Exoskeleton-type upper limb rehabilitation robot

Abstract

The invention relates to a rehabilitation robot, in particular to an exoskeleton-type upper limb rehabilitation robot, which realizes the upper limb rehabilitation by assisting shoulder blades of the body in rotation. The exoskeleton-type upper limb rehabilitation robot comprises an upper arm part, an upper arm forward bending assisting part, an upper arm external expansion assisting part, a shoulder blade rotation assisting part, a transmission part and a bracket part and is characterized in that the diameter of a forward bending driving wheel of the transmission part is twice that of a driving wheel; the diameter of an external expansion driving wheel is twice that of the driving wheel; and a weight wheel, the forward bending driving wheel and the external expansion driving wheel are all provided with positioning devices. The exoskeleton-type upper limb rehabilitation robot follows a 2-1 principle of driving shoulder blades by the upper limb in human body articular kinesiology, makes the mechanical upper arms assist the shoulder blades in rotation according to the 2-1 principle when assisting the upper arms of the user in bending forward or extending by assisting the shoulder blades of the human body and can more scientifically carry out rehabilitation training of the upper limb of a patient.

Description

technical field [0001] The invention relates to a rehabilitation robot, in particular to an exoskeleton type upper limb rehabilitation robot which realizes upper limb rehabilitation by assisting the rotation of the scapula of a human body. Background technique [0002] When the human upper arm is doing forward flexion or abduction, it needs to drive the scapula to rotate within a certain range and in a certain proportion. If the human upper arm is based on the position of the natural plumb weight, the scapula will not be driven to perform any rotational movement when the upper arm flexion or abduction movement angle does not exceed 30°. Once the flexion or abduction of the upper arm exceeds 30°, every 2° of flexion or abduction of the upper arm will result in a 1° rotation of the scapula. Forward flexion and abduction of the upper arm occur in two mutually orthogonal planes, but whether it is forward flexion or abduction, the scapula is always in a plane parallel to the abd...

AI Technical Summary

Problems solved by technology

There are many problems in this method. Firstly, the physical therapist’s work is very labor-intensive and the training tasks are heavy. They do not have more time and energy to focus on the analysis of clinical data and the improvement of the treatment plan. Secondly, the training effect is subject to the subjectivity of the physical therapist. The most important thing is that the physical therapist cannot accurately and permanently ensure that the scapula rotates according to the 2-1 law of human kinematics, which will cause further strain on the muscles that have lost their contraction function

[0004] Although the existing training robot for upper limb rehabilitation reduces the burden on the physical therapist and improves the training efficiency by using the related technology of the robot, the problem is that its technology does not involve the 2-1 law of the movement of the upper arm and the scapula. The rigidity of the robot, on the contrary, may cause further strain to the muscles that have lost their contractile function

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