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Wearable 7-degree-of-freedom upper limb movement rehabilitation training exoskeleton

A sports rehabilitation, degree of freedom technology, applied in passive exercise equipment, physical therapy and other directions, can solve the problems of limited use range and rehabilitation effect, difficult to meet patient requirements, insufficient range of motion, etc., to achieve the best rehabilitation effect, guarantee The effect of wearing comfort and improving safety

Inactive Publication Date: 2011-07-13
ZHEJIANG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Traditional rehabilitation training is carried out by the physical therapist manually guiding the affected arm. This kind of rehabilitation training is intensive, and the training effect is closely related to the technical proficiency of the physical therapist, and it is difficult to meet the increasing demands of patients.
The exoskeletons currently developed for upper limb sports rehabilitation training either have fewer degrees of freedom, or insufficient range of motion, or few training modes, so the range of use and rehabilitation effects are limited

Method used

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  • Wearable 7-degree-of-freedom upper limb movement rehabilitation training exoskeleton
  • Wearable 7-degree-of-freedom upper limb movement rehabilitation training exoskeleton
  • Wearable 7-degree-of-freedom upper limb movement rehabilitation training exoskeleton

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Experimental program
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Embodiment Construction

[0020] Further illustrate the present invention below in conjunction with accompanying drawing.

[0021] refer to figure 1 , the wearable 7-DOF upper extremity exercise rehabilitation training exoskeleton includes: a support rod 1 fixed on the base and an exoskeleton training device, wherein the exoskeleton training device includes shoulder adduction / abduction joint 2, flexion / extension joint 3 , 4 internal rotation / extension joints, 5 elbow flexion / extension joints, 6 internal rotation / external rotation joints, 7 wrist adduction / abduction joints and 8 flexion / extension joints, a total of seven rotation joints;

[0022] Such as figure 2As shown, the shoulder adduction / abduction joint 2 is driven by the first posture adjustment block 9, the second posture adjustment block 10, the first joint adapter plate 14, the first drive splint 11, the first joint drive motor 12 and the second drive. The splint 13 is composed of one side of the adjacent two sides of the first posture adj...

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Abstract

The invention provides a wearable 7-degree-of-freedom upper limb movement rehabilitation training exoskeleton which comprises a supporting rod and an exoskeleton training device which are fixed on a base, wherein the exoskeleton training device is formed by connecting a shoulder adduction / abduction joint, a shoulder flexion / extension joint, a shoulder medial rotation / lateral rotation joint, an elbow flexion / extension joint, an elbow medial rotation / lateral rotation joint, a wrist adduction / abduction joint and a wrist flexion / extension joint in series. The joints are directly driven by a motor, wherein the shoulder and elbow rotating joints are additionally provided with a spur-gear set, the structure is simple, and the response speed is high. Compared with the prior art, the exoskeleton provided by the invention has more degrees of freedom of movement and can adapt to standing and sitting training. The length of an exoskeleton rod can be adjusted according to the height of a patient, thereby ensuring the wearing comfort. A spacing structure is adopted by the joints, thereby improving the safety. Angle and moment sensors at the joint points can acquire kinematic and dynamic data of each joint in real time, thereby being convenient for physical therapists to subsequently analyze and establish a training scheme to achieve an optimal rehabilitation effect.

Description

technical field [0001] The invention relates to a wearable 7-degree-of-freedom upper limb exercise rehabilitation training exoskeleton, which belongs to the field of medical rehabilitation equipment. It is suitable for upper limb exercise rehabilitation training for patients with hemiplegia. Background technique [0002] With the acceleration of the aging process in modern society, the group of patients with hemiplegia caused by stroke and other cardiovascular and cerebrovascular diseases has attracted more and more attention from the society. Such patients need scientific sports rehabilitation training to improve the motor function of the affected arm. Traditional rehabilitation training is carried out by a physical therapist manually guiding the affected arm. This kind of rehabilitation training is intensive, and the training effect is closely related to the technical proficiency of the physical therapist, and it is difficult to meet the increasing requirements of patient...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61H1/02
Inventor 杨灿军严华陈杰张艳松
Owner ZHEJIANG UNIV
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