Extremity-traction type upper limb rehabilitation robot adopting gravitational equilibrium devices and working method thereof

Abstract

The invention discloses an extremity-traction type upper limb rehabilitation robot adopting gravitational equilibrium devices and a working method thereof, belonging to the field of medical instruments. The robot comprises a movable frame, a robot base, a waist part, a big arm, a middle arm, a forearm, a wrist part, an extremity handle and has six degrees of freedom. The big arm, the middle arm and the forearm are internally equipped with the gravitational equilibrium devices which are used for equilibrating loading moment generated by self weight of a connecting rod of the robot. Middle arm and forearm joint driving motors are disposed at the waist part. Sleeve ropes are adopted to transfer driving moment. Encoders are arranged in all the motors and used for measuring postures of the robot. An extremity handle module is equipped with a six-dimensional force sensor used for measuring man-machine interaction force. Driving force required by the motors is reduced. The extremity load capability of the robot is improved. Cost of the rehabilitation robot is lowered. The self weight of the robot is decreased. The sleeve ropes smoothly drive joints so that safety of man-machine interaction is enhanced. Rehabilitation training of left and right upper limbs of a patient is achieved. Additionally, the extremity-traction type upper limb rehabilitation robot is not particularly applied torehabilitation training.

Description

technical field [0001] The invention belongs to the field of medical equipment, and relates to a gravity-balanced terminal traction type upper limb rehabilitation robot and a working method. Background technique [0002] For patients with upper limb hemiplegia, rehabilitation training is a necessary auxiliary treatment. Traditional physician-assisted rehabilitation training is costly and labor-intensive, and relies heavily on the experience and skills of physicians. With the deepening of the aging population in my country, traditional physician-assisted rehabilitation training is difficult to meet the treatment needs of older and more patients with upper limb hemiplegia. The upper limb rehabilitation robot can liberate rehabilitation training physicians from heavy training tasks, reduce the economic burden of patients, and provide patients with effective rehabilitation training. [0003] Rehabilitation robots are generally divided into terminal traction rehabilitation robo...

AI Technical Summary

Problems solved by technology

[0004] At present, there are few rehabilitation robots using gravity balance devices, which cannot meet the high economic and human-computer interaction safety requirements of rehabilitation robots, and gravity balance devices are generally placed outside the robot body, which increases the complexity of the structure; robot joints often Driven by a rigid driver, the safety of human-computer interaction is poor; due to structural limitations, the robot can only realize the rehabilitation training function of one side of the affected limb

In the invention patent with the patent publication number CN104626101A, a robot three-dimensional space gravity balance compensation device and method are disclosed, which use springs and ropes to balance the gravity of the robot connecting rod; however, in this invention, the gravity balance device is placed outside the robot connecting rod. Increased robot structure size

In the invention patent with the patent publication number CN102379793, an upper limb rehabilitation training robot is disclosed. The rehabilitation robot is an exoskeleton type with five joints; however, the invention places the drive motor at the joints, which has a large weight and no gravity. Balance device, motor driving torque demand is large

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