Two-freedom-degree upper-limb rehabilitation assistive exercise device driven by dielectric EAP (electroactive polymer) and method thereof

Abstract

The invention discloses an upper-limb rehabilitation assistive exercise device driven by a dielectric EAP (Electroactive Polymer) and a method thereof, which relate to a medical rehabilitation appliance. The upper-limb rehabilitation assistive exercise device comprises a rocker, a cross hinge, a driver, a fixing rod, a connecting ring, a bracket and a base. The method comprises two exercise modes: in a passive exercise mode, changing an actual output moment of a driver set by changing voltage applied to the driver and an applying sequence in order to realize the rotation of the rocker, thereby driving the upper limbs of a patient to move; and in an active exercise mode, changing the actual output moment of the driver set by changing the voltage applied to the driver and the applying sequence, using the actual output moment as a damping moment, and overcoming the damping moment by moving the upper limbs of the patient in order to reversely rotate the rocker. The invention has the advantages of simple structure, convenient use, small size, low machining accuracy requirement and low cost; the characteristics of the dielectric EAP are similar to the characteristics of human muscle, and the flexible driving characteristic of the dielectric EAP increases the safety and the comfort of a rehabilitation exercise process.

Description

technical field [0001] The invention relates to an auxiliary training device for upper limb rehabilitation driven by a dielectric type EAP, which belongs to the technical field of medical rehabilitation equipment. Background technique [0002] Stroke, commonly known as apoplexy, has an acute onset, and severe cases manifest as hemiplegia, aphasia, coma or even death. According to the results of the third national cause of death survey in my country, stroke has become the number one cause of death in China. The monitoring results of the past two decades show that the annual death toll of stroke exceeds 2 million, with an annual growth rate of 8.7%. In addition to the high fatality rate, stroke also has the characteristics of high disability rate and high recurrence rate, which seriously threatens the life and quality of life of the people. According to the survey of the National Cardiovascular Professional Committee, 3 / 4 of the surviving stroke patients in the country suffe...

AI Technical Summary

Problems solved by technology

However, the driving force of the currently developed rehabilitation robots with more degrees of freedom is mainly provided by the motor / gear mechanism, which makes this series of rehabilitation devices expensive and takes up a lot of space.

Rehabilitation devices powered by pneumatic artificial muscles require an accompanying air source, which may also cause corresponding inconveniences

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