A coupling motion mechanism and a shoulder joint rehabilitation training device including the mechanism

Abstract

The invention discloses a coupled motion mechanism applicable to a shoulder joint rehabilitation training device. The coupled motion mechanism comprises a first shoulder component and a second shoulder component which can rotate relative to the first shoulder component. A first disc component is disposed on the first shoulder component. A second disc component is disposed on the second shoulder component. The first disc component and the second disc component are connected through a rope. The rotation of a rotatable part, which can rotate in a first direction, on the first disc component can drive the second shoulder component to rotate relative to the firs shoulder component, acting force on the rope is thus generated, a rotatable part on the second disc component can be driven to rotate in a second direction, and coupled motions with multiple freedom degrees can be achieved. The invention further discloses the shoulder joint rehabilitation training device using the coupled motion mechanism. By the coupled motion mechanism, two motions can be driven by one driver, mechanism coupled driving is achieved, energy is saved, manufacturing cost is lowered, weight is reduced, and system flexibility is enhanced.

Description

Technical field [0001] The invention belongs to the technical field of medical rehabilitation training equipment, and more specifically, relates to a coupling movement mechanism and a shoulder joint rehabilitation training device including the mechanism. Background technique [0002] Medical rehabilitation training equipment is mainly used to assist, for example, patients with corresponding limb activities to promote limb movement and help rehabilitation training. Because of its combination with robot technology, it can overcome the drawbacks of traditional manual training, and can even record various data or graphics during training to provide accurate treatment and evaluation parameters, which can significantly improve the rehabilitation effect and efficiency. [0003] The shoulder joint is the most flexible ball-and-socket joint in the whole body. It can be used for flexion, extension, contraction, extension, rotation and circumflex movement. Most of the movements of the upper l...

AI Technical Summary

Problems solved by technology

[0005] However, the main problem with the above-mentioned shoulder joint rehabilitation training device is that one driving mechanism can only drive the movement of the device with one degree of freedom. In order to meet the requirements of multiple degrees of freedom, multiple driving mechanisms need to be used, thereby greatly increasing the complexity of the control of the device. degree as well as structural dimensions and weight

In addition, this mechanism uses pneumatic muscles to provide driving power. Since the pneumatic muscles can only rely on their own expansion to provide power in the direction of contraction, they can only drive in one direction, which is not easy to control flexibly.

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