CN109620632B - Self-adaptive arm support device of upper limb rehabilitation robot - Google Patents
Self-adaptive arm support device of upper limb rehabilitation robot Download PDFInfo
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- CN109620632B CN109620632B CN201811366738.4A CN201811366738A CN109620632B CN 109620632 B CN109620632 B CN 109620632B CN 201811366738 A CN201811366738 A CN 201811366738A CN 109620632 B CN109620632 B CN 109620632B
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- 210000001364 upper extremity Anatomy 0.000 title claims abstract description 33
- 230000003044 adaptive effect Effects 0.000 claims description 17
- 238000006073 displacement reaction Methods 0.000 claims description 3
- 230000003993 interaction Effects 0.000 abstract description 8
- 230000006378 damage Effects 0.000 abstract description 5
- 238000011084 recovery Methods 0.000 abstract 1
- 230000000903 blocking effect Effects 0.000 description 16
- 210000000245 forearm Anatomy 0.000 description 7
- 230000003139 buffering effect Effects 0.000 description 6
- 230000000694 effects Effects 0.000 description 6
- 238000005192 partition Methods 0.000 description 5
- 208000027418 Wounds and injury Diseases 0.000 description 2
- 238000013016 damping Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 208000014674 injury Diseases 0.000 description 2
- 210000003857 wrist joint Anatomy 0.000 description 2
- 230000001174 ascending effect Effects 0.000 description 1
- 210000003414 extremity Anatomy 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000010030 laminating Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003252 repetitive effect Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000000717 retained effect Effects 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
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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
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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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- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention relates to a self-adaptive arm support device of an upper limb rehabilitation robot, which comprises a base and is characterized by also comprising: the arc-shaped track is fixed with the base; the sliding seat slides along the arc-shaped track; and the arm supporting plate is rotatably arranged on the sliding seat. According to the self-adaptive arm support device for the upper limb rehabilitation robot, disclosed by the invention, high-freedom-degree training of a patient is realized through interaction among the arc-shaped rail, the sliding seat and the arm support plate, the aim of flexible interaction is fulfilled, secondary damage is prevented, the patient can train more comfortably and healthily, and the recovery of the patient is facilitated.
Description
Technical Field
The invention relates to medical equipment, in particular to an adaptive arm support device of an upper limb rehabilitation robot.
Background
Medical theory and practice prove that the limb movement function of a hemiplegic patient caused by stroke can be recovered to a certain degree through a large amount of repetitive function training. The rehabilitation robot is used for assisting rehabilitation training, so that a large amount of manpower and material resources can be saved, the rehabilitation level of a patient can be evaluated in a real-time and quantitative manner, and the whole rehabilitation industry is influenced positively.
Researches prove that single joint independent training is more effective than multi-joint simultaneous training in rehabilitation training, and in order to reduce the interference effect of non-training joints on the training joints, a fixing device is required to be designed in the rehabilitation robot to fix the non-training joints to a certain extent. Based on the design principle, when a hemiplegic patient carries out the flexion/extension movement, the adduction/abduction movement and the pronation/supination movement of the forearm, the upper limb rehabilitation robot needs to design an arm support device to fix the forearm to a certain extent so as to improve the training effect.
In the recovered robot of current upper limbs, most arm holds in the palm the device and adopts the semicylindrical shell structure to hold human forearm and utilize the ribbon to tighten and realize fixing, often does not possess sufficient degree of freedom, and the arm holds in the palm is the device that realizes human-computer interaction, and thorough fixed can't reach flexible interaction, has increased user's uncomfortable sense, causes secondary injury even.
Disclosure of Invention
The invention aims to solve the problems and provides an adaptive arm support device of an upper limb rehabilitation robot, which is used for successfully completing upper limb rehabilitation training by a patient, achieving flexible interaction, removing discomfort of the user and preventing secondary injury.
The invention provides a self-adaptive arm support device of an upper limb rehabilitation robot, which comprises a base and is also provided with:
the arc-shaped track is fixed with the base;
the sliding seat slides along the arc-shaped track;
and the arm supporting plate is rotatably arranged on the sliding seat.
Several alternatives are provided below, but not as an additional limitation to the above general solution, but merely as a further addition or preference, each alternative being combinable individually for the above general solution or among several alternatives without technical or logical contradictions.
In one embodiment, a first buffer member is provided which acts between the arm rest and the carriage and deforms when the arm rest and the carriage rotate relative to each other.
In one embodiment, the arm supporting plate is mounted on the sliding seat through a pivot, and the arm supporting plate and the sliding seat can move axially relatively, and the adaptive arm supporting device for the upper limb rehabilitation robot further comprises a second buffer piece acting between the arm supporting plate and the sliding seat and deforming when the arm supporting plate and the sliding seat move axially relatively.
In one embodiment, the pivot is fixed to a slide and the arm rest is provided with a bushing cooperating with the pivot.
In one embodiment, the top surface of the sliding seat is provided with a mounting groove located on the periphery of the pivot, a first blocking piece is arranged on the inner wall of the mounting groove, a part of the shaft sleeve extends into the mounting groove to serve as a second blocking piece, and the first buffering piece is located in the mounting groove and circumferentially abuts against the first blocking piece and the second blocking piece respectively.
In one embodiment, the second buffer member is disposed at a bottom portion of the mounting groove, the floating plate is disposed above the second buffer member, the first buffer member is mounted on the floating plate, and an end surface of the sleeve abuts against the first buffer member in a circumferential direction of the mounting groove.
In one embodiment, the inner wall of the shaft sleeve is provided with a limiting step, the pivot is provided with a limiting rod, one end of the limiting rod extends to the position above the limiting step in the shaft sleeve, and the end part of the limiting rod is provided with an anti-falling head which is abutted against the limiting step.
In one embodiment, a lock is provided to hold the carriage in a predetermined position on the arcuate track.
In one embodiment, two ends of the arc-shaped guide rail are respectively provided with a limiting part, and the limiting parts are used for limiting the displacement of the sliding mechanism on the arc-shaped guide rail.
In one embodiment, the base is height adjustable.
The self-adaptive arm support device for the upper limb rehabilitation robot is provided with the arc-shaped track, the sliding seat and the arm support plate, the arm support plate is rotatably arranged on the sliding seat, and the arm support plate can slide on the arc-shaped track through the sliding seat, so that a patient can smoothly complete upper limb rehabilitation training, high-freedom-degree training of the patient is realized through interaction of the arm support plate, the sliding seat and the arm support plate, flexible interaction is achieved, secondary damage is prevented, and discomfort of the user is removed.
Drawings
Fig. 1 is a schematic structural view of an adaptive arm support device of an upper limb rehabilitation robot;
fig. 2 is a schematic diagram of a sliding seat in the adaptive arm support device of the upper limb rehabilitation robot;
fig. 3 is a cross-sectional view of a sliding seat in the adaptive arm support device of the upper limb rehabilitation robot;
fig. 4 is a schematic diagram of an arm supporting plate in the adaptive arm supporting device of the upper limb rehabilitation robot;
fig. 5 is a cross-sectional view of an arm supporting plate in the adaptive arm supporting device of the upper limb rehabilitation robot.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below by way of embodiments with reference to the accompanying drawings. It should be understood that the embodiments described herein are only for the understanding of the present invention and do not limit the present invention.
Referring to fig. 1-5, in an embodiment of the present invention, an adaptive arm support device for an upper limb rehabilitation robot in the embodiment includes a base, and further includes:
the arc-shaped track is fixed with the base;
the sliding seat slides along the arc-shaped track;
and the arm supporting plate is rotatably arranged on the sliding seat.
The recovered robot self-adaptation arm of upper limbs in this embodiment holds in palm device, the arm layer board is installed on the slide, the slide cooperatees with the arc track, thereby arm layer board accessible slide on the arc track, and because the arm layer board rotates and installs on the slide, so the arm layer board can realize rotating for the slide level on the slide, when the patient uses this recovered robot self-adaptation arm of upper limbs to hold in the palm the device, rehabilitation training's degree of freedom is higher, realize man-machine flexibility and interact, the discomfort of traditional arm support device has been got rid of, prevent the secondary damage.
Further, the adaptive arm rest device for the upper limb rehabilitation robot in the embodiment is further provided with a first buffer member 6 which acts between the arm support plate 1 and the slide base 2 and deforms when the arm support plate 1 and the slide base 2 rotate relatively.
Since the arm rest 1 is rotatably mounted on the slide base 2, when the arm rest 1 relatively rotates on the slide base 2, the first buffer member 6 is used for buffering the rotation between the two, wherein in this embodiment, the first buffer member 6 is an arc-shaped coil spring, and it should be noted that in other embodiments, the first buffer member 6 may also be another buffer device as long as the purpose of buffering the rotation between the arm rest 1 and the slide base 2 can be achieved.
Referring to fig. 2 and 4, the arm rest 1 is mounted on the slide carriage 2 via a pivot 21, wherein the arm rest 1 and the slide carriage 2 are relatively movable in the axial direction of the pivot 21, and a second damping member 7 is provided between the arm rest 1 and the slide carriage 2, the second damping member being deformable during the relative axial movement.
As shown in fig. 3, in the present embodiment, the second buffer 7 is a linear coil spring, and in the same way, in other embodiments, the second buffer 7 can be other buffer devices, which only needs to satisfy the relative movement between the buffer arm supporting plate 1 and the sliding base 2 along the axial direction of the pivot 21.
Further, referring to fig. 2 and 4, a pivot 21 is fixed to the slide 2, and the arm rest 1 is provided with a boss 11 fitted to the pivot 21.
Specifically, the pivot 21 is fixed on the sliding base 2 for facilitating the connection between the arm support plate 1 and the sliding base 2, wherein the arm support plate 1 is provided with a shaft sleeve 11, and the shaft sleeve 11 is matched with the pivot 21 for facilitating the connection between the arm support plate 1 and the pivot 21.
In this embodiment, the structure of the sleeve 11 on the arm support plate 1 is a cylinder with a semicircular section as shown in fig. 4, and it should be noted that the specific shape structure of the sleeve 11 is that of this embodiment, and other structures can be used in other embodiments as long as the sleeve 11 can be matched with the pivot 21.
As shown in fig. 2 and 3, the top surface of the slide 2 is provided with a mounting groove 22 at the periphery of the pivot 21, the mounting groove 22 surrounding the pivot 21, the mounting groove 22 being provided for the purpose of placing the first cushion member 6 and the second cushion member 7.
The inner wall of the mounting groove 22 is provided with a first blocking piece 23, when the arm supporting plate 1 and the sliding seat 2 are rotatably mounted, one part of the shaft sleeve 11 extends into the mounting groove 22 to serve as a second blocking piece, and the first buffer piece 6 is positioned in the mounting groove 23 and is circumferentially abutted against the first blocking piece 23 and the second blocking piece respectively; the second cushion member 7 is provided at the bottom of the mounting groove 22, the floating plate 24 is provided above the second cushion member 7, the second cushion member 7 is interposed between the floating plate 24 and the bottom of the mounting groove 22, the first cushion member 6 is mounted on the floating plate 24, and the end surface of the boss 11 serving as a second stopper abuts against the first cushion member 6 in the circumferential direction of the mounting groove.
Specifically, in this embodiment, the first blocking member 23 is a partition plate, the partition plate is connected to the floating plate 24, the partition plate is disposed in the mounting groove 22 through a positioning groove 25 on an inner wall of the mounting groove 22, the floating plate 24 is sleeved on the pivot shaft 21, wherein the partition plate is axially movable in the positioning groove 25 along the pivot shaft 21, two arc-shaped coil springs serving as the first buffering member 6 are disposed on the floating plate 24, the two arc-shaped coil springs are abutted to the partition plate serving as the first blocking member 23 and the shaft sleeve 11 serving as the second blocking member, and the linear coil spring serving as the second buffering member 7 is disposed between a bottom of the mounting groove 22 and the floating plate 24.
Further, be connected with slide 2 when arm layer board 1, the axle sleeve 11 that is located on arm layer board 1 stops when the piece as the second, axle sleeve 11 offsets with floating plate 24 and two arc coil spring as first bolster 6 respectively, when arm layer board 1 rotates with slide 2 relatively, two arc coil spring can play circumference cushioning effect, when following pivot 21 axial relative motion between arm layer board 1 and slide 2, arrange straight line shape coil spring between floating plate 24 and the mounting groove 22 tank bottom in and can play axial cushioning effect, thereby guarantee that the patient trains smoothly, increase patient rehabilitation training's comfort.
It should be noted that, in other embodiments, the first blocking element 23 may also be in other blocking structures, and the separation plate is only selected in this embodiment, in other embodiments, the first blocking element 23 and the inner wall of the mounting groove 22 are also in an integral structure or other connection manners, and the first blocking element 23 and the floating plate 24 may not be connected, and only the first blocking element 23 needs to block the first buffer element 6, and the floating plate 24 separates the first buffer element 6 from the second buffer element 7.
As shown in fig. 4, the inner wall of the shaft sleeve 11 is provided with a limiting step 111, the pivot 21 is provided with a limiting rod 211, one end of the limiting rod 211 extends above the limiting step 111 in the shaft sleeve 11, and the end of the limiting rod 211 is provided with an anti-falling head 212 which abuts against the limiting step 111.
In this embodiment, the limiting rod 211 is a limiting bolt, the anti-slip head 212 is an anti-slip piece, when the arm support plate 1 is connected with the slide base 2 through the pivot 21, the limiting bolt on the pivot 21 interacts with the anti-slip piece on the limiting step 111, and the limiting bolt is connected with the pivot 21, so as to ensure the rotational installation between the arm support plate 1 and the slide base 2.
Further, in this embodiment, in order to guarantee fixed connection between base 4 and the arc track 3, still be equipped with arc 5, wherein arc 5 suits with arc track 3, and arc slide rail 3 sets up on the arc 5 of shape laminating, and arc 5 is connected with base 4.
In particular, the slide 2 and the arm rest 1 are both located in the area half-enclosed by the arc 5.
The self-adaptive arm support device of the upper limb rehabilitation robot is also provided with a locking piece for keeping the sliding seat at a preset position of the arc-shaped track.
In this embodiment, the locking piece is positioning bolt 8, be equipped with first locating hole in slide 2 bottom, be equipped with the second locating hole in arc track 3's lower extreme, the second locating hole link up arc track 3 and arc 5, first locating hole all is equipped with the screw thread with positioning bolt 8 matched with the second locating hole, wherein positioning bolt 8 cooperatees with the second locating hole, when slide 2 is in arc track 3's lower extreme, first locating hole is relative with the second locating hole position, can connect first locating hole and second locating hole through twisting positioning bolt 8, thereby reach the purpose of fixed slide 2.
It should be noted that, in other embodiments, the number of the second positioning holes may be multiple and are uniformly distributed on the arc-shaped rail 3; or in other embodiments, other locking means may be used, provided that the carriage 2 is retained in a predetermined position on the arcuate track 3.
As shown in fig. 1, both ends of the arc-shaped rail 3 are provided with a limiting portion 31, and the limiting portion 31 is used for limiting the displacement of the slide base 2 on the arc-shaped guide rail 3, preventing the slide base 2 from sliding out of the arc-shaped rail 3, and ensuring the slide base 2 to normally slide on the arc-shaped rail 3.
In this embodiment, the limiting portions 31 at two ends of the arc-shaped track 3 are limiting screws and fixed on the arc-shaped track, and in other embodiments, can be limiting blocks or other limiting devices as long as the sliding base 2 can not slide out of the arc-shaped track 3.
Further, the height of the self-adaptive arm support device base 4 of the upper limb rehabilitation robot is adjustable.
Referring to fig. 1, the base 4 in this embodiment is a Y-shaped base, and includes a Y-shaped member 41, a fixing seat 42 and a fixing bolt 43, the Y-shaped member 41 is partially disposed in the fixing seat 42, the fixing seat 42 is provided with the fixing bolt 43, wherein the portion of the Y-shaped member 41 disposed in the fixing seat 42 is adjustable, and the fixing bolt 43 is screwed to fix the portion of the Y-shaped member 41 disposed in the fixing seat 42, thereby achieving the adjustment of the base 4.
It should be noted that there are many ways to realize the height adjustment of the base 4, and in other embodiments, other ways may be adopted, which is not limited herein.
In summary, the present invention can achieve the following effects in this embodiment:
when the patient is training the forearm to pronate/supinate, the arm supporting plate can follow the forearm of the patient and slide on the arc-shaped track by means of the sliding seat.
When the patient is training wrist joint flexion/extension motion, the arm layer board can rely on the sharp form coil spring in the slide subassembly to follow the forearm and follow the ascending small range motion of pivot, and sharp form coil spring plays certain cushioning effect, the comfort when the increase patient trains.
When a patient moves in a wrist joint for training in adduction/abduction, the arm supporting plate can move along the forearm in a small range along the pivot circumference by depending on the two arc-shaped spiral springs in the sliding seat assembly, and the arc-shaped spiral springs also play a certain buffering role, so that the rehabilitation training of the patient is facilitated.
This upper limbs rehabilitation robot self-adaptation arm holds in palm device has increased a plurality of degrees of freedom, realizes flexible interaction, has promoted the comfort of patient when the rehabilitation training.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (8)
1. Recovered robot self-adaptation arm of upper limbs holds in palm device, including the base, its characterized in that still is equipped with:
the arc-shaped track is fixed with the base;
the sliding seat slides along the arc-shaped track;
the arm supporting plate is rotatably arranged on the sliding seat;
the first buffer piece acts between the arm supporting plate and the sliding seat and deforms when the arm supporting plate and the sliding seat rotate relatively;
the arm supporting plate is installed on the sliding seat through a pivot, and the arm supporting plate and the sliding seat can move axially relative to each other.
2. The adaptive arm rest device for upper limb rehabilitation robot according to claim 1, wherein said pivot is fixed to a slide base, and said arm rest is provided with a bushing fitted to said pivot.
3. The adaptive arm support device for an upper limb rehabilitation robot as claimed in claim 2, wherein the slide base has a mounting groove formed on the top surface thereof and located at the periphery of the pivot, a first stopper is provided on the inner wall of the mounting groove, a portion of the shaft sleeve extends into the mounting groove as a second stopper, and the first buffer member is located in the mounting groove and circumferentially abuts against the first stopper and the second stopper, respectively.
4. The upper limb rehabilitation robot adaptive arm rest device according to claim 3, wherein the second buffer member is provided at a bottom portion of the mounting groove, a floating plate is provided above the second buffer member, the first buffer member is seated on the floating plate, and an end surface of the boss abuts against the first buffer member in a circumferential direction of the mounting groove.
5. The adaptive arm support device for an upper limb rehabilitation robot as claimed in claim 4, wherein the inner wall of the shaft sleeve is provided with a limit step, the pivot is provided with a limit rod, one end of the limit rod extends above the limit step in the shaft sleeve, and the end part of the limit rod is provided with an anti-falling head which is abutted against the limit step.
6. The adaptive arm rest device for upper limb rehabilitation robot according to claim 5, wherein a locking member for holding the slide base at a predetermined position on the arc-shaped rail is further provided.
7. The adaptive arm support device for an upper limb rehabilitation robot according to claim 6, wherein both ends of the arc-shaped rail are provided with limiting parts for limiting the displacement of the sliding mechanism on the arc-shaped rail.
8. The adaptive arm rest device of an upper extremity rehabilitation robot as claimed in claim 7, wherein said base is height adjustable.
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| CN201811366738.4A CN109620632B (en) | 2018-11-16 | 2018-11-16 | Self-adaptive arm support device of upper limb rehabilitation robot |
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| CN201811366738.4A CN109620632B (en) | 2018-11-16 | 2018-11-16 | Self-adaptive arm support device of upper limb rehabilitation robot |
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| CN109620632B true CN109620632B (en) | 2021-10-22 |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110074945B (en) * | 2019-06-10 | 2021-10-26 | 上海理工大学 | Forearm self-adaptive mechanism for central driving upper limb rehabilitation robot |
| CN110116423B (en) * | 2019-06-19 | 2024-02-27 | 重庆大学 | Transmission shaft protection device, walking robot joint structure and walking robot |
| CN111904792B (en) * | 2020-08-12 | 2023-02-03 | 威海经济技术开发区天智创新技术研究院 | Skin deformation compensation structure for lower limb rehabilitation instrument |
| CN111904790B (en) * | 2020-08-12 | 2023-08-22 | 威海经济技术开发区天智创新技术研究院 | Multi-track knee joint rehabilitation training robot |
| CN111904791B (en) * | 2020-08-12 | 2023-08-22 | 威海经济技术开发区天智创新技术研究院 | Skin deformation compensation structure of lower limb rehabilitation instrument |
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| CN109620632A (en) | 2019-04-16 |
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