A four-degree-of-freedom elbow-wrist joint rehabilitation robot

Abstract

The invention discloses a four-degree-of-freedom elbow-wrist joint rehabilitation robot, which belongs to the field of rehabilitation medical equipment and includes: a height adjustment assembly, a wrist assembly, a forearm assembly, and an upper arm assembly; the height adjustment assembly includes a base and a lifting column; the upper arm assembly includes an upper arm fixing seat, the first motor, the upper arm frame, the upper arm telescopic frame, the first electric push rod, the upper arm support frame and the first six-dimensional force sensor; the small arm assembly includes the second motor, the small arm frame, the small arm telescopic frame, the first Two electric push rods; the wrist joint assembly includes a third motor, a second six-dimensional force sensor, a wrist support, a fourth motor, an annular support frame, and a handle. The rehabilitation robot can realize the passive training, active training and individual and coupled training of the four degrees of freedom of the upper arm and forearm flexion / extension movement, dorsiflexion / palm flexion, internal rotation / external rotation of the wrist joint. Two six-dimensional force sensors can accurately sense the force sense information of human-computer interaction, making rehabilitation exercises more supple.

Description

technical field [0001] The invention relates to the technical field of rehabilitation medical equipment, in particular to a four-degree-of-freedom elbow-wrist joint rehabilitation robot. Background technique [0002] The latest statistics show that there are 70 million stroke patients in my country, 2 million new strokes every year, 1.65 million stroke deaths every year, and about 75% of the survivors are disabled and lose their ability to move their limbs. In 2017, the number of people over the age of 60 in my country has exceeded 230 million, and the increasingly serious population aging will lead to an increase in the number of physically disabled people. For patients with stroke, stroke and paraplegia, the quality of life depends on the degree of recovery of the function of the disabled limbs. It has always been the goal of rehabilitation workers to use advanced rehabilitation technology to improve the motor function of patients' limbs, so that patients can achieve the ...

AI Technical Summary

Problems solved by technology

[0006] The purpose of the present invention is to overcome the defect that most upper limb rehabilitation robots in the prior art cannot accurately perceive the active movement of the human body and can only complete single-arm rehabilitation training, and provide a four-degree-of-freedom elbow and wrist that can accurately perceive the patient's active movement intention The joint rehabilitation robot provides patients with a more flexible active and passive rehabilitation training, avoiding secondary damage to the patient due to the poor flexibility of the rehabilitation robot, and the rehabilitation robot of the present invention can interconnect multiple systems to coordinate the arms Rehabilitation training, the patient's healthy limb can drive the affected limb to perform master-slave rehabilitation training

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