Arm Support Mechanism With Torque Feedback for Rehab Motion
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Solution Overview
Problem
Current upper limb rehabilitation robots lack force feedback capabilities and limited armrest motion modes, failing to meet the intricate needs of patients for effective rehabilitation.
Innovation Solution
An upper limb rehabilitation robot with an arm supporting mechanism incorporating an actuator, torque sensor, driving gear, and driven ring gear, which allows for adjustable rotational resistance and precise torque control to facilitate personalized rehabilitation exercises.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a simple armrest structure is used, then the device complexity is reduced, but the force feedback capability and motion mode versatility are insufficient
Solution Approach 1:
The arm supporting mechanism is divided into independent functional modules: actuator module, torque sensor module, driving gear module, and driven ring gear module. Each module performs a specific function, allowing the complex system to be managed through modular components that can be independently designed, manufactured, and adjusted to provide versatile armrest motion modes while maintaining manageable device complexity
Solution Approach 2:
The arm supporting mechanism integrates multiple functions into a single unified structure that provides both traction for mobilizing the upper limb and resistance for strengthening muscles. The mechanism can operate in multiple motion modes (rotation along the x-axis and y-axis) and provides both assistive and resistive forces, making it a multi-functional device that addresses various rehabilitation needs
2Reliability
If force feedback capability is added to the armrest, then the rehabilitation effectiveness is improved, but the device complexity increases
Solution Approach 1:
A torque sensor is integrated into the arm supporting mechanism to detect the torque applied by the patient during rehabilitation exercises. This feedback information is used to adjust the resistance and traction forces provided by the actuator, enabling adaptive force feedback that enhances rehabilitation effectiveness by responding to the patient's actual muscle strength and movement capabilities in real-time
Solution Approach 2:
The patent replaces complex mechanical force feedback mechanisms with a more streamlined system that uses sensors and control algorithms to achieve the same effect. Instead of using purely mechanical springs or levers to provide force feedback, the system uses an actuator controlled by torque sensor data to generate the appropriate resistive and traction forces, reducing mechanical complexity while maintaining or improving feedback accuracy
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enables precise adjustment of rotational traction and resistance to meet individual patient needs, enhancing the effectiveness of rehabilitation exercises by providing accurate force feedback.
Implementation Method 1
an actuator, a torque sensor, a driving gear
Implementation Method 2
a torque sensor, connected to the actuator and the driving gear; The torque sensor is to detect an output torque of the actuator
Implementation Method 3
a driving gear, a driven ring gear; the driving gear drives the driven ring gear to rotate
Data Source
AI summary
An arm supporting mechanism for an upper limb rehabilitation robot includes: a main body; an actuator fixed to the main body; a driving gear that is connected to the actuator and is to rotate in response to actuation of the actuator; a torque sensor connected to the actuator and the driving gear; a driven ring gear meshed with the driving gear and slidably connected to main body; and an armrest that is fixed to the ring gear and is to provide support to an arm of a user.