Pneumatic lower extremity gait rehabilitation training system

A pneumatic lower extremity gait rehabilitation training system, comprising:

• an exoskeleton rehabilitation device including a first hip joint mechanism, with a first hip joint outward-extending cylinder frame and a second hip joint outward-extending cylinder frame installed to respective ends of the first hip joint mechanism, the first hip joint outward-extending cylinder frame and the second hip joint outward-extending cylinder frame receiving a first pneumatic device installed therebetween, the first hip joint mechanism being installed to a second hip joint mechanism, the second hip joint mechanism being installed to a hip joint cylinder frame, the hip joint cylinder frame being pivotally coupled to a first cylinder device, the first cylinder device being coupled to a processing unit, the first hip joint mechanism being pivotally coupled to a thigh frame, the thigh frame being installed to a knee joint mechanism, the thigh frame and the knee joint mechanism being pivotally coupled to a first actuator, the knee joint mechanism being pivotally coupled to a calf frame, the calf frame being pivotally coupled to a second actuator, the second actuator being coupled to the processing unit, the knee joint mechanism and the calf frame being pivotally coupled to a third actuator, the third actuator being coupled to the processing unit, the first actuator and the second actuator being pivotally coupled to a second cylinder device, the calf frame being installed to an ankle joint mechanism, the ankle joint mechanism and the third actuator being installed to a second pneumatic device, the ankle joint mechanism being installed to a pedal device;
• wherein a first non-contact angle sensor is positioned at the first hip joint mechanism and is pivotally coupled thereto, a second non-contact angle sensor is positioned at the knee joint mechanism and is pivotally coupled thereto, a third non-contact angle sensor is positioned at the ankle joint mechanism and is pivotally coupled thereto, the first non-contact angle sensor, the second non-contact angle sensor, and the third non-contact angle sensor generate corresponding signals indicative of respective angular displacements of the first hip joint mechanism, the knee joint mechanism, and the ankle joint mechanism in a walking cycle of the exoskeleton rehabilitation device to transmit the corresponding signals to the processing unit thereby controlling the first actuator, second actuator, and third actuator responsive to the corresponding signals received by the processing unit.

A pneumatic lower extremity gait rehabilitation training system, comprising:

• an exoskeleton rehabilitation device including a first hip joint mechanism, with a first hip joint outward-extending cylinder frame and a second hip joint outward-extending cylinder frame installed to respective ends of the first hip joint mechanism, the first hip joint outward-extending cylinder frame and the second hip joint outward-extending cylinder frame receiving a first pneumatic device installed therebetween, the first hip joint mechanism being installed to a second hip joint mechanism, the second hip joint mechanism being installed to a hip joint cylinder frame, the hip joint cylinder frame being pivotally coupled to a first cylinder device, the first cylinder device being coupled to a processing unit, the first hip joint mechanism being pivotally coupled to a thigh frame, the thigh frame being installed to a knee joint mechanism, the thigh frame and the knee joint mechanism being pivotally coupled to a first actuator, the knee joint mechanism being pivotally coupled to a calf frame, the calf frame being pivotally coupled to a second actuator, the second actuator being coupled to the processing unit, the knee joint mechanism and the calf frame being pivotally coupled to a third actuator, the third actuator being coupled to the processing unit, the first actuator and the second actuator being pivotally coupled to a second cylinder device, the calf frame being installed to an ankle joint mechanism, the ankle joint mechanism and the third actuator being installed to a second pneumatic device, the ankle joint mechanism being installed to a pedal device;
• and
• a support device including a support frame coupled to the exoskeleton rehabilitation device, the support device including at least one pulley installed at an end of the support frame and a transmission unit extending between two ends and coupling the pulley to the exoskeleton rehabilitation device, one of the ends of the transmission unit being installed to a cylinder mechanism having a pressure relief valve, the cylinder mechanism being installed to the transmission unit via a cylinder fixing plate and being secured to a side of the support frame, the other of the ends of the transmission unit being secured to a balance bar, a suspension device extending from an end of the balance bar and fixedly secured to a sheath portion configured to be worn by a user, wherein the cylinder mechanism is coupled to the processing unit to be controllably actuated for countering at least a portion of a gravitational force on a user.