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Wearable robot for upper limb rehabilitation training with precise force control

A rehabilitation training and wearable technology, applied in passive exercise equipment, physical therapy, etc., can solve the problems of lack of safety and individuality, unreasonable structure, poor wearing comfort, etc., to reduce hospitalization, compact structure, and accurate rehabilitation training Effect

Active Publication Date: 2021-11-12
SOUTHEAST UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, most of the existing mechanical devices are passive training, which cannot actively lead the patient's upper limbs to exercise, and there are many problems such as unreasonable structure, poor wearing comfort, lack of safety and individualized exercise planning, etc.

Method used

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  • Wearable robot for upper limb rehabilitation training with precise force control
  • Wearable robot for upper limb rehabilitation training with precise force control
  • Wearable robot for upper limb rehabilitation training with precise force control

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Embodiment Construction

[0019] The technical solution of the present invention will be described in further detail below in conjunction with the accompanying drawings and embodiments.

[0020] like figure 1 As shown, a three-degree-of-freedom wearable upper limb rehabilitation training robot with precise force control, the left and right mechanical arms are installed on the wearable belt, and the control box for controlling the robot's work is packaged in the belt.

[0021] Specifically, the robot includes the end 1 of the right mechanical arm, the second link 2 of the right mechanical arm, the third right active actuator-the second link connecting piece 3, the third right active actuator 4, and the third right active actuator- The first link connector 5, the first link 6 of the right mechanical arm, the first link-U-shaped bracket connector 7, the second right active actuator 8, the first right active actuator 9, the base of the right mechanical arm 10. Wearable belt 11, one hole for Velcro install...

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Abstract

The invention relates to a wearable upper limb rehabilitation training robot with precise force control, including a wearable belt, a multi-degree-of-freedom mechanical arm, and a control box; the robot is worn on the waist of a person through the belt, driven by an active actuator, Passive rehabilitation training that can realize the degrees of freedom of adduction / abduction / forward flexion / extension of the left and right shoulder joints and forward flexion / extension of the left and right elbow joints. The wearable design embodies the concept of human-machine integration, improves the portability of the rehabilitation training robot, and increases the comfort of rehabilitation training. In addition, a force / torque sensor is installed at the end of the robotic arm to obtain the force between the end of the robot and the human hand during rehabilitation training, and use it as a feedback signal to adjust the working state of the robot and achieve precise force control during the rehabilitation process.

Description

technical field [0001] The invention relates to a wearable upper limb rehabilitation device, in particular to a wearable upper limb rehabilitation training robot with precise force control. Background technique [0002] In my country, due to the rapid increase of the aging population, some geriatric diseases such as cerebral hemorrhage and stroke have increased accordingly, and the resulting limb movement disorders have become a difficult problem in contemporary rehabilitation medicine. At present, in hospitals, rehabilitation mainly relies on medical staff to guide patients to carry out rehabilitation training. Due to the need for manual assistance, it is time-consuming and laborious, and the price is relatively expensive. In addition, some patients use simple mechanical devices to perform a large number of repetitive rehabilitation training, which can greatly reduce the economic and time consumption of patients in upper limb rehabilitation. However, most of the existing m...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): A61H1/02
CPCA61H1/0274A61H2201/165A61H2201/1638A61H2201/1207A61H1/0281A61H2201/1676A61H2201/5061A61H1/0277A61H2201/1628A61H2201/1635A61H2201/1659
Inventor 宋爱国莫依婷秦欢欢李会军徐宝国
Owner SOUTHEAST UNIV
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