Controllable variable-stiffness flexible elbow joint rehabilitation robot

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.

Description

Technical field [0001] The invention belongs to the technical field of medical rehabilitation training equipment, and relates to a rehabilitation training connected 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 standards 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. In the elderly, there are a large number of patients with cerebrovascular disease, muscular atrophy or neurological disease, and most of these patients are accompanied by symptoms of hemiplegia. Due to cardiovascular and cerebrovascular diseases, the number of middle-aged and elderly patients with hemiplegia is increasing, and they are becoming younger in age. At the same time, due to ...

AI Technical Summary

Problems solved by technology

The driving methods of the first three make the robot system structurally rigid. If a certain degree of flexibility is to be achieved through control, the control will become complicated; the force / length output characteristics of pneumatic muscles are very similar to those of biological muscles. There are many studies on its application on flexible joints at home and abroad, but there are also some disadvantages: compared with traditional pneumatic actuators, the pneumatic artificial muscle has a smaller stroke (up to 20% when the pneumatic artificial muscle is unloaded; only 10% when loaded). %; some traditional cylinders can reach 40%); the deformation of pneumatic artificial muscles is a nonlinear link, which is time-varying, making it very difficult to accurately control its displacement

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