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.
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[0023] The following are specific embodiments of the present invention and in conjunction with the accompanying drawings, the solutions of the present invention will be further described.
[0024] The technical scheme that the present invention solves its technical problem to take is:
[0025] A series-parallel hybrid wearable upper limb rehabilitation exoskeleton, the exoskeleton includes three parts: a large arm parallel mechanism component (1), an elbow four-bar mechanism component (2), and a wrist flexible component (3), such as figure 2 shown;
[0026] Such as image 3 As shown, the boom parallel mechanism component (1) adopts the 2UPS-UP parallel mechanism as the mechanism body, which includes three branch chains, and the structure and composition of the first and second branch chain components (5-1, 5-2) are completely The same; the boom parallel mechanism assembly (1) includes the shoulder fixed bracket (4), the first and second branch chain assemblies (5-1, 5-2), t...
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