CN1258351C - Rehabilitation training robot for compound motion of upper limbs of hemiplegia patient - Google Patents
Rehabilitation training robot for compound motion of upper limbs of hemiplegia patient Download PDFInfo
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- CN1258351C CN1258351C CN 03150355 CN03150355A CN1258351C CN 1258351 C CN1258351 C CN 1258351C CN 03150355 CN03150355 CN 03150355 CN 03150355 A CN03150355 A CN 03150355A CN 1258351 C CN1258351 C CN 1258351C
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- bracing frame
- column
- forearm
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- big arm
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Abstract
The present invention relates to a rehabilitation training robot for the compound movement of upper limbs of hemiplegia patients, which relates to a rehabilitation robot device for carrying out the multi-joint compound movement with large amplitude of upper limbs of hemiplegic patients. The robot mainly comprises an upright post, mechanical arms arranged on the upright post, a chest fixing and supporting frame, a chair and a suspending and supporting frame to suspend and support elbow joints of patients, wherein each mechanical arm adopts a double connecting-rod structure composed of a large mechanical arm and a small mechanical arm, and can elevate and fall along the upright post; the upright post is positioned on the lateral face of the chair. The present invention has the advantages of simple structure and convenient control. The present invention can meet the requirements for movement exercise with large amplitude in multiple plane surfaces for diseased limbs of patients, and can meet the need of supporting diseased limbs of patients during exercising on different pitching plane surfaces. Moreover, the present invention is also favorable to the performance of the residual functions of diseased limbs of patients so as to achieve the optimal rehabilitation effect.
Description
Technical field
The present invention relates to a kind of recovery exercising robot, particularly a kind of upper limb to the hemiplegic patient carries out multi-joint, the recovery exercising robot of composite move significantly, belongs to medical assistance rehabilitation training equipment technical field.
Background technology
At present, China has 120-150 ten thousand people to suffer stroke every year, and wherein the residual serious sequela of half influences quality of life.And along with countries in the world enter aging country in succession, the paralytic certainly will get more and more.Especially rank first with hemiplegia in numerous patient's sequela by the apoplexy generation.Because of apoplexy causes hemiplegia, usually patient, family are caused the impact of psychology and other aspect.Society and family need spend great cost and treat and nurse these patients, cause the significant wastage of social resources.Therefore, seek effective rehabilitation maneuver, make the patient can recover the function that loses to a certain extent, not only help improving patient's quality of life itself, also can alleviate the overall burden of society.
Introduce robotics in the hemiplegic upper limb rehabilitation training, its advantage is that there is not the problem of " tired " in robot, can satisfy the requirement of different patients to training strength, thereby the therapist is freed from heavy training mission; Robot can the objective record training process in the patient suffer from the various kinematic parameters of limb, analyze for the therapist, to estimate the effect of treatment; Also have, use robotics to provide colourful training content as the patient, make the patient can play an active part in treatment by multimedia technology; At last, use the robot treatment technology, make teletherapy and concentrated treatment (therapist provides guidance for several patients simultaneously) become possibility.
A kind of hemiplegic upper limb recovery exercising robot has been done introduction 5,466 in No. 213 United States Patent (USP)s " interactive robot therapist (Interactive robotic therapist) ".The robot of introducing in this document is placed in the offside of patient's seat, and its mechanical arm has two-freedom, is made of big arm of machinery and mechanical forearm, is that hinge connects between two arms.Big arm of machinery and mechanical forearm are driven by two coaxial motors of laying respectively, and wherein the big arm of machinery directly links to each other with motor, and mechanical forearm links to each other with motor by a quadric chain.During training, the wrist that the patient suffers from limb is fixed on the end of mechanical forearm, and mechanical arm drives the patient under the driving of two motors suffers from limb and carry out the rehabilitation exercise training, mainly is the compound motion training of carrying out at suffering from limb shoulder, elbow joint.And sagging in order to prevent the kraftlos trouble limb of patient during training, this device carries out supplemental support with installation carriage on the seat to patient's elbow joint, and this carriage has two-freedom, can follow to suffer from limb and move together.This known devices adopts impedance Control, can realize reverse drivability, has initiatively and the passive exercise mode, can write down the parameters such as movement locus, speed, auxiliary force of training action.
But, the shortcoming of this known hemiplegic upper limb recovery exercising robot is: robot can only drive the patient and suffer from limb and do by a small margin motion, range of movement only limits to the pocket of patient body dead ahead, can not drive the patient and suffer from limb and do stretching significantly on a large scale, thereby can not fully provide the required motion of nervus centralis rehabilitation to stimulate to the side.And this robot can only drive the patient suffers from limb and moves in horizontal plane, can not train at a plurality of plane of movement, and the training action kind that can realize is less.Secondly, this robot is placed in the relative position of patient, and the motion of mechanical arm is opposite with the motion of trouble limb, is unfavorable for the realization of algorithm in the control of manipulator motion and the program.Have again, the elbow joint Support bracket underaction of this robot, and have only single support function, and can not allow the patient independently to support according to different situations, be unfavorable for that the patient brings into play the remaining function of suffering from limb.
Summary of the invention
The purpose of this invention is to provide a kind of recovery exercising robot that is used for the hemiplegic patient by upper compound motion, it not only can in a plurality of plane of movement, help the patient finish the upper limb multi-joint, on a large scale, significantly rehabilitation exercise training, and can allow the patient independently to support according to different situations, help the patient and bring into play the remaining function of suffering from limb.
The objective of the invention is to be achieved through the following technical solutions: a kind of recovery exercising robot of hemiplegic patient by upper compound motion, comprise column, be installed in the mechanical arm on the column, be arranged on the wrist analog bracket and the seat of mechanical arm end, it is characterized in that: this robot also comprises an overhead support bracket that patient's elbow joint is suspended in midair support, described overhead support bracket is by the bracing frame column, the big arm of bracing frame, bracing frame forearm and suspention line are formed, adopt hinge to be connected between the big arm of described bracing frame and bracing frame column and the big arm of bracing frame and bracing frame forearm, hinge axis between big arm of described bracing frame and bracing frame column, hinge axis and bracing frame column between big arm of bracing frame and bracing frame forearm are hollow structure, described suspention line one end is from they middle passing on the spool shaft that is wrapped in the bracing frame lower end, and spool shaft is connected with drive motors; The other end at the suspention line has hung the elbow joint support set; Described mechanical arm adopts two bar linkage structures that are made of big arm of machinery and mechanical forearm, links to each other with described column by the mechanical arm carriage, and can carry out lifting along column; Described column is placed in the side of seat.
The big arm of machinery of the present invention is that a hinge is connected with mechanical forearm, is provided with a belt wheel on mechanical forearm, links to each other with mechanical forearm drive motors by arc tooth synchronous belt.On described mechanical arm carriage, be provided with trapezoidal thread nut and rectangular channel; Described trapezoidal thread nut and rectangular channel match with trapezoidal threaded lead screw and right angle guide rail on the described column respectively.Described elbow joint support set is made up of forearm support set and big arm support set, adopts hinge to connect between two support sets.
The present invention compared with prior art, have the following advantages and beneficial effect: 1. because the mechanical arm of this robot is two bar linkage structures, after having avoided the mechanical arm brachium to increase, rod member is too much in the quadric chain, complex structure, quality is excessive, drive shortcomings such as difficulty, not only simple in structure, more help the driving and the control of mechanical arm, thereby can satisfy the patient suffers from limb and does on a large scale, the requirement of training significantly, wherein the range of activity of the big arm of patient can reach with frontal plane (with human body be divided into before and after two-part plane) angle from 0 ° to 100 °, the range of activity of patient's forearm can reach angle with big arm from 60 ° to 180 °, and is basic identical with normal person's range of activity.2. because the column of this robot can carry out lifting to mechanical arm, therefore, this robot not only can drive the patient suffers from limb carry out rehabilitation training on horizontal plane, but also can train in different pitching planes, and the accessible maximum luffing angle of training plan is ± 40 °.Adopt the feed screw nut of trapezoidal thread, can make between leading screw and nut to have auto-lock function.3. column is placed in the seat side, and mechanical arm is suffered from the homonymy of limb the patient when promptly training, and the direction of motion that can make mechanical arm is convenient to the realization of manipulator motion control and programmed algorithm with to suffer from the limb direction of motion identical.4. the advantage of overhead support bracket is, the patient suffers from limb and is inserted in the elbow joint support set during training, and move together by the moving support arm of suspention tape that is connected on the elbow joint support set, make overhead support bracket become a servo-actuated support system, can regulate the suspention line length, suffer from the support needs of limb when on different pitching plane, training to satisfy the patient.And by being installed in the signal of suspention line upper sensor feedback, the size that can also regulate support force can provide support system can to make the patient to finish the minimum support power of training, brings into play the residue function of patient's deformed limb as far as possible.This overhead support bracket is a flexible header system, and its specific rigidity support system is more saved the space, has more motility.
Description of drawings
Fig. 1 is the population structure sketch map of hemiplegic upper limb compound motion rehabilitation training robot system.
Fig. 2 is a mechanical arm modular construction sketch map.
Fig. 3 is the profile of big arm of machinery and mechanical forearm junction.
Fig. 4 is the profile of mechanical arm bracket portion assembly structure.
Fig. 5 is the structural representation of robot pillar parts.
Fig. 6 is the partial enlarged drawing that Fig. 5 (I) locates.
Fig. 7 is the structural representation of overhead support bracket parts.
Fig. 8 is the profile of bracing frame forearm and the big arm of bracing frame junction in the overhead support bracket.
Fig. 9 is the profile of the big arm of bracing frame and bracing frame column junction in the overhead support bracket.
Figure 10 is the profile of overhead support bracket base portion assembly structure.
The specific embodiment
Fig. 1 is the population structure sketch map of entire machine robot system, its mainly by support and the pedestal 1 of fixed system, to the patient suffer from mechanical arm 2 that limb trains, lay mechanical arm also can to mechanical arm carry out lifting column 3, be used for that the patient is suffered from limb and suspend the overhead support bracket 4 of support, the wrist analog bracket 5 of immobilized patients wrist and the parts such as seat 6 of immobilized patients in midair and form.Wherein, column 3 is placed in the side of seat 6, and mechanical arm is suffered from the homonymy of limb the patient when promptly training, and the direction of motion that can make mechanical arm is convenient to the realization of manipulator motion control and programmed algorithm with to suffer from the limb direction of motion identical.
Fig. 2 is a mechanical arm modular construction sketch map.Mechanical arm 2 mainly is made of big arm 7 of machinery and mechanical forearm 8, and mechanical arm is installed on the mechanical arm carriage 9, in mechanical forearm end wrist analog bracket 5 is installed.Mechanical arm carriage 9 back sides are processed with a rectangular channel, match with right angle guide rail 26 on the column.Mechanical arm carriage 9 back sides are equipped with trapezoidal thread nut 10, match with trapezoidal threaded lead screw 23 in the column.Two AC servo motors 11,12 also are installed, in order to difference big arm 7 of driving device and mechanical forearm 8 on the mechanical arm carriage 9.Wherein, the big arm 7 of machinery is directly driven by motor 11, and mechanical forearm 8 is driven by arc tooth synchronous belt 13 by motor 12.
Fig. 3 is the profile of big arm 7 of machinery and mechanical forearm 8 junctions.The big arm 7 of machinery carries out hinge with mechanical forearm 8 by axle 14 and is connected.Between big arm 7 of machinery and the axle 14 rolling bearing is installed, mechanical forearm 8 and belt wheel 15 are installed on the axle 14 by axle key 16.Be with arc tooth synchronous belt 13 on the belt wheel 15.
Fig. 4 is the profile of mechanical arm bracket portion assembly structure.Mechanical arm drive motors 11,12 is installed on the mechanical arm carriage 9.Wherein, drive motors 11 links to each other with an end of big arm power transmission shaft 18 by shaft coupling 17, and the other end of big arm power transmission shaft 18 links to each other with the big arm 7 of machinery; Drive motors 12 links to each other with an end of forearm power transmission shaft 20 by shaft coupling 19, and the other end of forearm power transmission shaft 20 is equipped with belt wheel 21, is with on the belt wheel 21 and is with 13 synchronously.
As Fig. 5, shown in Figure 6, the outer housing 22 of column is installed on the pedestal 1, and trapezoidal threaded lead screw 23 is housed in the column outer housing, and leading screw 23 upper ends link to each other with motor 25 by shaft coupling 24.Drive leading screw 23 by motor 25 and rotate, can carry out lifting mechanical arm 2.Right angle guide rail 26 also is installed on the column outer housing 22, in the lifting process of mechanical arm 2, play the guiding role.
Fig. 7 is the structural representation of overhead support bracket parts.Overhead support bracket 4 is made up of bracing frame base 27, bracing frame column 28, the big arm 29 of bracing frame, bracing frame forearm 30, suspention line 31, elbow joint support set 32 and motor 33.Wherein, bracing frame column 28 and motor 33 all are installed on the bracing frame base 27, and the big arm 29 of bracing frame is installed in bracing frame column 28 tops, and bracing frame forearm 30 is installed in big arm 29 1 ends of bracing frame.The other end of bracing frame forearm 30 has hung elbow joint support set 32 by suspention line 31.Elbow joint support set 32 is made up of forearm support set and big arm support set.In order not interfere the rotation of elbow joint in the training process, between two support sets the hinge connected mode, two support sets can rotate relatively freely.
Fig. 8 is the profile of bracing frame forearm and the big arm of bracing frame junction in the overhead support bracket.Bracing frame forearm 30 links to each other with the big arm 29 of bracing frame by hinge axis 34.Wherein, bracing frame forearm 30 is connected with axle 34, between big arm 29 of bracing frame and the axle 34 rolling bearing is housed.Axle 34 is a quill shaft, and suspention line 31 passes from axle 34, and strides across the fixed pulley 35 of bracing frame forearm 30 front ends.Like this, suspention line 31 has passed through the center of rotation between bracing frame forearm 30 and the big arm 29 of bracing frame, has guaranteed under situation about relatively rotating between bracing frame forearm 30 and the big arm 29 of bracing frame, and the length of suspention line 31 is constant.
Fig. 9 is the profile of the big arm of bracing frame and bracing frame column junction in the overhead support bracket.The big arm of bracing frame 29 links to each other with bracing frame column 28 by axle 36.Wherein, bracing frame column 28 is connected with axle 36, between big arm 29 of bracing frame and the axle 36 rolling bearing is housed.Axle 36 is a quill shaft, and bracing frame column 28 also is a hollow structure, and suspention line 31 passes from axle 36 and bracing frame column 28.Like this, suspention line 31 has passed through the center of rotation between big arm 29 of bracing frame and the bracing frame column 28, has guaranteed under situation about relatively rotating between big arm 29 of bracing frame and the bracing frame column 28, and suspention line 31 length are constant.
Figure 10 is the profile of overhead support bracket base portion assembly structure.A direct current generator 33 is installed on the bracing frame base 27, and motor 33 links to each other with an end of spool shaft 38 by shaft coupling 37.Spool shaft 38 is installed in the bracing frame column 28, and suspention line 31 is wrapped on the spool shaft 38.Drive spool shaft 38 by motor 33, can regulate the length of suspention line 31 and the size of its upper support power.
Claims (4)
1. the recovery exercising robot of a hemiplegic patient by upper compound motion, comprise column (3), be installed in the mechanical arm (2) on the column, be arranged on the wrist analog bracket (5) and the seat (6) of mechanical arm end, it is characterized in that: this robot also comprises an overhead support bracket (4) that patient's elbow joint is suspended in midair support, described overhead support bracket (4) is by bracing frame column (28), the big arm of bracing frame (29), bracing frame forearm (30) and suspention line (31) are formed, adopt hinge to be connected between the big arm of described bracing frame and bracing frame column and the big arm of bracing frame and bracing frame forearm, hinge axis (36) between big arm of described bracing frame and bracing frame column, hinge axis (34) and bracing frame column between big arm of bracing frame and bracing frame forearm are hollow structure, described suspention line one end is from they middle passing on the spool shaft (38) that is wrapped in the bracing frame lower end, and spool shaft is connected with drive motors (33); The other end at the suspention line has hung elbow joint support set (32); Described mechanical arm adopts two bar linkage structures that are made of big arm of machinery (7) and mechanical forearm (8), links to each other with described column by mechanical arm carriage (9), and can carry out lifting along column; Described column (3) is placed in the side of seat (6).
2. according to the described recovery exercising robot of claim 1, it is characterized in that: the big arm of described machinery is that a hinge is connected with mechanical forearm, on mechanical forearm, be provided with a belt wheel (15), link to each other with mechanical forearm drive motors (12) by arc tooth synchronous belt (13).
3. according to claim 1 or 2 described recovery exercising robots, it is characterized in that: described mechanical arm carriage is provided with trapezoidal thread nut (10) and rectangular channel (); Described trapezoidal thread nut and rectangular channel match with trapezoidal threaded lead screw (23) and right angle guide rail (26) on the column respectively.
4. according to the described recovery exercising robot of claim 3, it is characterized in that: described elbow joint support set (32) is made up of forearm support set and big arm support set, adopts hinge to connect between two support sets.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 03150355 CN1258351C (en) | 2003-07-25 | 2003-07-25 | Rehabilitation training robot for compound motion of upper limbs of hemiplegia patient |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 03150355 CN1258351C (en) | 2003-07-25 | 2003-07-25 | Rehabilitation training robot for compound motion of upper limbs of hemiplegia patient |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1480118A CN1480118A (en) | 2004-03-10 |
| CN1258351C true CN1258351C (en) | 2006-06-07 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 03150355 Expired - Fee Related CN1258351C (en) | 2003-07-25 | 2003-07-25 | Rehabilitation training robot for compound motion of upper limbs of hemiplegia patient |
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| Country | Link |
|---|---|
| CN (1) | CN1258351C (en) |
Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100348282C (en) * | 2004-08-20 | 2007-11-14 | 清华大学 | Wrist and finger joint movement rehabilitation training robot |
| US7854708B2 (en) * | 2007-05-22 | 2010-12-21 | Kai Yu Tong | Multiple joint linkage device |
| CN101305953B (en) * | 2008-06-27 | 2010-06-02 | 曹海钰 | Hemiparalysis recovery body-building apparatus |
| US8574178B2 (en) | 2009-05-26 | 2013-11-05 | The Hong Kong Polytechnic University | Wearable power assistive device for helping a user to move their hand |
| CN102283761A (en) * | 2011-06-28 | 2011-12-21 | 上海电机学院 | Upper limb recovery robot |
| CN102600031B (en) * | 2012-03-22 | 2013-09-25 | 北京威力恒科技股份有限公司 | Treatment and rehabilitation system |
| CN104784013B (en) * | 2015-04-15 | 2017-04-05 | 长春工业大学 | A kind of upper limb healing equipment |
| CN105395340B (en) * | 2015-12-16 | 2017-06-20 | 湖南师范大学 | A kind of upper extremity exercise device |
| CN108186289A (en) * | 2018-02-08 | 2018-06-22 | 东北大学 | A kind of variable freedom upper-limb recovery training device |
| CN114344842A (en) * | 2022-01-14 | 2022-04-15 | 复旦大学 | Sit upright upper limbs rehabilitation training device |
-
2003
- 2003-07-25 CN CN 03150355 patent/CN1258351C/en not_active Expired - Fee Related
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| Publication number | Publication date |
|---|---|
| CN1480118A (en) | 2004-03-10 |
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Granted publication date: 20060607 Termination date: 20130725 |