Three-degree of freedom parallel serial upper limb rehabilitation robot

A rehabilitation robot and degree-of-freedom technology, which is applied in passive exercise equipment, physical therapy and other directions, can solve the problems that the robot movement is not stable enough, the patient's condition is adversely affected, and the rehabilitation effect is difficult to achieve. Small footprint effect

Inactive Publication Date: 2015-03-04
JIANGSU UNIV
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Problems solved by technology

The current form of upper limb rehabilitation robots is relatively simple, and most of them are connected in series. The Chinese patent application number 200710168725.1 discloses a wearable hand function robot and its control system. driving force to drive
In this way, the movement of the robot is not stable enough, it is difficult to achieve the expected rehabilitation effect, and it may even have a negative impact on the patient's condition.

Method used

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  • Three-degree of freedom parallel serial upper limb rehabilitation robot
  • Three-degree of freedom parallel serial upper limb rehabilitation robot
  • Three-degree of freedom parallel serial upper limb rehabilitation robot

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Embodiment Construction

[0013] The moving platform 7 is connected by three branch chains namely branch chain AB3, branch chain CD (5), branch chain EF (6) and static platform (4). where the branched chain AB(3) consists of vice, vice, Vice composition, branched chain EF(6) consists of vice, vice, sub-components, of which vice, The pairs are respectively connected on the static platform (4), placed in the middle vice, vice, vice, The pairs are respectively connected on the moving platform (7), and the branch chain CD (5) is formed by vice, vice composition, The secondary connection is on the static platform (4), The pair is connected to the moving platform (7), and vice, vice, Auxiliaries are distributed at 120° (ACE is in the shape of an equilateral triangle) on the moving platform (7), vice, vice, Auxiliaries are distributed at 120° (BDF is an equilateral triangle) on the static platform (4), and vice, The auxiliary and auxiliary axes form an angle of...

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Abstract

The invention discloses a three-degree of freedom parallel serial upper limb rehabilitation robot and belongs to the technical field of medical rehabilitation devices. The three-degree of freedom parallel serial upper limb rehabilitation robot is formed by a parallel mechanism and a serial rotating pair in an overlapped mode. A moving platform (7) and a static platform (4) are connected through a branched chain AB (3), a branched chain CD (5) and a branched chain EF (6) to form the parallel mechanism. The three degree of freedom parallel serial upper limb rehabilitation robot achieves gesture rotation around an X axis, a Y axis and a Z axis, different drive can be set according to pathogenetic conditions of patients, recovery training of a wrist joint or a forearm can be selectively achieved, and then different recovery training effects can be achieved. The three-degree of freedom parallel serial upper limb rehabilitation robot solves the problems that an existing limb rehabilitation robot is single in form, large in occupied space, large in chain length and large in weight, and large drive force is needed.

Description

technical field [0001] The invention belongs to the technical field of medical rehabilitation equipment, can simulate and reproduce the actual rehabilitation movement of the wrist joint and forearm, and can realize the rehabilitation training function of the wrist joint and forearm of patients with stroke and similar diseases. Background technique [0002] Stroke (also known as cerebral apoplexy) is a disease that seriously threatens the health of middle-aged and elderly people. As my country gradually enters an aging society, the incidence rate is increasing year by year. The disease causes loss of motor function in the affected limbs and associated complications. In particular, the loss of motor function in the upper extremities greatly affects the patient's ability to perform daily living. The clinical rehabilitation method for hemiplegic patients largely relies on the one-on-one physical therapy provided by the therapist to the patient. Such a method is a labor-inte...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): A61H1/02
Inventor 杨启志曹电锋庄佳奇訾鹏飞吴伟光尹小琴
Owner JIANGSU UNIV
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