Wearable exoskeleton upper-limb rehabilitation robot

Abstract

The invention discloses a wearable exoskeleton upper-limb rehabilitation robot. The wearable exoskeleton upper-limb rehabilitation robot comprises an arm adjustment component, a shoulder joint flexion and extension component, a shoulder joint folding and unfolding component, an upper-limb rotational motion component, an elbow joint flexion and extension component,, a front-arm rotational motion component, a wrist joint flexion and extension component and a frame motor component. The arm adjustment component is fixed to the frame motor component. The arm adjustment component, the shoulder joint flexion and extension component, the shoulder joint folding and unfolding component, the upper-arm rotational motion component, the elbow joint flexion and extension component, the front-arm rotational motion component and the wrist joint flexion and extension component are connected in sequence. The wearable exoskeleton upper-limb rehabilitation robot has the advantages that six-freedom-degree motion of flexion and extension as well as inward folding and outward unfolding of shoulder joints, internal and external rotation of upper arms, flexion and extension of elbow joints, internal and external rotation of front arms and flexion and extension of wrist joints can be achieved, and one-freedom-degree motion of arm adjustment can be also achieved; all the joints of the upper-limb rehabilitation robot are driven indirectly, the weight of robot arms is reduced, weight loading capability of the robot arms is improved, mechanical structure is simplified, and flexibility of the robot is improved.

Description

technical field [0001] The invention belongs to the field of rehabilitation robots, in particular to a wearable exoskeleton upper limb rehabilitation robot. Background technique [0002] In recent years, the use of rehabilitation robots to provide auxiliary training for patients has become more and more widely used. The rehabilitation training of upper limb rehabilitation robot has a certain therapeutic effect on patients with hemiplegia. After nerve damage, specific function training is essential for the recovery of limb function. So far, most clinical therapists perform rehabilitation training on patients as a heavy, high-intensity physical activity, and therapists cannot accurately grasp and obtain the motion parameters required by hemiplegic patients. Therefore, there are certain difficulties in formulating or improving related rehabilitation training programs for new training programs for patients. Physicians can't just look at the patient's rehabilitation training an...

AI Technical Summary

Problems solved by technology

So far, most rehabilitation robots mainly rely on the parameter values ​​set in advance by rehabilitation physicians in the process of assisting patients to complete rehabilitation training. However, according to hemiplegia therapy, in modern hemiplegia rehabilitation, according to Regular changes in muscle strength, muscle tension, and movement patterns generally divide the entire recovery process of hemiplegia into three stages: flaccidity, spasticity, and recovery. The characteristics of patients corresponding to different recovery stages are quite different. At this time, if Still carrying out rehabilitation training according to the parameters set in advance will not only be detrimental to the patient's rehabilitation training, but will even cause secondary damage to the patient.

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