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Line-driven multi-degree-of-freedom wearable upper limb medical exoskeleton structure

A degree of freedom, wearable technology, applied in the direction of physical therapy, passive exercise equipment, etc., can solve the problems of heavy rigid structure, unable to realize the degree of freedom of wrist rotation, and cannot be used

Active Publication Date: 2018-10-16
BEIJING UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0002] Traditional rigid-driven upper extremity medical exoskeletons can provide patients with great assistance in the degree of freedom of forearm lifting, but the overall rigid structure is very bulky and cannot be used in daily life, and it cannot achieve the degree of freedom of wrist rotation. Lots of limitations in daily activities

Method used

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  • Line-driven multi-degree-of-freedom wearable upper limb medical exoskeleton structure
  • Line-driven multi-degree-of-freedom wearable upper limb medical exoskeleton structure
  • Line-driven multi-degree-of-freedom wearable upper limb medical exoskeleton structure

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Embodiment Construction

[0013] The present invention will be further described below in conjunction with accompanying drawing:

[0014] Such as figure 1 As shown, a line-driven multi-degree-of-freedom wearable upper limb medical exoskeleton structure, the structure includes a first string (1), a second string (2), a third string (8), a sleeve (3), a wrist Fixing device (4), forearm fixing device (5), connecting sleeve (6) and big arm fixing device (7).

[0015] The front end of the big arm fixing device (7) is provided with a protruding part, the tail end of the small arm fixing device (5) is provided with a protruding part, and the protruding parts of the big arm fixing device (7) and the small arm fixing device (5) A through hole is reserved at the front end of the boom fixing device (7) and the through hole on the tail end of the forearm fixing device (5) is connected by the connecting sleeve (6); the boom fixing device (7) and the boom Fix by Velcro; the sleeve (3) is set on the front end of th...

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Abstract

The invention discloses a line-driven multi-degree-of-freedom wearable upper limb medical exoskeleton structure. Through holes reserved in extension parts of an upper arm fixing device are connected with through holes reserved in extension parts of a forearm fixing device through connecting sleeves; the forearm fixing device is fixed with a sleeve through reserved positioning holes of the forearmfixing device; a wrist fixing device is connected with the sleeve; a first cotton rope and a second cotton rope penetrate through the through holes of the forearm fixing device and are fixed in holesin the wrist fixing device; a third cotton rope penetrates through the through holes of the upper arm fixing device and is fixed in holes in the forearm fixing device. The cotton ropes are driven by astepping motor at the rear portion separately. The wearable upper limb medical exoskeleton device can assist a patient in two degrees of freedom of forearm lifting and wrist bending. The exoskeletondevice is composed of the cotton ropes, the sleeve, the wrist fixing device, the forearm fixing device, the connecting sleeves and the upper arm fixing device. The cotton ropes are controlled by the stepping motor to be extended, and therefore the posture control over the exoskeleton device is achieved.

Description

technical field [0001] The invention relates to a line-driven wearable upper limb medical exoskeleton structure for assisting patient movement, in particular to a multi-degree-of-freedom upper limb exoskeleton structure. Background technique [0002] Traditional rigid-driven upper extremity medical exoskeletons can provide patients with great assistance in the degree of freedom of forearm lifting, but the overall rigid structure is very bulky and cannot be used in daily life, and it cannot achieve the degree of freedom of wrist rotation. There are many limitations in daily activities. The advantage of the wire-driven wearable upper extremity medical exoskeleton device is that the wire-driven driving method can be easily worn by patients, and at the same time, the degree of freedom of wrist rotation is increased, which greatly increases the practicality. The present invention adopts the method that the motor is installed behind the cable to drive, and the cable controls the ...

Claims

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Application Information

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IPC IPC(8): A61H1/02
CPCA61H1/0274A61H2001/0203A61H2201/1207A61H2201/165A61H2201/1659
Inventor 高国华刘聪王皓郑玉航李博文田博兴
Owner BEIJING UNIV OF TECH
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