Rehabilitation robot based on non-circular gear train-five-bar mechanism

The rehabilitation robot designed with a non-circular gear train and a five-bar linkage solves the problems of insufficient motion trajectory fit and limited adaptability of knee joint rehabilitation equipment, and achieves simple, low-cost and personalized rehabilitation training effects.

CN121622418AInactive Publication Date: 2026-03-10JIANGSU UNIV
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Patent Information

Application Number
CN202610152141.8
Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Filing Date
2026-02-03
Publication Date
2026-03-10
Estimated Expiration
Not applicable · inactive patent

AI Technical Summary

Technical Problem

Existing knee rehabilitation robots have insufficient conformity between their motion trajectory and the human body's natural gait, large control torque, limited adaptability, high manufacturing difficulty, and difficulty in meeting the personalized needs of different patients.

Method used

It adopts a non-circular gear train-five-bar linkage design, which accurately reproduces the knee joint movement posture through the series connection of the non-circular gear transmission system and the five-bar linkage, realizing a simple and low-cost rehabilitation device that supports personalized adjustments for patients.

Benefits of technology

It achieves a high degree of overlap between movement trajectory and human gait, reduces manufacturing difficulty and cost, adapts to the personalized needs of different patients, and significantly improves rehabilitation results.

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Abstract

The invention provides a rehabilitation robot based on a non-circular gear train-five-bar mechanism, and relates to the technical field of rehabilitation medical instruments, the rehabilitation robot comprises a rack, a left rehabilitation mechanism and a right rehabilitation mechanism; the left rehabilitation mechanism and the right rehabilitation mechanism are symmetrical; the left rehabilitation mechanism comprises a left non-circular wheel train-five-rod mechanism, a left leg connecting rod and a left knee bandage; the right rehabilitation mechanism comprises a right non-circular wheel train-five-rod mechanism, a right leg connecting rod and a right knee bandage. The non-circular wheel train-five-bar mechanism is used for accurately reproducing the motion posture of the knee joint, the problems that the fitness between the motion track of an existing rehabilitation robot and the natural gait of the human body is insufficient, the control torque is large and the like can be effectively solved, and the non-circular wheel train-five-bar mechanism has the advantages of being simple in structure and low in manufacturing cost.
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