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Medical rehabilitation robot and motion control method for hip joint rehabilitation

A technology of rehabilitation robots and hip joints, applied in sports accessories, passive exercise equipment, space-saving games, etc., can solve the problems of backward technology, late start of research on rehabilitation robots, and limited ability of patients who cannot stand upright, etc., to achieve improvement Effects on motor function, improved range of motion, increased proprioceptive input

Active Publication Date: 2022-05-27
BEIJING UNION UNIVERSITY
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

Compared with foreign rehabilitation robot research, my country's research institutions started late in the research on rehabilitation robots, and the technology is relatively backward
The structure of hip joint rehabilitation robots is mainly suspended or wearable exoskeleton, which has limited ability to use for patients who cannot stand upright

Method used

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  • Medical rehabilitation robot and motion control method for hip joint rehabilitation
  • Medical rehabilitation robot and motion control method for hip joint rehabilitation
  • Medical rehabilitation robot and motion control method for hip joint rehabilitation

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Embodiment Construction

[0043] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0044] The joint rehabilitation robot is to improve the range of motion of the joint, improve the muscle strength, relieve the muscle tension, increase the proprioceptive input, and improve the coordination, flexibility and movement speed of the joint by performing active and passive motions in different angles and directions of the joint, thereby improving the joint. movement function. In view of this, the embodiment of the present ...

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Abstract

The invention relates to a medical rehabilitation robot and a motion control method for hip joint rehabilitation. The medical rehabilitation robot has a double parallelogram structure: a rotary electric cylinder (8) drives a rotary table (7), a turning mechanism (3), a large The arm (4) and the small arm (2) rotate around the center of rotation together; the turning electric cylinder (9) drives the turning mechanism (3), the big arm (4) and the small arm (2) to rotate around the turning center; the big arm electric cylinder ( 6) Drive the boom (4) and the small arm (2) to rotate around the boom rotary shaft (2407); the small arm electric cylinder (1) drives the small arm (2) to rotate around the small arm rotary shaft (2403). The lower limbs of the human body to be rehabilitated are fixed on the medical rehabilitation robot. Through the adjustment of the three degrees of freedom of the hip joint and the adjustment of the single degree of freedom of the knee joint, the linkage between the hip joint and the knee joint is realized, and the hip joint is driven to complete hip flexion, external rotation, internal rotation, and external rotation. To achieve the purpose of passive rehabilitation in the hip joint rehabilitation process.

Description

technical field [0001] The invention relates to the technical field of medical rehabilitation equipment, in particular to a medical rehabilitation robot for hip joint rehabilitation and a hip joint rehabilitation motion control method using the medical rehabilitation robot. Background technique [0002] At present, the research on hip rehabilitation institutions can be divided into two types in terms of the types of institutions: series institutions and parallel institutions. The development of the tandem mechanism is relatively early, the research time is relatively long, the results are relatively rich, and there are many applications in hip joint rehabilitation. The research on parallel mechanism began in the 1950s, and the application of parallel mechanism in hip rehabilitation institutions is relatively small. Compared with foreign research on rehabilitation robots, the research on rehabilitation robots in my country's research institutions started late, and the techno...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): A63B23/04A63B21/00A61H1/02
CPCA63B23/0405A63B21/00178A61H1/0255A63B2210/04A61H2201/0142A61H2201/1207A61H2201/1642A61H2201/163A61H2205/088A61H2205/10A61H2205/102
Inventor 谭苗苗
Owner BEIJING UNION UNIVERSITY
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