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Soft cable and pneumatic muscle combined drive robot for waist rehabilitation

A pneumatic muscle and waist rehabilitation technology, which is applied in the field of medical rehabilitation training equipment, can solve the problems that the effect of the flexible cable is not obvious, the angle of waist rotation is limited, and it is difficult to adapt to bending and swinging, so as to achieve the effect of good rehabilitation training effect.

Active Publication Date: 2014-11-05
HEFEI UNIV OF TECH
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  • Abstract
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Problems solved by technology

Under the existing technical conditions, the waist is generally driven by flexible cables to rotate, but the effect of flexible cable-driven rotation is not very obvious. In this process, the angle of waist rotation is very limited, and it is difficult to adapt to bending and swinging at a large angle. Rehabilitation is less efficient, while pneumatic muscles are good for driving a larger range of rotation

Method used

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  • Soft cable and pneumatic muscle combined drive robot for waist rehabilitation
  • Soft cable and pneumatic muscle combined drive robot for waist rehabilitation
  • Soft cable and pneumatic muscle combined drive robot for waist rehabilitation

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Embodiment Construction

[0023] The present invention will be further described below in conjunction with the embodiment in the accompanying drawings:

[0024] Such as figure 1 As shown, a soft cable pneumatic muscle joint drive waist rehabilitation device includes a cube base 1, a flexible cable drive part 4, a pneumatic muscle drive part 3, a rotating platform 2 and a waist platform 15, and the bottom of the cube base 1 is provided in the middle. There is a rotating platform 2 for the human body to stand and drive the waist to rotate. Above the rotating platform 2, a waist platform 15 is provided according to the average adult height to assist the human body to stand and drive the waist to move. The waist platform 15 is horizontal The U-shaped waist platform is placed, the two sides of the U-shaped waist platform are respectively connected to a set of pneumatic muscle driving parts 3, and the two ends and the bottom of the U-shaped end are respectively connected to a flexible cable driving part 4; ...

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Abstract

The invention discloses a soft cable and pneumatic muscle combined drive robot for waist rehabilitation. The robot comprises a cubic base, a soft cable drive part, a pneumatic muscle drive part, a rotating platform and a waist platform. The rotating platform is arranged in the middle of the bottom of the cubic base. The waist platform is arranged above the rotating platform according to the average height of adults. The waist platform is a U-shaped waist platform horizontally arranged. The U-shaped waist platform is connected with the pneumatic muscle drive part and the soft cable drive part. In the rehabilitation training process, the pneumatic muscle drive part (3) drives the waist to simulate rotation along the X axis and the Y axis. The soft cable drive part drives the waist to simulate the translation track of the human body pelvic bone along the X axis, the Y axis and the Z axis in the normal walking process. The rotating platform drives the waist to simulate rotation along the Z axis, and therefore six-freedom-of-motion rehabilitation training of the waist can be achieved. According to the robot for waist rehabilitation training, the training intensity and the amplitude size can be adjusted in regard to the different patient individuals, and the adaptation of the robot can be improved.

Description

technical field [0001] The invention relates to a medical rehabilitation training device, in particular to a lumbar rehabilitation robot with 6 degrees of freedom combined with flexible cables and pneumatic muscles. technical background [0002] The number of patients with lumbar movement disorders caused by the aging society and other unexpected reasons is on the rise, so there is a further requirement for improving the level and efficiency of lumbar rehabilitation training. Under the existing technical conditions, the waist is generally driven by flexible cables to rotate, but the effect of flexible cable-driven rotation is not very obvious. In this process, the angle of waist rotation is very limited, and it is difficult to adapt to bending and swinging at a large angle. Rehabilitation is less efficient, yet pneumatic muscles are good for driving a larger range of rotation. Therefore, the waist rehabilitation robot driven by flexible cables and pneumatic muscles can effe...

Claims

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Application Information

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IPC IPC(8): A61H1/02
Inventor 訾斌孙凤龙尹光才
Owner HEFEI UNIV OF TECH
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