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CN-122005266-A - Upper limb multi-joint training device

CN122005266ACN 122005266 ACN122005266 ACN 122005266ACN-122005266-A

Abstract

The application relates to an upper limb multi-joint training device, and belongs to the technical field of rehabilitation medical appliances. The device comprises a main motion platform and a driven execution terminal, wherein the main motion platform is a multi-degree-of-freedom industrial mechanical arm and is used for driving an upper limb of a user to complete three-dimensional space compound motion of shoulder joints and elbow joints, the connecting mechanism is arranged between the tail end of the main motion platform and the driven execution terminal and is used for detachably mounting the driven execution terminal at the tail end of the main motion platform, the driven execution terminal comprises three rotary joints which are sequentially connected in series, and the three rotary joints respectively provide one degree of rotation freedom and correspondingly realize flexion and extension motion of the wrist joint, radial ulnar deviation motion and rotation and supination motion of the forearm. The application can realize the large-scale cooperative movement of the shoulder and elbow joint and the full-freedom degree fine training of the wrist joint at the same time, improves the comprehensiveness of the rehabilitation training, and is suitable for the clinical rehabilitation training of patients with upper limb dyskinesia.

Inventors

  • LIU XIAOYU
  • DU YUJIAO
  • Guo Jiedie

Assignees

  • 北京航睿康科技有限公司

Dates

Publication Date
20260512
Application Date
20260327

Claims (10)

  1. 1. The upper limb multi-joint training device is characterized by comprising a main motion platform (1), a driven execution terminal (2) and a connecting mechanism (3); The main motion platform (1) is a multi-degree-of-freedom industrial mechanical arm and is used for driving the upper limbs of a user to complete three-dimensional space compound motion of shoulder joints and elbow joints; The connecting mechanism (3) is arranged between the tail end of the main motion platform (1) and the driven execution terminal (2) and is used for detachably installing the driven execution terminal (2) at the tail end of the main motion platform (1); The driven execution terminal (2) comprises three rotary joints which are sequentially connected in series, wherein the three rotary joints respectively provide one degree of rotation freedom and are respectively used for realizing flexion and extension movement, radioulnar deviation movement and supination, forward rotation and backward rotation of the forearm of the wrist joint.
  2. 2. The upper limb multi-joint training device according to claim 1, wherein the tail end of the main motion platform (1) is provided with a tail end flange for butt-joint installation of the main motion platform (1) and an external part, and the connecting mechanism (3) comprises an adapting flange (205) and a detachable connecting assembly; the adapting flange (205) is arranged between the tail end flange and the detachable connecting assembly and is used for realizing the butt joint fixation of the connecting mechanism (3) and the tail end flange; The detachable connection assembly is arranged between the adapter flange (205) and the driven execution terminal (2) and is used for realizing detachable connection and locking fixation of the driven execution terminal (2) relative to the main motion platform (1).
  3. 3. The upper limb multi-joint training device according to claim 2, wherein the detachable connection assembly comprises a fixed side housing (202), a movable side housing (201), a plurality of sets of magnetic attraction units and an auxiliary positioning structure; the fixed side shell (202) is fixedly connected with the adapting flange (205) to form a fixed mounting end of the detachable connecting assembly; The movable side shell (201) is fixedly connected with a main body supporting structure of the driven execution terminal (2) to form a detachable movable end of the detachable connecting assembly; the magnetic unit is a permanent magnetic component for providing adsorption locking force and is arranged on opposite joint surfaces of the fixed side shell (202) and the movable side shell (201) respectively and used for realizing adsorption locking when the two shells are jointed; the auxiliary positioning structure comprises a positioning pin (203) and a positioning hole (204) which are matched with each other, and the auxiliary positioning structure is arranged on opposite joint surfaces of the fixed side shell (202) and the movable side shell (201) respectively and is used for realizing coaxial centering positioning and circumferential anti-movement limiting when the two shells are magnetically attached.
  4. 4. An upper limb multi-joint training device according to any of claims 1-3, wherein the three rotational joints comprise a first rotational joint, a second rotational joint and a third rotational joint, the rotational axes of the first, second and third rotational joints being orthogonal in space; The rotation axis of the first rotation joint is coaxially arranged with the physiological flexion-extension axis of the human wrist joint and is used for realizing the flexion-extension motion of the wrist joint; The rotating axis of the second rotating joint is coaxially arranged with the physiological radioulnar deviation axis of the human wrist joint and is used for realizing radioulnar deviation movement of the wrist joint; The rotation axis of the third rotation joint is coaxially arranged with the physiological pronation and supination back shaft of the forearm of the human body and is used for realizing the supination and supination movement of the forearm.
  5. 5. The upper limb multi-joint training device according to claim 4, wherein the driven execution terminal (2) is a wrist rehabilitation exoskeleton device, a third rotary joint of the wrist rehabilitation exoskeleton device adopts a hollow rotary shaft structure, the hollow rotary shaft is provided with an inner hole which is penetrated along the rotary axis of the hollow rotary shaft in an axial direction, and the inner hole is penetrated by the forearm of a user so as to enable the physiological pronation and supination axis of the forearm of the user to be aligned with the rotary axis of the third rotary joint in a coaxial manner; and the third rotary joint is provided with a limiting device, and the limiting device is used for limiting the rotation angle of the third rotary joint within a range of +/-90 degrees.
  6. 6. The upper limb multi-joint training device according to claim 5, wherein the first rotary joint is an end output joint close to the hand of the user of the three tandem rotary joints, and the output end of the first rotary joint is connected with a handle (339) for the user to grasp through a length-adjustable connecting rod (333); The physiological flexion-extension axis of the wrist joint of the human body is coaxially aligned with the rotation axis of the first rotation joint by adjusting the length of the connecting rod (333) to adapt to the hand sizes and forearm lengths of different users.
  7. 7. The upper limb multi-joint training device according to claim 6, wherein a second force sensor (5) is arranged in series between the output end of the first rotary joint and the connecting rod (333), and the second force sensor (5) is used for collecting force and moment information applied by a hand of a user through a handle (339) in real time.
  8. 8. The upper limb multi-joint training device according to claim 7, wherein a first force sensor (4) is arranged in series between the main motion platform (1) and the connecting mechanism (3), and the first force sensor (4) is used for collecting interaction force and interaction moment between the main motion platform (1) and the driven execution terminal (2) in real time.
  9. 9. The upper limb multi-joint training device according to claim 8, further comprising a force sensing unit, wherein the force sensing unit is respectively in communication connection with the first force sensor (4) and the second force sensor (5) and is used for receiving mechanical signals collected by the first force sensor (4) and the second force sensor (5), and generating and outputting control signals for controlling the compliant following motion of the training device and protecting the safety of a human body.
  10. 10. The upper limb multi-joint training device of claim 9, wherein the force sensing unit is configured to: Presetting a first safety threshold corresponding to human body safety protection and a second safety threshold corresponding to compliant follow-up motion control; When the interaction force or interaction moment acquired by the first force sensor (4) exceeds a first safety threshold, outputting a control signal for triggering emergency stop protection, so that the main motion platform (1) immediately stops moving; When the hand operation force or the operation moment of the user acquired by the second force sensor (5) exceeds a second safety threshold, a control signal for triggering the compliant following is output, and the motion track and the driving speed of the driven execution terminal (2) are adjusted in real time based on the direction and the magnitude of the user force, so that the training device actively applies force to do the compliant following motion along with the user.

Description

Upper limb multi-joint training device Technical Field The invention belongs to the technical field of rehabilitation medical appliances, and particularly relates to an upper limb multi-joint training device. Background Patients often leave upper limb movement dysfunction to different degrees after cerebral apoplexy, spinal cord injury and upper limb orthopaedics operation, and the coordinated systematic training of shoulder, elbow and wrist multi-joint is a core clinical means for promoting nerve remodeling and recovering limb movement capability. The prior clinically applied upper limb rehabilitation tail end driving type device takes a multi-degree-of-freedom industrial mechanical arm as a core, can drive a patient to complete three-dimensional space compound motion of shoulder joints and elbow joints, but can only drive the wrist to passively follow, lacks independent fine training of three physiological degrees of freedom of wrist joint flexion and extension, radioulnar deviation and forearm supination and supination, cannot realize the cooperative rehabilitation of the shoulder joints, the elbow joints and the full joints, and is difficult to cover the full period rehabilitation requirement of the patient. In conclusion, the existing equipment can not simultaneously meet the core requirements of large-range movement of the upper limb joint and fine wrist training, and has the defects of incomplete training coverage, suitability and insufficient safety. Disclosure of Invention The invention aims to overcome the defects in the prior art, and provides the upper limb multi-joint training device which realizes the cooperative training of the shoulder, elbow and wrist multi-joints and improves the man-machine adaptability and the training safety. The application provides an upper limb multi-joint training device which comprises a main motion platform, a driven execution terminal and a connecting mechanism, wherein the main motion platform is a multi-degree-of-freedom industrial mechanical arm and is used for driving an upper limb of a user to complete three-dimensional space compound motion of shoulder joints and elbow joints, the connecting mechanism is arranged between the tail end of the main motion platform and the driven execution terminal and is used for detachably mounting the driven execution terminal at the tail end of the main motion platform, the driven execution terminal comprises three rotary joints which are sequentially connected in series, and the three rotary joints respectively provide one degree of freedom of rotation and are respectively used for realizing flexion and extension motion of a wrist joint, radioulnar deviation motion and rotation, forward rotation and backward rotation of a forearm. In some embodiments of the application, the tail end of the main motion platform is provided with a tail end flange for butt joint installation of the main motion platform and an external part, the connecting mechanism comprises an adapting flange and a detachable connecting assembly, the adapting flange is arranged between the tail end flange and the detachable connecting assembly and is used for realizing butt joint fixation of the connecting mechanism and the tail end flange, and the detachable connecting assembly is arranged between the adapting flange and the driven execution terminal and is used for realizing detachable connection and locking fixation of the driven execution terminal relative to the main motion platform. In some embodiments of the present application, the detachable connection assembly includes a fixed side housing, a movable side housing, a plurality of groups of magnetic attraction units and an auxiliary positioning structure, wherein the fixed side housing is fixedly connected with the adapting flange to form a fixed installation end of the detachable connection assembly, the movable side housing is fixedly connected with a main body supporting structure of the driven execution terminal to form a detachable movable end of the detachable connection assembly, the magnetic attraction units are permanent magnetic members for providing an adsorption locking force, and are respectively arranged on opposite joint surfaces of the fixed side housing and the movable side housing for realizing adsorption locking when the two housings are jointed, and the auxiliary positioning structure includes a positioning pin and a positioning hole which are mutually matched, and is respectively arranged on opposite joint surfaces of the fixed side housing and the movable side housing for realizing coaxial centering positioning and circumferential anti-channeling limiting when the two housings are magnetically attracted and jointed. In some embodiments of the present application, the three rotary joints include a first rotary joint, a second rotary joint and a third rotary joint, the rotary axes of the first rotary joint, the second rotary joint and the third rotary joint are orthogonal in space