Six degrees of freedom wearable flexible-rope-driven exoskeleton-type upper limb rehabilitation training robot

Abstract

In allusion to deficiency of an existing technology, the invention provides a six degrees of freedom wearable flexible-rope-driven exoskeleton-type upper limb rehabilitation training robot. A rope driving mode is adopted, a device is small in inertia, a whole system has movement consistency and fluency, and secondary injury to a patient is avoided; in addition, a degree of freedom needed by a joint is realized without a larger mechanism, such as a joint turntable, a space utilization ratio is high, wearing is more comfortable, more portable, and more suitable for kinetic characteristics of a human arm; and the robot has six driving degrees of freedom, and all-dimensional safe reliable rehabilitation training can be provided for upper limb dysfunction people. The composition of the providedsix degrees of freedom wearable flexible-rope-driven exoskeleton-type upper limb rehabilitation training robot comprises a ground support part and a wearable part, wherein an upright column in the ground support part is connected to the ground, and an arc guide rail module in the ground support part is connected with a big arm fixing device in the wearable part.

Description

technical field [0001] The invention relates to the field of rehabilitation robots, in particular to a six-degree-of-freedom wearable flexible rope-driven exoskeleton type upper limb rehabilitation training robot. Background technique [0002] With the aging of the population, the accelerated pace of life, the impact of unhealthy lifestyles and environmental factors, the population of upper limb dysfunction caused by stroke is increasing rapidly. Moreover, there is currently a shortage of rehabilitation therapists, and the lack of human upper limb functions has a great impact on people's lives. Patients usually need some semi-assisted rehabilitation training methods, which makes upper limb rehabilitation training robots in great demand. [0003] The existing upper limb rehabilitation robots can be roughly divided into two categories. One is the end-guided rehabilitation robot, which puts the patient's hand on the movement device, and the movement device drives the patient's ...

AI Technical Summary

Problems solved by technology

[0005] In order to overcome the shortcomings of the above-mentioned prior art, the present invention provides a six-degree-of-freedom wearable flexible rope-driven exoskeleton-type upper limb rehabilitation training robot, which solves the problem that the existing terminal-guided rehabilitation robot cannot fully realize targeted personalized rehabilitation. The training path may even cause secondary injury to the patient. At the same time, it solves the problem that the existing exoskeleton-type rehabilitation robot directly adopts the motor-driven device at the joints, which has a large inertia, is not easy to wear, and uses a rope-driven device. The space utilization rate is low, and the degree of freedom is insufficient. question

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