A six-degree-of-freedom self-adaptive wrist joint rehabilitation device

Abstract

Provided is a six-freedom-degree self-adaptive wrist joint rehabilitation device. The device uses a serial-parallel structure form, and has three active rotational freedom degrees and three passive rotational freedom degrees. The device is formed by a pedestal, an arm rotating platform, active supporting chains, an arc connecting rod, a passive moving structure on an X direction, a passive moving structure on a Y direction, and a passive moving structure on a Z direction. The arm rotating platform is connected with a motor through external gearing of a gear, and rotation on the pedestal (that is, rotation around an X-axis direction) is realized. The arc connecting rod is connected with the left arm and the right arm of the arm rotating platform through bearings, and rotation around a Y-axis direction is realized. The passive moving structure on an X direction is connected with the arc connecting rod through a bearing, and rotation around a Z-axis direction is realized. The device makes a person more natural and comfortable in a rehabilitation training process. The device is advantaged by simple structure, stable driving, convenient use, small volume occupation, and low manufacturing cost.

Description

technical field [0001] The invention relates to the field of rehabilitation medical equipment, in particular to a six-degree-of-freedom self-adaptive serial-parallel rehabilitation device for assisting wrist joint rehabilitation training. Background technique [0002] The wrist joint is one of the most complex mechanical joints of the upper limbs of the human body. It is the most important joint connecting the hand and the forearm. It plays an important role in daily life (for example: brushing teeth, holding things, eating, dressing, etc.). However, with the aging of the population, frequent traffic accidents, and congenital defects and other factors can easily cause wrist joint damage. In addition, with the improvement of people's living standards, upper limb hemiplegia caused by cardiovascular and cerebrovascular diseases will lead to wrist joint damage. The number of people with joint injuries is also increasing and tends to be younger in age, and these problems affect t...

AI Technical Summary

Problems solved by technology

[0003] The early wrist rehabilitation devices were relatively simple, and only considered that they could achieve rotational movement in three directions, and did not consider the important issue of human-computer interaction comfort

According to human anatomy, it can be known that the human wrist joint is a relatively complex joint. In the process of realizing the flexion / extension of the wrist, radial deviation / ulnar deviation, and internal rotation / external rotation of the forearm, its rotation center is not the same as that of the forearm. It is not fixed, but an instantaneous center of motion. If the center of rotation is still regarded as fixed when designing the rehabilitation device, it will inevitably lead to poor comfort during the rehabilitation training process, and may lead to secondary injury of the wrist

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