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Lower limb rehabilitation training robot mechanism with human-machine motion compatibility

A rehabilitation training and compatibility technology, applied in the direction of passive exercise equipment, physical therapy, etc., can solve problems such as motion interference, safety issues, and difficulty in rehabilitation training, and achieve the effect of improving motion compatibility and safety

Inactive Publication Date: 2012-03-28
BEIJING UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

If a small elastic deformation is allowed at the man-machine joint (soft tissue elastic deformation at the joint of the lower limbs of the human body), then in the process of rehabilitation training, when the relative configuration of the large and small legs deviates to a certain extent , due to the excessive elastic deformation of the connecting parts, movement interference will inevitably occur, which will make rehabilitation training difficult or cause safety problems

Method used

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  • Lower limb rehabilitation training robot mechanism with human-machine motion compatibility
  • Lower limb rehabilitation training robot mechanism with human-machine motion compatibility
  • Lower limb rehabilitation training robot mechanism with human-machine motion compatibility

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Experimental program
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Effect test

Embodiment approach 1

[0024] Embodiment 1 of the present invention is as Figure 4 As shown, the connection (wearing) between the lower limb rehabilitation training robot mechanism and the lower limbs of the human body is: the intersection of the revolving joint A and the revolving joint B of the left branch of the exoskeleton coincides with the center point of the ball and socket hip joint 23 of the human left lower limb. The rotation axis of the revolute joint C and the rotation axis of the spherical knee joint 24 of the left lower limb of the human body are parallel to each other, and the left branch is tightly connected with the upper and lower legs of the left lower limb through the strap 9 and the strap 14 respectively. The intersection of the rotation axis of the revolute joint D and the revolute joint E of the right branch of the exoskeleton coincides with the center point of the human body from the lower limb ball-and-socket hip joint 27, and the rotation axis of the revolute joint F and the ...

Embodiment approach 2

[0026] Embodiment 2 of the present invention is as Figure 5 As shown, in this embodiment, the connection between the lower limb rehabilitation training robot mechanism and the lower limbs of the human body is the same as that of the first embodiment. The difference between the second embodiment and the first embodiment is that the slider 12, the rod 13, the slider 20 and the rod 21 are removed from the robot mechanism, and the rod 11 and the rod 19 are directly connected to the ball joint H and The ball joint J is directly fixed.

Embodiment approach 3

[0028] Embodiment 3 of the present invention is as Image 6 As shown, in this embodiment, the connection between the lower limb rehabilitation training robot mechanism and the lower limbs of the human body is the same as that of the second embodiment. The difference between the third embodiment and the second embodiment is that in the ball joint H and the ball joint J, the degrees of freedom of rotation around the rod 11 and the rod 19 in the rod length direction are removed, and the ball joint H and the ball joint J The joint J respectively degenerates into Hooke's hinge joints 31 and 32 with two rotational degrees of freedom.

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Abstract

The invention relates to a lower limb rehabilitation training robot mechanism with human-machine motion compatibility. The mechanism is formed by an external skeleton mechanism, as well as a connecting joint and a connecting piece for connecting a lower limb of a human body, wherein the external skeleton mechanism comprises a left branch mechanism and a right branch mechanism which are arranged symmetrically and respectively consist of a waist component, an upper leg component, a lower leg component, a coxa joint and a knee joint; the two branch mechanisms are connected into a whole by virtueof the waist connecting component; the upper leg component and the lower leg component of each branch mechanism are connected with thigh and crus of a single lower limb of the human body by virtue ofthe connecting joint and the connecting piece; and the external skeleton mechanism and all connecting joints and connecting pieces form the lower limb rehabilitation training robot mechanism. According to the lower limb rehabilitation training robot mechanism, wider left-right side swing motion and front-back buckling motion of the lower limb of the human body can be guided. Furthermore, the motion compatibility of a human-machine system formed by wearing the lower limb rehabilitation training robot mechanism is remarkably improved, and the safety and effectivity of lower limb rehabilitation training can be improved.

Description

Technical field [0001] The invention relates to a lower extremity rehabilitation training robot mechanism with man-machine motion compatibility, which can be used as a basic component unit of a wearable lower extremity rehabilitation training robot system, and is used for rehabilitation training of patients with lower extremity hemiplegia or lower extremity motor function impairment. To help patients restore lower limb motor function and normal gait reconstruction. Background technique [0002] Weight loss walking training is the main method used in lower limb rehabilitation medical treatment. Part of the patient's body weight is carried by the sling to reduce the load on the lower limbs, and rehabilitation training is carried out with the help of a sports tablet. The training process generally requires two physicians to coordinate with each other. One physician helps the patient to complete the lower limb swing and foot-plate contact movement, and the other physician keeps the p...

Claims

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Application Information

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IPC IPC(8): A61H1/02
Inventor 李剑锋吴希瑶邓楚慧肖博张自强
Owner BEIJING UNIV OF TECH
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