Upper limb motion adaptive power-assisted exoskeleton

Abstract

The invention discloses an upper limb motion adaptive power-assisted exoskeleton. The upper limb motion adaptive power-assisted exoskeleton comprises a back assembly, a waist assembly, shoulder assemblies and elbow assemblies, each shoulder assembly comprises an oblique rod, a vertical rotating part, a first main rotating part, a second main rotating part, a horizontal circumference block, a shoulder arm-lifting block and a shoulder circumference block which are rotationally connected in sequence, the oblique rods are connected with the back assembly through first transverse connecting parts,the vertical rotating parts are connected with the oblique rods through second transverse connecting parts, the first main rotating parts are connected with the vertical rotating parts through first vertical connecting parts, the second main rotating parts are connected with the first main rotating parts through first rotating connecting parts, the horizontal circumference blocks are connected with the second main rotating parts through second vertical connecting parts, and the shoulder arm-lifting blocks are connected with the horizontal circumference blocks through third transverse connecting parts. The upper limb motion adaptive power-assisted exoskeleton can well adapt to multi-degree-of-freedom motion such as external expansion, internal retraction, shrugging and shoulder lowering ofthe human body shoulders, thus wearing comfort is greatly improved, the upper limb power-assisted effect is enhanced, and the fatigue feeling is reduced.

Description

technical field [0001] The invention relates to the field of wearable technology, in particular to an adaptive power-assisted exoskeleton for upper limb movement. Background technique [0002] An exoskeleton is a device that can be worn on the human body to provide protection, additional power or ability, and enhance human body functions. Exoskeleton devices are mainly used in medical rehabilitation, military, and personal ability enhancement. Many wearable exoskeleton devices have been announced in the prior art, and their functions include weight-bearing walking, lifting heavy objects, medical assisted rehabilitation, replacement of human amputated limbs, individual combat uniforms, and the like. [0003] The upper limb power-assisted exoskeleton is an exoskeleton device used to wear on the upper limbs of the human body. It is mainly used to provide assistance to the upper limbs of the human body. The upper limb power-assisted exoskeleton generally includes elbow component...

AI Technical Summary

Problems solved by technology

[0006] The upper limb power-assisted exoskeleton devices in the above patent application documents all have the advantage of providing assistance for the upper limbs of the human body, but they also have the following disadvantages in the actual use process: since the human shoulder joint is the largest and most flexible joint in the upper limbs of the human body, The shoulder joint is a typical ball-and-socket joint that can move about three basic axes: flexion and extension about the frontal axis, abduction and adduction about the frontal axis, and internal and external rotation about the vertical axis In addition, the shoulder joint can also perform horizontal flexion and extension and circular movement. In the wearable upper limb power-assisted exoskeleton proposed in the invention application document with the publication number CN201910142742.0, the movement of the rotating rod is in relation to the human shoulder joint. It is adapted to the movement, and the rotating rod can only rotate up and down around the support cylinder, which also causes the shoulder joint of the human body wearing the upper limb power-assisted exoskeleton to only move up and down; similarly, the invention application document with the publication number CN201710709717.7 In an upper extremity exoskeleton mechanical booster proposed in , the linkage shaft is supported on the tripod through bearings, the right arm is fixed on the right end of the linkage, and the left arm is fixed on the linkage shaft through the connecting piece. When actually worn and used, the right arm and the left arm can only drive the human arm to complete the up and down rotation around the shoulder joint; therefore, the above-mentioned wearable upper limb power-assisted exoskeleton cannot It matches well with the movement of the shoulder joint of the human body. It can only lift and lower the arm mechanically. As a result, the human body wearing the above-mentioned upper limb power-assisted exoskeleton device cannot freely carry out the movement of the shoulder joint, and it is easy to wear it for a long time. Fatigue occurs, greatly reducing the comfort of wearing

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