Flexible exoskeleton ankle rehabilitation actuator based on leaf spring driving

Abstract

The invention discloses a flexible exoskeleton ankle rehabilitation actuator based on leaf spring driving, and relates to the technical field of human body exercise rehabilitation. The size is relatively small, carrying is convenient, the ankle driving structure can coincide with the rotation center of a human body joint all the time, and secondary injury to a patient is avoided. The ankle rehabilitation actuator comprises a leg supporting piece, a foot supporting piece, a bottom plate component and two groups of ankle driving assemblies; the lower end of the leg supporting piece is hinged to the upper end of the foot supporting piece; the upper ends of the two ankle driving assemblies are connected to the left side and the right side of the leg supporting piece respectively, and the lower ends of the two ankle driving assemblies are connected to the left side and the right side of the bottom plate component respectively; the bottom plate component can drive the foot supporting piece to swing; each ankle driving assembly comprises a linear motor and a spring piece, the upper end of the linear motor is connected with the leg supporting piece, and the lower end of the linear motor is hinged to the upper end of the spring piece; and the lower end of the spring piece is connected with the bottom plate component through a hinge component. The performance of the ankle rehabilitation actuator is improved.

Description

technical field [0001] The present application relates to the technical field of human motion rehabilitation, and in particular to a flexible exoskeleton ankle rehabilitation actuator driven by spring sheets. Background technique [0002] The ankle is one of the most important joints in the human body. Stroke can lead to ankle motor dysfunction in patients, which seriously affects daily life. The central nervous system of stroke patients is generally damaged. Relevant studies have shown that the central nervous system has a high degree of plasticity, and corresponding rehabilitation training can speed up the recovery of the central nervous system. For example, CPM (Continuous passive motion) can prevent joint stiffness and improve joint mobility. However, since the current rehabilitation training mainly involves one-on-one rehabilitation treatment between rehabilitation physicians and patients, there are the following disadvantages: 1. High cost; 2. The rehabilitation effec...

AI Technical Summary

Problems solved by technology

However, since the current rehabilitation training mainly involves one-on-one rehabilitation treatment between rehabilitation physicians and patients, there are the following disadvantages: 1. High cost; 2. The rehabilitation effect is affected by the level of rehabilitation physicians, and there is a lack of objective training data. Difficult to quantify the effect

[0003] However, the existing ankle rehabilitation robot has the following problems: 2. It is generally a rigid linkage mechanism, and its rotation center is difficult to coincide with the rotation center of the patient's limbs, which may cause secondary injury to the patient; 2. The volume and weight are relatively large and inconvenient Portable, affecting patient experience; 2. The number of rigid linkage mechanisms is large, and the operation control is relatively complicated

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