55 results about "Exoskeleton structure" patented technology

A support arm interface for connecting a dynamic assist support arm to an exoskeleton structure having a chassis, a connection component on the chassis configured to pivotably attach a dynamic assist support arm thereto, a connection component on the chassis configured to attach an exoskeleton thereto and a leveling mechanism attached to the chassis and configured to level the dynamic assist support arm interface.

The invention discloses a rehabilitation robot system for old people with cerebral apoplexy, and belongs to the technical field of rehabilitation robots. The rehabilitation robot system comprises a rehabilitation robot, the rehabilitation robot comprises an upper limb rehabilitation system and a lower limb rehabilitation system of a master-slave mode two-arm exoskeleton structure, the lower limb rehabilitation system comprises a seat, a first master arm and a first slave arm, the first master arm and the first slave arm are arranged on the seat, the first master arm and the first slave arm each comprise a control box, a thigh supporting structure, a crus supporting structure and a foot sole supporting plate, the control boxes, the thigh supporting structures, the crus supporting structures and the foot sole supporting plates are sequentially connected on the seat, and first leg supporting rods and second leg supporting rods are connected among the control boxes, the thigh supporting structures and the crus supporting structures respectively. The upper limb rehabilitation system comprises a seat back arranged on the seat, a second master arm and a second slave arm, the second master arm and the second slave arm are arranged on the seat back, and the second master arm and the second slave arm each comprise a shoulder rotating system, an upper arm auxiliary motion mechanism, a forearm auxiliary motion mechanism, a wrist rotating system and a palm part auxiliary motion mechanism, wherein the shoulder rotating systems, the upper arm auxiliary motion mechanisms, the forearm auxiliary motion mechanisms, the wrist rotating systems and the palm part auxiliary motion mechanisms are connected in sequence. The rehabilitation robot system is low in cost, and multiple freedom degrees are achieved in the use process.

The invention provides an exoskeleton hand rehabilitation training device for hand rehabilitation training of a stroke patient. The exoskeleton hand rehabilitation training device mainly comprises a finger driving device, a hand supporting assembly, a wrist supporting assembly and a motor driving device. The finger driving device is installed on the hand supporting assembly. The hand supporting assembly and the motor driving device are installed on the wrist supporting assembly. Power of a motor is transmitted to the finger driving device through a steel wire flexible shaft assembly, finger joints can move through gear transmission, the four fingers can be driven independently, the structure is simple and easy to obtain, and due to the rear motor driving device and the steel wire flexible shaft driving mode, the weight of the finger exoskeleton structure is lowered. Due to the fact that an arc track structure is arranged on the finger driving device, the rotation center of the exoskeleton device and the rotation center of the finger joints are kept consistent, and the finger driving device can adjust the length of the exoskeleton finger and replace a finger fixing ring according to the lengths and radiuses of fingers of the patient.

The invention provides a three-freedom-degree wrist function rehabilitation robot, which comprises a palmar flexion/dorsiflexion moving module, an adduction/abduction moving module, an introversion/evagination moving module, a wrist support module, an elbow support module and a base module, wherein the palmar flexion/dorsiflexion moving module realizes wrist palmar flexion/dorsiflexion freedom degree movement; the adduction/abduction moving module realizes wrist adduction/abduction freedom degree movement; the introversion/evagination moving module realizes wrist introversion/evagination freedom degree movement; the wrist support module fixes the wrist part, and connects the palmar flexion/dorsiflexion moving module, the adduction/abduction moving module and the introversion/evagination moving module together; and the elbow support module fixes the elbow part, regulates the posture of the affected limb, and enables the movement to be stable. The three-freedom-degree wrist function rehabilitation robot has the advantages that the assistance is provided for a patient to do wrist palmar flexion/dorsiflexion, adduction/abduction and introversion/evagination three-moving-freedom-degree exercise training; the external exoskeleton structure fits the wrist moving track; the structure is compact; the dimension is small; the weight is light; the use by a family is convenient; and the rehabilitation training efficiency is improved.

The invention discloses a magnesium-based composite material with titanium or a titanium alloy as a skeleton enhancer and a preparation method of the magnesium-based composite material. The magnesium-based composite material comprises the skeleton enhancer and a magnesium matrix; the skeleton enhancer is a skeleton designed based on a bionic structure, and the magnesium matrix impregnates the skeleton enhancer to compositely form the composite material with the bionic structure; and the bionic structure is a brick-wall structure imitating an abalone shell pearl layer, a cross lamination structure imitating a saxidomus purpuratus shell or a spirally braided structure imitating an arthropod exoskeleton. Magnesium or a magnesium alloy is enhanced through the titanium or titanium alloy skeleton with the bionic structure, the skeleton structure in the magnesium-based composite material is accurately designed and controlled through a 3D printing technology, and thus the strength, stiffness,fracture toughness and impact resistance of the magnesium or the magnesium alloy are significantly improved without significantly increasing the material density and lowering damping performance.

The present invention relates to a novel lower limb rehabilitation robot. The novel lower limb rehabilitation robot comprises two groups of symmetrically arranged leg exoskeleton structures on a leftleg and a right leg, a seat mechanism and a virtual reality system; the two groups of the leg exoskeleton structures are the same and both comprises an ankle exoskeleton mechanism, a knee exoskeletonmechanism and a hip exoskeleton mechanism; the ankle exoskeleton mechanisms are connected with the knee exoskeleton mechanisms, and the knee exoskeleton mechanisms are connected with the hip exoskeleton mechanisms; and the hip exoskeleton mechanisms of the two groups of the leg exoskeleton structures are connected with the seat mechanism; and the virtual reality system simulates experience of a realistic rehabilitation scene for patients through a displayer. The novel lower limb rehabilitation robot can precisely control movement angles of any joint, can provide rehabilitation for each joint of the patients, and can also fully ensure safety of the patients during the rehabilitation process. The virtual reality system adds fun to the patients' monotonous and tedious rehabilitation process,and enables the patients to enjoy the relaxing and enjoyable rehabilitation process.

The invention discloses a joint angle error compensation experiment device and method based on a nerve network and relates to the field of wearable exoskeleton. The device includes four bands, two installing plates, a first gyroscope, a second gyroscope, an encoder and a signal collection plate. The two installing plates are connected with each other at the ends, and the two installing plates canrotate around a joint of the two installing plates; the four bands are fixedly installed on the inner side walls of the installing plates, and two bands correspond to one installing plate; the first gyroscope is fixedly installed on the outer side wall of a top installing plate; the second gyroscope is fixedly installed on the outer side wall of a bottom installing plate; the encoder is fixedly installed on the outer side wall of the joint of the two installing plates; and the signal collection plate is fixedly installed between the first gyroscope and the encoder. According to the joint angleerror compensation experiment device and method based on the nerve network, a gait walking experiment is beforehand performed, a learning sample is obtained, an optimal model parameter is obtained through nerve network training, and the accurate measurement of knee joint angles is achieved through the wearing of two gyroscopes and trained nerve network models after an exoskeleton structure is worn by people.

The invention relates to a foot module (7) for an exoskeleton structure, comprising an ankle joint (72), a first support plate (732) designed to be supported on the top of a boot of the user, when the foot module (7) is attached to the foot of the user, a second support plate (735) capable of being disposed under the sole of the boot, a first segment (731) connecting the ankle joint (72) to the first support plate (732) and a second segment (733) connecting the first support plate (732) to the second support plate (735), the first segment (733) and the second segment (735) forming a spring capable of being compressed when the boot is in contact with the ground (S) and being expanded when the boot is not in contact with the ground (S).

The invention relates to an exoskeleton structure that provides force assistance to a user, comprising:

• • a first module capable of being attached to a first portion of the body of a user,
  • a second module capable of being attached to a second portion of the body of the user, the second module being connected to the first module by means of a joint (52, 62) allowing rotation of the second module (5, 6) with respect to the first module,
  • an actuator (521) comprising a stator (522) and a rotor (523) capable of being driven in rotation with respect to the stator (522) to move the second module (5, 6) in rotation with respect to the first module (1, 5), and
  • an elastic return element (524) arranged to: in a first angular range of movement (α₁) of the rotor with respect to the stator (522), not exert any return force on the rotor (523) and, in a second angular range of movement (α₂) of the rotor (523) with respect to the stator (522), exert a return force tending to oppose rotation of the rotor (523) with respect to the stator (522) in a first direction of rotation (A) and to assist rotation of the rotor with respect to the stator in a second direction of rotation (B) opposite to the first direction of rotation.

The invention discloses a variable-stiffness exoskeleton structure based on a positive pressure friction principle. The variable-stiffness exoskeleton structure comprises a C-shaped pipe and a sleevewhich is installed outside the C-shaped pipe in a sleeving manner, wherein the sleeve is in clearance fit with the C-shaped pipe, and the sleeve and the C-shaped pipe can rotate relatively. An elasticpipe is placed in the C-shaped pipe, and an opening at one end of the elastic pips is connected with an air nozzle; after the air nozzle is inflated to be in a working state, the elastic pipe enablesthe pressure and friction between the C-shape pipe and the sleeve to be increased, and therefore stiffness variation or locking of a joint is achieved. According to the variable-stiffness exoskeletonstructure, a wearable exoskeleton device has a variable-stiffness effect, the exoskeleton structure is easy to control to achieve the buffering effect or the locking function, and a joint variable-stiffness scheme with the simple principle is provided for a stiff robot system or a wearable exoskeleton system; and the variable-stiffness exoskeleton structure has the advantages of being simple in structure, small in size, light in weight and easy to control.

The invention provides a lower-limb exoskeleton rehabilitation system based on coordination impedance control. The system comprises a user-exoskeleton structure module, an electromyographic signal collection module, an electromyographic signal processing module, a track generation module, a position speed feedback module, an impedance control module and a position control module, wherein an input end of the electromyographic signal collection module is connected with the user-exoskeleton structure module, and an output end is connected with an input end of the electromyographic signal processing module; an input end of the impedance control module is connected with an output end of the electromyographic signal processing module, and an output end is connected with an input end of the track generation module; the position control module collects the output signals of the position speed feedback module and the track generation module; and an output end of the position control module is connected with the user-exoskeleton structure module. In the invention, the independent torque is estimated by use of the electrophysiological and electromyographic signals of a human body; and in comparison with the signals fed back by a mechanical torque sensor, the electromyographic signals have lower time delay and higher signal-to-noise ratio.

The invention discloses a knee-joint exoskeleton device capable of elastically compensating axial displacement, and belongs to the technical field of exoskeleton structure designs. The device comprises a displacement compensation mechanism, a leg component, two size adjustment mechanisms and two binding mechanisms, wherein the leg component is connected with the displacement compensation mechanism via a revolving pair, the two size adjustment mechanisms are in bolted connection with the leg component and the displacement compensation mechanism, and the two binding mechanisms are connected with the two size adjustment mechanisms via wedge-shaped locking boxes. According to the device provided by the invention, displacement of an axis of a human body knee-joint in a vertical plane is compensated via the displacement compensation mechanism, and discomfort generated by noncoincidence of the axis of the exoskeleton revolving pair and the rotation axis of the human body knee-joint; the positions of the binding mechanisms at the leg of a human body are adjusted via the size adjustment mechanisms and connected with a hip joint and an ankle joint via adjustment rods; the positions of binding axes in vertical planes are adjusted via L-shaped adjustment rods in the binding mechanisms, and thus knee-joint exoskeleton device is applicable to binding requirements of different leg sizes.

The invention relates to the field of medical robots and in particular relates to a long-endurance lightweight intelligent exoskeleton robot. The intelligent exoskeleton robot comprises an exoskeletonstructure, a cable, a storage battery and a wheelchair, wherein the exoskeleton structure comprises an upper limb structure, a lower limb structure and a back structure; the upper limb structure is used for fixing upper limbs of a human body; the lower limb structure is used for fixing lower limbs of the human body; the back structure is used for connecting the upper limb structure and the lowerlimb structure; a power interface is arranged on the exoskeleton structure; the wheelchair is used for automatically traveling along with the exoskeleton structure; and the storage battery is arrangedon the wheelchair and electrically connected with the power interface by virtue of the cable. According to the long-endurance and lightweight intelligent exoskeleton robot provided by the invention,the wheelchair in the exoskeleton robot is ingeniously combined with exoskeleton on the human body, so that the exoskeleton robot is practical and humanized.

An apparatus that includes a composite fuselage and motion control system designed to protect the human leg from knee pain and muscular fatigue created by repetitive vertical movement or extended periods of squatting. Fuselage panels and frame encapsulate the leg and functionally integrate with hard shell boots to create a rigid exoskeleton structure that resists radial displacement of the knee or ankle. The fuselage ‘open clamshell’ leg harness utilizes wide composite body panels that disperse pressure across a large surface area, allowing the harness to provide body mass support and device securement without restriction of the body's circulatory system.

The invention relates to the technical field of automation and specifically discloses a lower limb exoskeleton structure integrated with self-adaptive knee joints and a robot. A lower limb exoskeletonsystem comprises thigh supports, a first driving mechanism, adapters, rotating shaft slide blocks, a second driving mechanism and shank assemblies; the first driving mechanism is used for driving thethigh supports to rotate relative to the adapters; the rotating shaft slide blocks are rotatably coupled to the shank assemblies, the shank assemblies are adjustable in length, and the second drivingmechanism is mounted on the adapters and used for driving the rotating shaft slide blocks to execute reciprocating linear motions. By means of the combination of the rotational motion and the reciprocating linear motion modes, the positions of the thigh supports and the rotating axes of the adapters can be adjusted in real time, namely the rotating axes are endowed with the capability of aligningto rotating shafts of the knee joints of the human in real time, the human-machine compatibility is improved, it is ensured that the rotating axes of the human-machine knee joints can be aligned simultaneously when the patient uses the structure, and accordingly the problems of wearing discomfort and soft tissue contusion off the patient are effectively avoided.

The invention relates to a shoulder module (3) for an exoskeleton structure, the shoulder module (3) being designed to connect an elbow module (4) attached to an arm of a user to a back module (2) attached to the back of the user, the shoulder module (3) comprising:

• • a plurality of connecting parts (34, 36, 38, 310), and
  • a first pivot (35) connecting two of the connecting parts (34, 36) while allowing rotation of one of the connecting parts with respect to the other connecting part (34) according to a first axis of rotation (X₁), during a rotation of the elbow module (4) with respect to the back module (2) corresponding to an abduction or adduction movement of the shoulder of the user,

in which the connecting parts (34, 36, 38, 310) include a connecting part (38) comprising two parts (381, 382) mounted sliding with respect to one another by means of a slideway (383), the sliding of the parts (381, 382) with respect to one another allowing shortening or lengthening of the connecting part (38) of the elbow module (4) with respect to the back module (2) during rotation of the elbow module (4) with respect to the back module (2).

The invention discloses a finger rehabilitation device capable of being mounted on a rehabilitation wheelchair. The finger rehabilitation device comprises a finger grasping exoskeleton structure and a motor transmission structure. The finger grasping exoskeleton structure comprises a three-finger grasping exoskeleton, an arm cushion plate and a side motor plate. The motor transmission structure comprises five steel wire ropes, five motors and corresponding pulleys. The three-finger grasping exoskeleton comprises fingerprint base plates of all finger knuckles. The five motors are all fixed to the arm cushion plate. Each motor is connected with the finger base plate of the corresponding finger knuckle through the corresponding steel wire rope. The finger rehabilitation device can be mounted on the rehabilitation wheelchair to help a patient in finger rehabilitation treatment; the finger rehabilitation device is simple in structure, small in size, convenient to repair and carry and suitable for daily use by the patient.

A support rail for a robotic platform having a support structure of concrete, a lower metallic connection flange and an upper connection flange or a guide rail disposed on an external side of the support structure. The lower connection flange, on the one hand, and the upper connection flange or the guide rail, respectively, on the other hand, are connected by a rigid metallic exoskeleton structure provided on the external side of the support structure and surrounding at least partially or completely the support structure.

The invention discloses a direct force detection device. The device comprises a contact force sensor (90), a leg baffle (110), a binding device (120) and an exoskeleton leg connecting rod (140). A direct force control system comprises a force sensor, a controller, and an executor; a direct force control exoskeleton robot comprises a hydraulic system, a control system, a mechanical structure systemand a sensor system; the hydraulic system comprises a hydraulic station and an executor, and the mechanical structure system comprises an exoskeleton structure and a bearing device (10). Through measuring the magnitude of contact action force applied by an operator, information of the force is used for generating a control signal of an exoskeleton joint torque to control an assistance exoskeletonto move along with the human body, minimization of the contact action force between a machine and a man can be achieved, the assistance effect is achieved, and joint assistance is provided for a normal person finally; when a heavy object is borne, the burdening is greatly reduced, work efficiency is improved, and the actions of free walking on the complex terrain can be achieved.

The invention discloses a haptic regeneration exoskeleton structure and a UAV flight attitude control method. The haptic regeneration exoskeleton structure mainly comprises a back portion connecting module, shoulder joint mechanisms, upper arms, elbow joint motion mechanisms, forearms and wrist joint motion mechanisms, wherein each shoulder joint mechanism comprises a shoulder pad, a shoulder portion mounting plate, a shoulder portion rotating shaft member, a rotating member and the like; each upper arm comprises a motor, an upper arm magnetic fluid damper, an upper arm adjustment plate and anarm protector; each elbow joint motion mechanism comprises an elbow joint encoder, a photoelectric switch and a bevel gear; the structures of the forearms are similar to that of the upper arms; and each wrist joint motion mechanism comprises a grip, a rotating shaft, a flexible pressure sensor and a wrist portion supporting member which are sequentially connected. In the tactile regeneration design, the haptic regeneration exoskeleton structure adopts motor motion assistance to establish a relationship between a UAV safe flight level (a spatial position relationship between a UAV and an obstacle) and a motor output upper limb motion auxiliary force. In the structural design, the upper limbs of the controller moves clockwise (counterclockwise) to press corresponding pressure strain gaugesto change output voltages and predict the motion trend of the structure, and the motor assists the exoskeleton to move, so as to control the remote UAV to fly.

The invention concerns an exoskeleton subassembly comprising: —a first exoskeleton part (32), —a second exoskeleton part (33), —a connecting assembly (60) connecting the first exoskeleton part (32) to the second exoskeleton part (33), the connecting assembly (60) comprising a guide (61) mounted securely relative to one of the first part (32) and the second part (33), and a pin (62) mounted securely relative to the other of the first part (32) and the second part (33), the pin (62) being mounted slidingly inside the guide (61) between a first end position and a second end position, wherein the connecting assembly (60) further comprises a limiting device (64) arranged to allow the pin (62) to rotate relative to the guide (61) when the pin (62) is in the first end position, and to limit the rotation of the pin (62) relative to the guide (61) when the pin (62) is in the second end position, the limiting device (64) comprising a resilient element (65) with which the first exoskeleton part (32) engages when the pin (62) is in the second end position, the resilient element (65) applying an elastic return force on the first exoskeleton part (33) that tends to resist the rotation of the first exoskeleton part (33) and the second exoskeleton part (32) relative to each other.

The invention relates to an exoskeleton sub-assembly (30) comprising: —a leg part (32) to be attached to a leg of a user, and —a foot part (33) to be attached to a shoe of the user; the leg part (32) comprises a tibial segment (321) extending below the knee, along the tibia of the user, when the leg part (32) is attached to the leg, and the tibial segment (321) comprises a first component (325), a second component (326) connected to the foot part (33), and a first joint (327) connecting the second component (326) to the first component (325), the first joint (327) permitting a rotation of the second component (326) with respect to the first component (325) caused by an internal or external rotation of the user's foot with respect to the leg.

The invention relates to the technical field of exoskeletons, in particular to a wearable exoskeleton with a cooling function. The wearable exoskeleton comprises a wearing structure, the wearing structure comprises straps, a cooling bag is arranged below the straps, a waistband is arranged below the cooling bag and an exoskeleton structure is arranged on one side of the wearing structure. The exoskeleton structure comprises a plurality of bionic bones, inserting grooves are formed in the bionic bones, connectors are arranged in the inserting grooves, two spring grooves are formed in the bionic bones, springs are arranged in the spring grooves, and two cylindrical rods are arranged on the connectors. The two sides of the first bionic bone are both provided with first connecting rods, the two sides of the fourth bionic bone are both provided with second connecting rods, one end of each first connecting rod is provided with a shoulder protector, a waist ring is arranged below each bionic bone, the two sides of the tenth bionic bone are both provided with third connecting rods, the two sides of the waist ring are provided with connecting rods, one end of each connecting rod is provided with a leg ring, one side of the waist ring is provided with two clamping rings, and cooling equipment is arranged in the two clamping rings. The wearable exoskeleton with the cooling function does not need to be driven by external power, is convenient to wear and is provided with a cooling system.