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

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 ofeach 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...

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