A method and device for solving the problem of singular configuration of the shoulder joint of an exoskeleton robot
An exoskeleton robot, robot shoulder technology, applied in manipulators, passive exercise equipment, program-controlled manipulators, etc., to achieve the effect of large joint activity space
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[0022] The present invention will be further described in detail below through specific embodiments in conjunction with the accompanying drawings.
[0023] The invention detects the movement intention of the limbs by adding an elbow sleeve and a force sensor at the elbow joint. attached image 3 Elbow sleeves are shown, with Figure 4 Shows where the force sensor is installed.
[0024] The device for detecting the movement intention of the upper arm of the present invention includes an elbow sleeve, an exoskeleton posterior humerus, and four sets of pressure sensors. Wherein, the posterior segment of the humerus of the exoskeleton is composed of a rod and an inner ring of an annular bearing. In the present invention, a concentric elbow sleeve is added to the inner wall of the inner ring of the bearing, and four sets of pressure sensors are installed equidistantly between the ring bearing and the elbow sleeve to detect positive pressure from any direction.
[0025] attached...
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