Exoskeleton type upper limb rehabilitation robot

Abstract

The invention provides an exoskeleton type upper limb rehabilitation robot, comprising a five-degree-of-freedom or three-degree-of-freedom mechanical arm, an auxiliary mechanism and a control system. In the five-degree-of-freedom mechanical arm, a cross arm, a big arm and a small arm are sequentially connected in series to constitute an outreaching/adduction degree of freedom of a shoulder joint, a bending/stretching degree of freedom of the shoulder joint, and a bending/stretching degree of freedom of an elbow joint; the big arm and the small arm are respectively blocked by an arc-shaped sliding rail to respectively constitute an inwards rotation/outwards rotation degree of freedom of the shoulder joint and the inwards rotation/outwards rotation degree of freedom of a wrist joint; and the three-degree-of-freedom mechanical arm comprises three degrees of freedom of the shoulder joint. The auxiliary mechanism comprises a mobile base, servo stand columns and a saddle-shaped seat. The heights of the mechanical arm and the seat relative to the mobile base are respectively regulated by the two stand columns. By matched usage of mechanical limiting and electronic limiting, the rehabilitation safety of a patient is guaranteed. A display device placed before a patient seat can simulate training states under different scenes, and the training states can serve as input signals to control a virtual training game so as to improve the rehabilitation effect of the patient.

Description

technical field [0001] The invention relates to the field of medical equipment, in particular to an upper limb rehabilitation robot. Background technique [0002] After a stroke patient suffers from hemiplegia, loss of motor function in parts of the body. Clinical trials have proved that early rehabilitation training after hemiplegia can promote the plasticity of motor neurons in the cerebral cortex, promote the reorganization and compensation of nervous tissue in the diseased part, and improve the excitability of the relevant nervous system and the rapidity of external stimuli. It is beneficial to restore the parts that have lost motor function, and has the function of maintaining the range of motion of the joints, preventing the patient's muscle atrophy, and maximizing the recovery of the patient's motor function. [0003] The traditional upper limb rehabilitation training method is one-on-one rehabilitation training performed by doctors on patients. There are many probl...

AI Technical Summary

Problems solved by technology

[0005] The existing upper limb rehabilitation robot has a single human-computer interaction mode, and does not effectively integrate the common actions of daily life with virtual reality technology, which is not conducive to maximally mobilizing the enthusiasm of patients for rehabilitation

In addition, compared to the three degrees of freedom of the human shoulder joint, the existing upper limb rehabilitation robot has only two degrees of freedom, which limits the scope of training. The number of degrees of freedom of the shoulder joint is smaller than that of the human shoulder joint, so the rehabilitation function is relatively limited

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