Light-weight multi-freedom degree shoulder complex bionic power-assisted flexible exoskeleton

Abstract

The invention relates to a light-weight multi-freedom degree shoulder complex bionic power-assisted flexible exoskeleton. An upper arm fixing component is connected with a glenohumeral forward / retracting joint, a glenohumeral abduction / adduction joint is connected with a shoulder girdle extension / retraction joint, and a shoulder girdle lifting / dropping joint is connected with a base assembly; theglenohumeral forward / retracting joint, a glenohumeral internal rotation / external rotation joint, the glenohumeral abduction / adduction joint, the shoulder girdle extension / retraction joint and the shoulder girdle lifting / dropping joint are respectively controlled by a lasso driving unit, and each lasso driving unit is respectively mounted on the base assembly; the shoulder complex bionic power-assisted flexible exoskeleton has five freedom degrees of the extension / retraction, the abduction / adduction, and the internal rotation / external rotation of the glenohumeral joint, and the lifting / fallingand the extension / retraction of the shoulder girdle by the driving control of each lasso drive unit. The exoskeleton can effectively avoid the singular configuration and motion interference of the shoulder movement of the human body, improves the range of the shoulder movement, and reproduces the movement function of the human shoulder complex.

Description

technical field [0001] The invention relates to an exoskeleton robot in the fields of human biomechanics and medical rehabilitation, in particular to a lightweight multi-degree-of-freedom shoulder complex bionic-assisted flexible exoskeleton. Background technique [0002] The incidence rate of stroke in my country is the highest in the world. With the accelerated pace of life and population aging, and the increase in life pressure, the number of patients with stroke and hemiplegia caused by cardiovascular, cerebrovascular and nervous system diseases is increasing year by year, and about 3 / 4 of the patients have different degrees of nerve damage. and functional movement disorders, seriously affecting the quality of life. Studies have shown that the central nervous system has a high degree of plasticity. Timely and effective rehabilitation training for hemiplegic limbs can help restore the domination and control of the central nervous system to limb movements, enhance muscle st...

AI Technical Summary

Problems solved by technology

However, the existing rehabilitation exoskeleton usually uses three rotating joints with vertically intersecting axes to equivalent human shoulder movement. This scheme only considers the glenohumeral joint movement, ignoring the shoulder girdle movement, resulting in human-machine shoulder movement during large-scale movement of the humerus. At the same time, due to nerve damage, stroke patients cannot automatically produce shoulder girdle movement, and can only rely on moving the trunk to compensate for shoulder girdle movement, which greatly reduces the effect of rehabilitation training and is prone to other complications

On the other hand, the drive motors of traditional rehabilitation exoskeletons are integrated at the joints, so that the exoskeleton actuators have a larger mass and inertia, which increases the drive performance requirements, reduces control accuracy and stability, and poses a safety hazard for the affected limb to fall when the system fails.

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