Upper limb exoskeleton device with bamboo-like structure

Abstract

The invention provides an upper limb exoskeleton device with a bamboo-like structure. The upper limb exoskeleton device comprises a shoulder adduction and abduction joint (1), a shoulder flexion and extension joint (2), an elbow flexion and extension joint (3), a bamboo-like structure mechanical arm (4), a driving module (5), a back plate support (6) and an electrical system (7), wherein the shoulder adduction and abduction joint (1) is connected to the shoulder flexion and extension joint (2) through an L-shaped workpiece; the shoulder flexion and extension joint (2) is connected to the elbowflexion and extension joint (3); the bamboo-like structure mechanical arm (4) is in interference fit with the elbow flexion and extension joint (3); and the driving module (5) is connected to the shoulder adduction and abduction joint (1), the shoulder flexion and extension joint (2) and the elbow flexion and extension joint (3). Compared with a traditional rod piece mechanical arm, the bamboo-like mechanical arm can meet the rigidity requirement with lighter mass and smaller size. In addition, an internal cavity also has the functions of planning a rope path or internally arranging other parts and the like.

Description

technical field [0001] The invention relates to the field of human-assisted robots, in particular to an upper limb exoskeleton device with a bamboo-like structure. Background technique [0002] Exoskeleton robot technology is a condensed product of interdisciplinary research. It aims to enhance body functions, integrates sensing, control and mobile computing, and provides users with a comprehensive technology of wearable mechanical mechanisms. This technology has gradually received widespread attention in the fields of rehabilitation training, personal daily life assistance, porter operation assistance, and military soldiers' physical fitness enhancement. In recent years, the problem of global aging has become serious. According to data, nearly 80% of stroke patients have sequelae of movement disorders. In addition, due to diseases, traumatic accidents and other reasons, patients with upper limb motor function are gradually increasing. Although the patient's condition imp...

AI Technical Summary

Problems solved by technology

[0004] The rope-driven exoskeleton of patent document CN109260669A is fixed on the ground, which cannot achieve portability and is suitable for rehabilitation training

It also has the disadvantages of exposed driving rope, bulky size and poor aesthetics.

[0005] The upper extremity exoskeleton of the patent document CN107374907A does not consider the human-machine interface problems such as joint torque sensors and pressure sensors, and belongs to the passive rehabilitation upper extremity exoskeleton, which is difficult to be used in daily life assistance

Moreover, the Bowden wire drive method has the disadvantages of high friction and low transmission efficiency

Bowden cables are not easy to bend and arrange, and it is also difficult to achieve aesthetics

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