Two-freedom-degree upper-limb rehabilitation assistive exercise device driven by dielectric EAP (electroactive polymer) and method thereof

The present invention discloses an auxiliary limb rehabilitation training apparatus and method for driving the dielectric EAP type, involving medical rehabilitation equipment. The device consists of a rocker, a cross joint, drive, fixation rod, coupling ring, and the base of the bracket. The method includes two training modes: passive exercise, by changing the applied voltage on the driver and the application order of magnitude change in the actual output torque of the drive group, effect rotation of the rocker, so as to drive movement of the patient's upper extremity; active training time, by changing the applied voltage on the driver and the application order of magnitude change in the actual output torque of the drive group, as a damping torque, upper limb motion to overcome this moment, so that reverse rotation of the rocker. The present invention is simple in structure, easy to use, small size, less precision machining, low cost, and the dielectric is similar to human muscle type EAP properties, its flexibility and increase the safety characteristics of the driving comfort of the rehabilitation process.