Pneumatic upper limb rehabilitation exoskeleton device based on continuous sheet-shaped air bags

Abstract

The invention discloses a pneumatic upper limb rehabilitation exoskeleton device based on continuous sheet-shaped air bags, which comprises a shoulder joint driver (100), an elbow joint driver (101) and a wrist joint driver (102), and is characterized in that the driver is composed of a continuous sheet-shaped air bag group (10011) and a fixing sheet (10012), and the fixing sheet (10012) is used for fixing. A driving mode of simulating human body upper limb muscle movement is adopted, multi-direction driving of all joints of shoulders, elbows and wrists is achieved through bending movement of the pneumatic drivers, and flexible and effective rehabilitation training support is provided.

Description

Technical Field

[0001] The invention relates to the technical field of exoskeleton robots, and in particular to a pneumatic upper limb rehabilitation exoskeleton device based on continuous sheet airbags. Background Art

[0002] In recent years, the application of flexible robot technology in exoskeleton robots at home and abroad has achieved extensive development. Flexible robots are mainly used for rehabilitation treatment and life assistance for people with limb movement disorders. The emergence of flexible upper limb rehabilitation training equipment has alleviated the problem of shortage of rehabilitation physician resources to a certain extent, while overcoming the shortcomings of traditional rigid exoskeletons such as heavy weight and poor human-computer interaction. In the research of flexible upper limb enhanced exoskeleton systems, lightweight and wearable upper limb exoskeleton systems have achieved some results, but have not yet been widely promoted and applied.

[0003] Therefore, technicians in this field are committed to developing a pneumatic upper limb rehabilitation exoskeleton based on continuous sheet airbags to provide assistance to the wearer's upper limb joint movements. Summary of the invention

[0004] Purpose of the invention: In view of the shortcomings of the prior art, the present invention provides a pneumatic upper limb rehabilitation exoskeleton device based on continuous sheet airbags.

[0005] Technical solution: The pneumatic upper limb rehabilitation exoskeleton device based on continuous sheet airbags described in the present invention includes a shoulder joint driver, an elbow joint driver and a wrist joint driver. The driver is composed of a continuous sheet airbag group and a fixing plate, and the fixing plate is used for fixing.

[0006] The shoulder, elbow and wrist joint drivers are designed to be pneumatic drivers that conform to the lengths of the three joints of the human body, and the driver is composed of a continuous sheet airbag and a fixing plate.

[0007] Furthermore, the shoulder joint driver includes a shoulder joint flexion driver, a shoulder joint extension driver, a shoulder joint abduction driver and a shoulder joint adduction driver; the elbow joint driver includes an elbow joint flexion driver and an elbow joint extension driver; the wrist joint driver includes a wrist joint flexion driver and a wrist joint extension driver.

[0008] Furthermore, the shoulder joint flexion driver includes a continuous sheet-like airbag group and a fixing plate, which are placed at the junction of the shoulder joint and the back of the arm, parallel to the coronal plane; the shoulder joint extension driver includes a continuous sheet-like airbag group and a fixing plate, which are placed at the junction of the shoulder joint and the front of the arm, parallel to the coronal plane; the shoulder joint abduction driver includes a fan-shaped sheet-like airbag group and a fixing plate, which are placed at the armpit and located in the coronal plane; the shoulder joint adduction driver includes a continuous sheet-like airbag group and a fixing plate, which are placed at the junction of the shoulder joint and the outside of the arm, and located in the coronal plane.

[0009] Furthermore, the elbow flexion driver includes a continuous sheet-like airbag group and a fixing plate, which are placed on the outside of the elbow joint and parallel to the coronal plane; the elbow extension driver includes a continuous sheet-like airbag group and a fixing plate, which are placed on the inside of the elbow joint and parallel to the coronal plane.

[0010] Furthermore, the wrist flexion driver includes a continuous sheet-like airbag group and a fixing plate, which are placed on the outside of the wrist joint and parallel to the coronal plane; the wrist extension driver includes a continuous sheet-like airbag group and a fixing plate, which are placed on the inside of the wrist joint and parallel to the coronal plane.

[0011] Furthermore, the continuous sheet airbag group is formed by connecting several sheet airbags, and the sheet airbags are connected by hot pressing the circular holes in the middle of two airbag sheets to form a connected air chamber, and one side of the sheet airbag when stretched is connected to a fixing sheet of different lengths.

[0012] Furthermore, a gas nozzle connector is provided at the rear of the airbag sheet for connecting to an air pipe and thus to an air source; the sheet-like airbag is made of a 0.1 mm thick thermoplastic polyurethane (TPU) fabric.

[0013] Furthermore, the fan-shaped sheet airbag group is formed by connecting a plurality of rectangular sheet airbags, and the rectangular sheet airbags are connected by hot pressing the circular holes in the middle of two airbag sheets to form a connected air chamber, and the short sides of the fan-shaped sheet airbags are fixed together when compressed.

[0014] Furthermore, an air nozzle connector is provided at the rear of the airbag sheet for connecting to an air pipe and thus to an air source.

[0015] Furthermore, the sheet-like airbag is made of a 0.1 mm thick thermoplastic polyurethane (TPU) fabric.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] 1. The pneumatic upper limb rehabilitation exoskeleton based on continuous sheet airbags provided by the present invention adopts a bionic design, and the shoulder, elbow and wrist joint drivers are designed to be pneumatic drivers that conform to the length of the three joints of the human shoulder, elbow and wrist, and are placed across the joints of the upper limbs to simulate the direction of the upper limb muscles.

[0018] 2. The pneumatic upper limb rehabilitation exoskeleton based on continuous sheet airbags provided by the present invention adopts a sheet airbag inflation drive mode. The air pump is connected to the airbag of the driver. The air pump inflates to cause the driver to bend and deform, providing assistance to the corresponding parts of the human upper limbs, thereby helping the user to achieve movements of various joints of the upper limbs.

[0019] 3. The pneumatic upper limb rehabilitation exoskeleton based on continuous sheet airbags provided by the present invention generates 4-degree-of-freedom assisted movements at the shoulder, elbow and wrist joints to assist the rehabilitation training of the human upper limbs and daily life activities. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 is a schematic diagram of the wearing effect of a pneumatic upper limb rehabilitation exoskeleton based on a continuous sheet-like airbag provided by an embodiment of the present invention;

[0021] Figure 2 is a front view schematic diagram of the wearing effect of a pneumatic upper limb rehabilitation exoskeleton based on continuous sheet airbags provided by an embodiment of the present invention;

[0022] Figure 3 : is a left side schematic diagram of the wearing effect of a pneumatic upper limb rehabilitation exoskeleton based on continuous sheet airbags provided by an embodiment of the present invention;

[0023] Figure 4 is a schematic diagram of a shoulder joint driver provided by an embodiment of the present invention;

[0024] Figure 5 is a schematic diagram of an elbow joint driver provided by an embodiment of the present invention;

[0025] Figure 6 is a schematic diagram of a wrist joint driver provided by an embodiment of the present invention;

[0026] Figure 7 is a schematic diagram of a fixing sheet provided in an embodiment of the present invention;

[0027] Figure 8 is a schematic diagram of a continuous sheet-like airbag provided by an embodiment of the present invention;

[0028] Fig. 9 yes Figure 4 Schematic diagram of a fan-shaped continuous sheet airbag;

[0029] Fig.10 yes Figure 8 Schematic diagram of the expansion of a single sheet airbag;

[0030] Fig.11 yes Figure 8 Schematic diagram of the contraction of a single sheet airbag;

[0031] Fig.12 yes Figure 8 Schematic diagram of the airbag piece;

[0032] Fig.13 yes Fig. 9 Schematic diagram of a rectangular airbag piece. DETAILED DESCRIPTION

[0033] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be further described below.

[0034] The following describes several preferred embodiments of the present invention with reference to the drawings in the specification, so that the technical content is clearer and easier to understand. The present invention can be embodied in many different forms of embodiments, and the protection scope of the present invention is not limited to the embodiments mentioned in the text.

[0035] In the drawings, components with the same structure are indicated by the same numerical reference numerals, and components with similar structures or functions are indicated by similar numerical reference numerals. The size and thickness of each component shown in the drawings are arbitrarily shown, and the present invention does not limit the size and thickness of each component. In order to make the illustration clearer, the thickness of the components is appropriately exaggerated in some places in the drawings.

[0036] The pneumatic upper limb rehabilitation exoskeleton device based on continuous sheet airbags of this embodiment is as follows: Figure 1 , Figure 2 and Figure 3 As shown, it includes a shoulder joint driver 100, an elbow joint driver 101, and a wrist joint driver 102. The shoulder joint driver 100 is arranged at the shoulder joint of the human body to provide flexion, extension, abduction, and adduction power for the shoulder joint movement. The elbow joint driver 101 is fixed on the inner and outer sides of the elbow joint to provide flexion and extension power for the elbow joint movement. The wrist joint driver 102 is fixed on the inner and outer sides of the wrist joint to provide flexion and extension power for the wrist joint movement. The length of the driver can be personalized according to the biomechanical parameters of the human body to meet the needs of different groups of people.

[0037] like Figure 1 As shown, the shoulder, elbow and wrist joint driver 1 includes a shoulder joint driver 100, an elbow joint driver 101 and a wrist joint driver 102, which are respectively placed at the shoulder joint, elbow joint and wrist joint of the human body.

[0038] like Figure 2 and Figure 4 As shown, the shoulder joint driver 1001 includes a shoulder joint flexion driver 1001, a shoulder joint extension driver 1002, a shoulder joint abduction driver 1003 and a shoulder joint adduction driver 1004, which respectively provide flexion, extension, abduction and adduction power for the left shoulder joint.

[0039] like Figure 8As shown, the shoulder-elbow-wrist joint driver 1 includes a continuous sheet-like airbag group 10011 and a fixing plate 10012. The shoulder-elbow-wrist joint driver 1 is formed by connecting a plurality of continuous sheet-like airbags 100111, the sides of the continuous sheet-like airbags 100111 are connected by circular holes 1001112, and adjacent airbags are closely arranged. One side of the continuous sheet-like airbag group 10011 is connected to the fixing plate 10012, and the length of the fixing plate 10012 is equal to the product of the bottom length of a single continuous sheet-like airbag 10011 when inflated and the number of the continuous sheet-like airbag groups 10011.

[0040] like Fig. 9 As shown, the fan-shaped continuous sheet airbag group 10031 is formed by connecting a number of rectangular sheet airbags 100311 with circular holes and fixing the same side short sides of all the rectangular sheet airbags 100311.

[0041] like Fig.12 and 13 As shown, each sheet-like airbag 100111 or 1003111 is formed by hot pressing two airbag sheets on all sides, and a circular hole 1001112 for forming a vent is provided in the middle of the airbag sheet.

[0042] The continuous sheet airbag 10011 is formed into a single air chamber by heat pressing and sealing. Fig.10 and Fig.11 As shown, the continuous sheet airbag 10011 is connected to an air source to adjust its internal air pressure, thereby causing the sheet airbag 100111 to deform and generate pressure to simulate human muscle-assisted joint movement. When the internal air pressure of the airbag reaches the maximum value, the bending angle generated by the entire driver reaches the maximum value.

[0043] The specific manufacturing method of the driver of the pneumatic upper limb rehabilitation exoskeleton based on continuous sheet airbags in this embodiment is as follows.

[0044] First, taking the shoulder joint flexion driver 1001 as an example, the circular vents 1001112 in the middle of the two airbag sheets 1001111 are aligned and hot-pressed together to form a connection between the two sheet airbags 100111, and so on. Then, the two airbag sheets without circular vents connected to each other are sealed on all sides by hot pressing, and so on to obtain a continuous sheet airbag 10011. Then, the same side of the obtained continuous sheet airbag group 10011 is fixed on the fixing sheet 10012 to form a complete shoulder joint flexion driver 1001, as shown in FIG. Figure 8 shown.

[0045] Secondly, the shoulder joint abduction driver 1003 is composed of a fan-shaped continuous sheet airbag 10031. The circular vent holes 1001112 in the middle of two rectangular airbag sheets 1003111 are aligned and hot-pressed together to form a connection between the two rectangular sheet airbags 100311. By analogy, the two airbag sheets 1003111 without interconnected circular vent holes are sealed by hot pressing. By analogy, one short side of all the rectangular sheet airbags 100311 is fixed together, and the other end is freely spread out to form a fan-shaped structure of the shoulder joint abduction driver 1003, as shown in FIG. Fig. 9 shown.

[0046] Finally, according to the different joint lengths of the human body, drivers with the same lengths are made, and each driver is placed according to the muscle direction of the upper finger joints of the human body and fixed with glue and Velcro straps.

[0047] The working principle of the pneumatic upper limb rehabilitation exoskeleton based on continuous sheet airbags of the present invention is as follows: First, by adjusting the size of the sheet airbag, the effect of fixing the length of one side and changing the length of the other side can be achieved, thereby causing the fixed side to bend. Then, the side with a fixed length is placed at the corresponding position of the human joint, and gas is injected into the airbag to provide assistance for the joint bending movement.

[0048] The present invention provides external assistance to people with upper limb dysfunction, enhances the wearer's upper limb movement ability, enables them to complete various daily activities and movements more easily, effectively reduces the burden on users, and improves their quality of life and independence.

[0049] The placement of each driver in the present invention adopts a bionic design, imitating the force lines of each joint and muscle of the human upper limbs. The device can better coordinate and assist the movement of the upper limbs, making the movement smoother and more ergonomic, thereby improving the user's comfort and exercise efficiency.

[0050] The above is only a preferred embodiment of the present invention and does not limit the present invention in any way. Any technician in the relevant technical field, without departing from the scope of the technical solution of the present invention, makes any form of equivalent replacement or modification to the technical solution and technical content disclosed in the present invention, which does not depart from the content of the technical solution of the present invention and still falls within the protection scope of the present invention.

Claims

1. A pneumatic upper limb rehabilitation exoskeleton device based on continuous sheet airbags, characterized in that: The invention comprises a shoulder joint driver (100), an elbow joint driver (101) and a wrist joint driver (102), wherein the driver is composed of a continuous sheet-shaped airbag group (10011) and a fixing plate (10012), and the fixing plate (10012) is used for fixing.

2. The pneumatic upper limb rehabilitation exoskeleton device based on continuous sheet airbags according to claim 1 is characterized in that: The shoulder joint driver (100) comprises a shoulder joint flexion driver (1001), a shoulder joint extension driver (1002), a shoulder joint abduction driver (1003) and a shoulder joint adduction driver (1004); the elbow joint driver (101) comprises an elbow joint flexion driver (1011) and an elbow joint extension driver (1012); and the wrist joint driver (102) comprises a wrist joint flexion driver (1021) and a wrist joint extension driver (1022).

3. The pneumatic upper limb rehabilitation exoskeleton device based on continuous sheet airbags according to claim 2 is characterized in that: The shoulder joint flexion driver (1001) comprises a continuous sheet-like airbag group (10011) and a fixing plate (10012), which are placed at the junction of the shoulder joint and the back of the arm and are parallel to the coronal plane; the shoulder joint extension driver (1002) comprises a continuous sheet-like airbag group (10011) and a fixing plate (10012), which are placed at the junction of the shoulder joint and the front of the arm and are parallel to the coronal plane; the shoulder joint abduction driver (1003) comprises a fan-shaped sheet-like airbag group (10031) and a fixing plate (10012), which are placed at the armpit and are located in the coronal plane; the shoulder joint adduction driver (1004) comprises a continuous sheet-like airbag group (10011) and a fixing plate (10012), which are placed at the junction of the shoulder joint and the outer side of the arm and are located in the coronal plane.

4. The pneumatic upper limb rehabilitation exoskeleton device based on continuous sheet airbags according to claim 2, characterized in that: The elbow joint flexion driver (1011) comprises a continuous sheet-like airbag group (10011) and a fixing plate (10012), which are placed on the outside of the elbow joint and parallel to the coronal plane; the elbow joint extension driver (1012) comprises a continuous sheet-like airbag group (10011) and a fixing plate (10012), which are placed on the inside of the elbow joint and parallel to the coronal plane.

5. The pneumatic upper limb rehabilitation exoskeleton device based on continuous sheet airbags as claimed in claim 2, characterized in that: The wrist joint flexion driver (1021) comprises a continuous sheet-like airbag group (10011) and a fixing plate (10012), which are placed on the outside of the wrist joint and parallel to the coronal plane; the wrist joint extension driver (1022) comprises a continuous sheet-like airbag group (10011) and a fixing plate (10012), which are placed on the inside of the wrist joint and parallel to the coronal plane.

6. The pneumatic upper limb rehabilitation exoskeleton device based on continuous sheet airbags according to any one of claims 3 to 5, characterized in that: The continuous sheet-like airbag group (10011) is formed by connecting a plurality of sheet-like airbags (100111); the sheet-like airbags (100111) are connected by hot pressing the circular holes (1001112) in the middle of two airbag sheets (1001111) to form a connected air chamber; one side of the sheet-like airbag (100111) when stretched is connected to a fixing sheet (10012) of different lengths.

7. The pneumatic upper limb rehabilitation exoskeleton device based on continuous sheet airbags according to claim 6, characterized in that: An air nozzle connector is provided at the rear of the airbag sheet for connecting to an air pipe and thus an air source; the sheet-shaped airbag is made of 0.1 mm thick thermoplastic polyurethane (TPU) fabric.

8. The pneumatic upper limb rehabilitation exoskeleton device based on continuous sheet airbags as claimed in claim 3, characterized in that: The fan-shaped sheet airbag group (10031) is formed by connecting a plurality of rectangular sheet airbags (100311), and the rectangular sheet airbags (100311) are connected by hot pressing the circular holes (1001112) in the middle of two airbag sheets (1003111) to form a connected air chamber, and the short sides of the fan-shaped sheet airbags (100311) are fixed together when compressed.

9. The pneumatic upper limb rehabilitation exoskeleton device based on continuous sheet airbags according to claim 8, characterized in that: An air nozzle connector is provided at the rear of the airbag sheet for connecting to an air pipe and thus to an air source.

10. The pneumatic upper limb rehabilitation exoskeleton device based on continuous sheet airbags according to claim 8, characterized in that: The sheet-like airbag is made of a thermoplastic polyurethane (TPU) fabric with a thickness of 0.1 mm.

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