Hemiplegia rehabilitation type external skeleton robot

Abstract

The invention discloses a hemiplegia rehabilitation type external skeleton robot. The hemiplegia rehabilitation type external skeleton robot consists of a back fixing device, a normal side lower limb movement component, a hemiplegia side upper limb movement component, a hemiplegia side lower limb movement component and a central processing system, wherein the normal side lower limb movement component is fixed on one side of the back fixing part; the hemiplegia side upper limb movement component and the hemiplegia side lower limb movement component are fixed on the other side of the back fixing device; the hemiplegia side upper limb movement component consists of an upper arm, an elbow joint driving device and a forearm; the normal side lower limb movement component consists of a normal leg angle sensor connecting arm, a normal leg angle sensor and another normal leg angle sensor connecting arm; the central processing system is mounted in a thigh and is in signal connection with all driving devices and sensors. The hemiplegia rehabilitation type external skeleton robot provided by the invention avoids restriction on body movement of the normal side of a hemiplegia patient and realizes rehabilitation training of the upper limbs of the hemiplegia patient.

Description

technical field [0001] The invention belongs to the technical field of medical rehabilitation equipment, and relates to an assisting exoskeleton robot, in particular to a hemiplegia rehabilitation type exoskeleton robot. Background technique [0002] An exoskeleton is a rigid external structure that provides configuration, architecture, and protection to the soft internal organs of living things. Scientists from various countries have been working hard to develop exoskeletons for commercial use, especially to help the disabled and the elderly perform daily life such as walking, climbing stairs, and carrying loads. [0003] After searching, the published patents "2015101663887-a power-assisted exoskeleton robot", "2015110256790-a wearable bionic exoskeleton mechanical leg rehabilitation device", "2015208719003-an exoskeleton device for the rehabilitation of human lower limbs", "2016100110119-a rehabilitation training robot capable of realizing normal gait" and "2016100605639...

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Problems solved by technology

[0003] After searching, the published patents "2015101663887-a power-assisted exoskeleton robot", "2015110256790-a wearable bionic exoskeleton mechanical leg rehabilitation device", "2015208719003-an exoskeleton device for the rehabilitation of human lower limbs", "2016100110119-a rehabilitation training robot capable of realizing normal gait" and "2016100605639-a lightweight modular walking exoskeleton" both provide an exoskeleton robot, but the above-mentioned patented technical solutions all have shortcomings: 1. Existing exoskeleton robots have a double-leg structure, which is not suitable for use by hemiplegic patients, and restricts the movement of the normal side of the body; 2. Existing exoskeleton robots only have a double lower limb structure, without an upper limb structure, and hemiplegic patients cannot pass through. Equipment for exercising upper limbs; 3. Existing exoskeleton robots need sensors and manual control for normal walking; 4. Existing exoskeleton robots have single functions, and the design does not have flexible parameter setting functions. Can manually control the buttons to use few functions, can only assist normal walking, and cannot perform multi-part rehabilitation training; 5. The footstep device structure of the existing external skeleton robot is relatively cumbersome, poor in flexibility, and low in comfort

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