| 摘要 |
The invention relates to a mechatronic system for medical recovery, by kinetotherapy, in case of locomotor problems of the lower limb, by exercising a locomotive impaired leg based on a recovery program, starting from the natural motion of the other healthy leg of a patient. According to the invention, the system consists of three parts: a mechanical part consisting of an orthotic device () which comprises a housing () with a toothed crown placed inside, a pinion () and three satellites (), as well as two supporting rods () to be mounted on the segments of the lower limb, namely on the thigh and on the shank, the so formed gearing being driven by an electric motor (), an electronic part consisting of a sensor system () meant to record and monitor the legs motion parameters, both for the healthy leg and for the locomotive impaired leg, and a control module () comprising a microcontroller development system and an electric motor control module, and a software part consisting of the software for data acquisition from the sensor system, routines for the control of the electric motor and routines for communication between the microcontroller system and a PC. |
