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Flexible shoulder joint rehabilitation exoskeleton mechanism

A shoulder joint and exoskeleton technology, applied in the field of medical robots, to achieve the effect of avoiding rigid impact, avoiding secondary injuries, and high position accuracy

Active Publication Date: 2018-02-27
ZHEJIANG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

It solves the problem of unavoidable rigid impact and position accuracy during the movement process of the prior art

Method used

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  • Flexible shoulder joint rehabilitation exoskeleton mechanism
  • Flexible shoulder joint rehabilitation exoskeleton mechanism
  • Flexible shoulder joint rehabilitation exoskeleton mechanism

Examples

Experimental program
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Effect test

Embodiment Construction

[0026] Such as Figure 1-6As shown, a flexible shoulder joint rehabilitation exoskeleton mechanism includes a telescopic support frame 1, a shoulder joint adjustment mechanism 2, a large arm side lift joint 3, a large arm abduction joint 4, a large arm forward lift joint 5, an automatic lifting Column 6, back chassis 7, exoskeleton slide rail 8, shoulder joint slider 9, back fixing frame 10, first joint motor frame 11, first rotation drive device 12, first limit mechanism 13, arm side lift output 14. The second joint motor frame 15, the second rotation drive device 16, the second limit mechanism 17, the boom outreach output 18, the third joint motor frame 19, the third rotation drive device 20, and the third limit mechanism 21 , the boom fixing mechanism 22, the first drive motor 23, the first synchronous pulley set 24, the first harmonic reducer 25, the first elastic mechanism 26, the first angle sensor 28, the second angle sensor 29, the second drive Motor 30, second synchr...

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Abstract

The invention discloses a flexible shoulder joint rehabilitation exoskeleton mechanism. The flexible shoulder joint rehabilitation exoskeleton mechanism comprises a telescopic support frame 1, a shoulder joint adjustment mechanism 2, an upper arm lateral lift joint 3, an upper arm abduction joint 4 and an upper arm forward lift joint 5, wherein the shoulder joint adjustment mechanism 2 is fixedlyconnected to the telescopic support frame 1, the upper arm lateral lift joint 3 is fixedly connected with the shoulder joint adjustment mechanism 2, and the upper arm lateral lift joint 3, the upper arm abduction joint 4 and the upper arm forward lift joint 5 are connected in sequence. According to the flexible shoulder joint rehabilitation exoskeleton mechanism, rigid shock can be avoided; besides, position precision is high, and an upper moment limit can be set so as to avoid the situation that secondary injury is caused as the moment exceeds the bearing limit of the human body when an accident happens in the treatment process; moreover, muscle groups corresponding to specific movements can be independently trained at a single degree of freedom, or the whole joint can be subjected to exercise training at multiple degrees of freedom.

Description

technical field [0001] The invention relates to the technical field of medical robots, in particular to a flexible shoulder joint rehabilitation exoskeleton mechanism. Background technique [0002] Rehabilitation exoskeleton is a hot spot in the field of robot research, and has a broad application prospect in the medical field. Conventional rehabilitation treatment is mostly long-term one-on-one exercise assistance therapy between doctors and patients, plus language communication, drug therapy, etc. The patient performs a large number of repetitive movements, gradually stabs the damaged brain nerves, and repairs the brain nerves. . Moreover, the programmability and learning ability of the exoskeleton robot enables it to store a large number of treatment programs through preset programs or the way doctors teach, so as to achieve the effect of treatment in various places. [0003] The research on exoskeleton for upper limb rehabilitation began in the last century and has bee...

Claims

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Application Information

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IPC IPC(8): A61H1/02B25J9/00
CPCA61H1/0281A61H2201/1207A61H2201/14A61H2201/1616A61H2201/1638A61H2201/5069A61H2205/062B25J9/0006
Inventor 朱秋国石拓熊蓉吴俊
Owner ZHEJIANG UNIV
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