1228 results about "Rehabilitation robot" patented technology

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 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 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 exoskeleton type upper limb rehabilitation training robot, which includes a base, two mechanical arm assemblies and six motor drive assemblies; the base includes a mobile base, an electrical box, an electric lifting column, a base platform, Motor mounting angle bracket, base rotating motor, coupling, base main bearing seat, base ball screw nut assembly, base nut seat, base common sub-bearing seat, right bracket, base linear guide assembly and left Bracket; the mechanical arm assembly includes a mechanical shoulder belt assembly, a mechanical shoulder joint assembly, a mechanical elbow joint assembly, a mechanical forearm assembly, a mechanical wrist joint assembly, and a mechanical hand assembly; the motor drive assembly includes a motor and a deceleration assembly, a torque sensor assembly and The transmission assembly, the motor and deceleration assembly, the torque sensor assembly and the transmission assembly are all mounted on the same motor-driven base frame. The invention can be worn on the upper limbs of the human body, and can be used to assist the upper limbs of the human body to move in three-dimensional space and carry out 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 exoskeleton type upper limb rehabilitation training robot, comprising a base, a mechanical shoulder girdle assembly, a mechanical shoulder joint assembly, a mechanical elbow joint assembly, a mechanical forearm assembly, a mechanical wrist joint assembly, a mechanical hand assembly and a motor drive assembly; The base supports the entire exoskeleton-type upper limb rehabilitation training robot, the mechanical shoulder girdle component is connected to the base, the mechanical shoulder joint component is connected to the mechanical shoulder girdle component, the mechanical elbow joint component is connected to the mechanical shoulder joint component, and the mechanical forearm component is connected to the mechanical elbow joint The components are connected, the mechanical wrist joint component is connected with the mechanical forearm component, the mechanical hand component is connected with the mechanical wrist joint component, and the motor drive component is used as the power source of the entire exoskeleton upper limb rehabilitation training robot. The invention can be used to assist human upper limbs to move in three-dimensional space and perform 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 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 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 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.

The invention relates to an electroencephalographic and electromyographic information automatic intention recognition and upper limb intelligent control method and system, which are used for rehabilitation treatment of the upper limb of a stroke patient, an electroencephalographic and surface electromyographic signal collector collects and processes the electroencephalographic and surface electromyographic signals of the patient in real time, a mixed kernel function formed by weighting a polynomial kernel function and an RBF kernel function weights is used to perform fitting and prediction, soas to more accurately identify and monitor the motion intention of the patient, and judge the corresponding degree of rehabilitation, according to which a corresponding rehabilitation training strategy is adopted. When the rehabilitation degree of the upper limb of the stroke patient is low, passive training control is adopted. When the rehabilitation degree of the upper limb of the stroke patient is high, active, assisted and resistive control modes are adopted. The hybrid kernel function support vector machine model provided by the invention has better learning ability and generalization performance, high prediction accuracy and good control performance, and the prediction result meets the index requirements of a rehabilitation robot for stroke patients.