MULTI-POSE LOWER-LIMB REHABILITATION TRAINING ROBOT

摘要

A multi-pose lower-limb rehabilitation training robot comprises a robot base (1-1) and a training bed. The training bed comprises two leg mechanisms (1-2), a seat (1-4), a seat width adjustment mechanism, a human body gravity center adjustment mechanism, a back cushion (1-5), a weight reduction system (1-6), and a seat back-cushion angle adjustment mechanism. The robot base (1-1) comprises a bed body angle adjustment mechanism. The bed body angle adjustment mechanism and the seat angle adjustment mechanism are in cooperation, and can provide, to a paralysis patient, a training mode of multiple poses such as lying, sitting and standing. Each leg mechanism (1-2) comprises three joints, namely, a hip joint, a knee joint and an ankle joint. The hip joints, the knee joints and the ankle joints are all driven by a motor and are provided with angle sensors and force sensors, and can be used for recognizing motion intention of the patient and help to provide active and strength-added training to the patient. The human body gravity center adjustment mechanism, the leg mechanisms (1-2) and the weight reduction system (1-6) cooperate with each other, so that bionic gaits approximating to natural walking of a human body can be achieved, and the gait training effect can be improved.