Sitting balance rehabilitation training robot and control method thereof

Abstract

The invention discloses a sitting balance rehabilitation training robot and a control method thereof. The robot comprises a seat structure, a sliding chute four-connection-rod drive structure, a spindle drive structure, a spindle inclination angle sensor and a crank angle sensor, wherein the seat structure comprises supporting armrest frames, a back cushion, a backrest, a supporting cushion and the like; the sliding chute four-connection-rod drive structure comprises a rocker, a reduction gear support, a crank, sliding chute connection rods, a stepping reduction gear, a stepping motor and the like; the spindle drive structure mainly comprises a drive spindle, a spindle support, a check ring, a torsional spring, a spindle positioning block and the like. The inclination angle of a patient is recorded and measured by the spindle inclination angle sensor, the rotation speed and direction of the motor are controlled through real-time feedback, the patient is pushed by the backrest, armrests and other auxiliary systems to be straightened; the motor is controlled to rotate inversely and reset through real-time feedback by means of the angle sensor, the rocker and the sliding chute connection rods are separated, and the crank of the motor resets to the zero point position.

Description

technical field [0001] The invention belongs to the field of human body rehabilitation engineering, and in particular relates to a seat balance rehabilitation training robot with a flexible transmission link, and also designs a control method for the training robot. Background technique [0002] Patients with hemiplegia after stroke have different neurological dysfunctions due to various influencing factors, thus losing the variability and adaptability of trunk control, and then appearing rigid or even abnormal body movement patterns, and 80% of them will have balance dysfunction, 25 % of patients have the symptoms of falling to the hemiplegic side and resisting the correction of the body to the midline, that is, the dumping syndrome (Pusher Syndrome). [0003] Studies have shown that dumping syndrome is closely related to patients' proprioception and muscle control ability. At present, in clinical practice, patients and therapists are often used to carry out center of grav...

AI Technical Summary

Problems solved by technology

[0005] 1. This process requires the therapist to protect the patient at all times, but the movement techniques for rehabilitation are highly repetitive and prone to fatigue;

[0006] 2. When helping the patient to the neutral position, it is necessary to rely on the therapist's naked eyes to assist in the alignment, and it is not guaranteed to find the vertical position every time

However, there is no equipment on the market for dynamic balance assessment training for early stroke patients, especially patients with tilt syndrome

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