Wire-Driven Wrist Training Mechanism for Rehabilitation
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Solution Overview
Problem
Existing passive training upper limb rehabilitation mechanisms fail to adapt to individual patient differences, resulting in poor training effects and user experiences, with high motor radiation and noise, and increased psychological pressure.
Innovation Solution
A wire-driven wrist three-degree-freedom training mechanism comprising a wrist executing mechanism, a wrist linking mechanism, a forearm mechanism, and an elbow linking mechanism, utilizing rotating pairs and wire pulleys to provide controlled passive training, reducing motor noise and volume, and improving arm rest adjustability.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If passive training mode is used for wrist rehabilitation, then the training mechanism can be simpler with fewer motors, but the rotation overlap between wrist and training device is difficult to control
Solution Approach 1:
The patent implements dynamic adjustment of the arm rest position and orientation to adapt to different patients' anatomical variations. The arm rest can be adjusted in multiple directions to maintain optimal spatial alignment between the patient's wrist rotation center and the training device rotation center, ensuring reliable rotation overlap control while keeping the mechanism simple
Solution Approach 2:
The patent changes the adjustable parameters of the arm rest (position, angle, orientation) to accommodate individual patient differences. By adjusting these parameters, the system maintains proper alignment and rotation overlap control without requiring complex mechanisms at each joint
2Measurement precision
If motors are equipped at each joint of traditional rehabilitation manipulator, then the control precision is improved, but the volume and motor radiation and noise will increase causing psychological pressure to patient
Solution Approach 1:
The patent extracts the motors from the joint locations and relocates them to a remote position. The wire-driven mechanism transmits force from the remotely located motors through cables to the wrist joints, eliminating the need for motors at each joint and thus reducing noise and radiation exposure to the patient while maintaining control precision
Solution Approach 2:
The patent introduces wires/cables as intermediary elements to transmit mechanical force from the remotely located motors to the wrist joints. This intermediary mechanism allows precise control to be maintained without requiring physical presence of motors at the joints, thereby eliminating noise and radiation harm to the patient
3Device complexity
If traditional arm rest design is used, then the structure is simpler, but the arm rest is inconvenient to adjust and the overlap between patient arm center and equipment rotation center is not enough
Solution Approach 1:
The arm rest is designed with dynamic adjustability, allowing position and orientation changes to adapt to different patients' anatomical characteristics. This dynamic adjustment capability ensures optimal alignment between the patient's arm center and the equipment rotation center while maintaining relatively simple structure
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 effective passive training of wrist movements, enhances user experience by improving spatial alignment and reducing motor noise and volume, thereby facilitating better rehabilitation outcomes.
Implementation Method 1
the wrist end wire roulette and the bearing screw constitute a rotating pair
Implementation Method 2
utilizing rotating pairs and wire pulleys to provide controlled passive training
Data Source
AI summary
A wire-driven wrist three-degree-freedom training mechanism comprises a wrist executing mechanism, a wrist linking mechanism, a forearm mechanism and an elbow linking mechanism, and adopts a wire-driven design, through comprehensive utilization of two rotation pairs in the training mechanism, wherein wrist three-degree-freedom passive training is realized through two driving motors. By way of the implementation of the wire-driven wrist three-degree-freedom training mechanism, a patient can adopt a passive training manner to perform rehabilitating training of the upper limbs. The wire-driven wrist three-degree-freedom training mechanism includes a position compensation mechanism and can be adapted to individual differences of patients.