Three-degree-of-freedom over-constrained ankle joint rehabilitation metamorphic hybrid mechanism

• Main Authors: TIAN HEQIANG, ZHANG HAIQIANG, YUAN HUANZHI, DING MAOYING, YAO YAN'AN, NIE ZIHENG, TANG JIANGLONG, LI XIANGSHUAI
• Format: Patent
• Language: Chinese; English
• Published: 22.04.2022
• Subjects: ARTIFICIAL RESPIRATION; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSESOR SPECIFIC PARTS OF THE BODY; HUMAN NECESSITIES; HYGIENE; MASSAGE; MEDICAL OR VETERINARY SCIENCE; PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING ORSTIMULATING REFLEX POINTS IN THE BODY

The invention relates to a three-degree-of-freedom over-constrained ankle joint rehabilitation metamorphic hybrid mechanism which comprises a placing platform, a rotating platform, a first driving branch, a second driving branch, a third driving branch and a fourth metamorphic driving branch, and the first driving branch and the second driving branch are the same in structure and comprise rotating pairs, servo driving units and hooke joints. The third driving branch comprises a Hooke joint, a servo driving unit and a honeycomb spherical hinge, the fourth metamorphic driving branch comprises a moving pair and a Hooke joint, the number of components can be changed by locking or driving the moving pair, different motion outputs are achieved, and the structure is a (2RPU-PU-UPS) + R type over-constrained metamorphic hybrid mechanism with three rotational degrees of freedom. The device is suitable for ankle joint rehabilitation training. By adopting the metamorphic mechanism, the motion output of the placing platf