Three-freedom recovery exercising robot

Abstract

A three-freedom robot for the recovery training is composed of a rotation unit, a rotary table driven by said rotation unit, the vertical and horizontal movement mechanisms arranged on said rotary table, a parallelogram mechanism consisting of two long rods and two short rods, an extending rod connected between one long rod and the output of vertical movement mechanism, and a recovery training terminal connected to one short rod.

Description

technical field [0001] The invention relates to a rehabilitation training device applied to patients with limb dysfunction caused by stroke, spinal cord injury and various accidents, in particular to a three-degree-of-freedom rehabilitation training robot. Background technique [0002] Rehabilitation medicine is one of the four major medical disciplines. With the development of rehabilitation medicine engineering, more and more attention has been paid to the complete rehabilitation of patients. Sports rehabilitation training is currently the most widely used rehabilitation medical project. Clinical research on rehabilitation medicine shows that stroke patients Rehabilitation training of affected limbs is a very important and key medical method. For patients with limb dysfunction caused by stroke, spinal cord injury and various accidents, timely rehabilitation training, especially correct rehabilitation training within the first three months after the injury, can generally ef...

AI Technical Summary

Problems solved by technology

Existing rehabilitation training devices are mainly various types of CPM (Continuous Passive Motion, continuous passive motion) machines. The CPM machine can realize the passive mode, that is, the mechanical arm drives the human hand joints to reciprocate, and a small amount of CPM machines can realize active training. However, in general, the structure of the CPM machine is too simple, the function is single, and it cannot perform multiple modes of rehabilitation training, and it is far from meeting the clinical requirements of rehabilitation medicine; more research on rehabilitation training robots is still in the exploratory stage , most of them consider multiple rehabilitation training modes, but the structure is mostly based on the serial joints of industrial robots, and the characteristics of the rehabilitation training process are not well considered.

First of all, the patient's rehabilitation training is completed under the guidance and participation of professional doctors. In most cases, it starts under the hands-on guidance of professional doctors, and then the patient's healthy upper limbs or their family members and nurses manually pull the sick limbs repeatedly. Exercise, this process is long and labor-intensive. Second, an important feature of this process is that doctors rely on "feeling" to obtain the patient's "feedback" to evaluate the training method when instructing the patient to train. It is difficult to make a quantitative and accurate assessment of the patient's training method in passive rehabilitation training, and it is also impossible to formulate a targeted rehabilitation training plan for the individual differences of the patient; third, from the above two points, it can be seen that there should be The doctor's participation in the guidance is not just the robot pulling the patient's limbs according to a certain path, but the current rehabilitation training robot is a unilateral structure, which cannot reflect this feature; Fourth, the series structure of industrial robots has a good flexibility, but it is relatively cumbersome when applied to rehabilitation training, the control is complicated, and the cost is high, and only part of the modes or functions in the four modes can be realized. Finally, based on the structure of industrial robots in series or partial joints in series, its There are many solutions to reverse movement, so in principle, this structure is not suitable for the patient's active training mode

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