Shoulder girdle bionic power-assisted flexible exoskeleton mechanism

Abstract

The invention relates to a shoulder girdle bionic power-assisted flexible exoskeleton mechanism. A telescopic actuator arm is disposed opposite to a telescopic support arm, and is connected by two sets of telescopic swing arm assemblies to form a telescopic parallelogram mechanism; one end of either one of the telescopic swing arm A and the telescopic swing arm B in the two groups is rotatably connected to the telescopic actuator arm or the telescopic support arm by a forward / retracting modular rotating device, one end of the remaining telescopic swing arm is movably connected to the telescopic actuator arm or the telescopic support arm; a lifting / falling support arm is connected to a telescopic support arm by the lifting / falling modular rotating device; the forward / retracting modular rotating device and the lifting / falling modular rotating device are all connected to the respective lasso driving units, and the respective lasso driving units provide the driving torques of the forward / retracting and the lifting / falling. The invention solves the problem of rehabilitation training of the shoulder girdle of the patients with hemiplegia, effectively avoids the singular shape of the shoulder movement of the human body, and improves the compatibility of human body movement.

Description

Technical field [0001] The invention relates to an exoskeleton robot in the fields of human biomechanics and medical rehabilitation, in particular to a flexible exoskeleton mechanism with a bionic booster for shoulder girdle. Background technique [0002] The incidence of stroke in my country is the highest in the world. As the pace of life and the aging of the population increase, and the pressure of life increases, the number of patients with stroke and hemiplegia caused by cardiovascular and neurological diseases is increasing year by year, and about 3 / 4 of the patients have different degrees of nerve damage And functional dyskinesia, seriously affecting the quality of life. Studies have shown that the central nervous system has a high degree of plasticity, and timely and effective rehabilitation training for hemiplegic limbs can help restore the central nervous system's control and control of limb movement, strengthen muscle strength, reshape the movement function of the affec...

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.

Images