CN103070756B - Upper limb rehabilitation exoskeleton mechanism with man-machine kinematic compatibility - Google Patents
Upper limb rehabilitation exoskeleton mechanism with man-machine kinematic compatibility Download PDFInfo
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- CN103070756B CN103070756B CN201310003656.4A CN201310003656A CN103070756B CN 103070756 B CN103070756 B CN 103070756B CN 201310003656 A CN201310003656 A CN 201310003656A CN 103070756 B CN103070756 B CN 103070756B
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Abstract
The invention discloses an upper limb rehabilitation exoskeleton mechanism with man-machine kinematic compatibility. The upper limb rehabilitation exoskeleton mechanism comprises an exoskeleton mechanism, a man-machine connecting mechanism and a supporting member. The exoskeleton mechanism is fixedly connected with a back supporting member, and tightly connected with human upper limbs by the connecting mechanism to form a man-machine closed chain mechanism. The exoskeleton mechanism is composed of shoulder joint equivalent mechanisms, elbow joint equivalent mechanisms and upper limb components, wherein the shoulder joint equivalent mechanisms drive the upper limbs to realize bending/stretching, contracting/expanding and intorsion/extorsion movements of upper arms, and the elbow joint equivalent mechanisms drive the upper limbs to realize bending/stretching and pronation/supination movements of forearms; and the man-machine connecting mechanism comprises a connecting kinematic pair and a kinematic pair connecting member, and plays a role of properly restraining the man-machine closed chain mechanism. When the mechanism is worn, an offset between the joint movement axis of the exoskeleton mechanism and the corresponding upper limb joint axis is allowed, inner acting forces irrelevant to rehabilitation training are not generated in the man-machine closed chain mechanism, and the safety of the upper limb rehabilitation training and the effect of the rehabilitation training are improved.
Description
Technical field
The present invention relates to the rehabilitative engineering technology in technical field of medical instruments, specifically a kind of upper limb healing exoskeleton mechanism with people-machine motion compatibility, for carrying out rehabilitation training to the patient of upper limb hemiplegia or upper extremity exercise function damage.
Background technology
Along with scientific and technical progress and the raising of living standards of the people, China progressively enters aging society.In older population, have a large amount of cerebrovascular disease or patient with nervous system disease, this class patient majority is with hemiplegia symptom.In addition, due to increasing rapidly of transport facility, because vehicle accident causes the also cumulative year after year of number of nerve injury or limb injury.Theory of medicine and clinical medicine proves, this class patient is except early stage operative treatment and necessary Drug therapy, and the rehabilitation training of science is played very important effect for improvement and the recovery of extremity motor function.
Traditional rehabilitation training of upper limbs mode is that physiatrician completes a series of training campaign by manpower assisting patients, in during rehabilitation training, doctor's the factor such as subjective consciousness and performance status plays mastery reaction, in addition the language that disease causes after sending out and the damage of cognitive function, weakened the reciprocal action for rehabilitation process between doctor and patient.Therefore, traditional rehabilitation training mode has that rehabilitation efficiency is on the low side, working strength is large, training effect and evaluation result are easily subject to the limitations such as doctor's subjective consciousness impact.
For making up professional's deficiency, reduce doctor's working strength and provide medical services timely and effectively for patient.Since nineteen nineties, research institutions more both domestic and external have carried out the ectoskeletal development of Wearable upper limb healing and rehabilitation training technical research work in succession.Wearable upper limb healing ectoskeleton can significantly reduce physiatrician's working strength, and has that training parameter is reproducible, the advantages such as limb rehabilitating process can be set and effectively accelerate to training quota as required.
Wearable upper limb healing ectoskeleton is typical people-machine integrated system, and people-machine is dressed and connected rear exoskeleton mechanism and the multi-ring closed chain mechanism of human upper limb Special composition, and in training process, between people-machine, the interaction by connecting portion realizes synergy movement.Therefore, require can not occur strong effect of contraction power/square between exoskeleton mechanism and limbs, with the comfortableness variation avoiding causing thus and the secondary damage of suffering limb.
Known according to human anatomy, upper limb shoulder joint of human body is 3DOF ball-and-socket joint, can carry out flexion/extension, receipts/exhibition and the internal/external rotations motion of upper arm; Upper limb elbow joint has 2 degree of freedom, can carry out forearm flexion/extension and revolve before/supination.Retrieval by prior art document with analyze and can find out, mainly the kinesiology based on aforementioned pass section attribute is bionical in the design of Wearable upper limb healing exoskeleton mechanism at present.Mechanism has equal degree of freedom with the corresponding joint of upper limb, and it is equivalent to move by low pairs replacing high pair, and the yardstick of member is determined with reference to limbs skeleton parameter, or member designs is become to adjustable type structure.Dress in connected mode at people-machine, exoskeleton mechanism is compacted and is connected by bandage or wearing tool between upper arm and forearm with upper limb.The advantage of existing design is to obtain the brief exoskeleton mechanism configuration of form, weak point is in the time that the corresponding joints axes of people-machine occurs dressing deviation, in people-machine closed chain mechanism, there is the internal action power irrelevant with rehabilitation training, easily cause comfortableness variation or occur safety problem.
For example, people-machine local closed chain mechanism shoulder joint closed chain shown in Fig. 1, directly compact be connected in the situation that at exoskeleton mechanism and human upper limb, when bend and stretch with exoskeleton mechanism shoulder joint center at upper limb shoulder joint center, the intersection point of interior outward turning and the cradle head axis of taking down the exhibits is while overlapping, it is compatible with the humeral movement of exoskeleton mechanism with the definite upper arm of motion upper limb that local closed chain mechanism has just fixed degree of freedom, do not have the internal action power irrelevant with rehabilitation training task in during rehabilitation training between people-machine.But due to the not visible property of human synovial, when actual wearing inevitably there is deviation in upper limb shoulder joint center and exoskeleton mechanism shoulder joint center, as shown in Figure 2, local closed chain organisation conversion is that the upper arm of mistake constrained system upper limb of degree of freedom shortcoming is incompatible with the humeral movement of exoskeleton mechanism, in during rehabilitation training, people-machine connecting portion can produce the internal action power irrelevant with rehabilitation training, causes comfortableness variation or occurs safety problem.
Summary of the invention
The object of the present invention is to provide the upper limb healing exoskeleton mechanism of a kind of people of having-machine motion compatibility, when wearing, allow to have deviation between people-machine joints axes, and can not produce the internal action power irrelevant with rehabilitation training in people-machine closed chain mechanism.
Technical scheme of the present invention:
A kind of upper limb healing exoskeleton mechanism with people-machine motion compatibility, comprise shoulder joint equivalent mechanism A, upper arm member 7, the B of upper arm bindiny mechanism, elbow joint equivalent mechanism C, front arm member 13, the D of forearm bindiny mechanism and support member 1, it is characterized in that shoulder joint equivalent mechanism A, upper arm member 7, elbow joint equivalent mechanism C and front arm member 13 form upper limb exoskeleton mechanism, the B of upper arm bindiny mechanism and the D of forearm bindiny mechanism form people-machine bindiny mechanism, exoskeleton mechanism and support member 1 are connected, and are compacted and be connected with human body upper arm E and forearm F by people-machine bindiny mechanism.
Described shoulder joint equivalent mechanism A is bent and stretched revolute pair 6 and is composed in series successively by take down the exhibits in revolute pair 2, the first revolute pair connector 3, upper arm moving secondary 4, the second revolute pair connector 5 of external rotation and upper arm of upper arm, wherein the upper arm revolute pair 2 of taking down the exhibits is connected with support member 1, upper arm bends and stretches revolute pair 6 and is connected with upper arm member 7, and take down the exhibits in revolute pair 2, upper arm external rotation moving secondary 4 and upper arm of upper arm bent and stretched revolute pair 6 and be the orthogonal layout of revolute pair axis.
The described B of upper arm bindiny mechanism is composed in series successively by upper arm moving sets 8, the secondary connector 9 of humeral movement, upper arm connection Hooke's hinge 10 and upper arm bandage 11, wherein upper arm moving sets 8 is connected with upper arm member 7, be positioned at the end of arm member 7 and move along upper arm member 7, upper arm connects Hooke's hinge 10 and is connected with upper arm bandage 11, and upper arm bandage 11 compacts and is worn on the end of upper arm E.
Described elbow joint equivalent mechanism C forms by revolving revolute pair 18 before and after front bending and stretching of the arms revolute pair 12 and forearm, revolves revolute pair 18 before wherein before and after bending and stretching of the arms revolute pair 12 and forearm and is revolute pair axis and is arranged vertically.
The described D of forearm bindiny mechanism connects ball secondary 16 by forearm moving sets 14, forearm kinematic pair connector 15, forearm and forearm bandage 17 is composed in series successively, and wherein forearm moving sets 14 is connected with front arm member 13, and front arm member is connected with front bending and stretching of the arms revolute pair 12; Forearm moving sets 14 is positioned at the end of front arm member 13 and moves along front arm member 13, and forearm connects ball pair 16 and is connected with forearm bandage 17, and forearm bandage 17 compacts and is worn on the end of forearm F.
The described B of upper arm bindiny mechanism can also be composed in series successively by upper arm cylindrical pair 19, the secondary connector 20 of humeral movement, upper arm connection moving sets 21 and upper arm bandage 11, upper arm cylindrical pair 19 is connected with upper arm member 7, the end and the axis that are positioned at arm member 7 are parallel with upper arm member 7, and upper arm connects moving sets 21 and is connected with upper arm bandage 11.
The described D of forearm bindiny mechanism can also be composed in series successively by forearm cylindrical pair 22, forearm kinematic pair connector 23, forearm connection Hooke's hinge 24 and forearm bandage 17, forearm cylindrical pair 22 is connected with upper arm member 7, the end and the axis that are positioned at front arm member 13 are parallel with front arm member 13, and forearm connects Hooke's hinge 24 and is connected with forearm bandage 11.
In order to strengthen the function of rehabilitation training of upper limbs, on the basis of this upper limb healing exoskeleton mechanism technical scheme, add wrist flexion/extension and receipts/exhibition motion at the end of exoskeleton mechanism, or wherein any motion, the scope that this upper limb healing exoskeleton mechanism technical scheme contains also belonged to.
Beneficial effect of the present invention: upper limb exoskeleton mechanism is compacted and is connected with human upper limb by people-machine bindiny mechanism, people-machine the closed chain mechanism forming has just fixed constraint, when wearing, allow to have deviation between people-machine joints axes, and in people-machine closed chain mechanism, can not produce the internal action power irrelevant with rehabilitation training, contribute to the effect of the safety and the rehabilitation training that improve rehabilitation training of upper limbs.
Brief description of the drawings
Fig. 1 is that shoulder joint ectoskeleton zero deflection is dressed position.
Fig. 2 is that shoulder joint ectoskeleton has deviation to dress position.
Fig. 3 upper limb healing exoskeleton mechanism of the present invention.
Fig. 4 is upper arm of the present invention bindiny mechanism form two.
Fig. 5 is forearm of the present invention bindiny mechanism form two.
In figure: A, shoulder joint equivalent mechanism, B, upper arm bindiny mechanism, C, elbow joint equivalent mechanism, D, forearm bindiny mechanism, E, human body upper arm, F, human body forearm, 1, support member, 2, the upper arm revolute pair of taking down the exhibits, 3, the first revolute pair connector, 4, in upper arm, external rotation is moving secondary, 5, the second revolute pair connector, 6, upper arm bends and stretches revolute pair, 7, upper arm member, 8, upper arm moving sets, 9, the secondary connector of humeral movement, 10, upper arm connects Hooke's hinge, 11, upper arm bandage, 12, front bending and stretching of the arms revolute pair, 13, front arm member, 14, forearm moving sets, 15, forearm kinematic pair connector, 16, forearm connects ball pair, 17, forearm bandage, 18, before and after forearm, revolve revolute pair, 19, upper arm cylindrical pair, 20, the secondary connecting elements of humeral movement, 21, upper arm connects moving sets, 22, forearm cylindrical pair, 23, forearm kinematic pair connector, 24, forearm connects Hooke's hinge.
Detailed description of the invention
Further illustrate the present invention below in conjunction with accompanying drawing.
As shown in Figure 3, upper limb healing exoskeleton mechanism comprises shoulder joint equivalent mechanism A, upper arm member 7, the B of upper arm bindiny mechanism, elbow joint equivalent mechanism C, front arm member 13, the D of forearm bindiny mechanism and support member 1, wherein shoulder joint equivalent mechanism A, upper arm member 7, elbow joint equivalent mechanism C and front arm member 13 form upper limb exoskeleton mechanism, and the B of upper arm bindiny mechanism and the D of forearm bindiny mechanism form people-machine bindiny mechanism.Exoskeleton mechanism is connected with support member 1 by take down the exhibits revolute pair 2 of the upper arm in shoulder joint equivalent mechanism A, to support the weight of exoskeleton mechanism.When wearing, upper arm in shoulder joint equivalent mechanism A is taken down the exhibits external rotation moving secondary 4 and upper arm are bent and stretched revolute pair 6 in revolute pair 2, upper arm axis by human body shoulder joint center, allow to exist deviation at this, to drive upper limb to realize the receipts/exhibition of upper arm, internal/external rotations and flexion/extension motion; Before and after front bending and stretching of the arms revolute pair 12 in elbow joint equivalent mechanism C and forearm, revolve the axis of revolute pair 18 by elbow joint center, also allow to exist deviation at this, with before driving upper limb to realize the flexion/extension of forearm and revolve/supination; Upper arm bandage 11 in the B of upper arm bindiny mechanism compacts and is connected with human body upper arm E, and the end of as far as possible close upper arm E; Forearm bandage 17 in the D of forearm bindiny mechanism compacts and is connected with human body forearm F, and the end of as far as possible close forearm F.
The B of upper arm bindiny mechanism in upper limb healing exoskeleton mechanism also can adopt the version shown in Fig. 4.
The D of forearm bindiny mechanism in upper limb healing exoskeleton mechanism also can adopt the version shown in Fig. 5.
Claims (3)
1. one kind has the upper limb healing exoskeleton mechanism of people-machine motion compatibility, it is characterized in that: comprise shoulder joint equivalent mechanism (A), upper arm member (7), upper arm bindiny mechanism (B), elbow joint equivalent mechanism (C), front arm member (13), forearm bindiny mechanism (D) and support member (1), shoulder joint equivalent mechanism (A), upper arm member (7), elbow joint equivalent mechanism (C) and front arm member (13) form upper limb exoskeleton mechanism, upper arm bindiny mechanism (B) and forearm bindiny mechanism (D) form people-machine bindiny mechanism, exoskeleton mechanism and support member (1) are connected, and compact and be connected with human body upper arm (E) and forearm (F) by people-machine bindiny mechanism,
Described shoulder joint equivalent mechanism (A) is bent and stretched revolute pair (6) and is composed in series successively by take down the exhibits external rotation moving secondary (4) in revolute pair (2), the first revolute pair connector (3), upper arm, the second revolute pair connector (5) and upper arm of upper arm, wherein the upper arm revolute pair (2) of taking down the exhibits is connected with support member (1), upper arm bends and stretches revolute pair (6) and is connected with upper arm member (7), and take down the exhibits in revolute pair (2), upper arm external rotation moving secondary (4) and upper arm of upper arm bent and stretched revolute pair (6) and be the orthogonal layout of revolute pair axis;
Described upper arm bindiny mechanism (B) connects Hooke's hinge (10) by upper arm moving sets (8), the secondary connector of humeral movement (9), upper arm and upper arm bandage (11) is composed in series successively, wherein upper arm moving sets (8) is connected with upper arm member (7), be positioned at the end of arm member (7) and mobile along upper arm member (7), upper arm connects Hooke's hinge (10) and is connected with upper arm bandage (11), and upper arm bandage (11) compacts and is worn on the end of upper arm (E);
Described elbow joint equivalent mechanism (C) form by revolving revolute pair (18) before and after front bending and stretching of the arms revolute pair (12) and forearm, wherein before bending and stretching of the arms revolute pair (12) and forearm front and back revolve revolute pair (18) and be revolute pair axis and be arranged vertically;
Described forearm bindiny mechanism (D) connects ball pair (16) by forearm moving sets (14), forearm kinematic pair connector (15), forearm and forearm bandage (17) is composed in series successively, wherein forearm moving sets (14) is connected with front arm member (13), and front arm member (13) is connected with front bending and stretching of the arms revolute pair (12);
Forearm moving sets (14) is positioned at the end of front arm member (13) and mobile along front arm member (13), forearm connects ball pair (16) and is connected with forearm bandage (17), and forearm bandage (17) compacts and is worn on the end of forearm (F).
2. the upper limb healing exoskeleton mechanism with people-machine motion compatibility according to claim 1, it is characterized in that: described upper arm bindiny mechanism (B) connects moving sets (21) by upper arm cylindrical pair (19), the secondary connector of humeral movement (20), upper arm and upper arm bandage (11) is composed in series successively, upper arm cylindrical pair (19) is connected with upper arm member (7), the end and the axis that are positioned at arm member (7) are parallel with upper arm member (7), and upper arm connects moving sets (21) and is connected with upper arm bandage (11).
3. the upper limb healing exoskeleton mechanism with people-machine motion compatibility according to claim 1, it is characterized in that: described forearm bindiny mechanism (D) connects Hooke's hinge (24) by forearm cylindrical pair (22), forearm kinematic pair connector (23), forearm and forearm bandage (17) is composed in series successively, forearm cylindrical pair (22) is connected with upper arm member (7), the end and the axis that are positioned at front arm member (13) are parallel with front arm member (13), and forearm connects Hooke's hinge (24) and is connected with forearm bandage (11).
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Families Citing this family (13)
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| CN103356361B (en) * | 2013-08-06 | 2015-11-18 | 常州大学 | A kind of parallel healing and training shoulder joint machine |
| EP3158894A1 (en) * | 2015-10-21 | 2017-04-26 | noonee AG | Control unit for wearable sitting posture assisting device |
| CN105559790B (en) * | 2016-01-17 | 2018-03-13 | 北京工业大学 | A kind of wearing exoskeleton mechanism for being used to detect upper limb shoulder joint of human body pivot positional information |
| CN105686834B (en) * | 2016-01-17 | 2018-04-06 | 北京工业大学 | A kind of wearing exoskeleton mechanism for being used to detect human upper limb shoulder Glenohumeral joint movable information |
| CN105583812B (en) * | 2016-03-21 | 2024-02-06 | 上海卓道医疗科技有限公司 | Structure for offset rotary motion |
| CN105853141B (en) * | 2016-03-28 | 2018-06-15 | 南京邮电大学 | Shoulder rehabilitation system with gravity compensation |
| CN106393071B (en) * | 2016-11-14 | 2018-12-25 | 北京工业大学 | A kind of adaptive upper limb healing exoskeleton mechanism of 9 freedom degrees wearing |
| CN106924013B (en) * | 2017-04-15 | 2023-09-26 | 上海卓道医疗科技有限公司 | Exoskeleton type upper limb rehabilitation training robot |
| CN107334602A (en) * | 2017-07-24 | 2017-11-10 | 上海理工大学 | A kind of upper limbs exoskeleton device |
| CN108144264B (en) * | 2018-02-09 | 2023-11-14 | 武汉沃森拓客科技有限公司 | Rehabilitation training mechanical arm and rehabilitation robot |
| CN108744422B (en) * | 2018-06-08 | 2020-06-09 | 重庆大学 | Four-degree-of-freedom wearable upper limb movement auxiliary device with optimized degree of freedom |
| CN108814902B (en) | 2018-06-29 | 2020-01-10 | 华中科技大学 | Upper limb exoskeleton rehabilitation device capable of matching human-computer motion and exchanging on opposite side |
| CN113043241B (en) * | 2019-12-26 | 2024-03-08 | 中国科学院沈阳自动化研究所 | Light wearable local force feedback bionic double-arm exoskeleton main hand |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101827635B (en) * | 2007-03-22 | 2015-09-30 | 雷哈博泰克有限责任公司 | Strengthen training system and the method for lower limb off-axis neuromuscularcontrol ability |
| CN101181175B (en) * | 2007-12-07 | 2010-08-04 | 华中科技大学 | Device for healing and training elbow joint |
| CN101869526A (en) * | 2010-06-07 | 2010-10-27 | 付风生 | Upper limb rehabilitation training robot |
| CN102113949B (en) * | 2011-01-21 | 2013-04-17 | 上海交通大学 | Exoskeleton-wearable rehabilitation robot |
| CN102389359B (en) * | 2011-07-14 | 2013-07-24 | 北京工业大学 | Lower limb rehabilitation training robot mechanism with human-machine motion compatibility |
| CN102499858B (en) * | 2011-11-11 | 2013-06-26 | 东南大学 | Safety shoulder joint of rehabilitation robot |
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