Multifunctional upper limb rehabilitation robot and control method thereof

Abstract

A multifunctional upper limb rehabilitation robot and a control method thereof, comprising: a base, the base comprising: a shell, a force sensing module being arranged in the shell and being in communication connection with a control module; a receiving mechanism, the receiving mechanism transmitting the received force to the force sensing module; a moving mechanism, the moving mechanism being arranged at the bottom of the shell; a swing arm mechanism, the swing arm mechanism comprising a swing arm body, a micro deformation force sensing mechanism being arranged in one end of the swing arm body and being in communication connection with the control module, a bracket being detachably arranged on the upper end of the micro deformation force sensing mechanism, and a handle being detachably arranged on the end of the swing arm body away from the bracket. The present application has an elbow rehabilitation coordination mode and a wrist rehabilitation coordination mode, and can monitor the rehabilitation condition of a patient through the micro deformation force sensing mechanism, and has a very simple structure and complete functions.

Description

Technical Field

[0001] This invention relates to the field of rehabilitation robot technology, and in particular to a multifunctional upper limb rehabilitation robot and its control method. Background Technology

[0002] As an important branch of medical robotics, rehabilitation robots encompass research across numerous fields, including rehabilitation medicine, biomechanics, mechanics, and mechanical engineering, and have become a research hotspot in the international robotics field. Currently, rehabilitation robots are widely used in rehabilitation nursing, prosthetics, and rehabilitation therapy.

[0003] However, existing upper limb rehabilitation robots, in order to adapt to the multiple joints of the human arm, usually have extremely complex structures and are generally large. At the same time, given the complex structure, the individual functional components of existing upper limb rehabilitation robots do not have other technical effects and it is difficult to assess the patient's rehabilitation status. Summary of the Invention

[0004] To address the above problems, this invention provides a multifunctional upper limb rehabilitation robot, which is implemented as follows:

[0005] A multifunctional upper limb rehabilitation robot includes: a base, the base comprising: a shell, the shell housing having a force sensing module communicatively connected to a control module; a receiving mechanism transmitting the applied force to the force sensing module; a moving mechanism disposed at the bottom of the shell; and a swing arm mechanism including a swing arm body, one end of which has a micro-deformation force sensing mechanism communicatively connected to the control module embedded therein, the upper end of the micro-deformation force sensing mechanism having a detachable bracket, and the end of the swing arm body away from the bracket having a detachable handle.

[0006] As a further improvement, the receiving mechanism specifically includes: a cylindrical mounting sleeve penetrating the upper surface of the housing, and a force transmission rod disposed inside the mounting sleeve and higher than the mounting sleeve, the force transmission rod transmitting the force to the force sensing module; the upper end of the force transmission rod contracts inward to form a stepped surface, the stepped surface is higher than the mounting sleeve, the upper end of the stepped surface is the force measuring part of the force transmission rod, the lower end of the stepped surface is the receiving part of the force transmission rod, and the swing arm body is sleeved on the outer periphery of the force measuring part and receives the force on the receiving part.

[0007] As a further improvement, the swing arm body specifically includes: a bracket mounting part, an opening on the bracket mounting part, a slot provided in the opening, the micro-force sensing mechanism embedded in the slot, the bracket being inserted into the opening and supported by the micro-force sensing mechanism; a grip mounting part, lower than the bracket mounting part, with a through hole for the force measuring part to pass through; and a connecting rod, integrally formed to connect the bracket mounting part and the grip mounting part.

[0008] Preferably, in the elbow rehabilitation coordination mode, a rotary joint is provided on the side of the bracket mounting part away from the bracket. The rotary joint includes a rotary seat, a bearing is provided inside the rotary seat, and the bearing is sleeved on the force transmission rod.

[0009] As a further improvement, support plates are provided on both sides of the rotating seat, and the support plates are detachably connected to the side of the swing arm body away from the bracket.

[0010] As a further improvement, the rotating seat is rotatably connected to the support plate via a rotating shaft. The rotating shaft includes a first rotating part rotatably disposed within the rotating seat, and a shaft handle integrally formed on the side of the rotating part away from the rotating seat. The shaft handle is engaged within the support plate.

[0011] As a further improvement, the grip specifically includes a cylindrical handle, one end of which is fixedly connected to a sleeve near the swing arm body.

[0012] Preferably, in the elbow rehabilitation coordination mode, a grip mounting seat is provided on the surface of the grip mounting part away from the base, and the grip is inserted into the grip mounting seat.

[0013] Preferably, in the wrist rehabilitation coordination mode, the through hole is sleeved on the outer periphery of the receiving part, and the grip is inserted into the force transmission rod.

[0014] As a further improvement, the micro-deformation force sensing mechanism includes a deformation element embedded in the opening and a deformation sensor disposed at the lower end of the deformation element; the bracket includes an arc-shaped bracket body, and a support structure is provided at the lower end of the bracket body. The support structure includes an abutting part that abuts against the upper end of the micro-deformation force sensing mechanism. The two ends of the abutting part extend towards the side closer to the handle to form a connecting part. The outer periphery of the connecting part extends downward to form a snap-fit ​​part with a buckle. The deformation element is snapped onto the snap-fit ​​part.

[0015] This invention also provides a control method for a multifunctional upper limb rehabilitation robot, applicable to any of the multifunctional upper limb rehabilitation robots described above, comprising:

[0016] S1. Obtain the rehabilitation mode selected by the patient and display the corresponding game interface on the display device that is communicatively connected to the control module;

[0017] S2. After the patient places the affected limb, the control module issues game instructions and notifies the patient. The control module acquires the force signals transmitted by the force sensing module and the micro-deformation force sensing mechanism. The control module determines whether the patient has completed the action based on the changes in the force signals.

[0018] S3. Repeat step S2 multiple times;

[0019] S4. Store the force signal change data during the rehabilitation training process to complete the rehabilitation training.

[0020] The advantages of this invention are:

[0021] 1. By setting two different connection modes between the base and the swing arm body, the joint that the patient exerts force when using the device is changed; when in the elbow rehabilitation coordination mode, the end of the swing arm body near the bracket is rotated and set on the receiving mechanism, and the axis of the swing arm body is near the bracket. At this time, the patient's forearm tip or the entire forearm is placed on the bracket, and the joint exerting force is the elbow joint.

[0022] When in wrist rehabilitation coordination mode, the end of the swing arm body near the handle is rotated and set on the receiving mechanism, and the axis of the swing arm body is near the handle. At this time, the patient's forearm tip or the entire forearm is placed on the bracket, and the joint exerting force is the wrist joint.

[0023] Therefore, the same rehabilitation robot mechanism can perform two different rehabilitation training or rehabilitation testing activities. The overall mechanism is simple and easy to install.

[0024] 2. When a patient requiring rehabilitation training is able to independently raise their forearm, they are considered to be in a level three rehabilitation state. This invention, by installing a micro-deformation force sensing mechanism under the support bracket, can accurately collect force changes during the patient's forearm-raising process, actively reflecting the patient's rehabilitation progress.

[0025] 3. By setting up a force sensing module and a moving mechanism that communicate with the control module, and by setting up a receiving mechanism to transmit the received force to the force sensing module, bidirectional rehabilitation training is achieved. Specifically, when the patient is performing wrist rehabilitation training, the receiving mechanism transmits the direction and magnitude of the force to the force sensing module, which in turn transmits the force signal to the control module. The control module then controls the moving mechanism to move along the direction of the force according to the magnitude of the patient's force, thereby rotating the elbow and simultaneously exercising the elbow joint during wrist rehabilitation training. Similarly, when the patient is performing elbow rehabilitation training, the receiving mechanism transmits the direction and magnitude of the force to the force sensing module, which in turn transmits the force signal to the control module. The control module then controls the moving mechanism to move along the direction of the force according to the magnitude of the patient's force, thereby moving the shoulder and simultaneously exercising the shoulder joint during elbow rehabilitation training. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the overall exploded structure of one embodiment of the present invention.

[0027] Figure 2 for Figure 1 A cross-sectional structural diagram of the embodiment.

[0028] Figure 3 for Figure 2 Enlarged view of a portion of region A in the middle.

[0029] Figure 4 for Figure 1 A schematic diagram of the swing arm body structure in the embodiment.

[0030] Figure 5 This is an exploded structural diagram of the bracket and micro-deformation force sensing mechanism of the present invention.

[0031] Figure 6 This is a schematic diagram of the bracket structure of the present invention.

[0032] Figure 7 This is a schematic diagram of the overall structure of another embodiment of the present invention.

[0033] Figure 8 for Figure 7 A cross-sectional structural diagram of the embodiment.

[0034] Figure 9 for Figure 8 Enlarged view of a portion of region B in the middle.

[0035] Figure 10 for Figure 7 A schematic diagram of the swing arm body structure in the embodiment.

[0036] Figure 11 This is a schematic diagram of the base structure of the present invention.

[0037] Figure 12 for Figure 11 A magnified view of a portion of region C.

[0038] Figure 13 This is a schematic diagram of the exploded structure of the rotary joint of the present invention.

[0039] Figure 14 This is a schematic cross-sectional view of the rotary joint structure of the present invention.

[0040] Figure 15 This is a flowchart of a control method for a multifunctional upper limb rehabilitation robot according to the present invention.

[0041] Figure 16 for Figure 15 The detailed flowchart of step S1. Detailed Implementation

[0042] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention. Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention.

[0043] In the description of this invention, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined with "first" and "second" may explicitly or implicitly include one or more of that feature.

[0044] Existing upper limb rehabilitation robots, designed to accommodate the multiple joints of the human arm and the complex movement patterns of the human body, typically employ numerous interconnected mechanisms, resulting in a complex and bulky design that is extremely expensive and unsuitable for ordinary household use. Therefore, this invention provides the following embodiments to address the aforementioned problems:

[0045] Example 1

[0046] like Figures 1-14As shown, a multifunctional upper limb rehabilitation robot includes: a base 1, the base 1 including: a shell 11, the shell 11 housing a force sensing module 13 communicatively connected to a control module; a receiving mechanism 12, the receiving mechanism 12 transmitting the force to the force sensing module 13; and a swing arm mechanism 2 including a swing arm body 21, one end of the swing arm body 21 having a detachable bracket 23, and the other end of the swing arm body 21 away from the bracket 23 having a detachable handle 24; wherein the base 1 and the swing arm mechanism 2 have the following connection modes: elbow rehabilitation coordination mode, the end of the swing arm body 21 near the bracket 23 is rotatably mounted on the receiving mechanism 12; and wrist rehabilitation coordination mode, the end of the swing arm body 21 near the handle 24 is rotatably mounted on the receiving mechanism 12.

[0047] The base 1 and the swing arm body 21 have two different connection modes. The rehabilitation mode can be changed by simply rotating the swing arm body 21 by 180° to connect in different ways. At the same time, the joints that exert force on the patient are changed, which can achieve different training effects.

[0048] Traditional upper limb rehabilitation robots typically only have the function of moving the patient's affected limb for rehabilitation training, making it difficult to reflect the patient's rehabilitation progress. Therefore, as a further improvement, a micro-deformation force sensor mechanism 22, which is communicatively connected to the control module, is embedded inside one end of the swing arm body 21. The bracket 23 is detachably mounted on the upper end of the micro-deformation force sensor mechanism 22. When a patient requiring rehabilitation training is able to independently raise their forearm, the patient is considered to be in a level three rehabilitation state. By setting the micro-deformation force sensor mechanism 22 below the bracket 23 to support it, the force changes during the patient's forearm raising process can be accurately collected, actively reflecting the patient's rehabilitation level.

[0049] Compared to traditional upper limb rehabilitation robots, this invention has a simple and compact structure, resulting in a smaller range of motion. To further improve the range of motion, a moving mechanism 14, communicatively connected to the control module, is provided at the lower end of the base. By setting up a force sensing module 13 and a moving mechanism 14 communicatively connected to the control module, and by setting up a receiving mechanism 12 that transmits the received force to the force sensing module 13, bidirectional rehabilitation training is achieved. That is, when the patient is performing wrist rehabilitation training, the receiving mechanism 12 transmits the direction and magnitude of the force to the force sensing module 13, which in turn transmits the force signal to the control module. The control module then controls the moving mechanism 14 to move along the direction of the force according to the magnitude of the patient's force, thereby rotating the elbow and simultaneously exercising the elbow joint during wrist rehabilitation training. When the patient is undergoing elbow rehabilitation training, the receiving mechanism 12 transmits the direction and magnitude of the force to the force sensing module 13, which then transmits the force signal to the control module. The control module then controls the moving mechanism 14 to move along the direction of the force according to the magnitude of the force exerted by the patient, thereby moving the shoulder and exercising the shoulder joint while performing elbow rehabilitation training.

[0050] Since the present invention does not have a bracket or other large supporting equipment and is in a planar moving state, the moving mechanism 14 must meet the requirement of being able to flexibly change direction within a horizontal plane. Preferably, the moving mechanism 14 is a Mecanum wheel.

[0051] To improve the force transmission effect, as a further improvement, the receiving mechanism 12 specifically includes: a cylindrical mounting sleeve 121 penetrating the upper surface of the housing 11, and a force transmission rod 122 fitted inside and higher than the mounting sleeve 121, the force transmission rod 122 transmitting the force to the force sensing module 13. The upper end of the force transmission rod 122 tapers inward to form a stepped surface, the stepped surface being higher than the mounting sleeve 121. The upper end of the stepped surface is the force measuring part 122b of the force transmission rod 122, and the lower end of the stepped surface is the receiving part 122a of the force transmission rod 122. The swing arm body 21 is fitted around the outer periphery of the force measuring part 122b and receives the force from the receiving part 122a.

[0052] The micro-deformation force sensing mechanism 22 includes a deformation element 221 embedded in the opening 216 and a deformation sensor 222 disposed at the lower end of the deformation element 221. In order to accurately measure the pressure exerted by the patient's forearm on the support 23, the support 23 must be completely supported by the deformation element 221, and both must be positioned and installed, otherwise it will cause displacement, detachment and other situations, resulting in inaccurate force measurement. Therefore, as a further improvement, the bracket 23 includes an arc-shaped bracket body 231, and a support structure 232 is provided at the lower end of the bracket body 231. The support structure 232 includes an abutting part 221a that abuts against the upper end of the micro-deformation force sensing mechanism 22. The two ends of the abutting part 221a extend towards the side closer to the handle 24 to form connecting parts 221b. The outer periphery of the connecting part 221b extends downward to form a snap-fit ​​part 221c with a buckle. The deformable member 221 is snapped into the snap-fit ​​part 221c.

[0053] As a further improvement, the swing arm body 21 specifically includes: a bracket mounting part 211, with an opening 216 on the bracket mounting part 211, a slot provided in the opening 216, and the micro-force sensing mechanism 22 embedded in the slot; the bracket 23 is inserted into the opening 216 and supported by the micro-force sensing mechanism 22; a handle mounting part 212, lower than the bracket mounting part 211, with a through hole 214 for the force transmission rod 122 to pass through; and a connecting rod 213, integrally formed to connect the bracket mounting part 211 and the handle mounting part 212. When a person is sitting or standing, the wrist is usually not higher than the elbow. Since the handle mounting part 212 has a handle 24 vertically set, if the handle mounting part 212 is not lower than the bracket mounting part 211, the bracket 23 needs to be made as high as possible, otherwise it will affect the patient's rehabilitation experience. Furthermore, in the wrist rehabilitation coordination mode, when the patient places their forearm on the support 23, the swing arm body 21 will experience a downward torque. Raising the support 23 means increasing the weight, which in turn increases the torque on the swing arm body 21. If the vertical distance between the grip mounting part 212 and the support mounting part 211 is adjusted, and the connecting rod 213 is designed to be tilted, the lever arm of the torque remains unchanged, and the generated torque remains almost unchanged, while also meeting the user's requirements.

[0054] Preferably, the horizontal distance between the grip mounting part 212 and the bracket mounting part 211 is 15 to 30 cm.

[0055] Example 2

[0056] like Figure 1 , Figure 2 as well as Figures 13-14As shown, since the bracket mounting part 211 is internally equipped with a micro-deformation force sensing mechanism 22, if the swing arm body 21 is directly mounted on the base 1, the force transmission rod 122 and the mounting sleeve 121 will abut against the micro-deformation force sensing mechanism 22, causing measurement errors. Therefore, based on Embodiment 1, as a further improvement, in the elbow rehabilitation coordination mode, a rotary joint 25 is provided on the side of the bracket mounting part 211 away from the bracket 23. The rotary joint 25 includes a rotating seat 251, and a bearing 252 is provided inside the rotating seat 251. The bearing 252 is sleeved on the force transmission rod 122.

[0057] To ensure that the micro-deformation force sensing mechanism 22 is not disturbed, and also to improve the stability of the installation, as a further improvement, support plates 253 are provided on both sides of the rotating base 251. The support plates 253 are detachably connected to the side of the swing arm body 21 away from the bracket 23.

[0058] During elbow rehabilitation training, patients need to raise their forearms, which requires them to release their grip on the handle 24, making the movement somewhat cumbersome. Furthermore, different patients have different sitting heights. To further improve usability for patients with varying sitting heights, the rotating seat 251 is rotatably connected to the support plate 253 via a rotating shaft. The rotating shaft includes a first rotating part rotatably disposed within the rotating seat 251, and a handle 254 integrally formed on the side of the rotating part away from the rotating seat 251. The handle 254 is engaged within the support plate 253. That is, the swing arm body 21 can also rotate at a certain angle in the vertical plane, providing patients with a better user experience.

[0059] Preferably, the shaft handle 254 includes a rotating part 254a rotatably disposed within the rotating seat 251, and a shaft handle part 254b integrally formed at one end of the rotating part 254a away from the rotating seat 251, the shaft handle part 254b being engaged within the support plate 253.

[0060] Example 3

[0061] like Figure 3 as well as Figures 7-9As shown, wrist rehabilitation training requires the patient to exert force with their wrist. Therefore, when gripping the handle 24, the palm rotates relative to the wrist. If the handle 24 cannot rotate, it will cause the patient to experience a sense of resistance. Based on Embodiment 2, as a further improvement, the handle 24 specifically includes a cylindrical handle 241. A sleeve 242 is fixedly connected to one end of the handle 241 near the swing arm body 21. The outer diameter of the sleeve 242 is smaller than the inner diameter of the through hole 214. The through hole 214 is fitted around the outer periphery of the receiving part 122a. The handle 24 is inserted into the force transmission rod 122. This allows the force exerted by the patient's wrist to be directly transmitted to the force transmission rod 122, and then to the force sensing module 13.

[0062] Example 4

[0063] like Figures 1-4 As shown, because a through hole 214 with an inner diameter larger than the outer diameter of the sleeve 242 is opened on the swing arm body 21, the grip 24 is prone to instability during elbow rehabilitation training. Based on Embodiment 3, as a further improvement, a grip mounting seat 215 is detachably provided on the surface of the grip mounting part 212 away from the base 1. That is, the grip mounting seat 215 is detachably installed in the through hole 214, and the grip 24 is inserted into the grip mounting seat 215.

[0064] Example 5

[0065] like Figures 1-14 As shown, many parts need to be disassembled when switching between rehabilitation coordination modes. To simplify the operation, as a further improvement based on embodiments one to five, the swing arm body 21 includes a first swing arm body and a second swing arm body. The first swing arm body is provided with a grip mounting base 215 and is detachably mounted on the base 1 via the rotary joint 25. The first swing arm body is used for elbow rehabilitation training. The second swing arm body is used for wrist rehabilitation training.

[0066] Because the joints involved in wrist rehabilitation training and the body parts involved in elbow rehabilitation training are different, it is preferable that the horizontal distance between the grip mounting part 212 and the bracket mounting part 211 on the first swing arm body is 25cm, and the horizontal distance between the grip mounting part 212 and the bracket mounting part 211 on the second swing arm body is 18cm.

[0067] The present invention also provides a control method for a multifunctional upper limb rehabilitation robot, applicable to any one of the multifunctional upper limb robots as described in Examples 1 to 5, comprising:

[0068] S1. Obtain the rehabilitation mode selected by the patient and display the corresponding game interface on the display device that is communicatively connected to the control module;

[0069] S2. After the patient places the affected limb, the control module issues game instructions and notifies the patient. The control module acquires the force signals transmitted by the force sensing module 13 and the micro-deformation force sensing mechanism 22. The control module determines whether the patient has completed the action based on the changes in the force signals.

[0070] S3. Repeat step S2 multiple times;

[0071] S4. Store the force signal change data during the rehabilitation training process to complete the rehabilitation training.

[0072] Before proceeding to step S1, the patient selects a rehabilitation mode and assembles the base and the swing arm mechanism according to the corresponding rehabilitation mode.

[0073] Because patients' recovery progress varies daily, the required activity intensity and range also differ. To develop targeted training based on each patient's recovery level, and to make it suitable for patients at different recovery stages, as a further improvement, S1 specifically includes:

[0074] S101. Switch the game interface according to the type of game selected by the patient, and obtain the patient's personal information at the same time. If the patient has not played this game, proceed to step S2; otherwise, proceed to step S102.

[0075] S102. Read the force signal change data recorded during the patient's previous game sessions;

[0076] S103. Provide patients with more challenging game modes based on past force signal change data.

[0077] The games in the control method of a multifunctional upper limb rehabilitation robot based on the embodiments of the present invention include, but are not limited to, fruit cutting, archery and bowling games.

[0078] Specifically:

[0079] When the patient selects the wrist rehabilitation mode, they enter the Fruit Ninja game interface. Initially, a dot-shaped light spot appears in the center of the game interface, moving within the interface according to the force applied by the force sensing module 13. Different fruits fly out from the edges of the game interface; the light spot cuts the fruit after completely passing over it, earning game points. Each game lasts 30 seconds to 2 minutes. Furthermore, if the patient's affected limb requiring rehabilitation is the left arm, in the beginner difficulty, fewer large fruits fly out slowly from the right side of the game interface and remain there for a longer time, while larger fruits fly out from the left side and remain there for a longer time. As the patient's score changes, indicating progress in rehabilitation, higher difficulties are unlocked. With increasing difficulty, the fruit flies out faster, stays for shorter periods, flies out more in more numbers, flies out in more directions, and the variety of fruits increases, including more small fruits. In advanced difficulties, bombs also fly out; the game ends when the patient-controlled light spot comes into contact with a bomb.

[0080] When patients choose the elbow rehabilitation mode, they can choose either archery or bowling. The bowling game can only be unlocked after obtaining a certain number of points in the archery game.

[0081] After selecting the archery game, the patient enters the game interface. Initially, the shooting position and target position are fixed, and the draw force varies according to the force applied to the micro-deformation force sensor 22. The smaller the force applied to the micro-deformation force sensor 22, the greater the draw force. Each round of the game provides ten shooting opportunities. The draw time is 1-10 seconds, and the arrow reload interval is 5-10 seconds. Game points are awarded based on hitting the target ring. At the initial difficulty level, the draw time is 10 seconds, and the arrow reload interval is 10 seconds. As the patient's score changes, indicating a change in recovery progress, higher difficulty levels are unlocked. With increasing difficulty, the target becomes smaller, the draw force required to hit the bullseye increases, the draw time shortens, and the arrow reload interval shortens.

[0082] After selecting the bowling game, the patient enters the game interface. Initially, the throwing position is located at the lower left or lower right of the game interface, and the lane is located in the middle of the game interface, away from the throwing position. The throwing position moves within the interface according to the force sensor module 13, and the throwing force changes according to the force on the micro-deformation force sensor mechanism 22. The smaller the force on the micro-deformation force sensor mechanism 22, the greater the throwing force. Each round of the game has five throwing opportunities, with a throwing position adjustment and charging time of 5-10 seconds and a throwing interval of 5-10 seconds. Game points are awarded based on the number of pins knocked down and the number of opportunities taken to knock down all the pins.

[0083] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the invention by those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the invention should be included within the scope of protection of the invention.

Claims

1. A multifunctional upper limb rehabilitation robot, characterized in that, include: The base includes: A housing, wherein a force sensing module is disposed within the housing and is communicatively connected to the control module; The receiving mechanism transmits the applied force to the force sensing module. A moving mechanism is located at the bottom of the housing and is communicatively connected to the control module; A swing arm mechanism includes a swing arm body, a micro-deformation force sensing mechanism that is communicatively connected to the control module is embedded in one end of the swing arm body, a bracket is detachably provided on the upper end of the micro-deformation force sensing mechanism, and a handle is detachably provided on the end of the swing arm body away from the bracket. Patients can choose the rehabilitation mode according to the part they need to rehabilitate. When the elbow rehabilitation coordination mode is selected, the end of the swing arm body near the bracket is rotated and set on the receiving mechanism. The axis of the swing arm body is near the bracket. At this time, the patient's forearm tip or the entire forearm is placed on the bracket, and the joint exerting force is the elbow joint. When in wrist rehabilitation coordination mode, the end of the swing arm body near the handle is rotated and set on the receiving mechanism, and the axis of the swing arm body is near the handle. At this time, the patient's forearm tip or the entire forearm is placed on the bracket, and the joint exerting force is the wrist joint.

2. The multifunctional upper limb rehabilitation robot as described in claim 1, characterized in that, The receiving organization specifically includes: A cylindrical mounting sleeve penetrating the upper surface of the housing, and a force transmission rod disposed inside the mounting sleeve and higher than the mounting sleeve, the force transmission rod transmitting the force to the force sensing module; The upper end of the force transmission rod tapers inward to form a stepped surface, which is higher than the mounting sleeve. The upper end of the stepped surface is the force measuring part of the force transmission rod, and the lower end of the stepped surface is the receiving part of the force transmission rod. The swing arm body is sleeved on the outer periphery of the force measuring part and supported on the receiving part.

3. The multifunctional upper limb rehabilitation robot as described in claim 2, characterized in that, The swing arm body specifically includes: The bracket mounting part has an opening, a slot is provided in the opening, the micro-force sensing mechanism is embedded in the slot, and the bracket is inserted into the opening and supported by the micro-force sensing mechanism. The grip mounting part is lower than the bracket mounting part, and the grip mounting part has a through hole for the force transmission rod to pass through; The connecting rod is integrally formed to connect the bracket mounting part and the handle mounting part.

4. The multifunctional upper limb rehabilitation robot as described in claim 3, characterized in that, When the end of the swing arm body near the bracket is rotatably mounted on the receiving mechanism, a rotary joint is provided on the side of the bracket mounting part away from the bracket. The rotary joint includes a rotary seat, and a bearing is provided inside the rotary seat. The bearing is sleeved on the force transmission rod.

5. The multifunctional upper limb rehabilitation robot as described in claim 4, characterized in that, Support plates are provided on both sides of the rotating seat, and the support plates are detachably connected to the side of the swing arm body away from the bracket.

6. The multifunctional upper limb rehabilitation robot as described in claim 5, characterized in that, The rotating seat is rotatably connected to the support plate via a rotating shaft. The rotating shaft includes a first rotating part rotatably disposed within the rotating seat and a shaft handle integrally formed on the side of the rotating part away from the rotating seat. The shaft handle is engaged within the support plate.

7. The multifunctional upper limb rehabilitation robot as described in claim 3, characterized in that, The grip specifically includes a cylindrical handle, with a sleeve fixedly connected to one end of the handle near the swing arm body, wherein the outer diameter of the sleeve is smaller than the inner diameter of the through hole.

8. The multifunctional upper limb rehabilitation robot as described in claim 7, characterized in that, When the end of the swing arm body near the bracket is rotatably mounted on the receiving mechanism, a grip mounting seat is provided on the surface of the grip mounting part away from the base, and the grip is inserted into the grip mounting seat. When the end of the swing arm body near the handle is rotatably mounted on the receiving mechanism, the through hole is sleeved on the outer periphery of the receiving part, and the handle is inserted into the force transmission rod.

9. The multifunctional upper limb rehabilitation robot as described in claim 3, characterized in that, The micro-deformation force sensing mechanism includes a deformation element embedded in the opening and a deformation sensor disposed at the lower end of the deformation element; The bracket includes an arc-shaped bracket body. A support structure is provided at the lower end of the bracket body. The support structure includes an abutting part that abuts against the upper end of the micro-deformation force sensing mechanism. Both ends of the abutting part extend towards the side closer to the handle to form a connecting part. The outer periphery of the connecting part extends downward to form a snap-fit ​​part with a buckle. The deformable component is snapped onto the snap-fit ​​part.

10. A control method for a multifunctional upper limb rehabilitation robot, characterized in that, Applied to a multifunctional upper limb rehabilitation robot as described in any one of claims 1-9, comprising: S1. Obtain the rehabilitation mode selected by the patient and display the corresponding game interface on the display device that is communicatively connected to the control module; S2. After the patient places the affected limb, the control module issues game instructions and notifies the patient. The control module acquires the force signals transmitted by the force sensing module and the micro-deformation force sensing mechanism. The control module determines whether the patient has completed the action based on the changes in the force signals. S3. Repeat step S2 multiple times; S4. Store the force signal change data during the rehabilitation training process to complete the rehabilitation training.

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