UPPER LIMB REHABILITATION TRAINING ROBOT AND SINGLE-POINT UPPER LIMB STATIC TESTING METHOD

摘要

An upper limb rehabilitation training robot, comprising: a moving mechanism (23); a force measuring device (22), comprising: a base plate (221) fixed on the moving mechanism (23), a force measuring mechanism (222) arranged on the base plate (221), and a force measuring rod (220) vertically arranged on the force measuring mechanism (222); a rehabilitation coordination mechanism (21), comprising an upper limb placement member (211) and a grip (214), wherein the upper limb placement member (211) or the grip (214) is arranged on the force measuring rod (220), so that a force from the upper limb placement member (211) or the grip (214) is conducted to the force measuring mechanism (222) by means of the force measuring rod (220). Regarding the rehabilitation training robot having said structure, the force measuring part is highly versatile, and is applicable to the rehabilitation coordination mechanism (21) having the different structures. Rehabilitation training of different parts of an upper limb only requires a corresponding change with respect to the rehabilitation coordination mechanism (21), which facilitates switching between different rehabilitation training modes.