A Portable Wearable Upper Limb Rehabilitation Robot

Abstract

The invention discloses a portable wearable upper limb rehabilitation robot. The robot includes a special clothing module and a wearable flexible actuator module. The wire wheel is rotated by the drive system at the waist of the double-layer garment mechanism fixed in the special garment module, and the wire wheel rotates and pulls the core of the Bowden wire, thereby driving the upper limbs of the human body to perform rehabilitation training exercises. The physiological signal obtains the motion signal of the patient's subjective intention and the IMU signal of the affected side cuff as the motion feedback signal of the affected limb, so that it can better control the pulling force and moving speed of the Bowden cable core and improve the rehabilitation efficiency. Gravity balance mechanism reduces energy consumption to a certain extent. The present invention can realize multi-joint rehabilitation movement, is not restricted by environmental conditions, reduces the work intensity of rehabilitation physicians and improves work 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 also a series of problems in the rehabilitation training of the upper limbs of hemiplegic patients. Patients are trained, but there are also many problems, such as high workload and low efficiency, most rehabilitation processes rely too much on the experience and judgment of rehabilitation therapists, and cannot perform a 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 exoskeletons in a closed rehabilitation training room and perform rehabilitation exercises while sitting on a seat. This training method will limit the non-determine...

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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