CN101357097A - Five degrees of freedom exoskeleton upper limb rehabilitation robot - Google Patents

Abstract

The invention provides a five-degree-of-freedom exoskeleton upper limb rehabilitation robot. It includes a mounting frame for installing the robot. The mounting frame is designed with guide rails. The lifting frame is installed on the rails. The lifting frame has a height adjustment mechanism. The rotatable mounting arm is installed on the lifting frame through the rotating shaft. The body of the rehabilitation manipulator composed of handles is mounted on a rotatable mounting arm, with 5 degrees of freedom joints, and 5 drive motors are respectively installed on the rotation axis of each joint, and four torque sensors cascaded with the drive motors are respectively installed on the shoulders , elbow and wrist, including two shoulders, one elbow, and one wrist flexion and extension. The torque sensor is used as a transmission device and a detection device to connect the motor reducer and the actuator. The robot provides patients with single-joint movement of each joint and multi-joint compound movement in three-dimensional space, and provides simple and basic daily life action training.

Description

Five degrees of freedom exoskeleton upper limb rehabilitation robot

(1) Technical field

The invention relates to a robot, in particular to a robot for upper limb rehabilitation.

(2) Background technology

In traditional clinical rehabilitation methods, rehabilitation physicians guide patients one-on-one to complete continuous passive movements with bare hands or with assistive devices, or give appropriate resistance or assistance to guide patients to move. The increase in the incidence of stroke has led to more and more patients with hemiplegia, and the heavy and high-intensity training tasks have brought a heavy burden to the treating physicians, leaving them at a loss, and have no more time and energy to focus on the analysis of clinical data and improvements in treatment options. Therefore, it is very important to combine robots and related technologies with clinical rehabilitation medicine to design rehabilitation robots to replace physicians to complete rehabilitation training for hemiplegic patients.

Existing upper limb rehabilitation robots mostly use connecting rod mechanism attached to the outside of the limb to drive the limb to complete the movement, or use the connecting rod as a motion guiding mechanism to pull the end of the limb to complete the upper limb movement. Although the use of robots and related technologies has reduced the burden on physicians, improved efficiency, and provided objective and effective data basis for the formulation and optimization of rehabilitation programs for patients in different periods, the existing problem is: the patient's muscle movement caused by nerve damage The clinical problems of functional impairment are insufficiently considered, and there is a lack of measures to support and protect the affected limbs that are difficult to overcome their own gravity. On the other hand, most of the training actions that current rehabilitation robots can provide are simple straight or curved trajectories, with a small range of motion and a single type.

(3) Contents of the invention

The purpose of the present invention is to provide a single-joint movement and multi-joint compound movement in three-dimensional space for the patient, and provide simple and basic daily life action training such as eating and lifting trousers, so as to realize passive movement training and Active-assisted five-degree-of-freedom exoskeleton upper limb rehabilitation robot for motor training.

The object of the present invention is achieved like this: it comprises the mounting frame that is used to install robot, robot connects the control cabinet with display and keyboard, and mounting frame is designed with guide rail (it is not control cabinet that is used to install mechanical arm, and it is exactly a mounting frame , the control cabinet is a cabinet with a display and a keyboard), the lifting frame is installed on the guide rail, and the lifting frame has a height adjustment mechanism. The main body of the rehabilitation manipulator is installed on the rotatable mounting arm. The cross shoulder is connected with the rotatable mounting arm by the shoulder abduction/adduction joint, and the cross shoulder and the upper arm are connected by the shoulder flexion/extension joint. The forearms are connected by the elbow flexion/extension joints, the forearm and the arm are connected by the wrist rotation/extension joints, the arms have wrist flexion/extension joints, and 5 drive motors are installed on the rotation of each joint. On the axis, four torque sensors cascaded with the drive motor are respectively installed on the shoulder, elbow and wrist, including two on the shoulder, one on the elbow, and one on the flexion and extension of the wrist. The torque sensor is connected as a transmission device and a detection device Motor reducer and actuator.

The present invention also has some technical characteristics:

1. Both the upper arm and the forearm are equipped with an arm length adjustment mechanism;

2. The lower part of the base has moving wheels;

3. There is a liftable weight on the base, and a rubber pad on the bottom of the weight;

4. The front of the installation frame is provided with a pluggable seat, and the seat is equipped with a pluggable armrest;

5. The body of the rehabilitation robotic arm has an exoskeleton-type bilateral structure made of super-duralumin;

6. The height adjustment mechanism on the lifting frame is a manual lifting wheel.

The present invention is mainly composed of a rehabilitation mechanical arm body, a drive motor, a torque sensor, an adjustable lifting mounting frame, a seat and a control cabinet. The body of the rehabilitation robotic arm is designed as an exoskeleton bilateral structure of super duralumin material, with shoulder abduction/adduction I, shoulder flexion/extension II, elbow flexion/extension III, wrist flexion/extension IV and wrist The 5 degrees of freedom of internal rotation/external rotation V, the upper arm and forearm adjustment mechanism make the length of the mechanical arm adjustable from 493mm to 766mm, which is suitable for patients of different heights, and the end adopts the handle method grasped by the subject. Five driving motors are respectively installed on the axis of each rotational degree of freedom to drive the activities of each degree of freedom. Four torque sensors (two on the shoulder, one on the elbow, and one on the flexion and extension of the wrist) installed on the shoulder, elbow, and wrist cascaded with the drive motor respectively measure the torque information applied by the human body to the robot during the movement process. Used to supervise or direct the movement of the robot. By manually adjusting the lifting wheels of the mounting frame, the position and height of the robot can be changed under the guidance of the four rails of the mounting frame, so as to realize the rehabilitation training of standing and sitting postures for hemiplegic patients, and at the same time meet the comfort requirements of patients of different heights. Adjust the rotatable mounting arm on the top of the mounting frame to rotate the position of the robot by 120° to switch left and right, to meet the left and right rehabilitation training needs of different patients. Side comfort needs. The counterweight on the base is used to balance the overall center of gravity. When it is dropped, the friction between the bottom rubber and the ground is used to fix the system. When it is lifted off the ground, the mounting frame can be pushed to facilitate system handling. The robot provides patients with single-joint movement of each joint and multi-joint compound movement in three-dimensional space, and provides simple and basic daily life action training: eating, lifting pants, and realizes passive movement training and active-assisted movement training for patients. It can not only reduce the burden of rehabilitation physicians, improve physicians' work efficiency, provide objective and accurate data for patients' rehabilitation treatment process, and on this basis, provide patients with all-round and multi-mode upper limb exercises, supplemented by simple daily life movement exercises , promote the recovery of limb function, inhibit compensatory movement and maintain the feeling of its correct movement.

(4) Description of drawings

Fig. 1 is a schematic diagram of a traditional clinical rehabilitation method;

Fig. 2 is a structural representation of the present invention;

Fig. 3 is the structural representation of base;

Fig. 4 is a structural diagram of the main body of the rehabilitation robot arm.

(5) Specific implementation methods

The present invention will be further described below in conjunction with accompanying drawing and specific embodiment:

Combined with Figure 2, the composition of the five-DOF exoskeleton upper limb rehabilitation robot includes a mounting frame for installing the robot, and the robot is connected to a control cabinet with a display and a keyboard. With a height adjustment mechanism, the rotatable mounting arm 4 is installed on the elevating frame through the rotating shaft, and in combination with Fig. 3, the cross shoulder, upper arm, forearm, arm and handle 3 (the mechanical arm body only includes the cross shoulder, the upper part of the elbow) The upper arm, the forearm from the elbow to the wrist, and the handle under the wrist, and the handle below the wrist), the body of the rehabilitation robotic arm is installed on the mounting arm, and the shoulder is abducted/adducted between the transverse shoulder and the mounting arm. Joint I is connected, transverse shoulder and upper arm are connected by shoulder flexion/extension joint II, upper arm and forearm are connected by elbow flexion/extension joint III, forearm and arm are connected by wrist internal/external rotation joint IV Connected, the arm has a wrist flexion/extension joint V, 5 drive motors are installed on the rotation axis of each joint, and the four torque sensors cascaded with the drive motor are respectively installed on the shoulder, elbow and wrist. Among them, there are two shoulders, one elbow, and one wrist flexion and extension. The torque sensor is used as a transmission device and a detection device to connect the motor reducer and the actuator. The upper arm is provided with an arm length adjustment mechanism 1, and the forearm is provided with an arm length adjustment mechanism 2. At the same time, in combination with Figure 4, the lower part of the base has moving wheels, and the base has a liftable counterweight 8. The bottom surface of the counterweight There is a rubber pad 9 on it, and a pluggable seat is arranged in front of the mounting frame, and a pluggable armrest 7 is provided on the seat. The height adjustment mechanism on the lifting frame is a manual lifting wheel 5.

Claims (10)

1. A five-degree-of-freedom exoskeleton type upper limb rehabilitation robot, which includes a mounting frame for installing the robot, and the robot is connected to a control cabinet with a display and a keyboard. It is characterized in that: the mounting frame is provided with guide rails, and the lifting frame is installed on the guide rails , the lifting frame has a height adjustment mechanism, the rotatable mounting arm is installed on the lifting frame through the rotating shaft, and the rehabilitation mechanical arm body composed of the transverse shoulder, upper arm, forearm and handle is mounted on the rotatable mounting arm, and the transverse shoulder is on the rotatable mounting arm. The rotating mounting arms are connected by the shoulder abduction/adduction joint, the transverse shoulder and the upper arm are connected by the shoulder flexion/extension joint, the upper arm and the forearm are connected by the elbow flexion/extension joint, and the forearm and the handle It is connected by the internal/external rotation joint of the wrist, and the arm has a wrist flexion/extension joint. Five drive motors are respectively installed on the rotation axis of each joint, and four torque sensors cascaded with the drive motor are respectively installed on the shoulder. There are two shoulders, one elbow, and one wrist flexion and extension. The torque sensor is used as a transmission device and a detection device to connect the motor reducer and the actuator. 2. The five-degree-of-freedom exoskeleton upper limb rehabilitation robot according to claim 1, characterized in that: both the upper arm and the forearm are provided with arm length adjustment mechanisms. 3. The five-degree-of-freedom exoskeleton upper limb rehabilitation robot according to claim 2, wherein the lower part of the base has moving wheels. 4. The five-degree-of-freedom exoskeleton upper limb rehabilitation robot according to claim 3, characterized in that: the base has a liftable counterweight, and a rubber pad is provided on the bottom of the counterweight. 5. The five-degree-of-freedom exoskeleton upper limb rehabilitation robot according to any one of claims 1-4, characterized in that: a pluggable seat is arranged in front of the mounting frame, and a pluggable armrest is provided on the seat . 6. The five-degree-of-freedom exoskeleton upper limb rehabilitation robot according to any one of claims 1-4, wherein the rehabilitation robot body has an exoskeleton bilateral structure made of super duralumin. 7. The five-degree-of-freedom exoskeleton upper limb rehabilitation robot according to claim 5, characterized in that: the rehabilitation robot body has an exoskeleton bilateral structure made of super duralumin. 8. The five-degree-of-freedom exoskeleton upper limb rehabilitation robot according to any one of claims 1-4, wherein the height adjustment mechanism on the lifting frame is a manual lifting wheel. 9. The five-degree-of-freedom exoskeleton upper limb rehabilitation robot according to claim 5, wherein the height adjustment mechanism on the lifting frame is a manual lifting wheel. 10. The five-degree-of-freedom exoskeleton upper limb rehabilitation robot according to claim 6, wherein the height adjustment mechanism on the lifting frame is a manual lifting wheel.

Images