CN109009875A - Personalized upper-limbs rehabilitation training robot - Google Patents
Personalized upper-limbs rehabilitation training robot Download PDFInfo
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- CN109009875A CN109009875A CN201810947596.4A CN201810947596A CN109009875A CN 109009875 A CN109009875 A CN 109009875A CN 201810947596 A CN201810947596 A CN 201810947596A CN 109009875 A CN109009875 A CN 109009875A
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- 238000012549 training Methods 0.000 title claims abstract description 104
- 210000001364 upper extremity Anatomy 0.000 title claims abstract description 85
- 230000033001 locomotion Effects 0.000 claims abstract description 122
- 210000000245 forearm Anatomy 0.000 claims abstract description 61
- 210000000323 shoulder joint Anatomy 0.000 claims abstract description 43
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 22
- 210000003857 wrist joint Anatomy 0.000 claims abstract description 21
- 210000002310 elbow joint Anatomy 0.000 claims abstract description 18
- 230000003044 adaptive effect Effects 0.000 claims abstract description 13
- 230000007246 mechanism Effects 0.000 claims description 106
- 238000007514 turning Methods 0.000 claims description 39
- ZMNSRFNUONFLSP-UHFFFAOYSA-N mephenoxalone Chemical compound COC1=CC=CC=C1OCC1OC(=O)NC1 ZMNSRFNUONFLSP-UHFFFAOYSA-N 0.000 claims description 29
- 229960001030 mephenoxalone Drugs 0.000 claims description 29
- 230000007704 transition Effects 0.000 claims description 14
- 238000013461 design Methods 0.000 claims description 5
- 239000003638 chemical reducing agent Substances 0.000 claims description 4
- 238000001514 detection method Methods 0.000 claims description 4
- 210000001503 joint Anatomy 0.000 claims description 3
- 230000008450 motivation Effects 0.000 claims description 3
- 238000005452 bending Methods 0.000 claims description 2
- JTJMJGYZQZDUJJ-UHFFFAOYSA-N phencyclidine Chemical compound C1CCCCN1C1(C=2C=CC=CC=2)CCCCC1 JTJMJGYZQZDUJJ-UHFFFAOYSA-N 0.000 claims description 2
- 230000005611 electricity Effects 0.000 claims 2
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 abstract description 7
- 210000003205 muscle Anatomy 0.000 abstract description 5
- 201000010099 disease Diseases 0.000 abstract description 3
- 210000000578 peripheral nerve Anatomy 0.000 abstract description 3
- 210000000278 spinal cord Anatomy 0.000 abstract description 3
- 208000024891 symptom Diseases 0.000 abstract description 3
- 230000035876 healing Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- 210000003414 extremity Anatomy 0.000 description 6
- 238000000554 physical therapy Methods 0.000 description 6
- 238000000034 method Methods 0.000 description 5
- 208000027418 Wounds and injury Diseases 0.000 description 4
- 230000009467 reduction Effects 0.000 description 4
- 210000000707 wrist Anatomy 0.000 description 4
- 230000006378 damage Effects 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 208000014674 injury Diseases 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 206010061225 Limb injury Diseases 0.000 description 2
- 208000035475 disorder Diseases 0.000 description 2
- 239000003814 drug Substances 0.000 description 2
- 238000011156 evaluation Methods 0.000 description 2
- 238000011084 recovery Methods 0.000 description 2
- 230000007115 recruitment Effects 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 206010008190 Cerebrovascular accident Diseases 0.000 description 1
- 206010019468 Hemiplegia Diseases 0.000 description 1
- 206010060820 Joint injury Diseases 0.000 description 1
- 206010039203 Road traffic accident Diseases 0.000 description 1
- 208000006011 Stroke Diseases 0.000 description 1
- 206010052428 Wound Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000000988 bone and bone Anatomy 0.000 description 1
- 150000001875 compounds Chemical class 0.000 description 1
- 238000013500 data storage Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000002651 drug therapy Methods 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 230000003447 ipsilateral effect Effects 0.000 description 1
- 210000003041 ligament Anatomy 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000007659 motor function Effects 0.000 description 1
- 238000002560 therapeutic procedure Methods 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0218—Drawing-out devices
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
- A61H1/0277—Elbow
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
- A61H1/0281—Shoulder
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/06—Arms
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/06—Arms
- A61H2205/062—Shoulders
Landscapes
- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a kind of personalized upper-limbs rehabilitation training robot, the more position seat modulars including pedestal supporting module, being detachably set in the pedestal supporting module, the adaptive mobile module of shoulder joint being set in the pedestal supporting module and the seven freedom mechanical arm for rehabilitation training of upper limbs being set on the adaptive mobile module of the shoulder joint；The seven freedom mechanical arm for rehabilitation training of upper limbs；Including wrist joints sporting module, the elbow joint motion module being connected in series with the wrist joints sporting module by forearm size adjustment module and the shoulder joint kinesitherapy module being connected in series by the other end of upper arm size adjustment module and the elbow joint motion module.Personalized upper-limbs rehabilitation training robot of the invention can allow different patients of the rehabilitation stage, different symptoms, different building shape to carry out rehabilitation training of upper limbs, suitable for because of the patient of upper limb disorder or function limitation caused by nervous centralis, peripheral nerve, spinal cord, muscle or skeletal diseases.
Description
Technical field
The present invention relates to training type rehabilitation appliances field, in particular to a kind of personalized upper-limbs rehabilitation training robot.
Background technique
Due to the growth of human age, the increasing of traffic accident, the gradually increasing of sports property joint injury, apoplexy
The patient of limb injury caused by the increase of hemiplegia disease incidence and some other factor is in increased trend, this is greatly
Ground affects the health and daily life of the mankind.Theory of medicine and clinical medicine all proves, the patient of this kind of limb injury
Other than carrying out early stage drug therapy and operative treatment, it there is a need to carry out scientific, accurate, appropriate limb rehabilitation training.
Traditional limb rehabilitation training is mostly to assist patient to go to complete joint, muscle and ligament by nurse or rehabilitation physical therapy teacher
Rehabilitation training, to maintain the mobility of patient articular and muscle, and promote the early recovery of patient articular's motor function.But
There are rehabilitation efficacies to be timely feedbacked for traditional recovery training method, rehabilitation efficacy is by doctor's experience level etc.
The problems such as factor influences, rehabilitation is at high cost.
In the patent of invention of Patent No. CN102961235B, a kind of upper-limbs rehabilitation training robot is disclosed, including
Pedestal, support frame, seat, cantilever beam and upper limb training institution, may be implemented the rotation of 4~6 freedom degrees.But due to human body
Upper limb has 7 freedom degrees, so the upper-limbs rehabilitation training robot is not able to satisfy the rehabilitation instruction of all freedom degrees of patient's upper limb
Practice；The center of the shoulder joint module of the upper-limbs rehabilitation training robot cannot be guaranteed to close in rehabilitation training with the human body broad-mouthed receptacle for holding liquid upper arm
Section rotation center coincides, and joint position deviation, which can be brought, involves sense, leads to the secondary injury to patient.
In the utility model patent of Patent No. CN201743884U, a kind of upper-limbs rehabilitation training robot is disclosed,
Including pedestal, ergonomic chair, rehabilitation mechanical arm and human-computer interactive control cabinet.The shoulder joint of the upper-limbs rehabilitation training robot
The center of module cannot be guaranteed to coincide in rehabilitation training with human body Glenohumeral joint rotation center, joint position deviation meeting
It brings and involves sense, lead to the secondary injury to patient.
In the patent of invention of Patent No. CN104873360B, disclose it is a kind of based on lasso trick driving upper limb healing outside
Put that/interior receipts joint anteflexion/extend back joint, medial rotation/rotation extrinsic articulation, ancon are anteflexion/and extendes back pass outside bone robot, including wrist
Section, shoulder is anteflexion/extend back joint, outer pendulum/interior receipts joint, medial rotation/rotation extrinsic articulation and lasso trick driving device, may be implemented to suffer from
The rotation of 7 freedom degrees of person's upper limb, but should be based on the shoulder joint module for the upper limb healing exoskeleton robot that lasso trick drives
Center cannot be guaranteed to coincide in rehabilitation training with human body Glenohumeral joint rotation center, lead to the secondary wound to patient
Evil.Simultaneously the upper limb healing exoskeleton robot forearm and upper arm size adjusting be by sliding notch and locking nut into
Row manual adjustment, low efficiency, and the dimension data of every patient cannot be recorded, it can not achieve quick original state reduction.
In the patent of invention of Patent No. CN102151215B, a kind of exoskeletal rehabilitation mechanical arm for upper limb is disclosed,
By shoulder c-type outside track support, rail slider, on the shoulders connecting rod, upper arm connecting rod, forearm connecting rod, wrist annular outside track
Support, wrist swinging connecting rod and handle constitute the movement, it can be achieved that 7 freedom degrees.But since the invention is not provided with driving member
Part, therefore Rehabilitation Training in Treating independently can not be carried out to patient.
In the patent of invention of Patent No. CN103948485A, a kind of dermaskeleton type upper limb rehabilitation robot is disclosed,
The healing robot is made of drive part, running part, execution part, can the progress rehabilitation training of skimulated motion therapy.But
The healing robot can be only done elbow joint it is anteflexion/extend back with outside forearm medial rotation/rotation two kinds movement, be unfavorable for other joints of upper limb
Rehabilitation training.
Therefore, in view of the above technical problems, it is necessary to a kind of novel upper-limbs rehabilitation training robot is provided, on overcoming
State defect.
Summary of the invention
In view of the above-mentioned deficiencies in the prior art, the technical problem to be solved by the present invention is that developing a can allow not
Adaptively moving with shoulder joint for rehabilitation training of upper limbs is carried out with the rehabilitation stage, different symptoms, different building shape patient
The personalized upper-limbs rehabilitation training robot of module is suitable for because of nervous centralis, peripheral nerve, spinal cord, muscle or skeletal diseases
The patient of caused upper limb disorder or function limitation.
In order to solve the above technical problems, the technical solution adopted by the present invention is that: a kind of personalization rehabilitation training of upper limbs machine
People, the more position seat modulars including pedestal supporting module, being detachably set in the pedestal supporting module, be set to it is described
The adaptive mobile module of shoulder joint in pedestal supporting module and be set on the adaptive mobile module of the shoulder joint seven from
By degree mechanical arm for rehabilitation training of upper limbs；
The seven freedom mechanical arm for rehabilitation training of upper limbs；Including wrist joints sporting module and the wrist joints sporting mould
The elbow joint motion module and pass through upper arm size adjustment module and the elbow that block is connected in series by forearm size adjustment module
The shoulder joint kinesitherapy module that the other end of joint motions module is connected in series.
Preferably, the wrist joints sporting module include be connected in series dorsiflex/palmar flexion movement mechanism and ruler bend/oar bend
Movement mechanism, the pivot center of two movement mechanisms is compared to point Ow；
The ruler bend/oar bend movement mechanism include ruler bend/oar bend fixed plate, setting the ruler bend/oar bend fixed plate on
The first terminal pad, be set in first terminal pad the first retarder, connect with first reducer power
One motor, with the ruler of the power output axis connection of first retarder bend/oar bend rotation axis, with the ruler bend/oar bends rotation
The ruler of axis connection bends/oar bend power output plate, be connected to the ruler bend/oar bend power output plate the first six-dimension force sensor,
The handle for being connected to the connection transition plates of the first six-dimension force sensor other end and being connected in the connection transition plates；If
Set in the first motor first motor encoder and be fixed on the ruler bend/oar bend rotation axis on the first encoder group
At closed loop, detection ruler bends/and oar bends the joint angles of movement mechanism；
The dorsiflex/palmar flexion movement mechanism includes dorsiflex/palmar flexion fixed plate, is arranged in the dorsiflex/palmar flexion fixed plate
The second terminal pad, be set in second terminal pad the second retarder, connect with second reducer power
Two motors are rotated with dorsiflex/palmar flexion rotation axis of the power output axis connection of second retarder and with the dorsiflex/palmar flexion
The dorsiflex of axis connection/palmar flexion power output plate；It the second motor encoder for being arranged on second motor and is fixed on described
Second encoder in dorsiflex/palmar flexion rotation axis forms closed loop, detects the dorsiflex/palmar flexion movement mechanism joint angle
Degree.
Preferably, the elbow joint motion module include be connected in series buckling/it is super stretch movement mechanism and forearm rotation before/
Supination mechanism, the pivot center of two movement mechanisms is compared to point Oe；
The buckling/super movement mechanism of stretching includes buckling, and/surpass and stretch fixed support plate, be set to the buckling/is super to stretch fixation
It is third terminal pad in support plate, the third motor being set in the third terminal pad, defeated with the power of the third motor
The transition axis of axis connection, the third retarder being connect with the transition axis other end, the output end company with third deceleration out
The buckling connect/super stretches mounting flange, surpass with the buckling/the super buckling stretching mounting flange and connecting/stretch power output plate and
It is set to the buckling/surpass and stretch mounting flange and buckling/super the first torque sensor stretched between power output plate；
Buckling/super stretch power output plate be rotatably supported on buckling by bearing and bearing (ball) cover/surpasses and stretches on mounting flange.
Preferably, before forearm rotation/supination mechanism includes the first arc track, is set by first bearing support
Set on first arc track the first sliding block, be arranged on first sliding block the 4th terminal pad, be set to it is described
The 4th retarder in 4th terminal pad, the 4th motor for being set to the 4th retarder other end and slow down with the described 4th
The first driving pinion that the output end of device is drivingly connected, the 4th motor drive the first sliding block, the 4th retarder, forearm ruler
Very little adjustment module around forearm rotation before/supination axis rotation；The encoder of 4th electric machine built-in is for detecting the forearm
Before rotation/joint angles of supination mechanism；
The buckling/super movement mechanism of stretching further includes being fixed on bending on first arc track by connecting corner connection
It is bent/super stretch auxiliary connection board, to be set to the buckling/the super buckling for stretching the auxiliary connection board other end/super stretch auxiliary rotary shaft and
Buckling/super third encoder stretched on auxiliary support plate, the third electric machine built-in are fixed on by buckling/super auxiliary sleeve of stretching
Encoder and third encoder constitute closed circuit, detect the buckling/super joint angles for stretching movement mechanism.
Preferably, the shoulder joint kinesitherapy module include put outside the shoulder joint that is sequentially connected in series/interior receipts movement mechanism,
Anteflexion/to extend back movement mechanism and outward turning/inward turning movement mechanism, the pivot center of three movement mechanisms is compared to point Os；
Outer pendulum/interior receipts the movement mechanism includes outer pendulum/interior revenue and expenditure fagging, setting on the outer pendulum/interior revenue and expenditure fagging
Outer pendulum/interior receive fixed support plate, the 5th terminal pad being arranged on the outer pendulum/interior revenue and expenditure fagging, be arranged the described 5th
The 5th motor in terminal pad, with outer pendulum/interior receipts rotary shaft of the power output axis connection of the 5th motor, with it is described outside
5th retarder of pendulum/interior receipts rotary shaft other end connection, the outer pendulum/interior receipts being connect with the output end of the 5th retarder
Output flange, is set to the 5th deceleration at the outer pendulum/interior receipts power output plate connecting with the outer pendulum/interior receipts output flange
It device and outer pendulum/interior the second torque sensor received between power output plate and is fixed on the outer pendulum/interior receipts power output plate
The 4th encoder；The encoder of 5th electric machine built-in and the 4th encoder form closed circuit, outer for detecting
Pendulum/interior the joint angles for receiving movement mechanism；
The outward turning/inward turning movement mechanism is arranged including the second arc track, by bearing in second arc track
On the second sliding block, the 6th terminal pad being arranged on second sliding block, the 6th subtracting of being set in the 6th terminal pad
It fast device, the 6th motor for being set to the 6th retarder other end and is drivingly connected with the output end of the 6th retarder
Second driving pinion, the 6th motor drive second sliding block, the 6th retarder, forearm size adjustment module and wrist to close
Motion module is saved around shoulder external rotator/inward turning axis rotation；The built-in encoder of 6th motor is for detecting outward turning/interior
Revolve the joint angles of movement mechanism.
Preferably, the forearm size adjustment module includes that the forearm size connecting with first sliding block adjusts fixation
Support base is fixed on the forearm size and adjusts the first straight line guide rail of fixed supporting seat upper surface, is slidably arranged in described the
Third sliding block in one linear guide, the first push rod connecting with the third sliding block and it is fixed in third sliding block upper surface
Forearm size adjust sliding panel, the forearm size adjustment module for automatically adjust point the distance between Ow and Oe, with fit
Answer the length dimension of different patient forearms；
The upper arm size adjustment module includes that the upper arm size connecting with second arc track adjusts fixed support
Plate is fixed in the arm size and adjusts the second straight line guide rail of fixed support plate side, is slidably arranged in the second straight line and leads
Four-slider on rail, the second push rod being connect with the Four-slider and the forearm size for being fixed in Four-slider side
Sliding panel is adjusted, the upper arm size adjustment module is for automatically adjusting point the distance between Os and Oe, to adapt to different patients
The length dimension of upper arm.
Preferably, the mechanical arm for rehabilitation training of upper limbs includes a set of or two sets, is required according to the rehabilitation training of patient
Carry out the quantity of mechanical arm for rehabilitation training of upper limbs and the configuration of left and right distribution；
The adaptive mobile module of shoulder joint is set by the active lifting upright supports that can be stretched up and down that bottom is arranged
It sets in pedestal supporting module, top is connected with one first rotating plate by the first passive rotary joint, first rotating plate
Both ends pass through the second passive rotary joint and are connected with one second rotating plate, the outer pendulum on the mechanical arm for rehabilitation training of upper limbs/interior
The first Quick-dismantling mechanism being arranged on revenue and expenditure fagging passes through the passive rotary joint of third again and connect with second rotating plate；Pass through
Active lifting column realizes mechanical arm for rehabilitation training of upper limbs moving up and down in perpendicular, passes through the first passive rotation and closes
The passive rotary joint of section, the second passive rotary joint, third realizes the horizontal shifting of mechanical arm for rehabilitation training of upper limbs in the horizontal plane
It is dynamic.
Preferably, the pedestal supporting module includes U-shaped bottom support plate and the steering wheel group for being fixed in its bottom,
There is for quickly positioning with fixed second fastly with more position seat modulars progress design on the inside of the U-shaped bottom support plate
Fast mechanism for assembling-disassembling.
Preferably, the ruler bend/oar bend movement mechanism on be provided with ruler bend/oar bend stop collar, for limiting the ruler
In the wrong/oar bends the motion range of movement mechanism；The forearm size, which is adjusted, is equipped with spacing edge-cut in sliding panel, for limiting the back
The motion range of in the wrong/palmar flexion movement mechanism；
The buckling/super stretch be provided on movement mechanism buckling limited block and it is super stretch limited block, for limit the buckling/
The super motion range for stretching movement mechanism；Before forearm rotation/supination mechanism by photoelectric tube carries out safe spacing；
It is provided with outer pendulum limited block and interior receipts limited block in the fixed support plate of outer pendulum/interior receipts, it is described outer for limiting
Pendulum/interior the motion range for receiving movement mechanism；The outward turning/inward turning movement mechanism limits institute by two outward turnings/inward turning limited block
State outward turning/inward turning movement mechanism motion range.
Preferably, the second six-dimension force sensor is provided in the shoulder joint kinesitherapy module, first six-dimensional force passes
On the one hand sensor and the second six-dimension force sensor are used to detect the people between patient and seven freedom mechanical arm for rehabilitation training of upper limbs
Machine contact force, the on the other hand motion intention of patient for identification.
The beneficial effects of the present invention are:
(1) personalized rehabilitation training parameter design.The present invention can carry out forearm automatically and the size of upper arm is adjusted, and energy
Enough realize that accurately and rapidly initial position restores for different patients, convenient for fast and accurately carrying out subsequent rehabilitation training.
(2) multiple degrees of freedom path planning.The present invention can assist patient to carry out ipsilateral upper limb shoulder joint, elbow joint and wrist
Joint, 7 degree of freedom, more fully and personalized rehabilitation training of upper limbs；The present invention can be in passive rehabilitation training
The function of personalized trajectory planning is provided under mode, patient personalized path planning is completed, by upper-limbs rehabilitation training robot
Realize the accurate reproduction of set rehabilitation track.
(3) shoulder joint coupled motions.The present invention can guarantee that the Glenohumeral joint rotation center of patient is carrying out upper limb healing
The rotation center of shoulder joint kinesitherapy module in training process with mechanical arm for rehabilitation training of upper limbs coincides, and it is inclined to eliminate joint position
Sense is involved brought by difference, prevents the secondary injury to patient.
(4) friendly human-computer interaction.The present invention is equipped with pain spot record button at handle, is mainly used for Physical Therapist early period and is
Patient carries out the pain spot for recording joint in path planning at any time；On the one hand later period can be used for the scram button in training process,
On the other hand it can be equally used for pain spot record, modify in time to rehabilitation path convenient for Physical Therapist perfect.
Detailed description of the invention
Fig. 1 is the overall structure diagram of personalized upper-limbs rehabilitation training robot of the invention；
Fig. 2 is the overall structure diagram of seven freedom mechanical arm for rehabilitation training of upper limbs of the invention；
Fig. 3 is the structural representation of the wrist joints sporting module in seven freedom mechanical arm for rehabilitation training of upper limbs of the invention
Figure；
Fig. 4 is elbow joint motion module and forearm size tune in seven freedom mechanical arm for rehabilitation training of upper limbs of the invention
Save the overall structure diagram of module；
Fig. 5 is shoulder joint kinesitherapy module and upper arm size tune in seven freedom mechanical arm for rehabilitation training of upper limbs of the invention
Save the structural schematic diagram of module；
Fig. 6 is the structural schematic diagram of shoulder joint of the invention adaptive mobile module and pedestal supporting module；
Fig. 7 is the structural schematic diagram that forearm size of the invention adjusts sliding panel.
Description of symbols:
Seven freedom mechanical arm for rehabilitation training of upper limbs (1), the adaptive mobile module of shoulder joint (2), more position seat modulars
(3), pedestal supporting module (4), wrist joints sporting module (11), dorsiflex/palmar flexion movement mechanism (11A), ruler bend/oar fitness machine in the wrong
Structure (11B), elbow joint motion module (12), shoulder joint kinesitherapy module (13), forearm size adjustment module (14), upper arm size tune
It saves module (15)；
First motor encoder (1101), first motor (1102), the first retarder (1103), the first terminal pad
(1104), ruler bend/oar bend rotation axis (1105), first bearing (1106), the first encoder (1107), ruler bend/oar bend fixed plate
(1108), ruler bend/oar bend stop collar (1109), cover board (1110), ruler bend/oar bend (1111) first six-dimensional force of power output plate pass
Sensor (1112), pain spot record button (1113), the first connection corner connection (1114), handle (1115), handle connect transition plates
(1116), dorsiflex/palmar flexion power output plate (1118), ruler bend/oar rotation axis (1119), locking nut (1120) in the wrong；
Second encoder (1121), dorsiflex/palmar flexion fixed plate (1122), the second terminal pad (1123), the second retarder
(1124), the second motor (1125), the second motor encoder (1126)；
Third motor (1201), third terminal pad (1202), transition axis (1203), buckling/surpass and stretch fixed support plate
(1205), buckling limited block (1206), third retarder (1207), buckling/super mounting flange (1208), the buckling of stretching/surpass and stretch
Rotary shaft (1209), buckling are/super to stretch auxiliary support plate (1210), the second connection corner connection (1211), buckling/to be surpassed and stretches power output plate
(1212), third encoder (1213), buckling are/super to stretch auxiliary connection board (1214), third connection corner connection (1215) buckling/to be surpassed and stretches
It assists sleeve (1216)；
4th motor (1217), the 4th retarder (1218), the first sliding block (1219), the first driving pinion (1220),
Photoelectric tube (1221), buckling/super stretch assist rotary shaft (1222), the first arc track (1223), the first torque sensor
(1224), surpass and stretch limited block (1225), second bearing end cap (1226), second bearing (1227)；
5th motor (1301), outer pendulum/interior receipts rotary shaft (1302), the 5th terminal pad (1303), outer pendulum/interior revenue and expenditure fagging
(1304), outer pendulum/interior receipts fixed support plate (1305), outer pendulum limited block (1306), the connection of the 5th retarder (1307), third axis
Socket end lid (1308), 3rd bearing (1309), outer pendulum/interior receipts mounting flange (1310), the second torque sensor (1311), outside
Pendulum/interior receipts power output plate (1312), the 4th encoder (1313), the 4th connection corner connection (1314)；
6th motor (1318), the second six-dimension force sensor (1319), the 6th retarder (1320), the 6th terminal pad
(1321), the second sliding block (1322), the second driving pinion (1323), the second arc track (1324), outward turning/inward turning limited block
(1327), interior receipts limited block (1328), encoder count head (1329), the 6th connection corner connection (1330), the first quick demountor
Structure (1331)；
Forearm size adjusts fixed supporting seat (1401), first straight line guide rail (1402), third sliding block (1403), forearm ruler
Very little adjusting sliding panel (1404), the first push rod (1405), spacing edge-cut (1406)；
Upper arm size adjusting fixed support plate (1501), second straight line guide rail (1502), the second push rod (1503), the 4th are slided
Block (1504), upper arm size adjust sliding panel (1505)；
First passive rotary joint (201), the second passive rotary joint (202), the passive rotary joint of third (203), master
Dynamic lifting column (204), active lifting column (206), locking knob (207), locking knob (208), locking knob (209),
Locking knob (210), locking knob (211), locking knob (212), the first rotating plate (220), the second rotating plate (221), U-shaped bottom
Support plate (401), steering wheel group (402), the second Quick-dismantling mechanism (403).
Specific embodiment
The present invention will be further described in detail below with reference to the embodiments, to enable those skilled in the art referring to specification
Text can be implemented accordingly.
It should be appreciated that such as " having ", "comprising" and " comprising " term used herein are not precluded one or more
The presence or addition of a other elements or combinations thereof.
As shown in Figure 1, a kind of personalized upper-limbs rehabilitation training robot of the present embodiment, including pedestal supporting module 4, can
Dismantle the more position seat modulars 3 being set in the pedestal supporting module, the shoulder joint being set in the pedestal supporting module 4
The a set of or two sets of seven freedom upper limbs for saving adaptive mobile module 2 and being set on the adaptive mobile module 2 of the shoulder joint
Mechanical arm for rehabilitation training 1；
As shown in Fig. 2, structure type of the seven freedom mechanical arm for rehabilitation training of upper limbs 1 using typical serial manipulator,
Including wrist joints sporting module 11, elbow joint motion module 12, shoulder joint kinesitherapy module 13, forearm size adjustment module 14 and on
The modules such as arm size adjustment module 15 are adjusted between wrist joints sporting module 11 and elbow joint motion module 12 by forearm size
Module 14 is connected in series, and is gone here and there between elbow joint motion module 12 and shoulder joint kinesitherapy module 13 by upper arm size adjustment module 15
Connection connection；1 proximal end of the seven freedom mechanical arm for rehabilitation training of upper limbs design has Quick-dismantling mechanism 1331, rehabilitation physical therapy teacher
Progress 1 quantity of seven freedom mechanical arm for rehabilitation training of upper limbs can be required to match with what left and right was distributed according to the rehabilitation training of patient
It sets.
As shown in figure 3, wrist joints sporting module 11 includes that dorsiflex/palmar flexion movement mechanism 11A and ruler bend/oar movement mechanism in the wrong
11B, two movement mechanisms are fixedly connected, pivot center by the way of being connected in series by the first connection corner connection 1114
Compared to point Ow；Ruler bend/oar bend movement mechanism 11B first motor 1102 power output shaft and the first retarder 1103 move
Power input shaft matches, and forms driving part, and driving part is fixed on ruler by the first terminal pad 1104 and bends/oar fixed plate in the wrong
On 1108, ruler bend/oar bend rotation axis 1105 both ends respectively connected the first retarder 1103 power output shaft and ruler bend/oar
Bend power output plate 1111；The power output shaft of the second motor 1125 of dorsiflex/palmar flexion movement mechanism 11A and retarder 1124
Power input shaft matches, and forms driving part, and driving part is fixed on dorsiflex/palmar flexion fixed plate by the second terminal pad 1123
On 1122, ruler bent/and oar bends the both ends of rotation axis 1119 and respectively connected the power output shaft and dorsiflex/palm of the second retarder 1124
Bend power output plate 1118；One end of first six-dimension force sensor 1112 and ruler bend/and oar bends power output plate 1111 and is connected, and it is another
End connect transition plates 1116 with handle and is connected, and handle 1115 is fixed on handle by locking nut 1120 and connects transition plates 1116
On；First motor encoder 1101 and be fixed on ruler bend/oar bend rotation axis 1105 on the first encoder 1107 composition closed loop return
Road, detection ruler bend/oar bend movement mechanism 11B joint angles；Second motor encoder 1126 is rotated with dorsiflex/palmar flexion is fixed on
Encoder 1121 on axis 1119 forms closed loop, detects dorsiflex/palmar flexion movement mechanism 11A joint angles.
As shown in figure 4, elbow joint motion module 12 includes/supination before buckling/super stretches movement mechanism 12A and forearm rotation
Mechanism 12B, two movement mechanisms connect corner connection with third using the connection type being connected in series, by the second connection corner connection 1211
1215 are fixedly connected, and pivot center is compared to point Oe；Third motor 1201 is fixedly supported in the wrong by third terminal pad 1202
Bent/super to stretch in fixed support plate 1205, the power output shaft and transition axis 1203 of third motor 1201 are connected；Buckling/surpass and stretch rotation
1209 one end of shaft is connected with transition axis 1203, and the other end subtracts with being fixed on buckling/super and stretch the third in fixed support plate 1205
Fast device 1207 connects；The power of third retarder 1207 stretches mounting flange 1208 and the first torque sensor by buckling/super
1224, which are transmitted to buckling/super, stretches on power output plate 1212, and buckling/super power output plate 1212 of stretching passes through 1227 He of second bearing
Second bearing end cap 1226 is rotatably supported on buckling/super and stretches on mounting flange 1208；Third encoder 1213 passes through buckling/super
Stretch auxiliary sleeve 1216 and be fixed on buckling/super and stretch on auxiliary support plate 1210, buckling/super one end for stretching auxiliary connection board 1214 with
Third connects corner connection 1215 and connects, and the other end is connected with buckling/super auxiliary rotary shaft 1222 of stretching；4th motor 1217 and the 4th subtracts
Fast device 1218 is fixedly supported on the first sliding block 1219, and the first sliding block 1219 is by bearing support in the first arc track 1223
On, the power of the 4th motor 1217 is transmitted on the first arc track 1223 by the first driving pinion 1220, drives first
Sliding block 1219, the 4th motor 1217, the 4th retarder 1218 and forearm size adjustment module 14 before rotation/supination axis
Rotation；Encoder and third encoder 1213 built in third motor 1201 constitute closed circuit, detection buckling/surpass and stretch movement
The joint angles of mechanism 12A；Encoder built in 4th motor 1217 be used to detect forearm rotation before/supination mechanism 12B
Joint angles.
As shown in figure 5, shoulder joint kinesitherapy module 13 includes putting/interior receipts movement mechanism 13A, anteflexion/outside shoulder joint to extend back fortune
Motivation structure 13B and outward turning/inward turning movement mechanism 13C, three movement mechanisms are connected by connection corner connection 1314 and link block 1325
Connection, pivot center is compared to point Os；Outer pendulum/interior receipts movement mechanism 13A and anteflexion/extendes back movement mechanism 13B internal structure
Equally, in addition pendulum/interior receipts movement mechanism 13A for example, the 5th motor 1301 is by the 5th terminal pad 1303 and outer puts/interior receipts
Support plate 1304 is fixed in the fixed support plate 1305 of outer pendulum/interior receipts, outer pendulum/interior 1302 one end of receipts rotary shaft and the 5th motor
1301 power output shaft is connected, the other end and the 5th retarder 1307 being fixed in outer pendulum/fixed support plate 1305 of interior receipts
Connection；The power of 5th retarder 1307 passes through outer pendulum/interior receipts mounting flange 1310 and the transmitting of the second torque sensor 1311
Onto outer pendulum/interior receipts power output plate 1312, outer pendulum/interior receipts power output plate 1312 passes through 3rd bearing 1309 and 3rd bearing
End cap 1308 is rotatably supported on outer pendulum/interior receipts mounting flange 1310；4th encoder 1313 is fixed on outer pendulum/interior receipts power
On output board 1312, encoder count head 1329 puts/interior revenue and expenditure fagging by the 6th connection 1330 positioning support of corner connection outside
On 1304；6th motor 1318 and the 6th retarder 1320 pass through the 6th terminal pad 1321 and are fixedly supported on the second sliding block 1322
On, through bearing support on the second arc track 1324, the power of the 6th motor 1318 drives the second sliding block 1322 by second
Dynamic pinion gear 1323 is transmitted on the second arc track 1324, drives the second sliding block 1322, the 6th motor 1318, the 6th retarder
1320 and forearm size adjustment module 14 and wrist joints sporting module 11 around shoulder external rotator/inward turning axis rotation；5th
Encoder and the 4th encoder 1313 built in motor 1301 form closed circuit, detect outer pendulum/interior pass for receiving movement mechanism 13A
Save angle；The built-in encoder of 6th motor 1318 is for detecting outward turning/inward turning movement mechanism 13C joint angles.
As shown in figure 4, forearm size adjustment module 14 includes that forearm size adjusts fixed supporting seat 1401, first straight line is led
Rail 1402, third sliding block 1403, forearm size adjust sliding panel 1404 and the first push rod 1405 etc., and first straight line guide rail 1402 is solid
Dingan County is adjusted on fixed supporting seat 1401 mounted in forearm size, and third sliding block 1403 can be moved along first straight line guide rail 1402,
Forearm size adjusts sliding panel 1404 and is fixedly connected with 1403 upper surface of third sliding block, and entire forearm size adjustment module 14 passes through
Forearm size adjust fixed supporting seat 1401 and forearm revolve before/supination mechanism 12B is fixedly connected；Forearm size adjustment module
14 can automatically adjust point the distance between Ow and Oe, to adapt to the length dimension of different patient forearms, and can be by the trouble
The forearm size data of person store, and realize accurately and rapidly initial position reduction before rehabilitation training patient's next time.
As shown in figure 5, upper arm size adjustment module 15 includes that upper arm size adjusts fixed support plate 1501, second straight line is led
Rail 1502, Four-slider 1504, upper arm size adjust sliding panel 1505 and the second push rod 1503 etc., and second straight line guide rail 1502 is solid
Dingan County is adjusted on fixed support plate 1501 mounted in upper arm size, and Four-slider 1504 can be moved along second straight line guide rail 1502,
Forearm size adjusts sliding panel 1505 and is fixedly connected with 1504 upper surface of Four-slider, and entire upper arm size adjustment module 15 passes through
Upper arm size adjusts fixed support plate 1501 and is fixedly connected with outward turning/inward turning movement mechanism 13C；Upper arm size adjustment module 15 can
To automatically adjust point the distance between Os and Oe, to adapt to the length dimension of different patient's upper arm, and can be by the patient's
Upper arm dimension data is stored, and realizes accurately and rapidly initial position reduction before rehabilitation training patient's next time.
206, the active lifting column that can be stretched up and down that the adaptive mobile module 2 of shoulder joint is arranged by bottom
Support is arranged in pedestal supporting module 2, and top is connected with one first rotating plate 220 by the first passive rotary joint, and described the
The both ends of one rotating plate 220 pass through the second passive rotary joint 202 and are connected with one second rotating plate 221, the rehabilitation training of upper limbs
The first Quick-dismantling mechanism (1331) being arranged on outer pendulum/interior revenue and expenditure fagging on mechanical arm passes through the passive rotary joint of third again
203 connect with second rotating plate 221；Realize mechanical arm for rehabilitation training of upper limbs (1) vertical by active lifting column (206)
Moving up and down in plane passes through the first passive rotary joint 201, the second passive rotary joint 202, the passive rotary joint of third
203 realization mechanical arm for rehabilitation training of upper limbs moving horizontally in the horizontal plane.
As shown in fig. 6, in one embodiment, the adaptive mobile module 2 of shoulder joint is equipped with two sets passively in the horizontal direction
Arm configuration, realizes the moving horizontally in the horizontal plane of mechanical arm for rehabilitation training of upper limbs 1, including first by passive rotary joint 201,
Second passive rotary joint (202,204), the passive rotary joint of third (203,205), wherein passive rotary joint 201 includes two
A revolute pair belongs to compound passive rotary joint；Vertical direction is equipped with active lifting column 206, realizes rehabilitation training of upper limbs machine
The moving up and down in perpendicular of tool arm 1；Locking is respectively equipped on five passive rotary joints 201,202,203,204,205
Knob 207,208,209,210,211,212, can be by locking wherein some or certain several locking rotatings when rehabilitation training
Button realizes the rehabilitation training to certain side limbs；For example, locking knob 210,211 and 212 is locked, may be implemented to suffer from
The rehabilitation training of upper limb on the right side of person；Locking knob 207,208,209,210,211 and 212 is locked, patient or so may be implemented
The rehabilitation training of the wrist joint and elbow joint of side upper limb.
As shown in fig. 6, pedestal supporting module 4 includes U-shaped bottom support plate 401 and steering wheel group 402, U-shaped bottom support
Plate 401 is fixedly connected with steering wheel group 402；Design can be realized and more position seats on the inside of the U-shaped bottom support plate 401
Chair module 3 quickly positions and the second fixed Quick-dismantling mechanism 403.
Second fast assembly and disassembly mechanism 403 is the peace that the bottom plate two sides of more 3 bottoms of position seat modular are arranged in
Fill raised line, two mounting grooves for the installation raised line cooperation insertion of 401 liang of insides of the U-shaped bottom support plate.
As shown in Fig. 3,4,5 and 7, ruler bend/oar bend movement mechanism 11B on be equipped with ruler bend/oar bend stop collar 1109, be used for
Limit ruler bend/oar bend movement mechanism 11B motion range；Forearm size, which is adjusted, is equipped with spacing edge-cut 1406 in sliding panel 1404,
For limiting dorsiflex/palmar flexion movement mechanism 11A motion range；Buckling/super stretch is equipped with buckling limited block on movement mechanism 12A
1206 stretch limited block 1225 with super, for limiting buckling/super motion range for stretching movement mechanism 12A；Before forearm rotation/supination
Mechanism 12B carries out safe spacing by photoelectric tube 1221；/ interior receipts movement mechanism 13A and anteflexion/is put outside shoulder joint extendes back movement
The limit likeness in form of mechanism 13B is identical, and pendulum/interior receipts movement mechanism 13A is for example, pendulum/interior receipts fix support plate outside in addition
Outer pendulum limited block 1306 and interior receipts limited block 1328 are installed, for limiting outer pendulum/interior movement for receiving movement mechanism 13A on 1305
Range；Outward turning/inward turning movement mechanism 13C limits outward turning/inward turning movement mechanism 13C by two outward turnings/inward turning limited block 1327
Motion range.
As shown in Fig. 3,5, wrist joints sporting module 11 is equipped with the first six-dimension force sensor 1112, shoulder joint kinesitherapy module
Second six-dimension force sensor 1319 is installed, on the one hand for detecting patient and seven freedom mechanical arm for rehabilitation training of upper limbs on 13
Man-machine contact force between 1, the on the other hand motion intention of patient for identification.
As shown in figure 3,1115 upper end of handle of wrist joints sporting module 11 is equipped with pain spot record button 1113, early period is main
It is that patient carries out the pain spot for recording joint in path planning at any time for Physical Therapist；On the one hand later period can be used in training process
Scram button, on the other hand can be equally used for pain spot record, modify in time to rehabilitation path convenient for Physical Therapist perfect.
The course of work of the invention is:
(1) rehabilitation training is carried out for the first time: firstly, personal rehabilitation is established to patient in rehabilitation physical therapy Shi Liyong system login part
Database；Then, patient is sitting on more position seat modulars 3, carries out the adjustment of sitting posture, and the attitude data storage of patient is arrived
In system control and storage section；Then patient dresses mechanical arm for rehabilitation training of upper limbs 1, before rehabilitation physical therapy teacher by adjusting respectively
Arm size adjustment module 14 and upper arm size adjustment module 15 make the wrist joint, elbow joint and shoulder joint rotation axis of patient with it is upper
The rotation axis of the wrist joint of limbs rehabilitation training robot 1, elbow joint and shoulder joint kinesitherapy module coincides, also with system
Control is with storage section storage into the personal rehabilitation database of patient；And then, motor pattern is adjusted to active training mould
Formula, by rehabilitation physical therapy teacher with patient's suffering limb carry out single joint movement, the patient feels arrive pain when press pain remember
Button 1113 is recorded, system control records the angular values of current joint with storage section, and by rehabilitation physical therapy Shi Jinhang patient's
Passive rehabilitation training path planning；Finally, motor pattern is adjusted to passive exercise mode, pressed by upper-limbs rehabilitation training robot
According to the path that Physical Therapist sets, the suffering limb of patient is driven to carry out rehabilitation training, at the end of by system control and storage section into
The recruitment evaluation of this rehabilitation training of row, and store the data such as rehabilitation result.
(2) non-first time carries out rehabilitation training: patient carries out system login, rehabilitation training machine using system login part
For people's automatic reduction to state when patient's last time rehabilitation, main includes the state of mechanical arm for rehabilitation training of upper limbs 1 and more position seats
The state of chair module 3；Patient dress mechanical arm for rehabilitation training of upper limbs 1, continue rehabilitation training, at the end of by system control with
Storage section carries out the recruitment evaluation of this rehabilitation training, same to store the data such as rehabilitation result.
Upper limb disorder caused by the present invention is suitable for because of nervous centralis, peripheral nerve, spinal cord, muscle or skeletal diseases
Or the patient of function limitation, the different rehabilitation stage, different symptoms, different building shape patients can be allowed to carry out upper limb healing instruction
Practice.
Although the embodiments of the present invention have been disclosed as above, but its is not only in the description and the implementation listed
With it can be fully applied to various fields suitable for the present invention, for those skilled in the art, can be easily
Realize other modification, therefore without departing from the general concept defined in the claims and the equivalent scope, the present invention is simultaneously unlimited
In specific details.
Claims (10)
1. a kind of personalization upper-limbs rehabilitation training robot, which is characterized in that including pedestal supporting module, be detachably set to institute
State more position seat modulars in pedestal supporting module, the shoulder joint being set in the pedestal supporting module adaptively moves mould
Block and the seven freedom mechanical arm for rehabilitation training of upper limbs being set on the adaptive mobile module of the shoulder joint；
The seven freedom mechanical arm for rehabilitation training of upper limbs；Lead to including wrist joints sporting module, with the wrist joints sporting module
Cross the elbow joint motion module of forearm size adjustment module series connection and by upper arm size adjustment module and the elbow joint
The shoulder joint kinesitherapy module that the other end of motion module is connected in series.
2. personalization upper-limbs rehabilitation training robot according to claim 1, which is characterized in that the wrist joints sporting mould
Block includes that the dorsiflex/palmar flexion movement mechanism being connected in series and ruler bend/oar movement mechanism in the wrong, and the pivot center of two movement mechanisms is compared
In point Ow；
The ruler bends/oar bend movement mechanism include ruler bend/oar bend fixed plate, be arranged in the ruler bend/oar bend in fixed plate the
One terminal pad, the first retarder being set in first terminal pad, the first electricity being connect with first reducer power
Machine, with the ruler of the power output axis connection of first retarder bend/oar bend rotation axis, with the ruler bend/oar bends rotation axis and connects
The ruler that connects bends/oar bend power output plate, be connected to the ruler bend/oar bends the first six-dimension force sensor of power output plate, connection
In the first six-dimension force sensor other end connection transition plates and be connected to it is described connection transition plates on handle；Setting exists
First motor encoder in the first motor and be fixed on the ruler bend/the first encoder composition for bending in rotation axis of oar closes
Loop back path, detection ruler bend/oar bend movement mechanism joint angles；
The dorsiflex/palmar flexion movement mechanism includes dorsiflex/palmar flexion fixed plate, be arranged in the dorsiflex/palmar flexion fixed plate
Two terminal pads, the second retarder being set in second terminal pad, the second electricity being connect with second reducer power
Machine connects with dorsiflex/palmar flexion rotation axis of the power output axis connection of second retarder and with the dorsiflex/palmar flexion rotation axis
The dorsiflex connect/palmar flexion power output plate；The second motor encoder for being arranged on second motor and be fixed on the dorsiflex/
Second encoder in palmar flexion rotation axis forms closed loop, detects the dorsiflex/palmar flexion movement mechanism joint angles.
3. personalization upper-limbs rehabilitation training robot according to claim 2, which is characterized in that the elbow joint motion mould
Block include be connected in series buckling/it is super stretch movement mechanism and forearm rotation before/supination mechanism, the pivot center of two movement mechanisms
Compared to point Oe；
The buckling/super movement mechanism of stretching includes buckling, and/surpass and stretch fixed support plate, be set to the buckling/is super to stretch fixed support
The power output shaft of third terminal pad, the third motor and the third motor that are set in the third terminal pad on disk
The transition axis of connection, the third retarder that connect with the transition axis other end, the output end to slow down with the third are connect
Buckling/surpass and stretch mounting flange, surpass with the buckling/the super buckling stretching mounting flange and connecting/and stretch power output plate and setting
It is/super to stretch mounting flange and buckling/in the buckling to surpass the first torque sensor stretched between power output plate；
Buckling/super stretch power output plate be rotatably supported on buckling by bearing and bearing (ball) cover/surpasses and stretches on mounting flange.
4. personalization upper-limbs rehabilitation training robot according to claim 3, which is characterized in that before the forearm rotation/rotation
Movement mechanism includes the first arc track, supports the be arranged on first arc track first cunning by first bearing afterwards
Block, the 4th retarder being set in the 4th terminal pad, is set to the 4th terminal pad being arranged on first sliding block
4th motor of the 4th retarder other end and the first driving being drivingly connected with the output end of the 4th retarder are small
Gear, the 4th motor drive the first sliding block, the 4th retarder, forearm size adjustment module before forearm rotation/supination axis
Line rotation；The encoder of 4th electric machine built-in be used to detect forearm rotation before/joint angles of supination mechanism；
The buckling/super movement mechanism of stretching further includes the buckling being fixed on first arc track by connecting corner connection/surpasses
Stretch auxiliary connection board, being set to the buckling/surpassing the buckling for stretching the auxiliary connection board other end/, super stretch assists rotary shaft and pass through to bend
Bent/super auxiliary sleeve of stretching is fixed on buckling/super third encoder stretched on auxiliary support plate, the coding of the third electric machine built-in
Device and third encoder constitute closed circuit, detect the buckling/super joint angles for stretching movement mechanism.
5. personalization upper-limbs rehabilitation training robot according to claim 4, which is characterized in that the shoulder joint kinesitherapy mould
Block, which includes putting outside the shoulder joint that is sequentially connected in series ,/interior receipts movement mechanism, anteflexion/extendes back movement mechanism and outward turning/inward turning moves
Mechanism, the pivot center of three movement mechanisms is compared to point Os；
The outer pendulum/interior receive movement mechanism include outer pendulum/interior revenue and expenditure fagging, be arranged in it is outer on the outer pendulum/interior revenue and expenditure fagging
Pendulum/interior receive fixes support plate, the 5th terminal pad being arranged on the outer pendulum/interior revenue and expenditure fagging, setting in the 5th connection
The 5th motor on disk, with outer pendulum/interior receipts rotary shaft of the power output axis connection of the 5th motor, with the outer pendulum/interior
The 5th retarder for receiving the other end connection of rotary shaft, the outer pendulum being connect with the output end of the 5th retarder/interior receipts output
Flange, with it is described it is outer pendulum/it is interior receive output flange connect outer pendulum/interior receipts power output plate, be set to the 5th retarder and
Outer pendulum/interior the second torque sensor received between power output plate and it is fixed in the outer pendulum/interior the received on power output plate
Four encoders；The encoder of 5th electric machine built-in and the 4th encoder form closed circuit, for detecting outer pendulum/interior
Receive the joint angles of movement mechanism；
The outward turning/inward turning movement mechanism includes the second arc track, is arranged on second arc track by bearing
Second sliding block, the 6th terminal pad being arranged on second sliding block, the 6th retarder being set in the 6th terminal pad,
Second for being set to the 6th motor of the 6th retarder other end and being drivingly connected with the output end of the 6th retarder
Driving pinion, the 6th motor drive second sliding block, the 6th retarder, forearm size adjustment module and wrist joint fortune
Dynamic model block is around shoulder external rotator/inward turning axis rotation；The built-in encoder of 6th motor is for detecting outward turning/inward turning fortune
The joint angles of motivation structure.
6. personalization upper-limbs rehabilitation training robot according to claim 5, which is characterized in that the forearm size is adjusted
Module includes that the forearm size connecting with first sliding block adjusts fixed supporting seat, is fixed on the forearm size adjusting fixation
The first straight line guide rail of support base upper surface, the third sliding block being slidably arranged on the first straight line guide rail and the third
First push rod of sliding block connection and the forearm size for being fixed in third sliding block upper surface adjust sliding panel, the forearm size
Adjustment module is for automatically adjusting point the distance between Ow and Oe, to adapt to the length dimension of different patient forearms；
The upper arm size adjustment module includes that the upper arm size connecting with second arc track adjusts fixed support plate, consolidates
The arm size is connected to adjust the second straight line guide rail of fixed support plate side, be slidably arranged on the second straight line guide rail
Four-slider, the second push rod connecting with the Four-slider and the forearm size for being fixed in Four-slider side, which are adjusted, to be slided
Movable plate, the upper arm size adjustment module is for automatically adjusting point the distance between Os and Oe, to adapt to different patient's upper arm
Length dimension.
7. personalization upper-limbs rehabilitation training robot according to claim 1, which is characterized in that the rehabilitation training of upper limbs
Mechanical arm includes a set of or two sets, and the quantity and the left and right that carry out mechanical arm for rehabilitation training of upper limbs are required according to the rehabilitation training of patient
The configuration of distribution；
The adaptive mobile module of shoulder joint is existed by the active lifting upright supports setting that can be stretched up and down that bottom is arranged
In pedestal supporting module, top is connected with one first rotating plate, the both ends of first rotating plate by the first passive rotary joint
One second rotating plate is connected with by the second passive rotary joint, outer pendulum/interior revenue and expenditure on the mechanical arm for rehabilitation training of upper limbs
The first Quick-dismantling mechanism being arranged on fagging passes through the passive rotary joint of third again and connect with second rotating plate；Pass through actively
Lifting column realizes mechanical arm for rehabilitation training of upper limbs moving up and down in perpendicular, passes through the first passive rotary joint, the
The passive rotary joint of two passive rotary joints, third realizes mechanical arm for rehabilitation training of upper limbs moving horizontally in the horizontal plane.
8. personalization upper-limbs rehabilitation training robot according to claim 1, which is characterized in that the pedestal branch hold mode
Block includes U-shaped bottom support plate and the steering wheel group for being fixed in its bottom, on the inside of the U-shaped bottom support plate design have for
More position seat modulars quickly position and the second fixed fast assembly and disassembly mechanism.
9. personalization upper-limbs rehabilitation training robot according to claim 6, which is characterized in that the ruler bends/oar fortune in the wrong
Be provided on motivation structure ruler bend/oar bend stop collar, for limit the ruler bend/oar bend movement mechanism motion range；Before described
Arm size, which is adjusted, is equipped with spacing edge-cut in sliding panel, for limiting the dorsiflex/palmar flexion movement mechanism motion range；
The buckling/super stretch be provided on movement mechanism buckling limited block and it is super stretch limited block, stretched for limiting the buckling/super
The motion range of movement mechanism；Before forearm rotation/supination mechanism by photoelectric tube carries out safe spacing；
Is provided with outer pendulum limited block and interior receipts limited block in the fixed support plate of outer pendulum/interior receipts, for limit it is described it is outer put/it is interior
Receive the motion range of movement mechanism；The outward turning/inward turning movement mechanism is limited described outer by two outward turnings/inward turning limited block
Rotation/inward turning movement mechanism motion range.
10. personalization upper-limbs rehabilitation training robot according to claim 6, which is characterized in that the shoulder joint kinesitherapy
The second six-dimension force sensor is provided in module, on the one hand first six-dimension force sensor and the second six-dimension force sensor are used for
The man-machine contact force between patient and seven freedom mechanical arm for rehabilitation training of upper limbs is detected, on the other hand the fortune of patient for identification
It is dynamic to be intended to.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810947596.4A CN109009875B (en) | 2018-08-20 | 2018-08-20 | Individualized upper limb rehabilitation training robot |
| PCT/CN2019/084719 WO2020038012A1 (en) | 2018-08-20 | 2019-04-28 | Personalized robot for upper limb rehabilitation training |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810947596.4A CN109009875B (en) | 2018-08-20 | 2018-08-20 | Individualized upper limb rehabilitation training robot |
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| Publication Number | Publication Date |
|---|---|
| CN109009875A true CN109009875A (en) | 2018-12-18 |
| CN109009875B CN109009875B (en) | 2024-03-26 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810947596.4A Active CN109009875B (en) | 2018-08-20 | 2018-08-20 | Individualized upper limb rehabilitation training robot |
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Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20180289577A1 (en) * | 2015-01-18 | 2018-10-11 | Calabrian High Tech Srl | Six Degrees of Freedom Self Balanced Hybrid Serial-Parallel Robotic Systemfor Rehabilitation of Upper and Lower Limbs, Left and Right |
| CN109692103A (en) * | 2018-12-25 | 2019-04-30 | 河海大学常州校区 | A kind of human upper limb rehabilitation robot |
| CN110181482A (en) * | 2019-05-23 | 2019-08-30 | 北京邮电大学 | A kind of modularization seven freedom upper limb exoskeleton robot |
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| CN111000699A (en) * | 2019-12-26 | 2020-04-14 | 中国科学院宁波工业技术研究院慈溪生物医学工程研究所 | Rigid-flexible hybrid upper limb auxiliary motion device |
| CN111110513A (en) * | 2020-01-10 | 2020-05-08 | 燕山大学 | Four-degree-of-freedom elbow-wrist joint rehabilitation robot |
| CN111281394A (en) * | 2020-03-07 | 2020-06-16 | 西北工业大学 | Wrist joint movement function evaluating and rehabilitation robot |
| CN111345970A (en) * | 2020-03-12 | 2020-06-30 | 安徽工业大学 | Seven-degree-of-freedom upper limb exoskeleton rehabilitation robot |
| WO2021010821A1 (en) * | 2019-07-15 | 2021-01-21 | Yumen Bionics B.V. | Exoskeleton for supporting a user's arm |
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| CN113908015A (en) * | 2021-11-02 | 2022-01-11 | 复旦大学 | Rehabilitation training device with upper limb single arm and seven degrees of freedom |
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| US20180289577A1 (en) * | 2015-01-18 | 2018-10-11 | Calabrian High Tech Srl | Six Degrees of Freedom Self Balanced Hybrid Serial-Parallel Robotic Systemfor Rehabilitation of Upper and Lower Limbs, Left and Right |
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| CN109692103B (en) * | 2018-12-25 | 2021-04-16 | 河海大学常州校区 | Human upper limb rehabilitation robot |
| CN110181482A (en) * | 2019-05-23 | 2019-08-30 | 北京邮电大学 | A kind of modularization seven freedom upper limb exoskeleton robot |
| WO2021010821A1 (en) * | 2019-07-15 | 2021-01-21 | Yumen Bionics B.V. | Exoskeleton for supporting a user's arm |
| CN111000699A (en) * | 2019-12-26 | 2020-04-14 | 中国科学院宁波工业技术研究院慈溪生物医学工程研究所 | Rigid-flexible hybrid upper limb auxiliary motion device |
| CN111000699B (en) * | 2019-12-26 | 2022-03-04 | 中国科学院宁波工业技术研究院慈溪生物医学工程研究所 | Rigid-flexible hybrid upper limb auxiliary motion device |
| CN111110513A (en) * | 2020-01-10 | 2020-05-08 | 燕山大学 | Four-degree-of-freedom elbow-wrist joint rehabilitation robot |
| CN111281394A (en) * | 2020-03-07 | 2020-06-16 | 西北工业大学 | Wrist joint movement function evaluating and rehabilitation robot |
| CN111281394B (en) * | 2020-03-07 | 2022-08-19 | 西北工业大学 | Wrist joint movement function evaluating and rehabilitation robot |
| CN111345970A (en) * | 2020-03-12 | 2020-06-30 | 安徽工业大学 | Seven-degree-of-freedom upper limb exoskeleton rehabilitation robot |
| CN112263434A (en) * | 2020-10-13 | 2021-01-26 | 河南理工大学 | Planar motion rehabilitation mechanical device for shoulder joint rehabilitation |
| CN112263434B (en) * | 2020-10-13 | 2023-11-28 | 河南理工大学 | Planar motion rehabilitation mechanical device for rehabilitation of shoulder joint |
| CN112569084A (en) * | 2020-11-16 | 2021-03-30 | 上海普协医疗科技有限公司 | Upper limb rehabilitation training robot |
| CN112545834A (en) * | 2020-12-10 | 2021-03-26 | 山东中医药大学 | Shoulder joint assembly for upper limb rehabilitation |
| CN113197752B (en) * | 2021-04-30 | 2023-05-05 | 华中科技大学 | Limb gravity dynamic compensation method of upper limb rehabilitation robot |
| CN113197752A (en) * | 2021-04-30 | 2021-08-03 | 华中科技大学 | Limb gravity dynamic compensation method of upper limb rehabilitation robot |
| CN113332098A (en) * | 2021-06-09 | 2021-09-03 | 常州大学 | Seven-degree-of-freedom upper limb rehabilitation robot |
| CN113908015A (en) * | 2021-11-02 | 2022-01-11 | 复旦大学 | Rehabilitation training device with upper limb single arm and seven degrees of freedom |
| CN114041971A (en) * | 2021-12-01 | 2022-02-15 | 复旦大学 | Adjustable frame of upper limb rehabilitation robot |
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