A portable upper limb rehabilitation robotic arm with graded adjustment training function

Abstract

The invention discloses a portable upper limb rehabilitation mechanical arm with a graded adjustment training function. The mechanical arm includes a large arm assembly, a support assembly, a graded adjustment assembly, a small arm assembly, a wrist assembly and a hand assembly; the large arm assembly includes a large arm shell , the backboard of the big arm, the support of the first and second big arms; the support assembly includes the support base, the inner support rod, the outer support rod, the seal, the reversing assembly and the connecting bolt group; the graded adjustment assembly includes the elbow motor housing, Elbow joint motor and adjustment assembly; forearm assembly includes first and second forearm support, forearm backboard and forearm shell; wrist assembly includes first and second wrist joint motors, first and second wrist The outer motor shell, the first and second wrist support plates; the hand assembly includes a palm rest and a joint vibration assembly. The rehabilitation robotic arm can realize the rehabilitation training of the arm, elbow, wrist and hand, and can adjust the training method. It is suitable for patients in different rehabilitation periods. It has the characteristics of portability, low cost, and low noise.

Description

technical field [0001] The invention relates to the technical field of rehabilitation medical equipment, in particular to a portable upper limb rehabilitation mechanical arm with a hierarchical adjustment training function. Background technique [0002] With the improvement of living standards, people pay more and more attention to health problems. According to the survey, stroke has become one of the most important diseases that endanger the health and life of Chinese people, and it is developing towards a younger trend. Stroke has the characteristics of high morbidity, high mortality, and high disability rate. During the rehabilitation period, patients often need to undergo long-term rehabilitation training to reduce the risk of disability. [0003] At present, the traditional treatment method is that professional doctors conduct one-on-one rehabilitation training for patients, and constantly adjust the training mode according to the patient's condition. However, this kin...

AI Technical Summary

Problems solved by technology

[0003] At present, the traditional treatment method is that professional doctors conduct one-on-one rehabilitation training for patients, and constantly adjust the training mode according to the patient's condition. However, this kind of training is high-intensity and cumbersome, and it is easy to cause physical and mental tension between doctors and patients. burden, causing some patients to choose to forego treatment and delay their treatment

With the rapid development of society, the use of medical equipment for rehabilitation training of patients has gradually replaced traditional treatment methods, but most of the existing upper limb rehabilitation equipment does not have the function of adjusting the training mode, and the function is single, and can only be trained for a certain part of the patient ; Some robotic arms with active movement function often require external drive, transmission and fixed equipment, resulting in bulky equipment, high cost, difficult to carry, and not suitable for home rehabilitation training

[0004] Patent CN 111110509 A discloses "An Interchangeable and Strange-Avoiding Seven-DOF Upper Limb Exoskeleton Man". The upper extremity exoskeleton described in this patent has three training modes, which can perform seven freedom exercises on the upper limbs for different rehabilitation stages of patients. High-degree training, strong practicability, can be used by medical institutions, but it needs to be equipped with mobile seats, which increases the purchase cost and is not suitable for home training; patent CN 210500265 U discloses a "foldable upper limb exoskeleton device", which The upper extremity exoskeleton described in the patent has an ingenious structure and is easy to carry, but its structure does not have active movement functions and is not suitable for patients' upper limb rehabilitation training; patent CN202027877U discloses "A Wearable 7-DOF Upper Limb Exercise Rehabilitation Training Exoskeleton" , the upper extremity exoskeleton described in this patent has multiple degrees of freedom and is equipped with sensors for collecting kinematic data, so that doctors can analyze and formulate training programs, but its structure requires a fixed base, which is bulky and inconvenient to move. Driven by gears, the working noise is large, and it does not have the rehabilitation training function of the hand; the patent CN 109350446 A discloses a "active and passive upper limb rehabilitation training robot system based on electromyographic signals", and the upper limb rehabilitation training robot described in this patent The system can collect the patient's electromyographic signals and formulate corresponding training programs, but the structure needs to be equipped with a host computer and a mobile base, which is bulky, increases the cost of use, and does not have the training function of the wrist and hands

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