Wrist and finger joint movement rehabilitation training robot

Abstract

The invention relates to a rehabilitation exercising robot of wrist and finger articulation in the medical mechanic technique domain, which is characterized by the following: the rehabilitation exercising robot realizes the automatic auxiliary; the upper machine connects angle detection part and adjustable part by adapter; the robot matches a group of robotic stick clamp apparatus and hand rest on the stick clamp for supporting wrist and palm; the adjustable part contains the speed governing activation device of outputting real-time angle signal on the base of exercising case and magnetic particle clutch whose input shaft connects the output shaft of activation device rigidly; the robot also comprises the following parts: handle output shaft in connection with magnetic particle clutch rigidly, angle detection device of handle output shaft and various usage exercising handle by the handle connection draw-in gear in connection with the handle output shaft rigidly.

Description

technical field [0001] The invention relates to a device for assisting rehabilitation training for patients with motor dysfunction, in particular to an auxiliary training robot device for promoting rehabilitation of motor function by performing exercise training on wrist joints and hand joints of patients with wrist-hand motor dysfunction. Background technique [0002] Exercise rehabilitation training is a major rehabilitation method to improve the motor function of the affected part of patients with motor dysfunction through exercise stimulation. Motor function refers to a comprehensive index including kinematics, sports mechanics, and exercise physiology, including muscle strength, movement coordination, range of motion, and rapid response and strain capacity. [0003] Patients with upper limb dysfunction after spinal cord injury and muscle contracture after burn, patients with upper limb dysfunction after stroke and traumatic brain injury, as well as patients with hand tr...

AI Technical Summary

Problems solved by technology

[0006] Existing wrist-hand sports rehabilitation training equipment has deficiencies in function and design. From the analysis of the function of the actuator, the deficiencies are mainly manifested in the single motion mode, narrow torque adjustment range, and poor quantification.

Existing wrist-hand rehabilitation training devices can only realize one of active movement or passive movement, and cannot realize active-passive combined exercise training mode, and cannot realize online switching of exercise modes

Regarding the problem of the torque adjustment range and quantitative degree of the actuator (that is, the linear problem between the control signal and the actual torque), whether it is friction damping adjustment, electromagnetic damping adjustment, or servo motor torque adjustment, it cannot be effectively solved at the same time. The two issues of torque regulation range and linearization

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