Active Upper Limb Rehabilitation Robot

Active Upper Limb Exercise Assist Device

This technology is an upper limb exercise assist device coupled with a multi-joint robot. It detects upper limb movement by placing multiple 1-axis force sensors (load cells) in an open-type cradle that accommodates the user's forearm, and generates robot motion control signals by detecting the user's intended hand rotation through a separate pronation/supination sensing mechanism.

Conventional 6-axis force-torque sensors are expensive, and because the user's arm must be firmly fixed to the robot, it is difficult for the user to escape in the event of a system malfunction, posing a safety risk.

This technology ensures safety and simplifies the controller by using an open-structure cradle with distributed low-cost 1-axis force sensors to detect user movement, and a pronation/supination sensing mechanism featuring a cam and spring to identify user intent. Applicable to logistics picking, service robots, and manufacturing automation, it reduces malfunctions and emergency incidents in multi-joint robots, improves the accuracy of user intent detection, and provides better power assistance in the direction of upper limb movement.

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Key Features:

• An active upper limb exercise assist device comprising a pronation/supination sensing means that detects the pronation/supination of the user's hand through the rotation of a handle part, which is coupled to the front end of a distance adjustment member and rotatably connected to the axis of a pronation/supination rotation sensor.
• A height adjustment member that is vertically coupled to the lower part of the front end of the base's horizontal plate, and adjusts the height between the cradle and the handle by adjusting its own height.
• A distance adjustment member whose rear end is coupled to the lower end of the height adjustment member, and which adjusts the distance between the cradle and the handle by adjusting its length in the front and rear directions.
• A pronation/supination sensing unit that detects the user's intent for pronation/supination of the hand based on the rotation direction of the handle part.

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This invention was developed with the support of the Ministry of Science, ICT and Future Planning for the development of an active exercise system based on human-robot collaboration technology to improve upper limb motor function in the elderly and infirm.