Lasso-driven flexible upper-limb-rehabilitation robot

Abstract

A lasso-driven flexible upper-limb-rehabilitation robot comprises a chair, shoulder joint anteflexion / downswing drive connecting devices, shoulder joint abduction / downswing drive connecting devices, elbow joint flexion drive connecting devices, elbow joint stretching drive connecting devices, shoulder joint anteflexion drive units, shoulder joint abduction drive units, elbow joint flexion drive units and elbow joint stretching drive units, wherein the shoulder joint anteflexion / downswing drive connecting devices are connected to the front back plate of the chair and the front sides of the upper arms of a human body, the shoulder joint abduction / downswing drive connecting devices are connected to the front back plate of the chair and on the lateral sides of the upper arms, the elbow joint flexion drive connecting devices are connected to the front sides of the upper arms and the front sides of the forearms, the elbow joint stretching drive connecting devices are connected to the back sides of the upper arms and the back sides of the forearms, the shoulder joint anteflexion drive units are connected with the shoulder joint anteflexion / downswing drive connecting devices, the shoulder joint abduction drive units are connected with the shoulder joint abduction / downswing drive connecting devices, the elbow joint flexion drive units are connected with the elbow joint flexion drive connecting devices, and the elbow joint stretching drive units are connected with the elbow joint stretching drive connecting devices. The lasso-driven flexible upper-limb-rehabilitation robot has the advantages that three-freedom-degree rehabilitation exercises including shoulder joint anteflexion and abduction and elbow joint flexion / stretching, and separated single joint exercises can be achieved while synergic exercises shoulder and elbow joints can be achieved.

Description

technical field [0001] The invention relates to a human body motion rehabilitation device, in particular to a lasso-driven flexible upper limb rehabilitation robot. Background technique [0002] The upper limbs occupy an extremely important position in people's daily life, and the reduction or loss of their motor function seriously affects people's quality of life and self-care ability. Scientific rehabilitation training can enable the highly plastic central nervous system to rebuild relevant circuits and reconstruct the motor function of the patient's upper limbs. However, the central nervous system of the upper limbs is complex, and recovery after stroke is slow and incomplete. At present, traditional rehabilitation training is highly dependent on rehabilitation physicians, and the rehabilitation effect is restricted by the professional knowledge, experience, and skill level of physicians. At the same time, this "one-on-one" manual treatment requires a lot of time and phy...

AI Technical Summary

Problems solved by technology

However, the existing exoskeleton-type upper limb rehabilitation robots still have the following deficiencies: the rigid exoskeleton has a large weight, a strong sense of coercion when worn, and a large moment of inertia, making it difficult to control; Strict alignment, long-term use is easy to cause joint wear, and there is a potential secondary injury

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