CN114393564A - Self-balancing wearable flexible elbow joint assistance exoskeleton - Google Patents

Self-balancing wearable flexible elbow joint assistance exoskeleton Download PDF

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Publication number
CN114393564A
CN114393564A CN202210041440.6A CN202210041440A CN114393564A CN 114393564 A CN114393564 A CN 114393564A CN 202210041440 A CN202210041440 A CN 202210041440A CN 114393564 A CN114393564 A CN 114393564A
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China
Prior art keywords
forearm
spring
elbow joint
upper arm
fixing
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CN202210041440.6A
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Chinese (zh)
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CN114393564B (en
Inventor
孟巧玲
许蓉娜
谢巧莲
焦宗琪
吴志宇
喻洪流
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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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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0006—Exoskeletons, i.e. resembling a human figure
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0008—Balancing devices
    • B25J19/0016—Balancing devices using springs
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Rehabilitation Tools (AREA)

Abstract

The invention discloses a self-balancing wearable flexible elbow joint assistance exoskeleton which comprises an elbow joint fixing orthosis, a gravity balancing module and a rigidity changing module, wherein the elbow joint fixing orthosis comprises an upper arm fixing orthosis and a forearm fixing orthosis, the upper arm fixing orthosis and the forearm fixing orthosis are respectively connected with an upper arm and a forearm of an elbow joint of a human body, two ends of the gravity balancing module are respectively connected with the outer sides of the upper arm fixing orthosis and the forearm fixing orthosis, the rigidity changing module is arranged on the outer side of the gravity balancing module, and the rigidity changing module is configured to change the rigidity of the gravity balancing module. The invention adopts a variable-rigidity gravity balance mode to realize the variable-rigidity design of the mechanism and realize the complete gravity balance of the elbow joint rotation.

Description

Self-balancing wearable flexible elbow joint assistance exoskeleton
Technical Field
The invention relates to the technical field of exoskeleton robots, in particular to a self-balancing wearable flexible elbow joint assistance exoskeleton.
Background
In recent years, the application of flexible robot technology to exoskeleton robots at home and abroad is widely developed, and the flexible robot is mainly applied to rehabilitation and life assistance of people with limb dyskinesia. The flexible upper limb rehabilitation training equipment solves the problem of resource shortage of rehabilitation doctors to a certain extent, and solves the problems of large mass, poor man-machine interaction and the like of the rigid exoskeleton. In the research of the flexible upper limb reinforcing exoskeleton system, the light and wearable self-balancing upper limb exoskeleton system achieves some results, but cannot be widely popularized and applied.
Accordingly, those skilled in the art are directed to providing a self-balancing wearable flexible elbow joint assist exoskeleton that provides elbow joint flexion assistance to a wearer.
Disclosure of Invention
In view of the defects in the prior art, the technical problem to be solved by the invention is how to provide a self-balancing wearable flexible elbow joint assistance exoskeleton.
In order to achieve the purpose, the invention provides a self-balancing wearable flexible elbow joint assistance exoskeleton, which comprises an elbow joint fixing orthosis, a gravity balancing module and a rigidity changing module, wherein the elbow joint fixing orthosis comprises an upper arm fixing orthosis and a forearm fixing orthosis, the upper arm fixing orthosis and the forearm fixing orthosis are respectively connected with an upper arm and a forearm of an elbow joint of a human body, two ends of the gravity balancing module are respectively connected with the outer sides of the upper arm fixing orthosis and the forearm fixing orthosis, the rigidity changing module is arranged on the outer side of the gravity balancing module, and the rigidity changing module is configured to change the rigidity of the gravity balancing module.
Furthermore, the upper arm fixing orthosis is provided with a bolt guide hole and an elastic bandage which are respectively connected with the gravity balance module and the upper arm of the human body, and the forearm fixing orthosis is provided with a bolt guide hole and an elastic bandage which are respectively connected with the gravity balance module and the forearm of the human body.
Further, the gravity balance module comprises a forearm fixing rod, an upper arm fixing rod, a rod piece fixing cover, a cover with a groove, a fixing shaft and a spring, wherein one end of the forearm fixing rod is connected with the forearm fixing orthosis through a screw, one end of the upper arm fixing rod is connected with the upper arm fixing orthosis through a screw, the rod piece fixing cover and the cover with the groove are oppositely arranged, and the other end of the forearm fixing rod and the other end of the upper arm fixing rod are simultaneously clamped between the rod piece fixing cover and the groove cover; one end of the spring is fixed on the forearm fixing rod.
Further, the forearm fixing rod is provided with a first sliding groove and a toothed gear, and the forearm fixing rod is connected with the forearm fixing orthosis through a screw passing through the first sliding groove.
Further, the upper arm fixing rod is provided with a second sliding groove and a six-tooth gear, the upper arm fixing rod is connected with the upper arm fixing orthosis through a screw penetrating through the second sliding groove, and the six-tooth gear is matched with the one-tooth gear.
Further, the range of rotation of the one-tooth gear is 0 to 15 °.
Further, the forearm fixing rod is provided with a first guide hole, the upper arm fixing rod is provided with a second guide hole, the rod fixing cover is provided with a third guide hole, a fourth guide hole and a fifth guide hole, the grooved cover is provided with a sixth guide hole, a seventh guide hole and an eighth guide hole, the fixing shaft penetrates through the second guide hole, the fourth guide hole and the seventh guide hole, and the first guide hole, the third guide hole and the sixth guide hole are internally penetrated by the same bolt.
Further, the stiffness changing module comprises a steel wire rope and a spool, the spool is locked with the upper arm fixing rod through the fixing shaft, one end of the steel wire rope is connected with the spring, and the other end of the steel wire rope is fixed on the spool; when the spool rotates, the steel wire rope is wound on the spool.
Further, the spool comprises a steel wire rope fixing module and a ninth guide hole with a key groove, the spool is in key joint with the fixing shaft through the ninth guide hole, the steel wire rope fixing module is connected with the upper end of the spool through a self-tapping screw, and the steel wire rope is fixed on the steel wire rope fixing module.
Further, the parameter calculation of the spring comprises the following steps:
step 1, establishing a man-machine coupling statics model, setting the elbow joint flexion angle as theta, the spring tension as F (theta), the forearm gravity as G, the forearm length as l, and the anchor point position of the spring as a and b respectively relative to the upper arm, then:
Figure BDA0003470427730000021
step 2, carrying out numerical simulation on the model, and calibrating the values of a and b when the tensile force F (theta) is minimum in the range of a and b belonging to (0, 250) mm to obtain the anchor point positions a and b of the spring;
step 3, setting the rotational rigidity of the mechanism to be k (theta), then
Figure BDA0003470427730000022
The variable stiffness module is designed by the steel wire rope and the spring, and the steel wire rope is wound by the spool to change the displacement of the spring, so that the rotational stiffness of the mechanism is changed;
step 4, calculating specific parameters of the spring, and assuming that the initial length of the spring is l0Then, the relationship between the spring length and the spring tension is:
F45°＝k(L45°-l0)，
F0°＝k(L0°-l0)，
is provided with L45°-l0＝b，
l0＝L45°-b，
F0°＝k(L0°-L45°+b)，
Is provided with L0°-L45°＝x，
F0°＝k(x+b)，
F45°＝kb，
F0°＝kx+F45°，
Wherein x is the spring length, k is the spring rate of the spring, LθTotal length of the spring in flexion theta of the elbow joint, FθIs the tension of the spring when the elbow joint is flexed by theta.
The invention has at least the following beneficial technical effects:
1. the self-balancing wearable flexible elbow joint power-assisted exoskeleton provided by the invention adopts a bionic design, and the tension line position of a spring simulates the main muscle force line trend of the flexor radialis of the upper limb of a human body; and the design of the spring anchor point obtains the point with the minimum mechanism output torque through numerical simulation, so that the mechanism occupies the minimum volume.
2. The self-balancing wearable flexible elbow joint assistance exoskeleton provided by the invention adopts a variable-stiffness gravity balance mode, and the wire rope is wound by the wire shaft in the lifting process of the forearm of a human body, so that the variable quantity of the spring is changed, the output force of the gravity balance mechanism is changed, the variable-stiffness design of the mechanism is realized, and the user is helped to realize the complete gravity balance of the elbow joint rotation.
3. The self-balancing wearable flexible elbow joint assistance exoskeleton achieves the best assistance effect on the basis of the minimum occupied space, completely balances the limb gravity when the forearm is lifted under the condition of the minimum error, and reduces the metabolic cost of a wearer in the movement process.
The conception, the specific structure and the technical effects of the present invention will be further described with reference to the accompanying drawings to fully understand the objects, the features and the effects of the present invention.
Drawings
FIG. 1 is a schematic view of the wearing effect of a flexible elbow joint assistance exoskeleton provided by an embodiment of the invention;
FIG. 2 is a schematic overall view of a flexible elbow assisted exoskeleton provided by embodiments of the present invention;
FIG. 3 is a schematic diagram of a gravity balancing module provided by an embodiment of the present invention;
FIG. 4 is a schematic view of a retaining cap provided in accordance with an embodiment of the present invention;
FIG. 5 is a schematic view of an upper arm fixing member according to an embodiment of the present invention;
FIG. 6 is a schematic view of a forearm fastener provided in accordance with an embodiment of the invention;
FIG. 7 is a schematic view of the fluted cover of FIG. 2;
FIG. 8 is a schematic view of the stationary shaft of FIG. 3;
FIG. 9 is a schematic view of the installation of the gravity balance module and the variable stiffness module of FIG. 1;
FIG. 10 is a schematic view of the spool of FIG. 9;
FIG. 11 is a graph of mechanism output torque versus elbow flexion angle;
FIG. 12 is a graph of stiffness change from the balance mechanism;
FIG. 13 is a graph of output displacement of the pretensioning mechanism versus change in elbow joint flexion angle.
In the figure, the position of the upper end of the main shaft,
1-elbow joint fixation orthosis, 100-forearm fixation orthosis, 101-upper arm fixation orthosis;
2-gravity balance module, 200-forearm fixing screw, 201-spring, 202-upper arm fixing rod, 2021-six-tooth gear, 2022-second guide hole, 2023-second chute, 203-upper arm fixing screw, 204-rod fixing cover, 2041-third guide hole, 2042-fourth guide hole, 2043-fifth guide hole, 205-forearm fixing rod, 2051-tooth gear, 2052-first guide hole, 2053-first chute, 206-cover with groove, 2061-sixth guide hole, 2062-seventh guide hole, 2063-eighth guide hole, 207-fixing shaft, 2071-thread, 2072-key groove and 208-bolt;
3-variable rigidity module, 301-nut, 302-first gasket, 303-bobbin, 3031-steel wire rope fixing module, 3032-ninth guide hole, 304-second gasket and 305-steel wire rope.
Detailed Description
The technical contents of the preferred embodiments of the present invention will be more clearly and easily understood by referring to the drawings attached to the specification. The present invention may be embodied in many different forms of embodiments and the scope of the invention is not limited to the embodiments set forth herein.
In the drawings, structurally identical elements are represented by like reference numerals, and structurally or functionally similar elements are represented by like reference numerals throughout the several views. The size and thickness of each component shown in the drawings are arbitrarily illustrated, and the present invention is not limited to the size and thickness of each component. The thickness of the components may be exaggerated where appropriate in the figures to improve clarity.
The invention provides a self-balancing wearable flexible elbow joint assistance exoskeleton, which comprises an elbow joint fixing orthosis 1, a gravity balancing module 2 and a variable stiffness module 3, wherein the elbow joint fixing orthosis 1 is arranged on an upper limb of a human body to provide a support protection effect for elbow joint movement, and meanwhile, a stable stress anchor point is provided for the gravity balancing module 2 and the variable stiffness module 3, and the connection stability and the wearing comfort are ensured. The gravity balance module 2 is fixed on the outer side of the elbow joint fixing orthosis 1 and connected with the upper arm and the forearm of a human body to provide force balance for the forearm, and can be individually designed according to human body biomechanical parameters to meet the requirements of different people. The rigidity changing module 3 is arranged on the outer side of the gravity balancing module 2, and the rigidity of the gravity balancing mechanism is changed to fit the rigidity change of the human body, so that the complete balance of the upper arm of the human body in the lifting process is realized.
The elbow joint fixing orthosis 1 includes a forearm fixing orthosis 100 and an upper arm fixing orthosis 101 connected to a forearm and an upper arm of a human body, respectively, and both ends of the gravity balance module 2 are connected to the forearm fixing orthosis 100 and the upper arm fixing orthosis 101, respectively. The forearm fixing orthosis 100 and the upper arm fixing orthosis 101 are both provided with elastic bands, and the forearm fixing orthosis 100 and the upper arm fixing orthosis 101 are bound on the forearm and the upper arm of the human body through the elastic bands. The forearm fixing orthosis 100 and the upper arm fixing orthosis 101 are respectively provided with a bolt guide hole, and the connection with the gravity balance module 2 is realized through the bolt guide holes.
As shown in fig. 3 to 7, the gravity balance module 2 includes a forearm fixing lever 205, an upper arm fixing lever 202, a lever fixing cover 204, a grooved cover 206, a fixing shaft 207, a spring 201, and a fastener for achieving connection between the respective components.
The forearm fixation lever 205 is provided with a first runner 2053 such that a forearm fixation screw 200 passes through the first runner 2053 to connect one end of the forearm fixation lever 205 with the forearm fixation orthosis 100. The upper arm fixing lever 202 is provided with a second slide groove 2023 so that the upper arm fixing screw 203 passes through the second slide groove 2023 to connect one end of the upper arm fixing lever 202 with the upper arm fixing orthosis 101.
The forearm fixing rod 205 is provided with a first guide hole 2052, the upper arm fixing rod 202 is provided with a second guide hole 2022, the lever fixing cover 204 is provided with a third guide hole 2041, a fourth guide hole 2042 and a fifth guide hole 2043, and the recessed cover 206 is provided with a sixth guide hole 2061, a seventh guide hole 2062 and an eighth guide hole 2063. The lever fixing cover 204 and the recessed cover 206 are oppositely arranged, the other ends of the forearm fixing rod 205 and the upper arm fixing rod 202 are simultaneously clamped between the lever fixing cover 204 and the recessed cover 206, the fixing shaft 207 simultaneously passes through the second guide hole 2022 of the upper arm fixing rod 202, the fourth guide hole 2042 of the lever fixing cover 204 and the seventh guide hole 2062 of the recessed cover 206, and the bolt 208 simultaneously passes through the first guide hole 2052 of the forearm fixing rod 205, the third guide hole 2041 of the lever fixing cover 204 and the sixth guide hole 2061 of the recessed cover 206, so that the lever fixing cover 204, the recessed cover 206, the forearm fixing rod 205 and the upper arm fixing rod 202 are fixedly connected.
The forearm fixing lever 205 is further provided at its distal end with a toothed gear 2051, and the upper arm fixing lever 202 is provided at its distal end with a six-toothed gear 2021, the one-toothed gear 2051 being fitted with the six-toothed gear 2021. In this embodiment, the pitch circle diameter of the one-tooth gear 2051 is twice that of the six-tooth gear 2021.
The spring 201 is used for balancing the weight of the forearm, one end of the spring 201 is connected with the forearm fixing rod 205 through the forearm fixing screw 200, and the other end of the spring is welded with the steel wire rope 305.
As shown in fig. 8, the end of the fixing shaft 207 is threaded 2071, and the fixing shaft 207 is provided with a key groove 2072.
As shown in fig. 2, 9 and 10, the variable stiffness module 3 includes a wire rope 305, a spool 303, and fasteners for connecting the components. The bobbin 303 comprises a steel wire rope fixing module 3031 and a ninth guide hole 3032 with a key groove, the bobbin 303 is connected with the rod fixing cover 204 through a fixing shaft 207, and a thread 2071 at the tail end of the fixing shaft 207 is fixed through a nut 301; the spool 303 is radially fixed to the fixed shaft 207 by the key groove 2072 and the keyed ninth guide hole 3032.
The spool 303 is provided with a wire rope fixing module 3031, and the wire rope fixing module 3031 is fixed to the spool 303 by screws through the guide holes 3034. One end of the wire rope 305 is fixed to the wire rope fixing module 3031, and when the spool 303 rotates, the wire rope 305 is wound around the spool 303.
The first spacer 302 and the second spacer 304 are respectively disposed on two sides of the bobbin 303 to achieve the fastening effect.
The cam curve on the spool 303 is derived from the stiffness curve of the forearm gravity moment, and the change of the spring 201 is non-linearly changed by winding the steel wire rope 305 when the forearm moves, so that the forearm gravity moment is completely fitted, and the gravity balance of the forearm is realized
The variable stiffness process of the self-balancing wearable flexible elbow joint assistance exoskeleton is as follows.
Firstly, establishing a man-machine coupling statics model, setting the flexion angle of an elbow joint as theta, the tension of a spring as F (theta), the gravity of a forearm as G, the length of the forearm as l, the anchor point position of the spring as a relative to an upper arm and as b relative to the forearm, and then:
Figure BDA0003470427730000061
as shown in fig. 11, a mechanism output torque and elbow joint flexion angle change model is fitted to obtain a variable stiffness curve according to a change curve of joint torque, and the stiffness of 15-45 degrees is linear and is fitted by using the spring stiffness; and the stiffness change curve of 0-15 degrees is nonlinear, and the stiffness change value of the section is related to the spring displacement to obtain the output displacement and angle change curve of the variable stiffness mechanism shown in figure 12. Fitting the displacement of the mechanism to the arc of the bobbin.
And secondly, carrying out numerical simulation on the model by using matlab, and calibrating the values of a and b when the tensile force F (theta) is minimum in the range of a and b belonging to (0, 250) mm to obtain the anchor point positions a and b of the spring.
Thirdly, if the rotational stiffness of the mechanism is k (theta), then
Figure BDA0003470427730000062
As can be seen from the stiffness curves shown in FIG. 12, the mechanism varies linearly from 0 to 15 and tends to stabilize from 15 to 45. Therefore, the rigidity changing module is designed through the steel wire rope and the spring, the displacement of the spring is changed by winding the steel wire rope through the wire shaft, and the rotating rigidity of the mechanism is changed.
Finally, the specific parameters of the spring are calculated, assuming that the initial length of the spring is l0The change relation between the spring length and the spring tension can be deduced:
F45°＝k(L45°-l0)，
F0°＝k(L0°-l0)，
is provided with L45°-l0＝b，
l0＝L45°-b，
F0°＝k(L0°-L45°+b)，
Is provided with L0°-L45°＝x，
F0°＝k(x+b)，
F45°＝kb，
F0°＝kx+F45°，
Wherein x is the spring length, k is the spring rate of the spring, LθTotal length of the spring in flexion theta of the elbow joint, FθIs the tension of the spring when the elbow joint is flexed by theta.
Specifically, the formula F ═ Gd calculated from the spring48D3N λ, the parameters of the spring can be obtained, where F is the tension of the spring,g is the shear modulus, D is the spring wire diameter, λ is the axial extension length, D is the spring diameter, N is the effective number of turns of the spring. According to different height and weight parameters of each person, the parameters of the spring can be calculated through the model.
Specifically, assuming that the distance between the forearm anchor point and the upper arm anchor point is x, the total length of the spring is x1, and the output displacement of the stiffness varying module is Δ x, the spring tension is F1(x1), and the mechanism output force is F (x), and since Δ x is x-x1, the output displacement of the stiffness varying module can be obtained, as shown in fig. 13. The gear transmission mechanism drives the spool to wind the steel wire rope connected with the spring, and the displacement required to be output by the variable stiffness module is output.
The working principle of the self-balancing wearable flexible elbow joint power-assisted exoskeleton is as follows: firstly, the invention can realize personalized customization by establishing the relationship between the biomechanics parameters of the human body and the parameters of the spring, and can meet the physiological requirements of different people only by replacing the spring. Secondly, the variable stiffness self-balancing mechanism can realize variable stiffness self-balancing, because the change of the first 15-degree gravity moment does not conform to the elastic force change of the spring in the bending process of the elbow joint of a human body, and the elbow joint stiffness is verified to be a nonlinear variable quantity through a mathematical model, the variable stiffness mechanism is adopted, the length of the spring is changed through a steel wire rope winding spool, and the stiffness of the whole gravity balancing mechanism is changed. When the elbow joint of a human body is bent, the forearm is lifted to drive the forearm fixing rod 205 to be lifted simultaneously, the tooth gear 2051 in the forearm fixing rod 205 rotates simultaneously, the tooth gear 2051 is meshed with the six-tooth gear 2021 in the upper arm fixing rod 202 to generate transmission, the fixing shaft 207 is driven to rotate simultaneously, and the fixing shaft 207 is connected with the spool 303 through a key, so that the spool 303 drives the steel wire rope 305 to rotate, the elastic force of the spring is changed, and rigidity changing is achieved. After the front arm is lifted by 15 degrees, the one-tooth gear 2051 and the six-tooth gear 2021 are not meshed any more, the front arm is lifted continuously to drive the one-tooth gear 2051 to rotate continuously, the six-tooth gear 2021 is kept still, and the gravity balance of the front arm is realized through the residual elasticity of the spring.
The spring anchor point position adopts a bionic design, simulates the force line trend of the human flexor radialis, and simultaneously ensures that the mechanism outputs the minimum moment at the anchor point position to realize the gravity balance of the elbow joint through numerical simulation.
The foregoing detailed description of the preferred embodiments of the invention has been presented. It should be understood that numerous modifications and variations could be devised by those skilled in the art in light of the present teachings without departing from the inventive concepts. Therefore, the technical solutions available to those skilled in the art through logic analysis, reasoning and limited experiments based on the prior art according to the concept of the present invention should be within the scope of protection defined by the claims.

Claims (10)

1. The utility model provides a self-balancing wearing formula flexible elbow joint helping hand ectoskeleton which characterized in that, fixes orthopedic ware, gravity balance module, becomes rigidity module including the elbow joint, the fixed orthopedic ware of elbow joint includes that the fixed orthopedic ware of upper arm, forearm fix orthopedic ware, the fixed orthopedic ware of upper arm be connected with human elbow joint's upper arm, forearm respectively, the both ends of gravity balance module respectively with the fixed orthopedic ware of upper arm the outside of the fixed orthopedic ware of forearm is connected, it arranges in to become rigidity module the outside of gravity balance module, it is configured to change to become rigidity module the rigidity of gravity balance module.
2. The self-balancing wearable flexible elbow joint assisted exoskeleton of claim 1 wherein the upper arm fixation orthosis is provided with bolt guide holes and elastic bands connecting the gravity balance module and the upper arm of the human body respectively, and the forearm fixation orthosis is provided with bolt guide holes and elastic bands connecting the gravity balance module and the forearm of the human body respectively.
3. The self-balancing wearable flexible elbow joint-assisted exoskeleton of claim 2, wherein the gravity balancing module comprises a forearm fixing rod, an upper arm fixing rod, a rod fixing cover, a cover with a groove, a fixing shaft and a spring, wherein one end of the forearm fixing rod is connected with the forearm fixing orthosis through a screw, one end of the upper arm fixing rod is connected with the upper arm fixing orthosis through a screw, the rod fixing cover and the cover with the groove are oppositely arranged, and the other end of the forearm fixing rod and the other end of the upper arm fixing rod are simultaneously clamped between the rod fixing cover and the cover with the groove; one end of the spring is fixed on the forearm fixing rod.
4. The self-balancing wearable flexible elbow joint-assisted exoskeleton of claim 3 wherein the forearm fixation rod has a first runner and a toothed gear, the forearm fixation rod being connected to the forearm fixation orthosis by a screw passing through the first runner.
5. The self-balancing wearable flexible elbow joint-assisted exoskeleton of claim 4 wherein the upper arm-securing lever has a second runner and a six-toothed gear, the upper arm-securing lever being connected to the upper arm-securing orthosis by a screw passing through the second runner, the six-toothed gear being engaged with the one-toothed gear.
6. The self-balancing wearable flexible elbow joint assisted exoskeleton of claim 5 wherein the range of rotation of the one-tooth gear is 0-15 °.
7. The self-balancing wearable flexible elbow joint assisted exoskeleton of claim 3 wherein the forearm fixing rod is provided with a first guide hole, the upper arm fixing rod is provided with a second guide hole, the lever fixing cover is provided with a third guide hole, a fourth guide hole and a fifth guide hole, the recessed cover is provided with a sixth guide hole, a seventh guide hole and an eighth guide hole, the fixing shaft passes through the second guide hole, the fourth guide hole and the seventh guide hole, and the same bolt passes through the first guide hole, the third guide hole and the sixth guide hole.
8. The self-balancing wearable flexible elbow joint-assisted exoskeleton of claim 3 wherein the variable stiffness module comprises a wire rope, a spool, the spool locked with the upper arm-fixing rod by the fixing shaft, one end of the wire rope connected with the spring, the other end of the wire rope fixed on the spool; when the spool rotates, the steel wire rope is wound on the spool.
9. The self-balancing wearable flexible elbow joint-assisted exoskeleton of claim 8 wherein the spool comprises a wire rope fixing module, a ninth guide hole with a key slot, the spool is keyed with the fixed shaft through the ninth guide hole, the wire rope fixing module is connected with the upper end of the spool through a self-tapping screw, and the wire rope is fixed on the wire rope fixing module.
10. The self-balancing wearable flexible elbow joint assisted exoskeleton of claim 9 wherein the parameter calculation of the spring comprises the steps of:
step 1, establishing a man-machine coupling statics model, setting the elbow joint flexion angle as theta, the spring tension as F (theta), the forearm gravity as G, the forearm length as l, and the anchor point position of the spring as a and b respectively relative to the upper arm, then:
Figure FDA0003470427720000021
step 2, carrying out numerical simulation on the model, and calibrating the values of a and b when the tensile force F (theta) is minimum in the range of a and b belonging to (0, 250) mm to obtain the anchor point positions a and b of the spring;
step 3, setting the rotational rigidity of the mechanism to be k (theta), then
Figure FDA0003470427720000022
The variable stiffness module is designed by the steel wire rope and the spring, and the steel wire rope is wound by the spool to change the displacement of the spring, so that the rotational stiffness of the mechanism is changed;
step 4, calculating specific parameters of the spring, and assuming the springSpring initial length of l0Then, the relationship between the spring length and the spring tension is:
F45°＝k(L45°-l0)，
F0°＝k(L0°-l0)，
is provided with L45°-l0＝b，
l0＝L45°-b，
F0°＝k(L0°-L45°+b)，
Is provided with L0°-L45°＝x，
F0°＝k(x+b)，
F45°＝kb，
F0°＝kx+F45°，
Wherein x is the spring length, k is the spring rate of the spring, LθTotal length of the spring in flexion theta of the elbow joint, FθIs the tension of the spring when the elbow joint is flexed by theta.
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CN105963103A (en) * 2016-06-08 2016-09-28 上海电气集团股份有限公司 Portable and wearable exoskeleton upper limb robot
CN107307974A (en) * 2017-07-20 2017-11-03 上海理工大学 A kind of Wearable healing and training elbow joint and life assistant apparatus
CN108836732A (en) * 2018-04-20 2018-11-20 北京工业大学 A kind of rehabilitation training of upper limbs exoskeleton mechanism with people-machine motion compatibility and passive gravitational equilibrium characteristic
WO2021240018A1 (en) * 2020-05-29 2021-12-02 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Arm support mechanism

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20100049108A1 (en) * 2008-08-25 2010-02-25 Ebi, Llc Adjustable hinge for orthopedic brace
CN105963103A (en) * 2016-06-08 2016-09-28 上海电气集团股份有限公司 Portable and wearable exoskeleton upper limb robot
CN107307974A (en) * 2017-07-20 2017-11-03 上海理工大学 A kind of Wearable healing and training elbow joint and life assistant apparatus
CN108836732A (en) * 2018-04-20 2018-11-20 北京工业大学 A kind of rehabilitation training of upper limbs exoskeleton mechanism with people-machine motion compatibility and passive gravitational equilibrium characteristic
WO2021240018A1 (en) * 2020-05-29 2021-12-02 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Arm support mechanism

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