Active and passive combined upper limb rehabilitation training robot system based on electromyogram

Abstract

The invention provides an active and passive combined upper limb rehabilitation training robot system based on electromyogram, which comprises an upper limb training robot arm and an upper machine. The upper limb training robot arm includes an upper arm assembly, a lower arm assembly, a wrist joint assembly and an electromyogram acquisition module. The electromyogram signal acquisition module is arranged between the upper arm assembly and the lower arm assembly for acquiring the muscle electromyogram and outputting the electromyogram to the upper machine. The wrist joint assembly comprises a fixing shell, a moving shell, an L-shaped rotating part, a grip force sensor fixing seat and a grip force sensor, the fixing shell is connected with the moving shell, and the L-shaped rotating part isconnected with the moving shell and is capable of performing circular motion around the moving shell. The L-shaped rotating part and the grip force sensor fixing seat are connected through a first rotating shaft. The upper machine is used for receiving the electromyogram and outputting the electromyogram to a training control system and the upper limb training robot arm to control the movement ofthe upper limb training robot arm.

Description

technical field [0001] The present disclosure relates to an active-passive upper limb rehabilitation training robot system based on electromyographic signals. Background technique [0002] Stroke refers to serious damage to the brain caused by accidental cerebrovascular rupture, bleeding or acute occlusion. The result may be death, coma, hemiplegia, aphasia and other motor dysfunction. It has a high fatality and disability rate. The number one cause of death. At present, there are more than 2.5 million new cases of stroke in my country every year, and more than 1.5 million people die of stroke every year. It is estimated that nearly 12 million people over the age of 40 in the country have suffered from stroke, and the direct medical expenses are as high as 37.5 billion yuan. The incidence of stroke in my country is showing a rising trend. With the improvement of medical level, the mortality rate of stroke has dropped significantly, but the disability rate is still as high ...

AI Technical Summary

Problems solved by technology

However, the mechanical arm has only six degrees of freedom, which reduces the effect of patient rehabilitation training to a certain extent. The length of the large and small arms is manually adjusted, which also increases the cumbersome opera

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