A parallel cable-driven upper limb rehabilitation robot and its implementation method

Abstract

The invention relates to a parallel cable-driven upper limb rehabilitation robot and an implementation method thereof. The technical solution is: the overall support structure is a rectangular truss structure, and the bottom of the support frame is equipped with a flexible cable drive module, a tension detection module, a fixed guide wheel and a seat drive motor, and at the same time provides a clean and tidy rehabilitation treatment platform; and the rotating The seat is located above the base and can drive the patient's body to rotate freely according to the rehabilitation requirements; seven groups of flexible cables are connected to the forearm support, and through the forearm support, the patient's upper limbs are driven to achieve rehabilitation training. Rigid contact with the human body improves the comfort of rehabilitation training; real-time monitoring of the internal tension of the flexible cable during rehabilitation training improves the safety of rehabilitation training; it has three rehabilitation modes: passive mode, assist mode and active mode, which can be adjusted according to the rehabilitation stage and Depending on the needs of rehabilitation, the rehabilitation mode can be independently selected to realize the multi-purpose of one machine and reduce the cost of equipment.

Description

technical field [0001] The invention relates to a medical rehabilitation training device, in particular to a parallel cable-driven upper limb rehabilitation robot and its implementation method. Background technique [0002] With the rapid development of the economy, the improvement of people's living standards and medical and health care services, the quality of life of residents has been greatly improved. At the same time, the problem of population aging and the problem of the disabled is a price that must be paid in the process of social development. . The elderly and the disabled have a greater demand for rehabilitation services, but various rehabilitation projects are in short supply. Meeting the rehabilitation medical needs of the ever-increasing number of vulnerable groups such as the elderly and the disabled, improving their athletic ability and thus improving their ability to live independently, has positive social significance for ensuring social harmony, stability...

AI Technical Summary

Problems solved by technology

However, the upper limb rehabilitation robot is a parallel flexible cable suspension robot. No matter how many servo motors are used, the system itself has incomplete constraint characteristics. pose control and force control

[0004] The existing upper limb rehabilitation robots have the following problems and difficulties to be solved: (1) Configuration design problems, the terminal traction upper limb rehabilitation robot is difficult to implement single-joint training, and the exoskeleton upper limb rehabilitation robot has relatively low stiffness, cumulative Disadvantages such as large error, poor motion continuity, large inertial impact, and difficult force control; (2) Human-machine compatibility issues, upper limb rehabilitation robots need more degrees of freedom to completely reproduce and match upper limb movements, which will lead to mechanical Complex and difficult to control; (3) Gravity compensation problem requires gravity compensation of the robot and lightweight design of the robot; (4) Complex force-position control problem. Existing upper limb rehabilitation robots can achieve high-precision trajectory tracking control, but few There are robots that can provide the sophisticated force control needed for rehabilitation

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