Apparel type robot for healing hand function and control system thereof

A rehabilitation robot and control system technology, applied in the field of rehabilitation robots, can solve the problems of not being suitable for wearing, not introducing biofeedback, and non-compliance of the driving actuator, so as to achieve the effect of easy wearing and dismounting, improving rehabilitation efficiency and improving rehabilitation effect

CN101181176AInactive Publication Date: 2008-05-21HUAZHONG UNIV OF SCI & TECH
3 Cites 83 Cited by

Patent Information

Authority / Receiving Office
CN · China
Current Assignee / Owner
Publication Date
2008-05-21
Estimated Expiration
Not applicable · inactive patent

Smart Images

  • Figure 1
    Figure 1
  • Figure 2
    Figure 2
  • Figure 3
    Figure 3
Patent Text Reader

Abstract

The invention discloses a wearable hand function rehabilitation robot, which is mainly used for assisting the repeated movement function rehabilitation training of the patient with hand movement function disorder which is caused by stroke, brain trauma, spinal cord injury and peripheral nerve injury in communities or families. The robot system extracts the active movement will of the patient by detecting the multi-channel surface myoelectric signals of the affected hand and obtains the state of the affected limb by combining the data which is measured by an angle and force sensor to carry out the rehabilitation training of the affected hand by pneumatic muscle contraction assistance by using the intelligent control algorithm on the basis. The rehabilitation robot has multiple degrees of freedom, which can assist the affected hand to carry out multi-joint complex movement and inosculate the multi-sensor data information fusion during the rehabilitation process to be further used for the evaluation of rehabilitation effect, and the activity and the training interest of the patient can be improved by using the rehabilitation treatment virtual environment on a computer. The invention has the advantages of simple structure, flexible movement, safety and reliability, which can not only realize the rehabilitation training of the movement function of the affected hand, but can also be in line with the physiologic structure characteristics of human hands. The invention is more comfortable to wear.
Need to check novelty before this filing date? Find Prior Art

Description

technical field

[0001] The invention belongs to rehabilitation robot technology, in particular to a wearable hand function rehabilitation robot and a control system thereof. The robot is driven by pneumatic muscles and can assist patients in multi-joint compound motion training of the affected hand. The invention adopts intelligent control based on biomyoelectric biofeedback, can quantitatively evaluate the rehabilitation effect, and adopts augmented reality technology to fully exert the patient's subjective initiative. Background technique

[0002] In recent years, the number of patients with central nervous system injuries such as spinal injuries, traumatic brain injuries, and strokes has increased significantly. Upper limb and hand dysfunction is one of the most common major problems. The recovery of hand function is related to the prognosis and quality of life of patients. Studies have shown that 90% of neurological recovery occurs within three months after a stroke. Th...

Examples

Embodiment Construction

[0029] Below in conjunction with accompanying drawing and example the present invention is described in further detail.

[0030] As shown in Figure 1, the structure of the wearable hand function rehabilitation robot is:

[0031] The mechanical arm 1 is used to fix the patient's arm and wrist. The first and second fixers 7 and 8 are installed at the rear end of the mechanical arm 1. The first force sensor 9 and the second force sensor 10 are used to measure the tension of the pneumatic muscle. One end of a force sensor 9 is connected to the first holder 7, and the other end is connected to the intake end of the first pneumatic muscle 11. One end of the second force sensor 10 is connected to the second holder 8, and the other end is connected to the second pneumatic muscle 4. connected to the intake port.

[0032] The support pulley frame 26 is installed at the front of the mechanical arm 1, the support pulley 13 and the first pressure wheel 14 are installed above, the metacarp...