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Shoulder joint rehabilitation exoskeleton mechanism adopting unpowered compensation joints

A compensation mechanism and exoskeleton technology, applied in passive exercise equipment, physical therapy, etc., can solve the problems of high complexity of exoskeleton and decreased joint compensation ability

Active Publication Date: 2020-02-14
SOUTHEAST UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] This design is mainly to solve the problem that the exoskeleton of the existing human-computer compatible exoskeleton uses too many dynamic joints and kinematic chains during the compensation process of the glenohumeral joint, which makes the exoskeleton too complex and the joint compensation ability is reduced due to joint lag. question

Method used

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  • Shoulder joint rehabilitation exoskeleton mechanism adopting unpowered compensation joints
  • Shoulder joint rehabilitation exoskeleton mechanism adopting unpowered compensation joints
  • Shoulder joint rehabilitation exoskeleton mechanism adopting unpowered compensation joints

Examples

Experimental program
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Effect test

Embodiment 1

[0041] Such as Figure 1-Figure 3 A shoulder rehabilitation exoskeleton mechanism using a non-dynamic compensation joint is shown, including glenohumeral joint adaptive compensation mechanism A, exoskeleton abduction / adduction mechanism B, sagittal axis compensation mechanism C, exoskeleton internal rotation / External rotation mechanism D, exoskeleton flexion / extension mechanism E, back support (1) and two upper arm connectors, first upper arm connector (11), second upper arm connector (12). Exoskeleton abduction / adduction mechanism B, exoskeleton internal rotation / external rotation mechanism D, exoskeleton flexion / extension mechanism E realize shoulder joint abduction / adduction, internal rotation / external rotation and forward flexion / extension Basic movement; the glenohumeral joint adaptive compensation mechanism A is connected to the back support (1), providing stable support at the shoulder joint while compensating for the fluctuation of the glenohumeral joint rotation cent...

Embodiment 2

[0050] The design of the glenohumeral joint adaptive compensation mechanism A of Embodiment 1 can be divided into the following steps:

[0051] 1) Determine the length of each connecting rod, wherein the lengths of the first connecting rod (15), the third connecting rod (19) and the sixth connecting rod (23) that keep the vertical direction in motion are c=0.1m; the second The length of connecting rod (16) and the 4th connecting rod (18) is identical for length and is a=0.13m; The length of the 5th connecting rod (20) and the seventh connecting rod (22) is identical for b=0.13m;

[0052] 2) Determine the initial angle and rotation range of each parallelogram mechanism (13), (14). Let be the unit vector on link i in the institution, where q 1 is a vertically fixed chain. Establish a fixed coordinate system O at the midpoint of the first connecting rod (15) of the vertical fixed chain 0 x 0 the y 0 z 0 , x 0 The axis is parallel to the coronal axis and points from the ste...

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Abstract

The invention discloses a shoulder rehabilitation exoskeleton mechanism adopting unpowered compensation joints. The invention mainly aims to solve the problems of over-high complexity and joint lag compensation of existing human-machine compatible exoskeleton. The mechanism comprises a back supporting piece, an exoskeleton mechanism and a man-machine connecting structure. The back supporting pieceis fixedly connected to the exoskeleton and provides support for the exoskeleton. The man-machine connecting structure and the upper arm of the human body have two connecting points, so that the upper arm of the exoskeleton is parallel to the upper arm of the human body; and the exoskeleton is composed of three rotating joints, a glenohumeral joint self-adaptive compensation mechanism based on gravity balance and a passive sliding block mechanism, wherein the three rotating joints achieve basic motions of abduction / adduction, inward rotation / outward rotation and anteflexion / retroflexion of the shoulder joint. The glenohumeral joint self-adaptive compensation mechanism compensates floating of the glenohumeral joint rotating center on the coronal plane while providing stable supporting force at the shoulder joint, and the passive sliding block mechanism compensates small-range floating of the glenohumeral joint rotating center in the sagittal axis direction.

Description

technical field [0001] The invention relates to the field of rehabilitation medical equipment, in particular to a shoulder joint rehabilitation exoskeleton mechanism using non-powered compensation joints. Background technique [0002] The shoulder allows the upper body to perform various activities of daily living, such as eating, managing personal hygiene and dressing, and is one of the most frequently used joints in the human body. Rehabilitation of patients with shoulder disabilities after stroke requires repeated and gradual training, while conventional treatment methods for functional rehabilitation after stroke have proven to have limited effects. Bones to facilitate rehabilitation at all levels of intensity have practical implications. At this stage, a powered exoskeleton with multiple degrees of freedom has been developed to assist the movement of the upper limbs of the human body. However, in the process of human-computer interaction, patients cannot always comple...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61H1/02
CPCA61H1/0281
Inventor 贾民平章競文许飞云胡建中
Owner SOUTHEAST UNIV
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