Exoskeleton type upper limb rehabilitation robot

Abstract

The invention belongs to the technical field of medical instruments, particularly relates to an exoskeleton type upper limb rehabilitation robot. The invention aims to solve the problems that conventional upper limb rehabilitation robots has safety risks in use, is poor in comfort and is inconvenient to apply other treatment means at the same time. The exoskeleton type upper limb rehabilitation robot of the invention comprises a shoulder joint training module, an elbow joint training module and a wrist joint training module which are connected in sequence. The exoskeleton type upper limb rehabilitation robot has comprehensive functions, can be used for active rehabilitation training and passive rehabilitation training and is applicable to patients with various upper limb dyskinesia. With astructural design based on human physiology, the robot can realize free adjustment of multiple joint fixing parts and can meet demands of patients with different upper limb lengths. In the process ofuse, the robot is always arranged below a human body, has no interference to the surrounding environment, and improves use comfort while guaranteeing use safety; and physical therapies such as manipulation, electric treatment and magnetic treatment can be applied for auxiliary rehabilitation training in the use process of the robot, so the practicability of the robot is high.

Description

technical field [0001] The invention belongs to the technical field of medical devices, and in particular relates to an exoskeleton type upper limb rehabilitation robot. Background technique [0002] Rehabilitation robot is an important device to assist in the rehabilitation training of stroke patients. The exoskeleton rehabilitation robot is designed to imitate the structure of human bones and joints. It can perform single-joint training and compliance training, and is widely used. However, the current exoskeleton-type rehabilitation robot has a complex structure, wrapping the entire upper limb of the human body or outside the upper limb of the human body, which increases the burden on the user, has poor comfort, is inconvenient to use, has high requirements for the use environment, and lacks safety. For example: Chinese invention patent 201610147488.X provides an interchangeable upper limb rehabilitation robot. Its shoulder joint training module is suspended on the upper p...

AI Technical Summary

Problems solved by technology

[0003] In order to solve the above problems in the prior art, that is, in order to solve the problems in the prior art that the use of upper limb rehabilitation robots has safety risks, poor comfort, and inconvenient application of other treatment methods at the same time, the present invention provides an exoskeleton type upper limb rehabilitation robot, Comprising a shoulder joint training module, an elbow joint training module, and a wrist joint training module connected in sequence; the shoulder joint training module includes a first joint assembly and a second joint assembly, and the first joint assembly includes a first power device and a support frame, the lower end of the support frame is fixed to the output end of the first power device, the support frame can rotate along its own axis driven by the first power device, and the second joint assembly includes a second power device and an upper arm mechanism, the upper arm mechanism is provided with a first fixing part, the upper arm mechanism can be fixed under the upper arm of the human body through the first fixing part, the upper arm mechanism is hinged with the upper end of the support frame, and the upper arm mechanism Driven by the second power device, it can rotate around its hinge with the support frame;

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