KNEE JOINT REHABILITATION ROBOT AND CONTROL METHOD THEREFOR

摘要

A knee joint rehabilitation robot, comprising a thigh casing (1), a calf casing (2), a hydraulic rod (3), a hydraulic cylinder (4), and a free piston (42) and an inner spring (43) arranged inside the hydraulic cylinder (4). An end portion of the hydraulic cylinder (4) is provided with a cylinder end cap (41), an end portion of the hydraulic rod (3) is fixedly provided with a first blocking piece (31), the hydraulic rod (3) is sleeved with an inner compression spring (39), a first cavity (45) used for accommodating a liquid is formed between the first blocking piece (31) and the cylinder end cap (41), a second cavity (46) used for accommodating a liquid is formed between the first blocking piece (31) and the free piston (42), the first blocking piece (31) is provided with at least one first through hole (311), and the hydraulic rod (3) is provided with a flow adjustment apparatus. The knee joint rehabilitation robot controls different damping forces according to different walking states. Also provided is a control method for the knee joint rehabilitation robot.