed platform through hooke joints and connected with the movable platform through spherical hinges, the middle constraint branch chain is connected with the fixed platform and the movable platform through three rotating pairs which are orthogonal in space, the intersection center of the rehabilitation mechanism coincides with the rotating center of ankles, the bottom of the fixed platform is connected with the inclination angle adjustable supporting device, and the inclination angle adjustable supporting device is connected with the middle constraint branch chain. The inclination degree of the rehabilitation mechanism can be changed. Three rotational degrees of freedom of the movable platform can be achieved in a redundant drive mode, the reachable working space of the mechanism is increased, high flexibility and movement-force transmission performance are achieved, the comfort degree of the lower limbs of a patient can be adjusted, and therefore the optimal training effect is achieved.

Description

technical field [0001] The invention relates to the field of rehabilitation medical equipment, in particular to the technical field of ankle joint rehabilitation mechanisms, in particular to a high-performance redundant drive parallel ankle joint rehabilitation mechanism. Background technique [0002] The ankle joint is an important hub of human movement and a load-bearing joint, and the ankle joint is prone to sprains in daily life. Rehabilitation training after ankle joint sprains is the most effective treatment. Traditional rehabilitation training is carried out one-on-one by medical staff. This method not only has a large workload, wastes manpower, but also has low efficiency. With the rapid development of rehabilitation institutions, ankle rehabilitation institutions can not only improve the efficiency of rehabilitation training and reduce the workload of medical staff, but also enable the ankle tissue to recover as soon as possible through regular and appropriate rehab...

AI Technical Summary

Problems solved by technology

[0003] At present, the existing ankle joint rehabilitation institutions are difficult to meet the requirements of the degree of freedom for ankle joint rehabilitation training. There are problems such as the rotation center and the ankle joint rotation center do not coincide, the structure is complex, the branch chain is easy to interfere, the driving method is not good, and it is difficult to control. , and the existing ankle joint rehabilitation institutions cannot adjust the support angle of the equipment according to the actual situation of different patients, which makes the patient's lower limbs and the training equipment uncoordinated, affecting the training effect

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