Rope-traction upper limb rehabilitation robot and control method thereof

Abstract

The invention discloses a rope-traction upper limb rehabilitation robot and a control method thereof, wherein, the rehabilitation robot comprises a central control device, a control mode select switch, a servomotor, hauling ropes, a supporting plate and a bracket, and can be divided into a bracket-type structure and an upright post-type structure. The control method comprises passive control and active control and can be switched between the two control ways. In the bracket-type structure, a motor M4 is connected with a main bracket and an auxiliary bracket, and the auxiliary bracket is controlled to rotate horizontally. Three cantilever beams of the auxiliary bracket are connected with three servomotors and can tug the supporting plate to move in three-dimensional space respectively through the ropes, and a forearm of a patient is put on the supporting plate to move in the three-dimensional space along with the supporting plate. In the upright post-type structure, the three servomotors fixed on an upright post can tug the supporting plate to move in three-dimensional space respectively through the ropes, and the forearm of the patient is put on the supporting plate to move along with the supporting plate. The rehabilitation robot can help the patient to tug an upper limb, is convenient for the patient to carry out rehabilitation training in larger motion space, and achieves optimized motor function restoration.

Description

technical field [0001] The invention relates to a medical auxiliary treatment device, in particular to a device for rehabilitation and limb training and a control method thereof. Background technique [0002] Stroke and other cardiovascular and cerebrovascular diseases are common diseases that seriously endanger human health. In China, there are 1.2 to 1.5 million new complete strokes every year, and 800 to 1 million deaths. Among them, two-thirds of the post-stroke patients Survivors left unilateral limb motor dysfunction, which is commonly known as "hemiplegia". The incidence rate of patients in the acute stage is higher, which seriously affects the daily behavior ability of patients. At present, the clinical rehabilitation method for hemiplegia patients is mainly one-on-one physical therapy for patients by physical therapists. Although such a method can help patients improve the movement of the hemiplegic side limbs, it also has the following shortcomings: first, physica...

AI Technical Summary

Problems solved by technology

Although such a method can help patients improve the movement of the hemiplegic side limbs, it also has the following shortcomings: first, physical therapy is usually carried out in a hospital, which is very inconvenient for patients who already have motor dysfunction; second, physical therapy is It is a labor-intensive process. It is difficult for physical therapists to maintain high-intensity and repetitive treatment for a long time. At the same time, there are nearly 10 million stroke patients in my country, and the number of practicing physical therapists is about 10,000. The number of physical therapists is seriously insufficient.

However, the disadvantage of the exoskeleton structure is that it is poorly adaptable to different patients and requires special adjustments for individuals.

[0005] Most of the existing rehabilitation robots can only provide single-joint or two-degree-of-freedom activities, providing patients with simple linear, curved or plane movements, range of motion, limited activity joints, and a few multi-degree-of-freedom rehabilitation robots can help patients Activities in three-dimensional space, but with the increase of the robot's degree of freedom, its structure becomes very complex, and the requirements for control methods and safety are relatively high

Research on rehabilitation robots that can complete multi-joint compound collaborative motion rehabilitation training similar to daily life actions is currently a hot spot, but the technology is not yet mature.

Images