Seven degrees of freedom exoskeleton upper limb rehabilitation robot

Abstract

The invention provides a seven-degree-of-freedom exoskeletal rehabilitation robot for upper limbs. The seven-degree-of-freedom exoskeletal rehabilitation robot for upper limbs comprises a front arm and wrist joint movement mechanism, an elbow joint movement mechanism, an upper arm movement mechanism, a gravity compensation movement mechanism, a shoulder joint movement mechanisms and a chair mechanism which are sequentially connected. The seven-degree-of-freedom exoskeletal rehabilitation robot for upper limbs is driven and controlled by a motor to help a hemiplegic patient do active and passive training for upper affected limbs, including bending / stretching of wrist joints, adduction / abduction movement of the wrist joints, inward / outward rotating movement of the front arms, bending / stretching of elbow joints, bending / stretching of shoulder joints, inward / outward rotating movement, and outward swinging / adduction movement.

Description

technical field [0001] The invention relates to a robot, in particular to a seven-degree-of-freedom exoskeleton robot for rehabilitation training of patients with upper limb hemiplegia. Background technique [0002] Stroke, commonly known as apoplexy, is an acute cerebrovascular disease characterized by high morbidity, mortality, and disability. In recent years, the incidence of stroke has been increasing year by year, becoming the third cause of death after trauma and cancer, and the second cause of disability after trauma. Among the surviving stroke patients, about 3 / 4 have different degrees of motor function and other functional disabilities, among which the incidence of motor dysfunction is the highest. The society and other people's assisted survival spend a lot of manpower and material resources every year to take care of their daily life, which is mainly borne by the society and family. Exercise therapy is the most important and safe rehabilitation treatment besides...

AI Technical Summary

Problems solved by technology

[0006] This invention can assist the movement training of the five degrees of freedom of the upper limbs, but it cannot assist the patient in the internal / external rotation of the shoulder joint of the upper limbs and the internal / external rotation of the forearm, and the movements of these two degrees of freedom are combined in compound movements of the upper body

Moreover, the control motor and torque sensor selected by this invention result in an uncompact structure, and the overall weight is too large, which is not conducive to use. The circular closed mechanism is not conducive to the safe wearing and disengagement of patients. At the same time, the robot body and affected limbs are not considered. gravity compensation

Therefore, this mechanism has certain limitations when assisting upper limbs in rehabilitation training.

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