Parallel flexible cable driven upper limb rehabilitation robot capable of realizing fixed-point output of flexible cables

Abstract

The invention relates to a parallel flexible cable driven upper limb rehabilitation robot capable of realizing fixed-point output of flexible cables. The parallel flexible cable driven upper limb rehabilitation robot comprises driving modules, a sleeve, a ball guide wheel, a ball guide wheel fixing frame, the flexible cables, a sleeve support, an idle wheel, a T-shaped table, a seat and a supporting frame. And the seven groups of driving modules are intensively mounted at the bottom of the supporting frame and can also be randomly arranged as required. According to different arrangement forms, the flexible cable can be transmitted to the ball guide wheel through the sleeve and the idle wheel. The ball guide wheel is restrained on the supporting frame through the ball guide wheel fixing frame, and the ball guide wheel correspondingly rotates along with the change of the output direction of the flexible cables. The tail ends of the flexible cables are connected to the T-shaped table, the two end points of the top of the T-shaped table are connected with the two flexible cables respectively, the end points of the bottom of the T-shaped table are connected with the three flexible cables, and the T-shaped table drives the affected limb to achieve rehabilitation training. By means of the device, space fixed-point and multi-direction flexible output of the flexible cables can be achieved.

Description

technical field [0001] The invention relates to an upper limb rehabilitation robot, in particular to a parallel flexible cable-driven upper limb rehabilitation robot capable of realizing flexible cable fixed-point output. Background technique [0002] With the aging of the global population, coupled with natural disasters, accidents and other acquired reasons, the number of patients with motor dysfunction is also increasing, and people's demand for rehabilitation services is also increasing. The realization of upper limb rehabilitation training through robots has unique advantages. It not only meets the rehabilitation medical needs of patients with motor dysfunction, improves the independent living ability of patients, but also has positive significance for ensuring social harmony and stability. [0003] The upper limb rehabilitation robot can continue to perform complicated rehabilitation training actions for a long time, and the robot system can easily complete a variety o...

AI Technical Summary

Problems solved by technology

However, the upper limb rehabilitation robot itself has incomplete constraint characteristics, and it is difficult to realize complex position control and force control in space.

A parallel flexible cable-driven upper limb rehabilitation robot and its implementation method (CN10510110884A) realizes upper limb rehabilitation training through seven flexible cables, adopts a turnover mechanism so that the passing wheel can follow the rotation of the flexible cables, but the rotation process of the flexible cables in the direction of the wheel axis The output point of the flexible cable will change

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