Advanced type rehabilitation robot applicable to various joints and rehabilitation training method of advanced type rehabilitation robot

Abstract

The invention discloses an Advanced type rehabilitation robot applicable to various joints and a rehabilitation training method of the Advanced type rehabilitation robot. The device (the rehabilitation robot) comprises an upper stand, a lower stand, a middle connecting rod, a detachable guard and two pneumatic muscles, wherein the lower end of the middle connecting rod is connected to the middle of the lower stand by virtue of a central rotating shaft in a hinged mode, and the upper end is connected to the middle of the upper stand; the tops of the two pneumatic muscles are connected to the upper stand by virtue of driving translation mechanisms, and the bottoms are connected to the lower stand by virtue of passive translation mechanisms; the detachable guard is fixedly arranged on the lower stand; along with the contraction of the two pneumatic muscles, the detachable guard is driven to rotate around the central rotating shaft, so as to conduct rehabilitation training; and a relativedistance between the two pneumatic muscles is adjusted by virtue of the driving translation mechanisms, so that a motion capacity radius of the advanced rehabilitation robot is adjusted. The rehabilitation robot provided by the invention is simple in structure and a rehabilitation effect on a patient can be adjusted in real time, so that patient's intention of actively participating in rehabilitation training and the rehabilitation effect can be greatly enhanced.

Description

technical field [0001] The invention belongs to the field of rehabilitation medical equipment, and relates to a rehabilitation training robot, in particular to an advanced rehabilitation robot suitable for multiple joints and a rehabilitation training method thereof. Background technique [0002] As our country enters an aging society, the number of patients with bone and joint injuries is gradually increasing, and the postoperative recovery period of patients is long and the recovery effect is often poor. The theory of modern rehabilitation medicine believes that for patients with impaired joint motion ability, appropriate and scientific postoperative auxiliary rehabilitation training can effectively improve the recovery effect of the patient's motor function after the initial surgery and drug treatment. In terms of postoperative assisted rehabilitation of patients, artificial assisted rehabilitation training requires a lot of human and material resources, and cannot provid...

AI Technical Summary

Problems solved by technology

Most of the existing flexible rehabilitation robots are medical devices designed for a single joint injury site, with limited scope of application and complex structure resulting in low resource utilization

The shoulder joint rehabilitation training device proposed in Chinese patent 200720088558.5 uses four pneumatic muscle drivers to provide two degrees of freedom of movement of the shoulder joint. On the one hand, the system has high redundancy, and on the other hand, the rehabilitation training device needs to be worn on the patient's back, which increases the patient burden

Chinese patent 201310476999.2 proposes a pneumatic muscle-driven wearable elbow joint rehabilitation training device that is only suitable for single-degree-of-freedom elbow joint rehabilitation training. The device has too many components and has limitations in the selection of rehabilitation parts and the degree of freedom of rehabilitation movement.

Although the mechanism has the characteristics of bionic flexibility, its device is a fixed structure and cannot adjust the parameters of the mechanism and the size of the auxiliary output, so it is difficult to meet the rehabilitation needs of different patients

Chinese patent 201210415541.1 proposes a general-purpose pneumatic muscle bionic joint mechanism with adjustable mechanism parameters. The pneumatic muscle configuration can be manually adjusted to change the joint motion range output, but there are problems such as cumbersome operation, low adjustment accuracy, and small adjustment range.

Most of the existing rehabilitation robots can provide a fixed range of joint motion and auxiliary output torque, which can only meet the needs of patients in a certain stage of rehabilitation training, and does not consider the patient's gradual rehabilitation status and Rehabilitation needs change, and robot-assisted advanced rehabilitation training cannot be realized

Chinese patent 201410041058.0 proposes an ankle joint rehabilitation robot and its active-passive compound training strategy. The structure of this device is relatively complex and bulky, and the output torque and range of motion it provides are limited, which cannot meet the needs of patients with severe joint injuries. Assistance needs during training, does not have the characteristics of phased rehabilitation training

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