Traditional Chinese medicine rehabilitation multifunctional integrated mobile mechanical arm

Abstract

This invention discloses a multifunctional integrated mobile robotic arm for traditional Chinese medicine rehabilitation, belonging to the field of rehabilitation medical device technology. The robotic arm includes: a support assembly with buckles for detachable fixation to a wheelchair; a robotic arm assembly comprising three retractable robotic arm segments connected sequentially; an adaptive massage hand with an internal sensor array; an electrostimulation acupoint assembly integrating a microcurrent impedance detection circuit for detecting tissue impedance to assist acupoint positioning; a heating assembly; and a control module. This invention achieves intelligent acupoint positioning by adding a microcurrent impedance detection circuit, collects muscle strength and tone data in real time through the sensor array and implements adaptive closed-loop control, and utilizes wheelchair-specific buckles and retractable joints to improve adaptability and portability. It solves the problems of existing rehabilitation robotic arms, such as limited functionality, lack of closed-loop control, inaccurate acupoint positioning, and poor adaptability.

Description

Technical Field

[0001] This invention relates to the field of rehabilitation medical device technology, and more specifically, to a multifunctional integrated mobile robotic arm for traditional Chinese medicine rehabilitation that can be mounted on a wheelchair. Background Technology

[0002] Upper limb rehabilitation for stroke patients with hemiplegia is a long and complex process that requires a combination of modern rehabilitation medicine's exercise therapy and traditional Chinese medicine's meridian regulation. However, existing rehabilitation robotic arms have the following significant drawbacks.

[0003] Chinese Patent Publication No. (CN 210447530 U) discloses a variable shoulder center upper limb rehabilitation robotic arm, including a base, support frame, shoulder joint, shoulder motor, shoulder linkage, 3-DOF parallel hydraulic platform, upper arm linkage, upper arm, elbow joint, and wrist joint. The shoulder joint includes a crossbeam and a rotating shaft; the shoulder motor includes a motor, a fixed base, and a bevel gear; the 3-DOF parallel hydraulic platform includes an upper base plate, three sets of retractable hydraulic cylinders, and a lower base plate; the upper arm includes a retainer, a drive motor, an upper connecting plate, and a rotating shaft; the elbow joint includes a small drive motor, a large drive motor, a small retainer, a large retainer, and a lower connecting plate; the wrist joint includes a drive motor, a retainer, a wrist guard, a pulley, a wrist linkage, a bolt linkage, and a bolt. This invention achieves variable shoulder center, allowing the shoulder joint to move in any direction regardless of the position of the upper arm or forearm, offering advantages such as compact structure and good practicality.

[0004] As shown in the above device, it only supports the arm and cannot integrate multiple TCM physiotherapy methods such as massage, acupoint electrical stimulation, and constant temperature heat therapy on the same device. It is difficult to achieve integrated TCM and Western medicine rehabilitation and lacks adaptive closed-loop control: it cannot sense the patient's physiological data such as muscle tension and joint range of motion in real time. Rehabilitation parameters (such as massage intensity and electrical stimulation intensity) need to be set manually and cannot be dynamically and intelligently adjusted according to the patient's condition. At the same time, the human-machine adaptability is poor. Most devices have fixed structures and cannot be adapted to patients of different body types. They also lack a dedicated connection structure with wheelchairs, which limits their convenience and comfort in home or wheelchair scenarios.

[0005] To address this, a multifunctional integrated mobile robotic arm for TCM rehabilitation is proposed. Summary of the Invention

[0006] In view of this, the present invention provides a multifunctional integrated mobile robotic arm for traditional Chinese medicine rehabilitation, so as to solve or alleviate the technical problems existing in the prior art, and at least provide a beneficial option.

[0007] The technical solution of this invention is implemented as follows: A multifunctional integrated mobile robotic arm for TCM rehabilitation, wherein the support assembly includes a telescopic adjustment rod, a main support fixed to the top of the telescopic adjustment rod, and a secondary support movably connected to the side of the main support; both the telescopic adjustment rod and the secondary support are provided with buckles for detachable fixation to a wheelchair, the buckles including tube clamp-type armrest buckles, composed of U-shaped clamps and butterfly locking bolts, used to clamp and fix the wheelchair armrest tubes, and backrest hooks, in L-shape or J-shape, used to hook or abut against the crossbar of the wheelchair backrest, the two together forming two or more points of constraint on the support assembly, keeping it relatively fixed during rehabilitation treatment; the robotic arm assembly includes a telescopic upper arm robotic arm, a telescopic lower arm robotic arm, and a telescopic hand robotic arm movably connected in sequence; the telescopic upper arm robotic arm is fixed to the main support. The telescopic forearm robotic arm is fixed to the sub-support. The shoulder and elbow joints of the robotic arm assembly are both electrically driven hinges with encoders. The elbow joint is configured to achieve flexion and extension movements within the range of 0°–120° to adapt to the flexion posture of the upper limb of hemiplegic patients. The shoulder connecting section and forearm support section are embedded with electric push rods to adjust the total length of the robotic arm according to the patient's arm length before treatment and to maintain rigid locking during treatment. The adaptive massage hand is connected to the end of the telescopic hand robotic arm. The adaptive massage hand contains a shell, a micro geared motor, an eccentric wheel transmission mechanism, a flexible massage head, and a sensor array. The micro geared motor drives the eccentric wheel transmission mechanism, enabling the flexible massage head to achieve a composite movement of two degrees of freedom: vertical pressing perpendicular to the skin and small-amplitude kneading parallel to the skin. The force sensor is arranged between the transmission chain and the massage head to provide real-time feedback on the magnitude of the contact force. The electrostimulation acupoint assembly includes an electrostimulator and electrode pads, and integrates a microcurrent impedance detection circuit for detecting tissue impedance to assist in acupoint positioning. The control module is electrically connected to the robotic arm assembly, the adaptive massage hand, the electrostimulation acupoint assembly, and the heating assembly, respectively, and is used to receive sensor data and perform closed-loop control.

[0008] More preferably, the sensor array includes a force sensor for acquiring muscle tension data, a position sensor for acquiring joint range of motion, and an attitude sensor.

[0009] More preferably, the control module includes an MCU main control unit, a driver chip, a wireless communication module, and a memory. The memory is used to store control parameters corresponding to different treatment modes. The MCU main control unit is used to receive muscle tension data collected by the force sensor and generate control commands based on a preset muscle tension threshold. The driver chip receives the control commands and drives the robotic arm assembly, the adaptive massage hand, the electrical stimulation acupoint assembly, and the heating assembly, respectively.

[0010] More preferably, the microcurrent impedance detection circuit is configured to inject a constant detection current through the electrode during the interval of the output pulse of the electrical stimulator; the control module also includes an impedance calculation unit, which is used to calculate the tissue impedance value based on the detection current and the voltage drop across the electrode, and compare the impedance value with a pre-stored acupoint impedance reference range to determine whether the electrode is aligned with the target acupoint.

[0011] More preferably, the heating component includes a graphene heating layer disposed on the inner surface of the telescopic large arm robotic arm, the telescopic small arm robotic arm, and the telescopic hand robotic arm, and the graphene heating layer is electrically connected to the control module.

[0012] More preferably, both the telescopic upper arm and the telescopic lower arm are provided with Velcro hooks and loops for fixing the patient's upper limbs.

[0013] More preferably, the joints of the telescopic upper arm robotic arm, the telescopic lower arm robotic arm, and the telescopic hand robotic arm are all movably connected with physical limiting blocks.

[0014] More preferably, the end of the telescopic robotic arm is fixedly equipped with a laser emitter for assisting joint alignment, and its surface is also provided with an emergency power-off button.

[0015] The embodiments of the present invention have the following advantages due to the adoption of the above technical solutions:

[0016] I. This invention, by setting up a support assembly, a robotic arm assembly, an adaptive massage hand, an electrostimulation acupoint assembly, a heating assembly, and a control module, integrates the adaptive massage hand, electrostimulation acupoint assembly, and heating assembly on the same robotic arm and defines their spatial relationship, providing a clear structural basis for physical therapy and achieving adaptive closed-loop control: Real-time acquisition of muscle tension and joint range of motion data via a sensor array, combined with preset threshold logic within the control module, automatically adjusts parameters such as massage intensity and electrostimulation intensity, forming a "perception-judgment-execution" closed-loop control to achieve acupoint positioning: By adding a micro-current impedance detection circuit, utilizing the low impedance characteristics of meridian acupoints, quantifiable positioning data is provided for the electrode pads, solving the problem of inaccurate manual acupoint location and improving adaptability and safety: By setting up a retractable robotic arm joint, a wheelchair-specific buckle bracket, and physical limiting blocks, it adapts to patients of different body types and wheelchair scenarios, and ensures movement safety from a mechanical structure perspective.

[0017] The above overview is for illustrative purposes only and is not intended to be limiting in any way. In addition to the illustrative aspects, embodiments, and features described above, further aspects, embodiments, and features of the invention will become readily apparent from the accompanying drawings and the following detailed description. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a schematic diagram of the three-dimensional front view structure of the present invention;

[0020] Figure 2 This is a schematic diagram of the robotic arm structure of the present invention.

[0021] Figure 3 This is a schematic diagram of the hook and loop fastener structure of the present invention;

[0022] Figure 4 This is a schematic diagram of the cross-sectional structure of the robotic arm of the present invention;

[0023] Figure 5 This is a schematic diagram of the adaptive massage hand structure of the present invention;

[0024] Figure 6 This is a schematic diagram of the attitude sensor structure of the present invention;

[0025] Figure 7 This is a schematic diagram of the control module structure of the present invention.

[0026] Reference numerals: 1. Support assembly; 101. Telescopic adjustment rod; 102. Main support; 103. Secondary support; 2. Robotic arm assembly; 201. Telescopic upper robotic arm; 202. Telescopic lower robotic arm; 203. Telescopic hand robotic arm; 204. Laser emitter; 3. Adaptive massage hand; 301. Sensor array; 3011. Position sensor; 3012. Force sensor; 3013. Posture sensor; 302. Housing; 303. Miniature geared motor; 304. 1. Eccentric wheel transmission mechanism; 305. Flexible massage head; 4. Electroacupuncture acupoint assembly; 401. Electrostimulator; 402. Electrode sheet; 403. Microcurrent impedance detection circuit; 5. Heating assembly; 501. Graphene heating layer; 502. Aluminum foil sheet; 6. Control module; 61. MCU main control unit; 62. Driver chip; 63. Wireless communication module; 64. Memory; 65. Impedance calculation unit; 7. Velcro hook and loop fastener; 8. Emergency power off button; 9. Physical limit block. Detailed Implementation

[0027] In the following description, only certain exemplary embodiments are briefly described. As those skilled in the art will recognize, the described embodiments can be modified in various ways without departing from the spirit or scope of the invention. Therefore, the drawings and description are considered to be exemplary in nature and not restrictive.

[0028] The embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

[0029] Example 1

[0030] like Figure 1-7As shown, the support assembly 1 includes a telescopic adjustment rod 101, a main support 102 fixed to the top of the telescopic adjustment rod 101, and a secondary support 103 movably connected to the side of the main support 102. Both the telescopic adjustment rod 101 and the secondary support 103 are equipped with buckles for detachable fixation to the wheelchair. These buckles include tube clamp-type armrest buckles, consisting of U-shaped clamps and butterfly locking bolts, used to engage and fix the wheelchair armrest tubes. The backrest hooks are L-shaped or J-shaped, used to hook or abut against the wheelchair backrest crossbars. Together, they form two or more points of constraint on the support assembly 1, keeping it relatively fixed during rehabilitation treatment. The robotic arm assembly 2 includes a telescopic upper arm robotic arm 201, a telescopic lower arm robotic arm 202, and a telescopic hand robotic arm 203 connected sequentially. The telescopic upper arm robotic arm 201 is fixed to the main support 102, and the telescopic lower arm robotic arm 202 is fixed to... The shoulder and elbow joints of the robotic arm assembly 2, located in the sub-support 103, are both electrically driven hinges with encoders. The elbow joint is configured to achieve flexion and extension movements within the range of 0°–120° to adapt to the flexion posture of the upper limb of hemiplegic patients. Electric push rods are embedded in the shoulder connecting section and the forearm support section to adjust the total length of the robotic arm according to the patient's arm length before treatment and to maintain rigid locking during treatment. The adaptive massage hand 3 is connected to the end of the telescopic hand robotic arm 203. The adaptive massage hand 3 contains a housing 302, a micro geared motor 303, an eccentric wheel transmission mechanism 304, a flexible massage head 305, and a sensor array 301. The micro geared motor 303 drives the eccentric wheel transmission mechanism 304, enabling the flexible massage head 305 to achieve a composite movement of two degrees of freedom: vertical pressing perpendicular to the skin and small-amplitude kneading parallel to the skin.A force sensor is positioned between the transmission chain and the massage head to provide real-time feedback on the contact force. The electrostimulation acupoint assembly 4 includes an electrostimulator 401 and electrode pads 402, which integrates a microcurrent impedance detection circuit 403 for detecting tissue impedance to assist in acupoint positioning. The control module 6 is electrically connected to the robotic arm assembly 2, the adaptive massage hand 3, the electrostimulation acupoint assembly 4, and the heating assembly 5, respectively, and is used to receive sensor data and perform closed-loop control. The sensor array 301 includes a force sensor 3012 for collecting muscle tension data, a position sensor 3011 for collecting joint range of motion, and a posture sensor 3013. The control module... The control module 6 includes an MCU main control unit 61, a driver chip 62, a wireless communication module 63, and a memory 64. The memory 64 is used to store control parameters corresponding to different treatment modes. The MCU main control unit 61 receives muscle tension data collected by the force sensor 3012 and generates control commands based on a preset muscle tension threshold. The driver chip 62 receives the control commands and drives the robotic arm assembly 2, the adaptive massage hand 3, the electrical stimulation acupoint assembly 4, and the heating assembly 5, respectively. The control module 6 collects the patient's muscle tension data through the force sensor 3012. If the muscle tension is lower than the first threshold, it controls the robotic arm assembly 2 to increase its range of motion and increase the electrical stimulation frequency. If the muscle tension is higher than the second threshold, the robotic arm assembly 2 is controlled to reduce its range of motion, decrease the intensity of electrical stimulation, and increase the temperature of the heating assembly 5. Steps 1 to 3 are repeated to achieve dynamic adjustment of the treatment process. The microcurrent impedance detection circuit 403 is configured to inject a constant detection current through the electrode 402 during the interval between the output pulses of the electrical stimulator 401. The control module 6 also includes an impedance calculation unit 65, which is used to calculate the tissue impedance value based on the detection current and the voltage drop across the electrode 402, and compare the impedance value with the pre-stored acupoint impedance reference range to determine whether the electrode 402 is aligned with the target acupoint. The heating assembly 5 includes a... A graphene heating layer 501 is placed on the inner surface of the telescopic upper arm robotic arm 201, the telescopic lower arm robotic arm 202, and the telescopic hand robotic arm 203. The graphene heating layer 501 is electrically connected to the control module 6. The surfaces of the telescopic upper arm robotic arm 201 and the telescopic lower arm robotic arm 202 are provided with Velcro hooks and loops 7 for fixing the patient's upper limbs. Physical limiting blocks 9 are movably connected to the joints of the telescopic upper arm robotic arm 201, the telescopic lower arm robotic arm 202, and the telescopic hand robotic arm 203. A laser emitter 204 for assisting joint alignment is fixedly installed at the end of the telescopic upper arm robotic arm 201, and an emergency power-off button 8 is also provided on its surface.

[0031] By setting up a support assembly 1, a robotic arm assembly 2, an adaptive massage hand 3, an electrostimulation acupoint assembly 4, a heating assembly 5, and a control module 6, and by integrating the adaptive massage hand 3, the electrostimulation acupoint assembly 4, and the heating assembly 5 on the same robotic arm and defining their spatial relationship, a clear structural basis for physical therapy is provided, achieving adaptive closed-loop control: Real-time acquisition of muscle tension and joint range of motion data via a sensor array, combined with preset threshold logic within the control module, automatically adjusts parameters such as massage intensity and electrostimulation strength, forming a "perception-judgment-execution" closed-loop control, achieving acupoint positioning: By adding a microcurrent impedance detection circuit 403, utilizing the low impedance characteristics of meridian acupoints, a quantifiable positioning basis is provided for the electrode pad 402, solving the problem of inaccurate manual acupoint location and improving adaptability and safety: By setting up a retractable robotic arm joint, a wheelchair-specific buckle bracket, and a physical limiting block 9, it adapts to patients of different body types and wheelchair scenarios, and ensures movement safety from a mechanical structure perspective.

[0032] When this invention is in operation: Figure 1As shown, the multifunctional integrated mobile robotic arm for TCM rehabilitation provided by this invention includes a support assembly 1, a robotic arm assembly 2, an adaptive massage hand 3, an electrostimulation acupoint assembly 4, a heating assembly 5, and a control module 6. The bottom of the telescopic adjustment rod 101 of the support assembly 1 is fixed to the wheelchair armrest via a snap fastener, and the main support 102 is mounted on the top of the telescopic adjustment rod 101. One end of the auxiliary support 103 is movably connected to the side of the main support 102, and the other end is fixed to the back support of the wheelchair via a snap fastener. This structure achieves a stable and detachable connection between the device and the wheelchair. The robotic arm assembly 2 includes a telescopic upper arm robotic arm 201, a telescopic lower arm robotic arm 202, and a telescopic hand robotic arm 203. The telescopic upper arm robotic arm 201 is fixed to the main support 102; the telescopic lower arm robotic arm 202 is fixed to the auxiliary support 103 and connected to the upper arm robotic arm 201 via a rotating connecting plate; the telescopic hand robotic arm 203 is connected to the lower arm robotic arm 202 via a plum blossom-shaped elastic coupling. Each segment of the robotic arm is telescopic to accommodate patients with different arm lengths. The telescopic robotic arm 201 has a laser emitter 204 at its end to assist in aligning the patient's shoulder, elbow, and wrist joints. The acupoint stimulation component 4 includes an electrical stimulator 401 and electrode pads 402. It integrates a micro-current impedance detection circuit 403. During acupoint positioning, the MCU main control unit 61 controls the micro-current impedance detection circuit 403 to inject a safe detection current with a frequency of 10kHz-50kHz and a constant amplitude into the skin through the electrode pads 402 during the intervals between electrical stimulation pulses. The impedance calculation unit 66 collects the voltage drop across the electrode pads 402 in real time and calculates the tissue impedance value Z = V / I according to Ohm's law. The memory 64 stores the impedance reference range for common acupoints. The MCU main control unit 61 compares the real-time calculated impedance value with this reference range. When the impedance value falls within the preset range, it is determined that the electrode pads 402 are aligned with the target acupoint. The MCU main control unit 61 then locks the current robotic arm position and notifies the patient / therapist via a prompt tone or APP. This process achieves the quantification and automation of acupoint location. At the start of treatment, control module 6 controls robotic arm assembly 2 to passively move the patient's upper limb. Force sensor 3012 in sensor array 301 collects muscle tone data in real time, and position sensor 3011 collects joint range of motion. MCU main control unit 61 determines the current muscle state based on preset muscle tone thresholds: if muscle tone is below the first threshold, it is determined to be a low muscle tone state; if muscle tone is above the second threshold, it is determined to be a high muscle tone state. Based on the determination result, MCU main control unit 61 retrieves the corresponding control parameters from memory 64: Low muscle tone state: control the robotic arm to perform a large range of passive movements, instruct heating assembly 5 to heat to 40-42℃, and instruct electrical stimulation acupoint assembly 4 to output high-frequency electrical pulses to excite the neuromuscular system.High muscle tone state: The range of motion of the robotic arm for small-range, slow stretching movements is limited by physical limit block 9. The heating component 5 is instructed to heat up to 38-40℃, and the electrical stimulation acupoint component 4 is instructed to output low-frequency electrical pulses to inhibit muscle tone. During treatment, force sensor 3012 monitors changes in muscle tone in real time. If the muscle tone value exceeds the preset safety threshold, the MCU main control unit 61 will immediately reduce the intensity of electrical stimulation and can simultaneously fine-tune the heating temperature to achieve dynamic coordinated adjustment. The entire process realizes closed-loop adaptive control of "sensing-judgment-execution-re-sensing". The surfaces of the telescopic upper arm robotic arm 201 and the telescopic lower arm robotic arm 202 are equipped with Velcro hooks and loops 7 for comfortably and securely fixing the patient's upper limbs. Physical limit blocks 9 are movably connected at the joints of each robotic arm to prevent excessive movement from the mechanical structure and prevent secondary injury. The surface of the control module 6 is equipped with an emergency power-off button 8 for hardware-level power cut-off in emergency situations.

[0033] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any person skilled in the art can easily conceive of various variations or substitutions within the technical scope disclosed in the present invention, and these should all be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A multifunctional integrated mobile robotic arm for TCM rehabilitation, comprising a support assembly (1), a robotic arm assembly (2), an adaptive massage hand (3), an electroacupuncture acupoint assembly (4), a heating assembly (5), and a control module (6), characterized in that: The support assembly (1) includes a telescopic adjustment rod (101), a main support (102) fixed to the top of the telescopic adjustment rod (101), and a secondary support (103) movably connected to the side of the main support (102). Both the telescopic adjustment rod (101) and the secondary support (103) are equipped with buckles for detachable fixation to the wheelchair. The buckles include a tube clamp-type armrest buckle, consisting of a U-shaped clamp and a butterfly locking bolt, used to clamp and fix the wheelchair armrest tube. The backrest hook is L-shaped or J-shaped, used to hook or abut against the backrest crossbar of the wheelchair. Together, they form two or more points of constraint on the support assembly (1), keeping it relatively fixed during rehabilitation treatment. The robotic arm assembly (2) includes a telescopic upper arm robotic arm (201), a telescopic lower arm robotic arm (202), and a telescopic hand robotic arm (203) connected sequentially. The telescopic upper arm robotic arm (201) is fixed to the main support (102), and the telescopic lower arm robotic arm (202) is fixed to the main support (102). The shoulder and elbow joints of the robotic arm assembly (2) are fixed to the sub-support (103). The elbow joint is equipped with an electric drive hinge with an encoder. The elbow joint is configured to achieve flexion and extension movements within the range of 0°–120° to adapt to the flexion posture of the upper limb of the hemiplegic patient. The shoulder connecting section and the forearm support section are embedded with electric push rods to adjust the total length of the robotic arm according to the patient's arm length before treatment and to maintain rigid locking during treatment. The adaptive massage hand (3) is connected to the end of the telescopic hand robotic arm (203). The adaptive massage hand (3) is equipped with a housing (302), a micro geared motor (303), an eccentric wheel transmission mechanism (304), a flexible massage head (305), and a sensor array (301). The micro geared motor (303) drives the eccentric wheel transmission mechanism (304) to enable the flexible massage head (305) to achieve a composite movement of two degrees of freedom: vertical pressing perpendicular to the skin direction and small-amplitude kneading parallel to the skin. The force sensor is arranged between the transmission chain and the massage head to provide real-time feedback on the magnitude of the contact force. The electrostimulation acupoint assembly (4) includes an electrostimulator (401) and an electrode plate (402), which integrates a microcurrent impedance detection circuit (403) for detecting tissue impedance to assist acupoint positioning. The control module (6) is electrically connected to the robotic arm assembly (2), the adaptive massage hand (3), the electrostimulation acupoint assembly (4), and the heating assembly (5) to receive sensor data and perform closed-loop control.

2. The multifunctional integrated mobile robotic arm for TCM rehabilitation according to claim 1, characterized in that: The sensor array (301) includes a force sensor (3012) for acquiring muscle tension data, a position sensor (3011) for acquiring joint range of motion, and a posture sensor (3013).

3. The multifunctional integrated mobile robotic arm for TCM rehabilitation according to claim 1, characterized in that: The control module (6) includes an MCU main control unit (61), a driver chip (62), a wireless communication module (63), and a memory (64). The memory (64) is used to store control parameters corresponding to different treatment modes. The MCU main control unit (61) is used to receive muscle tension data collected by the force sensor (3012) and generate control commands according to the preset muscle tension threshold. The driver chip (62) receives the control commands and drives the robotic arm assembly (2), the adaptive massage hand (3), the electrical stimulation acupoint assembly (4), and the heating assembly (5) respectively.

4. The multifunctional integrated mobile robotic arm for TCM rehabilitation according to claim 1, characterized in that: The microcurrent impedance detection circuit (403) is configured to inject a constant detection current through the electrode (402) during the interval of the output pulse of the electrical stimulator (401); the control module (6) also includes an impedance calculation unit (65), which is used to calculate the tissue impedance value based on the detection current and the voltage drop across the electrode (402), and compare the impedance value with the pre-stored acupoint impedance reference range to determine whether the electrode (402) is aligned with the target acupoint.

5. The multifunctional integrated mobile robotic arm for TCM rehabilitation according to claim 1, characterized in that: The heating component (5) includes a graphene heating layer (501) disposed on the inner surface of the telescopic large arm robotic arm (201), the telescopic small arm robotic arm (202) and the telescopic hand robotic arm (203), and the graphene heating layer (501) is electrically connected to the control module (6).

6. The multifunctional integrated mobile robotic arm for TCM rehabilitation according to claim 1, characterized in that: Both the telescopic upper arm robotic arm (201) and the telescopic lower arm robotic arm (202) are provided with Velcro hook-and-loop fasteners (7) for fixing the patient's upper limb.

7. The multifunctional integrated mobile robotic arm for TCM rehabilitation according to claim 1, characterized in that: Physical limit blocks (9) are movably connected to the joints of the telescopic upper arm robotic arm (201), the telescopic lower arm robotic arm (202), and the telescopic hand robotic arm (203).

8. The multifunctional integrated mobile robotic arm for TCM rehabilitation according to claim 1, characterized in that: The telescopic boom robotic arm (201) is fixedly equipped with a laser emitter (204) for assisting joint alignment, and its surface is also provided with an emergency power-off button (8).

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