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Wearable flexible upper limb exoskeleton assisting system

A power assist system and exoskeleton technology, applied in medical science, sports accessories, manipulators, etc., can solve problems such as poor flexibility, poor adaptability, and large size, and achieve the effect of large workload, light weight, and reduced volume and quality

Active Publication Date: 2018-09-07
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0009] In order to solve the problems of large volume, large mass, poor movement flexibility and poor adaptability in the existing exoskeleton robot driving system, the present invention further provides a wearable flexible upper limb exoskeleton assisting system

Method used

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  • Wearable flexible upper limb exoskeleton assisting system
  • Wearable flexible upper limb exoskeleton assisting system
  • Wearable flexible upper limb exoskeleton assisting system

Examples

Experimental program
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specific Embodiment approach 1

[0046] Specific implementation mode one: as Figure 1-10 As shown, the wearable flexible upper extremity exoskeleton assisting system of this embodiment includes a wearable suit, a control box 7, a transmission device, a sensor and two driving devices 6, and the wearable suit includes a soft vest 4, a rigid backboard 5, two The fixed glove 1, two forearm straps 2 and two large arm straps 3, the rigid backboard 5 is sewn on the back of the soft vest 4, and the wearer's forearm wears the fixed glove 1 and the forearm strap 2, The wearer wears a big arm strap 3 on his big arm, each forearm strap 2 is stitched and connected with the corresponding fixed glove 1, and the big arm strap 3 is sewn symmetrically on both sides of the soft vest 4;

[0047] Forearm strap 2 includes forearm anchor point 14 and forearm fixing band 202, forearm anchor point 14 includes forearm inner anchor point 201 and forearm outer anchor point 203, forearm inner anchor point 201 and forearm outer anchor po...

specific Embodiment approach 2

[0056] Specific implementation mode two: as Figure 5 and Figure 6 As shown, each driving device 6 in this embodiment includes a driving device housing 606, a brake 601, a Bowden wire pretensioning assembly 607, a driving device main shaft 609, a driving device housing cover 608, a rigid coupling 612, and a brushless motor 613, two electromagnetic clutches 602, two connectors 610, two harmonic reducers 603 and two wire wheels 605; the brushless motor 613 is fixed on one end of the drive device housing 606, and the output of the brushless motor 613 The shaft is fixedly connected to one end of the drive device main shaft 609 through a rigid coupling 612, the drive device main shaft 609 is mounted on the drive device housing 606 through two first deep groove ball bearings 23, and the other end of the drive device main shaft 609 passes through the brake 601 Installed on the other end of the drive device housing 606, the electromagnetic clutch 602 includes an armature rotor and a...

specific Embodiment approach 3

[0064] Specific implementation mode three: as Figure 8 and Figure 9 As shown, the wire wheel 605 in this embodiment is provided with a wire wheel joint slot 11-1 and a wire wheel winding slot 11-2, and the fixed end of the Bowden wire 12 is connected to the wire wheel joint slot 11-1, and each wire A Bowden wire 12 is wound in the wheel winding slot 11-2. With such a design, the Bowden wire 12 can be fixed at the slot 11-1 of the spool joint, and then wound in the spool winding slot 11-2. Other components and connections are the same as those in the second embodiment.

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Abstract

The invention provides a wearable flexible upper limb exoskeleton assisting system and relates to the exoskeleton assisting system. The problems that an existing exoskeleton robot drive system is large in size, large in mass, poor in movement flexibility and poor in adaptation are solved. Two drive devices are fixed to a rigid backboard in a leftwards-rightwards-symmetrical manner. Four bowden cables serve as a transmission device, each arm controls deploying and retracting of two bowden cables through the drive device on the same side, the inner side and the outer side of each arm are each subjected to transmission control by a bowden cable, the end of the bowden cable on the inner side of each arm is fixed to a forearm inner side anchor point, and the other end penetrates through an upper arm inner side anchor point and inner side bowden cable guide pipes in sequence to be connected with the drive device on the same side; and one end of the bowden cable on the outer side of each armis fixed to a forearm outer side anchor point, and the other end penetrates through an upper arm outer side anchor point and outer side bowden cable guide pipes to be connected with the drive device on the same side. The wearable flexible upper limb exoskeleton assisting system is used for a wearable flexible upper limb exoskeleton robot.

Description

technical field [0001] The invention relates to an upper limb exoskeleton assisting system, in particular to a wearable flexible upper limb exoskeleton robot assisting system. Background technique [0002] With the continuous improvement of people's living standards and the continuous development of modern medical technology, the average life expectancy of the people has been continuously extended. After entering the 21st century, my country's aging population has gradually increased, and the society has gradually entered an aging society. Due to the decline of body functions, the elderly often suffer from functional degeneration such as lack of strength in the limbs. In today's environment where the aging population is increasing, the degeneration of the elderly's physical function should be paid attention to by the society. This will not only improve the quality of life of the elderly, but also reduce the country's pension burden. [0003] Exoskeleton robots can signific...

Claims

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Application Information

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IPC IPC(8): B25J9/00A61B5/0488A61B5/22
CPCA61B5/22A61B5/6802A61B5/6824A61B5/389B25J9/0006A61H2201/1614
Inventor 董为杜志江陈朝峰孙鑫
Owner HARBIN INST OF TECH
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