CN113633522B - Exoskeleton type upper limb rehabilitation training robot - Google Patents
Exoskeleton type upper limb rehabilitation training robot Download PDFInfo
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- CN113633522B CN113633522B CN202111086686.7A CN202111086686A CN113633522B CN 113633522 B CN113633522 B CN 113633522B CN 202111086686 A CN202111086686 A CN 202111086686A CN 113633522 B CN113633522 B CN 113633522B
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- 210000000323 shoulder joint Anatomy 0.000 claims abstract description 87
- 210000002310 elbow joint Anatomy 0.000 claims abstract description 27
- 210000000245 forearm Anatomy 0.000 claims description 89
- 238000005452 bending Methods 0.000 claims description 52
- 230000007246 mechanism Effects 0.000 claims description 25
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Classifications
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- 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
- A61H1/0274—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
- A61H1/0274—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
- 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
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- 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 application discloses exoskeleton type upper limb rehabilitation training robot is suitable for driving the upper limb of a patient to realize full-freedom-degree movement. The exoskeleton type upper limb rehabilitation training robot comprises an equipment body, a full-freedom training arm and at least one arm fixing piece. The full-freedom training arm comprises a shoulder joint movement assembly and an elbow joint movement assembly, wherein the shoulder joint movement assembly is arranged on the equipment body in a multi-freedom-degree movement manner, the elbow joint movement assembly is arranged on the shoulder joint movement assembly in a multi-freedom-degree movement manner, and the shoulder joint movement assembly forms a training space on the side face of the equipment body. The arm fixing piece is arranged on the shoulder joint movement assembly and is used for fixing the upper limb of the patient to the shoulder joint movement assembly so that the upper limb of the patient can move synchronously with the shoulder joint movement assembly. The method and the device can lead the patient to have no pressing sense in the training process, and lead the patient to train more intensively.
Description
Technical Field
The invention relates to rehabilitation instruments, in particular to an exoskeleton type upper limb rehabilitation training robot.
Background
At present, in the rehabilitation training process of patients with upper limb dysfunction caused by diseases such as cerebral apoplexy, injury and the like, single-joint rehabilitation training and multi-joint compound action rehabilitation training are required to be carried out on the upper limbs of the patients. Medical research has proven that the exoskeleton type rehabilitation training robot is used as an electromechanical integrated system suitable for long-time and repeated complex labor work execution, can assist a patient to complete a large number of high-precision and standardized single-joint and multi-joint compound training actions, and promotes the patient to better recover the movement and movement control capability of the affected limb.
One key difficulty of the structural design of the exoskeleton type upper limb rehabilitation training robot is that various structural parameters of the robot are adjusted to be matched with biomechanical parameters of upper limbs of different patients, so that the adaptation of a human-machine joint motion axis or a motion center is achieved, and the robot drives the upper limb on the affected side to finish preset training actions and training intensity in a three-dimensional space. The existing exoskeleton type upper limb rehabilitation training robot has the advantages that due to the fact that the human-machine movement axis or movement center is not matched, the exoskeleton type mechanical mechanism can limit the movement space of the limbs of a patient, compensatory movement is generated, the rehabilitation training effect is reduced, unexpected acting force can be generated on joints of the patient under severe conditions, joint pain is generated, and secondary damage to the upper limbs of the patient is caused. In addition, because the shoulder of the human body is a multi-joint complex, the shoulder structure of the exoskeleton type upper limb rehabilitation training robot with reasonable design is a key technical difficulty in the field.
The existing robot body mechanical structure is complicated and huge, equipment structures are arranged around the head of a patient, the training equipment is used for inducing pressure to the patient in the operation process, so that fear psychology exists in the patient, the robot body cannot be accepted, the patient cannot coordinate with the robot, rehabilitation training is difficult to concentrate on, and the effect of the patient in training is reduced.
Disclosure of Invention
The invention has the advantages that the exoskeleton type upper limb rehabilitation training robot is provided, the exoskeleton type upper limb rehabilitation training robot can drive the upper limb of a user to perform full-freedom rehabilitation training in a three-dimensional space, the mechanical structure of the exoskeleton type upper limb rehabilitation training robot cannot appear around the head of a patient, the pressing feeling of equipment on the patient is greatly reduced, and the concentration degree of the rehabilitation training of the patient is increased.
Another advantage of the present invention is to provide an exoskeleton type upper limb rehabilitation training robot in which a full-degree-of-freedom training arm can drive a user's upper limb to perform full-degree-of-freedom rehabilitation training in a three-dimensional space, and each component on the full-degree-of-freedom training arm does not interfere.
Another advantage of the present invention is to provide an exoskeleton type upper limb rehabilitation training robot in which the degree of freedom training arm can exercise both the left arm and the right arm of the patient.
Another advantage of the present invention is to provide an exoskeleton type upper limb rehabilitation training robot, wherein the full-freedom training arm drives the upper arm and the forearm of the patient to move through the shoulder joint movement assembly and the elbow joint movement assembly, so as to realize multi-joint compound movement.
Another advantage of the present invention is to provide an exoskeleton type upper limb rehabilitation training robot in which an elbow joint movement assembly combines movement of an elbow joint flexion-extension member and a forearm supination-supination member to allow a patient's forearm to perform a combined rehabilitation training action.
Another advantage of the present invention is to provide an exoskeleton type upper limb rehabilitation training robot in which an adjustment assembly can adjust the length of a full-degree-of-freedom training arm so that the length of the full-degree-of-freedom training arm can be adapted to the arms of different patients.
Another advantage of the present invention is to provide an exoskeleton type upper limb rehabilitation training robot, in which the glenohumeral joint movement assembly combines the X-direction, Y-direction and Z-direction movements, so as to realize the movement with multiple degrees of freedom, and avoid the compensatory movement of the full-freedom training arm during the training and the damage of the arm of the patient.
Another advantage of the present invention is to provide an exoskeleton type upper limb rehabilitation training robot in which a device body adjusts the height of a full-degree-of-freedom training arm and glenohumeral joint movement assembly through a lifting unit, so that the training robot can be adapted to patients of different heights.
To achieve at least one of the above advantages, the present invention provides
Exoskeleton type upper limb rehabilitation training robot is applicable to driving the upper limb of a patient to realize full freedom degree movement, and is characterized in that the exoskeleton type upper limb rehabilitation training robot comprises:
an equipment body;
the full-freedom-degree training arm comprises a shoulder joint movement assembly and an elbow joint movement assembly, wherein the shoulder joint movement assembly is arranged on the equipment body in a multi-degree-of-freedom movable manner, the elbow joint movement assembly is arranged on the shoulder joint movement assembly in a multi-degree-of-freedom movable manner, and the shoulder joint movement assembly forms a training space on the side surface of the equipment body; and
and the arm fixing piece is arranged on the shoulder joint movement assembly and is used for fixing the upper limb of the patient to the shoulder joint movement assembly so that the upper limb of the patient can synchronously move along with the shoulder joint movement assembly.
According to an embodiment of the invention, the arm mount is detachably disposed to the shoulder joint movement assembly.
According to an embodiment of the present invention, the shoulder joint movement assembly includes:
The shoulder joint inward-folding and outward-unfolding component comprises a shoulder folding and unfolding substrate, a shoulder folding and unfolding output plate, a shoulder folding and unfolding connecting rod mechanism and a shoulder folding and unfolding power unit, the shoulder folding and unfolding substrate is arranged on the equipment body, the shoulder folding and unfolding connecting rod mechanism is arranged on the shoulder folding and unfolding substrate, the shoulder folding and unfolding power unit is in transmission connection with the shoulder folding and unfolding connecting rod mechanism, and the shoulder folding and unfolding output plate is in transmission connection with the shoulder folding and unfolding connecting rod mechanism so that the shoulder folding and unfolding output plate rotates around an output axis of the shoulder folding and unfolding power unit;
the shoulder joint bending and stretching component comprises a shoulder bending and stretching power unit and a shoulder bending and stretching swing arm, the shoulder bending and stretching power unit is arranged on the shoulder folding and unfolding output plate, and the shoulder bending and stretching swing arm is arranged at the output end of the shoulder bending and stretching power unit so that the shoulder bending and stretching swing arm rotates around the output axis of the shoulder bending and stretching power unit; and
the shoulder joint internal rotation and external rotation movement part comprises a shoulder internal rotation and external rotation output frame, a shoulder internal and external rotation connecting rod mechanism and a shoulder internal and external rotation force unit, the shoulder internal and external rotation connecting rod mechanism is arranged on the shoulder bending and stretching swing arm, the shoulder internal and external rotation force unit is in transmission connection with the shoulder internal and external rotation connecting rod mechanism, and the shoulder internal and external rotation output frame is in transmission connection with the shoulder internal and external rotation connecting rod mechanism, so that the shoulder internal and external rotation output frame rotates around an output axis of the shoulder internal and external rotation force unit.
According to one embodiment of the invention, the elbow joint motion assembly comprises:
the elbow joint bending and stretching component comprises an elbow bending and stretching power unit and an elbow bending and stretching output arm, the elbow bending and stretching power unit is arranged on the internal and external rotation output frame of the shoulder, and the elbow bending and stretching output arm is arranged at the output end of the elbow bending and stretching power unit so that the elbow bending and stretching output arm rotates around the output axis of the elbow bending and stretching power unit; and
the forearm rotating and forward rotating and backward rotating component comprises a forearm rotating and forward rotating and backward rotating power unit and a forearm rotating and forward rotating and backward rotating frame, the forearm rotating and forward rotating and backward rotating power unit is arranged on the elbow bending and stretching output arm, and the forearm rotating and forward rotating and backward rotating frame is arranged at the output end of the forearm rotating and forward rotating and backward power unit, so that the forearm rotating and forward rotating and backward rotating frame rotates around the output axis of the forearm rotating and forward rotating and backward power unit.
According to an embodiment of the invention, the elbow joint motion assembly further comprises a gripping member disposed on the forearm supination and pronation turret for gripping by a patient's hand; and
and the holding force sensor is arranged on the holding part and is used for measuring the holding force of a patient on the holding part.
According to an embodiment of the present invention, the full-freedom training arm further includes an adjusting assembly, the adjusting assembly including:
the upper arm adjusting part is arranged on the shoulder bending and stretching swing arm so as to adjust the length of the shoulder bending and stretching swing arm;
and the forearm adjusting part is arranged on the elbow flexion and extension output arm so as to adjust the length of the elbow flexion and extension output arm.
According to an embodiment of the present invention, the upper arm adjusting part includes an upper arm sliding plate, an upper arm trapezoidal screw, an upper arm driving unit and an upper arm guide rail, wherein the upper arm driving unit is disposed on the shoulder bending and stretching swing arm, the upper arm guide rail is disposed on the shoulder bending and stretching swing arm, the upper arm trapezoidal screw is disposed at an output end of the upper arm driving unit, and the upper arm sliding plate is disposed on the upper arm trapezoidal screw and is slidably connected with the upper arm guide rail;
the forearm adjusting part comprises a forearm sliding plate, a forearm trapezoidal screw rod, a forearm driving unit and a forearm guide rail, wherein the forearm driving unit is arranged on the shoulder bending and stretching swing arm, the forearm guide rail is arranged on the shoulder bending and stretching swing arm, the forearm trapezoidal screw rod is arranged at the output end of the forearm driving unit, and the forearm sliding plate is arranged on the forearm trapezoidal screw rod and is in sliding connection with the forearm guide rail.
According to an embodiment of the present invention, the exoskeleton type upper limb rehabilitation training robot comprises a glenohumeral joint movement assembly, wherein the glenohumeral joint movement assembly comprises an X-direction movement base frame, an X-direction movement power unit, a Y-direction movement base frame, a Y-direction movement power unit, a Z-direction movement base frame and a Z-direction movement power unit, the Z-direction movement power unit is arranged at the equipment body, the Z-direction movement base frame is arranged at the output end of the Z-direction movement power unit so as to control the Z-direction movement base frame to move along the Z-direction through the Z-direction movement power unit, the X-direction movement power unit is arranged at the Z-direction movement base frame, the X-direction movement base frame is arranged at the output end of the X-direction movement power unit so as to drive the X-direction movement base frame to move along the X-direction through the X-direction movement power unit, and the Y-direction movement base frame is arranged at the output end of the Y-direction movement power unit so as to drive the Y-direction movement base frame along the Y-direction movement power unit;
the shoulder joint adduction and abduction parts of the full-freedom training arm are provided to the Y-direction movement base frame.
According to an embodiment of the invention, the device body comprises a cabinet and a lifting unit, the lifting unit is arranged on the cabinet, and the Z-direction movement base frame of the glenohumeral joint movement assembly is arranged at the output end of the lifting unit.
According to an embodiment of the present invention, the device body further includes a processing unit, and the processing unit is respectively in communication connection with the shoulder stretching power unit, the shoulder flexion and extension power unit, the shoulder internal and external rotation power unit, the elbow flexion and extension power unit, the forearm rotation front rotation back power unit, the X-direction movement power unit, the Y-direction movement power unit, the Z-direction movement power unit, and the lifting unit.
Drawings
Fig. 1 shows a perspective view of an exoskeleton type upper limb rehabilitation training robot according to the present invention.
Fig. 2 shows a schematic structural diagram of a full-freedom training arm of the exoskeleton type upper limb rehabilitation training robot.
Fig. 3 shows a schematic diagram of the internal structure of the exoskeleton type upper limb rehabilitation training robot with the cabinet removed.
Figure 4 shows a side view of the exoskeleton type upper limb rehabilitation training robot of the present invention with the cabinet removed and the full degree of freedom training arm.
Fig. 5 shows a state diagram of the full-freedom training arm of the exoskeleton type upper limb rehabilitation training robot for training the left hand of a patient.
Fig. 6 shows a state diagram of the exoskeleton type upper limb rehabilitation training robot of the present invention in which the full-freedom training arm is used for training the right hand of the patient.
Fig. 7 shows a system diagram of the exoskeleton type upper limb rehabilitation training robot of the present invention.
Detailed Description
The following description is presented to enable one of ordinary skill in the art to make and use the invention. The preferred embodiments in the following description are by way of example only and other obvious variations will occur to those skilled in the art. The basic principles of the invention defined in the following description may be applied to other embodiments, variations, modifications, equivalents, and other technical solutions without departing from the spirit and scope of the invention.
It will be appreciated by those skilled in the art that in the present disclosure, the terms "longitudinal," "transverse," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," etc. refer to an orientation or positional relationship based on that shown in the drawings, which is merely for convenience of description and to simplify the description, and do not indicate or imply that the apparatus or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore the above terms should not be construed as limiting the present invention.
It will be understood that the terms "a" and "an" should be interpreted as referring to "at least one" or "one or more," i.e., in one embodiment, the number of elements may be one, while in another embodiment, the number of elements may be plural, and the term "a" should not be interpreted as limiting the number.
Referring to fig. 1 to 7, an exoskeleton type upper limb rehabilitation training robot according to a preferred embodiment of the present invention will be described in detail below. The exoskeleton type upper limb rehabilitation training robot is suitable for driving the upper limb of a patient to realize full-freedom-degree movement. The exoskeleton type upper limb rehabilitation training robot comprises an equipment body 10, at least one full-freedom training arm 20 and at least one arm fixing piece 30.
The full-freedom training arm 20 includes a shoulder joint movement assembly 21 and an elbow joint movement assembly 22, and the shoulder joint movement assembly 21 is provided to the apparatus body 10 so as to be movable in multiple degrees of freedom. The elbow joint motion unit 22 is provided to the shoulder joint motion unit 21 so as to be movable in multiple degrees of freedom. The shoulder joint movement assembly 21 forms a training space at the side of the apparatus body 10.
The arm mount 30 is provided to the shoulder joint movement assembly 21. The patient's upper limb is secured to the shoulder joint movement assembly 21 by the arm mount 30 while the patient is leaning against the apparatus body 10. As the shoulder joint movement assembly 21 moves, the patient's upper limb can move synchronously with the shoulder joint movement assembly 21, thereby achieving the purpose of exercising the patient's upper limb. The training space is located on the side of the device body 10, so that the mechanical structure of the exoskeleton type upper limb rehabilitation training robot does not appear around the head of the patient, so that the feeling of oppression to the patient by the device is avoided to a great extent, and the concentration of the patient in the rehabilitation training process is increased.
In addition, the shoulder joint movement assembly 21 does not interfere with the movement of the elbow joint movement assembly 21 during the movement process, so that the shoulder joint movement assembly and the elbow joint movement assembly can move independently of each other without interference.
The arm mount 30 is detachably provided to the shoulder joint movement assembly 21.
The arm mount 30 is embodied as a half-ring and a strap. The semicircular ring is detachably arranged on the shoulder joint movement assembly 21, and the binding band is used for binding the upper limb of the patient with the semicircular ring together so as to achieve the purpose of fixing the upper limb of the patient. As the semicircle is removable from the shoulder joint movement assembly 21. Therefore, the semicircular ring and the full-freedom-degree training arm 20 can be separated, the semicircular ring and the upper limb of the patient are bound, and finally the semicircular ring is fixed on the full-freedom-degree training arm 20, so that the aim of fixing the upper limb of the patient is fulfilled.
The semicircular ring can be detachably connected with the shoulder joint movement assembly 21 in a threaded connection mode, namely, the semicircular ring is penetrated through by bolts and then is in threaded connection with the shoulder joint movement assembly 21.
The other detachable mode of semicircle ring, semicircle ring is kept away from one side of bandage is provided with magnet, be provided with on the shoulder joint motion subassembly 21 with magnet magnetism is different the cooperation magnet. The semicircular ring is fixed to the shoulder joint movement assembly 21 by magnetism of the magnet. The matching magnet can be implemented as an electromagnet, the magnetic poles of the electromagnet can be exchanged, when the magnetism of the electromagnet is the same as that of the magnet, the semicircular ring falls off from the shoulder joint movement assembly 21, and when the magnetism of the electromagnet is different from that of the magnet, the semicircular ring is firmly adsorbed on the shoulder joint movement assembly 21, so that the purpose of dismounting the semicircular ring is achieved.
The shoulder joint movement assembly 21 includes a shoulder inner-extension member 211, a shoulder flexion-extension member 212, and a shoulder inner-outer-rotation movement member 213. The shoulder adduction and abduction component 211 controls the adduction and abduction of the shoulder joint of the arm of the patient. The shoulder flexion and extension unit 212 controls the shoulder flexion and extension of the patient's arm. The shoulder internal rotation and external rotation movement part 213 controls the rotation of the patient's shoulder. The shoulder joint of the patient can realize the inward-folding and outward-unfolding actions and the rotation actions, and the inward-folding and outward-unfolding actions, the bending and stretching actions and the rotation actions of the shoulder joint can be combined, so that the aim of multi-degree-of-freedom movement of the arm of the patient is fulfilled, and the arm of the patient can perform good rehabilitation training.
The shoulder joint inner-extension member 211 includes a shoulder extension base plate 2111, a shoulder extension link mechanism 2112, a shoulder extension power unit 2113, and a shoulder extension output plate 2114. The shoulder folding and unfolding base plate 2111 is arranged on the equipment body 10, the shoulder folding and unfolding linkage 2112 is arranged on the shoulder folding and unfolding base plate 2111, the shoulder folding and unfolding power unit 2113 is in transmission connection with the shoulder folding and unfolding linkage 2112, and the shoulder folding and unfolding output plate 2114 is in transmission connection with the shoulder folding and unfolding linkage 2112 so that the shoulder folding and unfolding output plate 2114 rotates around an output shaft axis L1 of the shoulder folding and unfolding power unit.
The shoulder deployment linkage 2112 includes a left shoulder deployment swing arm 21121, a right shoulder deployment swing arm 21122, a middle shoulder set-square 21123, an upper shoulder set-square 21124, and a drive arm 21125. One end of the shoulder folding left swing arm 21121 and one end of the shoulder folding right swing arm 21122 are both rotatably connected to the shoulder folding base plate 2111. The shoulder retracting middle triangle 21123 and the shoulder retracting upper triangle 21124 are each triangular and each have three ends. The other end of the left swing arm 21121 is connected with the first end of the triangle 21123 and the first end of the triangle 21124. One end of the right swing arm 21122 is connected with the second end of the triangle 21123 and the second end of the triangle 21124. The shoulder folding and unfolding output plate 2114 is simultaneously and rotatably connected with the third end of the shoulder folding and unfolding middle triangular plate 21123 and the third end of the shoulder folding and unfolding upper triangular plate 21124. The shoulder deployment power unit 2113 is provided at the shoulder deployment upper triangle 21124. One end of the shoulder stretching driving arm 21125 is provided at the output end of the shoulder stretching power unit 2113, and the other end of the shoulder stretching driving arm 21125 is rotatably connected with the triangle 21123 in the shoulder stretching. The shoulder joint inner-extension and outer-extension part 211 may form several groups of parallelogram linkages, and the shoulder extension output plate 2114 is driven to rotate around the axis L1 by the cooperation of the shoulder extension power unit 2113 and the shoulder extension driving arm 21125. The axis L1 is parallel to both the coronal and sagittal planes. The shoulder flexion and extension unit 212 includes a shoulder flexion and extension power unit 2121 and a shoulder flexion and extension swing arm 2122. The shoulder flexion and extension power unit 2121 is provided to the shoulder extension/retraction output plate 2114. The shoulder flexion and extension swing arm 2122 is provided at the output of the shoulder flexion and extension power unit 2121. The shoulder flexion and extension swing arm 2122 is driven to rotate around the output axis L2 of the shoulder flexion and extension power unit 2121 by the shoulder flexion and extension power unit 2121. The axis L2 is parallel to the horizontal plane and perpendicular to the axis L1.
The parallelogram linkage formed by the shoulder deployment linkage 2112 enables the shoulder deployment linkage 2112 to quickly switch over on the shoulder deployment substrate 2111. The shoulder folding and unfolding output plate 2114 is enabled to rotate around the axis L1 by the control of the shoulder folding and unfolding power unit 2113, so that the position of the shoulder folding and unfolding output plate 2114 with respect to the apparatus body 10 can be changed quickly. In addition, by driving the shoulder flexion and extension power unit 2121, the shoulder flexion and extension swing arm 2122 rotates around the axis L2, so that the arm of the patient can be fixed on the full-freedom-degree training arm 20, and the full-freedom-degree training arm 20 can exercise the left arm of the patient and the right arm of the patient. After the full-freedom-degree training arm 20 exercises the right arm of the patient, the shoulder folding and unfolding output plate 2114 is moved to the left side of the device body 10, and meanwhile, the shoulder folding and stretching swing arm 2122 is rotated, so that the full-freedom-degree training arm 20 is adapted to the left arm of the patient, and the left arm of the patient can be exercised.
The full freedom training arm 20 of the device can be exchanged rapidly by controlling the shoulder stretching power unit 2113 and the shoulder flexing power unit 2121, so as to achieve the purpose of saving time. In addition, the full-freedom training arm 20 adopts the interchangeable mode to train the arms of the patient, so that the number of mechanical structures on the device can be reduced, the fear of the device for the patient is further reduced, and the patient trains more intensively.
The shoulder joint internal rotation and external rotation movement part 213 comprises a shoulder internal rotation and external rotation link mechanism 2131, a shoulder internal rotation and external rotation force unit 2132 and a shoulder internal rotation and external rotation output frame 2133. The shoulder inner and outer rotating link mechanism 2131 is disposed on the shoulder flexion and extension swing arm 2122, the shoulder inner and outer rotating force unit 2132 is in transmission connection with the shoulder inner and outer rotating link mechanism 2131, and the shoulder inner and outer rotating output frame 2133 is in transmission connection with the shoulder inner and outer rotating link mechanism 2131, so that the shoulder inner and outer rotating output frame 2133 rotates around an output axis L3 of the shoulder inner and outer rotating force unit 2132.
The shoulder inner and outer rotating link mechanism 2131 includes a shoulder inner and outer rotating left swing arm 21311, a shoulder inner and outer rotating right swing arm 21312, a shoulder inner and outer rotating middle triangle 21313, a shoulder inner and outer rotating upper triangle 21314 and a shoulder inner and outer rotating driving arm 21315. One end of the shoulder inner and outer rotation left swing arm 21311 and one end of the shoulder inner and outer rotation right swing arm 21312 are both rotatably connected to the shoulder flexion and extension swing arm 2122. The shoulder inside-out middle triangle 21313 and the shoulder inside-out upper triangle 21314 are both triangular and have three ends. The other end of the shoulder inner and outer rotation left swing arm 21311 is simultaneously connected with the first end of the shoulder inner and outer rotation middle triangle 21313 and the first end of the shoulder inner and outer rotation upper triangle 21314 in a rotating way. One end of the shoulder inner and outer rotation right swing arm 21312 is simultaneously connected with the second end of the shoulder inner and outer rotation middle triangle 21313 and the second end of the shoulder inner and outer rotation upper triangle 21314 in a rotating way. The shoulder inner and outer rotation output rack 2133 is simultaneously and rotatably connected with the third end of the shoulder inner and outer rotation middle triangle 21313 and the third end of the shoulder inner and outer rotation upper triangle 21314. The shoulder inner and outer rotating force unit 2132 is provided to the shoulder inner and outer rotating triangle 21314. One end of the inner and outer rotating arm 21315 is disposed at the output end of the inner and outer rotating force unit 2132, and the other end of the inner and outer rotating arm 21315 is rotatably connected with the inner and outer rotating triangle 21313. The shoulder inner and outer rotating link mechanism 2131 may form a plurality of groups of parallelogram link mechanisms, and the cooperation of the shoulder inner and outer rotating force unit 2132 and the shoulder inner and outer rotating drive arm 21315 drives the shoulder inner and outer rotating output frame 2133 to rotate around the axis L3. The axis L3 is parallel to the horizontal plane and perpendicular to both the axis L1 and the axis L2.
The elbow joint motion assembly 22 includes an elbow joint flexion and extension member 221 and a forearm supination member 222. The elbow flexion and extension unit 221 is provided to the shoulder flexion and extension unit 212, and the elbow flexion and extension unit 221 controls bending or extension of the forearm of the patient about the elbow. The forearm pronation/supination member 222 is provided to the shoulder flexion and extension member 212, and the forearm pronation/supination member 222 controls rotation of the patient's forearm about the elbow joint. The motion of the patient's forearm through the elbow joint motion assembly 22 is controlled to perform multiple degrees of freedom.
The elbow flexion and extension member 221 includes an elbow flexion and extension power unit 2211 and an elbow flexion and extension output arm 2212. The elbow flexion and extension power unit 2211 is disposed on the shoulder internal and external rotation output frame 2133. The elbow flexion and extension output arm 2212 is disposed at the output end of the elbow flexion and extension power unit 2211. The elbow flexion and extension output arm 2212 is controlled to rotate around the output axis L4 of the elbow flexion and extension power unit 2211 by the elbow flexion and extension power unit 2211. The axis L4 is parallel to the axis L1.
The forearm pronation and supination component 222 includes a forearm pronation and supination power unit 2221 and a forearm supination and supination rotating frame 2222, the forearm pronation and supination power unit 2221 is disposed on the elbow flexion and extension output arm 2212, and the forearm pronation and supination rotating frame 2222 is disposed on an output end of the forearm pronation and supination power unit 2221, so that the forearm pronation and supination rotating frame 2222 rotates around an output axis rotation L5 of the forearm pronation and supination power unit 2221.
The shoulder joint movement assembly 21 controls the arm of the patient to move, and the elbow joint movement assembly 22 also drives the forearm of the patient to move while the arm moves, so that the multi-joint part of the patient can be moved at the same time, and the upper limbs of the patient can be combined to move.
The elbow articulation assembly 22 also includes a gripping member 223. The grip 223 is provided to the forearm pronate supination turret 2222 to rotate in synchronization with the forearm pronate supination turret 2222. The palm of the patient can hold the holding part 223, so as to drive the forearm of the patient to rotate.
The elbow joint motion assembly 22 also includes a grip sensor 224. The grip force sensor 224 is provided to the grip member 223. The grip sensor 224 can detect the force transmitted from the palm of the patient when the palm of the patient grips the grip member 223, so as to further understand the condition of the upper limb of the patient.
It is worth mentioning that, just because of this setting, exoskeleton formula upper limbs rehabilitation training robot can drive user's upper limbs and do the rehabilitation activity of different spatial positions to can not appear interfering between each part on the exoskeleton formula upper limbs rehabilitation training robot.
More particularly, the exoskeleton type upper limb rehabilitation training robot can drive different parts of the upper limb of a user to do rehabilitation activities at different spatial positions, and all parts on the exoskeleton type upper limb rehabilitation training robot cannot interfere with each other.
The full degree of freedom training arm 20 further includes an adjustment assembly 23. The adjustment assembly 23 includes an upper arm adjustment member 231 and a forearm adjustment member 232. The upper arm adjusting part 231 is provided to the shoulder flexion and extension swing arm 2122 so that the length of the shoulder flexion and extension part 212 is adapted to the upper arm of the patient, so that the shoulder joint movement assembly 21 can be adapted to the arm of different patients. The forearm adjusting unit 232 is disposed on the elbow bending and stretching output arm 2212, so that the length of the elbow joint bending and stretching unit 221 is adapted to the forearm of the patient, the elbow joint movement assembly 22 can be adapted to the forearm of different patients, and finally the full-freedom training arm 20 can be adapted to the arm of different patients, so as to adapt to the arm of different patients, and the full-freedom training arm 20 can be suitable for various people to perform upper limb exercises.
The upper arm adjustment member 231 includes an upper arm sliding plate 2311, an upper arm trapezoidal screw 2312, an upper arm driving unit 2313 and an upper arm guide 2314. The upper arm driving unit 2313 is provided to the shoulder flexion and extension swing arm 2122. The upper arm rail 2314 is provided to the shoulder flexion and extension swing arm 2122. The upper arm acme 2312 is provided at an output end of the upper arm driving unit 2313. The upper arm sliding plate 2311 is provided to the upper arm acme 2312 and is slidably coupled to the upper arm rail 2314. The upper arm driving unit 2313 and the upper arm trapezoidal screw 2312 cooperate to drive the upper arm sliding plate 2311 to slide, so that the length of the shoulder flexion and extension swing arm 2122 is changed, and the shoulder flexion and extension swing arm 2122 can be matched with the upper arms of different patients.
The forearm adjusting part 232 includes a forearm sliding plate 2321, a forearm acme 2322, a forearm driving unit 2323, and a forearm rail 2324. The forearm drive unit 2323 is disposed to the elbow flexion and extension output arm 2212. The forearm acme 2322 is disposed at an output of the forearm drive unit 2323. The forearm rail 2324 is provided to the elbow flexion and extension output arm 2212. The forearm sliding plate 2321 is disposed on the forearm acme 2322 and is slidingly connected to the forearm sliding rail 2324. The forearm drive unit 2323 and the forearm acme 2322 cooperate to drive the forearm sliding plate 2321 to slide, so that the distance between the grasping member 223 and the shoulder internal and external rotation output frame 2133 is changed, and when forearms of different patients are fixed on the elbow flexion and extension output arm 2212, palms of the patients can grasp the grasping member 223.
The shoulder joint complex mainly comprises a humerus, a scapula, a clavicle and a sternum, wherein the humerus and the scapula form a glenohumeral joint, the clavicle and the scapula form a acromioclavicular joint, the sternum and the clavicle form a sternoclavicular joint and the scapula is attached to the thorax and is called as a scapular thorax joint. In the coronal plane, when the shoulder joint abduction exceeds a certain angle, the scapula starts to move upwards in a rotating way, and the displacement of the rotating movement and the variation value of the shoulder joint abduction angle form a certain proportional relation; in the horizontal plane, during the adduction and abduction processes of the shoulder joint, the clavicle can also rotate around the chest lock joint, and the displacement of the rotation movement and the abduction angle change value of the shoulder joint form a certain proportional relation; the human glenohumeral joint moves in three dimensions along with the movement of the shoulder joint in three dimensions. Most of the existing upper limb exoskeleton type rehabilitation training products do not have the freedom degree matched with the motion of the glenohumeral joint, and the products can generate compensation motion, unexpected acting force and other factors which are unfavorable for rehabilitation therapy in the training process. When a patient exercises, in order to improve the exercise effect of the patient, the body of the patient needs to be fixed, and the simplest fixing mode is to enable the back of the patient to rest on a flat plate, so that the upper body of the patient is fixed. When the shoulder of the patient moves, the shoulder blade of the patient moves synchronously with the shoulder of the patient, so that the shoulder blade of the patient is easily in hard contact with the flat plate, and a sprain is generated between the shoulder of the patient and the shoulder blade, and secondary loss of the body of the patient is likely to occur.
The exoskeleton type upper limb rehabilitation training robot comprises a glenohumeral articulation assembly 40. The glenohumeral articulation assembly 40 includes an X-direction motion base frame 41, an X-direction motion power unit 42, a Y-direction motion base frame 43, a Y-direction motion power unit 44, a Z-direction motion base frame 45, and a Z-direction motion power unit 46. The Z-direction movement power unit 46 is provided to the apparatus body 10. The Z-direction motion base frame 45 is provided at an output end of the Z-direction motion power unit 46. The Z-direction motion base frame 45 is controlled to move along the Z-direction by the Z-direction motion power unit 46. The X-direction moving power unit 42 is provided to the Z-direction moving base 45, and the X-direction moving base 41 is provided to an output end of the X-direction moving power unit 42. The X-direction moving base frame 41 is driven to move in the X-direction by the X-direction moving power unit 42.
The Y-direction moving power unit 44 is provided to the X-direction moving base 41, and the Y-direction moving base 43 is provided to an output end of the Y-direction moving power unit 44. The Y-direction moving base 43 is driven to move in the Y-direction by the Y-direction moving power unit 44. The glenohumeral joint movement assembly 40 integrates movements in three degrees of freedom, namely X, Y and Z, and can achieve the degree of freedom movement and the purpose of training the glenohumeral joint of a patient.
The shoulder extension/contraction board 2111 of the full-freedom-degree training arm 20 is provided on the Y-direction movement base frame 43.
Preferably, the X-direction motion power unit 42, the Y-direction motion power unit 44, and the Z-direction motion power unit 44 are each implemented as a motor. The Z-direction moving base 45 includes a Z-direction ball screw 451, a Z-direction sliding plate 452, and at least one Z-direction rail 453. One end of the Z-direction ball screw 451 is provided at the output end of the Z-direction motion power unit 44, and the other end of the Z-direction ball screw 451 is screwed with the Z-direction sliding plate 452. The Z-direction guide 453 is slidably connected to the apparatus body 10 and the Z-direction sliding plate 452, so as to block the rotation of the Z-direction sliding plate 452.
The X-direction moving base 41 includes an X-direction ball screw 411, an X-direction sliding plate 412, and at least one X-direction guide rail 413. One end of the X-direction ball screw 411 is provided at the output end of the X-direction motion power unit 44, and the other end of the X-direction ball screw 411 is screwed with the X-direction sliding plate 412. The X-direction guide 413 slidably connects the Z-direction sliding plate 452 and the X-direction sliding plate 412 to block the X-direction sliding plate 412 from rotating.
The Y-moving base 43 includes a Y-ball screw 431, a Y-sliding plate 432, and at least one Y-guide rail 433. One end of the Y-direction ball screw 431 is provided at an output end of the Y-direction movement power unit 44, and the other end of the Y-direction ball screw 431 is screw-coupled to the Y-direction sliding plate 432. The Y-direction guide 433 slidably connects the Z-direction sliding plate 452 and the Y-direction sliding plate 432 to block the Y-direction sliding plate 432 from rotating.
Further preferably, the motor is a servo motor. The glenohumeral articulation assembly 40 employs a servo motor and ball screw for mating. The servo motor can accurately control the number of turns of the output shaft of the servo motor, so that the moving amount can be accurately controlled.
Since the glenohumeral articulation assembly 40 is movable in three axial directions, adjustment of the glenohumeral articulation assembly 40 can move the full degree of freedom training arm 20 from one side of the device body 10 to the other side of the device body 10. Thus, a single full degree of freedom training arm 20 is enabled to train either the left hand or the right hand of the patient.
When the full-freedom training arm 20 trains the arm of the patient, the glenohumeral joint movement assembly 40 correspondingly moves to move the whole shoulder of the patient together, so that compensatory movement and unexpected acting force can be avoided, and the arm of the patient is prevented from being damaged in the training process.
The apparatus body 10 includes a cabinet 11 and a lifting unit 12. The lifting unit 12 is disposed at the middle of the cabinet 11. The Z-motion base frame 45 of the glenohumeral articulation assembly 40 is disposed at the output of the lift unit 12. The height of the Z-motion base frame 45 is adjusted by the lift unit 12 so that the full-freedom training arm 20 and the glenohumeral joint motion assembly 40 can be adapted to people of different heights. Similarly, the patient can be trained in either a standing or squat position by the full degree of freedom training arm 20 and the glenohumeral joint movement assembly 40, with the patient being trained in the most comfortable position. The lifting unit 12 is embodied as an electric push rod.
The device body 10 further comprises a roller mount 13. The roller seat 13 is disposed on the cabinet 11, and a plurality of rollers 14 are disposed at the bottom of the roller seat 13. Preferably, the roller 14 is a lockable roller. The lockable idler wheels can realize rolling rotation and fixation, so that the exoskeleton type upper limb rehabilitation training robot can move and position.
The apparatus body 10 further comprises at least one emergency stop member 15. The scram component 15 is configured to simultaneously control the operating conditions of the full degree of freedom training arm 20 and the glenohumeral joint movement assembly 40. When the patient is out of order, the training can be rapidly interrupted by the scram member 15, avoiding excessive movement of the full-freedom training arm 20 and the glenohumeral joint movement assembly 40 from damaging the patient's arm. The emergency stop means 15 may be implemented as an emergency stop button located at a side of the apparatus body 10 so that a patient can rapidly interrupt training through the emergency stop button.
Preferably, the scram buttons are implemented in two, and the two scram buttons are correspondingly disposed at both sides of the apparatus body 10.
The apparatus body 10 further includes a processing component 16. The processing unit 16 is in communication with the shoulder extension and retraction power unit 2113, the shoulder flexion and extension power unit 2121, the shoulder internal and external rotation power unit 2135, the elbow flexion and extension power unit 2211, the forearm supination and supination power unit 2221, the X-direction movement power unit 42, the Y-direction movement power unit 44, the Z-direction movement power unit 46, the scram unit 15, and the lifting unit 12. The multiple power units are systematically controlled by the processing component 16 so that the full degree of freedom training arm 20 and the glenohumeral joint movement assembly 40 can be run to conform to the trajectory of the patient's arm movement.
The exoskeleton type upper limb rehabilitation training robot is highly integrated with an intelligent control technology algorithm, can finish intelligent and automatic adjustment of various parameters, greatly increases the convenience of robot use, and obviously reduces the operation difficulty and operation duration of therapists.
For example, by control of the processing unit 16, the full degree of freedom training arm 20 can be programmatically converted from exercising the left arm of the patient to exercising the right arm of the patient, or vice versa, to further save time in converting the full degree of freedom training arm 20 exercise mode.
A rehabilitation training device may be used by multiple patients. For different patients, the healthcare staff needs to adjust the device to different states to adapt to different patients.
Further, the processing component 16 includes a data storage module capable of memorizing device parameters and user data. For example, a user may need rehabilitation exercises only on his forearm, and after the user exercises once with the training robot, the training robot may be able to record the arm information, height, and condition of the user. Therefore, when the patient exercises again, the training robot can automatically move to the position where the user exercises before only by calling out the data of the user, so that the user can exercise again, the time for adjusting the training robot can be reduced, and the working efficiency of medical staff is improved.
The mode of calling out the user data can adopt a touch screen mode for interaction or cloud internet interaction.
The full degree of freedom training arm 20 also includes a laser emitting head 24. The laser emission head 24 is disposed on the shoulder bending and stretching swing arm 2122, and the laser emitted by the laser emission head 24 is used for guiding the patient to wear, so that the shoulder center of the patient is opposite to the laser beam, and the patient is ensured to wear the full-freedom training arm 20 correctly. The laser emitter 24 can realize the function of auxiliary positioning.
Further specifically, the laser emitting head 24 may also be implemented as a heating body, and when the patient exercises, the patient can consciously move the shoulder center to the position of the heating body, and once the shoulder center of the patient leaves the position of the heating body, the patient can perceive that the position is incorrect, so that the patient can intentionally exercise in a good posture, thereby improving the effect of the patient during exercise.
It will be appreciated by persons skilled in the art that the embodiments of the invention described above and shown in the drawings are by way of example only and are not limiting. The advantages of the present invention have been fully and effectively realized. The functional and structural principles of the present invention have been shown and described in the examples and embodiments of the invention may be modified or practiced without departing from the principles described.
Claims (6)
1. Exoskeleton type upper limb rehabilitation training robot is applicable to driving the upper limb of a patient to realize full freedom degree movement, and is characterized in that the exoskeleton type upper limb rehabilitation training robot comprises:
an equipment body;
the full-freedom-degree training arm comprises a shoulder joint movement assembly and an elbow joint movement assembly, wherein the shoulder joint movement assembly is arranged on the equipment body in a multi-degree-of-freedom movable manner, the elbow joint movement assembly is arranged on the shoulder joint movement assembly in a multi-degree-of-freedom movable manner, and the shoulder joint movement assembly forms a training space on the side surface of the equipment body; and at least one arm mount disposed to the shoulder joint movement assembly for securing the patient's upper limb to the shoulder joint movement assembly to enable synchronous movement of the patient's upper limb with the shoulder joint movement assembly;
the shoulder joint motion assembly includes:
the shoulder joint inner-folding and outer-unfolding component comprises a shoulder folding and unfolding substrate, a shoulder folding and unfolding output plate, a shoulder folding and unfolding connecting rod mechanism and a shoulder folding and unfolding power unit, the shoulder folding and unfolding substrate is arranged on the equipment body, the shoulder folding and unfolding connecting rod mechanism is arranged on the shoulder folding and unfolding substrate, the shoulder folding and unfolding power unit is in transmission connection with the shoulder folding and unfolding connecting rod mechanism, and the shoulder folding and unfolding output plate is in transmission connection with the shoulder folding and unfolding connecting rod mechanism so that the shoulder folding and unfolding output plate rotates around an output axis of the shoulder folding and unfolding power unit;
The shoulder joint bending and stretching component comprises a shoulder bending and stretching power unit and a shoulder bending and stretching swing arm, the shoulder bending and stretching power unit is arranged on the shoulder folding and unfolding output plate, and the shoulder bending and stretching swing arm is arranged at the output end of the shoulder bending and stretching power unit so that the shoulder bending and stretching swing arm rotates around the output axis of the shoulder bending and stretching power unit; the shoulder joint internal rotation and external rotation movement part comprises a shoulder internal rotation and external rotation output frame, a shoulder internal rotation and external rotation connecting rod mechanism and a shoulder internal and external rotation force unit, the shoulder internal and external rotation connecting rod mechanism is arranged on the shoulder bending and stretching swing arm, the shoulder internal and external rotation force unit is in transmission connection with the shoulder internal and external rotation connecting rod mechanism, and the shoulder internal and external rotation output frame is in transmission connection with the shoulder internal and external rotation connecting rod mechanism so that the shoulder internal and external rotation output frame rotates around the output axis of the shoulder internal and external rotation force unit;
the elbow joint motion assembly includes:
the elbow joint bending and stretching component comprises an elbow bending and stretching power unit and an elbow bending and stretching output arm, the elbow bending and stretching power unit is arranged on the internal and external rotation output frame of the shoulder, and the elbow bending and stretching output arm is arranged at the output end of the elbow bending and stretching power unit so that the elbow bending and stretching output arm rotates around the output axis of the elbow bending and stretching power unit; the forearm pronation and supination component comprises a forearm pronation and supination power unit and a forearm pronation and supination rotating frame, the forearm pronation and supination power unit is arranged on the elbow flexion and extension output arm, and the forearm pronation and supination rotating frame is arranged at the output end of the forearm pronation and supination power unit so that the forearm pronation and supination rotating frame rotates around the output axis of the forearm pronation and supination power unit;
The full-freedom training arm further comprises an adjusting component, and the adjusting component comprises: the upper arm adjusting part is arranged on the shoulder bending and stretching swing arm so as to adjust the length of the shoulder bending and stretching swing arm;
a forearm adjusting member provided to the elbow flexion-extension output arm to adjust a length of the elbow flexion-extension output arm;
the upper arm adjusting part comprises an upper arm sliding plate, an upper arm trapezoidal screw rod, an upper arm driving unit and an upper arm guide rail, wherein the upper arm driving unit is arranged on the shoulder bending and stretching swing arm, the upper arm guide rail is arranged on the shoulder bending and stretching swing arm, the upper arm trapezoidal screw rod is arranged at the output end of the upper arm driving unit, and the upper arm sliding plate is arranged on the upper arm trapezoidal screw rod and is in sliding connection with the upper arm guide rail;
the forearm adjusting part comprises a forearm sliding plate, a forearm trapezoidal screw rod, a forearm driving unit and a forearm guide rail, wherein the forearm driving unit is arranged on the shoulder bending and stretching swing arm, the forearm guide rail is arranged on the shoulder bending and stretching swing arm, the forearm trapezoidal screw rod is arranged at the output end of the forearm driving unit, and the forearm sliding plate is arranged on the forearm trapezoidal screw rod and is in sliding connection with the forearm guide rail.
2. The exoskeleton type upper limb rehabilitation training robot of claim 1, wherein the arm fixing member is detachably provided to the shoulder joint movement assembly.
3. The exoskeleton type upper limb rehabilitation training robot of claim 1, wherein the elbow joint movement assembly further comprises a grip member provided to the forearm pronate and supinate turret for being gripped by the patient's hand; and a grip force sensor disposed on the grip member for measuring a grip of the patient on the grip member.
4. The exoskeleton type upper limb rehabilitation training robot of claim 1, wherein the exoskeleton type upper limb rehabilitation training robot comprises a glenohumeral joint movement assembly, the glenohumeral joint movement assembly comprises an X-direction movement base frame, an X-direction movement power unit, a Y-direction movement power unit, a Z-direction movement base frame and a Z-direction movement power unit, the Z-direction movement power unit is arranged at the equipment body, the Z-direction movement base frame is arranged at an output end of the Z-direction movement power unit so as to control the Z-direction movement base frame to move in a Z-direction through the Z-direction movement power unit, the X-direction movement power unit is arranged at an output end of the X-direction movement power unit so as to drive the X-direction movement base frame to move in an X-direction through the X-direction movement power unit, the Y-direction movement power unit is arranged at the X-direction movement base frame, the Y-direction movement base frame is arranged at an output end of the Y-direction movement power unit so as to drive the Y-direction movement power unit to move in a Y-direction through the Y-direction movement power unit;
The shoulder joint adduction and abduction parts of the full-freedom training arm are provided to the Y-direction movement base frame.
5. The exoskeleton type upper limb rehabilitation training robot of claim 4, wherein the device body comprises a cabinet and a lifting unit, the lifting unit is disposed on the cabinet, and the Z-direction movement base frame of the glenohumeral joint movement assembly is disposed on an output end of the lifting unit.
6. The exoskeleton-type upper limb rehabilitation training robot of claim 5, wherein the device body further comprises a processing component, and the processing component is respectively in communication connection with the shoulder stretching power unit, the shoulder flexion and extension power unit, the shoulder internal and external rotation power unit, the elbow flexion and extension power unit, the forearm pronation and supination power unit, the X-direction movement power unit, the Y-direction movement power unit, the Z-direction movement power unit and the lifting unit.
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| CN101869526A (en) * | 2010-06-07 | 2010-10-27 | 付风生 | Upper limb rehabilitation training robot |
| CN105662782A (en) * | 2016-03-21 | 2016-06-15 | 上海卓道医疗科技有限公司 | Exoskeletal rehabilitation robot for upper limbs |
| WO2016187636A1 (en) * | 2015-05-27 | 2016-12-01 | Technische Universität Wien | Arm exoskeleton |
| CN106924013A (en) * | 2017-04-15 | 2017-07-07 | 上海卓道医疗科技有限公司 | A kind of dermaskeleton type upper limb rehabilitation image training robot |
| CN109124985A (en) * | 2018-08-20 | 2019-01-04 | 中国科学院苏州生物医学工程技术研究所 | Personalized upper-limbs rehabilitation training robot system based on path planning |
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| CN101869526A (en) * | 2010-06-07 | 2010-10-27 | 付风生 | Upper limb rehabilitation training robot |
| WO2016187636A1 (en) * | 2015-05-27 | 2016-12-01 | Technische Universität Wien | Arm exoskeleton |
| CN105662782A (en) * | 2016-03-21 | 2016-06-15 | 上海卓道医疗科技有限公司 | Exoskeletal rehabilitation robot for upper limbs |
| CN106924013A (en) * | 2017-04-15 | 2017-07-07 | 上海卓道医疗科技有限公司 | A kind of dermaskeleton type upper limb rehabilitation image training robot |
| CN109124985A (en) * | 2018-08-20 | 2019-01-04 | 中国科学院苏州生物医学工程技术研究所 | Personalized upper-limbs rehabilitation training robot system based on path planning |
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