Long-cylinder type magneto-rheological damper lower limb rehabilitation robot

Abstract

The invention discloses a long-cylinder type magneto-rheological damper lower limb rehabilitation robot, and relates to the technical field of medical instruments. The long-cylinder type magneto-rheological damper lower limb rehabilitation robot is characterized in that a hip joint magneto-rheological damper rack and a knee joint magneto-rheological damper rack are arranged at the tail ends of a hip joint magneto-rheological damper and a knee joint magneto-rheological damper respectively; a hip joint belt wheel is partitioned into a part which is matched with a hip joint belt and a part whichis meshed with the hip joint magneto-rheological damper rack along the axial direction of the hip joint belt wheel; a knee joint belt wheel is partitioned into a part which is meshed with a knee jointbelt and a part which is meshed with the knee joint magneto-rheological damper rack along the axial direction of the knee joint belt wheel; a hip joint motor and a knee joint motor drive the hip joint belt wheel and the knee joint belt wheel to rotate through the hip joint belt and the knee joint belt respectively. By adopting the long-cylinder type magneto-rheological damper lower limb rehabilitation robot, the rotation damping torque of rehabilitation robot joints is adjusted by using the controllable damping characteristic of a magneto-rheological damper, so that the problem of over largeoutput torque of a driving motor is solved. Meanwhile, a damping resisting effect can be achieved during active exercise of a patient, so that the rehabilitation treatment effect is enhanced.

Description

technical field [0001] The invention relates to the technical field of medical instruments, in particular to a robot for rehabilitation treatment of lower limbs. Background technique [0002] Rehabilitation therapy, also known as rehabilitation physical therapy, is a special therapy that can prevent, improve and recover the dysfunction and low function of the patient's body. Traditional rehabilitation procedures rely on the therapist's experience and hands-on skills. In recent years, with the rapid increase in the number of patients, reforms to save medical resources and improve the efficiency of rehabilitation treatment are imminent. [0003] Rehabilitation robot is a new type of robot that has emerged in recent years and belongs to the category of medical robots. It mainly drives the limbs to do repetitive movements through machines, stimulates and promotes the reconstruction of the nervous system that controls the movement of the limbs, and is a new type of clinical inte...

AI Technical Summary

Problems solved by technology

[0009] The control method of this technical solution is complicated, the motor output torque control accuracy is not high, and when the output torque is too large, there is no installation safeguard for the human body; when people perform resistance training, the resistance cannot be adjusted

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