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...

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