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Elbow exoskeleton for rehabilitation robot

A rehabilitation robot and exoskeleton technology, applied in the field of rehabilitation robots, can solve the problems of lack of sensing function and mirror exchange function, unnatural movement of equipment joints, poor comfort, etc.

Active Publication Date: 2020-10-23
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0008] In summary, the existing elbow rehabilitation robots have unnatural joint movement, poor comfort, and do not have the perception function and mirror exchange function

Method used

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  • Elbow exoskeleton for rehabilitation robot
  • Elbow exoskeleton for rehabilitation robot
  • Elbow exoskeleton for rehabilitation robot

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Experimental program
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Embodiment Construction

[0028] See figure 1 , figure 2 with Figure 7 As shown, an elbow exoskeleton for a rehabilitation robot of this embodiment includes a forearm module 1, an upper arm module 2 and a transmission drive mechanism 3. The upper arm module 2 is connected to the forearm module 1 through a built-in passive compensation mechanism. The double torsion spring mechanism is connected together; between the forearm module 1 and the upper arm module 2 is an antagonistic arrangement of Bowden wire and torsion spring, which is used to control the bending and extension of the elbow joint; the transmission drive mechanism 3 passes the power through the Bowden wire Passed to the forearm module 1 to control the bending motion of the elbow joint. The forearm module 1 adapts to patients of different body types through the adjusting teeth between the forearm female and female connecting rods; the transmission drive mechanism transmits the power output to the antagonistic drive structure through the Bowde...

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Abstract

The invention discloses an elbow exoskeleton for a rehabilitation robot. The elbow exoskeleton comprises a forearm module, an upper arm module and a transmission driving mechanism; the upper arm module is connected to a double-torsion-spring mechanism arranged on the front arm module through a built-in passive compensation mechanism; an antagonistic arrangement mode of a Bowden cable and a torsional spring is arranged between the forearm module and the upper arm module and used for controlling bending and stretching movement of an elbow joint; and the transmission driving mechanism transmits power to the forearm module through the Bowden cable to control bending motion of the elbow joint. A passive compensation mechanism is adopted in the elbow exoskeleton, axis offset compensation is achieved, motion is natural, and the mirror image exchange function is achieved.

Description

Technical field [0001] The invention relates to an exoskeleton, in particular to an elbow exoskeleton used for a rehabilitation robot, belonging to the field of rehabilitation robots. Background technique [0002] Stroke patients lose their ability to take care of themselves because they lose their motor function. In severe cases, the body is completely paralyzed. The probability of hemiplegia after stroke is more than 50%. The elbow is a relatively frequently used upper limb joint of the human body in daily life, so the rehabilitation training of the elbow has become one of the urgent needs of rehabilitation for stroke patients. Rehabilitation training usually uses artificial rehabilitation training by medical staff or patients’ family members, and assists patients in performing long-term elbow flexion and extension rehabilitation exercises to promote nervous system rehabilitation. However, this kind of artificial assisted rehabilitation training has disadvantages such as consu...

Claims

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Application Information

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IPC IPC(8): A61H1/02
CPCA61H1/0277A61H2201/1207
Inventor 张福海付宜利林乐庚杨磊
Owner HARBIN INST OF TECH
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