Tendon transmission force feedback shoulder and elbow exoskeleton

Abstract

The invention belongs to the field of master-slave teleoperation in an exoskeleton robot technology, and particularly relates to a tendon transmission force feedback shoulder-elbow exoskeleton which is bilaterally symmetrical to form a double-arm structure. The forearm grip is fixedly installed at one end of the elbow joint assembly, and the other end of the elbow joint assembly is fixedly connected with the shoulder joint assembly. The shoulder joint assembly has the freedom degrees of shoulder forward extension and backward contraction, shoulder inward rotation and outward rotation and shoulder abduction and adduction in sequence; the shoulder joint assembly can be selectively and fixedly connected with the bearing system or other platforms; a big arm bandage assembly is fixedly installed between the elbow joint assembly and the shoulder joint assembly. The device has the advantages of being portable, wearable, low in motion inertia, high in compatibility, high in control flexibility and the like, and can be widely applied to the field of high-immediacy exoskeleton teleoperation and the field of motion rehabilitation and detection.

Description

technical field [0001] The invention belongs to the field of master-slave teleoperation in exoskeleton robot technology, in particular to a shoulder and elbow exoskeleton with tendon transmission force feedback, which is used to improve the intrinsic safety of human-computer interaction. Background technique [0002] With the rapid development of industrial technology, due to its high flexibility, reliability and adaptability, the seven-degree-of-freedom serial robot can avoid the structural singularity and joint limitation problems that often occur in the six-degree-of-freedom serial robot. It can successfully complete complex tasks under some special requirements and environments, such as assembly, welding and other industries. It has been widely used, and has achieved automatic control. However, in unstructured environments and diverse tasks such as nuclear radiation, fire, and anti-terrorism operations, it is still difficult to realize the automatic operation of robots, ...

AI Technical Summary

Problems solved by technology

However, in the existing teleoperation system, the master-end manipulator mostly uses a six-degree-of-freedom force feedback controller that is heterogeneous with the human arm to realize the Cartesian space pose control of the master-slave end tool, which cannot control the joints of the slave humanoid robot. Effective control and path planning, while unable to perceive the interaction force between the joints of the slave humanoid robot and the environment, which reduces the movement flexibility, adaptability and obstacle avoidance ability of the humanoid robot; a few exoskeleton teleoperated main hands The power unit (motor + reducer) is mostly distributed at the motion joints of the mechanism, which greatly increases the joint motion inertia, reduces its motion flexibility and interaction safety; Three-axis vertical orthogonal scheme, there is a human-machine interference problem in the shoulder abduction movement, which can easily cause head injury and limit the range of motion of the shoulder

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