Exoskeletal upper limb rehabilitation training robot

Abstract

The invention discloses an exoskeletal upper limb rehabilitation training robot. The exoskeletal upper limb rehabilitation training robot comprises a base component, a shoulder girdle component, a shoulder joint component, an upper arm component and a forearm component. For the exoskeletal upper limb rehabilitation training robot, the shoulder girdle component can completely match the motion law of the human glenohumeral joint, and the demand for the freedom degree by the human upper limb during rehabilitation training in the three-dimensional space is satisfied. Due to the adoption of the configuration method of the freedom degree, the body of a patient and a chair can be fixed to a certain degree, meanwhile, the upper limb of the patient can tightly wear the mechanical arm, so that the body compensation during the training process is reduced, and the correct training movements are realized on the upper limb of the patient. By utilizing a rotating shaft deviation mechanism, a mechanical component is far away from the head of the patient, and thus the oppressing sensation of the patient is alleviated; by controlling the movement of the shoulder girdle component, the shoulder joint component, the upper arm component and the forearm component, the rapid switching of the initial wearing positions of the training modes of the left and right upper limbs of the exoskeletal upper limb rehabilitation training robot is realized, and the complicated regulation process of the existing robot is avoided.

Description

technical field [0001] The invention relates to the fields of robot technology, biomechanics, rehabilitation medicine and rehabilitation engineering, in particular to an exoskeleton type upper limb rehabilitation training robot. Background technique [0002] Exoskeleton robots can be used to assist or expand the human body's motor ability and limb rehabilitation training. At present, there are many robots used in the limb rehabilitation training of stroke patients in the world. The use of exoskeleton robots for limb rehabilitation training has the advantages of fast recovery time, good effect, and low cost. [0003] Most of the existing exoskeleton-type upper limb rehabilitation training robots do not have a mechanism to cooperate with the movement of the shoulder girdle in the realization of the movement of the shoulder joint, and there must be a mismatch of the human-machine joint axis during the training process. In this training situation, the therapist will not wear ...

AI Technical Summary

Problems solved by technology

This kind of compensatory movement will cause some joints to not be trained or not reach the training range and intensity set by the therapist, and the training effect will obviously be affected to a certain extent

However, if the patient's upper limbs are worn closely or the torso is fixed before training, the mismatch of the human-machine joint axis will easily cause secondary injury to the patient's upper limbs.

In addition, most of the existing exoskeleton-type upper limb rehabilitation training robots control the mechanical parts of the shoulder movement, which are mostly concentrated on both sides of the patient's head, which will cause the patient to have a strong sense of oppression

Most patients will tilt their head or sideways away from the mechanical parts during the training process, which will cause the patient to deviate from the correct wearing position or sitting position, resulting in further mismatch of the human-machine joint axis, affecting the training effect, and causing secondary injuries to the patient's upper limbs in severe cases

In addition, the existing exoskeleton-type upper limb rehabilitation training robot has complicated and time-consuming steps to switch between the left and right upper limb training modes.

Images