Six-degree-of-freedom upper limb rehabilitation training arm and robot

Abstract

The invention belongs to the technical field of rehabilitation medical equipment, and particularly relates to a six-degree-of-freedom upper limb rehabilitation training arm and a robot. The training arm comprises a shoulder joint assembly, an elbow joint assembly, a forearm rotating mechanism and a wrist joint assembly. The shoulder joint assembly comprises an X-direction shoulder joint driving mechanism, a first right-angle adapter frame, a Z-direction shoulder joint driving mechanism, a second right-angle adapter frame and a Y-direction shoulder joint driving mechanism wherein rotating shafts of the X-direction shoulder joint driving mechanism, the Z-direction shoulder joint driving mechanism and the Y-direction shoulder joint driving mechanism are perpendicular to one another, and the Z-direction shoulder joint driving mechanism is located above the X-direction shoulder joint driving mechanism and the Y-direction shoulder joint driving mechanism. The rehabilitation training robot comprises two symmetrically-arranged training arms, a lifting mechanism and a two-arm distance adjusting mechanism arranged at the top end of the lifting mechanism. Parts of the upper limbs and the upper limb rehabilitation training arms do not interfere with each other and are not in contact with each other, so that the training comfort of a patient is improved.

Description

technical field [0001] The invention belongs to the technical field of rehabilitation medical equipment, and in particular relates to a six-degree-of-freedom upper limb rehabilitation training robot. Background technique [0002] Traditional upper limb rehabilitation training involves one-to-one direct long-term physical contact between the rehabilitation therapist and the patient, and the therapist uses different techniques to perform passive training on the patient's shoulder joints, elbow joints, wrist joints, and finger-metacarpal joints. In addition to language communication and drug treatment, the patient performs a large number of repeated repetitive movements to continuously stimulate the damaged brain nerves and repair the brain nerves. This one-to-one training process is monotonous, time-consuming, and costly, and the rehabilitation therapist consumes a lot of energy and is inefficient. Compared with traditional rehabilitation training, it is more effective to use ...

AI Technical Summary

Problems solved by technology

The exoskeleton-type upper limb rehabilitation training robot must completely match the human's upper arm, forearm and hand with the exoskeleton. Generally, the upper limb and the mechanical arm need to be fixed together, which will increase the patient's discomfort, control failure or mechanical arm failure. Improper length adjustment may even cause secondary injury to the patient

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