Exoskeletal upper limb rehabilitation training robot

Abstract

The invention discloses an exoskeletal upper limb rehabilitation training robot. The exoskeletal upper limb rehabilitation training robot comprises a base component, a shoulder girdle component, a shoulder joint component, an upper arm component and a forearm component. For the exoskeletal upper limb rehabilitation training robot, the shoulder girdle component can completely match the motion law of the human glenohumeral joint, and the demand for the freedom degree by the human upper limb during rehabilitation training in the three-dimensional space is satisfied. Due to the adoption of the configuration method of the freedom degree, the body of a patient and a chair can be fixed to a certain degree, meanwhile, the upper limb of the patient can tightly wear the mechanical arm, so that the body compensation during the training process is reduced, and the correct training movements are realized on the upper limb of the patient. By utilizing a rotating shaft deviation mechanism, a mechanical component is far away from the head of the patient, and thus the oppressing sensation of the patient is alleviated; by controlling the movement of the shoulder girdle component, the shoulder joint component, the upper arm component and the forearm component, the rapid switching of the initial wearing positions of the training modes of the left and right upper limbs of the exoskeletal upper limb rehabilitation training robot is realized, and the complicated regulation process of the existing robot is avoided.

Description

technical field

[0001] The invention relates to the fields of robot technology, biomechanics, rehabilitation medicine and rehabilitation engineering, in particular to an exoskeleton type upper limb rehabilitation training robot. Background technique

[0002] Exoskeleton robots can be used to assist or expand the human body's motor ability and limb rehabilitation training. At present, there are many robots used in the limb rehabilitation training of stroke patients in the world. The use of exoskeleton robots for limb rehabilitation training has the advantages of fast recovery time, good effect, and low cost.

[0003] Most of the existing exoskeleton-type upper limb rehabilitation training robots do not have a mechanism to cooperate with the movement of the shoulder girdle in the realization of the movement of the shoulder joint, and there must be a mismatch of the human-machine joint axis during the training process. In this training situation, the therapist will not wear ...

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