Exoskeleton robot for upper limb rehabilitation training

Abstract

The invention relates to an exoskeleton robot for upper limb rehabilitation training, which comprises a base, two shoulder joints, two elbow joints and two wrist joints. A shoulder joint, an elbow joint and a wrist joint are arranged on the two sides of the base in a mirror image mode. The shoulder joint is installed on the base, the elbow joint is installed on the shoulder joint, and the wrist joint is installed on the elbow joint. Each shoulder joint comprises a big arm connecting rod, a first joint, a second joint and a third joint; the elbow joint comprises an installation shell and a hydraulic cylinder placed in the installation shell, the installation shell is fixedly installed on the big arm connecting rod, the upper end of a hydraulic cylinder body of the hydraulic cylinder is rotationally connected with the top end of the installation shell, a piston rod of the hydraulic cylinder is rotationally connected with the wrist joint, and the wrist joint is rotationally installed on the installation shell. The exoskeleton robot is compact in structure, can be used for performing exercise rehabilitation treatment on patients with limited upper limb exercise functions caused by upper limb muscle damage or hemiplegia cerebral infarction and the like, and can reduce the labor intensity of rehabilitation training medical staff.

Description

technical field [0001] The invention relates to a robot, in particular to an exoskeleton robot for upper limb rehabilitation training, and belongs to the field of robot technology application. Background technique [0002] The introduction of robot-assisted therapy technology into the sports rehabilitation of patients with limited motor function caused by human muscle damage or hemiplegic cerebral infarction has gradually become one of the research hotspots in the field of robotics at home and abroad. However, in research fields such as medical rehabilitation robots, exoskeleton robots for helping the elderly and the disabled, and multi-legged mother-in-law robots, it is often necessary for the human body or other objects to be included by the robot. At this time, the design of some joints of the robot must not only meet the basic motion requirements (such as the three degrees of freedom of the human shoulder joint and hip joint: abduction / adduction, internal rotation / extern...

AI Technical Summary

Problems solved by technology

In the traditional robot design, usually its mechanism connecting rod, motor, reducer and other components are arranged on the rotation axis of the robot joint, especially when the axis of the three-degree-of-freedom joint intersects at the same point in the space, it is difficult to realize the structural design of the space. The avoidance of the intersection point, the loading efficiency is not high, the torque drive effect is not obvious, and it cannot be really used for exercise rehabilitation for patients with limited upper limb motor function caused by upper limb muscle damage or hemiplegic cerebral infarction.

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