CN102579229B - Gait rehabilitation training robot - Google Patents

Gait rehabilitation training robot Download PDF

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Publication number
CN102579229B
CN102579229B CN2012100530494A CN201210053049A CN102579229B CN 102579229 B CN102579229 B CN 102579229B CN 2012100530494 A CN2012100530494 A CN 2012100530494A CN 201210053049 A CN201210053049 A CN 201210053049A CN 102579229 B CN102579229 B CN 102579229B
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CN
China
Prior art keywords
loss
footmuff
push rod
weight
adjustable plate
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CN2012100530494A
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Chinese (zh)
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CN102579229A (en
Inventor
王俊华
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王俊华
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Priority to CN2012100530494A priority Critical patent/CN102579229B/en
Publication of CN102579229A publication Critical patent/CN102579229A/en
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Publication of CN102579229B publication Critical patent/CN102579229B/en

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Abstract

The invention discloses a gait rehabilitation training robot which is equipment for help recover the walking function of a patient with a walking problem. The gait rehabilitation training robot comprises a weight reduction system and a walking rail assistance system. The weight reduction system comprises a bottom plate, a weight reduction frame, a sliding rope, a motor and a hoisting belt structure. The weight reduction frame and the motor are arranged on the bottom plate. The hoisting belt structure is arranged on the weight reduction frame and is connected with the weight reduction frame by the sliding rope. The sliding rope is connected with the motor to control the lifting and descending of the hoisting belt structure. The walking rail assistance system comprises a motor wheel, push rods, sliding rails, foot sleeves and a regulating plate. The motor wheel, the sliding rails and the regulating plate are arranged on the bottom plate. The regulating plate is inclined relative to the bottom plate. Each of one ends of the push rods is connected with the motor wheel and each of the other ends of the push rods is matched with the sliding rail in a slideable mode. The motor wheel drives the push rods to slide on the sliding rails in a reciprocating mode. The foot sleeves are hinged on the push rods and the bottoms of the foot sleeves are abutted against the regulating plate, so that when the push rods drive the foot sleeves to slide, the foot sleeves slide along the regulating plate to rotate relative to the hinged positions. Therefore, the effect that the ankle joint and the knee joint are simultaneously subjected to rehabilitation training can be achieved.

Description

Gait rehabilitation training robot
Technical field
The present invention relates to a kind of medical rehabilitation equipment that helps the walking of walking disorder Rehabilitation, relate in particular to a kind of gait rehabilitation training robot.
Background technology
Gait rehabilitation training robot is the special equipment that the Rehabilitation walking of obstacle is arranged for walking.The gait rehabilitation robot kind of using in existing medical treatment is less, and existing gait rehabilitation training robot only can carry out rehabilitation training for a certain joint usually, can not to ankle joint and knee joint etc., carry out simultaneously rehabilitation training by normal gait; Or only can not pass through EMG feedback by the training of external force passive type gait rehabilitation, realize initiatively gait rehabilitation training.
Summary of the invention
In view of the above, be necessary to provide a kind of and can to ankle joint and knee joint etc., carry out simultaneously the gait rehabilitation training robot of rehabilitation training by normal gait.
A kind of gait rehabilitation training robot, comprise loss of weight system and walking track force aid system, the loss of weight system comprises base plate, the loss of weight frame, sliding rope, motor and sling structure, loss of weight frame and motor are arranged on base plate, sling structure is arranged on the loss of weight frame and by the cunning connection of restricting, sliding rope connects motor and passes through the lifting of Electric Machine Control sling structure, described walking track force aid system comprises motor wheel, push rod, slide rail, the foot cover, and adjustable plate, described motor wheel, slide rail and adjustable plate are arranged on base plate, and the relative base plate of adjustable plate tilts, push rod one end connects motor wheel, the other end coordinates slidably with slide rail, motor wheel rotates the drive push rod and reciprocatingly slides on slide rail, footmuff is hinged on push rod, and the bottom butt adjustable plate of footmuff, make push rod when driving the footmuff slip, footmuff slides and rotates relative to hinged place along adjustable plate, described slide rail is two one slide rails and is arranged on abreast on base plate, described adjustable plate is an adjustable plate, adjustable plate and slide rail are arranged between two one slide rails abreast, described adjustable plate comprises plate body and is arranged on two feets of plate body bottom, this two feets height difference, make the relative backplate surface of plate face of adjustable plate tilt.
Further, the hinged push rod of heel end of described footmuff bottom, the toe end of footmuff bottom is extended with one and supports bar and conflict slidably on adjustable plate plate face.
Further, described motor wheel comprises disk body and two projections, and two projections are arranged on the card that disk body is relative and are respectively adjacent to the periphery of disk body, and two projections are positioned at diametric end positions, and each projection is for connecting an end of push rod.
Further, described push rod comprises bar section, two ring sets, reaches linkage section, two ring sets are installed in bar section two ends, one of them is connected two ring sets with described projection, another is be used to coordinating footmuff with hinged with footmuff, described linkage section is fixed in the end that coordinates the hinged ring set of footmuff that has of push rod, and this linkage section bottom is provided with sliding sleeve, with slide rail, to coordinate.
Further, described loss of weight frame comprises two support bars and is connected to the cross bar between two supporting bar tops, and described sling structure is installed on described cross bar, on described two support bars, is equipped with the lower trunk fixed mount, in order to the lower trunk of clamping position human body.
Further, described gait rehabilitation training robot further comprises functional electric stimulation system, functional electric stimulation system comprises that control device, thigh stimulate band and shank to stimulate band, and control device is arranged on the loss of weight frame, and thigh stimulates band and shank to stimulate band to be plugged on control device.
Further, described rehabilitation training robot further comprises audiovisual display system, it is electrically connected described loss of weight system, walking track force aid system and functional electric stimulation system, in order to show the relevant parameter information of loss of weight system, functional electric stimulation system and walking track force aid system.
A kind of gait rehabilitation training robot, comprise the loss of weight system, functional electric stimulation system, and walking track force aid system, the loss of weight system comprises base plate, the loss of weight frame, sliding rope, motor and sling structure, loss of weight frame and motor are arranged on base plate, sling structure is arranged on the loss of weight frame and by the cunning connection of restricting, sliding rope connects motor and passes through the lifting of Electric Machine Control sling structure, described functional electric stimulation system comprises control device, thigh stimulates band, and shank stimulates band, control device is arranged on the loss of weight frame, thigh stimulates band and shank to stimulate band to be plugged on control device, described walking track force aid system comprises motor wheel, push rod, slide rail, footmuff and adjustable plate, described motor wheel, slide rail and adjustable plate are arranged on base plate, and the relative base plate of adjustable plate tilts, push rod one end connects motor wheel, the other end coordinates slidably with slide rail, motor wheel rotates the drive push rod and reciprocatingly slides on slide rail, footmuff is hinged on push rod, and the bottom butt adjustable plate of footmuff, make push rod when driving the footmuff slip, footmuff slides and rotates relative to hinged place along adjustable plate.
A kind of gait rehabilitation training robot, comprise the loss of weight system, walking track force aid system, functional electric stimulation system, and audiovisual display system, the loss of weight system alleviates human body body own wt to lower limb, the pressure of foot, the loss of weight system comprises the loss of weight frame, on the loss of weight frame, be provided with sling structure, functional electric stimulation system is assemblied on the loss of weight frame, to use electricity irritation human leg section, audiovisual display system is electrically connected described loss of weight system, walking track force aid system and functional electric stimulation system, for presenting the loss of weight system, the relevant parameter information of functional electric stimulation system and walking track force aid system, described walking track force aid system comprises motor wheel, push rod, slide rail, footmuff and adjustable plate, described motor wheel, slide rail and adjustable plate are arranged on base plate, and the relative base plate of adjustable plate tilts, push rod one end connects motor wheel, one end coordinates slidably with slide rail, motor wheel rotates the drive push rod and reciprocatingly slides on slide rail, footmuff is hinged on push rod, and the bottom of footmuff is connected to adjustable plate, make electric push rod drive the footmuff slip simultaneously, footmuff slides and rotates relative to hinged place along adjustable plate.
Compared to prior art, when gait rehabilitation training robot of the present invention drove the footmuff slip by motor wheel, footmuff can carry out angular adjustment under the guiding of adjustable plate, so, can realize, by normal gait, ankle joint, knee joint are carried out to rehabilitation training simultaneously; And, by EMG feedback, can realize initiatively gait rehabilitation training.
The accompanying drawing explanation
Fig. 1 is the schematic perspective view of gait rehabilitation training robot of the present invention.
Fig. 2 be gait rehabilitation training robot shown in Figure 1 part disassemble schematic diagram.
Fig. 3 is the decomposing schematic representation of the walking track force aid system of gait rehabilitation training robot shown in Figure 1.
The specific embodiment
By describing technology contents of the present invention, structural feature in detail, being realized purpose and effect, below in conjunction with embodiment and coordinate accompanying drawing to be explained in detail.
Refer to Fig. 1 and Fig. 2, the present invention discloses a kind of gait rehabilitation training robot 100, be used to helping the walking disorder patient rehabilitation training of walking, comprises loss of weight system 10 and walking track force aid system 20.Loss of weight system 10 for the body when training lifting patient to alleviate the pressure of patient's own wt to lower limb, foot.Lower limb, the foot motion of walking track force aid system 20 be used to driving the patient, carry out rehabilitation training simultaneously with the ankle joint to the patient, knee joint.
Loss of weight system 10 comprises base plate 11, loss of weight frame 12, motor 13, sliding rope 14, sling structure 15 and lower trunk fixed mount 16.Loss of weight frame 12 is arranged on base plate 11 and an end of contiguous base plate 11, and loss of weight frame 12 comprises two support bars 121 and is connected on cross bar 122, two support bars 121 between two support bar 121 tops relatively to offer bores a hole 1211, be used to lower trunk fixed mount 16 is installed.Motor 13 is arranged on base plate 11 and away from an end of loss of weight frame 12.Sliding rope 14 1 ends stretch out downwards from cross bar 122 middle parts and connect described sling structure 15, and the other end is connected to motor 13.By controlling motor 13, rotate the length that the sliding rope of scalable 14 relative cross bars 122 stretch out.In the present embodiment, pass and be connected to motor 13 in sliding rope 14 bodies of rod from loss of weight frame 12 (body of rod that comprises support bar 121, cross bar 122).Be appreciated that in the body of rod of loss of weight frame 12 and be provided with the pulley (not shown) of sliding for sliding rope 14.Sling structure 15 comprises suspension rod 151, lifting rope 152 and tie 153.Suspension rod 151 connects described sliding rope 14 external parts from cross bar 122 and parallel with cross bar 122, and lifting rope 152 vertically is connected to suspension rod 151 lower ends, and in this enforcement, lifting rope 152 is two.Tie 153 is connected to the lower end of lifting rope 152, be used to the trainer's that ties in upper body.Lower trunk fixed mount 16 is for helping the also lower trunk of position patient when training, lower trunk fixed mount 16 comprises two clamping limbs 161, two fixed covers 162 and two steady pins 163.Two clamping limbs 161 relatively are arranged on two support bars 121 of loss of weight frame 12, in order to clamping position patient's lower trunk.Each clamping limb 161 comprises mounting rod 1611 and the clamping part 1612 that is fixed in mounting rod 1,611 one ends.Two fixed covers 162 relatively are installed on two support bars 121, and each fixed cover 162 is relative with perforation 1211, clamping limb 161 are mounted on support bar 121 with perforation 1211 thereby mounting rod 1611 can pass fixed cover 162.On fixed cover 162, offer the pin-and-hole (not shown), to be fixed pin 163, that clamping limb 161 is fixing.
Please in conjunction with consulting Fig. 3, walking track force aid system 20 comprises motor wheel 21, two push rods 22, two slide rails 23, two footmuffs 24 and adjustable plate 25.Described motor wheel 21 is for driving the rotating disk around its central rotation by motor or other driving devices, comprises that disk body 211 and two projection 212, two projections 212 are arranged on the card that disk body 211 is relative and are respectively adjacent to the periphery of disk body 211.In the present embodiment, two projections 212 are positioned at the diametric end positions of disk body 211, and each projection 212 is be used to connecting an end of push rod 22.This motor wheel 21 is arranged on base plate 11, and in the present embodiment, disk body 211 is carried on base plate 11 by one first backing plate 213, disk body 211 backing plate 213 rotations relatively.The first backing plate 213 is fixed on base plate 11, connects as bolt.Each described push rod 22 comprises bar section 221, two ring sets 222 and linkage section 223, two ring sets 222 are installed in bar section 221 two ends, one of them of two ring sets 222 is connected with described projection 212, another is be used to coordinating footmuff 24 with hinged with footmuff 24, described linkage section 223 is fixed in bar section 221 end hinged with footmuff 24, and these linkage section 223 bottoms are provided with sliding sleeve 224.Described sliding sleeve 224 coordinates slide rail 23 to make push rod 22 slide rail 23 slips relatively.Described two slide rails 23 are arranged on base plate 11 abreast, and in the present embodiment, two slide rails 23 are carried on base plate 11 by one second backing plate 231.This second backing plate 231 is fixed on base plate 11, connects as bolt.So, when disk body 211, when axle center rotates, drive sliding sleeve 224 and reciprocatingly slide on slide rail 23.And because two projections 212 are relative about disk body 211De center, disk body 211 will drive two push rods 22 and do simultaneously one in front and one in back swing.
Footmuff 24 is be used to accommodating patient's sufficient body, and the bottom of footmuff 24 is provided with hinge eyes 241 and butt bar 242.Hinge eyes 241 is arranged on an end of footmuff 24 bottom heels, it coordinates with the ring set 222 of contiguous linkage section 223 1 ends on push rod 22, make footmuff 24 rotatably be connected on push rod 22, as, the endoporus of described hinge eyes 241 and ring set 222 by a coupling bar (not shown), passed.Described butt bar 242 is arranged on an end of footmuff 24 bottom tiptoes, butt bar 242 be pressed against on the plate face of described adjustable plate 25 and relatively the plate face slide.
Two feets 252 that adjustable plate 25 comprises plate body 251 and is arranged on plate body 251 bottoms, this two feet 252 is highly different, make relative base plate 11 surface tilt of plate face of adjustable plate 25, the plate face that is specially adjustable plate 25 progressively raises to toe end from the heel end of footmuff 24.So, when motor wheel 21 drive sliding sleeves 224 slided on slide rail 23, described butt bar 242 slided along the plate face of adjustable plate 25 simultaneously, thereby made an end of footmuff 24 relative hinge eyes 241 swing.In the present embodiment, the quantity of adjustable plate 25 is one, and this adjustable plate 25 is arranged between two slide rails 23 and is parallel with slide rail 23.The butt bar 242 that is arranged on each footmuff 24 on each push rod 22 is pressed against the plate face of adjustable plate 25.The quantity that is appreciated that adjustable plate 25 also can be two, is arranged on abreast between two slide rails 23, and the butt bar 242 of each footmuff 24 is pressed against respectively the plate face of the adjustable plate 25 of contiguous correspondence.
When the patient walked rehabilitation training, tie in trainer's body of the tie 153 by loss of weight system 10, to alleviate the pressure of patient's own wt to lower limb, foot, and helped location by lower trunk fixed mount 16 by patient's lower trunk under the lifting of sliding rope 14.Patient's foot is inserted in respectively in two footmuffs 24.At motor wheel 21, drive push rod 22 and do simultaneously one in front and one in back swing, one in front and one in back move thereby drive two footmuffs 24, so impel the patient to walk, patient's knee joint, hip joint are trained.Simultaneously, the butt bar 242 of described footmuff 24 bottoms compresses and the plate face of relatively described adjustable plate 25 slides, and can make footmuff 24 swing, and namely the relative heel end of the toe end of footmuff 24 swings, thereby the ankle joint of patient's foot is trained.Therefore, this gait rehabilitation training robot 100 is during for rehabilitation training, can be simultaneously patient's knee joint, hip joint, ankle joint etc. be trained.Because motor wheel 21 radiuses are fixed, therefore its foot moves back and forth (being stride), be constant, and the ankle motion track is also constant.By described lower trunk fixed mount 16, lower trunk being fixed in normal range of movement relatively, therefore hip joint and pelvis running orbit approach normally, is also relatively constant.The speed of rotating by controlling motor wheel 21, thereby the frequency of decision leg reciprocating motion, so cadence can be regulated as required.By the drive of motor wheel 21, it is non-resistance or the motion that power-assisted is arranged that foot is moved back and forth, therefore gait rehabilitation training robot of the present invention 100 not only is applicable to the patient in rehabilitation, also is applicable to early stage or the serious patient that paralyses.
Gait rehabilitation training robot 100 of the present invention can further comprise functional electric stimulation system 30.This functional electric stimulation system 30, for electricity irritation patient shank related muscles, the strength while forming the shank walking.This functional electric stimulation system 30 comprise control device 31, thigh stimulate be with 32 and shank stimulate and be with 33.Control device 31 is arranged on support bar 121 regularly, in control device 31, is provided with myoelectricity evaluating apparatus and feedback electricity irritation output device.On this control device 31, be provided with some jacks 311, for other equipment connections, as thigh stimulate be with 32 and shank stimulate and be with 33 etc.Thigh stimulates with 32 and stimulates and comprise respectively belt body, the connecting line be connected with belt body and plug with 33 with shank.Thigh stimulate be with 32 for the bondage thigh so that thigh is carried out to electricity irritation, shank stimulate be with 33 for the bondage shank so that shank is carried out to electricity irritation.During training, at first thigh is stimulated and be with 32 with shank, to stimulate and be with 33 to be fixed on the corresponding position of large and small lower limb, carry out the myoelectricity evaluation and test.If any electromyographic signal, carry out the feedback electronic stimulation.As without electromyographic signal, carry out quantitative electronic stimulation.The intensity of electricity irritation completes the required strength of walking movement by evaluation result and patient and determines, the frequency of electricity irritation is determined by the foot reciprocating frequency.This functional electric stimulation system 30 can further comprise simple and easy electricity irritation localizer 34, for assisting thigh to stimulate with 32, stimulate the shank with 33 immobilized patients with shank, namely, by simple and easy electricity irritation localizer 34 location related muscles, then according to positioning result, thigh is stimulated and is with 32 with shank, to stimulate and be with 33 to be fixed on the corresponding position of large and small lower limb.
Gait rehabilitation training robot 100 of the present invention can further comprise audiovisual display system 40, be electrically connected described loss of weight system 10, walking track force aid system 20 and functional electric stimulation system 30, for presenting loss of weight system 10, walking track force aid system 20, the relevant parameter information of functional electric stimulation system 30, as accept the information from myoelectricity evaluation and test and feedback electricity irritation of control device 31, the information that the loss of weight of loss of weight system 10 is how many, and acceptance comes the cadence of self-traveling track force aid system 20 and the information of power-assisted aspect, vola, and as required, by control information, send, can be with sound, the form of picture shows.
To sum up, gait rehabilitation training robot 100 of the present invention can comprise loss of weight system 10, walking track force aid system 20, functional electric stimulation system 30 and audiovisual display system 40.Wherein, loss of weight system 10 can determine according to patient's Injury situation the weight that will reduce.Walking track force aid system 20 can be simultaneously trained patient's knee joint, hip joint, ankle joint etc.; Functional electric stimulation system 30 can carry out electronic stimulation to the shank related muscles, forms shank walking strength; Audiovisual display system 40 with sound, as the parameter information of the relevant training of form performance.Gait rehabilitation training robot 100 of the present invention both had been applicable to incomplete paralysis, the patient of electromyographic signal is arranged, evaluate and test by myoelectricity, EMG feedback stimulates, and imitate normal ankle joint, knee joint and pelvis running orbit, carry out the gait rehabilitation training of functional electrical stimulation formula initiatively.Also can as required, realize following three kinds of gait rehabilitation training modes: one, the gait rehabilitation of the functional electrical stimulation formula of passivity training, be suitable for paralysing fully, without electromyographic signal, what need external functional electrical stimulation help fully just can complete the patient of walking.Two, the training of the active gait rehabilitation under power-assisted, be applicable to that certain walking ability is arranged, and part needs the vola power-assisted to help just can complete the patient of walking.Three, the passive gait rehabilitation training under power-assisted, be applicable to without walking ability, needs the vola power-assisted to help just can complete the patient of walking fully.In above four kinds of gait rehabilitation training modes, the gait rehabilitation training mode of the gait rehabilitation training mode of functional electrical stimulation formula initiatively and the functional electrical stimulation formula of passivity, not only need the open function electric stimulation, and need 21 rotations of unlatching driven by motor motor wheel and push rod 22 to move back and forth; Passive gait rehabilitation training mode under active gait rehabilitation training mode under power-assisted and power-assisted, do not need the open function electric stimulation, only needs to open 21 rotations of driven by motor motor wheel and push rod 22 and move back and forth.
Be appreciated that the above gait rehabilitation training robot 100 of standing for the ease of the patient, on described base plate 11, can offer the fixedly holddown groove 111 of wheelchair, thereby wheelchair can be pushed on base plate 11 fixingly, facilitate the patient to stand and dress.
The foregoing is only the preferred embodiments of the present invention; not thereby limit the scope of the claims of the present invention; every equivalent structure transformation that utilizes description of the present invention and accompanying drawing content to do; or directly or indirectly be used in other relevant technical fields, all in like manner be included in scope of patent protection of the present invention.

Claims (8)

1. gait rehabilitation training robot, comprise loss of weight system and walking track force aid system, the loss of weight system comprises base plate, the loss of weight frame, sliding rope, motor and sling structure, loss of weight frame and motor are arranged on base plate, sling structure is arranged on the loss of weight frame and by the cunning connection of restricting, sliding rope connects motor and passes through the lifting of Electric Machine Control sling structure, described walking track force aid system comprises motor wheel, push rod, slide rail, footmuff and adjustable plate, described motor wheel, slide rail and adjustable plate are arranged on base plate, and the relative base plate of adjustable plate tilts, push rod one end connects motor wheel, the other end coordinates slidably with slide rail, motor wheel rotates the drive push rod and reciprocatingly slides on slide rail, footmuff is hinged on push rod, and the bottom butt adjustable plate of footmuff, make push rod when driving the footmuff slip, footmuff slides and rotates relative to hinged place along adjustable plate, it is characterized in that: described slide rail quantity is two, two one slide rails are arranged on base plate abreast, described adjustable plate quantity is one, adjustable plate and slide rail are arranged between two one slide rails abreast, described adjustable plate comprises plate body and is arranged on two feets of plate body bottom, this two feets height difference, make the relative backplate surface of plate face of adjustable plate tilt.
2. gait rehabilitation training robot according to claim 1, it is characterized in that: described motor wheel comprises disk body and two projections, two projections are arranged on the card that disk body is relative and are respectively adjacent to the periphery of disk body, two projections are positioned at diametric end positions, and each projection is for connecting an end of push rod.
3. gait rehabilitation training robot according to claim 1, it is characterized in that: described push rod comprises bar section, two ring sets and linkage section, two ring sets are installed in bar section two ends, one of them is connected two ring sets with described projection, another is be used to coordinating footmuff with hinged with footmuff, described linkage section is fixed in the end that coordinates the hinged ring set of footmuff that has of push rod, and this linkage section bottom is provided with sliding sleeve, with slide rail, to coordinate.
4. gait rehabilitation training robot according to claim 1, it is characterized in that: described loss of weight frame comprises two support bars and is connected to the cross bar between two supporting bar tops, described sling structure is installed on described cross bar, on described two support bars, be equipped with the lower trunk fixed mount, in order to the lower trunk of clamping position human body.
5. gait rehabilitation training robot according to claim 1, it is characterized in that: described gait rehabilitation training robot further comprises functional electric stimulation system, functional electric stimulation system comprises that control device, thigh stimulate band and shank to stimulate band, control device is arranged on the loss of weight frame, and thigh stimulates band and shank to stimulate band to be plugged on control device.
6. gait rehabilitation training robot according to claim 1, it is characterized in that: described rehabilitation training robot further comprises audiovisual display system, it is electrically connected described loss of weight system, walking track force aid system and functional electric stimulation system, in order to show the relevant parameter information of loss of weight system, functional electric stimulation system and walking track force aid system.
7. gait rehabilitation training robot, comprise the loss of weight system, functional electric stimulation system, and walking track force aid system, the loss of weight system comprises base plate, the loss of weight frame, sliding rope, motor and sling structure, loss of weight frame and motor are arranged on base plate, sling structure is arranged on the loss of weight frame and by the cunning connection of restricting, sliding rope connects motor and passes through the lifting of Electric Machine Control sling structure, it is characterized in that: described functional electric stimulation system comprises control device, thigh stimulates band, and shank stimulates band, control device is arranged on the loss of weight frame, thigh stimulates band and shank to stimulate band to be plugged on control device, described walking track force aid system comprises motor wheel, push rod, slide rail, footmuff and adjustable plate, described motor wheel, slide rail and adjustable plate are arranged on base plate, and the relative base plate of adjustable plate tilts, push rod one end connects motor wheel, the other end coordinates slidably with slide rail, motor wheel rotates the drive push rod and reciprocatingly slides on slide rail, footmuff is hinged on push rod, and the bottom butt adjustable plate of footmuff, make push rod when driving the footmuff slip, footmuff slides and rotates relative to hinged place along adjustable plate.
8. gait rehabilitation training robot, it is characterized in that: comprise the loss of weight system, walking track force aid system, functional electric stimulation system, and audiovisual display system, the loss of weight system alleviates human body body own wt to lower limb, the pressure of foot, the loss of weight system comprises the loss of weight frame, on the loss of weight frame, be provided with sling structure, functional electric stimulation system is assemblied on the loss of weight frame, to use electricity irritation human leg section, audiovisual display system is electrically connected described loss of weight system, walking track force aid system and functional electric stimulation system, for presenting the loss of weight system, the relevant parameter information of functional electric stimulation system and walking track force aid system, described walking track force aid system comprises motor wheel, push rod, slide rail, footmuff and adjustable plate, described motor wheel, slide rail and adjustable plate are arranged on base plate, and the relative base plate of adjustable plate tilts, push rod one end connects motor wheel, one end coordinates slidably with slide rail, motor wheel rotates the drive push rod and reciprocatingly slides on slide rail, footmuff is hinged on push rod, and the bottom of footmuff is connected to adjustable plate, make electric push rod drive the footmuff slip simultaneously, footmuff slides and rotates relative to hinged place along adjustable plate.
CN2012100530494A 2012-03-02 2012-03-02 Gait rehabilitation training robot CN102579229B (en)

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