Exoskeleton rehabilitation manipulator

Abstract

The invention discloses an exoskeleton rehabilitation manipulator which comprises a hand supporting unit, a finger unit and a cooperative driving unit, the finger unit and the cooperative driving unit are arranged on the hand supporting unit, and finger assemblies comprises a finger and palm supporting frame, a first finger section, a second finger section and a third finger section which are movably connected, and thus the movement of the manipulator finger palm joint, finger proximal joint, and finger distal joint can be realized. Meanwhile, the first finger section can rotate relative to the finger and palm supporting frame in the plane perpendicular to the palm face and parallel to the palm face, so that the finger side-sway movement of the manipulator is achieved, and the flexibility of the manipulator is improved. Meanwhile, the multiple finger assemblies are in transmission connection with the cooperative driving unit, the cooperative driving unit can drive all the finger assemblies to move at the same time, multi-finger cooperative movement can be achieved so as to meet the grabbing self-adaptability, two-freedom-degree self-adaptive movement of the palm base joint is achieved, and the movement flexibility of the exoskeleton manipulator is ensured, and the force increasing effect of the exoskeleton is improved.

Description

technical field [0001] The invention relates to the technical field of exoskeleton robots, in particular to an exoskeleton rehabilitation manipulator. Background technique [0002] Wearable exoskeleton manipulators have always been the focus of research in the field of rehabilitation robots, aiming to help stroke patients who need rehabilitation training, patients with muscle weakness, and workers who need to improve hand strength. Exoskeleton manipulators are mainly used to improve the grasping ability of the target population's hands, so the need for independent control of the fingers is relatively low. Exoskeleton manipulators in the prior art use a full drive mechanism to realize independent control of finger joints and cooperative control mechanisms. [0003] The Chinese patent with the publication number CN103750977B discloses an exoskeleton-type hand function rehabilitation robot, which relates to a medical device used in postoperative rehabilitation of traumatic fin...

AI Technical Summary

Problems solved by technology

[0005] The article titled "The Hannes handprosthesis replicates the keybiological properties of the human hand" discloses a single-motor-driven prosthetic hand, which realizes the movement control of the prosthetic hand through the rope-wheel cooperative mechanism, but the hand is not applied to the application of the exoskeleton hand , and the fingers have no lateral swing function, the joints of the inner end of the finger are simplified, and the flexibility of the prosthetic hand is not good

Images