Parallel robot for recovery of lower limb joints in two planes

Abstract

The invention relates to a parallel robot for the recovery of patients with neuromotor disorders of the lower limb. According to the invention, the robot consists of two parallel coupled robotic modules (1 and 2) for the recovery of hip and knee and of the ankle, respectively, where the first module (1) comprises a serial kinematic linkage (4) with three passive rotation couplings (8, 9 and 10) and two mechanical connecting elements (11 and 12) that support the lower limb of a patient, where the first element (11) is adjustable, and three actuation kinematic linkages (5, 6 and 7), where the first two actuation kinematic linkages (5 and 6) connect the kinematic linkage (4) to a rotary framework (23), in order to make a closed kinematic linkage with planar movement of the kinematic linkage (4) and the third actuation kinematic linkage (7) connects the rotary framework (23) to a fixed framework (3) to obtain a rotation of the kinematic linkage (4) about the first passive coupling (8).