CN103070756A - Upper limb rehabilitation exoskeleton mechanism with man-machine kinematic compatibility - Google Patents
Upper limb rehabilitation exoskeleton mechanism with man-machine kinematic compatibility Download PDFInfo
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Abstract
The invention discloses an upper limb rehabilitation exoskeleton mechanism with man-machine kinematic compatibility. The upper limb rehabilitation exoskeleton mechanism comprises an exoskeleton mechanism, a man-machine connecting mechanism and a supporting member. The exoskeleton mechanism is fixedly connected with a back supporting member, and tightly connected with human upper limbs by the connecting mechanism to form a man-machine closed chain mechanism. The exoskeleton mechanism is composed of shoulder joint equivalent mechanisms, elbow joint equivalent mechanisms and upper limb components, wherein the shoulder joint equivalent mechanisms drive the upper limbs to realize bending/stretching, contracting/expanding and intorsion/extorsion movements of upper arms, and the elbow joint equivalent mechanisms drive the upper limbs to realize bending/stretching and pronation/supination movements of forearms; and the man-machine connecting mechanism comprises a connecting kinematic pair and a kinematic pair connecting member, and plays a role of properly restraining the man-machine closed chain mechanism. When the mechanism is worn, an offset between the joint movement axis of the exoskeleton mechanism and the corresponding upper limb joint axis is allowed, inner acting forces irrelevant to rehabilitation training are not generated in the man-machine closed chain mechanism, and the safety of the upper limb rehabilitation training and the effect of the rehabilitation training are improved.
Description
Technical field
The present invention relates to the rehabilitative engineering technology in the technical field of medical instruments, specifically a kind of upper limb healing exoskeleton mechanism with people-machine motion compatibility is used for the patient of upper limb hemiplegia or upper extremity exercise function damage is carried out rehabilitation training.
Background technology
Along with the progress of science and technology and the raising of living standards of the people, China progressively enters aging society.A large amount of cerebrovascular disease or patient with nervous system disease are arranged in older population, and this class patient majority is with hemiplegia symptom.In addition, because the increasing rapidly of transport facility, the number that causes nerve injury or limb injury because of vehicle accident is cumulative year after year also.Theory of medicine and clinical medicine prove that this class patient is except the Drug therapy of early stage operative treatment and necessity, and the rehabilitation training of science is played very important effect for improvement and the recovery of extremity motor function.
Traditional rehabilitation training of upper limbs mode is that the physiatrician finishes a series of training campaign by the manpower assisting patients, in during rehabilitation training, the factors such as doctor's subjective consciousness and performance status play mastery reaction, the language that causes after disease is sent out in addition and the damage of cognitive function have weakened between doctor and the patient reciprocal action for the rehabilitation process.Therefore, traditional rehabilitation training mode has that rehabilitation efficient is on the low side, working strength is large, training effect and evaluation result are subject to the limitations such as doctor's subjective consciousness impact easily.
For remedying professional's deficiency, reduce doctor's working strength and provide timely and effectively medical services for the patient.Since nineteen nineties, research institutions more both domestic and external have carried out the ectoskeletal development of Wearable upper limb healing and rehabilitation training technical research work in succession.Wearable upper limb healing ectoskeleton can significantly reduce physiatrician's working strength, and have the training parameter good reproducibility, the advantages such as limb rehabilitating process can be set and effectively accelerate to training quota as required.
Wearable upper limb healing ectoskeleton is typical people-machine integrated system, exoskeleton mechanism and the multi-ring closed chain mechanism of human upper limb Special composition after people-machine is dressed and connected, and the interaction of passing through connecting portion in the training process between people-machine realizes synergy movement.Therefore, require to occur between exoskeleton mechanism and the limbs strong effect of contraction power/square, with the comfortableness variation of avoiding causing thus and the secondary damage of suffering from limb.
According to human anatomy as can be known, upper limb shoulder joint of human body is the 3DOF ball-and-socket joint, can carry out flexion/extension, receipts/exhibition and the internal/external rotations motion of upper arm; The upper limb elbow joint has 2 degree of freedom, can carry out the flexion/extension of forearm and revolve front/supination.Retrieval by the prior art document can find out that with analysis the design of Wearable upper limb healing exoskeleton mechanism is mainly bionical based on the kinesiology of aforementioned pass section attribute at present.Mechanism has equal degree of freedom with the corresponding joint of upper limb, and by the low pairs replacing high pair equivalence of moving, the yardstick of member is determined with reference to limbs skeleton parameter, or member designs is become the adjustable type structure.Dress on the connected mode people-machine, exoskeleton mechanism and upper limb compact by bandage or wearing tool between upper arm and forearm and are connected.The advantage of existing design is to obtain the brief exoskeleton mechanism configuration of form, weak point is when the corresponding joints axes of people-machine occurs dressing deviation, there is the internal action power irrelevant with rehabilitation training in people-machine closed chain mechanism, easily causes the comfortableness variation or safety problem occurs.
For example, people shown in Figure 1-machine local closed chain mechanism shoulder joint closed chain, exoskeleton mechanism directly compacts situation about being connected with human upper limb under, when bend and stretch with exoskeleton mechanism shoulder joint center at upper limb shoulder joint center, when the intersection point of interior outward turning and the cradle head axis of taking down the exhibits overlaps, it is compatible with the humeral movement of exoskeleton mechanism with the upper arm of the motion upper limb determined that local closed chain mechanism has just fixed degree of freedom, do not have the internal action power that has nothing to do with the rehabilitation training task in the during rehabilitation training between people-machine.But because the not visible property of human synovial, there are deviation inevitably in upper limb shoulder joint center and exoskeleton mechanism shoulder joint center during actual the wearing, as shown in Figure 2, the local closed chain organisation conversion is that the humeral movement of the upper arm of mistake constrained system upper limb of degree of freedom shortcoming and exoskeleton mechanism is incompatible, in during rehabilitation training, people-machine connecting portion can produce the internal action power irrelevant with rehabilitation training, causes the comfortableness variation or safety problem occurs.
Summary of the invention
The object of the present invention is to provide the upper limb healing exoskeleton mechanism of a kind of people of having-machine motion compatibility, allow during wearing to have deviation between people-machine joints axes, and in people-machine closed chain mechanism, can not produce the internal action power irrelevant with rehabilitation training.
Technical scheme of the present invention:
A kind of upper limb healing exoskeleton mechanism with people-machine motion compatibility, comprise shoulder joint equivalent mechanism A, upper arm member 7, the B of upper arm bindiny mechanism, elbow joint equivalent mechanism C, front arm member 13, the D of forearm bindiny mechanism and support member 1, it is characterized in that shoulder joint equivalent mechanism A, upper arm member 7, elbow joint equivalent mechanism C and front arm member 13 consist of the upper limb exoskeleton mechanism, the B of upper arm bindiny mechanism and the D of forearm bindiny mechanism consist of people-machine bindiny mechanism, exoskeleton mechanism and support member 1 are connected, and are connected with forearm F with human body upper arm E by people-machine bindiny mechanism and are connected.
Described shoulder joint equivalent mechanism A is bent and stretched revolute pair 6 and is composed in series successively by take down the exhibits in revolute pair 2, the first revolute pair connector 3, the upper arm moving secondary the 4, the second revolute pair connector 5 of external rotation and upper arm of upper arm, wherein the upper arm revolute pair 2 of taking down the exhibits links to each other with support member 1, upper arm bends and stretches revolute pair 6 and links to each other with upper arm member 7, and take down the exhibits in the revolute pair 2, upper arm external rotation moving secondary 4 and upper arm of upper arm bent and stretched revolute pair 6 and be the orthogonal layout of revolute pair axis.
The described upper arm B of bindiny mechanism is composed in series successively by upper arm moving sets 8, the secondary connector 9 of humeral movement, upper arm connection Hooke's hinge 10 and upper arm bandage 11, wherein upper arm moving sets 8 links to each other with upper arm member 7, be positioned at the terminal of arm member 7 and move along upper arm member 7, upper arm connects Hooke's hinge 10 and links to each other with upper arm bandage 11, and upper arm bandage 11 compacts and is worn on the end of upper arm E.
Described elbow joint equivalent mechanism C forms by revolving revolute pair 18 before and after front bending and stretching of the arms revolute pair 12 and the forearm, revolves revolute pair 18 before wherein before and after bending and stretching of the arms revolute pair 12 and the forearm and is the revolute pair axis and is arranged vertically.
The described forearm D of bindiny mechanism connects ball secondary 16 by forearm moving sets 14, forearm kinematic pair connector 15, forearm and forearm bandage 17 is composed in series successively, and wherein forearm moving sets 14 links to each other with front arm member 13, and front arm member links to each other with front bending and stretching of the arms revolute pair 12; Forearm moving sets 14 is positioned at the terminal of front arm member 13 and moves along front arm member 13, and forearm connects ball pair 16 and links to each other with forearm bandage 17, and forearm bandage 17 compacts and is worn on the end of forearm F.
The described upper arm B of bindiny mechanism can also be composed in series successively by upper arm cylindrical pair 19, the secondary connector 20 of humeral movement, upper arm connection moving sets 21 and upper arm bandage 11, upper arm cylindrical pair 19 links to each other with upper arm member 7, it is parallel with upper arm member 7 to be positioned at the end of arm member 7 and axis, and upper arm connects moving sets 21 and links to each other with upper arm bandage 11.
The described forearm D of bindiny mechanism can also be composed in series successively by forearm cylindrical pair 22, forearm kinematic pair connector 23, forearm connection Hooke's hinge 24 and forearm bandage 17, forearm cylindrical pair 22 links to each other with upper arm member 7, it is parallel with front arm member 13 to be positioned at the end of front arm member 13 and axis, and forearm connects Hooke's hinge 24 and links to each other with forearm bandage 11.
In order to strengthen the function of rehabilitation training of upper limbs, on the basis of this upper limb healing exoskeleton mechanism technical scheme, end at exoskeleton mechanism adds wrist flexion/extension and receipts/exhibition motion, or wherein any motion, also belongs to the scope that this upper limb healing exoskeleton mechanism technical scheme contains.
Beneficial effect of the present invention: the upper limb exoskeleton mechanism compacts with human upper limb by people-machine bindiny mechanism and is connected, the people who consists of-machine closed chain mechanism has just fixed constraint, allow during wearing to have deviation between people-machine joints axes, and in people-machine closed chain mechanism, can not produce the internal action power irrelevant with rehabilitation training, help to improve the effect of safety and the rehabilitation training of rehabilitation training of upper limbs.
Description of drawings
Fig. 1 is that shoulder joint ectoskeleton zero deflection is dressed the position.
Fig. 2 is that the shoulder joint ectoskeleton has deviation to dress the position.
Fig. 3 upper limb healing exoskeleton mechanism of the present invention.
Fig. 4 is upper arm of the present invention bindiny mechanism form two.
Fig. 5 is forearm of the present invention bindiny mechanism form two.
Among the figure: A, the shoulder joint equivalent mechanism, B, upper arm bindiny mechanism, C, the elbow joint equivalent mechanism, D, forearm bindiny mechanism, E, the human body upper arm, F, human body forearm, 1, support member, 2, the upper arm revolute pair of taking down the exhibits, 3, the first revolute pair connector, 4, external rotation is moving secondary in the upper arm, and 5, the second revolute pair connector, 6, upper arm bends and stretches revolute pair, 7, upper arm member, 8, the upper arm moving sets, 9, the secondary connector of humeral movement, 10, upper arm connects Hooke's hinge, 11, the upper arm bandage, 12, front bending and stretching of the arms revolute pair, 13, front arm member, 14, the forearm moving sets, 15, forearm kinematic pair connector, 16, it is secondary that forearm connects ball, and 17, the forearm bandage, 18, revolve revolute pair before and after the forearm, 19, the upper arm cylindrical pair, 20, the secondary connecting elements of humeral movement, 21, upper arm connects moving sets, 22, the forearm cylindrical pair, 23, forearm kinematic pair connector, 24, forearm connects Hooke's hinge.
The specific embodiment
Further specify the present invention below in conjunction with accompanying drawing.
As shown in Figure 3, the upper limb healing exoskeleton mechanism comprises shoulder joint equivalent mechanism A, upper arm member 7, the B of upper arm bindiny mechanism, elbow joint equivalent mechanism C, front arm member 13, the D of forearm bindiny mechanism and support member 1, wherein shoulder joint equivalent mechanism A, upper arm member 7, elbow joint equivalent mechanism C and front arm member 13 consist of the upper limb exoskeleton mechanism, and the B of upper arm bindiny mechanism and the D of forearm bindiny mechanism consist of people-machine bindiny mechanism.Exoskeleton mechanism is connected with support member 1 by take down the exhibits revolute pair 2 of the upper arm among the shoulder joint equivalent mechanism A, to support the weight of exoskeleton mechanism.During wearing, take down the exhibits in the revolute pair 2, upper arm external rotation moving secondary 4 and upper arm of upper arm among the shoulder joint equivalent mechanism A bent and stretched the axis of revolute pair 6 by human body shoulder joint center, allow to exist deviation at this, realize receipts/exhibition, internal/external rotations and the flexion/extension motion of upper arm to drive upper limb; The axis that revolute pair 18 is revolved in front bending and stretching of the arms revolute pair 12 among the elbow joint equivalent mechanism C and forearm front and back also allows to exist deviation by the elbow joint center at this, realizes the flexion/extension of forearm and revolves front/supination to drive upper limb; Upper arm bandage 11 among the B of upper arm bindiny mechanism compacts with human body upper arm E and is connected, and the end of as far as possible close upper arm E; Forearm bandage 17 among the D of forearm bindiny mechanism compacts with human body forearm F and is connected, and the end of as far as possible close forearm F.
The B of upper arm bindiny mechanism in the upper limb healing exoskeleton mechanism also can adopt version shown in Figure 4.
The D of forearm bindiny mechanism in the upper limb healing exoskeleton mechanism also can adopt version shown in Figure 5.
Claims (3)
1. upper limb healing exoskeleton mechanism with people-machine motion compatibility, it is characterized in that: comprise shoulder joint equivalent mechanism (A), upper arm member (7), upper arm bindiny mechanism (B), elbow joint equivalent mechanism (C), front arm member (13), forearm bindiny mechanism (D) and support member (1), it is characterized in that shoulder joint equivalent mechanism (A), upper arm member (7), elbow joint equivalent mechanism (C) and front arm member (13) consist of the upper limb exoskeleton mechanism, upper arm bindiny mechanism (B) and forearm bindiny mechanism (D) consist of people-machine bindiny mechanism, exoskeleton mechanism and support member (1) are connected, and are connected F with forearm by people-machine bindiny mechanism and human body upper arm (E)) compacting is connected;
Described shoulder joint equivalent mechanism (A) is bent and stretched revolute pair (6) and is composed in series successively by take down the exhibits external rotation moving secondary (4) in the revolute pair (2), the first revolute pair connector (3), upper arm, the second revolute pair connector (5) and upper arm of upper arm, wherein the upper arm revolute pair (2) of taking down the exhibits links to each other with support member (1), upper arm bends and stretches revolute pair (6) and links to each other with upper arm member (7), and take down the exhibits in the revolute pair (2), upper arm external rotation moving secondary (4) and upper arm of upper arm bent and stretched revolute pair (6) and be the orthogonal layout of revolute pair axis;
Described upper arm bindiny mechanism (B) is composed in series successively by upper arm moving sets (8), the secondary connector (9) of humeral movement, upper arm connection Hooke's hinge (10) and upper arm bandage (11), wherein upper arm moving sets (8) links to each other with upper arm member (7), be positioned at the terminal and mobile along upper arm member (7) of arm member (7), upper arm connects Hooke's hinge (10) and links to each other with upper arm bandage (11), and upper arm bandage (11) compacts and is worn on the end of upper arm (E);
Described elbow joint equivalent mechanism (C) forms by revolving revolute pair (18) before and after front bending and stretching of the arms revolute pair (12) and the forearm, wherein before bending and stretching of the arms revolute pair (12) and forearm front and back revolve revolute pair (18) and be the revolute pair axis and be arranged vertically;
Described forearm bindiny mechanism (D) connects ball secondary (16) by forearm moving sets (14), forearm kinematic pair connector (15), forearm and forearm bandage (17) is composed in series successively, wherein forearm moving sets (14) links to each other with front arm member (13), and front arm member (13) links to each other with front bending and stretching of the arms revolute pair (12);
Forearm moving sets (14) is positioned at the terminal and mobile along front arm member (13) of front arm member (13), and forearm connects ball secondary (16) and links to each other with forearm bandage (17), and forearm bandage (17) compacts and is worn on the end of forearm (F).
2. the upper limb healing exoskeleton mechanism with people-machine motion compatibility according to claim 1, it is characterized in that: described upper arm bindiny mechanism (B) or by the secondary connector (20) of upper arm cylindrical pair (19), humeral movement, upper arm connects moving sets (21) and upper arm bandage (11) is composed in series successively, upper arm cylindrical pair (19) links to each other with upper arm member (7), the end and the axis that are positioned at arm member (7) are parallel with upper arm member (7), and upper arm connects moving sets (21) and links to each other with upper arm bandage (11).
3. the upper limb healing exoskeleton mechanism with people-machine motion compatibility according to claim 1, it is characterized in that: described forearm bindiny mechanism (D) or connect Hooke's hinge (24) and forearm bandage (17) is composed in series successively by forearm cylindrical pair (22), forearm kinematic pair connector (23), forearm, forearm cylindrical pair (22) links to each other with upper arm member (7), the end and the axis that are positioned at front arm member (13) are parallel with front arm member (13), and forearm connects Hooke's hinge (24) and links to each other with forearm bandage (11).
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Cited By (13)
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| CN103356361A (en) * | 2013-08-06 | 2013-10-23 | 常州大学 | Parallel type shoulder joint rehabilitation training machine |
| CN105559790A (en) * | 2016-01-17 | 2016-05-11 | 北京工业大学 | Wearable outer skeleton mechanism for detecting rotating center position information of human upper limb shoulder joint |
| CN105583812A (en) * | 2016-03-21 | 2016-05-18 | 上海卓道医疗科技有限公司 | Structure used for shifting rotary motion |
| CN105686834A (en) * | 2016-01-17 | 2016-06-22 | 北京工业大学 | Wearable exoskeleton mechanism used for detecting human body upper limb shoulder glenohumeral joint motion information |
| CN105853141A (en) * | 2016-03-28 | 2016-08-17 | 南京邮电大学 | Shoulder rehabilitation system with gravity compensation mechanism |
| CN106393071A (en) * | 2016-11-14 | 2017-02-15 | 北京工业大学 | 9-freedom-degree wearable self-adaptive upper limb rehabilitation exoskeleton mechanism |
| CN106924013A (en) * | 2017-04-15 | 2017-07-07 | 上海卓道医疗科技有限公司 | A kind of dermaskeleton type upper limb rehabilitation image training robot |
| CN107334602A (en) * | 2017-07-24 | 2017-11-10 | 上海理工大学 | A kind of upper limbs exoskeleton device |
| CN108144264A (en) * | 2018-02-09 | 2018-06-12 | 武汉沃森拓客科技有限公司 | Mechanical arm for rehabilitation training and healing robot |
| CN108430271A (en) * | 2015-10-21 | 2018-08-21 | 努尼股份公司 | Control unit for wearable posture assisting device |
| CN108744422A (en) * | 2018-06-08 | 2018-11-06 | 重庆大学 | A kind of wearable upper extremity exercise auxiliary device of four-degree-of-freedom of degree of freedom optimization |
| US10987271B2 (en) | 2018-06-29 | 2021-04-27 | Huazhong University Of Science And Technology | Upper limb exoskeleton rehabilitation device with man-machine motion matching and side-to- side interchanging |
| CN113043241A (en) * | 2019-12-26 | 2021-06-29 | 中国科学院沈阳自动化研究所 | Light wearable local force feedback bionic double-arm exoskeleton master hand |
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| CN103356361A (en) * | 2013-08-06 | 2013-10-23 | 常州大学 | Parallel type shoulder joint rehabilitation training machine |
| CN108430271A (en) * | 2015-10-21 | 2018-08-21 | 努尼股份公司 | Control unit for wearable posture assisting device |
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| CN105583812B (en) * | 2016-03-21 | 2024-02-06 | 上海卓道医疗科技有限公司 | Structure for offset rotary motion |
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| CN105853141B (en) * | 2016-03-28 | 2018-06-15 | 南京邮电大学 | Shoulder rehabilitation system with gravity compensation |
| CN106393071A (en) * | 2016-11-14 | 2017-02-15 | 北京工业大学 | 9-freedom-degree wearable self-adaptive upper limb rehabilitation exoskeleton mechanism |
| CN106924013B (en) * | 2017-04-15 | 2023-09-26 | 上海卓道医疗科技有限公司 | Exoskeleton type upper limb rehabilitation training robot |
| CN106924013A (en) * | 2017-04-15 | 2017-07-07 | 上海卓道医疗科技有限公司 | A kind of dermaskeleton type upper limb rehabilitation image training robot |
| CN107334602A (en) * | 2017-07-24 | 2017-11-10 | 上海理工大学 | A kind of upper limbs exoskeleton device |
| CN108144264B (en) * | 2018-02-09 | 2023-11-14 | 武汉沃森拓客科技有限公司 | Rehabilitation training mechanical arm and rehabilitation robot |
| CN108144264A (en) * | 2018-02-09 | 2018-06-12 | 武汉沃森拓客科技有限公司 | Mechanical arm for rehabilitation training and healing robot |
| CN108744422A (en) * | 2018-06-08 | 2018-11-06 | 重庆大学 | A kind of wearable upper extremity exercise auxiliary device of four-degree-of-freedom of degree of freedom optimization |
| US10987271B2 (en) | 2018-06-29 | 2021-04-27 | Huazhong University Of Science And Technology | Upper limb exoskeleton rehabilitation device with man-machine motion matching and side-to- side interchanging |
| CN113043241A (en) * | 2019-12-26 | 2021-06-29 | 中国科学院沈阳自动化研究所 | Light wearable local force feedback bionic double-arm exoskeleton master hand |
| CN113043241B (en) * | 2019-12-26 | 2024-03-08 | 中国科学院沈阳自动化研究所 | Light wearable local force feedback bionic double-arm exoskeleton main hand |
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