A high-adaptability elbow fracture rehabilitation robot

Abstract

The application discloses a high-adaptability elbow fracture rehabilitation robot which can be towed, and comprises a forearm exoskeleton and a large-arm exoskeleton. A carrying angle mechanism which movably connects the forearm exoskeleton and the large-arm exoskeleton is arranged between the forearm exoskeleton and the large-arm exoskeleton. The forearm exoskeleton comprises a forearm fixing mechanism and a traction mechanism. The forearm fixing mechanism is used for fixing the human forearm. The traction mechanism is used for traction of the forearm fixing mechanism. The large-arm exoskeleton is used for fixing the human large arm. The carrying angle mechanism is a two-degree-of-freedom mechanism. The carrying angle mechanism is used for elbow joint rotation and carrying angle swing. The elbow joint activity passive rotation training can be carried out, and the traction effect on the elbow joint muscle, ligament and other soft tissues can be provided. The elbow joint hyperextension and flexion activity range and the swing range of the elbow joint carrying angle can be met, and the human arm circumference and arm length size data can be adapted.

Description

Technical Field

[0001] This invention belongs to the field of medical robot technology, specifically relating to a highly adaptable traction-assisted elbow fracture rehabilitation robot. Background Technology

[0002] Due to the physiological structural characteristics of the elbow joint, fractures are prone to complications such as muscle atrophy, adhesions of surrounding tissues, and joint stiffness. Furthermore, the elbow joint connects the shoulder, back, and hand, involving the most skeletal muscles in the upper limb; over 60% of hand movements require the assistance of the elbow joint. Therefore, the rehabilitation outcome of elbow fractures directly impacts a patient's normal life and work. Consequently, the treatment and postoperative rehabilitation of elbow fractures have become a focal point in orthopedic medicine.

[0003] The treatment of elbow fractures can be divided into three basic stages: fracture reduction surgery, postoperative fixation, and rehabilitation training. Currently, the most common rehabilitation program for elbow joint mobility involves doctors guiding the patient through exercises, but this process relies entirely on the doctor's experience. Furthermore, the treatment lacks visualization and scientific rigor, places a significant financial burden on patients, and is relatively inconvenient.

[0004] Emerging medical approaches that use assistive rehabilitation robots to guide patients in rehabilitation training exercises have the advantages of automation, visualization, and digitalization. They can also optimize rehabilitation treatment plans based on the patient's recovery status, significantly improving rehabilitation effectiveness and reliability. At the same time, they greatly reduce the workload of rehabilitation physicians, allowing them to have more time to treat more patients.

[0005] A review of existing research on elbow joint rehabilitation robots reveals that the vast majority of these studies focus on neurological rehabilitation and cannot address post-fracture rehabilitation. They primarily suffer from the following two shortcomings:

[0006] 1. They only achieve passive rotation of the elbow joint and cannot perform traction exercises, lacking rehabilitation effects on soft tissues such as muscles and ligaments. For example, the elbow joint rehabilitation trainer described in patent CN117562779A can achieve elbow flexion and forearm pronation and supination movements. It uses a pneumatic soft actuator to improve wearing comfort and movement smoothness. Another example is patent CN114191255A, which achieves a simple structure, low cost and easy portability and wearing based on wire drive. However, they all lack traction effects on joint soft tissues and do not consider the lack of stress in the tissues around the joint after fracture surgery. The ligaments and tendons gradually flex and contract, which can easily lead to muscle atrophy and joint stiffness, resulting in poor rehabilitation effects.

[0007] 2. Lacking the function of adjusting the carrying angle and size of the human upper limb, it cannot be applied to most patients. For example, patent CN113648187A can realize elbow joint rotation and stretching effect between the forearm and upper arm, but does not consider the function of adapting to the carrying angle of the arm; or patent CN116763595A has an adjustment mechanism for the size of the upper arm and forearm, but cannot realize the function of adjusting the carrying angle.

[0008] To address the shortcomings of the aforementioned elbow joint rehabilitation robots and better meet the needs of postoperative rehabilitation treatment for elbow fractures, there is an urgent need to design an elbow fracture rehabilitation robot with high control precision, adaptable to human lifting angle and upper limb size, capable of static progressive stretching, and assisting patients in elbow joint range of motion training. Summary of the Invention

[0009] This invention is proposed to address the problems existing in the prior art, and its purpose is to provide a highly adaptable traction rehabilitation robot for elbow fractures.

[0010] The technical solution of the present invention is: a highly adaptable traction rehabilitation robot for elbow fractures, comprising a forearm exoskeleton and an upper arm exoskeleton, wherein a lifting angle mechanism is provided between the forearm exoskeleton and the upper arm exoskeleton to movably connect the two, the forearm exoskeleton includes a forearm fixation mechanism and a traction mechanism, the forearm fixation mechanism is fixed to the human forearm, the traction mechanism tractions the forearm fixation mechanism, and the upper arm exoskeleton is fixed to the human upper arm.

[0011] Furthermore, the lifting angle mechanism is a two-degree-of-freedom mechanism, which enables elbow joint rotation and lifting angle swing.

[0012] Furthermore, the upper arm exoskeleton includes an upper arm strap connected to the upper arm, which is disposed in the upper arm U-shaped bracket.

[0013] Furthermore, the upper arm exoskeleton is mounted on a base, and the upper arm exoskeleton is equipped with an adjustment mechanism that can adjust the position between the upper arm straps and the base. The adjustment mechanism is a multi-position adjustment mechanism along the direction of the upper arm straps.

[0014] Furthermore, the carrying angle mechanism includes a parallel first joint connector and a second joint connector. The first joint connector is passively rotatably connected to the left strip plate in the forearm exoskeleton, and the second joint connector is actively rotatably connected to the right strip plate in the forearm exoskeleton.

[0015] Furthermore, the lifting angle mechanism includes a parallel T-shaped slider connected to the upper arm exoskeleton.

[0016] Furthermore, the T-shaped slider is slidably connected to the U-shaped component at the distal end of the upper arm of the upper arm exoskeleton, and a multi-level adjustment structure is provided between the T-shaped slider and the U-shaped component at the distal end of the upper arm.

[0017] Furthermore, a connecting rod is provided between the T-shaped sliders, so that the two T-shaped sliders move synchronously.

[0018] Furthermore, the forearm fixation mechanism of the forearm exoskeleton includes a strap, which is disposed in the forearm bracket.

[0019] Furthermore, the traction mechanism of the forearm exoskeleton is symmetrically distributed on both sides of the forearm exoskeleton; the single-sided traction mechanism includes a double parallelogram mechanism, with the two parallelogram mechanisms arranged longitudinally to ensure that the forearm fixation structure remains parallel to the axis of the forearm exoskeleton.

[0020] The beneficial effects of this invention are as follows:

[0021] This invention enables passive rotation training of elbow joint range of motion and provides traction effects on soft tissues such as elbow muscles and ligaments.

[0022] This invention can satisfy the range of motion of elbow hyperextension and flexion and the swing range of elbow lifting angle, and can adapt to human arm circumference and arm length dimensions.

[0023] The invention adopts a symmetrical structure, and both the left and right arms can be used, making it versatile. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0025] Figure 2 This is a schematic diagram of the forearm exoskeleton in this invention;

[0026] Figure 3 This is a schematic diagram of the forearm exoskeleton without the main frame parts in this invention;

[0027] Figure 4 This is a schematic diagram of the traction angle adjustment mechanism in this invention;

[0028] Figure 5 This is a schematic diagram of the upper arm exoskeleton and the base in this invention;

[0029] Figure 6 This is a schematic diagram of the structure of the upper arm exoskeleton without the main frame parts in this invention;

[0030] Figure 7 This is a schematic diagram of the lifting angle mechanism in this invention;

[0031] Figure 8This is a schematic diagram of the base structure in this invention;

[0032] in:

[0033] 1. Forearm exoskeleton 2. Upper arm exoskeleton

[0034] 3. Lifting angle mechanism; 4. Base

[0035] 5. Traction mechanism

[0036] 1-1 Distant U-shaped piece; 1-2 Left side strip plate piece

[0037] 1-3 Proximal U-shaped piece; 1-4 Right side strip plate.

[0038] 1-5 Motor shaft connector; 1-6 Straps

[0039] 1-7 Distal guide rail mounting plate; 1-8 Forearm exoskeleton strip plate.

[0040] 1-9 Proximal guide rail mounting plate; 1-10 First plate

[0041] 1-11 Second plate 1-12 First guide rail

[0042] 1-13 Second guide rail 1-14 First slider

[0043] 1-15 Second slider 1-16 First fixed plate

[0044] 1-17 Second fixed plate; 1-18 Linear electric cylinder

[0045] 1-19 Installation connector; 1-20 Connector support

[0046] 1-21 Bracket 1-22 Third Plate

[0047] 1-23 Fourth Plate; 1-24 Third Guide Rail

[0048] 1-25 Third slider 1-26 Traction bearing plate

[0049] 1-27 U-shaped parts, 1-28 hand-tightening bolts

[0050] 1-29 Forearm Bracket 1-30 Nut Plate

[0051] 1-31 Nuts

[0052] 2-1 U-shaped piece at the distal end of the boom; 2-2 Strip plate on the left side of the boom.

[0053] 2-3 L-shaped piece near the proximal end of the main arm; 2-4 Strip plate piece on the right side of the main arm.

[0054] 2-5 Symmetrical pieces 2-6 Upper arm straps

[0055] 2-7 Boom guide rail; 2-8 Boom slider

[0056] 2-9 Boom slider connector; 2-10 Boom U-shaped bracket

[0057] 2-11 First steel ball pin

[0058] 3-1 First joint connector 3-2 Joint support

[0059] 3-3 T-shaped slider 3-4 connecting rod

[0060] 3-5 Lower support plate; 3-6 Upper pressure plate

[0061] 3-7 Pin, 3-8 Support

[0062] 3-9 Second steel ball pin; 3-10 Motor

[0063] 3-11 Second joint connector

[0064] 4-1 Base upper plate 4-2 Suction cup

[0065] 4-3 First baffle plate 4-4 Lower base plate

[0066] 4-5 Second baffle plate 4-6 Support column

[0067] 4-7 OLED display. Detailed Implementation

[0068] The present invention will now be described in detail with reference to the accompanying drawings and embodiments:

[0069] like Figures 1 to 8 As shown, a highly adaptable traction rehabilitation robot for elbow fractures includes a forearm exoskeleton 1 and an upper arm exoskeleton 2. A lifting angle mechanism 3 is provided between the forearm exoskeleton 1 and the upper arm exoskeleton 2 to connect them. The forearm exoskeleton 1 includes a forearm fixation mechanism and a traction mechanism 5. The forearm fixation mechanism is fixed to the human forearm, and the traction mechanism 5 tractions the forearm fixation mechanism. The upper arm exoskeleton 2 is fixed to the human upper arm.

[0070] The lifting angle mechanism 3 is a two-degree-of-freedom mechanism, which realizes elbow joint rotation and lifting angle swing.

[0071] The upper arm exoskeleton 2 includes an upper arm strap 2-6 connected to the upper arm, and the upper arm strap 2-6 is disposed in the upper arm U-shaped bracket 2-10.

[0072] The upper arm exoskeleton 2 is mounted on the base 4. The upper arm exoskeleton 2 is equipped with an adjustment mechanism that can adjust the position between the upper arm straps 2-6 and the base 4. The adjustment mechanism is a multi-position adjustment mechanism along the direction of the upper arm straps 2-6.

[0073] The lifting angle mechanism 3 includes a parallel first joint connector 3-1 and a second joint connector. The first joint connector 3-1 is passively rotatably connected to the left strip plate 1-2 in the forearm exoskeleton 1, and the second joint connector 3-2 is actively rotatably connected to the right strip plate 1-4 in the forearm exoskeleton 1.

[0074] The lifting angle mechanism 3 includes a parallel T-shaped slider 3-3, which is connected to the upper arm exoskeleton 2.

[0075] The T-shaped slider 3-3 is slidably connected to the distal U-shaped part 2-1 of the upper arm exoskeleton 2, and a multi-level adjustment structure is provided between the T-shaped slider 3-3 and the distal U-shaped part 2-1 of the upper arm.

[0076] A connecting rod 3-4 is provided between the T-shaped sliders 3-3, so that the two T-shaped sliders 3-3 move synchronously.

[0077] The forearm fixation mechanism of the forearm exoskeleton 1 includes straps 1-6, which are disposed in the forearm bracket 1-29.

[0078] The traction mechanism 5 of the forearm exoskeleton 1 is symmetrically distributed on both sides of the forearm exoskeleton 1; the single-sided traction mechanism 5 includes a double parallelogram mechanism, with the two parallelogram mechanisms arranged longitudinally to ensure that the forearm fixation structure is parallel to the axis of the forearm exoskeleton 1.

[0079] Specifically, the forearm exoskeleton 1 has a traction function, including a forearm fixation mechanism and a traction mechanism 5. The user's forearm is fixed to the bracket by straps 1-6. The forearm fixation mechanism is connected to the end effector of the linear electric cylinder 1-18. The linear degree of freedom of traction displacement is provided by two pairs of symmetrical guide rails on the left and right sides of the forearm exoskeleton 1. The traction angle can be adjusted by a parallelogram mechanism while keeping the forearm fixation structure parallel to the axis of the forearm exoskeleton 1.

[0080] Specifically, the robot's forearm exoskeleton 1 and upper arm exoskeleton 2 are connected by a two-degree-of-freedom lifting angle mechanism 3. The lifting angle mechanism 3 can realize the elbow joint rotational degree of freedom and the lifting angle swinging degree of freedom. The elbow joint mechanism adopts bearing cooperation and is driven by motor 3-10 to achieve rotation. Two sliders are designed on the inner side of the upper arm exoskeleton 2. The forearm swinging is achieved by moving the sliders back and forth. The slider group has multiple slots and can be assembled with the first steel ball pin 2-11 to realize four-level adjustment of the lifting angle swinging angle.

[0081] Specifically, the forearm fixing structure and the lower side plate of the traction mechanism 5 are connected by a guide rail to enable the sliding of the forearm fixing structure and the traction mechanism 5.

[0082] Specifically, the traction mechanism 5 has four guide rails, and the guide rails are equipped with sliders and the forearm fixing structure are assembled through a rotating pair.

[0083] Specifically, the angle adjustment of the traction mechanism 5 is achieved by hand-tightening bolt 1-28. The proximal plate 1-9 of the traction mechanism 5 is connected to the hand-tightening bolt 1-28 by a threaded sleeve. The hand-tightening bolt 1-28 is placed on the outside of the forearm exoskeleton 1. A nut 1-31 that mates with the hand-tightening bolt is placed on the inside of the forearm exoskeleton 1. The nut 1-31 moves in a fixed slide.

[0084] Specifically, the lifting angle mechanism uses two centrally symmetrical joint supports 3-2 to move back and forth to realize the left and right swing of the axis of the forearm exoskeleton 1. Two T-shaped sliders 3-3 are used to restrict the rotational freedom of the joint supports 3-2. The joint supports 3-2 are designed with multiple holes. The second steel ball pin 3-9 can realize four-level adjustment of the lifting angle mechanism in the angular direction.

[0085] Specifically, the upper arm exoskeleton 2 includes an upper arm fixing mechanism. The upper arm fixing mechanism uses an upper arm U-shaped bracket 2-10 and an upper arm strap 2-6 to fix the user's upper arm. The upper arm U-shaped bracket 2-10 and the upper arm exoskeleton 2 are connected by two symmetrical guide rails. The upper arm left strip plate 2-2 and the upper arm right strip plate 2-4 have multiple slots, which, in conjunction with the first steel ball pin 2-11, can realize five-level adjustment of the upper arm fixing mechanism in a straight line.

[0086] Specifically, such as Figure 1 As shown, the bottom of the boxed base 3 is provided with four suction cups 4-2. The base 3 is provided with an upper arm exoskeleton 2. The upper arm straps 2-6 in the upper arm exoskeleton 2 can be adjusted in position. The upper arm exoskeleton 2 is connected to the forearm exoskeleton 1 through a two-degree-of-freedom lifting angle mechanism 3. The forearm exoskeleton 1 is fixed to the forearm.

[0087] Specifically, such as Figures 2 to 3 As shown, the forearm exoskeleton 1 includes a distal U-shaped component 1-1 and a proximal U-shaped component 1-3. A left strip plate 1-2 and a right strip plate 1-4 are provided on the outer side of the distal U-shaped component 1-1 and the proximal U-shaped component 1-3, which are parallel to each other. The distal U-shaped component 1-1, the proximal U-shaped component 1-3, the left strip plate 1-2, and the right strip plate 1-4 constitute the main structure. A traction mechanism 5 and a forearm fixing structure are provided on the main structure.

[0088] More specifically, the traction mechanism 5 is symmetrically distributed. Taking the single-sided traction mechanism 5 as an example, it is connected by a rotating joint to the proximal guide rail mounting plate 1-9, the distal guide rail mounting plate 1-7, and the forearm exoskeleton strip plate 1-8. The proximal guide rail mounting plate 1-9, the distal guide rail mounting plate 1-7, the right side strip plate 1-4, and the forearm exoskeleton strip plate 1-8 form a parallelogram.

[0089] More specifically, the first plate 1-10 is fixed inside the far-end guide rail mounting plate 1-7, and the second plate 1-11 is fixed inside the near-end guide rail mounting plate 1-9. The first guide rail 1-12 is provided inside the first plate 1-10, and the second guide rail 1-13 is provided inside the second plate 1-11.

[0090] More specifically, the first guide rail 1-12 and the second guide rail 1-13 are respectively equipped with a first slider 1-14 and a second slider 1-15. The first slider 1-14 is connected to the first fixed plate 1-16, and the second slider 1-15 is connected to the second fixed plate 1-17.

[0091] More specifically, the end effector of the linear electric cylinder 1-18 is provided with a mounting joint 1-19. The mounting joint 1-19 is connected to the joint support 1-20 by bolts and anti-loosening nuts. The mounting joint 1-19 and the joint support 1-20 are connected by a rotating pair. The tail of the linear electric cylinder 1-18 is connected to the bracket 1-21. The bracket 1-21 is fixed to the near-end guide rail mounting plate 1-9. The joint support 1-20 is fixed to the traction bearing plate 1-26. To further improve strength, the U-shaped part 1-27 and the traction bearing plate 1-26 adopt a splicing structure and are fixed by bolts. The hand-tightened bolt 1-28 is connected to the near-end guide rail mounting plate 1-9 by a threaded sleeve.

[0092] Specifically, the strap 1-6 is fixed to the forearm bracket 1-29 with bolts. The forearm bracket 1-29, the third plate 1-22, and the fourth plate 1-23 are fixed. The fourth plate 1-23 is connected to the third slider 1-25 and the third guide rail 1-24. The third guide rail 1-24 is fixed to the traction bearing plate 1-26.

[0093] As one implementation, when the two linear electric cylinders 1-18 move, the traction bearing plate 1-26 will move obliquely downward along the two pairs of guide rails, and the traction bearing plate 1-26 will drive the forearm bracket 1-29 to move.

[0094] Specifically, the main component of the forearm fixing structure is a U-shaped bracket 1-29. The U-shaped bracket 1-29 is connected to the plates on the four sliders by a rotating pair, namely two first fixing plates 1-16 and two second fixing plates 1-17.

[0095] Specifically, the U-shaped bracket 1-29 and the traction bearing plate 1-26 are connected to the slider via guide rails.

[0096] For details, see attached. Figure 4 As shown, the hand-tightening bolt 1-28 is connected to the proximal plate 1-9 of the forearm exoskeleton via a threaded sleeve. The nut plate 1-30 has a slide rail for placing the nut 1-31. The hand-tightening bolt 1-28 and the nut 1-31 cooperate to press the proximal plate 1-9 and the strip plate 1-4 of the forearm exoskeleton, fixing the angle of the guide rail on this side. The left side of the forearm exoskeleton adopts the same structure, which will not be described in detail here.

[0097] For details, see attached. Figures 5 to 6 As shown, the main structure of the upper arm exoskeleton 2 is composed of a U-shaped part 2-1 at the distal end of the upper arm, an L-shaped part 2-3 at the proximal end of the upper arm and its symmetrical part 2-5, a strip plate 2-2 on the left side of the upper arm, and a strip plate 2-4 on the right side of the upper arm, which are connected and fixed with bolts. The U-shaped part 2-1 at the distal end of the upper arm and the L-shaped part 2-3 at the proximal end of the upper arm are fixed to the base 4 with bolts.

[0098] Specifically, the upper arm strap 2-6 is fixed to the upper arm U-shaped bracket 2-10 with bolts. The upper arm slider connector 2-9 is fixed to the left side of the upper arm U-shaped bracket 2-10. The upper arm slider connector 2-9 is fixed to the upper arm slider 2-8. The upper arm slider 2-8 is assembled with the upper arm guide rail 2-7. The upper arm guide rail 2-7 is fixed to the upper arm left strip plate 2-2. The upper arm left strip plate 2-2, the upper arm slider connector 2-9, and the upper arm U-shaped bracket 2-10 have holes. The first steel ball pin 2-11 is installed in the holes, which can realize the five-position adjustment of the upper arm U-shaped bracket 2-10. The right side of the upper arm exoskeleton 2 adopts the same structure, which will not be described in detail here.

[0099] As attached Figure 7 As shown, the first joint connector 3-1 of the lifting angle mechanism 3 and the left strip plate 1-2 are fitted with a bearing and a pin with an interference fit. The second joint connector 3-11 is in contact with the motor shaft connector 1-5 but has no assembly relationship. The motor 3-10 is fixed on the first joint connector 3-1. The output shaft of the motor 3-10 is fixed to the motor shaft connector 1-5 with a set screw. The first joint connector 3-1, the joint support 3-2, and the connecting rod 3-4 are all connected with bolts and anti-loosening nuts.

[0100] Specifically, the joint support 3-2 contacts the lower surface of the boss of the distal U-shaped part 2-1 of the upper arm in the upper arm exoskeleton 2, and the joint support 3-2 and the distal U-shaped part 2-1 of the upper arm slide relative to each other. The T-shaped slider 3-3 slides in the groove of the distal U-shaped part 2-1 of the upper arm at the same time. An opening is designed between the distal U-shaped part 2-1 of the upper arm and the joint support 3-2, and the second steel ball pin 3-9 is installed in the hole, which can realize seven-level adjustment of the sliding of the joint support 3-2, that is, four-level adjustment of the lifting angle swing 3. The right side of the lifting angle mechanism 3 adopts the same structure, which will not be described in detail here.

[0101] Specifically, the connecting rod 3-4 of the lifting angle mechanism 3 is connected to the U-shaped part 2-1 at the far end of the upper arm via a pin 3-7. The connecting rod 3-4 is in contact with the upper pressure plate 3-6 and the lower support plate 3-5 respectively, and is provided with a support member 3-8. The support member 3-8 is fixed to the upper plate 4-1 of the base and is in contact with the upper pressure plate 3-6.

[0102] In one implementation, when the connecting rod 3-4 rotates clockwise from a top view, the joint support 3-2 and the T-shaped slider 3-3 move forward. The upper arm exoskeleton U-shaped component 2-1 restricts the T-shaped slider 3-3 to only move in translation and not in rotation. The T-shaped slider 3-3 restricts the joint support 3-2 to only move in translation and not in rotation. The first joint connector 3-1 and the second joint connector 3-11 cause the axis of the forearm exoskeleton 1 to deflect.

[0103] As attached Figure 8 As shown, the base 4 includes an upper base plate 4-1, a lower base plate 4-4, a first baffle 4-3, and a second baffle 4-5. The upper base plate 4-1 is fixed to the support column 4-6 with bolts and threaded sleeves. The lower base plate 4-4 is fixed to the support column 4-6 with studs and threaded sleeves at the end of the suction cup 4-2. The first baffle 4-3 and its symmetrical parts, the second baffle 4-5 and its symmetrical parts are fixed to the four support columns 4-6. The first baffle 4-3 is equipped with an OLED display screen 4-7 to display basic robot information. The second baffle 4-5 has wiring holes.

[0104] The working process of this invention is as follows:

[0105] Before the robot undergoes continuous passive training, preliminary preparations are required. The robot is placed on a clean and flat platform and fixed by the four suction cups 4-2 on the base 4. The position of the upper arm U-shaped bracket 2-10 is adjusted according to the user's upper arm length, and the lifting angle mechanism 3 is adjusted according to the user's elbow joint lifting angle to align the user's elbow joint rotation center with the robot's rotation center. The upper arm and forearm are fixed using upper arm straps 2-6 and 1-6. The maximum hyperextension and maximum flexion of the user's elbow joint are measured using a medical instrument joint goniometer. The joint motors are repeatedly rotated using the robot's accompanying host computer software to achieve continuous passive rotation training of the elbow joint.

[0106] When the robot performs assisted muscle strength training, the preparation work is the same as that for continuous passive training. The user needs to wear an IMU sensor on the wrist where the rehabilitation training is being conducted. When the user has a tendency to flex or hyperextension of the elbow joint, the robot will assist the arm to move and achieve active rotation training.

[0107] When the robot performs static progressive stretching training, the preliminary preparation work is the same as that for continuous passive training. The maximum flexion position of the user's elbow joint is measured using a medical instrument, an articular goniometer. Under the supervision of a doctor, the robot's host computer software is used to control the traction displacement or traction force to achieve the effect of static traction of the elbow joint.

[0108] This invention is designed based on the principle of static progressive stretching and the physiological characteristics of the elbow joint. It can perform passive rotation training of elbow joint range of motion and provide traction effect on soft tissues such as elbow muscles and ligaments.

[0109] This invention can satisfy the range of motion of elbow hyperextension and flexion and the swing range of elbow lifting angle, and can adapt to human arm circumference and arm length dimensions.

[0110] The invention adopts a symmetrical structure, and both the left and right arms can be used, making it versatile.

[0111] The invention has a simple structure, is easy to analyze, and has some symmetrical parts, making it easy to manufacture and assemble. It can be made of 3D printing materials and carbon fiber materials, which are easy to process.

Claims

1. A highly adaptable traction-assisted elbow fracture rehabilitation robot, characterized in that: The device includes a forearm exoskeleton (1) and an upper arm exoskeleton (2). A lifting angle mechanism (3) is provided between the forearm exoskeleton (1) and the upper arm exoskeleton (2) to connect them. The forearm exoskeleton (1) includes a forearm fixation mechanism and a traction mechanism (5). The forearm fixation mechanism is fixed to the human forearm, and the traction mechanism (5) pulls the forearm fixation mechanism. The upper arm exoskeleton (2) is fixed to the human upper arm. The forearm exoskeleton (1) includes a distal U-shaped component (1-1) and a proximal U-shaped component (1-3). The distal U-shaped component (1-1) and the proximal U-shaped component (1-3) are provided with a left strip plate (1-2) and a right strip plate (1-4) that connect them in parallel. The distal U-shaped component (1-1), the proximal U-shaped component (1-3), the left strip plate (1-2), and the right strip plate (1-4) constitute the main structure. The main structure of the upper arm exoskeleton (2) consists of a U-shaped part (2-1) at the distal end of the upper arm, an L-shaped part (2-3) at the proximal end of the upper arm and its symmetrical part (2-5), a strip plate on the left side of the upper arm (2-2), and a strip plate on the right side of the upper arm (2-4) which are connected and fixed with bolts. The U-shaped part (2-1) at the distal end of the upper arm and the L-shaped part (2-3) at the proximal end of the upper arm are fixed to the base (4) with bolts. The lifting angle mechanism (3) is a two-degree-of-freedom mechanism, and the lifting angle mechanism (3) realizes elbow joint rotation and lifting angle swing; The carrying angle mechanism (3) includes a parallel first joint connector (3-1) and a second joint connector (3-11). The first joint connector (3-1) is passively rotatably connected to the left strip plate (1-2) in the forearm exoskeleton (1), and the second joint connector (3-11) is actively rotatably connected to the right strip plate (1-4) in the forearm exoskeleton (1). The lifting angle mechanism (3) includes a parallel T-shaped slider (3-3), which is slidably connected to the distal U-shaped part (2-1) of the upper arm of the upper arm exoskeleton (2); The lifting angle mechanism (3) uses two centrally symmetrical joint supports (3-2) to move back and forth to realize the left and right swing of the axis of the forearm exoskeleton (1), and uses two T-shaped sliders (3-3) to restrict the rotational freedom of the joint supports (3-2); The joint support (3-2) contacts the lower surface of the boss of the distal U-shaped part (2-1) of the upper arm exoskeleton (2), and the joint support (3-2) and the distal U-shaped part (2-1) of the upper arm slide relative to each other. The T-shaped slider (3-3) slides in the groove of the distal U-shaped part (2-1) of the upper arm at the same time.

2. The traction-adaptive elbow fracture rehabilitation robot according to claim 1, characterized in that: The upper arm exoskeleton (2) includes an upper arm strap (2-6) connected to the upper arm, and the upper arm strap (2-6) is disposed in the upper arm U-shaped bracket (2-10).

3. The traction-adaptive elbow fracture rehabilitation robot according to claim 2, characterized in that: The upper arm exoskeleton (2) is provided with an adjustment mechanism that can adjust the position between the upper arm strap (2-6) and the base (4). The adjustment mechanism is a multi-position adjustment mechanism along the direction of the upper arm strap (2-6).

4. The traction-adaptive elbow fracture rehabilitation robot according to claim 1, characterized in that: A multi-level adjustment structure is provided between the T-shaped slider (3-3) and the U-shaped part at the far end of the boom (2-1).

5. The traction-adaptive elbow fracture rehabilitation robot according to claim 1, characterized in that: A connecting rod (3-4) is provided between the T-shaped sliders (3-3), so that the two T-shaped sliders (3-3) move synchronously.

6. The traction-adaptive elbow fracture rehabilitation robot according to claim 1, characterized in that: The forearm fixation mechanism of the forearm exoskeleton (1) includes straps (1-6), which are disposed in the forearm support (1-29).

7. The traction-adaptive elbow fracture rehabilitation robot according to claim 1, characterized in that: The traction mechanism (5) of the forearm exoskeleton (1) is symmetrically distributed on both sides of the forearm exoskeleton (1); the single-sided traction mechanism (5) includes a double parallelogram mechanism, with the two parallelogram mechanisms arranged longitudinally to ensure that the forearm fixing structure is parallel to the axis of the forearm exoskeleton (1).

Images