STATIONARY AUTOMATED DEVICE LOR LOWER LIMB REHABILITATION

摘要

Two vertical front posts (2a, 2b) and two vertical rear posts (3a, 3b) are mounted on a flat platform of the automated device. The front posts (2a, 2b) mounted in the horizontal guide are symmetrically moved by the spacing adjustment mechanism within the range between the position of the joined front posts (2a, 2b) to a dimension between their inner surfaces equal to the width of the wheelchair, and the moved apart position to a dimension where the width dimension of the wheelchair is located between the mechanical legs (2.3a, 2.3b) suspended on the front posts (2a, 2b). On the inner surfaces of the front posts (2a, 2b), there are vertical guides with a screw drive mechanism for pelvic height adjustment. The mechanical legs (2.3a, 2.3b) girdle the patient's lower limbs from the outside by: pelvic control units that induce a symmetrically alternating movement of the hip joint hinges in both mechanical legs (2.3a, 2.3b) with ellipsoid trajectories, and by adjustable thigh and shin connectors and foot connectors actuated by tilt units. The rear posts (3a, 3b) are mounted with the internal faces spaced apart by a distance equal to the dimension between joined front posts (2a, 2b), and they have vertical guides for two symmetrically actuated lift brackets (3.1), connected at their upper ends by a lifter with a crossbar on its end having two handles (3.1.9) for the patient's hands. In the vertical guide of one of the lift brackets (3.1) there is mounted a tiltable back hold supporting member (3.2). All servomotors actuating the moving parts of the automated device are controlled by signals from a software-equipped computer, including controlling the position and forces present by measuring sensors.