Interchangeable, singularity-avoiding, seven-degree-of-freedom robot for rehabilitation of exoskeletons of upper limbs

Abstract

The invention discloses an interchangeable, singularity-avoiding, seven-degree-of-freedom robot for rehabilitation of the exoskeletons of upper limbs. The robot comprises seven joint movement of outward extending and inward folding of shoulders, bending and stretching of the shoulders, inward rotation and outward rotation of big arms, bending and stretching of elbows, inward rotation and outward rotation of forearms, outward extending and inward folding of wrists and bending and stretching of the wrists, wherein joints are directly driven by a motor, and rotating joints of the big arms and forearms are driven by gears. Stepless adjustment of the length of arm levers and the distance between the exoskeletons of the two arms is realized through cooperation of fasteners and sliding grooves. The robot has convenient disassembly and assembly, the configuration of degree of freedom is in accordance with the human physiology, and the robot has an adjustable size and singularity-avoiding joints, and can be applied to training of mobile sitting postures and fixed-type standing postures; a wheelchair and a fixed mounting rack can be adopted to install the exoskeletons separately, and each single-arm exoskeleton of the robot has the characteristic of application in interchangeable training of left hands and right hands, so that the application cost is reduced; and the robot has three modes of passive training, active training and resistance training for different rehabilitation stages, mirroring training and demonstration training can be performed during passive training, and the robot has high practicality, and can be used by medical institutions.

Description

technical field [0001] The invention belongs to the field of medical rehabilitation equipment, in particular to an interchangeable and singularity-avoiding seven-degree-of-freedom upper limb exoskeleton rehabilitation robot. Background technique [0002] Since the exoskeleton robot for rehabilitation training needs to be suitable for wearing, according to the research on the kinematic physiology of the human upper limb joints, the human upper limb can be divided into shoulder abduction / adduction, shoulder flexion / extension, big arm rotation / external rotation, elbow Flexion / extension, internal / external rotation of the forearm, abduction / adduction of the wrist, flexion / extension of the wrist, multi-rigid body series kinematic chain with 7 degrees of freedom, so the joints of the exoskeleton should be matched with the upper limbs of the human body as strictly as possible. The axes must match each other; in addition, hemiplegic patients sometimes need to train different arms, so...

AI Technical Summary

Problems solved by technology

[0002] Since the exoskeleton robot for rehabilitation training needs to be suitable for wearing, according to the research on the kinematic physiology of the human upper limb joints, the human upper limb can be divided into shoulder abduction / adduction, shoulder flexion / extension, big arm rotation / external rotation, elbow Flexion / extension, internal / external rotation of the forearm, abduction / adduction of the wrist, flexion / extension of the wrist, multi-rigid body series kinematic chain with 7 degrees of freedom, so the joints of the exoskeleton should be matched with the upper limbs of the human body as strictly as possible. The axes must match each other; in addition, hemiplegic patients sometimes need to train different arms, so the exoskeleton needs to meet the requirements for training both arms; finally, since the joints of the robotic arms are coaxial, it is easy to cause joint singularity, which will lead to degrees of freedom Missing or out-of-control joint speed will cause harm to the patient, so the exoskeleton needs to be designed to avoid singularity for the shoulder joint that is most likely to cause joint singularity

[0003] There are many designs of existing upper limb exoskeleton robots, most of which are relatively heavy and fixed on a fixed base, which is not easy to move

And there are few upper extremity exoskeleton robots that can support dual-arm training, which is not conducive to market promotion

Patent application number 201410855081.3 discloses a seven-degree-of-freedom exoskeleton-type upper limb rehabilitation robot. The single-arm upper limb exoskeleton is mounted on a fixed seat, and the joints are driven to rotate through a pulley. The structure is complex, and the control accuracy is not as good as that of a motor. Structural complexity increases, the degree of freedom configuration does not match well with the joints of the upper limbs of the human body, and does not support double-arm training, and no solution is proposed for the problem of joint avoidance

Patent application number 201710032680.9 discloses a wearable exoskeleton upper limb rehabilitation robot, which includes 6 degrees of freedom and is driven by a rope. Convenient, does not support double-arm training, and has limited training modes

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