Force and position sensing device for two-degree-of-freedom limb joints and robot

Abstract

The invention belongs to the technical field of medical instruments, particularly relates to a force and position sensing device for two-degree-of-freedom limb joints and a robot, and aims to solve the problems that a rehabilitation training device in the prior art cannot realize force and position sensing of human body joints, is poor in flexibility and is easy to damage the human body joints. The device comprises a linear driving mechanism, a spherical connecting rod driving mechanism, a motion executing mechanism, a first base and a second base, wherein the first base and the second base are fixed to two areas forming a two-degree-of-freedom limb joint respectively; the linear driving mechanism is used for controlling limbs in a corresponding area to swing, and a first motor and a linear displacement sensor for acquiring the actual linear movement amount are arranged in the linear driving mechanism; a second motor for controlling longitudinal swing and an angle detection assembly for acquiring output position and force information are arranged in the spherical connecting rod driving mechanism; and angle position information of joints and man-machine interaction force information can be monitored in real time, and safe and efficient compliance control and rehabilitation training are achieved.

Description

technical field [0001] The invention belongs to the technical field of medical devices, and in particular relates to a force-position sensing device and a robot for two-degree-of-freedom limb joints. Background technique [0002] With the development of society, the problem of population aging is becoming more and more prominent. At the same time, the number of patients with diseases such as stroke and arthritis has greatly increased. These diseases will cause limb movement disorders in patients and seriously affect patients' daily life. . Physical rehabilitation training is essential. Rehabilitation training can increase the exercise intensity of muscles and tendons, repair or reshape damaged nerves by completing motor learning, and reconstruct or improve the motor function of patients' limbs. [0003] However, due to the small number of rehabilitation physicians and the large number of patients in our country, it is necessary to design a rehabilitation robot that can repl...

AI Technical Summary

Problems solved by technology

[0004] In order to solve the above-mentioned problems in the prior art, that is, in order to solve the problem that the rehabilitation training device disclosed in the prior art cannot realize the position and torque perception of the human body joints, the flexibility is poor, and it is easy to cause damage to the drive of the device and the human body joints, the present invention provides A force-position sensing device and robot for two-degree-of-freedom limb joints

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