Lightweight bionic-flexible-exoskeleton-type upper limb booster robot with multi degrees of freedom

Abstract

The invention relates to a lightweight bionic-flexible-exoskeleton-type upper limb booster robot with multi degrees of freedom. The lightweight bionic-flexible-exoskeleton-type upper limb booster robot with multi degrees of freedom comprises a carpal flexion / extension motion assembly, a forearm internal-rotation / external-rotation motion assembly and an elbow flexion and extension motion assembly which are sequentially connected; the elbow flexion and extension motion assembly and an upper arm fixing assembly are both connected with a glenohumeral joint motion assembly; the glenohumeral joint motion assembly is connected with a scapular band motion assembly; the scapular band motion assembly is connected with a lifting assembly; lariat driving units are respectively connected with the various motion assemblies; and a wheelchair base assembly is used for supporting the whole upper limb booster robot. The lightweight bionic-flexible-exoskeleton-type upper limb booster robot with multi degrees of freedom is capable of effectively avoiding singularity and interference of man-machine shoulder movements so as to expand range of shoulder movement, reproduce complex motion functions of thehuman shoulder, and reduce shoulder complications. The lightweight bionic-flexible-exoskeleton-type upper limb booster robot with multi degrees of freedom is mainly used for daily motion assistance and rehabilitation training of upper limbs of patients with upper limb motor dysfunction due to stroke, hemiplegia and the like, thereby improving cognitive ability and participation of the patients during training so as to benefit remodeling of brain functions.

Description

technical field [0001] The invention belongs to the field of human body biomechanics and medical rehabilitation of exoskeleton robot technology, and specifically relates to a lightweight multi-degree-of-freedom bionic flexible exoskeleton type upper limb assisting robot. Background technique [0002] The incidence rate of stroke in my country is the highest in the world. With the accelerated pace of life and population aging, and the increase in life pressure, the number of patients with stroke and hemiplegia caused by cardiovascular, cerebrovascular and nervous system diseases is increasing year by year, and about 3 / 4 of the patients have different degrees of nerve damage. and functional movement disorders, seriously affecting the quality of life. Studies have shown that the human central nervous system is highly plastic. For patients with upper limb motor dysfunction such as stroke hemiplegia, in addition to early surgical treatment and necessary drug treatment, early inter...

AI Technical Summary

Problems solved by technology

However, the existing upper extremity rehabilitation exoskeletons usually use three vertically intersecting rotation joints to equivalent human shoulder motion. This scheme only considers the glenohumeral joint motion, ignoring the shoulder girdle motion, resulting in human- Singularity and interference of shoulder movement. At the same time, due to nerve damage, stroke patients cannot automatically produce shoulder girdle movement. They can only rely on moving the trunk to compensate for shoulder girdle movement, which greatly reduces the effect of rehabilitation training and is prone to other complications; Some upper extremity rehabilitation exoskeletons consider the movement of the shoulder girdle, and the lifting motion of the sternoclavicular joint drives the glenohumeral joint lifting motion. This scheme causes the exoskeleton to not match the axis of human shoulder girdle movement, which affects the effect of rehabilitation training and poses a safety hazard

[0006] At the same time, the existing upper limb rehabilitation exoskeletons generally require patients to hold the handle for upper limb rehabilitation training, which requires the patient's hands to have a certain grasping ability, so it is impossible to assist and rehabilitate patients with low hand muscle strength and paraplegic patients; at the same time, the palm There is no fixation device on the back of the hand, which seriously affects the rehabilitation effect of the wrist joint

[0007] On the other hand, the drive motors of traditional rehabilitation exoskeletons are integrated at the joints, so that the exoskeleton actuators have a large mass and inertia, which increases the requirements for drive performance, reduces control accuracy and stability, and poses a safety hazard for the affected limb to fall when the system fails.

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