CN111096869A - A rigid-flexible coupled rope-driven exoskeleton upper limb rehabilitation training robot - Google Patents
A rigid-flexible coupled rope-driven exoskeleton upper limb rehabilitation training robot Download PDFInfo
- Publication number
- CN111096869A CN111096869A CN202010011767.XA CN202010011767A CN111096869A CN 111096869 A CN111096869 A CN 111096869A CN 202010011767 A CN202010011767 A CN 202010011767A CN 111096869 A CN111096869 A CN 111096869A
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- CN
- China
- Prior art keywords
- wrist
- motor
- upper limb
- elbow
- rope
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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- 210000001364 upper extremity Anatomy 0.000 title claims abstract description 25
- 210000000707 wrist Anatomy 0.000 claims abstract description 57
- 230000003014 reinforcing effect Effects 0.000 claims abstract description 9
- 210000000245 forearm Anatomy 0.000 claims description 10
- 230000001681 protective effect Effects 0.000 claims description 6
- 210000002310 elbow joint Anatomy 0.000 claims description 4
- 229920001296 polysiloxane Polymers 0.000 claims 3
- 230000008878 coupling Effects 0.000 abstract description 10
- 238000010168 coupling process Methods 0.000 abstract description 10
- 238000005859 coupling reaction Methods 0.000 abstract description 10
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 abstract description 4
- 230000006378 damage Effects 0.000 abstract description 4
- 239000000741 silica gel Substances 0.000 abstract description 4
- 229910002027 silica gel Inorganic materials 0.000 abstract description 4
- 230000007547 defect Effects 0.000 abstract description 3
- 230000004064 dysfunction Effects 0.000 abstract description 3
- 230000002980 postoperative effect Effects 0.000 abstract 1
- 238000011084 recovery Methods 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 4
- 210000005036 nerve Anatomy 0.000 description 4
- 210000003414 extremity Anatomy 0.000 description 3
- 210000004247 hand Anatomy 0.000 description 3
- 210000003205 muscle Anatomy 0.000 description 3
- 208000027418 Wounds and injury Diseases 0.000 description 2
- 208000014674 injury Diseases 0.000 description 2
- 210000001503 joint Anatomy 0.000 description 2
- 230000007659 motor function Effects 0.000 description 2
- 206010008132 Cerebral thrombosis Diseases 0.000 description 1
- 206010008190 Cerebrovascular accident Diseases 0.000 description 1
- 201000001429 Intracranial Thrombosis Diseases 0.000 description 1
- 208000012902 Nervous system disease Diseases 0.000 description 1
- 208000006011 Stroke Diseases 0.000 description 1
- 208000029028 brain injury Diseases 0.000 description 1
- 208000026106 cerebrovascular disease Diseases 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000000638 stimulation Effects 0.000 description 1
- 238000002626 targeted therapy Methods 0.000 description 1
Images
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
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- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
Aiming at the defects of the prior art, the invention provides the rigid-flexible coupling rope-driven exoskeleton type upper limb rehabilitation training robot, which adopts a rope-driven mode, has small inertia and avoids secondary damage to a patient; the space utilization rate is high, the arm device is internally provided with silica gel, is more comfortable and lighter to wear, better conforms to the daily motion state of the arms of the human body, and can provide rehabilitation training for patients with upper limb dysfunction and postoperative upper limb function recovery; the invention provides a rigid-flexible coupling rope-driven exoskeleton type upper limb rehabilitation training robot, which comprises the following components: the wrist and elbow moving part, the arm supporting part and the ground fixing part, wherein the large arm wearing device in the wrist and elbow moving part is connected with the arc-shaped guide rail module in the arm supporting part, the upright post in the arm supporting part is connected with the reinforcing rib in the ground fixing part, and the large chassis in the ground fixing part is connected with the ground.
Description
Technical Field
The invention relates to the field of rehabilitation robots, in particular to a rigid-flexible coupling rope-driven exoskeleton type upper limb rehabilitation training robot.
Background
Can be used for treating upper limb dysfunction caused by cerebrovascular diseases, severe brain injury or other nervous system diseases, and recovering upper limb function after operation, such as apoplexy, Parkinson, and cerebral thrombosis. Targeted therapy is very effective, so patients usually need some semi-assisted rehabilitation training methods, but at present, fewer rehabilitation trainers are needed, and in order not to increase the workload of medical staff, it is significant to use a rehabilitation robot to assist rehabilitation.
The existing rehabilitation robots on the market can be roughly divided into two types, one type is a tail end guide type rehabilitation robot, the hands of a patient are positioned on a motion device, and the motion device pulls the hands of the patient to move, so that the arms move along with the hands to simulate the motion of the upper limbs in daily life, muscles of joints and motor functional nerves of the upper limbs of the patient are effectively physically stimulated, and the purpose of rehabilitation is achieved. Although the devices of the rehabilitation robots are relatively simple, the targeted personalized rehabilitation training path cannot be completely realized, and in addition, the traction force cannot be accurately applied to each joint of the affected limb, so that sometimes even secondary injury can be caused. The other type is an exoskeleton type rehabilitation robot which generally drives limbs of a patient to move through a power-assisted device, and a separate power-assisted device is arranged at each joint, so that the defects of a tail end guide type rehabilitation robot can be effectively overcome. But the mode that current skeleton formula rehabilitation robot reached helping hand is mostly the drive wheel and drives, and rim plate weight is big, and inertia is too big, is unfavorable for patient's wearing and recovered, can't reach good treatment.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides a rigid-flexible coupling rope-driven exoskeleton type upper limb rehabilitation training robot, which solves the problems that the existing tail end guide type rehabilitation robot cannot accurately apply traction to each joint of an affected limb to stimulate nerves and even causes secondary injury to a patient, and also solves the problems that the existing exoskeleton type rehabilitation robot directly adopts a motor-driven device at the joint position, the inertia is large, the wearing is inconvenient, the degree of freedom is insufficient and the like. Thereby make this upper limbs rehabilitation training robot dress more comfortable, it is lighter, size and weight are littleer, enable each articular muscle of upper limbs and motor function nerve and obtain effectual physical stimulation, can more accord with the daily motion state of staff arm, satisfy the rehabilitation training requirement to upper limbs dysfunction crowd.
The invention provides a wearable flexible rope-driven wrist rehabilitation training robot, which comprises the following components: the wrist and elbow moving part 1, the arm supporting part 2 and the ground fixing part 3, wherein the large arm wearing device 107 in the wrist and elbow moving part 1 is connected with the arc-shaped guide rail module 212 in the arm supporting part 2 through screws, the upright post 201 in the arm supporting part 2 is connected with the reinforcing rib 303 in the ground fixing part 3 through screws, and the large chassis 307 in the ground fixing part 3 is connected with the ground through bolts.
The device has the advantages that a flexible rope driving mode is adopted, and a scheme of large mechanisms such as joint turntables and the like is not adopted when the degree of freedom required by the joints is realized, so that the device provided by the invention has high space utilization rate, is more comfortable to wear and lighter, can effectively and physically stimulate the muscles of each joint of the upper limbs and the motor function nerves, better accords with the daily motion state of the arms of the human body, and avoids secondary damage to the patient.
Drawings
Fig. 1 is a schematic structural diagram of a rigid-flexible coupling rope-driven exoskeleton type upper limb rehabilitation training robot;
fig. 2 is a schematic structural diagram of a wrist and elbow moving part 1 of a rigid-flexible coupling rope-driven exoskeleton type upper limb rehabilitation training robot;
fig. 3 is a schematic structural diagram of an arm supporting part 2 in a rigid-flexible coupling rope-driven exoskeleton type upper limb rehabilitation training robot;
fig. 4 is a schematic structural diagram of a ground fixing part 3 in a rigid-flexible coupling rope-driven exoskeleton type upper limb rehabilitation training robot;
Detailed Description
1. Referring to fig. 1, 2, 3 and 4, the rigid-flexible coupling rope-driven exoskeleton type upper limb rehabilitation training robot provided by the invention comprises: the wrist and elbow moving part 1, the arm supporting part 2 and the ground fixing part 3, wherein the large arm wearing device 107 in the wrist and elbow moving part 1 is connected with the arc-shaped guide rail module 212 in the arm supporting part 2 through screws, the upright post 201 in the arm supporting part 2 is connected with the reinforcing rib 303 in the ground fixing part 3 through screws, and the large chassis 307 in the ground fixing part 3 is connected with the ground through bolts.
2. Referring to fig. 2, the wrist and elbow movable portion 1 comprises a hand support 101, a flexible rope fixing block 102, a wrist posture adjusting spring 103, a small arm wearing device 104, an elbow joint rotating disc 105, a driving rope limiting fixing block 106, a large arm wearing device 107, protective silica gel 108, a wrist back fixing ring 109, a wrist front fixing ring 110, a limiting sliding block 111, and a hand holding column 112, wherein the hand support 101 is connected with the wrist front fixing ring 110 by screws, the hand support 101 is connected with the hand holding column 112 by screws, the hand support 101 is connected with the limiting sliding block 111 by linear sliding, 3 flexible rope fixing blocks 102 are connected with the wrist front fixing ring 110 by thrust bearings, the wrist posture adjusting spring 103 is connected with the wrist front fixing ring 110 by screws, the wrist posture adjusting spring 103 is connected with the wrist back fixing ring 109 by screws, the wrist back fixing ring 109 is connected with the small arm wearing device 104 by screws, the forearm wearing device 104 is connected with the forearm wearing device 107 through screws, the elbow joint rotating disc 105 is connected with the forearm wearing device 107 through screws, the driving rope limiting fixing block 106 is connected with the forearm wearing device 107 through screws, the protective silica gel 108 is fixedly connected with the forearm wearing device 104, and the protective silica gel 108 is fixedly connected with the forearm wearing device 107.
3. Referring to fig. 3, the arm supporting portion 2 is composed of a vertical column 201, a height adjusting device 202, an angle adjusting device 203, a cross beam 204, a shoulder outward expansion motor 205, a cross beam front connecting block 206, a shoulder transverse connecting piece 207, a shoulder longitudinal connecting piece 208, a shoulder circling motion motor 209, a front end connecting piece 210, an arc guide rail control motor 211, and an arc guide rail module 212, wherein the vertical column 201 is slidably connected with the height adjusting device 202, the height adjusting device 202 is circumferentially connected with the angle adjusting device 203, the angle adjusting device 203 is connected with the cross beam 204 by screws, the cross beam 204 is connected with the cross beam front connecting block 206 by screws, the shoulder outward expansion motor 205 is connected with the cross beam front connecting block 206 by screws, the cross beam front connecting block 206 is circumferentially connected with the shoulder transverse connecting piece 207, the shoulder transverse connecting piece 207 is connected with the shoulder longitudinal connecting piece, the shoulder longitudinal connecting piece 208 is circumferentially connected with the front end connecting piece 210, the shoulder longitudinal connecting piece 208 is connected with the shoulder circling motion motor 209 through screws, the front end connecting piece 210 is connected with the arc guide rail module 212 through screws, and the arc guide rail control motor 211 is connected with the arc guide rail module 212 through screws.
4. Referring to fig. 4, the ground fixing part 3 comprises an elbow motor 301, an elbow motor controller 302, a reinforcing rib 303, a wrist motor controller i 304, a wrist motor i 305, a motor bracket 306, a large chassis 307, a small chassis 308, a wrist motor ii 309, a wrist motor controller ii 310, a wrist motor iii 311, a wrist motor controller iii 312 and a motor support 313, wherein the elbow motor 301 is fixedly connected with the motor bracket 306, the motor bracket 306 is connected with the small chassis 308 by screws, the elbow motor controller 302 is connected with the small chassis 308 by screws, the wrist motor controller i 304 is connected with the small chassis 308 by screws, the wrist motor i 305 is fixedly connected with the motor bracket 306, the wrist motor ii 309 is fixedly connected with the motor bracket 306, the wrist motor controller ii 310 is connected with the small chassis 308 by screws, the wrist motor controller iii 312 is fixedly connected with the motor bracket 306, the wrist motor III 311 is connected with the small chassis 308 through screws, the reinforcing rib 303 is connected with the large chassis 307 through screws, and the motor support 313 is connected with the large chassis 307 and the small chassis 308 through screws.
Claims (4)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010011767.XA CN111096869A (en) | 2020-01-07 | 2020-01-07 | A rigid-flexible coupled rope-driven exoskeleton upper limb rehabilitation training robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010011767.XA CN111096869A (en) | 2020-01-07 | 2020-01-07 | A rigid-flexible coupled rope-driven exoskeleton upper limb rehabilitation training robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111096869A true CN111096869A (en) | 2020-05-05 |
Family
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010011767.XA Pending CN111096869A (en) | 2020-01-07 | 2020-01-07 | A rigid-flexible coupled rope-driven exoskeleton upper limb rehabilitation training robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN111096869A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111938989A (en) * | 2020-07-20 | 2020-11-17 | 哈尔滨工程大学 | Motion stability evaluation method of rigid-flexible hybrid lower limb gait rehabilitation training robot |
| CN115715731A (en) * | 2022-10-27 | 2023-02-28 | 长春工业大学 | Movable wrist rehabilitation robot |
| CN118021577A (en) * | 2024-04-15 | 2024-05-14 | 兰州交通大学 | Flexible hybrid layered driving upper limb rehabilitation mechanical arm and robot |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2010071252A1 (en) * | 2008-12-16 | 2010-06-24 | Industry-University Cooperation Foundation Hanyang University | Wearable robotic system for rehabilitation training of the upper limbs |
| CN102113949A (en) * | 2011-01-21 | 2011-07-06 | 上海交通大学 | Exoskeleton-wearable rehabilitation robot |
| CN107374907A (en) * | 2017-07-27 | 2017-11-24 | 上海交通大学 | Wearable upper limbs exoskeleton rehabilitation device |
| CN107822829A (en) * | 2017-10-26 | 2018-03-23 | 河海大学常州校区 | A kind of upper limb rehabilitation robot |
| CN110101546A (en) * | 2019-06-06 | 2019-08-09 | 长春工业大学 | A kind of wearable Portable flexible rope drive upper-limbs rehabilitation training robot |
| CN110123584A (en) * | 2019-06-06 | 2019-08-16 | 长春理工大学 | A kind of wearable flexible strand drive dermaskeleton type upper limb rehabilitation image training robot of six degree of freedom |
| CN212282096U (en) * | 2020-01-07 | 2021-01-05 | 长春工业大学 | A rigid-flexible coupled rope-driven exoskeleton upper limb rehabilitation training robot |
-
2020
- 2020-01-07 CN CN202010011767.XA patent/CN111096869A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2010071252A1 (en) * | 2008-12-16 | 2010-06-24 | Industry-University Cooperation Foundation Hanyang University | Wearable robotic system for rehabilitation training of the upper limbs |
| CN102113949A (en) * | 2011-01-21 | 2011-07-06 | 上海交通大学 | Exoskeleton-wearable rehabilitation robot |
| CN107374907A (en) * | 2017-07-27 | 2017-11-24 | 上海交通大学 | Wearable upper limbs exoskeleton rehabilitation device |
| CN107822829A (en) * | 2017-10-26 | 2018-03-23 | 河海大学常州校区 | A kind of upper limb rehabilitation robot |
| CN110101546A (en) * | 2019-06-06 | 2019-08-09 | 长春工业大学 | A kind of wearable Portable flexible rope drive upper-limbs rehabilitation training robot |
| CN110123584A (en) * | 2019-06-06 | 2019-08-16 | 长春理工大学 | A kind of wearable flexible strand drive dermaskeleton type upper limb rehabilitation image training robot of six degree of freedom |
| CN212282096U (en) * | 2020-01-07 | 2021-01-05 | 长春工业大学 | A rigid-flexible coupled rope-driven exoskeleton upper limb rehabilitation training robot |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111938989A (en) * | 2020-07-20 | 2020-11-17 | 哈尔滨工程大学 | Motion stability evaluation method of rigid-flexible hybrid lower limb gait rehabilitation training robot |
| CN111938989B (en) * | 2020-07-20 | 2022-05-17 | 哈尔滨工程大学 | A kinematic stability evaluation method of a rigid-flexible hybrid lower limb gait rehabilitation training robot |
| CN115715731A (en) * | 2022-10-27 | 2023-02-28 | 长春工业大学 | Movable wrist rehabilitation robot |
| CN118021577A (en) * | 2024-04-15 | 2024-05-14 | 兰州交通大学 | Flexible hybrid layered driving upper limb rehabilitation mechanical arm and robot |
| CN118021577B (en) * | 2024-04-15 | 2024-06-04 | 兰州交通大学 | Flexible hybrid layered driving upper limb rehabilitation mechanical arm and robot |
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Application publication date: 20200505 |