技术领域technical field
本发明涉及的是一种便携式柔性肘关节外骨骼机器人，具体是一种基于串联弹性驱动器（series elastic actuator, SEA）的绳驱肘关节外骨骼机器人。The present invention relates to a portable flexible elbow-joint exoskeleton robot, in particular to a rope-driven elbow-joint exoskeleton robot based on a series elastic actuator (SEA).
背景技术Background technique
随着我国人口老龄化的加剧，上肢运动功能障碍作为中老年人的常见疾病，病发率逐年上升。为了解决上肢运动功能障碍对患者带来的不便，目前康复治疗主要有临床康复治疗和使用康复设备治疗。临床康复治疗主要依赖于康复治疗师与患者一对一的治疗，然而这样耗费太多的人力物力，因此人们越来重视对康复设备的研究。上肢外骨骼机器人相比于其他康复设备因能实现人的智能与机器力量互补而广受关注。将上肢外骨骼机器人技术运用到医疗康复领域，能为患者提供更加针对、有效的康复训练。With the intensification of population aging in my country, upper limb motor dysfunction is a common disease of middle-aged and elderly people, and the incidence rate is increasing year by year. In order to solve the inconvenience caused by upper limb motor dysfunction to patients, the current rehabilitation treatment mainly includes clinical rehabilitation treatment and rehabilitation equipment treatment. Clinical rehabilitation mainly relies on the one-on-one treatment between rehabilitation therapists and patients. However, this consumes too much manpower and material resources, so people pay more and more attention to the research on rehabilitation equipment. Compared with other rehabilitation equipment, upper limb exoskeleton robots have attracted widespread attention because they can complement human intelligence and machine power. Applying upper limb exoskeleton robot technology to the field of medical rehabilitation can provide patients with more targeted and effective rehabilitation training.
目前，对于上肢外骨骼机器人的研究，国外起步较早，已有一些不错的成果。而国内的一些科研院校也开始展开研究，取得了不小的进展。对比现有的国内外大多数研究，发现其存在如下的问题：结构复杂、穿戴麻烦；机器人驱动刚性大、不具备柔性，在患者的康复训练过程中容易造成二次伤害。At present, the research on upper extremity exoskeleton robots started earlier in foreign countries, and some good results have been achieved. And some domestic scientific research institutions have also begun to carry out research, and have made considerable progress. Comparing most of the existing domestic and foreign studies, it is found that it has the following problems: complex structure, troublesome to wear; the robot drive is rigid and not flexible, and it is easy to cause secondary injuries during the rehabilitation training process of patients.
经对现有技术文献的检索发现，中国发明专利申请号201210244874.2，该技术公开了一种可控变刚度柔性肘关节康复机器人，其穿戴式外骨骼机构有一个自由度，其结构主要包括大臂、小臂、驱动轮和支撑架。驱动方式采用非线驱动机构包括电机丝杆和连杆弹簧非线性机构。该驱动系统具备一定的柔顺性，可以保证患者在使用过程中有较高的安全性。但该结构过于繁杂，穿戴很不方便，缺乏便携性，且控制复杂。After searching the existing technical literature, it is found that the Chinese invention patent application number 201210244874.2 discloses a controllable variable stiffness flexible elbow joint rehabilitation robot. Its wearable exoskeleton mechanism has one degree of freedom, and its structure mainly includes a large arm , arm, drive wheel and support frame. The driving method adopts a non-linear drive mechanism including a motor screw and a connecting rod spring non-linear mechanism. The drive system has a certain degree of flexibility, which can ensure high safety for patients during use. However, the structure is too complicated, it is inconvenient to wear, lacks portability, and the control is complicated.
中国专利申请号201410377134.5，该技术公开了一种并联驱动关节的上肢外骨骼结构，包括肩关节、肘关节和腕关节的设计。该设计解决了现有的上肢外骨骼机器人运动精度差，体积大，运动范围小的问题。但其采用齿轮啮合传动，要求制造和安装精度较高，价格昂贵，采用三组齿轮传动结构过于繁琐，且运动缺乏柔性。Chinese patent application number 201410377134.5, this technology discloses an upper extremity exoskeleton structure with parallel drive joints, including the design of shoulder joints, elbow joints and wrist joints. This design solves the problems of poor movement precision, large volume and small movement range of existing upper limb exoskeleton robots. However, it adopts gear meshing transmission, requires high manufacturing and installation precision, and is expensive. The three-set gear transmission structure is too cumbersome, and the movement lacks flexibility.
中国专利申请号201410855081.3，该技术公开了一种七自由度外骨骼式上肢康复机器人，包括依次相连的前臂和腕关节机构、肘关节机构、肩关节机构、座椅机构。其通过电机驱动控制，辅助偏瘫患者对上肢患肢进行主动与被动训练。该驱动控制过于复杂，其驱动关节与刚性电机直接相连，运动缺乏柔性，不能保证安全性，另外，该机器人要求患者必须坐在座椅上进行康复治疗，结构没有考虑便携性。Chinese patent application number 201410855081.3 discloses a seven-degree-of-freedom exoskeleton-type upper limb rehabilitation robot, including a forearm and wrist joint mechanism, an elbow joint mechanism, a shoulder joint mechanism, and a seat mechanism connected in sequence. It is driven and controlled by a motor to assist hemiplegic patients in active and passive training of their upper limbs. The drive control is too complicated, the drive joints are directly connected to the rigid motor, the movement lacks flexibility, and the safety cannot be guaranteed. In addition, the robot requires the patient to sit on the seat for rehabilitation treatment, and the structure does not consider portability.
发明内容Contents of the invention
本发明旨在针对上述现有技术的不足，开发一种便携式柔性肘关节外骨骼机器人。本发明借鉴串联弹性驱动器（series elastic actuator, SEA）的驱动原理，开发一种肘关节柔性驱动方式。与传统的驱动器相比，SEA是在刚性驱动动力源与负载之间串联入弹簧，其驱动模式更接近于人体肌肉的力学特性，更适合应用在与人体密切接触的外骨骼机器人系统中。柔性驱动器不仅能够实现精确的力控制，而且具有低输出阻抗，高抗冲击载荷，稳定力输出等优点。The present invention aims at the deficiency of above-mentioned prior art, develops a kind of portable flexible elbow joint exoskeleton robot. The present invention uses the driving principle of a series elastic actuator (series elastic actuator, SEA) to develop a flexible driving method for the elbow joint. Compared with the traditional driver, SEA is a spring connected in series between the rigid driving power source and the load. Its driving mode is closer to the mechanical characteristics of human muscles, and it is more suitable for application in exoskeleton robot systems that are in close contact with the human body. Flexible actuators can not only achieve precise force control, but also have the advantages of low output impedance, high resistance to shock loads, and stable force output.
同时，本发明采用绳驱的方式，将驱动器与肘关节外骨骼分开布置，驱动器输出部分与绳驱轮盘连接，通过钢丝绳过渡与肘关节外骨骼关节相连，在外骨骼关节处同样采用绳驱轮盘的形式，实现驱动。在穿戴机器人时可将驱动器以及控制装置放入后背包，相比于其他将驱动器直接布置在外骨骼关节处的结构，该设计结构简洁紧凑，穿戴便携，提高了运动柔性，减小了外骨骼的重量，并相应地增加了其负载能力。At the same time, the present invention adopts the method of rope drive, and arranges the driver separately from the elbow joint exoskeleton, the output part of the driver is connected with the rope drive wheel, and is connected with the elbow joint exoskeleton joint through the wire rope transition, and the rope drive wheel is also used at the exoskeleton joint. Drive in the form of a disk. When wearing the robot, the driver and the control device can be put into the backpack. Compared with other structures where the driver is directly arranged at the joint of the exoskeleton, this design is simple and compact, portable, improves the flexibility of movement, and reduces the weight of the exoskeleton. weight, and a corresponding increase in its load capacity.
另外，考虑到人体肘关节的运动是一种松散的铰链运动，本发明在肘关节外骨骼的设计中除了肘关节的伸屈自由度外，另加入了两个被动自由度。通过内臂套与外臂套的相对运动来实现这两个被动自由度。被动自由度一可实现上臂内套相对上臂外套绕着上臂中心轴转动，从而实现外骨骼的驱动轴在水平面内转动。被动自由度二可实现前臂内套相对前臂外套沿着前臂中心轴滑动，从而实现外骨骼驱动轴在矢状面内平动。本发明通过在外骨骼机构中添加被动自由度，使外骨骼驱动轴与穿戴者肘关节转动轴在手臂运动时达到一定的自适应调整，使外骨骼穿戴更舒适，更安全。In addition, considering that the movement of the human elbow joint is a loose hinge movement, the present invention adds two passive degrees of freedom in addition to the degree of freedom of extension and flexion of the elbow joint in the design of the elbow joint exoskeleton. These two passive degrees of freedom are realized by the relative movement of the inner arm cuff and the outer arm cuff. Passive degree of freedom one can realize the rotation of the inner sleeve of the upper arm relative to the outer sleeve of the upper arm around the central axis of the upper arm, thereby realizing the rotation of the drive shaft of the exoskeleton in the horizontal plane. The second passive degree of freedom enables the inner sleeve of the forearm to slide relative to the outer sleeve of the forearm along the central axis of the forearm, thereby realizing the translation of the drive shaft of the exoskeleton in the sagittal plane. In the present invention, by adding a passive degree of freedom to the exoskeleton mechanism, the driving shaft of the exoskeleton and the rotation axis of the elbow joint of the wearer can achieve a certain self-adaptive adjustment when the arm moves, making the wearing of the exoskeleton more comfortable and safer.
本发明是通过以下技术方案实现的：The present invention is achieved through the following technical solutions:
一种便携式柔性肘关节外骨骼机器人，其特征在于：包括肘关节外骨骼机构、驱动机构和控制装置。A portable flexible elbow exoskeleton robot is characterized in that it includes an elbow exoskeleton mechanism, a driving mechanism and a control device.
所述肘关节外骨骼机构包括上臂支撑机构、主传动机构以及前臂支撑机构，所述上臂支撑机构包括两个上臂支撑板、上臂外套和用于固定手臂上臂的上臂内套，上臂外套将两侧的上臂支撑板固定连接组成能够放置手臂上臂的空间，上臂内套可旋转的设于上臂外套内侧，上臂内套可绕上臂外套的中心轴转动；所述前臂支撑机构包括两个前臂支撑板、前臂外套和用于固定手臂前臂的前臂内套，所述前臂外套将两侧的前臂支撑板固定连接组成可以放置手臂前臂的空间，前臂内套设于前臂外套内侧，前臂内套能够相对前后滑动的与前臂外套相连，所述两个上臂支撑板与两个前臂支撑板通过主传动机构相连；The elbow joint exoskeleton mechanism includes an upper arm support mechanism, a main transmission mechanism and a forearm support mechanism. The upper arm support mechanism includes two upper arm support plates, an upper arm coat and an upper arm inner sleeve for fixing the upper arm of the arm. The upper arm support plate is fixedly connected to form a space for placing the upper arm of the arm. The upper arm inner sleeve is rotatably arranged on the inner side of the upper arm outer cover, and the upper arm inner sleeve can rotate around the central axis of the upper arm outer cover; the forearm support mechanism includes two forearm support plates, A forearm cover and a forearm inner cover for fixing the forearm of the arm. The forearm cover fixes and connects the forearm support plates on both sides to form a space where the forearm of the arm can be placed. is connected with the forearm jacket, and the two upper arm support plates are connected with the two forearm support plates through the main transmission mechanism;
所述主传动机构包括两个上臂转盘、两个前臂转盘以及空心轴编码器，所述两个上臂转盘分别与两个前臂转盘通过两个支撑轴连接，上臂转盘和前臂转盘可绕相应的支撑轴旋转，所述空心轴编码器与两个支撑轴的其中一个相连，两个上臂转盘分别与两个上臂支撑板固定相连，两个前臂转盘分别与两个前臂支撑板固定相连；两个上臂转盘内侧分别固定设有一个弧形槽导轨，所述上臂内套下部两端分别设有与弧形槽导轨配合的弧形滑块，两个前臂转盘中的一个外侧设有固定相连且同轴的外骨骼驱动轮盘，所述外骨骼驱动轮盘与驱动机构的输出端相连；所述空心轴编码器检测的信号接入控制装置，所述控制装置控制驱动机构来驱动外骨骼驱动轮盘旋转，从而驱动两个前臂支撑板相对于两个上臂支撑板旋转，进而驱动肘关节外骨骼机构手臂运动。The main transmission mechanism includes two upper arm turntables, two forearm turntables and a hollow shaft encoder, the two upper arm turntables are respectively connected to the two forearm turntables through two support shafts, and the upper arm turntable and the forearm turntable can rotate around corresponding supports shaft rotation, the hollow shaft encoder is connected to one of the two support shafts, the two upper arm turntables are fixedly connected to the two upper arm support plates respectively, and the two forearm turntables are respectively fixedly connected to the two forearm support plates; the two upper arm The inner side of the turntable is respectively fixed with an arc-shaped groove guide rail, and the two ends of the lower part of the inner sleeve of the upper arm are respectively provided with arc-shaped sliders that cooperate with the arc-shaped groove guide rail. The exoskeleton driving wheel is connected to the output end of the driving mechanism; the signal detected by the hollow shaft encoder is connected to the control device, and the control device controls the driving mechanism to drive the exoskeleton driving wheel Rotate, so as to drive the two forearm support plates to rotate relative to the two upper arm support plates, and then drive the arm of the elbow joint exoskeleton mechanism to move.
优选的，所述驱动机构包括绳驱传动机构、驱动器、以及绳驱固定座，所述绳驱传动机构包括两条钢丝绳、绳驱V型支撑块、两个钢丝绳管、绳驱支撑座和驱动器绳驱轮盘，两条钢丝绳的两端分别固定在外骨骼驱动轮盘和驱动器绳驱轮盘上不同位置，两条钢丝绳交叉设置，两个钢丝绳管分别套在两条钢丝绳上，两个钢丝绳管的一端通过绳驱V型支撑块压紧固定在上臂转盘上，两个钢丝绳管的另一端通过线管套固定在绳驱支撑座上；所述驱动器为串联弹性驱动器，所述驱动器绳驱轮盘与串联弹性驱动器的输出端相连，所述串联弹性驱动器内的编码器检测信号也接入控制装置，所述控制装置提供电源，控制串联弹性驱动器的输出端的旋转和旋转幅度；所述绳驱支撑座和串联弹性驱动器均固定在绳驱固定座上。Preferably, the drive mechanism includes a rope drive transmission mechanism, a driver, and a rope drive fixing seat, and the rope drive transmission mechanism includes two steel wire ropes, a rope drive V-shaped support block, two steel wire rope tubes, a rope drive support seat and a driver Rope drive reel, the two ends of the two wire ropes are respectively fixed at different positions on the exoskeleton drive reel and the driver rope drive reel, the two wire ropes are arranged crosswise, and the two steel wire rope tubes are respectively sleeved on the two steel wire ropes, and the two steel wire rope tubes One end of the rope drive V-shaped support block is pressed and fixed on the upper arm turntable, and the other ends of the two steel wire rope tubes are fixed on the rope drive support seat through the wire tube sleeve; the drive is a series elastic drive, and the drive rope drive wheel The disk is connected to the output end of the series elastic driver, and the encoder detection signal in the series elastic driver is also connected to the control device, and the control device provides power to control the rotation and rotation range of the output end of the series elastic driver; the rope drive Both the support base and the series elastic driver are fixed on the rope drive fixing base.
优选的，所述弧形滑块为工字型滑块，所述弧形槽导轨内侧设有弧形滑块限位件，所述弧形滑块限位件上边沿卡在工字型滑块的中部凹槽内，弧形滑块限位件两端与弧形槽导轨另一边之间距离小于工字型滑块底部宽度。Preferably, the arc-shaped slider is an I-shaped slider, and the inner side of the arc-shaped groove guide rail is provided with an arc-shaped slider limiter, and the upper edge of the arc-shaped slider limiter is stuck on the I-shaped slider. In the middle groove of the block, the distance between the two ends of the arc-shaped slider limiter and the other side of the arc-shaped groove guide rail is smaller than the bottom width of the I-shaped slider.
优选的，所述两个前臂外套内侧分别设有方向与前臂外套平行的直线导轨，所述两个直线导轨上均设有可前后滑动的直线导轨副，所述两个直线导轨副分别与前臂内套两边相连。Preferably, the inner sides of the two forearm jackets are respectively provided with linear guide rails parallel to the direction of the forearm jacket, and the two linear guide rails are provided with linear guide rail pairs that can slide back and forth, and the two linear guide rail pairs are respectively connected to the forearm The inner sleeve is connected on both sides.
优选的，所述上臂转盘均与支撑轴固定连接，支撑轴与前臂转盘均通过挡边轴承相连，支撑轴靠近前臂转盘一端设有卡簧槽，所述卡簧槽内设有防止挡边轴承相对于支撑轴轴向移动的卡簧。Preferably, the upper arm turntable is fixedly connected to the support shaft, the support shaft and the forearm turntable are connected through rib bearings, and the end of the support shaft close to the forearm turntable is provided with a circlip groove, and the circlip groove is provided with an anti-rib bearing A circlip that moves axially relative to the support shaft.
优选的，所述上臂转盘与相应的前臂转盘相对的内侧分别设有弧形限位块，所述上臂转盘和前臂转盘上弧形限位块交错设置，通过弧形限位块限制上臂转盘和前臂转盘相对旋转角度。Preferably, the inner sides of the upper arm turntable and the corresponding forearm turntable are respectively provided with arc-shaped limit blocks, and the arc-shaped limit blocks on the upper arm turntable and the forearm turntable are arranged alternately, and the upper arm turntable and the upper arm turntable are limited by the arc limit blocks. The relative rotation angle of the forearm turntable.
优选的，所述两条钢丝绳的一端分别设有圆柱头，两条钢丝绳的圆柱头分别通过气孔螺钉与外骨骼驱动轮盘相连上下位置固定相连，两条钢丝绳的另一端分别设有钢丝卡头，两条钢丝绳端部的钢丝卡头分别通过气孔螺钉与驱动器绳驱轮盘上下位置固定相连。Preferably, one end of the two steel wire ropes is respectively provided with a cylindrical head, and the cylindrical heads of the two steel wire ropes are respectively connected to the exoskeleton drive wheel through air hole screws and fixedly connected at the upper and lower positions, and the other ends of the two steel wire ropes are respectively provided with steel wire clips , the steel wire clips at the ends of the two steel wire ropes are fixedly connected to the upper and lower positions of the driver rope drive wheel through air hole screws respectively.
本发明相比现有技术具有以下优点：Compared with the prior art, the present invention has the following advantages:
串联柔性驱动器更适用于与人体密切接触的外骨骼机器人系统，本设计将串联柔性弹性驱动器应用到肘关节外骨骼机器人中，通过模拟人体肌肉的收缩方式，实现在运动中的主动助力和被动缓冲作用。本设计将驱动器及控制装置与肘关节外骨骼分开布置，将驱动器及控制装置放入后背包，通过绳驱方式实现传动，这样的设计方式不仅具有柔性驱动器控制精度高，输出阻抗低，抗冲击载荷强等优点，同时兼具有绳驱传动的结构简洁，穿戴便携，运动柔顺等优点。本发明在外骨骼的设计中，模拟人体肘关节运动特性，设计两个被动自由度，在运动过程中实现肘关节外骨骼相对人体肘关节的自适应调整，提高了安全性。Serial flexible actuators are more suitable for exoskeleton robot systems that are in close contact with the human body. In this design, serial flexible elastic actuators are applied to elbow joint exoskeleton robots. By simulating the contraction of human muscles, active assistance and passive buffering in motion are realized. effect. In this design, the driver and control device are arranged separately from the elbow joint exoskeleton, and the driver and control device are put into the backpack, and the transmission is realized by rope drive. This design method not only has the advantages of high control precision of the flexible driver, low output impedance, and shock resistance. It has the advantages of strong load, and at the same time has the advantages of simple structure of rope drive transmission, portable wear, and smooth movement. In the design of the exoskeleton, the present invention simulates the kinematic characteristics of the human elbow joint, designs two passive degrees of freedom, realizes self-adaptive adjustment of the elbow joint exoskeleton relative to the human elbow joint during the movement process, and improves safety.
附图说明Description of drawings
图1是本发明的整体示意图；Fig. 1 is the overall schematic diagram of the present invention;
图2是肘关节外骨骼结构示意图；Figure 2 is a schematic diagram of the structure of the elbow joint exoskeleton;
图3是弧形槽导轨和弧形滑块限位件结构示意图；Fig. 3 is a structural schematic diagram of the arc-shaped groove guide rail and the arc-shaped slider limiter;
图4是主传动机构左侧爆炸示意图；Fig. 4 is a schematic diagram of explosion on the left side of the main transmission mechanism;
图5是上臂左转动盘和前臂左转动盘内侧的弧形限位块示意图；Fig. 5 is a schematic diagram of the arc-shaped limit block inside the left rotating disk of the upper arm and the left rotating disk of the forearm;
图6是绳驱结构示意图；Fig. 6 is a structural schematic diagram of a rope drive;
图7是驱动机构示意图；Fig. 7 is a schematic diagram of a driving mechanism;
图8为主传动机构右侧结构示意图。Figure 8 is a schematic diagram of the structure on the right side of the main transmission mechanism.
图中，1-上臂左支撑板，2-上臂外套，3-上臂右支撑板，4-上臂内套，6-弧形滑块限位件一，5-弧形滑块一，7-左弧形槽导轨，8-弧形滑块二，9-弧形滑块限位件二，10-右弧形槽导轨，11-上臂左转动盘，12-上臂右转动盘，13-前臂左转动盘，14-前臂右转动盘，15-左支撑轴，16-右支撑轴，17-卡簧，18-挡边轴承，19-空心轴编码器，20-前臂支撑板一，21-前臂支撑板二，22-直线导轨副一，23-直线导轨副二，24-导轨副连接件一，25-导轨副连接件二，26-直线导轨一，27-直线导轨二，28-前臂内套，29-前臂外套，30-外骨骼驱动轮盘，31-钢丝绳一，32-钢丝绳二，33-绳驱V型支撑块，34-钢丝绳管一，35-钢丝绳管二，36-线管套，37-绳驱支撑座，38-钢丝卡头，39-气孔螺钉，40-驱动器绳驱轮盘，41-柔性驱动模块，42-旋转编码器，43-编码器固定件，44-驱动器支撑件，45-驱动器支撑座，46-驱动器固定底座，47-方钢固定角件，48-绳驱固定座。In the figure, 1-upper arm left support plate, 2-upper arm coat, 3-upper arm right support plate, 4-upper arm inner sleeve, 6-arc slider stopper 1, 5-arc slider 1, 7-left Arc groove guide rail, 8-arc slider two, 9-arc slider limiter two, 10-right arc groove guide rail, 11-left rotating disc of upper arm, 12-right rotating disc of upper arm, 13- Forearm left rotation disk, 14-forearm right rotation disk, 15-left support shaft, 16-right support shaft, 17-circlip, 18-rib bearing, 19-hollow shaft encoder, 20-forearm support plate 1 , 21-forearm support plate 2, 22-linear guide rail pair 1, 23-linear guide rail pair 2, 24-guide rail pair connector 1, 25-guide rail pair connector 2, 26-linear guide rail 1, 27-linear guide rail 2, 28-Forearm inner sleeve, 29-Forearm coat, 30-Exoskeleton drive wheel, 31-Wire rope one, 32-Wire rope two, 33-Rope drive V-shaped support block, 34-Wire rope tube one, 35-Wire rope tube two, 36-line pipe sleeve, 37-rope drive support seat, 38-steel wire clip, 39-air hole screw, 40-drive rope drive wheel, 41-flexible drive module, 42-rotary encoder, 43-encoder fixing piece , 44-drive support, 45-drive support seat, 46-drive fixed base, 47-square steel fixed corner piece, 48-rope drive fixed seat.
具体实施方式Detailed ways
下面对本发明的实施例作详细说明，本实施例在以本发明技术方案为前提下进行实施，给出了详细的实施方式和具体的操作过程，但本发明的保护范围不限于下述的实施例。The embodiments of the present invention are described in detail below. This embodiment is implemented on the premise of the technical solution of the present invention, and detailed implementation methods and specific operating procedures are provided, but the protection scope of the present invention is not limited to the following implementation example.
如图1所示，本发明的机器人包括：肘关节外骨骼机构Ⅰ，驱动机构Ⅱ和控制装置Ⅲ。As shown in Fig. 1, the robot of the present invention includes: an elbow joint exoskeleton mechanism I, a driving mechanism II and a control device III.
如图2所示，本发明的肘关节外骨骼机构Ⅰ包括：上臂支撑机构，主传动机构以及前臂支撑机构。As shown in Fig. 2, the elbow joint exoskeleton mechanism I of the present invention includes: an upper arm support mechanism, a main transmission mechanism and a forearm support mechanism.
上臂支撑机构包括上臂左支撑板1，上臂外套2，上臂右支撑板3，上臂内套4，弧形滑块一5，弧形滑块二8，左弧形槽导轨7，右弧形槽导轨10，弧形滑块限位件一6，弧形滑块限位件二9。如图3所示，所述弧形滑块一5为工字型滑块，所述左弧形槽导轨7内侧设有弧形滑块限位件一6，所述弧形滑块限位件一6上边沿卡在弧形滑块一5的中部凹槽内，弧形滑块限位件一6两端与左弧形槽导轨7另一边之间距离小于工字型滑块底部宽度。右弧形槽导轨10上的结构与左弧形槽导轨7上的结构一样。The upper arm support mechanism includes upper arm left support plate 1, upper arm outer cover 2, upper arm right support plate 3, upper arm inner sleeve 4, arc slider one 5, arc slider two 8, left arc groove guide rail 7, right arc groove Guide rail 10, arc-shaped slider limiter one 6, arc-shaped slider limiter two 9. As shown in Figure 3, the arc-shaped slider-5 is an I-shaped slider, and the inner side of the left arc-shaped groove guide rail 7 is provided with an arc-shaped slider limiter-6, and the arc-shaped slider limit The upper edge of piece one 6 is stuck in the middle groove of arc slider one 5, and the distance between the two ends of arc slider limit piece one 6 and the other side of left arc groove guide rail 7 is smaller than the bottom width of I-shaped slider . The structure on the right arc groove guide rail 10 is the same as the structure on the left arc groove guide rail 7 .
其中上臂外套2与上臂左支撑板1，上臂右支撑板3紧固连接，达到支撑稳定上臂结构的作用，上臂内套4与弧形滑块一5，弧形滑块二8固定连接，弧形滑块限位件一6与左弧形槽导轨7固定连接，弧形滑块限位件二9与右弧形槽导轨10固定连接，所述弧形滑块一5和弧形滑块二8分别可在相应的左弧形槽导轨7和右弧形槽导轨10内滑动，左弧形槽导轨7、右弧形槽导轨10、上臂内套4和上臂外套2四者的圆弧圆心重合，通过弧形滑块在弧形槽导轨内滑动，可以带动上臂内套4相对于上臂外套2旋转，实现肘关节外骨骼旋转轴在水平面内绕着上臂中心轴转动。Wherein the upper arm coat 2 is tightly connected with the upper arm left support plate 1 and the upper arm right support plate 3 to support and stabilize the structure of the upper arm. The upper arm inner sleeve 4 is fixedly connected with the arc slider one 5 and the arc slider two 8, Shaped slider stopper one 6 is fixedly connected with left arc groove guide rail 7, and arc slider stopper two 9 is fixedly connected with right arc groove guide rail 10, and described arc slide block one 5 and arc slide block Two 8 can slide in corresponding left arc groove guide rail 7 and right arc groove guide rail 10 respectively, the circular arcs of left arc groove guide rail 7, right arc groove guide rail 10, upper arm inner cover 4 and upper arm overcoat 2 four. The center of the circle coincides, and the arc-shaped slider slides in the arc-shaped groove guide rail, which can drive the upper arm inner sleeve 4 to rotate relative to the upper arm outer sleeve 2, so that the rotation axis of the elbow joint exoskeleton can rotate around the central axis of the upper arm in the horizontal plane.
本发明的主传动机构包括上臂左转动盘11，上臂右转动盘12，前臂左转动盘13，前臂右转动盘14，左支撑轴15，右支撑轴16，挡边轴承17，卡簧18，空心轴编码器19。The main transmission mechanism of the present invention comprises upper arm left rotating disk 11, upper arm right rotating disk 12, forearm left rotating disk 13, forearm right rotating disk 14, left support shaft 15, right support shaft 16, rib bearing 17, Circlip 18, hollow shaft encoder 19.
其中左侧部分，上臂左转动盘11设有与上臂左支撑板1紧固连接的凹槽，这样上臂左转动盘11与上臂左支撑板1整体上处于一个平面，有利于保护手臂，上臂左转动盘11内侧面设有通过螺钉固定相连的左弧形槽导轨7，左支撑轴15右轴端也与上臂左转动盘11内侧紧固连接，挡边轴承18的内圈与左支撑轴15固定连接，挡边轴承18的外圈与前臂左转动盘13固定连接，实现前臂左转动盘13相对上臂左转动盘11绕着左支撑轴15旋转。在左支撑轴15另一端上设计了卡簧槽，卡簧槽内设有卡簧17，实现挡边轴承18与前臂左转动盘13相对左支撑轴15的轴向定位，左支撑轴15另一端插入空心轴编码器19中固定，具体结构如图4所示。另外，为了保护人体肘关节，在上臂左转动盘11与前臂左转动盘13相对的内侧分别设有弧形限位块，所述上臂左转动盘11和前臂左转动盘13上弧形限位块交错设置，如图5所示，通过弧形限位块限制上臂左转动盘11和前臂左转动盘13相对旋转角度，使得其相对转动角度在0°到150°之内。主传动机构右侧机构除了没有空心轴编码器19之外与左侧机构相似，这里不作赘述。Wherein on the left side, the upper arm left rotating disk 11 is provided with a groove tightly connected with the upper arm left supporting plate 1, so that the upper arm left rotating disk 11 and the upper arm left supporting plate 1 are in a plane as a whole, which is conducive to protecting the arm. The inner surface of the left rotating disk 11 of the upper arm is provided with a left arc-shaped groove guide rail 7 fixedly connected by screws, and the right shaft end of the left support shaft 15 is also tightly connected with the inner side of the left rotating disk 11 of the upper arm. The left support shaft 15 is fixedly connected, and the outer ring of the rib bearing 18 is fixedly connected with the left forearm rotating disk 13, so that the left rotating disk 13 of the forearm is rotated around the left supporting shaft 15 relative to the left rotating disk 11 of the upper arm. On the other end of the left support shaft 15, a circlip groove is designed, and a circlip 17 is arranged in the circlip groove to realize the axial positioning of the rib bearing 18 and the left rotating disk 13 of the forearm relative to the left support shaft 15, and the left support shaft 15 The other end is inserted into the hollow shaft encoder 19 and fixed, and the specific structure is as shown in FIG. 4 . In addition, in order to protect the elbow joints of the human body, arc-shaped limit blocks are respectively provided on the inner sides of the upper arm left rotating disk 11 and the forearm left rotating disk 13. The arc-shaped limiting blocks are arranged in a staggered manner, as shown in Figure 5, the relative rotation angles of the left rotating disk 11 of the upper arm and the left rotating disk 13 of the forearm are limited by the arc-shaped limiting blocks, so that the relative rotation angle is between 0° and 150°. Inside. The mechanism on the right side of the main transmission mechanism is similar to the mechanism on the left except that there is no hollow shaft encoder 19, so it will not be repeated here.
本发明的前臂支撑机构包括前臂支撑板一20，前臂支撑板二21，直线导轨一26，直线导轨二27，直线导轨副一22，直线导轨副二23，导轨副连接件一24，导轨副连接件二25，前臂外套29，前臂内套28。The forearm support mechanism of the present invention comprises a forearm support plate 1 20, a forearm support plate 2 21, a linear guide rail 26, a linear guide rail 2 27, a linear guide rail pair 22, a linear guide rail pair 23, a guide rail pair connector 1 24, and a guide rail pair Connecting piece two 25, forearm coat 29, forearm inner sleeve 28.
其中前臂支撑板一20与前臂左转动盘13紧固连接，前臂支撑板二21与前臂右转动盘14紧固连接，前臂支撑板一20和前臂支撑板二21内侧分别固定设有直线导轨一26和直线导轨二27，直线导轨一26和直线导轨二27上分别设有直线导轨副一22和直线导轨副二23，前臂内套28一边通过导轨副连接件一24与直线导轨副一22固定连接，前臂内套28另一边通过导轨副连接件二25与直线导轨副二23固定连接；通过直线导轨副在直线导轨上滑动可以带动前臂内套28相对于前臂外套29前后滑动，从而实现肘关节外骨骼旋转轴在矢状面内的平动。Wherein the forearm support plate 1 20 is tightly connected with the forearm left rotating disk 13, the forearm support plate 2 21 is tightly connected with the forearm right rotating disk 14, and the inner sides of the forearm support plate 1 20 and the forearm support plate 2 21 are respectively fixed with straight lines. Guide rail one 26 and linear guide rail two 27, linear guide rail one 26 and linear guide rail two 27 are provided with linear guide rail pair one 22 and linear guide rail pair two 23 respectively, forearm inner sleeve 28 passes guide rail pair connector one 24 and linear guide rail pair One 22 is fixedly connected, and the other side of the forearm inner sleeve 28 is fixedly connected with the linear guide rail pair 23 through the second guide rail pair connector 25; the forearm inner sleeve 28 can be driven to slide back and forth relative to the forearm outer sleeve 29 by sliding the linear guide rail pair on the linear guide rail. In this way, the translation of the rotation axis of the elbow joint exoskeleton in the sagittal plane is realized.
本发明的驱动机构Ⅱ包括：绳驱传动机构、驱动器、以及绳驱固定座48。The driving mechanism II of the present invention includes: a rope-driven transmission mechanism, a driver, and a rope-driven fixing seat 48 .
如图6所示，本发明的绳驱传动机构包括：外骨骼驱动轮盘30，钢丝绳一31，钢丝绳二32，绳驱V型支撑块33，钢丝绳管一34，钢丝绳管二35，线管套36，绳驱支撑座37，钢丝卡头38，气孔螺钉39，驱动器绳驱轮盘40。As shown in Figure 6, the rope drive transmission mechanism of the present invention comprises: exoskeleton drive wheel 30, steel wire rope one 31, steel wire rope two 32, rope drive V-shaped support block 33, steel wire rope pipe one 34, steel wire rope pipe two 35, wire pipe Cover 36, rope drives support seat 37, steel wire chuck 38, air hole screw 39, driver rope drives wheel disc 40.
其中钢丝绳一31、钢丝绳二32通过固定在外骨骼驱动轮盘30上的两个气孔螺钉39内孔绕在外骨骼驱动轮盘30上，本实施例所用的钢丝绳一31和钢丝绳二32是标准自行车刹车线，其一端是圆柱头，由于绕在外骨骼驱动轮盘30上的钢丝绳一31和钢丝绳二32一端是圆柱头，所以不需要钢丝卡头38固定末端，将钢丝绳管一34、钢丝绳管二35套在钢丝绳一31、钢丝绳二32上，钢丝绳管一34和钢丝绳管二35的长度要小于钢丝绳一31和钢丝绳二32的长度，在钢丝绳管一34和钢丝绳管二35两端分别套上线管套36，钢丝绳管一34和钢丝绳管二35一端通过螺钉固定在绳驱V型支撑块33上，绳驱V型支撑块33与上臂左转动盘11紧固连接，钢丝绳管一34和钢丝绳管二35另一端固定在绳驱支撑座37上，绳驱支撑座37通过螺钉固定在绳驱固定座48上，钢丝绳一31、钢丝绳二32通过固定在驱动器绳驱轮盘40上的两个气孔螺钉39内孔绕在驱动器绳驱轮盘40上，其末端通过钢丝卡头38与驱动器绳驱轮盘40紧固连接。钢丝绳一31和钢丝绳二32上下交叉布置。Wherein steel wire rope 1 31 and steel wire rope 2 32 are wound on the exoskeleton driving wheel 30 through the inner holes of two air hole screws 39 fixed on the exoskeleton driving wheel 30. The steel wire 1 31 and steel wire 2 32 used in this embodiment are standard bicycle brakes. Line, one end is a cylindrical head, because the steel wire rope one 31 and the steel wire rope two 32 one ends that are wound on the exoskeleton driving wheel 30 are cylindrical heads, so there is no need for a steel wire chuck 38 to fix the end, and the steel wire rope pipe one 34, the steel wire rope pipe two 35 Set on the steel wire rope one 31 and the steel wire rope two 32, the length of the steel wire rope pipe one 34 and the steel wire rope pipe two 35 is less than the length of the steel wire rope one 31 and the steel wire rope two 32, put the wire pipes on the two ends of the steel wire rope pipe one 34 and the steel wire rope pipe two 35 respectively Cover 36, steel wire rope pipe one 34 and steel wire rope pipe two 35 one ends are fixed on the rope drive V-shaped support block 33 by screws, and the rope drive V-shaped support block 33 is tightly connected with the left rotating disk 11 of the upper arm, and the steel wire rope pipe one 34 and the steel wire rope The other end of pipe two 35 is fixed on the rope drive support seat 37, and the rope drive support seat 37 is fixed on the rope drive fixed seat 48 by screws, and the steel wire rope one 31 and the steel wire rope two 32 pass through the two wire rope drive wheels 40 fixed on the driver. The inner hole of the air hole screw 39 is wound on the driver rope-driven reel 40 , and its end is fastened to the driver rope-driven reel 40 by a steel wire clip 38 . Wire rope one 31 and steel wire rope two 32 are crossed up and down.
如图7所示，本发明的驱动器为串联弹性驱动器，所述串联弹性驱动器包括：柔性驱动模块41，旋转编码器42，编码器固定件43，驱动器支撑件44，驱动器支撑座45，驱动器固定底座46，方钢固定角件47。As shown in Figure 7, the driver of the present invention is a series elastic driver, and the series elastic driver includes: a flexible drive module 41, a rotary encoder 42, an encoder fixture 43, a driver support 44, a driver support seat 45, and a driver fixing Base 46, square steel fixed angle piece 47.
其中柔性驱动模块41包括伺服电机、内套筒、外套筒、线性弹簧以及四岔弹簧连接件，其中伺服电机末端自带电机编码器，伺服电机与内套筒紧固连接，伺服电机输出轴通过联轴器与旋转编码器42紧固连接，伺服电机另一端与驱动器绳驱轮盘40紧固连接，伺服电机可相对柔性驱动模块41的外套筒转动，旋转编码器42通过编码器固定件43与柔性驱动模块41的外套筒紧固连接，柔性驱动模块41水平摆放，柔性驱动模块41通过驱动器支撑件44与驱动器支撑座45紧固连接，驱动器固定底座46通过螺钉与驱动器支撑座45紧固连接，驱动器支撑座45与绳驱固定座48通过方钢固定角件47紧固连接。The flexible drive module 41 includes a servo motor, an inner sleeve, an outer sleeve, a linear spring, and four-fork spring connectors, wherein the end of the servo motor has a motor encoder, the servo motor is tightly connected to the inner sleeve, and the output shaft of the servo motor The rotary encoder 42 is firmly connected through a coupling, and the other end of the servo motor is firmly connected with the drive rope drive wheel 40. The servo motor can rotate relative to the outer sleeve of the flexible drive module 41, and the rotary encoder 42 is fixed by the encoder. The component 43 is firmly connected with the outer sleeve of the flexible driving module 41, the flexible driving module 41 is placed horizontally, the flexible driving module 41 is tightly connected with the driver supporting base 45 through the driver supporting member 44, and the driver fixing base 46 is supported by the driver through screws Seat 45 is fastened and connected, and driver support seat 45 is fastened and connected with rope-driven fixed seat 48 by square steel fixing angle piece 47.
所述控制装置Ⅲ接收空心轴编码器19、旋转编码器42以及柔性驱动模块41的电机编码器的信号，并控制柔性驱动模块41的伺服电机运转及转动幅度。The control device III receives signals from the hollow shaft encoder 19 , the rotary encoder 42 and the motor encoder of the flexible drive module 41 , and controls the operation and the rotation range of the servo motor of the flexible drive module 41 .
本实施例的便携式绳驱肘关节外骨骼机器人工作时：首先将肘关节外骨骼Ⅰ装置穿戴在人的手臂上，通过上臂内套4、前臂内套28以及弹性绷带固定。当柔性驱动模块41工作时，可带动驱动器绳驱轮盘40转动，通过钢丝绳一31和钢丝绳二32过渡实现外骨骼驱动轮盘30转动，进而带动外骨骼及患者手臂进行屈伸运动，实现肘关节康复训练功能及各类助力功能。When the portable rope-driven elbow-joint exoskeleton robot of this embodiment is working: firstly, the elbow-joint exoskeleton I device is worn on the human arm, and fixed by the upper arm inner sleeve 4, the forearm inner sleeve 28 and the elastic bandage. When the flexible driving module 41 is working, it can drive the driver rope drive wheel 40 to rotate, and the exoskeleton drives the wheel 30 to rotate through the transition of the steel wire rope 1 31 and the steel wire rope 2 32, and then drives the exoskeleton and the patient's arm to perform flexion and extension movements to realize the elbow joint. Rehabilitation training function and various assisting functions.
具体的驱动工作为：当柔性驱动模块41中伺服电机正转时，带动驱动器绳驱轮盘40顺时针转动，由于钢丝绳一31和钢丝绳二32两端分别固定在驱动器绳驱轮盘40和外骨骼驱动轮盘30上，钢丝绳一31上产生拉力，从而带动外骨骼驱动轮盘30逆时针转动，实现肘关节外骨骼Ⅰ的前屈运动。通过柔性驱动模块41中伺服电机自带的编码器测量电机轴相对伺服电机的转动量以及旋转编码器42测量柔性驱动模块41内部弹簧的压缩量实现对柔性驱动模块41的力控制，安装在外骨骼关节处的空心轴编码器19通过测量外骨骼驱动轮盘30相对上臂左转动盘11的转动量实现对肘关节外骨骼机构Ⅰ的阻抗控制。The specific driving work is: when the servo motor in the flexible drive module 41 rotates forward, it drives the driver rope to drive the wheel 40 to rotate clockwise. On the skeleton driving wheel 30 , a tension is generated on the wire rope 1 31 , thereby driving the exoskeleton driving wheel 30 to rotate counterclockwise, realizing the forward flexion movement of the elbow joint exoskeleton I. The encoder of the servo motor in the flexible drive module 41 measures the rotation of the motor shaft relative to the servo motor, and the rotary encoder 42 measures the compression of the internal spring of the flexible drive module 41 to achieve force control on the flexible drive module 41, which is installed on the exoskeleton The hollow shaft encoder 19 at the joint realizes the impedance control of the elbow joint exoskeleton mechanism I by measuring the amount of rotation of the exoskeleton drive wheel 30 relative to the upper arm left rotation disc 11 .
在肘关节外骨骼机构Ⅰ的前屈或后伸运动时，上臂内套4可相对上臂外套2具有一定幅度的旋转，因此可以防止上臂和前臂在单一平面内屈伸时而对手臂造成损失，同时由于手臂弯曲过程中，手臂前端相对于肘关节外骨骼机构Ⅰ会有一定幅度的滑动，因此前臂外套29内设置可前后滑动的前臂内套28，前臂内套28与手臂固定，这样可大大减少手臂因与肘关节外骨骼机构Ⅰ相对滑动带来的损伤。When the elbow joint exoskeleton mechanism I flexes or stretches backward, the upper arm inner sleeve 4 can rotate to a certain extent relative to the upper arm outer sleeve 2, so that it can prevent the upper arm and forearm from being damaged when the upper arm and forearm flex and extend in a single plane. During the bending process of the arm, the front end of the arm will slide to a certain extent relative to the elbow joint exoskeleton mechanism I, so the forearm inner sleeve 28 that can slide back and forth is arranged in the forearm outer sleeve 29, and the forearm inner sleeve 28 is fixed to the arm, which can greatly reduce the arm Injuries caused by sliding relative to the elbow joint exoskeleton mechanism I.
当柔性驱动模块41中电机反转时，同理在钢丝绳二32上产生拉力，可实现肘关节外骨骼机构Ⅰ的后伸运动。When the motor in the flexible driving module 41 reverses, similarly, a pulling force is generated on the steel wire rope 2 32 to realize the extension movement of the elbow joint exoskeleton mechanism I.
本发明的一种便携式柔性肘关节外骨骼机器人，其柔性驱动形式不仅可以用于本肘关节的结构设计，同样适用于上肢其余各单关节以及下肢各单关节的驱动设计。该机器人不只适用于康复医疗训练，还具备助力功能，适合在各类搬运、攀爬等方面应用推广。A portable flexible elbow joint exoskeleton robot of the present invention, its flexible driving form can not only be used for the structural design of the elbow joint, but also suitable for the driving design of other single joints of the upper limbs and single joints of the lower limbs. The robot is not only suitable for rehabilitation medical training, but also has the function of assisting, which is suitable for application and promotion in various handling and climbing.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611015755.4ACN106393073B (en) | 2016-11-18 | 2016-11-18 | A kind of Portable flexible elbow joint exoskeleton robot |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611015755.4ACN106393073B (en) | 2016-11-18 | 2016-11-18 | A kind of Portable flexible elbow joint exoskeleton robot |
| Publication Number | Publication Date |
|---|---|
| CN106393073A CN106393073A (en) | 2017-02-15 |
| CN106393073Btrue CN106393073B (en) | 2018-12-14 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611015755.4AActiveCN106393073B (en) | 2016-11-18 | 2016-11-18 | A kind of Portable flexible elbow joint exoskeleton robot |
| Country | Link |
|---|---|
| CN (1) | CN106393073B (en) |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107049704A (en)* | 2017-04-24 | 2017-08-18 | 杭州众禾自动化设备有限公司 | A kind of flexible upper limbs ectoskeleton of auxiliary power |
| CN107397647B (en)* | 2017-06-23 | 2019-10-01 | 上海理工大学 | Elbow joint power-assisted training device |
| CN107469297A (en)* | 2017-09-15 | 2017-12-15 | 南京鼎世医疗器械有限公司 | A kind of creeping exerciser and its application method |
| CN107510574A (en)* | 2017-09-20 | 2017-12-26 | 清华大学 | A kind of liquid metal ectoskeleton joint |
| CN108652919B (en)* | 2018-05-27 | 2020-05-22 | 北京工业大学 | A wire-driven multi-DOF wearable upper limb medical exoskeleton structure |
| CN108818559A (en)* | 2018-07-06 | 2018-11-16 | 宣城南巡智能科技有限公司 | A kind of myoarchitecture of emulated robot |
| CN109289166B (en)* | 2018-11-29 | 2020-09-15 | 上海市第十人民医院 | Medical elbow joint rehabilitation training device |
| CN109364434A (en)* | 2018-12-11 | 2019-02-22 | 江苏苏云医疗器材有限公司 | A kind of musculi colli rehabilitation training equipment |
| CN111434473A (en)* | 2019-01-15 | 2020-07-21 | 上海哲开自动化科技有限公司 | Multifunctional industrial robot manipulator |
| CN110101546B (en)* | 2019-06-06 | 2024-04-09 | 长春工业大学 | Wearable portable flexible rope drives upper limbs rehabilitation training robot |
| CN110281222B (en)* | 2019-07-30 | 2022-08-19 | 烟台科宇机器人科技有限公司 | Joint movement device of exoskeleton robot |
| CN111281741B (en)* | 2020-02-26 | 2022-05-31 | 南京邮电大学 | Reconfigurable exoskeleton upper limb rehabilitation robot for different body types |
| CN111805574B (en)* | 2020-05-25 | 2022-11-04 | 南京航空航天大学 | Wearable rope-driven mechanical arm system |
| CN111743731B (en)* | 2020-07-06 | 2022-03-25 | 中南大学湘雅医院 | Elbow joint function rehabilitation device |
| CN111590551B (en)* | 2020-07-07 | 2022-12-02 | 黄河科技学院 | A self-locking and self-unlocking mechanical device |
| CN111803329B (en)* | 2020-07-17 | 2022-05-24 | 哈尔滨工业大学 | Elbow exoskeleton for rehabilitation robot |
| CN111904791B (en)* | 2020-08-12 | 2023-08-22 | 威海经济技术开发区天智创新技术研究院 | Skin deformation compensation structure of lower limb rehabilitation equipment |
| CN111991190B (en)* | 2020-09-08 | 2022-06-28 | 太原量标医疗科技有限责任公司 | Combined inertial power assisted joint flexion and extension moving device |
| CN112426703A (en)* | 2020-11-10 | 2021-03-02 | 刘官妮 | Upper limb rehabilitation exoskeleton based on space gravity balance |
| CN113183119B (en)* | 2021-02-26 | 2022-05-31 | 北京大学 | Wearable Lower Limb Exoskeleton Robot Based on Rope-Driven Redundant Flexible Actuators |
| CN114246761A (en)* | 2021-04-05 | 2022-03-29 | 新加坡国立大学 | Device for assisting user's upper limb movement |
| CN114452157A (en)* | 2021-04-05 | 2022-05-10 | 新加坡国立大学 | Device for assisting upper limb movement |
| CN113476275B (en)* | 2021-08-12 | 2025-05-27 | 中国石油大学(华东) | A parallel flexible cable driven upper limb rehabilitation robot capable of achieving flexible cable fixed-point output |
| CN114102556B (en)* | 2021-10-27 | 2024-05-10 | 北京机械设备研究所 | Wearing device |
| CN115844682A (en)* | 2022-11-30 | 2023-03-28 | 浙江工业大学 | Line-driven bionic human elbow joint exoskeleton |
| PL444499A1 (en)* | 2023-04-20 | 2024-10-21 | Uniwersytet Kazimierza Wielkiego | Elbow exoskeleton |
| CN117283537A (en)* | 2023-11-24 | 2023-12-26 | 杭州键嘉医疗科技股份有限公司 | Rope drives sharp module |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1997000661A1 (en)* | 1995-06-23 | 1997-01-09 | Kinetecs, Inc. | Exercise apparatus and technique |
| CA2402823A1 (en)* | 2000-03-14 | 2001-09-20 | Orthorehab Inc. | Combination pro/supination and flexion therapeutic mobilization device |
| CN105853148A (en)* | 2016-05-30 | 2016-08-17 | 哈尔滨天愈康复医疗机器人有限公司 | Elbow and knee joint traction rehabilitation robot and rope anti-twining structure thereof |
| CN106109167A (en)* | 2016-06-22 | 2016-11-16 | 上海电气集团股份有限公司 | A kind of portable wearable upper limb exoskeleton rehabilitation training aids |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7396337B2 (en)* | 2002-11-21 | 2008-07-08 | Massachusetts Institute Of Technology | Powered orthotic device |
| US7204814B2 (en)* | 2003-05-29 | 2007-04-17 | Muscle Tech Ltd. | Orthodynamic rehabilitator |
| IT1401979B1 (en)* | 2010-09-28 | 2013-08-28 | C N R Consiglio Naz Ricerche | BIOMEDICAL DEVICE FOR ROBOTIZED REHABILITATION OF THE HUMAN UPPER BODY, PARTICULARLY FOR THE NEUROMOTORY REHABILITATION OF THE ARTICULATION OF THE SHOULDER AND OF THE ELBOW. |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1997000661A1 (en)* | 1995-06-23 | 1997-01-09 | Kinetecs, Inc. | Exercise apparatus and technique |
| CA2402823A1 (en)* | 2000-03-14 | 2001-09-20 | Orthorehab Inc. | Combination pro/supination and flexion therapeutic mobilization device |
| CN105853148A (en)* | 2016-05-30 | 2016-08-17 | 哈尔滨天愈康复医疗机器人有限公司 | Elbow and knee joint traction rehabilitation robot and rope anti-twining structure thereof |
| CN106109167A (en)* | 2016-06-22 | 2016-11-16 | 上海电气集团股份有限公司 | A kind of portable wearable upper limb exoskeleton rehabilitation training aids |
| Publication number | Publication date |
|---|---|
| CN106393073A (en) | 2017-02-15 |
| Publication | Publication Date | Title |
|---|---|---|
| CN106393073B (en) | A kind of Portable flexible elbow joint exoskeleton robot | |
| CN105853141B (en) | Shoulder rehabilitation system with gravity compensation | |
| CN104842345B (en) | A humanoid robotic arm based on hybrid drive of multiple artificial muscles | |
| CN102119902B (en) | Wearable 7-degree-of-freedom upper limb movement rehabilitation training exoskeleton | |
| CN106943713A (en) | Shoulder joint rehabilitation assistive device | |
| CN110960395B (en) | Exoskeleton type upper limb rehabilitation robot | |
| CN105520820B (en) | A kind of Three Degree Of Freedom wrist functional rehabilitation robot | |
| CN106361539A (en) | Three-degree-of-freedom wrist joint rehabilitation robot and system thereof | |
| CN104473752B (en) | A kind of exercising apparatus for recovery of upper limb based on grouping couple drive | |
| CN101347380A (en) | A training plane adjustable upper limb hemiplegia rehabilitation robot device | |
| CN108524192B (en) | Wearable forearm active rehabilitation training exoskeleton device with myoelectric sensing | |
| CN104942791B (en) | Rope pulled and pneumatic muscle driven multi-degree-of-freedom bionic manipulator | |
| CN110123584B (en) | Six-degree-of-freedom wearable flexible rope driven exoskeleton type upper limb rehabilitation training robot | |
| CN104887456A (en) | Wearable rehabilitation training device for upper limbs driven by pneumatic artificial muscles | |
| CN108852740A (en) | A kind of pneumatic upper limb rehabilitation robot | |
| CN106038168B (en) | finger rehabilitation training device | |
| CN107736983A (en) | A kind of flexible shoulder rehabilitation exoskeleton mechanism | |
| CN110037892A (en) | The exercising apparatus for recovery of upper limb and method of marmem rope driving | |
| CN107374912A (en) | A kind of upper-limbs rehabilitation training robot | |
| CN105877969A (en) | Shoulder joint three-freedom-degree linkage mechanism for exoskeletal rehabilitation robot | |
| CN106038169B (en) | A kind of brachium regulating mechanism of rope driving ectoskeleton mechanical arm | |
| CN108652909B (en) | A robotic joint device driven by pneumatic muscles | |
| CN107233188A (en) | A kind of flexible hand function rehabilitation training device | |
| CN205019355U (en) | Recovered robot of ectoskeleton formula three degree of freedom link gears of shoulder joint | |
| CN104546379B (en) | Limb rehabilitation training machine |
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |