多功能上肢神经康复训练机器人的研究
Research on Multifunction Upper Limb Nerve Rehabilitation Training Robot

针对脑卒中导致的上肢偏瘫患者的康复训练，设计了一种上肢神经康复训练机器人，能够在家庭内进行坐姿、站姿和卧姿等多姿态调节。通过分析人体上肢的结构和运动规律，选取了对人体上肢康复最有利的五个自由度，通过CREO完成了对康复装置三维模型的构建。通过单轴驱动器与连杆的配合，能够实现肩肘关节的联动屈伸。本装置可以实现整体高度、上臂以及下臂长度的调整，从而能够适应不同个体的需求。
Aiming at the rehabilitation training of patients with upper limb hemiplegia caused by cerebral apoplexy, a kind of upper limb nerve rehabilitation training robot is designed, which can adjust multiple postures such as sitting position, standing position and lying position in the family. By analyzing the structure and movement rules of human upper limbs, five degrees of freedom which are most favorable for human upper limb rehabilitation are selected, and the 3D model of rehabilitation device is constructed through CREO. The joint flexion and extension of shoulder and elbow can be realized through the coordination of the single shaft driver and connecting rod. The device can realize the overall height, upper arm and lower arm length adjustment, so as to adapt to the needs of different individuals.