CN107334602A - A kind of upper limbs exoskeleton device - Google Patents

A kind of upper limbs exoskeleton device Download PDF

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Publication number
CN107334602A
CN107334602A CN201710605474.2A CN201710605474A CN107334602A CN 107334602 A CN107334602 A CN 107334602A CN 201710605474 A CN201710605474 A CN 201710605474A CN 107334602 A CN107334602 A CN 107334602A
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CN
China
Prior art keywords
patient
arm
forearm
support
wheelchair
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201710605474.2A
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Chinese (zh)
Inventor
李素姣
余灵
谢巧莲
代林志
严泽宇
汪楚宜
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University of Shanghai for Science and Technology
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University of Shanghai for Science and Technology
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Filing date
Publication date
Application filed by University of Shanghai for Science and Technology filed Critical University of Shanghai for Science and Technology
Priority to CN201710605474.2A priority Critical patent/CN107334602A/en
Publication of CN107334602A publication Critical patent/CN107334602A/en
Pending legal-status Critical Current

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Classifications

    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61GTRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/10Parts, details or accessories
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H1/00Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02Stretching or bending or torsioning apparatus for exercising
    • A61H1/0218Drawing-out devices
    • A61H1/0229Drawing-out devices by reducing gravity forces normally applied to the body, e.g. by lifting or hanging the body or part of it
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H1/00Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02Stretching or bending or torsioning apparatus for exercising
    • A61H1/0274Stretching or bending or torsioning apparatus for exercising for the upper limbs
    • AHUMAN NECESSITIES
    • A63SPORTS; GAMES; AMUSEMENTS
    • A63BAPPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B21/00Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
    • A63B21/00178Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices for active exercising, the apparatus being also usable for passive exercising
    • AHUMAN NECESSITIES
    • A63SPORTS; GAMES; AMUSEMENTS
    • A63BAPPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B21/00Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
    • A63B21/00181Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices comprising additional means assisting the user to overcome part of the resisting force, i.e. assisted-active exercising
    • AHUMAN NECESSITIES
    • A63SPORTS; GAMES; AMUSEMENTS
    • A63BAPPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B21/00Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
    • A63B21/06User-manipulated weights
    • A63B21/068User-manipulated weights using user's body weight
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H2201/00Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/01Constructive details
    • A61H2201/0119Support for the device
    • A61H2201/0138Support for the device incorporated in furniture
    • A61H2201/0149Seat or chair

Abstract

The invention provides a kind of upper limbs exoskeleton device, on wheelchair, is used to help have the patient of upper and lower extremities dysfunction to carry out upper extremity exercise and active training, has the feature that, including:Supporting mechanism is connected, for connecting wheelchair and supporting the upper limbs ectoskeleton of patient, including wheelchair fix bar, the first wheelchair locking folder, support frame, stayed pole and single head locking folder;Shoulder mobility mechanism, for allowing patient to carry out shoulder joint exercise motion, including support plate, revolving part, upper arm support member and upper arm rotating shaft part, revolving part and upper arm support member drive the shoulder joint of patient to carry out stretching motion of taking down the exhibits when rotating;Exercising elbow joint mechanism, for allowing patient to carry out elbow joint exercise motion, including upper arm fixture, upper elbow joint connector, lower elbow joint connector and forearm fixture;And wrist joints moving mechanism, for allowing patient to carry out wrist joint exercise motion, including holding, flexural spring, forearm adjusting rod and the forearm support member being sequentially connected.

Description

A kind of upper limbs exoskeleton device
Technical field
The present invention relates to a kind of rehabilitation training utensil, and in particular to a kind of upper limbs exoskeleton device.
Background technology
In September, 2015, Helpage International's issue《2015 global programs for the elderly observation indexes》Report is pointed out, global 60 years old And above population about 9.01 hundred million, account for world population 12.3%.To the year two thousand thirty, this ratio is up to 16.5%.In global range, The population of more than 60 years old is more than the population of less than 5 years old children, and to the year two thousand fifty, the population of more than 60 years old will be more than 15 years old Following population.Report also shows that current China is the country that the aged is most in the world, newest according to State Statistics Bureau The data of issue are shown, end for the end of the year 2016, the one full year of life of China 65 and the people of above population 1.5 hundred million, account for the 10.8% of total population.60 weeks Year and above population account for the 16.7% of total population up to 2.3 hundred million people, and are predicted according to the aged Working Committee in the whole nation, to 2050 Year, the ratio was up to 28%, and the year two thousand fifty Aged in China population is up to 4.8 hundred million, accounts for a quarter of global elderly population. Aging population, will be national conditions that Chinese current and future faces for a period of time.
Aging population can bring a series of social concerns, and senior health and fitness's problem increasingly obtains attention and the pass of society Note, wherein, cranial vascular disease or the nervous system disease are particularly great to the health threat of the elderly.Only by taking cerebral apoplexy as an example, according to The Ministry of Public Health counts, the annual people of new cases 2,500,000, and dead about 1,500,000 people, about 70%-80% patient leaves in survivor Different degrees of deformity, long-term dyskinesia be present.According to incompletely statistics, in hemiplegic patient caused by China only cerebral apoplexy just Account for 3 ‰~the 10 ‰ of national population.If being calculated by the population of China 1,300,000,000, the number of hemiplegic patient will be up to 3,900,000~ 13000000.Except the substantial amounts of paralytic that aging is brought, fetus or the non-progressive brain damage institute of infant's brain in development The fortune dynamic posture development permanent impairment of cause is that the patient of brain paralysis is also not within minority.The incidence of disease of brain paralysis is worldwide about For 1.5 ‰~4 ‰, averagely about 2 ‰.China's Their Incidence of Cerebral Palsy rate is about 1.8 ‰~4 ‰.No matter brain paralysis or apoplexy, with me The continuous development of state's science and technology, increasing patient has obtained timely treating, but most of patient can be along with upper The sequelae such as lower extremity motor function obstacle.At the same time, developing rapidly with World Economics, the rapid increasing of transport facility Long, hemiplegic patient's number caused by traffic accident is also in ascendant trend year by year.Therefore, hemiplegia, patients with cerebral palsy are allowed again Self care ability is obtained, improves the quality of life of sufferers themselves, the pressure mitigated on family numbers of patients body and mind is very urgent.
But the rehabilitation training of lower extremity motor function is often paid attention in clinical rehabilitation treatment, to upper extremity function and hand function Deficiency is paid attention in rehabilitation training, and rehabilitation training conventional at present is carried out by hand with medical personnel, and the rehabilitation of upper extremity function Treatment needs to carry out more finer rehabilitation trainings.However, traditional rehabilitation mode is mainly doctor carries out " one for patient To one " even the less important work therapy of " many-one ", this is both time-consuming, laborious, and spends greatly, and average family is difficult to bear.In addition, Wearable ectoskeleton, it is that one kind can be through with patient, auxiliary patient carries out the rehabilitation accessory of rehabilitation training, and current state It is inside and outside also to have a variety of upper limbs exoskeleton robot products, but these active equipment average physiques are huge, involve great expense, common people Do not consume, due to these features, such product generally uses in large-scale public medical mechanism, and popularity is not high.
The content of the invention
The present invention is, and it is an object of the present invention to provide a kind of upper limbs exoskeleton device in order to solving the above problems and carry out.
The invention provides a kind of upper limbs exoskeleton device, on wheelchair, is used to help hinder with upper and lower extremities function The patient hindered carries out upper extremity exercise and active training, has the feature that, including:Supporting mechanism is connected, for connecting wheelchair And support the upper limbs ectoskeleton of patient, including be fixed on wheelchair wheelchair fix bar, be set in the wheelchair fix bar and be used in combination In the branch that the first wheelchair locking of the horizontal seat mount of clamping wheelchair is pressed from both sides, is arranged on by wheelchair locking folder in wheelchair fix bar Support, the stayed pole being arranged on support frame is pressed from both sides by single head locking and the backrest for clamping wheelchair is connected and be used for the stayed pole The single head locking folder of framework;Shoulder mobility mechanism, for allowing patient to carry out shoulder joint exercise motion, including slideably it is arranged It is support plate on support frame, the revolving part being installed in rotation on by wing nut and corresponding bolt in support plate, logical Cross spring rod set and upper arm support member that movable pole cap is hinged on revolving part and by snapping connection on upper arm support member The shoulder joint of patient is driven to carry out stretching motion of taking down the exhibits when upper arm rotating shaft part, revolving part and upper arm support member rotate;Elbow joint is lived Motivation structure, for allowing patient to carry out elbow joint exercise motion, including the upper arm fixture being set on upper arm rotating shaft part and both sides The forearm fixture being connected to respectively by upper elbow joint connector and lower elbow joint connector on upper arm fixture;And wrist closes Movable device is saved, for allowing patient to carry out wrist joint exercise motion, including holding, flexural spring, the forearm regulation being sequentially connected Bar and forearm support member, the forearm support member are connected with forearm fixture, wherein, spring lever is provided with upper arm support member, should Compression spring is arranged with spring lever, the compression spring is used to give to the upper arm of patient when patient carries out elbow joint exercise motion Gravity compensation is given, two the first cylindrical boss are provided with forearm support member, two the second columns are provided with forearm fixture Boss, rubber band is provided between the first cylindrical boss and the second cylindrical boss, the rubber band is used to carry out wrist joint in patient During exercise motion gravity compensation is given to the forearm of patient.
In upper limbs exoskeleton device provided by the invention, it can also have the feature that:Wherein, the bottom of support frame It is additionally provided with the second wheelchair locking folder and third round chair locking folder of the vertical seat mount for clamping wheelchair.
In upper limbs exoskeleton device provided by the invention, it can also have the feature that:Wherein, support plate is close Multiple screwed holes are provided with the position of support frame, are provided with bolt in each screwed hole, the bolt-through screwed hole and quilt Corresponding nut is fixed so that support plate can by the distance between adjustment bolt and nut to support plate on support frame Position and height are adjusted.
In upper limbs exoskeleton device provided by the invention, it can also have the feature that:Wherein, on upper arm fixture Axis hole is provided with, upper arm rotating shaft part is arranged on upper arm fixture through axis hole and by stop nut so that the upper arm of patient It can be rotated around upper arm rotating shaft part, so that the elbow joint of patient can carry out bending stretching, extension fortune in multiple planes It is dynamic.
In upper limbs exoskeleton device provided by the invention, it can also have the feature that:Wherein, upper elbow joint connection One end of part and lower elbow joint connector is connected by screw with forearm fixture, and upper elbow joint connector and lower elbow joint connect The other end of fitting is connected by rivet with upper arm fixture, so that forearm fixture can be turned around the axis of rivet It is dynamic, and then enable the elbow joint of patient to carry out bending stretching routine.
In upper limbs exoskeleton device provided by the invention, it can also have the feature that:Wherein, on upper arm fixture The angled fan groove for being 230 ° is set on the position centered on the rivet hole matched with rivet, and upper elbow joint connector is with The fan-shaped boss that the rotational angle that is engaged with fan groove is 90 ° is provided with elbow joint connector so that forearm fixture and Motion angle between upper arm fixture is restricted, so that the activity point of view of the elbow joint of patient is 0~140 °.
In upper limbs exoskeleton device provided by the invention, it can also have the feature that:Wherein, forearm support member and It is fixed by snap between forearm adjusting rod, chute is provided with forearm support member, forearm adjusting rod is adjusted by chute and held Distance away from forearm fixture so that patient, which can hold, to be held and allow wrist joint to carry out bending stretching routine.
In upper limbs exoskeleton device provided by the invention, it can also have the feature that:Wherein, two the second columns Boss is in symmetrical up and down, after upper arm fixture rotates 180 ° around upper arm rotating shaft part so that rubber band can be by lower section second Cylindrical boss is shifted in the second cylindrical boss of top, and then enables the patient of opposite side to use upper limbs exoskeleton device.
The effect of invention and effect
According to a kind of upper limbs exoskeleton device involved in the present invention, because employing the first wheelchair locking folder and single head lock Hold folder so that wheelchair can be fixed in the upper limbs exoskeleton device.Supported as a result of rotatable revolving part and upper arm Part so that drive the shoulder joint of patient to carry out stretching motion of taking down the exhibits when revolving part and upper arm support member rotate.Because upper arm is consolidated Determine to be attached using upper elbow joint connector and lower elbow joint connector between part and forearm fixture, be easy to allow patient to carry out Elbow joint exercise motion.Because employing flexural spring, the tractive force of the flexural spring enables to the cramps in hands disease of patient Shape mitigates.Because being provided with spring lever on upper arm support member, compression spring is arranged with the spring lever, is easy to the compression spring to exist Gravity compensation is given to the upper arm of patient when patient carries out elbow joint exercise motion, it is abundant so as to allow the upper arm of patient to take exercise. Because being provided with two the first cylindrical boss on forearm support member, two the second cylindrical boss are provided with forearm fixture, the Rubber band is provided between one cylindrical boss and the second cylindrical boss, is easy to the rubber band to carry out wrist joint exercise motion in patient When to the forearm of patient give gravity compensation so that the forearm of patient can take exercise fully.So outside upper limbs of the invention Bone device has the characteristics of simple in construction, small volume and low cost, can reduce upper limbs in the case where providing gravity compensation Moving obstacle, help brain paralysis, Patients with Apoplexy Sequela to carry out daily upper limbs activity, aid in its rehabilitation training of upper limbs, promote patient The recovery of upper extremity function.
Brief description of the drawings
Fig. 1 is the structural representation for the upper limbs exoskeleton device being used in embodiments of the invention on wheelchair;
Fig. 2 is the structural representation of shoulder mobility mechanism in embodiments of the invention;
Fig. 3 is the structural representation of exercising elbow joint mechanism in embodiments of the invention;
Fig. 4 is the structural representation of wrist joints moving mechanism in embodiments of the invention;
Fig. 5 is the structural representation (one) of gravity compensation in embodiments of the invention;
Fig. 6 is the structural representation (two) of gravity compensation in embodiments of the invention.
Embodiment
In order that the technological means that the present invention realizes is easy to understand with effect, with reference to embodiments and accompanying drawing is to this Invention is specifically addressed.
<Embodiment>
Fig. 1 is the structural representation for the upper limbs exoskeleton device being used in embodiments of the invention on wheelchair.
As shown in figure 1, the upper limbs exoskeleton device 100 in the present embodiment is arranged on wheelchair 1, it is used to help have up and down The patient of limb dysfunction carries out upper extremity exercise and active training, including:Connect supporting mechanism 10, shoulder mobility mechanism 20, Exercising elbow joint mechanism 30, wrist joints moving mechanism 40 and gravity compensation 50.
As shown in figure 1, connection supporting mechanism 10 is used to connect wheelchair 1 and supports the upper limbs ectoskeleton of patient, including wheelchair Fix bar 11, the first wheelchair locking folder 12, support frame 13, wheelchair locking folder the 14, second wheelchair locking folder 15, third round chair locking Folder 16, stayed pole 17, single head locking folder 18 and single head locking folder 19.
Wheelchair fix bar 11 is used to fix wheelchair 1.
First wheelchair locking folder 12 is set in the wheelchair fix bar 11 and is used for the horizontal seat mount for clamping wheelchair 1.
Support frame 13 is arranged in wheelchair fix bar 11 by wheelchair locking folder 14.
Second wheelchair locking folder 15 and third round chair locking folder 16 are arranged on the bottom of support frame 13, for clamping wheelchair 1 Vertical seat mount.
Stayed pole 17 is arranged on support frame 13 by single head locking folder 18.
Single head locking folder 19 is connected with the stayed pole 17, for clamping the back frame of wheelchair 1.
Fig. 2 is the structural representation of shoulder mobility mechanism in embodiments of the invention.
As depicted in figs. 1 and 2, shoulder mobility mechanism 20 is used to allow patient to carry out shoulder joint exercise motion, including support Disk 21, revolving part 22, upper arm support member 23, spring rod set 24, movable pole cap 25, upper arm rotating shaft part 26 and buckle 27.
Support plate 21 is slideably set in the top of support frame 13, and support plate 21 is set on the position close to support frame 13 Multiple screwed holes are equipped with, are provided with bolt in each screwed hole, the bolt-through screwed hole is simultaneously fixed by corresponding nut, is made Support plate 21 can be by the distance between adjustment bolt and nut to position of the support plate 21 on support frame 13 and height It is adjusted.
Revolving part 22 is installed in rotation in support plate 21 by wing nut 221 and corresponding bolt.
Upper arm support member 23 is hinged on revolving part 22 by spring rod set 24 and movable pole cap 25.
Upper arm rotating shaft part 26 is connected on upper arm support member 23 by buckle 27.
Revolving part 22 and upper arm support member 23 drive the shoulder joint of patient to carry out stretching motion of taking down the exhibits when rotating.
Fig. 3 is the structural representation of exercising elbow joint mechanism in embodiments of the invention.
As shown in figures 1 and 3, exercising elbow joint mechanism 30 is used to allow patient to carry out elbow joint exercise motion, including upper arm Fixture 31, stop nut 32, forearm fixture 33, upper elbow joint connector 34 and lower elbow joint connector 35.
As shown in Figures 2 and 3, upper arm fixture 31, provided with the fan groove that angle is 230 °, set on upper arm fixture 31 There is axis hole, upper arm rotating shaft part 26 is arranged on upper arm fixture 31 through axis hole and by stop nut 32 so that patient's is upper Arm can be rotated around upper arm rotating shaft part 26, so that elbow joint can carry out bending stretching, extension fortune in multiple planes It is dynamic.
Two are provided with forearm fixture 33 in the second symmetrical up and down cylindrical boss 331, upper arm fixture 31 both sides are connected on upper arm fixture 31 by upper elbow joint connector 33 and lower elbow joint connector 34 respectively.
One end of upper elbow joint connector 34 and lower elbow joint connector 35 is connected by screw with forearm fixture 33, The other end of upper elbow joint connector 34 and lower elbow joint connector 35 is riveted by rivet and upper arm fixture 31, so that Obtaining forearm fixture 33 can be rotated around the axis of screw, and then enable the elbow joint of patient to carry out bending stretching, extension fortune It is dynamic.
Turn being engaged with upper arm fixture 31 is provided with upper elbow joint connector 34 and lower elbow joint connector 35 The fan-shaped boss 341 and fan-shaped boss 351 that dynamic angle is 90 ° so that the fortune between forearm fixture 33 and upper arm fixture 31 Dynamic angle is restricted, so that the activity point of view of the elbow joint of patient is 0~140 °.
Fig. 4 is the structural representation of wrist joints moving mechanism in embodiments of the invention.
As shown in Figure 1 and Figure 4, wrist joints moving mechanism 40 is used to allow patient to carry out wrist joint exercise motion, including successively Holding 41, flexural spring 42, forearm adjusting rod 43 and the forearm support member 44 of connection.
Flexural spring 42 is arranged between holding 41 and forearm adjusting rod 43, can provide resistance in wrist joint bending motion Power, in the case of patient has certain muscular strength, temper the muscular strength of patient.
Chute (not shown) and two the first cylindrical boss 441, forearm support are provided with forearm support member 44 The bottom of part 44 is connected with forearm fixture 33,.
The bottom of forearm adjusting rod 43 is adjusted by chute and holds 41 distances away from forearm fixture 33, then passes through buckle Fixed forearm adjusting rod 43 and forearm support member 44 so that patient can hold holding 41 and allow wrist joint to carry out bending stretching, extension fortune It is dynamic.
As shown in figure 4, forearm adjusting rod 43 can separate with forearm support member 44, avoid to the activity of patient's routine hand Interference.Forearm adjusting rod 43 has two kinds to have inserted mode, and because it is strapped on the outside of forearm, 1. mode can facilitate hand to grab Hold, 2. mode can coordinate 20-30 ° of wrist joint dorsiflex.
Fig. 5 is the structural representation (one) of gravity compensation in embodiments of the invention, and Fig. 6 is embodiments of the invention The structural representation (two) of middle gravity compensation.
As shown in Figure 5 and Figure 6, gravity compensation 50 includes spring lever 51, compression spring 52 and rubber band 53.
Spring lever 51 is arranged on upper arm support member 23, and compression spring is set on 52 spring levers 51, the compression spring 52 are used to give gravity compensation to the upper arm of patient when patient carries out elbow joint exercise motion.
Rubber band 53 is arranged between second cylindrical boss 331 and first cylindrical boss 441, the rubber band 53 For giving gravity compensation to the forearm of patient when patient carries out wrist joint exercise motion.
The course of work of upper limbs exoskeleton device 100 is as follows in the present embodiment:
Upper limbs exoskeleton device 100 is locked into folder the 12, second wheelchair locking folder 15 by the first wheelchair and third round chair is locked Folder 16 is held to be connected on wheelchair 1.
After patient with upper and lower extremities dysfunction is sat into wheelchair 1, related personnel assists will be by shoulder mobility mechanism 20th, the bondage of upper limbs exoskeleton device 100 that exercising elbow joint mechanism 30 and wrist joints moving mechanism 40 form is in the Ipsilateral of patient On arm so that the hand of patient can hold holding 41 and the elbow joint of patient is located at forearm fixture 33 and upper arm fixture 31 Between, so that patient can cooperate with upper limbs exoskeleton device 100 to carry out under the gravity compensation of gravity compensation 50 Limb reconditioning, and then help patient's early recovery.
In addition, when auxiliary patient carries out daily upper limbs activity, patient can be by separating forearm adjusting rod 43 and forearm branch Wrist joints moving mechanism from removal in upper limbs exoskeleton device 100, is avoided the part for the dry of hand activities by support member 44 Disturb, further improve device practicality.
The effect of embodiment and effect
A kind of upper limbs exoskeleton device according to involved by the present embodiment, because employing the first wheelchair locking folder and single head Locking folder so that wheelchair can be fixed in the upper limbs exoskeleton device.As a result of rotatable revolving part and upper arm branch Support member so that drive the shoulder joint of patient to carry out stretching motion of taking down the exhibits when revolving part and upper arm support member rotate.Because upper arm It is attached between fixture and forearm fixture using upper elbow joint connector and lower elbow joint connector, is easy to allow patient to enter Row elbow joint exercise motion.Because employing flexural spring, the tractive force of the flexural spring enables to the cramps in hands of patient Symptom mitigation.Because being provided with spring lever on upper arm support member, compression spring is arranged with the spring lever, is easy to the compression spring Gravity compensation is given to the upper arm of patient when patient carries out elbow joint exercise motion, is filled so as to allow the upper arm of patient to take exercise Point.Because being provided with two the first cylindrical boss on forearm support member, two the second cylindrical boss are provided with forearm fixture, Rubber band is provided between first cylindrical boss and the second cylindrical boss, is easy to the rubber band to carry out wrist joint in patient and tempers fortune Gravity compensation is given to the forearm of patient when dynamic, so that the forearm of patient can take exercise fully.
The bottom of support frame is additionally provided with the second wheelchair locking folder and the 3rd of the vertical seat mount for clamping wheelchair Wheelchair locking folder so that wheelchair can by steadily be fixed on connection supporting mechanism on.
Support plate is provided with multiple screwed holes on the position close to support frame, and bolt is provided with each screwed hole, The bolt-through screwed hole is simultaneously fixed by corresponding nut so that support plate can pass through the distance between adjustment bolt and nut Position of the support plate on support frame and height are adjusted.
Axis hole is provided with upper arm fixture, upper arm rotating shaft part installed in upper arm is fixed through axis hole and by stop nut On part so that the upper arm of patient can be rotated around upper arm rotating shaft part, so that elbow joint can be in multiple planes Carry out bending stretching routine.
One end of upper elbow joint connector and lower elbow joint connector is connected by screw with forearm fixture, and upper elbow closes The other end for saving connector and lower elbow joint connector passes through rivet and riveted with upper arm fixture so that forearm fixture can be around The axis of rivet is rotated, and then enables the elbow joint of patient to carry out bending stretching routine.
Position on upper arm fixture centered on the rivet hole matched with rivet is provided with fan groove, upper elbow joint connection Part and lower elbow joint connector are provided with the fan-shaped boss being engaged with fan groove so that forearm fixture and upper arm fixture it Between motion angle be restricted so that the activity point of view of the elbow joint of patient be 0~140 °.
It is fixed by snap between forearm support member and forearm adjusting rod, chute is provided with forearm support member, forearm is adjusted Pole is adjusted by chute and holds the distance away from forearm fixture so that patient, which can hold, to be held and allow wrist joint to be bent Stretching routine.
Two the second cylindrical boss are in symmetrical up and down, after upper arm fixture rotates 180 ° around upper arm rotating shaft part, are made Obtaining rubber band can be shifted to by the cylindrical boss of lower section second in the second cylindrical boss of top, and upper limbs can be used by being easy to the patient of opposite side Exoskeleton device.
Therefore, upper limbs exoskeleton device of the invention has the characteristics of simple in construction, small volume and low cost, can carry In the case of gravity compensation, upper limbs moving obstacle is reduced, helps brain paralysis, Patients with Apoplexy Sequela to carry out daily upper limbs activity, Its rehabilitation training of upper limbs is aided in, promotes the recovery of patient's upper extremity function.

Claims (8)

1. a kind of upper limbs exoskeleton device, on wheelchair, it is used to help have the patient of upper and lower extremities dysfunction to carry out Limb moves and active training, it is characterised in that including:
Supporting mechanism is connected, for connecting the wheelchair and supporting the upper limbs ectoskeleton of the patient, including is fixed on the wheel Wheelchair fix bar on chair, it is set in the wheelchair fix bar and the first round of the horizontal seat mount for clamping the wheelchair Chair locking folder, locked by wheelchair and press from both sides the support frame being arranged in the wheelchair fix bar, institute is arranged on by single head locking folder State the stayed pole on support frame and be connected with the stayed pole and be used to clamping the single head locking folder of the back frame of the wheelchair;
Shoulder mobility mechanism, for allowing the patient to carry out shoulder joint exercise motion, including slideably it is set in the branch It is support plate on support, the revolving part being installed in rotation on by wing nut and corresponding bolt in the support plate, logical Cross spring rod set and upper arm support member that movable pole cap is hinged on the revolving part and by snapping connection in the upper arm branch Upper arm rotating shaft part in support member, the revolving part and the upper arm support member drive the shoulder joint of the patient to be received when rotating Open up stretching motion;
Exercising elbow joint mechanism, for allowing the patient to carry out elbow joint exercise motion, including it is set in the upper arm rotating shaft part On upper arm fixture and both sides the upper arm be connected to by upper elbow joint connector and lower elbow joint connector respectively fixed Forearm fixture on part;And
Wrist joints moving mechanism, for allowing the patient to carry out wrist joint exercise motion, including be sequentially connected holding, bending bullet Spring, forearm adjusting rod and forearm support member, the forearm support member are connected with the forearm fixture,
Wherein, spring lever is provided with the upper arm support member, compression spring is arranged with the spring lever, the compression spring is used for Gravity compensation is given to the upper arm of the patient when the patient carries out elbow joint exercise motion,
Two the first cylindrical boss are provided with the forearm support member, two the second columns are provided with the forearm fixture Boss, rubber band is provided between first cylindrical boss and second cylindrical boss, the rubber band is used in the trouble When person carries out wrist joint exercise motion gravity compensation is given to the forearm of the patient.
2. upper limbs exoskeleton device according to claim 1, it is characterised in that:
Wherein, the bottom of support frame as described above is additionally provided with the second wheelchair locking of the vertical seat mount for clamping the wheelchair Folder and third round chair locking folder.
3. upper limbs exoskeleton device according to claim 1, it is characterised in that:
Wherein, the support plate is provided with multiple screwed holes on the position close to support frame as described above, is set in each screwed hole Bolt is equipped with, screwed hole described in the bolt-through is simultaneously fixed by corresponding nut so that the support plate can be by adjusting The distance between bolt and the nut is stated position of the support plate on support frame as described above is adjusted with height.
4. upper limbs exoskeleton device according to claim 1, it is characterised in that:
Wherein, axis hole is provided with the upper arm fixture, the upper arm rotating shaft part is through the axis hole and passes through stop nut On the upper arm fixture so that the upper arm of the patient can be rotated around the upper arm rotating shaft part, so as to The elbow joint of the patient is enabled to carry out bending stretching routine in multiple planes.
5. upper limbs exoskeleton device according to claim 1, it is characterised in that:
Wherein, one end of the upper elbow joint connector and the lower elbow joint connector is fixed by screw and the forearm Part is connected, and the other end of the upper elbow joint connector and the lower elbow joint connector is fixed by rivet and the upper arm Part connects, so that the forearm fixture can be rotated around the axis of the rivet, and then causes the elbow of the patient Joint can carry out bending stretching routine.
6. upper limbs exoskeleton device according to claim 1, it is characterised in that:
Wherein, set on the position on the upper arm fixture centered on the rivet hole matched with the rivet and angled be Turn being engaged with the fan groove is provided with 230 ° of fan groove, upper elbow joint connector and the lower elbow joint connector The fan-shaped boss that dynamic angle is 90 ° so that the motion angle between the forearm fixture and the upper arm fixture is limited System, so that the activity point of view of the elbow joint of the patient is 0~140 °.
7. upper limbs exoskeleton device according to claim 1, it is characterised in that:
Wherein, it is fixed by snap between the forearm support member and the forearm adjusting rod, set on the forearm support member There is chute, the forearm adjusting rod adjusts the distance of the holding away from the forearm fixture by the chute so that described Patient can hold the holding and allow wrist joint to carry out bending stretching routine.
8. upper limbs exoskeleton device according to claim 1, it is characterised in that:
Wherein, two second cylindrical boss are in symmetrical up and down, when the upper arm fixture is around the upper arm rotating shaft part After 180 ° of rotation so that the rubber band can be shifted to by lower section second cylindrical boss in second cylindrical boss of top, And then the patient of opposite side is enabled to use the upper limbs exoskeleton device.
CN201710605474.2A 2017-07-24 2017-07-24 A kind of upper limbs exoskeleton device Pending CN107334602A (en)

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109718049A (en) * 2018-12-27 2019-05-07 天水师范学院 A kind of disabled person's limbs strength device for healing and training convenient for adjusting
CN111419568A (en) * 2020-04-09 2020-07-17 上海理工大学 Upper limb supporting device
CN111449911A (en) * 2020-04-26 2020-07-28 郑州大学 Recovered device of taking exercise of cerebral apoplexy patient arm
WO2021010821A1 (en) * 2019-07-15 2021-01-21 Yumen Bionics B.V. Exoskeleton for supporting a user's arm

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109718049A (en) * 2018-12-27 2019-05-07 天水师范学院 A kind of disabled person's limbs strength device for healing and training convenient for adjusting
WO2021010821A1 (en) * 2019-07-15 2021-01-21 Yumen Bionics B.V. Exoskeleton for supporting a user's arm
NL2023503B1 (en) * 2019-07-15 2021-02-08 Yumen Bionics B V Exoskeleton for supporting a user's arm
CN111419568A (en) * 2020-04-09 2020-07-17 上海理工大学 Upper limb supporting device
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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