Upper limb external skeleton robot based on wheelchair

Abstract

The invention relates to an upper limb external skeleton robot based on a wheelchair. The upper limb external-skeleton-type rehabilitation robot is fixed to the back of a seat of the movable intelligent wheelchair through a back support and a lifting platform, mechanical arms of the upper limb external-skeleton-type rehabilitation robot can rotate through rotation of the back support, interchangeof rehabilitation training of the left and right hands is achieved, and the heights of the mechanical arms of the upper limb external-skeleton-type rehabilitation robot can be adjusted by adjusting the lifting platform; the degree of freedom of the mechanical arms of the upper limb external-skeleton-type rehabilitation robot is achieved by the shoulder joints, the elbow joints and the wrist joints, the shoulder joints, the elbow joints and the wrist joints are connected through connection rods, and bandages for fixing the affected limbs are arranged on the mechanical arms. According to the robot, the mechanical arms of the upper limb rehabilitation robot are innovatively arranged on the intelligent wheelchair, and the constraints are removed that a traditional large-size rehabilitation robot is too large in size and too heavy, and patients need to go to a designated plate to receive rehabilitation training.

Description

technical field [0001] The invention relates to an exoskeleton robot, in particular to an upper limb exoskeleton robot based on a wheelchair. Background technique [0002] An exoskeleton robot is an electromechanical device that can be worn on the human body to assist or extend the human body's movement capabilities. The application range of exoskeleton robots is very wide, including remote control, enhancement of human body functions, compensation of human body skills, and limb rehabilitation training. At present, several robots for limb rehabilitation training of stroke patients have been developed around the world. [0003] In the design of exoskeleton-type rehabilitation robots, fixed large-scale rehabilitation robots are currently popular, that is, rehabilitation robots are fixed on the base; this type of rehabilitation robot can be divided into single-arm training type, double-arm training type and interchangeable left and right hands. Mode. Wearable upper limb reha...

AI Technical Summary

Problems solved by technology

This type of rehabilitation robot has a relatively complete training mode and function, and can help patients achieve more degrees of freedom, so a relatively complete drive system is required to support its work, which inevitably results in complex mechanical structures, too large volume, and relatively difficult operation. Complicated situations, and generally need to be carried out with the cooperation of professional therapists, it is only suitable for use in professional rehabilitation institutions such as rehabilitation hospitals, and cannot be widely used in families

[0005] Another type of wearable upper limb rehabilitation robot has a relatively simple structure, small size and light weight, but it is not driven by a motor, and is generally connected by a belt drive or a connecting rod.

This type of rehabilitation robot is easy to operate and portable, but has simple functions. It is generally suitable for use by patients with mild hemiplegia, and is not suitable for rehabilitation of patients with severe limb dysfunction.

[0006] Existing exoskeleton-type upper limb rehabilitation robots have not fully realized the combination of light weight, portability and functional perfection in design, which has brought great troubles to the use of rehabilitation patients

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