Four-branch-chain parallel mechanism neck rehabilitation training robot and force control method thereof

Abstract

The invention discloses a four-branch-chain parallel mechanism neck rehabilitation training robot and a force control method thereof. The four-branch-chain parallel mechanism neck rehabilitation training robot mainly comprises a first actuator, a second actuator, a third actuator, a fourth actuator, a shoulder fixing module, a head fixing module and a force control system. A four-branch-chain parallel mechanism structure is adopted, and the four branch chains are linear actuators with reverse driving capacity, so that the robot can realize sensor-free force control, follow-up movement of the head can be kept, and the flexibility of man-machine interaction is improved; motors of the four actuators are independently controlled, the robot can apply dynamic loads of multiple degrees of freedom to the head and neck, and assistance or resistance confrontation training in pitching, lateral deviation and composite action modes can be achieved; the device is compact in structure and can be carried by a physician for home visit; an autonomous execution capability, which can be used by a patient; the network communication module is added, so that a treatment prescription of a doctor can be downloaded from a cloud platform, diagnosis and treatment data can be uploaded to the cloud platform, and the diagnosis and treatment efficiency of medical care is improved.

Description

technical field [0001] The invention relates to the technical field of automatic rehabilitation training equipment and human exoskeleton robots, in particular to a neck rehabilitation training robot with a four-branch parallel mechanism and a force control method thereof. Background technique [0002] Sitting at a desk for a long time can easily cause discomfort in the cervical spine. In severe cases, problems such as excessive fatigue and arching, ligament thickening, spinal stenosis, etc., compression of nerve roots and spinal cord cause lesions, and symptoms related to the cervical spine appear. The rate is increasing year by year and showing a younger trend. In addition, traffic accidents and sports shocks can also easily cause neck injuries. In the treatment of cervical spondylosis, due to the structural complexity of the vertebrae and the dense peripheral nerves and blood vessels, the conservative treatment method of traction rehabilitation training is generally used....

AI Technical Summary

Problems solved by technology

Although the existing technology realizes the miniaturization of the equipment and reduces the requirements for the use environment, it is convenient for the medical staff to carry it when they visit the clinic, and it can also be used by the patients themselves, which is beneficial to reduce the labor intensity of the medical staff; however, due to the limitation of the mechanism principle, it is impossible to achieve pitching , sideways multi-degree-of-freedom mixed dynamic compound loading training, the mechanism has limited adaptability to the movement of the human head and neck

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