Rope-driven exoskeleton type upper-limb rehabilitation robot system

Abstract

The invention provides a rope-driven exoskeleton type upper-limb rehabilitation robot system, comprising a supporting seat, a control system and a driving device, wherein a shoulder rope rack adjusted and positioned above a human shoulder joint is fixedly arranged on the supporting seat; an upper arm ring and a forearm ring are respectively and fixedly arranged on a human body upper arm and a human body forearm; a forearm rope penetrates through a rope outlet hole in the shoulder rope rack, and is connected with the forearm ring; an upper arm rope penetrates through the rope outlet hole in the shoulder rope rack, and is connected with the upper arm ring; a tension pressure sensor for measuring the tension of the rope in real time is connected in series with the interior of each of the upper arm rope and the forearm rope; the control system is connected with the tension pressure sensor; the driving device is connected with the control system; the driving device is simultaneously connected with the upper arm rope and the forearm rope; the tension pressure sensor feeds back a tension signal to the control system; the control system controls the driving device to drive the upper arm rope and the forearm rope to stretch or retract according to the position feedback of the driving device and the feedback of the tension pressure sensor, so that the exercise of rehabilitating an arm is realized. According to the rope-driven exoskeleton type upper-limb rehabilitation robot system, the single-joint exercise of the human body upper arm and the human body forearm and the compound exercise of a whole upper limb can be realized; therefore the function of rehabilitation exercise is realized.

Description

Technical field [0001] The invention relates to a medical auxiliary treatment device, and in particular to a rope-driven exoskeleton upper limb rehabilitation robot system. Background technique [0002] With the improvement of social living standards and the advancement of modern medical technology, my country's average life expectancy continues to increase and it is rapidly entering an aging society. As of 2010, my country's elderly population over 60 years old has exceeded 178 million, accounting for 13.26% of the total population. At the same time, the elderly population over 65 years old is approximately 119 million, accounting for 8.87% of the total population. On the other hand, as the pace of life accelerates and the pressure of life increases, the number of patients with stroke and hemiplegia caused by cardiovascular and cerebrovascular diseases and neurological diseases increases year by year. The incidence of stroke (stroke) in my country ranks first in the world...

AI Technical Summary

Problems solved by technology

Traction-type upper limb rehabilitation robots generally have only 2-3 degrees of freedom, directly acting on the distal end of the human upper limbs, while the human upper limbs have 5 degrees of freedom (excluding the wrist), so traction-type rehabilitation robots cannot independently control or assist a single joint exercise

Although the exoskeleton-type upper limb rehabilitation robot composed of rigid rods can realize independent control and auxiliary functions of human joints, there are the following problems: (1) The length of the rods must be adjusted accurately for different trainees, which is practically impossible. It is difficult to realize in the application; (2) the shoulder joint of the human body is very complex, and the rotation center changes with the pose, and the structural design of the shoulder joint of the exoskeleton rehabilitation robot is difficult; (3) the mechanism is relatively heavy, which increases the motion inertia of the human body, Changed the dynamics of the arm

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