Five degree of freedom ectoskeleton type upper limb rehabilitation robot

Abstract

The invention provides a five-freedom exoskeleton type robot for healing upper limbs, which comprises a mounting deck used for mounting the robot. The mounting deck is provided with a lead rail, an erector is arranged on the lead rail and is provided with a height adjustment mechanism, a rotatable mounting arm is arranged on the erector by a rotatable axis. A healing mechanical arm body composed of a shoulder width, an upper arm, a forearm and a hand lever is installed on the rotatable mounting arm. Five freedom joints and five drive motors are respectively arranged on the rotatable axis of each joint; four torque sensors which are connected with the drive motors in a cascading way are respectively arranged on the parts of shoulder, elbow and wrist, wherein, the shoulder parts are provided with two torque sensors, the elbow part is provided with one torque sensor and the push-up part of the wrist part is provided with one torque sensor. The torque sensors that are taken as transfer devices and detecting devices are connected with a motor reducer and an executing mechanism. The robot provides single joint movement of each joint and three-dimension multi-joint compound movement for suffers as well as provides simple and basic movement training of daily life.

Description

(1) Technical field [0001] The present invention relates to a robot, specifically a robot used for upper limb rehabilitation. (2) Background technology [0002] Traditional clinical rehabilitation methods mostly involve rehabilitation physicians guiding patients one-on-one to complete continuous passive movements with their bare hands or using assistive devices, or applying appropriate resistance or assistance to guide patients' movements. The increase in the incidence of stroke has led to an increasing number of patients with hemiplegia. Heavy and high-intensity training tasks have placed a heavy burden on treating physicians, leaving them with little time and energy to focus on the analysis of clinical data. and improvements in treatment options. Therefore, it is very important to combine robots and related technologies with clinical rehabilitation medicine to design rehabilitation robots to replace doctors in completing rehabilitation training for hemiplegic patients. ...

AI Technical Summary

Problems solved by technology

Although the use of robots and related technologies has reduced the burden on physicians, improved efficiency, and provided objective and effective data basis for the formulation and optimization of rehabilitation programs for patients in different periods, the existing problem is: the patient's muscle movement caused by nerve damage Insufficient consideration of the clinical problems of functional impairment, lack of measures to support and protect the affected limbs that are difficult to overcome their own gravity

On the other hand, most of the training actions that current rehabilitation robots can provide are simple straight or curved trajectories, with a small range of motion and a single type.

Images