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An upper limb rehabilitation exoskeleton based on spatial gravity balance

A gravity balance and exoskeleton technology, which is applied to sports accessories, manipulators, passive exercise equipment, etc., can solve the problems of complex structure, unable to fully realize gravity balance, etc., and achieve the effect of simple structure

Active Publication Date: 2017-08-25
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] The purpose of the present invention is to solve the problem that the existing exoskeleton using the principle of gravity balance has a complex structure or cannot completely achieve gravity balance

Method used

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  • An upper limb rehabilitation exoskeleton based on spatial gravity balance
  • An upper limb rehabilitation exoskeleton based on spatial gravity balance
  • An upper limb rehabilitation exoskeleton based on spatial gravity balance

Examples

Experimental program
Comparison scheme
Effect test

specific Embodiment approach 1

[0019] Specific implementation mode one: combine Figure 1 to Figure 9 Describe this embodiment, this embodiment includes boom adjustment motor 1-1, boom motor mount 1-1-1, forearm adjustment motor 1-2, forearm motor mount 1-2-1, boom adjustment nut 2 -1. Forearm adjustment nut 2-2. Shoulder joint upper frame 3. Shoulder joint connecting frame 17. Shoulder joint lower frame 5. Exoskeleton upper arm 4. Balance link 6. Two adjustment components, axial rotation of the upper arm Part 8, auxiliary link 11, exoskeleton rotating arm 12, exoskeleton forearm 10 and a plurality of binding mechanisms 13,

[0020] The big arm motor seat 1-1-1 is installed on an end of the upper frame 3 of the shoulder joint, and one side of the shoulder joint connecting frame 17 is connected with the upper frame 3 of the shoulder joint, and the other side of the shoulder joint connecting frame 17 is connected with the body of the wearer. connection, the other end of the shoulder joint upper frame 3 is ro...

specific Embodiment approach 2

[0023] Specific implementation mode two: combination Figure 1 to Figure 5 Describe this embodiment, the adjustment assembly of this embodiment includes a steel wire rope 16, a spring fixing buckle 15, a connecting seat 50 and a spring 7, and one end of the spring 7 is fixedly installed on the balance link 6 or the exoskeleton arm 4 through the spring fixing buckle 15 , the connection seat 50 is installed on the balance link 6 near the side of the arm adjustment nut 2-2, or the connection seat 50 is installed on the exoskeleton arm 4 near the side of the arm adjustment nut 2-1, and the wire rope 16 One end is fixedly connected with the forearm adjustment nut 2-2, and the other end of the wire rope 16 is connected to the other end of the spring 7 through the connecting seat 50 on the balance connecting rod 6, or one end of the wire rope 16 is fixed with the boom adjustment nut 2-1 To connect, the other end of the wire rope 16 passes through the connection seat 50 on the exoskel...

specific Embodiment approach 3

[0024] Specific implementation mode three: combination Figure 1 to Figure 5 Describe this embodiment, one end of the wire rope 16 of this embodiment is fixedly connected with the forearm adjustment nut 2-2, the other end of the wire rope 16 passes through the connecting seat 50 on the balance connecting rod 6 and is connected with the other end of the spring 7, and the spring The other end of 7 realizes expansion and contraction under the drive of forearm adjustment nut 2-2 and steel wire rope 16;

[0025]Or one end of the wire rope 16 is fixedly connected with the boom adjustment nut 2-1, and the other end of the wire rope 16 passes through the connection seat 50 on the exoskeleton boom 4 and is connected with the other end of the spring 7, and the other end of the spring 7 is on the boom. Realize expansion and contraction under the drive of adjustment nut 2-1 and steel wire rope 16. With such arrangement, it is convenient to realize the extension and flexion of the exoskel...

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Abstract

The invention discloses an upper limb rehabilitation exoskeleton based on space gravity balance, and relates to an upper limb rehabilitation exoskeleton. The upper limb rehabilitation exoskeleton solves the problem that the existing exoskeleton adopting gravity balance principle is complex in structure or cannot completely realize gravity balance. One end of a shoulder joint connecting frame is connected with a shoulder joint upper skeleton; the other end of the shoulder joint upper skeleton is connected with one end of an exoskeleton big arm; a big arm adjusting nut is connected with a big arm adjusting motor; an adjusting component is mounted on the exoskeleton big arm; a small arm motor base is mounted on a shoulder joint lower skeleton; a small arm adjusting nut is mounted at the output end of a small arm adjusting motor; a balance connecting rod is parallel with the exoskeleton big arm; another adjusting component is mounted on the balance connecting rod; an exoskeleton rotating big arm is connected with the exoskeleton big arm through a big arm axial rotating piece; a plurality of binding mechanisms are respectively and fixedly mounted on the exoskeleton big arm and an exoskeleton small arm. The upper limb rehabilitation exoskeleton is applied to upper limb rehabilitation.

Description

technical field [0001] The invention relates to an upper limb rehabilitation exoskeleton, in particular to an upper limb rehabilitation exoskeleton based on space gravity balance. 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 p...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): A61H1/02A63B23/12B25J9/00
CPCA61H1/0277A61H1/0281A61H2201/0157A61H2201/14A61H2201/1616A61H2201/1638A61H2201/165A61H2205/06A63B23/1209B25J9/0006
Inventor 朱延河蔡雪风张宗伟
Owner HARBIN INST OF TECH
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