Motor and pneumatic muscle hybrid wearable upper limb rehabilitation robot

Abstract

The invention provides a motor and pneumatic muscle hybrid wearable upper limb rehabilitation robot. The motor and pneumatic muscle hybrid wearable upper limb rehabilitation robot comprises a drivingpart and an executing part; the driving part includes a shoulder rotating motor, elbow flexion and extension pneumatic muscle, wrist flexion and extension pneumatic muscle; the executing part includesa seat, a shoulder part and upper limb mechanical arms; the seat includes an upper seat back, a lower seat back, a seat back height adjustment mechanism, handholding handles, a seat cushion, a seat cushion height adjustment mechanism and a bottom moving support; the shoulder part includes a shoulder part motor fixing mechanism and a motor rotating mechanism; the shoulder part motor fixing mechanism is fixedly connected with the upper end of the seat back of the seat in an adjustable mode, and a rotating mechanism is fixedly connected with the mechanical arms; and the upper limb mechanical arms include upper arms, small arms and hand part fixing mechanisms, and the upper arms include upper arm fixing mechanisms. According to the motor and pneumatic muscle hybrid wearable upper limb rehabilitation robot, the horizontal rotation of a left arm or a right arm around a shoulder joint can be realized, the three-free-degree movement of the flexion and extension of a elbow part and the flexionand extension of a wrist part can be achieved, safety is high, bionic performance is high, weight is light, the cost is low, and the application range is wide.

Description

technical field [0001] The invention belongs to the field of rehabilitation robots, in particular to a wearable upper limb rehabilitation robot in which motors and pneumatic muscles are mixed. Background technique [0002] With the advancement of science and technology and the improvement of people's living standards, the society is gradually aging, which brings a series of geriatric diseases. Among them, the damage caused by stroke is more serious and is on the rise. More than half of the patients are accompanied by The pain of upper limb paralysis, despite the continuous improvement of medical level, still cannot effectively solve the disability problem caused by stroke disease. In daily life, the functions of the upper limbs of the human body are indispensable, and all kinds of activities are inseparable from the cooperation of the upper limbs. At present, the treatment of upper limb paralysis is still relatively difficult, requiring a large number of repetitive, mechani...

AI Technical Summary

Problems solved by technology

At present, the treatment of upper limb paralysis is still relatively difficult, requiring a large number of repetitive, mechanical upper limb movements to ensure that the upper limb muscles do not atrophy and ensure that the joints move within a certain degree of freedom. The traditional treatment plan generally uses one-on-one Rehabilitation training consumes a lot of manpower and material resources and is expensive, which limits the recovery of patients to a certain extent, and the improvement effect is not obvious

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