1233 results about "Rehabilitation robot" patented technology

The invention provides a wearable exoskeleton lower limb rehabilitation robot, which comprises a foot exoskeleton, an ankle exoskeleton, a shank exoskeleton, a knee exoskeleton, a thigh exoskeleton, a hip joint exoskeleton and a waist exoskeleton, wherein the ankle exoskeleton is connected with the foot exoskeleton, the shank exoskeleton is connected with the ankle exoskeleton, the knee exoskeleton is connected with the shank exoskeleton, the thigh exoskeleton is connected with the knee exoskeleton, the hip joint exoskeleton is connected with the thigh exoskeleton, and the waist exoskeleton is connected with the hip joint exoskeleton. A harmonic speed reducer is used to drive, a disc type electric machine is utilized, so the zero rotation error as well as the well fit between the drive and the joints of patients are realized, the wearable exoskeleton lower limb rehabilitation robot can be driven by a battery which is fixed at the back of the patients, so the problem of the limit movement range of the traditional rehabilitation devices is solved, and the invention has the characteristic of portability.

The invention discloses a lower limb exoskeleton rehabilitation robot in the technical field of medical equipment. The lower limb exoskeleton rehabilitation robot comprises an ankle joint motion module, a knee joint motion module, a hip joint motion module, a hip and support module and a crutch module, wherein one end of the knee joint motion module is connected with the ankle joint motion module, and the other end of the knee joint motion module is connected with the hip joint motion module; the hip and support module is connected with the hip joint motion module; and the crutch module is independent of an exoskeleton body. The lower limb exoskeleton rehabilitation robot can help patients who suffer from paraplegia stand up and walk, and the bend and stretch motion of a knee joint and a hip joint is controlled by collecting contact information of a crutch and the ground so as to help the patients to stride; and an oppositely-pulled spring of the knee joint can help to reduce impact from the ground, so that patients can walk comfortably, and the efficiency of rehabilitation training is improved.

The invention discloses a variable-impedance lower limb rehabilitation robot control method based on brain muscle information. The method includes: collecting electroencephalogram and surface electromyogram signals of a patient in real time through an electroencephalogram and surface electromyogram signal collector, and monitoring and evaluating rehabilitation degree of the patient; adopting different rehabilitation training strategies; when the rehabilitation degree is low, implementing passive training control, adopting a PD position servo control method, and controlling a lower limb rehabilitation device to enable the patient to move with a correct physiological gait track; when the rehabilitation degree is high, adopting an active control mode, and predicting a movement intention of the patient by extracting feature vectors of electroencephalogram signals and surface electromyogram signals of the patient in real time; using a fuzzy neutral network algorithm to integrate the electroencephalogram signals and the surface electromyogram signals to generate a movement gait track curve expected by the patient in real time; utilizing a variable-impedance control method to realize active, realtime and synergistic control of a lower limb rehabilitation robot man-machine system.

The invention relates to an upper limb rehabilitation training robot which comprises a first joint, a second joint, a third joint, a fourth joint and a fifth joint; the five joints are sequentially connected serially; the movement of all the joints respectively corresponds to the unfolding / folding of shoulder joints, the bending / extension of the shoulder joints, the bending / extension of elbow joints, the internal rotation / external turning of forearms, the bending / extension of wrist joints and the bending / extension of fingers; all the joints of the robot are driven by independent motors; each joint is provided with a mechanical hard limit and an electric limit to protect the training of a patient; and the second joint and the fourth joint are respectively provided with a adjustment device capable of adjusting relative positions between the second joint and the third joint and between the third joint and the fifth joint. The upper limb rehabilitation training robot provides various rehabilitation movement for the turning of the shoulders, elbows and forearms as well as the wrist and finger joints of the upper limbs of the patient in a three-dimensional space, and can complete the upper limb rehabilitation training to the upper limbs of the patient with higher quality.

A human lower extremity exoskeleton walking aid rehabilitation robot belongs to the technical field of medical rehabilitation equipment, and comprises a lower back movement module, a hip joint movement module, a knee joint movement module and an ankle joint movement module, wherein a back servo motor drives a hip joint to move through a crank and rocker mechanism and a space four-links mechanism; an electric knee push rod drives a knee joint to move; an electric ankle push rod drives an ankle joint to move. The human lower extremity exoskeleton walking aid rehabilitation robot helps a patient with lower limb paralysis to stand and walk, and the flexion and extension movement of the hip joint, the knee joint and the ankle joint is controlled by acquiring pressure signals of soles of feet, so that the patient is helped to stride; the construction and model design of the ankle joint inversion and eversion passive driving degree of freedom can help to reduce impact from the ground, is conductive to reducing the burden of a user keeping balance of the self and the exoskeleton robot in a frontal plane, is beneficial for the patient to walk comfortably, and improves the rehabilitation training efficiency.

The invention discloses a multifunctional intelligent rehabilitation robot for assisting stand and walk. The whole robot comprises three parts basically: a mechanical stand assisting device, a chassis moving device and a monitoring control device, wherein the mechanical stand assisting device comprises a support base, a swing arm, an electric push rod and a handrail device; the chassis moving device comprises a base, a motor fixing frame, four Mecanum wheels, a braking ratchet wheel, a braking sheet, and the like; the monitoring control device comprises a force sensor array, a vision sensor, a distance-measuring sensor, and the like; and in addition, the robot also comprises a power source storage battery, and the like. The robot can realize the auxiliary stand and walk assistance to a user, can lift the user up safely and comfortably under the condition of sitting posture, judge the motion intention of the user in the walking process and carry out all-sided collaborative motion; meanwhile, the robot can also detect the moving tread of the user so as to judge the stability of the user and do corresponding assistance to the user at the real time; and the robot can safely and effectively assist patients with lower limbs being injured to carry out rehabilitation training and assist the daily activities of weak old people.

The invention discloses a walking aid exoskeleton rehabilitation robot in the technical field of rehabilitation engineering, which comprises a mobile auxiliary mechanism, a control mechanism and an exoskeleton prosthesis mechanism, wherein the mobile auxiliary mechanism is connected with the exoskeleton prosthesis mechanism, and the control mechanism is connected with the mobile auxiliary mechanism and the exoskeleton prosthesis mechanism respectively. The exoskeleton prosthesis mechanism has compact design structure and large rotation range of each joint, and can meet the requirement on actual motion of a human body. By adopting a servo motor to drive, the control precision is high, and the output torque is large; and the mobile auxiliary mechanism rotates under the driving of the servo motor, can freely move, and has higher climbing capacity and movement speed. The height of the mobile auxiliary mechanism is adjusted to be applied to people with different heights. When the patient undergoes gait rehabilitation training, the human gravity center is actively adjusted to accord with the characteristics that the human body is fluctuated along with alternative gait. The mobile auxiliary mechanism also can support the human body, prevent people from tumbling in walking, and guarantee the whole stability.

The invention discloses an exoskeleton rehabilitation robot for rehabilitation of a lower limb walking function and a control system and method thereof. The robot comprises a backrest, a hip joint power source, a hip joint component, a waist component, a thigh bar component, a knee joint power source, a knee joint component, a shank bar component, an ankle joint component and a foot pedal. According to the lower limb exoskeleton rehabilitation robot, a driving scheme is designed by utilizing a bionics principle, so that the initiative degree of freedom of the ankle joint is increased; through initiatively pulling the heel tendon muscles of the patients, the rehabilitation speed of the ankle joint function is improved; the waist component, a connection rod mechanism and the foot pedal adopt a carbon fiber composite material, so that the structure weights and volumes are lightened while the strength is kept; and a non-polar adjustable function is set for the waist width, thigh length and shank length, and flexible bandages are equipped, so that the wearing comfort level requirement of the users is satisfied to the greatest extent. The robot disclosed by the invention not only can be used as a tool for riding instead of walk for the patients with walking disability, but also can help the stroke patients to obtain walking ability again through initiative training.

The invention discloses a wearable hand function rehabilitation robot, which is mainly used for assisting the repeated movement function rehabilitation training of the patient with hand movement function disorder which is caused by stroke, brain trauma, spinal cord injury and peripheral nerve injury in communities or families. The robot system extracts the active movement will of the patient by detecting the multi-channel surface myoelectric signals of the affected hand and obtains the state of the affected limb by combining the data which is measured by an angle and force sensor to carry out the rehabilitation training of the affected hand by pneumatic muscle contraction assistance by using the intelligent control algorithm on the basis. The rehabilitation robot has multiple degrees of freedom, which can assist the affected hand to carry out multi-joint complex movement and inosculate the multi-sensor data information fusion during the rehabilitation process to be further used for the evaluation of rehabilitation effect, and the activity and the training interest of the patient can be improved by using the rehabilitation treatment virtual environment on a computer. The invention has the advantages of simple structure, flexible movement, safety and reliability, which can not only realize the rehabilitation training of the movement function of the affected hand, but can also be in line with the physiologic structure characteristics of human hands. The invention is more comfortable to wear.

The invention discloses an upper limb exoskeleton rehabilitation robot control method based on a radial basis neural network. The method includes the steps that a human body upper limb musculoskeletal model is established; upper limb muscle myoelectric signals and upper limb movement data are collected, the movement data are imported into the upper limb musculoskeletal model, upper limb joint torque is obtained, the radial basis neural network is established and a neural network model is given out; the patient movement intention is recognized, the joint angular speed is subjected to fusion analysis, the result is used for recognizing the training object joint stretching state, and the limb movement intention is determined; and myoelectric signals and joint angles in affected side rehabilitation training are collected in real time, affected side joint torque is obtained through the neural network, joint torque needing to be compensated by an exoskeleton mechanical arm is calculated, myoelectric signal fatigue characteristics are analyzed, the compensation torque magnitude can be adjusted by classifying the degree of fatigue, and a torque controller can be controlled to achieve the effect that an upper limb rehabilitation robot assists patients in rehabilitation training by combining the movement intention. By means of the upper limb exoskeleton rehabilitation robot control method, the rehabilitation training process is made to be more suitable for the patients, man-machine interaction is strengthened, and the rehabilitation effect is improved.

The invention aims to provide a gait rehabilitation robot for using a rope to pull lower limbs, which comprises a frame and a treadmill. The gait rehabilitation robot is characterized in that the gait rehabilitation robot also comprises a connecting rod system, a rope pulling system and an angle sensor; the treadmill is arranged in the frame; the connecting rod system and the rope pulling system are arranged on the frame; and the angle sensor is arranged on the connecting rod system. The gait rehabilitation robot can be used for patients paralyzed caused by cardiovascular and cerebrovascular diseases and patients with injury of the lower limbs due to an accident and the like to carry out gait rehabilitation training, also can be used for physical training of the healthy elderly and has simple structure and low cost.

The invention discloses an exoskeletal rehabilitation robot for upper limbs. The exoskeletal rehabilitation robot comprises a base, two mechanical arm assemblies and six motor driving components, wherein the base comprises a moving base, an electrical cabinet, an electric lifting post, a base platform, a motor mounting corner bracket, a base rotating motor, a coupling, a base main bearing block, a base and ball screw nut assembly, a base nut seat, a base shared secondary bearing block, a right support, a base linear guide rail assembly and a left support; the mechanical arm assembly comprises a mechanical shoulder girdle assembly, a mechanical shoulder joint assembly, a mechanical elbow joint assembly, a mechanical front arm assembly, a mechanical wrist joint assembly and a mechanical hand part assembly; each motor driving assembly comprises a motor and speed reducing component, a torque sensor component and a driving component which are respectively arranged on the same motor driving base frame. The exoskeletal rehabilitation robot can be worn on the upper limbs of the human body and can be used for assisting the upper limbs of the human body in moving in a three-dimensional space and performing rehabilitation training.

The invention discloses a rope-driven waist rehabilitation robot. The robot comprises a frame, a gravity balance unit, rope winding and unwinding units, a rope-driven rehabilitation exercise unit and a control unit, wherein the rope-driven rehabilitation exercise unit comprises a rehabilitation waist belt, pulling ropes and a guide pulley; the rehabilitation waist belt is at least connected with six pulling ropes; each pulling rope corresponds to one rope winding and unwinding unit; and the control unit controls the length change of the corresponding pulling rope by controlling each rope winding and unwinding unit so as to drive the waist of a rehabilitation patient to move along a pelvic movement track of a normal person during walking. Therefore, aiming at the problem of a coordination control mode of controlling the pelvic movement track of the rehabilitation patient in the rehabilitation training process, the rehabilitation patient can move along the pelvic movement track of the normal person under standing and walking conditions through the coordinated action of a set of gravity balance unit and a plurality of pulling ropes so as to achieve an effective waist rehabilitation training effect; and the robot can perform configuration change and rehabilitation training amplitude and strength adjustment according to the disease condition and individual difference of the rehabilitation patient.

The invention discloses an exoskeletal rehabilitation robot for upper limbs. The exoskeletal rehabilitation robot comprises a base, a mechanical shoulder girdle assembly, a mechanical shoulder joint assembly, a mechanical elbow joint assembly, a mechanical front arm assembly, a mechanical wrist joint assembly, a mechanical hand part assembly and a motor driving assembly, wherein the base supports the whole exoskeletal rehabilitation robot for the upper limbs; the mechanical shoulder girdle assembly is connected with the base; the mechanical shoulder joint assembly is connected with the mechanical shoulder girdle assembly; the mechanical elbow joint assembly is connected with the mechanical shoulder joint assembly; the mechanical front arm assembly is connected with the mechanical elbow joint assembly; the mechanical elbow joint assembly is connected with the mechanical front arm assembly; the mechanical hand part assembly is connected with the mechanical wrist joint assembly; the motor driving assembly is used as a power source of the whole exoskeletal rehabilitation robot for the upper limbs. The exoskeletal rehabilitation robot disclosed by the invention can be used for assisting the upper limbs of a human body in moving in a three-dimensional space and performing rehabilitation training.

The invention discloses a rehabilitation robot system for old people with cerebral apoplexy, and belongs to the technical field of rehabilitation robots. The rehabilitation robot system comprises a rehabilitation robot, the rehabilitation robot comprises an upper limb rehabilitation system and a lower limb rehabilitation system of a master-slave mode two-arm exoskeleton structure, the lower limb rehabilitation system comprises a seat, a first master arm and a first slave arm, the first master arm and the first slave arm are arranged on the seat, the first master arm and the first slave arm each comprise a control box, a thigh supporting structure, a crus supporting structure and a foot sole supporting plate, the control boxes, the thigh supporting structures, the crus supporting structures and the foot sole supporting plates are sequentially connected on the seat, and first leg supporting rods and second leg supporting rods are connected among the control boxes, the thigh supporting structures and the crus supporting structures respectively. The upper limb rehabilitation system comprises a seat back arranged on the seat, a second master arm and a second slave arm, the second master arm and the second slave arm are arranged on the seat back, and the second master arm and the second slave arm each comprise a shoulder rotating system, an upper arm auxiliary motion mechanism, a forearm auxiliary motion mechanism, a wrist rotating system and a palm part auxiliary motion mechanism, wherein the shoulder rotating systems, the upper arm auxiliary motion mechanisms, the forearm auxiliary motion mechanisms, the wrist rotating systems and the palm part auxiliary motion mechanisms are connected in sequence. The rehabilitation robot system is low in cost, and multiple freedom degrees are achieved in the use process.

The invention discloses a lower limb rehabilitation robot compliance control method based on variable admittance. The control method comprises the following contents of synchronously acquiring surfaceelectromyogram signals and motion information of an uninjured side lower limb and an affected side lower limb of a patient via a Delsys electromyogram acquisition system and motion capture equipment,in cooperation with a plantar pressure sensor, acquiring human-machine interaction force between a lower limb rehabilitation robot and the patient via a plantar pressure sensor, and acquiring lower limb motion intentions of the patient through information fusion; establishing a human body lower limb musculoskeletal model via OpenSim software, calculating out muscle strength values of related muscles of lower limb flexion and extension motions, and in combination with an affected side mirroring uninjured side method as well as a GS-LSELM algorithm, establishing an electromyogram-muscle strength identification model of the human body lower limb and identifying out a muscle strength value of the affected side lower limb; and establishing a variable admittance model based on muscle strength torque and deviation away from an expected joint trajectory of the lower limb rehabilitation robot so as to correct the expected trajectory, and calculating deviation in combination with an actual trajectory and inputting the deviation into a position controller, so as to finally achieve tracking of the expected trajectory of the patient and active compliance control of the lower limb rehabilitation robot.

The invention provides an exoskeleton wearable upper limb rehabilitation robot, which comprises a shoulder joint exoskeleton, an elbow joint exoskeleton, a wrist joint exoskeleton and a hand exoskeleton, wherein the shoulder joint exoskeleton has two degrees of freedom; the elbow joint exoskeleton has two degrees of freedom; the wrist joint exoskeleton has one degree of freedom; and the hand exoskeleton has three degrees of freedom, namely the robot have eight degrees of freedom. The exoskeleton wearable upper limb rehabilitation robot is driven by using a harmonic wave speed reducer and a disc type motor serving as a high-power motor to realize zero-rotation error and the good fit of driving and joints of patients. The exoskeleton wearable upper limb rehabilitation robot can be driven by a storage battery, the problem of limit of activity range in the conventional rehabilitation device is solved, and the robot is portable.

The invention provides a seven-degree-of-freedom exoskeletal rehabilitation robot for upper limbs. The seven-degree-of-freedom exoskeletal rehabilitation robot for upper limbs comprises a front arm and wrist joint movement mechanism, an elbow joint movement mechanism, an upper arm movement mechanism, a gravity compensation movement mechanism, a shoulder joint movement mechanisms and a chair mechanism which are sequentially connected. The seven-degree-of-freedom exoskeletal rehabilitation robot for upper limbs is driven and controlled by a motor to help a hemiplegic patient do active and passive training for upper affected limbs, including bending / stretching of wrist joints, adduction / abduction movement of the wrist joints, inward / outward rotating movement of the front arms, bending / stretching of elbow joints, bending / stretching of shoulder joints, inward / outward rotating movement, and outward swinging / adduction movement.

The invention relates to a device for mobilizing and rehabilitating an upper limb of a patient and a method of assembling such a device, It may be made up by assembling at least two adjacent elements chosen from a set comprising a shoulder module (105) (ShouldeRO), an arm module (205) (ROThum), an elbow module (305) (elBOT), a forearm module (405) (ROTuln), a wrist module (505) (wristlC), a dorsal holding device (107), an elbow shell CC and a hand shell (514). Each of the elements (105; 205; 305; 405; 505; 107: CC; 514) of the set is designed to be secured to at least one other adjacent element (105; 205; 305; 405; 505; 107; CC; 514) of the set, at least one assembly of a first element with a second element being achievable by engaging a male piece (600) secured to the first element in a female piece (610) secured to the second element in a direction of engagement which is not subjected to any load when the device is in operation, and by locking said male piece (600) in said female piece (610) using means that can be unlocked under the effect of a pull in a direction opposite to said direction of engagement

The invention discloses a rehabilitation robot control system which comprises human-machine interface equipment 1, an upper computer PC 2, a multi-axis motion controller 4, a motor control unit 5, a sensing unit 6 and a CAN (controller area network) bus 7. The rehabilitation robot control system ensures that postures of a robot and a patient are balanced in a rehabilitation training process; the reliability, the maintainability and the instantaneity of the system are improved. The invention further discloses a rehabilitation robot control method.

The invention discloses a sitting and lying type lower limb rehabilitation robot, which can respectively carry out a passive training, an assisted training or an active training according to the damage degree or the rehabilitation stage of a patient. The robot comprises a seat, a mechanical arm, a main industrial control box, a man-machine interaction interface, an electrical stimulation handheld switch, an electrical stimulation electrode plate, an electromyographic signal acquisition electrode plate, a functional electrical stimulation instrument and an electromyographic signal acquisition industrial control box. During the passive training, the lower limb of the patient is trained according to a set movement locus; during the assisted training, the main muscle group of the lower limb of the patient is applied with electrical stimulation pulse; according to the movement locus of a tail end, the electrical stimulation pulse is subjected to sequential control to finish the assisted training; during the active training, the electromyographic signal of the corresponding muscle of the patient is collected; and according to different control algorithms, the patient drives robot to realize the active training. According to the sitting and lying type lower limb rehabilitation robot disclosed by the invention, the traditional physical therapy, occupational therapy and kinesitherapy are organically combined, so that the patient rehabilitation effect can be effectively improved, and the desire of the patient to actively participate is enhanced.

The invention provides a rehabilitation robot control method based on electromyography feedback type impedance self-adaption. The method comprises the steps of identifying the joint extension and flexion states of a training object based on electromyography signal characteristics values, plantar pressure signals and angular velocity signals, determining limb movement intention, and giving electromyography signal characteristic quantities used for describing the active level of the muscles of an affected side by using a method of affected side-mirroring-unaffected side; setting a target impedance equation, describing the function relation between extremity movement track differences and extremity stress, and establishing an impedance function capable of self-adaptive adjustment according to the active level of the muscles of the affected side and joint angles; according to initial anticipated static balance force, analyzing electromyography signals to obtain fatigue degree levels, and finely adjusting the anticipated static balance force. Self-adaptive tracking of anticipated tracks of a lower limb rehabilitation robot is realized by using a position controller. By establishing the self-adaptive adjustment impedance function and adjusting the static balance force by level, rehabilitation training processes can adapt to individuals and control processes are more natural, smooth and reliable and safer.

The invention provides an exoskeleton-wearable rehabilitation robot in the technical field of medical rehabilitation machinery. The robot comprises a lower limb exoskeleton, a shoulder exoskeleton and an upper limb exoskeleton, wherein the lower limb exoskeleton is worn on the lower limbs and waist of a patient; the shoulder exoskeleton is worn on the shoulder of the patient and positioned above the lower limb exoskeleton; and the upper limb exoskeleton is divided into a left upper limb exoskeleton and a right upper limb exoskeleton which are worn on the upper limes of the patient and positioned under the forelimbs of the shoulder exoskeleton respectively. The exoskeleton-wearable rehabilitation robot ensures that the patient can perform rehabilitation training of upper and lower limbs atthe same time, is driven by batteries on the back of the patient, and can be used for solving the problem that the moving range of the patient is limited when carrying out rehabilitation by utilizingthe traditional rehabilitation device.

The embodiment of the invention provides a rehabilitation robot, and belongs to the field of robots. The robot comprises a suspending and weight reducing protection unit (1), a walking and moving unit (4) and a backing plate, wherein the suspending and weight reducing protection unit (1) is positioned above the walking and moving unit (4); a post of the suspending and weight reducing protection unit (1) is connected with the top of the backing plate, and can slide up and down along the backing plate; and the walking and moving unit (4) is positioned under the suspending and weight reducing protection unit (1), and one end of the walking and moving unit (4) is connected with the lower end of the backing plate. The suspending and weight reducing protection unit (1) is designed to slide up and down along the backing plate of a balance assisting handrail unit so as to bring more satisfactory experience to recovered patients.

The invention relates to a finger motor function rehabilitation robot comprising an executing part and a driving part which are connected by steel wire rope outer sleeves (5a, 5b, 5c and 5d), wherein the executing part is divided into a palm bone joint module (2), a near-end joint module (3) and a far-end joint module (4); and the driving part is divided into four independent driving modules (1a, 1b, 1c and 1d) to drive the executing part. Because the whole system realizes far distance and variable distance transmission though steel wire ropes, the hands of people can arbitrarily move in a certain range in a rehabilitation process. The invention has the advantages that each joint of fingers is singly driven in a bidirectional mode; the robot has mechanical position-limiting function and can regulate the maximal rotating range of each finger joint to satisfy the requirement of different motion ranges of a patient in different rehabilitation periods; and the robot is suitable for hands with different sizes to wear in a certain range, and the hands can arbitrarily move in a certain range.

The invention discloses an upper limb hemiplegia rehabilitation robot, which belongs to the technical field of medical appliances, and comprises a shoulder joint motion module, an elbow joint motion module, a forearm and wrist joint motion module, a gravity compensating module, a bracket and a data acquisition module, wherein the two ends of the gravity compensating module are connected with the shoulder joint motion module; the shoulder joint motion module, the elbow joint motion module and the forearm and wrist joint motion module are connected in turn; the shoulder joint motion module is fixedly connected with the top of the bracket; and the data acquisition module is fixedly arranged on the elbow joint motion module. The upper limb hemiplegia rehabilitation robot can help a patient do7-degree-ofmotion-freedom active motion training, including bending, stretching, inward / outward turning and outward / inward swinging motions at the shoulders of the upper limbs of the patent, bending / stretching motions at the elbow joints of the patient, inward / outward turning motion of the forearms of the patient, and bending, stretching and outward / inward swinging motion at the wrist joints of the patient. The robot provides a new rehabilitation training means and can improve the efficiency of rehabilitation training.

The present invention discloses one exoskeleton robot for multiple posture lower limb rehabilitation. The robot includes one support, one guard rail and suspending system, one exoskeleton training system and one computerized control system. The robot is developed through combining international Brunnstrom training method with the physical therapy and operating therapy for apoplexy patient with paralyzed lower limbs. Different training modes, including active pace mode, passively controlled pace mode, passive damp-adjustable pace mode, etc may be realized for different apoplexy patients in different treating stages. The robot is suitable for the lower limb rehabilitating training of patient in sitting, standing or lying state.

The invention discloses a fixed exoskeleton rehabilitation training manipulator, which comprises a wrist support, a thumb, a power source, a forefinger, a middle finger, and so on, wherein the power source is fixed on the wrist support, and the thumb, the forefinger and the middle finger are all connected with the power source. The fixed exoskeleton rehabilitation training manipulator disclosed by the invention has the advantages of small volume, ingenious design, intelligentization and good operating performance. The manipulator is powered by driving a feed screw nut through a motor, has simple structure, and is easy for implementation. The hand exoskeletons bear weight through the support part, so as not to be burdensome on patients. Also, the manipulator provides multi-freedom movement, and can complete more and more skillful rehabilitation training actions.

The invention relates to an intelligent rehabilitation robot system for upper limbs in motor imagery and a training method thereof, and belongs to the field of motor imagery. The system comprises a motion visual stimulation module, an electroencephalogram acquisition module, an upper computer, and an upper limb rehabilitation movement bracket; the upper computer produces corresponding motion stimulation videos according to a rehabilitation training program, and displays the videos to a user through the motion visual stimulation module; the electroencephalogram acquisition module collects synchronous electroencephalogram signals of the user, carries out an amplification and filtering pretreatment, and transmits the electroencephalogram signals to the upper computer; after receiving the electroencephalogram signals, the upper computer generates rehabilitation training control signals through a feature extraction and pattern classification algorithm and outputs the rehabilitation training control signals to the upper limb rehabilitation movement bracket; the user fastens the limb through a fixing mechanism to the upper limb rehabilitation movement bracket, and the rehabilitation movement bracket receives the training control signals and conducts rehabilitation exercise training on the limb according to the corresponding control signals. According to the intelligent rehabilitation robot system for upper limbs in motor imagery and the training method thereof, the precision of rehabilitation training is improved, and the visual comfort of the user is improved.