CN105287166A - Wearable elbow joint rehabilitation training robot - Google Patents
Wearable elbow joint rehabilitation training robot Download PDFInfo
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- CN105287166A CN105287166A CN201510867223.2A CN201510867223A CN105287166A CN 105287166 A CN105287166 A CN 105287166A CN 201510867223 A CN201510867223 A CN 201510867223A CN 105287166 A CN105287166 A CN 105287166A
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- 210000002310 elbow joint Anatomy 0.000 title claims abstract description 57
- 238000012549 training Methods 0.000 title claims abstract description 33
- 238000004891 communication Methods 0.000 claims abstract description 44
- 238000005259 measurement Methods 0.000 claims abstract description 19
- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 10
- 230000035876 healing Effects 0.000 claims description 13
- 230000005540 biological transmission Effects 0.000 claims description 12
- 230000033001 locomotion Effects 0.000 claims description 10
- 210000000245 forearm Anatomy 0.000 claims description 8
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 4
- 229910052744 lithium Inorganic materials 0.000 claims description 4
- 239000000463 material Substances 0.000 claims description 3
- 229910000838 Al alloy Inorganic materials 0.000 claims description 2
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 claims description 2
- 229910052799 carbon Inorganic materials 0.000 claims description 2
- 239000000835 fiber Substances 0.000 claims description 2
- 238000000034 method Methods 0.000 description 12
- 238000011084 recovery Methods 0.000 description 8
- 210000001364 upper extremity Anatomy 0.000 description 7
- 230000001133 acceleration Effects 0.000 description 5
- 210000003414 extremity Anatomy 0.000 description 5
- 206010008190 Cerebrovascular accident Diseases 0.000 description 4
- 229910000831 Steel Inorganic materials 0.000 description 4
- 208000006011 Stroke Diseases 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 239000010959 steel Substances 0.000 description 4
- 239000003814 drug Substances 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 2
- 238000009207 exercise therapy Methods 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 230000007659 motor function Effects 0.000 description 2
- 230000003387 muscular Effects 0.000 description 2
- 230000001769 paralizing effect Effects 0.000 description 2
- 238000002560 therapeutic procedure Methods 0.000 description 2
- 206010019452 Hemianopia Diseases 0.000 description 1
- 208000007460 Hemianopsia Diseases 0.000 description 1
- 206010019468 Hemiplegia Diseases 0.000 description 1
- 208000036626 Mental retardation Diseases 0.000 description 1
- 206010029260 Neuroblastoma Diseases 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 230000008485 antagonism Effects 0.000 description 1
- 201000007201 aphasia Diseases 0.000 description 1
- 210000004556 brain Anatomy 0.000 description 1
- 210000003797 carpal joint Anatomy 0.000 description 1
- 230000002490 cerebral effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000012938 design process Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000035475 disorder Diseases 0.000 description 1
- 238000002651 drug therapy Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 239000011499 joint compound Substances 0.000 description 1
- 238000002372 labelling Methods 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 206010025482 malaise Diseases 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 238000001584 occupational therapy Methods 0.000 description 1
- 238000001671 psychotherapy Methods 0.000 description 1
- 210000000323 shoulder joint Anatomy 0.000 description 1
- 230000000153 supplemental effect Effects 0.000 description 1
- 238000001356 surgical procedure Methods 0.000 description 1
- 230000009747 swallowing Effects 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
-
- 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
- A61H1/0277—Elbow
-
- 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
- A61H2001/0207—Nutating movement of a body part around its articulation
-
- 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
- A61H2201/1215—Rotary drive
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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 invention discloses a wearable elbow joint rehabilitation training robot and relates to rehabilitation training robots. The wearable elbow joint rehabilitation training robot is provided with a sensing bracelet, an elbow joint exoskeleton support, a harmonic gearing-down mechanism, a servo control and driving system and a power battery, wherein the sensing bracelet is provided with an inertial measurement unit (IMU), a sensing bracelet programmable processor and a sensing bracelet communication module, the elbow joint exoskeleton support is provided with an elbow joint exoskeleton support upper arm support body and an elbow joint exoskeleton support front arm support body, the harmonic gearing-down mechanism is provided with a harmonic reducer, a motor and an encoder, the motor provided with the encoder is connected to the input end of the harmonic reducer, the servo control and driving system is provided with a control-driven communication module, a control-driven programmable processor and a motor driver, and the power battery provides power for the sensing bracelet (if the sensing bracelet communication module adopts wire communication) and the servo control and driving system.
Description
Technical field
The present invention relates to a kind of recovery exercising robot, be especially related to patient and portable Wearable healing and training elbow joint robot is provided.
Background technology
In recent years, along with the quickening of China pace of population aging, the upper extremity motor function disorder patient that various disease causes sharply increases, and rehabilitation medical market is just growing stronger day by day development.Wherein, paralytic particularly needs the help of rehabilitation medical.Apoplexy, also known as apoplexy, it is the damage of a kind of common brain neuroblastoma, sickness rate is up to 1.82%, although most of patient effectively can be given treatment to by operation, medicine, but after treatment, the disability rate of patient is also up to 75%, and common sequela has hemiplegia, hemianopsia, aphasia, mental retardation etc.
Clinical medicine and theory of medicine are verified, and this kind of patient is except prior surgery treatment and Drug therapy, and correct, scientific and rational rehabilitation training plays very important effect for the recovery of extremity motor function.Common apoplexy rehabilitation therapy method has many kinds, as exercise therapy, naturopathy, Occupational therapy, speech and swallowing treat, psychotherapy etc.Wherein exercise therapy is most important method of rehabilitation, and it is weak mainly to solve patient muscle, can not sit, stand, the problem such as walking.Clinically, conventional motion physics rehabilitation is divided into active and passive type, but which kind of mode all needs healthcare givers free-hand or operate by medical apparatus and instruments, technical requirement for healthcare givers is also higher, at ordinary times therapeutic process slightly deviation all can recovery effects from now on be had an impact.And the rehabilitation of paralytic is a long-term process, this traditional artificial rehabilitation is a kind of process of consumption manpower consuming time, so there is a kind of novel robot in the last few years on the market, recovery exercising robot.
Chinese patent CN101125112B discloses a kind of wearing type upper limb recovery training robot device, comprises shoulder joint, upper arm, elbow joint, forearm, carpal joint and palm.This robot device has 8 degree of freedom, is used for simulating the upper limb joint degree of freedom of people, can provide more mobility, make the major joint of human upper limb obtain supplemental training in rehabilitation training; Adopt wearable structure, structure is simple, and lightweight, can be dressed in it patient, comfortableness is good, and directly acts on suffering limb, and that therefore trains is with strong points, effective.Multivariant structural design, can meet multiple control modes, suffering limb can be assisted to carry out the rehabilitation training of simple joint motion and multi-joint compound motion, reach the object of having assisted the daily life of patient to need.
Summary of the invention
The object of the invention is to for patient provides portable Wearable healing and training elbow joint robot.
The present invention is provided with sensing bracelet, elbow joint ectoskeleton support, harmonic reduction drive mechanism, SERVO CONTROL and drive system and electrokinetic cell;
Described sensing bracelet is provided with Inertial Measurement Unit IMU, sensing bracelet programmable processor and sensing bracelet communications module, described Inertial Measurement Unit IMU is for gathering movement angle and the speed data of healthy elbow joint, and the data output end of Inertial Measurement Unit IMU connects the input of sensing bracelet programmable processor by communication interface; The data that described sensing bracelet programmable processor gathers for the treatment of Inertial Measurement Unit IMU, inverting calculates arm attitude, and by sensing bracelet communications module, the data of sensing bracelet programmable processor is transferred to SERVO CONTROL and drive system;
Described elbow joint ectoskeleton support is provided with arm support before elbow joint ectoskeleton bracket upper arm support and elbow joint ectoskeleton support; Described elbow joint ectoskeleton support is for supporting upper arm and forearm does corresponding rehabilitation training;
Described harmonic reduction drive system is provided with harmonic speed reducer, motor and encoder; The motor of described harmonic speed reducer input tape splicing encoder, the outfan of encoder is connected with SERVO CONTROL and drive system;
Described SERVO CONTROL and drive system are provided with and control to drive communication transmission module, control to drive programmable processor and motor driver; Described control drives communication transmission module to control to drive programmable processor for receiving the data that send over from sensing bracelet and sending to, control to drive programmable processor to export termination motor driver input, motor drive outputs connects the motor of harmonic reduction drive system, for the running of drive motors;
Described electrokinetic cell is that sensing bracelet (if sensing bracelet communications module is wire communication), SERVO CONTROL and drive system are powered.
Described sensing bracelet is part of data acquisition of the present invention, sensing bracelet can embedded pcb board, pcb board integrated inertia measurement unit IMU, sensing bracelet programmable processor, sensing bracelet communication module and carry small-sized lithium cell (if sensing bracelet communications module is radio communication); Described sensing bracelet can adopt 1 or 2, if sensing bracelet adopts 1, then sensing bracelet is positioned on upper arm, and rehabilitation training system thinks that upper arm is fixed, and only has forearm to move; If sensing bracelet adopts 2, then sensing bracelet lays respectively on upper arm and forearm.
Described sensing bracelet programmable processor can select the one in MCU, CPU, AVR, PIC, DSP, ARM, FPGA, CPLD etc.
Described sensing bracelet communications module is used for the control unit data of sensing bracelet programmable processor being transferred to exoskeleton mechanism, different transport modules can be selected according to different communication modes, the optional CAN of such as wire communication, RS232,485,422, LVDS, IIC transmit data, the optional electromagnetic wave of radio communication, light wave or sonic transmissions data.
Described elbow joint ectoskeleton support can select the reliable material of the light intensity of quality, as aluminium alloy, carbon fibre material.
Described harmonic reduction drive system can adopt harmonic gear Gear Planet Transmission, is a kind of small Tooth Number Difference Planetary Transmission.Described harmonic reduction drive system can select single-stage harmonic gear decelerator, and single-stage harmonic gear decelerator can realize the maximum output of moment of torsion under the prerequisite of small size and weight.Single-stage harmonic gear decelerator again can according to the single-stage harmonic gear decelerator of the different type of belt drive of the different choice of the model selecting motor.There is the single-stage harmonic gear decelerator of three kinds of type of belt drive optional herein, be respectively:
A, steel wheel fix-flexbile gear output-impeller generator active;
Output-impeller generator is fixed-just taken turns to b, flexbile gear initiatively;
Output-flexbile gear is fixed-just taken turns to c, impeller generator initiatively.
Different type of belt drive can realize different gear ratios.
The motor of described selection of Motor band encoder, described motor can adopt AC servo motor, motor, direct current generator or switched reluctance machines etc.
Described encoder can adopt relative encoder or absolute encoder, encoder and SERVO CONTROL and drive system are intactly connected, with the use of.
Described control drives programmable processor to adopt MCU, CPU, AVR, PIC, DSP, ARM, FPGA, CPLD etc.
18650 set of cells that described electrokinetic cell can adopt energy density high.
The sensing bracelet small volume and less weight that the present invention adopts, can obtain the spatial attitude information of the healthy arm for controlling elbow joint ectoskeleton support motion, and send SERVO CONTROL and drive system to by wired or wireless form; Elbow joint ectoskeleton support has enough strength support to treat the arm of rehabilitation training, point overarm brace and front arm support two rigid bodies, not only quality light, be easy to carry, and to be reliably connected with harmonic reduction drive mechanism; Harmonic reduction drive mechanism volume is little, quality light and moment of torsion is large; SERVO CONTROL and drive system have enough arithmetic speeds and signal handling capacity, and mate with harmonic reduction drive mechanism electric interfaces; Electrokinetic cell has very high energy density, can provide the electric energy that rehabilitation training is necessary.The present invention follows the portable aim of complete machine, to facilitate patient, increases rehabilitation enjoyment, thus reaches best rehabilitation efficacy.
The present invention is the motion by driving limbs of patient, deformed limb elbow joint is carried out to the rehabilitation training of motor skill.To in the handicapped rehabilitation of cerebral apoplexy sequela patient moving, traditional theory and method just bias toward the muscular strength recovering patient, ignore the rehabilitation of harmony between the range of motion to patient, muscular tension and antagonism, even if patient's Myodynamia recovery is normal, more may leave over lower abnormity motion style, thus hinder the raising of its daily life and mobility.The training of elbow joint will make patient treatment recovery process tend to balance, and reach best recovery effects.
Accompanying drawing explanation
Fig. 1 is healthy elbow joint and treats rehabilitation elbow joint schematic diagram.
Fig. 2 is composition frame chart of the present invention.
Fig. 3 is healthy elbow joint and sensing bracelet schematic diagram.
Fig. 4 is elbow joint ectoskeleton support, harmonic reduction drive mechanism, SERVO CONTROL and drive system, electrokinetic cell scheme of installation.
Detailed description of the invention
Following examples will the present invention is further illustrated by reference to the accompanying drawings.
See Fig. 1 and 2, the present invention is provided with sensing bracelet, elbow joint ectoskeleton support, harmonic reduction drive mechanism, SERVO CONTROL and drive system and electrokinetic cell.
Described sensing bracelet is provided with Inertial Measurement Unit IMU, sensing bracelet programmable processor, sensing bracelet communications module and carries small-sized lithium cell (if sensing bracelet communications module is radio communication); Described Inertial Measurement Unit IMU is for gathering movement angle and the speed data of healthy elbow joint, and the data output end of Inertial Measurement Unit IMU connects the input of programmable processor by communication interface; The data of sensing bracelet programmable processor are also transferred to SERVO CONTROL and drive system by sensing bracelet communications module by the data that described sensing bracelet programmable processor gathers for the treatment of Inertial Measurement Unit IMU;
Described elbow joint ectoskeleton support is provided with arm support before elbow joint ectoskeleton bracket upper arm support and elbow joint ectoskeleton support; Described elbow joint ectoskeleton support is for supporting upper arm and forearm does corresponding rehabilitation training;
Described harmonic reduction drive system is provided with harmonic speed reducer, motor and encoder; The motor of described harmonic speed reducer input tape splicing encoder, the outfan of encoder is connected with SERVO CONTROL and drive system;
Described SERVO CONTROL and drive system are provided with and control to drive communication transmission module, control to drive programmable processor and motor driver; Described control drives communication transmission module to control to drive programmable processor for receiving the data that send over from sensing bracelet and sending to, control to drive programmable processor to export termination motor driver input, motor drive outputs connects the motor of harmonic reduction drive system, for the running of drive motors;
Described electrokinetic cell is that sensing bracelet (if sensing bracelet communications module is wire communication), SERVO CONTROL and drive system are powered.
Following embodiment will the present invention is further illustrated by reference to the accompanying drawings.
See Fig. 3, healthy upper limb selects singlehanded ring to wear training mode, Inertial Measurement Unit IMU, sensing bracelet programmable processor, sensing bracelet communications module and carry small-sized lithium cell and be integrated in sensing bracelet pcb board 1, sensing bracelet pcb board 1 is embedded in sensing bracelet 2; In FIG, labelling A represents healthy elbow joint; B represents and treats rehabilitation elbow joint; T represents wired or wireless communication, and P represents ectoskeleton support.
See Fig. 4, decelerator selects steel wheel to fix-flexbile gear output-impeller generator single-stage harmonic gear decelerator initiatively, harmonic speed reducer is made up of impeller generator 7, flexbile gear 5, steel wheel 6, flexible bearing 13, flexbile gear 5 is connected with arm support 3 before elbow joint ectoskeleton support by bolt 4, and steel wheel 6 is connected with elbow joint ectoskeleton bracket upper arm support 10 by bolt 12.Control to drive communication transmission module, control to drive programmable processor and motor driver to be integrated in SERVO CONTROL and drive system pcb board 11, SERVO CONTROL and drive system pcb board 11 are installed on ectoskeleton bracket upper arm support 10 with electrokinetic cell 9.Motor 8 is installed on ectoskeleton bracket upper arm support 10.
During system works, Inertial Measurement Unit IMU constantly catches the kinestate of healthy elbow joint, SERVO CONTROL and drive system is sent to through process by sensing bracelet communications module after sensing bracelet programmable processor receives the kinestate data of Inertial Measurement Unit IMU, motor driver is sent data to through process after the control driving programmable processor reception data of SERVO CONTROL and drive system, motor driver subsequently drived control motor performs corresponding work, in motor operation course, motor driver is by encoder real time monitoring motor rotation angle, forearm is driven to do corresponding rehabilitation training campaign by harmonic speed reducer after motor rotation, reach rehabilitation training effect.
In system design process, a kind of new method calculating angle based on IMU sensor be have employed to the tracking of the Angle of Elbow Joint of healthy upper limb.New method regards elbow joint as Hinge joint, tries to achieve two elbow joint axial vector J1 and J2, then obtain upper limb flexing/stretching, extension angle by the difference of integration joint shaft angular velocity by the hypercomplex number calculating IMU sensor:
Wherein, θ
gyrot () is for calculating flexing/extension angle, g
1(t) and g
2t () is the angular velocity obtained by inertial measuring unit.But in most of the cases, acceleration of gravity can dominate the acceleration signal that IMU gathers, in order to simplify this situation, the acceleration that two IMU obtain by new method is approximate as acceleration of gravity a
1(t) and a
2t (), then a pair sagittal over glaze of the inertial coodinate system at each IMU place is x
1,2, y
1,2∈ R
3:
x
1＝j
1×c,y
1＝j
1×x
1,c×j
1≠0
x
2＝j
2×c,y
2＝j
2×x
2,c×j
2≠0
Calculating the flexing/stretching, extension angle of trying to achieve based on acceleration is:
Wherein R
2d() represents R
2angle in scope between vector.These two kinds of methods are tried to achieve angle and are merged finally by a Kalman filter, merge and reduce gyroscope survey precision and noise for the impact of these two kinds of methods, make measurement result more accurate.
Claims (10)
1. Wearable healing and training elbow joint robot, is characterized in that being provided with sensing bracelet, elbow joint ectoskeleton support, harmonic reduction drive mechanism, SERVO CONTROL and drive system and electrokinetic cell;
Described sensing bracelet is provided with Inertial Measurement Unit IMU, sensing bracelet programmable processor and sensing bracelet communications module, described Inertial Measurement Unit IMU is for gathering movement angle and the speed data of healthy elbow joint, and the data output end of Inertial Measurement Unit IMU connects the input of sensing bracelet programmable processor by communication interface; The data that described sensing bracelet programmable processor gathers for the treatment of Inertial Measurement Unit IMU, inverting calculates arm attitude, and by sensing bracelet communications module, the data of sensing bracelet programmable processor is transferred to SERVO CONTROL and drive system;
Described elbow joint ectoskeleton support is provided with arm support before elbow joint ectoskeleton bracket upper arm support and elbow joint ectoskeleton support; Described elbow joint ectoskeleton support is for supporting upper arm and forearm does corresponding rehabilitation training;
Described harmonic reduction drive system is provided with harmonic speed reducer, motor and encoder; The motor of described harmonic speed reducer input tape splicing encoder, the outfan of encoder is connected with SERVO CONTROL and drive system;
Described SERVO CONTROL and drive system are provided with and control to drive communication transmission module, control to drive programmable processor and motor driver; Described control drives communication transmission module to control to drive programmable processor for receiving the data that send over from sensing bracelet and sending to, control to drive programmable processor to export termination motor driver input, motor drive outputs connects the motor of harmonic reduction drive system, for the running of drive motors;
Described electrokinetic cell is that sensing bracelet, SERVO CONTROL and drive system are powered.
2. Wearable healing and training elbow joint robot as claimed in claim 1, is characterized in that the embedded pcb board of described sensing bracelet, pcb board integrated inertia measurement unit IMU, sensing bracelet programmable processor, sensing bracelet communication module and lithium cell.
3. Wearable healing and training elbow joint robot as claimed in claim 1, it is characterized in that described sensing bracelet adopts 1 or 2, if sensing bracelet adopts 1, then sensing bracelet is positioned on upper arm; If sensing bracelet adopts 2, then sensing bracelet lays respectively on upper arm and forearm.
4. Wearable healing and training elbow joint robot as claimed in claim 1, is characterized in that described sensing bracelet programmable processor selects the one in MCU, CPU, AVR, PIC, DSP, ARM, FPGA, CPLD.
5. Wearable healing and training elbow joint robot as claimed in claim 1, it is characterized in that described sensing bracelet communications module is for being transferred to the control unit of exoskeleton mechanism by the data of sensing bracelet programmable processor, if when sensing bracelet communications module adopts wire communication, described sensing bracelet communications module be selected from CAN, RS232,485,422, LVDS or IIC transmit data; If during sensing bracelet communications module employing radio communication, described sensing bracelet communications module is selected from electromagnetic wave, light wave or sonic transmissions data.
6. Wearable healing and training elbow joint robot as claimed in claim 1, is characterized in that described elbow joint ectoskeleton support aluminium alloy or carbon fibre material.
7. Wearable healing and training elbow joint robot as claimed in claim 1, it is characterized in that described harmonic reduction drive system adopts harmonic gear Gear Planet Transmission, described harmonic reduction drive system can select single-stage harmonic gear decelerator.
8. Wearable healing and training elbow joint robot as claimed in claim 1, it is characterized in that the motor of band encoder selected by described motor, described motor can adopt AC servo motor, motor, direct current generator or switched reluctance machines; Described encoder can adopt relative encoder or absolute encoder.
9. Wearable healing and training elbow joint robot as claimed in claim 1, is characterized in that described control drives programmable processor to adopt MCU, CPU, AVR, PIC, DSP, ARM, FPGA, CPLD.
10. Wearable healing and training elbow joint robot as claimed in claim 1, is characterized in that described electrokinetic cell adopts 18650 set of cells that energy density is high.
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| CN201510867223.2A CN105287166B (en) | 2015-12-02 | 2015-12-02 | Wearable healing and training elbow joint robot |
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| CN201510867223.2A CN105287166B (en) | 2015-12-02 | 2015-12-02 | Wearable healing and training elbow joint robot |
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| CN105287166B CN105287166B (en) | 2018-09-04 |
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Cited By (10)
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| CN107041825A (en) * | 2017-05-18 | 2017-08-15 | 浙江机电职业技术学院 | A kind of postoperative elbow knee joint rehabilitation device |
| CN107510574A (en) * | 2017-09-20 | 2017-12-26 | 清华大学 | A kind of liquid metal ectoskeleton joint |
| CN108143588A (en) * | 2017-12-13 | 2018-06-12 | 东莞市松研智达工业设计有限公司 | One kind protects equipment based on gear-driven quick-rotary type joint recovering |
| CN108186277A (en) * | 2017-12-13 | 2018-06-22 | 东莞市松研智达工业设计有限公司 | One kind is based on gear-driven rotary joint recovering protection equipment |
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