CONNECTING ROD-TYPE LOWER LIMB EXOSKELETON REHABILITATION ROBOT

WIPO Patent Application WO/2018/214246

A1

Disclosed is a connecting rod-type lower limb exoskeleton rehabilitation robot, comprising a treadmill (4), a pneumatic muscle frame (1), a drive device (2) and a lower limb exoskeleton (3), wherein the pneumatic muscle frame (1) comprises a thigh rotary shaft (1-2), a calf rotary shaft (1-3), a hip joint shaft (1-4), a pneumatic muscle (1-5) and a support frame (1-6); the drive device (2) comprises a thigh drive mechanism and a calf drive mechanism, the thigh drive mechanism forming parallel four-connecting-rod mechanisms with a thigh rotating arm (2-1), a thigh connecting rod (2-2) and a thigh framework (2-7); the calf drive mechanism comprises two four-connecting-rod mechanisms; and the lower limb exoskeleton (3) is connected with the pneumatic muscle frame (1) by means of the drive device (2). The rehabilitation robot concentrates all the pneumatic muscle in the pneumatic muscle frame, and compared with exoskeletons which are driven by other pneumatic muscle, has a simple and compact structure, a high level of safety, and is easy to operate.

HUANG JIAN (CN)
HUANG ZHANGBO (CN)
TU XIKAI (CN)
ZHANG HAITAO (CN)
XIONG CAIHUA (CN)

PCT/CN2017/091929

November 29, 2018

July 06, 2017

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UNIV HUAZHONG SCIENCE TECH (CN)

A61H1/02

CN101019800A	2007-08-22
CN201005935Y	2008-01-16
CN105167965A	2015-12-23
CN106420271A	2017-02-22
CN105832496A	2016-08-10
CN103417356A	2013-12-04
US20080249438A1	2008-10-09

HUAZHONG UNIVERSITY OF SCIENCE AND TECHNOLOGY PATENT AGENCY CENTER (CN)

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