The invention discloses a sitting balance
rehabilitation training
robot and a control method thereof. The
robot comprises a seat structure, a sliding chute four-connection-rod drive structure, a spindle drive structure, a spindle inclination angle sensor and a
crank angle sensor, wherein the seat structure comprises supporting armrest frames, a back
cushion, a backrest, a supporting
cushion and the like; the sliding chute four-connection-rod drive structure comprises a rocker, a reduction gear support, a
crank, sliding chute connection rods, a stepping reduction gear, a stepping motor and the like; the spindle drive structure mainly comprises a drive spindle, a spindle support, a check ring, a torsional spring, a
spindle positioning block and the like. The inclination angle of a patient is recorded and measured by the spindle inclination angle sensor, the rotation speed and direction of the motor are controlled through real-time feedback, the patient is pushed by the backrest, armrests and other auxiliary systems to be straightened; the motor is controlled to rotate inversely and reset through real-time feedback by means of the angle sensor, the rocker and the sliding chute connection rods are separated, and the
crank of the motor resets to the zero point position.