CN106393071B - A kind of adaptive upper limb healing exoskeleton mechanism of 9 freedom degrees wearing - Google Patents
A kind of adaptive upper limb healing exoskeleton mechanism of 9 freedom degrees wearing Download PDFInfo
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- CN106393071B CN106393071B CN201610999480.6A CN201610999480A CN106393071B CN 106393071 B CN106393071 B CN 106393071B CN 201610999480 A CN201610999480 A CN 201610999480A CN 106393071 B CN106393071 B CN 106393071B
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- 230000007246 mechanism Effects 0.000 title claims abstract description 134
- 210000001364 upper extremity Anatomy 0.000 title claims abstract description 38
- 230000003044 adaptive effect Effects 0.000 title claims abstract description 12
- 230000035876 healing Effects 0.000 title abstract description 8
- 210000000245 forearm Anatomy 0.000 claims abstract description 75
- 210000000323 shoulder joint Anatomy 0.000 claims abstract description 46
- 210000002310 elbow joint Anatomy 0.000 claims abstract description 22
- 238000005452 bending Methods 0.000 claims description 12
- 239000000203 mixture Substances 0.000 claims description 4
- 230000033001 locomotion Effects 0.000 abstract description 19
- 230000000694 effects Effects 0.000 abstract description 6
- 230000008878 coupling Effects 0.000 abstract description 5
- 238000010168 coupling process Methods 0.000 abstract description 5
- 238000005859 coupling reaction Methods 0.000 abstract description 5
- 230000005484 gravity Effects 0.000 abstract description 3
- 210000000988 bone and bone Anatomy 0.000 description 7
- 238000000034 method Methods 0.000 description 5
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- 238000005516 engineering process Methods 0.000 description 4
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- 210000004556 brain Anatomy 0.000 description 3
- 230000006378 damage Effects 0.000 description 3
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 3
- 230000036541 health 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
- 230000008901 benefit Effects 0.000 description 2
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- 210000003414 extremity Anatomy 0.000 description 2
- 230000035479 physiological effects, processes and functions Effects 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
- 241000287127 Passeridae Species 0.000 description 1
- 206010037714 Quadriplegia Diseases 0.000 description 1
- 206010039203 Road traffic accident Diseases 0.000 description 1
- 208000006011 Stroke Diseases 0.000 description 1
- 210000000142 acromioclavicular joint Anatomy 0.000 description 1
- 210000003484 anatomy Anatomy 0.000 description 1
- 230000009286 beneficial 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)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Prostheses (AREA)
- Rehabilitation Tools (AREA)
Abstract
A kind of adaptive upper limb healing exoskeleton mechanism of 9 freedom degrees wearing, including shoulder joint adapt to mechanism, exoskeleton mechanism, bindiny mechanism and supporting element.The exoskeleton mechanism is made of shoulder joint equivalent mechanism and elbow joint equivalent mechanism, wherein shoulder joint equivalent mechanism realizes movement of the upper arm based on the lifting face, lifting angle and inside and outside swing angle described ISB, and elbow joint equivalent mechanism is realized and moved outside forearm flexion/extension and medial rotation/rotation；The shoulder joint adapts to mechanism, bindiny mechanism is made of kinematic pair and connector, and effect is to adapt to shoulder, elbow joint motion coupling influence.Connection type is: supporting element, shoulder joint adapt to mechanism and exoskeleton mechanism and are sequentially connected, and by bindiny mechanism and upper limb is compact connects and composes man-machine closed chain mechanism.The configuration of the present invention is simple；Shoulder joint adapts to mechanism and is arranged in front end, keeps connection branch short, and mechanism gravity for transport to supporting element is dressed light；Shoulder, elbow joint motion coupling are adapted to, man-machine closed chain is released and generates man-machine power unrelated with training and torque.
Description
Technical field
The present invention relates to the rehabilitative engineering technology in the field of medical instrument technology, specifically a kind of 9 freedom degree wearing is adaptive
Upper limb healing exoskeleton mechanism is answered, for carrying out rehabilitation training to upper limb hemiplegia or upper extremity exercise function damage patient.
Background technique
With the development of social economy and the raising of living standards of the people, China has initially entered aging society, brain soldier
In have become the common frdquently encountered disease of aging group.Since population base of China is huge, with the development of aging process, brain soldier
Middle number of patients sharply increases, according to statistics, at present China every year increase newly up to 150~2,000,000 people of patients with cerebral apoplexy, be 60 years old with
Upper aged population it is lethal and disable it is first because.Meanwhile because various traffic accidents, natural calamity take place frequently, spinal cord injury is caused, outside brain
Hurt patient's number also to increase year by year.Aforementioned three kinds of diseases and damage easily cause quadriplegia, bring to the daily life of patient
It is greatly inconvenient.Since human upper limb is engaged in various complicated, fine activities, dysfunction directly affects patient work and daily
Viability is worth paying special attention to.The essence of upper limb disorder is that nervous centralis has damage, correspondingly, rehabilitation training
Basic goal is the recombination for exciting nervous centralis and compensatory, promotion nervous system motion perception functional rehabilitation, and then keeps suffering limb extensive
Multiple locomitivity.By advanced robot technology applied to the training of upper limb clinical rehabilitation, robot automation, accurate can be played
The advantage for changing and executing the high-intensitive manual labor of repeatability, makes up the deficiency of rehabilitation medical shortage of resources, reduces medical staff's
Labor intensity improves rehabilitation training effect.
According to human anatomy it is found that intricate shown in shoulders of human body joint Fig. 1, Fig. 2, it is by humerus, shoulder blade, lock
Bone, breastbone and Glenohumeral joint, acromioclavicular joint, articulatio sternoclavicularis and the scapulothoracu therebetween are formed by connecting, wherein articulatio sternoclavicularis
Even unclear with the scapulothoracu kinematics, according to human skeleton model kinematics analysis, the broad-mouthed receptacle for holding liquid upper arm in shoulder joints is closed
(traditional shoulder joint) is saved in different lifting faces, is lifted in the motion process at different lifting angles, center of rotation is in human body
In motion process of the shoulder joints relative to human body breastbone, it is drift, and drift orbit is not linear, but has more
The low curvature camber line of section is constituted, and the drift (shoulder joint kinesitherapy coupling) of shoulder Glenohumeral joint rotation center is also not limited to sagittal
In face, this keeps the movement for studying shoulder Glenohumeral joint more complicated；Human body ancon bone 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
Ruler joint, humeroradial joint and articulatio radioulnaris proximalis, A point, B point and C point are respectively capitulum of humerus, trochlea humeri and ulna ring in figure
The center in cylindrarthrosis face.Humeroulnar joint is made of trochlea humeri and trochlear notch of ulna, belongs to cochlear joint, is the master of elbow joint
Body portion can do forearm flexion and extension along axis AB.Articulatio radioulnaris proximalis is cut by the radius of caput radii articular circumference and ulna
Mark is constituted, and belongs to cyclarthosis, and distal radioulnar jojnt is made of the proximal side of caput radii and articulatio radiocarpea disk, belongs to axle pass
Section, the two joints constitute the forearm rotary motion around axis AC, and through consulting pertinent literature, elbow joint is in anterior flexion and rear stretching
In motion process, axis is not fixed, and (the elbow joint motion coupling) of drift, the specific characteristics of motion is still unintelligible.It is logical
The retrieval and analysis for crossing existing technical literature are as can be seen that existing upper limb rehabilitation robot platform includes that the sparrow Institute of Technology develops
MIT-MANUS, the Armin of Honcoma company of Switzerland, Washington, DC university CADEN-7, the State of Arizona, US developed
Vertical university PUPERT-IV etc., wherein MIT-MANUS, Armin have been realized in commercialization and clinical application.Domestic Harbin Institute of Technology, on
The research institutions such as big, Tsing-Hua University, Anyang mind side, one health of Guangzhou, Beijing University of Technology are handed over also to be engaged in correlative study in sea.Above-mentioned upper limb health
Multiple robot platform and model machine consider from theory of mechanisms, can be divided mainly into two classes, one kind is as application No. is 201110237805.4
The advantages of patent of invention discloses a kind of upper-limbs rehabilitation training robot, the robot mechanism is: using for reference human upper limb bone
Physiology of exercise structure feature obtains the brief mechanism configuration of form, is disadvantageous in that: only taking into account three freedom of shoulder joints
Degree, two freedom degrees of ancon do not account for human body shoulder ancon joint during the motion, the rotation center of shoulder Glenohumeral joint
Change, the drift of ancon joint rotation axis with the movement of upper limb.When there is wearing deviation in people-machine corresponding joint axis,
There are the inertial forces and torque unrelated with rehabilitation training in people-machine closed chain mechanism, easily leads to comfort and be deteriorated or pacify
Full problem；It is a kind of as the patent of invention application No. is 201310003656.4 disclose it is a kind of with people-machine motion compatibility
Upper limb healing exoskeleton mechanism, the mechanism have equally used for reference the physiology of exercise structure feature of human upper limb bone, and fully consider
The inertial forces and torque unrelated with rehabilitation training present in people-machine closed chain mechanism, but structure is complicated, bindiny mechanism's branch
Chain is too long, power laser propagation effect is bad, and branch weight largely has human upper limb to undertake, and cannot be efficiently transmitted to supporting element
On.
The purpose of the present invention is to propose to a kind of 9 freedom degrees to dress adaptive upper limb healing exoskeleton mechanism.The ectoskeleton
Mechanism sufficiently uses for reference the physiology of exercise structure feature of human upper limb bone, obtains the brief exoskeleton mechanism configuration of form, and fill
Divide and considers inertial forces and torque unrelated with rehabilitation training present in people-machine closed chain mechanism, reasonable Arrangement connection branch
Chain is transplanted to the man-machine connection branch in part the position being connected with supporting element, keeps man-machine connection branch short, and power laser propagation effect is good,
Branch weight can be efficiently transmitted to supporting element.
Summary of the invention
A kind of adaptive upper limb exoskeleton mechanism of 9 freedom degrees wearing, including shoulder joint adapt to mechanism A, exoskeleton mechanism, company
Connection mechanism and supporting element.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 adapts to mechanism A and supporting element is connected, and passes through ectoskeleton
Mechanism, upper arm bindiny mechanism D, forearm bindiny mechanism G and human body upper arm C and the compact connection of forearm F.
The shoulder joint adapts to mechanism A, is fixed by the first guide rail, the first sliding block, the second guide rail, the second sliding block and sliding block
Board group at, wherein the first guide rail and the first sliding block, the second guide rail and the second sliding block separately constitute two prismatic pairs, and two prismatic pairs move
Dynamic direction is all in the horizontal plane, and orthogonal.
The shoulder joint equivalent mechanism B is rotated by the first revolute pair of upper arm, the first revolute pair connector, upper arm second
Pair, the long adjusting screw of the second revolute pair connector, upper armed lever is secondary and upper arm third revolute pair is sequentially connected in series, wherein on
The first revolute pair of arm is connected with sliding block fixed plate, and the second revolute pair of upper arm is connect with the first revolute pair of upper arm by the first revolute pair
Part is connected, and upper arm third revolute pair passes through the long adjusting screw pair of upper armed lever, the second revolute pair connector and second turn of upper arm
It is dynamic secondary connected, wherein the long screw pair that adjusts of upper armed lever moves along a straight line along the second revolute pair connector, according in different human body
Armed lever is long on arm lengths adjusting ectoskeleton, and the first revolute pair of upper arm, the second revolute pair of upper arm and upper arm third revolute pair are in rotation
The orthogonal arrangement of secondary axis, meets at a bit.
The upper arm bindiny mechanism D is made of, wherein upper arm prismatic pair and upper arm upper arm prismatic pair and upper arm bandage
Three revolute pairs are fixedly linked, and upper arm bandage is fixedly connected with upper arm prismatic pair, the compact end for being worn on upper arm C of upper arm bandage.
The elbow joint equivalent mechanism E, by forearm flexion and extension pair connector, preceding bending and stretching of the arms revolute pair, preceding bending and stretching of the arms
It moves connecting rod, preceding armed lever length adjusting screw pair and forearm medial rotation and revolves outer revolute pair composition, wherein preceding bending and stretching of the arms revolute pair
It is connected by forearm flexion and extension pair connector with upper arm third revolute pair, preceding armed lever is long to adjust screw pair and preceding bending and stretching of the arms
It moves connecting rod to be connected, adjusts the fixation position of forearm bindiny mechanism G and human body forearm F, forearm medial rotation revolves outer revolute pair and is connected
In the long adjusting screw pair of preceding armed lever, preceding bending and stretching of the arms revolute pair and the outer revolute pair of forearm medial rotation rotation are vertical in revolute pair axis
Arrangement.
The forearm bindiny mechanism G, is made of forearm prismatic pair and forearm bandage, before wherein forearm prismatic pair is connected in
Arm medial rotation revolves in outer revolute pair, and forearm prismatic pair and forearm bandage are connected, the compact end for being worn on forearm F of forearm bandage.
In order to enhance the function of rehabilitation training of upper limbs, on the basis of this upper limb healing exoskeleton mechanism technical solution,
The end addition wrist flexion/extension of exoskeleton mechanism and receipts/exhibition campaign, or in which any movement, also belong to this upper limb healing
The range that exoskeleton mechanism technical solution is covered.
Beneficial effects of the present invention: after human upper limb is worn by the exoskeleton mechanism, exoskeleton mechanism is connected by upper arm
Connection mechanism D, forearm bindiny mechanism G and human upper limb upper arm C, the compact connection of forearm F, constitute people-machine closed chain mechanism, and shoulder joint is suitable
Answer mechanism A, exoskeleton mechanism, upper arm bindiny mechanism D, forearm bindiny mechanism G by being sequentially connected with, gravity for transport to supporting element
On, and shoulder joint adapts to mechanism and is arranged in the upper limb exoskeleton mechanism front end, is connected with supporting element, so that connection branch is shortened, people
Body upper limb wearing is light, specifically allows the rotation center of shoulder joint equivalent mechanism and human body shoulder joint rotation center not right when wearing
There are deviations between the heart, human elbow joints axes and elbow joint equivalent mechanism axis, as shown in Fig. 4,10, in ectoskeleton machine
Structure drives in the motion process of human upper limb, and shoulder joint equivalent mechanism driving upper arm realizes the lifting face described based on ISB, lifting
The movement at angle and inside and outside swing angle, shoulder joint adapt to mechanism adapt to shoulder joint due to the ectoskeleton not fortune to the heart in the horizontal plane
It is dynamic, the man-machine active force and torque of shoulder joint equivalent mechanism Yu the generation of shoulder joint in the horizontal plane are relieved, upper arm connects machine
The power and torque that structure releases shoulder joint equivalent mechanism and human body shoulder joint is axially generated in human body upper arm；Elbow joint equivalent mechanism is real
It is moved outside existing forearm flexion/extension and medial rotation/rotation, forearm bindiny mechanism releases due to human elbow axis and elbow joint equivalent mechanism
Forearm axial force caused by axis is misaligned and torque.The configuration of the present invention is simple；Shoulder joint adapts to mechanism and is arranged on this
Limb exoskeleton mechanism front end is connected with supporting element, and connection branch is made to shorten, and mechanism gravity for transport to supporting element is dressed light；It is suitable
Shoulder, elbow joint motion coupling influence are answered, man-machine closed chain is released and generates the man-machine active force and torque unrelated with training；Help to mention
The effect of safety and the rehabilitation training of high rehabilitation training of upper limbs.
Detailed description of the invention
Fig. 1 is upper limb shoulder bone 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 adaptive upper limb exoskeleton mechanism of 9 freedom degrees wearing
Fig. 5 is that shoulder joint adapts to mechanism A
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 that a kind of adaptive upper limb exoskeleton mechanism of 9 freedom degrees wearing dresses deviation schematic diagram
Description of symbols:
Drawing reference numeral explanation: A. shoulder joint adapts to mechanism, B. shoulder joint equivalent mechanism, C. human body upper arm, the connection of D. upper arm
Mechanism, E. elbow joint equivalent mechanism, F. human body forearm, G. forearm bindiny mechanism, 1. supporting elements, 2. first guide rails, 3. first is sliding
Block, 4. second guide rails, 5. second sliding blocks, 6. sliding block fixed plates, 7. the first revolute pairs of upper arm, 8. first revolute pair connectors, 9.
The second revolute pair of upper arm, 10. second revolute pair connectors, armed lever is long on 11. adjusts screw pair, the rotation of 12. upper arm thirds
Pair, 13. forearm flexion and extension pair connectors, bending and stretching of the arms revolute pair before 14., 15. forearm flexion and extension connecting rods, armed lever before 16.
Long to adjust screw pair, 17. forearm medial rotations revolve outer revolute pair, 18. upper arm prismatic pairs, 19. upper arm bandages, the movement of 20. forearms
Pair, 21. forearm bandages
Specific embodiment
The present invention that the following is further explained with reference to the attached drawings.
It is as shown in Figure 4,5 that a kind of 9 freedom degrees dress adaptive upper limb exoskeleton mechanism, including shoulder joint adapts to mechanism A, outer
Bone mechanism, bindiny mechanism and supporting element 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 adapts to mechanism A and supporting element 1 is connected,
And pass through exoskeleton mechanism, upper arm bindiny mechanism D, forearm bindiny mechanism G and human body upper arm C and the compact connection of forearm F.
The shoulder joint adapts to mechanism A as shown in figure 5, sliding by the first guide rail 2, the first sliding block 3, the second guide rail 4, second
Block 5 and the composition of sliding block fixed plate 6, wherein the first guide rail 2 and the first sliding block 3, the second guide rail 4 and the second sliding block 5 separately constitute two
A prismatic pair, two prismatic pair moving directions are all in the horizontal plane, and orthogonal.
The shoulder joint equivalent mechanism B as shown in fig. 6, by upper arm the first revolute pair 7, the first revolute pair connector 8, on
Arm the second revolute pair 9, the second revolute pair connector 10, upper armed lever be long adjust screw pair 11 and upper arm third revolute pair 12 according to
Secondary to be composed in series, wherein the first revolute pair of upper arm 7 is connected with sliding block fixed plate 6, and the second revolute pair of upper arm 9 and upper arm first rotate
Pair 7 is connected by the first revolute pair connector 8, and upper arm third revolute pair 12 adjusts screw pair 11, the by the way that upper armed lever is long
Two revolute pair connectors 10 are connected with the second revolute pair of upper arm 9, wherein the long screw pair 11 that adjusts of upper armed lever is along the second rotation
Secondary connector 10 moves along a straight line, and it is long to adjust armed lever on ectoskeleton according to different human body upper arm lengths, the first revolute pair of upper arm 7, on
The second revolute pair of arm 9 and upper arm third revolute pair 12 are in the orthogonal arrangement of revolute pair axis, are met at a bit.
The upper arm bindiny mechanism D upper arm prismatic pair 18 and upper arm bandage 19 as shown in fig. 7, be made of, wherein upper arm
Prismatic pair 18 is fixedly linked with upper arm third revolute pair 12, and upper arm bandage 19 is fixedly connected with upper arm prismatic pair 18, and upper arm is tied up
With the 19 compact ends for being worn on upper arm C.
The elbow joint equivalent mechanism E by forearm flexion and extension pair connector 13, preceding bending and stretching of the arms as shown in figure 8, rotated
The long adjusting screw pair 16 of pair 14, forearm flexion and extension connecting rod 15, preceding armed lever and forearm medial rotation revolve outer revolute pair 17 and form,
Wherein preceding bending and stretching of the arms revolute pair 14 is connected by forearm flexion and extension pair connector 13 with upper arm third revolute pair 12, and preceding armed lever is long
It adjusts screw pair 16 to be connected with forearm flexion and extension connecting rod 15, adjusts the fixation of forearm bindiny mechanism G and human body forearm F
Position, forearm medial rotation revolve before outer revolute pair 17 is connected in the long adjusting screw pair 16 of armed lever, preceding 14 He of bending and stretching of the arms revolute pair
Forearm medial rotation revolves outer revolute pair 17 and is arranged vertically in revolute pair axis.
The forearm bindiny mechanism G forearm prismatic pair 20 and forearm bandage 21 as shown in figure 9, be made of, wherein forearm
Prismatic pair 20 is connected in forearm medial rotation and revolves in outer revolute pair 17, and forearm prismatic pair 20 and forearm bandage 21 are connected, and forearm bandage
The 20 compact ends for being worn on forearm F.
Adaptive upper limb exoskeleton mechanism is dressed in 9 freedom degree of one kind, is for upper extremity function health on the right side of human body
Multiple exoskeleton mechanism, adjustable the first revolute pair of upper arm, the second revolute pair of upper arm, upper arm third revolute pair and elbow joint etc.
The relative mounting location for imitating mechanism is not limited to this example for the rehabilitation of upper extremity function on the left of human body.
Above embodiment is illustrated and has been illustrated for the essence of the present invention, but is not construed as limitation of the present invention,
Any simple improvement based on the essence of the present invention, as long as its kinematics and mechanism theory of constitution are based on as shown in Figure 4 one
9 freedom degrees of kind dress adaptive upper limb exoskeleton mechanism, should fall within the protection scope of the present invention.
Claims (1)
1. a kind of 9 freedom degrees dress adaptive upper limb exoskeleton mechanism, including shoulder joint adapts to mechanism (A), exoskeleton mechanism, company
Connection mechanism and supporting element；It is characterized in that shoulder joint equivalent mechanism (B) and elbow joint equivalent mechanism (E) constitute exoskeleton mechanism,
Upper arm bindiny mechanism (D) and forearm bindiny mechanism (G) constitute bindiny mechanism, and shoulder joint adapts to mechanism (A) and supporting element is connected, and
It is connected by exoskeleton mechanism, bindiny mechanism and human body upper arm (C) and forearm (F)；
The shoulder joint adapts to mechanism (A) by the first guide rail, the first sliding block, the second guide rail, the second sliding block and sliding block fixed plate
Composition, wherein the first guide rail and the first sliding block, the second guide rail and the second sliding block separately constitute two prismatic pairs, and two prismatic pairs are mobile
Direction is all in the horizontal plane, and orthogonal；
The shoulder joint equivalent mechanism (B) by the first revolute pair of upper arm, the first revolute pair connector, the second revolute pair of upper arm,
The long adjusting screw of second revolute pair connector, upper armed lever is secondary and upper arm third revolute pair is sequentially connected in series, wherein upper arm
First revolute pair is connected with sliding block fixed plate, and the second revolute pair of upper arm and the first revolute pair of upper arm pass through the first revolute pair connector
It is connected, upper arm third revolute pair is rotated by long secondary screw, the second revolute pair connector and the upper arm second of adjusting of upper armed lever
Pair is connected, wherein the long screw pair that adjusts of upper armed lever moves along a straight line along the second revolute pair connector, according to different human body upper arm
Armed lever is long on length adjustment ectoskeleton, and the first revolute pair of upper arm, the second revolute pair of upper arm and upper arm third revolute pair are in revolute pair
The orthogonal arrangement of axis, meets at a bit；
The upper arm bindiny mechanism (D) is made of upper arm prismatic pair and upper arm bandage, wherein upper arm prismatic pair and upper arm third
Revolute pair is fixedly linked, and upper arm bandage is fixedly connected with upper arm prismatic pair, and upper arm bandage is worn on the end of upper arm (C)；
The elbow joint equivalent mechanism (E) is by forearm flexion and extension pair connector, preceding bending and stretching of the arms revolute pair, forearm flexion and extension
Connecting rod, preceding armed lever length adjust screw pair and forearm medial rotation revolves outer revolute pair composition, wherein preceding bending and stretching of the arms revolute pair passes through
Forearm flexion and extension pair connector is connected with upper arm third revolute pair, and preceding armed lever is long to adjust screw pair and forearm flexion and extension
Connecting rod is connected, and adjusts the fixation position of forearm bindiny mechanism (G) and human body forearm (F), and forearm medial rotation revolves outer revolute pair and is connected
In the long adjusting screw pair of preceding armed lever, preceding bending and stretching of the arms revolute pair and the outer revolute pair of forearm medial rotation rotation are vertical in revolute pair axis
Arrangement；
The forearm bindiny mechanism (G), is made of, wherein forearm prismatic pair is connected in forearm forearm prismatic pair and forearm bandage
Medial rotation revolves in outer revolute pair, and forearm prismatic pair and forearm bandage are connected, and forearm bandage is worn on the end of forearm (F).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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| CN106924013B (en) * | 2017-04-15 | 2023-09-26 | 上海卓道医疗科技有限公司 | Exoskeleton type upper limb rehabilitation training robot |
| CN107334602A (en) * | 2017-07-24 | 2017-11-10 | 上海理工大学 | A kind of upper limbs exoskeleton device |
| CN107374912A (en) * | 2017-08-28 | 2017-11-24 | 哈尔滨理工大学 | A kind of upper-limbs rehabilitation training robot |
| CN108144264B (en) * | 2018-02-09 | 2023-11-14 | 武汉沃森拓客科技有限公司 | Rehabilitation training mechanical arm and rehabilitation robot |
| CN108836732B (en) * | 2018-04-20 | 2020-10-16 | 北京工业大学 | Upper limb rehabilitation training exoskeleton mechanism with human-machine motion compatibility and passive gravity balance characteristics |
| CN110787024B (en) * | 2019-06-26 | 2021-07-20 | 东南大学 | Shoulder joint rehabilitation exoskeleton mechanism adopting unpowered compensation joints |
| CN110652423B (en) | 2019-10-12 | 2021-11-12 | 东南大学 | Wearable upper limb rehabilitation training robot with accurate force control |
| CN112137841B (en) * | 2020-09-25 | 2023-02-03 | 上海理工大学 | Compliance shoulder rehabilitation exoskeleton |
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| US8317730B2 (en) * | 2007-02-16 | 2012-11-27 | Rehabtek Llc | Robotic rehabilitation apparatus and method |
| CN102499857B (en) * | 2011-11-09 | 2014-06-18 | 上海交通大学 | Exoskeleton wearable upper limb rehabilitation robot |
| CN103070756B (en) * | 2013-01-06 | 2014-10-15 | 北京工业大学 | Upper limb rehabilitation exoskeleton mechanism with man-machine kinematic compatibility |
| CN104385266A (en) * | 2014-08-28 | 2015-03-04 | 北京邮电大学 | Seven-degree-of-freedom external skeleton type teleoperation main hand |
| CN204092505U (en) * | 2014-10-22 | 2015-01-14 | 河北工业大学 | A kind of upper limb rehabilitation robot |
| CN104473752B (en) * | 2014-11-10 | 2015-07-29 | 华中科技大学 | A kind of exercising apparatus for recovery of upper limb based on grouping couple drive |
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