CN112022623A

CN112022623A - Wearable flexible upper limb assistance exoskeleton mechanism based on software driver

Info

Publication number: CN112022623A
Application number: CN202010970006.7A
Authority: CN
Inventors: 陈殿生; 马骏林
Original assignee: Beihang University
Current assignee: Beihang University
Priority date: 2020-09-14
Filing date: 2020-09-14
Publication date: 2020-12-04

Abstract

The invention discloses a wearable flexible upper limb exoskeleton assistance mechanism based on a software driver, which mainly comprises a wearing garment, a shoulder air bag, an elbow air bag, a wrist air bag, an adjustable thread gluing and the like. Wherein, the wearing clothes bears all parts of elements and is provided with all air bags; the shoulder air bags are contacted with the inner side of the big arm of the human body and the outer side of the rib, and play a role in expanding the big arm and lifting the big arm after the shoulder air bags are inflated and expanded; the elbow air bag is arranged at the outer side of the elbow and plays a role in bending the elbow joint after being inflated and expanded; the wrist airbag is arranged at the outer side of the wrist and plays a role of bending the wrist joint after being inflated and expanded; the adjustable thread gluing can freely adjust the gap and the tightness degree between the air bag and the wearing clothes. The wearing mechanism is communicated with the shoulder air bags, the elbow air bags and the wrist air bags through an external air source, and the air bags expand and bend to drive all joints to move, so that the upper limb movement control and the movement assistance are achieved. The invention introduces the soft robot technology and the flexible exoskeleton technology into the field of upper limb assistance, has the advantages of good comfort, low cost, good human-computer compatibility and the like, and has compact integral structure, attractive design, convenient and comfortable wearing.

Description

Wearable flexible upper limb assistance exoskeleton mechanism based on software driver

Technical Field

The invention relates to the technical field of software robots, in particular to a wearable flexible upper limb assistance exoskeleton mechanism based on a software driver, which can improve the driving force of upper limbs of a human body, and adopts a software robot technology to increase the wearing comfort to a certain extent and reduce the configuration space.

Background

With the aggravation of the aging of the population in China, the number of patients with Parkinson, cerebral apoplexy and the like is increased day by day, and the number of the elderly with upper limb movement dysfunction caused by function degradation is increased gradually, so that the demand of huge patient groups on the upper limb movement assistance is very urgent. The flexible upper limb power-assisted robot developed by the subject has the characteristics of comfort, low cost and the like, has the characteristic of convenience in batch production, is suitable for environments not limited to large medical institutions, has the advantages of structural portability, use safety and operation simplicity, and can be used as an auxiliary tool for daily movement functions of patients with upper limb dyskinesia.

According to the invention, the research work of a principle model machine of a flexible upper limb assistance robot is developed by analyzing the assistance requirement of the upper limb; the invention introduces a software robot technology and a flexible exoskeleton technology into the field of upper limb assistance, and designs a wearable flexible upper limb exoskeleton assistance mechanism based on a software driver.

Disclosure of Invention

The invention designs a wearable flexible upper limb exoskeleton power-assisted mechanism based on a software driver, which introduces software robot technology and flexible exoskeleton technology into the field of upper limb power assistance so as to solve the problems mentioned in the background technology.

The utility model provides a flexible upper limbs ectoskeleton assist drive device of wearable based on software driver which characterized in that: comprises a wearing garment, a shoulder air bag, an elbow air bag, a wrist air bag and an adjustable thread gluing.

The wearing clothes are single-sleeve jackets made of space cotton, and are characterized in that elements of each part are carried, and each air bag is installed.

The shoulder air bag is a spherical air bag and is characterized in that the shoulder air bag is in contact with the inner side of the large arm of the human body and the outer side of the rib, and plays a role in expanding the large arm and lifting the large arm after the shoulder air bag is inflated and expanded.

The elbow air bag is a semi-cylindrical silica gel air bag and is characterized in that the elbow air bag is a silica gel soft driver and comprises a silica gel layer, a radial limiting layer, a bottom limiting layer, a protective layer and an air pipe connector, and the soft driver is placed on the outer side of an elbow and plays a role in bending the elbow joint after being inflated and expanded.

The silica gel layer is provided with silicon rubber on the outside and a cavity inside, and the silica gel layer expands after gas is filled in the cavity.

The radial limiting layer is made of Kevlar fiber and is wound outside the silica gel layer to limit radial expansion of the silica gel and increase axial extension of the silica gel layer.

The elastic modulus of the bottom limiting layer is high, and the bottom limiting layer is used for being attached to the bottom of the silica gel layer, limiting the bottom of the silica gel to stretch and increasing the bending effect of the silica gel.

The protective layer is a layer of silicon rubber, is coated outside the silicon rubber layer, the radial limiting layer and the bottom limiting layer and is used for preventing the radial limiting layer and the bottom limiting layer from being dislocated and falling off.

The trachea connector is nylon materials, and is characterized in that the bottom of the trachea connector is connected with the silica gel layer, and the middle of the trachea connector is a hollow part so as to conveniently introduce gas.

The wrist airbag is a semi-cylindrical silica gel airbag and is characterized in that the structure of the wrist airbag is the same as that of an elbow airbag, and the soft driver is placed on the outer side of the wrist and plays a role in bending the wrist joint after being inflated and expanded.

The adjustable thread gluing is characterized in that the adjustable thread gluing is composed of an adjustable binding belt and a magic tape, the thread gluing is positioned at two ends of each air bag installation, and gaps and tightness between the air bags and the wearing clothes can be freely adjusted.

The structure of the invention introduces the soft robot technology and the flexible exoskeleton technology into the upper limb assistance field, has the advantages of good comfort, low cost, good man-machine compatibility and the like, and has compact integral structure, beautiful design, convenient and comfortable wearing.

Drawings

FIG. 1 is a schematic view of the overall mechanism of the present invention.

FIG. 2 is a view showing the construction of the elbow airbag according to the present invention.

FIG. 3 is a schematic view of the overall distribution of the present invention.

In the figure, 1-wearing clothes, 2-shoulder air bags, 3-elbow air bags, 4-wrist air bags, 5-adjustable thread gluing, 6-silicone rubber layers, 7-radial limiting layers, 8-bottom limiting layers, 9-protective layers and 10-trachea connectors.

Detailed Description

The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings and embodiments, and it is to be understood that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The invention provides a technical scheme that: a wearable flexible upper limb assistance exoskeleton mechanism based on a software driver comprises a wearable garment 1, a shoulder air bag 2, an elbow air bag 3, a wrist air bag 4, an adjustable thread gluing 5, a silicone rubber layer 6, a radial limiting layer 7, a bottom limiting layer 8, a protective layer 9, a trachea connector 10 and the like.

The wearing process of the patient: firstly, wearing the wearing clothes 1, then respectively installing the shoulder air bags 2, the elbow air bags 3 and the wrist air bags 4 at corresponding positions, and adjusting the tightness of each part through adjustable thread gluing 5 to finish the wearing process; the whole wearing process is simple and convenient, and the wearing is comfortable.

The invention realizes the bending movement of three joints of shoulder, elbow and wrist by supplying external air source to the shoulder air bag 2, elbow air bag 3 and wrist air bag 4, thereby achieving the movement control and the movement assistance of the upper limbs.

Claims

1. The utility model provides a flexible upper limbs helping hand ectoskeleton mechanism of wearable based on software driver which characterized in that: comprises a wearing garment, a shoulder air bag, an elbow air bag, a wrist air bag and an adjustable thread gluing.

2. The garment of claim 1, wherein the garment is a single-sleeved jacket made of space cotton, and each of the air bags is mounted on each of the partial elements.

3. The shoulder airbag of claim 1, which is a spherical airbag, and which contacts the inside of the upper arm and the outside of the ribs of the human body and acts to spread the upper arm and lift the upper arm after it is inflated.

4. The elbow airbag as claimed in claim 1 is a semi-cylindrical silica gel airbag, characterized in that it is a silica gel soft driver, comprising a silica gel layer, a radial limiting layer, a bottom limiting layer, a protective layer, and a trachea connector, the soft driver is placed outside the elbow and plays a role of bending the elbow joint after being inflated and expanded.

5. The silicone rubber layer of claim 4, wherein the silicone rubber layer is arranged outside and the cavity is arranged inside, and the silicone rubber layer expands after the air is filled in the cavity.

6. The radial limiting layer as claimed in claim 4 is Kevlar fiber filament wound outside the silica gel layer to limit radial expansion of the silica gel and increase axial elongation thereof.

7. The bottom limiting layer as defined in claim 4, which has a higher elastic modulus and is used to adhere to the bottom of the silicone rubber layer to limit the elongation of the bottom of the silicone rubber layer and increase the bending effect of the bottom of the silicone rubber layer.

8. The protective layer according to claim 4, wherein the protective layer is a layer of silicone rubber, and the silicone rubber covers the silicone rubber layer, the radial limiting layer and the bottom limiting layer to prevent the radial limiting layer and the bottom limiting layer from being dislocated and falling off.

9. The tracheal connector of claim 4 comprising a nylon material, wherein the bottom is connected to the silicone layer and the middle is hollow to facilitate gas introduction.

10. The wrist bladder of claim 1 being a semi-cylindrical silicone bladder, wherein the same structure as the elbow bladder, the soft body driver is placed outside the wrist to bend the wrist after inflation.

11. The adjustable fastening button according to claim 1, wherein an adjustable binding band and a fastening tape are used, the fastening button is located at both ends of each air bag installation, and the gap and tightness between the air bag and the wearing clothes can be freely adjusted.