Self-adaptive wearable submissive exoskeleton rehabilitation manipulator

A wearable and exoskeleton technology, applied in passive exercise equipment, medical science, prosthesis, etc., can solve the problems of complex structure, poor wearable adaptability, large volume and weight, etc., and achieve human-computer interaction safety, low cost, The effect of wearing comfort

Inactive Publication Date: 2017-07-14
UNIV OF SHANGHAI FOR SCI & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The main reason is that the rigid exoskeleton manipulator has the disadvantages of complex structure, large volume and weight,

Method used

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  • Self-adaptive wearable submissive exoskeleton rehabilitation manipulator
  • Self-adaptive wearable submissive exoskeleton rehabilitation manipulator
  • Self-adaptive wearable submissive exoskeleton rehabilitation manipulator

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0022] The application principle of the present invention will be further described below with reference to the drawings and specific embodiments.

[0023] Such as Figure 1 to Figure 5 As shown, the adaptive wearable compliant exoskeleton rehabilitation manipulator of the present invention includes thumb 1, index finger 2, middle finger 3, ring finger 4, pinky 5, pinky flexible drive push rod 7, thumb flexible drive push rod 18, and index finger flexible Drive push rod 55, middle finger flexible drive push rod 54, hand back support plate 8, finger holder 9, first Bowden cable 11, second Bowden cable 22, third Bowden cable 25, thumb holder 12. Thumb end support plate 13, ring finger flexible drive putter 53, middle finger flexible drive putter 54, index finger flexible drive putter 55, thumb flexible drive putter 18, motor box 16, U-shaped clip 20, first movement The coupling slider 23, the second motion coupling slider 24, the first linear push rod motor 50, the second linear p...

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Abstract

The invention relates to a self-adaptive wearable submissive exoskeleton rehabilitation manipulator, comprising a flexible driving push rod, five flexible hinge fingers, a straight push rod motor assembly, and a motor case. The five flexible hinge fingers are arranged on a supporting plate and a fixing frame. The straight push rod motor assembly is fixed in the motor case, and is connected with the five flexible hinge fingers through a linear motor push rod, a Bowdon cable, and the flexible driving push rod, to form a finger driving mechanism. The rehabilitation manipulator obtains power through three linear push rod motors, the linear push rod motors respectively drive four fingers and a thumb, and a driving method and the number of used motors are greatly simplified. The flexible hinge finger portions can preferably fit with fingers through a finger fixing bandage, to adapt to position forms of each finger. The rehabilitation manipulator has relatively good bionic effect, and can preferably assist a patient whose hand functions are damaged for rehabilitation training and daily life. The rehabilitation manipulator is simple in structure, and is portable, and is convenient to carry, and a patient can autonomously perform rehabilitation training in a community or at home.

Description

Technical field [0001] The invention relates to a wearable compliant exoskeleton rehabilitation manipulator, in particular to a rehabilitation training and daily life auxiliary device for stroke patients with hand dysfunction, belonging to the technical field of rehabilitation manipulators. Background technique [0002] According to statistics, there are 10.36 million stroke patients over 40 years old in my country, and more than 2 million new cases occur each year. Stroke is one of the most common disabling diseases, among which 70%-85% of patients are accompanied by hemiplegia. In the rehabilitation of upper limb function of hemiplegic patients, the rehabilitation of hand function is the most difficult. Because the hand structure is more complicated, hand function rehabilitation has problems such as long rehabilitation period and heavy tasks. Studies have shown that the rehabilitation effect of hand rehabilitation training for patients with external mechanical assistance is be...

Claims

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Application Information

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IPC IPC(8): A61H1/02A61F4/00
CPCA61H1/0285A61F4/00A61H1/0288A61H2201/1207A61H2201/1638A61H2201/165A61H2205/065A61H2205/067
Inventor 孟巧玲项世传喻洪流张慧邵海存王孟
Owner UNIV OF SHANGHAI FOR SCI & TECH
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