CN1961848B - Flexible exoskeleton elbow joint based on pneumatic muscles - Google Patents
Flexible exoskeleton elbow joint based on pneumatic muscles Download PDFInfo
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- CN1961848B CN1961848B CN2006101547707A CN200610154770A CN1961848B CN 1961848 B CN1961848 B CN 1961848B CN 2006101547707 A CN2006101547707 A CN 2006101547707A CN 200610154770 A CN200610154770 A CN 200610154770A CN 1961848 B CN1961848 B CN 1961848B
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- pneumatic muscles
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- torque sensor
- elbow joint
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Abstract
The invention relates to a flexible external skeleton elbow joint based on aerated muscle, which is formed by two aerated muscles and one single-freedom rotation couple, to realize the single-freedom rotation of elbow joint. The invention uses aerated muscle as the element of joint to simulate the motion of muscle; the operator can wear said device, via the torque sensor mounted on the rotation couple to obtain the motion parameters, to operate the industrial mechanical hand. And it can control the air pressure of muscle chamber of joint to realize the force feedback. The invention has wide application, as the healthy return device of patient.
Description
Technical field
The present invention relates to the flexible exoskeleton elbow joint based on pneumatic muscles, is a kind of bionical characteristics that have specifically, can realize the collection of human upper limb elbow joint exercise data, and force feedback signal produces or assist the device of functions such as elbow joint motion.
Background technology
The ectoskeleton technology is a kind of novel man-machine intelligence system's control technology, can be widely used in principal and subordinate's control of robot, the residual patient's of limb medical rehabilitation assistive device.But traditional exoskeleton system adopts motor, hydraulic pressure or cylinder as control executive component, complex structure usually.
Summary of the invention
The purpose of this invention is to provide a kind of simple in structure, light, cleaning, reliable, have force feedback when participating in the cintest, be suitable for the flexible exoskeleton elbow joint based on pneumatic muscles of single-degree-of-freedom mechanical hand principal and subordinate control.
Flexible exoskeleton elbow joint based on pneumatic muscles of the present invention, comprise that single-degree-of-freedom forward and reverse crooked pneumatic muscles and the operators that install in joint, two that rotatablely move dress support, the single-degree-of-freedom joint that rotatablely moves comprises torque sensor and U type connecting rod, the two ends of torque sensor are separately installed with rolling bearing, the two ends of U type connecting rod opening are hinged with rolling bearing respectively, form rotary motion pair; Article two, the pneumatic muscles of forward and reverse bending is fixed with the straight-bar of U type connecting rod respectively, and the curved end of two pneumatic muscles links to each other with torque sensor through connector respectively; Operator's support comprises that upper arm is dressed support and underarm is dressed support, and upper arm is dressed the bottom of support and U type connecting rod and fixed, and underarm is dressed support and fixed through rack rod and torque sensor.
During use, operator's upper arm and underarm pasted respectively by bandage be fixed on overarm brace and the following arm support suitablely, the single-degree-of-freedom joint that rotatablely moves has the ancon revolute of one degree of freedom, article two, forward and reverse crooked pneumatic muscles of installing, by control to the pneumatic muscles cavity pressure, can produce positive and negative moment, realize that the people goes up the rotation of underarm around elbow joint around the single-degree-of-freedom revolute.
For ease of gathering the pneumatic muscles cavity internal pressure, can on the pneumatic muscles air inlet of two forward and reverse bendings, gas pressure sensor be installed respectively, like this, refuse pick off in conjunction with turning round on the rotary joint, can control the turning moment that is applied on the whole joint.
Flexible exoskeleton elbow joint based on pneumatic muscles of the present invention is simple in structure, portable and smart, adopts the executive component of pneumatic muscles as the joint, and the action that the imitation human muscle stretches has bionic characteristics.Can be by to operator's elbow joint movement parameter measurement, the industry mechanical arm of single-degree-of-freedom is carried out the master-slave mode operation, adaptability is strong.By control, realize having the force feedback signal of perception when participating in the cintest simultaneously, strengthen the degree true to nature of control gas pressure in the pneumatic muscles cavity in the joint.This invention also can be widely used in medical treatment, by the control to pneumatic muscles in the joint, as muscle atrophy of upper limb elbow joint or individuals with disabilities's medical rehabilitation assistive device.
Description of drawings
Fig. 1 is based on the flexible exoskeleton elbow joint structural representation of pneumatic muscles.
The specific embodiment
Further specify the present invention below in conjunction with accompanying drawing.
With reference to accompanying drawing, the flexible exoskeleton elbow joint that the present invention is based on pneumatic muscles comprises that rotatablely move joint 1, two forward and reverse crooked pneumatic muscles 2 and operators that install of single-degree-of-freedom dress support 3, the single-degree-of-freedom joint 1 that rotatablely moves comprises torque sensor 10 and U type connecting rod 11, the two ends of torque sensor 10 are separately installed with rolling bearing 4, the two ends of U type connecting rod 11 openings are hinged with rolling bearing respectively, form rotary motion pair; Article two, the pneumatic muscles 2 of forward and reverse bending is fixed with the straight-bar of U type connecting rod 11 respectively, and the curved end of two pneumatic muscles links to each other with torque sensor 10 through connector 5 respectively; Operator's support 3 comprises that upper arm is dressed support 8 and underarm is dressed support 9, and upper arm is dressed support 8 and fixed with the bottom of U type connecting rod 11, and it is fixing with torque sensor 10 through rack rod 6 that underarm is dressed support 9.In the diagram instantiation, on two forward and reverse crooked pneumatic muscles air inlets of installing, be separately installed with gas pressure sensor 7.
Flexible exoskeleton elbow joint based on pneumatic muscles has one degree of freedom altogether, by control to gas pressure in the control pneumatic muscles cavity, in conjunction with turning round the signal of refusing pick off in the joint, can realize that the single-degree-of-freedom mechanical hand is had principal and subordinate's control of force feedback signal when participating in the cintest.
Claims (1)
1. based on the flexible exoskeleton elbow joint of pneumatic muscles, it is characterized in that it comprises that single-degree-of-freedom forward and reverse crooked pneumatic muscles (2) and the operators that install in joint (1), two that rotatablely move dress support (3), the single-degree-of-freedom joint (1) that rotatablely moves comprises torque sensor (10) and U type connecting rod (11), the two ends of torque sensor (10) are separately installed with rolling bearing (4), the two ends of U type connecting rod (11) opening are hinged with rolling bearing respectively, form rotary motion pair; Article two, forward and reverse crooked pneumatic muscles of installing (2) is fixed with the straight-bar of U type connecting rod (11) respectively, article two, the curved end of pneumatic muscles links to each other with torque sensor (10) through connector (5) respectively, on two forward and reverse crooked pneumatic muscles air inlets of installing gas pressure sensor (7) is installed respectively; Operator's support (3) comprises that upper arm is dressed support (8) and underarm is dressed support (9), and upper arm is dressed support (8) and fixed with the bottom of U type connecting rod (11), and it is fixing through rack rod (6) and torque sensor (10) that underarm is dressed support (9).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2006101547707A CN1961848B (en) | 2006-11-24 | 2006-11-24 | Flexible exoskeleton elbow joint based on pneumatic muscles |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2006101547707A CN1961848B (en) | 2006-11-24 | 2006-11-24 | Flexible exoskeleton elbow joint based on pneumatic muscles |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1961848A CN1961848A (en) | 2007-05-16 |
| CN1961848B true CN1961848B (en) | 2010-09-22 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2006101547707A Expired - Fee Related CN1961848B (en) | 2006-11-24 | 2006-11-24 | Flexible exoskeleton elbow joint based on pneumatic muscles |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN1961848B (en) |
Families Citing this family (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101181175B (en) * | 2007-12-07 | 2010-08-04 | 华中科技大学 | Device for healing and training elbow joint |
| CN103190999B (en) * | 2012-01-09 | 2015-02-18 | 上海理工大学 | Rehabilitation training device for range of upper-limb joint motion |
| CN102764188B (en) * | 2012-07-16 | 2014-04-02 | 上海大学 | Controllable variable-stiffness flexible elbow joint rehabilitation robot |
| CN105108761B (en) * | 2015-08-14 | 2017-05-24 | 浙江大学 | Reduced-order adaptive robust cascading force control method for single-joint powered exoskeleton |
| CN105030487B (en) * | 2015-09-10 | 2017-01-25 | 哈尔滨工业大学 | Bionic flexible wearable lower limb exoskeleton clothes driven by pneumatic artificial muscle |
| CN106564071B (en) * | 2016-11-11 | 2018-11-13 | 北京交通大学 | A kind of robot softly turn-off of simulation human synovial |
| CN107322631B (en) * | 2017-07-12 | 2020-05-22 | 国家康复辅具研究中心 | Human shoulder-imitating joint based on dielectric elastomer actuator |
| CN108356848B (en) * | 2018-03-30 | 2023-09-29 | 天津理工大学 | Pneumatic artificial muscle and servo motor hybrid driving joint |
| CN108721047B (en) * | 2018-04-25 | 2021-02-23 | 上海大学 | Wearable upper limbs rehabilitation training device |
| CN108578173B (en) * | 2018-04-25 | 2020-04-24 | 北京工业大学 | Flexible upper limb assistance exoskeleton |
| CN109363886B (en) * | 2018-11-05 | 2023-08-01 | 山东大学 | Elbow joint rehabilitation training device and implementation method |
| CN111558934B (en) * | 2020-05-21 | 2021-02-19 | 江苏凌步智能科技有限公司 | Method for simulating main dynamic state of muscles of four limbs of human body by robot |
| CN111920638A (en) * | 2020-07-07 | 2020-11-13 | 燕山大学 | Elbow joint flexion and extension rehabilitation training device |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2591336Y (en) * | 2002-12-27 | 2003-12-10 | 刘忠魁 | Pneumatic multidirectional movement joint |
| CN1753653A (en) * | 2003-03-28 | 2006-03-29 | 株式会社日立医药 | Wear-type joint drive device |
| CN200984250Y (en) * | 2006-11-24 | 2007-12-05 | 浙江大学 | Flexible ectoskeleton elbow joint based on pneumatic power |
-
2006
- 2006-11-24 CN CN2006101547707A patent/CN1961848B/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2591336Y (en) * | 2002-12-27 | 2003-12-10 | 刘忠魁 | Pneumatic multidirectional movement joint |
| CN1753653A (en) * | 2003-03-28 | 2006-03-29 | 株式会社日立医药 | Wear-type joint drive device |
| CN200984250Y (en) * | 2006-11-24 | 2007-12-05 | 浙江大学 | Flexible ectoskeleton elbow joint based on pneumatic power |
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| Publication number | Publication date |
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| CN1961848A (en) | 2007-05-16 |
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Granted publication date: 20100922 Termination date: 20121124 |