CN111110513A - Four-degree-of-freedom elbow-wrist joint rehabilitation robot - Google Patents
Four-degree-of-freedom elbow-wrist joint rehabilitation robot Download PDFInfo
- Publication number
- CN111110513A CN111110513A CN202010025297.2A CN202010025297A CN111110513A CN 111110513 A CN111110513 A CN 111110513A CN 202010025297 A CN202010025297 A CN 202010025297A CN 111110513 A CN111110513 A CN 111110513A
- Authority
- CN
- China
- Prior art keywords
- upper arm
- motor
- push rod
- wrist joint
- electric push
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
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
- A61H1/0214—Stretching or bending or torsioning apparatus for exercising by rotating cycling movement
-
- 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
- A61H1/0285—Hand
-
- 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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1253—Driving means driven by a human being, e.g. hand driven
-
- 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
- A61H2201/16—Physical interface with patient
- A61H2201/1657—Movement of interface, i.e. force application means
- A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot
-
- 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
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5061—Force sensors
Abstract
The invention discloses a four-degree-of-freedom elbow and wrist joint rehabilitation robot, which belongs to the field of rehabilitation medical instruments and comprises: the height adjusting assembly, the wrist assembly, the forearm assembly and the upper arm assembly; the height adjusting component comprises a base and a lifting column; the upper arm assembly comprises an upper arm fixing seat, a first motor, an upper arm rack, an upper arm expansion bracket, a first electric push rod, an upper arm supporting frame and a first six-dimensional force sensor; the small arm assembly comprises a second motor, a small arm rack, a small arm telescopic frame and a second electric push rod; the wrist joint assembly comprises a third motor, a second six-dimensional force sensor, a wrist support, a fourth motor, an annular support frame and a handle. The rehabilitation robot can realize the flexion/extension movement of the upper arm and the lower arm, the passive training and the active training of four degrees of freedom of dorsiflexion/palmoplasia and internal rotation/external rotation of the wrist joint and the independent and coupled training of each joint. Two six-dimensional force sensors can accurately sense human-computer interaction force sense information, so that rehabilitation exercise is more flexible.
Description
Technical Field
The invention relates to the technical field of rehabilitation medical equipment, in particular to a four-degree-of-freedom elbow and wrist joint rehabilitation robot.
Background
The latest statistical data shows that 7000 ten thousand patients with stroke in China, 200 ten thousand patients with stroke each year, 165 ten people with stroke death each year, about 75% of survivors cause disability and lose the action ability of limbs. In 2017, the number of the old aged over 60 years old in China exceeds 2.3 hundred million, and the increasing aging of the population leads to the increase of the number of the disabled people. For patients with stroke, stroke and paraplegic limb disabilities, the quality of life depends on the degree of recovery of the function of the disabled limb. The limb movement function of a patient is improved by applying an advanced rehabilitation treatment technology, so that the patient can achieve the most satisfactory rehabilitation treatment effect in the shortest time and finally get rid of the affliction of the patient and the disabled, and the limb movement function rehabilitation therapy method is always the target of a rehabilitation worker.
The rehabilitation robot as a high-end medical instrument for nerve rehabilitation can help patients to perform high-strength, repetitive, targeted and interactive rehabilitation training, and has the following advantages: (1) the robot is more suitable for repeated work, and the speed and the force are more stable; (2) during the rehabilitation training process, physical information of a patient can be recorded in real time by means of sensors, and the rehabilitation robot can make a proper training plan for the patient according to the information. (3) Convenient to use can carry out the rehabilitation training at patient's family. Therefore, the research on the intelligent rehabilitation robot has important theoretical significance and practical value.
At present, most of the existing elbow and wrist joint rehabilitation training robots lack accurate perception of human-computer interaction information, so that the flexibility of rehabilitation training is too poor. Many devices which utilize bioelectric signals to realize auxiliary and active compliance rehabilitation training also reduce the training effect greatly due to the instability of the bioelectric signals.
In addition, most of the existing upper limb rehabilitation robots adopt single-arm design, only perform rehabilitation training on single-arm affected limbs, and cannot meet requirements of double-arm coordination rehabilitation training.
Disclosure of Invention
The invention aims to overcome the defects that most upper limb rehabilitation robots in the prior art cannot accurately sense the active motion of a human body and can only complete single-arm rehabilitation training, provides a four-degree-of-freedom elbow and wrist joint rehabilitation robot capable of accurately sensing the active motion intention of a patient, provides a more flexible active and passive rehabilitation training for the patient, avoids secondary injury to the patient due to poor motion flexibility of the rehabilitation robot, can perform double-arm coordinated rehabilitation training by interconnecting multi-system information, and can drive an affected limb to perform the active and passive rehabilitation training through the healthy limb of the patient.
In order to achieve the purpose, the invention provides the following scheme:
the invention provides a four-degree-of-freedom elbow-wrist joint rehabilitation robot which comprises a height adjusting assembly, an upper arm assembly, a lower arm assembly and a wrist joint assembly. The height adjusting assembly comprises a base and a lifting column arranged on the base.
The upper arm assembly comprises an upper arm fixing seat, a first motor fixedly connected to the upper arm fixing seat, an upper arm frame connected with an output shaft of the first motor, a first linear slide rail arranged on the upper arm frame, a first slide block connected to the first linear slide rail in a sliding manner, an upper arm expansion bracket fixedly connected to the first slide block, a first electric push rod used for adjusting the extension length of the upper arm expansion bracket, an upper arm supporting frame used for supporting the upper arm of a human body and a first six-dimensional force sensor; one side of the first six-dimensional force sensor is connected with the upper arm telescopic frame through a sensor mounting plate, and the other side of the first six-dimensional force sensor is connected with the upper arm supporting frame. One end of the first electric push rod is connected with the upper arm rack, and the other end of the first electric push rod is connected with the upper arm expansion bracket.
The small arm assembly comprises a second motor arranged on the upper arm expansion bracket, a small arm frame arranged on an output shaft of the second motor, a second linear slide rail fixedly connected to the small arm frame, a second slide block slidably connected to the second linear slide rail, a small arm expansion bracket fixedly connected to the second slide block, and a second electric push rod used for adjusting the extension length of the small arm expansion bracket, wherein one end of the second electric push rod is connected with the small arm expansion bracket, and the other end of the second electric push rod is connected with the small arm frame.
The wrist joint assembly comprises a third motor installed on the forearm telescopic frame, a sensor transition piece fixedly connected with an output shaft of the third motor, a second six-dimensional force sensor fixedly connected with the sensor transition piece, a wrist support fixedly connected with the second six-dimensional force sensor, a fourth motor fixedly connected with the wrist support, an upper support seat fixedly connected with an output shaft of the fourth motor, an annular support frame fixedly connected with the upper support seat and a lower support seat fixedly connected with the annular support frame, the lower support seat is movably connected with the second motor frame through a bolt, and a handle is further arranged on the annular support frame. .
Furthermore, one end of the first electric push rod is connected with the upper arm rack through a first push rod fixing seat, and the other end of the first electric push rod is connected with an upper arm expansion bracket through a second push rod fixing seat; one end of the second electric push rod is connected with the forearm telescopic frame through a third push rod fixing seat, and the other end of the second electric push rod is connected with the forearm rack through a fourth push rod fixing seat.
Furthermore, the first linear slide rails are oppositely arranged into two groups and fixedly arranged on the inner side wall of the upper arm rack; the second linear slide rails are oppositely arranged into two groups and fixedly mounted on the outer side wall of the forearm rack.
Furthermore, the small arm telescopic frame comprises a motor fixing plate and a sliding block mounting plate perpendicular to the motor fixing plate; the third motor is fixedly arranged on the motor fixing plate, and an output shaft of the third motor faces one side of the sliding block mounting plate; the second slider is fixedly mounted on the slider mounting plate.
Further, the first motor, the second motor, the third motor and the fourth motor all include motors and position encoders.
Furthermore, a plurality of rollers are arranged on a bottom plate of the lifting column.
Further, the lifting column is an electric lifting column with a three-stage adjusting structure.
Compared with the prior art, the invention has the following technical effects:
1. the upper arm fixing seat, the upper arm rack, the upper arm expansion bracket, the forearm rack, the forearm expansion bracket and the wrist support form a frame structure of the rehabilitation robot, and four-degree-of-freedom rotation is realized through the driving of the first motor, the second motor, the third motor and the fourth motor to drive the affected limb to perform rehabilitation training. Electric putter has been set up in upper arm department and forearm department in order to reach the purpose of carrying out electric regulation according to different patients' arm length, and manual regulation is compared to the regulation mode more accurate, quick, simple effective.
Two six-dimensional force sensors are arranged at the upper arm support frame and the wrist support frame, and human-computer interaction force sense information can be accurately sensed according to the direction and the size of force applied to the six-dimensional force sensors. The system can ensure the safety of the patient in a passive training mode by monitoring signals of the six-dimensional force sensor, and avoid secondary damage to the patient; under the active training mode, accurate grey prediction fuzzy judgment can be carried out according to the movement intention of the upper limbs of the patient so as to control the corresponding motor to carry out auxiliary training.
2. The rehabilitation robot adopts a double-arm design, not only can finish single-arm rehabilitation exercise, but also can perform double-arm coordinated rehabilitation training, and the healthy limb of a patient can drive the affected limb to perform master-slave rehabilitation training.
3. The rehabilitation robot has 4 degrees of freedom, and can realize independent and coupled rehabilitation training of all degrees of freedom of the upper limb upper arm, the lower arm and the wrist.
4. The lifting column adopts the electric lifting column with three-level adjustment, has high adjustment speed and wide range, and can meet the requirements of patients with different heights. Set up the gyro wheel on the lift post bottom plate, the convenient removal makes the patient all can carry out the rehabilitation training in the place of difference, makes the patient more actively incorporate daily life.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a perspective view of a four-degree-of-freedom elbow and wrist joint rehabilitation robot according to an embodiment of the invention;
FIG. 2 is a perspective view of a height adjustment assembly in accordance with an embodiment of the present invention;
FIG. 3 is an exploded view of an upper arm assembly according to an embodiment of the present invention;
FIG. 4 is an exploded view of the forearm assembly of an embodiment of the invention;
FIG. 5 is an exploded view of a wrist joint assembly according to an embodiment of the present invention.
Description of reference numerals: 1. a height adjustment assembly; 11. a lifting column; 12. a base; 2. an upper arm assembly; 21. an upper arm fixing seat; 22. a first motor; 23. an upper arm frame; 24. a first linear slide rail; 25. a first slider; 26. an upper arm telescopic frame; 27. a first electric push rod; 28. a sensor mounting plate; 29. a first six-dimensional force sensor; 210. an upper arm support frame; 211. a first push rod fixing seat; 212. a second push rod fixing seat; 3. a small arm assembly; 31. a second motor; 32. a forearm frame; 33. a second linear slide rail; 34. a second slider; 35. a small arm telescopic frame; 351. a motor fixing plate; 352. a slider mounting plate; 36. a second electric push rod; 37. a third push rod fixing seat; 38. a fourth push rod fixing seat; 4. a wrist joint assembly; 41. a third motor; 42. a sensor transition piece; 43. a second six-dimensional force sensor; 44. a wrist support; 45. a fourth motor; 46. an upper support base; 47. an annular support frame; 48. a lower support seat; 49. and (4) carrying out handle.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
An embodiment of the four-degree-of-freedom elbow and wrist joint rehabilitation robot of the invention is shown in fig. 1-5. As shown in fig. 1, the rehabilitation robot comprises four main components, namely a height adjusting component 1, an upper arm component 2, a lower arm component 3 and a wrist joint component 4. As shown in fig. 2, the height adjustment assembly 1 includes a base 12 and a lifting column 11 disposed on the base 12, wherein a plurality of rollers are mounted on the base 12 of the lifting column 11, and the lifting column 11 is an electric lifting column with a three-stage adjustment structure.
As shown in fig. 3, the upper arm assembly 2 includes an upper arm fixing base 21, a first motor 22 fixedly connected to the upper arm fixing base 21, an upper arm frame 23 connected to an output shaft of the first motor 22, a first linear slide 24 disposed on the upper arm frame 23, a first slider 25 slidably connected to the first linear slide 24, an upper arm expansion bracket 26 fixedly connected to the first slider 25, a first electric push rod 27 for adjusting an extension length of the upper arm expansion bracket 26, an upper arm support frame 210 for supporting an upper arm of a human body, and a first six-dimensional force sensor 29. One side of the first six-dimensional force sensor 29 is connected with the upper arm telescopic frame 26 through the sensor mounting plate 28, and the other side is connected with the upper arm supporting frame 210. One end of the first electric push rod 27 is connected with the upper arm frame 23 through the first push rod fixing seat 211, and the other end is connected with the upper arm expansion bracket 26 through the second push rod fixing seat 212.
As shown in fig. 4, the forearm assembly 3 includes a second motor 31 installed on the upper arm telescopic frame 26, a forearm frame 32 installed on an output shaft of the second motor 31, a second linear slide rail 33 fixedly connected to the forearm frame 32, a second slide block 34 slidably connected to the second linear slide rail 33, a forearm telescopic frame 35 fixedly connected to the second slide block 34, a second electric push rod 36 for adjusting the extension length of the forearm telescopic frame 35, one end of the second electric push rod 36 is fixedly connected to the forearm telescopic frame 35 through a third push rod fixing seat 37, and the other end is fixedly connected to the forearm frame 32 through a fourth push rod fixing seat 38. The small arm telescopic frame 35 comprises a motor fixing plate 351 and a slider mounting plate 352 perpendicular to the motor fixing plate 351; the third motor 41 is fixedly installed on the motor fixing plate 351, and the output shaft of the third motor 41 faces to one side of the slider installation plate 352; the second slider 34 is fixedly mounted on the slider mounting plate 352.
As shown in fig. 5, the wrist joint assembly 4 includes a third motor 41 mounted on the forearm extension frame 35, a sensor transition member 42 fixedly connected to an output shaft of the third motor 41, a second six-dimensional force sensor 43 fixedly connected to the sensor transition member 42, a wrist support 44 fixedly connected to the second six-dimensional force sensor 43, a fourth motor 45 fixedly connected to the wrist support 44, an upper support seat 46 fixedly connected to an output shaft of the fourth motor 45, an annular support frame 47 fixedly connected to the upper support seat 46, and a lower support seat 48 fixedly connected to the annular support frame 47, wherein the lower support seat 48 is movably connected to the second motor 31 via bolts, and a handle 49 is further disposed on the annular support frame 47.
The specific working process of the embodiment of the invention is as follows: the patient's upper arm is placed on the upper arm support 210 and strapped up, holding in hand the handle 49 provided on the circular support frame 47. The lifting column 11 is an electric lifting column with three-level adjustment, has high adjustment speed and wide range, and can meet the requirements of patients with different heights. Set up the gyro wheel on the base 12 of lift post, convenient the removal makes the patient can all carry out the rehabilitation training in the different positions at home, makes the patient more actively incorporate into daily life.
In addition, set up first electric putter 27 and second electric putter 36 respectively between upper arm frame 23 and upper arm expansion bracket 26 and between forearm frame 32 and forearm expansion bracket 35, can carry out electric regulation according to different patients' arm length and make the patient be in the most comfortable state, and electric regulation mode compares manual regulation more accurate, quick, simple effective.
The first motor 22 is nested in the upper arm fixing seat 21, and an output shaft of the first motor 22 is connected with the upper arm frame 23, so that the rotation of the first motor 22 can drive the upper arm to do flexion/extension movement. The second motor 31 is nested in the upper arm telescopic frame 26, and the output shaft thereof is connected with the forearm frame 32, so that the rotation of the second motor 31 can drive the elbow joint and the forearm to do flexion/extension movement. The third motor 41 is fixedly installed on the forearm telescopic frame 35, and the output shaft thereof is connected with the sensor transition piece 42, so that the rotation of the third motor 41 can drive the wrist and the forearm to do axial inward/outward rotation movement. The fourth motor 45 is fixedly installed on the wrist support 44, an output shaft of the fourth motor is connected with the annular support frame 47, and the rotation of the fourth motor 45 can drive the wrist joint to rotate in a dorsiflexion/palmflexion manner. The four motors can rotate simultaneously, and coupling rehabilitation training of each joint of the affected limb is achieved.
Two six-dimensional force sensors are arranged on the upper arm support frame 210 and the wrist support 44, and the upper limbs of one side of the patient are bound with the contact points. Aiming at the tremble and pause of the human-computer interaction force signal, the smoothness and continuity of the signal are ensured by adopting a self-adaptive filtering method. And aiming at the lag time of the man-machine interaction force signal, processing the data by adopting a Kalman filtering technology to obtain the optimal estimation value of the current state. Based on the principle of conservation of energy of a man-machine system, a mathematical model of a mapping relation between the sum of contact forces of two contact points of the redundant mechanical arm and the joint moment is established. Because the human-computer interaction force detected by the two six-dimensional force sensors has a coupling relation with the joint moment of the 4-DOF (4-degree of freedom) rehabilitation robot, a mathematical correction model of a mechanical mapping relation is established according to the optimal estimated value of the current state, the pose relation of the rehabilitation robot and the optimal energy distribution equation under redundant driving, and the purpose of accurately sensing human-computer interaction force sense information is achieved.
The system can ensure the safety of the patient in a passive training mode by monitoring signals of the six-dimensional force sensor, and avoid secondary damage to the patient; under the active training mode, accurate grey prediction fuzzy judgment can be carried out according to the movement intention of the upper limbs of the patient so as to control the corresponding motor to rotate, so that the auxiliary training is more flexible.
The principle and the implementation mode of the present invention are explained by applying specific examples in the present specification, and the above descriptions of the examples are only used to help understanding the method and the core idea of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (7)
1. A four-degree-of-freedom elbow and wrist joint rehabilitation robot is characterized in that:
comprises a height adjusting component (1), an upper arm component (2), a lower arm component (3) and a wrist joint component (4);
the height adjusting assembly (1) comprises a base (12) and a lifting column (11) arranged on the base (12);
the upper arm assembly (2) comprises an upper arm fixing seat (21), a first motor (22) fixedly connected to the upper arm fixing seat (21), an upper arm rack (23) connected with an output shaft of the first motor (22), a first linear slide rail (24) arranged on the upper arm rack (23), a first sliding block (25) slidably connected to the first linear slide rail (24), an upper arm expansion bracket (26) fixedly connected to the first sliding block (25), a first electric push rod (27) used for adjusting the extending length of the upper arm expansion bracket (26), an upper arm supporting frame (210) used for supporting the upper arm of a human body and a first six-dimensional force sensor (29); one side of the first six-dimensional force sensor (29) is connected with the upper arm telescopic frame (26) through a sensor mounting plate (28), and the other side of the first six-dimensional force sensor is connected with the upper arm supporting frame (210); one end of the first electric push rod (27) is connected with the upper arm rack (23), and the other end of the first electric push rod is connected with the upper arm expansion bracket (26);
the small arm assembly (3) comprises a second motor (31) arranged on the upper arm expansion bracket (26), a small arm rack (32) arranged on an output shaft of the second motor (31), a second linear slide rail (33) fixedly connected to the small arm rack (32), a second slide block (34) slidably connected to the second linear slide rail (33), a small arm expansion bracket (35) fixedly connected with the second slide block (34), and a second electric push rod (36) used for adjusting the extension length of the small arm expansion bracket (35), wherein one end of the second electric push rod (36) is connected with the small arm expansion bracket (35), and the other end of the second electric push rod is connected with the small arm rack (32);
the wrist joint component (4) comprises a third motor (41) arranged on the forearm expansion bracket (35), a sensor transition piece (42) fixedly connected with an output shaft of the third motor (41), a second six-dimensional force sensor (43) fixedly connected with the sensor transition piece (42), a wrist support (44) fixedly connected with the second six-dimensional force sensor (43), a fourth motor (45) fixedly connected with the wrist support (44), an upper support seat (46) fixedly connected with an output shaft of the fourth motor (45), an annular support frame (47) fixedly connected with the upper support seat (46), and a lower support seat (48) fixedly connected with the annular support frame (47), the lower supporting seat (48) is movably connected with the second motor (31) frame through a bolt, and a handle (49) is further arranged on the annular supporting frame (47).
2. The four degree-of-freedom elbow and wrist joint rehabilitation robot of claim 1, characterized in that: one end of the first electric push rod (27) is connected with the upper arm rack (23) through a first push rod fixing seat (211), and the other end of the first electric push rod is connected with an upper arm expansion bracket (26) through a second push rod fixing seat (212); one end of the second electric push rod (36) is connected with the forearm telescopic frame (35) through a third push rod fixing seat (37), and the other end of the second electric push rod is connected with the forearm rack (32) through a fourth push rod fixing seat (38).
3. The four degree-of-freedom elbow and wrist joint rehabilitation robot of claim 1, characterized in that: the first linear sliding rails (24) are oppositely arranged into two groups and fixedly arranged on the inner side wall of the upper arm rack (23); the second linear sliding rails (33) are oppositely arranged into two groups and fixedly mounted on the outer side wall of the small arm rack (32).
4. The four degree-of-freedom elbow and wrist joint rehabilitation robot of claim 1, characterized in that: the small arm telescopic frame (35) comprises a motor fixing plate (351) and a sliding block mounting plate (352) perpendicular to the motor fixing plate (351); the third motor (41) is fixedly arranged on the motor fixing plate (351), and an output shaft of the third motor (41) faces to one side of the slider mounting plate (352); the second slider (34) is fixedly mounted on the slider mounting plate (352).
5. The four degree-of-freedom elbow and wrist joint rehabilitation robot according to any one of claims 1-4, characterized in that: the first motor (22), the second motor (31), the third motor (41) and the fourth motor (45) all comprise motors and position encoders.
6. The four degree-of-freedom elbow and wrist joint rehabilitation robot according to any one of claims 1-4, characterized in that: and a plurality of rollers are arranged on the bottom plate of the lifting column (11).
7. The four degree-of-freedom elbow and wrist joint rehabilitation robot according to any one of claims 1-4, characterized in that: the lifting column (11) is an electric lifting column with a three-stage adjusting structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010025297.2A CN111110513B (en) | 2020-01-10 | 2020-01-10 | Four-degree-of-freedom elbow-wrist joint rehabilitation robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010025297.2A CN111110513B (en) | 2020-01-10 | 2020-01-10 | Four-degree-of-freedom elbow-wrist joint rehabilitation robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111110513A true CN111110513A (en) | 2020-05-08 |
| CN111110513B CN111110513B (en) | 2021-11-23 |
Family
ID=70487696
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010025297.2A Active CN111110513B (en) | 2020-01-10 | 2020-01-10 | Four-degree-of-freedom elbow-wrist joint rehabilitation robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111110513B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111956449A (en) * | 2020-08-10 | 2020-11-20 | 河海大学常州校区 | Exoskeleton rehabilitation treatment device for shoulder-elbow joint injury and control system thereof |
| CN113908014A (en) * | 2021-11-02 | 2022-01-11 | 复旦大学 | Hand function rehabilitation robot |
| CN113908016A (en) * | 2021-11-02 | 2022-01-11 | 复旦大学 | Elbow and wrist joint rehabilitation training device with four degrees of freedom |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201135581Y (en) * | 2007-09-20 | 2008-10-22 | 华中科技大学 | Wearable upper limbs rehabilitation training robot device |
| FR2917323A1 (en) * | 2007-06-12 | 2008-12-19 | Commissariat Energie Atomique | FRONT ROTATION MECHANISM AND ORTHESIS COMPRISING SUCH A MECHANISM |
| CN201743884U (en) * | 2010-06-07 | 2011-02-16 | 付风生 | Robot for rehabilitating and training upper limb |
| CN102727360A (en) * | 2012-06-06 | 2012-10-17 | 常州汉迪机器人科技有限公司 | Human upper limb rehabilitation robot |
| CN204723351U (en) * | 2015-06-02 | 2015-10-28 | 哈尔滨工程大学 | A kind of arm rehabilitation training forearm movable joint device |
| CN105520819A (en) * | 2014-10-24 | 2016-04-27 | 青岛世纪杰创医疗科技有限公司 | Exoskeleton-type shoulder girdle and upper limb synergistic rehabilitation robot |
| CN107362000A (en) * | 2017-09-11 | 2017-11-21 | 河北工业大学 | A kind of five-freedom degree dermaskeleton type upper limb rehabilitation robot |
| CN107854813A (en) * | 2017-11-30 | 2018-03-30 | 湖南妙手机器人有限公司 | A kind of upper limb rehabilitation robot |
| CN108210246A (en) * | 2018-01-10 | 2018-06-29 | 北京工业大学 | A kind of four-degree-of-freedom rehabilitation mechanical arm assembly |
| CN207654626U (en) * | 2017-11-30 | 2018-07-27 | 湖南妙手机器人有限公司 | A kind of upper limb rehabilitation robot |
| CN109009875A (en) * | 2018-08-20 | 2018-12-18 | 中国科学院苏州生物医学工程技术研究所 | Personalized upper-limbs rehabilitation training robot |
-
2020
- 2020-01-10 CN CN202010025297.2A patent/CN111110513B/en active Active
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2917323A1 (en) * | 2007-06-12 | 2008-12-19 | Commissariat Energie Atomique | FRONT ROTATION MECHANISM AND ORTHESIS COMPRISING SUCH A MECHANISM |
| CN201135581Y (en) * | 2007-09-20 | 2008-10-22 | 华中科技大学 | Wearable upper limbs rehabilitation training robot device |
| CN201743884U (en) * | 2010-06-07 | 2011-02-16 | 付风生 | Robot for rehabilitating and training upper limb |
| CN102727360A (en) * | 2012-06-06 | 2012-10-17 | 常州汉迪机器人科技有限公司 | Human upper limb rehabilitation robot |
| CN105520819A (en) * | 2014-10-24 | 2016-04-27 | 青岛世纪杰创医疗科技有限公司 | Exoskeleton-type shoulder girdle and upper limb synergistic rehabilitation robot |
| CN204723351U (en) * | 2015-06-02 | 2015-10-28 | 哈尔滨工程大学 | A kind of arm rehabilitation training forearm movable joint device |
| CN107362000A (en) * | 2017-09-11 | 2017-11-21 | 河北工业大学 | A kind of five-freedom degree dermaskeleton type upper limb rehabilitation robot |
| CN107854813A (en) * | 2017-11-30 | 2018-03-30 | 湖南妙手机器人有限公司 | A kind of upper limb rehabilitation robot |
| CN207654626U (en) * | 2017-11-30 | 2018-07-27 | 湖南妙手机器人有限公司 | A kind of upper limb rehabilitation robot |
| CN108210246A (en) * | 2018-01-10 | 2018-06-29 | 北京工业大学 | A kind of four-degree-of-freedom rehabilitation mechanical arm assembly |
| CN109009875A (en) * | 2018-08-20 | 2018-12-18 | 中国科学院苏州生物医学工程技术研究所 | Personalized upper-limbs rehabilitation training robot |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111956449A (en) * | 2020-08-10 | 2020-11-20 | 河海大学常州校区 | Exoskeleton rehabilitation treatment device for shoulder-elbow joint injury and control system thereof |
| CN113908014A (en) * | 2021-11-02 | 2022-01-11 | 复旦大学 | Hand function rehabilitation robot |
| CN113908016A (en) * | 2021-11-02 | 2022-01-11 | 复旦大学 | Elbow and wrist joint rehabilitation training device with four degrees of freedom |
| CN113908014B (en) * | 2021-11-02 | 2024-02-20 | 复旦大学 | Hand function rehabilitation robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111110513B (en) | 2021-11-23 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111110513B (en) | Four-degree-of-freedom elbow-wrist joint rehabilitation robot | |
| CN110051501B (en) | Desktop type upper limb rehabilitation robot and using method thereof | |
| CN108606907B (en) | Movable parallel flexible cable driven lower limb rehabilitation robot and implementation method thereof | |
| Wang et al. | Design and control of the MINDWALKER exoskeleton | |
| CN107088139B (en) | Horizontal rehabilitation robot for lower limb movement disorder type patient | |
| CN109009875B (en) | Individualized upper limb rehabilitation training robot | |
| CN101357097B (en) | Five freedom degree ectoskeleton type upper limb rehabilitation robot | |
| CN111067761B (en) | Generalized shoulder joint rehabilitation training device | |
| CN111604890B (en) | Motion control method suitable for exoskeleton robot | |
| CN101803988B (en) | Multifunctional intelligent rehabilitation robot for assisting stand and walk | |
| CN101862256B (en) | Vehicle-mounted movable type walk-assisting exoskeleton rehabilitation robot | |
| CN111110509A (en) | Interchangeable and evading strange seven-degree-of-freedom upper limb exoskeleton rehabilitation robot | |
| CN106726358A (en) | A kind of vertical lower limbs rehabilitation training robot | |
| Joel et al. | Review on Gait Rehabilitation Training Using Human Adaptive Mechatronics System in Biomedical Engineering | |
| CN110859731A (en) | Six-degree-of-freedom exoskeleton type upper limb rehabilitation robot | |
| Sui et al. | Design of a wearable upper-limb exoskeleton for activities assistance of daily living | |
| CN111345970A (en) | Seven-degree-of-freedom upper limb exoskeleton rehabilitation robot | |
| CN104983549A (en) | An intelligent upper limb rehabilitation training device | |
| CN105997427A (en) | Upper limb rehabilitation robot | |
| CN210962908U (en) | Sitting type lower limb rehabilitation robot | |
| CN211300956U (en) | Horizontal lower limb rehabilitation robot | |
| Umemura et al. | A study on power-assisted rehabilitation robot arms operated by patient with upper limb disabilities | |
| CN113908015A (en) | Rehabilitation training device with upper limb single arm and seven degrees of freedom | |
| Cao et al. | Development and evaluation of a rehabilitation wheelchair with multiposture transformation and smart control | |
| CN109925160B (en) | Light-weight multi-degree-of-freedom shoulder complex bionic power-assisted flexible exoskeleton |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |