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

Abstract

The invention belongs to the technical field of medical devices, and specifically relates to a force-position sensing device and a robot for two-degree-of-freedom limb joints, aiming to solve the problem that the rehabilitation training devices in the prior art cannot realize the force-position sensing and poor flexibility of human joints, and are easily The problem of causing damage to human joints; the device includes a linear drive mechanism, a spherical link drive mechanism, a motion actuator, and is respectively fixed on the first base and the second base that constitute the two areas of the two-degree-of-freedom limb joint; the linear drive mechanism For controlling the limb swing in the corresponding area, the linear drive mechanism is provided with a first motor and a linear displacement sensor for obtaining the actual linear movement amount; the spherical link drive mechanism is provided with a second motor for controlling longitudinal swing and for obtaining the output position Angle detection components and force information; the invention can monitor joint angle position information and human-computer interaction force information in real time, and realize safe and efficient compliance control and rehabilitation training.

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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