A lasso-driven exoskeleton robot for upper limb rehabilitation

Abstract

The invention discloses a lasso drive based upper limb rehabilitation exoskeleton robot comprising a wrist outward swaying / inward retraction joint, a wrist forward flexion / backward extension joint, a wrist medial rotation / lateral rotation joint, an elbow forward flexion / backward extension joint, a shoulder forward flexion / backward extension joint, a shoulder forward flexion / backward extension joint, a shoulder medial rotation / lateral rotation joint and a lasso drive device. The shoulder, elbow and wrist medial rotation / lateral rotation joints are connected with motors fixed on a support through lassos, and driving moment is transmitted to all the joints through the lassos; the wrist outward swaying / inward retraction joint and the wrist forward flexion / backward extension joint are directly driven by motors; encoders are arranged in the motors and used for measuring internal posture of the exoskeleton; a six-dimensional force sensor is mounted to the wrist and used for measuring man-machine interaction force; balance springs are mounted to the shoulder and the elbow, and gravity balance of the whole mechanism can be realized. The problem of overlarge joint weight and inertia is solved, lightweight design is realized, power consumption is reduced effectively, system safety performance is improved, and multi-mode rehabilitation training can be realized.

Description

technical field [0001] The invention belongs to the field of medical equipment, and relates to a lasso-driven upper limb rehabilitation exoskeleton robot. Background technique [0002] Stroke, also known as cerebrovascular accident or apoplexy, is a sudden neurological impairment caused by cerebrovascular abnormalities, which has the characteristics of high morbidity, high mortality, and high disability rate. According to the statistics of the Ministry of Health, the morbidity and mortality of stroke increase rapidly with age. At present, the total number of stroke patients in China exceeds 8 million cases, with 1.2 to 1.5 million new cases and 800,000 to 1 million deaths each year. About 3 / 4 of the survivors will suffer from different degrees of hemiplegia caused by motor nerve damage, resulting in Motor dysfunction, seriously affecting the quality of life. [0003] The treatment and rehabilitation of post-stroke hemiplegia has become a research hotspot in modern rehabili...

AI Technical Summary

Problems solved by technology

However, this patent installs the driving motors on the joints, which makes the exoskeleton have a larger mass, inertia and volume as a whole, increases the overall load, power consumption and performance requirements of the driving components of the system, reduces the control accuracy, and In the event of system failure or abnormal power failure, there will be a safety hazard of the affected limb falling

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