Under-actuation exoskeleton recovery mechanical hand

A technology of manipulators and exoskeletons, applied in the field of rehabilitation robots, which can solve the problems of impact and vibration transmission system user injury, increase the complexity of the control system, and difficulty in meeting the needs of patients, so as to increase the replaceability and adjustability, and improve the scope of application , the effect of convenient assembly

Inactive Publication Date: 2017-07-04
HEBEI UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0003] At present, exoskeleton rehabilitation manipulators mostly use motors and connecting rods to form a transmission mechanism. This type of mechanism is heavy and difficult to wear. At the same time, the shock and vibration generated by the impact load will cause damage to the transmission system and users.
Few designs at home and abroad use pneumatic muscles with cu...

Method used

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  • Under-actuation exoskeleton recovery mechanical hand
  • Under-actuation exoskeleton recovery mechanical hand
  • Under-actuation exoskeleton recovery mechanical hand

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Embodiment Construction

[0020] Specific examples of the present invention are given below. The specific embodiments are only used to further describe the present invention in detail, and do not limit the protection scope of the claims of the present application.

[0021] The present invention provides an underactuated exoskeleton rehabilitation manipulator (see Figure 1-5 , referred to as rehabilitation manipulator), including thumb joint assembly 1, index finger joint assembly 2, middle finger joint assembly 3, ring finger joint assembly 4, little finger joint assembly 5, motor first auxiliary support plate 6, finger flexion and extension drive motor group 7, finger swing Drive motor group 8, motor second auxiliary support plate 9, palm assembly 10 and palm fixer 101; described thumb joint assembly 1, index finger joint assembly 2, middle finger joint assembly 3, ring finger joint assembly 4 and little finger joint assembly 5 Connected with the palm assembly 10; the finger flexion and extension dr...

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Abstract

The invention discloses an under-actuation exoskeleton recovery mechanical hand which comprises a thumb joint assembly, an index finger joint assembly, a middle finger joint assembly, a ring finger joint assembly, a little finger joint assembly, a motor first assistant supporting plate, a finger bend-stretch drive motor set, a finger sway drive motor set, a motor second assistant supporting plate, a palm assembly and a palm fixer, wherein the thumb joint assembly, the index finger joint assembly, the middle finger joint assembly, the ring finger joint assembly and the little finger joint assembly are connected to the palm assembly; and the mechanical hand can be used to achieve recovery training of five fingers of a patient and can also achieve bending, unbending and left-right swaying of a single finger. An under-actuation form is adopted; the single finger is driven by two motors; the freedom degree is lower than the freedom degree of the single finger; power is transmitted by a flexible belt and a rope; and the mechanical hand is characterized by a simple structure, lower control complexity and higher motion flexibility.

Description

technical field [0001] The invention belongs to the field of rehabilitation robots, in particular to an underactuated exoskeleton rehabilitation manipulator. Background technique [0002] Traditional stroke treatment mainly relies on the assistance and guidance of physical therapists, and stimulates damaged nerves through a large number of repetitive movements. This method has disadvantages such as low efficiency, high cost, and difficult operation. With the development of robotics, robotics has been gradually applied to the medical field. Therefore, the design of exoskeleton rehabilitation manipulator is of great significance to the limb rehabilitation of stroke patients. [0003] At present, exoskeleton rehabilitation manipulators mostly use motors and connecting rods to form a transmission mechanism. This type of mechanism is heavy and difficult to wear. At the same time, the shock and vibration generated by the impact load will cause damage to the transmission system an...

Claims

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Application Information

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IPC IPC(8): A61H1/02B25J15/00
CPCA61H1/0288A61H2201/1207A61H2201/1638A61H2205/067B25J15/0009
Inventor 刘瑞素唐海建叶协通张芮
Owner HEBEI UNIV OF TECH
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