CN108744422A - A kind of wearable upper extremity exercise auxiliary device of four-degree-of-freedom of degree of freedom optimization - Google Patents
A kind of wearable upper extremity exercise auxiliary device of four-degree-of-freedom of degree of freedom optimization Download PDFInfo
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- CN108744422A CN108744422A CN201810587631.6A CN201810587631A CN108744422A CN 108744422 A CN108744422 A CN 108744422A CN 201810587631 A CN201810587631 A CN 201810587631A CN 108744422 A CN108744422 A CN 108744422A
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- 210000001364 upper extremity Anatomy 0.000 title claims abstract description 26
- 238000005457 optimization Methods 0.000 title claims abstract description 12
- 210000000245 forearm Anatomy 0.000 claims abstract description 40
- 239000000758 substrate Substances 0.000 claims description 13
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 3
- 239000007787 solid Substances 0.000 claims description 2
- 210000000323 shoulder joint Anatomy 0.000 abstract description 9
- 230000009471 action Effects 0.000 abstract description 8
- 210000002310 elbow joint Anatomy 0.000 abstract description 7
- 230000000153 supplemental effect Effects 0.000 abstract 1
- 230000033001 locomotion Effects 0.000 description 24
- 238000010586 diagram Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 230000035876 healing Effects 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 3
- 238000012827 research and development Methods 0.000 description 3
- 238000011161 development Methods 0.000 description 2
- 230000018109 developmental process Effects 0.000 description 2
- 210000003414 extremity Anatomy 0.000 description 2
- 230000007935 neutral effect Effects 0.000 description 2
- QEIQEORTEYHSJH-UHFFFAOYSA-N Armin Natural products C1=CC(=O)OC2=C(O)C(OCC(CCO)C)=CC=C21 QEIQEORTEYHSJH-UHFFFAOYSA-N 0.000 description 1
- 206010008190 Cerebrovascular accident Diseases 0.000 description 1
- 208000034657 Convalescence Diseases 0.000 description 1
- 208000006011 Stroke Diseases 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000000988 bone and bone Anatomy 0.000 description 1
- 238000012512 characterization method Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000007665 sagging Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
- A63B23/12—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for upper limbs or related muscles, e.g. chest, upper back or shoulder muscles
-
- 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
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
- A63B21/00178—Exercising 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
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
- A63B21/00181—Exercising 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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
-
- 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
- A61H2201/1635—Hand or arm, e.g. handle
- A61H2201/1638—Holding means therefor
-
- 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)
- Orthopedic Medicine & Surgery (AREA)
- General Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- Life Sciences & Earth Sciences (AREA)
- Biophysics (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Rehabilitation Therapy (AREA)
- Animal Behavior & Ethology (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
- Prostheses (AREA)
Abstract
The present invention relates to a kind of wearable upper extremity exercise auxiliary devices of four-degree-of-freedom of degree of freedom optimization, including shoulder back fixed module, upper arm supplementary module and forearm supplementary module；The shoulder back fixed module includes shoulder back fixing bracket, knapsack module, the drive control module and power module being arranged in knapsack module；The upper arm supplementary module includes motor base, shoulder rotary tray motor, fixedly connected part, load-bearing strut, the first rotary base, linear drive apparatus, the first upper arm fixing sleeve, the device can be used for the daily exercise supplemental training of wearer's upper limb, it can complete single-degree-of-freedom action training and multiple-freedom linking training, it is super to stretch totally four degree of freedom that the device is realize shoulder joint anteflexion merely with three active drive units/then stretch, abduction/adduction and internal/external rotations and the buckling of elbow joint/, can be used in portable upper extremity exercise auxiliary.The apparatus structure is simple, wearing is convenient, has higher clinical meaning and practical value.
Description
Technical field
The invention belongs to upper limb rehabilitation robot technical field, be related to a kind of four-degree-of-freedom of degree of freedom optimization it is wearable on
Limb exercise assist device.
Background technology
China's apoplexy, hemiplegic patient are up to up to ten million people, and number of the infected rises year by year, add the shadow of aging of population
It rings, the demand to rehabilitation medical is further urgent.Existing rehabilitation medical mainly relies on the experimental technology of physiatrician, but doctor's number
And the influence of technology constrains the rehabilitation of patient.Healing robot development in recent years is swift and violent, and application is to a certain extent
This limitation is alleviated, but also higher and higher with the requirement deeply to healing robot of research.
Human upper limb locomotion pattern can be represented as 7 degree of freedom, be respectively shoulder joint abduction/adduction, it is anteflexion/after
It stretches, internal/external rotations；The buckling of elbow joint/surpass and stretch；Before the rotation of forearm/supination degree of freedom；And carpal palmar flexion/dorsiflexion, oar
The inclined degree of freedom of partially/ruler.Wherein, most common four degree of freedom be respectively shoulder joint abduction/adduction, it is anteflexion/after stretch, inward turning/
Outward turning degree of freedom and the buckling of elbow joint/super stretch degree of freedom.
Domestic and international rehabilitation device category is various, according to the difference of rehabilitation training purpose, usually selects different freedom
Degree.The rehabilitation equipment of early stage is mostly desk-top, and by way of single-ended traction, single position is realized using multiple driving units
The training of single or multiple degree of freedom, such as Massachusetts Institute Technology and Spaulding convalescent homes utilize five-bar mechanism research and development
2DOF MIT-Manus robots and Reading universities of Britain utilize lift rocking arm realize Three Degree Of Freedom GENTLE/S
Deng；With the development of rehabilitation equipment, there is the joint rehabilitation ectoskeleton equipment consistent with human synovial, such as Zurich science and engineering
The dermoskeletons such as the CADEN-7 of Armin series and the research and development of Washington, DC university of institute and Balgrist university hospitals R & D Cooperation
Bone rehabilitation equipment；Rehabilitation equipment is gradually to system type, functional form, pocket transformation, the control of degree of freedom in recent years
On driving unit gradually also developed by original many-to-one control model corresponded (consistent) with human motion degree of freedom
Control model is mainly shown as the single dof mobility of single driving unit control simple joint, or combinations thereof, such as Switzerland Hocoma
The Armeo Spring robots with gravity compensation function etc. of company's research and development.
Although this driving unit realizes characterization human body substantially with the one-to-one control model of human motion degree of freedom
7 degree of freedom of upper extremity exercise characteristic, but more driving unit often results in mechanical arm heaviness, is unfavorable for the portable of mechanical arm
Wearable design increases the complexity of control.
Invention content
In view of this, the purpose of the present invention is to provide a kind of wearable upper extremity exercise of four-degree-of-freedom of degree of freedom optimization is auxiliary
Device is helped, by the combination of active degree of freedom and passive freedom degree, is just realized respectively merely with three active drive units
Limb moves most important four degree of freedom in nonproductive task；Using jointly controlling for three active drive units, wearing is realized
The four-degree-of-freedom of person's upper limb moves nonproductive task.
In order to achieve the above objectives, the present invention provides the following technical solutions：
A kind of four-degree-of-freedom wearable upper extremity exercise auxiliary device of degree of freedom optimization, including shoulder back fixed module, on
Arm supplementary module and forearm supplementary module；The shoulder back fixed module include shoulder back fixing bracket, knapsack module, setting exist
Drive control module in knapsack module and power module；The upper arm supplementary module include motor base, shoulder rotary tray motor,
Fixedly connected part, load-bearing strut, the first rotary base, linear drive apparatus, the first upper arm fixing sleeve, the forearm supplementary module
Including forearm drive module and fixed module；The load-bearing strut is horizontally set on the top of shoulders of human body, and the bottom of inner end is logical
The output end for crossing fixedly connected part connection shoulder rotary tray motor, can in the horizontal plane rotate around its output shaft, and the side of outer end is logical
The fixing end of the first rotary base connection linear drive apparatus is crossed, the output end of linear drive apparatus passes through the first single-ended fixed rotation
Shaft or the first hanging ring and a little connecting on the first upper arm fixing sleeve.
Further, the shoulder back fixing bracket includes front, shoulder, behind three substrates, latter two substrate is carried on the back in front
Upper end by shoulder substrate connection, front, the lower end for carrying on the back latter two substrate are attached by the fixed shoulder strap of constraint respectively.
Further, upper extremity exercise auxiliary device further includes neck shoulder ring button, and the neck shoulder ring button is connected to shoulder by revolving part
Back bracket behind substrate center upper end position.
Further, the linear drive apparatus is the first electric pushrod, and the fixing end of first electric pushrod passes through the
One rotary base is connected to load-bearing strut.The output end of first electric pushrod passes through the first single-ended fixed rotary shaft or the first hanging ring
With a little connecting on the first upper arm fixing sleeve.
Further, the forearm drive module includes the second electric pushrod, the second chassis pedestal, and the fixed module includes
The fixing end of first forearm fixing sleeve, second electric pushrod connects the first upper arm fixing sleeve by the second rotary base, the
The output end of two electric pushrods passes through the second single-ended fixed rotary shaft or the second hanging ring and a little connecting on the first forearm fixing sleeve
It connects.
Further, the forearm drive module includes electric rotating machine, and the fixed module includes the second upper arm fixing sleeve, the
Two forearm fixing sleeves, oversleeve connector, the oversleeve connector include the inside rotary shaft and outside rotary shaft of rotation connection, outside
Sidespin shaft is fixedly connected with the second upper arm fixing sleeve, and inside rotary shaft is fixedly connected with the second forearm fixing sleeve, electric rotating machine
It is fixedly installed in rotary shaft corresponding position on the outside of oversleeve connector, the output shaft of electric rotating machine is rotated with the inside of oversleeve connector
Axis is fixedly connected.
The beneficial effects of the present invention are：The present invention has broken the single motive position of rehabilitation training tables of equipment driving unit control
Single dof mobility restriction, using electric rotating machine effectively prevent convalescence device brachium adjust the problem of, provide one kind
The Controlling model of multi-drive linkage.By the combination of active degree of freedom and passive freedom degree, merely with three active drives
Unit just realizes most important four degree of freedom in upper extremity exercise auxiliary respectively；Pass through the joint control of three active drive units
System, you can realize that the four-degree-of-freedom of wearer's upper limb moves nonproductive task.
Description of the drawings
In order to keep the purpose of the present invention, technical solution and advantageous effect clearer, the present invention provides following attached drawing and carries out
Explanation：
Fig. 1 a are the structural schematic diagram of embodiment 1；
Fig. 1 b are the front view of embodiment 1；
Fig. 1 c are the rearview of embodiment 1；
Fig. 2 a are the wearing schematic diagram of embodiment 1；
Fig. 2 b are the wearing front view of embodiment 1；
Fig. 2 c are the wearing rearview of embodiment 1；
Fig. 3 a are the structural schematic diagram of embodiment 2；
Fig. 3 b are the front view of embodiment 2；
Fig. 3 c are the rearview of embodiment 2；
Fig. 4 a are the wearing schematic diagram of embodiment 2；
Fig. 4 b are the wearing front view of embodiment 2；
Fig. 4 c are the wearing rearview of embodiment 2.
In figure, shoulder back fixing bracket 1, knapsack module 2, drive control module 3, power module 4, the fixed shoulder strap 5 of constraint,
Neck shoulder ring button 6, revolving part 7, motor base 8, shoulder rotary tray motor 9, fixedly connected part 10, load-bearing strut 11, the first turntable bottom
12, first the 13, first single-ended fixed rotary shaft of electric pushrod of seat or the first hanging ring 14, the first upper arm fixing sleeve 15, the second turntable
Pedestal 16-1, the second electric pushrod 17-1, the second single-ended fixed rotary shaft or the second hanging ring 18-1, the first forearm fixing sleeve 19-
1, the second upper arm fixing sleeve 16-2, oversleeve connector 17-2, electric rotating machine 18-2, the second forearm fixing sleeve 19-2.
Specific implementation mode
Below in conjunction with attached drawing, the preferred embodiment of the present invention is described in detail.
Embodiment 1：
A-1c and 2a-2c refering to fig. 1, the invention mainly comprises shoulder back fixed module, upper arm supplementary module and forearm are auxiliary
Help module；Shoulder back fixed module includes shoulder back fixing bracket 1, knapsack module 2, the driving control being arranged in knapsack module 2
Molding block 3 and power module 4 are made of most basic shoulder rotary tray motor 9, the first electric pushrod 13, the second electric pushrod 17-1
Structure type.In figure, the upper arm supplementary module includes motor base 8, shoulder rotary tray motor 9, fixedly connected part 10, load-bearing branch
Bar 11, the first rotary base 12, the first electric pushrod 13, the first upper arm fixing sleeve 15.The output end of first electric pushrod 13 is logical
Cross the first single-ended fixed rotary shaft or the first hanging ring 14 and a little connecting on the first upper arm fixing sleeve 15.In figure, the forearm
Supplementary module includes the first forearm fixing sleeve 19-1 and is arranged in the first forearm fixing sleeve 19-1 and the first upper arm fixing sleeve 15
Between forearm drive module.The fixing end that forearm drive module is the second electric pushrod 17-1, the second electric pushrod 17-1 is logical
Second rotary base 16-1 the first upper arm of connection fixing sleeve 15 is crossed, the output end of the second electric pushrod 17-1 is single-ended solid by second
Determine rotary shaft or the second hanging ring 18-1 to connect with any of 19-1 on the first forearm fixing sleeve.First single-ended fixed rotary shaft or
One hanging ring 14 and the second single-ended fixed rotary shaft or the second hanging ring 18-1 use single-ended fixed rotary shaft shape in Hard link
Formula, in the form for also using hanging ring connection that is flexible coupling.
Shoulder rotary tray motor 9 is fixed on by motor base 8 on the shoulder substrate of 1 one end of shoulder back fixing bracket, shoulder
9 output end of rotary tray motor is connected to the bottom surface of 11 one end of load-bearing strut by fixedly connected part 10；11 bottom surface of load-bearing strut is parallel
In the shoulder base plan of shoulder back fixing bracket 1, the upper end of latter two substrate is carried on the back by shoulder substrate connection in front, front,
It carries on the back the lower end of latter two substrate to be attached by the fixed shoulder strap of constraint 5 respectively, the side of 11 other end of load-bearing strut passes through the
One rotary base 12 is equipped with the first electric pushrod 13；The output end of first electric pushrod 13 passes through the first single-ended fixed rotary shaft
Or first hanging ring 14 be connected on the first upper arm fixing sleeve 15 a bit；Second rotary base in 15 outside of the first upper arm fixing sleeve
Second electric pushrod 17-1, the second electric pushrod 17-1 is installed on 16-1 and passes through the second single-ended fixed rotary shaft or the second hanging ring
18-1 connection the first forearm fixing sleeves 19-1；First upper arm fixing sleeve 15, the first forearm fixing sleeve 19-1 are tight by inflation, screw
Gu etc. modes be individually fixed in wearer's upper arm, forearm fixed position.
Load-bearing strut 11 can be driven to be revolved around 9 output shaft of shoulder rotary tray motor by the rotation of shoulder rotary tray motor 9
Turn, to drive 11 side of load-bearing strut the first rotary base 12 and thereon the first electric pushrod 13 horizontal plane rotation,
And then drive wearer's upper arm in the movement of horizontal plane using the traction action of the first electric pushrod 13；First rotary base 12
Dial portion can change the direction for the first electric pushrod 13 being fixed thereon by passively rotating, in conjunction with the first electric pushrod
13 stretching motion can make wearer's upper arm in the different retracted positions of the first electric pushrod 13, be generated in perpendicular
Different angle is lifted/is put down.
When humeral movement, the movement of the first upper arm fixing sleeve 15 passes through the traction action synchronous belt of the second electric pushrod 17-1
Dynamic first forearm fixing sleeve 19-1 movements；The buckling of elbow joint/surpass and stretch, i.e., the first forearm fixing sleeve 19-1 is fixed with the first upper arm
The stretching motion that the angle change of set 15 is combined the second electric pushrod 17-1 by the second rotary base 16-1 is realized together.
When load-bearing strut 11 is horizontal forward, locking shoulder rotary tray motor 9 moves, only stretching by the first electric pushrod 13
Contracting movement and the passive rotation of the first rotary base 12 realize wearer's shoulder using the traction action of the first electric pushrod 13
Joint it is anteflexion/after stretch freedom of motion.
When load-bearing strut 11 is outside along human body side horizontal, only pass through the stretching motion and first of the first electric pushrod 13
The abduction of traction action realization wearer's shoulder joint of i.e. available first electric pushrod 13 of passive rotation of rotary base 12/interior
Receive freedom of motion.
When the first electric pushrod 13 elongation to make human arm be in naturally droop state when, lock the first rotary base 12
With the movement of the first electric pushrod 13, only made using the drawing of the first electric pushrod 13 by the rotation of shoulder rotary tray motor 9
With the internal/external rotations freedom of motion for realizing wearer's shoulder joint.
When shoulder rotary tray motor 9, the locking of the first electric pushrod 13, only pass through the stretching motion of the second electric pushrod 17-1
Realize that the buckling of wearer's elbow joint/super stretches degree of freedom using the traction action of the second electric pushrod 17-1.
Present embodiments provide a kind of Controlling model of multi-drive linkage.Pass through active degree of freedom and passive freedom degree
Combination, just merely with tri- shoulder rotary tray motor 9, the first electric pushrod 13, the second electric pushrod 17-1 active drive units
Most important four degree of freedom in upper extremity exercise nonproductive task are realized respectively；Utilize the joint control of three active drive units
System realizes the four-degree-of-freedom movement nonproductive task of wearer's upper limb.
Embodiment 2：
Refering to Fig. 3 a-3c, Fig. 4 a-4c, difference lies in the present embodiment forearm drive modules with embodiment 1 for the present embodiment
Including oversleeve connector 17-2 and electric rotating machine 18-2, oversleeve connector 17-2 includes inside rotary shaft and the outside of rotation connection
Rotary shaft, outside rotary shaft are fixedly connected with the second upper arm fixing sleeve 16-2, inside rotary shaft and the second forearm fixing sleeve 19-2
It is fixedly connected, electric rotating machine 18-2 is fixedly installed in rotary shaft corresponding position on the outside of oversleeve connector 17-2, i.e. inside rotary shaft
With outside rotary shaft around the position in the axle center of rotation, the interior sidespin of the output shaft and oversleeve connector 17-2 of electric rotating machine 18-2
Shaft is fixedly connected.
Shoulder rotary tray motor 9 is fixed on by motor base 8 on the shoulder substrate of 1 one end of shoulder back fixing bracket, shoulder
9 output end of rotary tray motor is connected to the bottom surface of 11 one end of load-bearing strut by fixedly connected part 10；11 bottom surface of load-bearing strut is parallel
It is installed by the first rotary base 12 in the side of the shoulder base plan of shoulder back fixing bracket 1,11 other end of load-bearing strut
There is the first electric pushrod 13；First electric pushrod, 13 output end is connected to by the first single-ended fixed rotary shaft or the first hanging ring 14
On first upper arm fixing sleeve 15 a bit；Before the both ends oversleeve connector 17-2 are respectively fixed with the second upper arm fixing sleeve 16-2 and second
Arm fixing sleeve 19-2；Electric rotating machine 18-2 is fixedly installed in rotary shaft corresponding position on the outside of oversleeve connector 17-2, electric rotating machine
18-2 output shafts are coaxially fixed on the rotary shaft of oversleeve connector 17-2, and the output shaft of electric rotating machine 18-2 and oversleeve connector
Locking on the inside of 17-2；First upper arm fixing sleeve 15, the second upper arm fixing sleeve 16-2, the second forearm fixing sleeve 19-2 are respectively by filling
The modes such as gas, fastened by screw are individually fixed in wearer's upper arm, forearm fixed position.
Load-bearing strut 11 can be driven to be rotated around motor output shaft by the rotation of shoulder rotary tray motor 9, and then band
The rotation of 11 the first rotary base of side 12 of load-bearing strut and 13 bottom of the thereon first electric pushrod in horizontal plane is moved, to drive
Movement of wearer's upper arm in horizontal plane；In conjunction with the passive rotation of the turntable of the first rotary base 12, the first electric pushrod is utilized
13 stretching motion can be such that wearer's forearm that 13 output end of the first electric pushrod connects is stretched in 13 difference of the first electric pushrod
When contracting state, lifting/putting down for different angle is generated in perpendicular；Oversleeve is driven to connect using the output of electric rotating machine 18-2
The angle change of fitting 17-2, to drive the second upper arm fixing sleeve 16-2, the second forearm that are fixed on oversleeve connector 17-2
Relative angle variation between fixing sleeve 19-2.
When load-bearing strut 11 is horizontal forward, locking shoulder rotary tray motor 9 moves, only stretching by the first electric pushrod 13
The passive rotation of the turntable of contracting movement and the first rotary base 12, you can worn using the traction action realization of the first electric pushrod 13
Wearer's shoulder joint it is anteflexion/after stretch degree of freedom.
When load-bearing strut 11 is outside along human body side horizontal, only pass through the stretching motion and first of the first electric pushrod 13
The passive rotation of rotary base 12, you can using the first electric pushrod 13 traction action realize wearer's shoulder joint abduction/
Interior receipts degree of freedom.
When the first electric pushrod 13 elongation to make human arm be in naturally droop state when, lock the first rotary base 12
With the movement of the first electric pushrod 13, only made using the drawing of the first electric pushrod 13 by the rotation of shoulder rotary tray motor 9
With the internal/external rotations degree of freedom for realizing wearer's shoulder joint.
When shoulder rotary tray motor 10, the locking of the first electric pushrod 13, oversleeve is driven using the output of electric rotating machine 18-2
The rotation of connector 17-2 rotary shafts, to drive the second upper arm fixing sleeve 16-2 for being fixed on oversleeve connector 17-2, second
Relative angle variation between forearm fixing sleeve 19-2, and then the buckling of realization elbow joint/surpass and stretch degree of freedom.
Present embodiments provide a kind of Controlling model of multi-drive linkage.Pass through active degree of freedom and passive freedom degree
Combination, just distinguish merely with tri- shoulder rotary tray motor 9, the first electric pushrod 13, electric rotating machine 18-2 active drive units
Realize most important four degree of freedom in upper extremity exercise auxiliary；Only jointly controlling by three active drive units, you can
Realize the four-degree-of-freedom movement nonproductive task for meeting wearer's upper limb.
The present apparatus can ensure that the movement of human body upper limb healing is in safe range by adding position-limit mechanism.Position-limit mechanism can
To be realized using various ways such as mechanical position limitation, software limits.By taking mechanical position limitation as an example, sagging shoulder joint upper arm is neutral position
When, anteflexion angular range 0-70 degree, after stretch angular range 0-40 degree, abduction angle range 0-80 degree, interior receipts angular range 0-20
Degree, inward turning angular range 0-70 degree, 40 degree of outward turning angular range；When arm stretching is neutral position before elbow joint, flexion angle range
0-135 degree (safe spacing) stretches 5 degree of angle maximum magnitude.
Finally illustrate, preferred embodiment above is merely illustrative of the technical solution of the present invention and unrestricted, although logical
It crosses above preferred embodiment the present invention is described in detail, however, those skilled in the art should understand that, can be
Various changes are made to it in form and in details, without departing from claims of the present invention limited range.
Claims (6)
1. a kind of wearable upper extremity exercise auxiliary device of four-degree-of-freedom of degree of freedom optimization, it is characterised in that：It is solid including shoulder back
Cover half block, upper arm supplementary module and forearm supplementary module；The shoulder back fixed module includes shoulder back fixing bracket, knapsack mould
Block, the drive control module and power module being arranged in knapsack module；The upper arm supplementary module includes motor base, shoulder
Rotary tray motor, fixedly connected part, load-bearing strut, the first rotary base, linear drive apparatus, the first upper arm fixing sleeve, before described
Arm supplementary module includes forearm drive module and fixed module；The load-bearing strut is horizontally set on the top of shoulders of human body, interior
The bottom at end connects the output end of shoulder rotary tray motor by fixedly connected part, can in the horizontal plane be rotated around its output shaft, outside
The side at end connects the fixing end of linear drive apparatus by the first rotary base, and the output end of linear drive apparatus passes through first
Single-ended fixed rotary shaft or the first hanging ring and a little connecting on the first upper arm fixing sleeve.
2. a kind of wearable upper extremity exercise auxiliary device of four-degree-of-freedom of degree of freedom optimization according to claim 1, special
Sign is：The shoulder back fixing bracket includes front, shoulder, behind three substrates, and front, the upper end for carrying on the back latter two substrate are logical
Shoulder substrate connection is crossed, front, the lower end for carrying on the back latter two substrate are attached by the fixed shoulder strap of constraint respectively.
3. a kind of wearable upper extremity exercise auxiliary device of four-degree-of-freedom of degree of freedom optimization according to claim 2, special
Sign is：Upper extremity exercise auxiliary device further includes neck shoulder ring button, and the neck shoulder ring button is connected to shoulder back holder by revolving part
Behind substrate center upper end position.
4. a kind of wearable upper extremity exercise auxiliary device of four-degree-of-freedom of degree of freedom optimization according to claim 1, special
Sign is：The linear drive apparatus is the first electric pushrod, and the fixing end of first electric pushrod passes through the first turntable bottom
Seat is connected to load-bearing strut.The output end of first electric pushrod passes through on the first single-ended fixed rotary shaft or the first hanging ring and first
A little connecting on arm fixing sleeve.
5. according to a kind of wearable upper extremity exercise auxiliary dress of the four-degree-of-freedom of degree of freedom optimization of claim 1-4 any one of them
It sets, it is characterised in that：The forearm drive module includes the second electric pushrod, the second chassis pedestal, and the fixed module includes
The fixing end of first forearm fixing sleeve, second electric pushrod connects the first upper arm fixing sleeve by the second rotary base, the
The output end of two electric pushrods passes through the second single-ended fixed rotary shaft or the second hanging ring and a little connecting on the first forearm fixing sleeve
It connects.
6. according to a kind of wearable upper extremity exercise auxiliary dress of the four-degree-of-freedom of degree of freedom optimization of claim 1-4 any one of them
It sets, it is characterised in that：The forearm drive module includes electric rotating machine, and the fixed module includes the second upper arm fixing sleeve, the
Two forearm fixing sleeves, oversleeve connector, the oversleeve connector include the inside rotary shaft and outside rotary shaft of rotation connection, outside
Sidespin shaft is fixedly connected with the second upper arm fixing sleeve, and inside rotary shaft is fixedly connected with the second forearm fixing sleeve, electric rotating machine
It is fixedly installed in rotary shaft corresponding position on the outside of oversleeve connector, the output shaft of electric rotating machine is rotated with the inside of oversleeve connector
Axis is fixedly connected.
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| CN201810587631.6A CN108744422B (en) | 2018-06-08 | 2018-06-08 | Four-degree-of-freedom wearable upper limb movement auxiliary device with optimized degree of freedom |
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|---|---|---|---|
| CN201810587631.6A CN108744422B (en) | 2018-06-08 | 2018-06-08 | Four-degree-of-freedom wearable upper limb movement auxiliary device with optimized degree of freedom |
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| Publication Number | Publication Date |
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| CN108744422A true CN108744422A (en) | 2018-11-06 |
| CN108744422B CN108744422B (en) | 2020-06-09 |
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| CN201810587631.6A Active CN108744422B (en) | 2018-06-08 | 2018-06-08 | Four-degree-of-freedom wearable upper limb movement auxiliary device with optimized degree of freedom |
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| CN110559158A (en) * | 2019-08-16 | 2019-12-13 | 南京理工大学 | wearable upper limb rehabilitation robot |
| CN110652423A (en) * | 2019-10-12 | 2020-01-07 | 东南大学 | Wearable upper limb rehabilitation training robot with accurate force control |
| CN110802578A (en) * | 2019-11-13 | 2020-02-18 | 吉林大学 | Maximum safe operation range detection method for upper limb of wearable robot |
| CN110946739A (en) * | 2019-12-13 | 2020-04-03 | 寿光市人民医院 | Neural hemiplegia rehabilitation daily exercise auxiliary device |
| CN111658429A (en) * | 2020-06-15 | 2020-09-15 | 大连理工江苏研究院有限公司金坛分公司 | Medical care nursing equipment based on internet |
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| CN113058200A (en) * | 2021-03-31 | 2021-07-02 | 岳阳职业技术学院 | Old nursing exercise training device |
| CN113318408A (en) * | 2021-05-08 | 2021-08-31 | 武汉城市职业学院 | Dash swing arm trainer |
| CN114209554A (en) * | 2022-01-25 | 2022-03-22 | 安徽职业技术学院 | Elbow joint traction system based on rehabilitation training |
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| CN113318408A (en) * | 2021-05-08 | 2021-08-31 | 武汉城市职业学院 | Dash swing arm trainer |
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