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An elbow exoskeleton for rehabilitation robots

A rehabilitation robot and exoskeleton technology, applied in the field of rehabilitation robots, can solve the problems of poor comfort, unnatural joint movement of equipment, lack of perception function and mirror exchange function, etc., to achieve easy installation and disassembly, avoid elbow interactive load, The effect of improving convenience and utilization

Active Publication Date: 2022-05-24
HARBIN INST OF TECH
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  • Abstract
  • Description
  • Claims
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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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  • An elbow exoskeleton for rehabilitation robots
  • An elbow exoskeleton for rehabilitation robots
  • An elbow exoskeleton for rehabilitation robots

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Embodiment Construction

[0028] See Figure 1 、 Figure 2 and Figure 7 As shown, one of the present embodiments for the rehabilitation robot elbow exoskeleton, which comprises a forearm module 1, an upper arm module 2 and a transmission drive mechanism 3; the upper arm module 2 is connected together by a built-in passive compensation mechanism and two torsional spring mechanisms with the forearm module 1; the antagonistic arrangement between the forearm module 1 and the upper arm module 2 is an antagonistic arrangement of the Bowden line and the torsion spring, for controlling the bending and extension movement of the elbow joint; the transmission drive mechanism 3 transmits the power through the Bowden line to the forearm module 1, controlling the bending motion of the elbow joint. Forearm module 1 adapts to patients of different sizes through the adjustment teeth between the connecting rods of the forearm; the transmission drive mechanism transmits the power output to the antagonistic drive structure thro...

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Abstract

An elbow exoskeleton for a rehabilitation robot, which includes a forearm module, an upper arm module and a transmission drive mechanism; the upper arm module is connected with the double torsion spring mechanism of the forearm module through a built-in passive compensation mechanism; the forearm module and the upper arm The antagonistic arrangement of Bowden wires and torsion springs between the modules is used to control the bending and extension of the elbow joint; the transmission drive mechanism transmits power to the forearm module through the Bowden wires to control the bending motion of the elbow joint. The elbow exoskeleton adopts a passive compensation mechanism to realize axis offset compensation, natural movement, and mirror exchange function.

Description

Technical field [0001] The present invention relates to an exoskeleton, specifically to an elbow exoskeleton for a rehabilitation robot, belonging to the field of rehabilitation robots. Background [0002] Stroke patients lose the ability to take care of themselves due to the loss of their motor function, and in severe cases, the body is completely paralyzed, and the probability of hemiplegia after stroke is more than 50%. The elbow is an upper limb joint that is used relatively frequently in daily life, so the rehabilitation training of the elbow has become one of the contents that stroke patients urgently need to recover. The method of rehabilitation training is usually artificial rehabilitation training by medical staff or patients' families, etc., and the use of assisting patients to carry out long-term elbow flexion and extension rehabilitation exercises to promote the rehabilitation of the nervous system. However, this kind of artificial auxiliary rehabilitation training ha...

Claims

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Application Information

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Patent Type & Authority Patents(China)
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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