Upper limb rehabilitation robot

Abstract

The invention provides an upper limb rehabilitation robot. The upper limb rehabilitation robot includes a base, a lifting platform, a bidirectional sliding platform and a first arm; the first arm includes a supporting base, a scapula module, a shoulder module, an upper arm module and a front arm module; the robot further includes a first joint module, a second joint module, a third joint module, afourth joint module, a fifth joint module, a sixth joint module and a seventh joint module; each joint module consists of a direct-current motor, a harmonic reduction gear, a braking machine and an encoder. The upper limb rehabilitation robot is more suitable for movement of upper limb joints of the human body and more flexible and has seven degrees of freedom, wherein the scapula portion has twodegrees of freedom, the shoulder joint has three degrees of freedom, and the elbow joint and the front arm both rotate at a degree of freedom; each joint is driven by the corresponding joint module,each joint module is composed of the direct-current motor, the harmonic reduction gear, the braking machine and the encoder, and therefore the upper limb rehabilitation robot can achieve an initiativetraining mode, a passive training mode and an impedance training mode.

Description

technical field [0001] The invention relates to a robot, in particular to an upper limb rehabilitation robot, and relates to the field of rehabilitation training robots. Background technique [0002] The rehabilitation of stroke patients is clinically carried out through two aspects of exercise, including the recovery of limb function and language function. Among them, the main method of limb function recovery is: gradually transition from passive activities to active activities of the patient step by step, and exercise on the paralyzed side driven by healthy limb movements, such as flexion and extension of the affected limb, internal rotation and abduction, etc. The passive training content of the upper limbs includes: shoulder joint - elbow joint - wrist joint - metacarpophalangeal joint (internal / external rotation, flexion, abduction) (bending, extension). In traditional rehabilitation treatment, limited by the treatment personnel, the intensity, frequency and time of tr...

AI Technical Summary

Problems solved by technology

[0007] The upper limb rehabilitation robot disclosed in the above comparative document mainly includes three degrees of freedom of the shoulder joint, namely: elbow joint, forearm rotation, and wrist joint, each of which does not consider the degrees of freedom formed by the activities of the scapula and clavicle. , not flexible enough to fully achieve the movements needed for rehabilitation

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