Rope-driving elbow-wrist rehabilitation robot

Abstract

The invention discloses a rope-driving elbow-wrist rehabilitation robot. The rope-driving elbow-wrist rehabilitation robot is characterized by comprising a moving supporting system, a driving system, a large-arm supporting system, an elbow training system, a small-arm supporting system and a wrist training system; both the driving system and the large-arm supporting system are installed on the moving supporting system; the large-arm supporting system is connected with the small-arm supporting system through the elbow training system; the wrist training system is installed on the small-arm supporting system. According to the rope-driving elbow-wrist rehabilitation robot, elbow-wrist-injured patients are subjected to all-around rehabilitation training, and rotating of three freedom degrees of medial rotation/lateral rotation, internal bending/extending and adduction/abduction of the wrist joints and rotating of a freedom degree of buckling/extending of the elbow joints can be achieved. Single-freedom-degree training can be carried out, multiple-freedom-degree cooperative training can also be carried out, the requirements of comfortable performance, the safety and the flexibility and elasticity of the patients are met, and meanwhile the rope-driving elbow-wrist rehabilitation robot has the advantages of being light in weight, good in continuity and small in movement impact.

Description

technical field [0001] The invention relates to the field of rehabilitation medical equipment, in particular to a rope-driven elbow-wrist rehabilitation robot. Background technique [0002] Most human activities need to be completed by hands, and the movement of hands usually requires the cooperation of multiple joints such as wrist joints and elbow joints. When an accident such as a fall occurs, most people are accustomed to using their hands for support, which often causes damage to the wrist and elbow joints. In addition, strokes, traffic accidents, and sports accidents lead to a large increase in patients with elbow and wrist joint injuries. At this time, specific movements need to be performed for rehabilitation training. If timely and thorough treatment is not obtained, repeated sprains and functional loss are likely to occur. With the aging of the population and the increase in natural disasters, the incidence of elbow and wrist injuries is also increasing year by ye...

AI Technical Summary

Problems solved by technology

Robots used for rehabilitation of a single joint usually have only one degree of freedom and a single function, which cannot meet the comprehensive training of the elbow and wrist joints

Robots used for the entire upper limb rehabilitation have large volume, heavy weight, large inertial impact, and poor flexibility, which cannot meet the needs of patients for comfort and flexibility, and cannot enable patients to perform optimal training on the elbow and wrist joints.

At present, domestic upper limb rehabilitation robots adopt series mechanism design. For example, the structure size of the robot is large, the weight of the mechanical arm is heavy, and most of the robot drive system is located on the mechanical arm, which has a large inertial impact and poor continuity.

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