Series-parallel mixed-connection wearable upper limb rehabilitation exoskeleton

An exoskeleton and upper limb technology, applied in the field of mechanics, can solve problems such as low training efficiency, insufficient training intensity, and the impact of patient participation, and achieve good stiffness and control accuracy, comfortable and free movement, and easy mobility.

Active Publication Date: 2018-12-21
BEIJING JIAOTONG UNIV
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  • Abstract
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  • Application Information

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Problems solved by technology

The traditional treatment adopts one-on-one rehabilitation training by medical staff. The training efficiency is low, the training intensity is insufficient, and the training effect is difficult to guarantee.
At present, most of the existing upper lim

Method used

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  • Series-parallel mixed-connection wearable upper limb rehabilitation exoskeleton
  • Series-parallel mixed-connection wearable upper limb rehabilitation exoskeleton
  • Series-parallel mixed-connection wearable upper limb rehabilitation exoskeleton

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Example Embodiment

[0023] The following are specific embodiments of the present invention combined with the accompanying drawings to further illustrate the solution of the present invention.

[0024] The technical solutions adopted by the present invention to solve its technical problems are:

[0025] A series-parallel-mixed wearable upper limb rehabilitation exoskeleton. The exoskeleton consists of three major parts: arm parallel mechanism assembly (1), elbow four-bar mechanism assembly (2), wrist flexible assembly (3), such as figure 2 Shown

[0026] Such as image 3 As shown, the big-arm parallel mechanism assembly (1) adopts the 2UPS-UP parallel mechanism as the mechanism body, which includes three branch chains, of which the structure and composition of the first and second branch chain assemblies (5-1, 5-2) are complete Same; Big arm parallel mechanism assembly (1) includes shoulder fixing bracket (4), first and second branch chain assembly (5-1, 5-2), second base (6-2), second cross connection ...

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Abstract

The invention relates to the field of theories of mechanisms, in particular to design of a series-parallel mixed-connection wearable upper limb rehabilitation exoskeleton. The series-parallel mixed-connection wearable upper limb rehabilitation exoskeleton comprises three main parts of a big-arm parallel mechanism assembly, an elbow four-bar mechanism assembly and a wrist flexible assembly. According to the series-parallel mixed-connection wearable upper limb rehabilitation exoskeleton, by adopting the series-parallel mixed-connection mechanism configuration, all requirements of the upper limbsof the human body for seven degrees of freedom are met, and compared with existing single series-connection rehabilitation exoskeletons, the series-parallel mixed-connection wearable upper limb rehabilitation exoskeleton has higher rigidity and control precision. Compared with fixed rehabilitation exoskeletons, the series-parallel mixed-connection wearable upper limb rehabilitation exoskeleton has the advantages of being portable, easily wearable and movable; meanwhile, a flexible rod piece is introduced, so that movement of the wrist part is comfortable and flexible, and the wearing comfortis improved.

Description

technical field [0001] The invention relates to the field of mechanics, in particular to the design of a series-parallel hybrid wearable upper limb rehabilitation exoskeleton. Background technique [0002] The aging of our country presents the characteristics of a large base and a fast growth rate, while the elderly population is facing many problems such as the decline of physiological functions and the decline of limb flexibility, and there is a great risk of suffering from cardiovascular, cerebrovascular, nervous system and other diseases. At the same time, in the process of rapid economic development of the country, high-intensity work has caused the physical condition of my country's labor force to be unoptimistic, and the incidence of cervical spine, shoulder and elbow joint diseases is showing a trend of younger age and higher density. The traditional treatment adopts one-to-one rehabilitation training by medical staff. The training efficiency is low, the training int...

Claims

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Application Information

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IPC IPC(8): A61H1/02
CPCA61H1/0274A61H1/0277A61H1/0281A61H2201/165A61H2201/1659A61H2201/5051
Inventor 王向阳郭盛李思豪曲海波马可
Owner BEIJING JIAOTONG UNIV
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