A seven-degree-of-freedom upper limb assisting exoskeleton robot

An exoskeleton robot and technology of degrees of freedom, applied in the field of rehabilitation robots, can solve problems such as being unable to assist stroke patients in daily self-care activities

Active Publication Date: 2016-10-19
SHANDONG JIANZHU UNIV
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Problems solved by technology

[0003] After literature search, the Chinese invention patent application with application number 201410196915.4 proposes an exoskeleton-type upper limb rehabilitation robot. This robot is only used to assist stroke patients to complete elbow joint flexion and extension, forearm internal and...

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  • A seven-degree-of-freedom upper limb assisting exoskeleton robot
  • A seven-degree-of-freedom upper limb assisting exoskeleton robot
  • A seven-degree-of-freedom upper limb assisting exoskeleton robot

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Embodiment Construction

[0025] In order to make the technical problems, technical solutions and advantages to be solved by the present invention clearer, the following will describe in detail with reference to the drawings and specific embodiments.

[0026] A seven-degree-of-freedom upper limb assisted exoskeleton robot, such as Figure 1 to Figure 4 shown, including the wrist, palm and fingers, where:

[0027] The palm is also connected with the wrist, the wrist includes the wrist ring rack and the wrist slider arranged on the wrist ring rack, the wrist slider is provided with a servo motor four with an encoder and a harmonic reducer four, the servo motor The output end of the fourth is connected to the input end of the harmonic reducer four, the output end of the harmonic reducer four is connected to the bevel gear five, and the bevel gear five is connected to the wrist ring rack;

[0028] The palm part includes a palm guard plate, and the servo motor six and the harmonic reducer six with an encod...

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Abstract

The invention provides a seven-degree-of-freedom upper limb assisting exoskeleton robot and belongs to the technical field of rehabilitation robots. The seven-degree-of-freedom upper limb assisting exoskeleton robot comprises a wrist part, a palm part and a finger part. The wrist part is connected with the palm part. The wrist part comprises a wrist ring toothed rail and a wrist slider arranged on the wrist ring toothed rail. The palm part comprises a palm protecting plate and is connected with the finger part which comprises a thumb plate and a four-link finger plate. Compared with the prior art, the seven-degree-of-freedom upper limb assisting exoskeleton robot can simulate the bending/extending and the inward rotation and outward rotation of wrists, the bending/extending of palms and the bending/extending of thumbs of the upper limbs of human bodies, thereby having high degree of freedom; the movement ranges of the degrees of freedom are based on reasonable distribution and restriction, so that the robot can better fit the physiological structure of the hands of human bodies, assist the hands of the human bodies in moving flexibly at multiple angles and better assist wearers in making basic physiological movement.

Description

technical field [0001] The invention relates to the technical field of rehabilitation robots, in particular to a seven-degree-of-freedom upper limb assisting exoskeleton robot. Background technique [0002] With the intensification of population aging in my country, the incidence of diseases that seriously threaten the health of middle-aged and elderly people, such as stroke and hemiplegia, is also increasing year by year. These diseases cause partial loss of limb motor function and related complications. In addition, trauma, sports injuries, occupational injuries, etc. also cause the decline of limb motor function. The partial loss and decline of limb motor function, especially the partial loss and decline of upper limb motor function, greatly affects the patient's ability to perform daily life. For this reason, it is of practical significance to design an upper limb-assisted exoskeleton robot that can safely, effectively and conveniently assist the patient's upper limbs t...

Claims

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Application Information

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IPC IPC(8): A61F2/56A61F2/70
Inventor 鲁守银李婧瑜李艳萍王涛
Owner SHANDONG JIANZHU UNIV
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