A supple rehabilitation exoskeleton for upper limbs

Abstract

The invention discloses a supple rehabilitation upper-limb exoskeleton. The exoskeleton comprises a big arm, a small arm and a hand which are sequentially connected; the big arm comprises a rotating driving device for driving the small arm to rotate; according to the small arm, the positions of the hand and the small arm are adjusted through a driven joint mechanism; the rotating driving device further comprises an elbow joint actuator and a damping module, wherein the elbow joint actuator is provided with an inner ring, an outer ring and an elastic structure, and the elbow joint actuator and the damping module are connected in parallel; during the movement, the rotating driving device of the big arm drives the inner ring of the elbow joint actuator to rotate, the inner ring drives the outer ring to rotate through the elastic structure, the outer ring drives the small arm to rotate, and the damping module is used for restraining mechanical vibration of the small arm driven by the elastic structure of the elbow actuator during the movement. The supple rehabilitation upper-limb exoskeleton is light in overall mechanism, the rigid impacts during the movement can be avoided, the safety of the mechanism and the human bodies is ensured, it is ensured that the mechanism is adaptive to people in different body shapes through the adoption of an extensible mechanism of the big and small arms, and the applicability of the mechanism is ensured.

Description

technical field [0001] The invention relates to the technical field of medical robots, in particular to an exoskeleton for flexible rehabilitation of upper limbs. Background technique [0002] my country has a huge population base, and the number of physically disabled people is increasing year by year. With the acceleration of the aging process, the incidence of physiological function decline, bone and joint diseases, and cerebrovascular diseases has increased, which has caused a huge gap in the supply of rehabilitation equipment and clinical rehabilitation in my country. . The supply of rehabilitation departments and rehabilitation equipment in my country is seriously insufficient. By the end of 2012, there were 3,288 general hospitals with rehabilitation departments, which is far from meeting the requirements. In addition, many families of patients face more serious financial constraints in medical rehabilitation. Therefore, it is very urgent to develop rehabilitation ex...

AI Technical Summary

Problems solved by technology

[0009] In view of the above problems, the present invention provides a supple rehabilitation exoskeleton for the upper limbs, which solves the problems of high rigidity, large impact, poor human-computer interaction experience, and lack of active / semi-active reverse impedance training functions in the prior art. question

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