Seven-degree-of-freedom series-parallel upper limb exoskeleton rehabilitation robot

Abstract

The invention discloses a seven-degree-of-freedom series-parallel upper limb exoskeleton rehabilitation robot which can perform rehabilitation training on three joints of shoulders, elbows and wrists of upper limbs of a human body in seven degrees of freedom. The seven-degree-of-freedom series-parallel upper limb exoskeleton rehabilitation robot comprises a driving mechanism, a base, a shoulder joint exoskeleton mechanism, an elbow joint exoskeleton mechanism and a wrist joint exoskeleton mechanism. The robot can realize rehabilitation forms of three movement freedom degrees of forward flexion / backward extension, adduction / abduction and inward / outward rotation of the shoulder joint, rehabilitation forms of flexion / extension freedom degrees of the elbow joint, rehabilitation forms of three movement freedom degrees of dorsal flexion / palmar flexion and radial flexion / ulnar flexion of the wrist joint and pronation / supination of the forearm. According to the seven-degree-of-freedom series-parallel upper limb exoskeleton rehabilitation robot, the shoulder joints are driven by the motors, the wrist joints are driven by flexible ropes, the rehabilitation robot has the advantages of being good in flexibility and small in inertia when rotating through rigid-flexible coupling, the rotating centers of all the joints of the robot are better attached to the rotating centers of the human joints, and the rehabilitation treatment effect of a patient is improved.

Description

technical field [0001] The invention relates to the field of rehabilitation robots, in particular to a seven-degree-of-freedom series-parallel upper limb exoskeleton rehabilitation robot. Background technique [0002] Cardiovascular and cerebrovascular diseases, such as stroke and cerebral thrombosis, have always been an important cause of death for Chinese people, especially for middle-aged and elderly people. With the continuous aggravation of population aging and the continuous acceleration of the pace of life, the incidence of cardiovascular and cerebrovascular diseases is also increasing year by year. However, most patients with upper limb dysfunction cannot effectively control their upper limbs, which not only causes great harm to the patient's body and mind, but also has a huge impact on family and daily life. [0003] Clinical medical research shows that patients with upper limb dysfunction usually need repeated rehabilitation training to play a vital role in the re...

AI Technical Summary

Problems solved by technology

At present, the traditional rehabilitation training is to carry out rehabilitation training on the upper limbs of the human body through therapists. This kind of training process has the disadvantages of monotonous training process, low training efficiency, large consumption of human resources and high treatment costs, and it is difficult to ensure the stability and continuity of rehabilitation training. Therefore, it is urgently needed A rehabilitation robot that assists upper limb therapy to solve the above problems

[0004] At present, most of the existing upper limb rehabilitation robots can achieve less degrees of freedom than the number of degrees of freedom required for rehabilitation training and are rigid structures.

In addition, the existing rehabilitation robots ignore the movement characteristics of the skeletal muscles of the human joints. When performing shoulder joint adduction / abduction movements, the existing upper limb rehabilitation robots need to expand the arms to complete the movement, which affects The patient's rehabilitation efficiency and comfort of use may seriously cause secondary damage to the joints, and some upper limb rehabilitation robots design the rotation motion on the upper side of the human elbow joint. Although they can also complete internal and external rotation movements, they can only be trained Part of the muscles on the upper arm, such as biceps and triceps, cannot be trained on the part of the forearm, such as pronator teres, brachioradialis, etc.; Difficult to move disadvantages

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