A somatosensory controlled upper limb exoskeleton mirror rehabilitation robot

Abstract

The invention discloses a somatosensory-controlled upper limb exoskeleton mirror image rehabilitation robot, comprising: a Kinect sensor, a main control computer, a 3-degree-of-freedom wearable exoskeleton mechanical arm and a somatosensory control system for the mechanical arm. The Kinect sensor is responsible for collecting and processing the joint angle information of the upper limb of the healthy side of the human body. The exoskeleton wearable robotic arm includes the elbow flexion / extension structure, the shoulder forward flexion / extension structure and the shoulder abduction / adduction structure. The present invention has the characteristics of direct control by somatosensory, and does not need to wear a signal acquisition device, and is easy to operate. The patient can drive the affected limb through the movement of his own healthy limb to carry out a new type of bilateral mirror synchronous rehabilitation training with the assistance of the robot. The physical therapist performs master-slave rehabilitation training with the limb movement of the same side of the patient's affected limb.

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

Images