Parallel flexible cable driven robot for upper limb rehabilitation and implementation method thereof

Abstract

The invention relates to a parallel flexible cable driven robot for upper limb rehabilitation and an implementation method thereof. The technical scheme is as follows: the whole upper limb rehabilitation robot forms a cuboid-shaped truss structure through support frames, wherein flexible cable drive modules, tension detection modules, fixed guide wheels and a chair drive motor are arranged on the bottom of the support frames, and meanwhile, a clean and tidy rehabilitation treatment platform is provided; a rotating chair is positioned above a base and drives the body of a patient to rotate freely according to the rehabilitation requirements; the seven groups of flexible cables are connected to a front arm support, and the upper limbs of the patient are driven by the front arm support to realize the rehabilitation training. The upper limb rehabilitation robot has the beneficial effects that the flexible cables are good in flexibility, so that the rigid contact with the human body can be avoided, and the comfort of the rehabilitation training is improved; the inside tension of the flexible cables is monitored in real time during the rehabilitation training process, so that the safety of the rehabilitation training is improved; the upper limb rehabilitation robot has three rehabilitation modes, including the passive mode, the assistant mode and the active mode, the rehabilitation mode can be freely selected according to the rehabilitation stage and the different rehabilitation requirements, therefore, multiple purposes are achieved with one device, and thus the cost of the device is reduced.

Description

technical field [0001] The invention relates to a medical rehabilitation training device, in particular to a parallel cable-driven upper limb rehabilitation robot and its implementation method. Background technique [0002] With the rapid development of the economy, the improvement of people's living standards and medical and health care services, the quality of life of residents has been greatly improved. At the same time, the problem of population aging and the problem of the disabled is a price that must be paid in the process of social development. . The elderly and the disabled have a greater demand for rehabilitation services, but various rehabilitation projects are in short supply. Meeting the rehabilitation medical needs of the ever-increasing number of vulnerable groups such as the elderly and the disabled, improving their athletic ability and thus improving their ability to live independently, has positive social significance for ensuring social harmony, stability...

AI Technical Summary

Problems solved by technology

However, the upper limb rehabilitation robot is a parallel flexible cable suspension robot. No matter how many servo motors are used, the system itself has incomplete constraint characteristics. pose control and force control

[0004] The existing upper limb rehabilitation robots have the following problems and difficulties to be solved: (1) Configuration design problems, the terminal traction upper limb rehabilitation robot is difficult to implement single-joint training, and the exoskeleton upper limb rehabilitation robot has relatively low stiffness, cumulative Disadvantages such as large error, poor motion continuity, large inertial impact, and difficult force control; (2) Human-machine compatibility issues, upper limb rehabilitation robots need more degrees of freedom to completely reproduce and match upper limb movements, which will lead to mechanical Complex and difficult to control; (3) Gravity compensation problem requires gravity compensation of the robot and lightweight design of the robot; (4) Complex force-position control problem. Existing upper limb rehabilitation robots can achieve high-precision trajectory tracking control, but few There are robots that can provide the sophisticated force control needed for rehabilitation

Images