Active upper limb movement rehabilitation assisting exoskeleton

Abstract

The invention provides an active upper limb movement rehabilitation assisting exoskeleton which is composed of an arm exoskeleton mechanism, a safety strap mechanism, a back and shoulder supporting mechanism and a power transmission mechanism. The mechanical structure of the active upper limb movement rehabilitation assisting exoskeleton is designed according to ergonomics, is suitable for wearable use, is invented based on human motion bionics principles; key freedom degrees of shoulders, elbows and wrist joints of the upper limbs in the movement process and required effective joint torque are considered; only one driving motor is used; the flexible transmission is realized through an embedded pull wire; shoulders, elbows and wrist joints of the left and right upper limbs of the human body are driven by differential to perform linkage assistance and independent movement under the effective degree of freedom; an energy storage spring can play a role in saving energy and reducing consumption; the active upper limb movement rehabilitation assisting exoskeleton has the advantages that appearance attractive and mechanical properties are considered, each component is designed into a flexible exoskeleton conforming to ergonomics, barrier-free man-machine interaction is effectively reduced, exercise rehabilitation training with good man-machine interaction experience can be provided for patients with upper limb dysfunction, or effective assistance is provided for users with upper limb exercise requirements, and physical consumption is reduced.

Description

technical field [0001] The invention relates to an active upper limb movement rehabilitation assisting exoskeleton in the field of rehabilitation medical equipment, which is suitable for patients with upper limb dysfunction and aging people, and can provide users with upper limb movement assistance. Background technique [0002] Under the current social situation where the problem of aging is becoming more and more serious, there are a large number of patients with upper limb motor dysfunction caused by various diseases and accidental trauma in my country. Effective sports rehabilitation assistance is needed to improve limb motor function. With the rapid development of the economy and society, the issue of helping the elderly and the disabled has also received widespread attention from the society. Sports rehabilitation equipment can effectively reduce the work intensity of nursing staff and has a wide range of social needs. [0003] After searching the existing invention pa...

AI Technical Summary

Problems solved by technology

[0003] After searching the existing invention patents, it is found that the Chinese patent application number: 201611262888.1 discloses a wearable exoskeleton booster device, which includes a body wearing part and two actuators. The user's waist is driven by using a pneumatic muscle to drive the pull wire. This invention can only realize the auxiliary movement of the waist movement posture, but cannot complete the movement assistance of the upper limbs

In addition, at present, in the field of upper limb sports rehabilitation assisting equipment, most of them are sports assisting devices or rehabilitation robots, which either have simple functions and can only provide passive passive motion assistance, or have complex mechanical structures and control algorithms that take up a lot of space, or High cost, only suitable for procurement and use in hospitals or nursing homes, not suitable for family-oriented and individualized promotion and use

Images