CN112022615B - Mirror image rehabilitation device for realizing force sense feedback by adopting magnetorheological damping - Google Patents

Abstract

The invention discloses a mirror image rehabilitation device that uses magnetorheological damping to realize force feedback, including a healthy side and an affected side. The healthy side uses a magnetorheological damper to realize the interactive force feedback function. The healthy side movement component includes a first rotating arm, a second rotating arm and a third rotating arm. The third rotating arm maintains contact with the user's healthy side; the first rotating arm is connected to the frame, the first rotating arm and the second rotating arm, There is a rotating joint between the second rotating arm and the third rotating arm, and a magnetorheological damping device is provided at the joint; the motion component on the affected side is equipped with a three-dimensional force sensor to detect the interactive force, and the magnetic field is adjusted according to the interactive force detected by the three-dimensional force sensor on the affected side. For the damping of the rheological damping device, the greater the interactive force, the greater the damping, and the interactive force on the affected side is fed back to the healthy side in real time; the healthy side of the present invention adjusts the damping size through the magnetorheological damper to provide interactive force feedback to the healthy side. There is no need to set up an active drive structure, which simplifies the structure of the motion components on the healthy side, reduces the difficulty of the control system, and reduces the cost.

Description

A mirror rehabilitation device using magnetorheological damping to achieve force feedback

Technical field

The invention relates to the technical field of medical equipment, and further relates to a mirror rehabilitation device that uses magnetorheological damping to realize force feedback.

Background technique

For neurodegenerative diseases such as stroke, exercise rehabilitation therapy based on the principle of neural remodeling is currently a more effective physical therapy method; intelligent rehabilitation robots that can realize tactile interactive functions have a rehabilitation effect that is almost comparable to that of rehabilitation physicians. Effectively, it can replace most of the arduous and repetitive work of treating physicians and has broad application prospects.

Judging from whether there is a specific correlation between the movements of the user's healthy side and the affected side, the rehabilitation training mode can be divided into unilateral rehabilitation training mode and mirror rehabilitation training mode. Compared with the unilateral training mode, the mirror training mode uses the user's motion and force information of the unaffected side as reference information for the affected side training, which can make full use of the user's independent evaluation ability and own force perception ability, avoiding the need for unilateral training. There is a hidden risk of damage to the affected side during side training, and hybrid intelligent decision-making between people and rehabilitation training equipment is realized during the training process.

From the perspective of the information flow path, the implementation process of the mirror rehabilitation training function first detects the movement information of the user's healthy side, and uses this information as reference information to drive the affected side training equipment, so that the affected side can achieve a movement trajectory that has a specific relationship with the healthy side. (such as opposite phase, same phase or proportional scaling); at the same time, the interactive force and torque between the affected side and the training equipment on the affected side are obtained, and then the interactive force and torque information is fed back to the healthy side through the actuator on the healthy side , based on the perception ability of the healthy side, the user makes decisions and adjusts the movement of the healthy side so that the equipment on the affected side adapts to the user's needs.

Most of the existing mirror training rehabilitation equipment adopts the same structure for the healthy side and the affected side, and both are equipped with active driving elements. The main driving element on the healthy side is used to exert force on the healthy side, so that the healthy side can feel the motion status of the affected side; Active drive components mainly include motors, hydraulic cylinders or hydraulic motors, cylinders or pneumatic motors, and artificial pneumatic muscles.

Due to the difficulty and high cost of controlling the active drive components, the volume and weight of the whole machine increases and the cost rises. At the same time, due to the active nature of the active components, the control complexity of the active components on the healthy side increases. For those skilled in the art, how to design a mirror rehabilitation device with a more compact structure and lower cost is a technical problem that currently needs to be solved.

Contents of the invention

The present invention provides a mirror image rehabilitation device that uses magnetorheological damping to realize force feedback. No active driving components are used on the healthy side, making the structure more compact and cost-effective. At the same time, because the damper is a passive component, the control difficulty of the entire system is reduced. , the specific plan is as follows:

A mirror image rehabilitation device that uses magnetorheological damping to achieve force feedback, including a healthy side movement component and an affected side movement component. The healthy side movement component includes a first rotating arm, a second rotating arm and a third rotating arm. The third rotating arm is in contact with the healthy side of the user;

The first rotating arm and the frame, the first rotating arm and the second rotating arm, the second rotating arm and the third rotating arm are respectively constrained by rotating joints, and the joints are provided with Magnetorheological damping device for changing the damping size;

The affected side motion component is provided with a three-dimensional force sensor for detecting the interactive force on the affected side, and adjusts the damping of the magnetorheological damping device according to the interactive force information detected by the three-dimensional force sensor to achieve a force feedback function on the healthy side.

Optionally, the magnetorheological damping device is a rotary magnetorheological damper. The rotary magnetorheological damper includes a housing and a rotating output shaft. A fixed damping disk is fixedly arranged in the inner cavity of the housing, so A rotary damping disk is fixedly installed on the rotary output shaft, and the fixed damping disk and the rotary damping disk are arranged in a staggered and stacked manner, and magnetorheological fluid is filled between them; the damping is adjusted by the rotary excitation coil wound in the housing.

Optionally, the magnetorheological damping device is a linear magnetorheological damper. The linear magnetorheological damper includes a cylinder and a telescopic output shaft. The telescopic output shaft can be moved inside the cylinder. Move along the axis in the cavity;

The space between the cylinder and the telescopic output shaft is filled with magnetorheological fluid, and the damping is adjusted through the linear excitation coil wound on the telescopic output shaft;

The linear magnetorheological damper drives the mechanical arm to rotate through a crank.

Optionally, a gravity balance mechanism for compensating the gravity of the second rotating arm and the third rotating arm is also included.

Optionally, the gravity balance mechanism includes a transmission device for transmitting rotation of the second rotating arm and the third rotating arm;

The transmission device drives the wire transmission wheel of the magnetorheological damping device to rotate. A balance steel wire is wound around the wire transmission wheel. The other end of the balance steel wire is connected to one end of the balance spring, and the balance spring bears the gravity. .

Optionally, the transmission device is a transmission wire rope, and both ends of the transmission wire rope are respectively wound around the wire transmission wheel.

Optionally, the transmission device is a parallelogram mechanism, and the parallelogram mechanism includes a transmission rod and a fixed gear plate. One end of the transmission rod is hinged to the third rotating arm, and the other end is rotatably provided with a pinion gear and the The fixed gear plate meshes, and the end of the second rotating arm rotates to set a pinion gear to mesh with the fixed gear plate.

Optionally, the output shafts of the magnetorheological damping devices of the second rotating arm and the third rotating arm are arranged coaxially, so that the second rotating arm and the third rotating arm form a partially closed chain mechanism.

Optionally, the magnetorheological damping devices of the second rotating arm and the third rotating arm are connected through a support flange.

Optionally, one end of the balance steel wire is wound around the wire transmission wheel, and the other end is connected backward to the end of the balance spring through a reversing rotation.

The invention provides a mirror image rehabilitation device that uses magnetorheological damping to achieve force feedback, including a healthy side movement component and an affected side movement component. The healthy side movement component includes a first rotating arm, a second rotating arm and a third rotating arm. The end of the third rotating arm is in contact with the healthy side of the user, and both have the same spatial motion; the distance between the first rotating arm and the frame, the first rotating arm and the second rotating arm, the second rotating arm and the third rotating arm The joints are mutually constrained through rotating joints, and a magnetorheological damping device is installed at the joint; the affected side motion component is equipped with a three-dimensional force sensor for detecting the interactive force on the affected side, and the magnetorheological damping device is adjusted according to the interactive force information detected by the three-dimensional force sensor. Damping, the greater the interaction force, the greater the damping, achieving a force feedback effect on the healthy side; the healthy side of the present invention adjusts the damping force through a magnetorheological damper to provide force feedback to the healthy side, without the need for an active drive structure, and can simplify The structure of the motion components on the healthy side reduces control difficulty and costs.

Description of the drawings

In order to explain the embodiments of the present invention or the technical solutions in the prior art more clearly, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings in the following description are only These are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without exerting creative efforts.

Figure 1A is a schematic structural diagram of a specific embodiment of a mirror rehabilitation device using magnetorheological damping to achieve force feedback provided by the present invention;

Figure 1B is a schematic structural diagram of the motion component of the healthy side of the mirror image rehabilitation device using magnetorheological damping to achieve force feedback provided by the present invention;

Figure 2 is a schematic cross-sectional structural diagram of a rotary magnetorheological damper;

Figure 3A is a cross-sectional structural view of a linear magnetorheological damper;

Figure 3B is a schematic structural diagram of a linear magnetorheological damper forming a rotating pair;

Figure 4 is a structural diagram of a specific embodiment of the gravity balance mechanism;

Figure 5 is a schematic structural diagram of the transmission device using a parallelogram mechanism;

Figure 6 is a cross-sectional view of the magnetorheological damping device.

Pictured include:

The first rotating arm 1, the second rotating arm 2, the third rotating arm 3, the rotating magnetorheological damper 4, the housing 41, the rotating output shaft 42, the fixed damping disc 43, the rotating damping disc 44, the rotating excitation coil 45, Linear magnetorheological damper 5, cylinder 51, telescopic output shaft 52, linear excitation coil 53, crank 54, transmission device 6, line transmission wheel 61, balance wire 62, balance spring 63, transmission rod 64, fixed tooth plate 65. Reversing wheel 66. Support flange 7.

Detailed ways

The core of the present invention is to provide a mirror image rehabilitation device that uses magnetorheological damping to achieve force feedback. No active driving components are used on the healthy side, making the structure more compact, control difficulty reduced, and cost lower.

In order to enable those skilled in the art to better understand the technical solution of the present invention, the mirror rehabilitation device of the present invention that uses magnetorheological damping to achieve force feedback will be described in detail below with reference to the accompanying drawings and specific embodiments.

As shown in Figure 1A, it is a structural schematic diagram of a specific embodiment of the mirror image rehabilitation device using magnetorheological damping to achieve force feedback provided by the present invention, where A represents the frame; Figure 1B is a schematic diagram of the mirror image rehabilitation device using magnetorheological damping provided by the present invention. Structural diagram of the healthy side motion component of the mirror image rehabilitation device that achieves force feedback through damping; the rehabilitation device includes the healthy side motion component and the affected side motion component. In Figure 1A, the left side of the frame is the healthy side, and the right side is the affected side. It includes three robotic arms, each of which can rotate. An active driving element is set at the rotation joint to detect the movement information of the user's healthy side, and use this information as reference information to drive the training equipment on the affected side, so that the affected side can achieve the same goal as the affected side. The healthy side has a specific relationship between the motion trajectories, such as opposite phases, the same phase, or scaling, etc. The motion of the healthy side assists the affected side in rehabilitation training.

The healthy side exercise component of the present invention includes a first rotating arm 1, a second rotating arm 2 and a third rotating arm 3. The third rotating arm 3 is used to contact the user's healthy side. For upper limb exercise as an example, the third rotating arm 3 The end of 3 is relatively fixed to the forearm on the healthy side, and the forearm drives the third rotating arm 3 to move. Since the first rotating arm 1, the second rotating arm 2 and the third rotating arm 3 can rotate in different dimensions, the third rotating arm 3 Match the movement of the forearm and monitor the movement information of the first rotating arm 1, the second rotating arm 2 and the third rotating arm 3 on the healthy side through position sensors arranged on the healthy side, such as encoders or rotary transformers at the joints, etc. Based on this, the affected side can perform corresponding movements.

The first rotating arm 1 of the present invention and the frame, the first rotating arm 1 and the second rotating arm 2, the second rotating arm 2 and the third rotating arm 3 are mutually constrained by rotating joints respectively. The rotating axes at the three joints Not all are arranged in parallel, so that the third rotating arm 3 can move to any position within the movement range to achieve three-dimensional movement.

A magnetorheological damping device for changing the damping is provided at the joint. The magnetorheological damping device is equipped with magnetorheological fluid, which changes the intensity of the magnetic field by changing the current to produce different damping forces.

The affected side movement component is provided with a three-dimensional force sensor for detecting the interactive force of the affected side. The three-dimensional force sensor is usually provided on the third rotating arm 3 that is in contact with the limb. When the active driving element drives the affected side to move, a force sensor is generated between the affected side and the affected side. A certain interactive force adjusts the damping of the magnetorheological damping device according to the interactive force information detected by the three-dimensional force sensor, and generates feedback to the user's healthy side. The user perceives the damping force to be equal to the end of the interactive force with the same size as the affected side. The joint moment produced by the force exerted on the distal end of the uninvolved side.

The mirror image rehabilitation device of the present invention uses magnetorheological damping to realize force feedback. The healthy side of the device adjusts the damping during rotation through the magnetorheological damper, and the controllable magnetorheological damping device connects the user's affected side with training. The interactive force and interactive torque between the devices are accurately fed back to the healthy side. The user can adjust the motion mode of the healthy side according to the force sense fed back by the healthy side to adapt to the user's own training intention; the present invention is only provided at the joints The magnetorheological damper controls the damping force by changing the applied voltage and current. There is no need to set up an active drive structure on the unaffected side motion component. The magnetorheological damping device has a high torque density, no transmission gap, and a relatively large equivalent rotational inertia. Low, making the force feedback highly transparent, simplifying the structure of the motion components on the healthy side and reducing costs.

Based on the above solutions, the present invention provides two specific arrangements of magnetorheological damping devices:

The first type of magnetorheological damping device is a rotary magnetorheological damper 4. As shown in Figure 2, it is a schematic cross-sectional structural diagram of the rotary magnetorheological damper 4; the rotary magnetorheological damper 4 includes a shell 41 and a rotary output shaft 42. The rotary output shaft 42 is installed in the inner cavity of the housing 41. A part of the rotary output shaft 42 extends out of the housing 41. The rotary output shaft 42 can rotate relative to the housing 41.

A fixed damping disk 43 is fixedly installed in the inner cavity of the housing 41, and the fixed damping disk 43 is fixed relative to the housing 41. As shown in Figure 2, two fixed damping disks 43 are provided; a rotating damping disk 44 is fixedly provided on the rotating output shaft 42, as shown in Figure 2 As shown, three rotary damping disks 44 are provided. The rotary damping disks 44 and the rotary output shaft 42 remain relatively fixed. The rotary damping disks 44 and the rotary output shaft 42 rotate synchronously.

The fixed damping disc 43 and the rotating damping disc 44 are arranged in parallel, and the disc surface is perpendicular to the axial direction of the rotating output shaft 42. The fixed damping disc 43 and the rotating damping disc 44 are arranged in a staggered stack. As shown in Figure 2, the two disc surfaces of the fixed damping disc 43 Each side corresponds to a rotating damping disk 44.

The fixed damping disk 43 and the rotating damping disk 44 are filled with magnetorheological fluid; a rotating excitation coil 45 is coiled in the housing 41, and the fixed damping disk 43 and the rotating damping disk 44 are controlled by changing the current applied by the rotating excitation coil 45. The amount of damping generated between them.

The shear yield stress of magnetorheological fluid has a monotonically increasing relationship with the magnetic field strength of the external excitation magnetic field. When the rotating excitation coil 45 is energized, a magnetic field perpendicular to the fixed damping disk 43 and the rotating damping disk 44 is generated around the coil. The viscosity of the magnetorheological fluid increases under the action of the magnetic field, so that the output torque of the magnetorheological fluid increases.

The magnetorheological damping device is driven by a voltage input and current output amplifier, which can output different currents in proportion to drive the rotating excitation coil 45 according to two modes: analog voltage signal input and PWM signal input.

The rotary magnetorheological damper 4 can be a direct output type, that is, the rotary magnetorheological damper 4 directly dampens the joints, or can assist in setting a planetary reducer or a traction reducer and other transmission outputs to generate damping.

The second type of magnetorheological damping device is a linear magnetorheological damper 5. As shown in Figure 3A, it is a cross-sectional structural diagram of the linear magnetorheological damper 5. The linear magnetorheological damper 5 includes a cylinder. 51 and a telescopic output shaft 52, one end of the telescopic output shaft 52 extends into the inner cavity of the cylinder 51, and the telescopic output shaft 52 can move along the axial direction in the inner cavity of the cylinder 51.

Magnetorheological fluid is filled between the cylinder 51 and the telescopic output shaft 52. A linear excitation coil 53 is provided on the telescopic output shaft 52. The damping is adjusted by adjusting the current applied by the linear excitation coil 53.

Figure 3B is a schematic structural diagram of a linear magnetorheological damper forming a rotating pair; one end of the crank 54 is hinged to the base B, and the other end is hinged to the telescopic output shaft 52 of the linear magnetorheological damper 5. The base B and the second The rotating arm 2 is relatively hinged through the hinge axis, and the linear magnetorheological damper 5, the base B and the crank 54 form a crank slider mechanism, and force feedback is provided to the healthy side through the damping of the linear magnetorheological damper 5 when it expands and contracts.

Based on any of the above technical solutions and their combinations, the present invention also includes a gravity balance mechanism for compensating the gravity of the second rotating arm 2 and the third rotating arm 3. The gravity balance mechanism offsets the gravity effect and reduces the magnetorheological change. The output torque required by the damping device.

Specifically, the gravity balance mechanism includes a transmission device 6 for transmitting the rotation of the second rotating arm 2 and the third rotation arm 3; as shown in Figure 4, it is a structural diagram of a specific embodiment of the gravity balance mechanism; the transmission device 6 The wire transmission wheel 61 that drives the magnetorheological damping device rotates, that is, the upper wire transmission wheel 61 in Figure 4. The balance steel wire 62 is wound around the wire transmission wheel 61, and the other end of the balance steel wire 62 is connected to one end of the balance spring 63. The balance spring 63 bears the gravity; specifically, the second rotating arm 2 and the third rotating arm 3 are affected by gravity, and drive the balance wire 62 to wind in or out through the transmission device 6 and the wire transmission wheel 61, and the balance wire 62 then adjusts the balance. The compression amount of the spring 63 balances the gravity by balancing the elastic force of the spring 63 .

Specifically, the present invention provides two specific arrangements of the transmission device 6:

The first type, as shown in Figure 4, the transmission device 6 is a transmission wire rope. The two ends of the transmission wire rope are wound around the wire transmission wheel 61 at the coaxial joint, and the transmission wheel 61 at the hinge of the second rotating arm 2 and the third rotating arm 3. The wire transmission wheel 61 converts the rotation of the wire transmission wheel into the rotation between the second rotating arm 2 and the third rotating arm 3 through the wire rope.

The second type, the transmission device 6 is a parallelogram mechanism, as shown in Figure 5, which is a structural schematic diagram of the transmission device 6 using a parallelogram mechanism; the parallelogram mechanism includes a transmission rod 64 and a fixed tooth plate 65, and the four sides of the parallelogram mechanism are respectively It includes a second rotating arm 2, a third rotating arm 3, a transmission rod 64 and a fixed gear plate 65. The second rotating arm 2 is arranged parallel to the transmission rod 64; one end of the transmission rod 64 is hinged to the third rotating arm 3, and the other end rotates The pinion gear is set to mesh with the fixed gear plate 65. The pinion gear is designated by C in Figure 5. The end of the second rotating arm 2 is rotated to set the pinion gear to mesh with the fixed gear plate 65; when the second rotating arm 2 rotates, the transmission is driven The rod 64 moves, and the pinion gear on the transmission rod 64 engages and rotates relative to the fixed gear plate 65; when the third rotating arm 3 rotates, the pinion gear provided at its end engages and rotates relative to the fixed gear plate 65, and at the same time, the transmission rod 64 moves, The pinion gear on the transmission rod 64 engages and rotates relative to the fixed gear plate 65, and transmits the motion through a parallelogram mechanism.

As shown in Figure 6, it is a cross-sectional view of the magnetorheological damping device; the output shafts of the magnetorheological damping devices of the second rotating arm 2 and the third rotating arm 3 in the present invention are arranged coaxially; in the figure, a rotating magnetic The rheological damper 4 is shown as an example. The shells of the magnetorheological damping devices of the second rotating arm 2 and the third rotating arm 3 are coaxially connected. Using this kind of partially closed chain mechanism can reduce the joint magnetorheological damping device. Output torque and reduce the equivalent moment of inertia of the mechanism.

As shown in Figure 6, a support flange 7 is provided between the two rotary magnetorheological dampers 4, and a thin-walled crossed ball bearing is provided between the support flange 7 and the rotary magnetorheological damper 4. The rotary magnetorheological damper 4 is changed from a cantilever bearing form to a simply supported bearing form, which increases the bending stiffness of the structure.

As shown in Figure 4, the balance spring 63 on the right has a larger stiffness coefficient, and the balance spring 63 on the left has a smaller stiffness coefficient.

One end of the balance wire 62 is wound around the online transmission wheel 61 , and the other end is connected to the end of the balance spring 63 after being reversed by the reversing wheel 66 .

The motion component of the contralateral side of the mirror image rehabilitation device that uses magnetorheological damping to achieve force feedback of the present invention adopts a controllable magnetorheological rotary damper and has a gravity balance mechanism with a complete self-weight balancing function. The interactive force or torque between the user's affected side and the training equipment is accurately fed back to the healthy side through a controllable magnetorheological damping device. Since the mechanism has a self-weight balancing function, it can completely eliminate the static moment generated by the mechanism's own weight; the magnetorheological rotary damper has a high torque density and therefore does not require a reduction mechanism, giving it good reverse drive characteristics and low equivalent inertia, making This mechanism has good force feedback transparency and is a low-cost, high-performance force feedback mechanism with excellent performance.

The above description of the disclosed embodiments enables those skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be practiced in other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (10)

1. A mirror image rehabilitation device that uses magnetorheological damping to achieve force feedback, including a healthy side movement component and an affected side movement component, characterized in that the healthy side movement component includes a first rotating arm (1), a second The rotating arm (2) and the third rotating arm (3), the third rotating arm (3) is in contact with the healthy side of the user; the end of the third rotating arm (3) is relatively fixed to the forearm on the healthy side, and the forearm Drive the third rotating arm (3) to move; The first rotating arm (1) and the frame, the first rotating arm (1) and the second rotating arm (2), the second rotating arm (2) and the third rotating arm ( 3) are mutually constrained by rotating joints, and magnetorheological damping devices are provided at the joints to change the damping size; The affected side motion component is provided with a three-dimensional force sensor for detecting the interactive force on the affected side, and adjusts the damping of the magnetorheological damping device according to the interactive force information detected by the three-dimensional force sensor to achieve a force feedback function on the healthy side, and the interaction The greater the force, the greater the damping; The magnitude of the damping force perceived by the user is equal to the joint moment generated by the terminal force with the same magnitude as the interaction force on the affected side applied to the end of the healthy side; the user can adjust the movement pattern of the healthy side based on the force sense fed back by the healthy side to Adapt to the user’s own training intentions. 2. The mirror image rehabilitation device using magnetorheological damping to realize force feedback according to claim 1, characterized in that the magnetorheological damping device is a rotary magnetorheological damper (4), and the rotary magnetorheological damper is The magnetorheological damper (4) includes a housing (41) and a rotary output shaft (42). A fixed damping disk (43) is fixed in the inner cavity of the housing (41), and a fixed damping disk (43) is fixed on the rotary output shaft (42). A rotating damping disc (44) is provided, the fixed damping disc (43) and the rotating damping disc (44) are arranged in a staggered and stacked manner, and magnetorheological fluid is filled between them; Rotate the field coil (45) to adjust the damping. 3. The mirror image rehabilitation device using magnetorheological damping to achieve force feedback according to claim 1, characterized in that the magnetorheological damping device is a linear magnetorheological damper (5), and the linear magnetorheological damper The magnetorheological damper (5) includes a cylinder (51) and a telescopic output shaft (52), and the telescopic output shaft (52) can move axially in the inner cavity of the cylinder (51); Magnetorheological fluid is filled between the cylinder (51) and the telescopic output shaft (52), and the damping is adjusted through the linear excitation coil (53) wound on the telescopic output shaft (52); The linear magnetorheological damper (5) drives the mechanical arm to rotate through a crank (54). 4. The mirror image rehabilitation device using magnetorheological damping to achieve force feedback according to any one of claims 1 to 3, characterized in that it also includes a device for compensating the second rotating arm (2) and the second rotating arm (2). Gravity balancing mechanism with three rotating arms (3) gravity. 5. The mirror image rehabilitation device using magnetorheological damping to achieve force feedback according to claim 4, characterized in that the gravity balance mechanism includes a device for transmitting the second rotating arm (2) and the third The transmission device (6) for rotating the rotating arm (3); The transmission device (6) drives the wire transmission wheel (61) of the magnetorheological damping device to rotate. A balance steel wire (62) is wound around the wire transmission wheel (61). The other side of the balance steel wire (62) One end is connected to one end of the balance spring (63), and the balance spring (63) bears the gravity. 6. The mirror image rehabilitation device using magnetorheological damping to achieve force feedback according to claim 5, characterized in that the transmission device (6) is a transmission wire rope, and both ends of the transmission wire rope are respectively wound around wire transmission Wheel(61). 7. The mirror image rehabilitation device using magnetorheological damping to achieve force feedback according to claim 5, characterized in that the transmission device (6) is a parallelogram mechanism, and the parallelogram mechanism includes a transmission rod (64) and a fixed toothed disc (65). One end of the transmission rod (64) is hinged to the third rotating arm (3), and the other end is rotated to provide a pinion gear to mesh with the fixed toothed disc (65). The second The end of the rotating arm (2) rotates to set a pinion gear to mesh with the fixed gear plate (65). 8. The mirror image rehabilitation device using magnetorheological damping to realize force feedback according to claim 5, characterized in that the magnetorheological parameters of the second rotating arm (2) and the third rotating arm (3) are The output shaft of the damping device is arranged coaxially, so that the second rotating arm (2) and the third rotating arm (3) form a partially closed chain mechanism. 9. The mirror image rehabilitation device using magnetorheological damping to achieve force feedback according to claim 8, characterized in that the magnetorheological parameters of the second rotating arm (2) and the third rotating arm (3) are The damping device is connected via the support flange (7). 10. The mirror image rehabilitation device using magnetorheological damping to achieve force feedback according to claim 5, characterized in that one end of the balance steel wire (62) is wrapped around the wire transmission wheel (61), and the other end passes through The reversing wheel (66) is connected to the end of the balance spring (63) after reversing.