An upper limb forearm and wrist rehabilitation mechanism based on a double-layer four-bar tension structure

Abstract

The present invention provides an upper limb forearm and wrist rehabilitation mechanism based on a double-layer four-bar tension structure. By combining the tension structure with the mechanism design, the rigid-flexible hybrid characteristics of the tension structure composed of a four-bar flexible tension unit and a four-bar rigid compression unit are utilized to solve the problems of traditional rehabilitation mechanisms being too complicated, the driving device being bulky, and the equipment being insufficiently lightweight. The forearm tension structure and the wrist rehabilitation mechanism, the wrist support seat in the wrist rehabilitation mechanism is connected to the upper fixing ring in the forearm tension structure by bolts. Compared with the prior art, the present invention has achieved the following technical effects: the present invention utilizes the rigid-flexible hybrid characteristics of the tension structure to meet the requirements of movement in each degree of freedom, while simplifying the structure of the exoskeleton and realizing a lightweight design. During the movement, the internal lengths are compensated for each other, which can increase the torsion angle and keep the overall height of the mechanism unchanged.

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