Controllable variable-stiffness flexible elbow joint rehabilitation robot

An elbow joint with variable stiffness technology, which is applied in the field of controllable variable stiffness flexible elbow joint rehabilitation robot, can solve the problems of difficulty in accurately controlling its displacement, complicated control, and small stroke
CN102764188AInactive Publication Date: 2012-11-07上海博又博科贸有限公司
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
上海博又博科贸有限公司
Publication Date
2012-11-07
Estimated Expiration
Not applicable · inactive patent

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Abstract

The invention discloses a controllable variable-stiffness flexible elbow joint rehabilitation robot. The rehabilitation robot mainly comprises a wearable exoskeleton mechanism and non-linear driving mechanisms, wherein the wearable exoskeleton mechanism has one degree of freedom, is used for simulating the motion of an elbow joint, and mainly comprises a large arm, a small arm, a driving wheel and supporting frames; each non-linear driving mechanism comprises a motor lead screw and a connecting rod-spring non-linear mechanism; and the connecting rod-spring non-linear mechanism consists of a Robert linear mechanism and a linear spring, and the output force of the connecting rod-spring non-linear mechanism and the length change of a steel wire rope are in secondary non-linear relation. The rehabilitation robot is driven by two non-linear driving systems, and the structures of the two non-linear driving systems are similar to those of human joints. Due to the compliance of the driving systems, the safety of a patient is relatively high in the rehabilitation training process. The output force of the connecting rod-spring non-linear mechanism and the length change of the steel wire rope are in a relation of a quadratic polynomial, and the joint stiffness and the joint angle can be independently controlled, so the control accuracy of joint positions cannot be affected while the whole system keeps the flexibility.
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Description

technical field

[0001] The invention belongs to the technical field of medical rehabilitation training equipment, and relates to a rehabilitation training robot, in particular to a controllable variable stiffness flexible elbow joint rehabilitation robot, which can directly act on patients for rehabilitation training. Background technique

[0002] With the advancement of science and technology, the improvement of medical care and the improvement of residents' living standards, my country is entering an aging society, and the size of the elderly population is increasing year by year. Among the elderly population, there are a large number of patients with cerebrovascular disease, muscle atrophy and muscle weakness, or neurological diseases, and most of these patients have symptoms of hemiplegia. Due to cardiovascular and cerebrovascular diseases, the number of middle-aged and elderly patients with hemiplegia continues to increase, and it is showing a younger trend in age. At ...

Claims

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