Somatic sensory controlled upper limb exoskeleton mirrored rehabilitation robot

Abstract

The invention discloses a somatic sensory controlled upper limb exoskeleton mirrored rehabilitation robot. The robot comprises a Kinect sensor, a main control computer, a three degree-of-freedom exoskeleton wearable mechanical arm and a somatic sensory controlled system for the mechanical arm. The Kinect sensor is used for collecting information about a joint angle of the upper limb on the uninjured side of the human body; the exoskeleton wearable mechanical arm comprises an elbow bend and stretch structure, a shoulder flexion and extension structure and a shoulder abduction and adduction structure. The robot has the characteristic of being directly controlled by the somatic sensory, no signal collection device needs to be worn, and the robot is convenient to operate; the injured limb of a patient can be driven by the movement of the health limb of the patient to carry on novel bilateral mirrored synchronous rehabilitation training with the assistance of the robot, and in addition, master-slave type rehabilitation training can be carried out through the movement of the limb, on the same side of the injured limb of the patient, of a physical therapist.

Description

[0001] Technical field: [0002] The invention relates to a somatosensory-controlled upper limb exoskeleton mirror rehabilitation machine. [0003] Background technique: [0004] Stroke has become one of the main causes of harm to human health, and it is showing a younger trend. The ensuing high morbidity rate leads to impairment of limb movement ability in most post-stroke patients, which seriously affects the quality of life of patients. Such patients with hemiplegia need to implement intensive high-intensity exercise therapy as soon as possible to achieve the best rehabilitation effect. At present, the exercise rehabilitation treatment for stroke patients is still based on the techniques of rehabilitation physicians and supplemented by some simple equipment training. The effect of this treatment method depends largely on the individual medical personnel. The rehabilitation movements are repetitive, monotonous and boring. It is difficult to mobilize the enthusiasm of patien...

AI Technical Summary

Problems solved by technology

But its disadvantage is that most of the single-joint rehabilitation training is performed. The training of multi-joint combination movements is not easy to meet the coordination and human exercise habits, and it is not possible to flexibly adjust the training program at any time according to the patient's rehabilitation level. The patient's training is in a fixed program. Passively under the control of

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