REHABILITATION ROBOT TRAINING SYSTEM FOR MONITORING AND SUPPRESSING COMPENSATORY MOVEMENT OF HEMIPLEGIC UPPER LIMB

摘要

Disclosed is a rehabilitation robot training system for monitoring and suppressing the compensatory movement of a hemiplegic upper limb. The system comprises an upper computer control center (1), an interaction display screen (2), a force feedback glove (3), a position tracker (4), upper limb rehabilitation robot tail end connectors (5), an upper limb rehabilitation robot (6), a base (7) and a pressure cushion (8). One upper limb rehabilitation robot tail end connector (5) is mounted on a tail end of each of two robotic arms of the upper limb rehabilitation robot (6), and the upper limb rehabilitation robot tail end connectors are respectively worn on an upper arm and a forearm of a patient to drive an arm to move; the upper computer control center (1) stores and processes data, collected by the position tracker (4), the force feedback glove (3) and the pressure cushion (8) in real time, of the patient, and monitors and analyses whether the patient does a compensatory gesture; and the interaction display screen (2) displays a position posture and a compensatory movement monitoring result of an upper limb of the patient in time and directs the patient by voice to suppress the compensatory movement. The rehabilitation robot training system achieves the monitoring and suppressing of compensatory movements in the rehabilitation training process of a hemiplegic upper limb, is beneficial to assisting a patient in moving correctly, and promotes the enhancement of the movement function of the hemiplegic upper limb.