Pneumatic muscle driven modularized exoskeleton elbow-wrist rehabilitation robot

Abstract

The invention discloses a pneumatic muscle driven modularized exoskeleton elbow-wrist rehabilitation robot. The pneumatic muscle driven modularized exoskeleton elbow-wrist rehabilitation robot comprises an elbow joint rehabilitation module, a wrist joint rehabilitation module, an arm protector modules and a wrist protector module; the arm protector modules are detachably installed on the elbow joint rehabilitation module, and used for connecting the upper arm of a patient with the elbow joint rehabilitation module, assisting the patient in training elbows; the arm protector modules and the wrist protector module are detachably installed on the wrist joint rehabilitation module and used for connecting the forearm and the hand of the patient with the wrist joint rehabilitation module, assisting the patient in training wrist. According to the pneumatic muscle driven modularized exoskeleton elbow-wrist rehabilitation robot provided in the invention, all the modules are detachably connected, use is convenient, high practicability and applicability are achieved, pneumatic muscles are adopted as drivers, and the elbow-wrist joint independent auxiliary training function and the elbow-wristjoint composite auxiliary training function are achieved through cooperation of ropes and steering wheels.

Description

technical field [0001] The invention relates to the technical field of rehabilitation robots, in particular to a modular exoskeleton elbow-wrist rehabilitation robot driven by pneumatic muscles. Background technique [0002] In recent years, the problem of population aging has become increasingly serious. It is estimated that by 2025, the total number of people over the age of 60 in my country will reach 300 million. As we grow older, the functions of all aspects of the limbs begin to decline significantly, and the flexibility of the body continues to decrease. In addition, many pains and accidental injuries can damage human joints and muscle tissue, and many patients need surgery for treatment. Medical research shows that postoperative scientific rehabilitation training is beneficial to the recovery of motor function in patients with limb injuries. However, there is a shortage of professional nursing staff at this stage. On the one hand, nursing staff need to perform re...

AI Technical Summary

Problems solved by technology

[0003] Most traditional exoskeleton rehabilitation robot mechanisms use motors as drivers. Using motor drive will make the mechanism heavy, less flexible and less safe. A few exoskeleton rehabilitation robot mechanisms are driven by pneumatic or hydraulic methods, but the hydraulic drive method makes The mechanism is sensitive to temperature changes, and the mechanism also has problems of low efficiency and poor safety

In terms of the design and manufacture of rehabilitation robots, most of the existing robots are designed for specific needs, and once the processing is completed, the configuration of the robot will not change, which cannot meet the rehabilitation needs of different patients at the same time. , the elbow and shoulder joints are in an idle state, and the robot can only assist a single patient to complete a specific rehabilitation training task at the same time, so it is difficult to meet the auxiliary training requirements of different patients or the same patient at different rehabilitation stages at the same time. In order to achieve the necessary rehabilitation assistance function , in the process of robot design and manufacturing, the robot is prone to problems of excessive size and high cost, resulting in waste of equipment resources

[0004] To sum up, traditional motor and hydraulic driven robots cannot meet the basic requirements of compliance and safety in patient rehabilitation. Rate, equipment volume is too large, cost is too high, etc.

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