A flexible upper limb assist exoskeleton

Abstract

The invention discloses a flexible upper-limb assistance exoskeleton. The flexible upper-limb assistance exoskeleton comprises an exoskeleton flexible execution part and a control system. The flexibleupper-limb assistance exoskeleton mainly uses the negative pressure rotating pneumatic artificial muscle as a flexible driving element and a miniature vacuum air pump as a negative pressure source. The control system measures the muscle force, elbow joint angle and human-machine interaction force according to a force sensor, a surface myoelectricity sensor and an inertia measurement unit, processes the feedback of upper-limb force, position and motion information in real time, estimates a man-machine cooperation state, and controls the negative pressure flow rate and the air passage switchingof the miniature vacuum pump in real time. The control system further controls the pressure of the corresponding negative pressure rotating pneumatic artificial muscle on the exoskeleton flexible execution part worn by a left arm and a right arm based on the man-machine cooperation state, and provides real-time torque for the left and right arms to assist elbow joint bending and stretching duringthe upper-limb movement so as to achieve the purpose of helping elbow joint and rehabilitation training of elbow joint movement injury.

Description

Technical field [0001] The invention belongs to the technical field of flexible exoskeleton robots, upper limb exoskeletons and flexible actuators, and in particular relates to a flexible upper limb boosting exoskeleton. Background technique [0002] Upper extremity exoskeleton refers to a wearable system that can enhance the function of the upper limbs of the human body. Under the control of the wearer, it can assist the upper limbs to complete certain functions and tasks, and provide protection, additional power or ability. It is a typical Human-machine integration system. Human bones are driven by muscles, and upper extremity exoskeletons also require targeted drive components. Traditional hydraulic drive and motor drive have disadvantages such as noise and low power density. The current exoskeleton system is generally based on the drive of a DC servo motor and a harmonic reducer. However, because the power density of the traditional motor decreases rapidly as the volume dec...

AI Technical Summary

Problems solved by technology

Traditional inflatable shortened artificial muscles have the following disadvantages: this type of pneumatic artificial muscle is mainly composed of an inner elastic rubber tube and an outer braided mesh, the dry friction between them and the inelastic deformation of the braided mesh will produce hysteresis, making the artificial muscle The precise control of artificial muscles is very difficult; traditional artificial muscles usually have a "threshold pressure", when the air pressure inside the artificial muscle is less than the "threshold pressure", the artificial muscle cannot perform; The pipe protrudes along the weaving mesh or is damaged at a certain point, and there is even a risk of explosion

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