Wrist two-degree-of-freedom flexible rope driven exoskeleton type upper limb rehabilitation training robot

Abstract

Aiming at defects of the prior art, the present invention provides a wrist two-degree-of-freedom flexible rope driven exoskeleton type upper limb rehabilitation training robot. A flexible rope drivingmode is used, the degree of freedom required by a joint is not realized through relative large mechanisms of joint rotating disks, etc., and thus the device has high space utilization rate, is more comfortable and lighter to wear, can obtain effective physical stimulation on each joint muscle and motion function nerve of an upper limb, is more fit with motion characteristic of the upper limb of human body, and avoids secondary damages on patients. The provided wrist two-degree-of-freedom flexible rope driven exoskeleton type upper limb rehabilitation training robot comprises a wrist and elbowmoving part, an arm supporting part and a ground fixing part, wherein a large arm wearing device in the wrist and elbow moving part is connected with an arc-shaped guide rail module in the arm supporting part, a vertical column in the arm supporting 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 wrist dual-degree-of-freedom flexible rope-driven exoskeleton type upper limb rehabilitation training robot. Background technique [0002] Hemiplegia is a common severe clinical symptom, which is more common in acute cerebrovascular disease attacks. Patients often suffer from hemiplegia on one side of their limbs due to cranial nerve damage. However, these actions are very inflexible, and the patient loses mobility and cannot take care of himself, which has a very serious impact on life. Especially in recent years, the incidence of cerebrovascular diseases has increased year by year, coupled with the increasingly severe traffic, resulting in frequent accidents of various types, resulting in an increase in the number of hemiplegic people, which also leads to a corresponding increase in the incidence of upper limb dysfunction in hemiplegic patients Constantly increasing. Ho...

AI Technical Summary

Problems solved by technology

[0004] In order to overcome the deficiencies of the above-mentioned prior art, the present invention provides a wrist dual-degree-of-freedom flexible rope-driven exoskeleton type upper limb rehabilitation training robot, which solves the problem that the existing end-driven rehabilitation robot cannot accurately apply traction to each joint of the affected limb In order to achieve the purpose of stimulating the nerves, the problem of a single movement mode is solved, and at the same time, it solves the problem that the existing exoskeleton-type rehabilitation robot directly adopts a motor-driven device at the joints, which has a large inertia, is not easy to wear, and uses a rope-driven device. The space utilization rate is low, and the degree of freedom is insufficient, etc. question

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