PARALLEL ROBOT FOR RECOVERY OF LOWER LIMB JOINTS IN TWO PLANES

• Main Authors: VAIDA LIVIU-CĂLIN, BÎRLESCU IOSIF, PÎSLĂ DOINA LIANA, MACHADO JOSE, TUCAN PAUL- GEORGE-MIHAI, GHERMAN BOGDAN GEORGE
• Format: Patent
• Language: English; Romanian
• Published: 30.07.2024
• Subjects: AMUSEMENTS; APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING,CLIMBING, OR FENCING; ARTIFICIAL RESPIRATION; BALL GAMES; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSESOR SPECIFIC PARTS OF THE BODY; GAMES; HUMAN NECESSITIES; HYGIENE; MASSAGE; MEDICAL OR VETERINARY SCIENCE; PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING ORSTIMULATING REFLEX POINTS IN THE BODY; SPORTS; TRAINING EQUIPMENT

The invention relates to a parallel robot for recovery of patients with neuromotor disorders of lower limb. According to the invention, the robot consists of two parallel coupled robotic modules (1 and 2) for hip and knee recovery and for ankle recovery, respectively, the first module (1) comprising a serial kinematic linkage (4) with three passive rotation couplings (8, 9 and 10) and two mechanical connection elements (11 and 12) supporting a patient's lower limb, the first such element (11) being adjustable, and three actuation kinematic linkages (5, 6 and 7), where the two first kinematic linkages (5 and 6) connect the serial kinematic linkage (4) to a rotary frame (23) so as to provide a closed kinematic linkage with planar movement of the kinematic linkage (4) and the third linkage (7) connects the rotary frame (23) to a fixed frame (3) so as to provide a rotary movement of the kinematic linkage (4) about the first passive coupling (8). Invenţia se referă la un robot paralel pentru recuperarea pacienţilor cu afecţiuni neuromotorii ale membrului inferior. Robotul, conform invenţiei este alcătuit din două module (1 şi 2) robotice paralele, cuplate pentru recuperarea şoldului şi a genunchiului şi respectiv a gleznei, primul modul (1) are în componenţă un lanţ (4) cinematic serial cu trei cuple (8, 9 şi 10) pasive de rotaţie şi două elemente (11 şi 12) de legătură mecanice care susţin membrul inferior al unui pacient, primul element (11) fiind ajustabil şi trei lanţuri (5, 6 şi 7) cinematice de acţionare, unde primele două lanţuri (5 şi 6) cinematice de acţionare leagă lanţul (4) cinematic de un cadru (23) rotativ pentru a obţine un lanţ cinematic închis cu mişcare planară a lanţului (4) cinematic, iar al treilea lanţ (7) cinematic de acţionare leagă cadrul (23) rotativ de un un cadru (3) fix pentru a obţine o mişcare de rotaţie a lanţului (4) cinematic în jurul primei cuple (8) pasive.