Three freedom shoulder, elbow joint force feedback type healing robot

Abstract

The invention provides a force feedback rehabilitation robot of shoulder joint and elbow joint with three degrees of freedom. The rehabilitation robot comprises a base, a straight motor arranged on the base, a rotary motor support base arranged on the straight motor, a rotary motor arranged in the rotary motor support base, a V-range motor support base connected with the rotary motor and a V-rangemotor arranged on the V-range motor support base; the V-range motor is connected with a cantilever rotating shaft by a small gear and a big gear; cantilevers are arranged on the cantilever rotating shaft; a linear guide track, a rolling ball screw rod, a cantilever motor, a screw rod nut and a handle are arranged on the cantilever arranged at one side of the cantilever rotating shaft, and a balance weight is arranged on the cantilever arranged at the other side of the cantilever rotating shaft. The rehabilitation robot is mainly characterized in that the rehabilitation robot can respectivelycarry out the single-joint motion training of the shoulder joint and the elbow joint and can also carry out the dual-joint complex motion training; the motion training space of the shoulder joint is increased, the number of the training freedom degree is increased, the control algorithm is simple, the force feedback leads the motion to be more accurate and reliable, and the rehabilitation robot can simultaneously provide the detection for the end mechanical information.

Description

(1) Technical field [0001] The invention relates to a robot, in particular to a robot for assisting shoulder and elbow joints of hemiplegia patients in rehabilitation training. (2) Background technology [0002] According to relevant data, the annual incidence rate of cerebrovascular patients in my country is 2 million per 100,000 people, and the annual new cases are more than 1.5 million, causing economic losses to the country of more than 10 billion per year. It goes without saying that hemiplegia brings a heavy economic burden to the society and family, and seriously affects the quality of life of patients. [0003] The process of neurorehabilitation treatment is a hard work, mainly relying on rehabilitation physicians to perform one-on-one manual operations on patients. Robotics has strong advantages in labor saving, precise control of movement, recording of relevant parameters, and providing different training strategies for different actual situations. [0004] The c...

AI Technical Summary

Problems solved by technology

[0004] The characteristics of rehabilitation robots currently on the market are: mainly used for single-joint rehabilitation training, few degrees of freedom, small movement space, and lack of mechanical testing, etc.

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