US 12,144,773 B2
Rehabilitation robot training system for monitoring and suppressing compensatory movement of hemiplegic upper limb
Longhan Xie, Guangzhou (CN); Siqi Cai, Guangzhou (CN); Guofeng Li, Guangzhou (CN); and Shuangyuan Huang, Guangzhou (CN)
Assigned to SOUTH CHINA UNIVERSITY OF TECHNOLOGY, Guangzhou (CN)
Appl. No. 17/600,122
Filed by SOUTH CHINA UNIVERSITY OF TECHNOLOGY, Guangzhou (CN)
PCT Filed Oct. 31, 2019, PCT No. PCT/CN2019/114917
§ 371(c)(1), (2) Date Sep. 30, 2021,
PCT Pub. No. WO2020/211331, PCT Pub. Date Oct. 22, 2020.
Claims priority of application No. 201910314565.X (CN), filed on Apr. 18, 2019.
Prior Publication US 2022/0168167 A1, Jun. 2, 2022
Int. Cl. A61H 1/02 (2006.01); B25J 9/16 (2006.01)
CPC A61H 1/0274 (2013.01) [B25J 9/163 (2013.01); B25J 9/1664 (2013.01); A61H 2201/1638 (2013.01); A61H 2201/1659 (2013.01); A61H 2230/625 (2013.01)] 8 Claims
OG exemplary drawing
 
1. A rehabilitation robot training system for monitoring and suppressing compensatory movement of hemiplegic upper limb, comprising a host computer control center, an interactive display screen, a force feedback glove, position trackers, upper limb rehabilitation robot end connectors, an upper limb rehabilitation robot, a base, and a pressure cushion, wherein
the upper limb rehabilitation robot is mounted on the base;
the upper limb rehabilitation robot comprises two robotic arms, each of the two robotic arms has a first end connected to the base and a second end connected to one of the upper limb rehabilitation robot end connectors, a first end connector of the upper limb rehabilitation robot end connectors is configured to be worn on an upper arm of an upper limb of a patient and a second end connector of the upper limb rehabilitation robot end connectors is configured to be worn on a forearm of the upper limb of the patient; wherein the upper limb rehabilitation robot is used to drive the upper limb of the patient during rehabilitation training;
the position trackers comprise a first position tracker and a second position tracker; the first position tracker and the second position tracker are respectively configured to be mounted on the forearm and the upper arm of the upper limb of the patient, and are used to acquire arm position and posture data of the patient in real time and transmit the acquired arm position and posture data to the host computer control center as a feedback of a control system of the upper limb rehabilitation robot;
the force feedback glove is configured to be worn on a hand of the patient, and is used to acquire palm position and posture data of the patient in real time, transmit the palm position and posture data to the host computer control center as the feedback of the control system of the upper limb rehabilitation robot, and stimulate the hand of the patient by means of vibration in a game or a task to provide a tactile feedback for the patient;
the pressure cushion is placed on a seat of the patient, and is used to acquire pressure distribution data of the patient in real time, and transmit the pressure distribution data to the host computer control center as the feedback of the control system of the upper limb rehabilitation robot;
the host computer control center is used to store information of the patient, process the data, and monitor and analyze whether the patient does a compensatory movement; and
the interactive display screen is placed in front of the patient, and is used to display position and posture information of the upper limb of the patient and a compensation monitoring result in real time, and instruct the patient to suppress the compensatory movement through a voice guidance.