CN219022093U - Upper limb rehabilitation training robot - Google Patents

Abstract

The utility model discloses an upper limb rehabilitation training robot which comprises a base part, a large arm part, an elbow part, a small arm part, a wrist part, a handle part and a hand support part, wherein the base part is connected with the large arm part; the robot has a reverse drivable function, four active degrees of freedom and one passive degree of freedom, and can realize active rehabilitation training movement or passive rehabilitation training movement of a patient driven by the robot, so that the rehabilitation training of the patient for driving the elbow to revolve around the J4 axis, the rehabilitation training for swinging the elbow and the shoulder up and down and left and right around the J3 axis, the J2 axis and the J1 axis and the rehabilitation training for opening and closing the fingers along the J5 axis are realized. The robot has the advantages of large movement range, low noise, high comfort level in use and good rehabilitation effect.

Description

Upper limb rehabilitation training robot

Technical Field

The utility model relates to the technical field of rehabilitation medical equipment, in particular to an upper limb rehabilitation training robot.

Background

With the development of social aging, the phenomenon of hemiplegia caused by apoplexy and the like of the aged is more and more, and the rehabilitation equipment after treatment is more and more, and the existing upper limb rehabilitation training devices can be roughly divided into two types, namely a rehabilitation device based on joint module transmission and a rehabilitation device adopting rope drive unit transmission.

Rehabilitation device based on joint module transmission has following shortcoming:

1. the installation mode of the joint module can lead to large self inertia of the robot and poor dynamic performance

2. In order to provide enough output torque, the joint module generally adopts a larger transmission ratio, and is difficult to realize reverse drivability without the help of equipment such as force sensing equipment, even if the force sensing equipment is adopted, the reverse drivability is poor due to various nonlinear friction resistances such as backlash, tooth surface friction, grease resistance and the like;

3. the speed reducer adopts gear drive, and is generally noisier.

The rehabilitation device driven by the rope drive unit has obvious advantages in the aspects of self inertia distribution, reverse drivability and product noise, for example, chinese patent CN 108472191A proposes three-degree-of-freedom rope drive rehabilitation equipment, but the patent only has three degrees of freedom, can only realize the rehabilitation training of the elbow joint and the shoulder joint in part of the movement range, and cannot realize the pronation and supination rehabilitation training of the elbow joint and the wrist joint and the rehabilitation training of the wrist joint and fingers.

Disclosure of Invention

In order to solve the technical problems, the utility model provides an upper limb rehabilitation training robot.

The technical scheme adopted by the utility model is as follows:

an upper limb rehabilitation training robot comprises a base part, a big arm part, an elbow part, a small arm part, a wrist part, a handle part and a hand support part.

The base member includes a rope differential capable of outputting a first active degree of freedom and a second active degree of freedom and a J3 axis motor.

The big arm component comprises a big arm body and a big arm steel wire rope arranged in the big arm body.

The elbow part comprises an elbow joint and a forearm connecting piece, and the elbow joint comprises an elbow input pulley, an elbow output pulley and an elbow steel wire rope; the J3 shaft motor drives the elbow input pulley to rotate through the large arm steel wire rope, and the elbow input pulley drives the elbow output pulley to rotate around the J3 shaft through the elbow steel wire rope, so that the third driving degree of freedom is output.

One end of the forearm connecting piece is fixedly connected with the elbow output pulley, and the other end is coaxially and fixedly connected with the forearm component; the other end of the forearm part is fixedly connected with the wrist part.

The wrist part comprises a wrist fixing frame, a J4 shaft motor and a planetary reducer which are arranged on the wrist fixing frame, and the handle part is fixedly connected with a planetary carrier of the planetary reducer; the J4 shaft motor drives the planetary reducer to rotate, so that the handle part is driven to rotate around the J4 shaft, and a fourth initiative degree of freedom is output; the handle member is provided with a first passive degree of freedom, which is the degree of freedom for fingers to grasp along the J5 axis.

The hand rest part comprises a hand rest plate for supporting the forearm of a patient during rehabilitation training, and one end of the hand rest plate is fixedly connected with the wrist fixing frame.

Further, the rope differential comprises two driving motors, two input pulleys, two groups of input steel wire ropes, one output pulley and two groups of output steel wire ropes; the two driving motors drive the two input pulleys to rotate through the two groups of input steel wire ropes respectively, the two input pulleys are connected with the output pulleys through the two groups of output steel wire ropes, the two input pulleys rotate in the same direction to realize that the large arm part rotates around the J1 shaft, and the two input pulleys rotate reversely to realize that the large arm part rotates around the J2 shaft.

Further, the handle part comprises a handle support body, a guide post, a spiral spring, a pressure sensor, a handle front housing and a handle rear housing; the front handle cover shell and the rear handle cover shell are in sliding connection through guide posts sleeved with coil springs, and two ends of each coil spring respectively lean against the inner side walls of the front handle cover shell and the rear handle cover shell; the opening and closing movement of the fingers along the J5 shaft is realized by compressing the spiral spring, and the output of the first passive degree of freedom is realized; the pressure sensor is used for detecting the magnitude of the pressure value exerted by the finger on the handle part.

Further, the small arm component comprises a small arm body, and the small arm body is connected with the small arm connecting piece through a small arm quick-change structure; the forearm quick change structure includes internal thread sleeve and locating sleeve, and the fixed suit of locating sleeve is in the rear end of forearm body, and internal thread sleeve suit is on the locating sleeve and threaded connection forearm connecting piece.

Further, the forearm body is bent to one side in a horizontal plane, and the forearm connecting piece is connected with the elbow joint through a left-right side changing structure; the left-right side changing structure comprises: the device comprises a hand shaft, an eccentric handle, a long screw, a pressing block, a U-shaped elbow support and a fixing sleeve; the fixed sleeve is fixed on the top surface of the elbow output pulley, the closed end of the U-shaped elbow support is fixedly connected with the forearm connecting piece, the open end of the U-shaped elbow support extends to two openings on two sides of the fixed sleeve, the hand shaft is arranged at one end of the elbow output pulley along the Z-axis direction, the eccentric handle is rotatably sleeved on the hand shaft, and the long screw axially penetrates through the fixed sleeve, the U-shaped elbow support and the pressing block and is in threaded connection with the hand shaft; the eccentric handle is used for pressing the U-shaped elbow support on the fixed sleeve through the pressing block or loosening the U-shaped elbow support to enable the U-shaped elbow support to turn around the long screw.

Further, the wrist part is connected with the forearm body through a hand rest turnover mechanism; the hand support turnover mechanism comprises a small arm positioning sleeve, an anti-rotation pin, a compression coil spring, a hand bracket, a bearing support piece, a bearing outer ring fixing ring, a bearing and a lock nut; one end of the hand bracket is fixedly connected with the wrist fixing frame, and the other end of the hand bracket is fixedly connected with the bearing support piece; the bearing support piece is rotatably connected with the small arm positioning sleeve through a bearing, the small arm positioning sleeve is fixedly sleeved on the small arm body, the bearing outer ring fixing ring is in threaded connection with the small arm positioning sleeve and used for compressing the outer ring of the bearing, the locking nut is in threaded connection with the bearing support piece and used for compressing the inner ring of the bearing, the anti-rotation pin sleeved with the compression coil spring axially slidably penetrates through the small arm positioning sleeve and is inserted into one pin hole B of the hand bracket, and the two pin holes B are symmetrically distributed along the axis of the small arm body.

Further, the hand rest part further comprises a cushion pad and a plate spring, wherein the cushion pad is adhered to the upper side face of the hand rest plate, one end of the plate spring is fixedly connected with the hand rest plate, and the other end of the plate spring is fixedly connected with the wrist fixing frame.

The utility model has the beneficial effects that:

1. the J1, J2 and J3 axes of the utility model are driven by the rope driving unit, so that the reverse driving function of the robot can be realized, the patient can drive the robot to actively move, the rope driving unit drives no gap, the noise is low during movement, and the comfort level is high during use; the J4 axis motion utilizes a planetary reduction mechanism with a small reduction ratio, and the planetary reduction mechanism has a compact structure, so that the motion of a robot is more flexible, and the interference between the robot and a patient during rehabilitation training is smaller; the J5 shaft adopts a spring and a guide post to realize the opening and closing movement of fingers, and can realize the rehabilitation training of the fingers of a patient. In a word, the utility model can realize the active movement and the passive movement of a patient driven by the robot or the patient driven by the robot, thereby realizing the rehabilitation exercise training that the wrist of the patient drives the elbow to revolve forwards and backwards around the J4 axis, the rehabilitation exercise training that the elbow and the shoulder swing up and down and left and right around the J3 axis, the J2 axis and the J1 axis, and having large movement range, high degree of freedom and good rehabilitation effect.

2. The robot can be connected with a control system, a game operated by upper computer software guides a patient to perform rehabilitation training in active, resistive, power-assisted and passive modes in a task mode in an interactive mode, and the upper computer synchronizes the tail end position of the robot in real time and displays the tail end position in a game scene in a cursor mode to realize interaction between the patient and the game task. In the rehabilitation training process of active, anti-blocking, power-assisted and passive modes, a patient marks pain points by pressing a hand-held pain switch, and meanwhile, a control system generates a virtual safety global area according to the marked pain points, so that the patient is prevented from moving to a pain position and the occurrence of movement injury is avoided; in the rehabilitation training process of carrying out active, anti-blocking, power-assisted and passive modes, the upper computer can automatically increase or reduce the training range according to the number of times that the patient continuously completes the task, intelligently adjusts the training difficulty of the patient without manual intervention, and prevents the patient from feeling boring due to the fact that the task is too difficult or simple to complete, and even generates contradiction emotion. In addition, through the automatically regulated degree of difficulty, can make the patient constantly challenge oneself current motion ability to reach better rehabilitation training effect.

Drawings

Fig. 1 is a schematic structural view of an upper limb rehabilitation training robot of the present utility model.

Fig. 2 is a schematic structural view of the base member of the present utility model.

Fig. 3 is a schematic view of the connection structure of the large arm member and the elbow member of the present utility model.

Fig. 4 is a schematic structural view of the elbow component of the present utility model.

Figure 5 is a schematic view of the connection structure of the wrist member of the present utility model.

Fig. 6 is a second schematic view of the connection structure between the forearm and wrist members according to the utility model.

Fig. 7 is a schematic structural view of the forearm quick-change structure of the utility model.

Fig. 8 is a schematic view of the left and right side change structure of the elbow component of the present utility model.

Fig. 9 is a schematic view of the structure of the handle member of the present utility model.

Fig. 10 is a schematic view of the construction of the hand rest assembly of the present utility model.

Fig. 11 is a schematic structural view of the hand rest turnover mechanism of the present utility model.

Fig. 12 is a schematic view of the upper limb rehabilitation training robot according to the present utility model in a use state.

Fig. 13 is a schematic view of a virtual safety ball region of the present utility model.

Fig. 14 is a flow chart of a method of using the upper limb rehabilitation training robot of the present utility model.

Detailed Description

The utility model will be further described with reference to specific examples to facilitate an understanding of the utility model, but are not intended to limit the utility model thereto.

For convenience of description, the first active degree of freedom is set as the rotary motion around the J1 axis, the second active degree of freedom is set as the rotary motion around the J2 axis, the third active degree of freedom is set as the rotary motion around the J3 axis, the fourth active degree of freedom is set as the rotary motion around the J4 axis, and the first passive degree of freedom is set as the movement along the J5 axis.

Example 1

Referring to fig. 1, the present embodiment provides an upper limb rehabilitation training robot, which includes a base member 1, a large arm member 2, an elbow member 3, a small arm member 4, a wrist member 5, a handle member 6, and a hand support member 7.

Referring to fig. 2, base member 1 includes a base, a rope differential mounted to the base, and a J3 axis motor 106. The rope differential is in the prior art and mainly comprises two driving motors 101, two input pulleys 102, two groups of input steel wire ropes 103, four groups of output steel wire ropes 105 and one output pulley 104; two driving motors 101 and two input pulleys 102 are symmetrically distributed on two sides of the base body, double spiral grooves for arranging steel wire ropes are formed in motor output shafts of the driving motors 101, input pulleys 102 of differential transmission are connected with the driving motors 101 through input steel wire ropes 103, and two input pulleys 102 are connected with output pulleys 104 through 4 groups of output steel wire ropes 105.

The rope differential can realize: the two driving motors 101 drive the two input pulleys 102 of the differential transmission to rotate in the same direction at the same speed, so that the output of the first active degree of freedom is realized, and the two driving motors 101 drive the two input pulleys 102 of the differential transmission to rotate in opposite directions at the same speed, so that the output of the second active degree of freedom is realized.

The J3 shaft motor 106 is fixedly mounted on a pulley shaft of the output pulley 104, and output of the third active degree of freedom is achieved through the large arm steel wire rope 201 and the elbow pulley block.

Referring to fig. 3 and 4, the boom member 2 includes a boom body 201 having one end fixedly mounted on the output pulley 104 and a boom wire rope 202 disposed in the boom body.

The elbow part 3 includes an elbow joint and forearm connector 305, the elbow joint including a joint body 301 having one end fixed to the forearm body 201, two elbow input pulleys 302 and one elbow output pulley 304 rotatably mounted to the joint body 301, and an elbow wire rope 303. The motor output shaft of the J3 shaft motor 106 is provided with a wire rope groove, the J3 shaft motor 106 is connected with two elbow input pulleys 302 through a large arm wire rope 202, and the two elbow input pulleys 302 are connected with an elbow output pulley 304 through an elbow wire rope 303. The J3 shaft motor 106 drives the two elbow input pulleys 302 to rotate in the same direction through the large arm steel wire rope 202, and then drives the elbow output pulley 304 to rotate through the elbow steel wire rope 303, so that the output of the third active degree of freedom is realized.

In this embodiment, the forearm member 4 includes a bent forearm body 401 and a forearm quick-change structure, the forearm body 401 is connected with the forearm connector 305 by the forearm quick-change structure, and the forearm connector 305 is articulated with the elbow by the left-right side-change structure. The forearm body 401 is set to be of a bending structure, so that the movement interference between the limbs of a patient and the robot during rehabilitation training can be reduced, the limbs of the patient can move more freely, the movement range is larger, and the rehabilitation effect is improved. The left and right side-changing structure can realize the side-changing training of the left and right limbs of the patient, and the hand support assembly 9 with different training functions can be replaced through the forearm quick-changing structure, so that the rehabilitation training of the patient with different training requirements is adapted.

In specific implementation, referring to fig. 7 and 8, the quick-change structure for the forearm includes an internally threaded sleeve 402, a positioning sleeve 403, a polyurethane ring 404 and a stop ring 405, the positioning sleeve 403 is fixedly sleeved on the outer peripheral surface of the rear end of the forearm body 401, the outer peripheral surface of the front end of the positioning sleeve 403 is provided with an annular groove a, and the stop ring 405 is installed in the annular groove a; the front end of the forearm connector 305 is provided with an external thread part, the rear end of the external thread part is provided with an annular groove B, and the polyurethane ring 404 is arranged in the annular groove B; the outer periphery of the locating sleeve 403 is provided with an annular boss, the inner periphery of the internal thread sleeve 402 is provided with a blocking shoulder and an internal thread part, the internal thread part is arranged at the rear side of the blocking shoulder and extends to the rear end face of the internal thread sleeve, the internal thread of the internal thread part is matched with the external thread of the external thread part, the internal thread sleeve 402 is sleeved on the forearm connecting piece 305 through the internal thread part screw thereof, when the internal thread sleeve 402 compresses the locating sleeve 403, the annular boss of the locating sleeve 403 abuts against the blocking shoulder of the internal thread sleeve 402, and the internal thread sleeve 402 is just positioned inside the polyurethane ring 404. By observing the position of the polyurethane ring 404, it can be confirmed whether the internally threaded sleeve 402 is in place; the stop ring 405 is used to prevent the female threaded sleeve 402 from falling out of the forearm member 4 after unscrewing the female threaded sleeve 402.

The left-right side changing structure comprises: a hand shaft 307, an eccentric handle 306, a long screw 308, a pressing block 309, a U-shaped elbow bracket 310 and a fixing sleeve 311; the fixed sleeve 311 is fixed on the top surface of the elbow output pulley 304 along the direction perpendicular to the length direction of the lower arm connecting piece 305, the closed end of the U-shaped elbow support 310 is fixedly connected with the forearm connecting piece 305, the open end extends to two sides of the fixed sleeve 311 and covers two openings of the fixed sleeve, the long screw 308 axially penetrates through the fixed sleeve 311, the U-shaped elbow support 310 and the pressing block 309 to be connected with the hand shaft 307 in a threaded manner, the hand shaft 307 is arranged at one end of the elbow output pulley 304 along the Z-axis direction, and the eccentric handle 306 is rotatably sleeved on the hand shaft 307. Elbow fork supports 310 and press blocks 309 are slidably connected to long screws 308. During normal use, the eccentric handle 306 presses the U-shaped elbow support 310 on the fixed sleeve 311 through the pressing block 309, and the forearm connector 305 and the elbow joint do not move relatively; when the side needs to be changed, the eccentric handle 306 is rotated 90 degrees anticlockwise, the forearm connector 305 is loosened to rotate 180 degrees around the long screw 308, then the eccentric handle 306 is rotated 90 degrees clockwise, and the forearm connector 305 is locked with the elbow joint, so that the left side and the right side of a patient are changed for rehabilitation training.

Referring to fig. 5 and 6, the wrist component 5 includes a wrist fixing frame 505, a J4 shaft motor 501 and a planetary reducer, the planetary reducer and the J4 shaft motor 501 are fixedly mounted on the wrist fixing frame 505 by screws, the wrist fixing frame 505 is connected with the forearm body 401 by a hand rest turnover mechanism, and the planetary reducer includes a reducer housing 503, a planet carrier 504 and 3 planet gears 502. The motor gear 501 is fixedly sleeved at the output end of a motor shaft of the J4 shaft motor, the motor gear is in external meshed transmission connection with 3 planetary gears 502, the 3 planetary gears 502 are in external meshed transmission connection with an inner gear ring of a speed reducer shell 503, and a planetary carrier 504 is fixedly connected with the handle part 6.

The J4 shaft motor 501 drives the 3 planetary gears 502 to move, and drives the handle part 6 to rotate around the J4 shaft through the planetary carrier 504, so that output of the fourth active degree of freedom is realized, namely, the wrist drives the elbow to move forwards and backwards.

In this embodiment, the wrist member 5 is connected to the forearm body 401 by a hand rest flip mechanism. Referring to fig. 11, the hand support turning mechanism includes a small arm positioning sleeve 420, an anti-rotation pin 513, a compression coil spring 514, a hand bracket 515, a bearing support 516, a bearing outer ring fixing ring 517, a bearing 518, and a lock nut 519; one end of the hand bracket 515 is fixedly connected with the wrist fixing frame 505 through a screw, and the other end is fixedly connected with the bearing support 516 through a screw; the bearing support 516 is rotatably connected with the forearm positioning sleeve 420 through a bearing 518, and the forearm positioning sleeve 420 is fixedly sleeved on the forearm body 401. The bearing outer ring is pressed by the bearing outer ring fixing ring 517, the bearing inner ring is fixed by the lock nut 519, the bearing outer ring fixing ring 517 is in threaded connection with the forearm positioning sleeve 420, and the lock nut 519 is in threaded connection with the bearing support 516. The forearm positioning sleeve 420 is provided with at least two stepped pin holes A which are axially and symmetrically distributed in a penetrating way, the hand bracket 515 is provided with pin holes B which are in one-to-one correspondence with the pin holes A, the anti-rotation pin 513 sleeved with the compression coil spring 514 penetrates through the pin holes A, and the head part of the anti-rotation pin is inserted into the pin holes B; the compression coil spring 514 is located in the stepped pin hole a, one end of the compression coil spring abuts against the shaft shoulder of the anti-rotation pin 513, the other end abuts against the step surface of the pin hole a, and the tail of the anti-rotation pin 513 extends out of the pin hole a to be connected with the handle.

When a patient needs left-right hand side-changing training, the left-right side-changing structure is adopted to realize that the forearm connecting piece 305 drives the forearm assembly 4 to turn over 180 degrees, and the hand rest 702 is required to turn over 180 degrees through the hand rest turning mechanism at the moment because the front face of the turned-over hand rest part 7 is downward, so that the front face of the hand rest is upward, and the left-right side-changing training of the patient is realized; when the hand rest 702 is turned over, the anti-rotation pin 513 is pulled outwards, the springs 514 are compressed, the anti-rotation pin 513 is separated from the hand rest 515, after the hand rest 702 is turned over by 180 degrees, the anti-rotation pin 513 is aligned with a pin hole B on the other side of the hand rest 515, then the compression springs 514 are released, and the anti-rotation pin 513 is inserted into the pin hole B on the other side of the hand rest 515, so that the hand rest 702 is turned over, and the left side and the right side of rehabilitation training are quickly switched.

Referring to fig. 9, the handle member 6 includes a handle support body, a guide post 601, a coil spring 602, a pressure sensor 603, a handle front case 604, and a handle rear case 605. The handle front cover 604 and the handle rear cover 605 are fixed at one end of the handle support body by screw connection rear lower end, and the other end of the handle support body is fixed on the wrist fixing frame 505 by screw. The front handle housing 604 and the rear handle housing 605 are each metal shells that are elastically deformable. The inside of the front handle housing 604 and the rear handle housing 605 are correspondingly provided with step holes for installing the guide posts 601, two ends of the guide posts 601 sleeved with the spiral springs 602 are respectively slidably inserted into the step holes of the front handle housing 604 and the rear handle housing 605, and two ends of the spiral springs 602 respectively abut against the end surfaces of the step holes. When rehabilitation training is performed, the front handle cover 604 and the rear handle cover 605 are held by fingers of a patient, and the opening and closing movement of the fingers along the J5 axis is realized through the compression coil spring 602, namely, the output of the first passive degree of freedom is realized. The pressure sensor 603 is installed inside the front handle housing 604 and the rear handle housing 605 for detecting the magnitude of the pressure value applied by the finger to the front handle housing 604 and the rear handle housing 605, so that the grasping force of the finger of the patient can be evaluated.

Referring to fig. 10, the hand rest member 7 includes a hand rest plate 702, a cushion pad 703, and a plate spring 701, the hand rest plate 702 being mounted on one end of the plate spring 701 by a screw, the other end of the plate spring 701 being fixed on the wrist mount 505 by a screw; the cushion 703 is attached to the upper side of the hand support plate 702 by bonding, preferably the cushion 703 is made of a biocompatible material. Because the plate spring 701 has elasticity, the position relationship between the arm and the handle part 6 can be changed under the action of the gravity of the human forearm, thereby preventing the uncomfortable phenomenon of the arm caused by pulling the arm of the hand support part 7.

Referring to fig. 12 to 14, the method for using the upper limb rehabilitation training robot according to embodiment 1 includes the following steps:

s1 (patient in place): connecting the robot with a control system, establishing a robot coordinate system, enabling a patient to sit on one side of the robot, fixing the forearm of the patient on a hand support plate 702 through a binding belt, enabling the fingers of the patient to be gripped on a handle part 6, enabling rehabilitation training of opening and closing movements of the fingers to be achieved through the front handle cover shell 604 and the rear handle cover shell 605 of the handle part 6, detecting a pressure value applied to the handle part 6 by the fingers through a pressure sensor 603, and evaluating the finger gripping force of the patient through the magnitude of the pressure value;

s2 (training range calibration): the robot is in a zero-force control state, the patient moves to the farthest position in the front-back, left-right and up-down directions according to the self-movement capacity or driven by a therapist, the control system acquires coordinate points P1-P6 of the pressure sensor 603 at the moment, the coordinate points P1-P6 are converted into six face coordinates in the front-back, left-right and up-down directions, and a space range contained in a cube A formed by the six face coordinates is a training range.

In the process, the patient or therapist marks the pain points by pressing the handle part 6, the control system generates a virtual safety ball area according to the marked pain points, and the therapist selects the auxiliary force according to the upper limb functions of the patient, wherein the auxiliary force is the moment of the robot helping the upper limb of the patient to resist gravity in the training process.

The pain point marking method comprises the following steps: if the patient experiences pain, the handle assembly 6 can be grasped and the control system records the location of the pain spot by changing the readings from the pressure sensor 603, as follows: a preset threshold value of the pressure sensor 603 is set, when the reading of the pressure sensor 603 exceeds the preset threshold value, the patient feels pain, and the control system records the position of the pain point at the moment; the pain point position is the center position Pc in the virtual safety ball area;

the virtual security area generation method comprises the following steps: and drawing a circle by taking Pc as a center and r as the radius of the safety ball region to form a virtual safety ball region.

S3 (set training mode and training parameters): the therapist selects the training mode and training parameters according to the rehabilitation progress and the exercise capacity of the patient.

The training mode includes active, resistive, assisted, passive modes.

Active mode: the patient drives the device for rehabilitation training, and the device only provides auxiliary force for helping the upper limb of the patient to resist gravity in the mode.

Resistance mode: the device is driven by the patient for rehabilitation training, in which mode the device provides an auxiliary force that helps the patient's upper limb to resist gravity, and provides a counter-resistance in the direction of movement.

Assistance mode: the rehabilitation training is performed by the device assisting the patient in this mode the device provides an assisting force assisting the patient's upper limb against gravity and assistance in the direction of movement. The magnitude of the assist force is calculated based on the speed of movement to the target position. The speed of the movement to the target position is reduced, and the power assisting is increased; the speed of movement to the target position increases and the assistance force decreases.

Passive mode: the device assists the patient to finish rehabilitation training, and in the mode, the device drives the patient to move to the target position through track planning, and the patient cannot drive the device to move to the non-target point direction.

The training parameters include game tasks, selecting targets in a grip-triggered manner, selecting targets in a hovering manner, device output size, movement speed, game difficulty.

S4 (rehabilitation training): the controller maps the robot coordinate system and the game scene coordinate system according to the transformation matrix, and the game operated by the upper computer software guides the patient to perform rehabilitation training in the form of tasks in an interactive mode, wherein the tasks comprise: find the same object, select the correct answer, balls, game playing chess, touch moving object, avoid moving object, daily life task (ADL).

In the rehabilitation training process, when the tail end of the robot moves to the boundary of the virtual safety ball area from the outside, the control system generates constraint force through the model 1 to prevent a patient from continuously driving the tail end to move towards the center of the safety ball, so that the patient is protected, and the occurrence of sports injury is avoided;

wherein: f (f) _stiffness For the constraint force generated by the control system, P is the current position of the tail end of the robot, P _c For the center position of the pain point, r is the radius of the safety ball region, kp is the rigidity coefficient, and the larger the coefficient is, the larger the restraint force is. The values of r and Kp can be selected by the therapist according to the actual situation.

In the rehabilitation training process, the control system can automatically increase or decrease the training range according to the number of times that the patient continuously completes the task. For example: in combination with the RM10 index theory of strength training in the field of body building, in the resistive, active and power modes, if a patient can finish the same task ten times in succession, the training range is automatically enlarged, and if the patient cannot finish the same task 3 times in succession, the training range is reduced.

The training range automatic expansion or contraction method comprises the following steps:

1. the control system calculates the center position P0 of the cube A, and changes the distance between P0 and six faces of the cube, namely, the training range.

2. Before the furthest coordinate is obtained in the step S2, firstly moving the upper limb of a patient to a training neutral position (rehabilitation technical term), calibrating the current position by clicking a starting calibration button of a screen, namely, the training neutral position is P01, after calibration is finished, executing the step S2 to obtain a cube A, and calculating the distance from the P01 to six faces of the cube; changing the distance, i.e. changing the training range. The neutral position is introduced as a central position reference, so that the training range is purposefully enlarged or reduced, and the problem that the whole training range is adjusted because a patient cannot finish tasks in a single direction only from front to back, left to right and up to down is avoided.

S5: (end of training, patient out of position): after the training is finished, the device generates a training report according to the movement condition of the patient in the training process. After the weight-loss assist force is reduced to 0, the patient is assisted by the therapist to leave the apparatus.

In step S1, the patient can also perform rehabilitation training of the opening and closing movement of the fingers by grasping the front handle cover 604 and the rear handle cover 605 of the handle member 6 with the fingers, and detect the pressure value applied to the handle member 6 by the fingers through the pressure sensor 603, and evaluate the finger grasping force of the patient by the magnitude of the pressure value.

The foregoing is merely a preferred embodiment of the present utility model and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the principles of the present utility model and remain within the scope of the utility model.

Claims (6)

1. The upper limb rehabilitation training robot is characterized by comprising a base part (1), a large arm part (2), an elbow part (3), a small arm part (4), a wrist part (5), a handle part (6) and a hand support part (7);

the base part (1) comprises a rope differential mechanism capable of outputting a first active degree of freedom and a second active degree of freedom and a J3 shaft motor (106);

the large arm part (2) comprises a large arm body (201) and a large arm steel wire rope (202) arranged in the large arm body (201);

the elbow component (3) comprises an elbow joint and a forearm connector (305), wherein the elbow joint comprises an elbow input pulley (302), an elbow output pulley (304) and an elbow steel wire rope (303); the J3 shaft motor (106) drives the elbow input pulley (302) to rotate through the large arm steel wire rope (202), and the elbow input pulley (302) drives the elbow output pulley (304) to rotate around the J3 shaft through the elbow steel wire rope (303) to output a third driving degree of freedom;

one end of the forearm connecting piece (305) is fixedly connected with the elbow output pulley (304), and the other end is coaxially and fixedly connected with the forearm component (4); the other end of the forearm part (4) is fixedly connected with a wrist part (5);

the wrist part (5) comprises a wrist fixing frame (505), a J4 shaft motor (501) and a planetary reducer which are arranged on the wrist fixing frame (505), and the handle part (6) is fixedly connected with a planetary carrier of the planetary reducer; the J4 shaft motor (501) drives the planetary reducer to rotate, so that the handle part (6) is driven to rotate around the J4 shaft, and a fourth driving degree of freedom is output; the handle part (6) is provided with a first passive degree of freedom, which is the degree of freedom for fingers to grasp along the J5 axis;

the hand rest part (7) comprises a hand rest plate (702) for supporting the forearm of a patient during rehabilitation training, and one end of the hand rest plate (702) is fixedly connected with the wrist fixing frame (505).

2. An upper limb rehabilitation training robot according to claim 1, characterized in that the handle part (6) comprises a handle support, a guide post (601), a coil spring (602), a pressure sensor (603), a handle front housing (604) and a handle rear housing (605); the front handle cover shell (604) and the rear handle cover shell (605) are in sliding connection through a guide post (601) sleeved with a spiral spring (602), and two ends of the spiral spring (602) respectively lean against the inner side walls of the front handle cover shell (604) and the rear handle cover shell (605); the coil spring (602) is compressed to realize the opening and closing movement of the finger along the J5 axis, so that the output of the first passive degree of freedom is realized; the pressure sensor (603) is used for detecting the magnitude of the pressure value exerted by the finger on the handle component (6).

3. An upper limb rehabilitation training robot according to claim 1, characterized in that the forearm part (4) comprises a forearm body (401), the forearm body (401) being connected to the forearm connector (305) by a forearm quick-change structure; the forearm quick-change structure comprises an internal thread sleeve (402) and a positioning sleeve (403), wherein the positioning sleeve (403) is fixedly sleeved at the rear end of the forearm body (401), and the internal thread sleeve (402) is sleeved on the positioning sleeve (403) and is in threaded connection with the forearm connecting piece (305).

4. An upper limb rehabilitation training robot according to claim 1, characterized in that the forearm body (401) is bent to one side in a horizontal plane, the forearm connector (305) being articulated with the elbow by a left-right side-changing structure; the left-right side changing structure comprises: a hand shaft (307), an eccentric handle (306), a long screw (308), a pressing block (309), a U-shaped elbow bracket (310) and a fixed sleeve (311); the fixed sleeve (311) is fixed on the top surface of the elbow output pulley (304), the closed end of the U-shaped elbow support (310) is fixedly connected with the small arm connecting piece (305), the open end extends to two openings on two sides of the fixed sleeve (311), the hand shaft (307) is arranged at one end of the elbow output pulley (304) along the Z-axis direction, the eccentric handle (306) is rotatably sleeved on the hand shaft (307), and the long screw (308) axially penetrates through the fixed sleeve (311), the U-shaped elbow support (310) and the pressing block (309) to be in threaded connection with the hand shaft (307); the eccentric handle (306) is used for pressing the U-shaped elbow support (310) on the fixed sleeve (311) through the pressing block (309) or loosening the U-shaped elbow support (310) to enable the U-shaped elbow support to turn around the long screw (308).

5. An upper limb rehabilitation training robot according to claim 1, characterized in that the wrist part (5) is connected with the forearm body (401) by means of a hand rest tilting mechanism; the hand support turnover mechanism comprises a forearm positioning sleeve (420), an anti-rotation pin (513), a compression coil spring (514), a hand bracket (515), a bearing support (516), a bearing outer ring fixing ring (517), a bearing (518) and a locking nut (519); one end of the hand bracket (515) is fixedly connected with the wrist fixing frame (505), and the other end is fixedly connected with the bearing support piece (516); the bearing support piece (516) is rotatably connected with the small arm locating sleeve (420) through the bearing (518), the small arm locating sleeve (420) is fixedly sleeved on the small arm body (401), the bearing outer ring fixing ring (517) is in threaded connection with the small arm locating sleeve (420) and is used for compressing the outer ring of the bearing (518), the lock nut (519) is in threaded connection with the bearing support piece (516) and is used for compressing the inner ring of the bearing (518), the anti-rotation pin (513) sleeved with the compression coil spring (514) axially slidably penetrates through the small arm locating sleeve (420) and is inserted into one pin hole B of the hand bracket (515), and the pin holes B are provided with two and are symmetrically distributed along the axis of the small arm body (401).

6. The upper limb rehabilitation training robot according to claim 1, wherein the hand support part (7) further comprises a cushion pad (703) and a plate spring (701), the cushion pad (703) is adhered to the upper side surface of the hand support plate (702), one end of the plate spring (701) is fixedly connected with the hand support plate (702), and the other end is fixedly connected with the wrist fixing frame (505).

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