Parallel three-degree-of-freedom ankle joint rehabilitation robot

Abstract

The invention relates to a parallel three-degree-of-freedom ankle joint rehabilitation robot. The ankle joint rehabilitation robot comprises an adjustable pedal, a movable platform, an inner branch chain, a middle branch chain, an outer branch chain, first belt wheel tensioning apparatus, second belt wheel tensioning apparatus, third belt wheel tensioning apparatus and a static platform. The wholerobot is a 3-RRS parallel mechanism, the three branch chains are coaxially installed on a stepped shaft of the static platform, the middles of the branch chains are connected through middle revolutepairs, the tail ends of the branch chains are connected with the movable platform through ball pairs, the axes of base shaft revolute pairs of the three branch chains coincide with a common axis, theaxes of the middle revolute pairs of the three branch chains are perpendicular to one another in a space, the common axis of the three branch chains at the positions of the base shaft revolute pairs and the axes of the middle revolute pairs intersect at a fixed point in the space, and the movable platform has three degrees of freedom rotated around the fixed point. The adjustable pedal is installed on the movable platform, the situation that the ankle joint rotating center coincides with the robot space fixed point is guaranteed by adjusting a height of the adjustable pedal relative to the movable platform and a length of the pedal, and thereby a patient can be helped to do three rehabilitation exercises of back stretching / toe bending, inversion / eversion and inward rotation / outward rotation, or composite rehabilitation exercises. The ankle joint rehabilitation robot is compact in structure, high in control precision, safe, reliable and capable of accurately meeting rehabilitation requirements of patients with the ankle joint injury.

Description

technical field [0001] The invention relates to a medical rehabilitation training device, in particular to a parallel three-degree-of-freedom ankle joint rehabilitation robot. Background technique [0002] Ankle joint sprain is a common type of sports injury of the musculoskeletal system in orthopedic clinics. When the human body performs related sports with the trunk upright, the overall weight is loaded on the ankle joint, especially when the human body performs strenuous exercises such as running and jumping. The loads and impacts are subjected to a sharp increase. Due to untimely treatment, improper treatment or premature strenuous exercise, patients with ankle sprains can easily cause ligament relaxation, repeated sprains, and eventually lead to chronic ankle instability, causing great trouble to the patient's physical and mental health. With the development of robotics technology, ankle rehabilitation robots have gradually been recognized clinically in place of doctor...

AI Technical Summary

Problems solved by technology

Rutgers Ankle is driven by 6 degrees of freedom based on the Stewart platform, which has a high power-to-weight ratio and is easy to maintain, but the cylinder drive makes it difficult to achieve good control; PKAnkle is based on the Agile Eye structure, which makes the ankle joint rotation center coincide with the robot rotation center to complete rehabilitation training. However, the structural characteristics lead to a limited range of motion of the ankle joint; TheMotionmaker combines sports training with functional electrical stimulation to achieve active and passive training, but it can only achieve one degree of freedom of dorsiflexion / toe flexion; YTK, which is put into use in the domestic market -E-type and JKF-1 ankle joint rehabilitation devices can provide single-axis passive rehabilitation training, but patients cannot perform active training and the degree of human-computer interaction is low

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