171 results about "Ankle rehabilitation" patented technology

The invention relates to a parallel-type initiative / passive ankle rehabilitation training device, which mainly consists of a lower soleplate, a fixed platform, a movable platform and three branched chains which are uniformly distributed, wherein each branched chain consists of a motor support, a drive motor, a jaw clutch, a fixed platform revolute pair, two elastic revolute pairs, a movable platform revolute pair (or a movable platform spherical pair), a movable platform connecting rod and a fixed platform connecting rod; and the movable platform can realize the three-degree-of-freedom rotation, the rotation center of the movable platform is overlapped with that of an human body ankle joint, and back stretching / toe retraction, inward turning / outward turning and inward rotation / outward rotation of the ankle joint of a human body can be realized in the rehabilitation training process of the ankle joint. The clutch is matched with the two elastic revolute pairs to use, and initiative, the passive or half-initiative rehabilitation training of the ankle joint can be realized. The device can more accurately help the ankle joint have the rehabilitation training and can meet the requirements of different patients.

A device and method for facilitating both isolation and therapeutic exercises of a human appendage, specifically, an ankle and adjacent regions. The device includes a ball joint hinge, allowing a large range of motion, in combination with a locking mechanism that restricts all movement. The device can be utilized for methods to stretch and strengthen anatomical structures that have been damaged in a therapeutic manner.

The invention relates to an ankle rehabilitation training device with single degree of freedom, comprising a stand. The ankle rehabilitation training device with single degree of freedom is characterized in that a motor-driven mechanism is mounted in the middle bottom of the stand, a rotating shaft driven by the motor-driven mechanism is vertically arranged on the upper surface of the stand, and the upper end of the rotating shaft is fixedly connected with the middle of an inclined disc. The device provided by the invention only has one degree of freedom, the rotating shaft rotates to drive amoving platform to continuously wing relative to an axis, and feet of a patient are placed on the moving platform so as to realize the plantar flexion, the back extension, the inwards turning and outwards turning motions of the ankle joints, and meanwhile, the device also has the advantages of simple structure, convenience in control, small size and low price and is suitable for home use.

An ankle rehabilitation device comprises a base, a movable platform, a driving branched chain and a constrained branched chain, wherein the constrained branched chain comprises a lower rotating connecting rod, a left connecting rod, a right connecting rod and an upper arc connecting rod; the lower rotating connecting rod sleeves a rotating shaft through key connection; the movable platform comprises an adjusting stopping block, an upper platform and a lower platform; the position, relative to the upper platform, of a foot can be adjusted through the adjusting stopping block and up-down adjusting devices; the driving branched chain comprises a left driving branched chain and a right driving branched chain; the left driving branched chain and the right driving branched chain are the UPS branched chains symmetrically distributed on the lower platform. Through the adoption of the structure, rotation of the movable platform in three directions can be realized, and the rotating center of the movable platform is coincided with the rotating center of an ankle. According to the ankle rehabilitation device, requirements of different patients on ankle rehabilitation can be met, the structure is simple, the use is convenient, the occupied area is small, and the manufacturing cost is low.

The invention discloses a training and motion state detection integrated ankle rehabilitation training device. The device comprises a supporting mechanism, a training mechanism and a detection portion; the supporting mechanism comprises a base, a supporting frame, foot plates and foot plate supporting seats; the training mechanism comprises varus / valgus motion platforms, dorsiflexion / plantarflexion motion platforms and pronation / supination motion platforms; the detection portion comprises three torque sensors mounted on single platforms and three encoders mounted on motors for power transmission. The training and motion state detection integrated ankle rehabilitation training device can realize three-degree-of-freedom rehabilitation training of human ankles, can be used for providing passive training for patents by simulation of operation techniques of therapists and is also available for independent training of the patents under specified requirements of doctors; by the torque sensors and the encoders, torque and movement position information of the patients in a training process can be acquired, functions of rehabilitation training and patient's movement information detection are integrated, and bases can be provided for a rehabilitation evaluation system.

The invention relates to a parallel type ankle rehabilitation training apparatus. The parallel type ankle rehabilitation training apparatus comprises a thigh support base, a thigh support base internal rod, a thigh support base external rod, a shank connection sleeve, a sole support plate, a base plate, a first retractable moving branch chain, a second retractable moving branch chain, a fixed lifting lug, a sole support plate lifting lug and a rope, wherein static frames of the first and second moving branch chains are fixedly connected with the base plate; retractable ends of both the first and second moving branch chains are connected with the sole support plate by spherical hinges; and the fixed lifting lug and the sole support plate lifting lug are connected by the rope. By adopting a 2-PSS / S type parallel mechanism, two rotational degrees of freedom can be realized, and as an ankle is the rotation center of the apparatus, movements such as back extension or plantar flexion, and introversion or extroversion of the ankle can be really done. The parallel type ankle rehabilitation training apparatus has a high-rigidity structure and high bearing capacity, and can effectively reduce the burden of a damaged ankle; main movements of the ankle can be really simulated by using a simple structure, so that the bio-imitability is high; and a driving link is static, and the dynamic property is high.

The invention discloses a three-degree-of-freedom wearable ankle rehabilitation medical robot. The medical robot comprises an upper platform, a lower platform and cylinders. The upper platform is formed by fixedly connecting a center sleeve and an outer side rigid structure, and the upper platform is fixed on the legs of a patient in a wearing mode. The lower platform is fixedly connected with shoes, and the lower platform is fixed on the feet of the patient in a wearing mode. The three cylinders are connected with the upper platform and the lower platform through trunnions and spherical hinges respectively. The telescoping of the three cylinders is controlled by a computer system through a man-machine operation interface. The ankles can rotate in various directions, the medical robot can be worn to fix the legs and the feet of the patient, the height of the lower platform can be adjusted according to the leg length of the patient, and ankle rehabilitation of the patient is facilitated.

The invention discloses an ankle rehabilitation robot based on a three-freedom-degree parallel mechanism. The robot comprises a mechanical part and a motion control system part. The mechanical part comprises two parts, namely an ankle driving part and a foot fixing device; four sets of hydraulic servo actuators cooperate to work through the parallel robot control technology are achieved, so that the motion control part controls three rotational degrees of freedom of an ankle rehabilitation robot moving platform. The robot is used for rehabilitation and adjuvant treatment for ankle joint disease, sport injury and post-operation, and the three rotational degrees of freedom of an ankle joint can be achieved; the ankle rehabilitation exercise curves in the patient rehabilitation process as instructed by a doctor can be entered, the entered rehabilitation process can be automatically applied to the ankle joint for driving the movement of the ankle joint, and the rehabilitation of a patient at the soonest is achieved.

The invention discloses a variable-rigidity ankle rehabilitation orthosis and a motion control method thereof. The variable-rigidity ankle rehabilitation orthosis comprises a puttee, a calf bracket, afoot plate, a variable rigidity magnetorheological elastic driver, a man-machine interaction system, sensors and a control system, wherein the variable rigidity magnetorheological elastic driver consists of a motor element, a magnetorheological brake and a rigidity regulatory mechanism, can regulate the rigidity of the system in a real-time manner, can buffer earth shock and can improve the system energy efficacy and safety; the man-machine interaction system is based on an intelligent terminal application program, is used for assisting in the orthosis, and is used for providing varied interactive functions of orthosis condition monitoring and operation, on-line voice feedback, motion performance summarization and the like. The control method is based on hemiplegic patient walking state analysis and requirements, and functions of driving through the variable rigidity magnetorheological elastic driver, braking, mixed braking, rigidity regulation and the like, and can output anticipantauxiliary moment and motion, so as to realize ankle rehabilitation training of patients.

The invention relates to a five-degree-of-freedom wearable ankle rehabilitation walking device. The device comprises a rigid sole, a shank upper fixed sleeve and a shank lower fixed sleeve, and a wrapping structure which is made from a flexible material and wraps the shank, the ankle joint and the ankle is connected among the shank upper fixed sleeve, the shank lower fixed sleeve and the rigid sole; a first telescopic front linear actuator and a second elastic linear actuator are movably connected to the two sides of the front end of the rigid sole respectively, a first telescopic rear linearactuator and a second telescopic rear linear actuator are movably connected to the two sides of the rear end of the rigid sole respectively, and a third front linear actuator is movably connected to the top of the front end of the rigid sole. The device at least has the advantages that the change degree of freedom of ankle rehabilitation training of different types can be met, waste of mechanicalmaterials cannot be caused, and the auxiliary function that a patient can perform ankle rehabilitation training and normal walking in the treatment period can be achieved.

The invention discloses a cam type three-freedom-degree ankle rehabilitative device, relates to ankle rehabilitative devices and aims at solving the technical problems that existing ankle rehabilitation robots are complex in structure, great in parallel connection cooperative control difficulty and poor in ankle rehabilitation training effect. A base of the device is fixedly connected with a first driving motor and a gear I, the gear I is in meshed transmission with a gear II and is fixedly connected with a rotating platform, the rotating platform is fixedly connected with a second driving motor and a gear III, the gear III is in meshed transmission with a gear IV and a inner ring gear, the inner ring gear is connected with a cylindrical cam, the contour face of the cylindrical cam is vertically provided with four cam jacking rods, spherical heads of the rods are hinged to a guide groove of a moving platform, and a shell fixedly connected with a box cover and the rotating platform is arranged at the periphery of the cylindrical cam. The device is used for rehabilitation training of ankles including dorsal flexion / plantar flexion, introversion / extroversion, abduction / adduction and pronation / supination and has the advantages of being simple in control principle, small in drive number and compact in structure.

The invention relates to an ankle rehabilitation apparatus with two degrees of freedom, comprising a support. The invention is characterized in that a zigzag rod which can turn and swing around a D / P axis is hinged between the left part and the right part of the support; the zigzag rod is hinged with a sole supporting sheath facing the negative direction of a P / S axis via a hinge hole so as to lead the sole supporting sheath to turn and swing around the P / S axis. The support is also provided with a first motor drive mechanism and a second motor drive mechanism; the first motor drive mechanism and the second motor drive mechanism are used for driving the zigzag rod and the sole supporting sheath to carry out to-and-fro turning and swinging. By using the second motor drive mechanism to drive the sole supporting sheath to carry out to-and-fro turning and swinging, the invention realizes varus and eversion of the ankle, and by using the first motor drive mechanism to drive the zigzag rod to carry out to-and-fro turning and swinging, the invention realizes abduction and adduction of the ankle. The rehabilitation apparatus has simple structure, convenient use, low manufacturing cost, easy marketization and broad application prospect.

The invention discloses a flexible ankle rehabilitation robot system. An execution module is connected with a foot module through a Bowden cable and a shank module, and a tension module for measuringtransmission force of the Bowden cable is arranged between the shank module and the foot module; a shank gyroscope is arranged on the shank module, a foot gyroscope and a pressure insole are arrangedon the foot module, a heel pressure sensor and a foot sole pressure sensor are arranged on the pressure insole, and the shank gyroscope and the foot gyroscope are arranged on the front face and the foot face of the shank of a user correspondingly; the pressure insole is located inside the foot module, sends a control instruction towards the execution module through an upper computer and receives sensing feedback information; the execution module transmits torque through the Bowden cable and the shank module to the foot module, so that ankle movement is assisted; and the shank gyroscope and thefoot gyroscope are mutually matched for detecting ankle motion information. The flexible ankle rehabilitation robot system is low in weight and achieves the gait training function for users with abnormal gaits of foot drop and strephenopodia.

The invention is to provide a three degree-freedom ankle rehabilitation training apparatus comprising a housing, an ankle revolution unit, an ankle dorsal stretch plantar flexion unit and an ankle inward-outward turning unit. The ankle revolution unit is mainly formed by a revolution motor, a housing, a small gear, a large gear, a large gear connection plate and a lower layer rack; inwardly, outward and annular rotation of the ankle can be achieved via driving of the revolution motor; the ankle dorsal stretch plantar flexion unit is mainly formed by an ankle stretch electric cylinder, a middle layer rack and a foot pedal; with control of extension stroke of a stretch electric cylinder push rod, dorsal stretch and plantar flexion actions of the ankle can be achieved; the ankle inward-outward turning unit is mainly formed by an ankle over-turning electric cylinder, a middle layer rack and a lower layer rack; and with control of extension stroke of an over-turning electric cylinder push rod, inward-outward over-turning actions of the ankle can be achieved. All basic actions for rehabilitation training can be achieved for the ankle.

An ankle therapy device provides variable loading on targeted muscles and tendons, by utilizing a variable length moment arm to which the load is attached, and having the ability to change the angle of the load with respect to the orientation of the user's foot. Thus, the device provides a variable resistance on the ankle muscles and tendons when the ankle is moved, and may target different muscles and tendons by changing the angle of the resistance. The device comprises a member to which the user's foot is attached, and a rotatably attached weight support member to which a weight is secured. The position of the weight may be shifted along the length of the weight support member, and the amount of weight may be changed.

The invention discloses an ankle rehabilitation training instrument and a use method thereof. The ankle rehabilitation training instrument comprises a base, two driving devices and guiding devices, wherein two pedals are arranged above the base; one end of each of the driving devices is respectively connected with the lower end face of each of the pedals while the other end of each of the driving devices is respectively connected with the upper end face of each of the pedals; the guiding devices are respectively arranged on two adjacent side end faces of each pedal close to the binding face of the two pedals, and the guiding devices are connected with the upper end face of the base. Piston heads of two air cylinders contract to respectively drive the two pedals to overturn and move downward along a guide rail. According to the ankle rehabilitation training instrument and the use method thereof disclosed by the invention, by adopting the overturnable pedals, rehabilitation training of active or passive internal overturning on the ankle of the patient can be carried out to enhance the muscular strength of peroneus longus and short peroneal, and proprioception of ligaments of the ankle is improved through an overturning pre-adaptive process of the pedals, thus accelerating the rehabilitation speed of the patient.

The invention belongs to the technical field of medical rehabilitation, and discloses an ankle rehabilitation system capable of simulating walking based on VR. The system comprises a pressure detection module, a voice recognition module, a touch recognition module, a video monitoring module, a central control module, a network communication module, a server, a computer, a scene construction module, a human behavior recognition module, and a display module. The system provided by the invention is more advantageous for a user to actively carry out rehabilitation training of an ankle in a scene through a scene reconstruction module; can simulate the walking state of a patient through the visual feedback of the VR, feeds back and corrects a pathological walking mode, and forms a normal gait, thereby improving walking ability. Compared with the traditional walking rehabilitation training, the system has the effects of shortening the rehabilitation process, improving the rehabilitation efficiency and improving the rehabilitation effect. Through human behaviors, the system determines the moving significance area via the idea that a severe moving region provides more discriminating information in the behavior recognition, and assists the rehabilitation of the ankle.

The invention relates to a foot rehabilitation device with adjustable oscillation amplitude and an adjustment method thereof. The device comprises a rack and a rehabilitation massage component, the rehabilitation massage component comprises a middle shaft, an upper mounting plate and two rotation shafts, and a gear A, a gear B, a friction plate and a gear C are arranged on the middle shaft; shifting forks which toggle the friction plate to move up and down are arranged on the rack, the rotation shafts sleeve the gear D and an integrated gear group, and the gear D is meshed with the gear A in atransmission mode; the integrated gear group comprises an annular base body, a gear E, a gear F and a gear G are arranged on the periphery of the annular base body, and an eccentric spherical-hinge base is arranged in the gear D; a gear H which is meshed with a gear E in a transmission mode is arranged on the lower side of the gear D, the gear H is connected with the eccentric spherical-hinge base in a rigidity mode, and a motor is arranged on the upper mounting plate; the motor is connected with the middle shaft through a shaft coupling, massage base bodies are arranged on two sides of the motor, the lower ends of the massage bodies are connected with cross-shaped universal shaft couplings, and the cross-shaped universal shaft couplings are connected with the eccentric spherical-hinge base through rockers. According to the foot rehabilitation device, ankle rehabilitation is combined with foot sole massage, and the oscillation amplitude can be adjusted.

The invention discloses a six-degree of freedom wearable ankle rehabilitation medical robot comprising an upper platform, a lower platform, a pedestal and a cylinder. The upper platform is formed by a center sleeve and an external rigid structure fixedly connected with the center sleeve and worn and fixed on a patient leg part; the lower platform is fixedly connected with a shoe and worn and fixed on a patient leg part; six cylinders are respectively connected with the upper platform and the lower platform via a hook joint and a spherical hinge; a long groove on the upper end of the pedestal is in a slideable connection with a slide block around the upper platform; a boss in the center of the pedestal is connected with the bottom of the center of the lower platform via a spherical hinge; and telescopic operations of six cylinders are controlled by a computer system via a human-machine operation interface. By the use of the six-degree of freedom wearable ankle rehabilitation medical robot, the ankle can rotate in various directions; the robot can be worn; and the height of the lower platform can be adjusted according to the length of a patient leg, so patient ankle rehabilitation can be facilitated.

The invention relates to the technical field of rehabilitation medical instruments, in particular to a lower limb rehabilitation robot, which is provided with a bracket and a treadmill, and is characterized in that the bracket is provided with a parallel buffer mechanism and a leg tralvel assisting mechanism,the parallel buffer mechanism consists of four connecting rods and a back plate. The leg travel assisting mechanism is arranged on the front surface of the back plate; the leg travel assisting mechanism consists of a group of width adjusting components, two groups of leg travel assisting components and four groups of driving adjusting components; the width adjusting component consists of a support, an tooth-reversed screw rod, a sliding seat plate and a hand wheel; the leg travel assisting component consists of a transverse hip rod and a vertical swing rod; the driving adjusting component consists of a support plate, a servo motor, a belt, a driving wheel, a driven wheel, a sleeve,a sleeve rod, a ball screw rod and a mounting hinge head. The treadmill is arranged below the leg travel assisting mechanism to assist the patient in performing ankle rehabilitation training, and therobot has the advantages of simple structure, low cost, convenient use, high popularity, and convenient household use.

The invention discloses an ankle rehabilitation mechanism. The ankle rehabilitation mechanism comprises a foot sole supporting part, a foot sole fixing part, a shank fixing part and an ankle movementpart, wherein the ankle movement part comprises an ankle inward-outward rolling part and / or an ankle up-down rolling part and / or an ankle rotation movement part; the foot sole supporting part is usedfor supporting the foot; the foot sole fixing part is used for fixing the foot to the mechanism; the shank fixing part is used for fixing the shank to the ankle movement part; the movement axis of theankle inward-outward rolling part is concentric with the joint movement axis formed when the ankle rolls inwards and outwards, and the movement axis of the ankle up-down rolling part is concentric with the joint movement axis formed when the ankle rolls up and down; the movement axis of the ankle rotation part is concentric with the joint movement axis formed when the ankle rotates. By means of the ankle rehabilitation mechanism, rehabilitation training of the ankle of a patient can be effectively conducted, the structure is simple, and the operation is convenient.

The invention relates to a double-UPS-type ankle rehabilitation device. The ankle rehabilitation device comprises a movable platform, two movement branch chains, a constraint branch chain, a constraint branch chain motor drive unit, a constraint branch chain synchronous belt transmission unit and a base, wherein the movable platform comprises an adjustable foot baffle plate, a vertical adjusting device, an upper platform and a lower platform, and the two movement branch chains which are symmetrically distributed and the constraint branch chain are connected with the movable platform and the base together. Due to the adoption of the structure, the demands of different patients for ankle rehabilitation can be satisfied, the constraint branch chain enables the movable platform to have three rotation freedom degrees, and enables the rotation center of the movable platform to always coincide to the movement center of the human ankle, and thus the risk that a patient suffers from secondary injuries is reduced. The height, away from the ground, of the movable platform is reduced, the patient can sit on a common chair for completing the rehabilitation treatment, the base bears most of theweight of the legs of the human body, thus the pressure caused to the movable platform by the feet is reduced, in match with the bearing capacity of the constraint branch chain, the rigidity of the device is increased.

The invention discloses an autonomous rehabilitation training system and method. The system comprises: an unaffected side ankle motion detection device, an affected side ankle rehabilitation training device, an electromyograph (EMG) detection device, and an functional electrical stimulation (FES) device; the unaffected side ankle motion detection device is used mainly for detecting patient's unaffected side data of unaffected side ankle motion, such as angle, speed and exerting power; the affected side ankle rehabilitation training device is used mainly for training the patient's affected side for rehabilitation and detecting the patient's unaffected side data of affected side ankle motion, such as angle, speed and exerting power; the EMG detection device is used mainly for detecting EMG signals of unaffected side muscles when the patient is in motion; the FES device is used mainly for performing electrical simulation auxiliary training for affected side muscles. The patient's subjective activity and passive training are combined fully to improve rehabilitation effect; the autonomous rehabilitation training system combining patient's unaffected side motion and affected side training is established using multi-information fusion technology.

An ingenious calf, shin and ankle rehabilitation and exerciser apparatus for engagement with the lower leg muscles and ankle comprising of a rigid sole plate member having a sole plate protective pad and affixed fastening sole straps for securing foot to sole plate member, an attachable fulcrum heel ball member for attaching to the bottom of heel section. Sole plate member is pivotally attached to a rigid cross brace member which is comprised of a fastening shin straps affixed to a shin protective pad member to secure the lower leg to a rigid pivoting back support member that is pivotally engaged to cross brace member. Cross brace engages the toe section of sole plate member via an engaging biasing resistance means that provides posterior and anterior resistance not limited to isotonic and isometric for the flexing of the foot and ankle not limited to dorsi-flexion, plantar-flexion, inversion or eversion.

The invention discloses an ankle rehabilitation training device, including a fixing bracket, a motor mounting plate is arranged between the bottom ends of the fixing brackets, and the two ends of themotor mounting plate are fixed on the fixing brackets on both sides by screws, a drive motor is fixedly installed at the outer end face of the motor mounting plate, the low end of that fixing bracketis fixedly connected with the load-bearing bracket, a load-bearing frame is movably connected with a pedal through a movable connecting piece. A mounting end plate is mounted on the fixed bracket, a driven wheel is rotatably mounted on the mounting end plate, a driving wheel is mounted on the output end of the drive motor, and the driving wheel and the driven wheel are drivingly connected througha transmission belt, a mounting block is fixed on the outer end surface of the driven wheel, and an adjusting lever is passed between the mounting block on the driven wheel and the mounting block on the pedal. The invention has compact structure, can effectively assist ankle joint injury patients in postoperative rehabilitation training, simple and portable structure, safety, high practicability,convenience and easy operation, and can be trained in a family or a medical institution without affecting daily life.

The invention relates to a control method for active rehabilitation treatment by using sEMG on an affected side of a patient. The control method comprises a model training stage and an online active rehabilitation treatment stage. The method utilizes the antagonistic relationship between the tibialis anterior muscle and the gastrocnemius muscle during ankle joint movement, enables the action typeof the ankle joint correlated with the contraction of a single muscle group, and achieves the movement intention identification; continuous estimation of a motion angle is completed and a continuous smooth joint motion angle estimation curve is obtained by utilizing a normalized characteristic value; then, the identified motion intention and the estimated joint motion angle serve as inputs to be sent to an ankle joint rehabilitation robot, the robot assists the patient to achieve a target action, and corresponding active rehabilitation treatment is completed. The method can meet the requirements of patients for simple control, safety and reliability of the exoskeleton type ankle rehabilitation device. For patients in different rehabilitation stages, only a small amount of parameters need to be modified, an off-line model can be well adapted, and the off-line model is more convenient, fast and easy to operate.

The invention discloses an ankle rehabilitation system and a control method thereof. The ankle rehabilitation system comprises a first installation seat, a pedal structure, a driving device, an anglemonitoring device and a control device, wherein the first installation seat is provided with a supporting plate extending upwards, and an installation shaft is arranged on the supporting plate; the pedal structure comprises a pedal plate, a connection plate extending upwards is arranged on a pressure bearing face of the pedal plate, and an installation shaft is arranged on the connection plate; the driving device is used for driving the connection plate to make the connection plate and the pedal plate reciprocate and swing with the installation shafts as supporting points; the angle monitoringdevice is used for motoring a swing angle of the connection plate swinging relative to the supporting plate; the control device is in communication connection with the driving device and the angle monitoring device; when the angle monitoring device monitors that a swing track the of pedal plate departs from a preset track, angle signals of the pedal plate are sent to the control device, the control device receives the angle signals and adjust output power of the driving device; thus, the pedal plate can swing along the preset track.

The invention discloses an improved ankle rehabilitation mechanism based on a Stewart platform. The improved ankle rehabilitation mechanism based on the Stewart platform comprises six telescopic branch chains; the telescopic branch chains are composed of motors, speed reducers and lead screws, and are symmetrically distributed relative to an intermediate plane at initial positions, and the motorsdrive the speed reducers and the lead screws to convert the rotational motion of the motors into linear motion; the telescopic branch chains are connected with a static platform and a movable platformthrough hinges respectively. The improved ankle rehabilitation mechanism based on the Stewart platform has the advantages that a parallel mechanism is improved based on the Stewart platform accordingto working space required for the rehabilitation of the ankle, the accessible working space is space formed by translating and scaling a prismatic section in the direction perpendicular to the staticplatform, the skillful working space has a wide range of angular motion, and the functional requirements of the ankle rehabilitation robot can be better met.

The invention relates to a multi-mode compliance training method for a parallel ankle rehabilitation robot driven by a servo motor on the basis of an admittance model. The multi-mode compliance training method comprises three training modes, i.e., passive compliance, isotonic training and active training. The three training modes can perform single-axis movement in three freedom degree directionsof dorsal extension / plantar flexion, adduction / abduction and introversion / extroversion, and also can perform multi-axis linkage. A man-machine coupling system of the ankle rehabilitation robot is equivalent to a mass-spring-damping second-order system; an output angle of a robot moving platform is converted into convolution of an input torque and a pulse function; and corresponding admittance model transformation is carried out according to respective characteristics of three compliance training modes to respectively realize compliance training of three rehabilitation stages, i.e., an early stage with weak ankle muscle strength, a middle stage with a certain muscle strength level of ankle joints and a later stage of rehabilitation training with a high muscle strength level of the ankle joints. The multi-mode compliance training method provided by the invention can adapt to different rehabilitation training stages of patients with ankle function impairment and meets the requirements ofankle rehabilitation training in different stages for compliance and safety.

The invention belongs to the technical field of ankle rehabilitation mechanisms, and particularly relates to an axis-adjustable ankle rehabilitation apparatus. By the aid of the axis-adjustable ankle rehabilitation apparatus, the technical problems that movement axes of existing ankle rehabilitation apparatuses do not coincide with activity axes of the ankles of human bodies, mechanisms are provided with large quantities of actuators and are high in parallel cooperative control difficulty and poor in flexibility and the like can be solved. The axis-adjustable ankle rehabilitation apparatus comprises a turnover device, a shank fixing device, a movement axis adjusting device, a movement executing device and a pedal plate adjusting device. The movement axis adjusting device comprises a mechanism for adjusting the movement axis of the movement executing device to allow the movement axis of the movement executing device to coincide with the movement axes of the ankles of human bodies and a mechanism for adjusting rotation angles of the movement axis of the movement executing device on a turnover platform. The axis-adjustable ankle rehabilitation apparatus has the advantages that the movement axes of the rehabilitation apparatus can coincide with activity axes of the ankles of the human bodies, accordingly, action requirements on the ankles during rehabilitation training can be assuredly met, and rehabilitation effects can be improved to a great extent.