A full upper limb exoskeleton rehabilitation robot

Abstract

A full upper limb exoskeleton rehabilitation robot, including an exoskeleton actuator and a transmission drive mechanism. The shoulder exoskeleton, elbow exoskeleton, wrist exoskeleton and hand exoskeleton are all mirror interchangeable structures. The thumb module and four The finger module is a three-layer reed coupling driving structure, and the palm module drives the thumb module and four finger modules; the wrist exoskeleton includes a reed module and a wire wheel ring module, and the palm module and the reed module are connected; the elbow The external exoskeleton includes a forearm module and an upper arm module; the upper arm module is connected with the double torsion spring mechanism of the forearm module through a built-in passive compensation mechanism, and the forearm module is connected with the reed module; the shoulder exoskeleton includes a parallel four-link Rods, fixed brackets, passive frame 1, passive frame 2, upper arm wire wheel ring module, parallel four links and back fixation play a passive compensation role. The invention adopts a parallel-series-line drive structure, which makes the movement comfortable and natural, and has the function of mirror image interchange.

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 the ability to take care of themselves due to the loss of their motor functions. In severe cases, the body is completely paralyzed, and the probability of hemiplegia after a stroke is more than 50%. The upper limbs are the most frequently used limbs in the human body in daily life, so the rehabilitation training of the upper limbs has become the most urgent content of rehabilitation for stroke patients. Rehabilitation training usually adopts the method of artificial rehabilitation training by medical staff or patient's family members, and assisting patients to perform long-term upper limb flexion, stretching and other rehabilitation exercises to promote the rehabilitation of the nervous system. However, this artificially assisted rehabilitation training ha...

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 comfort, joint movement is unnatural, the effect of rehabilitation treatment is poor, and it does not have the function of perception and mirror exchange.

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