Self-aligning parallel ankle joint rehabilitation robot and control method thereof

Abstract

The invention discloses a self-aligning parallel connection ankle joint rehabilitation robot and a control method thereof. The self-aligning parallel connection ankle joint rehabilitation robot comprises a support, a pedal plate and three movement branch chains. The motion branch chain comprises a telescopic connecting rod set, and the upper end of the telescopic connecting rod set is rotationally connected with the support. The first rotating connecting rod is rotationally connected with the lower end of the telescopic connecting rod group; two ends of the second rotating connecting rod are rotationally connected with the first rotating connecting rod and the mounting part respectively; the motor is used for driving the first rotating connecting rod or the second rotating connecting rod to rotate; the rotating central axis of the first rotating connecting rod and the rotating central axis of the second rotating connecting rod both point to the center of the ankle joint on the pedal. The rotating center axes of the first rotating connecting rod and the second rotating connecting rod both point to the ankle joint center on the pedal, in the rehabilitation process, the first rotating connecting rod and the second rotating connecting rod are both located on the same spherical surface, displacement changes of the human ankle joint rotating center are compensated through stretching and retracting of the telescopic connecting rod set, and the rehabilitation effect of the rehabilitation robot is improved.

Description

Technical Field

[0001] The present invention relates to the field of rehabilitation robots, and particularly to a self-aligning parallel ankle rehabilitation robot and a control method thereof. Background Art

[0002] With the continuous cross-integration of the medical field and robot technology, robots have shown great potential in the fields of rehabilitation and surgery. The ankle joint is one of the main joints that bear the weight of the human body and plays an important role in movement, but it is also extremely vulnerable to damage. The market demand for ankle rehabilitation robots is increasing day by day.

[0003] In the prior art, the driving mode of traditional parallel ankle rehabilitation robots is a passive rehabilitation training mode, which is more suitable for the early stage of rehabilitation. Moreover, in the middle and late stages of rehabilitation, the human-machine compatibility is poor, and the displacement change of the rotation center of the human ankle joint cannot be accurately compensated, so the rehabilitation effect has limitations.

[0004] Therefore, the prior art still needs to be improved and developed. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to provide a self-aligning parallel ankle rehabilitation robot and a control method thereof in view of the above-mentioned defects of the prior art, aiming to solve the problem that the parallel ankle rehabilitation robot in the prior art cannot accurately compensate the displacement change of the rotation center of the human ankle joint.

[0006] The technical solution adopted by the present invention to solve the technical problem is as follows:

[0007] A self-aligning parallel ankle rehabilitation robot, which includes: a bracket, a foot pedal and three kinematic chains; three mounting parts are provided on the foot pedal; the kinematic chain includes:

[0008] A telescopic link group, the upper end of the telescopic link group is rotatably connected to the bracket;

[0009] A first rotating link, which is rotatably connected to the lower end of the telescopic link group;

[0010] A second rotating link, the two ends of which are respectively rotatably connected to the first rotating link and the mounting part;

[0011] A motor, which is used to drive the first rotating link or the second rotating link to rotate;

[0012] Wherein, the axis of rotation of the first rotating link and the axis of rotation of the second rotating link both point to the ankle joint center on the foot pedal.

[0013] For the above-mentioned self-aligning parallel ankle rehabilitation robot, the telescopic link group includes:

[0014] The first telescopic link and the second telescopic link connected to each other;

[0015] Wherein, the first telescopic link is rotatably connected to the bracket;

[0016] The second telescopic link is rotatably connected to the first rotating link.

[0017] For the self-aligning parallel ankle rehabilitation robot described above, wherein, the rotation center axis of the first telescopic link is perpendicular to the telescopic direction of the first telescopic link;

[0018] The rotation center axis of the second telescopic link is perpendicular to the telescopic direction of the second telescopic link;

[0019] The telescopic direction of the first telescopic link is perpendicular to the telescopic direction of the second telescopic link.

[0020] For the self-aligning parallel ankle rehabilitation robot described above, wherein, both the first telescopic link and the second telescopic link include: an inner rod and an outer cylinder; the inner rod is located inside the outer cylinder.

[0021] For the self-aligning parallel ankle rehabilitation robot described above, wherein, the second telescopic link further includes: a driving member for driving the inner rod to move inside the outer cylinder.

[0022] For the self-aligning parallel ankle rehabilitation robot described above, wherein, the three motion branches are respectively located on different sides of the ankle joint center on the foot pedal, and straps and buckles are arranged on the foot pedal.

[0023] For the self-aligning parallel ankle rehabilitation robot described above, wherein, the bracket includes:

[0024] A base and a top frame;

[0025] A plurality of columns, and two ends of the columns are respectively connected to the base and the top frame;

[0026] Wherein, the upper end of the telescopic link group is connected to the top frame;

[0027] The foot pedal is located between the plurality of columns.

[0028] For the self-aligning parallel ankle rehabilitation robot described above, wherein, a U-shaped member is formed on the top frame, and the U-shaped member is used for limiting the lower leg.

[0029] A control method for a self-aligning parallel ankle rehabilitation robot according to any one of the above, wherein, the method includes steps:

[0030] The motors that control three motion branches respectively are used to achieve ankle movement; wherein, the ankle movement includes at least one of dorsiflexion, plantar flexion, inversion, eversion, adduction, and abduction.

[0031] The control method of the self-aligning parallel ankle rehabilitation robot, wherein, before controlling the motors of three motion branches respectively to achieve ankle movement, the control method includes:

[0032] Control the driving members of three motion branches respectively to adjust the central position of the talus in the subtalar joint of the ankle joint.

[0033] Beneficial effects: The rotation center axes of the first rotating link and the second rotating link both point to the ankle joint center on the foot pedal. During the rehabilitation process, the first rotating link and the second rotating link are both located on the same spherical surface. The telescopic compensation of the telescopic link group compensates for the displacement change of the rotation center of the human ankle joint, improving the rehabilitation effect of the rehabilitation robot. Description of the drawings

[0034] Figure 1 is a schematic structural diagram of the self-aligning parallel ankle rehabilitation robot in the first perspective of the embodiment of the present invention.

[0035] Figure 2 is a schematic structural diagram of the self-aligning parallel ankle rehabilitation robot in the second perspective of the embodiment of the present invention.

[0036] Figure 3 is a schematic structural diagram of the motion branch and the foot pedal in the first perspective of the embodiment of the present invention.

[0037] Figure 4 is a schematic structural diagram of the motion branch and the foot pedal in the second perspective of the embodiment of the present invention.

[0038] Figure 5 is a schematic structural diagram of another self-aligning parallel ankle rehabilitation robot in the embodiment of the present invention.

[0039] Description of the reference numerals:

[0040] 10, bracket; 11, base; 12, top frame; 121, U-shaped member; 13, column; 20, foot pedal; 21, mounting portion; 22, strap; 23, buckle; 30, motion branch; 31, telescopic link group; 311, first adaptive telescopic link; 3111, inner rod; 3112, outer cylinder; 312, second adaptive telescopic link; 3121, inner rod; 3122, outer cylinder; 313, electric telescopic link; 3131, inner rod; 3132 outer cylinder; 3133, electric cylinder; 32, first rotating link; 33, second rotating link; 34, motor. Detailed implementation manners

[0041] To make the objectives, technical solutions and advantages of the present invention more clear and definite, the following further describes the present invention in detail with reference to the accompanying drawings and by way of examples. It should be understood that the specific examples described herein are only used to explain the present invention and are not used to limit the present invention.

[0042] Please also refer to Figures 1-5 , and some embodiments of a self-aligning parallel ankle rehabilitation robot are provided by the present invention.

[0043] As Figures 1-2 shown, the self-aligning parallel ankle rehabilitation robot of the present invention includes: a bracket 10, a foot pedal 20, and three kinematic chains 30; three mounting parts 21 are provided on the foot pedal 20; the kinematic chain 30 includes:

[0044] a telescopic link group 31, the upper end of the telescopic link group 31 is rotatably connected to the bracket 10;

[0045] a first rotating link 32, which is rotatably connected to the lower end of the telescopic link group 31;

[0046] a second rotating link 33, whose two ends are respectively rotatably connected to the first rotating link 32 and the mounting part 21;

[0047] a motor 34, which is used to drive the first rotating link 32 or the second rotating link 33 to rotate;

[0048] wherein, the rotation center axis of the first rotating link 32 and the rotation center axis of the second rotating link 33 both point to the ankle joint center on the foot pedal 20.

[0049] Specifically, the bracket 10 is used to support the footrest 20 and the foot on the footrest 20. The footrest 20 is used to place the user's foot. The motion branch chain 30 is used to adjust the posture of the footrest 20 so as to perform rehabilitation training on the user's ankle. There are three motion branch chains 30, and the structures of the three motion branch chains 30 are the same, but their positions are different. The telescopic link group 31 is a component formed by at least two telescopic links, and the telescopic links in the telescopic link group 31 can be telescoped. The two ends of the telescopic link group 31 are respectively rotatably connected to the bracket 10 and the first rotating link 32. The two ends of the first rotating link 32 are respectively rotatably connected to the lower end of the telescopic link group and the second rotating link 33, so the first rotating link 32 has two rotation central axes. The two ends of the second rotating link 33 are respectively rotatably connected to the first rotating link 32 and the mounting portion 21, so the second rotating link 33 has two rotation central axes. In each motion branch chain 30, the first rotating link 32 and the second rotating link 33 have a total of three rotation central axes, which are respectively denoted as the first rotation central axis (the central axis around which the first rotating link 32 rotates relative to the telescopic link group 31), the second rotation central axis (the central axis around which the first rotating link 32 and the second rotating link 33 rotate relative to each other), and the third central axis (the central axis around which the second rotating link 33 rotates relative to the mounting portion 21). For the three motion branch chains 30, there are a total of nine rotation central axes, and these rotation central axes intersect at a point, and the intersection point is located above the footrest 20 at the position corresponding to the ankle joint center of the foot on the footrest 20. The motor 34 can drive the first rotating link 32 or the second rotating link 33 to rotate. When the first rotating link 32 rotates, it will drive the second rotating link 33 to rotate, thus changing the position and posture of the footrest 20; when the second rotating link 33 rotates, it will also drive the first rotating link 32 to rotate, and also change the position and posture of the footrest 20. The motor 34 can be installed on the mounting portion 21.

[0050] During the rehabilitation process, it is necessary to control the motor to rotate the first rotating link 32 or the second rotating link 33 to adjust the position of the footrest 20. During this process, the position of the ankle joint center may change. Then, the telescoping of the telescopic link group 31 can be used to compensate for the displacement change of the rotation center of the human ankle joint, thereby improving the rehabilitation effect of the rehabilitation robot. In this application, the rotation central axis of the first rotating link 32 and the rotation central axis of the second rotating link 33 both point to the ankle joint center on the footrest 20. During the rehabilitation process, the first rotating link 32 and the second rotating link 33 are both located on the same spherical surface. By telescoping the telescopic link group 31 to compensate for the displacement change of the rotation center of the human ankle joint, the rehabilitation effect of the rehabilitation robot is improved.

[0051] The upper end of the telescopic link group 31 can be rotatably connected to the bracket 10 by means of a hinge. The first rotating link 32 can be rotatably connected to the lower end of the telescopic link group 31 by means of a hinge. The second rotating link 33 can be rotatably connected to the first rotating link 32 by means of a hinge. The second rotating link 33 can be rotatably connected to the mounting portion 21 by means of a hinge.

[0052] In a preferred implementation manner of the embodiment of the present invention, as Figures 2-3 shown, the telescopic link group 31 includes:

[0053] A first telescopic link and a second telescopic link connected to each other;

[0054] Wherein, the first telescopic link is rotatably connected to the bracket 10; the second telescopic link is rotatably connected to the first rotating link 32.

[0055] Specifically, the telescopic link group 31 has two telescopic links, namely a first telescopic link and a second telescopic link. The telescopic directions of the first telescopic link and the second telescopic link are different. The first telescopic link and the second telescopic link are connected to each other, and both the first telescopic link and the second telescopic link can be telescopic. The upper end of the first telescopic link is rotatably connected to the bracket 10, the lower end of the first telescopic link is connected to the upper end of the second telescopic link, and the lower end of the second telescopic link is rotatably connected to the first rotating link 32. The first telescopic link can be a first self-adaptive telescopic link 311; the second telescopic link can be a second self-adaptive telescopic link 312 or an electric telescopic link 313. The first self-adaptive telescopic link 311 and the second self-adaptive telescopic link 312 can adaptively adjust the telescopic amount, and the electric telescopic link 313 can adjust the telescopic amount by electric drive. The electric telescopic link 313 can also be replaced by a telescopic link driven by other means.

[0056] In a preferred implementation manner of the embodiment of the present invention, as Figures 2-3 shown, the rotation central axis of the first telescopic link is perpendicular to the telescopic direction of the first telescopic link; the rotation central axis of the second telescopic link is perpendicular to the telescopic direction of the second telescopic link; the telescopic direction of the first telescopic link is perpendicular to the telescopic direction of the second telescopic link.

[0057] Specifically, the first telescopic link rotates relative to the bracket 10. The rotation center axis of the first telescopic link is denoted as the fourth rotation center axis, and the three fourth rotation center axes of the three kinematic chains 30 intersect at a point. The second telescopic link rotates relative to the first rotating link 32. The rotation center axis of the second telescopic link, that is, the first rotation center axis. In the same kinematic chain 30, the telescopic direction of the second telescopic link is consistent with the direction of the first rotation center axis. The first rotation center axis and the fourth rotation center axis are parallel to each other, so the fourth rotation center axis is parallel to the telescopic direction of the second telescopic link. The telescopic direction of the first telescopic link is perpendicular to the telescopic direction of the second telescopic link, so the first telescopic direction is perpendicular to the fourth rotation center axis.

[0058] In a preferred implementation manner of the embodiment of the present invention, as Figures 4-5 shown, both the first telescopic link and the second telescopic link include: an inner rod and an outer cylinder; the inner rod is located inside the outer cylinder.

[0059] Specifically, the telescopic link includes an inner rod and an outer cylinder. The inner rod is located inside the outer cylinder and slides inside the outer cylinder to achieve the telescoping of the telescopic link. A limiting structure can also be provided at the mouth of the outer cylinder to limit the inner rod and prevent the inner rod from sliding out of the outer cylinder. The inner rod cannot rotate inside the outer cylinder.

[0060] The first telescopic link adopts the first adaptive telescopic link 311, and the first adaptive telescopic link 311 includes: an inner rod 3111 and an outer cylinder 3112; the inner rod 3111 is located inside the outer cylinder 3112. The second telescopic link adopts the second adaptive telescopic link 312, and the second adaptive telescopic link 312 includes: an inner rod 3121 and an outer cylinder 3122; the inner rod 3121 is located inside the outer cylinder 3122.

[0061] In a preferred implementation manner of the embodiment of the present invention, as Figure 2 and Figure 4 shown, the second telescopic link further includes: a driving member for driving the inner rod to move inside the outer cylinder.

[0062] Specifically, as Figure 5As shown, the second telescopic link can be without a driving member (i.e., the second telescopic link adopts the second adaptive telescopic link 312), then the first telescopic link and the second telescopic link form an adaptive telescopic structure. When the moving branch chain 30 rotates, the first telescopic link and the second telescopic link may expand and contract accordingly. This self-aligning parallel ankle rehabilitation robot is suitable for the middle and late stages of ankle rehabilitation (it is not easy to cause secondary injuries during the middle and late stages of ankle rehabilitation), and mainly realizes the automatic compensation of the position of the rotation center of the human ankle joint. This translational degree of freedom can automatically adapt to the offset of the ankle joint axis, achieving the automatic centering of the ankle rehabilitation robot and good human-machine compatibility. The inner rod 3111 of the first adaptive telescopic link 311 and the inner rod 3121 of the second adaptive telescopic link 312 can be assembled and connected, or integrally formed as a whole.

[0063] As Figure 2 shown, when the second telescopic link is provided with a driving member (for example, the second telescopic link adopts an electric telescopic link 313), the driving member drives the inner rod to move within the outer cylinder, realizing the telescopic control of the second telescopic link, and the second telescopic link forms a controllable telescopic structure. The first telescopic link is without a driving member, and the first telescopic link forms an adaptive telescopic structure. When the driving member drives the second telescopic link to expand and contract, the first telescopic link may expand and contract accordingly. When the moving branch chain 30 rotates, the first telescopic link may also expand and contract accordingly. This self-aligning parallel ankle rehabilitation robot is suitable for the early stage of ankle rehabilitation. By driving the second telescopic link to expand and contract through the driving member, the distance from the center of the talus of the human ankle joint can be adjusted. By realizing the controllable telescopic movement of the second telescopic link through the driving member, secondary injuries during the early stage of ankle rehabilitation can be avoided. When the second telescopic link is configured with a driving member, a telescopic structure such as an electric cylinder can be adopted.

[0064] Therefore, the two self-aligning parallel ankle rehabilitation robots can form two rehabilitation modes. When the second telescopic link of the self-aligning parallel ankle rehabilitation robot is configured with a driving member, the first rehabilitation mode (the early stage of ankle rehabilitation mode) is adopted, specifically a fully passive rehabilitation training mode, which can prevent the insufficient muscle strength of the ankle joint from causing untimely follow-up movement of the calf and resulting in secondary injuries. When the second telescopic link of the self-aligning parallel ankle rehabilitation robot is not configured with a driving member, the second rehabilitation mode (the middle and late stages of ankle rehabilitation mode) is adopted, specifically a main-passive combined rehabilitation training mode, which can automatically adapt to the displacement change of the center of the talus of the human ankle joint and has good human-machine compatibility.

[0065] The second telescopic link adopts an electric telescopic link 313, and the driving member can be an electric cylinder 3133. The electric telescopic link 313 includes: an inner rod 3131, an outer cylinder 3132, and an electric cylinder 3133; the inner rod 3131 is located within the outer cylinder 3132, and the electric cylinder 3133 is used to drive the inner rod 3131 to move within the outer cylinder 3132.

[0066] In a preferred implementation manner of the embodiment of the present invention, as Figure 1 and Figure 4 shown, the three motion branches 30 are respectively located on different sides of the ankle joint center on the pedal 20.

[0067] Specifically, the three motion branches 30 are respectively located on three sides of the leg, specifically the left side, the right side and the rear side of the leg. The three motion branches 30 are distributed at different positions, and the accurate position and posture of the pedal 20 can be accurately determined and adjusted.

[0068] In a preferred implementation manner of the embodiment of the present invention, as Figure 2 shown, the pedal 20 is provided with a strap 22 and a buckle 23.

[0069] Specifically, the strap 22 and the buckle 23 are arranged at a position of the pedal 20 close to the front side, and are used for binding the foot board to fix the foot.

[0070] In a preferred implementation manner of the embodiment of the present invention, as Figure 2 and Figure 5 shown, the bracket 10 includes:

[0071] a base 11 and a top frame 12;

[0072] a plurality of columns 13, and two ends of the column 13 are respectively connected to the base 11 and the top frame 12;

[0073] Wherein, the upper end of the telescopic link group 31 is connected to the top frame 12; the pedal 20 is located between the plurality of columns 13.

[0074] Specifically, the top frame 12 is located above the base 11, and the columns 13 connect the base 11 and the top frame 12. The motion branches 30 and the pedal 20 are both located between the base 11 and the top frame 12. The upper end of the motion branch 30 is connected to the bottom of the top frame 12, the lower end of the motion branch 30 is connected to the pedal 20, and the pedal 20 is suspended and located between the plurality of columns 13.

[0075] In a preferred implementation manner of the embodiment of the present invention, as Figure 2 and Figure 5 shown, a U-shaped member 121 is formed on the top frame 12, and the U-shaped member 121 is used for limiting the lower leg.

[0076] Specifically, the U-shaped member 121 is formed on the top frame 12, and the opening of the U-shaped member 121 faces the front side of the leg. The U-shaped member 121 limits the left side, the right side and the rear side of the lower leg, and can limit the movement of the lower leg.

[0077] Compared with the prior art, the technical effects of the present invention are as follows:

[0078] 1. The rotational and translational degrees of freedom of the self-aligning parallel ankle rehabilitation robot of the present invention are decoupled from each other, making the control of the parallel mechanism simpler and having higher output accuracy.

[0079] 2. The structures of the three moving branch chains of the self-aligning parallel ankle rehabilitation robot of the present invention are completely the same, the mechanism has good isotropy, is easy to process, and has low cost.

[0080] 3. The self-aligning parallel ankle rehabilitation robot of the present invention includes two rehabilitation modes. The first rehabilitation training mode is a fully passive rehabilitation training mode, which can prevent secondary injuries caused by insufficient ankle muscle strength and untimely follow-up of the lower leg. The second rehabilitation training mode is a master-slave combined rehabilitation training mode, which can automatically adapt to the displacement change of the center of the talus in the subtalar joint of the human ankle and has good human-machine compatibility.

[0081] Based on the self-aligning parallel ankle rehabilitation robot described in any one of the above embodiments, the present invention also provides a preferred embodiment of a control method for the self-aligning parallel ankle rehabilitation robot.

[0082] The control method of the self-aligning parallel ankle rehabilitation robot according to the embodiment of the present invention includes the following steps:

[0083] Step S10: Control the motors of the three moving branch chains respectively to achieve ankle movement; wherein, the ankle movement includes at least one of dorsiflexion, plantar flexion, inversion, eversion, adduction, and abduction.

[0084] Specifically, when the second telescopic link of the self-aligning parallel ankle rehabilitation robot is not equipped with a driving member, the motors of the three moving branch chains can be controlled to adjust the position and posture of the foot pedal to achieve ankle movement, and the ankle movement can be dorsiflexion, plantar flexion, inversion, eversion, adduction, abduction, etc.

[0085] During the middle and late stages of rehabilitation, the patient sits on a lift chair, fixes the foot on the foot pedal through a strap, and drives the patient's ankle to achieve dorsiflexion / plantar flexion, inversion / eversion, and adduction / abduction movements by controlling the motors of the three moving branch chains. The first and second telescopic links of the three moving branch chains can form adaptive telescopic movements, which can automatically compensate for the rotation centers of the first and second rotating links. This translational degree of freedom can automatically adapt to the offset of the ankle joint axis to achieve automatic alignment of the ankle rehabilitation robot and has good human-machine compatibility.

[0086] The control method includes the following steps:

[0087] Step S100: Control the driving members of the three moving branch chains respectively to adjust the central position of the talus in the subtalar joint of the ankle joint.

[0088] Step S200: Control the motors of the three motion branches respectively to achieve ankle movement; wherein, the ankle movement includes at least one of dorsiflexion, plantar flexion, inversion, eversion, adduction, and abduction.

[0089] Specifically, when configuring the driving member for the second telescopic link of the self-aligning parallel ankle rehabilitation robot, the driving member can be controlled first to adjust the central position of the talus in the subtalar joint of the ankle joint. Then, the motors are controlled to adjust the position and posture of the foot pedal to achieve ankle movement.

[0090] In the early stage of rehabilitation, the patient sits on a lift chair, fixes the foot on the foot pedal through a strap. After adjusting the driving members of the three motion branches to make the rotation centers of the human ankle joint and the ankle rehabilitation robot coincide, the strap is locked with a buckle. By controlling the motors of the three motion branches to drive the patient's ankle to achieve dorsiflexion / plantar flexion, inversion / eversion, and adduction / abduction movements, the effect of rehabilitation training is achieved.

[0091] It should be understood that the application of the present invention is not limited to the above examples. For those of ordinary skill in the art, improvements or transformations can be made according to the above description, and all such improvements and transformations should fall within the protection scope of the appended claims of the present invention.

Claims

1. A self-aligning parallel ankle joint rehabilitation robot, characterized in that: include: A bracket, a pedal and three motion branches; the pedal is provided with three mounting parts; the motion branches include: A telescopic connecting rod group, the upper end of which is rotatably connected to the bracket; A first rotating link, rotatably connected to the lower end of the telescopic link assembly; A second rotating link, two ends of which are respectively rotatably connected to the first rotating link and the mounting portion; A motor, used for driving the first rotating link or the second rotating link to rotate; Wherein, the rotation center axis of the first rotating link and the rotation center axis of the second rotating link both point to the center of the ankle joint on the pedal.

2. The self-aligning parallel ankle joint rehabilitation robot according to claim 1, characterized in that: The telescopic connecting rod assembly comprises: A first telescopic link and a second telescopic link connected to each other; Wherein, the first telescopic connecting rod is rotatably connected to the bracket; The second telescopic link is rotatably connected to the first rotating link.

3. The self-aligning parallel ankle joint rehabilitation robot according to claim 2, characterized in that: The rotation center axis of the first telescopic link is perpendicular to the telescopic direction of the first telescopic link; The rotation center axis of the second telescopic link is perpendicular to the telescopic direction of the second telescopic link; The telescopic direction of the first telescopic link is perpendicular to the telescopic direction of the second telescopic link.

4. The self-aligning parallel ankle joint rehabilitation robot according to claim 3, characterized in that: The first telescopic link and the second telescopic link both include: an inner rod and an outer tube; the inner rod is located in the outer tube.

5. The self-aligning parallel ankle joint rehabilitation robot according to claim 4, characterized in that: The second telescopic connecting rod further includes: a driving member for driving the inner rod to move in the outer tube.

6. The self-aligning parallel ankle joint rehabilitation robot according to any one of claims 1 to 5, characterized in that: The three motion branches are respectively located on different sides of the center of the ankle joint on the foot pedal, and the foot pedal is provided with straps and buckles.

7. The self-aligning parallel ankle joint rehabilitation robot according to any one of claims 1 to 5, characterized in that: The support comprises: Base and top frame; A plurality of columns, two ends of which are respectively connected to the base and the top frame; Wherein, the upper end of the telescopic connecting rod group is connected to the top frame; The footrest is located between the plurality of pillars.

8. The self-aligning parallel ankle joint rehabilitation robot according to claim 7, characterized in that: A U-shaped piece is formed on the top frame, and the U-shaped piece is used to limit the position of the calf.

9. A control method for a self-aligning parallel ankle joint rehabilitation robot according to any one of claims 1 to 8, characterized in that: Includes steps: The motors of the three motion branches are controlled respectively to realize ankle movement; wherein the ankle movement includes at least one of dorsiflexion, plantar flexion, inversion, eversion, adduction, and abduction.

10. The control method of the self-aligning parallel ankle joint rehabilitation robot according to claim 9, characterized in that: Before controlling the motors of the three motion branches respectively to realize the ankle motion, the control method includes: The driving members of the three motion branches are controlled separately to adjust the central position of the talus in the subtalar joint of the ankle joint.

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