An active-passive mixed upper limb rehabilitation training exoskeleton

Abstract

The invention discloses an active-passive upper limb rehabilitation training exoskeleton. An elbow joint connecting base on a big arm is fixedly connected with an elbow joint output wheel on a forearm, one end of an outward turning shaft is hinged to a crossarm of a shoulder joint skeleton, and the other end of the outward turning shaft is connected with a bearing inner race; a driving belt wheel is fixedly installed on the outward turning shaft and sleeved with one end of a synchronous belt, a driven belt wheel is sleeved with the other end of the synchronous belt and fixedly installed on an output shaft of a back driving motor, the back driving motor is fixedly connected with a back driving motor base, the back driving motor base is fixedly connected with an arched connecting rod on the back, a back driving motor driver is fixedly connected with the back driving motor base through a back driving motor driver bracket, the back driving motor driver is electrically connected with the back driving motor, a forearm binding mechanism is hinged to an exoskeleton substrate on the forearm, and a big arm binding mechanism is hinged to an exoskeleton upper arm on the big arm. The active-passive upper limb rehabilitation training exoskeleton is applied to rehabilitation medicine, large-scale engineering construction and material handling.

Description

technical field [0001] The invention relates to an exoskeleton robot, in particular to an active-passive hybrid upper limb rehabilitation training exoskeleton. Background technique [0002] Exoskeleton robot is a kind of complex man-machine combination technology, which integrates the knowledge of many scientific fields such as machinery, sensing, control, information, electronic technology and artificial intelligence, and combines human intelligence with the mechanical energy of mechanical power devices. , through human-machine physical contact to transmit force and motion to realize functions such as motion assistance and posture detection, and rely on sensors to realize information interaction with the wearer. [0003] After more than 40 years of development, exoskeletons have become more and more common in many fields. For example, in the military, the assistance of exoskeletons will enhance the endurance of troops in field operations. Exoskeletons provide energy for so...

AI Technical Summary

Problems solved by technology

[0005] Most of the existing exoskeletons are actively driven, but during the movement of the human body, some energy such as gravitational potential energy changes back and forth, but in the process of active drive, the gravitational potential energy is increasing and decreasing. During the process, the driving components all do positive work, which wastes the gravitational potential energy and the output of the driving components

Moreover, the existing upper extremity exoskeleton structure is relatively complex, the energy utilization rate is extremely low, and it is not indirect and aesthetic.

There are some exoskeletons that use the principle of gravity balance, but their structures are more complicated, or they cannot completely achieve gravity balance

For rehabilitation training, in some cases, it is not enough to rely solely on gravity balance. For example, in stroke patients, the upper limbs do not have any movement ability at the beginning, and they need to move the upper limbs passively, and then gradually recover. In the early stage of active movement, Due to the relatively small output force, after balancing the weight of the upper limbs under the action of gravity balance, it is necessary to output the moment to balance the inertial force, so the movement speed will be too slow, which will affect the recovery speed

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