Portable wearable upper limb rehabilitation robot

Abstract

The invention discloses a portable wearable upper limb rehabilitation robot. The robot comprises a tailor-made garment module and a wearable flexible actuator module. A driving system fixed to the waist of a double-layer clothes mechanism of the tailor-made clothes module rotates a line wheel, the line wheel rotates to pull a Bowden line core, and therefore the upper limbs of a human body are driven to do rehabilitation training exercise. Motion signals of subjective intention of a patient and IMU signals of an affected side oversleeve are obtained through IMU motion signals of the healthy side oversleeve and EMG physiological signals to serve as affected limb motion feedback signals, so that the pull force and the moving speed of the Bowden cable core are better controlled, and the rehabilitation efficiency is improved; meanwhile, a gravity balance mechanism is adopted in the whole device, and the energy consumption is reduced to a certain extent. The rehabilitation robot can realizemulti-joint rehabilitation exercise, is not limited by environmental conditions, reduces the working intensity of rehabilitation doctors and improves the working efficiency.

Description

technical field [0001] The invention relates to the field of rehabilitation medical equipment, in particular to a portable wearable upper limb rehabilitation robot. Background technique [0002] In my country, about 75% of stroke patients have different degrees of upper limb dysfunction. At present, there are a series of problems in the rehabilitation training of the upper limbs of hemiplegic patients. At present, the main method in China is one-on-one assistance by rehabilitation therapists. Patients carry out training, but there are many problems, such as high work intensity and low efficiency. Most of the rehabilitation process relies too much on the experience and judgment of rehabilitation therapists, and cannot perform good quantitative evaluation; for most of the existing upper limb rehabilitation equipment, For example, the upper limb rehabilitation robot A6 can only allow patients to wear a set of rigid exoskeleton in a closed rehabilitation training room and perform ...

AI Technical Summary

Problems solved by technology

[0002] In my country, about 75% of stroke patients have different degrees of upper limb dysfunction. At present, there are a series of problems in the rehabilitation training of the upper limbs of hemiplegic patients. At present, the main method in China is one-on-one assistance by rehabilitation therapists. Patients carry out training, but there are many problems, such as high work intensity and low efficiency. Most of the rehabilitation process relies too much on the experience and judgment of rehabilitation therapists, and cannot perform good quantitative evaluation; for most of the existing upper limb rehabilitation equipment, For example, the upper limb rehabilitation robot A6 can only allow patients to wear a set of rigid exoskeleton in a closed rehabilitation training room and perform rehabilitation exercises while sitting on the seat. Some auxiliary functions in life cannot be realized, such as holding things, pouring water, etc. On the other hand, the closed rehabilitation training environment will reduce the patient's sense of participation and rehabilitation efficacy

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