A 4 DOF forearm of an upper extremity exoskeleton robot

Abstract

The invention discloses a 4-degree-of-freedom forearm of an upper limb exoskeleton robot, including a palm cover, a forearm base plate, a sliding plate, an elbow internal and external rotation module, a wrist flexion and extension module, and a wrist radioulnar flexion module; the first degree of freedom of the forearm is The rotation of the forearm around the axis of elbow flexion and extension, the second degree of freedom is the internal and external rotation of the entire forearm around the central axis of the forearm along the length of the arm, and the third degree of freedom is the dorsiflexion of the palm around the wrist joint, The rotation axis of dorsiflexion performs flexion and extension movement, and the fourth degree of freedom is the radial flexion and ulnar flexion movement of the palm around the rotation axis perpendicular to the back of the hand and passing through the midpoint of the rotation axis. The invention provides four degrees of freedom of motion, that is, elbow joint flexion and extension, internal rotation and external rotation, wrist joint flexion and extension, radial flexion, and ulnar flexion, and the rotation axes of each degree of freedom coincide with the rotation axis of the human body, ensuring that the exoskeleton of the upper limbs It is more flexible in the process of driving the arm movement, and can perform various rehabilitation exercises, making the upper limb rehabilitation treatment more comprehensive.

Description

technical field [0001] The invention relates to the field of mechanical structures of exoskeleton robots, in particular to a 4-degree-of-freedom forearm of an upper limb exoskeleton robot. Background technique [0002] The upper limb exoskeleton robot is a mechanical device integrating ergonomics and bionics. It integrates robotic technologies such as sensing, control, information coupling, and mobile computing. It can provide support, protection, and assistance for human limbs. It is mainly used in rehabilitation medical and military fields. Whether it is for hemiplegia caused by stroke or postoperative rehabilitation for orthopedic injuries, upper limb exoskeleton robots can conveniently and effectively carry out rehabilitation training for patients' upper limbs. [0003] The human forearm is the movement end of the entire upper limb, and as the main functional unit, realizes the complex movement trajectory of the hand. This requires the forearm of the upper extremity ex...

AI Technical Summary

Problems solved by technology

A five-degree-of-freedom exoskeleton-type upper limb rehabilitation robot (application number CN200810064878.6), the forearm part of the upper limb exoskeleton robot contains 3 degrees of freedom, which cannot realize radial flexion and ulnar flexion of the wrist joint, and the forearm mechanism is huge. Grasp the hand, most patients cannot use it autonomously, and the slight change in arm length during elbow flexion and extension is not considered

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