Wearable high-precision data acquisition upper limb exoskeleton

A data acquisition, high-precision technology, applied in medical science, prosthesis, etc., can solve problems such as high work intensity and difficulty in meeting patient requirements, and achieve the effect of compact structure, light weight, and high rigidity

A data acquisition, high-precision technology, applied in medical science, prosthesis, etc., can solve problems such as high work intensity and difficulty in meeting patient requirements, and achieve the effect of compact structure, light weight, and high rigidity

CN102440853AInactive Publication Date: 2012-05-09ZHEJIANG UNIV
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  • Wearable high-precision data acquisition upper limb exoskeleton
  • Wearable high-precision data acquisition upper limb exoskeleton
  • Wearable high-precision data acquisition upper limb exoskeleton

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0025] Further illustrate the present invention below in conjunction with accompanying drawing.

[0026] refer to figure 1 , the wearable high-precision data acquisition upper extremity exoskeleton includes an adjustable base 1, a shoulder rotation sub-mechanism 2, a shoulder slip ring mechanism 3, an upper arm link length sliding adjustment mechanism 4, and an elbow parallel rotation sub-mechanism in series. 5. Elbow slip ring mechanism 6, lower arm link length sliding adjustment mechanism 7, wrist rotation sub-mechanism 8, terminal operating handle 9 and tool clamping device 10; Shoulder adduction / abduction, flexion / extension, internal rotation / external rotation of the upper limbs, elbow flexion / extension, internal rotation / external rotation and wrist flexion / extension, adduction / abduction correspond;

[0027] refer to figure 2 , the adjustable base 1 includes a column 11, a first attitude adjustment member 12, a second attitude adjustment member 13, a horizontal directio...

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Abstract

The invention relates to a wearable high-precision data acquisition upper limb exoskeleton, comprising an adjustable base, a shoulder rotation pair mechanism, a shoulder slide ring mechanism, an upper arm connecting rod length sliding adjusting mechanism, an elbow parallel rotation pair mechanism, an elbow slide ring mechanism, a lower arm connecting rod length sliding adjusting mechanism, a wrist rotation pair mechanism, a tail end operation handle and a tool clamping device. A high-precision photoelectric encoder is mounted on each joint, the position and the posture of a tail end can be accurately acquired via forward kinematics, and a manipulator can be accurately controlled. The wearable high-precision data acquisition upper limb exoskeleton is compact in structure, light in weight and high in rigidity, is applicable to different operation heights and arm lengths, two control buttons are arranged on the handle to control procedures of an upper computer, and the exoskeleton further can be used as a guiding hand to be used for realizing upper limb exercise rehabilitation training of hemiplegia patients.

Description

technical field [0001] The invention relates to a wearable high-precision data acquisition upper limb exoskeleton, which can be used not only for remote operation of a manipulator, but also for upper limb exercise rehabilitation training for hemiplegic patients. Background technique [0002] Compared with the ordinary Joystick control method, the exoskeleton control manipulator has great advantages, and it is an ideal way for manipulator teleoperation. However, at present, the upper extremity exoskeletons used for teleoperation at home and abroad are generally cumbersome, and the precision is not high, and the teleoperation used to control the manipulator with high precision requirements has certain limitations. With the acceleration of the aging process in modern society, the group of patients with hemiplegia caused by stroke and other cardiovascular and cerebrovascular diseases has attracted more and more attention from the society. These patients need scientific exercise ...

Claims

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Application Information

Patent Timeline
09 May 2012
Publication
CN102440853A
IPC
A61F2/56
Inventors
陈杰; 杨灿军