Upper limb rehabilitation training robot and control method
A rehabilitation training and robotics technology, applied in the control/regulation system, non-electric variable control, two-dimensional position/channel control and other directions, can solve the problems of slow recovery of patients, patients cannot have enough time for training, etc., to achieve rehabilitation The effect of high training intensity, ingenious structure design and low cost
Active Publication Date: 2020-09-29
厦门威恩科技有限公司
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Problems solved by technology
Rehabilitation training equipment size and cost constraints prevent patients from having enough time to train, resulting in slow patient recovery
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[0067]In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments It is some embodiments of the present invention, but not all of them. Based on the implementation manners in the present invention, all other implementation manners obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention. Accordingly, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the invention. Based on the implementation manners in the present invention, all other implementa...
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The invention relates to the field of upper limb rehabilitation training equipment, and provides an upper limb rehabilitation training robot. The upper limb rehabilitation training robot comprises a rehabilitation coordination mechanism, a gyroscope sensor, a force measuring sensor, a moving mechanism, distance sensors and a control module, wherein the rehabilitation coordination mechanism comprises an upper limb placing piece and a grip; the gyroscope sensor is arranged in the grip; the force measuring sensor is used for measuring the direction and the magnitude of horizontal resultant forceborne by the rehabilitation coordination mechanism; the moving mechanism is arranged below the force measuring sensor and is used for driving the rehabilitation coordination mechanism to move; the distance sensors are arranged on the moving mechanism at intervals, the included angle between rays of every two adjacent distance sensors is 90 degrees, and the distance sensors are used for acquiring the position and the deflection angle of the moving mechanism; and the control module is electrically connected with the gyroscope sensor, the force measuring sensor, the moving mechanism and the distance sensors and is used for controlling the moving mechanism to move according to signals of all the sensors, and the movement speed of the moving mechanism is in positive correlation with the magnitude of the horizontal resultant force borne by the rehabilitation coordination mechanism.
Description
technical field [0001] The invention relates to the field of upper limb rehabilitation training equipment, and more specifically relates to an upper limb rehabilitation training robot and a control method. Background technique [0002] At present, the rapid development of robotic technology has attracted clinical attention. It enables more effective and systematic rehabilitation after neurological injuries, such as stroke and spinal cord injuries. Traditional therapy requires great effort and long time from the patient. [0003] Due to size and cost, most of the developed robotic systems are mainly deployed in rehabilitation centers and hospitals. Rehabilitation training equipment size and cost constraints prevent patients from having enough time to train, resulting in slow recovery of patients. Contents of the invention [0004] The invention provides an upper limb rehabilitation training robot and a control method, which can effectively solve the above problems. [0...
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IPC IPC(8): A61H1/02G01L5/00G05D1/02
CPCA61H1/0274A61H1/0285G05D1/021G01L5/00A61H2201/5061A61H2201/5058A61H2201/1659A61H2201/5043
Inventor 胡鸿翔李琦李亚楠
Owner 厦门威恩科技有限公司