Reconfigurable exoskeleton upper limb rehabilitation robot for different body types

Abstract

The invention discloses a reconfigurable exoskeleton upper limb rehabilitation robot for different body types. According to the reconfigurable exoskeleton upper limb rehabilitation robot, a shoulder joint internal and external rotation assembly, a scapulohumeral adjustment assembly, a shoulder joint flexion extension and retraction assembly, an upper arm length adjustment assembly, an upper arm rotary motion assembly, an elbow joint flexion and extension assembly, a forearm rotary motion assembly, a forearm length adjustment assembly and a wrist joint flexion and extension assembly are connected in sequence; the robot has six freedom degrees, and six-freedom-degree rehabilitation movement and compound movement of the upper limbs can be achieved corresponding to six active executing mechanisms; a liftable base is suitable for people with different heights; the scapulohumeral adjustment assembly is suitable for rising and sitting postures of different patients; the forearm length adjustment assembly and the upper arm length adjusting assembly are suitable for patients with different forearm and upper arm lengths. The reconfigurable exoskeleton upper limb rehabilitation robot has reconfigurability, multiple passive adjusting mechanisms, a left and right hand interchange using mode, and a light exoskeleton structure, requirements of patients with different disease conditions can bemet, and the treatment cost is reduced.

Description

technical field [0001] The invention relates to a reconfigurable exoskeleton upper limb rehabilitation robot for different body types, belonging to the technical field of medical robots. Background technique [0002] In today's society, aging is accelerating, and senile diseases are gradually increasing, such as stroke caused by cerebral arteriosclerosis, senile osteoporosis, and muscle atrophy. The limb movement disorder caused by stroke is also called hemiplegia. Patients with hemiplegia often need to undergo rehabilitation medical training for a long period of time in order to restore their physical ability. [0003] Clinical practice has shown that by strengthening the exercise of the affected limb, the affected limb can be restored to a certain degree of function. Therefore, in recent years, upper limb rehabilitation robots have become more and more popular in assisting patients to perform rehabilitation exercises. Instead of rehabilitation physicians, they directly dr...

AI Technical Summary

Problems solved by technology

[0004] So far, most upper limb rehabilitation robots can realize the rehabilitation movement of the upper limbs with 6 degrees of freedom, but they are not suitable for patients with different upper limb paralysis positions, which makes the rehabilitation institutions corresponding to the patients' healthy joints idle, increases the treatment cost, and is not conducive to Targeted treatment makes recovery less effective

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