Variable-rigidity exoskeleton wearable device based on telecentric point and rigidity adjusting method thereof
A wearable device and exoskeleton technology, applied in passive exercise equipment, program-controlled manipulators, physical therapy, etc., can solve problems such as the limited range of motion of the shoulder joints, and achieve the purpose of avoiding the body from being pulled, preventing sudden falls, and structural small effect
Inactive Publication Date: 2022-06-07
ZHEJIANG SCI-TECH UNIV
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But the scope of motion of the shoulder joint of this patent application is limited
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[0021] The present invention will be further described below in conjunction with the accompanying drawings.
[0022] like figure 1 As shown, the variable stiffness exoskeleton wearable device based on the telecentric point includes a wearable body 1 , a variable stiffness mechanism 2 , a gear train shoulder joint 3 , an upper arm part 4 and a forearm part 5 . The wearing body 1 includes a backboard 11, a shoulder strap 12 and a waistband 13; the backboard 11 is made of metal; the middle part of the shoulder strap 12 is fixed with the backboard 11; It is fixed with the shoulder strap 12; the two ends of the waist belt 13 are respectively pasted with the female and female surfaces of the Velcro; both the shoulder strap 12 and the waist belt 13 are made of fabric. like Figure 4As shown, the gear train shoulder joint 3 includes a first connecting frame 31, a second connecting frame 32, a first driving gear 33, a second driving gear 34, a first intermediate gear 351, a second in...
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The invention discloses rigidity-variable exoskeleton wearable equipment based on a telecentric point and a rigidity adjusting method of the rigidity-variable exoskeleton wearable equipment. An existing rigidity-variable exoskeleton wearable device is large in limitation of the movement range of a shoulder joint. The robot comprises a wearing body, a variable stiffness mechanism, a wheel train type shoulder joint, an upper arm part and a front arm part, the gear train type shoulder joint comprises a first connecting frame, a second connecting frame, a first driving gear, a second driving gear, a first intermediate gear, a second intermediate gear, a first output gear, a second output gear, a fixed gear, a third intermediate gear and a third output gear; the rotation center line of the first connecting frame relative to the wearing body, the rotation center line of the second connecting frame relative to the first connecting frame and the rotation center line of the third output gear relative to the second connecting frame intersect at one point in the space. In the rehabilitation training process, the body is prevented from being pulled; the elastic force of the elastic rope is changed by controlling the length of the elastic rope in the variable stiffness mechanism, so that the stiffness of the wheel train type shoulder joint is adjusted.
Description
technical field [0001] The invention belongs to the field of exoskeleton wearable devices, and in particular relates to a telecentric point-based exoskeleton wearable device with variable stiffness and a stiffness adjustment method thereof. Background technique [0002] In my country, upper limb dysfunction is the most serious among new stroke patients every year. The traditional rehabilitation method is one-to-one rehabilitation training between rehabilitation therapists and patients. This kind of rehabilitation effect relies too much on the experience of rehabilitation practitioners, which is labor-intensive, low in rehabilitation efficiency, and high in rehabilitation costs. Using robots for rehabilitation training can effectively solve many problems of traditional rehabilitation methods, and many studies have also shown that using robots for rehabilitation training can achieve good rehabilitation effects. Among them, the rehabilitation exoskeleton robot has better ther...
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IPC IPC(8): A61H1/02B25J9/00B25J17/02B25J18/00
CPCA61H1/0274A61H1/0281B25J9/0006B25J17/0266B25J18/00A61H2201/1207A61H2201/1659A61H2205/06A61H2205/062
Inventor 孙良陈培杰白绍平
Owner ZHEJIANG SCI-TECH UNIV