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A flexible rope-driven elbow-joint exoskeleton robot with compensation device

A technology of exoskeleton robot and compensation device, which is applied in gymnastics equipment, passive exercise equipment, physical therapy, etc., can solve the problems of single-function auxiliary rehabilitation equipment and uncomfortable rehabilitation training, and achieve convenient wearing and carrying, increased transmission flexibility, The effect of increasing comfort

Active Publication Date: 2021-11-30
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] In order to solve the problem that the existing auxiliary rehabilitation equipment has single function and is not suitable for rehabilitation training, the present invention further needs to provide a flexible rope-driven elbow-joint exoskeleton robot with a compensating device

Method used

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  • A flexible rope-driven elbow-joint exoskeleton robot with compensation device
  • A flexible rope-driven elbow-joint exoskeleton robot with compensation device
  • A flexible rope-driven elbow-joint exoskeleton robot with compensation device

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specific Embodiment approach 1

[0022] DETAILED first embodiment: binding Figure 1 - Figure 12 The present embodiment described embodiment, the embodiment of the present embodiment having an outer flexible drive cable compensation means robot elbow joint bone, comprising a back sheet 2, drive means Ⅰ, Ⅱ shoulder means, with the boom length adjustment means Ⅲ, IV misalignment compensating means, means ⅴ elbow flexion, elbow ⅵ spin apparatus, with the arm length adjusting means and two Bowden cable ⅶ, ⅰ drive means is mounted on one side of the back plate 2, the shoulder means ⅱ mounted on one side of the back plate 2, ⅱ shoulder means, the boom means with ⅲ length adjustment, misalignment compensating means IV, elbow flexion and extension means ⅴ small, and elbow with a spin device adjustable in length ⅵ arm means provided ⅶ sequentially connected, one end of the two Bowden cables are connected to drive means ⅰ, wherein a set of the other end of the Bowden cable elbow flexion ⅴ means, and the other end of the Bow...

specific Embodiment approach 2

[0023] DETAILED DESCRIPTION 2: Combination Figure 1 - Figure 4 Outer flexible cord of the present embodiment described embodiment, the present embodiment of the compensation device having a driving robot elbow bone, the drive means comprises a motor driver Ⅰ 1, backplane connector member 4, the first motor output gear 5, a second motor output wheel 13, two fixed Bowden cable connector block 3 and two drive motors four tensioning assembly; backplane connector member 4 fixedly mounted on the side of the back plate 2, two drive motor 3 is fixedly mounted backplane connector 4 and the rear plate 2, a motor drive output set 3 has a first motor output gear 5, the other output terminal of the drive motor 3 of the set has a second motor output gear 13, a connecting member Bowden cable fixing block and two tensioning assembly adjacent to the first electric motor output gear 5 is fixedly mounted in the backplane connector member 4, the two Bowden cable assembly is connected to the tension m...

specific Embodiment approach 3

[0024] Specific Embodiment 3: Combination figure 1 with Figure 4 The present embodiment described embodiment, the embodiment of the present embodiment having an outer flexible drive cable compensation means robot elbow bone, each tensioning assembly includes a biasing wheel mount 6, 7 micrometer screw pretension slider 8, a first 9 a wheel bearing preload, biasing the pulley 10, the second bearing 11 and preload biasing wheel round the bearing sleeve 12, one end of the slider 8 by the biasing micrometer screw pretensioning wheel 7 is fixedly mounted on the holder 6, the pre- tight wheel holder 6 is fixedly mounted on a backplane connector member 4, a first 9 and a second biasing wheel bearing preload wheel set bearing 11 on the other end of the preload of the slider 8, a pulley 10 fitted over the first biasing 9 and a wheel bearing preload Martin second biasing wheel bearing 11, the bearing preload sleeve 12 adjacent to the second wheel biasing the wheel bearing 11 is mounted on a...

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Abstract

A flexible rope-driven elbow joint exoskeleton robot with a compensation device. The invention relates to an exoskeleton robot. The invention solves the problem that the existing auxiliary rehabilitation equipment has a single function and is not suitable for rehabilitation training. It includes a backboard and a driving device , shoulder joint device, arm device with length adjustment, misalignment compensation device, elbow joint flexion and extension device, elbow joint spin device, forearm device with length adjustment and two sets of Bowden lines, the driving device is installed on the back plate The shoulder joint device is installed on one side of the back plate, the shoulder joint device, the arm device with length adjustment, the dislocation compensation device, the elbow joint flexion and extension device, the elbow joint rotation device and the length adjustment The forearm devices are connected in sequence. One end of two sets of Bowden wires is connected to the driving device, the other end of one set of Bowden wires is connected to the elbow joint flexion and extension device, and the other end of the other set of Bowden wires is connected to the elbow joint. The device is connected, and the invention is used in the field of rehabilitation training.

Description

Technical field [0001] The present invention relates to a robot exoskeleton, particularly relates to a flexible cord having a compensating device driving robot elbow exoskeleton. Background technique [0002] Living conditions and more ordinary people usually sit in the state, especially in the upper extremity elbow movement played a large role in daily life. Its physical rehabilitation training at the elbow can not be achieved with the help of voluntary movement is critical. With the acceleration of the aging process in our population, cardiovascular disease risk factors in the trend has become more pronounced. Among them, the vast majority of stroke survivors exist limb motor function disorders, such as lower limb paralysis, and so on. So how best to help stroke patients rehabilitation and assisted living is very important and urgent. When a hospital patient rehabilitation, upper extremity are generally completed by a doctor pulling a single joint exercise, less repetition, hig...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): A61H1/02A63B23/12
CPCA61H1/0277A61H2201/1207A61H2201/14A63B23/1281
Inventor 高永生张腾赵杰
Owner HARBIN INST OF TECH
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