Full-upper-limb exoskeleton rehabilitation robot

Abstract

The invention discloses a full-upper-limb exoskeleton rehabilitation robot. The robot comprises an exoskeleton executing mechanism and a transmission driving mechanism, a shoulder exoskeleton, an elbow exoskeleton, a wrist exoskeleton and a hand exoskeleton are of a mirror image interchange structure, a thumb module and four finger modules are of a three-layer reed coupling driving structure, anda palm module drives the thumb module and the four finger modules; the wrist exoskeleton comprises a reed module and a wire wheel ring module, and the palm module is connected to the reed module; theelbow exoskeleton comprises a forearm module and an upper arm module; the upper arm module is connected to a double-torsion-spring mechanism arranged on the front arm module through a built-in passivecompensation mechanism, and the front arm module is connected to the reed module; and the shoulder exoskeleton comprises four parallel connecting rods, a fixing support, a first driven framework, a second driven framework and an upper arm line wheel ring module, and the four parallel connecting rods are fixed to the back to play a passive compensation role. A parallel-series connection-line driving structure is adopted, movement is comfortable and natural, and the mirror image exchange function is achieved.

Description

technical field [0001] The invention relates to an exoskeleton, in particular to a full upper limb exoskeleton rehabilitation robot, which belongs to the field of robots. Background technique [0002] Stroke patients lose their ability to take care of themselves due to the loss of their motor function. In severe cases, the body is completely paralyzed, and the probability of hemiplegia after stroke is more than 50%. The upper limbs are the most frequently used limbs in daily life, so upper limb rehabilitation training has become the most urgent rehabilitation content for stroke patients. Rehabilitation training usually uses artificial rehabilitation training by medical staff or patients' family members, and assists patients in long-term upper limb flexion, stretching and other rehabilitation exercises to promote nervous system rehabilitation. However, this artificially assisted rehabilitation training has the disadvantages of consuming a large amount of manpower, low effici...

AI Technical Summary

Problems solved by technology

[0007] In summary, the existing upper limb rehabilitation equipment lacks the degree of freedom of the upper limbs, is bloated and bulky, has poor com

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