CN115227544B - An upper limb single-arm rehabilitation training robot and an operation method thereof - Google Patents
An upper limb single-arm rehabilitation training robot and an operation method thereof Download PDFInfo
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- CN115227544B CN115227544B CN202210808765.2A CN202210808765A CN115227544B CN 115227544 B CN115227544 B CN 115227544B CN 202210808765 A CN202210808765 A CN 202210808765A CN 115227544 B CN115227544 B CN 115227544B
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- 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
- 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
- A61H1/0277—Elbow
-
- 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
- A61H1/0281—Shoulder
-
- 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
- A61H1/0285—Hand
-
- 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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- 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
- A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
- A61H2201/1463—Special speed variation means, i.e. speed reducer
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- 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
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/1635—Hand or arm, e.g. handle
-
- 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
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/1635—Hand or arm, e.g. handle
- A61H2201/1638—Holding means therefor
-
- 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
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5061—Force sensors
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- 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
- A61H2205/00—Devices for specific parts of the body
- A61H2205/06—Arms
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- 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
- A61H2205/00—Devices for specific parts of the body
- A61H2205/06—Arms
- A61H2205/062—Shoulders
-
- 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
- A61H2205/00—Devices for specific parts of the body
- A61H2205/06—Arms
- A61H2205/065—Hands
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- Pain & Pain Management (AREA)
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Abstract
本发明公开了一种上肢单臂康复辅助训练机器人和操作方法，包括依次相接的肩关节组件、肘关节组件和腕关节组件；所述肩关节组件用于辅助患者肩关节的运动；所述肘关节组件用于辅助小臂绕肘关节的运动；所述腕关节组件用于辅助患者腕关节和小臂的运动。其中，所述腕关节组件包括两个驱动机构和握把。所述握把通过旋转实现小臂的旋内/旋外运动，同时使手掌在水平状态和竖直状态之间进行切换，当手掌处于竖直状态时，所述驱动机构能够实现手腕的掌屈/背曲运动；当手掌处于水平状态时，所述驱动机构能够实现手腕的桡偏/尺偏运动。本发明中腕关节可以呈现不同的运动状态，通过简单的结构即可实现腕部的全动作康复训练。
The present invention discloses an upper limb single-arm rehabilitation auxiliary training robot and an operation method, comprising a shoulder joint assembly, an elbow joint assembly and a wrist joint assembly connected in sequence; the shoulder joint assembly is used to assist the movement of the patient's shoulder joint; the elbow joint assembly is used to assist the movement of the forearm around the elbow joint; the wrist joint assembly is used to assist the movement of the patient's wrist joint and forearm. The wrist joint assembly includes two driving mechanisms and a handle. The handle realizes the internal rotation/external rotation movement of the forearm by rotation, and at the same time switches the palm between the horizontal state and the vertical state. When the palm is in the vertical state, the driving mechanism can realize the palmar flexion/dorsiflexion movement of the wrist; when the palm is in the horizontal state, the driving mechanism can realize the radial deviation/ulnar deviation movement of the wrist. In the present invention, the wrist joint can present different movement states, and the full-motion rehabilitation training of the wrist can be realized through a simple structure.
Description
Technical Field
The invention relates to the technical field of rehabilitation training devices, in particular to an upper limb single arm rehabilitation training robot and an operation method thereof.
Background
The upper limb rehabilitation robot is mainly used for matching or assisting a rehabilitation therapist to realize rehabilitation training of a patient, and compared with the traditional rehabilitation therapist assisting training, the upper limb rehabilitation robot can greatly improve the rehabilitation training efficiency and lighten the workload of the rehabilitation therapist.
However, because the upper limb rehabilitation robot controls the movement of each joint of the upper limb by means of a mechanized means, in order to meet the higher rehabilitation requirements of patients and realize more joint rehabilitation movements, the design requirements of the upper limb rehabilitation robot are also higher, wherein the rehabilitation training of the upper limb mainly comprises the buckling/stretching, the rotating inner/rotating outer, the abduction/adduction of the shoulder joint, the buckling/stretching of the elbow joint, the palm bending/back bending, the radial deflection/ulnar deflection and the inner rotation/external rotation of the forearm of the wrist joint, the upper limb rehabilitation robot in the prior art has a complex structure and cannot perform the rehabilitation movements of the whole arm, and other machines or rehabilitation therapists are often required to complete the whole set of rehabilitation training, so the upper limb rehabilitation robot which has a simple structure and can meet various requirements and realize more joint rehabilitation movements is required to be designed.
Disclosure of Invention
The invention provides an upper limb single arm rehabilitation training robot and an operation method thereof to solve the technical problems that the existing upper limb rehabilitation robot is huge in size and complex in structure, and cannot realize rehabilitation movements of all joints of an upper limb, and a whole set of rehabilitation training is often needed to be completed by means of other machines or rehabilitation therapists.
The invention provides an upper limb single-arm rehabilitation training robot which comprises a shoulder joint assembly, an elbow joint assembly and a wrist joint assembly which are sequentially connected, wherein the shoulder joint assembly is used for controlling an arm to complete movement of a shoulder joint and assisting movement of a patient shoulder joint, the elbow joint assembly is used for controlling a forearm to complete movement of an elbow joint and assisting movement of the forearm around the elbow joint, the wrist joint assembly is used for controlling a palm to complete movement of the wrist joint and assisting movement of the wrist joint and the forearm of a patient, the wrist joint assembly comprises a driving mechanism and a handle, the handle can rotate to achieve rotation of the forearm, the palm can be switched between a horizontal state and a vertical state, the driving mechanism achieves rehabilitation movement of palmar flexion and dorsiflexion when the palm is in the vertical state, and the driving mechanism achieves rehabilitation movement of radial deviation and ulnar deviation when the palm is in the horizontal state.
The wrist joint assembly comprises a wrist joint first driving mechanism, a wrist joint first fixing frame, a wrist joint second driving mechanism, a handle and a wrist joint second driving mechanism, wherein the wrist joint first driving mechanism is connected with the tail end of the elbow joint assembly, the wrist joint first fixing frame is arranged on an output shaft of the wrist joint first driving mechanism and driven to rotate by the wrist joint first driving mechanism, the wrist joint second driving mechanism is connected with the wrist joint first fixing frame, the handle is connected with an output shaft of the wrist joint second driving mechanism and driven to rotate by the wrist joint second driving mechanism, the output shaft of the wrist joint second driving mechanism coincides with a small arm shaft line, the output shaft of the wrist joint second driving mechanism is perpendicular to a central shaft of the handle, and the output shaft of the wrist joint first driving mechanism is perpendicular to the output shaft of the wrist joint second driving mechanism.
Further, the output shaft of the wrist joint second driving mechanism is connected with a wrist joint second fixing frame, a first sliding rail is fixed on the wrist joint second fixing frame, and the handle is slidably connected to the first sliding rail, so that the wrist joint is positioned on the intersection point of the wrist joint first driving mechanism output shaft and the wrist joint second driving mechanism output shaft after the patient holds the handle.
The wrist joint assembly comprises a wrist joint driving mechanism, a small arm support, a wrist joint first driving mechanism and a small arm support, wherein the wrist joint driving mechanism is connected with the tail end of a shoulder joint assembly, the small arm support is arranged on an output shaft of the elbow joint driving mechanism and is driven to rotate by the elbow joint driving mechanism, the wrist joint first driving mechanism is fixedly connected with the small arm support, one end of the small arm support, which faces the wrist joint assembly, is provided with a mechanical limiting end face, and when the wrist joint first fixing frame rotates, the side face of the wrist joint first fixing frame can be abutted against the limiting end face.
Further, one end of the first wrist joint fixing frame in the length direction is an arc-shaped end face, the limiting end face is an arc-shaped matching face attached to the arc-shaped end face, and the first wrist joint fixing frame rotates between two ends of the arc-shaped matching face in the circumferential direction.
Further, the forearm support includes forearm upper bracket, first flexible subassembly and forearm lower bracket, forearm upper bracket installs on elbow joint actuating mechanism's output shaft, the forearm lower bracket is connected with wrist joint first actuating mechanism, and first flexible subassembly is used for controlling forearm upper bracket and forearm lower bracket and is close to each other or keep away from to adjust the length of forearm support.
Further, the shoulder joint assembly comprises a shoulder joint first driving mechanism, a first movable frame, a shoulder joint second driving mechanism, a second movable frame, a shoulder joint third driving mechanism and a big arm support which are sequentially connected, wherein the big arm support is connected with the elbow joint driving mechanism, and central axes of the shoulder joint first driving mechanism, the shoulder joint second driving mechanism and the shoulder joint third driving mechanism are intersected at one point.
Further, the big arm support and the forearm support are respectively provided with a man-machine constraint mechanism, the man-machine constraint mechanism comprises a three-dimensional force detection seat, an arch frame, an adapter plate, a support plate and a binding belt, the three-dimensional force detection seat is fixed above the three-dimensional force detection seat, the arch frame is rotationally connected with the three-dimensional force detection seat so that the arch frame deflects along the direction vertical to the big arm/forearm support, the three-dimensional force detection seat is provided with a limiting structure for limiting the rotation of the arch frame, and two ends of the adapter plate are respectively hinged with the support plate and the arch frame so that the support plate can deflect along the length direction of the big arm/forearm support.
Further, the bending angle of the connecting plate connecting the first shoulder joint driving mechanism and the second shoulder joint driving mechanism is 120 degrees, and the bending angle of the connecting plate connecting the second shoulder joint driving mechanism and the third shoulder joint driving mechanism is 120 degrees.
The invention also provides an operation method based on the upper limb single arm rehabilitation training robot, which comprises the following steps:
The motion of the palmar flexion and dorsiflexion is that firstly, the wrist joint second driving mechanism is started, the wrist joint first driving mechanism is closed, the handle is rotated by the wrist joint second driving mechanism, the central shaft of the handle is parallel to the output shaft of the wrist joint first driving mechanism, then, the wrist joint first driving mechanism is started, the wrist joint second driving mechanism is closed, and the motion of the palmar flexion and dorsiflexion is realized by the wrist joint first driving mechanism.
The movement of the radial deviation and the ulnar deviation is that firstly, the wrist joint second driving mechanism is started, the wrist joint first driving mechanism is closed, the handle is rotated through the wrist joint second driving mechanism, the central shaft of the handle is vertical to the output shaft of the wrist joint first driving mechanism, then, the wrist joint first driving mechanism is started, the wrist joint second driving mechanism is closed, and the movement of the radial deviation and the ulnar deviation is realized through the wrist joint first driving mechanism.
And the forearm rotation is realized by starting the wrist joint second driving mechanism under the condition that the central axis of the grip is vertical to the output shaft of the wrist joint first driving mechanism.
The beneficial effects of the invention are as follows:
(1) According to the upper limb single-arm rehabilitation training robot and the operation method, the wrist joint component changes the direction of the palm through the rotation of the grip, so that when the driving mechanism is started, the wrist presents different motion states, and the full-action rehabilitation training of the wrist can be realized through a simple structure.
(2) According to the upper limb single-arm rehabilitation training robot and the operation method, the wrist joint assembly is provided with the two driving mechanisms, and the two driving mechanisms and the positions of the grip are reasonably arranged, so that the position of the grip can be adjusted while the rotation of the forearm is realized by one driving mechanism, and the different rehabilitation movement forms are realized by the other driving mechanism under different states of the grip.
(3) According to the upper limb single-arm rehabilitation training robot and the operation method, the large arm and the small arm are fixed through the man-machine restraint mechanism, the man-machine restraint mechanism and a human body are in a right restraint state, high man-machine compatibility is achieved, the front-back position and inclination conditions of the binding belt can be adjusted according to the specific posture of a patient, and the comfort level of the patient is higher.
(4) According to the upper limb single-arm rehabilitation training robot and the operation method, the shoulder joint assembly is connected with the two adjacent driving mechanisms through the connecting plate with the bending angle of 120 degrees, and the movement range of the shoulder joint is increased through arranging the positions of the three driving mechanisms, so that the rehabilitation training range of a patient is close to the normal movement range of the shoulder joint of a human body.
Drawings
The invention will be further described with reference to the drawings and examples.
FIG. 1 is a perspective view (from above) of a specific embodiment of an upper extremity single arm rehabilitation training robot according to the present invention;
FIG. 2 is an enlarged view of FIG. 1 at a;
FIG. 3 is an enlarged view of FIG. 1 at b;
FIG. 4 is a perspective view (from below) of a specific embodiment of an upper limb single arm rehabilitation training robot according to the present invention;
FIG. 5 is an enlarged view of FIG. 4 at e;
FIG. 6 is a front view of the man-machine restraint mechanism of the present invention;
FIG. 7 is a cross-sectional view taken along A-A of FIG. 6;
FIG. 8 is a bottom view of an embodiment of an upper single arm rehabilitation training robot according to the present invention;
FIG. 9 is a B-B cross-sectional view of FIG. 8;
FIG. 10 is an enlarged view at c of FIG. 9;
FIG. 11 is an enlarged view of FIG. 9 at d;
FIG. 12 is a bottom view of FIG. 8;
FIG. 13 is a D-D sectional view of FIG. 12;
Fig. 14 is a plan view (with a partial enlarged view) of a specific embodiment of the upper limb-single-arm rehabilitation training robot according to the present invention.
In the figure, 1, a shoulder joint assembly, 101, a shoulder joint first driving mechanism, 102, a first movable frame, 103, a shoulder joint second driving mechanism, 104, a second movable frame, 105, a shoulder joint third driving mechanism, 106, a first transfer frame, 107, a second transfer frame, 108, a big arm upper bracket, 109, a big arm lower bracket, 110, a second telescopic assembly, 111, a shoulder joint first fixing bracket, 112, a shoulder joint second fixing bracket, 113, a shoulder joint third fixing bracket, 114, a second arc groove, 115, a first limit block, 116, a second limit block, 117, a first bump, 118, a third arc groove, 119, a third limit block, 2, an elbow joint assembly, 201, an elbow joint driving mechanism, 202, a small arm upper bracket, 203, a small arm lower bracket, 204, arc-shaped mating surface, 205, first telescopic component, 2051, trapezoidal screw, 2052, connecting nut, 2053, hand wheel, 2054, guide shaft, 2055, limit nut, 206, fourth limit block, 207, second bump, 3, wrist component, 301, grip, 302, wrist first driving mechanism, 303, wrist first fixing frame, 304, wrist second driving mechanism, 305, wrist second fixing frame, 306, first slide rail, 4, man-machine constraint mechanism, 401, three-dimensional force detection seat, 4011, base, 40111, first arc-shaped groove, 4012, three-dimensional force sensor, 4013, cap, 402, hinge shaft, 403, adapter plate, 404, support plate, 405, binding band, 406, limit pin, 407, arch frame, 408, second slide rail.
Detailed Description
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the invention.
Example 1
As shown in fig. 1-14, the upper limb single-arm rehabilitation training robot comprises a shoulder joint assembly 1, an elbow joint assembly 2 and a wrist joint assembly 3 which are connected in sequence, wherein the shoulder joint assembly 1 is used for controlling the arm to move around the shoulder joint and assisting the patient to move around the shoulder joint, the shoulder joint is mainly used for adduction/abduction, adduction/adduction and anteversion/postextension, the elbow joint assembly 2 is used for controlling the forearm to move around the elbow joint and assisting the forearm to move around the elbow joint, the elbow joint is mainly used for buckling/stretching, the wrist joint assembly 3 is used for controlling the palm to move around the wrist joint and assisting the patient to move around the wrist joint and the forearm, the wrist joint assembly 3 is mainly used for buckling/dorsiflexion, radial deviation/ulnar deviation and forearm rotation, the wrist joint assembly 3 comprises a driving mechanism and a grip 301, the grip 301 can rotate to realize the rotation of the forearm between a horizontal state and a vertical state, the driving mechanism realizes the radial deviation, the ulnar deviation and the forearm rotation when in the horizontal state, and the palm rotation of the vertical state, and the palm rotation when in the vertical state are in the vertical state.
The invention can realize the full-freedom rehabilitation movement of the whole upper limb single arm through the upper limb single arm rehabilitation training robot, wherein the rotation of the grip 301 is used for changing the orientation of the palm, the hand can be operated by holding the grip 301, and the upper limb single arm rehabilitation training robot is not required to be dismounted, so that the operation is simple and quick.
Wrist joint assembly 3:
As shown in fig. 1 and 3, the wrist joint assembly 3 includes a grip 301, a first wrist joint driving mechanism 302, a first wrist joint fixing frame 303 and a second wrist joint driving mechanism 304, wherein a housing of the first wrist joint driving mechanism 302 is connected with an end of the elbow joint assembly 2, the motion of the elbow joint assembly 2 can drive the whole wrist joint assembly 3 to move through the housing of the first wrist joint driving mechanism 302, the first wrist joint fixing frame 303 is mounted on an output shaft of the first wrist joint driving mechanism 302 and is driven to rotate by the first wrist joint driving mechanism 302, the housing of the second wrist joint driving mechanism 304 is connected with the first wrist joint fixing frame 303, a motion state of the first wrist joint fixing frame 303 can be transmitted to the grip 301 through the second wrist joint driving mechanism 304, and the grip 301 is connected with an output shaft of the second wrist joint driving mechanism 304 and is driven to rotate by the second wrist joint driving mechanism 304. The first wrist fixing frame 303 plays a role in adapting, and the corresponding structure of the first wrist fixing frame 303 can be designed according to the position relation between the first wrist driving mechanism 302 and the second wrist driving mechanism 304. The first wrist joint driving mechanism 302 and the second wrist joint driving mechanism 304 have the same structure, and the first wrist joint driving mechanism 302 is a motor module including a speed reducer and an encoder, for example.
The output shaft of the wrist joint second driving mechanism 304 coincides with the axis of the small arm, the output shaft of the wrist joint second driving mechanism 304 is perpendicular to the central axis of the grip 301, the grip 301 is arranged close to the straight line where the output shaft of the wrist joint second driving mechanism 304 is located, when a patient holds the grip 301, the central axis of the arm is approximately coaxial with the output shaft of the wrist joint second driving mechanism 304, the rotation of the forearm can be realized after the wrist joint second driving mechanism 304 is started, in the rotation process of the forearm, the palm can be switched between a horizontal state and a vertical state, the output shaft of the wrist joint first driving mechanism 302 is perpendicular to the output shaft of the wrist joint second driving mechanism 304, the wrist joint first driving mechanism 302 is used for controlling radial deviation/ulnar deviation and palmar flexion/dorsi flexion of the wrist joint, the grip 301 needs to be as close to the straight line where the central axis of the wrist joint first driving mechanism 302 as possible, in this embodiment, when the grip 301 is in the horizontal state, the palm is held on the grip 301, the wrist joint second driving mechanism 304 is driven to rotate along the horizontal plane, the radial deviation/ulnar deviation/dorsi flexion of the palm of the joint can be controlled, and the palm can be rotated along the vertical plane when the grip 301 is in the vertical state.
In order to position the grip 301 at the intersection point of the output shaft of the first wrist driving mechanism 302 and the output shaft of the second wrist driving mechanism 304, preferably, the output shaft of the second wrist driving mechanism 304 is connected with a second wrist fixing frame 305, the second wrist fixing frame 305 is fixed with a first slide rail 306, the grip 301 is slidably connected to the first slide rail 306, the grip 301 can be positioned on the central shaft of the first wrist driving mechanism 302 by sliding the grip 301 back and forth, and the grip 301 can be adjusted to adapt to different palm sizes by adjusting the axial position of the palm on the grip 301, so that the wrist joint can be positioned on the central shaft of the second wrist driving mechanism 304 after the patient holds the grip 301.
Elbow joint assembly 2:
As shown in fig. 1, 9 and 14, the elbow joint assembly 2 comprises an elbow joint driving mechanism 201 and a forearm support, wherein a shell of the elbow joint driving mechanism 201 is connected with the tail end of the shoulder joint assembly 1, the whole elbow joint assembly 2 can be driven to move by the shell of the elbow joint driving mechanism 201, the forearm support is mounted on an output shaft of the elbow joint driving mechanism 201 and driven to rotate by the elbow joint driving mechanism 201, a shell of the wrist joint first driving mechanism 302 is fixedly connected with the forearm support, one end, facing the wrist joint assembly 3, of the forearm support is provided with a limiting end face, and when the wrist joint first fixing frame 303 rotates, the side face of the wrist joint first fixing frame 303 can be abutted with the limiting end face.
Actuation of the elbow joint drive mechanism 201 may effect flexion/extension rehabilitation movements at the elbow joint. The limiting end face can mechanically limit the first fixing frame 303 of the wrist joint, so that the phenomenon that the wrist joint is excessively bent in the movement process of a patient is prevented.
In order to ensure rotational stability, in this embodiment, the first wrist fixing frame 303 contacts with the forearm support through an arc surface, that is, one end of the first wrist fixing frame 303 in the length direction is an arc end surface, the limiting end surface is an arc mating surface 204 that is attached to the arc end surface, and the first wrist fixing frame 303 rotates between two ends of the arc mating surface 204 in the circumferential direction. Specifically, as shown in fig. 8, the forearm support includes an upper forearm support 202, a first telescopic assembly 205, and a lower forearm support 203, the upper forearm support 202 is mounted on an output shaft of the elbow joint driving mechanism 201, the lower forearm support 203 is connected to the first wrist joint driving mechanism 302, and the first telescopic assembly 205 is used for controlling the upper forearm support 202 and the lower forearm support 203 to approach or separate from each other. The arc-shaped mating surface 204 is located at the end of the forearm lower support 203, as shown in fig. 14, the end of the forearm lower support 203 is provided with a groove, the side surface of the groove is the arc-shaped mating surface 204, the first wrist joint fixing frame 303 is located in the groove, the length of the first wrist joint fixing frame 303 is greater than the diameter of the arc-shaped mating surface 204, when the first wrist joint fixing frame 303 rotates, the side surface of the first wrist joint fixing frame 303 can be abutted with the end of the arc-shaped mating surface 204 to realize mechanical limiting, and as preferable, the central part of the arc-shaped mating surface 204 is attached to the end of the first wrist joint fixing frame 303, and the two ends of the arc-shaped mating surface 204 are gradually expanded outwards. The elbow joint drive mechanism 201 has the same structure as the wrist joint first drive mechanism 302.
The first telescopic assembly 205 is used for realizing telescopic translational motion, for example, may be a telescopic cylinder, a screw nut mechanism, etc., in this embodiment, as shown in fig. 5 and 10, the first telescopic assembly 205 includes a trapezoidal screw 2051, a connecting nut 2052, a hand wheel 2053, and a guide shaft 2054, the upper forearm support 202 and the lower forearm support 203 have bosses extending downward, the trapezoidal screw 2051 is connected to the two bosses, the connecting nut 2052 is fixed to the boss of the upper forearm support 202, the trapezoidal screw 2051 is in threaded fit with the connecting nut 2052, one end of the guide shaft 2054 is provided with a limit nut 2055, the other end passes through the boss of the upper forearm support 202 and is in threaded connection with the boss of the lower large arm support 109, the guide shaft 2054 can slide relative to the upper forearm support 202, the limit nut 2055 can mechanically limit the guide shaft 2054, and the guide shaft 2054 is placed out of the boss of the upper forearm support 202. The trapezoidal screw 2051 is rotationally connected with a boss of the forearm lower support 203 through a linear bearing, the hand wheel 2053 is fixed at the end part of the trapezoidal screw 2051, when the hand wheel 2053 is rotated, the hand wheel 2053 drives the trapezoidal screw 2051 to rotate, so that the forearm upper support 202 moves relative to the trapezoidal screw 2051, and because the trapezoidal screw 2051 and the forearm lower support 203 are axially fixed through the linear bearing, the forearm upper support 202 moves relative to the forearm lower support 203, and the telescopic action of the forearm support is realized.
Shoulder joint assembly 1:
The shoulder joint assembly 1 comprises a first shoulder joint driving mechanism 101, a first movable frame 102, a second shoulder joint driving mechanism 103, a second movable frame 104, a third shoulder joint driving mechanism 105 and a large arm support, wherein the first shoulder joint driving mechanism 101, the first shoulder joint driving mechanism 102, the second shoulder joint driving mechanism 103, the second shoulder joint driving mechanism 104, the third shoulder joint driving mechanism 105 and the large arm support are sequentially connected, the large arm support is connected with a shell of an elbow joint driving mechanism 201, and central axes of the first shoulder joint driving mechanism 101, the second shoulder joint driving mechanism 103 and the third shoulder joint driving mechanism 105 intersect at one point.
As shown in fig. 1 and 2, the housing of the first shoulder joint driving mechanism 101 is fixed to the first shoulder joint fixing frame 111, the first shoulder joint fixing frame 111 is mounted on the fixed structure, the first movable frame 102 is mounted on the output shaft of the first shoulder joint driving mechanism 101, the housing of the second shoulder joint driving mechanism 103 is fixed to the second shoulder joint fixing frame 112, the second shoulder joint fixing frame 112 is connected to the first movable frame 102 through the first adapter frame 106, the output shaft of the second shoulder joint fixing frame 112 is connected to the second movable frame 104, the housing of the third shoulder joint driving mechanism 105 is fixed to the third shoulder joint fixing frame 113, the third shoulder joint fixing frame 113 is connected to the second movable frame 104 through the second adapter frame 107, and the large arm support is fixedly mounted on the output shaft of the third shoulder joint driving mechanism 105. The first shoulder joint driving mechanism 101, the second shoulder joint driving mechanism 103, and the third shoulder joint driving mechanism 105 are each configured in the same manner as the first wrist joint driving mechanism 302. The rotation axes of the first driving mechanism 101, the second driving mechanism 103 and the third driving mechanism 105 can be perpendicular to each other, and in order to expand the rotation range, in this embodiment, the first adapter frame 106 and the second adapter frame 107 are used to adjust the angle between the two adjacent driving mechanisms. The bending angle of the first adapter bracket 106 is 120 °, and the bending angle of the second adapter bracket 107 is 120 °.
The shoulder joint assembly 1 can realize adduction/abduction, internal rotation/external rotation, anterior flexion/posterior extension rehabilitation movements at the shoulder joint.
In order to be able to adjust the length of the forearm support, the forearm support preferably has the same telescopic structure as the forearm support, i.e. the forearm support comprises a forearm upper support 108, a forearm lower support 109 and a second telescopic assembly 110 connecting between the forearm upper support 108 and the forearm lower support 109, the second telescopic assembly 110 being of the same structure as the first telescopic assembly 205, the forearm upper support 108 being mounted on the output shaft of the shoulder joint third drive mechanism 105, the forearm lower support 109 being fixed to the housing of the elbow joint drive mechanism 201.
Example two
On the basis of the first embodiment, the big arm support and the small arm support are respectively provided with a man-machine restraint mechanism 4, and the number of degrees of freedom of the man-machine restraint mechanism 4 is calculated according to the following formula:
Wherein F is the number of degrees of freedom in the closed chain, F i is the number of degrees of freedom of the joint i, n is the number of joints, d is the dimension of the movement space, and l is the number of loops of the closed chain.
Where f ik is the number of degrees of freedom of the known joint i, m is the number of known joints, and f juk is the number of degrees of freedom of the unknown joint j.
The number of unknown degrees of freedom in the closed chain of the large arm man-machine is as follows: the number of unknown degrees of freedom in the closed chain of the upper limb man-machine is as follows: the number of degrees of freedom of the large arm and the small arm man-machine restraint mechanisms is 3 respectively.
In this embodiment, the two man-machine restraint mechanisms 4 have the same structure, taking the man-machine restraint mechanism 4 connected with the boom support as an example, the man-machine restraint mechanism 4 comprises a three-dimensional force detection seat 401, an arch frame 407, an adapter plate 403, a support plate 404 and a binding belt 405, the three-dimensional force detection seat 401 comprises a base 4011, a three-dimensional force sensor 4012 arranged on the base 4011 and a cap 4013 fixed on the top of the three-dimensional force sensor 4012, the base 4011 is fixed above the boom support, the arch frame 407 is rotationally connected with the base 4011 so as to enable the arch frame 407 to deflect along the direction of the boom support, the three-dimensional force detection seat 401 is provided with a limit structure for limiting the rotation of the arch frame 407, and two ends of the adapter plate 403 are respectively hinged with the support plate 404 and the arch frame 407 so that the support plate 404 can incline along the length direction of the vertical boom support, and the binding belt 405 is connected with the top of the support plate 404.
As shown in fig. 6, 7 and 10, two sides of the arch frame 407 are provided with a first arc groove 40111, the arc center of the first arc groove 40111 is located above the first arc groove 40111, and a hinge shaft 402 is arranged at the arc center of the first arc groove 40111, so that the arch frame 407 is hinged with the base 4011, and accordingly the arch frame 407 can tilt forwards and backwards along the length direction of the large arm support, the limiting structure can be limiting pins 406 fixed on two sides of the base 4011, the limiting pins 406 are inserted into the first arc groove 40111, and when the limiting pins 406 are abutted with the end parts of the first arc groove 40111, the arch frame 407 cannot rotate continuously. In fig. 7, the right lower end of the adapter plate 403 is hinged to the arch 407 through a hinge, the left upper end of the adapter plate 403 is hinged to the support plate 404 through a hinge, the central axis of the hinge is parallel to the length direction of the large arm support, and the central axes of the two hinges are not collinear, so that the support plate 404 can tilt along the two sides of the large arm support. The top of the supporting plate 404 is preferably provided with a second sliding rail 408, the second sliding rail 408 is parallel to the length direction of the large arm support, the binding belt 405 is slidably connected to the second sliding rail 408, and the position of the binding belt 405 on the arm can be adjusted according to the length of the arm. Through first arc groove 40111, double hinge, second slide rail 408, make the patient when using this rehabilitation robot, human-computer restraint mechanism 4 can the micro-change of self-adaptation patient's big arm and forearm to improve the travelling comfort that the patient used.
Example III
On the basis of the first embodiment or the second embodiment, in order to avoid the damage of the shoulder joint caused by the overlarge rotation angle of the first driving mechanism 101 of the shoulder joint, as shown in fig. 2, a second arc-shaped groove 114 is arranged on the end surface of the first movable frame 102, which is opposite to the first fixing frame 111 of the shoulder joint, a first limiting block 115 suitable for being inserted into the second arc-shaped groove 114 is fixed on the first fixing frame of the shoulder joint, the arc center of the second arc-shaped groove 114 is collinear with the rotation center of the first movable frame 102, and the first limiting block 115 moves in the second arc-shaped groove 114 to play a mechanical limiting role and avoid the overlarge rotation angle of the first movable frame 102.
Similarly, as shown in fig. 11, a second limiting block 116 is installed on the second fixing frame 112 of the shoulder joint, a first protruding block 117 is fixed on the outer side wall of the second moving frame 104, and when the first protruding block 117 rotates to the second limiting block 116, the second limiting block 116 prevents the first protruding block 117 from continuing to rotate, so that a mechanical limiting effect is achieved.
Similarly, as shown in fig. 12 and 13, the upper arm support 108 has a third arc-shaped groove 118 at a portion rotationally connected to the third fixing frame 113 of the shoulder joint, the arc-shaped center of the third arc-shaped groove 118 is collinear with the rotation center of the upper arm support 108, a third stopper 119 is mounted on the third fixing frame 113 of the shoulder joint, and the third stopper 119 moves in the third arc-shaped groove 118 to perform a mechanical limiting function.
As shown in fig. 14, a fourth limiting block 206 is fixed on the lower bracket 203 of the large arm, and a second protruding block 207 is mounted on the side of the upper bracket of the small arm, and when the second protruding block 207 rotates to the fourth limiting block 206, the fourth limiting block 206 prevents the second protruding block 207 from continuing to rotate, thereby playing a role of mechanical limiting.
Example IV
An operation method based on the upper limb single arm rehabilitation training robot comprises the following steps:
the motion of the palmar flexion and dorsiflexion is that firstly, the wrist joint second driving mechanism 304 is started, the wrist joint first driving mechanism 302 is closed, the wrist joint second driving mechanism 304 drives the grip 301 to rotate, the central axis of the grip 301 is parallel to the output shaft of the wrist joint first driving mechanism 302, then, the wrist joint first driving mechanism 302 is started, the wrist joint second driving mechanism 304 is closed, and the motion of the palmar flexion and dorsiflexion is realized through the wrist joint first driving mechanism 302.
The radial offset and ulnar offset movements comprise the steps of firstly starting a wrist joint second driving mechanism 304, closing a wrist joint first driving mechanism 302, enabling the wrist joint second driving mechanism 304 to drive a grip 301 to rotate, enabling a central shaft of the grip 301 to be perpendicular to an output shaft of the wrist joint first driving mechanism 302, then starting the wrist joint first driving mechanism 302, closing the wrist joint second driving mechanism 304, and achieving radial offset and ulnar offset movements through the wrist joint first driving mechanism 302.
Forearm rotation movement by activating the wrist second drive mechanism 304 with the central axis of the grip 301 perpendicular to the output shaft of the wrist first drive mechanism 302.
The method of operation of the shoulder joint assembly 1 of the present invention is the same as that of the rehabilitation robot of the prior art and will not be described in detail here.
In the description of the present invention, it should be understood that the terms "center", "front", "rear", "inner", "outer", "axial", and the like indicate an orientation or a positional relationship based on that shown in the drawings, and are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the apparatus or element to be referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.
Furthermore, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In this specification, a schematic representation of the terms does not necessarily refer to the same embodiment. Furthermore, the particular features, structures, materials, or characteristics may be combined in any suitable manner in any one or more embodiments.
With the above-described preferred embodiments according to the present invention as an illustration, the above-described descriptions can be used by persons skilled in the relevant art to make various changes and modifications without departing from the scope of the technical idea of the present invention. The technical scope of the present invention is not limited to the description, but must be determined according to the scope of claims.
Claims (8)
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| CN115778759A (en) * | 2022-12-27 | 2023-03-14 | 哈尔滨理工大学 | A new structure design of upper extremity rehabilitation exoskeleton |
| CN118269064B (en) * | 2024-05-31 | 2024-08-02 | 北京社会管理职业学院(民政部培训中心) | Exercise assisting mechanical arm for limb rehabilitation training and use method |
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| CN105726260A (en) * | 2016-03-16 | 2016-07-06 | 安阳神方康复机器人有限公司 | Interchangeable upper limb rehabilitation robot |
| CN109009875A (en) * | 2018-08-20 | 2018-12-18 | 中国科学院苏州生物医学工程技术研究所 | Personalized upper-limbs rehabilitation training robot |
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| FR2917323B1 (en) * | 2007-06-12 | 2009-10-02 | Commissariat Energie Atomique | FRONT ROTATION MECHANISM AND ORTHESIS COMPRISING SUCH A MECHANISM |
| KR101065420B1 (en) * | 2008-12-16 | 2011-09-16 | 한양대학교 산학협력단 | Wearable robotic device for upper limb movement |
| JP2010201111A (en) * | 2009-03-06 | 2010-09-16 | Akita Prefecture | Upper limb rehabilitation support device |
| WO2019004676A1 (en) * | 2017-06-29 | 2019-01-03 | 주식회사 네오펙트 | Body motion assist device |
| CN109124985B (en) * | 2018-08-20 | 2024-03-22 | 中国科学院苏州生物医学工程技术研究所 | Individualized upper limb rehabilitation training robot system based on path planning |
| CN111110509A (en) * | 2019-12-25 | 2020-05-08 | 南京理工大学 | Interchangeable and evading strange seven-degree-of-freedom upper limb exoskeleton rehabilitation robot |
| CN111588590B (en) * | 2020-05-25 | 2024-09-13 | 燕山大学 | Six-degree-of-freedom upper limb rehabilitation training arm and robot |
| KR102477974B1 (en) * | 2020-11-25 | 2022-12-15 | 대한민국 | Wrist joint rehabilitation training device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105726260A (en) * | 2016-03-16 | 2016-07-06 | 安阳神方康复机器人有限公司 | Interchangeable upper limb rehabilitation robot |
| CN109009875A (en) * | 2018-08-20 | 2018-12-18 | 中国科学院苏州生物医学工程技术研究所 | Personalized upper-limbs rehabilitation training robot |
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