A 2-spu/rr parallel pneumatic wrist rehabilitation device

Abstract

The invention relates to a 2-SPU / RR parallel pneumatic wrist rehabilitation device. The device adopts a 2-SPU / RR parallel configuration, wherein the 2-SPU / RR parallel configuration mainly comprises two SPU branch chains, an RR branch chain, a forearm semi-ring, a base semi-ring, an arc-shaped supporting plate and supports; the SPU branch chains comprise ball pairs S, air cylinders and Hooke pairsU, and the RR branch chain comprises a flexion / extension semi-ring, a radial deviation / ulnar deviation semi-ring and a corresponding rotating shaft assembly. The lower portion of the base semi-ring isprovided with a bottom plate structure with a long-strip-shaped rectangular cross section, the forearm semi-ring is arranged on the bottom plate structure, and the front and rear ends of the base semi-ring are supported by the two supports together; the RR branch chain is arranged in the base semi-ring, the SPU branch chains connect the forearm semi-ring and the RR branch chain together, the arc-shaped supporting plate is arranged on the bottom plate structure of the base semi-ring, and the axes of the forearm semi-ring, arc-shaped supporting plate and base semi-ring coincide. The 2-SPU / RR parallel pneumatic wrist rehabilitation device has the advantages that the bearing capacity is strong, the structure is compact, the size is small, the range of motion is large, and all parts in contactwith the upper limbs of the human body adopt opening structures, thereby greatly improving the wearing convenience and comfort of patients.

Description

technical field [0001] The invention relates to a 2-SPU / RR parallel pneumatic wrist rehabilitation device, in particular to a wrist rehabilitation device. Background technique [0002] As the joint of the upper limbs that bears the greatest load in activities such as supporting, pushing and pulling, the wrist joint is easily injured in daily life and sports activities. Relevant scholars at home and abroad have conducted in-depth research on the structural composition, movement, and injury of the wrist joint. According to the physiological structure characteristics of the wrist joint, a rehabilitation mechanism for the wrist joint has been proposed, which has made great progress in the research of wrist joint rehabilitation robots. Patent Document 1 "A Series-Parallel Elbow-Wrist Rehabilitation Robot" (CN 103251493 B) uses three electric push rods and a servo motor as the drive unit, and a closed ring-shaped wrist support is used at the end, and a 3-RPS parallel connection is...

AI Technical Summary

Problems solved by technology

[0003] Although the above three patent documents can realize the rehabilitation training of the wrist joint, there are still certain problems. Patent document 1 uses three electric push rods. The series-parallel hybrid elbow-wrist rehabilitation robot has a large volume, and the wrist support at the end is a closed ring, which is difficult to wear for most stroke and hemiplegia patients

Patent Document 2 is driven by a wire rope, which greatly reduces the volume occupied by the drive unit. However, there are still three closed ring supports at the wrist joint, which still has the problem of being difficult to wear.

The rehabilitation training device in Patent Document 3 has 6 degrees of freedom, and relies on the human wrist and palm to eliminate 4 of them. Therefore, the wrist joint and palm need to bear the device's own weight and additional restraint force, which has an adverse effect on the patient's wrist joint rehabilitation.

Images