Rigid-flexible coupled rope driven exoskeleton type upper limb rehabilitation training robot

Abstract

The invention aims to defects of the prior art and provides a rigid-flexible coupled rope driven exoskeleton type upper limb rehabilitation training robot. A rope driving mode is adopted, the device is small in inertia, and a patient can be prevented from secondary injury; the space utilization rate is high, and an arm device is internally provided with silica gel, so that the robot is comfortableand light to wear, daily movement states of arms of a human body can be met, and rehabilitation training can be comprehensively provided for a patient suffering from upper limb dysfunctions and upperlimb function recovery after operations. The invention provides the rigid-flexible coupled rope driven exoskeleton type upper limb rehabilitation training robot which comprises a wrist and elbow moving part, an arm support part and a ground fixing part, wherein a big arm wearing device in the wrist and elbow moving part is connected with an arc-shaped guide track module in the arm support part; an upright column in the arm support part is connected with a reinforcing rib in the ground fixing part; and a large chassis in the ground fixing part is connected with the ground.

Description

technical field [0001] The invention relates to the field of rehabilitation robots, in particular to a rigid-flexible coupling rope-driven exoskeleton type upper limb rehabilitation training robot. Background technique [0002] For patients with upper limb dysfunction caused by cerebrovascular disease, severe extracerebral injury or other neurological diseases, such as stroke, Parkinson's, cerebral thrombosis, etc. Targeted treatment is very effective, so patients usually need some semi-assisted rehabilitation training methods, but there are currently few rehabilitation trainers. In order not to increase the workload of medical staff, it is of great significance to use rehabilitation robots to assist in rehabilitation. [0003] At present, the rehabilitation robots on the market can be roughly divided into two categories. One is the end-guided rehabilitation robot, which puts the patient's hand on the movement device, and the movement device pulls the patient's hand to move,...

AI Technical Summary

Problems solved by technology

[0004] In order to overcome the shortcomings of the above-mentioned prior art, the present invention provides a rigid-flexible coupling rope-driven exoskeleton type upper limb rehabilitation training robot, which solves the problem that the existing end-guided rehabilitation robot cannot accurately apply traction to each joint of the affected limb to achieve The purpose of stimulating the nerves, and even causing secondary damage to the patient, and at the same time solves the problems of the existing exoskeleton rehabilitation robot joints that are directly driven by motors, such as large inertia, inconvenient wearing, and insufficient degrees of freedom.

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