Seven-degree-of-freedom upper limb exoskeleton rehabilitation robot

A rehabilitation robot and exoskeleton technology, applied in passive exercise equipment, physical therapy and other directions, can solve problems such as poor applicability, reduce harmful friction, increase service life, and ensure stability.

Active Publication Date: 2020-06-30
ANHUI UNIVERSITY OF TECHNOLOGY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0007] Aiming at the problem of poor applicability of existing rehabilitation training robots, the present invention provides a seven-degree-of-freedom upper limb exoskeleton rehabilitation robot; through the combined use of seven active degrees of freedom and three passive degrees of freedom, the stability and comfort of training are guaranteed Sex and accuracy, can adapt to different users, strong applicability

Method used

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  • Seven-degree-of-freedom upper limb exoskeleton rehabilitation robot

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Experimental program
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Effect test

Embodiment 1

[0045] Such as Figure 1-7 As shown, a seven-degree-of-freedom upper limb exoskeleton rehabilitation robot in this embodiment includes a support mechanism 100, a shoulder joint training mechanism 200, an upper arm adjustment mechanism 300, an elbow joint training mechanism 400, a wrist joint training mechanism 500, and a wrist joint adjustment mechanism 600, the support mechanism 100, the shoulder joint training mechanism 200, the upper arm adjustment mechanism 300, the elbow joint training mechanism 400, the wrist joint training mechanism 500 and the wrist joint adjustment mechanism 600 are connected in sequence, through the coordination and collaborative work among multiple institutions , so that the user can realize the rehabilitation training of the shoulder joint, elbow joint and wrist joint. At the same time, it adapts to the individual situation of the user, improves the efficiency of use, and shortens the recovery cycle of the user.

[0046] The support mechanism 100 ...

Embodiment 2

[0061] This embodiment provides a usage method based on the structure of the seven-DOF upper limb exoskeleton rehabilitation robot in Embodiment 1.

[0062] Preliminary preparations: in the first step, the medical personnel help the user to sit on the base 120, and use the shoulder joint position adjustment assembly 130 so that the user's shoulder joint is located directly under the shoulder support plate 213; in the second step, the medical personnel will use the The affected limb of the patient is placed on the arm of the 7-DOF upper extremity exoskeleton rehabilitation robot. The user's hand grasps the handle 610. According to the length of the user's upper arm, the upper arm adjustment mechanism 300 is used to make the size of the upper arm of the rehabilitation robot consistent with the length of the user's upper arm. , to improve the comfort of the patient’s upper arm during training; in the third step, according to the position of the user’s wrist joint, the wrist joint ...

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Abstract

The invention discloses a seven-degree-of-freedom upper limb exoskeleton rehabilitation robot, and belongs to the technical field of rehabilitation mechanical equipment. The seven-degree-of-freedom upper limb exoskeleton rehabilitation robot comprises a supporting mechanism, a shoulder joint training mechanism, an upper arm adjusting mechanism, an elbow joint training mechanism, a wrist joint training mechanism and a wrist joint adjusting mechanism, wherein the supporting mechanism, the shoulder joint training mechanism, the upper arm adjusting mechanism, the elbow joint training mechanism, the wrist joint training mechanism and the wrist joint adjusting mechanism are connected in sequence. Through combined use of seven active degrees of freedom and three passive degrees of freedom, the training stability, comfort and accuracy are ensured, and the seven-degree-of-freedom upper limb exoskeleton rehabilitation robot can adapt to different users and is high in applicability.

Description

technical field [0001] The invention belongs to the technical field of rehabilitation machinery and equipment, and more specifically relates to a seven-degree-of-freedom upper limb exoskeleton rehabilitation robot. Background technique [0002] Worldwide, the average annual incidence of stroke is 140 / 100,000-200 / 100,000. The average annual incidence rate of stroke in China is 185 / 100,000-219 / 100,000, while the annual average mortality rate is 60 / 100,000. Although about 78%-88% of stroke patients survived, most of them left with different degrees of dysfunction, among which the incidence of motor dysfunction (hemiplegia) was the highest. At present, in the clinic, the therapies widely used by doctors include mandatory traction therapy, repeated resistance exercises, and other training methods with the help of simple equipment. The main method is limited to the hands-on, one-on-one training and treatment of patients by rehabilitation physicians. Patients have been in a state...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61H1/02
CPCA61H1/0281A61H1/0277A61H1/0285A61H1/0218A61H2205/062A61H2205/065A61H2201/1207A61H2201/1215
Inventor 刘涛张孟旋王晨程刘庆运
Owner ANHUI UNIVERSITY OF TECHNOLOGY
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