Wrist joint rehabilitation device self-adaptive to changes of human motion axis

Abstract

The invention discloses a wrist joint rehabilitation device self-adaptive to changes of a human motion axis, and the flexibility of the rehabilitation device is improved by adopting a mode of motor driving and rope transmission, autonomous adjustment can be performed according to a wrist-hand size of a user, so that the movement axis of wrist rotation of the patient coincides with the axis of equipment rotation, and the comfort of the equipment is improved; according to the device, the driving axis of the device can be adaptively adjusted according to a skeleton structure and motion characteristics of the human wrist joint and is always parallel to the motion axis of the human wrist joint, so that the safety of rehabilitation training is improved; the wrist joint rehabilitation device canbe self-adaptively used for different patients, the number of degrees of freedom, namely the flexion and extension degree of freedom, the ulnar and radial deviation degree of freedom and the rotationdegree of freedom, required by rehabilitation training is met, and three-degree-of-freedom coupling movement of the wrist joint is achieved. The joint axis offset generated by relative movement of bones can be compensated, and the joint axis offset can change along with the self-adaptive human body movement axis of the joint movement axis of the user.

Description

technical field [0001] The invention relates to a wrist joint rehabilitation device, in particular to a wrist joint rehabilitation device which adapts to changes in the movement axis of a human body. Background technique [0002] With the aging of the population in our country, the number of people with neurological impairment is increasing geometrically. Among these populations, limb paralysis and abnormal gait of stroke patients and elderly neurologically impaired patients are the most common sequelae and causes of disability, and have the most serious impact on patients' self-care ability, quality of life and prognosis. A heavy economic burden on society and families. In recent years, a rehabilitation robot-assisted rehabilitation treatment method has emerged. This treatment method has high efficiency, high precision, reduced work intensity for rehabilitation physicians, and quantitative evaluation of the rehabilitation process, thereby improving the rehabilitation effec...

AI Technical Summary

Problems solved by technology

[0004] Invention patent CN106361539B discloses "a three-degree-of-freedom wrist joint rehabilitation robot and its system". The forearm rotation axis does not coincide with the rotation axis of the wrist rotation mechanism; in addition, the axis of the robot’s wrist joint flexion and extension and ulna-radial deviation cannot keep coincident at all times, and it is difficult to adapt to changes in the human body’s motion axis

The wrist joint rehabilitation link involved in these two robots can carry out wrist joint rotation and flexion and extension, but it cannot realize the radial deviation movement which is also very important in wrist joint rehabilitation training, and it is difficult to make the robot and human body rotate and flexion and extension. The axes keep coincident, making it difficult to adapt to changes in the axis of human motion

[0007] The number of degrees of freedom driven by existing rehabilitation equipment is less than the number of degrees of freedom required for rehabilitation training. It is difficult for rehabilitation equipment to compensate for the offset of joint axes caused by relative movement of bones. It is difficult for rehabilitation equipment to adapt to changes in the axis of human motion. The flexibility and less comfortable

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