CN117224361A - A rope-driven ankle rehabilitation robot - Google Patents
A rope-driven ankle rehabilitation robot Download PDFInfo
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- CN117224361A CN117224361A CN202311225511.9A CN202311225511A CN117224361A CN 117224361 A CN117224361 A CN 117224361A CN 202311225511 A CN202311225511 A CN 202311225511A CN 117224361 A CN117224361 A CN 117224361A
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Abstract
本发明提供一种绳索驱动踝关节康复机器人，人机结构匹配度更高,柔顺安全性更好,人机交互更佳,利于提升踝关节康复训练效果和效率。滑轮安装在小腿支撑板上；冠状轴关节板与脚踝支撑板固定连接；垂直轴关节板的底部与冠状轴关节板转动连接，转动轴线与人体踝关节的矢状轴平行；绳索驱动系统安装在底座支架上，并与驱动绳索连接，驱动绳索穿过滑轮后与脚掌支撑板连接；倾斜度调整机构安装在底座支架上，运动部分安装在倾斜度调整机构上；弧形导轨固定安装在小腿支撑板上；滑块滑动安装在弧形导轨上；垂直轴关节板的顶部与滑块固定；高度调节机构安装在脚掌支撑板上；脚踝支撑板转动安装在高度调节机构上，转动轴线与人体踝关节的冠状轴平行。
The invention provides a rope-driven ankle joint rehabilitation robot, which has higher human-machine structure matching, better compliance and safety, better human-computer interaction, and is beneficial to improving the effect and efficiency of ankle joint rehabilitation training. The pulley is installed on the calf support plate; the coronal axis joint plate is fixedly connected to the ankle support plate; the bottom of the vertical axis joint plate is rotationally connected to the coronal axis joint plate, and the rotation axis is parallel to the sagittal axis of the human ankle joint; the rope drive system is installed on on the base bracket and connected to the driving rope. The driving rope passes through the pulley and is connected to the foot support plate; the inclination adjustment mechanism is installed on the base bracket, and the moving part is installed on the inclination adjustment mechanism; the arc guide rail is fixedly installed on the calf support on the board; the slider is slidably installed on the arc guide rail; the top of the vertical axis joint plate is fixed to the slider; the height adjustment mechanism is installed on the sole support plate; the ankle support plate is rotated and installed on the height adjustment mechanism, and the rotation axis is in line with the human ankle The coronal axes of the joints are parallel.
Description
Technical Field
The application relates to a rope-driven ankle rehabilitation robot, and belongs to the field of medical rehabilitation instruments.
Background
With aging of the society, the cardiovascular and cerebrovascular diseases are younger, the incidence rate of cerebral apoplexy and other diseases is continuously increased, and the number of patients with limb movement dysfunction such as hemiplegia, disability and the like is increased. Cerebral stroke has now become the leading cause of disability and the second leading cause of mortality for adults worldwide, and has a high rate of recurrence, a number of complications, and has been classified by the world medical community as one of three major diseases threatening human health. Nerve injury disability caused by cerebral apoplexy and other diseases has brought a heavy burden to society and families and will have a great influence on social and economic development. Rehabilitation problems of limb movement dysfunction in patients after cerebral stroke have attracted considerable attention worldwide.
The ankle joint of the human body is an important component of the lower limb of the human body, when the human body walks, the whole body weight falls on the ankle joint, and when the human body runs, jumps and the like, the human body is coordinated and completed by the rotation of the ankle joint in all directions, so that the ankle joint is a pivot for the human body to contact with the ground, and plays an important role in bearing, foot pressure buffering, walking and the like. After cerebral apoplexy, the patient is usually damaged by the central nervous system of the brain, so that the body movement cannot be completely controlled, the problems of foot drop, foot varus, foot supination and the like commonly exist in the ankle joints of the patient, the ankle cannot be kept at a normal position due to the fact that part of nerves are out of control, if rehabilitation treatment cannot be timely received, the characteristics of the muscle and connective tissue are changed, and further the muscle disuse amyotrophy and other symptoms are caused, irreversible damage is formed, and the daily life of the patient is seriously influenced. According to the theory of brain plasticity and functional recombination, aiming at ankle joint movement dysfunction caused by cerebral apoplexy, the rehabilitation training of the ankle joint in the early stage after operation can obviously lighten the stiffness of ankle muscles and improve the expandability and viscoelasticity of soft tissues of the muscles so as to promote the recovery of lower limb movement functions. Traditional rehabilitation needs to carry out one-to-one repeated rehabilitation training on patients by rehabilitation physiotherapists, and the treatment mode depending on the rehabilitation physiotherapists has the following defects: the labor intensity is high, and the efficiency is low; (2) empirically, difficult to quantify; (3) Inaccurate treatment methods limit the effectiveness of rehabilitation therapy. In addition, medical resources in China are limited, the number of rehabilitation physiotherapy operators is small, and the rehabilitation treatment cost is high, so that a plurality of patients cannot get timely and effective rehabilitation treatment, and the best rehabilitation treatment opportunity is missed. Therefore, the research on the ankle rehabilitation robot has important significance for assisting and even replacing a rehabilitation physiotherapy worker to perform rehabilitation training on patients.
In recent years, along with the great improvement of robot intelligence and bionic technology, the rehabilitation robot can approximate the rehabilitation technique of a physical therapist, assist the physical therapist to treat, and has higher rehabilitation efficiency and feedback capacity compared with the traditional rehabilitation means based on the characteristics of high precision, high repeatability and the like of the robot. Since rehabilitation robots are research hotspots in recent decades, colleges and universities at home and abroad have designed and developed a variety of auxiliary robots for daily activities and training robots for rehabilitation therapy, and have been commercialized in cooperation with enterprises.
The prior ankle rehabilitation robots are comprehensively analyzed and can be divided into wearing type mechanisms and platform type mechanisms according to structural forms, the degree of freedom of the wearing type mechanisms is low, the comprehensive rehabilitation requirements are difficult to meet, and the rehabilitation effect is influenced; the platform type mechanism usually has a plurality of degrees of freedom, but a part of the rotation center of the mechanism has larger deviation from the ankle rotation center, and in the rehabilitation training process, the ankle joint rotates along with movement at the same time, so that discomfort of a patient is easily caused; the ankle rehabilitation robots can be divided into two main types, namely rigid driving and flexible driving, according to driving modes. Although the rigid driving mode is easy to model and control, the flexibility is poor, the inertia is large, the structure is not easy to change, and the rigid connecting rod is easy to generate harmful impact in the rehabilitation training process, so that patients are uncomfortable; the flexibility and the safety of the mechanism are improved by the flexible driving mode, but the defects of high nonlinearity, poor stability and the like exist when the existing flexible driving modes such as artificial muscles, linear cylinders, serial elastic drivers and the like are controlled, and the actual training effect is influenced.
Compared with the traditional power transmission modes such as a connecting rod transmission mode, a belt transmission mode, a gear transmission mode, a ball screw transmission mode and the like, the rope drive mode is one of the most suitable drive modes of the rehabilitation robot due to the excellent flexibility and safety, so that the rope drive rehabilitation robot attracts more and more attention of researchers in the past ten years.
The inventor applies for Chinese patent with the name of ankle joint rehabilitation training device and robot in 2021, 2 and 22 days, and the application number is 202110200162.X, and the robot comprises a base, a supporting mechanism, a driving mechanism and an inclination adjusting mechanism, wherein the supporting mechanism comprises a sole supporting plate, a shank supporting plate and a rotary joint, the sole supporting plate is connected with the shank supporting plate through the rotary joint, the shank supporting plate is connected with the inclination adjusting mechanism, and the inclination of the robot relative to the base is adjusted up and down through the inclination adjusting mechanism; the driving mechanism comprises a driving unit, a plurality of ropes and a plurality of wire passing pulleys, wherein the sole supporting plate is at least fixed with one rope at each of four corners, at least one wire passing pulley is fixedly arranged on the lower leg supporting plate and the base, and each rope sequentially bypasses the corresponding pulley on the lower leg supporting plate and the corresponding pulley on the base to be connected with the driving unit. The application provides three degrees of freedom rotation by adopting the rigid member and the rotary joint, and realizes accurate movement of the ankle relative to the lower leg by adopting the flexible rope drive. This patent solution has the following drawbacks: as shown in fig. 6, the revolute joint is a revolute pair composed of two single members, and the rotation axis a of the revolute joint in the vertical axis direction is not coincident with the rotation axis B of the ankle in the vertical axis direction, which is unfavorable for the adduction/abduction movement of the ankle.
Disclosure of Invention
The application aims to overcome the defects in the prior art, and provides the rope-driven ankle rehabilitation robot which has higher man-machine structure matching degree, better compliance safety and better man-machine interaction, thereby being beneficial to improving the ankle rehabilitation training effect and efficiency.
The application solves the problems by adopting the following technical scheme: a rope-driven ankle rehabilitation robot comprises a motion part and a base part; the movement part comprises a shank supporting plate, a rotary joint, a sole supporting plate, a driving rope and pulleys; the pulley is arranged on the shank supporting plate; the sole supporting plate is positioned below the shank supporting plate; the rotary joint comprises an ankle support plate, a coronal axis joint plate and a vertical axis joint plate; the crown-shaped shaft joint plate is fixedly connected with the ankle support plate; the bottom of the vertical axis joint plate is rotationally connected with the coronal axis joint plate, and the rotation axis is parallel to the sagittal axis of the ankle joint of the human body; the base part comprises a rope driving system, an inclination adjusting mechanism and a base bracket; the rope driving system is arranged on the base bracket and connected with the driving rope, and the driving rope passes through the pulley and then is connected with the sole supporting plate; the inclination adjusting mechanism is arranged on the base bracket, and the moving part is arranged on the inclination adjusting mechanism; the method is characterized in that: the moving part also comprises a height adjusting mechanism, an arc-shaped guide rail and a sliding block; the arc-shaped guide rail is fixedly arranged on the shank support plate and is perpendicular to a vertical shaft of the human ankle joint; the sliding block is slidably arranged on the arc-shaped guide rail and can rotate around a vertical shaft of an ankle joint of a human body on the arc-shaped guide rail; the top of the vertical axis joint plate is fixed with the sliding block; the height adjusting mechanism is arranged on the sole supporting plate; the ankle support plate is rotatably arranged on the height adjusting mechanism, and the rotation axis is parallel to the coronal axis of the ankle joint of the human body.
The shank support plate comprises an inner ring plate and an outer ring plate, wherein the outer ring plate is fixed on the inner ring plate.
The arc-shaped guide rail is fixedly arranged at the bottom of the outer ring plate.
The arc-shaped guide rail and the inner ring plate are concentrically arranged.
The height adjusting mechanism comprises a scissor type connecting rod mechanism, an adjusting screw, a base and a rotating shaft connecting block; the base is fixedly arranged on the sole supporting plate; the shear type connecting rod mechanism is arranged on the base; the adjusting screw is connected with the scissor type connecting rod mechanism; the rotating shaft connecting block is arranged on the scissor type connecting rod mechanism; the ankle support plate is rotatably installed on the rotating shaft connecting block.
The motion part of the application also comprises a magnetic grating displacement sensor, wherein the magnetic grating displacement sensor comprises a magnetic grating reading head and a magnetic grating magnetic strip, the magnetic grating reading head is fixedly arranged on the sliding block, the magnetic grating magnetic strip is fixedly arranged on the shank supporting plate, and the magnetic grating reading head is matched with the magnetic grating magnetic strip.
The rotary joint also comprises an encoder; the encoder is mounted between the vertical axis articulation plate and the coronal axis articulation plate.
The inclination adjusting mechanism comprises a shank support plate connecting block, a shank support plate fixing shaft and a support connecting rod; the support connecting rod is fixedly arranged on the base bracket; the shank support plate connecting block is fixedly arranged on the shank support plate and rotatably arranged on the support connecting rod; the shank support plate connecting block is provided with a positioning hole, and the shank support plate fixing shaft is inserted into the support connecting rod and the positioning hole to fix the shank support plate connecting block and the support connecting rod.
The inclination adjusting mechanism further comprises a shank support plate rotating shaft, and the shank support plate connecting block is rotatably arranged on the support connecting rod through the shank support plate rotating shaft.
The connecting block of the leg support plate is provided with 6 positioning holes with 15-degree intervals.
Compared with the prior art, the application has the following advantages and effects:
1. the configuration method of the rope-driven parallel robot is widened, the rotation axis of the rotation joint in the vertical axis direction and the rotation axis of the ankle in the vertical axis direction are overlapped as much as possible, and the plantar flexion/dorsiflexion, adduction/abduction, varus/valgus movement of the ankle is facilitated. In addition, the physiotherapist can adjust the rotation center height of the mechanism according to the ankle height of the patient by using the height adjusting mechanism to adapt to the ankle heights of different patients.
2. The inclination adjusting mechanism is designed, and the user can select a more comfortable position between lying and sitting to perform rehabilitation training by adjusting the inclination angle between the motion executing part and the base part of the mechanism.
Drawings
Fig. 1 is a schematic structural view of an embodiment of the present application.
Fig. 2 is a schematic diagram of a moving part according to an embodiment of the present application.
Fig. 3 is a schematic diagram of a moving part according to a second embodiment of the present application.
Fig. 4 is a schematic structural view of a height adjusting mechanism according to an embodiment of the present application.
Fig. 5 is a schematic structural view of an inclination adjusting mechanism according to an embodiment of the present application.
Fig. 6 is a schematic structural diagram of a chinese patent with application No. 202110200162.X in the prior art.
Detailed Description
The present application will be described in further detail by way of examples with reference to the accompanying drawings, which are illustrative of the present application and not limited to the following examples.
Embodiments of the present application include a motion portion and a base portion. The motion part is mainly used for realizing active and passive rehabilitation training of the ankle joint; the base part mainly provides structural support for the motion part, and realizes control driving function. The motion part and the base part are connected through an inclination adjusting mechanism, so that the inclination of the motion part relative to the base can be adjusted.
The movement part comprises a shank supporting plate 1, a rotary joint 2, a sole supporting plate 3, a driving rope 4, a magnetic grid displacement sensor 5, a pulley 6, a height adjusting mechanism 7, an arc-shaped guide rail 8 and a sliding block 9.
The calf support plate 1 is for securing a calf portion of a patient and includes an inner ring plate 101 and an outer ring plate 102, the outer ring plate 102 being secured to the inner ring plate 101. The diameter of the inner ring plate 101 is 80mm, and the cooperation of the straps and cushion ensures that the lower legs of patients of different sizes are fixed in a comfortable position and remain stationary during rehabilitation. The diameter of the outer ring plate 102 is 110mm, and the larger diameter enables the pulley 6 to be fixed at the outer end, so that the distance between the remote anchor points of the traction ropes is enlarged, and the distance between the remote anchor points and the near anchor points of the ropes is larger, so that the moving part has larger working space.
The mirror image of 50mm around outer annular plate 102 has set up 4 external diameters and is 16 mm's pulley 6, and this pulley 6 divide into inside and outside wheel, and the interior wheel is responsible for rotatory transmission rope, and the outer wheel is fixed with the pulley bracket, is equipped with the polished rod that has the anti-bracket function on the outer wheel, prevents that the rope from breaking away from the safety problem of pulley track in rehabilitation training process.
The arc-shaped guide rail 8 is fixedly arranged at the bottom of the outer ring plate 102, the diameter of the arc-shaped guide rail 8 is 100mm, and the radian is 60 degrees; the arc-shaped guide rail 8 is perpendicular to the vertical axis of the human ankle joint, and the arc center of the arc-shaped guide rail 8 is optimally positioned on the coronal axis of the human ankle joint; the sliding block 9 is slidably arranged on the arc-shaped guide rail 8 and can move on the arc-shaped guide rail 8 around the vertical axis of the ankle joint of the human body; the arc-shaped guide rail 8 and the sliding block 9 are used as a mechanism to rotate the joint in the vertical axis direction. The arc guide rail 8 and the inner annular plate 101 are concentrically arranged, and because the arc guide rail 8 and the inner annular plate 101 are in concentric relation, when the sliding block 9 and the arc guide rail 8 relatively move, the track of the sliding block 9 is always tangential to the arc guide rail 8, so that the rotation direction of the vertical axis of the mechanism is consistent with the internal rotation/external rotation direction of the ankle joint. In order to obtain the rotation angle in the vertical axis direction, a magnetic grating displacement sensor 5 is provided, the magnetic grating displacement sensor 5 comprises a magnetic grating reading head and a magnetic grating magnetic strip, the magnetic grating reading head is fixedly arranged on the sliding block 9, the magnetic grating magnetic strip is fixedly arranged on the inner annular plate 101 of the shank supporting plate 1, the magnetic grating reading head is matched with the magnetic grating magnetic strip, the magnetic grating magnetic strip is read through the magnetic grating reading head and then converted into an angle value, and therefore the angular displacement in the moving process of the sliding block 9 is measured.
The sole support plate 3 is located below the calf support plate 1.
The height adjusting mechanism 7 is mounted on the sole support plate 3. The height adjusting mechanism 7 is simplified by taking a scissor jack as a prototype and comprises a scissor link mechanism 71, an adjusting screw 72, a base 73 and a rotating shaft connecting block 74; the base 73 is fixedly arranged on the sole supporting plate 3; the scissor linkage 71 is mounted on the base 73; the adjusting screw 72 is connected with the scissor type link mechanism 71, and the scissor type link mechanism 71 can be driven to stretch and retract by the rotation of the adjusting screw 72; the rotating shaft connecting block 74 is mounted on the scissor type link mechanism 71, and the expansion and contraction of the scissor type link mechanism 71 drives the rotating shaft connecting block 74 to lift and lower, so that the height of the rotating shaft connecting block 74 is adjusted. The included angle between the stress connecting rod and the adjusting screw 72 in the scissor-type connecting rod mechanism 71 is set to be a stress angle, the stress angle of the stress connecting rod is 45 degrees, the distance between the center of the height adjusting mechanism and the base 73 is 80mm in the initial state, the position from the center of the mechanism with the height adjusted by the height adjusting mechanism to the base 73 can be from 30mm to 105mm along with the continuous adjustment of the stress angle, no matter the special group is adults, children or the elderly, the physical therapist can adjust the rotation center of the moving part to coincide with the ankle by using the height adjusting mechanism on the premise of keeping the rope tensioning, and when the mechanism is adjusted to the expected height by rotating the adjusting screw 72, the position of the adjusting screw 72 can be fixed by using a self-locking nut in a screw pair self-locking mode. The height adjusting mechanisms 7 are arranged side by side.
The rotary joint 2 includes an ankle support plate 21, a coronal axis joint plate 22, a vertical axis joint plate 23, and an encoder 24. In order to adapt to the size parameters of the human ankle, the diameter of the ankle support plate 21 is set to 50mm, both ends of the ankle support plate 21 are respectively rotatably connected with the rotary shaft connecting blocks 74 of the two height adjusting mechanisms 7, the rotary axis is parallel to the coronal axis of the human ankle, and the optimization is coincident with the coronal axis of the human ankle. One end of the crown-shaped shaft joint plate 22 is fixedly connected with the ankle support plate 21. The bottom of the vertical axis joint plate 23 is rotationally connected with the coronal axis joint plate 22, the rotation axis is parallel to the sagittal axis of the human ankle joint, and the optimization is coincident with the sagittal axis of the human ankle joint; an encoder 24 is installed between the vertical axis joint plate 23 and the crown axis joint plate 22; the top of the vertical axis joint plate 23 is fixed with the slider 9. The rotary joint 2 can realize plantarflexion/dorsiflexion, varus/valgus and adduction/abduction of the ankle joint, wherein plantarflexion/dorsiflexion is rotation around a coronal axis, varus/valgus is rotation around a sagittal axis, adduction/abduction is rotation around a vertical axis, and the rotation angle of the rotary joint can be directly obtained through the encoder 24 and the magnetic grid displacement sensor 5.
The base part comprises a rope driving system 10, an inclination adjusting mechanism 11 and a base bracket 12, the whole base is simplified by adopting a hollowed-out structure, the manufacturing cost is lower, and the main function is to provide structural support, rope driving and control functions for the moving part.
The rope driving system 10 is installed on the base bracket 12 and connected with the driving rope 4, and the driving rope 4 passes through the pulley 6 and then is connected with the sole supporting plate 3.
The inclination adjustment mechanism 11 is mounted on the base bracket 12, and the moving part is mounted on the inclination adjustment mechanism 11. The inclination adjustment mechanism 11 mainly plays a role in adjusting the inclination of the lower leg, and includes a lower leg support plate connection block 111, a lower leg support plate rotation shaft 112, a lower leg support plate fixing shaft 113, and a support link 114.
The support links 114 are fixedly mounted to the base bracket 12. The back of the inner ring plate 101 is provided with a groove, and the lower leg support plate connecting block 111 is fixedly installed in the groove, so that the lower leg support plate connecting block 111 is fixedly installed at the back of the inner ring plate 101. The lower leg support plate connection block 111 is rotatably mounted on the support link 114 through the lower leg support plate rotation shaft 112.
In order to meet the requirement that the rehabilitation training can be performed when the patient is in bed in the early rehabilitation period, 6 positioning holes 115 with 15 degrees of interval are formed in the shank support plate connecting block 111, the shank support plate fixing shaft 113 is inserted into the support connecting rod 114 and the positioning holes 115, and the shank support plate connecting block 111 and the support connecting rod 114 are fixed; the inclination angle between the moving part and the base part can be adjusted through different positioning holes 115 penetrated by the shank support plate fixing shaft 113, and the inclination angle adjusting range is 0-90 degrees, which correspond to the sitting rehabilitation posture, the lying rehabilitation posture and the intermediate transition posture respectively.
In addition, it should be noted that the specific embodiments described in the present specification may vary from part to part, from name to name, etc., and the above description in the present specification is merely illustrative of the structure of the present application. All equivalent or simple changes of the structure, characteristics and principle according to the inventive concept are included in the protection scope of the present patent. Those skilled in the art may make various modifications or additions to the described embodiments or substitutions in a similar manner without departing from the scope of the application as defined in the accompanying claims.
Claims (10)
1. A rope-driven ankle rehabilitation robot comprises a motion part and a base part; the movement part comprises a shank supporting plate, a rotary joint, a sole supporting plate, a driving rope and pulleys; the pulley is arranged on the shank supporting plate; the sole supporting plate is positioned below the shank supporting plate; the rotary joint comprises an ankle support plate, a coronal axis joint plate and a vertical axis joint plate; the crown-shaped shaft joint plate is fixedly connected with the ankle support plate; the bottom of the vertical axis joint plate is rotationally connected with the coronal axis joint plate, and the rotation axis is parallel to the sagittal axis of the ankle joint of the human body; the base part comprises a rope driving system, an inclination adjusting mechanism and a base bracket; the rope driving system is arranged on the base bracket and connected with the driving rope, and the driving rope passes through the pulley and then is connected with the sole supporting plate; the inclination adjusting mechanism is arranged on the base bracket, and the moving part is arranged on the inclination adjusting mechanism; the method is characterized in that: the moving part also comprises a height adjusting mechanism, an arc-shaped guide rail and a sliding block; the arc-shaped guide rail is fixedly arranged on the shank support plate and is perpendicular to a vertical shaft of the human ankle joint; the sliding block is slidably arranged on the arc-shaped guide rail and can rotate around a vertical shaft of an ankle joint of a human body on the arc-shaped guide rail; the top of the vertical axis joint plate is fixed with the sliding block; the height adjusting mechanism is arranged on the sole supporting plate; the ankle support plate is rotatably arranged on the height adjusting mechanism, and the rotation axis is parallel to the coronal axis of the ankle joint of the human body.
2. The rope-driven ankle rehabilitation robot according to claim 1, wherein: the shank supporting plate comprises an inner ring plate and an outer ring plate, and the outer ring plate is fixed on the inner ring plate.
3. The rope-driven ankle rehabilitation robot according to claim 2, wherein: the arc guide rail is fixedly arranged at the bottom of the outer annular plate.
4. The rope-driven ankle rehabilitation robot according to claim 2, wherein: the arc guide rail and the inner ring plate are concentrically arranged.
5. The rope-driven ankle rehabilitation robot according to claim 1, wherein: the height adjusting mechanism comprises a scissor type connecting rod mechanism, an adjusting screw, a base and a rotating shaft connecting block; the base is fixedly arranged on the sole supporting plate; the shear type connecting rod mechanism is arranged on the base; the adjusting screw is connected with the scissor type connecting rod mechanism; the rotating shaft connecting block is arranged on the scissor type connecting rod mechanism; the ankle support plate is rotatably installed on the rotating shaft connecting block.
6. The rope-driven ankle rehabilitation robot according to claim 1, wherein: the motion part also comprises a magnetic grating displacement sensor, wherein the magnetic grating displacement sensor comprises a magnetic grating reading head and a magnetic grating magnetic strip, the magnetic grating reading head is fixedly arranged on the sliding block, the magnetic grating magnetic strip is fixedly arranged on the shank supporting plate, and the magnetic grating reading head is matched with the magnetic grating magnetic strip.
7. The rope-driven ankle rehabilitation robot according to claim 1, wherein: the rotary joint also comprises an encoder; the encoder is mounted between the vertical axis articulation plate and the coronal axis articulation plate.
8. The rope-driven ankle rehabilitation robot according to claim 1, wherein: the inclination adjusting mechanism comprises a shank support plate connecting block, a shank support plate fixing shaft and a support connecting rod; the support connecting rod is fixedly arranged on the base bracket; the shank support plate connecting block is fixedly arranged on the shank support plate and rotatably arranged on the support connecting rod; the shank support plate connecting block is provided with a positioning hole, and the shank support plate fixing shaft is inserted into the support connecting rod and the positioning hole to fix the shank support plate connecting block and the support connecting rod.
9. The rope-driven ankle rehabilitation robot according to claim 8, wherein: the inclination adjusting mechanism further comprises a shank supporting plate rotating shaft, and the shank supporting plate connecting block is rotatably installed on the supporting connecting rod through the shank supporting plate rotating shaft.
10. The rope-driven ankle rehabilitation robot according to claim 8, wherein: the leg support plate connecting block is provided with 6 positioning holes at 15 degrees intervals.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311225511.9A CN117224361A (en) | 2023-09-21 | 2023-09-21 | A rope-driven ankle rehabilitation robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311225511.9A CN117224361A (en) | 2023-09-21 | 2023-09-21 | A rope-driven ankle rehabilitation robot |
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| Publication Number | Publication Date |
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| CN117224361A true CN117224361A (en) | 2023-12-15 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311225511.9A Pending CN117224361A (en) | 2023-09-21 | 2023-09-21 | A rope-driven ankle rehabilitation robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117656100A (en) * | 2024-01-31 | 2024-03-08 | 燕山大学 | Motion axis adaptive ankle joint motion robot and its control method |
| CN120890484A (en) * | 2025-06-30 | 2025-11-04 | 自变量机器人科技(深圳)有限公司 | Encoder and measuring device |
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| CN105125380A (en) * | 2015-09-28 | 2015-12-09 | 北京工业大学 | Ankle rehabilitation device |
| CN106730634A (en) * | 2016-12-31 | 2017-05-31 | 中北大学 | The adjustable ankle device for rehabilitation of axis |
| CN106974805A (en) * | 2017-05-10 | 2017-07-25 | 重庆邮电大学 | A kind of parallel ankle joint rehabilitation device |
| CN112972201A (en) * | 2021-02-22 | 2021-06-18 | 宁波大学 | Ankle joint rehabilitation training device and robot |
| CN115363905A (en) * | 2022-07-18 | 2022-11-22 | 宁波大学 | Wheelchair type rope-driven ankle joint rehabilitation robot |
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2023
- 2023-09-21 CN CN202311225511.9A patent/CN117224361A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105125380A (en) * | 2015-09-28 | 2015-12-09 | 北京工业大学 | Ankle rehabilitation device |
| CN106730634A (en) * | 2016-12-31 | 2017-05-31 | 中北大学 | The adjustable ankle device for rehabilitation of axis |
| CN106974805A (en) * | 2017-05-10 | 2017-07-25 | 重庆邮电大学 | A kind of parallel ankle joint rehabilitation device |
| CN112972201A (en) * | 2021-02-22 | 2021-06-18 | 宁波大学 | Ankle joint rehabilitation training device and robot |
| CN115363905A (en) * | 2022-07-18 | 2022-11-22 | 宁波大学 | Wheelchair type rope-driven ankle joint rehabilitation robot |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117656100A (en) * | 2024-01-31 | 2024-03-08 | 燕山大学 | Motion axis adaptive ankle joint motion robot and its control method |
| CN117656100B (en) * | 2024-01-31 | 2024-04-05 | 燕山大学 | Motion axis self-adaptive ankle joint motion robot and control method thereof |
| CN120890484A (en) * | 2025-06-30 | 2025-11-04 | 自变量机器人科技(深圳)有限公司 | Encoder and measuring device |
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