Shoulder rehabilitation system with gravity compensation mechanism

Abstract

The invention provides a shoulder rehabilitation system with a gravity compensation mechanism. The system comprises a base, a support, a first rotating assembly, a second rotating assembly and a third rotating assembly. The first rotating assembly is used for achieving inward rotating / outward rotating of shoulder joints, the second rotating assembly is used for achieving outward unfolding / inward folding of the shoulder joints, and the third rotating assembly is used for achieving bending / stretching of the shoulder joints. One end of the support is arranged on the base, the other end of the support is provided with the first rotating assembly, the second rotating assembly is arranged at the end of the first rotating assembly, and the third rotating assembly is arranged at the end of the second rotating assembly. According to the shoulder rehabilitation system with the gravity compensation mechanism, the shoulder joints are designed to have three freedom degrees of inward rotating / outward rotating, outward unfolding / inward folding, and bending / stretching, all the freedom degrees of the shoulder joints of the human body are completely simulated in the design mode, and patients can be helped to complete shoulder joint actions capable of being finished by a healthy person. Through the arrangement of the gravity compensation mechanism, the output torque of a gravity compensation motor can be increased, and the patients can be protected.

Description

technical field [0001] The invention relates to a shoulder rehabilitation system with a gravity compensation mechanism, which belongs to the field of medical equipment. Background technique [0002] With the advancement of science and technology, especially the rapid development of medicine, rehabilitation medical engineering has been paid more and more attention. Rehabilitation medicine research shows that for patients with limb dysfunction caused by stroke, spinal cord injury and various accidents, if timely and correct rehabilitation training can be performed, it will be of great help to the recovery of neuromuscular function. It is very important to the family. [0003] The traditional upper limb rehabilitation training method relies on professional physiotherapists to train patients hand in hand. For patients with hemiplegia, although the doctor's auxiliary training is helpful to some extent, it is not ideal and cannot fully achieve the desired rehabilitation effect, ...

AI Technical Summary

Problems solved by technology

For patients with hemiplegia, although the doctor's auxiliary training is helpful to some extent, it is not ideal and cannot fully achieve the desired rehabilitation effect, and there are many problems: First, the therapist can only perform exercise training on one patient at a time , the training efficiency is not high; secondly, the lack of precise control indicators and recording training parameters cannot provide a reasonable theoretical basis for determining and improving the treatment plan; moreover, the rehabilitation evaluation indicators are not objective enough, which is not conducive to the follow-up more in-depth research on the rehabilitation mechanism

At present, there are few rehabilitation robotic arms that perform individual targeted training on the shoulder joint, and the structure is simple and the degree of freedom is small, which cannot meet the all-round training of the shoulder joint, and the influence of the gravity of the robotic arm and the patient's upper limbs has not been properly carried out. compensation, which leads to an increase in the load on the joint motor of the rehabilitation manipulator, which increases the size of the motor

What's more serious is that when the control motor fails, due to the lack of gravity compensation, the rehabilitation robotic arm is likely to cause secondary damage to the patient's upper limbs

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