Flexible cable traction double-upper-limb collaborative movement rehabilitation robot

A rehabilitation robot and cable traction technology, applied in the field of rehabilitation robots, can solve the problems of complex structure, poor flexibility, and inability to achieve coordinated movement rehabilitation training of both upper limbs, and achieve the effects of good flexibility, good coordination, and high rehabilitation efficiency.

Active Publication Date: 2021-11-12
HEFEI UNIV OF TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

For example, the patent with the publication number CN109568082B discloses an upper limb rehabilitation robot and an upper limb rehabilitation training method. Although the invention patent can realize active and passive rehabilitation training of the upper limbs, it cannot realize the coordinated movement rehabilitation trai

Method used

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  • Flexible cable traction double-upper-limb collaborative movement rehabilitation robot
  • Flexible cable traction double-upper-limb collaborative movement rehabilitation robot
  • Flexible cable traction double-upper-limb collaborative movement rehabilitation robot

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Embodiment Construction

[0043] The present invention will be further described below with reference to the accompanying drawings:

[0044] like figure 1 , figure 2 Flexible traction cable the one shown in the upper limbs of the robot coordinated motion rehabilitation, comprising a structure provided with the same and symmetrically arranged assembly of left upper limb and the right upper limb rehabilitation rehabilitation unit, the left and right upper limb rehabilitation rehabilitation unit 1 on the rack, the rack 1 arm assembly means each include means connected to the hand 2, the hand means 23, by means of the upper arm and forearm connected to means 5 3 4 elbow, shoulder joint through the shoulder means 6 connected to the arm mechanism 57, the elbow 4 forearm joint power transmission mechanism 8 is connected to the drive means 3 is operated arm, shoulder and upper arm 6 is connected to the power transmission mechanism 9 to drive the arm mechanism 5 is operated, arm mechanism 3 is provided between the ...

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Abstract

The invention relates to a flexible cable traction double-upper-limb collaborative movement rehabilitation robot which comprises a left upper limb rehabilitation assembly and a right upper limb rehabilitation assembly, the left upper limb rehabilitation assembly and the right upper limb rehabilitation assembly each comprise a hand mechanism, a forearm mechanism, an elbow joint, an upper arm mechanism, a shoulder joint and a shoulder mechanism, the elbow joint is connected with a forearm power transmission mechanism to drive the forearm mechanism to act, the shoulder joint is connected with an upper arm power transmission mechanism to drive the upper arm mechanism to act, a first limiting mechanism is arranged between the forearm mechanism and the upper arm mechanism, and a second limiting mechanism is arranged between the upper arm mechanism and the shoulder mechanism. According to the technical scheme, the forearm mechanism and the upper arm mechanism are connected with the forearm power transmission mechanism and the upper arm power transmission mechanism through Bowden cables respectively, flexion and extension of the elbow joint are achieved through a serial elastic driver of the elbow joint, and forward flexion and backward extension of the shoulder joint are achieved through a serial elastic driver of the shoulder joint.

Description

Technical field [0001] The present invention relates to the field of rehabilitation robots, particularly, to a flexible traction rope rehabilitation robot coordinated motion of the upper limbs. Background technique [0002] Research rehabilitation robot was first starting in the 1960s, after decades of development, rehabilitation robots have made some valuable results, but there are some rehabilitation robot has also been put on the market to sell. [0003] Currently existing upper limb rehabilitation robot plurality of tandem type design theory and control system for upper limb rehabilitation robot tandem relatively mature, but having a large size structure, accumulation of errors and other shortcomings. At the same time the majority of upper limb rehabilitation robot can only single upper limb rehabilitation training, you need two devices to achieve the rehabilitation of the upper limbs, and the two devices independent of each other and can not communicate with each other. In o...

Claims

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Application Information

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IPC IPC(8): A61H1/02
CPCA61H1/0277A61H1/0281A61H2201/1207A61H2201/1657A61H2201/14Y02A50/30
Inventor 王正雨张建喜訾斌王道明钱森钱钧李鹏魏迅刘光明包诗扬
Owner HEFEI UNIV OF TECH
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