An exoskeleton shoulder girdle and upper limb collaborative rehabilitation robot

Abstract

The invention relates to an exoskeleton-type shoulder girdle and upper limb collaborative rehabilitation robot, which includes wheels, electrical cabinets, displays, display brackets, lifting columns, outreaching beams, shoulder internal and external rotation mechanisms, and shoulder abduction and internal extensions. retraction mechanism, shoulder flexion and extension mechanism, upper arm length adjustment mechanism, upper arm internal and external rotation mechanism, elbow flexion and extension mechanism, forearm internal and external rotation mechanism, forearm length adjustment mechanism, wrist flexion and extension mechanism, hand The grasping mechanism and the scapula-assisting mechanism; the invention implements active or passive rehabilitation for shoulder girdle muscle paralysis and upper limb hemiplegia, and can realize the interchangeability of left and right arms. The present invention also solves an important problem, that is, the patient's discomfort caused by the limited range of motion caused by the exchange of the left and right mechanical arms. The structure of the mechanical arm designed for this purpose is completely symmetrical along the central axis.

Description

technical field [0001] The invention belongs to the field of rehabilitation medical equipment, in particular to an exoskeleton type shoulder girdle and upper limb cooperative rehabilitation robot. Background technique [0002] At present, physical therapy rehabilitation for upper limb patients with hemiplegia relies on the artificial assistance of rehabilitation teachers for their exercise training. In the passive rehabilitation stage, it not only consumes a lot of physical energy of the rehabilitation teachers, but also makes it difficult to maintain their standard rehabilitation movements for a long time. Especially when the muscles of the shoulder girdle are paralyzed, during the rehabilitation process, the rehabilitation therapist should support the scapula to rotate with one hand, and flex and extend the upper limb humerus with the other hand, and keep the humerus rotating 2 degrees, and the scapula should rotate 1 degree at the same time, that is, 1:2 Rhythm, its physi...

AI Technical Summary

Problems solved by technology

[0002] At present, physical therapy rehabilitation for upper limb patients with hemiplegia relies on the artificial assistance of rehabilitation practitioners for their exercise training. In the passive rehabilitation stage, it not only consumes a lot of physical energy of the rehabilitation practitioners, but also makes it difficult to maintain their standard rehabilitation movements for a long time

Especially when the muscles of the shoulder girdle are paralyzed, during the rehabilitation process, the rehabilitation therapist should hold the scapula to rotate with one hand, and bend and extend the humerus with the other hand, and keep the humerus rotating 2 degrees, and the scapula should rotate 1 degree at the same time, that is, 1:2 Rhythm, its physical exertion is very large, unbearable for a long time, so it is difficult to guarantee the recovery effect clinically

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