An indirect drive exoskeleton upper limb rehabilitation robot

Abstract

The invention discloses an indirect driving exoskeleton upper limb rehabilitation robot. The indirect driving exoskeleton upper limb rehabilitation robot comprises an upper shoulder joint rotating motion assembly, an upper arm joint rotating motion assembly, an elbow joint flexion and extension assembly, a front arm joint rotating motion assembly, a wrist joint assembly, a rack and a motor box; the motor box is located on the ground, and the rack is connected with the motor box; the upper shoulder joint rotating motion assembly is connected with the rack; the upper arm joint rotating motion assembly is connected with the upper shoulder joint rotating motion assembly; the elbow joint flexion and extension assembly is connected with the upper arm joint rotating motion assembly; the front armjoint rotating motion assembly is connected with the elbow joint flexion and extension assembly; and the wrist joint assembly is connected with the front arm joint rotating motion assembly. The indirect driving exoskeleton upper limb rehabilitation robot has six freedom degrees of upper shoulder joint rotation, upper arm joint rotation, elbow joint flexion and extension, front arm joint rotation,front arm joint translation and wrist joint flexion and extension and one freedom degree of arm adjustment, can achieve simultaneous movement of the six freedom degrees, and can also make one part offreedom degrees move.

Description

technical field [0001] The invention belongs to the field of rehabilitation robots, in particular to an indirectly driven exoskeleton upper limb rehabilitation robot. Background technique [0002] With the rapid development of society, science and technology have made great progress. Since many diseases now cause people to have sequelae and gradually lose their ability to take care of themselves, rehabilitation robots are gradually being applied to the medical field. As a kind of training equipment, rehabilitation robots can not only save people's expenses, but also allow patients to get good recovery effects. They are gradually accepted by people and have a huge market space. At present, there are many types of rehabilitation robots on the market, but most of them are relatively simple training body parts, with more functions and higher costs. Most of the traditional rehabilitation robots are directly driven. The direct-driven rehabilitation robot installs the motor direc...

AI Technical Summary

Problems solved by technology

At present, there are many types of rehabilitation robots on the market, but most of them are relatively simple training body parts, with more functions and higher costs

Most of the traditional rehabilitation robots are directly driven. The direct-driven rehabilitation robot installs the motor directly on each joint of the upper limbs, which not only causes each joint of the rehabilitation robot to bear a large load, but also looks unsightly.

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