Wearing type upper limb recovery training robot device

A rehabilitation training and robotics technology, applied in manipulators, gymnastics equipment, passive exercise equipment, etc., can solve the problems of non-wearability, difficulty in control, poor flexibility, etc., and achieve the effect of good wearability, comfortable wearing and safe use

CN101125112AActive Publication Date: 2008-02-20湖北英特搏智能机器有限公司
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Publication Date
2008-02-20

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Abstract

The present invention discloses a wearable upper extremity rehabilitation training robot device, including shoulder joints, upper arms, elbow joints, forearms, wrist joints and palms. The robot device of the present invention has eight free degrees to simulate the free degrees of the joints of the human upper extremities and can provide more free degrees, so as to guarantee the main joints of the human upper extremities to get assisted training during the rehabilitation training; the present invention uses the wearable structure, the structure is simple, the weight is light, which can be worn on the patients with the good comfort, furthermore, the present invention can directly act on the affected limb, so the pertinence of the training is strong and the effect is good. The structural design of multi-free degree can meet a variety of control methods and assist the affected limb to carry out the rehabilitation training of the single joint movement and multi-joint compound movement, so as to achieve the purpose of assisting the patients to fulfill the necessary things in the daily lives.
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Description

technical field

[0001] The invention belongs to the technical field of auxiliary medical rehabilitation training equipment, and relates to a rehabilitation training robot, in particular to a wearable upper limb rehabilitation training robot device, which can directly act on the joints of the affected limb, and can perform partial joint and multi-joint compound movements rehabilitation training. technical background

[0002] Stroke is a common and frequently-occurring disease among middle-aged and elderly people, and it is one of the three most harmful diseases to human beings in the world today. There are approximately 6.6 million stroke patients in my country every year. As countries around the world enter aging countries, the number of stroke patients is bound to increase. Hemiplegia ranks first among the numerous patient sequelae produced by apoplexy. Hemiplegia caused by stroke often has psychological and other impacts on the patient himself and his family. Society an...

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Embodiment Construction

[0018] Referring to FIG. 1 , the overall structure of a wearable upper limb rehabilitation training robot device according to the present invention will be described in detail. The wearable upper limb rehabilitation training robot device is a typical serial robot, which contains 8 degrees of freedom, and is used to simulate the freedom of human upper limb joints, which can meet the needs of people's daily life. The structure of the upper limb rehabilitation training robot device enveloping the skeleton of the human upper limb is semicircular or U-shaped, and has good wearability.

[0019] The overall structure of the robot device of the present invention includes shoulder joints, upper arms, elbow joints, forearms, wrist joints and palms.

[0020] As shown in Figure 1, shoulder joint is made up of shoulder top frame 11, shoulder side frame 12 and shoulder angle sensor 13, and shoulder top frame 11 and shoulder side frame 12 are semicircular, are connected by first, second rota...