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Ten-degree-of-freedom upper limb exoskeleton rehabilitation robot with interchangeable left hand and right hand

A rehabilitation robot, left and right hand technology, applied in passive exercise equipment, physical therapy and other directions, can solve problems such as unfavorable left and right hand interchange, lack of freedom, and achieve the effect of avoiding secondary injury, increasing flexibility, and avoiding adjustment.

Pending Publication Date: 2021-09-07
QINGDAO UNIV OF SCI & TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Although the seven active degrees of freedom meet the requirements of upper limb rehabilitation training, the added three passive degrees of freedom are all size adjustment mechanisms. The degree is not reflected, and this mechanism is not conducive to the exchange of left and right hands

Method used

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  • Ten-degree-of-freedom upper limb exoskeleton rehabilitation robot with interchangeable left hand and right hand
  • Ten-degree-of-freedom upper limb exoskeleton rehabilitation robot with interchangeable left hand and right hand
  • Ten-degree-of-freedom upper limb exoskeleton rehabilitation robot with interchangeable left hand and right hand

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Embodiment approach

[0052] In order to make the purpose, technical solution, and advantages of the present invention more clearly understood, the present invention will be further described in conjunction with the accompanying drawings. It should be understood that this is only an explanation of the present invention, but not a limitation of the present invention.

[0053] In the description of the present invention, what needs to be understood is the orientation of the human body. In terms of terms, "front side" refers to the front side of the body against the abdomen; The "upper side" is also called the cranial side, and the "lower side" is also called the caudal side; the "inner side" and "outer side" refer to the midline of the body, the one closest to the center line is the inner side, and the one farther away from the center line is the outer side The orientations indicated by these terms are simplified descriptions of the present invention, rather than indicating or implying that parts and...

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Abstract

The invention discloses a ten-degree-of-freedom upper limb exoskeleton rehabilitation robot with interchangeable left hand and right hand. The upper limb exoskeleton rehabilitation robot is in modular design and comprises a supporting module, a shoulder joint module, an upper arm module, an elbow joint module, a forearm module, a wrist joint module and a handle module, and all the modules are connected in sequence. The supporting module comprises a rack assembly, a bending assembly and a supporting assembly. The shoulder joint module comprises a shoulder joint adduction / abduction assembly, a shoulder joint medial / lateral rotation assembly and a shoulder joint flexion / extension assembly; and the wrist joint module comprises a wrist joint flexion / extension assembly and a wrist joint medial / lateral rotation assembly, and totally has ten degrees of freedom. Wherein the six active degrees of freedom meet the rehabilitation training requirement, the supporting module is provided with two passive rotation degrees of freedom, and the flexibility of the mechanism is improved; two passive moving freedom degrees are added to a stepless adjusting mechanism of the upper arm module and the front arm module. and the shoulder joint medial / lateral rotation assembly is rotated to the other side of a sagittal plane, and a motor of the elbow joint module is reversely driven, so that interchange of the left hand and right hand can be implemented.

Description

technical field [0001] The invention relates to an auxiliary medical rehabilitation robot, in particular, it belongs to an exoskeleton rehabilitation robot for upper limb rehabilitation training. Background technique [0002] As the population ages, 15 million people are currently suffering from stroke. Stroke is the leading cause of disability in the elderly. It interrupts blood flow to the brain, which can damage brain cells and can be fatal in severe cases. Most of the stroke survivors have different degrees of functional loss, which may be hemiplegia or total paralysis, which brings a lot of inconvenience to daily life. According to the theory and practice of rehabilitation medicine, stroke can be recovered through rehabilitation training. Traditional rehabilitation training has many problems. However, at present, it mainly relies on one-on-one auxiliary training between rehabilitation doctors and patients. This treatment method is not only inefficient and costly, but ...

Claims

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Application Information

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IPC IPC(8): A61H1/02
CPCA61H1/0274A61H1/0277A61H1/0281A61H1/0285A61H2201/1207A61H2201/1659A61H2205/06A61H2205/062A61H2205/065
Inventor 葛国强张卫锋王晖李敬涵吴志强
Owner QINGDAO UNIV OF SCI & TECH
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