Multi-degree-of-freedom upper limb flexible assistance exoskeleton

Abstract

The invention discloses a multi-degree-of-freedom upper limb flexible assistance exoskeleton. The multi-degree-of-freedom upper limb flexible assistance exoskeleton comprises a supporting block, wherein exoskeleton execution structures are symmetrically arranged on the two axial sides of the supporting block; and each exoskeleton execution structure comprises a back movement mechanism, a shoulderjoint movement mechanism, a big arm movement mechanism, a small arm movement mechanism, a wrist joint movement mechanism and a driving module. The driving module comprises a plurality of driving motors used for driving the movement mechanisms respectively; and the back movement mechanism comprises a first back plate and a second back plate rotationally connected with the first back plate through afirst vertical rotating piece. The shoulder joint movement mechanism comprises a first shoulder assembly, a second shoulder assembly and a third shoulder assembly. The big arm movement mechanism comprises a big arm rod and a big arm binding mechanism; the small arm movement mechanism comprises a small arm rod and a small arm sliding binding mechanism; and the wrist joint movement mechanism comprises a wrist joint assembly and a hand grip. The multi-degree-of-freedom upper limb flexible assistance exoskeleton can well adapt to the joint movement degree of a wearer, so that the wearing comfortand the rehabilitation effect are improved.

Description

technical field [0001] The invention relates to the technical field of wearable devices, in particular to a multi-degree-of-freedom upper limb flexible power-assisted exoskeleton. Background technique [0002] Stroke, commonly known as apoplexy, is an acute cerebrovascular disease characterized by high morbidity, mortality, and disability. In recent years, the incidence of stroke has been increasing year by year, becoming the third cause of death after trauma and cancer, and the second cause of disability after trauma. Among the surviving stroke patients, about 3 / 4 have different degrees of motor function and other functional disabilities, among which the incidence of motor dysfunction is the highest. The society and other people's assisted survival spend a lot of manpower and material resources every year to take care of their daily life, which is mainly borne by the society and family. Exercise therapy is the most important and safe rehabilitation treatment besides surge...

AI Technical Summary

Problems solved by technology

[0005] For example, in the publication number CN106031669B, an upper limb power-assisted exoskeleton robot is disclosed, including a shoulder, an upper arm part, a forearm part and a hand. / Adduction, flexion / extension of the forearm, flexion / extension of the wrist, internal rotation / external rotation and other degrees of freedom, but the above degrees of freedom do not take into account the lifting, lowering, adduction, abduction of the human scapula and the mediation of the shoulder joint Rotation and external rotation and other degrees of freedom of movement, so that after the upper limb-assisted exoskeleton robot is worn on the human body, because its degrees of freedom cannot adapt to the degrees of freedom of the corresponding joints of the human body, this limits the wearer's activities and reduces the wearing time. comfort, but also reduces the effect of rehabilitation

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