Wrist rehabilitation therapy robot based on spatial parallel drive

A rehabilitation therapy and robot technology, applied in the field of rehabilitation medical robot systems, can solve the problems of less freedom of movement, complex structure, and low precision of movement reproduction.

Active Publication Date: 2015-10-21
TEINYO (ZHONGSHAN) ROBOT CO LTD
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  • Description
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  • Application Information

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  • Wrist rehabilitation therapy robot based on spatial parallel drive
  • Wrist rehabilitation therapy robot based on spatial parallel drive

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Embodiment Construction

[0006] As shown in the accompanying drawings, the solution adopted by the present invention is: a six-degree-of-freedom parallel mechanism composed of an upper and lower platform, six driving legs, and a hinge connecting the upper and lower platforms and six driving legs, used for six degrees of freedom of detection signals The Weili sensor, the glove used to fix the wrist, and the computer hardware and software system for signal processing, storage, and precise control of the motion platform, together constitute a wrist rehabilitation treatment system that can achieve expected functions. Among them, the lower platform is fixed to the ground or to a plane fixed to the ground to support the entire motion system and serve as a reference for the movement of the upper platform. The upper platform is used to drive the wrist to achieve the established movement law. The upper surface of the upper platform is equipped with a six-dimensional force sensor. The upper surface of the sensor...

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Abstract

The invention discloses a wrist rehabilitation therapy robot based on spatial parallel drive. According to the system, the core of six-degree-of-freedom motion is a parallel mechanism, and the parallel mechanism mainly comprises an upper platform, a lower platform, six drive supporting legs, upper hinges and lower hinges, wherein the upper hinges and the lower hinges are connected with the supporting legs, the upper platform and the lower platform. In addition, the system further comprises six-dimensional force sensors, a doctor glove, a patient glove and a computer-control system, wherein the doctor glove and the patient glove are used for fixing wrists. The wrist rehabilitation therapy robot based on spatial parallel drive is used for rehabilitation therapy of postoperation of wrist joint diseases, postoperation of sports injuries and wrist postoperation.

Description

technical field [0001] The invention relates to a rehabilitation medical robot system, in particular to a wrist rehabilitation robot based on a space multi-degree-of-freedom parallel mechanism. Background technique [0002] The rehabilitation treatment system of the wrist joint is an important part of the field of rehabilitation medical robots. The rehabilitation treatment of the wrist joint generally requires professional doctors to conduct one-to-one or even many-to-one treatment for patients in person. The professional technical requirements for rehabilitation treatment training are high and repetitive. High, many patients need multi-cycle treatment, which brings a heavy workload to professional doctors and a greater economic burden to patients. The wrist rehabilitation treatment system can be used for wrist joint diseases, sports injuries and wrist injuries. Postoperative rehabilitation treatment. Automatic rehabilitation treatment of wrist joint diseases can be realize...

Claims

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Application Information

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IPC IPC(8): A61H1/00A61B5/11
Inventor 杨炽夫
Owner TEINYO (ZHONGSHAN) ROBOT CO LTD
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