A wearable flexible transmission exoskeleton for wrist rehabilitation training

Abstract

The invention provides a wearable wrist rehabilitation training flexible drive external skeleton, relates to a wrist training flexible transmission external skeleton, and aims to solve the problems that human-machine movement is uncoordinated, wear is discomfort, the motion range of joint movement is reduced, and dislocation compensation is needed for the external skeleton joint in the prior art because gear pair transmission or wire rope transmission mechanism is adopted as the transmission mode, the radial size of the external skeleton is larger, the angle of a parallelogram linkage is smaller and interferes with human arm, the motion range of spin is also decreased, and the external skeleton joint is low in compatibility with human joint. The external skeleton includes spin wire rope transmission components, telescopic cross universal coupling drive components, a forearm spin ring, a thin-walled bearing, a bearing sleeve assembly, a forearm fastening piece, a flexion and extension wire rope transmission assembly, a ulnar and radial offset transmission assembly, a coordinating movement mechanism support, a coordinating motion mechanism assembly, a human hand fixed assembly, a forearm first support frame and a forearm second support. The invention belongs to the field of robots.

Description

technical field [0001] The invention relates to a flexible transmission exoskeleton for wrist training, in particular to a wearable flexible transmission exoskeleton for wrist rehabilitation training. Background technique [0002] Traumatic wrist stiffness is an adverse sequelae of long-term plaster external fixation after fractures of the wrist joint and its vicinity. Joint immobilization for more than 6 weeks can cause joint stiffness, which makes flexion and extension unfavorable. There are two types of current treatments, one is surgery, and the other is external treatment combined with functional exercise. Surgical treatment itself is traumatic, and there is still a chance of re-adhesion after surgery, while external therapy and functional exercise have a good effect. The rehabilitation exoskeleton system is a means of introducing robotic technology into the clinic to assist or replace physical therapists in rehabilitation training. It not only reduces the workload o...

AI Technical Summary

Problems solved by technology

[0003] The purpose of the present invention is to solve the problem that the transmission mode in the prior art adopts a gear pair transmission or a wire rope transmission mechanism. The radial size of the exoskeleton is relatively large, and the included angle of the parallelogram linkage mechanism is small, which interferes with the human arm and causes the rotation of the human arm. The range of motion is also reduced, and the compatibility between the joints of the exoskeleton and the joints of the human body is low, resulting in uncoordinated movement between the man and the machine, discomfort when wearing, reducing the range of motion of the joints, and the need to compensate for the dislocation of the exoskeleton joints. Provide a wearable wrist rehabilitation training flexible transmission exoskeleton

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