Parallel robot for planarly training upper limbs hemiplegia for multistage rehabilitation

Abstract

The invention discloses a parallel robot for planarly training upper limbs hemiplegia for multistage rehabilitation, which belongs to the field of medical rehabilitation equipment. The robot consists of a parallel mechanism with a variable rod length, an operation handle, an ancon used for bearing the elbow of a patient, a bull eye universal wheel and a control system, wherein the parallel mechanism with the variable rod length is installed on a table top and is divided into a left part and a right part which are symmetric; one ends of two parts are hinged by the operation handle; the bull eye universal wheel is installed below the hinged position of the operation handle and is installed onto the ancon hinged with the operation handle; the position of the operation handle is determined according to the numerical value of two triangular bottom angles formed by a servo motor control mechanism via a computer to finish a target locus; by controlling a speed parameter, a velocity field is formed in the movement reachable space of the patient during passive movement, and the patient is guided to passively move along the set locus; during active movement, the force parameters of different points in a movement plane can be set; and a force field is formed in the movement reachable space and is used for the active movement training and the impedance movement training of the patient.

Description

technical field [0001] The invention belongs to the field of medical rehabilitation equipment, in particular to a multi-stage rehabilitation parallel robot for plane training upper limb hemiplegia, which can be applied to the technical field of rehabilitation for patients with central nervous system injuries such as cerebrovascular diseases and brain or spinal injuries. Background technique [0002] Patients with stroke and other cerebrovascular diseases, brain or spinal cord injuries, and central nervous system injuries have a high disability rate, and the main sequelae are acute neurological paralysis, with varying degrees of loss of living and working abilities. In fact, given timely rehabilitation treatment to such patients, patients can recover most of their motor functions. At present, patients with cerebrovascular diseases such as stroke, brain or spinal cord injuries, and central nervous system injuries are usually treated with one-on-one rehabilitation therapists. T...

AI Technical Summary

Problems solved by technology

However, there are some deficiencies in the existing traction rehabilitation robots, which cannot meet the training needs of patients. The main performance is that passive training can be achieved well, but active training of patients cannot be well achieved. During the active movement stage of patients, there are operational difficulties. , resulting in the discontinuous speed and acceleration of the patient's operation, that is, the traction robot has defects when the patient actively moves, the structure is not flexible, and the adaptability is not high, which leads to the inability to accurately reflect the patient's operating ability, and even causes movement disorders, which brings psychological problems to the patient. Burden; can not provide a rich training track, the training of patients can not achieve daily life motor function rehabilitation, that is, can not provide multi-stage, complex training

Images