Seven-freedom-degree upper limb rehabilitation robot based on combination drive

Abstract

The invention discloses a seven-freedom-degree upper limb rehabilitation robot based on combination drive, and relates to the technical field of medical rehabilitation. The rehabilitation robot comprises three modules, i.e., a shoulder joint medial rotation / lateral rotation movement module, a shoulder joint extension / flexion and adduction / abduction and elbow joint extension / flexion and pronation / supination module and a wrist joint radial side flexion / ulnar side flexion and dorsal flexion / palmer flexion movement module, and the rehabilitation robot can achieve movement of seven freedom degrees. Under the coordination of the seven freedom degrees, the robot can simulate and achieve all types of movement of the upper limbs of a human body; the seven freedom degrees can singly achieve independent movement of each joint and also can achieve spatial motion through linkage motion of all the joints. The rehabilitation robot is designed to be more suitable for the structure of the human body, and the movement process of the rehabilitation robot is closer to the movement rule of human arms; a wrist joint part of the rehabilitation robot is driven by a steel wire rope, and a drive motor is moved backwards to be installed on a shoulder joint cantilever horizontal plate; thus, the weight of the wrist joint part is reduced, and the wrist joint part is more convenient to control and simpler and more compact in structure.

Description

technical field [0001] The invention belongs to the technical field of medical rehabilitation, and in particular relates to a seven-degree-of-freedom upper limb rehabilitation robot based on a hybrid drive, which can realize the rehabilitation training function of each joint of the upper limbs of patients with stroke and similar diseases. Background technique [0002] my country is the country with the highest incidence of stroke, and stroke is also one of the diseases with the highest mortality in my country. With the rapid development of my country's economy, medical conditions have been gradually improved, and there are more and more stroke survivors. However, the cost of treatment of stroke sequelae has become a heavy financial burden on the families of these patients. Many of the survivors will be left with varying degrees of disability. [0003] For stroke patients, rehabilitation training for their hemiplegia is a very important and key medical method. Researchers ...

AI Technical Summary

Problems solved by technology

The invention is not light and compact enough, and the moment of inertia is large; the adjustment is very inconvenient, and the individual adaptability is poor; it cannot support the rehabilitation exercise of the patient's upper limb joints; there are deficiencies in the safety design

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