Ankle joint device of lower limb rehabilitation training robot

Abstract

The invention discloses an ankle joint device of a lower limb rehabilitation training robot, which is suitable for a serial structure and belongs to the field of rehabilitation medical equipment. The ankle joint device realizes triple safety protection, namely control of the speed and motion position range of a motor 13 by software and limit of the safety limit motion range of an ankle joint motor 13 by a travel switch 13 and a mechanical spacer pin 1. The ankle joint motor 13 is arranged in a foot box 11 and a foot box 19; a synchronous belt pulley 3 and a synchronous belt pulley 15 transfer motion; a synchronous belt tensioning mechanism 16 is arranged; an ankle joint bracket 14 is fixed on an internal ankle joint protective plate 4 and an external ankle joint protective plate 18; a foot pedal 19 can rotate relatively to a hinge pin at a position B of the ankle joint bracket 14; data measurement of positive and negative torques of feet is realized by a pressure sensor 7 and a pressure sensor 9; and a sensor sleeve 6, a sensor sleeve 8 and a sensor sleeve 10 can pre-fasten the upper sensor 7 and the lower sensor 9 respectively.

Description

technical field [0001] The invention discloses an ankle joint device of a lower limb rehabilitation training robot, which belongs to the field of medical equipment. Background technique [0002] The rehabilitation treatment of paraplegic patients has changed from traditional manual physical therapy to automatic treatment covering multiple disciplines and technologies. The combination of robotics and rehabilitation medicine is one of the main areas of robotics applications. The existing ankle joint rehabilitation devices have the following deficiencies: (1) the single fixed ankle rehabilitation device makes the traction movement track of the whole lower limbs single, and the movement space of the lower limbs is limited; (2) the foot force / torque data acquisition The cost of the sensor is high or the force / torque sensor is not installed, so that the rehabilitation training lacks a scientific and quantitative reference; (3) the existing lower limb rehabilitation training devic...

AI Technical Summary

Problems solved by technology

The existing ankle joint rehabilitation devices have the following deficiencies: (1) the single fixed ankle rehabilitation device makes the traction movement track of the whole lower limbs single, and the movement space of the lower limbs is limited; (2) the foot force / torque data acquisition The cost of the sensor is high or the force / torque sensor is not installed, so that the rehabilitation training lacks a scientific and quantitative reference; (3) the existing lower limb rehabilitation training device including the ankle joint has a large structure size

The main reason is that multiple sensor installations and joint drive design schemes should be considered at the same time; (4) the existing rehabilitation training device does not fully consider the multiple protection of the patient's lower limbs, and there is a potential secondary injury to the patient's lower limbs if there is a mechanical or control failure

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