Bionic upper limb wearable equipment based on tensegrity structure

Abstract

The invention discloses bionic upper limb wearable equipment based on a tensegrity structure. The forearm mechanism comprises a forearm first sleeve, a forearm first flat plate, a forearm first supporting plate, a forearm second supporting plate, a forearm second sleeve, a forearm second flat plate, a forearm rotating supporting rod, a forearm first elastic body, a forearm third supporting plate and a forearm fourth supporting plate. The big arm mechanism comprises a big arm first supporting plate, a big arm second supporting plate, a rotating rack, a rotating gear, a locking sliding block assembly, a big arm third supporting plate, a big arm first elastic body, a big arm second elastic body, a big arm third elastic body and a big arm fourth elastic body. The rotating center of the elbow joint has a certain displacement amount through meshing of the rotating gear and the rotating rack, the movement function that the elbow joint rotates forwards and backwards is achieved through cooperation of the four-rod tensioning mechanism and the sleeve, the balance position of the elbow joint is changed by changing the tensile force of the elastic body, and assistance in different balance states can be achieved.

Description

technical field [0001] The present invention relates to the technical field of upper limb wearable devices, and more specifically relates to a bionic upper limb wearable device based on a tensegrity structure. Background technique [0002] In recent years, in the field of engineering applications, wearable devices for assisting human movement, especially upper limb wearable devices, have gradually attracted the attention of scholars. The space for human upper limb movement is wider and the forms are more diverse, such as grasping and dragging at any point in the upper limb movement space, and there is also a relatively stable movement state during elbow-bending work. The elbow joint plays a very important role in the flexible upper limb movement, and the wearable device of the elbow joint has its unique advantages in terms of portability, adaptability and flexibility. [0003] However, elbow joint wearable devices have their own limitations: First, elbow joint devices with ...

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Problems solved by technology

[0003] However, elbow-joint wearable devices have their own limitations: First, elbow-joint devices with active drive devices inevitably need to be equipped with huge and heavy motors and battery equipment. If hydraulic or pneumatic drives are used, an external hydraulic pump is required or air pumps and other hard-to-carry equipment; in the structural design of the exoskeleton, the elbow joint wearable device is regarded as a simple rigid rotating structure in many cases, and the drive is often designed at the position of the rotating axis to directly drive the structure. As far as the working conditions of wearable devices are concerned, complex working conditions may face impacts. When rigid structural designs face impacts, the stress is mostly concentrated in the weak points of the structure such as hinge joints, which puts wearable devices at risk of damage. , and due to the rigid motion of the mechanical joint, it cannot be fully adapted to the human elbow joint, which will cause the wearer to have difficulty in moving the elbow joint or feel uncomfortable, while the flexible structure cannot provide the wearer with more accurate assistance in the working environment, and The control system is complex and inconvenient to operate

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