Parallel type lower limb exoskeleton rehabilitation training device

Abstract

The invention provides a parallel type lower limb exoskeleton rehabilitation training device which comprises a waist support frame, a hip-joint convolution annular rotation unit, a hip-joint inwards-folding outwards-unfolding unit, a hip-joint bending and stretching unit, and a knee joint bending and stretching unit, wherein the hip-joint convolution annular rotation unit can realize the actions of inward rotation, outward rotation and annular rotation of a hip-joint under the drive of a rotation motor; the hip-joint inwards-folding outwards-unfolding unit realizes the actions of inwards-folding and outwards-unfolding of the hip-joint through the control on the expansion amount of a push rod of a folding-unfolding electric cylinder; the hip-joint bending and stretching unit realizes the actions of bending and stretching of the hip-joint through the control on the expansion amount of a push rod of a bending and stretching electric cylinder; the knee joint bending and stretching unit realizes the actions of bending and stretching of a knee joint through the control on the expansion amount of a push rod of a knee joint bending and stretching electric cylinder. Through the adoption of the parallel type lower limb exoskeleton rehabilitation training device, the rehabilitation training for all the basic actions of lower limbs can be realized, that is, movements of the hip-joint around three basic axes, including basic movements of bending, stretching, inwards-folding, outwards-unfolding, inward rotation, outward rotation and annular rotation, as well as the bending and stretching of the knee joint can be realized.

Description

Technical field [0001] The invention relates to a medical rehabilitation system, in particular to a parallel type lower limb exoskeleton rehabilitation training device. Background technique [0002] At present, the rehabilitation training of lower limbs for patients with hemiplegia and stroke has attracted the attention of researchers at home and abroad. With the increasing number of such patients and patients with lower limb movement disorders, it has become an urgent need to restore the living ability of these people and rehabilitation training. Therefore, it is of great significance to design a robot system that can perform rehabilitation training and neural function recovery on the joints and muscles of the disabled lower limbs. [0003] At present, there are many related patents at home and abroad, with similar functions. A wearable lower extremity exoskeleton rehabilitation robot (Chinese Patent: Patent No. 201310572075.2) proposes a motor-based direct drive joint mechanism,...

AI Technical Summary

Problems solved by technology

Wearable lower extremity exoskeleton rehabilitation robot (Chinese Patent: Patent No. 201310572075.2), proposes a motor-based direct-drive joint mechanism, which can only realize two simple movements of hip joint flexion and knee joint flexion and extension; a wearable The lower extremity exoskeleton walking aid robot (201310034245.1) proposed a lower extremity exoskeleton mechanism driven by a screw nut. The mechanism uses two motor screw nut pairs for one leg to achieve hip flexion and knee flexion and extension without hip Joint extension and rotation functions; a wearable exoskeleton lower limb rehabilitation training robot device (201210168601.4), a lower limb rehabilitation training device based on 3-RPS parallel mechanism, which can realize hip joint flexion and extension, knee joint flexion and extension Sports, but the driving method is pneumatic, it is dangerous to not be able to control the expansion and contraction of the cylinder in real time during training, and it does not have the hip joint rotation movement, the installation and adjustment of the adjustment mechanism are more complicated

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