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

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...

AI Technical Summary

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 training of the upper limbs

The patent with the publication number CN111588590A discloses a six-degree-of-freedom upper limb rehabilitation training arm and robot. Although the parts of this invention patent do not interfere or touch and enhance the comfort of patient training, the structure is complex and the flexibility is poor.

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