Seven degrees of freedom upper limb assist exoskeleton robot

Abstract

The invention discloses a seven-degree-of-freedom upper limb assisted exoskeleton robot, which belongs to the technical field of rehabilitation robots. The seven-degree-of-freedom upper limb power-assisted exoskeleton robot includes a wrist, a palm and a finger, wherein the wrist is connected to the palm, the wrist includes a wrist ring rack and a wrist slider arranged on the wrist ring rack, and the palm includes The palm guard is connected to the fingers, and the fingers include the thumb board and the quadruple finger board. Compared with the prior art, the present invention simulates the flexion / extension, internal / external rotation, palm flexion / extension, and thumb flexion / extension of the wrist of the upper limb of the human body, with a high degree of freedom, and the range of motion of each degree of freedom is improved Reasonable allocation and restriction can well fit the physiological structure of the human hand, assist the multi-angle more flexible movement of the human hand, and better assist the wearer to complete some basic physiological movements.

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...

AI Technical Summary

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 external rotation, and the degree of freedom is set. Very simplified, it can only be used to simulate exercise therapy for simple rehabilitation training, and cannot assist stroke patients to complete some daily self-care activities, especially hand movements, such as eating, washing face, etc.

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