Six degrees of freedom exoskeleton upper limb rehabilitation robot

Abstract

The invention discloses a six-degree-of-freedom exoskeleton type upper limb rehabilitation robot, which belongs to the field of rehabilitation robots. The robot comprises a seat mechanism, a shouldermechanism, an elbow mechanism and a wrist mechanism, and the seat mechanism is used for lifting the posture of a user, is connected with an upper limb exoskeleton mechanical arm and provides support for the mechanical arm. Through driving of a motor, rehabilitation training of six degrees of freedom including shoulder joint flexion / extension, abduction / adduction, big arm inward rotation / outward rotation, elbow joint flexion / extension, forearm inward rotation / outward rotation and wrist joint flexion / extension can be achieved, each degree of freedom can achieve independent or combined action, and the training efficiency can be improved. The upper limbs of the human body are fixed through the hook-and-loop fasteners and the mechanical arms, the mechanical arms have the mechanical limiting function, secondary injuries caused by a mechanical structure to the human body are avoided, and the use comfort is improved. The mechanical arm is designed in a modular mode, the structure is simple andcompact, rehabilitation movement of single-side or double-side limbs can be achieved, higher practicability is achieved, and popularization is facilitated.

Description

technical field [0001] The invention belongs to the technical field of rehabilitation robots, and in particular relates to a six-degree-of-freedom exoskeleton type upper limb rehabilitation robot. Background technique [0002] According to the data of the "Screening and Intervention Project for High-risk Groups of Stroke", the incidence of stroke (stroke) in my country is increasing year by year, and patients with hemiplegia and motor dysfunction caused by stroke and brain injury have greatly affected the daily life and work of patients. ability. In addition, the decline of limb function due to aging, accidental injury, sports injury and other factors also affects the daily life of patients. Modern rehabilitation theory and practice have proved the recoverability of patients with stroke and motor dysfunction. Compared with traditional rehabilitation training methods, rehabilitation robots, as mechanical devices that can perform continuous and repetitive rehabilitation traini...

AI Technical Summary

Problems solved by technology

The disadvantage of this type of device is that it lacks the movement direction of shoulder abduction / adduction, which is very common in daily life and needs more training; secondly, the structural design of the shoulder joint is unreasonable, the limbs cannot be fixed and the structure is complex and unreasonable. Compact; at the same time, the fixed limbs of the upper arm and forearm are all circular closed mechanisms, which is not conducive to the patient's wearing

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