Upper limb exoskeleton with five-degree-of-freedom shoulder structure

Abstract

The invention relates to an upper limb exoskeleton with a five-degree-of-freedom shoulder structure. The upper limb exoskeleton relates to the field of upper limb exoskeletons, and comprises a back support frame, a clavicle back-and-forth swinging support, a parallelogram clavicle up-and-down swinging mechanism, a shoulder joint right-and-left swinging support, a shoulder blade support frame, a shoulder joint back-and-forth swinging support, a shoulder joint horizontal rotating mechanism, a big arm structure and a small arm structure, which are sequentially and fixedly connected; and all mechanisms rotate around rotary shafts J1 to J7. Compared with a traditional two-degree-of-freedom or three-degree-of-freedom upper limb shoulder structure, the upper limb exoskeleton with the five-degree-of-freedom shoulder structure provided by the invention has better cooperativity of human skeleton movement, consistency of multi-degree-of-freedom movement, wear comfort of a human body, and integration of shoulder complex actions.

Description

technical field [0001] The invention relates to the field of upper limb exoskeleton, in particular to an upper limb exoskeleton with a five-degree-of-freedom shoulder structure. Background technique [0002] There are tens of millions of patients with stroke and hemiplegia in my country, and there are more than 2 million new stroke patients every year, and there is an increasing trend year by year. One person has a stroke every 12 seconds, and one person dies of a stroke every 21 seconds; with the population of China After 2020, my country's elderly population will reach 300 million; as well as people with physical disabilities, patients with skeletal muscle injuries and sarcopenia, athletes with damaged joints, etc., the target groups in the field of medical rehabilitation and disability assistance are huge. The research and development of medical exoskeleton robots will bring good news to patients with various physical disabilities. [0003] The upper limbs of the human bo...

AI Technical Summary

Problems solved by technology

[0004] The shoulder structure of the upper extremity exoskeleton is the most complex, and the design of human-machine collaborative motion is the most difficult. Sacrificing the action that is compatible with the movement of the human body's shoulder bone degrees of freedom, the movement angle of the relevant degrees of freedom cannot meet the actual needs of the human body, and it is difficult to achieve one-to-one matching with the movements of various joints of the human body, so the adaptability of human body functions is low, and the wearing comfort is poor. It cannot complete the required motion function requirements of human skeleton movement, which reduces the effect of human-machine cooperation of exoskeleton

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