Four-freedom-degree wearable upper limb exercise auxiliary device with optimized freedom degree

An auxiliary device and degree of freedom technology, applied in sports accessories, passive exercise equipment, physical therapy, etc., can solve problems such as bulky robotic arms, unfavorable portable and wearable design of robotic arms, and increased control complexity, so as to avoid The effect of arm length adjustment

Active Publication Date: 2018-11-06
CHONGQING UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] Although the control mode of the one-to-one correspondence between the drive unit and the human body's freedom of movement basically realizes the 7 degrees of freedom that characterize the movement characteristics

Method used

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  • Four-freedom-degree wearable upper limb exercise auxiliary device with optimized freedom degree
  • Four-freedom-degree wearable upper limb exercise auxiliary device with optimized freedom degree
  • Four-freedom-degree wearable upper limb exercise auxiliary device with optimized freedom degree

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Experimental program
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Effect test

Embodiment 1

[0031] refer to Figure 1a-1c And 2a-2c, the present invention mainly comprises shoulder and back fixing module, upper arm auxiliary module and forearm auxiliary module; Shoulder and back fixing module comprises shoulder and back fixing bracket 1, backpack module 2, drive control module 3 and power supply that are arranged in backpack module 2 The module 4 is composed of the shoulder turntable motor 9, the first electric push rod 13, and the second electric push rod 17-1 to form the most basic structural form. In the figure, the upper arm auxiliary module includes a motor base 8, a shoulder turntable motor 9, a fixed connector 10, a load-bearing pole 11, a first turntable base 12, a first electric push rod 13, and a first upper arm fixing sleeve 15. The output end of the first electric push rod 13 is connected to a point on the first upper arm fixed sleeve 15 through the first single-ended fixed rotating shaft or the first suspension ring 14 . In the figure, the auxiliary for...

Embodiment 2

[0041] refer to Figures 3a-3c , Figures 4a-4c The difference between this embodiment and Embodiment 1 is that the forearm drive module of this embodiment includes a cuff connector 17-2 and a rotating motor 18-2, and the cuff connector 17-2 includes a rotationally connected inner rotating shaft and an outer rotating shaft. shaft, the outer rotating shaft is fixedly connected with the second upper arm fixed sleeve 16-2, the inner rotating shaft is fixedly connected with the second forearm fixed sleeve 19-2, and the rotating motor 18-2 is fixedly installed on the outer rotating shaft of the sleeve connector 17-2 Corresponding to the position, that is, the position where the inner rotating shaft and the outer rotating shaft rotate around the center of rotation, the output shaft of the rotating motor 18-2 is fixedly connected to the inner rotating shaft of the sleeve connector 17-2.

[0042] The shoulder carousel motor 9 is fixed on the shoulder substrate at one end of the shoul...

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PUM

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Abstract

The invention relates to a four-freedom-degree wearable upper limb exercise auxiliary device with optimized freedom degree. The device comprises a shoulder-back fixing module, an upper arm auxiliary module and a forearm auxiliary module; the shoulder-back fixing module comprises a shoulder-back fixing bracket, a backpack module, a driving control module and a power module, wherein the driving control module and the power module are arranged in the backpack module; and the forearm auxiliary module comprises a motor base, a shoulder turntable motor, a fixed connecting piece, a bearing support rod, a first turntable base, a linear driving device and a first upper arm fixing sleeve. The four-freedom-degree wearable upper limb exercise auxiliary device with the optimized freedom degree can be used for the daily exercise training aiding of the upper limb of a wearer and can complete single-freedom-degree motion training and multi-freedom-degree linkage training, only utilize three active driving units to achieve four freedom degrees of flexion/ extension, abduction/ adduction and intorsion/ extorsion of the shoulder joint and buckling/ overextension of the elbow joint, and can be used for portable upper limb exercise aiding. The four-freedom-degree wearable upper limb exercise auxiliary device with the optimized freedom degree has the advantages that the structure is simple, wearingis convenient and fast, and the clinical significance and practical value are higher.

Description

technical field [0001] The invention belongs to the technical field of upper limb rehabilitation robots, and relates to a four-degree-of-freedom wearable upper limb motion assisting device with optimized degrees of freedom. Background technique [0002] There are tens of millions of stroke and hemiplegia patients in my country, and the number of patients is increasing year by year. Coupled with the impact of population aging, the demand for rehabilitation medicine is becoming more and more urgent. Existing rehabilitation medicine mainly relies on the experience and technology of rehabilitation doctors, but the number of doctors and the influence of technology restrict the rehabilitation treatment of patients. In recent years, rehabilitation robots have developed rapidly, and their application has alleviated this limitation to a certain extent. However, with the deepening of research, the requirements for rehabilitation robots have become higher and higher. [0003] The huma...

Claims

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Application Information

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IPC IPC(8): A63B23/12A63B21/00A61H1/02
CPCA61H1/0274A61H2201/1207A61H2201/14A61H2201/1638A61H2205/06A63B21/00178A63B21/00181A63B23/12
Inventor 呼林涛侯文生吴小鹰赵云肖博文陈琳
Owner CHONGQING UNIV
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