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Flexible exoskeleton elbow joint based on pneumatic muscles

A pneumatic muscle and exoskeleton technology, applied in passive exercise equipment, artificial arms, manipulators, etc., can solve problems such as complex structures, and achieve the effects of enhanced fidelity, simple structure, and strong adaptability

Inactive Publication Date: 2010-09-22
ZHEJIANG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, traditional exoskeleton systems usually use motors, hydraulic pressure or cylinders as control actuators, and the structure is complex.

Method used

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  • Flexible exoskeleton elbow joint based on pneumatic muscles
  • Flexible exoskeleton elbow joint based on pneumatic muscles

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Experimental program
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Embodiment Construction

[0009] Further illustrate the present invention below in conjunction with accompanying drawing.

[0010] Referring to the accompanying drawings, the pneumatic muscle-based flexible exoskeleton elbow joint of the present invention includes a single-degree-of-freedom rotary motion joint 1, two pneumatic muscles 2 installed in forward and reverse bending and an operator wearing a bracket 3, and the single-degree-of-freedom rotary motion joint 1 includes The torque sensor 10 and the U-shaped connecting rod 11, the two ends of the torque sensor 10 are respectively equipped with rolling bearings 4, and the two ends of the opening of the U-shaped connecting rod 11 are respectively hinged with the rolling bearings to form a rotary motion pair; two forward and reverse bending pneumatic muscles 2 are respectively fixed with the straight rods of the U-shaped connecting rod 11, and the curved ends of the two pneumatic muscles are respectively connected with the torque sensor 10 through the...

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Abstract

The invention relates to a flexible external skeleton elbow joint based on aerated muscle, which is formed by two aerated muscles and one single-freedom rotation couple, to realize the single-freedom rotation of elbow joint. The invention uses aerated muscle as the element of joint to simulate the motion of muscle; the operator can wear said device, via the torque sensor mounted on the rotation couple to obtain the motion parameters, to operate the industrial mechanical hand. And it can control the air pressure of muscle chamber of joint to realize the force feedback. The invention has wide application, as the healthy return device of patient.

Description

technical field [0001] The invention relates to a flexible exoskeleton elbow joint based on pneumatic muscles, specifically a device with bionic characteristics, which can realize functions such as data collection of elbow joint movement of human upper limbs, force feedback signal generation, or assisting elbow joint movement. Background technique [0002] Exoskeleton technology is a new type of human-machine intelligent system control technology, which can be widely used in master-slave control of robots and medical rehabilitation aids for disabled patients. However, traditional exoskeleton systems usually use motors, hydraulic pressure or cylinders as control actuators, and their structures are complex. Contents of the invention [0003] The object of the present invention is to provide a flexible exoskeleton elbow joint based on pneumatic muscles, which is simple in structure, light, clean, reliable, has on-the-spot force feedback, and is suitable for master-slave contr...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): A61F2/58A61H1/00B25J11/00
Inventor 杨灿军张佳帆张杰陈鹰
Owner ZHEJIANG UNIV
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