Upper limb rehabilitation training exoskeleton mechanism with human-machine motion compatibility and passive gravity balance characteristics

Abstract

The invention discloses an upper limb rehabilitation training exoskeleton mechanism with human-machine motion compatibility and passive gravity balance characteristics. The upper limb rehabilitation training exoskeleton mechanism is mainly in a series-connected structural form, and comprises an exoskeleton mechanism, a human-machine connecting mechanism and a supporting piece; the exoskeleton mechanism is fixedly connected with the supporting piece on the back; the human-machine connecting mechanism is closely connected with an upper limb of a human body to form a human-machine closed chain; the human-machine connecting mechanism is divided into an upper arm connecting mechanism and a front arm connecting mechanism, so that the human-machine closed chain has exact constraint. An exoskeleton comprises a shoulder joint equivalent mechanism, an elbow joint equivalent mechanism, a front arm equivalent component and an upper arm equivalent component, wherein the shoulder joint equivalent mechanism and the upper arm equivalent component assist the upper arm to realize the motion of bending / extending, folding / unfolding, and inwards rotating / outwards rotating; the elbow joint equivalent mechanism and the front arm equivalent component assist a front arm to realize the motion of bending / extending; the front arm connecting mechanism is connected with a front arm component to assist the front arm to realize the motion of inwards rotating / outwards rotating; the existence of the deviation of a human-machine axis is completely allowed; acting force which has nothing to do with training cannot be produced in the human-machine closed chain.

Description

technical field [0001] The invention relates to the field of rehabilitation medical equipment, in particular to an upper limb rehabilitation exoskeleton mechanism with human-machine motion compatibility and passive gravity balance characteristics for assisting upper limb shoulder joints and elbow joints in rehabilitation training. Background technique [0002] The upper limbs of the human body play an important role in daily life (for example: eating, brushing teeth, picking and placing things, dressing). However, with the improvement of human life quality, factors such as population aging, traffic accidents, and congenital or acquired disease defects are also increasing, and the number of people with upper limb joint injuries is also increasing, and the human population with upper limb injuries is increasing. There is a trend of getting younger in age, and these problems affect the quality of life of more people to a large extent. Therefore, when any part of the upper limb...

AI Technical Summary

Problems solved by technology

The advantage of the existing design is that the configuration of the exoskeleton mechanism can be obtained in a simple form. The disadvantage is that when there is a deviation of the human-machine corresponding joint axis, there is an internal force in the human-machine closed chain mechanism that has nothing to do with rehabilitation training. It is easy to lead to safety problems such as poor patient experience and even secondary injury

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