GB2593299A

GB2593299A - A wrist joint movement function evaluation and rehabilitation robot

Info

Publication number: GB2593299A
Application number: GB2103146.3A
Authority: GB
Inventors: Yu Weiwei; Wang Yongyong; Zhi Jin; Wang Tianyang; He Zhijie; Sun Zeyu; Li Zhenjie; Jin Dian; Zhao Jun; Xiao Jianhua; Gao Hua; Yu Cuihua
Original assignee: Northwestern Polytechnical University
Current assignee: Northwestern Polytechnical University
Priority date: 2020-03-07
Filing date: 2021-03-05
Publication date: 2021-09-22
Anticipated expiration: 2041-03-05
Also published as: CN111281394B; GB2593299B; GB202103146D0; CN111281394A

Abstract

A wrist joint motion function evaluation and rehabilitation robot comprises a bracket 1, an elbow position adjuster 2 connected thereto, and a wrist joint rotation mechanism 3, a wrist joint rotation axis adjustment mechanism 4, a radial-ulnar deviation driving mechanism 5, a wrist flexion-extension driving mechanism 6 and a grasping arrangement 7 connected to the elbow position adjuster. The elbow position adjuster 2 slides front and back, as well as vertically to adjust the height of a patient’s elbow, while the wrist joint adjustment mechanism 4 slides vertically to adjust height, and horizontally to clamp the wrist. The wrist joint axis can therefore be realigned to coincide with the rotational axis of the wrist joint rotation mechanism 3, allowing the robot to accommodate different forearm lengths and wrist sizes. The robot incorporates a system of motors, gears and sensors, while the grasping arrangement has a handle with gyroscope, detachable for measuring the patient’s wrist motion range.

Description

A wrist joint movement function evaluation and rehabilitation robot

[0001] Technical field

[0002] The invention relates to a robot and medical equipment technology with evaluation function, and specifically relates to medical equipment with the wrist joint movement function rehabilitation and evaluation function.

[0003] Background

[0004] The incidence rate of stroke is high in the elderly, and 80% to 90% of surviving patients often have hemiplegic sequelae. It is worth noting that in people's daily life and work, the functions of the upper limbs and hands play an important role. Many stroke patients have upper limbs and hand dysfunctions after the onset, mainly shown as finger flexion, adduction, and wrist joint flexed and deviated to the ulnar side, which greatly affects the daily life of patients and also increases the burden on the family and society. At present, the domestic clinical rehabilitation treatment methods for stroke patients mainly use the traditional one-on-one training method between patients and physicians. This treatment method is low in efficiency and high in physicians' work intensity, and it is difficult to quantitatively evaluate the rehabilitation level of patients.

[0005] The invention patent CN108465209A "a wrist joint full-function training robot" includes a forearm movement device, a wrist joint up and down swing device and a wrist joint left and right rotation device connected in sequence. The robot can realize the movement function training of the patient's wrist joint with three different degrees of freedom through the movement device; the robot can measure the patient's wrist joint movement range data through multiple angle sensors. Theoretically, the rotation axis of the patient's forearm should coincide with the rotation axis of the forearm support of the robot. However, due to the different thicknesses of the forearms of different patients, it is difficult for the robot to solve the problem that the rotation axis of the patient's forearm does not coincide with the rotation axis of the forearm support; There is no motor used to drive the left and right rotation device of the wrist joint, and no force/torque sensor is installed, and the active movement of wrist flexion and extension of the wrist joint cannot be realized. The robot cannot measure the human-machine interaction force between the patient and the robot. In the invention patent CN105796285A "A finger and wrist training device for upper limb rehabilitation robot", the device includes a mounting base, a wrist rotation movement mechanism, and a finger grip and extension movement mechanism; the wrist rotation movement mechanism of the device includes a servo motor, the first-level deceleration mechanism and the second-level deceleration mechanism can realize the rotation movement of the patient's wrist; the finger grip and extension movement mechanism can realize the patient's finger grip and extension training. Theoretically, the rotation axis of the patient's forearm should coincide with the rotation axis of the wrist rotation mechanism of the device. However, due to the different thicknesses of the forearms of different patients, this device is difficult to solve the problem that the rotation axis of the patient's forearm does not coincide with the rotation axis of the wrist rotation mechanism. It can only realize the rotation movement of the wrist, and cannot realize the rehabilitation training in the two directions of ulnar deviation/radial deviation and wrist flexion and extension of the wrist joint; it is difficult to monitor the human-computer interaction force between the patient and the device in real time. In the invention patent CN106726353B "An adaptive parallel wrist joint rehabilitation training device", the parallel structure is adopted. When worn by a human, it has two rotational degrees of freedom, which can realize the patient's ulnar deviation/radial deviation and wrist flexion and extension rehabilitation training in two directions. The training device adopts a parallel structure and cannot realize the rotation movement of the patient's wrist joint; the training device is not equipped with an encoder and a gyroscope and other angular displacement measurement sensors. Thus, it is not possible to evaluate the range of motion of the wrist joint in different patients; nor is it possible to measure the force of interaction between the patient and the device.

[0006] In recent years, although many rehabilitation robots, or rehabilitation robotic-assisted rehabilitation therapy devices have been developed. However, most of the devices and products still lack a comprehensive model of rehabilitation training, the imperfect means of measuring the human motor function status by the devices, and the difficulty of making personalized assessments for diffe rent patients.

[0007] Summary of the invention

[0008] In order to avoid the deficiencies in the prior art, the present invention proposes a wrist joint motion function evaluation and rehabilitation robot; the robot can be widely applied to different patients to realize personalized and quantitative rehabilitation evaluation and training of wrist joint motion function evaluation and rehabilitation.

[0009] The technical solutions adopted by the present invention to solve its technical problems are: including a bracket, an elbow position adjustment mechanism, a wrist joint rotation mechanism, a wrist joint rotation axis adjustment mechanism, a radial ulnar deviation driving mechanism, a wrist flexion and extension driving mechanism and an end grasping mechanism, the elbow position adjustment mechanism is fixedly connected to the bracket, the wrist joint rotation mechanism, the wrist joint rotation axis adjustment mechanism, the radial ulnar deviation driving mechanism, the wrist flexion and extension driving mechanism and the end grasping mechanism are respectively connected to the end of the elbow position adjustment mechanism; [0010] The elbow position adjustment mechanism includes a base, an elbow front and rear position adjustment slider, an elbow upper and lower position adjustment slider, a first knob, a second knob, and an elbow support pad, the elbow front and rear position adjustment slider is located at the sliding groove of the base and can slide back and forth, and its position is fixed by the first knob; the elbow upper and lower position adjustment slider slides vertically on the elbow front and rear position adjustment slider, and its position is fixed by the second knob; the elbow support pad is fixed on the elbow upper and lower position adjustment slider, and its spatial position is adjustable in the front -rear and up-down directions; [0011] The wrist joint rotation mechanism comprises a first motor, a gear, a connection member of the rotation mechanism, an arc track, a first slider and a second slider, and the first slider and the second slider are fixedly connected to the side end of the base, the arc track cooperates with the first slider and the second slider for circular sliding; the first motor is located on the lower side of the first slider and the second slider which are arranged at the side end of the base, and the output shaft of a first motor is fixedly connected with the gear, the connection member of the rotation mechanism is fixedly connected with the arc track, the connection member of the rotation mechanism is provided with an incomplete gear ring, and it is engaged with the gear, and the first motor drives the gear to drive the connection member of the rotation mechanism and the arc track for circular motion; [0012] The wrist joint axis adjustment mechanism comprises a wrist joint rotation axis adjustment slider, a wrist joint rotation axis adjustment knob, a knob fixing cover, a wrist joint fixing second knob, a wrist joint fixing second slider, a second pad, and a wrist joint fixing third knob, a wrist joint fixing third slider, a third pad, a first pad, a wrist joint fixing first slider, wrist joint fixing first knob and fourth pad; there is a threaded pair transmission between the wrist joint rotation axis adjustment knob and the wrist joint rotation axis adjustment slider, by rotating the wrist joint rotation axis adjustment knob, the space position of the wrist joint rotation axis adjustment slider can be adjusted; the wrist joint rotation axis adjustment knob and the connection member of the rotation mechanism are connected by the knob fixing cover, and the wrist joint rotation axis adjustment knob is twisted to make the wrist joint rotation axis adjustment slider slide in the square slide rail on the connection member of the rotation mechanism; the wrist joint fixing first slider and the wrist joint fixing second slider are respectively connected in series at both ends of the wrist joint rotation axis adjustment slider and can be slid, and the positions are fixed by tightening the wrist joint fixing first knob and the wrist joint fixing second knob respectively; the wrist joint fixing third slider is slidable in the sliding groove of the wrist joint fixing second slider, and the position is fixed by tightening the wrist joint fixing third knob; the fourth pad, the first pad, and the second pad and the third pad are respectively fixed on the wrist joint rotation axis adjustment slider, the wrist joint fixing first slider, the wrist joint fixing second slider, and the wrist joint fixing third slider; [0013] The radial ulna r deviation driving mechanism includes a second motor and a radial ulnar deviation link; the second motor is fixed on the connection member of the rotation mechanism, and the output shaft of a second motor is connected with the radial ulnar deviation link, and is driven by the second motor to realize the patient's radial ulnar deviation training; [0014] The wrist flexion and extension driving mechanism includes a third motor and a wrist flexion and extension link; the third motor is installed on the radial ulnar deviation link, and the output shaft of a third motor is connected with the wrist flexion and extension link and is driven by the third motor to realize the patient's wrist flexion and extension rotation training; a torque sensor and an encoder in the third motor can measure the motion angle and torque of the human wrist joint during wrist flexion and extension; [0015] The end grasping mechanism includes a reading head slider, a six-dimensional force sensor, a disassembling member, a V-shaped elastic piece, a handle and a strap, the reading head slider is located on the wrist flexion and extension link to cooperate and slide, and the six-dimensional force sensor is installed on the reading head slider to measure the human-machine interaction force between the patient and the device; the disassembling member is installed on the six-dimensional force sensor, the disassembling member is installed with a V-shaped elastic piece, and the handle is disassembled and spliced by V-shaped elastic piece, the handle is equipped with a gyroscope, and the strap is fixed on the handle, so that the patient's hand can hold the handle firmly.

[0016] The first motor, the second motor, and the third motor respectively include a reducer, the torque sensor and the encoder, wherein the torque sensor, the reducer, a motor rotor and the encoder are connected in sequence.

[0017] Beneficial effect [0018] The invention proposes a wrist joint motion function evaluation and rehabilitation robot; realizing all wrist joint motion forms according to the human wrist joint bone structure, and can adjust the structure of the equipment for patients with different arm lengths and different wrist lengths. The elbow position adjustment mechanism is fixedly connected to the bracket, and the wrist joint rotation mechanism, the wrist joint rotation axis adjustment mechanism, the radial ulnar deviation driving mechanism, the wrist flexion and extension driving mechanism and the end grasping mechanism are respectively connected to the end of the elbow position adjustment mechanism. The handle of the end grasping mechanism can be separated from the device. The handle is equipped with a gyroscope. When the handle is separated from the device, the patient's wrist range can be measured through the handle; when the handle is spliced on the device, the handle can be used to measure the human-machine interaction between the patient and the device. The robot structure is suitable for different patients to evaluate the patients' motor function status, and to realize personalized and quantitative rehabilitation evaluation and training of wrist joint motion function evaluation and rehabilitation.

[0019] The three driving motors of the wrist joint motion function evaluation and rehabilitation robot all contain an encoder and a torque sensor, which provide more rehabilitation training modes.

[0020] Description of the drawings

[0021] The following is a detailed description of the wrist joint motion function evaluation and rehabilitation robot of the present invention with reference to the accompanying drawings and embodiments.

[0022] Figure 1 is a schematic diagram of the wrist joint motion function evaluation and rehabilitation robot of the present invention.

[0023] Figure 2 is an axonometric view of the wrist joint motion function evaluation and rehabilitation robot structure of the present invention.

[0024] Figure 3 is a schematic diagram of the structure of the wrist joint motion function evaluation and rehabilitation robot of the present invention.

[0025] Figure 4 is a schematic diagram of the elbow position adjustment mechanism of the present invention.

[0026] Figure 5 is a schematic diagram of the wrist joint rotation mechanism of the present invention.

[0027] Figure 6 is a schematic diagram of the wrist joint rotation axis adjustment mechanism of the present invention.

[0028] Figure 7 is a schematic diagram of the radial ulnar deviation driving mechanism and the wrist flexion and extension driving mechanism of the present invention.

[0029] Figure 8 is a schematic diagram of the end grasping mechanism of the present invention.

[0030] In the picture [0031] 1. Bracket 2. Elbow position adjustment mechanism 3. Wrist joint rotation mechanism 4. Wrist joint rotation axis adjustment mechanism 5. Radial ulna r deviation driving mechanism 6. Wrist flexion and extension driving mechanism 7. End grasping mechanism 8. Base 9. Elbow front and rear position adjustment slider 10. The first knob 11. Elbow support pad 12. Elbow upper and lower position adjustment slider 13. The second knob 14. The first motor 15. Gear 16. Connection member of the rotation mechanism 17. Arc track 18. The first slider 19. The second slider 20. Wrist joint rotation axis adjustment slider 21. Wrist joint rotation axis adjustment knob 22. Knob fixing cover 23. Wrist joint fixing second knob 24. Wrist joint fixing second slider 25. The second pad 26. Wrist joint fixing third knob 27. Wrist joint fixing third slider 28. The third pad 29. The first pad 30. Wrist joint fixing first slider 31. Wrist joint fixing first knob 32. The fourth pad 33. The second motor 34. Radial ulna r deviation link 35. The third motor 36. Wrist flexion and extension link 37. Reading head slider 38. Six-dimensional force sensor 39. Disassembling member 40. V-shaped elastic piece 41. Handle 42. Strap

[0032] Detailed description

[0033] This embodiment is a kind of wrist joint motion function evaluation and rehabilitation robot.

[0034] Referring to Figures 1 to 8, the wrist joint motion function evaluation and rehabilitation robot of this embodiment comprises the bracket 1, the elbow position adjustment mechanism 2, the wrist joint rotation mechanism 3, the wrist joint rotation axis adjustment mechanism 4, and the radial ulnar deviation driving mechanism 5, wrist flexion and extension driving mechanism 6 and end grasping mechanism 7; in particular, the elbow position adjustment mechanism is fixedly connected to the bracket and provides support for each mechanism component, the wrist joint rotation mechanism 3, the wrist joint rotation axis adjustment mechanism 4, the radial ulnar deviation driving mechanism 5, the wrist flexion and extension driving mechanism 6 and the end grasping mechanism 7 are respectively connected to the end of the elbow position adjustment mechanism. In particular, the elbow position adjustment mechanism 2 includes the base 8, the elbow front and rear position adjustment slider 9, the first knob 10, the elbow support pad 11, the elbow upper and lower position adjustment slider 12, and the second knob 13; the base 8 is fixedly connected with the bracket 1, and a sliding groove is machined on the base 8. The elbow front and rear position adjustment slider 9 can slide back and forth in the sliding groove. After the position of the elbow front and rear position adjustment slider 9 is fixed, the first knob 10 is used to tighten it. The elbow upper and lower position adjustment slider 12 can slide up and down on the elbow front and rear position adjustment slider 9, and the position of the elbow upper and lower position adjustment slider 12 is fixed by tightening the second knob 13; the elbow support pad 11 is fixed on the elbow upper and lower position adjustment slider 12 and in direct contact with the patient's elbow, its spatial position can be adjusted in the front-rear direction and up-down direction in order to adjust the position of the patient's elbow.

[0035] In this embodiment, the wrist joint rotation mechanism 3 includes the first motor 14, the gear 15, the connection member of the rotation mechanism 16, the arc track 17, the first slider 18, and the second slider 19; wherein, the first motor 14 comprises the reducer, torque sensor, and the encoder, torque sensor, reducer, motor rotor and encoder are connected in series in sequence. The output shaft of the first motor of 14 is fixedly connected with the gear 15, the gear 15 is meshed and transmitted with the incomplete gear ring on the connection member of the rotation mechanism 16, and the first motor 14 drives the connection member of the rotation mechanism 16 to perform circular motion. In addition, the torque sensor and encoder in the first motor 14 can measure the movement angle and torque of the human wrist joint when it rotates. The arc track 17 slides in the first slider18 and the second slider 19, and the first slider18 and the second slider19 are respectively fixed at the end of the base 8.

[0036] The wrist joint rotation axis adjustment mechanism 4 includes the wrist joint rotation axis adjustment slider 20, the wrist joint rotation axis adjustment knob 21, the knob fixing cover 22, the wrist joint fixing second knob 23, and the wrist joint fixing second slider 24, the second pad 25, the wrist joint fixing third knob 26, the wrist joint fixing third slider 27, the third pad 28, the first pad 29, the wrist joint fixing first slider 30, the wrist joint fixing first knob 31 and the fourth pad 32; wherein the wrist joint rotation axis adjustment slider 20 can slide in the square sliding groove on the connection member of the rotation mechanism 16, and the fourth pad 32 is fixed on the wrist joint rotation axis adjustment slider 20. Since the wrist joint rotation axis adjustment slider 20 and the wrist joint rotation axis adjustment knob 21 are connected by the threaded pair, by rotating the wrist joint rotation axis adjustment knob 21, the space position of the wrist joint rotation axis adjustment slider 20 can be adjusted; and the knob fixing cover 22 to the wrist joint rotation axis adjustment knob 21 is installed on the connection member of the rotation mechanism 16. The wrist joint fixing second slider 24 slides on the square slide rail of the wrist joint rotation axis adjustment slider 20, and the wrist joint fixing second slider 24 is fixed by tightening the wrist joint fixing second knob 23. The second pad 25 is fixed on the wrist joint fixing second slider 24; the wrist joint fixing third slider 27 can slide in the sliding groove of the wrist joint fixing second slider 24, and the wrist joint fixing third slider 27can be fixed by tightening the wrist joint fixing third knob 26. The third pad 28 is fixed on the wrist joint fixing third slider 27; the wrist joint fixing first slider 30 can slide on the square slide rail of the wrist joint rotation axis adjustment slider 20, and the position of the wrist joint fixing first slider 30 can be fixed by tightening the wrist joint fixing first knob 31, and the first pad 29 is fixed on the wrist joint fixing first slider 30.

[0037] The radial ulnar deviation driving mechanism 5 includes the second motor 33 and the radial ulnar deviation link 34; the second motor 33 is installed on the outer upper part of the connection member of the rotation mechanism 16, and the second motor 33 includes the reducer, the torque sensor, and the encoder. The torque sensor, the reducer, the motor rotor and the encoder are connected in sequence; the output shaft of the second motor 33 is connected with the radial ulnar deviation link 34, and the patient's radial ulnar rotation training can be realized by driving the second motor 33. In addition, the torque sensor and encoder in the second motor 33 can measure the movement angle and torque of the human wrist joint during radial ulna r deviation. The wrist flexion and extension driving mechanism 6 is located on the upper part of the radial ulnar deviation driving mechanism 5. The wrist flexion and extension driving mechanism 6 comprises the third motor 35 and the wrist flexion and extension link 36; the third motor 35 includes the reducer, the torque sensor and the encoder. In particular, the torque sensor, the reducer, the motor rotor and the encoder are connected in sequence; the third motor 35 is installed on the radial ulnar deviation link 34, the output shaft of the third motor 35 is connected with the wrist flexion and extension link 36, and by driving the third motor 35, the patient's wrist flexion and extension training can be realised; in addition, the torque sensor and encoder in the third motor 35 can measure the motion angle and torque of the human wrist joint during wrist flexion and extension.

[0038] In this embodiment, the end grasping mechanism 7 includes the reading head slider 37, the six-dimensional force sensor 38, the disassembling member 39, the V-shaped elastic piece 40, the handle 41 and the strap 42; the reading head slider 37 is installed on the wrist flexion and extension link 36, and cooperate with the wrist flexion and extension link 36, the reading head slider 37 slides on the wrist flexion and extension link 36; the six-dimensional force sensor 38 is mounted on the lower part of the reading head slider 37 by bolts, the six-dimensional force sensor 38 can measure the human-machine interaction force between the patient and the device. The disassembling member 39 is installed on the six-dimensional force sensor 38 by bolts, and the V-shaped elastic piece 40 is installed inside the disassembling member 39, and the handle 41 can be disassembled and spliced through the V-shaped elastic piece 40. The gyroscope is installed inside the handle 41, which can measure the range of motion of the patient's wrist joint. The strap 42 is fixed on the handle 41 so that the patient's hand can hold the handle firmly.

[0039] Examples of wrist movementfunction measurement [0040] In this embodiment, for patients with different degrees of wrist joint injuries, it is necessary to evaluate their motion function status first. When the handle 41 is detached from the disassembling member 39, the handle 41 can measure the range of motion of the patient's wrist joint; when the handle 41 is spliced on the disassembling member 39, the six-dimensional force sensor 38 indirectly connected to the handle can measure the human-machine interaction force between the patient and the device. The torque sensor and encoder included in the first motor 14, the second motor 33, and the third motor 35 can measure the rotation angle and torque of the patient's wrist joint rotation movement, radial ulnar movement, and flexion and extension movement. After the measured data is passed into the system, the system can analyze and evaluate related data, and all the data can be used as a safety threshold during the rehabilitation training process to ensure the safety of patients.

[0041] Example of adjusting the rotation axis of the wrist joint [0042] In this embodiment, since the thickness and length of the forearms of different individuals are different, it is necessary to align the rotation axis of the human joint with the rotation axis of the device before performing rehabilitation training. By adjusting the wrist joint rotation axis adjustment knob 21, the elbow front and rear position adjustment slider 9, and the elbow upper and lower position adjustment slider 12, the rotation axes of the second motor 33 and the third motor 35 are aligned with the bones involved in the rotation of the human wrist joint, then the second pad 25, the third pad 28, and the first pad 29 are placed close to the patient's forearm, and the knobs of the mechanisms are tightened to make the patient's forearm and the device fit closely, to ensure that the patient's wrist joint axis and the rotation axis of the device always coincide during the rehabilitation training process. Through the adjustment of the elbow position adjustment mechanism 2 and the wrist joint rotation axis adjustment mechanism 4 to the position of the forearm of different patients, the device is more adaptable to different individuals in terms of the mechanical structure.

[0043] Examples of rehabilitation training with multiple rehabilitation modes [0044] In this embodiment, the rehabilitation training can be started after the adjustment of the axis of the patient's wrist joint and the axis of the device is completed. The output shaft of the first motor 14 is connected with the gear 15, and the gear 15 is meshed with the incomplete gear ring on the connection member of the rotation mechanism 16 for transmission. The first motor 14 drives the connection member of the rotation mechanism 16 to perform circular motion to realize rehabilitation training of the wrist joint rotation. The output shaft of the second motor 33 is connected with the radial ulnar deviation link 34, and the patient's radial ulnar rotation training can be realized by driving the second motor 33. The output shaft of the third motor 35 is connected with the wrist flexion and extension link 36, and the patient's wrist flexion and extension rotation training can be realized by driving the third motor 35.

[0045] In this embodiment, the wrist joint motion function evaluation and rehabilitation robot corresponds to the three degrees of freedom of the human wrist joint, namely, wrist joint rotation, radial ulnar deviation, and wrist flexion and extension, all driven by motors, and each motor includes a torque sensor and encoder, can not only realize passive training, but also can perform active training and also active and passive training according to the data information collected by the sensors.

Claims

CLAIMS: 1. A wrist joint motion function evaluation and rehabilitation robot, the robot comprising a bracket, an elbow position adjustment mechanism, a wrist joint rotation mechanism, a wrist joint rotation axis adjustment mechanism, a radial ulna r deviation driving mechanism, a wrist flexion and extension driving mechanism and an end grasping mechanism, the elbow position adjustment mechanism is fixedly connected to the bracket, the wrist joint rotation mechanism, the wrist joint rotation axis adjustment mechanism, the radial ulnar deviation driving mechanism, the wrist flexion and extension driving mechanism and the end grasping mechanism are respectively connected to the end of the elbow position adjustment mechanism; the elbow position adjustment mechanism includes a base, an elbow front and rear position adjustment slider, an elbow upper and lower position adjustment slider, a first knob, a second knob, and an elbow support pad, the elbow front and rear position adjustment slider is located at the sliding groove of the base and can slide back and forth, and its position is fixed by the first knob; the elbow upper and lower position adjustment slider slides vertically on the elbow front and rear position adjustment slider, and its position is fixed by the second knob; the elbow support pad is fixed on the elbow upper and lower position adjustment slider, and its spatial position is adjustable in the front-rear and up-down directions; the wrist joint rotation mechanism comprises a first motor, a gear, a connection member of the rotation mechanism, an arc track, a first slider and a second slider, and the first slider and the second slider are fixedly connected to the side end of the base, the arc track cooperates with the first slider and the second slider for circular sliding; the first motor is located on the lower side of the first slider and the second slider which are arranged at the side end of the base, and the output shaft of a first motor is fixedly connected with the gear, the connection member of the rotation mechanism is fixedly connected with the arc track, the connection member of the rotation mechanism is provided with an incomplete gear ring, and it is engaged with the gear, and the first motor drives the gear to drive the connection member of the rotation mechanism and the arc track for circular motion; the wrist joint axis adjustment mechanism comprises a wrist joint rotation axis adjustment slider, a wrist joint rotation axis adjustment knob, a knob fixing cover, a wrist joint fixing second knob, a wrist joint fixing second slider, a second pad, and a wrist joint fixing third knob, a wrist joint fixing third slider, a third pad, a first pad, a wrist joint fixing first slider, wrist joint fixing first knob and fourth pad; there is a threaded pair transmission between the wrist joint rotation axis adjustment knob and the wrist joint rotation axis adjustment slider, by rotating the wrist joint rotation axis adjustment knob, the space position of the wrist joint rotation axis adjustment slider can be adjusted; the wrist joint rotation axis adjustment knob and the connection member of the rotation mechanism are connected by the knob fixing cover, and the wrist joint rotation axis adjustment knob is twisted to make the wrist joint rotation axis adjustment slider slide in the square slide rail on the connection member of the rotation mechanism; the wrist joint fixing first slider and the wrist joint fixing second slider are respectively connected in series at both ends of the wrist joint rotation axis adjustment slider and can be slid, and the positions are fixed by tightening the wrist joint fixing first knob and the wrist joint fixing second knob respectively; the wrist joint fixing third slider is slidable in the sliding groove of the wrist joint fixing second slider, and the position is fixed by tightening the wrist joint fixing third knob; the fourth pad, the first pad, and the second pad and the third pad are respectively fixed on the wrist joint rotation axis adjustment slider, the wrist joint fixing first slider, the wrist joint fixing second slider, and the wrist joint fixing third slider; the radial ulnar deviation driving mechanism includes a second motor and a radial ulnar deviation link; the second motor is fixed on the connection member of the rotation mechanism, and the output shaft of a second motor is connected with the radial ulnar deviation link, and is driven by the second motor to realize the patient's radial ulnar deviation training; the wrist flexion and extension driving mechanism includes a third motor and a wrist flexion and extension link; the third motor is installed on the radial ulnar deviation link, and the output shaft of a third motor is connected with the wrist flexion and extension link and is driven by the third motor to realize the patient's wrist flexion and extension rotation training; a torque sensor and an encoder in the third motor can measure the motion angle and torque of the human wrist joint during wrist flexion and extension; the end grasping mechanism includes a reading head slider, a six-dimensional force sensor, a disassembling member, a V-shaped elastic piece, a handle and a strap, the reading head slider is located on the wrist flexion and extension link to cooperate and slide, and the six-dimensional force sensor is installed on the reading head slider to measure the human-machine interaction force between the patient and the device; the disassembling member is installed on the six-dimensional force sensor, the disassembling member is installed with a V-shaped elastic piece, and the handle is disassembled and spliced by V-shaped elastic piece, the handle is equipped with a gyroscope, and the strap is fixed on the handle, so that the patient's hand can hold the handle firmly.
2. The wrist joint motion function evaluation and rehabilitation robot according to claim 1, wherein the first motor, the second motor, and the third motor respectively include a reducer, the torque sensor and the encoder, wherein the torque sensor, the reducer, a motor rotor and the encoder are connected in sequence.