Sitting type variable-rigidity knee-ankle collaborative rehabilitation exoskeleton device and training method

Abstract

The invention relates to a sitting type variable-rigidity knee-ankle collaborative rehabilitation exoskeleton device and a training method. Comprising a left lower limb rehabilitation mechanism and a right lower limb rehabilitation mechanism which are symmetrically arranged, each of the left lower limb rehabilitation mechanism and the right lower limb rehabilitation mechanism comprises a thigh unit, a knee joint, a shank unit, an ankle joint and a foot unit, and the foot units are arranged on a rehabilitation platform through a supporting frame. According to the technical scheme, independent rehabilitation and cooperative rehabilitation training of knee joints and ankle joints are achieved through motor driving, electromagnet control and flexible cable transmission. Meanwhile, active and passive adjustment of the variable stiffness mechanism can be achieved through on-off of the electromagnets so as to meet the requirements of different rehabilitation stages. The exoskeleton has the characteristics of light weight and efficient transmission, the adaptability and flexibility of the exoskeleton are remarkably improved, the exoskeleton is suitable for rehabilitation training of patients suffering from stroke, spinal cord injury and the like, and the rehabilitation effect and the life quality of the patients can be improved.

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