A Wrist Joint Rehabilitation Device Adaptive to Changes of Human Movement Axis

Abstract

The invention discloses a wrist joint rehabilitation device adaptive to the change of the human body motion axis, which adopts the form of motor drive and rope transmission to improve the flexibility of the rehabilitation device; and can be adjusted independently according to the wrist-hand size of the user, so that The movement axis of the patient's wrist rotation and the rotation axis of the equipment are kept coincident to improve the comfort of the equipment; the device is based on the bone structure and motion characteristics of the human wrist joint, so that the drive axis of the device can be adjusted adaptively, and it is consistent with the movement axis of the human wrist joint. Always keep parallel, which improves the safety of rehabilitation training; the wrist joint rehabilitation device can be adaptively used for different patients to meet the number of degrees of freedom required for rehabilitation training, namely flexion and extension degrees of freedom, ulnar radial deviation degrees of freedom and circular rotation degrees of freedom, The coupled movement of the three degrees of freedom of the wrist joint is realized. It can compensate the joint axis offset caused by the relative movement of the bones, and can follow the user's joint movement axis to adapt to the change of the human body movement axis.

Description

technical field [0001] The invention relates to a wrist joint rehabilitation device, in particular to a wrist joint rehabilitation device which adapts to changes in the movement axis of a human body. Background technique [0002] With the aging of the population in our country, the number of people with neurological impairment is increasing geometrically. Among these populations, limb paralysis and abnormal gait of stroke patients and elderly neurologically impaired patients are the most common sequelae and causes of disability, and have the most serious impact on patients' self-care ability, quality of life and prognosis. A heavy economic burden on society and families. In recent years, a rehabilitation robot-assisted rehabilitation treatment method has emerged. This treatment method has high efficiency, high precision, reduced work intensity for rehabilitation physicians, and quantitative evaluation of the rehabilitation process, thereby improving the rehabilitation effec...

AI Technical Summary

Problems solved by technology

[0004] Invention patent CN106361539B discloses "a three-degree-of-freedom wrist joint rehabilitation robot and its system". The forearm rotation axis does not coincide with the rotation axis of the wrist rotation mechanism; in addition, the axis of the robot’s wrist joint flexion and extension and ulna-radial deviation cannot keep coincident at all times, and it is difficult to adapt to changes in the human body’s motion axis

The wrist joint rehabilitation link involved in these two robots can carry out wrist joint rotation and flexion and extension, but it cannot realize the radial deviation movement which is also very important in wrist joint rehabilitation training, and it is difficult to make the robot and human body rotate and flexion and extension. The axes keep coincident, making it difficult to adapt to changes in the axis of human motion

[0007] The number of degrees of freedom driven by existing rehabilitation equipment is less than the number of degrees of freedom required for rehabilitation training. It is difficult for rehabilitation equipment to compensate for the offset of joint axes caused by relative movement of bones. It is difficult for rehabilitation equipment to adapt to changes in the axis of human motion. The flexibility and less comfortable

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