Active-passive upper limb rehabilitation training exoskeleton

A rehabilitation training and exoskeleton technology, applied in passive exercise equipment, sports accessories, elastic resistance devices, etc., can solve the problems of low energy utilization, no indirection and aesthetics, and complex structure.

Active Publication Date: 2016-05-25
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] Most of the existing exoskeletons are actively driven, but during the movement of the human body, some energy such as gravitational potential energy changes back and forth, but in the process of active drive, the gravitational potential energy is increasing and decreasing. During the process, the driving components all do positive work, which wastes the gravitational potential energy and the output of the driving components
Moreover, the existing upper extremity exoskeleton structure is relatively complex, the energy utilization rate is extremely low, and it is not indirect and aesthetic.
There are some exoskeletons that use the principle of gravity balance,

Method used

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  • Active-passive upper limb rehabilitation training exoskeleton
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  • Active-passive upper limb rehabilitation training exoskeleton

Examples

Experimental program
Comparison scheme
Effect test

Example Embodiment

[0029] Specific embodiment one: combination Figure 1 ~ Figure 12 To illustrate this embodiment, this embodiment includes forearm A, boom B, back C, external rotation shaft D, bearing E, driving pulley F, timing belt G, passive pulley H, back drive motor I, Back drive motor seat J, forearm binding mechanism K, big arm binding mechanism L, back drive motor driver P and back drive motor driver bracket Q,

[0030] see Picture 11 , The elbow joint connecting seat B45 on the big arm B is fixedly connected with the elbow joint output wheel A4 on the forearm A, one end of the external rotation axis D is hinged in the horizontal frame B1-2 of the shoulder joint skeleton B1, and the external rotation axis D The other end is connected with the inner ring of the bearing E, the shaft end retaining ring M fixes the axial position of the outer rotation shaft D, the driving pulley F is fixed on the outer rotation shaft D, and one end of the timing belt G is sleeved on the driving pulley F, syn...

Example Embodiment

[0031] Specific implementation manner two: combination Figure 4 with Figure 5 To illustrate this embodiment, the forearm A of this embodiment includes a forearm driver A1, a forearm drive motor A2, a forearm bearing seat A3, an elbow joint output wheel A4, a forearm wire pretension mechanism A5, and a forearm slide groove A7, Exoskeleton base plate A8, forearm drive motor base A9, forearm reducer A10, elbow joint input shaft A11, forearm wire rope fixing device A13, elbow joint rotation axis A16 and forearm wire rope A17, forearm drive A1 is fixed to the exoskeleton On one end surface of the base plate A8, the forearm binding mechanism K is hinged on the other end surface of the exoskeleton base plate A8, the forearm driver A1 is fixedly connected to the exoskeleton base plate A8, and the forearm driver A1 is electrically connected to the forearm drive motor A2 , The forearm drive motor A2 is connected with the forearm reducer A10, the forearm reducer A10 is fixedly connected ...

Example Embodiment

[0032] Specific implementation mode three: combination Figure 4 with Figure 5 This embodiment is described. The difference between this embodiment and the second embodiment is that the forearm A also includes the forearm encoder bracket A6 and the forearm encoder A12, and the forearm encoder bracket A6 is fixed with the elbow joint output wheel A4. Connect, forearm encoder A12 and forearm encoder bracket A6 are fixedly connected. The forearm encoder A12 is used to detect the rotation angle of the elbow joint. The degree of freedom here is the degree of freedom of rotation of the elbow joint, which is driven by the forearm drive motor A2. Other components and connection relationships are the same as in the second embodiment.

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Abstract

The invention discloses an active-passive upper limb rehabilitation training exoskeleton. An elbow joint connecting base on a big arm is fixedly connected with an elbow joint output wheel on a forearm, one end of an outward turning shaft is hinged to a crossarm of a shoulder joint skeleton, and the other end of the outward turning shaft is connected with a bearing inner race; a driving belt wheel is fixedly installed on the outward turning shaft and sleeved with one end of a synchronous belt, a driven belt wheel is sleeved with the other end of the synchronous belt and fixedly installed on an output shaft of a back driving motor, the back driving motor is fixedly connected with a back driving motor base, the back driving motor base is fixedly connected with an arched connecting rod on the back, a back driving motor driver is fixedly connected with the back driving motor base through a back driving motor driver bracket, the back driving motor driver is electrically connected with the back driving motor, a forearm binding mechanism is hinged to an exoskeleton substrate on the forearm, and a big arm binding mechanism is hinged to an exoskeleton upper arm on the big arm. The active-passive upper limb rehabilitation training exoskeleton is applied to rehabilitation medicine, large-scale engineering construction and material handling.

Description

technical field [0001] The invention relates to an exoskeleton robot, in particular to an active-passive hybrid upper limb rehabilitation training exoskeleton. Background technique [0002] Exoskeleton robot is a kind of complex man-machine combination technology, which integrates the knowledge of many scientific fields such as machinery, sensing, control, information, electronic technology and artificial intelligence, and combines human intelligence with the mechanical energy of mechanical power devices. , through human-machine physical contact to transmit force and motion to realize functions such as motion assistance and posture detection, and rely on sensors to realize information interaction with the wearer. [0003] After more than 40 years of development, exoskeletons have become more and more common in many fields. For example, in the military, the assistance of exoskeletons will enhance the endurance of troops in field operations. Exoskeletons provide energy for so...

Claims

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Application Information

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IPC IPC(8): A63B23/12A61H1/02A63B21/02B25J9/00
CPCA61H1/0274A61H2201/0157A61H2201/1261A61H2201/14A61H2201/1638A61H2201/165A61H2205/06A63B21/02A63B23/1209B25J9/0006
Inventor 朱延河蔡雪风隋东宝
Owner HARBIN INST OF TECH
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