CN106393071A - 9-freedom-degree wearable self-adaptive upper limb rehabilitation exoskeleton mechanism - Google Patents
9-freedom-degree wearable self-adaptive upper limb rehabilitation exoskeleton mechanism Download PDFInfo
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- CN106393071A CN106393071A CN201610999480.6A CN201610999480A CN106393071A CN 106393071 A CN106393071 A CN 106393071A CN 201610999480 A CN201610999480 A CN 201610999480A CN 106393071 A CN106393071 A CN 106393071A
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- 230000007246 mechanism Effects 0.000 title claims abstract description 132
- 210000001364 upper extremity Anatomy 0.000 title claims abstract description 40
- 210000000245 forearm Anatomy 0.000 claims abstract description 71
- 210000000323 shoulder joint Anatomy 0.000 claims abstract description 46
- 210000002310 elbow joint Anatomy 0.000 claims abstract description 22
- 230000033001 locomotion Effects 0.000 claims abstract description 21
- 238000005452 bending Methods 0.000 claims description 13
- 230000006978 adaptation Effects 0.000 claims description 11
- 239000000203 mixture Substances 0.000 claims description 3
- 238000012549 training Methods 0.000 abstract description 13
- 230000008878 coupling Effects 0.000 abstract description 4
- 238000010168 coupling process Methods 0.000 abstract description 4
- 238000005859 coupling reaction Methods 0.000 abstract description 4
- 230000005484 gravity Effects 0.000 abstract description 3
- 230000001808 coupling effect Effects 0.000 abstract 1
- 230000035876 healing Effects 0.000 description 6
- 210000002758 humerus Anatomy 0.000 description 6
- 230000000694 effects Effects 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 210000002320 radius Anatomy 0.000 description 5
- 210000000623 ulna Anatomy 0.000 description 5
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- 230000006870 function Effects 0.000 description 4
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- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000036541 health Effects 0.000 description 3
- 230000035479 physiological effects, processes and functions Effects 0.000 description 3
- QEIQEORTEYHSJH-UHFFFAOYSA-N Armin Natural products C1=CC(=O)OC2=C(O)C(OCC(CCO)C)=CC=C21 QEIQEORTEYHSJH-UHFFFAOYSA-N 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 2
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- 230000008859 change Effects 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 230000018109 developmental process Effects 0.000 description 2
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- 210000003414 extremity Anatomy 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 210000001898 sternoclavicular joint Anatomy 0.000 description 2
- 210000001562 sternum Anatomy 0.000 description 2
- 241000131317 Capitulum Species 0.000 description 1
- 206010008190 Cerebrovascular accident Diseases 0.000 description 1
- 206010019468 Hemiplegia Diseases 0.000 description 1
- 206010037714 Quadriplegia Diseases 0.000 description 1
- 208000006011 Stroke Diseases 0.000 description 1
- 210000000142 acromioclavicular joint Anatomy 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 210000003484 anatomy Anatomy 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000002490 cerebral effect Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/165—Wearable interfaces
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1657—Movement of interface, i.e. force application means
-
- 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
- A61H2205/00—Devices for specific parts of the body
- A61H2205/06—Arms
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- Health & Medical Sciences (AREA)
- Engineering & Computer Science (AREA)
- Physical Education & Sports Medicine (AREA)
- Mechanical Engineering (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Robotics (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
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- Veterinary Medicine (AREA)
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Abstract
The invention discloses a 9-freedom-degree wearable self-adaptive upper limb rehabilitation exoskeleton mechanism comprising a shoulder joint adapting mechanism, an exoskeleton mechanism body, a connecting mechanism and supporting pieces. The exoskeleton mechanism body is composed of a shoulder joint equivalent mechanism and an elbow joint equivalent mechanism, wherein the motion of an upper arm based on a lifting surface, a lifting angle and inside and outside swing angles described by ISB is realized by the shoulder joint equivalent mechanism, and the flexion/extension as well as the internal/external rotation motion of a forearm are realized by the elbow joint equivalent mechanism; and each of the shoulder joint adapting mechanism and the connecting mechanism is composed of kinematic pairs and connecting pieces and plays a role in adapting to the motion coupling effect of shoulder and elbow joints. A connecting way is as follows: the supporting pieces, the shoulder joint adapting mechanism and the exoskeleton mechanism body are fixed connected in sequence and are connected with an upper limb through the connecting mechanism to form a man-machine closed chain mechanism. The 9-freedom-degree wearable self-adaptive upper limb rehabilitation exoskeleton mechanism is simple in structure; the shoulder joint adapting mechanism is arranged at the front end, so that a connecting branch chain is short, the gravity of the mechanism is transmitted to the supporting pieces, and furthermore, the 9-freedom-degree wearable self-adaptive upper limb rehabilitation exoskeleton mechanism is light to wear; and the motion coupling of the shoulder and elbow joints is adapted, and a man-machine force and a moment which are unrelated to training and are generated by a man-machine closed chain are eliminated.
Description
Technical field
The present invention relates to the rehabilitative engineering technology in technical field of medical instruments, specifically a kind of 9 degree of freedom are dressed adaptive
Answer upper limb healing exoskeleton mechanism, for rehabilitation training is carried out to upper limb hemiplegia or upper extremity exercise function damage patient.
Background technology
Development with social economy and the raising of living standards of the people, China has started to enter aging society, brain soldier
In become the common frdquently encountered disease of aging colony.Because China human mortality radix is huge, with the development of aging process, brain soldier
Middle number of patients sharply increases, according to statistics, current China every year increase newly patients with cerebral apoplexy up to 150～2,000,000 people, be 60 years old with
Upper aged population is lethal and the head disabled because.Meanwhile, because various vehicle accidents, natural disaster take place frequently, cause outside spinal cord injury, brain
Hindering patient's number also increases year by year.Aforementioned three kinds of diseases and damage easily cause quadriplegia, bring to the daily life of patient
Greatly inconvenience.Because human upper limb is engaged in various complicated, fine activities, its dysfunction directly affects patient work and daily
Viability, is worth paying special attention to.The essence of upper limb disorder is that nervus centraliss have damage, correspondingly, rehabilitation training
Basic goal is to excite the restructuring of nervus centraliss and compensatory, promotion nervous system motion perception functional rehabilitation, and then makes suffering limb extensive
Multiple motor capacity.Advanced roboticses are applied to the training of upper limb clinical rehabilitation, robot automation, accurately can be played
Change and the repeated blue-collar advantage of high intensity of execution, make up the deficiency of rehabilitation medical shortage of resources, reduce medical personnel's
Labor intensity, improves rehabilitation training effect.
According to human anatomy, intricate shown in shoulders of human body joint Fig. 1, Fig. 2, it is by humerus, scapula, lock
Bone, breastbone and Glenohumeral joint therebetween, acromioclavicular joint, sternoclavicular joint and the scapulothoracu are formed by connecting, wherein sternoclavicular joint
Even unclear with the scapulothoracu kinesiology, according to human skeleton model kinematics analyses, the broad-mouthed receptacle for holding liquid upper arm in shoulder joints closes
, in different lifting faces, the motor process at lifting difference lifting angle, center of rotation is in human body for section (traditional shoulder joint)
In the motor process with respect to human body breastbone for the shoulder joints, it is drift, and drift orbit is not linear, but have many
The low curvature camber line of section is constituted, and the drift (shoulder joint kinesitherapy coupling) of shoulder Glenohumeral joint center of rotation is also not limited to sagittal
In face, this make research shoulder Glenohumeral joint motion more complicated；Human body ancon skeleton as shown in figure 3, it have humerus, radius,
Ulna and joint therebetween are formed by connecting, and elbow joint is the composite joint that humerus lower end and radius, ulna upper end are constituted, including the upper arm
Chi joint, humeroradial joint and proximal radioulnar joint, in figure A point, B point and C point are respectively capitulum of humerus, trochlea of humerus and ulna ring
The center in cylindrarthrosis face.Humeroulnar joint is made up of with trochlear notch of ulna trochlea of humerus, belongs to cochlear joint, is the master of elbow joint
Body portion, can do forearm flexion and extension along axis AB.Proximal radioulnar joint is cut by the radius of head of radius articular circumference and ulna
Mark is constituted, and belongs to trochoid joint, distal radioulnar joint is made up of the proximal side of head of radius and radiocarpal joint disk, belongs to axletree and closes
Section, this two joint constitute the forearm rotary motion around axis AC, and through consulting pertinent literature, elbow joint is in anterior flexion and rear stretching
In motor process, axis is not fixing, but (the elbow joint motion coupling) of drift, the concrete characteristics of motion is still unintelligible.Logical
Cross the retrieval of prior art literature and analysis as can be seen that existing upper limb rehabilitation robot platform include the Passeris montani saturati Institute of Technology and develop
MIT-MANUS, the Armin of Honcoma company of Switzerland, Washington, DC university develop CADEN-7, State of Arizona, US
Vertical university PUPERT-IV etc., wherein MIT-MANUS, Armin have been realized in commercialization and clinical practice.Domestic Harbin Institute of Technology, on
The research institutions such as sea friendship is big, Tsing-Hua University, Anyang god side, Guangzhou one health, Beijing University of Technology are also engaged in correlational study.Above-mentioned upper limb health
Multiple robot platform and model machine consider from theory of mechanisms, can be divided mainly into two classes, a class such as Application No. 201110237805.4
Patent of invention discloses a kind of upper-limbs rehabilitation training robot, and the advantage of this robot mechanism is：Use for reference human upper limb skeleton
Physiology of exercise architectural feature, obtains the brief mechanism configuration of form, is disadvantageous in that：Only take into account three freedom of shoulder joints
Degree, two degree of freedom of ancon, do not account for human body shoulder ancon joint in motor process, the center of rotation of shoulder Glenohumeral joint
Change with the motion of upper limb, the drift of ancon joint rotation axiss.When wearing deviation in people-machine corresponding joint axis,
There is the inertial forces unrelated with rehabilitation training and moment in people-machine closed chain mechanism, be easily caused comfortableness and be deteriorated or peace occurs
Full problem；The patent of invention of one class such as Application No. 201310003656.4 discloses a kind of has people-machine motion compatibility
Upper limb healing exoskeleton mechanism, this mechanism has equally used for reference the physiology of exercise architectural feature of human upper limb skeleton, and takes into full account
The inertial forces unrelated with rehabilitation training and moment present in people-machine closed chain mechanism, but complex structure, bindiny mechanism props up
Chain is long, power laser propagation effect is bad, and side chain weight major part has human upper limb to undertake it is impossible to be efficiently transmitted to support member
On.
The purpose of the present invention is to propose to a kind of 9 degree of freedom wearing self adaptation upper limb healing exoskeleton mechanisms.This ectoskeleton
Mechanism fully uses for reference the physiology of exercise architectural feature of human upper limb skeleton, obtains the brief exoskeleton mechanism configuration of form, and fills
Divide and consider the inertial forces unrelated with rehabilitation training and moment present in people-machine closed chain mechanism, reasonable Arrangement connects props up
Chain, is transplanted to, partly man-machine connection side chain, the position being connected with support member, makes that man-machine connection side chain is short, power laser propagation effect is good,
Side chain weight can be efficiently transmitted to support member.
Content of the invention
A kind of 9 degree of freedom wearing self adaptation upper limb exoskeleton mechanisms, adapt to mechanism A, exoskeleton mechanism, company including shoulder joint
Connection mechanism and support member.It is characterized in that shoulder joint equivalent mechanism B and elbow joint equivalent mechanism E constitutes exoskeleton mechanism, upper arm
Bindiny mechanism D and forearm bindiny mechanism G constitutes bindiny mechanism, and shoulder joint is adapted to mechanism A and is connected with support member, and passes through ectoskeleton
Mechanism, upper arm bindiny mechanism D, forearm bindiny mechanism G compact and are connected with human body upper arm C and forearm F.
Described shoulder joint adapts to mechanism A, is fixed by the first guide rail, the first slide block, the second guide rail, the second slide block and slide block
Plate composition, the wherein first guide rail and the first slide block, the second guide rail and the second slide block separately constitute two moving sets, and two moving sets move
Dynamic direction is all in the horizontal plane, and orthogonal.
Described shoulder joint equivalent mechanism B, by upper arm first rotate pair, first rotate secondary connector, upper arm second rotates
Pair, the secondary connector of the second rotation, upper armed lever long adjustable screw kinematic pair and upper arm the 3rd kinematic pair are sequentially connected in series, and wherein go up
Arm first is rotated pair and is connected with slide block fixed plate, and upper arm second is rotated pair and is connected by the first kinematic pair with upper arm first kinematic pair
Part is connected, and upper arm the 3rd kinematic pair is transported by upper armed lever long adjustable screw kinematic pair, the second kinematic pair connector and upper arm second
Dynamic parafacies even, is wherein gone up armed lever long adjustable screw kinematic pair and is moved along a straight line along the second kinematic pair connector, according in different human body
On arm lengths regulation ectoskeleton, armed lever is long, and upper arm first rotates pair, upper arm second rotates pair and upper arm the 3rd rotates pair in rotation
The orthogonal arrangement of secondary axis, meets at a bit.
Described upper arm bindiny mechanism D, is made up of upper arm moving sets and upper arm bandage, wherein upper arm moving sets and upper arm
Three kinematic pairs are fixedly linked, and upper arm bandage is fixedly connected with upper arm moving sets, and upper arm bandage compacts and is worn on the end of upper arm C.
Described elbow joint equivalent mechanism E, rotates secondary, front bending and stretching of the arms by forearm flexion and extension pair connector, front bending and stretching of the arms
Motion connecting rod, front armed lever long adjustable screw kinematic pair and the outer pair that rotates of forearm medial rotation rotation form, and wherein front bending and stretching of the arms rotates secondary
It is connected with upper arm the 3rd kinematic pair by forearm flexion and extension pair connector, the front long adjustable screw motion of armed lever and front bending and stretching of the arms are transported
The bar that is dynamically connected is connected, and adjusts the fixed position of forearm axial force cancel system G and human body forearm F, and forearm medial rotation revolves outer kinematic pair
It is connected in front armed lever long adjustable screw pair, front bending and stretching of the arms rotates secondary secondary vertical in turns auxiliary shaft line with the outer rotation of forearm medial rotation rotation
Arrangement.
Described forearm bindiny mechanism G, is made up of forearm moving sets and front arm bandage, before wherein forearm moving sets are connected in
Arm medial rotation revolves in outer kinematic pair, and forearm moving sets and forearm bandage are connected, and forearm bandage compacts and is worn on the end of forearm F.
In order to strengthen the function of rehabilitation training of upper limbs, on the basis of this upper limb healing exoskeleton mechanism technical scheme,
The end of exoskeleton mechanism is added wrist flexion/extension and is received/exhibition motion, or any of which motion, falls within this upper limb healing
The scope that exoskeleton mechanism technical scheme is covered.
Beneficial effects of the present invention：After human upper limb is worn by this exoskeleton mechanism, exoskeleton mechanism is by upper arm even
Connection mechanism D, forearm bindiny mechanism G compact and are connected with human upper limb upper arm C, forearm F, constitute people-machine closed chain mechanism, and shoulder joint is fitted
Mechanism A, exoskeleton mechanism, upper arm bindiny mechanism D, forearm bindiny mechanism G is answered to pass through to be sequentially connected with, gravity for transport is to support member
On, and shoulder joint adaptation mechanism is arranged in this upper limb exoskeleton mechanism front end, is connected with support member, so that connection side chain is shortened, people
Body upper limb wearing is light, allows the center of rotation of shoulder joint equivalent mechanism and human body shoulder joint center of rotation not right during concrete wearing
There is deviation, as shown in Fig. 4,10, in ectoskeleton machine between the heart, human elbow joints axes and elbow joint equivalent mechanism axis
Structure drives in the motor process of human upper limb, and shoulder joint equivalent mechanism drives the lifting face based on ISB description for the upper arm realization, lifting
Angle and the motion of inside and outside swing angle, shoulder joint adapt to mechanism adapt to shoulder joint due to the ectoskeleton not fortune in the horizontal plane to the heart
Dynamic, relieve man-machine active force and the moment of shoulder joint equivalent mechanism and shoulder joint generation in the horizontal plane, upper arm connects machine
Structure releases shoulder joint equivalent mechanism with human body shoulder joint in the human body upper arm axially power of generation and moment；Elbow joint equivalent mechanism is real
Existing forearm flexion/extension and the outer motion of medial rotation/rotation, forearm bindiny mechanism releases due to human elbow axis and elbow joint equivalent mechanism
Axis does not line up the forearm axial force causing and moment.Present configuration is simple；Shoulder joint adapts to mechanism and is arranged on this
Limb exoskeleton mechanism front end, is connected with support member, so that connection side chain is shortened, mechanism's gravity for transport to support member, and wearing is light；Suitable
Should take on, elbow joint motion coupling influence, release man-machine closed chain and produce the man-machine active force unrelated with training and moment；Contribute to carrying
The safety of high rehabilitation training of upper limbs and the effect of rehabilitation training.
Brief description
Fig. 1 is upper limb shoulder skeleton schematic diagram on the right side of human body
Fig. 2 is upper limb shoulder skeletal structure schematic diagram on the right side of human body
Fig. 3 is human body ancon skeletal structure schematic diagram
Fig. 4 is a kind of 9 degree of freedom wearing self adaptation upper limb exoskeleton mechanisms
Fig. 5 adapts to mechanism A for shoulder joint
Fig. 6 is shoulder joint equivalent mechanism B
Fig. 7 is upper arm bindiny mechanism D
Fig. 8 is elbow joint equivalent mechanism E
Fig. 9 is forearm bindiny mechanism G
Figure 10 is a kind of 9 degree of freedom wearing self adaptation upper limb exoskeleton mechanism wearing deviation schematic diagrams
Description of reference numerals：
Drawing reference numeral explanation：A. shoulder joint adapts to mechanism, B. shoulder joint equivalent mechanism, C. human body upper arm, and D. upper arm connects
Mechanism, E. elbow joint equivalent mechanism, F. human body forearm, G. forearm bindiny mechanism, 1. support member, 2. the first guide rail, 3. first is sliding
Block, 4. the second guide rail, 5. the second slide block, 6. slide block fixed plate, 7. upper arm first rotate pair, 8. first rotate secondary connector, 9.
Upper arm second rotates pair, 10. second rotates secondary connector, armed lever long adjustable screw kinematic pair on 11., 12. upper arm the 3rd moves
Pair, 13. forearm flexion and extension pair connectors, before 14., bending and stretching of the arms rotates secondary, 15. forearm flexion and extension connecting rods, armed lever before 16.
Long adjustable screw kinematic pair, 17. forearm medial rotation rotations are outer to rotate secondary, 18. upper arm moving sets, arm bandage on 19., and 20. forearms move
Pair, arm bandage before 21.
Specific embodiment
Further illustrate the present invention below in conjunction with accompanying drawing.
A kind of 9 degree of freedom dress self adaptation upper limb exoskeleton mechanisms as shown in Figure 4,5, including shoulder joint adaptation mechanism A, outward
Skeleton mechanism, bindiny mechanism and support member 1.It is characterized in that shoulder joint equivalent mechanism B and elbow joint equivalent mechanism E constitutes dermoskeleton
Bone mechanism, upper arm bindiny mechanism D and forearm bindiny mechanism G constitute bindiny mechanism, and shoulder joint is adapted to mechanism A and is connected with support member 1,
And compact and be connected with human body upper arm C and forearm F by exoskeleton mechanism, upper arm bindiny mechanism D, forearm bindiny mechanism G.
Described shoulder joint adapts to mechanism A as shown in figure 5, being slided by the first guide rail 2, the first slide block 3, the second guide rail 4, second
Block 5 and slide block fixed plate 6 form, the wherein first guide rail 2 and the first slide block 3, and the second guide rail 4 and the second slide block 5 separately constitute two
Individual moving sets, two moving sets moving directions are all in the horizontal plane, and orthogonal.
Described shoulder joint equivalent mechanism B as shown in fig. 6, by upper arm first rotate secondary 7, first rotate secondary connector 8, on
Arm second rotate secondary 9, second rotate secondary connector 10, upper armed lever long adjustable screw kinematic pair 11 and upper arm the 3rd kinematic pair 12 according to
Secondary be composed in series, wherein upper arm first is rotated secondary 7 and is connected with slide block fixed plate 6, and upper arm second is rotated pair 9 and moved with upper arm first
Secondary 7 pass through the first kinematic pair connector 8 is connected, upper arm the 3rd kinematic pair 12 by upper armed lever long adjustable screw kinematic pair 11, the
Two kinematic pair connectors 10 are connected with upper arm the second kinematic pair 9, wherein go up armed lever long adjustable screw kinematic pair 11 and move along second
Secondary connector 10 moves along a straight line, and adjusts armed lever on ectoskeleton according to different human body upper arm lengths long, upper arm first rotates secondary 7, on
Arm second rotates pair 9 and upper arm the 3rd rotates secondary 12 in the orthogonal arrangement of turns auxiliary shaft line, meets at a bit.
Described upper arm bindiny mechanism D as shown in fig. 7, be made up of upper arm moving sets 18 and upper arm bandage 19, wherein upper arm
Moving sets 18 are fixedly linked with upper arm the 3rd kinematic pair 12, and upper arm bandage 19 is fixedly connected with upper arm moving sets 18, and upper arm is tied up
Compact with 19 and be worn on the end of upper arm C.
Described elbow joint equivalent mechanism E is as shown in figure 8, rotated by forearm flexion and extension pair connector 13, front bending and stretching of the arms
Secondary 14, forearm flexion and extension connecting rod 15, front armed lever long adjustable screw kinematic pair 16 and secondary 17 compositions of the outer rotation of forearm medial rotation rotation,
Wherein front bending and stretching of the arms is rotated secondary 14 and is connected with upper arm the 3rd kinematic pair 12 by forearm flexion and extension pair connector 13, and front armed lever is long
Adjustable screw motion 16 is connected with forearm flexion and extension connecting rod 15, adjusts forearm axial force cancel system G's and human body forearm F
Fixed position, forearm medial rotation revolves outer kinematic pair 17 and is connected in front armed lever long adjustable screw pair 16, and front bending and stretching of the arms rotates secondary 14 Hes
The outer pair 17 that rotates of forearm medial rotation rotation is arranged vertically in turns auxiliary shaft line.
Described forearm bindiny mechanism G is as shown in figure 9, be made up of forearm moving sets 20 and front arm bandage 21, wherein forearm
Moving sets 20 are connected in forearm medial rotation and revolve on outer kinematic pair 17, and forearm moving sets 20 and forearm bandage 21 are connected, and forearm bandage
20 compact is worn on the end of forearm F.
Dress self adaptation upper limb exoskeleton mechanism in described one kind 9 degree of freedom, be for upper extremity function health on the right side of human body
Multiple exoskeleton mechanism, can adjust the relative of the first rotation pair, the second rotation pair, the 3rd rotation pair and elbow joint equivalent mechanism
Installation site, for the rehabilitation of upper extremity function on the left of human body, is not limited to this example.
Above-mentioned embodiment is explained to the essence of the present invention and has been illustrated, but is not construed as limitation of the present invention,
Any simple modifications substantially made based on the present invention, as long as its kinesiology and mechanism's theory of constitution are based on as shown in Figure 4 one
Plant 9 degree of freedom wearing self adaptation upper limb exoskeleton mechanisms, all should fall within the claims in the present invention protection domain.
Claims (1)
1. a kind of 9 degree of freedom wearing self adaptation upper limb exoskeleton mechanisms, adapt to mechanism A, exoskeleton mechanism, connection including shoulder joint
Mechanism and support member；It is characterized in that shoulder joint equivalent mechanism B and elbow joint equivalent mechanism E constitutes exoskeleton mechanism, upper arm is even
Connection mechanism D and forearm bindiny mechanism G constitutes bindiny mechanism, and shoulder joint is adapted to mechanism A and is connected with support member, and passes through ectoskeleton machine
Structure, bindiny mechanism are connected with human body upper arm C and forearm F；
Described shoulder joint adapts to mechanism A by the first guide rail, the first slide block, the second guide rail, the second slide block and slide block fixed plate group
One-tenth, the wherein first guide rail and the first slide block, the second guide rail and the second slide block separately constitute two moving sets, two moving sets movement sides
To all in the horizontal plane and orthogonal；
Described shoulder joint equivalent mechanism B by upper arm first rotate pair, first rotate secondary connector, upper arm second rotates pair, the
Two rotate secondary connectors, upper armed lever long adjustable screw kinematic pair and upper arm the 3rd kinematic pair is sequentially connected in series, wherein upper arm the
One rotates pair is connected with slide block fixed plate, and upper arm second rotates pair and passes through the first kinematic pair connector phase with upper arm first kinematic pair
Even, upper arm the 3rd kinematic pair is by upper armed lever long adjustable screw kinematic pair, the second kinematic pair connector and upper arm second kinematic pair
It is connected, wherein go up armed lever long adjustable screw kinematic pair and move along a straight line along the second kinematic pair connector, according to different human body upper arm length
On degree regulation ectoskeleton, armed lever is long, and upper arm first rotates pair, upper arm second rotates pair and upper arm the 3rd rotates pair in turns auxiliary shaft
The orthogonal arrangement of line, meets at a bit；
Described upper arm bindiny mechanism D is made up of upper arm moving sets and upper arm bandage, wherein upper arm moving sets and upper arm the 3rd fortune
Dynamic pair is fixedly linked, and upper arm bandage is fixedly connected with upper arm moving sets, and upper arm bandage is worn on the end of upper arm C；
Described elbow joint equivalent mechanism E rotates pair, forearm flexion and extension even by forearm flexion and extension pair connector, front bending and stretching of the arms
Secondary composition is rotated, wherein front bending and stretching of the arms rotates pair by front outside extension bar, front armed lever long adjustable screw kinematic pair and the rotation of forearm medial rotation
Bending and stretching of the arms kinematic pair connector is connected with upper arm the 3rd kinematic pair, and the long adjustable screw motion of front armed lever is connected with forearm flexion and extension
Bar is connected, and adjusts the fixed position of forearm axial force cancel system G and human body forearm F, and forearm medial rotation revolves outer kinematic pair and is connected in
In the long adjustable screw pair of front armed lever, front bending and stretching of the arms rotates the secondary and outer pair that rotates of forearm medial rotation rotation and is arranged vertically in turns auxiliary shaft line；
Described forearm bindiny mechanism G, is made up of forearm moving sets and front arm bandage, and wherein forearm moving sets are connected in forearm rotation
On the outer kinematic pair of inward turning, forearm moving sets and forearm bandage are connected, and forearm bandage is worn on the end of forearm F.
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