CN102151215B - Exoskeletal rehabilitation mechanical arm for upper limb - Google Patents

Exoskeletal rehabilitation mechanical arm for upper limb Download PDF

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Publication number
CN102151215B
CN102151215B CN 201110086977 CN201110086977A CN102151215B CN 102151215 B CN102151215 B CN 102151215B CN 201110086977 CN201110086977 CN 201110086977 CN 201110086977 A CN201110086977 A CN 201110086977A CN 102151215 B CN102151215 B CN 102151215B
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China
Prior art keywords
connecting rod
wrist
shoulder
mechanical arm
shoulders
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Expired - Fee Related
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CN 201110086977
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Chinese (zh)
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CN102151215A (en
Inventor
王生泽
张辉
丛国栋
董怀宝
易玮帆
于海燕
王超新
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Donghua University
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Donghua University
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Abstract

The invention relates to an exoskeletal rehabilitation mechanical arm for an upper limb, which comprises a shoulder C-shaped outer track support, a track slider, a shoulder connecting rod, an upper arm connecting rod, a forearm connecting rod, a wrist annular outer track support, a wrist oscillation connecting rod and a handle, wherein one end of the track slider is arranged inside the shoulder C-shaped outer track support, and the other end is hinged with the upper part of the shoulder connecting rod; the shoulder connecting rod is hinged with the upper arm connecting rod; the lower end of the upper arm connecting rod is hinged with the back end of the forearm connecting rod; the wrist annular outer track support is arranged at the front end of the forearm connecting rod; a wrist annular slider is arranged inside the wrist annular outer track support; and the back end of the wrist oscillation connecting rod is connected with the wrist annular slider, and the front end is provided with the handle. By using the exoskeletal rehabilitation mechanical arm, various motions of shoulder joints, elbow joints and wrist joints and combined motions thereof required by arm rehabilitation training of patients can be conveniently implemented.

Description

A kind of exoskeletal rehabilitation mechanical arm for upper limb
Technical field
The present invention relates to rehabilitative engineering technology in the technical field of medical instruments, particularly relate to a kind of exoskeletal rehabilitation mechanical arm for upper limb.
Background technology
" apoplexy " claims again " cerebrovascular ", is referred to as " apoplexy " in the traditional Chinese medical science, is because cerebral circulation causes the disease of the neurological deficit more than 24 hours unusually, can be divided into " ischemia apoplexy " and " hemorrhagic cerebral apoplexy ".The former is because a variety of causes causes the pathological changes of the brain cell blood supply insufficiency due to the cerebral vasospasm.The latter is because rupture of blood vessel in brain causes the pathological changes of brain function forfeiture, accounts for 80% patient and is cerebral infarction.Stroke patient is usually expressed as loss of consciousness, hemiplegia, aphasia, memory disappearance, facial hemiparalysis, incontinence of urination and defecation etc.The annual apoplexy patient of China reaches 2,000,000, has approximately every year 1200000 people to die from apoplexy.Apoplexy survivor 60 is to 80% sequela of leaving in various degree, and four minutes one to four minute three patients with cerebral apoplexy may recur in 2 to 5 years.
Apoplexy is acute cerebrovascular disease, has that sickness rate height, disability rate are high, mortality rate is high and relapse rate high " four height " characteristics.At present, the relevant high-risk group's quantity of China's apoplexy also has the trend that increases substantially, about 20,000,000,000 yuans of the annual expense that is used for this control.
Rehabilitation engineering (Rehabilitation engineering) is an important branch subject of biomedical engineering, mainly studies the quality of life how the application engineering technological means improves disabled.Its theoretical basis is that man-machine environment is integrated and engineering is bionical, has formed on this basis facility and the device of serving various rehabilitation purposes.
Hemiplegia is modal apoplexy sequela.The recovery of upper extremity function is larger on patient's activity of daily living impact, also is to be difficult to one of problem that solves in the rehabilitation.After the hemiplegia, the forfeiture of patient's one side extremity motor function.Clinical proof gets involved as early as possible rehabilitation training and not only can keep range of motion, prevent arthrogryposis, and can obviously improve the eventual rehabilitation degree of patient moving function.
The hemiplegic upper limb recovery exercising robot is to substitute the doctor to draw the patient and suffer from limb and carry out rehabilitation, finishes a kind of armarium of training action.It is different from general industrial robot, and it has special target and specific working environment.During design hemiplegic upper limb recovery exercising robot, must from patient's needs, meet simultaneously the rule of clinical rehabilitation training.When satisfying training function, robot should guarantee to greatest extent that the patient suffers from the safety of limb, and should fully take into account the adaptability of robot and working environment and patient's acceptability.
The research of China's healing robot is started late, with regard to the arm rehabilitation equipment, product function is single, its range of application is limited to local joint more, it is carpal joint, the rehabilitation of elbow joint and shoulder joint is to be finished by independent apparatus, and the integrated products that can realize whole each joint recovering of arm is seldom arranged.In the domestic relevant healing robot research and development, for the product that solves the training of cerebrovascular hemiplegia of limb patient moving dysfunction healing robot, especially upper extremity function training rehabilitation robot also is in the starting stage, wherein shoulder adopts the 2DOF design more, has but sacrificed the degree of freedom of part when making things convenient for mechanism design.Mostly they are to adopt large-scale rack-like structures, and volume is large, cost is high, comfortableness is poor and the reverse input that substantially is difficult to realize move.
Summary of the invention
Technical problem to be solved by this invention provides a kind of exoskeletal rehabilitation mechanical arm for upper limb, can conveniently realize the required shoulder joint of patient's arm rehabilitation training, elbow joint, carpal various motions and their aggregate motion.
The technical solution adopted for the present invention to solve the technical problems is: a kind of exoskeletal rehabilitation mechanical arm for upper limb is provided, comprise shoulder C type outside track bearing, rail slider, on the shoulders connecting rod, upper arm connecting rod, forearm connecting rod, wrist annular outside track bearing, wrist swinging connecting rod and handle, one end of described rail slider is arranged in the described shoulder C type outside track bearing, and the other end is connected with the upper articulation of described connecting rod on the shoulders; Described connecting rod on the shoulders and described upper arm connecting rod are articulated and connected; The rear end of the lower end of described upper arm connecting rod and forearm connecting rod is articulated and connected; The front end of described forearm connecting rod is equipped with described wrist annular outside track bearing; Be provided with the wrist ring slider in the described wrist annular outside track bearing; The rear end of described wrist swinging connecting rod links to each other with described wrist ring slider, and front end is provided with described handle.
Described connecting rod on the shoulders and described upper arm connecting rod also are connected by spacing arc-shaped guide rail.
Described wrist ring slider is provided with two symmetrical extension blocks; The rear end of described wrist swinging connecting rod and described extension block are articulated and connected.
Adjust between the two distance by noggin piece between described connecting rod on the shoulders and rail slider.
Be connected by slot between described handle and the hand swing connecting bar.
Described upper arm connecting rod and forearm connecting rod adopt the adjustable molectron of size to make.
Beneficial effect
Owing to adopted above-mentioned technical scheme, the present invention compared with prior art, have following advantage and good effect: the present invention adopts the shoulder joint design of Three Degree Of Freedom can conveniently realize the various motions that the rehabilitation of hemiplegic patient's arm is required, package unit can the synchronized Coordinative Control shoulder joint, elbow joint, carpal joint, and the various motions of scapula, change each structural member into simple size adjustable molectron and can realize that the adjustment of all size adapts to the patient of different builds.The Three Degree Of Freedom design of the shoulder joint place band imaginary axis not only provides depends on closely exoskeleton-type framework, also realizes easily the input of reverse movement simultaneously, therefore realizes equally easily the active, half active exercise that need in the rehabilitation training.This device also can be expanded the device as take exercise in the healthy human body joint and athlete's limb motion is trained.The present invention is the exploitation of the healing robot of the autonomous input motion device that provides the foundation, and can further realize the family oriented of armarium and the simplification of operation thereof by application of the present invention.Structural design of the present invention is simple, dexterous, the multiple degrees of freedom rehabilitation, is conducive to promotion and application.
Description of drawings
Fig. 1 is overall simplification structure chart of the present invention;
Fig. 2 is shoulder joint simplified structure diagram among the present invention;
Fig. 3 is carpal joint simplified structure diagram among the present invention.
The specific embodiment
Below in conjunction with specific embodiment, further set forth the present invention.Should be understood that these embodiment only to be used for explanation the present invention and be not used in and limit the scope of the invention.Should be understood that in addition those skilled in the art can make various changes or modifications the present invention after the content of having read the present invention's instruction, these equivalent form of values fall within the application's appended claims limited range equally.
Embodiments of the present invention relate to a kind of exoskeletal rehabilitation mechanical arm for upper limb, such as Fig. 1, Fig. 2 and shown in Figure 3, exoskeletal rehabilitation mechanical arm for upper limb comprises shoulder C type outside track bearing 1, rail slider 2, on the shoulders connecting rod 3, upper arm connecting rod 4, forearm connecting rod 5, wrist annular outside track bearing 6, wrist swinging connecting rod 7 and handle 8.One end of rail slider 2 is arranged in the described shoulder C type outside track bearing 1, and rail slider 2 can slide around described shoulder C type outside track bearing 1.The other end of rail slider 2 is connected with the upper articulation of connecting rod 3 on the shoulders.Connecting rod 3 is articulated and connected with upper arm connecting rod 4 on the shoulders, and for stability and the accuracy of realizing mechanism kinematic, connecting rod 3 also is connected by spacing arc-shaped guide rail 18 with upper arm connecting rod 4 on the shoulders.The rear end of the lower end of upper arm connecting rod 4 and forearm connecting rod 5 is articulated and connected.The front end of forearm connecting rod 5 is equipped with wrist annular outside track bearing 6, is provided with wrist ring slider 9 in the wrist annular outside track bearing 6, and wrist ring slider 9 can be in the 6 interior slips of wrist annular outside track bearing.Wrist ring slider 9 is provided with two symmetrical extension blocks 10, and the rear end of wrist swinging connecting rod 7 and extension block 10 are articulated and connected.Wrist swinging connecting rod 7 front ends are provided with handle 8, are connected by slot between this handle 8 and the hand swing connecting bar 7.
As depicted in figs. 1 and 2, shoulder C type outside track bearing 1 is fastened by flexibility with patient's shoulder and is connected, and the tiny skew of whole shoulder can realize by the Small-angle Rotation of the 7th axle 17.Shoulder forward swing and rear pendulum are to realize around the first axle 11 motions that external shoulder C type outside track bearing 1 consists of by rail slider 2.The rotation that shoulder connects upper arm is to realize by the second axle 12 of on the shoulders connecting rod 3 and rail slider 2 hinged formation.The abduction function of shoulder realizes by connecting rod on the shoulders 3 and the 3rd axle 13 of upper arm connecting rod 4 hinged formation, simultaneously for the stability that realizes mechanism kinematic and accuracy on the shoulders connecting rod 3 also be connected by spacing arc-shaped guide rail 18 with upper arm connecting rod 4.The degree of freedom at elbow joint place adopts the 4th axle 14 of simple hinged formation to realize.Real carpal joint has three degree of freedom, but the demand of balance rehabilitation and the portability of mechanism design, scheme is finally only chosen two degree of freedom wherein, can realize the rotation of wrist and the swing of palm.As shown in Figure 3, the rotation of wrist is to cooperate the 5th axle 15 that forms to realize by wrist annular outside track bearing 6 and wrist ring slider 9.Swing is to realize by wrist swinging connecting rod 7 and the 6th axle 16 of extension block 10 hinged formation.
Has the motion membership relation between each turning cylinder, by leading inferior be followed successively by the 7th axle, the first axle, the second axle, the 3rd axle, the 4th axle, the 5th axle, the 6th axle.Motion place in each joint can design one group of mechanical stop limiter and realize each joint safety movement in range of activity in actual use.And forearm connecting rod, upper arm connecting rod and the 7th axle present position all can be designed to the adjustable molectron of size, also can adjusting between the two by noggin piece between connecting rod and rail slider on the shoulders, distance realizes the adjustable for height function of shoulder, be connected by slot between handle and hand swing connecting bar, so just realized a deft design, wearable ectoskeleton mechanical arm that size is adjustable.
Be not difficult to find, the present invention relates to the main six-freedom degree of arm rehabilitation training needs and an attached adjusting degree of freedom of scapula.Realize the three degree of freedom of shoulder joint by 3 rotating shafts of concurrent, satisfying the ball slave function of having realized true shoulder joint place under the hands-off prerequisite of member and health, the installation that is designed to arm like this provides enough reliable spaces, can well realize the ectoskeleton structure of Wearable.The imaginary axis that wherein consists of by shoulder C shape track realizes the shoulder forward swing and swings to the rear, by with slide block that C shape track cooperates on longitudinal axis realize that shoulder is connected the spinning motion of upper arm, by the abduction exercise of shoulder rear side perpendicular to the axle realization shoulder of above diaxon.3 between centers have certain filiation, and the imaginary axis that consists of for C shape track drives the axle of realizing rotation, realize that the axle of upper arm rotation drives the axle of realizing the abduction function.In the common cooperation of 3 axles that this relation plants, can effectively avoid the interference of member and health to realize all motions of true shoulder joint.The elbow joint place adopts simple chain connection.The real carpal joint of human body has three degree of freedom originally, but demand and the mechanism design benefit that provide of balance in the rehabilitation, scheme is finally only chosen two degree of freedom wherein, both can realize the rotation of wrist and the swing of palm.The present invention can pass through pneumatic actuation or motor-driven, driving device can be directly installed on the position that will drive, and also can cooperate top sheave to realize driving the implementation quite flexible as actuating device by the steel wire rope with Outer Tube.
This shows that the present invention is simple in structure, light and handy, easy to adjust, flexible, adapt to the patient of different builds and the rehabilitation training requirement of different phase, simultaneously cheap, practicality is good, can realize that fully everything required in the rehabilitation realizes the rehabilitation to patient.In addition motion can reverse input characteristics not only for the product development of this field a new generation device that provides the foundation, also can expand the device as take exercise in the healthy human body joint and athlete's limb motion is trained.

Claims (5)

1. exoskeletal rehabilitation mechanical arm for upper limb, comprise shoulder C type outside track bearing (1), rail slider (2), on the shoulders connecting rod (3), upper arm connecting rod (4), forearm connecting rod (5), wrist annular outside track bearing (6), wrist swinging connecting rod (7) and handle (8), it is characterized in that, one end of described rail slider (2) is arranged in the described shoulder C type outside track bearing (1), and the other end is connected with the upper articulation of described connecting rod on the shoulders (3); Described connecting rod on the shoulders (3) is articulated and connected with described upper arm connecting rod (4); The rear end of the lower end of described upper arm connecting rod (4) and forearm connecting rod (5) is articulated and connected; The front end of described forearm connecting rod (5) is equipped with described wrist annular outside track bearing (6); Be provided with wrist ring slider (9) in the described wrist annular outside track bearing (6); Described wrist ring slider (9) is provided with symmetrical two extension blocks (10), and the rear end of described wrist swinging connecting rod (7) and described extension block (10) are articulated and connected, and front end is provided with described handle (8).
2. exoskeletal rehabilitation mechanical arm for upper limb according to claim 1 is characterized in that, described connecting rod on the shoulders (3) also is connected by spacing arc-shaped guide rail (18) with described upper arm connecting rod (4).
3. exoskeletal rehabilitation mechanical arm for upper limb according to claim 1 is characterized in that, adjusts between the two distance by noggin piece between described connecting rod on the shoulders (3) and rail slider (2).
4. exoskeletal rehabilitation mechanical arm for upper limb according to claim 1 is characterized in that, is connected by slot between described handle (8) and the wrist swinging connecting rod (7).
5. exoskeletal rehabilitation mechanical arm for upper limb according to claim 1 is characterized in that, described upper arm connecting rod (4) and forearm connecting rod (5) adopt the adjustable molectron of size to make.
CN 201110086977 2011-04-07 2011-04-07 Exoskeletal rehabilitation mechanical arm for upper limb Expired - Fee Related CN102151215B (en)

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Application Number Priority Date Filing Date Title
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CN102961235B (en) * 2012-12-07 2014-12-10 付风生 Upper-limb rehabilitation training robot
CN102940561B (en) * 2012-12-07 2014-06-11 付风生 Upper limb rehabilitation training robot
CN103203758A (en) * 2013-04-07 2013-07-17 东华大学 Arc-shaped guide rail mechanism applicable to joint drive
CN103263338B (en) * 2013-06-06 2015-01-21 中山大学 Upper limb rehabilitation robot
CN103622793B (en) * 2013-11-28 2015-03-18 上海交通大学 Self-service two-side synchronous external skeleton rehabilitation facility
CN104029212B (en) * 2014-06-13 2016-03-16 上海交通大学 Three Degree Of Freedom is external turns heart rotating machinery wrist
CN104523401B (en) * 2014-12-28 2016-09-07 上海电机学院 A kind of upper limb healing device
CN106031669B (en) * 2015-03-09 2018-03-27 山东建筑大学 Seven freedom upper limbs assistance exoskeleton robot
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CN104905941A (en) * 2015-06-09 2015-09-16 上海电机学院 Upper limb rehabilitation training device
CN105250116B (en) * 2015-10-10 2017-02-22 付风生 Upper limb rehabilitation training robot manipulator
CN105252522B (en) * 2015-11-20 2017-03-29 哈尔滨工业大学 A kind of Flexible Transmission upper limb exoskeleton robot for wearing
CN105748260B (en) * 2016-04-26 2018-09-25 华北理工大学 Three Degree Of Freedom shoulder recovery exercising robot
CN110236879B (en) * 2019-06-10 2021-09-21 西北工业大学 Exoskeleton rehabilitation training mechanical arm and voice interaction system thereof
CN110812126A (en) * 2019-12-17 2020-02-21 张兴容 A limbs motion rehabilitation appearance for upper limbs apoplexy hemiplegia patient
CN111168646B (en) * 2019-12-27 2023-04-07 兰州空间技术物理研究所 Limiting structure on three degrees of freedom of space spherical mechanism
CN111067761B (en) * 2020-01-10 2021-06-29 燕山大学 Generalized shoulder joint rehabilitation training device
CN112353630B (en) * 2020-09-28 2022-07-22 东华大学 Pneumatic wrist exoskeleton auxiliary component
CN112155945B (en) * 2020-10-14 2022-10-04 河南理工大学 Mechanical device for universal rehabilitation training of wrist joint
CN113304016A (en) * 2021-07-09 2021-08-27 哈尔滨理工大学 Elbow exoskeleton structure based on 3-PRR plane parallel mechanism

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CN1258352C (en) * 2003-07-25 2006-06-07 清华大学 Rehabilitation training robot for motion of single joint of hemiplegia patient
JP2008521454A (en) * 2004-11-30 2008-06-26 アイトゲネッシーシェ テヒニッシェ ホッホシューレ チューリッヒ System and method for cooperative arm treatment and corresponding rotation module
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CN101125112B (en) * 2007-09-20 2010-06-30 华中科技大学 Wearing type upper limb recovery training robot device

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Inventor after: Wang Shengze

Inventor after: Zhang Hui

Inventor after: Cong Guodong

Inventor after: Dong Huaibao

Inventor after: Yi Weifan

Inventor after: Yu Haiyan

Inventor after: Wang Chaoxin

Inventor before: Zhang Hui

Inventor before: Cong Guodong

Inventor before: Yi Weifan

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Inventor before: Wang Chaoxin

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Free format text: CORRECT: INVENTOR; FROM: ZHANG HUI CONG GUODONG YI WEIFAN DONG HUAIBAO WANG CHAOXIN TO: WANG SHENGZE ZHANG HUI CONG GUODONG DONG HUAIBAO YI WEIFAN YU HAIYAN WANG CHAOXIN

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