Rehabilitation training robot for lower limbs of human bodies

Abstract

The invention discloses a rehabilitation training robot for lower limbs of human bodies. The rehabilitation training robot comprises an exoskeleton power device, a treadmill, a waist connecting device, a suspension weight reducing device and a control system of the suspension weight reducing device. The rehabilitation training robot has the advantages that the human bodies can be driven by the exoskeleton power device to be trained according to gait tracks of normal persons during walk; the treadmill is cooperated with exoskeletons, and accordingly identical training speeds can be provided topatients; the human bodies can be hung by the suspension weight reducing device by the aid of ropes, the patients can be pulled to move according to predetermined tracks in the up-down directions, andweight reducing force can be provided; the waist connecting device is a connecting portion for the exoskeleton power device and the suspension weight reducing device, the widths of the human bodies can be adaptively adjusted, and requirements of rising and falling movement of the human bodies in walking procedures can be met; gait training can be carried out on the patients according to predetermined gait tracks under the effects of gait training and suspension weight reducing control systems, the patients can be pulled by a weight reducing system to move according to synchronous gravity center tracks, accordingly, rising and falling change of the bodies when normal human bodies walk can be simulated, and rehabilitation effects can be improved.

Description

technical field [0001] The invention relates to medical rehabilitation equipment, in particular to a human lower limb rehabilitation training robot. Background technique [0002] For patients suffering from central nervous system diseases such as spinal injuries and strokes, the vast majority will face movement disorders, and most of the patients have varying degrees of loss of living ability and working ability, which seriously endangers their health. Modern medicine believes that by repeatedly providing a certain intensity of stimulation to the central nervous system, the functional walking ability of patients after central nervous system injury can be restored. At present, the traditional lower limb rehabilitation training is that professional physical therapists repeatedly pull the patient's affected limb according to the gait of normal human walking "hand in hand" to stimulate the motor central nervous system and assist them to obtain walking ability. However, this meth...

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Problems solved by technology

[0003] Chinese patents CN106344340A and CN105997441B both relate to a wearable lower limb walking rehabilitation robot, but both need to provide patients with a large range of venues for their activities, and at the same time, patients need to rely on tools such as crutches to maintain body balance and balance Poor, leading to poor training quality

Chinese Patent No. CN102836048B relates to a tilting bed-type lower limb rehabilitation training robot. The patient lies on the bed and the upper body is fixed, which limits the upper body movement of the human body and causes physical discomfort. At the same time, because the body is in a tilted state, the real walking environment cannot be completely restored. less effective

The Chinese patent "Suspension Adaptive Weight Loss Device and Rehabilitation Training Robot for Rehabilitation Training" (CN107693301A) proposes an adaptive weight loss box including a rope hoisting device and an adaptive center of gravity follower device, although it reduces the robot's footprint, and To a certain extent, the real walking environment is restored. However, since the lower limb training aids cannot move independently and cannot simulate normal walking gait, it is difficult for patients to maintain body balance during training, and the center of gravity follows the effect poorly, which not only affects the training effect, It is also easy to cause some harm to patients

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