CN208864738U - A kind of upper limb rehabilitation robot system of view-based access control model human body pose detection - Google Patents
A kind of upper limb rehabilitation robot system of view-based access control model human body pose detection Download PDFInfo
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- CN208864738U CN208864738U CN201820518154.3U CN201820518154U CN208864738U CN 208864738 U CN208864738 U CN 208864738U CN 201820518154 U CN201820518154 U CN 201820518154U CN 208864738 U CN208864738 U CN 208864738U
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- upper limb
- limb rehabilitation
- rehabilitation robot
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Abstract
The utility model discloses a kind of upper limb rehabilitation robot systems of view-based access control model human body pose detection, which includes: upper limb rehabilitation robot, vision collecting module, processor and doctor's monitoring module；The processor is connect with the upper limb rehabilitation robot, vision collecting module and doctor's monitoring module respectively；The upper limb rehabilitation robot is exoskeleton-type, and the movement of 6 freedom degrees is successively realized using series system, and outer pendulum, shoulder joint stretching, extension buckling, large arm rotation, elbow joint stretching, extension buckling, forearm rotation and wrist joint are respectively received in shoulder joint and stretches buckling；The upper limb rehabilitation robot is that robot is adjusted in height and brachium.The utility model effectively improves upper limb rehabilitation robot rehabilitation effect and patient comfort Experience Degree.
Description
Technical field
The utility model belongs to the technical field of recovery exercising robot, more particularly, to a kind of view-based access control model human body pose
The upper limb rehabilitation robot system of detection.
Background technique
With the quickening of aging trend and the aggravation of the overworked phenomenon of Chinese middle-aged adults, occur in resident big
The cranial vascular disease or patient with nervous system disease of amount, with hemiplegia symptom, motor function receives centainly this kind of most patients
Damage, theory of medicine and clinical medicine proves, this kind of patient is other than the operation of early stage and drug therapy, scientific rehabilitation instruction
White silk plays the role of the recovery of extremity motor function very important.
The main function of upper limb rehabilitation robot is the limb motion that patient is driven by robot, to limb movement disturbance
Patient carry out motion function rehabilitation training.As a kind of automation rehabilitation medicine equipment, it is using theory of medicine as foundation, side
It helps patient to carry out scientific and effective rehabilitation training, restores the motion function of patient preferably.It is largely ground in foreign countries
Study carefully and show that upper limb rehabilitation robot can provide required rehabilitation training mode for the patient of different rehabilitation state grades, significantly
The burden for alleviating physiatrician realizes one-to-many recovery training method, shortens rehabilitation duration and improves rehabilitation efficacy, increases
The Rehabilitation confidence of strong patient, and the human cinology of patient can be provided, physiological data improves for doctor and optimizes rehabilitation scheme
Objective basis is provided.
However, existing upper limb rehabilitation robot system has the following problems:
First, in existing upper limb rehabilitation robot system, patient needs to wear various sensor devices, is suffered from obtaining
Person's motion state and position measurement, but a large amount of sensor device is not easy to install and wears, and influences the rehabilitation experience of patient；
Second, a large amount of sensor device weight is bigger in existing upper limb rehabilitation robot system, is not easy to be controlled
System, and upper limb rehabilitation robot and human body mismatch, and are easy to cause secondary injury to patient.
Third, existing upper limb rehabilitation robot system are right not specific to the specific aim rehabilitation training of different patients
It is poor in individual patients rehabilitation training effect, expected rehabilitation efficacy cannot be reached.
With the development of robot technology, safety and comfortable, domestic and international colleges and universities of the man-machine co-melting control in view of human body
All conduct in-depth research discussion, it is to study co-melting machine that upper limb rehabilitation robot, which needs and human body is long-term directly contacts,
The good carrier of people becomes the hot spot direction of co-melting Mechanism Study.Existing upper limb rehabilitation robot system is not enough to bring trouble
Person's comfortably effective rehabilitation experience, cannot reach expected rehabilitation efficacy, the enthusiasm of excitation Rehabilitation training.
In conclusion how to improve upper limb rehabilitation robot rehabilitation effect and patient comfort Experience Degree in the prior art
The problem of, still lack effective solution.
Utility model content
For the deficiencies in the prior art, solve how to improve upper limb rehabilitation robot rehabilitation in the prior art
The problem of effect and patient comfort Experience Degree, the utility model proposes a kind of upper limb healings of view-based access control model human body pose detection
Robot system effectively improves upper limb rehabilitation robot rehabilitation effect and patient comfort Experience Degree.
The purpose of the utility model is to provide a kind of upper limb rehabilitation robot systems of view-based access control model human body pose detection.
To achieve the goals above, the utility model is using a kind of following technical solution:
A kind of upper limb rehabilitation robot system of view-based access control model human body pose detection, which includes: upper limb healing machine
People, vision collecting module, processor and doctor's monitoring module；The processor respectively with the upper limb rehabilitation robot, vision
Acquisition module is connected with doctor's monitoring module.
Scheme as a further preference, the upper limb rehabilitation robot is exoskeleton-type, successively real using series system
The movement of existing 6 freedom degrees, the outer pendulum of receipts, shoulder joint stretching, extension buckling, large arm rotation, elbow joint are stretched and are bent respectively in shoulder joint
Bent, forearm rotation and wrist joint stretch buckling.
Scheme as a further preference, the upper limb rehabilitation robot are that robot is adjusted in height and brachium.
Scheme as a further preference, the upper limb rehabilitation robot further include motor drive module and driving motor,
The output torque of its training instruction control driving motor for receiving the processor transmission, and then realize dynamic regulation upper limb healing
The output torque of each axis of robot.
Scheme as a further preference, the upper limb rehabilitation robot include human-computer interaction module, and people controls on described
Limb healing robot deconditioning.
Scheme as a further preference, the upper limb rehabilitation robot further include emergency stop button.
The working principle of the utility model are as follows:
Training instruction of the upper limb rehabilitation robot for the processor transmission based on the received cooperates patient's upper limb
Movement carry out rehabilitation training, will according to the robot of training instruction execute state be sent to the processor；The vision is adopted
Collection module obtains each joint position information of patient's upper limb and acquisition ambient image letter for acquiring patient's upper limb image information
Breath obtains trajectory planning information, and is sent to the processor；Doctor's monitoring module is protected for monitoring Rehabilitation training
Simultaneously assay Rehabilitation training is deposited, and command information is generated according to analysis situation setting training action and training mode
It is sent to the processor；The processor is used for according to its received vision collecting module information and doctor's monitoring module order
Information carries out fusion treatment and generates training instruction, is sent to the upper limb rehabilitation robot；And by training instruction and received machine
Device people executes state, each joint position information of patient's upper limb feeds back to doctor's monitoring module.
The application method of the utility model are as follows:
Step (1): adjusting the height and brachium of the upper limb rehabilitation robot according to patient profiles, and doctor assists patient to wear
It wears upper limb rehabilitation robot and learns the use of the system；
Step (2): for doctor according to patient profiles in doctor's monitoring module setting command information, the doctor monitors mould
Block setting command information is sent to the processor；
Step (3): vision collecting module acquisition patient's upper limb image information obtains each joint position of patient's upper limb
Information and acquisition ambient image information obtain trajectory planning information, and are sent to the processor；
Step (4): the processor is according to its received vision collecting module information and doctor's monitoring module command information
It carries out fusion treatment and generates training instruction, be sent to the upper limb rehabilitation robot；
Step (5): training instruction cooperation of the upper limb rehabilitation robot for the processor transmission based on the received
The movement of patient's upper limb carries out rehabilitation training, is sent to the processor for state is executed according to the robot of training instruction；Place
Training instruction and received robot are executed state by reason device, each joint position information of patient's upper limb feeds back to the doctor and supervises
Control module；Doctor is monitored in real time by doctor's monitoring module and records Rehabilitation training process；Patient in due course, is not passing through people
Machine interactive controlling upper limb rehabilitation robot is shut down；
Step (6): after training, doctor is analyzed and evaluated Rehabilitation training by doctor's monitoring module, and
Charge to patient cases' archive；Upper limb rehabilitation robot restores initial position, and rehabilitation system stops working, and doctor helps patient to take off
Upper limb rehabilitation robot.
The utility model has the beneficial effects that
1, the upper limb rehabilitation robot system of a kind of view-based access control model human body pose detection described in the utility model, this is practical
The upper limb rehabilitation robot system of novel view-based access control model human body pose detection has real-time, monitors the training shape of patient in real time
State, and from the safety issue of many aspects consideration Rehabilitation training process, the safety problem of patient is put in the first place,
In terms of mechanical structure, the height and brachium of upper limb rehabilitation robot can be adjusted according to patient size, avoid because it is man-machine not
Pairing patient causes secondary injury.
2, the upper limb rehabilitation robot system of a kind of view-based access control model human body pose detection described in the utility model, is controlling
Aspect limits the output area of each driving motor, in addition also sets corresponding limit to the movement of rehabilitation training
Range processed；In terms of coping with emergency situations, in the prominent sense discomfort of patient or other emergencies, patient can be timely by interaction technical ability
It shuts down；Because patient suffers from dyskinesia, danger button shutdown can be pressed by entourage；Doctor's monitoring module monitors patient in real time
Rehabilitation training can also be manually controlled by software discretionary protection patient safety by doctor, timely stoppage protection patient peace
Entirely.
3, the upper limb rehabilitation robot system of a kind of view-based access control model human body pose detection described in the utility model, patient's
Based on real-time pose is obtained with visual manner, supplemented by the feedback of each joint motor of upper limb rehabilitation robot, improve identification and
The efficiency of position acquisition of information.
4, the upper limb rehabilitation robot system of a kind of view-based access control model human body pose detection described in the utility model, upper limb health
Multiple robot is designed using exoskeleton-type, using concatenated mode, can accurately control motion state of the arm in space.
Detailed description of the invention
The accompanying drawings constituting a part of this application is used to provide further understanding of the present application, and the application's shows
Meaning property embodiment and its explanation are not constituted an undue limitation on the present application for explaining the application.
Fig. 1 is the upper limb rehabilitation robot system block diagram of the view-based access control model human body pose detection of the utility model；
Fig. 2 is the system schematic of the utility model；
Wherein, 1- upper limb rehabilitation robot, 2- vision collecting module, 3- doctor's monitoring module, 4- processor.
Specific embodiment:
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole
Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are without making creative work
Every other embodiment obtained, fall within the protection scope of the utility model.
It is noted that following detailed description is all illustrative, it is intended to provide further instruction to the application.Unless another
It indicates, all technical and scientific terms that the present embodiment uses have and the application person of an ordinary skill in the technical field
Normally understood identical meanings.
It should be noted that term used herein above is merely to describe specific embodiment, and be not intended to restricted root
According to the illustrative embodiments of the application.As used herein, unless the context clearly indicates otherwise, otherwise singular
Also it is intended to include plural form, additionally, it should be understood that, when in the present specification using term "comprising" and/or " packet
Include " when, indicate existing characteristics, step, operation, device, component and/or their combination.
It should be noted that flowcharts and block diagrams in the drawings show according to various embodiments of the present disclosure method and
The architecture, function and operation in the cards of system.It should be noted that each box in flowchart or block diagram can represent
A part of one module, program segment or code, a part of the module, program segment or code may include one or more
A executable instruction for realizing the logic function of defined in each embodiment.It should also be noted that some alternately
Realization in, function marked in the box can also occur according to the sequence that is marked in attached drawing is different from.For example, two connect
The box even indicated can actually be basically executed in parallel or they can also be executed in a reverse order sometimes,
This depends on related function.It should also be noted that each box and flow chart in flowchart and or block diagram
And/or the combination of the box in block diagram, the dedicated hardware based system that functions or operations as defined in executing can be used are come
It realizes, or the combination of specialized hardware and computer instruction can be used to realize.
In the absence of conflict, the features in the embodiments and the embodiments of the present application can be combined with each other below with reference to
The utility model is described in further detail with embodiment for attached drawing.
Embodiment 1:
The purpose of the present embodiment 1 is to provide a kind of upper limb rehabilitation robot system of view-based access control model human body pose detection.
To achieve the goals above, the utility model is using a kind of following technical solution:
As shown in Figs. 1-2,
A kind of upper limb rehabilitation robot system of view-based access control model human body pose detection, which includes: upper limb healing machine
People, vision collecting module, processor and doctor's monitoring module；The processor respectively with the upper limb rehabilitation robot, vision
Acquisition module is connected with doctor's monitoring module.
Training instruction of the upper limb rehabilitation robot for the processor transmission based on the received cooperates patient's upper limb
Movement carry out rehabilitation training, will according to the robot of training instruction execute state be sent to the processor；In the present embodiment
In, upper limb rehabilitation robot cooperates the movement of patient's upper limb, and in passive exercise mode, upper limb rehabilitation robot drives patient's hand
Arm completes rehabilitation exercise, and in active training mode, upper limb rehabilitation robot follows patient's arm motion, auxiliary rehabilitation exercise,
In the case where loading training mode, upper limb rehabilitation robot provides suitable load in exercise-based rehabilitation program on patients training process.
The vision collecting module obtains each joint position information of patient's upper limb for acquiring patient's upper limb image information
And acquisition ambient image information obtains trajectory planning information, and is sent to the processor；Vision collecting module utilizes
Kinect device obtains the color image and deep image information of human arm, and the reality of human body is obtained using target following technology
When posture, then by human body outline method obtain joint coordinate information, thus obtain each joint of human arm position letter
Breath, while in Rehabilitation training process, the barrier in training environment is detected according to trajectory planning, is upper limb healing machine
People executes rehabilitation exercise motion and provides trajectory planning information, avoids generating collision in training process, it is intended to the safety of patient is protected,
It avoids causing secondary injury to patient.
Doctor's monitoring module is trained for monitoring Rehabilitation, saves simultaneously assay Rehabilitation training,
And command information is generated according to analysis situation setting training action and training mode and is sent to the processor；Doctor's monitoring module
Main function is the rehabilitation training of monitoring and control patient, saves the rehabilitation training situation of simultaneously assay patient, can
Be arranged Rehabilitation training movement, select the mode of rehabilitation training, according to the difference of conditions of patients be provided with passive exercise,
Active training and load training Three models.
The processor is used to be carried out according to its received vision collecting module information and doctor's monitoring module command information
Fusion treatment generates training instruction, is sent to the upper limb rehabilitation robot；And training instruction and received robot are executed
The each joint position information of state, patient's upper limb feeds back to doctor's monitoring module.
In the present embodiment, the upper limb rehabilitation robot is exoskeleton-type, and ectoskeleton upper limb healing machine is using series connection
Mode is successively realized and receives outer pendulum in shoulder joint, shoulder joint stretches buckling, large arm rotation, and elbow joint stretches buckling, forearm rotation,
The movement of wrist joint stretching, extension buckling totally 6 freedom degrees can accurately control arm in sky by the combination between each movement
Interior motion state, to ensure the safety of Rehabilitation process.
In the present embodiment, the upper limb rehabilitation robot is that robot is adjusted in height and brachium.Upper limb healing machine
The height and brachium of people is adjustable, to adapt to the patient of different building shape.
In the present embodiment, the upper limb rehabilitation robot further includes motor drive module and driving motor, driving motor
Using torque control pattern；The upper limb rehabilitation robot receives the training instruction control driving motor of the processor transmission
Output torque, and then realize the output torque of each axis of dynamic regulation upper limb rehabilitation robot.
In the present embodiment, the upper limb rehabilitation robot is according to its received training instruction dynamic regulation upper limb rehabilitation machine
The output torque of each axis of device people is instructed to complete passive exercise, active training and the training for loading training Three models in rehabilitation
During white silk, the robot in each joint is executed into state in real time and feeds back to the processor, the robot executes state and includes
Speed, acceleration and torque.
The passive exercise is that patient's upper extremity exercise is driven by the upper limb rehabilitation robot completely；
The active training is the active movement of patient's upper limb, and the upper limb rehabilitation robot follows movement, plays auxiliary and protects
The effect of shield；
The load is trained for patient's upper limb active movement, and the upper limb rehabilitation robot applies reversed load.
In the present embodiment, the upper limb rehabilitation robot and patient carry out human-computer interaction, and patient sends human-computer interaction life
It enables and controls the upper limb rehabilitation robot deconditioning；
The upper limb rehabilitation robot further includes emergency stop button.
In the present embodiment, the vision collecting module utilizes Kinect device, patient's upper limb image information packet of acquisition
Include the color image information of patient's upper limb and the deep image information of patient's upper limb；According to patient's upper limb image information benefit of acquisition
The real-time attitude that human body is obtained with target following technology obtains the coordinate information in each joint of patient's upper limb according to human body outline method,
Obtain each joint position information of patient's upper limb；And it will be instructed using human body outline method according to each joint position information of patient's upper limb
Practice process and generate lopcus function, calculates each joint position information and velocity information when different postures.
Meanwhile the vision collecting module indicates one of patient according to patient's upper limb image information of the key frame of acquisition
Movement.The system can represent a movement using the picture of key frame, can use 5-6 picture table for simple posture
Show, is conducive to the efficiency for improving identification and position acquisition of information.Visual information is passed to processor by vision module, by
Reason device is further processed.
Meanwhile the vision collecting module acquisition ambient image information obtains trajectory planning information, detects in ambient image
Barrier, and obstacle information is sent to the processor, the processor controls the upper limb according to obstacle information
Healing robot deconditioning.In Rehabilitation training process, the barrier in training environment is detected according to trajectory planning, is kept away
Exempt to generate collision in training process, it is intended to which the safety for protecting patient avoids causing secondary injury to patient.
Processor receives the execution state information in each joint from upper limb rehabilitation robot, the human body of vision collecting module
Each joint position of arm and velocity information, the control information of doctor's monitoring module；By information above fusion treatment, upper limb health is planned
The motion profile of multiple robot generates rehabilitation training instruction, and rehabilitation training instruction is sent to upper limb rehabilitation robot and is executed；This
It also needs the information package by each module to be transferred to doctor's monitoring module outside, while receiving the control life from doctor's monitoring module
It enables.
In the present embodiment, doctor's monitoring module saves simultaneously assay patient for monitoring Rehabilitation training
Rehabilitation training situation, and command information is generated according to analysis situation setting training action and training mode and is sent to the processing
Device；The command information of doctor's monitoring module further includes the machine in the rehabilitation training path of the upper limb robot of planning, setting
People executes state, deconditioning order and starts training order.Doctor's monitoring module receives the information from processor, aobvious in real time
Show and monitor exercise-based rehabilitation program on patients state, can be set the mode that patient is trained, including passive exercise, active training and negative
Training Three models are carried, can plan the rehabilitation training path of upper limb robot, is arranged and limits the speed in each joint, accelerate
Degree, control moment, are handed down to processor for control command, this module can send deconditioning order at any time, shut down in time, really
Protect patient safety.
The application method of the utility model, the application method include:
Step (1): adjusting the height and brachium of the upper limb rehabilitation robot according to patient profiles, and doctor assists patient to wear
It wears upper limb rehabilitation robot and learns the use of the system；In the present embodiment, upper limb healing machine is adjusted according to patient size
The height and brachium of people, patient understands and the use of each module, it is ensured that the safety of patient's progress rehabilitation training of upper limbs.
Step (2): for doctor according to patient profiles in doctor's monitoring module setting command information, the doctor monitors mould
Block setting command information is sent to the processor；
In the present embodiment, doctor selects training mode, including passive exercise mode, active training mould according to conditions of patients
Formula and load training mode, under passive exercise mode, patient's upper extremity exercise is driven by upper limb rehabilitation robot completely, is suitble to
Limb completely loses the patient of locomitivity；Under active training mode, patient's arm active movement, healing robot follows fortune
It is dynamic, play a part of to assist and protect, is suitble to upper limb that there is the patient of certain movement ability；In the case where loading training mode, patient's hand
Arm active movement, healing robot apply reversed load, are suitble to convalescent patient.The speed of doctor's setting rehabilitation training
It is limited with position, avoids generating unexpected injury to patient.Finally control command is transmitted to processor.
Step (3): vision collecting module acquisition patient's upper limb image information obtains each joint position of patient's upper limb
Information and acquisition ambient image information obtain trajectory planning information, and are sent to the processor；
Step (4): the processor is according to its received vision collecting module information and doctor's monitoring module command information
It carries out fusion treatment and generates training instruction, be sent to the upper limb rehabilitation robot；In the present embodiment, processor receives doctor
The control information of teacher's monitoring module and the posture information of vision collecting module carry out fusion treatment, send out to upper limb rehabilitation robot
Rehabilitation training is sent to instruct；Processor generates rehabilitation training instruction by the initial pose of analysis patient's arm and rehabilitation training instruction,
And it is sent to upper limb rehabilitation robot；Rehabilitation physical training condition information is fed back to doctor's monitoring module by processor.
Step (5): training instruction cooperation of the upper limb rehabilitation robot for the processor transmission based on the received
The movement of patient's upper limb carries out rehabilitation training, is sent to the processor for state is executed according to the robot of training instruction；Place
Training instruction and received robot are executed state by reason device, each joint position information of patient's upper limb feeds back to the doctor and supervises
Control module；Doctor is monitored in real time by doctor's monitoring module and records Rehabilitation training process；Patient in due course, is not passing through people
Machine interactive controlling upper limb rehabilitation robot is shut down；In the present embodiment, upper limb rehabilitation robot is instructed according to rehabilitation training and is assisted
Patient carries out rehabilitation training, will execute state Real-time Feedback to processor, is uploaded to doctor's monitoring module by processor；Vision is adopted
Collection module acquires patient's arm pose in real time, uploads to processor in real time, provides foundation for planning rehabilitation training track, protection is suffered from
Person's safety, while acquiring patients head and acting realization human-computer interaction, it is shut down in time in the case where patient shakes the head；Doctor monitors mould
Physical training condition information of the block real-time reception from processor, monitors and records Rehabilitation training process in real time, in monitoring process
In, doctor can send rehabilitation order to processor.
Step (6): after training, doctor is analyzed and evaluated Rehabilitation training by doctor's monitoring module, and
Charge to patient cases' archive, the foundation as rehabilitation；Upper limb rehabilitation robot restores initial position, and rehabilitation system stops work
Make, doctor helps patient to take off upper limb rehabilitation robot.
The utility model has the beneficial effects that
1, the upper limb rehabilitation robot system of a kind of view-based access control model human body pose detection described in the utility model, this is practical
The upper limb rehabilitation robot system of novel view-based access control model human body pose detection has real-time, monitors the training shape of patient in real time
State, and from the safety issue of many aspects consideration Rehabilitation training process, the safety problem of patient is put in the first place,
In terms of mechanical structure, the height and brachium of upper limb rehabilitation robot can be adjusted according to patient size, avoid because it is man-machine not
Pairing patient causes secondary injury.
2, the upper limb rehabilitation robot system of a kind of view-based access control model human body pose detection described in the utility model, is controlling
Aspect limits the output area of each driving motor, in addition also sets corresponding limit to the movement of rehabilitation training
Range processed；In terms of coping with emergency situations, in the prominent sense discomfort of patient or other emergencies, patient can be timely by interaction technical ability
It shuts down；Because patient suffers from dyskinesia, danger button shutdown can be pressed by entourage；Doctor's monitoring module monitors patient in real time
Rehabilitation training can also be manually controlled by software discretionary protection patient safety by doctor, timely stoppage protection patient peace
Entirely.
3, the upper limb rehabilitation robot system of a kind of view-based access control model human body pose detection described in the utility model, patient's
Based on real-time pose is obtained with visual manner, supplemented by the feedback of each joint motor of upper limb rehabilitation robot, improve identification and
The efficiency of position acquisition of information.
4, the upper limb rehabilitation robot system of a kind of view-based access control model human body pose detection described in the utility model, upper limb health
Multiple robot is designed using exoskeleton-type, using concatenated mode, can accurately control motion state of the arm in space.
The foregoing is merely preferred embodiment of the present application, are not intended to limit this application, for the skill of this field
For art personnel, various changes and changes are possible in this application.Within the spirit and principles of this application, made any to repair
Change, equivalent replacement, improvement etc., should be included within the scope of protection of this application.Therefore, the utility model will not be limited
In the embodiments shown herein, and it is to fit to widest model consistent with the principles and novel features disclosed in this article
It encloses.
Claims (6)
1. a kind of upper limb rehabilitation robot system of view-based access control model human body pose detection, which is characterized in that the system includes: upper limb
Healing robot, vision collecting module, processor and doctor's monitoring module；The processor respectively with the upper limb healing machine
People, vision collecting module are connected with doctor's monitoring module；
The upper limb rehabilitation robot is exoskeleton-type, and the movement of 6 freedom degrees, respectively shoulder are successively realized using series system
It is put outside intra-articular receipts, shoulder joint stretching, extension buckling, large arm rotate, elbow joint stretches buckling, buckling is stretched in forearm rotation and wrist joint；
The upper limb rehabilitation robot is that robot is adjusted in height and brachium.
2. the system as claimed in claim 1, which is characterized in that the upper limb rehabilitation robot further include motor drive module and
Driving motor, motor drive module receive the output torque of the training instruction control driving motor of the processor transmission.
3. the system as claimed in claim 1, which is characterized in that the upper limb rehabilitation robot includes human-computer interaction module, people
Control the upper limb rehabilitation robot deconditioning.
4. the system as claimed in claim 1, which is characterized in that the upper limb rehabilitation robot further includes emergency stop button.
5. the system as claimed in claim 1, which is characterized in that the vision collecting module includes Kinect device.
6. the system as claimed in claim 1, which is characterized in that doctor's monitoring module includes computer.
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| CN201820518154.3U CN208864738U (en) | 2018-04-12 | 2018-04-12 | A kind of upper limb rehabilitation robot system of view-based access control model human body pose detection |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021243918A1 (en) * | 2020-06-01 | 2021-12-09 | 深圳华鹊景医疗科技有限公司 | Upper-limb function evaluation apparatus and method, and upper-limb rehabilitation training system and method |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021243918A1 (en) * | 2020-06-01 | 2021-12-09 | 深圳华鹊景医疗科技有限公司 | Upper-limb function evaluation apparatus and method, and upper-limb rehabilitation training system and method |
| JP2022536439A (en) * | 2020-06-01 | 2022-08-17 | 深▲せん▼華鵲景医療科技有限公司 | Upper limb function evaluation device and method, and upper limb rehabilitation training system and method |
| JP7382415B2 (en) | 2020-06-01 | 2023-11-16 | 深▲せん▼華鵲景医療科技有限公司 | Upper limb function evaluation device and method and upper limb rehabilitation training system and method |
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