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Upper limb exoskeleton shoulder joint center compensation method and device, and system

A compensation device and shoulder joint technology, applied in the field of rehabilitation robots, can solve the problems of secondary injury and poor patient experience

Active Publication Date: 2021-02-19
SHENZHEN WISEMEN MEDICAL TECH CO LTD
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0005] The present invention solves the problems of poor patient experience and secondary injuries in existing upper limb rehabilitation exoskeleton robots

Method used

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  • Upper limb exoskeleton shoulder joint center compensation method and device, and system
  • Upper limb exoskeleton shoulder joint center compensation method and device, and system
  • Upper limb exoskeleton shoulder joint center compensation method and device, and system

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Embodiment Construction

[0032] In order to make the above objects, features and advantages of the present invention more comprehensible, specific embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

[0033] Although there are some methods for compensating the shoulder joint center of the upper extremity exoskeleton, there are some shortcomings. First of all, these compensation methods are all compensated by designing a special exoskeleton shoulder joint structure, that is, they all need to change the structure of the exoskeleton body, and change the original shoulder joint structure to a new structure. Structural changes not only increase the structural complexity and cost of the exoskeleton, but also are difficult to implement on some exoskeletons, especially the established upper lim...

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Abstract

The invention provides an upper limb exoskeleton shoulder joint center compensation method and device, and a system. The method comprises the following steps of: obtaining the upper shoulder abductionangle of a user, the human body clavicle length of the user and a distance between the acromioclavicular joint center of the human body to the glenohumeral joint center of the human body of the user;according to a preset shoulder joint center compensation algorithm, the upper shoulder abduction angle, the human body clavicle length and the distance, calculating the position information of the user shoulder joint center; and according to the position information, regulating the position of the upper limb exoskeleton shoulder joint center to enable the upper limb exoskeleton shoulder joint center to coincide with the user shoulder joint center in a horizontal and vertical direction. By use of the method, the upper limb exoskeleton shoulder joint center can be regulated to coincide with theuser shoulder joint center in the horizontal and vertical direction, exoskeleton shoulder joint center compensation can be realized without changing an exoskeleton structure, in addition, driving force can be provided, and the user does not need to overcome additional motion resistance brought by a compensation mechanism so as to be suitable for the user with insufficient limb strength.

Description

technical field [0001] The present invention relates to the technical field of rehabilitation robots, in particular to an upper extremity exoskeleton shoulder joint center compensation method, device and system. Background technique [0002] The wearable upper limb rehabilitation exoskeleton can significantly reduce the work intensity of rehabilitation physicians. After the user wears the exoskeleton, the human body and the exoskeleton mechanism form a multi-loop closed-chain mechanism in space. function to realize coordinated movement. This requires that there be no internal force in the human-machine chain that is not related to rehabilitation training, so as to avoid the resulting deterioration of the patient's experience and secondary damage to the affected limb. [0003] The shoulder joint is one of the most complex joints in the human body. When the shoulder joint completes abduction / adduction, forward flexion / extension, the center of rotation drifts during the moveme...

Claims

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Application Information

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IPC IPC(8): A61H1/02A61B5/11
CPCA61H1/0281A61B5/1122A61H2201/1659A61H2201/5007
Inventor 不公告发明人
Owner SHENZHEN WISEMEN MEDICAL TECH CO LTD
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