Lasso drive based upper limb rehabilitation exoskeleton robot

A technology for exoskeleton robots and upper limbs, applied in passive exercise equipment, physical therapy, etc., can solve problems such as falling of affected limbs, increasing the overall load of the system, performance requirements of power consumption driving components, and reducing control accuracy, etc., to reduce power consumption , Realize the effect of lightweight structure design and overall bulky mechanism

Active Publication Date: 2015-09-02
SOUTHEAST UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, this patent installs the driving motors on the joints, which makes the exoskeleton have a larger mass, inertia and volume as a whole, increases the overall load, power consumption and performan...

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  • Lasso drive based upper limb rehabilitation exoskeleton robot
  • Lasso drive based upper limb rehabilitation exoskeleton robot
  • Lasso drive based upper limb rehabilitation exoskeleton robot

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Embodiment Construction

[0031] The technical solution of the present invention will be described in detail below in conjunction with the embodiments and the drawings of the specification.

[0032] Such as Figure 1 to Figure 6 As shown, a lasso-driven upper limb rehabilitation exoskeleton robot, the mechanism includes wrist outward swing / adduction joints 1, wrist flexion / posterior extension joints 2, wrist internal rotation / external rotation joints connected in sequence 3. Elbow flexion / extension joint 4, shoulder flexion / extension joint 5, shoulder extension / adduction joint 6, shoulder internal rotation / external rotation joint 7, and, respectively, and the wrist Internal rotation / external rotation joint 3, elbow flexion / extension joint 4, shoulder flexion / extension joint 5, shoulder external swing / adduction joint 6 and shoulder rotation internal / external rotation joint 7 In the lasso driving device 8, the elbow flexion / extension joint 4 is also connected with the shoulder internal rotation / external rot...

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Abstract

The invention discloses a lasso drive based upper limb rehabilitation exoskeleton robot comprising a wrist outward swaying/inward retraction joint, a wrist forward flexion/backward extension joint, a wrist medial rotation/lateral rotation joint, an elbow forward flexion/backward extension joint, a shoulder forward flexion/backward extension joint, a shoulder forward flexion/backward extension joint, a shoulder medial rotation/lateral rotation joint and a lasso drive device. The shoulder, elbow and wrist medial rotation/lateral rotation joints are connected with motors fixed on a support through lassos, and driving moment is transmitted to all the joints through the lassos; the wrist outward swaying/inward retraction joint and the wrist forward flexion/backward extension joint are directly driven by motors; encoders are arranged in the motors and used for measuring internal posture of the exoskeleton; a six-dimensional force sensor is mounted to the wrist and used for measuring man-machine interaction force; balance springs are mounted to the shoulder and the elbow, and gravity balance of the whole mechanism can be realized. The problem of overlarge joint weight and inertia is solved, lightweight design is realized, power consumption is reduced effectively, system safety performance is improved, and multi-mode rehabilitation training can be realized.

Description

Technical field [0001] The invention belongs to the field of medical equipment and relates to an upper limb rehabilitation exoskeleton robot based on a lasso drive. Background technique [0002] Stroke, also known as cerebrovascular accident or stroke, is a sudden neurological damage caused by abnormal cerebrovascular. It has the characteristics of high morbidity, mortality, and disability. According to statistics from the Ministry of Health, the incidence and death rate of stroke increase rapidly with age. At present, the total number of stroke patients in China exceeds 8 million. Each year there are 1.2 to 1.5 million new cases and 800 to 1 million deaths. About 3 / 4 of the survivors will suffer from various degrees of hemiplegia due to motor nerve damage. Motor dysfunction seriously affects the quality of life. [0003] The treatment and rehabilitation of hemiplegia after stroke has become a research focus of modern rehabilitation medicine and rehabilitation engineering. Studi...

Claims

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Application Information

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IPC IPC(8): A61H1/02
Inventor 王兴松吴青聪
Owner SOUTHEAST UNIV
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