Four-degree-of-freedom elbow and wrist joint rehabilitation robot

Abstract

The invention discloses a four-degree-of-freedom elbow and wrist joint rehabilitation robot and belongs to the field of rehabilitation medical equipment. The four-degree-of-freedom elbow and wrist joint rehabilitation robot comprises a height adjustment component, a wrist component, a forearm component and an upper arm component, wherein the height adjustment component comprises a base and a lifting column; the upper arm component comprises an upper arm fixing base, a first motor, an upper arm rack, an upper expansion bracket, a first electric push rod, an upper arm support and a first six-dimension force sensor; the forearm component comprises a second motor, a forearm rack, a forearm expansion bracket and a second electric push rod; and a wrist joint component comprises a third motor, asecond six-dimension force sensor, a wrist bracket, a fourth motor, an annular support and a handle. The rehabilitation robot can realize buckling / stretching exercises of upper arm and forearm, four-degree-of-freedom passive training and active training of dorsal / palmar flexion, internal / external rotation of the wrist joint and independent and coupling training of each joint. The two six-dimensionforce sensors can be used for precisely perceiving human-computer interaction force sense information, so that rehabilitation exercise can be smooth.

Description

technical field [0001] The invention relates to the technical field of rehabilitation medical equipment, in particular to a four-degree-of-freedom elbow-wrist joint rehabilitation robot. Background technique [0002] The latest statistics show that there are 70 million stroke patients in my country, 2 million new strokes every year, 1.65 million stroke deaths every year, and about 75% of the survivors are disabled and lose their ability to move their limbs. In 2017, the number of people over the age of 60 in my country has exceeded 230 million, and the increasingly serious population aging will lead to an increase in the number of physically disabled people. For patients with stroke, stroke and paraplegia, the quality of life depends on the degree of recovery of the function of the disabled limbs. It has always been the goal of rehabilitation workers to use advanced rehabilitation technology to improve the motor function of patients' limbs, so that patients can achieve the ...

AI Technical Summary

Problems solved by technology

[0006] The purpose of the present invention is to overcome the defect that most upper limb rehabilitation robots in the prior art cannot accurately perceive the active movement of the human body and can only complete single-arm rehabilitation training, and provide a four-degree-of-freedom elbow and wrist that can accurately perceive the patient's active movement intention The joint rehabilitation robot provides patients with a more flexible active and passive rehabilitation training, avoiding secondary damage to the patient due to the poor flexibility of the rehabilitation robot, and the rehabilitation robot of the present invention can interconnect multiple systems to coordinate the arms Rehabilitation training, the patient's healthy limb can drive the affected limb to perform master-slave rehabilitation training

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