Bamboo-like structure of the upper limb exoskeleton device

Abstract

The invention provides an upper limb exoskeleton device with a bamboo-like structure, comprising: shoulder adduction and abduction joints (1), shoulder flexion-extension joints (2), elbow flexion-extension joints (3), bamboo-imitation mechanical arms (4) ), a drive module (5), a backplane support (6) and an electrical system (7); the shoulder adduction and abduction joint (1) is connected with the shoulder flexion and extension joint (2) through an L-shaped workpiece; the shoulder The elbow flexion and extension joint (2) is connected with the elbow flexion and extension joint (3); the mechanical arm with imitation bamboo structure (4) is in interference fit with the elbow flexion and extension joint (3); the drive module (5) is adducted with the shoulder The abduction joint (1), the shoulder flexion-extension joint (2), and the elbow flexion-extension joint (3) are respectively connected; the imitation bamboo mechanical arm of the present invention, compared with the traditional rod mechanical arm, can be lighter in weight and compact The volume meets the stiffness requirement. In addition, the internal cavity also has the function of planning the rope path or building other parts.

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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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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