CN103417356A - Gait rehabilitation training robot - Google Patents
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- CN103417356A CN103417356A CN2013102900274A CN201310290027A CN103417356A CN 103417356 A CN103417356 A CN 103417356A CN 2013102900274 A CN2013102900274 A CN 2013102900274A CN 201310290027 A CN201310290027 A CN 201310290027A CN 103417356 A CN103417356 A CN 103417356A
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Abstract
The invention provides a gait rehabilitation training robot. The gait rehabilitation training robot comprises a rehabilitation instrument platform and a wearable lower limb exoskeleton arranged on the rehabilitation instrument platform. The rehabilitation instrument platform is placed on the ground and provides a virtual walking environment for a patient; the wearable lower limb exoskeleton is worn on the lower limbs of the patient and provides walking driving for the patient, and accordingly gait rehabilitation training is performed. The gait rehabilitation training robot provides the virtual walking environment for the patient, and the patient is helped to gradually perform gait rehabilitation through the wearable lower limb exoskeleton worn the lower limbs of the patient and gradually has independent walking capability.
Description
Technical field
What the present invention relates to is a kind of device of medical rehabilitation instrument field, specifically a kind of gait rehabilitation training robot that virtual walking environment can be provided and help the patient to walk voluntarily gradually.
Background technology
Rehabilitation medicine is the new branch of science occurred mid-term in 20th century, its purpose is to pass through physiotherapy, exercise therapy, the life training, skill training, the multiple means such as speech training and psychological counselling alleviate and eliminate patient's dysfunction, the function of health residual fraction is fully played most, make up the afunction with reconstruction patients, reach taking care of oneself of maximum possible, the ability of work and work.According to statistics, at present China is because the limbs disturbance patient that apoplexy, spinal cord injury and various accident cause has 8,770,000 people, and wherein more than halfly can improve limb function by training.Traditional rehabilitation training is to be at first to start guidance by doing and illustrating from medical practitioner, then by patient's healthy upper limb or its family members, nurse, manually patient's suffering limb is drawn repeatedly.Along with scientific and technical development, the medical robot technology is rapidly developed, and healing robot is exactly the new application of robotics aspect rehabilitation medical.Because there is not tired problem in robot, can meet different patients' training strength requirement, thereby be more suitable for the patient and carry out separately rehabilitation training.
Through finding for existing technical literature retrieval.
Chinese invention patent publication number: CN202699534, title: limb rehabilitating exercising apparatus.Only can be passive perform physical exercise by spring tension, help patient rehabilitation gradually that can't be initiatively, simultaneously, also can't complete the gait rehabilitation of walking function.
Chinese invention patent publication number: CN202699967, title: a kind of rehabilitation training kicking machine.By the oscillating motor of hip joint, the help patient has completed the action of kicking, but can only carry out rehabilitation for single joint, and this relates to the rehabilitation course of a plurality of joints and harmony can't to complete walking.
Summary of the invention
The present invention is directed to the prior art above shortcomings, a kind of gait rehabilitation training robot that virtual walking environment can be provided and help the patient to walk voluntarily gradually is provided.
The present invention is achieved by the following technical solutions.
A kind of gait rehabilitation training robot comprises: instrument platform and be arranged at the wearable lower limb exoskeleton on the instrument platform, wherein:
-instrument platform, be placed on ground, and provide virtual walking environment for the patient;
-wearable lower limb exoskeleton, be worn on patient's lower limb, drives for the patient provides walking, thereby carry out the gait rehabilitation training.
Described instrument platform comprises: instrument base, polywedge bet walking band, walking band drive motors, handrail, supervision photographic head and touch-screen display; wherein; the walking that is installed on the instrument base drives with drive motors the polywedge bet walking band that is laid on instrument base central authorities and has formed a virtual walking environment, for patient's walking above polywedge bet walking band; Described handrail comprise the left handrail that is fixed in the instrument chassis left side, the right handrail that is fixed in instrument base right side and left handrail and right handrail front end and be connected to left handrail and right handrail between the place ahead fixed support; described left handrail and right handrail keep balance for the patient; described supervision photographic head is installed on left handrail or right handrail; for adjusting in real time the pace of polywedge bet walking band, thereby guarantee that patient's centre of body weight is substantially constant; Described touch-screen display is installed on the fixed support of the place ahead, for interactive environment is provided, allows the patient pass through autonomous, completes virtual walking task, carries out the gait rehabilitation training.
Described wearable lower limb exoskeleton comprises: waist ectoskeleton, left lower extremity ectoskeleton and right lower extremity ectoskeleton, wherein, described waist ectoskeleton and patient's waist are fixed, described left lower extremity ectoskeleton and right lower extremity ectoskeleton are connected on the waist ectoskeleton, and wherein, left lower extremity ectoskeleton and right lower extremity ectoskeleton are symmetrical arranged, and be bound to respectively patient's left and right thigh and shank, thereby drive patient's left and right thigh and shank motion, complete the walking action, carry out the gait rehabilitation training.
Described left lower extremity ectoskeleton and right lower extremity ectoskeleton include: hip joint ectoskeleton, thigh ectoskeleton rod member, knee joint ectoskeleton, shank ectoskeleton rod member, ankle joint ectoskeleton and foot's ectoskeleton; wherein; the hip joint ectoskeleton is connected with the waist ectoskeleton, and the exhibition of patient's hip joint side and hip joint flexion and extension ability are provided; Thigh ectoskeleton rod member is connected with the hip joint ectoskeleton, is worn on patient's thigh; The knee joint ectoskeleton is connected with thigh ectoskeleton rod member, and knee joint flexion and extension ability is provided; Shank ectoskeleton rod member is connected with the knee joint ectoskeleton, is worn on patient's shank; The ankle joint ectoskeleton is connected with shank ectoskeleton rod member, and ankle joint flexion and extension ability is provided; Foot's ectoskeleton is connected with the ankle joint ectoskeleton, is worn on patient foot.
Branch to hip joint frame plate, hip joint side exhibition motor, hip joint connector, hip joint bend and stretch motor and hip joint thigh rod member, and wherein, the branch to hip joint frame plate is connected with the waist ectoskeleton; Hip joint side exhibition motor uses harmonic speed reducer, and the output of hip joint side exhibition motor comprises inner flange and outward flange, drives hip joint side exhibition degree of freedom, and the outward flange of hip joint side exhibition motor is connected with the branch to hip joint frame plate; The hip joint connector is connected with the inner flange of hip joint side exhibition motor; Hip joint bends and stretches motor and uses harmonic speed reducer, and the output that hip joint bends and stretches motor comprises inner flange and outward flange, drives hip joint to bend and stretch degree of freedom, and the outward flange that hip joint bends and stretches motor is connected with the hip joint connector; Hip joint thigh rod member is connected with the inner flange that hip joint bends and stretches motor;
Described thigh ectoskeleton rod member comprises: thigh ectoskeleton sleeve and knee joint thigh rod member, and wherein, thigh ectoskeleton sleeve is connected with hip joint thigh rod member, can fix with patient's thigh; Knee joint thigh rod member is connected with thigh ectoskeleton sleeve, can stepless adjusting length;
Described knee joint ectoskeleton comprises: knee joint is bent and stretched motor and knee joint shank rod member; wherein; knee joint is bent and stretched motor and is used harmonic speed reducer; the output that knee joint is bent and stretched motor comprises inner flange and outward flange; drive knee joint to bend and stretch degree of freedom, the outward flange that knee joint is bent and stretched motor is connected with knee joint thigh rod member; The inner flange that knee joint shank rod member bends and stretches motor with knee joint is connected;
Described shank ectoskeleton rod member comprises: shank ectoskeleton sleeve and ankle joint shank rod member, and wherein, shank ectoskeleton sleeve is connected with knee joint shank rod member, can fix with patient's shank; Ankle joint shank rod member is connected with shank ectoskeleton sleeve, can stepless adjusting length;
Described ankle joint ectoskeleton comprises: ankle joint bends and stretches motor and ankle joint connector; wherein; ankle joint bends and stretches motor and uses harmonic speed reducer; the output that ankle joint bends and stretches motor comprises inner flange and outward flange; drive ankle joint to bend and stretch degree of freedom, the outward flange that ankle joint bends and stretches motor is connected with ankle joint shank rod member; The ankle joint connector is connected with the inner flange that ankle joint bends and stretches motor; Described foot ectoskeleton is connected with the ankle joint connector.
Gait rehabilitation training robot provided by the invention, provide virtual walking environment to the patient, and help the patient to carry out gradually gait rehabilitation by the wearable lower limb exoskeleton that is worn on patient's lower limb, allows gradually the patient have the ability of autonomous.
The accompanying drawing explanation
By reading the detailed description of non-limiting example being done with reference to the following drawings, it is more obvious that other features, objects and advantages of the present invention will become:
Fig. 1 is gait rehabilitation training robot overall structure schematic diagram;
Fig. 2 is instrument platform structure schematic diagram;
Fig. 3 is wearable lower limb exoskeleton structural representation;
Fig. 4 is left lower extremity ectoskeleton structural representation;
Fig. 5 is hip joint ectoskeleton structural representation;
Fig. 6 is thigh ectoskeleton member structure schematic diagram;
Fig. 7 is knee joint ectoskeleton structural representation;
Fig. 8 is shank ectoskeleton member structure schematic diagram;
Fig. 9 is ankle joint ectoskeleton and foot's ectoskeleton structural representation;
In figure: 1 is the instrument platform, 2 is wearable lower limb exoskeleton, 3 is the instrument base, 4 is polywedge bet walking band, 5 is walking band drive motors, 6 is handrail, 7 for monitoring photographic head, 8 is touch-screen display, 9 is the waist ectoskeleton, 10 is the left lower extremity ectoskeleton, 11 is the right lower extremity ectoskeleton, 12 is the hip joint ectoskeleton, 13 is thigh ectoskeleton rod member, 14 is the knee joint ectoskeleton, 15 is shank ectoskeleton rod member, 16 is the ankle joint ectoskeleton, 17 is foot's ectoskeleton, 18 is the branch to hip joint frame plate, 19 is hip joint side exhibition motor, 20 is the hip joint connector, 21 bend and stretch motor for hip joint, 22 is hip joint thigh rod member, 23 is thigh ectoskeleton sleeve, 24 is knee joint thigh rod member, 25 bend and stretch motor for knee joint, 26 is knee joint shank rod member, 27 is shank ectoskeleton sleeve, 28 is ankle joint shank rod member, 29 bend and stretch motor for ankle joint, 30 is the ankle joint connector.
The specific embodiment
Below embodiments of the invention are elaborated: the present embodiment is implemented take technical solution of the present invention under prerequisite, has provided detailed embodiment and concrete operating process.It should be pointed out that to those skilled in the art, without departing from the inventive concept of the premise, can also make some distortion and improvement, these all belong to protection scope of the present invention.
Please consult Fig. 1 to Fig. 9 simultaneously.
The present embodiment provides a kind of gait rehabilitation training robot, comprising: instrument platform and be arranged at the wearable lower limb exoskeleton on the instrument platform, wherein:
-instrument platform, be placed on ground, and provide virtual walking environment for the patient;
-wearable lower limb exoskeleton, be worn on patient's lower limb, drives for the patient provides walking, thereby carry out the gait rehabilitation training.
Further; described instrument platform comprises: instrument base, polywedge bet walking band, walking band drive motors, handrail, supervision photographic head and touch-screen display; wherein; the walking that is installed on the instrument base drives with drive motors the polywedge bet walking band that is laid on instrument base central authorities and has formed a virtual walking environment, for patient's walking above polywedge bet walking band; Described handrail comprise the left handrail that is fixed in the instrument chassis left side, the right handrail that is fixed in instrument base right side and left handrail and right handrail front end and be connected to left handrail and right handrail between the place ahead fixed support; described left handrail and right handrail keep balance for the patient; described supervision photographic head is installed on left handrail or right handrail; for adjusting in real time the pace of polywedge bet walking band, thereby guarantee that patient's centre of body weight is substantially constant; Described touch-screen display is installed on the fixed support of the place ahead, for interactive environment is provided, allows the patient pass through autonomous, completes virtual walking task, carries out the gait rehabilitation training.
Further, described wearable lower limb exoskeleton comprises: waist ectoskeleton, left lower extremity ectoskeleton and right lower extremity ectoskeleton, wherein, described waist ectoskeleton and patient's waist are fixed, described left lower extremity ectoskeleton and right lower extremity ectoskeleton are connected on the waist ectoskeleton, wherein, left lower extremity ectoskeleton and right lower extremity ectoskeleton are symmetrical arranged, and be bound to respectively patient's left and right thigh and shank, thereby drive patient's left and right thigh and shank motion, complete the walking action, carry out the gait rehabilitation training.
Further; described left lower extremity ectoskeleton and right lower extremity ectoskeleton include: hip joint ectoskeleton, thigh ectoskeleton rod member, knee joint ectoskeleton, shank ectoskeleton rod member, ankle joint ectoskeleton and foot's ectoskeleton; wherein; the hip joint ectoskeleton is connected with the waist ectoskeleton, and the exhibition of patient's hip joint side and hip joint flexion and extension ability are provided; Thigh ectoskeleton rod member is connected with the hip joint ectoskeleton, is worn on patient's thigh; The knee joint ectoskeleton is connected with thigh ectoskeleton rod member, and knee joint flexion and extension ability is provided; Shank ectoskeleton rod member is connected with the knee joint ectoskeleton, is worn on patient's shank; The ankle joint ectoskeleton is connected with shank ectoskeleton rod member, and ankle joint flexion and extension ability is provided; Foot's ectoskeleton is connected with the ankle joint ectoskeleton, is worn on patient foot.
Further, branch to hip joint frame plate, hip joint side exhibition motor, hip joint connector, hip joint bend and stretch motor and hip joint thigh rod member, and wherein, the branch to hip joint frame plate is connected with the waist ectoskeleton; Hip joint side exhibition motor uses harmonic speed reducer, and the output of hip joint side exhibition motor comprises inner flange and outward flange, drives hip joint side exhibition degree of freedom, and the outward flange of hip joint side exhibition motor is connected with the branch to hip joint frame plate; The hip joint connector is connected with the inner flange of hip joint side exhibition motor; Hip joint bends and stretches motor and uses harmonic speed reducer, and the output that hip joint bends and stretches motor comprises inner flange and outward flange, drives hip joint to bend and stretch degree of freedom, and the outward flange that hip joint bends and stretches motor is connected with the hip joint connector; Hip joint thigh rod member is connected with the inner flange that hip joint bends and stretches motor;
Further, described thigh ectoskeleton rod member comprises: thigh ectoskeleton sleeve and knee joint thigh rod member, and wherein, thigh ectoskeleton sleeve is connected with hip joint thigh rod member, can fix with patient's thigh; Knee joint thigh rod member is connected with thigh ectoskeleton sleeve, can stepless adjusting length.
Further; described knee joint ectoskeleton comprises: knee joint is bent and stretched motor and knee joint shank rod member; wherein; knee joint is bent and stretched motor and is used harmonic speed reducer; the output that knee joint is bent and stretched motor comprises inner flange and outward flange; drive knee joint to bend and stretch degree of freedom, the outward flange that knee joint is bent and stretched motor is connected with knee joint thigh rod member; The inner flange that knee joint shank rod member bends and stretches motor with knee joint is connected.
Further, described shank ectoskeleton rod member comprises: shank ectoskeleton sleeve and ankle joint shank rod member, and wherein, shank ectoskeleton sleeve is connected with knee joint shank rod member, can fix with patient's shank; Ankle joint shank rod member is connected with shank ectoskeleton sleeve, can stepless adjusting length.
Further; described ankle joint ectoskeleton comprises: ankle joint bends and stretches motor and ankle joint connector; wherein; ankle joint bends and stretches motor and uses harmonic speed reducer; the output that ankle joint bends and stretches motor comprises inner flange and outward flange; drive ankle joint to bend and stretch degree of freedom, the outward flange that ankle joint bends and stretches motor is connected with ankle joint shank rod member; The ankle joint connector is connected with the inner flange that ankle joint bends and stretches motor; Described foot ectoskeleton is connected with the ankle joint connector.
Be specially:
As shown in Figure 1, described virtual walking step state instrument comprises: instrument platform 1, wearable lower limb exoskeleton 2.Wherein instrument platform 1 is placed in ground, provides a walking band to walk up for the patient; Wearable lower limb exoskeleton 2 is dressed and patient's lower limb, helps the patient to complete the walking action, carries out the gait rehabilitation training.
As shown in Figure 2, described instrument platform 1 comprises: instrument base 3, and the polywedge bet walking is with 4, and the random handrail 6 of walking band drive motors, monitor photographic head 7, touch-screen display 8.Wherein, instrument base 3 is placed in ground; The polywedge bet walking is with 4 to be laid on instrument base 3 central authorities, to the patient, provides a virtual walking environment; Walking band drive motors 5 drives the polywedge bet walking and is with 4 motions; Handrail 6 is arranged on both sides and the place ahead of instrument platform 1; Monitor that photographic head 7 is installed on the right side of instrument platform 1, detect the relative position of patient and instrument platform 1, adjust in real time the pace of walking band, guarantee that patient's centre of body weight position is substantially constant; Touch-screen display 8 is installed on instrument platform 1 the place ahead, and interactive environment is provided, and allows the patient pass through autonomous, completes virtual walking task, carries out the gait rehabilitation training.
As shown in Figure 3, described wearable lower limb exoskeleton 2 comprises: waist ectoskeleton 9, left lower extremity ectoskeleton 10, right lower extremity ectoskeleton 11.Wherein, waist ectoskeleton 9 is fixed with patient's waist; Left lower extremity ectoskeleton 10, right lower extremity ectoskeleton 11 are symmetrical, are bound to respectively patient's left and right thigh and shank, drive the motion of patient's both legs, completing the walking action, carry out the gait rehabilitation training.
As shown in Figure 4, described left lower extremity ectoskeleton 10 comprises: hip joint ectoskeleton 12, thigh ectoskeleton rod member 13, knee joint ectoskeleton 14, shank ectoskeleton rod member 15, ankle joint ectoskeleton 16, foot's ectoskeleton 17.Wherein, hip joint ectoskeleton 12 is connected with waist ectoskeleton 9, and the exhibition of patient's hip joint side and hip joint flexion and extension ability are provided; Thigh ectoskeleton rod member 13 is connected with hip joint ectoskeleton 12, is worn on patient's thigh; Knee joint ectoskeleton 14 is connected with thigh ectoskeleton rod member 13, and knee joint flexion and extension ability is provided; Shank ectoskeleton rod member 15 is connected with knee joint ectoskeleton 14, is worn on patient's shank; Ankle joint ectoskeleton 16 is connected with shank ectoskeleton rod member 15, and ankle joint flexion and extension ability is provided; Foot's ectoskeleton 17 and ankle joint ectoskeleton 16, be worn on patient foot.
As shown in Figure 5, described hip joint ectoskeleton 12 comprises: branch to hip joint frame plate 18, and hip joint side exhibition motor 19, hip joint connector 20, hip joint bends and stretches motor 21, hip joint thigh rod member 22.Wherein, branch to hip joint frame plate 18 is connected with waist ectoskeleton 9; Hip joint side exhibition motor 19 uses harmonic speed reducer, is output as two flanges, drives hip joint side exhibition degree of freedom, and its outward flange is connected with branch to hip joint frame plate 18; Hip joint connector 20 is connected with hip joint side exhibition motor 19 inner flanges; Hip joint bends and stretches motor 21 and uses harmonic speed reducers, is output as two flanges, drives hip joint to bend and stretch degree of freedom, its outward flange with, hip joint connector 20 is connected; Hip joint thigh rod member 22 bends and stretches motor 21 inner flanges with hip joint and is connected.
As shown in Figure 6, described thigh ectoskeleton rod member 13 comprises: hip joint thigh rod member 22, thigh ectoskeleton sleeve 23, knee joint thigh rod member 24.Wherein thigh ectoskeleton sleeve 23 is connected with hip joint thigh rod member 22, can fix with patient's thigh; Knee joint thigh rod member 24 is connected with thigh ectoskeleton sleeve 23, can stepless adjusting length.
As shown in Figure 7, described knee joint ectoskeleton 14 comprises: knee joint thigh rod member 24, knee joint is bent and stretched motor 25, knee joint shank rod member 26.Wherein, knee joint is bent and stretched motor 25 and is used harmonic speed reducer, is output as two flanges, drives knee joint to bend and stretch degree of freedom, and its outward flange is connected with knee joint thigh rod member 24; Knee joint shank rod member 26 bends and stretches motor 25 inner flanges with knee joint and is connected.
As shown in Figure 8, described shank ectoskeleton rod member 15 comprises: knee joint shank rod member 26, shank ectoskeleton sleeve 27, ankle joint shank rod member 28.Wherein, shank ectoskeleton sleeve 27 is connected with knee joint shank rod member 26, can fix with patient's shank; Ankle joint shank rod member 28 is connected with shank ectoskeleton sleeve 27, can stepless adjusting length.
As shown in Figure 9, described ankle joint ectoskeleton 16 comprises: ankle joint shank rod member 28, and ankle joint bends and stretches motor 29; Ankle joint connector 30.Wherein ankle joint bends and stretches motor 29 and uses harmonic speed reducer, is output as two flanges, drives ankle joint to bend and stretch degree of freedom, and its outward flange is connected with ankle joint shank rod member 28; Ankle joint connector 30 bends and stretches motor 29 inner flanges with ankle joint and is connected; Foot's ectoskeleton 17 is connected with ankle joint connector 30, is worn on patient foot.
The gait rehabilitation training robot that the present embodiment provides, the drive motors that is installed on the instrument base drives polywedge bet walking band and has formed a virtual walking environment, for the patient, walk above it, between the locomotor activity for the treatment of that rehabilitation is weak, need to one supervision photographic head be set at rehabilitation platform side, adjust in real time the pace of walking band, guarantee that patient's centre of body weight is substantially constant.Handrail is installed on side and the place ahead of rehabilitation platform, for the patient, keeps balance, and touch-screen display is installed on rehabilitation platform the place ahead, and interactive environment is provided, and allows the patient pass through autonomous, completes virtual walking task, carries out the gait rehabilitation training.Described wearable lower limb exoskeleton is worn on patient's lower limb, left and right lower limb exoskeleton is bound to patient's thigh and shank, respectively comprise 4 drive motors, for patient's lower limb hip joint side exhibition, hip joint bend and stretch, knee joint is bent and stretched, ankle joint bends and stretches 4 degree of freedom and driven, comprise that the exhibition of hip joint side, hip joint bend and stretch, knee joint is bent and stretched, ankle joint bends and stretches totally 4 degree of freedom, wherein each degree of freedom all has independently motor to be driven, drive patient's thigh and shank motion, complete the walking action, the capable gait rehabilitation training of spouting.
Above specific embodiments of the invention are described.It will be appreciated that, the present invention is not limited to above-mentioned specific implementations, and those skilled in the art can make various distortion or modification within the scope of the claims, and this does not affect flesh and blood of the present invention.
Claims (5)
1. a gait rehabilitation training robot, is characterized in that, comprising: instrument platform and be arranged at the wearable lower limb exoskeleton on the instrument platform, wherein:
-instrument platform, be placed on ground, and provide virtual walking environment for the patient;
-wearable lower limb exoskeleton, be worn on patient's lower limb, drives for the patient provides walking, thereby carry out the gait rehabilitation training.
2. gait rehabilitation training robot according to claim 1; it is characterized in that; described instrument platform comprises: instrument base, polywedge bet walking band, walking band drive motors, handrail, supervision photographic head and touch-screen display; wherein; the walking that is installed on the instrument base drives with drive motors the polywedge bet walking band that is laid on instrument base central authorities and has formed a virtual walking environment, for patient's walking above polywedge bet walking band; Described handrail comprise the left handrail that is fixed in the instrument chassis left side, the right handrail that is fixed in instrument base right side and left handrail and right handrail front end and be connected to left handrail and right handrail between the place ahead fixed support; described left handrail and right handrail keep balance for the patient; described supervision photographic head is installed on left handrail or right handrail; for adjusting in real time the pace of polywedge bet walking band, thereby guarantee that patient's centre of body weight is substantially constant; Described touch-screen display is installed on the fixed support of the place ahead, for interactive environment is provided, allows the patient pass through autonomous, completes virtual walking task, carries out the gait rehabilitation training.
3. gait rehabilitation training robot according to claim 1, it is characterized in that, described wearable lower limb exoskeleton comprises: the waist ectoskeleton, left lower extremity ectoskeleton and right lower extremity ectoskeleton, wherein, described waist ectoskeleton and patient's waist are fixed, described left lower extremity ectoskeleton and right lower extremity ectoskeleton are connected on the waist ectoskeleton, wherein, left lower extremity ectoskeleton and right lower extremity ectoskeleton are symmetrical arranged, and be bound to respectively patient's a left side, right thigh and shank, thereby drive patient's a left side, right thigh and shank motion, complete the walking action, carry out the gait rehabilitation training.
4. gait rehabilitation training robot according to claim 1; it is characterized in that; described left lower extremity ectoskeleton and right lower extremity ectoskeleton include: hip joint ectoskeleton, thigh ectoskeleton rod member, knee joint ectoskeleton, shank ectoskeleton rod member, ankle joint ectoskeleton and foot's ectoskeleton; wherein; the hip joint ectoskeleton is connected with the waist ectoskeleton, and the exhibition of patient's hip joint side and hip joint flexion and extension ability are provided; Thigh ectoskeleton rod member is connected with the hip joint ectoskeleton, is worn on patient's thigh; The knee joint ectoskeleton is connected with thigh ectoskeleton rod member, and knee joint flexion and extension ability is provided; Shank ectoskeleton rod member is connected with the knee joint ectoskeleton, is worn on patient's shank; The ankle joint ectoskeleton is connected with shank ectoskeleton rod member, and ankle joint flexion and extension ability is provided; Foot's ectoskeleton is connected with the ankle joint ectoskeleton, is worn on patient foot.
5. gait rehabilitation training robot according to claim 4; it is characterized in that; described hip joint ectoskeleton comprises: branch to hip joint frame plate, hip joint side exhibition motor, hip joint connector, hip joint bend and stretch motor and hip joint thigh rod member; its Shen, the branch to hip joint frame plate is connected with the waist ectoskeleton; Hip joint side exhibition motor makes friend's harmonic speed reducer, and the output of hip joint side exhibition motor comprises inner flange and outward flange, drives hip joint side exhibition degree of freedom, and the outward flange of hip joint side exhibition motor is connected with the branch to hip joint frame plate; The hip joint connector is connected with the inner flange of hip joint side exhibition motor; Hip joint bends and stretches motor and uses harmonic speed reducer, and the output that hip joint bends and stretches motor comprises inner flange and outward flange, drives hip joint to bend and stretch degree of freedom, and the outward flange that hip joint bends and stretches motor is connected with the hip joint connector; Hip joint thigh rod member is connected with the inner flange that hip joint bends and stretches motor;
Described thigh ectoskeleton rod member comprises: thigh ectoskeleton sleeve and knee joint thigh rod member, and wherein, thigh ectoskeleton sleeve is connected with hip joint thigh rod member, can fix with patient's thigh; Knee joint thigh rod member is connected with thigh ectoskeleton sleeve, can stepless adjusting length;
Described knee joint ectoskeleton comprises: knee joint is bent and stretched motor and knee joint shank rod member; wherein; knee joint is bent and stretched motor and is used harmonic speed reducer; the output that knee joint is bent and stretched motor comprises inner flange and outward flange; drive knee joint to bend and stretch degree of freedom, the outward flange that knee joint is bent and stretched motor is connected with knee joint thigh rod member; The inner flange that knee joint shank rod member bends and stretches motor with knee joint is connected;
Described shank ectoskeleton rod member comprises: shank ectoskeleton sleeve and ankle joint shank rod member, and its Shen, shank ectoskeleton sleeve is connected with knee joint shank rod member, can fix with patient's shank; Ankle joint shank rod member is connected with shank ectoskeleton sleeve, can stepless adjusting length;
Described ankle joint ectoskeleton comprises: ankle joint bends and stretches motor and ankle joint connector; wherein; ankle joint bends and stretches motor and uses harmonic speed reducer; the output that ankle joint bends and stretches motor comprises inner flange and outward flange; drive ankle joint to bend and stretch degree of freedom, the outward flange that ankle joint bends and stretches motor is connected with ankle joint shank rod member; The ankle joint connector is connected with the inner flange that ankle joint bends and stretches motor; Described foot ectoskeleton is connected with the ankle joint connector.
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| CN103622796A (en) * | 2013-12-17 | 2014-03-12 | 哈尔滨工程大学 | Wearable lower limb rehabilitation training device |
| CN104274299A (en) * | 2014-06-05 | 2015-01-14 | 长春工业大学 | Lower limb rehabilitation training device |
| CN105147493A (en) * | 2015-06-24 | 2015-12-16 | 合肥工业大学 | Lower limb automatic regulating platform for waist rehabilitation training and training method |
| CN106539668A (en) * | 2017-01-11 | 2017-03-29 | 刘建英 | A kind of gait rehabilitation training devicess |
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| CN109771214A (en) * | 2019-01-23 | 2019-05-21 | 广西安博特智能科技有限公司 | A kind of recovery robot by training paces |
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| CN109568089A (en) * | 2019-01-24 | 2019-04-05 | 中国科学技术大学 | A kind of trailing type lower limb recovery robot by training paces system |
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