Seven-freedom-degree upper limb rehabilitation robot based on combination drive

A rehabilitation robot and hybrid drive technology, applied in the field of medical rehabilitation, can solve the problems of large rotational inertia, inconvenient adjustment, and inability to support joint rehabilitation movement.

Inactive Publication Date: 2017-02-01
JIANGSU UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

The invention is not light and compact enough, and the moment of inertia is large; the adjustment is very inconvenient, and the individual a...

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  • Seven-freedom-degree upper limb rehabilitation robot based on combination drive
  • Seven-freedom-degree upper limb rehabilitation robot based on combination drive
  • Seven-freedom-degree upper limb rehabilitation robot based on combination drive

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Embodiment Construction

[0028] The seven-degree-of-freedom upper limb rehabilitation robot based on hybrid drive involved in the present invention consists of a shoulder joint rotation / extension movement module part; shoulder joint extension and flexion, adduction / abduction and elbow joint flexion and extension, pronation / supination module part; Wrist joint radial flexion / ulnar flexion, dorsiflexion / palm flexion movement module part.

[0029] Shoulder joint internal rotation / external rotation movement module part: the shoulder cantilever horizontal plate 6 is the base plate of the whole machine, the shoulder joint rotating motor 1 provides a rotating pair, and the gear train structure 8 is connected with the shaft through the internal bearing, so that the rotating pair transmits After reaching the rotating arm 9, the side arm 13 is installed on the rotating arm 9, and the rotation of the rotating arm drives the side arm to rotate around the Z axis, so that the internal rotation and external rotation o...

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Abstract

The invention discloses a seven-freedom-degree upper limb rehabilitation robot based on combination drive, and relates to the technical field of medical rehabilitation. The rehabilitation robot comprises three modules, i.e., a shoulder joint medial rotation/lateral rotation movement module, a shoulder joint extension/flexion and adduction/abduction and elbow joint extension/flexion and pronation/supination module and a wrist joint radial side flexion/ulnar side flexion and dorsal flexion/palmer flexion movement module, and the rehabilitation robot can achieve movement of seven freedom degrees. Under the coordination of the seven freedom degrees, the robot can simulate and achieve all types of movement of the upper limbs of a human body; the seven freedom degrees can singly achieve independent movement of each joint and also can achieve spatial motion through linkage motion of all the joints. The rehabilitation robot is designed to be more suitable for the structure of the human body, and the movement process of the rehabilitation robot is closer to the movement rule of human arms; a wrist joint part of the rehabilitation robot is driven by a steel wire rope, and a drive motor is moved backwards to be installed on a shoulder joint cantilever horizontal plate; thus, the weight of the wrist joint part is reduced, and the wrist joint part is more convenient to control and simpler and more compact in structure.

Description

technical field [0001] The invention belongs to the technical field of medical rehabilitation, and in particular relates to a seven-degree-of-freedom upper limb rehabilitation robot based on a hybrid drive, which can realize the rehabilitation training function of each joint of the upper limbs of patients with stroke and similar diseases. Background technique [0002] my country is the country with the highest incidence of stroke, and stroke is also one of the diseases with the highest mortality in my country. With the rapid development of my country's economy, medical conditions have been gradually improved, and there are more and more stroke survivors. However, the cost of treatment of stroke sequelae has become a heavy financial burden on the families of these patients. Many of the survivors will be left with varying degrees of disability. [0003] For stroke patients, rehabilitation training for their hemiplegia is a very important and key medical method. Researchers ...

Claims

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Application Information

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IPC IPC(8): A61H1/02
CPCA61H1/0277A61H1/0281A61H1/0285A61H2001/0203A61H2201/1207A61H2205/06A61H2205/062A61H2205/065
Inventor 杨启志马新坡蔡静孙梦涛郭源
Owner JIANGSU UNIV
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