A 4 DOF forearm of an upper extremity exoskeleton robot

An exoskeleton robot, degree of freedom technology, applied in passive exercise equipment, physical therapy and other directions, can solve the problems of inability to achieve radial flexion and ulnar flexion of the wrist joint, without considering the slight change of arm length, and the patient's inability to use it independently. The effect of avoiding secondary injury, comprehensive upper limb rehabilitation, and increasing safety

Active Publication Date: 2020-07-14
UNIV OF ELECTRONICS SCI & TECH OF CHINA
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

A five-degree-of-freedom exoskeleton-type upper limb rehabilitation robot (application number CN200810064878.6), the forearm part of the upper limb exoskeleton robot contains 3 degrees of freedom, which cannot realize radial flexion and ulnar flexion of the wrist joint, and the forearm mechanism is huge. Grasp the hand, most patients cannot use it autonomously, and the slight change in arm length during elbow flexion and extension is not considered

Method used

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  • A 4 DOF forearm of an upper extremity exoskeleton robot
  • A 4 DOF forearm of an upper extremity exoskeleton robot
  • A 4 DOF forearm of an upper extremity exoskeleton robot

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0035] Such as figure 1 As shown, a 4-degree-of-freedom forearm of an upper limb exoskeleton robot includes a palm cover 71, a forearm base plate 22, an elbow internal and external rotation module 16, a wrist flexion and extension module 17, and a wrist radioulnar flexion module 18;

[0036] Such as figure 2 As shown, one end of the forearm substrate 22 is provided with a disk 21; the disk 21 is connected to the upper arm of the upper extremity exoskeleton through bolts; as the first degree of freedom of the forearm, the forearm performs flexion and extension around the elbow rotation axis 11.

[0037] Such as image 3 , 4 As shown, the elbow internal rotation module 16 includes a power module, a transmission module 28 connected to the power module, and a two-stage parallel four-bar linkage mechanism connected to the transmission module 28; the two-stage parallel four-bar linkage mechanism includes a first connecting rod 31 , the second connecting rod 32, the first isoscel...

Embodiment 2

[0041] It is further optimized on the basis of the 4-DOF forearm of an upper limb exoskeleton robot described in Embodiment 1, and further includes an arm length infinite adjustment module 15, and the arm length infinite adjustment module 15 includes a sliding plate 23 slidingly connected to the forearm base plate 22 and The quick release screw 24 that controls the relative sliding of the sliding plate 23 and the forearm base plate 22 . When adjusting the forearm of the robot to adapt to the length of the arm, open the quick release screw 24, so that the sliding plate 23 slides relative to the forearm base plate 22, and the elbow internal rotation module 16, wrist flexion and extension module 17 and wrist radial ruler fixed on the sliding plate 23 The flexion module 18 moves with the slide plate 23, changing the linear distance between the axis 13 and the axis 11, and realizing the adjustment of the length of the forearm of the robot.

Embodiment 3

[0043] Such as Figure 7 As shown, it is further optimized on the basis of the 4-DOF forearm of an upper limb exoskeleton robot described in Embodiment 1, and further includes an arm length compensation palm cover module 19, and the arm length compensation palm cover module 19 includes a palm cover 71, a first hand 72, the second hand link 73 and the arm length compensation elastic module 74 arranged on the hand link; the palm sleeve 71 is connected with the first hand link 72 and the second hand link 73, and the palm The sleeve 71 includes a cylindrical end 75 which is inserted into an arm length compensating elastic module 74 . The palm cover 7 1 replaces the traditional handle, so that patients with hand weakness can also effectively use the upper limb exoskeleton robot for rehabilitation training. The palm cover conforms to the ergonomic design and makes it more comfortable to wear; Rod 72, second hand connecting rod 73 connect wrist joint and palm, first hand connecting ...

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Abstract

The invention discloses a 4-degree-of-freedom forearm of an upper limb exoskeleton robot, including a palm cover, a forearm base plate, a sliding plate, an elbow internal and external rotation module, a wrist flexion and extension module, and a wrist radioulnar flexion module; the first degree of freedom of the forearm is The rotation of the forearm around the axis of elbow flexion and extension, the second degree of freedom is the internal and external rotation of the entire forearm around the central axis of the forearm along the length of the arm, and the third degree of freedom is the dorsiflexion of the palm around the wrist joint, The rotation axis of dorsiflexion performs flexion and extension movement, and the fourth degree of freedom is the radial flexion and ulnar flexion movement of the palm around the rotation axis perpendicular to the back of the hand and passing through the midpoint of the rotation axis. The invention provides four degrees of freedom of motion, that is, elbow joint flexion and extension, internal rotation and external rotation, wrist joint flexion and extension, radial flexion, and ulnar flexion, and the rotation axes of each degree of freedom coincide with the rotation axis of the human body, ensuring that the exoskeleton of the upper limbs It is more flexible in the process of driving the arm movement, and can perform various rehabilitation exercises, making the upper limb rehabilitation treatment more comprehensive.

Description

technical field [0001] The invention relates to the field of mechanical structures of exoskeleton robots, in particular to a 4-degree-of-freedom forearm of an upper limb exoskeleton robot. Background technique [0002] The upper limb exoskeleton robot is a mechanical device integrating ergonomics and bionics. It integrates robotic technologies such as sensing, control, information coupling, and mobile computing. It can provide support, protection, and assistance for human limbs. It is mainly used in rehabilitation medical and military fields. Whether it is for hemiplegia caused by stroke or postoperative rehabilitation for orthopedic injuries, upper limb exoskeleton robots can conveniently and effectively carry out rehabilitation training for patients' upper limbs. [0003] The human forearm is the movement end of the entire upper limb, and as the main functional unit, realizes the complex movement trajectory of the hand. This requires the forearm of the upper extremity ex...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): A61H1/02
CPCA61H1/0274A61H1/0277A61H2201/1207A61H2201/1659A61H2205/06
Inventor 周呈科邱静程洪李展王露刘薆恒吴家海薛泽文赵恩盛郑晓娟陈晔
Owner UNIV OF ELECTRONICS SCI & TECH OF CHINA
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