Upper-limb exoskeleton robot left and right hand interchanging device

Abstract

The invention provides an upper-limb exoskeleton robot left and right hand interchanging device. The upper-limb exoskeleton robot left and right hand interchanging device is characterizing by comprising a robot base frame, a central rotation joint, a width adjusting arm, an outer-side rotation joint, a front-back adjusting arm, shoulder vertical-rotation joints and exoskeleton mechanical arms which are sequentially connected, wherein the width adjusting arm and the robot base frame are rotatably connected through the central rotation joint, the width adjusting arm and the front-back adjustingarm are movably connected through the outer-side rotation joint, the front-back adjusting arm and the exoskeleton mechanical arms are rotatably connected through the shoulder vertical-rotation joints,and the robot base frame is installed in the back of a wheelchair. In the upper-limb exoskeleton robot left and right hand interchanging device, left-hand and right hand modes are provided, the exoskeleton mechanical arms are rotatably changed from one side to the other side of the wheelchair through rotary adjustment and control of the central rotation joint, the outer-side rotation joint and the shoulder vertical-rotation joints so as to achieve the switching of the left-hand and right hand modes, and convenience is brought to different patients for rehabilitation training of different arms. In addition, a robot system is simple and compact in structure and good in operability.

Description

technical field [0001] The invention relates to the field of rehabilitation equipment, in particular to a device for exchanging left and right hands of an upper limb exoskeleton robot. Background technique [0002] An exoskeleton robot is an electromechanical device that can be worn on the human body to assist or extend the human body's movement capabilities. It has a wide range of applications, including remote control, human performance enhancement, human skill compensation, and physical rehabilitation training. [0003] The existing patents include an upper limb rehabilitation robot (application number 201711011235.0), which can realize left and right hand rehabilitation training through the exoskeleton mechanical arms installed on both sides of the base pillar, which is not suitable for patients with only unilateral upper limb mobility impairment. The active-passive dual-arm upper limb rehabilitation robot (application number 201710355054.3) uses the main arm as a contr...

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