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Self-adaptive hand exoskeleton robot based on underactuated coupling

An exoskeleton robot and self-adaptive technology, applied in passive exercise equipment, manipulators, program-controlled manipulators, etc., to achieve simple manufacturing, small size, and low cost

Active Publication Date: 2021-02-12
INST OF AUTOMATION CHINESE ACAD OF SCI
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] In order to solve the above-mentioned problems in the prior art, that is, in order to solve the problem that the existing hand exoskeleton robot in the prior art cannot not only help the patient to perform rehabilitation training but also assist the patient to perform daily life operations (that is, assist), the application provides a An underactuated coupled adaptive hand exoskeleton robot, comprising sequentially articulated metacarpophalangeal units, proximal segment units, middle segment units, and distal segment units and a linkage mechanism, the linkage mechanism comprising sequentially articulated first connecting rods, second Connecting rod, third connecting rod, fourth connecting rod, fifth connecting rod, sixth connecting rod

Method used

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  • Self-adaptive hand exoskeleton robot based on underactuated coupling
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  • Self-adaptive hand exoskeleton robot based on underactuated coupling

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Embodiment Construction

[0028] In order to make the embodiments, technical solutions and advantages of the present invention more obvious, the technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, not all of them. Example. Those skilled in the art should understand that these embodiments are only used to explain the technical principles of the present invention, and are not intended to limit the protection scope of the present invention.

[0029] An underactuated coupled adaptive hand exoskeleton robot of the present invention includes a palm-to-finger unit 1 , a proximal unit 2 , a middle unit 3 and a distal unit 4 , a linkage mechanism and a power device, which are sequentially articulated.

[0030] Wherein, the linkage mechanism includes a first connecting rod 8 , a second connecting rod 10 , a third connecting rod 14 , a fo...

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Abstract

The invention belongs to the technical field of medical instruments, in particular to a self-adaptive hand exoskeleton robot based on underactuated coupling. The problem that a hand exoskeleton robotin the prior art cannot help patients to do rehabilitation training and also cannot help the patients to do daily life operations can be solved. According to the self-adaptive hand exoskeleton robot based on underactuated coupling provided by the invention, bending exercises and stretching exercises of fingers can be realized through motion of a motor-driven linkage mechanism, so that the robot can help the patients to do the rehabilitation training and also can help wearers to control objects, like doing precision grasp and power grasp, in the daily life, and power assistance is achieved. Theself-adaptive hand exoskeleton robot disclosed by the invention is small in size, light in weight, large in driving force, can be compatible with joint motion of hands, is low in cost, and is easy for batch production.

Description

technical field [0001] The invention belongs to the technical field of medical devices, and in particular relates to an underactuated coupling adaptive hand exoskeleton robot. Background technique [0002] In recent years, due to the increasing number of patients with hand motor dysfunction caused by accidents such as car accidents, industrial injuries, and nervous system dysfunction such as stroke and spinal cord injury, as well as the increase in the cost of rehabilitation treatment and the shortage of rehabilitation physicians, the problem of rehabilitation needs has become increasingly prominent , At the same time, most patients have insufficient hand muscle strength after recovery, and it is difficult to complete the daily operations of daily necessities. In recent years, many clinical trials have shown that hand exoskeleton robots can help patients with hand motor dysfunction to restore their active control of their limbs to a certain extent, and at the same time assis...

Claims

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Application Information

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IPC IPC(8): B25J9/00A61H1/02
CPCA61H1/0288A61H2201/1207A61H2201/1638A61H2201/165A61H2205/067B25J9/0006
Inventor 程龙侯增广谭民李厚成曹然
Owner INST OF AUTOMATION CHINESE ACAD OF SCI
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