Wearable upper limb exoskeleton rehabilitation device

Abstract

The invention provides a wearable upper limb exoskeleton rehabilitation device, which includes a fixed backboard served as a base; a driver module can make torque force transfer to each joint by Bowden cable; an exoskeleton module of elbow join is used for coupled rehabilitation movement. rehabilitative training of the elbow, coupled rehabilitation of forearm and exoskeleton of the upper arm and the exoskeleton; a mechanical hard limit device for joint, can achieve mechanical hard limit protection for a forearm connecting rod and a upper arm connecting rod; a three direction adjustable adaptive module, the position of joint winch in the shoulder adduction is adjusted to adopt different somatotype of the patients; a shoulder joint module, the shoulder joint module can achieve rehabilitation training for abduction degree of freedom in the shoulder and rehabilitation training of shoulder flexion and extension degree. The Wearable upper limb exoskeleton rehabilitation device makes use of the wearable structure to realize the free movement of patients during rehabilitation training.

Description

Technical field [0001] The present invention relates to an exoskeleton, and in particular to a wearable upper limb exoskeleton rehabilitation device. Background technique [0002] Many diseases or injuries can cause damage or even loss of upper limb motor functions. The upper limbs have many degrees of freedom and can perform many fine movements in daily life. They are closely related to our daily lives. Therefore, upper limb motor dysfunction will have a negative impact on patients' daily lives. Quality is seriously affected. For example, the most common sequelae of stroke patients is hemiplegia, and the most difficult thing to recover is the motor function of the upper limbs. Medical theory and practice have proven that in order to prevent muscle disuse atrophy, patients with limb injuries must undergo effective limb training to restore their functions. The upper limb exoskeleton rehabilitation robot can reduce the burden of rehabilitation therapists and promote patients...

AI Technical Summary

Problems solved by technology

The patent publication number is CN101357097, the patent name is the five-degree-of-freedom exoskeleton upper limb rehabilitation robot, and the application date is July 8, 2008. The Chinese invention patent device can assist patients with impaired or lost upper limb motor function in rehabilitation training, but the device Since the exoskeleton is fixed on the bracket, the free movement of the patient will be severely restricted during the rehabilitation process. It is very easy for the patient to feel fatigue if they maintain the same posture for a long time. Installing the motor directly on the joint of the exoskeleton increases the system inertia of the exoskeleton

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