A post-stroke rehabilitation training robot with interactive functions

Abstract

This invention relates to an interactive post-stroke rehabilitation training robot. A speech analysis module is incorporated to recognize and train patients in repeating spoken language. This provides language recovery training and, since language recovery often progresses similarly to motor function recovery, language ability can also indicate the overall recovery effect. Therefore, the similarity of pronunciation and the duration of speech are used as criteria for judging the recovery effect, and the motor speed is adjusted accordingly. The design of the seat, opening, and telescopic rod facilitates height adjustment. The telescopic rod moves the seat vertically, and the sliding block and groove limit the direction of movement, thus changing the seat height to accommodate patients of different heights.

Description

Technical Field

[0001] This invention relates to the field of rehabilitation training robot technology, and in particular to a post-stroke rehabilitation training robot with interactive functions. Background Technology

[0002] Most stroke patients suffer from varying degrees of motor dysfunction after surgery. Studies have shown that more than 80% of brain injury patients experience significant improvement in motor function after undergoing active and effective rehabilitation exercise training. Most elderly people can also maintain motor function through walking training. More than 40% of stroke patients are elderly, and this group has varying degrees of walking difficulties, which not only seriously affects their normal life and requires daily care from family members or medical staff, but also brings a heavy economic burden to their families.

[0003] Existing interactive post-stroke rehabilitation training robots mainly focus on intelligent training, such as the lower limb rehabilitation training robot provided by Chinese patent CN202021462352.6. However, stroke patients generally need not only to restore motor control but also to train their speech pronunciation. Existing intelligent rehabilitation training robots can only perform individual training sessions and cannot simultaneously provide multiple exercises for the patient. Furthermore, speech training cannot be combined with physical exercise training, thus limiting the scope of application. In addition, the seats in existing rehabilitation training robots are all of the same height, making them unsuitable for patients of different heights. Therefore, we propose an interactive post-stroke rehabilitation training robot. Summary of the Invention

[0004] To address the aforementioned problems, this invention provides a post-stroke rehabilitation training robot with interactive functions, which has the advantages of simultaneously performing ankle and knee exercises and being easy for patients of different heights to use.

[0005] The technical solution of this invention is: a stroke rehabilitation training robot with interactive functions, comprising a main body and a control module. The main body includes a first mounting plate, which is L-shaped. An opening is formed at the top of the vertical plate of the first mounting plate. A telescopic rod is fixedly connected to the top of the horizontal plate of the first mounting plate. A seat is fixedly mounted at the top of the telescopic rod. A vertically arranged disc is fixedly mounted on the side of the horizontal plate of the first mounting plate away from the opening of the seat. An inner cavity is formed on one side of the disc. A protective plate is fixedly mounted inside the inner cavity. A motor is fixedly mounted on the outer side of the disc away from the protective plate. The drive end of the motor extends through the disc into the inner cavity and is fixedly mounted with a main gear. The main gear meshes with a driven gear. A rotating rod is located inside the gear. The driven gear is fixedly sleeved on the rod body. Both ends of the rotating rod extend through the protective plate and the disc to the outside of the inner cavity. Horizontally fixed plates are fixedly installed at both ends of the rotating rod outside the inner cavity. Vertically movable plates are fixedly connected to the side of each of the two fixed plates away from the rotating rod. Through holes are opened on the opposite sides of each of the two movable plates. Movable rods are installed inside the two through holes. Foot pedals are installed at the opposite ends of each of the two movable rods. Connecting plates are movably installed on the rod body at the end of each of the two movable rods away from the corresponding foot pedal. L-shaped second mounting plates are fixedly connected to the side of each of the two connecting plates away from the movable rods. A drive assembly is installed inside each of the second mounting plates.

[0006] The control module includes a central controller, a wireless communication module, a voice analysis module, a drive controller, a microphone, and a speaker; The wireless communication module, voice analysis module, and drive controller are connected to the central controller, while the microphone and speaker are connected to the voice analysis module. The wireless communication module is used for connecting to external devices and transmitting data; the voice analysis module is used to control the speaker to play sound and to control the microphone to collect the user's voice; the drive controller is used to connect to the motor and control the motor's switching and speed.

[0007] The voice analysis module works as follows: The voice analysis module controls the speaker to play pre-stored standard voice audio for the user to repeat and imitate; after the standard voice audio is played, the voice analysis module controls the microphone to collect the user's voice and generate the user's repeat audio file. The voice analysis module performs audio analysis on the generated follow-up audio file and sends the analysis results to the central controller. The central controller sends control commands to the drive controller based on the analysis results sent by the voice analysis module, and the drive controller controls the start and stop speed of the motor. The analysis method of the speech analysis module is as follows: The speech analysis module performs speech recognition on the audio data of the audio file to identify the text corresponding to the audio data; it then determines whether the identified text belongs to speech repetition or speech command. Voice follow-up reading is the sound produced to follow up on standard audio recordings, while voice commands are the voice commands issued by the user to the device to adjust the motor start / stop and speed. If it is a voice command, the central controller will directly adjust the motor's start / stop and speed according to the voice command; If it is voice repetition, the audio segment corresponding to each character in the recognized text is compared with the corresponding audio segment in the standard speech audio to obtain the similarity of the repetition audio. Then, the similarity of each character is averaged to obtain the average similarity R. Meanwhile, the infant care analysis module obtains the duration of the audio segment corresponding to each word in the follow-up audio and compares it with the duration of the corresponding audio segment in the standard speech audio; it calculates the ratio of the follow-up duration corresponding to each word to the standard duration, and then averages the ratios corresponding to each word to obtain the average duration ratio P. The voice analysis module sends the average similarity R and the average duration ratio P to the central controller; the central controller calculates the motor speed D=D0+(k1·R)-(k2·P); where D0 is the base speed, and k1 and k2 are coefficients greater than 1; If P exceeds the threshold or R falls below the threshold, the central controller will directly adjust the motor to stop according to the voice command.

[0008] The motor drives the main gear to rotate, and the driven gear follows the main gear to rotate, causing the rotating rod to rotate with the driven gear. This causes the two fixed plates to rotate around the rotating rod, and the two movable plates move with the two fixed plates. The movable rod moves with the movable plates, which allows the foot pedals to move and rotate around the rotating rod, thus enabling movement of the patient's joints.

[0009] In a further technical solution, each of the driving components includes a cylinder fixedly connected to an inner vertical wall of the corresponding second mounting plate. The driving end of each cylinder is horizontally arranged and fixedly connected to an internal gear. Each internal gear has a half gear inside. Each half gear is fixedly sleeved on the rod body of the corresponding movable rod. Each half gear meshes with the corresponding internal gear.

[0010] The working principle of the above technical solution is as follows: the cylinder drives the internal gear to make reciprocating motion in the horizontal direction, thereby rotating the half gear and making the half gear make semi-circular reciprocating motion. The movable rod follows the movement of the half gear, thereby moving the foot pedal, so that the foot pedal moves around the movable rod, thereby exercising the patient's ankle.

[0011] In a further technical solution, each of the internal gears is fixedly connected to a guide block on the outer wall of the side facing the corresponding second mounting plate, and each guide block is provided with a guide rod inside. Each guide rod has a U-shaped structure and is fixedly connected to the inner wall of the side of the corresponding second mounting plate.

[0012] The working principle of the above technical solution is as follows: the design of the guide rod and guide block allows for the restriction of the movement direction of the internal gear.

[0013] In a further technical solution, each foot pedal is provided with a symmetrically arranged first fixing strap and a second fixing strap at its top, and a first hook and loop fastener is provided on one side of each first fixing strap, and a second hook and loop fastener is provided on one side of each second fixing strap, with each first hook and loop fastener being compatible with the first and second hook and loop fasteners.

[0014] The working principle of the above technical solution is as follows: the first fixing strap and the second fixing strap can fix the patient's foot on the foot pedal and facilitate the patient's rehabilitation exercises.

[0015] In a further technical solution, the two movable plates are located above and below the rotating rod, respectively.

[0016] The working principle of the above technical solution is as follows: two movable plates are placed above and below the rotating rod, making it more convenient to use.

[0017] In a further technical solution, the seat extends into the interior of the opening on the side facing the opening, and grooves are provided on both sides of the opening. A slider is slidably connected inside each groove, and the two sliders are fixedly connected to the two sides of the seat on opposite sides respectively.

[0018] The working principle of the above technical solution is as follows: the slider can restrict the direction of one side of the seat, so that the seat can follow the telescopic rod to make reciprocating motion in the vertical direction.

[0019] In a further technical solution, armrests are fixedly installed on both sides of the top of the seat, and mounting grooves are provided on the side of the two armrests away from the opening. Switches are fixedly installed inside the two mounting grooves, and the two switches are electrically connected to the telescopic rod and the motor, respectively. A seat cushion is provided at the top of the seat between the two armrests.

[0020] The working principle of the above technical solution is as follows: the handrail design facilitates the placement of the patient's hands, and the switch design facilitates the control of the telescopic rod and motor.

[0021] The beneficial effects of this invention are: The speech analysis module is set up to recognize and train patients in language repetition. On the one hand, it provides language recovery training for patients. On the other hand, since the progress of language recovery is often similar to that of motor function recovery, the recovery of language ability can often represent the overall recovery effect of the patient. Therefore, the similarity of pronunciation and the time of pronunciation are used as the criteria for judging the recovery effect, and the speed of the motor is adjusted accordingly. The better the recovery, the more the motor speed is adjusted. This makes the recovery training more immersive and interesting for patients, and it is also more suitable for the recovery training at each stage, resulting in better effects.

[0022] The design of the motor, disc, and rotating rod allows patients to perform knee and ankle exercises simultaneously. When the motor is started, it drives the main gear to rotate, the driven gear moves with the main gear, the rotating rod moves with the driven gear, the fixed plate moves with the rotating rod, and the movable plate moves with the fixed plate. This allows the foot pedal to rotate around the rotating rod. The cylinder drives the internal gear to perform a horizontal reciprocating motion, and the half gear performs a semi-circular reciprocating motion, thus moving the foot pedal and allowing patients to perform knee and ankle exercises simultaneously. The design of the seat, opening, and telescopic rod facilitates the adjustment of the seat height. The telescopic rod moves the seat vertically, and the sliding block and groove limit the direction of movement, thereby changing the seat height to make it easier for patients of different heights to use. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the overall structure of an embodiment of the present invention; Figure 2 This is a schematic diagram of the chute structure according to an embodiment of the present invention; Figure 3 This is a schematic diagram of the telescopic rod structure according to an embodiment of the present invention; Figure 4 This is a schematic diagram of the movable plate structure according to an embodiment of the present invention; Figure 5 This is a schematic diagram of the half-gear structure according to an embodiment of the present invention; Figure 6 This is a schematic diagram of the control module architecture of the present invention.

[0024] Explanation of reference numerals in the attached drawings: 1. First mounting plate; 3. Opening; 4. Slide groove; 5. Slider; 6. Seat; 8. Telescopic rod; 9. Disc; 10. Inner cavity; 11. Protective plate; 12. Rotating rod; 13. Motor; 14. Main gear; 15. Driven gear; 16. Fixed plate; 17. Movable plate; 18. Foot pedal; 19. Movable rod; 20. Internal gear; 21. Half gear; 22. Second mounting plate; 23. Cylinder. Detailed Implementation

[0025] The embodiments of the present invention will be further described below with reference to the accompanying drawings.

[0026] Example 1: like Figures 1-5 As shown, a stroke rehabilitation training robot with interactive functions includes a main body and a control module. The main body includes a first mounting plate 1, which has an L-shaped structure. The top of the vertical plate of the first mounting plate 1 has an opening 3. The top of the horizontal plate of the first mounting plate 1 is fixedly connected to a telescopic rod 8, and a seat 6 is fixedly mounted on the top of the telescopic rod 8. A vertically arranged disc 9 is fixedly mounted on the top of the horizontal plate of the first mounting plate 1, on the side of the seat 6 away from the opening 3. An inner cavity 10 is opened on one side of the disc 9. A protective plate 11 is fixedly mounted inside the inner cavity 10. A motor 13 is fixedly mounted on the outer side of the disc 9 away from the protective plate 11. The drive end of the motor 13 extends through the disc 9 into the inner cavity 10 and is fixedly mounted with a main gear 14. The main gear 14 meshes with a driven gear 15, and the driven gear 15 has a... The rotating rod 12 is fixedly sleeved on the rod body of the gear 15. The two ends of the rotating rod 12 extend through the protective plate 11 and the disc 9 to the outside of the inner cavity 10. The two ends of the rotating rod 12 located outside the inner cavity 10 are fixedly installed with horizontally arranged fixed plates 16. The two fixed plates 16 are fixedly connected to the side away from the rotating rod 12 with vertically arranged movable plates 17. The two movable plates 17 are opened with through holes on the opposite sides. The two through holes are provided with movable rods 19. The two movable rods 19 are installed with foot pedals 18 at the opposite ends. The rod body of the two movable rods 19 is movably installed with connecting plates at the ends away from the corresponding foot pedals 18. The two connecting plates are fixedly connected with L-shaped second mounting plates 22 on the side away from the movable rods 19. Each second mounting plate 22 is provided with a drive assembly inside.

[0027] The control module includes a central controller, a wireless communication module, a voice analysis module, a drive controller, a microphone, and a speaker; The wireless communication module, voice analysis module, and drive controller are connected to the central controller, while the microphone and speaker are connected to the voice analysis module. The wireless communication module is used for connecting to external devices and transmitting data; the voice analysis module is used to control the speaker to play sound and to control the microphone to collect the user's voice; the drive controller is used to connect to the motor and control the motor's switching and speed.

[0028] The voice analysis module works as follows: The voice analysis module controls the speaker to play pre-stored standard voice audio for the user to repeat and imitate; after the standard voice audio is played, the voice analysis module controls the microphone to collect the user's voice and generate the user's repeat audio file. The voice analysis module performs audio analysis on the generated follow-up audio file and sends the analysis results to the central controller. The central controller sends control commands to the drive controller based on the analysis results sent by the voice analysis module, and the drive controller controls the start and stop speed of the motor. The analysis method of the speech analysis module is as follows: The speech analysis module performs speech recognition on the audio data of the audio file to identify the text corresponding to the audio data; it then determines whether the identified text belongs to speech repetition or speech command. Voice follow-up reading is the sound produced to follow up on standard audio recordings, while voice commands are the voice commands issued by the user to the device to adjust the motor start / stop and speed. If it is a voice command, the central controller will directly adjust the motor's start / stop and speed according to the voice command; If it is voice repetition, the audio segment corresponding to each character in the recognized text is compared with the corresponding audio segment in the standard speech audio to obtain the similarity of the repetition audio. Then, the similarity of each character is averaged to obtain the average similarity R. Meanwhile, the infant care analysis module obtains the duration of the audio segment corresponding to each word in the follow-up audio and compares it with the duration of the corresponding audio segment in the standard speech audio; it calculates the ratio of the follow-up duration corresponding to each word to the standard duration, and then averages the ratios corresponding to each word to obtain the average duration ratio P. The voice analysis module sends the average similarity R and the average duration ratio P to the central controller; the central controller calculates the motor speed D=D0+(k1·R)-(k2·P); where D0 is the base speed, and k1 and k2 are coefficients greater than 1; If P exceeds the threshold or R falls below the threshold, the central controller will directly adjust the motor to stop according to the voice command.

[0029] The motor 13 drives the main gear 14 to rotate, and the driven gear 15 follows the main gear 14 to rotate, causing the rotating rod 12 to rotate with the driven gear 15. This causes the two fixed plates 16 to rotate around the rotating rod 12, and the two movable plates 17 to move with the two fixed plates 16. The movable rod 19 moves with the movable plates 17, thereby moving the foot pedal 18 and causing the two foot pedals 18 to rotate around the rotating rod 12, thus allowing movement of the patient's joints.

[0030] In another embodiment, such as Figure 4 and Figure 5As shown, each drive assembly includes a cylinder 23 fixedly connected to an inner vertical wall of the corresponding second mounting plate 22. The drive end of each cylinder 23 is horizontally arranged and fixedly connected to an internal gear 20. Each internal gear 20 has a half gear 21 inside. Each half gear 21 is fixedly sleeved on the rod body of the corresponding movable rod 19. Each half gear 21 meshes with the corresponding internal gear 20.

[0031] The working principle of the above technical solution is as follows: the cylinder 23 drives the internal gear 20 to reciprocate in the horizontal direction, thereby rotating the half gear 21 and causing the half gear 21 to reciprocate in a semi-circular motion. The movable rod 19 moves with the half gear 21, thereby moving the foot pedal 18, causing the foot pedal 18 to move around the movable rod 19, thereby exercising the patient's ankle.

[0032] Example 2: In another embodiment, such as Figure 5 As shown, each internal gear 20 is fixedly connected to a guide block on the outer wall of the corresponding second mounting plate 22. Each guide block has a guide rod inside, and each guide rod has a U-shaped structure. Each guide rod is fixedly connected to the inner wall of the corresponding second mounting plate 22.

[0033] The working principle of the above technical solution is as follows: the design of the guide rod and guide block allows for the restriction of the movement direction of the internal gear 20.

[0034] In another embodiment, such as Figure 1 As shown, each foot pedal 18 has a symmetrically arranged first fixing strap and second fixing strap installed at its top, and each first fixing strap has a first hook and loop fastener installed on one side, and each second fixing strap has a second hook and loop fastener installed on one side, with each first hook and loop fastener being compatible with the first and second hook and loop fasteners.

[0035] The working principle of the above technical solution is as follows: the first fixing belt and the second fixing belt can fix the patient's foot on the foot pedal 18 and assist the patient in rehabilitation exercises.

[0036] In another embodiment, such as Figure 1 As shown, the two movable plates 17 are located above and below the rotating rod 12, respectively.

[0037] The working principle of the above technical solution is as follows: two movable plates 17 are placed above and below the rotating rod 12, making it more convenient to use.

[0038] In another embodiment, such as Figure 2 and Figure 3As shown, the seat 6 extends into the interior of the opening 3 on one side facing the opening 3. The vertical walls on both sides of the opening 3 are provided with grooves 4. Each groove 4 has a slider 5 slidably connected inside it. The two sliders 5 are fixedly connected to the two sides of the seat 6 on opposite sides respectively.

[0039] The working principle of the above technical solution is as follows: the slider 5 can restrict the direction of one side of the seat 6, so that the seat 6 can follow the telescopic rod 8 to make reciprocating motion in the vertical direction.

[0040] In another embodiment, such as Figure 3 As shown, armrests are fixedly installed on both sides of the top of the seat 6. The side of the two armrests away from the opening 3 has a mounting groove. Switches are fixedly installed inside the two mounting grooves. The two switches are electrically connected to the telescopic rod 8 and the motor 13, respectively. A cushion is provided at the top of the seat 6 between the two armrests.

[0041] The working principle of the above technical solution is as follows: the handrail design facilitates the placement of the patient's hands, and the switch design facilitates the control of the telescopic rod 8 and the motor 13.

[0042] The above embodiments merely illustrate specific implementations of the present invention, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention.

Claims

1. A post-stroke rehabilitation training robot with interactive functions, comprising a main body and a control module, characterized in that: The main body includes a first mounting plate (1), which is an L-shaped structure. An opening (3) is provided at the top of the vertical plate of the first mounting plate (1). A telescopic rod (8) is fixedly connected to the top of the horizontal plate of the first mounting plate (1). A seat (6) is fixedly installed at the top of the telescopic rod (8). A vertically arranged disc (9) is fixedly installed on the side of the seat (6) away from the opening (3) at the top of the horizontal plate of the first mounting plate (1). An inner cavity (10) is provided on one side of the disc (9). A protective plate (11) is fixedly installed inside the inner cavity (10). A motor (13) is fixedly installed on the outer side of the disc (9) away from the protective plate (11). The driving end of the motor (13) extends through the disc (9) into the inner cavity (10) and is fixedly installed with a main gear (14). The main gear (14) meshes with a driven gear (15). A rotating rod (12) is provided inside the driven gear (15). The wheel (15) is fixedly sleeved on the rod body of the rotating rod (12). The two ends of the rotating rod (12) extend through the protective plate (11) and the disc (9) to the outside of the inner cavity (10). The two ends of the rotating rod (12) located outside the inner cavity (10) are fixedly installed with horizontally arranged fixed plates (16). The two fixed plates (16) are fixedly connected with vertically arranged movable plates (17) on the side away from the rotating rod (12). The two movable plates (17) are provided with through holes on the opposite side. The two through holes are provided with movable rods (19). The two movable rods (19) are installed with foot pedals (18) on the opposite side. The two movable rods (19) are movably installed with connecting plates on the side away from the corresponding foot pedals (18). The two connecting plates are fixedly connected with L-shaped second mounting plates (22) on the side away from the movable rods (19). Each second mounting plate (22) is provided with a drive assembly inside. The control module includes a central controller, a wireless communication module, a voice analysis module, a drive controller, a microphone, and a speaker; The wireless communication module, voice analysis module, and drive controller are connected to the central controller, while the microphone and speaker are connected to the voice analysis module. The wireless communication module is used to connect to external devices and transmit data; the voice analysis module is used to control the speaker to play sound and to control the microphone to collect the user's voice; the drive controller is used to connect to the motor and control the motor's switching and speed. The voice analysis module works as follows: The voice analysis module controls the speaker to play pre-stored standard voice audio for the user to repeat and imitate; after the standard voice audio is played, the voice analysis module controls the microphone to collect the user's voice and generate the user's repeat audio file. The speech analysis module performs audio analysis on the generated follow-up audio files and sends the analysis results to the central controller; The central controller sends control commands to the drive controller based on the analysis results sent by the voice analysis module, and the drive controller controls the start and stop speed of the motor. The analysis method of the speech analysis module is as follows: The speech analysis module performs speech recognition on the audio data of the audio file to identify the text corresponding to the audio data; it then determines whether the identified text belongs to speech repetition or speech command. Voice follow-up reading is the sound produced to follow up on standard audio recordings, while voice commands are the voice commands issued by the user to the device to adjust the motor start / stop and speed. If it is a voice command, the central controller will directly adjust the motor's start / stop and speed according to the voice command; If it is voice repetition, the audio segment corresponding to each character in the recognized text is compared with the corresponding audio segment in the standard speech audio to obtain the similarity of the repetition audio. Then, the similarity of each character is averaged to obtain the average similarity R. Meanwhile, the speech analysis module obtains the duration of the audio segment corresponding to each word in the follow-up audio and compares it with the duration of the corresponding audio segment in the standard speech audio. Calculate the ratio of the reading time corresponding to each character to the standard time, and then average the ratios corresponding to each character to obtain the average time ratio P. The voice analysis module sends the average similarity R and the average duration ratio P to the central controller; the central controller calculates the motor speed D=D0+(k1·R)-(k2·P); where D0 is the base speed, and k1 and k2 are coefficients greater than 1; The similarity of pronunciation and the timing of pronunciation are used as criteria for judging the restoration effect, and the speed of the motor is adjusted accordingly. If P exceeds the threshold or R falls below the threshold, the central controller will directly adjust the motor to stop according to the voice command. Each of the drive components includes a cylinder (23) fixedly connected to an inner vertical wall of the corresponding second mounting plate (22). The drive end of each cylinder (23) is horizontally arranged and fixedly connected to an internal gear (20). Each internal gear (20) has a half gear (21) inside. Each half gear (21) is fixedly sleeved on the rod body of the corresponding movable rod (19). Each half gear (21) meshes with the corresponding internal gear (20).

2. The post-stroke rehabilitation training robot with interactive function according to claim 1, characterized in that: Furthermore, each of the internal gears (20) is fixedly connected to a guide block on the outer wall of the side facing the corresponding second mounting plate (22), and each guide block is provided with a guide rod inside. Each guide rod has a U-shaped structure and is fixedly connected to the inner wall of the side of the corresponding second mounting plate (22).

3. The stroke rehabilitation training robot with interactive function according to claim 1, characterized in that: Each foot pedal (18) has a first fixing strap and a second fixing strap symmetrically arranged at its top end, and each of the first fixing straps has a first hook and loop fastener on one side, and each of the second fixing straps has a second hook and loop fastener on one side, with each first hook and loop fastener being adapted to the first and second hook and loop fasteners.

4. The stroke rehabilitation training robot with interactive function according to claim 1, characterized in that: The two movable plates (17) are located above and below the rotating rod (12), respectively.

5. The post-stroke rehabilitation training robot with interactive functions according to claim 1, characterized in that: The seat (6) extends into the opening (3) from the side facing the opening (3). The opening (3) has grooves (4) on both sides of the vertical wall. Each groove (4) has a slider (5) slidably connected inside. The two sliders (5) are fixedly connected to the two sides of the seat (6) on opposite sides. Armrests are fixedly installed on both sides of the top of the seat (6). The two armrests have mounting grooves on the side away from the opening (3). Switches are fixedly installed inside the two mounting grooves. The two switches are electrically connected to the telescopic rod (8) and the motor (13) respectively. A cushion is provided at the top of the seat (6) between the two armrests.

6. The post-stroke rehabilitation training robot with interactive function according to claim 5, characterized in that: Both sides of the top of the seat (6) are fixedly installed with armrests. The two armrests are provided with mounting grooves on the side away from the opening (3). Switches are fixedly installed inside the two mounting grooves. The two switches are electrically connected to the telescopic rod (8) and the motor (13) respectively. A cushion is provided at the top of the seat (6) between the two armrests.

Images