A shoulder joint motion bionic rehabilitation training device

Abstract

Disclosed is a bionic shoulder joint movement rehabilitation training apparatus. A base support system is placed on the ground, a bilateral bionic shoulder blade linear movement mechanism is fixedly connected with the base support system and is in revolving-pair connection with a bionic shoulder blade rotation movement mechanism, a bionic glenohumeral joint movement mechanism is in revolving-pair connection with the bionic shoulder blade rotation movement mechanism, and an auxiliary upper arm support system is fixedly connected with the bionic glenohumeral joint movement mechanism. By the arrangement, various must actions of shoulder joint rehabilitation training can be realized, and bilateral linear movement and rotation movement needed in the shoulder joint training for shoulder blades are realized apart from forward bending and backward extension, abduction-adduction and inward revolving and outward revolving of the shoulder blades. The bionic shoulder joint movement rehabilitation training apparatus is simple in structure, comfortable to wear, flexible to adjust, soft in movement, safe and reliable and capable of performing comprehensive rehabilitation training for patients with shoulder joint movement dysfunctions.

Description

technical field [0001] The invention relates to the technical field of auxiliary medical rehabilitation training equipment, and belongs to a human body movement function rehabilitation training device, specifically a device for assisting human shoulder joints in rehabilitation training, which is suitable for stroke, frozen shoulder, and work-related injuries, sports injuries, Rehabilitation training for patients with shoulder joint movement disorders caused by traffic accidents and other reasons. Background technique [0002] Cerebrovascular diseases, musculoskeletal injuries, etc. can easily lead to limb motor dysfunction. After clinical treatment, rehabilitation treatment generally requires early intervention. Since the upper limbs of the human body have finer movements than the lower limbs, it is more difficult to restore their functions. 85% of stroke patients show impairment of upper limb function at the beginning of the onset, and 55% to 75% of patients still have uppe...

AI Technical Summary

Problems solved by technology

Although these exercises have achieved the effect of moving joints to prevent muscle atrophy in a certain sense, they are far from daily functional movements, and cannot stimulate patients to maintain a sense of correct movement, and are not very helpful for the recovery of daily life ability.

[0005] (2) Rehabilitation robots are generally designed to complete a certain function. Due to the limitations of the robot during design, they cannot complete a wide range of activities and cannot meet the requirements for joint mobility training, especially for joints with a large range of movement such as the shoulder joint. Therefore, it cannot fully provide the exercise stimulation required for central nervous rehabilitation.

[0006] (3) The actual shoulder joint is not just a ball-and-socket joint, but a multi-joint complex of the shoulder. In the general upper limb kinematics model, only the movement of the humerus, ulna, and radius is considered, and the scapula, ulna, and radius are not considered. Articulation between the clavicle and sternum, ignoring their role in the movement of the shoulder joint

[0007] (4) Regardless of whether it is a parallel or serial sports rehabilitation training device, its structure is generally more complicated, and there are too many input drives, which do not meet the requirements of simple structure, light weight, and good comfort for auxiliary medical rehabilitation training equipment.

[0008] The upper limb shoulder joint is a relatively complex structure in the human body movement system. Its complexity lies not only in its ability to move in a large range in three directions (forward flexion and rear extension, abduction and adduction, internal and external rotation), but also in the shoulder joint. It is not an ideal fixed-axis joint. Physiological anatomy shows that the shoulder joint complex of the human body is composed of multiple bones and interlaced muscles. Its complex geometric structure causes the joint axis to swing during movement; in addition ,Because the rehabilitation robot is not absolutely rigidly fixed on the affected limb, there is still relative sliding between the rehabilitation robot and the affected limb during the rehabilitation exercise. These factors cause the rehabilitation robot to perform certain rehabilitation actions. There is a dislocation of the movement axis between the rehabilitation robot and the affected limb, which leads to the change of the stimulation form of the affected limb during the rehabilitation training process, and makes the patient feel uncomfortable during the training process. When the rigidity of the rehabilitation robot driver is relatively large, This dislocation and interference will also cause permanent damage to the human body

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