Exoskeletal rehabilitation robot for upper limbs

Abstract

The invention discloses an exoskeletal rehabilitation robot for upper limbs. The exoskeletal rehabilitation robot comprises a base, two mechanical arm assemblies and six motor driving components, wherein the base comprises a moving base, an electrical cabinet, an electric lifting post, a base platform, a motor mounting corner bracket, a base rotating motor, a coupling, a base main bearing block, a base and ball screw nut assembly, a base nut seat, a base shared secondary bearing block, a right support, a base linear guide rail assembly and a left support; the mechanical arm assembly comprises a mechanical shoulder girdle assembly, a mechanical shoulder joint assembly, a mechanical elbow joint assembly, a mechanical front arm assembly, a mechanical wrist joint assembly and a mechanical hand part assembly; each motor driving assembly comprises a motor and speed reducing component, a torque sensor component and a driving component which are respectively arranged on the same motor driving base frame. The exoskeletal rehabilitation robot can be worn on the upper limbs of the human body and can be used for assisting the upper limbs of the human body in moving in a three-dimensional space and performing rehabilitation training.

Description

technical field [0001] The invention relates to the fields of robot technology, human biomechanics, rehabilitation medicine and rehabilitation engineering, in particular to an exoskeleton type upper limb rehabilitation training robot. Background technique [0002] An exoskeleton robot is an electromechanical device that can be worn on the human body to assist or extend the human body's movement capabilities. The range of applications of exoskeleton robots is very wide, including remote control, enhancement of human body functions, compensation of human body functions, and limb rehabilitation training. At present, several robots for limb rehabilitation training of stroke patients have been developed around the world. The use of robots for limb rehabilitation training after stroke is expected to shorten the recovery time of patients, improve the recovery effect and reduce the total treatment cost. [0003] In the design of exoskeleton-type rehabilitation training robot, th...

AI Technical Summary

Problems solved by technology

[0006] However, the existing exoskeleton-type upper limb rehabilitation training robot does not consider the movement of the shoulder girdle in the realization of the movement of the shoulder joint, which makes the human-machine joint axis mismatch. damage

Images