Gait rehabilitation training robot

Abstract

The invention discloses a gait rehabilitation training robot. The robot includes a support frame, a sliding block linkage mechanism, a driving device and a controller controlling the driving device, wherein the sliding block linkage mechanism is arranged on the support frame and can be connected with the human body, and the driving device is arranged on the support frame and drives the sliding block linkage mechanism to move. In these structures, the structures which drive the thighs or shanks and other single joints of the human body to move only include the sliding block linkage mechanism and the driving device. Compared with existing outer exoskeletons of multiple driving components and transmission components, the robot has the advantages that the structures are simpler, the man-robotadaptability and movement flexibility are both improved, the alignment effect of the structures to human joints can also be further improved through the simple structures, joint alignment errors are avoided, and meanwhile, since the sliding block linkage mechanism and the driving device are arranged on the support frame, a patient has no need to put on the sliding block linkage mechanism and the driving device so that the burden of the patient can also be reduced.

Description

technical field [0001] The invention relates to the technical field of medical equipment, in particular to a gait rehabilitation training robot. Background technique [0002] In recent years, with the aggravation of the aging population in my country, the increase in the number of traffic accidents, the frequent occurrence of natural disasters, and the increasing number of people with lower limb motor dysfunction caused by various diseases (especially stroke, stroke, spinal cord injury, etc.), This imposes a heavy burden on patients themselves, their families and society. Modern rehabilitation medicine studies have shown that the human central nervous system has plasticity, and reasonable rehabilitation training for patients with limb movement disorders can help form new neural circuits and improve their exercise capacity. The traditional gait training of patients is generally completed by rehabilitation physicians assisting patients. However, the huge patient population in ...

AI Technical Summary

Problems solved by technology

[0004] (1) Exoskeleton robots usually need to be worn on the outside of the patient's torso. In order not to affect the normal movement of the human body, the structure and distribution of degrees of freedom of the exoskeleton robot need to match the structure and degrees of freedom of the human joints. More active and passive degrees of freedom are added to the exoskeleton of the human body, that is, there are sometimes multiple driving components and multiple transmission components for a kinematic joint of the human body, which not only leads to a more complex structure, but also inevitably leads to poor compliance and even man-machine Interference and other issues, and the robot itself may become a load on the patient, hindering the patient's movement

[0005] (2) Although designers usually design the structure of the large and small legs of the exoskeleton robot as an adjustable mechanism to meet the needs of patients of different heights, it is difficult to accurately measure the positions of the human hip and knee joints, so by adjusting the complex external There are certain limitations in the way the bone structure is adapted to the length of the patient's large and small legs, resulting in alignment errors between the hip and knee joints of the exoskeleton and the human hip and knee joints

[0006] (3) Traditional exoskeleton robots drive patients to perform rehabilitation training according to the gait curve preset by the control system, and do not distinguish the differences in gait curves of patients with different body types and heights. Different patients use the same gait curve. Training according to the state curve will affect the effect of rehabilitation training

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