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发明授权
CN100588384C 生物融合式足关节康复机器人 失效 - 权利终止

生物融合式足关节康复机器人
摘要：
本发明公开一种生物融合式足关节康复机器人。其特征是：四个直线驱动单元上端通过万向铰(4)与上平台(16)的安装支架(5)相连，下端通过球副(9)与下平台(12)相连，人脚(11)通过夹持器与下平台(12)固连，小腿(2)通过固定器与上平台(16)相连。直线驱动器(6)可选用丝杠螺母机构、双向运动气缸(22)或电动缸(23)。本发明以人足仿生研究为基础，把人的膝下肢体作为运动分支融合到机构系统中。本康复机器人具有多个自由度，能够实现各种复杂的康复运动，转动铰点与足关节转动铰点完全重合。并可将康复过程中的数据用于诊断治疗。因此本发明具有结构简单新颖，安全可靠，运动灵活，能够实现全方向的关节功能康复，能很好地适应人足生理结构等优点。
摘要（英）：

The invention relates to a biology fusion foot joint return robot, which is characterized in that: the upper ends of four straight drivers are connected to the mounting support (5) of upper platform (16) via universal hinge (4), while the lower ends via ball couples (9) are connected to the lower platform (12); feet (11) via clamper are connected to the lower platform (12); the leg (2) via fixer is connected to the upper platform (16); the straight driver (6) can be lead screw nut device, bidirectional movable cylinder (22) or electric cylinder (33). The invention is based on bionic technique,to fuse the under-knee part of human as branch into system. The invention has several freedoms, to realize complex return movements, while the rotation hinge point is layered with feet joint rotationhinge point. And the data can be used in diagnosis.

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