768 results about "Upper limb rehabilitation" patented technology

The invention provides a five-degree of freedom exoskeleton-type upper limb recovery robot interactive recovery training control strategy. The strategy comprises two training patterns corresponding to the different recovery period of a patient, i.e. a passive interactive recovery training control strategy and an active-auxiliary interactive recovery training control strategy; during passive movement, a surface myoelectric signal of relevant muscles on a healthy upper limb of a patient is picked up and taken as the movement intention of the patient, thereby controlling a robot to drive a diseased side to realize movement passive training; during active movement, the movement intention of an upper limb of a human body is judged through acquiring in real time the arthrosis force moment generated by a diseased limb acting on the robot during movement, and an applied force is converted into the velocity quantity of the tail end of a mechanical arm by means of a proportional controller, thereby driving the robot to follow the intention so as to carry out recovery active-auxiliary training of the diseased limb. The five-degree of freedom exoskeleton-type upper limb recovery robot interactive recovery training control strategy can provide all-around recovery training movement for a clinic hemiplegia patient, thereby increasing the activeness of the patient in recovery training and the confidence of the patient in recovery; meanwhile, the recovery training control strategy also increases the attractiveness of a recovery process and promotes recovery efficacy.

The present invention relates to a wearable robot system for rehabilitation training of the upper limbs that has an improved structure to reproduce in detail motion of a human body by selecting a wearing type structure such that robot links move correspondingly to the motion of the upper limbs while decreasing the volume of a rehabilitation and assistance device based on a robot for rehabilitation training of the upper limbs. According the present invention, it is possible to decrease the volume and increase the available space, in addition to creating smooth motion without interfering with the human body by creating a plurality of robot motion paths and selecting the best path from them, because an operation of four degrees of freedom can be achieved by an operation procedure using redundant.

The invention relates to an upper limb rehabilitation training robot which comprises a first joint, a second joint, a third joint, a fourth joint and a fifth joint; the five joints are sequentially connected serially; the movement of all the joints respectively corresponds to the unfolding / folding of shoulder joints, the bending / extension of the shoulder joints, the bending / extension of elbow joints, the internal rotation / external turning of forearms, the bending / extension of wrist joints and the bending / extension of fingers; all the joints of the robot are driven by independent motors; each joint is provided with a mechanical hard limit and an electric limit to protect the training of a patient; and the second joint and the fourth joint are respectively provided with a adjustment device capable of adjusting relative positions between the second joint and the third joint and between the third joint and the fifth joint. The upper limb rehabilitation training robot provides various rehabilitation movement for the turning of the shoulders, elbows and forearms as well as the wrist and finger joints of the upper limbs of the patient in a three-dimensional space, and can complete the upper limb rehabilitation training to the upper limbs of the patient with higher quality.

The invention discloses an upper limb exoskeleton rehabilitation robot control method based on a radial basis neural network. The method includes the steps that a human body upper limb musculoskeletal model is established; upper limb muscle myoelectric signals and upper limb movement data are collected, the movement data are imported into the upper limb musculoskeletal model, upper limb joint torque is obtained, the radial basis neural network is established and a neural network model is given out; the patient movement intention is recognized, the joint angular speed is subjected to fusion analysis, the result is used for recognizing the training object joint stretching state, and the limb movement intention is determined; and myoelectric signals and joint angles in affected side rehabilitation training are collected in real time, affected side joint torque is obtained through the neural network, joint torque needing to be compensated by an exoskeleton mechanical arm is calculated, myoelectric signal fatigue characteristics are analyzed, the compensation torque magnitude can be adjusted by classifying the degree of fatigue, and a torque controller can be controlled to achieve the effect that an upper limb rehabilitation robot assists patients in rehabilitation training by combining the movement intention. By means of the upper limb exoskeleton rehabilitation robot control method, the rehabilitation training process is made to be more suitable for the patients, man-machine interaction is strengthened, and the rehabilitation effect is improved.

The invention provides a five-freedom exoskeleton type robot for healing upper limbs, which comprises a mounting deck used for mounting the robot. The mounting deck is provided with a lead rail, an erector is arranged on the lead rail and is provided with a height adjustment mechanism, a rotatable mounting arm is arranged on the erector by a rotatable axis. A healing mechanical arm body composed of a shoulder width, an upper arm, a forearm and a hand lever is installed on the rotatable mounting arm. Five freedom joints and five drive motors are respectively arranged on the rotatable axis of each joint; four torque sensors which are connected with the drive motors in a cascading way are respectively arranged on the parts of shoulder, elbow and wrist, wherein, the shoulder parts are provided with two torque sensors, the elbow part is provided with one torque sensor and the push-up part of the wrist part is provided with one torque sensor. The torque sensors that are taken as transfer devices and detecting devices are connected with a motor reducer and an executing mechanism. The robot provides single joint movement of each joint and three-dimension multi-joint compound movement for suffers as well as provides simple and basic movement training of daily life.

The invention discloses an exoskeletal rehabilitation robot for upper limbs. The exoskeletal rehabilitation robot comprises a base, two mechanical arm assemblies and six motor driving components, wherein the base comprises a moving base, an electrical cabinet, an electric lifting post, a base platform, a motor mounting corner bracket, a base rotating motor, a coupling, a base main bearing block, a base and ball screw nut assembly, a base nut seat, a base shared secondary bearing block, a right support, a base linear guide rail assembly and a left support; the mechanical arm assembly comprises a mechanical shoulder girdle assembly, a mechanical shoulder joint assembly, a mechanical elbow joint assembly, a mechanical front arm assembly, a mechanical wrist joint assembly and a mechanical hand part assembly; each motor driving assembly comprises a motor and speed reducing component, a torque sensor component and a driving component which are respectively arranged on the same motor driving base frame. The exoskeletal rehabilitation robot can be worn on the upper limbs of the human body and can be used for assisting the upper limbs of the human body in moving in a three-dimensional space and performing rehabilitation training.

The invention provides an exoskeleton type upper limb rehabilitation robot, comprising a five-degree-of-freedom or three-degree-of-freedom mechanical arm, an auxiliary mechanism and a control system. In the five-degree-of-freedom mechanical arm, a cross arm, a big arm and a small arm are sequentially connected in series to constitute an outreaching / adduction degree of freedom of a shoulder joint, a bending / stretching degree of freedom of the shoulder joint, and a bending / stretching degree of freedom of an elbow joint; the big arm and the small arm are respectively blocked by an arc-shaped sliding rail to respectively constitute an inwards rotation / outwards rotation degree of freedom of the shoulder joint and the inwards rotation / outwards rotation degree of freedom of a wrist joint; and the three-degree-of-freedom mechanical arm comprises three degrees of freedom of the shoulder joint. The auxiliary mechanism comprises a mobile base, servo stand columns and a saddle-shaped seat. The heights of the mechanical arm and the seat relative to the mobile base are respectively regulated by the two stand columns. By matched usage of mechanical limiting and electronic limiting, the rehabilitation safety of a patient is guaranteed. A display device placed before a patient seat can simulate training states under different scenes, and the training states can serve as input signals to control a virtual training game so as to improve the rehabilitation effect of the patient.

The invention discloses an exoskeletal rehabilitation robot for upper limbs. The exoskeletal rehabilitation robot comprises a base, a mechanical shoulder girdle assembly, a mechanical shoulder joint assembly, a mechanical elbow joint assembly, a mechanical front arm assembly, a mechanical wrist joint assembly, a mechanical hand part assembly and a motor driving assembly, wherein the base supports the whole exoskeletal rehabilitation robot for the upper limbs; the mechanical shoulder girdle assembly is connected with the base; the mechanical shoulder joint assembly is connected with the mechanical shoulder girdle assembly; the mechanical elbow joint assembly is connected with the mechanical shoulder joint assembly; the mechanical front arm assembly is connected with the mechanical elbow joint assembly; the mechanical elbow joint assembly is connected with the mechanical front arm assembly; the mechanical hand part assembly is connected with the mechanical wrist joint assembly; the motor driving assembly is used as a power source of the whole exoskeletal rehabilitation robot for the upper limbs. The exoskeletal rehabilitation robot disclosed by the invention can be used for assisting the upper limbs of a human body in moving in a three-dimensional space and performing rehabilitation training.

The invention discloses a rehabilitation robot system for old people with cerebral apoplexy, and belongs to the technical field of rehabilitation robots. The rehabilitation robot system comprises a rehabilitation robot, the rehabilitation robot comprises an upper limb rehabilitation system and a lower limb rehabilitation system of a master-slave mode two-arm exoskeleton structure, the lower limb rehabilitation system comprises a seat, a first master arm and a first slave arm, the first master arm and the first slave arm are arranged on the seat, the first master arm and the first slave arm each comprise a control box, a thigh supporting structure, a crus supporting structure and a foot sole supporting plate, the control boxes, the thigh supporting structures, the crus supporting structures and the foot sole supporting plates are sequentially connected on the seat, and first leg supporting rods and second leg supporting rods are connected among the control boxes, the thigh supporting structures and the crus supporting structures respectively. The upper limb rehabilitation system comprises a seat back arranged on the seat, a second master arm and a second slave arm, the second master arm and the second slave arm are arranged on the seat back, and the second master arm and the second slave arm each comprise a shoulder rotating system, an upper arm auxiliary motion mechanism, a forearm auxiliary motion mechanism, a wrist rotating system and a palm part auxiliary motion mechanism, wherein the shoulder rotating systems, the upper arm auxiliary motion mechanisms, the forearm auxiliary motion mechanisms, the wrist rotating systems and the palm part auxiliary motion mechanisms are connected in sequence. The rehabilitation robot system is low in cost, and multiple freedom degrees are achieved in the use process.

The invention provides an exoskeleton wearable upper limb rehabilitation robot, which comprises a shoulder joint exoskeleton, an elbow joint exoskeleton, a wrist joint exoskeleton and a hand exoskeleton, wherein the shoulder joint exoskeleton has two degrees of freedom; the elbow joint exoskeleton has two degrees of freedom; the wrist joint exoskeleton has one degree of freedom; and the hand exoskeleton has three degrees of freedom, namely the robot have eight degrees of freedom. The exoskeleton wearable upper limb rehabilitation robot is driven by using a harmonic wave speed reducer and a disc type motor serving as a high-power motor to realize zero-rotation error and the good fit of driving and joints of patients. The exoskeleton wearable upper limb rehabilitation robot can be driven by a storage battery, the problem of limit of activity range in the conventional rehabilitation device is solved, and the robot is portable.

The invention provides a seven-degree-of-freedom exoskeletal rehabilitation robot for upper limbs. The seven-degree-of-freedom exoskeletal rehabilitation robot for upper limbs comprises a front arm and wrist joint movement mechanism, an elbow joint movement mechanism, an upper arm movement mechanism, a gravity compensation movement mechanism, a shoulder joint movement mechanisms and a chair mechanism which are sequentially connected. The seven-degree-of-freedom exoskeletal rehabilitation robot for upper limbs is driven and controlled by a motor to help a hemiplegic patient do active and passive training for upper affected limbs, including bending / stretching of wrist joints, adduction / abduction movement of the wrist joints, inward / outward rotating movement of the front arms, bending / stretching of elbow joints, bending / stretching of shoulder joints, inward / outward rotating movement, and outward swinging / adduction movement.

The present invention discloses a double-output shaft active passive upper and lower limbs rehabilitation training mechanism, including a DC machine and a rack, and the DC machine is disposed on the rack, output shaft of the DC machine is provided with a force sensor with one terminal connecting with output shaft of the DC machine, another terminal of the force sensor is connected with a second shaft, the second shaft is disposed with a upper limbs rehabilitation training mechanism and a first bevel gear that meshing with a second bevel gear, a second straight gear meshing with a first straight gear is disposed on a first shaft connected with the second bevel gear, a lower limbs rehabilitation training mechanical arm is disposed on a third shaft connected with the first straight gear, output shaft of the DC machine is provided with a third straight gear meshing with a fourth straight gear, the fourth straight gear is provided with magneto-rheological damper.

It is described a 3D monocular tracking system, being robust, having low cost, easy to install and use, useful for the upper limbs rehabilitation in a patient in need thereof, as well as a home self-directed therapy method for patients having upper limbs' movement disability. The system comprising a) a handle or gripper; b) a computational vision system comprising a video camera; c) software comprising a set of games; d) a processor; and, e) a display apparatus.

The invention provides an upper limb rehabilitation exoskeleton control method based on lower limb gaits. The method comprises following steps: 1), data collection: electromyographic sensors and motion sensors located on lower limbs as well as pressure sensors located on soles of feet collect electromyographic signals, joint angles and sole contact force of different gait categories when a subject walks normally; 2), data pre-processing: the collected electromyographic signals, joint angles and sole contact force are pre-processed; 3), gait recognition; 4), upper limb swinging position matching: corresponding upper limb swinging positions are matched according to the recognized gait categories; 5), exoskeleton control: corresponding control commands are sent to an upper limb rehabilitation exoskeleton driver according to the obtained upper limb swinging positions for performing upper limb rehabilitation exoskeleton control, and the upper limbs are driven to perform rehabilitation training. According to the method, coordination of the upper limbs and the lower limbs is taken into consideration, and the rehabilitation effect is better.

The invention relates to an intelligent rehabilitation robot system for upper limbs in motor imagery and a training method thereof, and belongs to the field of motor imagery. The system comprises a motion visual stimulation module, an electroencephalogram acquisition module, an upper computer, and an upper limb rehabilitation movement bracket; the upper computer produces corresponding motion stimulation videos according to a rehabilitation training program, and displays the videos to a user through the motion visual stimulation module; the electroencephalogram acquisition module collects synchronous electroencephalogram signals of the user, carries out an amplification and filtering pretreatment, and transmits the electroencephalogram signals to the upper computer; after receiving the electroencephalogram signals, the upper computer generates rehabilitation training control signals through a feature extraction and pattern classification algorithm and outputs the rehabilitation training control signals to the upper limb rehabilitation movement bracket; the user fastens the limb through a fixing mechanism to the upper limb rehabilitation movement bracket, and the rehabilitation movement bracket receives the training control signals and conducts rehabilitation exercise training on the limb according to the corresponding control signals. According to the intelligent rehabilitation robot system for upper limbs in motor imagery and the training method thereof, the precision of rehabilitation training is improved, and the visual comfort of the user is improved.

The invention discloses a lasso drive based upper limb rehabilitation exoskeleton robot comprising a wrist outward swaying / inward retraction joint, a wrist forward flexion / backward extension joint, a wrist medial rotation / lateral rotation joint, an elbow forward flexion / backward extension joint, a shoulder forward flexion / backward extension joint, a shoulder forward flexion / backward extension joint, a shoulder medial rotation / lateral rotation joint and a lasso drive device. The shoulder, elbow and wrist medial rotation / lateral rotation joints are connected with motors fixed on a support through lassos, and driving moment is transmitted to all the joints through the lassos; the wrist outward swaying / inward retraction joint and the wrist forward flexion / backward extension joint are directly driven by motors; encoders are arranged in the motors and used for measuring internal posture of the exoskeleton; a six-dimensional force sensor is mounted to the wrist and used for measuring man-machine interaction force; balance springs are mounted to the shoulder and the elbow, and gravity balance of the whole mechanism can be realized. The problem of overlarge joint weight and inertia is solved, lightweight design is realized, power consumption is reduced effectively, system safety performance is improved, and multi-mode rehabilitation training can be realized.

The invention provides an upper limb rehabilitation system and method based on a myoelectric signal and a virtual reality interaction technology. The system comprises a myoelectric signal acquiring and processing part, a virtual reality man-machine interaction part and a muscle function evaluation part, wherein the myoelectric signal acquiring and processing part is composed of a data acquiring module, a signal processing module and a model control module; the virtual reality man-machine interaction part is composed of an upper computer virtual environment module and a force feedback device module; the muscle function evaluation part is composed of a muscular tension quantitative evaluation module and a muscle cooperativeness quantitative evaluation module. According to the rehabilitation method, myoelectric control is used so that a patient subjective intention can be reflected better; a patient keeps initiative in a rehabilitation process by using a virtual reality technology, and the portability, the safety and the effectiveness of rehabilitation trainings are improved. According to the upper limb rehabilitation system and method, an existing clinical rehabilitation evaluation manner can be combined and a muscle function state of the patient is objectively evaluated, so that rehabilitation training standards are provided for the patient and evidences for formulating a therapeutic scheme are provided for rehabilitation doctors.

An intelligent monitoring bed is provided with a mechanical bed body, a lateral turning plate and a drive device and a forward inclined turning plate and a drive device. The lateral turning plate and the drive device and the forward inclined turning plate and the drive device are arranged on the mechanical bed body. A massage air bag and a defecation device are arranged on an upper face of a bed plate. A bedside table is provided with a panel capable of controlling display and a storage chamber capable of storing detection device mechanisms. A pressure sensor, a cardiopulmonary breath sound sensor and a temperature sensor are arranged on the bed body. The bed body is further provided with two side guardrails, an upper limb dragging lever, a lower limb dragging lever and a non-contacting safe alarm switch arranged at a bed side. The upper limb dragging lever is used by a patient to perform upper limb recovery movement. The forward inclined turning plate is matched with the drive device to assists movement. A lower limb training device is used for assisting lower limb recovery motion. The device is high in intelligent degree and convenient to control. In addition, real-time monitoring of cardiopulmonary breath conditions can be achieved and a dangerous situation can be treated in time when being found.

The invention relates to a medical rehabilitation training instrument, in particular to an interchangeable upper limb rehabilitation robot.The interchangeable upper limb rehabilitation robot comprises a movable bottom plate, a control cabinet, a stand column lifting column, an interchangeable upper limb rehabilitation mechanism and a height-adjustable seat.The control cabinet and the stand column lifting column are fixedly arranged on the upper portion of the rear end of the movable bottom plate, the lower portion of the stand column lifting column is fixedly arranged in the control cabinet, and the interchangeable upper limb rehabilitation mechanism is movably fixed to the top end of the stand column lifting column and comprises a shoulder joint adduction and abduction mechanism, a shoulder joint flexion and extension mechanism, a shoulder joint internal rotation and outer overturn mechanism, an elbow joint flexion and extension mechanism, a forearm internal rotation and outer overturn mechanism and a wrist and finger joint extension mechanism in the connection sequence.The interchangeable upper limb rehabilitation robot is comprehensive in function, adjustable in length of assemblies and high in adaptability, and left hand and right hand interchange training can be achieved; besides, active assistance is provided, and investment of medical personnel is reduced.

The robotic upper limb rehabilitation device assists in rehabilitation of an upper limb of a human patient recovering from a stroke or the like. The device is an exoskeleton having an articulated shoulder assembly having five degrees of freedom, including at least two degrees of freedom simulating inner shoulder movement. An upper arm member is pivotally attached to the shoulder assembly, and a forearm assembly is pivotally attached to the upper arm member. An inflatable handgrip is pivotally attached to the forearm assembly. A robotic control unit receives signals from sensors and is configured to activate actuators attached to the exoskeleton to assist upper limb movement when required, or to permit the exoskeleton to conform to upper limb movement when no assistance is required.

The invention discloses a joint compound motion mechanical arm used for rehabilitation training of an upper limb. The mechanical arm comprises a base, an electric lifting column, a T type supporting frame, a main fixed base and an outer skeleton mechanical arm system, wherein the base is placed on the ground; the electric lifting column is fixedly connected with the base; the electric lifting column is fixedly connected with the T type supporting frame; the main fixed base is mounted on a supporting frame; the outer skeleton mechanical arm system is connected with driving motors through the main fixed base; and the driving motors are all mounted on the main fixed base. When the mechanical arm is in use, only the outer skeleton mechanical arm system moves according to a control instruction; the motors are motionless relative to the base; the mechanical arm is light, convenient and flexible, creative in structure, small in occupied space, and stable and reliable in movement; the joint compound motion mechanical arm can be used for assisting a patient with upper limb dyskinesia to finish all kinds of rehabilitation training actions; and meanwhile, the mechanical arm can be used for single-joint rehabilitation training for a shoulder joint and an elbow joint, and also can be used for compound motion rehabilitation training for multiple joints of the upper limb.

The invention discloses an upper limb rehabilitation exoskeleton based on space gravity balance, and relates to an upper limb rehabilitation exoskeleton. The upper limb rehabilitation exoskeleton solves the problem that the existing exoskeleton adopting gravity balance principle is complex in structure or cannot completely realize gravity balance. One end of a shoulder joint connecting frame is connected with a shoulder joint upper skeleton; the other end of the shoulder joint upper skeleton is connected with one end of an exoskeleton big arm; a big arm adjusting nut is connected with a big arm adjusting motor; an adjusting component is mounted on the exoskeleton big arm; a small arm motor base is mounted on a shoulder joint lower skeleton; a small arm adjusting nut is mounted at the output end of a small arm adjusting motor; a balance connecting rod is parallel with the exoskeleton big arm; another adjusting component is mounted on the balance connecting rod; an exoskeleton rotating big arm is connected with the exoskeleton big arm through a big arm axial rotating piece; a plurality of binding mechanisms are respectively and fixedly mounted on the exoskeleton big arm and an exoskeleton small arm. The upper limb rehabilitation exoskeleton is applied to upper limb rehabilitation.

The invention discloses an upper limb rehabilitation system based on biological signals. The upper limb rehabilitation system based on the biological signals is characterized in that a brain electric cap is attached to the surface of a brain, brain electric signals can be sensed through the brain electric cap, features of the brain electric signals are extracted and classified sequentially through a CSP feature extraction algorithm and a classifier with an adaptive LDA classification algorithm after amplification, filtering and noise reduction are performed on the brain electric signals, and then the brain electric signals are translated into drive instructions used to control drive motor equipment and pneumatic tendon auxiliary equipment, a system central processing unit fuses and sorts the drive instructions and motion state data collected by a motion state collector, and then feeds the drive instructions and the motion state data, which are fused and sorted, back to the drive motor equipment, the pneumatic tendon auxiliary equipment and a mobile terminal, and therefore a mechanical arm is driven to perform rehabilitation exercise. Work personnel remotely monitor motion and rehabilitation states of patients through the mobile terminal, and the patients also can invoke rehabilitation games in a display platform through a voice input and output device so as to perform auxiliary rehabilitation training. Accordingly, the upper limb rehabilitation system based on the biological signals improves training effectiveness of the patients, and simultaneously guarantees safety and stability in the training.

The invention discloses an upper limb rehabilitation training method based on a brain-computer interface and a virtual reality technology. A patient wears an electrode cap and a pair of VR glasses, and a computer, an EEG amplifier and a smartphone are connected; the computer judges whether the patient is trained for the first time or not; if yes, EEG signals are collected, individualized classifier calibration is performed, and then one training is started; otherwise, one training is directly started; in the training process, the pair of VR glasses and the smartphone construct an upper limb training action scene for a first-person perspective for the patient, the patient controls motions of the upper limb in a virtual scene in real time through continuous exercise imagination practice, an BCI module in the computer automatically adjusts the classifier according to the current training effect of the patient; after training is finished, the classifier of the BCI module performs self-adaptation adjustment for next training, it is ensured that training difficulty adapts to the patient functional recovery situation, data collection does not need to be performed before each rehabilitation training for calibration, and time is shortened.

The invention provides a horizontal rehabilitation training device for upper and lower limbs. The horizontal rehabilitation training device comprises a driving unit, a rack, lower limb rehabilitation units and an upper limb rehabilitation unit; the driving unit comprises a driving motor, a speed reducer and a clutch; each lower limb rehabilitation unit comprises thigh supports, shank supports, rehabilitation wheels, a crank lever and a slider guide rail mechanism; the upper limb rehabilitation unit comprises handles and a parallelogram four-linkage, and is driven by a motor; the crank levers are driven by the output shaft of the speed reducer to do reciprocating rotation for an angle; sliders in the lower limb rehabilitation units are driven by chutes in the crank levers in the reciprocating rotation to do reciprocating rectilinear movement in sliding rails, therefore linkages which consist of the thigh supports and the shank supports rotate to driven both legs to perform alternate bend and stretch rehabilitation training. The horizontal rehabilitation training device provided by the invention is simple in structure and can move, can be put on a hospital bed for use so as to relieve the own weight-bearing problem brought by the traditional rehabilitation mechanism, has various rehabilitation forms, and not only can be used for passive rehabilitation training but also can be used for active rehabilitation training.

A rehabilitation system that combines robotics and interactive gaming to facilitate performance of task-specific, repetitive, upper extremity / hand motor tasks, to enable individuals undergoing rehabilitation to improve the performance of coordinated movements of the forearm and hand is disclosed. More specifically, the rehabilitation system includes a two degree-of-freedom (DOF) robotic, upper limb rehabilitation system and interactive gaming hardware that is coupled to a computer, to provide a virtual reality-like environment.

Provided is an upper-limb rehabilitation training system by using augmented reality technology. A patient holds a training device with labels by hands to perform a rehabilitation training of an upper-limb movement function in a way of augmented reality game. The upper-limb rehabilitation training system by using the augmented reality technology comprises a video acquisition module, an augmented reality registering tracking module, a rehabilitation game algorithm module, a three-dimensional model module, a live-action fusion module, a user data module and a therapist module. The video acquisition module acquires live-action videos of rehabilitation training of the patient in real time, and the augmented reality registering tracking module identifies the labels and calculates parameters of the live-action videos. The rehabilitation game algorithm module provides augmented reality rehabilitation training games. The user data module saves recorded training data of the patient. The three-dimensional model module stores a three-dimensional model of a virtual object. The live-action fusion module fuses the virtual object with a reality scene to generate augmented reality rehabilitation game video information. By the aid of the upper-limb rehabilitation training system, enjoyment of the rehabilitation training of the upper-limb movement function is increased. The upper-limb rehabilitation training system is low in cost and easy to use.

An upper limb rehabilitation robot rehabilitation training motion function assessment method is provided. A self-correcting AHP-fuzzy analysis evaluation method is adopted, clinic motion function assessment contents are converted into an indicator system of assessment of an upper limb rehabilitation robot, and by utilizing a data collection function of the upper limb rehabilitation robot, motion function assessment indicators of the upper limb rehabilitation robot are quantified, and assessment criteria of the assessment indicators are given; a recurison order hierarchy and a review system of the upper limb rehabilitation robot assessment indicators are determined on the above bases, and an upper limb rehabilitation robot motion function assessment model is established; and upper limb rehabilitation robot rehabilitation training motion functions are assessed. According to the method provided by the present invention, the clinic motion function assessment contents are converted into the indicator system of assessment of the upper limb rehabilitation robot, the self-correcting AHP-fuzzy analysis evaluation method is very practical and effective in upper limb rehabilitation assessment, and results obtained by the method are matched with clinic motion function assessment results. The upper limb rehabilitation robot rehabilitation training motion function assessment method has predictable large economic and social values.

An upper limb rehabilitation robot comprises a support, a plurality of traction devices, a supporting plate, a plurality of ropes and a control device. The support comprises an upright column, a top frame and a cross beam, wherein the top frame is located above the forearm of a patient, and the cross beam is located under the forearm of the patient. The supporting plate is used for the patient to place the forearm. One end of each rope is connected with one of the traction devices, and the other end of each rope is fixed on the supporting plate. The control device is used for controlling the angle and the strength of the traction devices during traction of the ropes. According to the upper limb rehabilitation robot, the control device is used for controlling the angle and the strength of the traction devices during the traction of the ropes so that the patient can be assisted in complicated training actions in a three-dimensional space for shoulder joints and elbow joints of the patient. Therefore, a better rehabilitation effect can be achieved for the patient.

The invention belongs to the technical field of medical instruments, and relates to a rehabilitation training system, in particular to an upper limb rehabilitation training system with active-passive modes. The technical scheme includes that the upper limb rehabilitation training system with the active-passive modes comprises a handle, a mechanical arm, a spindle, an encoder, a computer, a display, a motor, a clutch, a coupler, a belt pulley, a belt pulley shaft, a synchronous toothed belt and a rehabilitation device base. Compared with equipment in the past, the upper limb rehabilitation training system has the advantages that active acting force is provided for a patient needing rehabilitation, the mechanical arm can drive an arm of the patient to perform rehabilitation training in the active mode so as to achieve better rehabilitation training effects, and a threshold safety module is arranged inside the computer so that safety of the patient in rehabilitation training can be enhanced.