Upper limb rehabilitation arm of wire rope transmission with self-tensioning function

Abstract

The invention relates to a robot with a bionic structure, in particular to an upper limb rehabilitation arm of wire rope transmission with a self-tensioning function. The arm includes a pneumatic muscle performing assembly and a wearable exoskeleton assembly; the wearable exoskeleton assembly is composed of two single arm members and back brackets with identical structures; shoulder joints of thetwo single arm members are respectively mounted on base contacts of the back brackets, and two shoulder joint shafts are respectively connected to respective pneumatic muscles in the back brackets through respective shoulder wire rope pulling wires. The arm peels a drive actuator out of an exoskeleton body, greatly reduces the weight of an exoskeleton, and simplifies the structure.

Description

technical field [0001] The invention relates to a robot with a bionic structure, in particular to an upper limb rehabilitation arm with self-tensioning function and steel wire rope transmission. Background technique [0002] Stroke, commonly known as stroke, is a sudden onset of cerebrovascular disease and the most serious complication of cerebrovascular disease. Stroke is considered to be one of the three major diseases threatening human health. According to statistics, as many as 2 million people in China suffer from cerebral apoplexy every year, and there are still 7 million stroke patients, of which 4.5 million patients are hemiplegic or paralyzed, with varying degrees of loss of mobility of limbs, inability to take care of themselves, and disability rate up to 75%. The upper limbs of the human body bear very important responsibilities in daily life and complete various delicate and complex activities. Dysfunction of the upper limbs will seriously affect people's daily...

AI Technical Summary

Problems solved by technology

In addition, this type of rehabilitation robot is usually only connected to the patient through the wrist, and its reaction force may cause damage to the patient's wrist or other parts of the patient's limb during rehabilitation.

Exoskeleton-type rehabilitation robots can be directly worn on the human body, and each degree of freedom is limited by the movement mode and size of human joints, so the mechanism is relatively complicated. Because each joint of this type of rehabilitation robot is attached to the human body, the weight and inertia of the robot and the patient's limbs Affects the drive characteristics and kinematics of the robot

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