Lower limb rehabilitation robot capable of balancing self-weight and using method thereof

Abstract

The invention relates to a lower limb rehabilitation robot capable of balancing self-weight. The lower limb rehabilitation robot mainly comprises a hip joint assembly with a self-weight balancing device, a knee joint assembly capable of achieving self-locking protection, an ankle joint assembly capable of achieving self-locking protection, a manual length adjusting assembly and leg binding deviceswhich are connected in sequence. According to the invention, the self-weight balancing device of the lower limb rehabilitation robot is designed, so that the required output torque is reduced, and therefore the size of a driving system is reduced. According to the leg binding device of the lower limb rehabilitation robot, adjustment in the leg direction, transverse adjustment perpendicular to theleg direction and rapid disassembly and assembly can be conducted in a working process; through connection of the leg binding devices at the thigh and shank positions with a patient, rehabilitation training of flexion and extension movement of the hip joint, flexion and extension movement of the knee joint and toe flexion and dorsal extension movement of the ankle joint of the patient can be achieved, and the lengths of thighs and shanks can be adjusted. In addition, the device is simple in structure, is convenient to operate, is small in size, light in weight and good in safety protection performance, and meets the industrial standard of medical equipment.

Description

Technical field [0001] The invention relates to a rehabilitation robot, in particular, to a lower limb rehabilitation robot capable of balancing its own weight. Background technique [0002] The lower extremity rehabilitation robot is designed to deal with the injury of the patient's lower extremity, and is provided to patients with spinal cord injury, cerebral palsy or limb injury patients after surgery, for effective lower extremity rehabilitation training for the patient. When the patient performs gait action, the joint activity of the robot drives the patient's movement, thereby activating the injured part of the patient and playing the role of rehabilitation treatment. [0003] There are many types of existing lower limb rehabilitation robots, most of which use exoskeleton robots. Due to the complexity of the drive system and mechanical structure of exoskeleton robots, the size, weight, and safety of the robots are often poor, and the robots have a large weight. The drive sys...

AI Technical Summary

Problems solved by technology

[0003] There are many types of existing lower limb rehabilitation robots, most of which use exoskeleton robot mechanisms. Due to the complexity of the drive system and mechanical structure of exoskeleton robots, the size, weight and safety of the robot are often poor, and the robot has a large weight. The drive system needs to drive its own weight, which leads to higher requirements for the drive system, which in turn increases the size of the robot; in addition, most of the leggings of existing lower limb rehabilitation robots can only be adjusted in the length direction of the straps, and few of them can adjust the length of the straps. Longitudinal adjustment along the leg direction during work to alleviate the discomfort caused by the straps pulling on the patient during movement; and there is no lateral position of the leggings device relative to the mechanical leg, so that the lower limb rehabilitation robot cannot be used for poor leg straightness patients, such as those with X-legs or O-legs

In addition, most of the leggings are fixed on the mechanical legs and cannot be disassembled quickly, which is inconvenient for medical staff to operate

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