CN109481225A - A kind of light weight bionic type upper limb exoskeleton rehabilitation robot system - Google Patents
A kind of light weight bionic type upper limb exoskeleton rehabilitation robot system Download PDFInfo
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- CN109481225A CN109481225A CN201811153623.7A CN201811153623A CN109481225A CN 109481225 A CN109481225 A CN 109481225A CN 201811153623 A CN201811153623 A CN 201811153623A CN 109481225 A CN109481225 A CN 109481225A
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- 210000001364 upper extremity Anatomy 0.000 title claims abstract description 30
- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 19
- 210000000323 shoulder joint Anatomy 0.000 claims abstract description 84
- 210000002310 elbow joint Anatomy 0.000 claims abstract description 55
- 210000003857 wrist joint Anatomy 0.000 claims abstract description 55
- 230000033001 locomotion Effects 0.000 claims abstract description 7
- 210000000245 forearm Anatomy 0.000 claims description 60
- 210000000707 wrist Anatomy 0.000 claims description 8
- 239000003638 chemical reducing agent Substances 0.000 claims description 5
- 230000005540 biological transmission Effects 0.000 claims description 3
- 238000004891 communication Methods 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims description 3
- 238000012549 training Methods 0.000 abstract description 14
- 238000013461 design Methods 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- 210000003414 extremity Anatomy 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000011160 research Methods 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 230000001225 therapeutic effect Effects 0.000 description 2
- 241001269238 Data Species 0.000 description 1
- 208000001738 Nervous System Trauma Diseases 0.000 description 1
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 210000000988 bone and bone Anatomy 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 208000028412 nervous system injury Diseases 0.000 description 1
- 230000000926 neurological effect Effects 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 230000033764 rhythmic process Effects 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
- A61H2201/1463—Special speed variation means, i.e. speed reducer
- A61H2201/1472—Planetary gearing
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/1635—Hand or arm, e.g. handle
- A61H2201/1638—Holding means therefor
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/165—Wearable interfaces
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- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
The present invention discloses a kind of light weight bionic type upper limb exoskeleton rehabilitation robot system, is a kind of device of robot assisted rehabilitation training.The system includes that shoulder joint ectoskeleton module, elbow joint ectoskeleton module, wrist joint ectoskeleton module and hand handle module, each module are connected by screw to composition complete machine.Robot system includes 7 freedom degrees in total.Wherein, shoulder joint includes 3 freedom degrees；Elbow joint includes 2 freedom degrees；Wrist joint includes 2 freedom degrees.The shoulder joint module connects back size adjustment module；The elbow joint module is separately connected shoulder joint module and wrist joint module；The wrist joint module connects hand handle module.The present invention respectively drives each joint motions by micro-machine and retarder, design-adjustable guarantees that ectoskeleton keeps coaxial with human body freedom degree, bionic type designs the comfort for the system that increases, exoskeleton-wearable design solves the problems, such as that Traditional Rehabilitation equipment is limited using position, has light characteristic.
Description
Technical field
The present invention relates to a kind of medical rehabilitation training system, specifically a kind of light weight bionic type upper limb exoskeleton rehabilitation machine
People.
Background technique
Modern society is the epoch to run at high speed, and science and technology is maked rapid progress, and people's rhythm of life is sharply accelerated, life stress
It is gradually increased.In this environment, forfeiture ability to act or locomitivity obstacle can be brought many to people's lives
Inconvenience, this strong influence quality of the life.Therefore, how to help patient to restore ability to act and be capable of the life of independence and freedom
Research hotspot as rehabilitation medical field and engineering field.Currently, traditional medical rehabilitation training is mainly with professional rehabilitation
Based on therapist's hand operation, such method is all time-consuming, an expense for patient itself and patient' s family and medical worker
Power, monotonous work.And since China patient is numerous, professional rehabilitation therapist's serious loss (general ratio 1%) makes
Obtain more patients causes rehabilitation efficacy that cannot reach perfect condition because rehabilitation exercise intensity is insufficient.The rehabilitation machine that medical professionals combines
People is a kind of substitution doctor traction patient's suffering limb progress rehabilitation, completes the Medical Devices of training action.Because of its intelligence behaviour
Make, flexibility uses and the rehabilitation efficacy of high efficiency occupies one seat in rehabilitation field, has gradually obtained various countries' research
The attention of personnel, and the new neurological rehabilitation treatment technology developed in recent years, are with a wide range of applications.
Firstly, the problem of " tired " is not present in robot, requirement of the different patients to training strength can satisfy；Secondly,
Robot can free physiatrist from heavy training mission, formulate therapeutic scheme, analysis instruction to be absorbed in
Practice in the advanced work such as data, optimization training content, to improve the function of robot；Again, robot can be with objective record
The objective datas such as the position of patient's suffering limb, speed and Myodynamia recovery state in training process are analyzed for physiatrist, with evaluation
Therapeutic effect；Further, the detailed data that robot is recorded, so that physiatrist is possible to therefrom find data and control
The corresponding relationship between result is treated, it is possible to deeply probing into the rule of nervous centralis rehabilitation；Finally, being treated using robot
Technology makes it possible that teletherapy and concentration treat (physiatrist is simultaneously several patient with instructional), passes through
By mature product promotion application, all patients is finally made to be benefited.
In the functionality disability as caused by nervous system injury, most influence patient's function is the functional residual of upper limb system
Barrier.However, existing dermaskeleton type upper limb rehabilitation robot applies the product function in rehabilitation field more single, with only
Partial joint is limited, only a few integrated products can be realized each joint rehabilitation training of upper limb, and part type main structure is set
Count it is not ideal enough, can not true simulation upper extremity exercise, therefore be difficult to meet the light, flexible, comfortable of suffering limb rehabilitation training
It is required that.
Summary of the invention
The present invention aiming at the above shortcomings existing in the prior art, provides a kind of light weight bionic type upper limb exoskeleton rehabilitation
Robot system realizes that the intra-articular receipts/outreach of upper limb shoulder, shoulder joint buckling/stretching, extension, shoulder joint medial rotation/rotation be outer, flexor of elbow joints
Song/stretching, extension, elbow joint medial rotation/rotation be outer and wrist joint buckling/stretching, extension, wrist joint in the training of receipts/outreach 7 degree of freedom.
The present invention is achieved by the following technical solutions.
A kind of light weight bionic type upper limb exoskeleton rehabilitation robot system, feature include: shoulder joint ectoskeleton, elbow joint
Ectoskeleton, wrist joint ectoskeleton are worn on the shoulder, ancon, wrist of human body respectively；
The shoulder joint ectoskeleton include: receipts in shoulder joint/outreach motor, shoulder joint buckling/stretching, extension motor, shoulder joint medial rotation/
Revolve outer motor, shoulder joint medial rotation/rotation outer drive gears group, shoulder joint back connecting plate, shoulder joint connecting plate, the connection of the first upper arm
Plate and upper arm rotary rail；
Wherein, the back at shoulder joint back connecting plate and human body shoulder joint close to；The shoulder joint connecting plate include with
At human body shoulder joint close to two boards；
Receipts/outreach motor output end includes that the first inner flange is connected with shoulder joint back connecting plate in the shoulder joint, further includes
First outward flange is connected with first block of plate of shoulder joint connecting plate；
The output end of the shoulder joint buckling/stretching, extension motor includes second piece of plate phase of the second inner flange with shoulder joint connecting plate
It even, further include that the second outward flange is connected with the first upper arm connecting plate；
The inner sidewall of the upper arm rotary rail surrounds the arm of human body；The first upper arm connecting plate close to human body arm,
The guide rail for being additionally provided with track and the upper arm rotary rail lateral wall is slidably connected；
The shoulder joint medial rotation/rotation outer drive gears group is arranged in the output end of motor outside shoulder joint medial rotation/rotation, and with it is described on
The lateral wall of arm rotary rail bottom connects；
The upper arm rotary rail is connected with elbow joint ectoskeleton, and elbow joint ectoskeleton is connect with wrist joint ectoskeleton.
Preferably, the shoulder joint connecting plate is bonded L-type by two boards；
The upper arm rotary rail is columnar structured.
Preferably, the elbow joint ectoskeleton include: elbow joint buckling/stretching, extension motor, the outer motor of elbow joint medial rotation/rotation,
Elbow joint medial rotation/rotation outer drive gears group, the second upper arm connecting plate, the first forearm connecting plate and forearm rotary rail；
The second upper arm connecting plate, the first forearm connecting plate respectively with the upper arm of human body, forearm close to；
The forearm rotary rail is cylindrical configuration, completes the movement of forearm internal/external rotations, and inner sidewall can surround the small of human body
Arm, lateral wall are provided with guide rail；The shell of the outer motor of the elbow joint medial rotation/rotation is fixedly installed track, with the forearm
The guide rail of rotary rail is slidably connected；
The output end of motor outside elbow joint medial rotation/rotation is arranged in the elbow joint medial rotation/rotation outer drive gears group, is additionally attached to institute
On the lateral wall for stating forearm rotary rail bottom；
The bottom connection of the second upper arm one end of the connection board and the upper arm rotary rail, the of the first forearm connecting plate
Two ends are connected with the forearm rotary rail；
The output end of the elbow joint buckling/stretching, extension motor includes the other end phase of third inner flange with the second upper arm connecting plate
It even, further include that third outward flange is connected with the first end of the first forearm connecting plate；
The forearm rotary rail is connected with wrist joint ectoskeleton.
Preferably, the second upper arm connecting plate and the first forearm connecting plate respectively contained first block of plate with it is described
Elbow joint buckling/stretching, extension motor output end is respectively connected with, and also each includes that second block of plate and respective first block of plate are symmetrical
Setting, and second block of plate of the second upper arm connecting plate and second block of plate of the first forearm connecting plate are formed rotatably
Connection.
Preferably, the wrist joint ectoskeleton include: wrist joint buckling/stretching, extension motor, receipts/outreach motor in wrist joint,
Second forearm connecting plate, wrist joint connecting plate and hand handle；
The second forearm connecting plate, wrist joint connecting plate respectively with the forearm of human body, wrist closer；
The wrist joint connecting plate is half-cylinder structure；The bottom of second forearm one end of the connection board connection forearm rotary rail；Wrist
Joint buckling/stretching, extension motor output end includes that the 4th inner flange is connected with the other end of the second forearm connecting plate, further includes the 4th
Outward flange is connected with the end of wrist joint connecting plate；
Receipts/outreach motor output end includes that the 5th inner flange is connected with the middle section of wrist joint connecting plate in wrist joint, also
It is connected including the 5th outward flange with hand handle.
Preferably, the second forearm connecting plate includes symmetrical two boards.
Preferably, receipts/outreach motor, shoulder joint buckling/stretching, extension motor, shoulder joint medial rotation/rotation dispatch from foreign news agency in the shoulder joint
Machine, elbow joint buckling/stretching, extension motor, the outer motor of elbow joint medial rotation/rotation, wrist joint buckling/stretching, extension motor, in wrist joint
Receipts/outreach motor respectively use direct current generator and planetary reducer.
Preferably, robot system includes 7 freedom degrees in total, and wherein shoulder joint includes that interior receipts/outreach, buckling/is stretched
Exhibition, outer 3 freedom degrees of medial rotation/rotation；Elbow joint includes buckling/stretching, extension, outer 2 freedom degrees of medial rotation/rotation；Wrist joint include buckling/
2 stretching, extension, interior receipts/outreach freedom degrees.
Preferably, the elbow joint buckling/stretching, extension motor output flexion angle range is 0 ~ 180 degree.
Preferably, the system also includes host computer and slave computer；
The slave computer includes: controller and motor driver；The controller sends control instruction to motor driver；It is described
Corresponding to each motor of the exoskeleton robot composition of motor driver controls closed loop, while output drive signal, obtains
Electric current, speed, the position signal of the motor feedback in each joint；
The host computer carries out displaying and saving data after receiving the information that slave computer transmission comes up, and sets to communications parameter
And control instruction is sent to slave computer.
The present invention has the following characteristics that compared with the existing technology
1) each joint of upper limb exoskeleton robot is used is driven with DC micro-motor and planetary reducer, energy
Exoskeleton robot volume and weight is greatly reduced, so that robot has the characteristics that light weight.
2) the adjustable length in each joint of upper limb exoskeleton robot enables ectoskeleton good fit to suffer from
Person joint meets patient comfort requirement.
3) the upper limb exoskeleton robot is wearable, has the characteristics that portable, is not limited by sphere of action.
4) the exoskeleton robot shoulder joint includes three degree of freedom, and elbow joint includes two freedom degrees, wrist joint packet
Containing two freedom degrees, human upper limb joint motions can be truly imitated, patient is helped to complete daily training.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of upper limb exoskeleton rehabilitation robot；
Fig. 2 is the structural schematic diagram of shoulder joint ectoskeleton；
Fig. 3 is the structural schematic diagram of elbow joint ectoskeleton；
Fig. 4 is the structural schematic diagram of wrist joint ectoskeleton.
Specific embodiment
As shown in Fig. 1, the light weight bionic type upper limb exoskeleton rehabilitation robot includes: shoulder joint ectoskeleton 1, elbow pass
Save ectoskeleton 2, wrist joint ectoskeleton 3 and hand handle module 4, wherein shoulder joint ectoskeleton 1 is connected with elbow joint ectoskeleton 2
It connects, wrist joint ectoskeleton 3 is connected with elbow joint ectoskeleton 2, and hand handle module 4 is connected with wrist joint ectoskeleton 3.Outside shoulder joint
Bone 1 is worn on patient's shoulder, and elbow joint ectoskeleton 2 is worn on patient's ancon, and wrist joint ectoskeleton 3 is worn on patient's wrist,
Hand handle module 4 is worn on patient hand.
As shown in Fig. 2, the shoulder joint ectoskeleton includes: receipts in shoulder joint/outreach motor 5, shoulder joint buckling/stretching, extension
Motor 6, shoulder joint medial rotation/rotation outer motor 7, shoulder joint medial rotation/rotation outer drive gears group 8, shoulder joint back connecting plate 9, shoulder joint
Save connecting plate 10, the first upper arm connecting plate 11 and upper arm rotary rail 12, wherein 5 output end packet of receipts/outreach motor in shoulder joint
The first inner flange and the first outward flange are included, the first inner flange is connected with shoulder joint back connecting plate 9；The shoulder joint back connection
Plate 9 is one block of plate, with the back at human body shoulder joint close to；The shoulder joint connecting plate 10 is to be bonded L-type by two boards,
First piece is connected with the first outward flange, also with the back contact at human body shoulder joint；The output of shoulder joint buckling/stretching, extension motor 6
End includes the second inner flange and the second outward flange；Second block of plate of shoulder joint connecting plate 10 is connected with the second inner flange, and and people
The shoulder side of body close to；Second outward flange is connected with the first upper arm connecting plate 11；The first upper arm connecting plate 11 is one
Block plate, positioned at the inside of second block of plate of shoulder joint connecting plate 10, and the upper arm contact with human body；Shoulder joint medial rotation/rotation
Outer motor 7 is fixedly connected with the first upper arm connecting plate 11, the output end of the outer motor 7 of shoulder joint medial rotation/rotation and shoulder joint medial rotation/rotation
One gear of outer drive gears group 8 is connected；Another gear of shoulder joint medial rotation/rotation outer drive gears group 8 is semi-circular structure, and upper
The lateral wall of 12 bottom of arm rotary rail is connected；The upper arm rotary rail 12 is cylindrical configuration, can surround the arm of human body,
And the guide rail being arranged thereon and the track being arranged on the first upper arm connecting plate are slidably connected.
As shown in Fig. 3, the elbow joint ectoskeleton 2 includes: elbow joint buckling/stretching, extension motor 13, elbow joint medial rotation/rotation
Outer motor 14, elbow joint medial rotation/rotation outer drive gears group 15, the second upper arm connecting plate 16, the first forearm connecting plate 17 and forearm
Rotary rail 18, wherein the second upper arm connecting plate 16 is made of independent two boards, the respective one end of two boards respectively with it is described
The bottom connection of upper arm rotary rail 12；First forearm connecting plate 17 is also to be made of independent two boards, on described two piece second
The upper arm contact of arm connecting plate 16 and human body, the small arm contact of two piece of first forearm connecting plate 17 and human body；Flexor of elbow joints
Song/stretching, extension motor 13 output end includes third inner flange and third outward flange, third inner flange and the second upper arm connecting plate 16
First block of plate be connected, third outward flange is connected with first block of plate of the first forearm connecting plate 17；Second upper arm connecting plate 16
It is symmetrical arranged with second block of plate of the first forearm connecting plate 17 and respective first block of plate, and the of the second upper arm connecting plate
Second block of plate of two blocks of plates and the first forearm connecting plate forms rotatable connection；Elbow joint buckling/stretching, extension the motor
The flexion angle of 13 outputs ranges preferably from 0 ~ 180 degree；The other end of first forearm connecting plate 17 respectively with forearm rotary rail
18 outer guide is fixedly connected, and forearm rotary rail 18 is cylindrical configuration, can surround the forearm of human body；Elbow joint medial rotation/rotation
The outer guide of outer motor 14 and guide rail 18 is fixed, the output end and elbow joint medial rotation/rotation outer drive gears group 15 one of motor 14
Gear is connected；Another gear of elbow joint medial rotation/rotation outer drive gears group 15 is semi-circular structure, with 18 bottom of forearm rotary rail
Lateral wall be connected；And it is provided with interior guide rail on forearm rotary rail 18, and the outer of motor outside elbow joint medial rotation/rotation is set
The track of shell is slidably connected, thus guide rail rotation in driving.
As shown in Fig. 4, the wrist joint ectoskeleton 3 includes: wrist joint buckling/stretching, extension motor 19, the interior receipts of wrist joint/outer
Open up motor 20, the second forearm connecting plate 21, wrist joint connecting plate 22 and hand handle 23, wherein the second forearm connecting plate 21 by
Two boards are constituted, and respective one end is respectively fixedly connected with the bottom of forearm rotary rail 18；Wrist joint connecting plate 22 is semicircle
Barrel structure, the wrist of energy semi-surrounding human body；The hand of people can hold hand handle 23；Wrist joint buckling/stretching, extension motor 19 exports
End respectively includes the 4th inner flange and the 4th outward flange, and the 4th inner flange is connected with first block of plate of the second forearm connecting plate 21, wrist
Articular link plate 22 is connected with the 4th outward flange；The second block of plate and first block of plate of second forearm connecting plate 21 are symmetrically closed with wrist
Connecting plate 22 is saved to be connected；Receipts/outreach motor 20 output end includes the 5th inner flange and the 5th outward flange in wrist joint, in the 5th
The intermediate position of flange and wrist joint connecting plate 22 is connected, and the 5th outward flange is connected with hand handle 23.
Preferably, receipts/outreach motor, shoulder joint buckling/stretching, extension motor, shoulder joint medial rotation/rotation dispatch from foreign news agency in the shoulder joint
Machine, elbow joint buckling/stretching, extension motor, the outer motor of elbow joint medial rotation/rotation, wrist joint buckling/stretching, extension motor, in wrist joint
Receipts/outreach motor respectively use direct current generator and planetary reducer.
Slave computer includes controller and motor driver.Controller sends to motor driver instruct in real time.Motor driven
Device and the motor in exoskeleton robot joint constitute control closed loop, form electric current, speed, position feedback control, driving joint electricity
Machine executes the order that controller issues, and completes corresponding rehabilitation exercise motion.The abnormal position in each joint is all limited
Protection.
Host computer receives slave computer and transmits the information come up, display and save training data, set to communications parameter
And simple control instruction is sent to slave computer.
In the present embodiment, each joint of upper limb exoskeleton robot is driven using DC micro-motor and planetary reducer
Dynamic, upper limb exoskeleton robot can adjust shoulder joint, elbow joint and wrist joint length, upper limb according to each patient's arm size
Exoskeleton robot is wearable, can truly imitate human upper limb joint motions, so that the present invention has light weight, portable, easypro
Suitable feature, can give that patient is true, effective daily rehabilitation training, promote Rehabilitation.
The present invention respectively drives each joint motions by micro-machine and retarder, design-adjustable guarantee ectoskeleton with
Human body freedom degree keeps coaxial, and bionic type designs the comfort for the system that increases, and exoskeleton-wearable design solves tradition
The problem that rehabilitation equipment uses position to be limited has light characteristic.
It is discussed in detail although the contents of the present invention have passed through above preferred embodiment, but it should be appreciated that above-mentioned
Description is not considered as limitation of the present invention.After those skilled in the art have read above content, for of the invention
A variety of modifications and substitutions all will be apparent.Therefore, protection scope of the present invention should be limited to the appended claims.
Claims (10)
1. a kind of light weight bionic type upper limb exoskeleton rehabilitation robot system characterized by comprising shoulder joint ectoskeleton, elbow
Joint ectoskeleton, wrist joint ectoskeleton are worn on the shoulder, ancon, wrist of human body respectively；
The shoulder joint ectoskeleton include: receipts in shoulder joint/outreach motor, shoulder joint buckling/stretching, extension motor, shoulder joint medial rotation/
Revolve outer motor, shoulder joint medial rotation/rotation outer drive gears group, shoulder joint back connecting plate, shoulder joint connecting plate, the connection of the first upper arm
Plate and upper arm rotary rail；
Wherein, the back at shoulder joint back connecting plate and human body shoulder joint close to；The shoulder joint connecting plate include with
At human body shoulder joint close to two boards；
Receipts/outreach motor output end includes that the first inner flange is connected with shoulder joint back connecting plate in the shoulder joint, further includes
First outward flange is connected with first block of plate of shoulder joint connecting plate；
The output end of the shoulder joint buckling/stretching, extension motor includes second piece of plate phase of the second inner flange with shoulder joint connecting plate
It even, further include that the second outward flange is connected with the first upper arm connecting plate；
The inner sidewall of the upper arm rotary rail surrounds the arm of human body；The first upper arm connecting plate close to human body arm,
The guide rail for being additionally provided with track and the upper arm rotary rail lateral wall is slidably connected；
The shoulder joint medial rotation/rotation outer drive gears group is arranged in the output end of motor outside shoulder joint medial rotation/rotation, and with it is described on
The lateral wall of arm rotary rail bottom connects；
The upper arm rotary rail is connected with elbow joint ectoskeleton, and elbow joint ectoskeleton is connect with wrist joint ectoskeleton.
2. the light weight bionic type upper limb exoskeleton rehabilitation robot system according to claim 1, which is characterized in that described
Shoulder joint connecting plate is bonded L-type by two boards；
The upper arm rotary rail is columnar structured.
3. the light weight bionic type upper limb exoskeleton rehabilitation robot system according to claim 1, which is characterized in that described
Elbow joint ectoskeleton includes: elbow joint buckling/stretching, extension motor, the outer motor of elbow joint medial rotation/rotation, elbow joint medial rotation/rotation transmission outside
Gear set, the second upper arm connecting plate, the first forearm connecting plate and forearm rotary rail；
The second upper arm connecting plate, the first forearm connecting plate respectively with the upper arm of human body, forearm close to；
The forearm rotary rail is cylindrical configuration, completes the movement of forearm internal/external rotations, and inner sidewall can surround the small of human body
Arm, lateral wall are provided with guide rail；The shell of the outer motor of the elbow joint medial rotation/rotation is fixedly installed track, with the forearm
The guide rail of rotary rail is slidably connected；
The output end of motor outside elbow joint medial rotation/rotation is arranged in the elbow joint medial rotation/rotation outer drive gears group, is additionally attached to institute
On the lateral wall for stating forearm rotary rail bottom；
The bottom connection of the second upper arm one end of the connection board and the upper arm rotary rail, the of the first forearm connecting plate
Two ends are connected with the forearm rotary rail；
The output end of the elbow joint buckling/stretching, extension motor includes the other end phase of third inner flange with the second upper arm connecting plate
It even, further include that third outward flange is connected with the first end of the first forearm connecting plate；
The forearm rotary rail is connected with wrist joint ectoskeleton.
4. light weight bionic type upper limb exoskeleton rehabilitation robot system according to claim 3, which is characterized in that described
Two upper arm connecting plates and the first forearm connecting plate respectively contain first block of plate and the elbow joint buckling/stretching, extension motor
Output end is respectively connected with, and also each includes that second block of plate and respective first block of plate are symmetrical arranged, and second upper arm connects
Second block of plate of fishplate bar and second block of plate of the first forearm connecting plate form rotatable connection.
5. light weight bionic type upper limb exoskeleton rehabilitation robot system according to claim 3, which is characterized in that the wrist
Joint ectoskeleton includes: wrist joint buckling/stretching, extension motor, receipts/outreach motor, the second forearm connecting plate, wrist joint in wrist joint
Connecting plate and hand handle；
The second forearm connecting plate, wrist joint connecting plate respectively with the forearm of human body, wrist closer；
The wrist joint connecting plate is half-cylinder structure；The bottom of second forearm one end of the connection board connection forearm rotary rail；Wrist
Joint buckling/stretching, extension motor output end includes that the 4th inner flange is connected with the other end of the second forearm connecting plate, further includes the 4th
Outward flange is connected with the end of wrist joint connecting plate；
Receipts/outreach motor output end includes that the 5th inner flange is connected with the middle section of wrist joint connecting plate in wrist joint, also
It is connected including the 5th outward flange with hand handle.
6. light weight bionic type upper limb exoskeleton rehabilitation robot system according to claim 5, which is characterized in that described
Two forearm connecting plates include symmetrical two boards.
7. the light weight bionic type upper limb exoskeleton rehabilitation robot system according to claim 5, which is characterized in that described
Receipts/outreach motor, shoulder joint buckling/stretching, extension motor, the outer motor of shoulder joint medial rotation/rotation, elbow joint buckling/stretching, extension electricity in shoulder joint
Machine, the outer motor of elbow joint medial rotation/rotation, wrist joint buckling/stretching, extension motor, receipts/outreach motor in wrist joint, respectively using straight
Galvanic electricity machine and planetary reducer.
8. the light weight bionic type upper limb exoskeleton rehabilitation robot system according to claim 5, which is characterized in that the machine
Device people system includes 7 freedom degrees in total, and wherein shoulder joint includes interior receipts/outreach, buckling/stretching, extension, outer 3 freedom of medial rotation/rotation
Degree；Elbow joint includes buckling/stretching, extension, outer 2 freedom degrees of medial rotation/rotation；Wrist joint include buckling/stretching, extension, interior receipts/outreach 2 from
By spending.
9. light weight bionic type upper limb exoskeleton rehabilitation robot system according to claim 2, which is characterized in that the elbow
Joint buckling/stretching, extension motor output flexion angle range is 0 ~ 180 degree.
10. light weight bionic type upper limb exoskeleton rehabilitation robot system according to claim 6, which is characterized in that described
System also includes host computer and slave computer；
The slave computer includes: controller and motor driver；The controller sends control instruction to motor driver；It is described
Corresponding to each motor of the exoskeleton robot composition of motor driver controls closed loop, while output drive signal, obtains
Electric current, speed, the position signal of the motor feedback in each joint；
The host computer carries out displaying and saving data after receiving the information that slave computer transmission comes up, and sets to communications parameter
And control instruction is sent to slave computer.
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| CN112535614A (en) * | 2020-12-04 | 2021-03-23 | 济南国科医工科技发展有限公司 | Multi-degree-of-freedom parallel type rehabilitation robot joint |
| CN112545835A (en) * | 2020-12-10 | 2021-03-26 | 山东中医药大学 | Wrist joint assembly for upper limb exoskeleton |
| CN112587370A (en) * | 2020-12-14 | 2021-04-02 | 南京励智心理大数据产业研究院有限公司 | Wearable upper limb flexible rehabilitation robot |
| CN112873195A (en) * | 2021-01-22 | 2021-06-01 | 北京理工大学 | Humanoid robot and highly-integrated modular humanoid mechanical arm thereof |
| CN112603631A (en) * | 2021-01-27 | 2021-04-06 | 米朝清 | Auxiliary bone fixing device for medical treatment |
| CN113332098A (en) * | 2021-06-09 | 2021-09-03 | 常州大学 | Seven-degree-of-freedom upper limb rehabilitation robot |
| CN114366555A (en) * | 2021-12-31 | 2022-04-19 | 安徽中医药大学 | Wearable upper limb rehabilitation exoskeleton robot |
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| CN115778759A (en) * | 2022-12-27 | 2023-03-14 | 哈尔滨理工大学 | Novel upper limb rehabilitation exoskeleton structural design |
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