Dress-able type flexible exoskeleton manipulator

An exoskeleton and manipulator technology, applied in the field of flexible exoskeleton manipulators, can solve problems such as limited operating range, less degrees of freedom, and complex mechanisms, and achieve the effect of reducing movement restrictions, lowering movement restrictions, and expanding the range of motion

Inactive Publication Date: 2005-03-16
ZHEJIANG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, exoskeleton manipulators currently used at home and abroad either have fewer degrees of freedom or complex mechanisms, so the operating range is greatly limited

Method used

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  • Dress-able type flexible exoskeleton manipulator
  • Dress-able type flexible exoskeleton manipulator
  • Dress-able type flexible exoskeleton manipulator

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0010] Further illustrate the present invention below in conjunction with accompanying drawing.

[0011] Referring to Figure 1, the wearable flexible exoskeleton manipulator includes a shoulder large 3RPS parallel mechanism 1, a shoulder slip ring mechanism 2, two elbow four-bar mechanisms 3, a wrist slip ring mechanism 4 and a wrist The small 3RPS parallel mechanism 5, the said shoulder large 3RPS parallel mechanism 1 has a U-shaped lower plane 10 and a ring-shaped upper plane 9, and the bottom end and two open ends of the U-shaped lower plane 10 are respectively fixed There are swivel hinges 11, 12, 13, and the connecting lines of these three swivel hinges form an equilateral triangle, and three spherical hinges 14, 15, 16 distributed at 120° are fixed on the annular upper plane 9, as shown in the illustration , the three hinges 11, 12, 13 on the U-shaped lower plane are connected to the cylinder body ends of the first group of cylinders 6, 7, 8 respectively, and the piston ...

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PUM

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Abstract

The invention relates to a soft wearable mechanic skeleton arm. It consists of big 3PRS shoulder shunt-wound unit, the shoulder sliding ring units, two elbow sliding ring units, wrist sliding ring unit and little 3PRS wrist shunt-wound in order. It can move freely in nine directions to go with people arms' omnidirectional move. The invention uses cylinder to drive and imitates muscle moving. So it has better tenacity and bionics character, and improves the convenient and comfort of the device, enlarges the move sphere of the manipulator's arm, delimits the present device's limitation on the moving. The moving information of the wearer's arm can be collected easily by the move sensor that is matched with the cylinder. Control the mechanic arm with appreciable force by computer. The mechanic arm can be used to cure as assistant facility for the patients whose arm is atrophied.

Description

technical field [0001] The invention relates to a wearable flexible exoskeleton manipulator, in particular to a device which adopts a bionic structure and is used for collecting movement data of human upper limbs. Background technique [0002] Internationally, exoskeleton control is generally considered to be one of the ideal teleoperation methods for manipulators. Compared with the traditional Joystick, which is widely used for manipulators, it has more advantages. However, exoskeleton manipulators currently used at home and abroad either have fewer degrees of freedom or have complex mechanisms, so the operating range is greatly limited. Contents of the invention [0003] The purpose of the present invention is to provide a wearable flexible exoskeleton manipulator suitable for manipulator teleoperation. [0004] The wearable flexible exoskeleton manipulator of the present invention includes a shoulder large 3RPS parallel mechanism, a shoulder slip ring mechanism, two el...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/06
Inventor 杨灿军张佳帆陈鹰牛彬张广天李晓明马子康肖尹
Owner ZHEJIANG UNIV
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