Four-freedom-degree wearable upper limb exercise auxiliary device with optimized freedom degree

Abstract

The invention relates to a four-freedom-degree wearable upper limb exercise auxiliary device with optimized freedom degree. The device comprises a shoulder-back fixing module, an upper arm auxiliary module and a forearm auxiliary module; the shoulder-back fixing module comprises a shoulder-back fixing bracket, a backpack module, a driving control module and a power module, wherein the driving control module and the power module are arranged in the backpack module; and the forearm auxiliary module comprises a motor base, a shoulder turntable motor, a fixed connecting piece, a bearing support rod, a first turntable base, a linear driving device and a first upper arm fixing sleeve. The four-freedom-degree wearable upper limb exercise auxiliary device with the optimized freedom degree can be used for the daily exercise training aiding of the upper limb of a wearer and can complete single-freedom-degree motion training and multi-freedom-degree linkage training, only utilize three active driving units to achieve four freedom degrees of flexion / extension, abduction / adduction and intorsion / extorsion of the shoulder joint and buckling / overextension of the elbow joint, and can be used for portable upper limb exercise aiding. The four-freedom-degree wearable upper limb exercise auxiliary device with the optimized freedom degree has the advantages that the structure is simple, wearingis convenient and fast, and the clinical significance and practical value are higher.

Description

technical field [0001] The invention belongs to the technical field of upper limb rehabilitation robots, and relates to a four-degree-of-freedom wearable upper limb motion assisting device with optimized degrees of freedom. Background technique [0002] There are tens of millions of stroke and hemiplegia patients in my country, and the number of patients is increasing year by year. Coupled with the impact of population aging, the demand for rehabilitation medicine is becoming more and more urgent. Existing rehabilitation medicine mainly relies on the experience and technology of rehabilitation doctors, but the number of doctors and the influence of technology restrict the rehabilitation treatment of patients. In recent years, rehabilitation robots have developed rapidly, and their application has alleviated this limitation to a certain extent. However, with the deepening of research, the requirements for rehabilitation robots have become higher and higher. [0003] The huma...

AI Technical Summary

Problems solved by technology

[0005] Although the control mode of the one-to-one correspondence between the drive unit and the human body's freedom of movement basically realizes the 7 degrees of freedom that characterize the movement characteristics of the upper limbs of the human body, more drive units often cause the robotic arm to be bulky, which is not conducive to the portable and wearable robotic arm. type design, which increases the complexity of the control

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