Five degree of freedom ectoskeleton type upper limb rehabilitation robot

A rehabilitation robot and exoskeleton technology, applied in the field of robotics, can solve problems such as single type, small range of motion, and insufficient consideration of clinical problems

Inactive Publication Date: 2009-02-04
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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 cons

Method used

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  • Five degree of freedom ectoskeleton type upper limb rehabilitation robot
  • Five degree of freedom ectoskeleton type upper limb rehabilitation robot
  • Five degree of freedom ectoskeleton type upper limb rehabilitation robot

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Embodiment Construction

[0018] The present invention will be further described below in conjunction with accompanying drawing and specific embodiment:

[0019] combine figure 2 , the composition of the five-degree-of-freedom exoskeleton upper limb rehabilitation robot includes a mounting frame for installing the robot, the robot is connected to a control cabinet with a display and a keyboard, the mounting frame is designed with a guide rail 6, and a lifting frame is installed on the guide rail. Adjusting mechanism, the rotatable mounting arm 4 is installed on the lifting frame through the rotating shaft, combined with image 3 , consisting of a shoulder, an upper arm, a forearm, an arm, and a handle 3 (the arm body only includes the shoulder, the upper arm above the elbow, the forearm from the elbow to the wrist, and the handle below the wrist, and the handle below the wrist) The main body of the rehabilitation robotic arm is installed on the installation arm. The cross shoulder and the installatio...

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PUM

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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. ...

Claims

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Application Information

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IPC IPC(8): A61H1/00A61H1/02B25J5/00B25J11/00A63B23/12
Inventor 孙立宁杜志江李庆玲
Owner HARBIN INST OF TECH
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