CN106109167A - A kind of portable wearable upper limb exoskeleton rehabilitation training aids - Google Patents
A kind of portable wearable upper limb exoskeleton rehabilitation training aids Download PDFInfo
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- CN106109167A CN106109167A CN201610459608.XA CN201610459608A CN106109167A CN 106109167 A CN106109167 A CN 106109167A CN 201610459608 A CN201610459608 A CN 201610459608A CN 106109167 A CN106109167 A CN 106109167A
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- 238000012549 training Methods 0.000 title claims abstract description 62
- 210000001364 upper extremity Anatomy 0.000 title claims abstract description 41
- 230000007246 mechanism Effects 0.000 claims abstract description 121
- 230000033001 locomotion Effects 0.000 claims description 17
- 210000000245 forearm Anatomy 0.000 claims description 14
- 210000000323 shoulder joint Anatomy 0.000 claims description 14
- 208000020442 loss of weight Diseases 0.000 claims description 13
- 210000002310 elbow joint Anatomy 0.000 claims description 6
- 238000009434 installation Methods 0.000 claims description 3
- 230000033228 biological regulation Effects 0.000 claims description 2
- 230000000694 effects Effects 0.000 abstract description 12
- 238000013461 design Methods 0.000 abstract description 5
- 230000009467 reduction Effects 0.000 abstract description 5
- 230000001771 impaired effect Effects 0.000 abstract description 4
- 208000006011 Stroke Diseases 0.000 description 6
- 238000011084 recovery Methods 0.000 description 6
- 206010008190 Cerebrovascular accident Diseases 0.000 description 5
- 238000010586 diagram Methods 0.000 description 5
- 230000002490 cerebral effect Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 208000012661 Dyskinesia Diseases 0.000 description 2
- 206010033799 Paralysis Diseases 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 208000021090 palsy Diseases 0.000 description 2
- 206010019468 Hemiplegia Diseases 0.000 description 1
- 101100010147 Oryza sativa subsp. japonica DOF1 gene Proteins 0.000 description 1
- 101100224344 Oryza sativa subsp. japonica DOF2 gene Proteins 0.000 description 1
- 101100224351 Oryza sativa subsp. japonica DOF3 gene Proteins 0.000 description 1
- 101100224359 Oryza sativa subsp. japonica DOF4 gene Proteins 0.000 description 1
- 206010040026 Sensory disturbance Diseases 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 210000000988 bone and bone Anatomy 0.000 description 1
- 210000000481 breast Anatomy 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
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- 238000004146 energy storage Methods 0.000 description 1
- 210000003414 extremity Anatomy 0.000 description 1
- 238000010304 firing Methods 0.000 description 1
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Classifications
-
- 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
- A61H1/0214—Stretching or bending or torsioning apparatus for exercising by rotating cycling movement
-
- 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
- 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
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
- A61H1/0281—Shoulder
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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 kind of portable wearable upper limb exoskeleton rehabilitation training aids, have the feature that, including: back module, described back module is used for carrying control system, battery power parts, is simultaneously used for realization and bears function；Two shoulder modules, described in two, shoulder module is respectively arranged on the left and right sides of described back module；Two ancon modules, ancon module described in two is connected with shoulder module described in two respectively；Bear mechanism, described in bear mechanism and be located in the module of described back, bear function for realization.Use the portable wearable exoskeleton rehabilitation training aids of the present invention, structure be can effectively simplify, weight, reduction volume reduced, extend service time of battery, and then strengthen the portability of equipment, ensure that the auxiliary impaired patient of upper extremity exercise carries out the effect of rehabilitation training, simultaneously as use modularized design, shoulder or whole arm module body-worn can be selected by patient, carry out certain life auxiliary, there is widely practicality.
Description
Technical field
The present invention relates to robotics, be specifically related to a kind of portable wearable upper limb exoskeleton rehabilitation training
Device.
Background technology
Patients with cerebral apoplexy often there will be the dyskinesia, sensory disturbance, speech disorder, cognitive disorder etc. after disease is sent out, at this
The most multiple with the dyskinesia in sequela a bit.Correlational study shows, the patients with cerebral apoplexy of about about 85% also exists difference
The upper extremity palsy symptom of degree, and in Post stroke rehabilitation course, the functional rehabilitation of upper limb exists substantially than other positions
Delayed situation.According to ASSOCIATE STATISTICS result, after apoplexy disease sends out 6 months, still there is the hemiplegic patient by upper merit of 30%-60%
Can cannot be restored, and still have the patient of serious upper extremity palsy to reach 25% in apoplexy after 5 years.This makes the rehabilitation week of patient
Phase becomes the veryest long.
Exoskeleton rehabilitation image training robot is a kind of by sensing, control, information processing, rehabilitation medicine, biomechanics, machinery
The novel robot technology that the subjects such as engineering merge, the application in rehabilitation medical field of this technology is in recent years
Become a focus direction of various countries' research, use exoskeleton rehabilitation robot that patient can be made to assist without medical personnel's whole process
Carrying out active/passive rehabilitation training according to hemiplegia situation difference in the case of helping, this efficient therapeutic modality can make patient faster
Get well, and can to a certain degree make up the present situation of China's rehabilitation medical inadequate resource.But through to domestic and international upper limb dermoskeleton
After the analysis of bone healing robot correlational study and product, find that major part upper limb exoskeleton rehabilitation robot is desk-top product at present
Product, its problem that there are these following several respects:
1 mechanism's complexity is too fat to move, dress inconvenience, use desk-top mechanism by power supply and drive integration of equipments inside stage body, this
Make its mechanical mechanism huge and lack motility, to using space to have higher requirement, be not easy to carrying and popularize.Its arm
Mechanism joint uses the design of motor superposition decelerator, the heaviest, allows user be not easy to wear and feel heavy.
2 tradition upper limb use all-metal materials to make, and its decelerator uses multistage steel decelerator, have weight big,
The defect that noise is big, motor and decelerator the most outwardly are also easily interfered with external environment, cause the risk being difficult to expect.
3. because tradition upper limb rehabilitation robot is all integrated the design of type structure, the most inflexible, it is impossible to carry-on by user
Carry, meet its different training demand, and the daily life of patient cannot be assisted.
4. complicated heavy mechanism and a large amount of uses of multi-stage speed reducer, cause current upper-limbs rehabilitation training robot warp
Ji cost is high, expensive, is extremely unfavorable for that it produces and promotes, it is impossible to meet the demand of a large amount of patient of China.
Therefore now need a kind of convenient wearing badly, portable and mobility good, save simultaneously the novel portable of the energy wearable outside
Skeleton recovery training appliance for recovery.
Summary of the invention
For the above-mentioned problems in the prior art, existing offer a kind of portable wearable upper limb exoskeleton rehabilitation training
Device, it is intended to effectively simplify structure, reduce weight, reduction volume, and then strengthen the portability of equipment, it is ensured that auxiliary upper extremity exercise merit
The impaired patient of energy carries out the effect of rehabilitation training, can carry out certain life auxiliary with body-worn simultaneously, have more extensive
Practicality.
Concrete technical scheme is as follows:
A kind of portable wearable upper limb exoskeleton rehabilitation training aids, has the feature that, including:
Back module, described back module is used for carrying control system, battery power parts, is simultaneously used for realization and bears merit
Energy；
Two shoulder modules, described in two, shoulder module is respectively arranged on the left and right sides of described back module；
Two ancon modules, ancon module described in two is connected with shoulder module described in two respectively；
Bear mechanism, described in bear mechanism and be located in the module of described back, bear function for realization.
The portable wearable upper limb exoskeleton rehabilitation training aids of above-mentioned one, wherein, described back module includes:
Back support；
Waist bracket, described waist bracket is located at below described back support, and described waist bracket and described back
Bracing frame is fixing to be connected；
Back original paper fixed plate, described back original paper fixed plate is located on described back support, is used for installing control electricity
The electrical equipments such as road plate, motor driving；
Battery mounting, described battery mounting is installed in described waist bracket, for the installation of battery component；
Handle, described handle is located at the top of described back bracket；
The portable wearable upper limb exoskeleton rehabilitation training aids of above-mentioned one, wherein, each described shoulder module includes:
Shoulder backrest, described shoulder backrest is installed on described back support by a shoulder breadth adjustment portion；
Omoplate frame, described omoplate frame is hinged with described shoulder backrest by a shoulder top joint shaft, thus realize shoulder joint can be
0 °～the motion of 90 ° is carried out in horizontal plane；
Shoulder motor cabinet, described shoulder motor cabinet is provided with a power part, and described omoplate frame passes through an omoplate joint shaft
Hinged with described shoulder motor cabinet, thus realize shoulder joint and can carry out 0 °～the motion of 90 ° in coronalplane；
Upper arm assembling set, described upper arm assembling set is threadeded with the outfan of described power part；
Upper arm set, described upper arm set is connected with described upper arm assembling external threading；
Upper arm torr, described upper arm torr overlapped by a spring holder and described upper arm and is connected, thus realize shoulder joint can be
0 °～90 ° motion in sagittal plane；
Upper armed lever, described upper armed lever can slide in the chute of described upper arm torr, and described upper armed lever can pass through described bullet
Spring alignment pin fixed position；
Described upper armed lever can unload from described upper arm torr.
The portable wearable upper limb exoskeleton rehabilitation training aids of above-mentioned one, wherein, described shoulder breadth adjustment portion includes:
Being located at the guide rail of described back bracket upper end, described shoulder backrest is connected with described guide rail slidably, and can lead to
Cross a street bolt to be fixed.
The portable wearable upper limb exoskeleton rehabilitation training aids of above-mentioned one, wherein, each described ancon module includes:
Ancon retainer ring, described ancon retainer ring is fixing with the lower end of described upper armed lever to be connected；
Front armed lever, described front armed lever is hinged with described ancon retainer ring, thus realize elbow joint can sagittal plane 0 °～
120 ° of motions；
Ancon motor mounting plate, described ancon motor mounting plate is located at the side of the pin joint of described ancon retainer ring, elbow
Portion's power part is located on described ancon motor mounting plate；
Self-locking mechanism, described self-locking mechanism is located in described ancon retainer ring, and described self-locking mechanism moves with described ancon
The outfan of power parts connects.
The portable wearable upper limb exoskeleton rehabilitation training aids of above-mentioned one, wherein, each described self-locking mechanism includes:
Self-locking mechanism locator card, described self-locking mechanism locator card is circular, and respectively to arrange one axial cylindric at two ends
Projection, described self-locking mechanism locator card is connected with the outfan of described ancon power part；
Two self-locking mechanism cards, the two ends of each described self-locking mechanism card are provided with groove, and described cylindrical bump is respectively arranged on
In described groove；
Each described self-locking mechanism card center has a hollow out, the side of described hollow out to be provided with tooth, and described tooth is along recessed described in two
The line direction arrangement of groove；
Self-locking shaft, described self-locking shaft is circumferentially with tooth, and the tooth of described self-locking shaft can be with the tooth of each described self-locking mechanism card
Engagement, described self-locking shaft is fixing with described front armed lever to be connected；
Self-locking mechanism card described in two is laminated on described self-locking mechanism locator card, and described cylindrical bump is stuck in described groove
In, the tooth of self-locking mechanism card described in two is relative, and described self-locking shaft is through self-locking mechanism described in two, and the tooth of described self-locking shaft is with every
The tooth engagement of self-locking mechanism card described in.
The portable wearable upper limb exoskeleton rehabilitation training aids of above-mentioned one, wherein, is additionally provided with in described ancon module
One scroll spring loss of weight mechanism, described scroll spring loss of weight mechanism includes:
Scroll spring, described scroll spring use outer end revolution mode install, the interior hook of described scroll spring with described from
Lock shaft is fixed, and the outer hook of described scroll spring is fixing with the shell of described self-locking mechanism to be connected.
The portable wearable upper limb exoskeleton rehabilitation training aids of above-mentioned one, wherein, each described front armed lever is all with one
It is connected for holding up the forearm holder of forearm.
The portable wearable upper limb exoskeleton rehabilitation training aids of above-mentioned one, wherein, described in bear mechanism and include:
Bear mechanism rack, described in bear mechanism rack and described back bracket and described waist bracket is fixing is connected；
Back pad, described back pad be located at described in bear in mechanism rack；
Braces, the upper end of described braces is being takeed on described shoulder support frame, under described braces by bungee opening sleeve
End is sewn in described back pad；
Belt, the two ends of described belt are sewed up with described back pad respectively；
Front band, the two ends of described front band are sewed up with described back pad respectively.
The good effect of technique scheme is:
Portable wearable exoskeleton rehabilitation training aids is driven by two power parts of ancon module and shoulder module
Degree of freedom and two drive lacking degree of freedom of shoulder module achieve the reduction of the four-degree-of-freedom to human upper limb locomotion, have preferably
Bio-imitability.Meanwhile, by mechanism simplifying, reduce weight, reduce volume, and use self-locking mechanism and the scrollwork of ancon module
Spring loss of weight mechanism, alleviates the required energy consumed of power part, extends the use time of battery, enhance integrated model
Pocket.Ensure that the auxiliary impaired patient of upper extremity exercise carries out the effect of rehabilitation training, simultaneously as use modularity
Design, can be selected shoulder or whole arm module body-worn by patient, carries out certain life auxiliary, has widely practical
Property.
Accompanying drawing explanation
Fig. 1 is the structural representation of the portable wearable exoskeleton rehabilitation training aids of the present invention.
Fig. 2 is the structural representation of the shoulder module of the portable wearable exoskeleton rehabilitation training aids of the present invention.
Fig. 3 is the structural representation of the ancon module of the portable wearable exoskeleton rehabilitation training aids of the present invention.
Fig. 4 a is the structural representation of the self-locking mechanism card of the portable wearable exoskeleton rehabilitation training aids of the present invention.
Fig. 4 b is the structural representation of the self-locking mechanism locator card of the portable wearable exoskeleton rehabilitation training aids of the present invention
Figure.
Fig. 4 c is the structural representation of the self-locking shaft of the portable wearable exoskeleton rehabilitation training aids of the present invention.
Fig. 4 d is the structural representation of the self-locking mechanism of the portable wearable exoskeleton rehabilitation training aids of the present invention.
Fig. 5 is the operation principle schematic diagram of the self-locking mechanism of the portable wearable exoskeleton rehabilitation training aids of the present invention.
Fig. 6 is the structural representation of the scroll spring loss of weight mechanism of the portable wearable exoskeleton rehabilitation training aids of the present invention
Figure
Fig. 7 is the structural representation bearing mechanism of the portable wearable exoskeleton rehabilitation training aids of the present invention.
Fig. 8 is the use state diagram of the portable wearable exoskeleton rehabilitation training aids of the present invention.
Detailed description of the invention
For the technological means making the present invention realize, creation characteristic, reach purpose and be easy to understand with effect, real below
Execute the technical scheme that example combines accompanying drawing 1 to Fig. 8 and provide the present invention to be specifically addressed.
Fig. 1 is the structural representation of the portable wearable exoskeleton rehabilitation training aids of the present invention.Fig. 2 be the present invention just
The structural representation of the shoulder module of formula of taking wearable exoskeleton rehabilitation training aids.Fig. 3 be the present invention portable wearable outside
The structural representation of the ancon module of skeleton recovery training appliance for recovery.Fig. 8 is the portable wearable exoskeleton rehabilitation training of the present invention
The use state diagram of device.Refer to shown in Fig. 1 to 3 and Fig. 8, it is shown that a kind of portable wearable upper limb exoskeleton rehabilitation instruction
Practice device, have the feature that, including: back module 1, two shoulder module 2, two ancon module 3 and bear mechanism 4.
Concrete, described back module 1 is used for carrying control system, battery power parts, is simultaneously used for realization and bears merit
Energy.
Shoulder module 2 described in two is respectively arranged on the left and right sides of described back module 1.
Ancon module 3 described in two is connected with shoulder module 2 described in two respectively.
Described mechanism 4 of bearing is located in described back module 1, bears function for realization.
By above-mentioned setting, described in bear mechanism and described back module can be born with user, thus pass through
Described shoulder module realizes the activity of shoulder joint, is realized the activity of elbow joint by described ancon module.
Further, as in preferred embodiment, described back module 1 includes: back support 11, waist bracket
12, back original paper fixed plate 13, battery mounting 14 and handle 15.
Wherein, described waist bracket 12 is located at below described back support 11, and described waist bracket 12 and the described back of the body
Portion's bracing frame 11 is fixing to be connected.
Described back original paper fixed plate 13 is located on described back support 11, is used for installing control circuit plate, motor drives
Move and wait electrical equipment.
Described battery mounting 14 is installed in described waist bracket 12, for the installation of battery component.
Described handle 15 is located at the top of described back support 11.
It addition, as in preferred embodiment, each described shoulder module 2 includes: shoulder backrest 21, omoplate frame 22, shoulder
Motor cabinet 23, upper arm assembling set 24, upper arm set 25, upper arm torr 26 and upper armed lever 27.
Concrete, described shoulder backrest 21 is installed on described back support 11 by a shoulder breadth adjustment portion 28.
Described omoplate frame 22 is hinged with described shoulder backrest 21 by a shoulder top joint shaft 221, thus realize shoulder joint can be
0 °～the motion of 90 ° is carried out in horizontal plane.
Described shoulder motor cabinet 23 is provided with a power part 231, described omoplate frame 22 by an omoplate joint shaft 222 with
Described shoulder motor cabinet 23 is hinged, thus realizes shoulder joint and can carry out 0 °～the motion of 90 ° in coronalplane.
Described upper arm assembling set 24 is fixing with the outfan of described power part 231 to be connected.
Described upper arm set 25 is fixing with described upper arm assembling set 24 to be connected.
Described upper armed lever 27 is provided with hole, some location 271 along its length, and described spring holder 272 is through fixed described in one
Hole 271, position and described upper arm set 25 are fixed.
Described upper arm torr 26 connects in described upper armed lever 27 is fixing, thus realize shoulder joint can in sagittal plane 0 °～90 °
Motion.
Described upper armed lever 27 can overlap 25 from described upper arm torr 26 and described upper arm and unload.
By the setting of above-described embodiment, by described shoulder backrest is installed to described back support, thus realize
Described shoulder module is connected with described back module.And by a shoulder top joint shaft by described omoplate frame and the described shoulder back of the body
Frame is hinged, then be capable of shoulder joint and can carry out the motion (DOF1) of 0 °～90 ° in horizontal plane.By described omoplate joint shaft
By hinged with described omoplate frame for described shoulder motor cabinet, it is possible to realize shoulder joint and can carry out 0 °～the motion of 90 ° in coronalplane
(DOF2).Described shoulder motor cabinet is provided with a power part, thus when described power part works, it is possible to drive with described
The upper arm assembling set motion that the outfan of power part connects, thus drive the upper arm set fortune being connected with described upper arm assembling set
Dynamic, then drive described upper arm torr, described upper arm torr can hold up the upper arm of user, it is achieved shoulder joint can in sagittal plane 0 °
～90 ° of motions (DOF3).It addition, the armed lever in above-described embodiment can slide in the chute of described upper arm torr, and described upper arm
Bar can pass through described spring holder fixed position, thus according to the upper arm lengths of different users, it is possible to regulate described upper arm
The effective length of bar, can adapt to the upper arm lengths of user.
Further, as in preferred embodiment, described shoulder breadth adjustment portion 28 includes: be located at described back bracket upper end
Guide rail 281, described shoulder backrest 21 is connected with described guide rail 281 slidably, and can carry out solid by a regulation bolt 282
Fixed.
By arranging the shoulder breadth adjustment portion in above-described embodiment, then can according to the actual shoulder breadth size of different users,
Adjust takeing on backrest described in two to correct position, and then the distance between two shoulder modules is adjusted the shoulder to applicable user
Wide.
It addition, the structural representation of the self-locking mechanism card of the portable wearable exoskeleton rehabilitation training aids that Fig. 4 a is the present invention
Figure；Fig. 4 b is the structural representation of the self-locking mechanism locator card of the portable wearable exoskeleton rehabilitation training aids of the present invention；Figure
4c is the structural representation of the self-locking shaft of the portable wearable exoskeleton rehabilitation training aids of the present invention；Fig. 4 d be the present invention just
The structural representation of the self-locking mechanism of formula of taking wearable exoskeleton rehabilitation training aids.Fig. 5 be the present invention portable wearable outside
The operation principle schematic diagram of the self-locking mechanism of skeleton recovery training appliance for recovery.Refer to shown in Fig. 4 a-d and Fig. 5, as the most real
Executing in example, each described ancon module 3 includes: ancon retainer ring 31, front armed lever 32, ancon motor mounting plate 33 and from lock machine
Structure 34.
Described ancon retainer ring 31 is fixing with the lower end of described upper armed lever 27 to be connected.
Described front armed lever 32 is hinged with described ancon retainer ring 31, thus realize elbow joint can be in 0 °～120 ° fortune of sagittal plane
Dynamic.
Described ancon motor mounting plate 33 is located at the pin joint of described ancon retainer ring 31, and ancon power part 331 is located at
On described ancon motor mounting plate 33.
Described self-locking mechanism 34 is located in described ancon retainer ring 31, and described self-locking mechanism 34 and described ancon power part
The outfan of part 331 connects.
In above-described embodiment, described ancon retainer ring is for being surrounded on user ancon when dressing.Described front armed lever with
Described ancon retainer ring is hinged, thus by being located at the ancon power part on described ancon motor mounting plate, it is possible to by described
Front armed lever is mentioned, thus is mentioned by the forearm of user, it is achieved elbow joint can be 0 °～120 ° motion (DOF4) of sagittal plane.
Further, as in preferred embodiment, each described self-locking mechanism 34 includes: self-locking mechanism locator card 341,
Two self-locking mechanism cards 342, self-locking shaft 343 and self-locking mechanism shell 344.
Described self-locking mechanism locator card 341 is in annulus lamellar, and two ends respectively arrange an axial cylindrical bump 345, institute
State self-locking mechanism locator card 341 to be connected with the outfan of described ancon power part 331.
The two ends of each described self-locking mechanism card 342 are provided with groove 346, and described cylindrical bump 345 is respectively arranged on described
In groove 346.
Each described self-locking mechanism card 342 center has a hollow out, the side of described hollow out to be provided with tooth, and described tooth is along described in two
The line direction arrangement of groove 346.
Described self-locking shaft 343 is circumferentially with tooth, and the tooth of described self-locking shaft 343 can be with each described self-locking mechanism card 342
Tooth engages, and described self-locking shaft 343 is fixing with described front armed lever 32 to be connected.
Self-locking mechanism card 342 described in two is laminated on described self-locking mechanism locator card 341, and described cylindrical bump 345 blocks
In described groove 346, the tooth of self-locking mechanism card 342 described in two is relative, and described self-locking shaft 343 is through self-locking mechanism card described in two
342, and the tooth of described self-locking shaft 343 engages with the tooth of each described self-locking mechanism card 342.
Self-locking mechanism card 342 described in two and described self-locking shaft 343 are located in described self-locking mechanism shell 344.
Described self-locking mechanism locator card 341 is connected with the outfan of described ancon power part 331, described self-locking shaft 343
It is connected with described front armed lever 32.
The operation principle of the self-locking mechanism of above-described embodiment approximately as:
When described ancon power part works, described self-locking mechanism locator card is driven to rotate, thus cylindric described in two
Projection promotes the sidewall of described groove, drives described self-locking mechanism card to rotate.The most described self-locking mechanism card is by being meshed
Cingulum moves described self-locking shaft and rotates, thus drives described front armed lever to mention.
When described ancon power part quits work, but when user wishes to maintain the state that the front crook of the arm is lifted, described forearm
Bar first falls a small distance, drives described self-locking shaft to turn an angle, thus described self-locking shaft is made by the tooth being meshed
Self-locking mechanism card described in two produces the trend rotated, but has described cylinder owing to blocking in the grooves on two sides of self-locking mechanism card described in two
Shape is protruding, thus self-locking mechanism card described in two moves to the direction of cylindrical bump respectively, so that self-locking mechanism card described in two
The staggered inwall to self-locking mechanism shell described in post so that described self-locking shaft rotates and stops, thus completes self-locking.
The effect of the self-locking mechanism arranging above-described embodiment is, when user wishes to maintain the state that the front crook of the arm is lifted,
Described ancon power part continuous firing need not be made, thus save energy usage amount.
Meanwhile, Fig. 6 is the knot of scroll spring loss of weight mechanism of portable wearable exoskeleton rehabilitation training aids of the present invention
Structure schematic diagram.Refer to shown in Fig. 6, as in preferred embodiment, in described ancon module 3, be additionally provided with a scroll spring loss of weight
Mechanism 35, described scroll spring loss of weight mechanism 35 includes: scroll spring 351, described scroll spring 351 uses outer end to turn round mode
Installing, the interior hook of described scroll spring 351 is fixed with described self-locking shaft 343, the outer hook of described scroll spring 351 and described self-locking
Mechanism shell 344 is fixing to be connected.
By arranging the scroll spring loss of weight mechanism in above-described embodiment, when current armed lever falls, described self-locking shaft rotates,
Thus cause described scroll spring to tighten up energy storage, when described ancon power part starts, described front armed lever moves upward, described
Scroll spring loosens, and releases energy, thus plays the effect of loss of weight and equilibrant, saves battery electric quantity.By described scrollwork bullet
Spring loss of weight mechanism, greatly reduces the load in use of described ancon power part, decreases power consumption, extend electricity
The use time in pond.
It addition, as a kind of preferred version, described upper armed lever can unload from described upper arm torr, i.e. be used alone described ancon
Module, so that user individually carries out rehabilitation training to ancon.
Further, as in preferred embodiment, each described front armed lever 32 all is used for holding up the forearm of forearm with one
Torr 321 is connected.
By arranging the forearm holder in above-described embodiment, it is possible to drive described forearm holder when carrying on described front armed lever, from
And drive and carry on the forearm of user.
Additionally, the structural representation bearing mechanism of the portable wearable exoskeleton rehabilitation training aids that Fig. 7 is the present invention,
Refer to shown in Fig. 7, as in preferred embodiment, described in bear mechanism 4 and include: bear mechanism rack 41, back pad 42, the back of the body
Band 43, belt 44 and front band 45.
Wherein, bear mechanism rack 41 described in fix be connected with described back support 11 and described waist bracket 12.
Described back pad 42 is born in mechanism rack 41 described in being located at.
The upper end of described braces 43 by bungee opening sleeve on described back support 11, the lower end of described braces 43
It is sewn in described back pad 42.
The two ends of described belt 44 are sewed up with described back pad 42 respectively.
The two ends of described front band 45 are sewed up with described back pad 42 respectively.
When actual bearing, first described braces is carried on the back in two shoulders, more described pectoral girdle is tied to front, finally by described waist
Band is tied to waist, i.e. completes to bear.Meanwhile, arrange described in bear the effect of mechanism rack and be, by arranging this rigid element, from
And avoid in use owing to described braces, described belt and perturbing of described front band cause equipment to rock, thus
Affect stability.
The occupation mode of the present invention and operation principle approximately as: first, adjust two shoulders according to the shoulder breadth of user
Distance between module, adjusts the effective length of upper armed lever according to the upper arm lengths of user.After braces is carried on the back in two shoulders, by breast
Band is tied to front, and belt is tied to waist, completes to bear.After completing to bear, by forearm through ancon retainer ring, upper arm is made to be positioned at
In upper arm torr, make elbow position be positioned at ancon retainer ring, make forearm be positioned at forearm holder, i.e. complete to dress.
Time actually used, user ipsilateral upper limb myoelectricity is passed through in the portable wearable exoskeleton rehabilitation training aids of the present invention
Signal (EMG) voice signal the mode such as patient's healthy side upper limb actuating signal control each power part so that shoulder module and
Ancon block motion, drives the suffering limb that cannot move to realize completing in sagittal interior receipts/abduction fortune with elbow joint of shoulder joint
Dynamic, carry out rehabilitation training and daily life auxiliary.By the repetitious stimulation of training campaign, can gradually help the portion of cerebral apoplexy patient
Divide or whole upper extremity exercise function.Owing to the portable wearable exoskeleton rehabilitation training aids of the present invention uses portable wearing to set
Meter, so also being able to patient's daily life is played certain assosting effect.
The portable wearable exoskeleton rehabilitation training aids that the present embodiment provides, by ancon module and the two of shoulder module
Degree of freedom and two drive lacking degree of freedom of shoulder module that individual power part drives achieve to human upper limb locomotion four freely
Degree reduction, has preferable bio-imitability.Meanwhile, by mechanism simplifying, and self-locking mechanism and the scrollwork bullet of ancon module are used
Spring loss of weight mechanism, alleviates the required energy consumed of power part.Thus effectively simplify structure, reduce weight, reduction volume, enter
And strengthening the portability of equipment, it is ensured that the auxiliary impaired patient of upper extremity exercise carries out the effect of rehabilitation training, because using
Modularized design, can be selected shoulder or whole arm module to carry out body-worn by patient, carries out certain life auxiliary, has more
Wide applicability.
These are only preferred embodiment of the present invention, not thereby limit embodiments of the present invention and protection domain, right
For those skilled in the art, it should can appreciate that the equivalent done by all utilization description of the invention and diagramatic content is replaced
Change and obviously change obtained scheme, all should be included in protection scope of the present invention.
Claims (9)
1. a portable wearable upper limb exoskeleton rehabilitation training aids, it is characterised in that including:
Back module, described back module is used for carrying control system, battery power parts, is simultaneously used for realization and bears function；
Two shoulder modules, described in two, shoulder module is respectively arranged on the left and right sides of described back module；
Two ancon modules, ancon module described in two is connected with shoulder module described in two respectively；
Bear mechanism, described in bear mechanism and be located in the module of described back, bear function for realization.
The portable wearable upper limb exoskeleton rehabilitation training aids of one the most according to claim 1, it is characterised in that described
Back module includes:
Back support；
Waist bracket, described waist bracket is located at below described back support, and described waist bracket and described back support
Frame is fixing to be connected；
Back original paper fixed plate, described back original paper fixed plate is located on described back support, be used for installing control circuit plate,
The electrical equipments such as motor driving；
Battery mounting, described battery mounting is installed in described waist bracket, for the installation of battery component；
Handle, described handle is located at the top of described back bracket.
The portable wearable upper limb exoskeleton rehabilitation training aids of one the most according to claim 2, it is characterised in that each
Described shoulder module includes:
Shoulder backrest, described shoulder backrest is installed on described back support by a shoulder breadth adjustment portion；
Omoplate frame, described omoplate frame by one shoulder top joint shaft hinged with described shoulder backrest, thus realize shoulder joint can be in level
0 °～the motion of 90 ° is carried out in face；
Shoulder motor cabinet, described shoulder motor cabinet is provided with a power part, and described omoplate frame passes through an omoplate joint shaft and institute
State shoulder motor cabinet hinged, thus realize shoulder joint and can carry out 0 °～the motion of 90 ° in coronalplane；
Upper arm assembling set, described upper arm assembling set is fixing with the outfan of described power part to be connected；
Upper arm set, described upper arm set is fixing with described upper arm assembling set to be connected；
Described upper armed lever is provided with hole, some location along its length, and described spring holder is through positioning hole and described described in one
Upper arm set is fixed.
Upper arm torr, described upper arm torr and described upper armed lever are fixing to be connected, thus realize shoulder joint can in sagittal plane 0 °～90 ° fortune
Dynamic；
Described upper armed lever can unload from described upper arm torr and described upper arm set.
The portable wearable upper limb exoskeleton rehabilitation training aids of one the most according to claim 3, it is characterised in that described
Shoulder breadth adjustment portion includes:
Being located at the guide rail of described back bracket upper end, described shoulder backrest is connected with described guide rail slidably, and can be by one
Regulation bolt is fixed.
The portable wearable upper limb exoskeleton rehabilitation training aids of one the most according to claim 3, it is characterised in that each
Described ancon module includes:
Ancon retainer ring, described ancon retainer ring is fixing with the lower end of described upper armed lever to be connected；
Front armed lever, described front armed lever is hinged with described ancon retainer ring, thus realize elbow joint can be in 0 °～120 ° fortune of sagittal plane
Dynamic；
Ancon motor mounting plate, described ancon motor mounting plate is located at the side of the pin joint of described ancon retainer ring, and ancon moves
Power parts are located on described ancon motor mounting plate；
Self-locking mechanism, described self-locking mechanism is located in described ancon retainer ring, and described self-locking mechanism and described ancon power part
The outfan of part connects.
The portable wearable upper limb exoskeleton rehabilitation training aids of one the most according to claim 5, it is characterised in that each
Described self-locking mechanism includes:
Self-locking mechanism locator card, described self-locking mechanism locator card is circular, and two ends respectively arrange an axial cylindrical bump,
Described self-locking mechanism locator card is connected with the outfan of described ancon power part；
Two self-locking mechanism cards, the two ends of each described self-locking mechanism card are provided with groove, and described cylindrical bump is respectively arranged on described
In groove；
The center of each described self-locking mechanism card has a hollow out, the side of described hollow out to be provided with tooth, and described tooth is along groove described in two
Line direction arrangement；
Self-locking shaft, described self-locking shaft is circumferentially with tooth, and the tooth of described self-locking shaft can engage with the tooth of each described self-locking mechanism card,
Described self-locking shaft is fixing with described front armed lever to be connected；
Self-locking mechanism card described in two is laminated on described self-locking mechanism locator card, and described cylindrical bump is stuck in described groove,
The tooth of self-locking mechanism card described in two is relative, and described self-locking shaft is through self-locking mechanism described in two, and the tooth of described self-locking shaft is with each
The tooth engagement of described self-locking mechanism card；
Self-locking mechanism shell, self-locking mechanism card described in two and described self-locking shaft are located in described self-locking mechanism shell；
Described self-locking mechanism locator card is connected with the outfan of described ancon power part, and described self-locking shaft is with described front armed lever even
Connect.
The portable wearable upper limb exoskeleton rehabilitation training aids of one the most according to claim 6, it is characterised in that described
Being additionally provided with a scroll spring loss of weight mechanism in ancon module, described scroll spring loss of weight mechanism includes:
Scroll spring, described scroll spring uses outer end revolution mode to install, the interior hook of described scroll spring and described self-locking shaft
Fixing, the outer hook of described scroll spring is fixing with the shell of described self-locking mechanism to be connected.
The portable wearable upper limb exoskeleton rehabilitation training aids of one the most according to claim 7, it is characterised in that each
Described front armed lever is all connected for holding up the forearm holder of forearm with one.
The portable wearable upper limb exoskeleton rehabilitation training aids of one the most according to claim 1, it is characterised in that described
Bear mechanism to include:
Bear mechanism rack, described in bear mechanism rack and described back bracket and described waist bracket is fixing is connected；
Back pad, described back pad be located at described in bear in mechanism rack；
Braces, the upper end of described braces is being takeed on described shoulder support frame by bungee opening sleeve, the lower end seam of described braces
In described back pad；
Belt, the two ends of described belt are sewed up with described back pad respectively；
Front band, the two ends of described front band are sewed up with described back pad respectively.
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| CN201610459608.XA CN106109167A (en) | 2016-06-22 | 2016-06-22 | A kind of portable wearable upper limb exoskeleton rehabilitation training aids |
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| CN201610459608.XA CN106109167A (en) | 2016-06-22 | 2016-06-22 | A kind of portable wearable upper limb exoskeleton rehabilitation training aids |
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| CN106974795A (en) * | 2017-03-24 | 2017-07-25 | 华中科技大学 | A kind of drive lacking upper limb rehabilitation robot control system |
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| CN111449911A (en) * | 2020-04-26 | 2020-07-28 | 郑州大学 | Recovered device of taking exercise of cerebral apoplexy patient arm |
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| CN111956452A (en) * | 2020-08-29 | 2020-11-20 | 上海电气集团股份有限公司 | Control method and device for upper limb rehabilitation robot |
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| CN112775937A (en) * | 2021-01-07 | 2021-05-11 | 合肥工业大学 | Self-adaptive robust control method and device for under-actuated hydraulic single-leg power-assisted exoskeleton |
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| CN114081784B (en) * | 2021-11-23 | 2022-12-27 | 安徽中医药大学第二附属医院（安徽省针灸医院） | Dynamic stabilization therapeutic apparatus for multiple joints of upper limb |
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Application publication date: 20161116 |