Six-degree-of-freedom wearable lower limb exoskeleton rehabilitation robot

Abstract

The invention discloses a six-degree-of-freedom wearable lower limb exoskeleton rehabilitation robot which comprises a waist supporting mechanism, hip joint exoskeleton mechanisms, knee joint exoskeleton mechanisms and ankle joint exoskeleton mechanisms, the waist supporting mechanism is connected with the hip joint exoskeleton mechanisms, the hip joint exoskeleton mechanisms are connected with the knee joint exoskeleton mechanisms, and the ankle joint exoskeleton mechanisms are connected with the knee joint exoskeleton mechanisms. The knee joint exoskeleton mechanisms are connected with the ankle joint exoskeleton mechanisms. According to the invention, three-degree-of-freedom movement of hip joint anteflexion / backward extension, adduction / abduction and internal rotation / external rotation, single-degree-of-freedom movement of knee joint flexion / extension and two-degree-of-freedom movement of ankle joint dorsal flexion / plantar flexion and introversion / extroversion are realized. Movement of the hip joint and the knee joint is driven by a motor, the knee joint exoskeleton mechanisms adopt bionic human knee joint design, and elastic element design is added to the ankle joint exoskeleton mechanisms. The six-degree-of-freedom wearable lower limb exoskeleton rehabilitation robot is well attached to joints of a patient, comfortable rehabilitation training of the patient is facilitated, and the rehabilitation training effect is improved.

Description

technical field [0001] The invention relates to a device in the field of medical rehabilitation equipment, in particular to a wearable lower limb exoskeleton rehabilitation robot used for the movement rehabilitation of human lower limbs. Background technique [0002] With the rapid development of society and continuous economic progress, the fast-paced lifestyle and the increase of means of transportation, as well as the influence of environmental factors, the number of people with neurological injuries and limb injuries is on the rise. Walking is an important part of human daily life. Due to certain neuromuscular diseases, trauma, aging and other reasons, the number of people who have walking inconvenience, lower limb weakness, lower limb movement disorders, and limb function decline caused by geriatric diseases is increasing year by year. The trend has also brought a heavy burden to society and families. Therefore, it is imperative to seek effective rehabilitation methods...

AI Technical Summary

Problems solved by technology

However, traditional lower extremity rehabilitation training requires the assistance of rehabilitation therapists throughout the whole process due to the simple training equipment. In the case of limited number and energy of rehabilitation therapists, it will lead to problems such as expensive training and short training time.

In addition, manual training will also lead to a substantial increase in the deviation rate and error rate of rehabilitation training, thereby restricting the actual efficacy of rehabilitation training

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