A kind of mechanical arm with the function of suppressing tremor

Abstract

The invention discloses a mechanical arm with a tremble inhibiting function. The mechanical arm with the tremble inhibiting function is characterized in that a damping coefficient of a magnetorheological damper is changed to realize the adjusting of joint damping and inertia coefficients of an elbow joint, thus the biomechanical characteristic of a man-machine system is changed, and as a result, the purpose of reducing the tremble movement of the legs can be achieved; an electromyographic signal sensor is used for picking up a bio-electricity signal of arm muscle, filtering the electricity signal, recognizing non-intentional movement component in the movement information, and controlling a power source to supply power to realize active tremble inhibition. The mechanical arm comprises a bigarm, a forearm a wrist joint, the magnetorheological damper, a gear and a motor; the human elbow muscle power applying mode is simulated at the elbow joint; the elbow part is driven to move throughthe motor; the stroke of the motor can be limited to realize the bending and stretching movement of the elbow; the forearm is inwards and outwards rotated under the transmission of the gear; the wristjoint is bent and stretched through a small hydraulic rod; all supports clinging to the human arm are of arc-shaped structures which fit the sizes of arms of most of people.

Description

Technical field[0001]The present invention relates to the technical field of rehabilitation robot, and in particular, to a robotic arm having a three-degree-of-degree of outer limbs.Background technique[0002]With the development of current robotics, advanced control technology, computer technology, sensing technology, biomedical, and artificial intelligence technology, rehabilitation robot technology has also gained great progress in recent years, becoming research hotspots in the field of robotics and rehabilitation medicine. . Using robotic techniques using two types of tremor: one is "passive" tremor suppression control method, mainly by continuously regulating the joint damping and inertia coefficients of robotic systems, thereby changing the biomechanical characteristics of the entire human machine system. The purpose of weakening the tremorial movement; the other is "active" tremble suppression control method, mainly by estimating the physical tremor motion signal in real time...

AI Technical Summary

Problems solved by technology

Its elbow flexion, extension and forearm rotation in and out are all driven by synchronous belts. Although it can ensure a certain transmission accuracy and efficiency, and can reduce the generation of noise, it is difficult to determine the central moment between the pulleys. Defects

Limited by the size of the human wrist and wearing requirements, the size of the large synchronous pulley is large. When the central moment between the pulleys is small, the wrap angle of the small synchronous pulley is small, and the synchronous belt transmission is prone to slipping. On the contrary, When the central moment between the pulleys takes a large value, it will cause the overall structural size of the wrist of the mechanical arm to be too large

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