Upper limb rehabilitation exoskeleton robot based on serial elastic drivers and method

Abstract

The invention discloses an upper limb rehabilitation exoskeleton robot based on serial elastic drivers and a method, and belongs to the field of medical apparatuses. The exoskeleton robot comprises a movable stand, a height adjusting module, a shoulder ascending / descending joint, an external swinging / internal shrinking joint, a flexion / extension joint, an internal rotating / external rotating joint, an elbow flexion / extension joint and a hand module, wherein the shoulder ascending / descending joint can do motions in a vertical direction by virtue of a gravity balancing mechanism; the shoulder external swinging / internal shrinking joint, the flexion / extension joint, the internal rotating / external rotating joint and the elbow flexion / extension joint are driven by virtue of the serial elastic drivers; coders are arranged in the serial elastic drivers for measuring the overall postures of exoskeleton; and a six-dimensional force sensor is arranged on the hand module for measuring human-machine interaction force. The exoskeleton robot provided by the invention has two working modes, namely a left upper limb working mode and a right upper limb working mode, so that the cost of medical rehabilitation equipment is reduced, and a plurality of rehabilitation strategies can be executed in accordance with the paralysis degree of a patient; and the joints of the robot are flexible, so that comfort and safety in a training process are enhanced.

Description

technical field [0001] The invention belongs to the field of medical equipment, and relates to a rehabilitation exoskeleton robot for upper limbs based on a serial elastic driver and a method thereof. Background technique [0002] Stroke is an acute cerebral blood circulation disorder caused by cerebrovascular abnormalities, which has the characteristics of high morbidity, high mortality, high disability and high recurrence rate. With the increasing problem of aging society in our country, the number of stroke patients is also increasing sharply. The hemiplegia and motor dysfunction caused by stroke not only bring great obstacles to the work and life of patients, seriously endanger the physical and mental health, but also cause heavy economic and medical burdens. The traditional clinical treatment of hemiplegia relies on the physician to draw the affected limb by hand for one-on-one passive rehabilitation training. The physician's individual treatment methods, experience di...

AI Technical Summary

Problems solved by technology

[0003] Existing exoskeleton robot systems for upper limb rehabilitation can only achieve rehabilitation training for one affected limb, and there are few training modes, which limits the scope and effect of rehabilitation training. The robot joints are often driven by rigid drivers, which reduces the comfort of the training process. nature, and external disturbances and shocks can cause harm to the patient

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