Personalized upper-limbs rehabilitation training robot system based on path planningTechnical field
The present invention relates to training type rehabilitation appliances field, in particular to a kind of personalized upper limb healing based on path planningImage training robot system.
Background technique
Due to the growth of human age, the increasing of traffic accident, the gradually increasing of sports property joint injury, apoplexyThe patient of limb injury caused by the increase of hemiplegia disease incidence and some other factor is in increased trend, this is greatlyGround affects the health and daily life of the mankind.Theory of medicine and clinical medicine all proves, the patient of this kind of limb injuryOther than carrying out early stage drug therapy and operative treatment, it there is a need to carry out scientific, accurate, appropriate limb rehabilitation training.
Traditional limb rehabilitation training is mostly to assist patient to go to complete joint, muscle and ligament by nurse or rehabilitation physical therapy teacherRehabilitation training, to maintain the mobility of patient articular and muscle, and promote the early recovery of patient articular's motor function.ButThere are rehabilitation efficacies to be timely feedbacked for traditional recovery training method, rehabilitation efficacy is by doctor's experience level etc.The problems such as factor influences, rehabilitation is at high cost.
In the patent of invention of Patent No. CN102961235B, a kind of upper-limbs rehabilitation training robot is disclosed, includingPedestal, support frame, seat, cantilever beam and upper limb training institution, may be implemented the rotation of 4~6 freedom degrees.But due to human bodyUpper limb has 7 freedom degrees, so the upper-limbs rehabilitation training robot is not able to satisfy the rehabilitation instruction of all freedom degrees of patient's upper limbPractice；The center of the shoulder joint module of the upper-limbs rehabilitation training robot cannot be guaranteed to close in rehabilitation training with the human body broad-mouthed receptacle for holding liquid upper armSection rotation center coincides, and joint position deviation, which can be brought, involves sense, leads to the secondary injury to patient；The rehabilitation training of upper limbsIntelligent robot carries out the rehabilitation training of upper limb, not can be carried out the assessment of rehabilitation efficacy and the data storage of rehabilitation efficacy, noConvenient for patient itself and rehabilitation physical therapy Shi Zhidao rehabilitation efficacy.
In the utility model patent of Patent No. CN201743884U, a kind of upper-limbs rehabilitation training robot is disclosed,Including pedestal, ergonomic chair, rehabilitation mechanical arm and human-computer interactive control cabinet.The shoulder joint of the upper-limbs rehabilitation training robotThe center of module cannot be guaranteed to coincide in rehabilitation training with human body Glenohumeral joint rotation center, joint position deviation meetingIt brings and involves sense, lead to the secondary injury to patient.
In the patent of invention of Patent No. CN104873360B, disclose it is a kind of based on lasso trick driving upper limb healing outsidePut that/interior receipts joint anteflexion/extend back joint, medial rotation/rotation extrinsic articulation, ancon are anteflexion/and extendes back pass outside bone robot, including wristSection, shoulder is anteflexion/extend back joint, outer pendulum/interior receipts joint, medial rotation/rotation extrinsic articulation and lasso trick driving device, may be implemented to suffer fromThe rotation of 7 freedom degrees of person's upper limb, but should be based on the shoulder joint module for the upper limb healing exoskeleton robot that lasso trick drivesCenter cannot be guaranteed to coincide in rehabilitation training with human body Glenohumeral joint rotation center, lead to the secondary wound to patientEvil.Simultaneously the upper limb healing exoskeleton robot forearm and upper arm size adjusting be by sliding notch and locking nut intoRow manual adjustment, low efficiency, and the dimension data of every patient cannot be recorded, it can not achieve quick original state reduction.
In the patent of invention of Patent No. CN102151215B, a kind of exoskeletal rehabilitation mechanical arm for upper limb is disclosed,By shoulder c-type outside track support, rail slider, on the shoulders connecting rod, upper arm connecting rod, forearm connecting rod, wrist annular outside trackSupport, wrist swinging connecting rod and handle constitute the movement, it can be achieved that 7 freedom degrees.But since the invention is not provided with driving memberPart, therefore Rehabilitation Training in Treating independently can not be carried out to patient.
In the patent of invention of Patent No. CN103948485A, a kind of dermaskeleton type upper limb rehabilitation robot is disclosed,The healing robot is made of drive part, running part, execution part, can the progress rehabilitation training of skimulated motion therapy.ButThe healing robot can be only done elbow joint it is anteflexion/extend back with outside forearm medial rotation/rotation two kinds movement, be unfavorable for other joints of upper limbRehabilitation training.
Therefore, in view of the above technical problems, it is necessary to a kind of novel upper-limbs rehabilitation training robot system is provided, with gramTake drawbacks described above.
Summary of the invention
In view of the above-mentioned deficiencies in the prior art, the technical problem to be solved by the present invention is that providing a kind of based on pathThe personalized upper-limbs rehabilitation training robot system of planning.
In order to solve the above technical problems, the technical solution adopted by the present invention is that: in a kind of personalization based on path planningLimbs rehabilitation training robot system including pedestal supporting module, is detachably set to more positions in the pedestal supporting moduleSeat modular, the rehabilitation training being set in the pedestal supporting module and assessment system module are set to the pedestal supportThe adaptive mobile module of shoulder joint in module and the rehabilitation training of upper limbs being set on the adaptive mobile module of the shoulder jointMechanical arm.
Preferably, the mechanical arm for rehabilitation training of upper limbs has 7 degree of freedom, including wrist joints sporting module and instituteState the elbow joint motion module and pass through upper arm size tune that wrist joints sporting module is connected in series by forearm size adjustment moduleSave the shoulder joint kinesitherapy module of the other end series connection of module and the elbow joint motion module；
The wrist joints sporting module includes that the dorsiflex/palmar flexion movement mechanism being connected in series and ruler bend/oar movement mechanism in the wrong,The pivot center of two movement mechanisms is compared to point Ow；
The elbow joint motion module include be connected in series buckling/it is super stretch movement mechanism and forearm rotation before/supinationMechanism, the pivot center of two movement mechanisms is compared to point Oe；
The shoulder joint kinesitherapy module, which includes putting outside the shoulder joint that is sequentially connected in series ,/interior receipts movement mechanism, anteflexion/extendes backMovement mechanism and outward turning/inward turning movement mechanism, the pivot center of three movement mechanisms is compared to point Os.
Preferably, the forearm size adjustment module is for automatically adjusting point the distance between Ow and Oe, to adapt toThe length dimension of different patient forearms, and the data are recorded in rehabilitation training and assessment system module；The upper armSize adjustment module is for automatically adjusting point the distance between Os and Oe, to adapt to the length dimension of different patient's upper arm, andIt records data in rehabilitation training and assessment system module.
Preferably, the active lifting that can be stretched up and down that the adaptive mobile module of the shoulder joint is arranged by bottomUpright supports are arranged in pedestal supporting module, and top is connected with one first rotating plate by the first passive rotary joint, describedThe both ends of first rotating plate pass through the second passive rotary joint and are connected with one second rotating plate, on the mechanical arm for rehabilitation training of upper limbsThe first fast assembly and disassembly mechanism pass through the passive rotary joint of third again and connect with second rotating plate, pass through the first passive rotation and closeThe passive rotary joint of section, the second passive rotary joint, third realizes the horizontal shifting of mechanical arm for rehabilitation training of upper limbs in the horizontal planeIt is dynamic.
Preferably, the mechanical arm for rehabilitation training of upper limbs includes a set of or two sets, is required according to the rehabilitation training of patientCarry out the quantity of mechanical arm for rehabilitation training of upper limbs and the configuration of left and right distribution；
Preferably, more position seat modulars include seat body and the neck being set on seat adjustmentMechanism, waist adjustment mechanism, leg joint adjustment mechanism, the second fast assembly and disassembly mechanism and the first steering wheel group.
Preferably, the pedestal supporting module includes U-shaped bottom support plate and the second steering wheel group, and described is U-shapedDesigned for cooperating with second fast assembly and disassembly mechanism to realize that is quickly removed and installed quickly tears open on the inside of bottom support plateFill matching mechanism.
Preferably, second fast assembly and disassembly mechanism is the installation that the bottom plate two sides of the seat body bottom are arranged inRaised line, the fast assembling-disassembling matching mechanism are to be provided with cooperating for the installation raised line for two inside of U-shaped bottom support plateTwo mounting grooves of insertion.
Preferably, the rehabilitation training and assessment system module include computer display screen, are set to the computer and showShield system login control panel, the passive arm for being installed on the computer display screen in the pedestal supporting module of sideAnd system controls and storage unit.
Preferably, the first six-dimension force sensor is installed at the handle of the wrist joints sporting module；Dorsiflex/the palmThat bends movement mechanism has been internally integrated first angle sensor, the ruler bends/oar bend movement mechanism be internally integrated second jiaoSpend sensor；What the buckling/super stretched movement mechanism has been internally integrated the first torque sensor and third angle sensor, describedBefore forearm rotation/outside of supination mechanism is equipped with first pressure sensor；Outside the shoulder joint in pendulum/interior receipts movement mechanismPortion is integrated with the second torque sensor and fourth angle sensor, it is described it is anteflexion/extend back movement mechanism be internally integrated thirdTorque sensor and the 5th angular transducer, the outward turning/inward turning movement mechanism outside are equipped with the second six-dimension force sensor；The handle of the wrist joints sporting module is equipped with pain spot record button.
The beneficial effects of the present invention are:
(1) personalized rehabilitation training parameter design.The present invention can carry out the forearm of mechanical arm for rehabilitation training of upper limbs automaticallyIt is adjusted with the size of upper arm and the adjustment of patient in sitting, and can realize accurately and rapidly initial position for different patientsReduction, convenient for fast and accurately carrying out subsequent rehabilitation training.
(2) intelligent data management.The present invention can provide not for different degree of paralysis and Bu Tong convalescent patientData storage management is carried out to personal rehabilitation data with rehabilitation training mode, and using rehabilitation training and assessment system module, is builtVertical patient individual's rehabilitation database, realizes the intelligent management of patient personal data；It is logged in front of Rehabilitation training, and by upper limb healthThe state when state reduction of multiple image training robot is at oneself last time rehabilitation training, continues rehabilitation training of upper limbs；Meanwhile suffering fromPerson can use personal rehabilitation database, carry out same rehabilitation training of upper limbs in Different hospital.
(3) multiple degrees of freedom path planning.The present invention can assist patient to carry out ipsilateral upper limb shoulder joint, elbow joint and wristJoint, 7 degree of freedom, more fully and personalized rehabilitation training of upper limbs；The present invention can be in passive rehabilitation trainingThe function of personalized trajectory planning is provided under mode, patient personalized path planning is completed, by upper-limbs rehabilitation training robotRealize the accurate reproduction of set rehabilitation track.
(4) shoulder joint coupled motions.The present invention can guarantee that the Glenohumeral joint rotation center of patient is carrying out upper limb healingThe rotation center Os of shoulder joint kinesitherapy module in training process with mechanical arm for rehabilitation training of upper limbs coincides, and eliminates joint positionSense is involved brought by deviation, prevents the secondary injury to patient.
(5) friendly human-computer interaction.The present invention is equipped with pain spot record button at handle, is mainly used for Physical Therapist early period and isPatient carries out the pain spot for recording joint in path planning at any time；On the one hand later period can be used for the scram button in training process,On the other hand it can be equally used for pain spot record, modify in time to rehabilitation path convenient for Physical Therapist perfect；Human-computer interaction is bigScreen shows rehabilitation training state and training result, grasps training process convenient for doctor and instructs rehabilitation programme.
(6) rehabilitation training assessment system.The present invention using the range of motion in motion process, joint driven torque andJoint motions trend etc. carries out quantitatively evaluating to the movement of patient, and rehabilitation physical therapy teacher is helped more accurately to assess the disease of patientFeelings provide objective basis to be further improved and optimizing rehabilitation training scheme.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the personalized upper-limbs rehabilitation training robot system of the invention based on path planning；
Fig. 2 is the structural schematic diagram of mechanical arm for rehabilitation training of upper limbs of the invention；
Fig. 3 is the structural schematic diagram of wrist joints sporting module in mechanical arm for rehabilitation training of upper limbs of the invention；
Fig. 4 is the structural schematic diagram of elbow joint motion module in mechanical arm for rehabilitation training of upper limbs of the invention；
Fig. 5 is the structural schematic diagram of shoulder joint kinesitherapy module in mechanical arm for rehabilitation training of upper limbs of the invention；
Fig. 6 is the adaptive mobile module of shoulder joint of the invention, rehabilitation training and assessment system module and pedestal branch hold modeThe structural schematic diagram of block；
Fig. 7 is the structural schematic diagram of more position seat modulars of the invention.
Description of symbols:
Mechanical arm for rehabilitation training of upper limbs (1), the adaptive mobile module of shoulder joint (2), more position seat modulars (3), rehabilitationIt is trained with assessment system module (4), pedestal supporting module (5), wrist joints sporting module (11), elbow joint motion module (12),Shoulder joint kinesitherapy module (13), forearm size adjustment module (14), upper arm size adjustment module (15), dorsiflex/palmar flexion fitness machineStructure (11A), ruler bend/oar movement mechanism (11B), handle (1101), the first six-dimension force sensor (1102), pain spot record button in the wrong(1103), first angle sensor (1104), second angle sensor (1105), buckling/super stretch movement mechanism (12A), forearmBefore rotation/supination mechanism (12B), the first torque sensor (1201), third angle sensor (1202), first pressure sensing/ interior receipts movement mechanism (13A), anteflexion/is put outside device (1203), shoulder joint extendes back movement mechanism (13B), outward turning/inward turning fitness machineStructure (13C), the second torque sensor (1301), fourth angle sensor (1302), third torque sensor (1303), the 5th jiaoSpend sensor (1304), the second six-dimension force sensor (1305), the first fast assembly and disassembly mechanism (1306), the first passive rotary joint(201), the second passive rotary joint (202), the passive rotary joint of third (203), active lifting column (204), the first rotating plate(205), the second rotating plate (206), seat body (300), neck adjustment mechanism (301), waist adjustment mechanism (302), leg are closedSave adjustment mechanism (303), the second fast assembly and disassembly mechanism (304), the first steering wheel group (305), computer display screen (401), systemLog in control panel (402), passive arm (403), system control and storage unit (404), U-shaped bottom support plate (501), secondSteering wheel group (502), fast assembling-disassembling matching mechanism (503).
Specific embodiment
The present invention will be further described in detail below with reference to the embodiments, to enable those skilled in the art referring to specificationText can be implemented accordingly.
It should be appreciated that such as " having ", "comprising" and " comprising " term used herein are not precluded one or moreThe presence or addition of a other elements or combinations thereof.
As shown in Figure 1, a kind of personalized upper-limbs rehabilitation training robot system based on path planning of the present embodiment, packetInclude a set of or adaptive mobile module 2 of two sets of mechanical arm for rehabilitation training of upper limbs 1, shoulder joint, more position seat modulars 3, rehabilitation instructionExperienced and assessment system module 4 and pedestal supporting module 5；Mechanical arm for rehabilitation training of upper limbs 1 passes through the first fast assembling-disassembling machine of proximal endStructure 1306 is fixedly supported on the adaptive mobile module 2 of shoulder joint, and rehabilitation physical therapy teacher can require according to the rehabilitation training of patientCarry out the quantity of mechanical arm for rehabilitation training of upper limbs 1 and the configuration of left and right distribution；The adaptive mobile module 2 of shoulder joint is fixed on pedestalIn supporting module 5, it can be moved with pedestal supporting module 5；Rehabilitation training and assessment system module 4 are used as the robotThe control of system and electrical module are similarly installed in pedestal supporting module 5；More position seat modulars 3 are quickly torn open by secondMounting mechanism 304 and fast assembling-disassembling matching mechanism may be implemented the quick positioning with pedestal supporting module 5 and fix.
As shown in Fig. 2,3,4,5, mechanical arm for rehabilitation training of upper limbs 1 has 7 degree of freedom, using typical serial machineThe structure type of people is attached, including wrist joints sporting module 11, elbow joint motion module 12, shoulder joint kinesitherapy module 13,The modules such as forearm size adjustment module 14 and upper arm size adjustment module 15, wrist joints sporting module 11 and elbow joint motion moduleIt is connected in series between 12 by forearm size adjustment module 14, is led between elbow joint motion module 12 and shoulder joint kinesitherapy module 13Cross the series connection of upper arm size adjustment module 15；Wrist joints sporting module 11 include dorsiflex/palmar flexion movement mechanism 11A and ruler bend/Oar bends movement mechanism 11B, and two movement mechanisms are connected by the way of being connected in series, and pivot center intersects at point Ow, can bandDynamic patient realizes the rotation of two freedom degrees of wrist joint；Elbow joint motion module 12 includes buckling/super movement mechanism 12A that stretches with beforeArm rotation before/supination mechanism 12B, two movement mechanisms using series connection by the way of connect, pivot center intersects at point Oe,Patient can be driven to realize the rotation of two freedom degrees of elbow joint；Shoulder joint kinesitherapy module 13 includes pendulum outside shoulder joint/interior receipts fortuneMotivation structure 13A, anteflexion/to extend back movement mechanism 13B and outward turning/inward turning movement mechanism 13C, three movement mechanisms are using being connected in seriesMode connect, pivot center intersects at point Os, can drive patient realize Glenohumeral joint three degree of freedom rotation.
As shown in Fig. 2,4,5, forearm size adjustment module 14 can automatically adjust point the distance between Ow and Oe, i.e. wrist closesThe distance between motion module 11 and elbow joint motion module 12 are saved, to adapt to the length dimension of different patient forearms, and willThe dimension data is recorded in the personal rehabilitation database of rehabilitation training and assessment system module 4；Upper arm size adjustment module 15Point the distance between Os and Oe can be automatically adjusted, i.e., between elbow joint motion module 12 and shoulder joint kinesitherapy module 13 away fromFrom to adapt to the length dimension of different patient's upper arm, and the length data being recorded in rehabilitation training and assessment system module 4Personal rehabilitation database in；The human geometry's data being recorded in rehabilitation training and assessment system module 4 can allow upper limb healthRefreshment practices mechanical arm 1 and realizes that accurately and rapidly initial position restores for different patients, subsequent convenient for fast and accurately carrying outRehabilitation training.
As shown in fig. 6, the adaptive mobile module 2 of shoulder joint is fixedly supported in pedestal supporting module 5, set in the horizontal directionThere are three the passive rotary joints 201 of passive rotary joint first, the second passive rotary joint 202, the second passive rotary joint203, the adaptive mobile module 2 of shoulder joint is existed by the support setting of active lifting column 204 that can be stretched up and down that bottom is arrangedIn pedestal supporting module 5, top is connected with one first rotating plate 205, first rotating plate by the first passive rotary joint 201205 both ends pass through the second passive rotary joint 202 and are connected with one second rotating plate 206, the mechanical arm for rehabilitation training of upper limbs 1On the first fast assembly and disassembly mechanism 201 connect with second rotating plate 206 by the passive rotary joint 203 of third again, i.e., secondRotating plate 206, the second passive rotary joint 202, the passive rotary joint 203 of third include 2 secondary, pass through the first passive rotary joint201, the passive rotary joint 203 of the second passive rotary joint 202, third realizes mechanical arm for rehabilitation training of upper limbs 1 in the horizontal planeMove horizontally.
Vertical direction be equipped with active lifting column 204, realize mechanical arm for rehabilitation training of upper limbs 1 in perpendicular up and downIt is mobile, guarantee rotation of the Glenohumeral joint rotation center of patient during carrying out rehabilitation training of upper limbs with shoulder joint kinesitherapy moduleCenter coincides, and eliminates and involves sense brought by joint position deviation, prevents the secondary injury to patient.
As shown in Figure 6,7, more position seat modulars 3 are fixedly connected in rehabilitation training with pedestal supporting module 5, including neckPortion's adjustment mechanism 301, waist adjustment mechanism 302, leg joint adjustment mechanism 303, fast assembly and disassembly mechanism 304 and the first universal wheelThe funtion parts such as group 305 can carry out the adjustment of the postures of other parts such as neck, waist, leg for different patients, be convenient forPatient is in comfortable sitting posture, and is stored the attitude data of patient by the sensor inside each adjustment mechanism, realizesPatient realizes accurately and rapidly sitting posture reduction before next rehabilitation training, convenient for fast and accurately carrying out subsequent rehabilitation training；The fast assembling-disassembling matching mechanism 503 in fast assembly and disassembly mechanism 304 and pedestal supporting module 5 in more position seat modulars 3 can be withIt realizes the quick positioning of more position seat modulars 3 and fixes.
As shown in fig. 6, rehabilitation training and assessment system module 4 include computer display screen 401, system login control panel402, passive arm 403 and system control and storage unit 404, system control may be provided at pedestal branch hold mode with storage unit 404In block 5, it may be implemented that patient individual's rehabilitation system logs in, the storage of personal rehabilitation data, rehabilitation training operation with display, assessment areSystem operation and the functions such as display and data storage.
As shown in fig. 6, pedestal supporting module 5 includes U-shaped bottom support plate 501 and the second steering wheel group 502, U-shaped bottomSupport plate 501 is fixedly connected with steering wheel group 502；Design can be realized and more position seats on the inside of U-shaped bottom support plate 501Module 3 quickly positions and fixed fast assembly and disassembly mechanism 503.In one embodiment, second fast assembly and disassembly mechanism 304 isThe installation raised line of the bottom plate two sides of 300 bottom of seat body is set, and the fast assembling-disassembling matching mechanism 503 is to be provided withTwo mounting grooves for the installation raised line cooperation insertion of 501 liang of insides of the U-shaped bottom support plate.
As shown in Fig. 2,3,4,5, first six-dimension force sensor is installed at the handle 1101 of wrist joints sporting module 111102, on the one hand for detecting the carpal moment values of patient, the on the other hand motion intention of patient for identification；Dorsiflex/Palmar flexion movement mechanism 11A and ruler bend/and oar bends movement mechanism 11B and is integrated with first angle sensor 1104 and second in inside respectivelyAngular transducer 1105, to detect the movement angle of wrist joint two-freedom；Buckling/super is stretched movement mechanism 12A and is internally integratedFirst torque sensor 1201 and third angle sensor 1202 are respectively intended to detection patient's elbow joint buckling/super and stretch movementAngle and moment values；Forearm rotation before/supination mechanism 12B outside first pressure sensor 1203 is installed, be on the one hand used forBefore detecting forearm rotation/and supination moment values, the on the other hand motion intention of patient's elbow joint for identification；Put outside shoulder joint/Interior receipts movement mechanism 13A has been internally integrated the second torque sensor 1301 and fourth angle sensor 1302, anteflexion/to extend back movementMechanism 13B is equally integrated with third torque sensor 1303 and the 5th angular transducer 1304 in inside, is all used to detect movementAngle and moment values；The second six-dimension force sensor 1305 is installed outside outward turning/inward turning movement mechanism 13C, on the one hand for examiningShoulder external rotator/inward turning motoring torque value is surveyed, shoulder joint kinesitherapy intention assessment is on the other hand used for.
As shown in figure 3, the handle 1101 of wrist joints sporting module 11 is equipped with pain spot record button 1103, early period is mainly usedIt is that patient carries out the pain spot for recording joint in path planning at any time in Physical Therapist；On the one hand later period can be used in training processOn the other hand scram button can be equally used for pain spot record, modify in time to rehabilitation path convenient for Physical Therapist perfect.
The course of work of the invention is:
(1) rehabilitation training is carried out for the first time: firstly, rehabilitation physical therapy Shi Liyong system login control panel 402 is established to patientPersonal rehabilitation database；Then, patient is sitting on more position seat modulars 3, carries out the adjustment of sitting posture, and by the posture number of patientAccording to storage into system control and storage unit 404；Then patient dresses mechanical arm for rehabilitation training of upper limbs 1, and rehabilitation physical therapy teacher is logicalCrossing adjusting forearm size adjustment module 14 and upper arm size adjustment module 15 respectively makes the wrist joint, elbow joint and shoulder joint of patientThe rotation axis of the wrist joint of rotation axis and upper-limbs rehabilitation training robot 1, elbow joint and shoulder joint kinesitherapy module coincides,It is stored with storage unit 404 into the personal rehabilitation database of patient also with system control；And then, by motor pattern tuneWhole is active training mode, carries out the movement of single joint, the patient feels to pain with the suffering limb of patient by rehabilitation physical therapy teacherWhen press pain record button 1103, system control records the angular values of current joint with storage unit 404, and by healthMultiple Physical Therapist carries out the passive rehabilitation training path planning of patient；Finally, motor pattern is adjusted to passive exercise mode, by upperThe path that limbs rehabilitation training robot is set according to Physical Therapist, drive patient suffering limb carry out rehabilitation training, at the end of by beingSystem control carries out the recruitment evaluation of this rehabilitation training with storage unit 404, and stores the data such as rehabilitation result.
(2) non-first time carries out rehabilitation training: patient carries out system login, health with storage unit 402 using system controlFor multiple image training robot automatic reduction to state when patient's last time rehabilitation, main includes the state of mechanical arm for rehabilitation training of upper limbs 1With the state of more position seat modulars 3；Patient dress mechanical arm for rehabilitation training of upper limbs 1, continue rehabilitation training, at the end of bySystem control carries out the recruitment evaluation of this rehabilitation training with storage unit 404, same to store the data such as rehabilitation result.
Upper limb disorder caused by the present invention is suitable for because of nervous centralis, peripheral nerve, spinal cord, muscle or skeletal diseasesOr the patient of function limitation, the different rehabilitation stage, different symptoms, different building shape patients can be allowed to carry out upper limb healing instructionPractice.
Although the embodiments of the present invention have been disclosed as above, but its is not only in the description and the implementation listedWith it can be fully applied to various fields suitable for the present invention, for those skilled in the art, can be easilyRealize other modification, therefore without departing from the general concept defined in the claims and the equivalent scope, the present invention is simultaneously unlimitedIn specific details.