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Flexible-rope-driven upper limb exoskeleton robot

An exoskeleton robot, flexible rope technology, applied in passive exercise equipment, physical therapy and other directions, can solve the problems of inaccurate position control, low energy efficiency, air pressure drive easily affected by the environment, etc., to achieve smooth movement, large workspace , Compact and lightweight effect

Active Publication Date: 2018-02-09
WUHAN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The design uses pneumatic muscles + rope drive to drive, which makes the exoskeleton flexible and reduces the weight of each joint. However, the pneumatic drive is easily affected by the environment, the position control is not accurate and the energy efficiency is low.

Method used

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  • Flexible-rope-driven upper limb exoskeleton robot
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Embodiment Construction

[0040] The following is a detailed description of the embodiments of the present invention. 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.

[0041] Such as figure 1 and figure 2 As shown, the robot of the present invention includes a backpack I, a back width adjustment device II, a shoulder joint mechanism III, an upper arm length adjustment device IV, an elbow joint mechanism V, a forearm length adjustment device VI, and a wrist joint mechanism VII.

[0042] Such as image 3 As shown, the backpack I of the present invention includes a backpack shell 1, a battery 2, a control board 3, a driver fixing plate 4, a Bowden wire 5, a rope drive fixing seat 6, a winding reel), a DC servo motor 8, and a series elastic driver 9 , Encoder fixing ...

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Abstract

The invention discloses a flexible-rope-driven upper limb exoskeleton robot. The flexible-rope-driven upper limb exoskeleton robot comprises a backpack, a back width adjusting device, a shoulder jointmechanism, an upper limb length adjusting device, an elbow joint mechanism, a forearm length adjusting device and a wrist joint mechanism. A drive control system is arranged in the backpack, the backwidth adjusting device is connected with a shell of the backpack, the shoulder joint mechanism is connected with the back width adjusting device, the upper limb length adjusting device makes the shoulder joint mechanism connected with the elbow joint mechanism, and the forearm length adjusting device makes the elbow joint connected with the wrist joint. A flexible driver is in drive combination with a rope, so that the robot is smooth in motion, concise and compact in structure, and convenient in joint; the flexible-rope-driven upper limb exoskeleton robot totally includes 4 active degrees offreedom, 2 passive degrees of freedom, and the upper limb physiological structure of the human body can be well fitted; length adjusting mechanisms are arranged at the back, the upper arms, and the forearms so that the robot can be adapted to users of different sizes, and the flexible-rope-driven upper limb exoskeleton robot has higher wearing performance. The flexible-rope-driven upper limb exoskeleton robot can be applied and popularized in the aspects of rehabilitation training, power assisting and the like.

Description

technical field [0001] The invention belongs to the field of human-assisted robots, and relates to an upper limb exoskeleton robot, in particular to a flexible rope-driven upper limb exoskeleton robot. Background technique [0002] With the acceleration of population aging, the demand for robots that help the elderly and the disabled is growing rapidly, and the upper limbs of the human body are very important in daily life and require assistance or training. Exoskeleton robots have attracted wide attention in recent years due to their advantages of effectively solving human motor dysfunction, driving users to carry out daily sports or providing some assistance to the human body. [0003] Compared with the mature upper extremity exoskeleton robot technology abroad, domestic research started late and the level is relatively backward. There are few successful commercial products. The main problems are insufficient flexibility, simplified shoulder joint structure, and poor weara...

Claims

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Application Information

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IPC IPC(8): A61H1/02
Inventor 郭朝肖晓晖徐本燕张强孙定阳
Owner WUHAN UNIV
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