CN105856199A - 一种解决外骨骼机器人肩关节奇异位形问题的方法及装置 - Google Patents
一种解决外骨骼机器人肩关节奇异位形问题的方法及装置 Download PDFInfo
- Publication number
- CN105856199A CN105856199A CN201610344429.1A CN201610344429A CN105856199A CN 105856199 A CN105856199 A CN 105856199A CN 201610344429 A CN201610344429 A CN 201610344429A CN 105856199 A CN105856199 A CN 105856199A
- Authority
- CN
- China
- Prior art keywords
- ectoskeleton
- motor
- humerus
- shoulder joint
- elbow
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 210000000323 shoulder joint Anatomy 0.000 title claims abstract description 38
- 238000000034 method Methods 0.000 title claims abstract description 8
- 210000002758 humerus Anatomy 0.000 claims abstract description 49
- 230000033001 locomotion Effects 0.000 claims abstract description 41
- 210000002310 elbow joint Anatomy 0.000 claims description 11
- 210000003109 clavicle Anatomy 0.000 claims description 10
- 238000001514 detection method Methods 0.000 claims description 6
- 238000005259 measurement Methods 0.000 claims description 6
- 230000005611 electricity Effects 0.000 claims description 5
- 230000001360 synchronised effect Effects 0.000 claims description 5
- 210000003414 extremity Anatomy 0.000 description 12
- 210000000245 forearm Anatomy 0.000 description 11
- 238000010586 diagram Methods 0.000 description 6
- 238000011217 control strategy Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 241001653121 Glenoides Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000003797 carpal joint Anatomy 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000004886 head movement Effects 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 210000001898 sternoclavicular joint Anatomy 0.000 description 1
- 210000001364 upper extremity Anatomy 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- Pain & Pain Management (AREA)
- Epidemiology (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Prostheses (AREA)
- Manipulator (AREA)
Abstract
Description
Claims (2)
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201610344429.1A CN105856199B (zh) | 2016-05-20 | 2016-05-20 | 一种解决外骨骼机器人肩关节奇异位形问题的方法及装置 |
PCT/CN2016/112354 WO2017197886A1 (zh) | 2016-05-20 | 2016-12-27 | 一种解决外骨骼机器人肩关节奇异位形问题的方法及装置 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201610344429.1A CN105856199B (zh) | 2016-05-20 | 2016-05-20 | 一种解决外骨骼机器人肩关节奇异位形问题的方法及装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN105856199A true CN105856199A (zh) | 2016-08-17 |
CN105856199B CN105856199B (zh) | 2018-04-10 |
Family
ID=56635671
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201610344429.1A Active CN105856199B (zh) | 2016-05-20 | 2016-05-20 | 一种解决外骨骼机器人肩关节奇异位形问题的方法及装置 |
Country Status (2)
Country | Link |
---|---|
CN (1) | CN105856199B (zh) |
WO (1) | WO2017197886A1 (zh) |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2017197886A1 (zh) * | 2016-05-20 | 2017-11-23 | 深圳市君航智远科技有限公司 | 一种解决外骨骼机器人肩关节奇异位形问题的方法及装置 |
CN109752131A (zh) * | 2019-02-27 | 2019-05-14 | 北京理工大学 | 一种用于外骨骼机器人的二维力测量装置及方法 |
CN111150608A (zh) * | 2020-01-17 | 2020-05-15 | 湖北英特搏智能机器有限公司 | 基于压力传感器识别运动意图的康复机器人的控制方法 |
CN113894772A (zh) * | 2021-09-28 | 2022-01-07 | 浙江国丰集团有限公司 | 一种仿生小臂可穿戴机构 |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2019185946A1 (en) * | 2018-03-30 | 2019-10-03 | Universiteit Antwerpen | Scapula brace |
CN109129443B (zh) * | 2018-11-15 | 2024-04-05 | 苏州大学 | 一种助力上肢外骨骼机器人 |
EP3797933A1 (en) * | 2019-09-27 | 2021-03-31 | Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. | Arrangement for a controlled movement of an arm of human |
Citations (7)
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WO2006058442A1 (de) * | 2004-11-30 | 2006-06-08 | Eidgenössische Technische Hochschule Zürich | System und verfahren für die kooperative armtherapie sowie rotationsmodul dafür |
US7862524B2 (en) * | 2006-03-23 | 2011-01-04 | Carignan Craig R | Portable arm exoskeleton for shoulder rehabilitation |
CN202027877U (zh) * | 2011-03-29 | 2011-11-09 | 浙江大学 | 一种可穿戴式的7自由度上肢运动康复训练外骨骼 |
US20130237883A1 (en) * | 2010-09-28 | 2013-09-12 | C.N.R. Consiglio Nazionale Ricerche | Biomedical device for robotized rehabilitation of a human upper limb, particularly for neuromotor rehabilitation of the shoulder and elbow joint |
CN103331746A (zh) * | 2013-07-04 | 2013-10-02 | 北京航空航天大学 | 一种具有冗余自由度的穿戴式六维力觉交互装置 |
CN104173124A (zh) * | 2014-08-29 | 2014-12-03 | 电子科技大学 | 一种基于生物信号的上肢康复*** |
CN104385266A (zh) * | 2014-08-28 | 2015-03-04 | 北京邮电大学 | 七自由度外骨骼式遥操作主手 |
Family Cites Families (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
NL2011907C2 (en) * | 2013-12-06 | 2015-06-09 | Univ Delft Tech | Upper limb exoskeleton. |
CN204260992U (zh) * | 2014-10-14 | 2015-04-15 | 哈尔滨理工大学 | 外骨骼式上肢康复训练器 |
CN205019355U (zh) * | 2015-08-06 | 2016-02-10 | 青岛世纪杰创医疗科技有限公司 | 一种外骨骼式康复机器人肩关节三自由度联动机构 |
CN105125383B (zh) * | 2015-08-17 | 2018-10-23 | 吴丽敏 | 助力外骨骼 |
CN105856199B (zh) * | 2016-05-20 | 2018-04-10 | 深圳市君航智远科技有限公司 | 一种解决外骨骼机器人肩关节奇异位形问题的方法及装置 |
-
2016
- 2016-05-20 CN CN201610344429.1A patent/CN105856199B/zh active Active
- 2016-12-27 WO PCT/CN2016/112354 patent/WO2017197886A1/zh active Application Filing
Patent Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2006058442A1 (de) * | 2004-11-30 | 2006-06-08 | Eidgenössische Technische Hochschule Zürich | System und verfahren für die kooperative armtherapie sowie rotationsmodul dafür |
US7862524B2 (en) * | 2006-03-23 | 2011-01-04 | Carignan Craig R | Portable arm exoskeleton for shoulder rehabilitation |
US20130237883A1 (en) * | 2010-09-28 | 2013-09-12 | C.N.R. Consiglio Nazionale Ricerche | Biomedical device for robotized rehabilitation of a human upper limb, particularly for neuromotor rehabilitation of the shoulder and elbow joint |
CN202027877U (zh) * | 2011-03-29 | 2011-11-09 | 浙江大学 | 一种可穿戴式的7自由度上肢运动康复训练外骨骼 |
CN103331746A (zh) * | 2013-07-04 | 2013-10-02 | 北京航空航天大学 | 一种具有冗余自由度的穿戴式六维力觉交互装置 |
CN104385266A (zh) * | 2014-08-28 | 2015-03-04 | 北京邮电大学 | 七自由度外骨骼式遥操作主手 |
CN104173124A (zh) * | 2014-08-29 | 2014-12-03 | 电子科技大学 | 一种基于生物信号的上肢康复*** |
Cited By (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2017197886A1 (zh) * | 2016-05-20 | 2017-11-23 | 深圳市君航智远科技有限公司 | 一种解决外骨骼机器人肩关节奇异位形问题的方法及装置 |
CN109752131A (zh) * | 2019-02-27 | 2019-05-14 | 北京理工大学 | 一种用于外骨骼机器人的二维力测量装置及方法 |
CN111150608A (zh) * | 2020-01-17 | 2020-05-15 | 湖北英特搏智能机器有限公司 | 基于压力传感器识别运动意图的康复机器人的控制方法 |
CN111150608B (zh) * | 2020-01-17 | 2022-06-03 | 湖北英特搏智能机器有限公司 | 基于压力传感器识别运动意图的康复机器人的控制方法 |
CN113894772A (zh) * | 2021-09-28 | 2022-01-07 | 浙江国丰集团有限公司 | 一种仿生小臂可穿戴机构 |
CN113894772B (zh) * | 2021-09-28 | 2023-01-03 | 浙江国丰集团有限公司 | 一种仿生小臂可穿戴机构 |
Also Published As
Publication number | Publication date |
---|---|
CN105856199B (zh) | 2018-04-10 |
WO2017197886A1 (zh) | 2017-11-23 |
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Effective date of registration: 20200529 Address after: 1703, block a, Silicon Valley Plaza, Dongfeng Road, Wenhua Road, Jinshui District, Zhengzhou City, Henan Province Patentee after: ZHENGZHOU KUNBO TECHNOLOGY Co.,Ltd. Address before: 518000 room 1006, Pioneer Park, University Town, Taoyuan street, Nanshan District, Shenzhen, Guangdong Patentee before: SHENZHEN JUNHANGZHIYUAN TECHNOLOGY Co.,Ltd. |
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Effective date of registration: 20201118 Address after: Block b-4-5-5, Tangji area, Jiangping Industrial Park, Dongxing City, Fangchenggang City, Guangxi Zhuang Autonomous Region Patentee after: Guangxi Dongxing Fujia hardware and leather goods Co., Ltd Address before: 1703, block a, Silicon Valley Plaza, Dongfeng Road, Wenhua Road, Jinshui District, Zhengzhou City, Henan Province Patentee before: ZHENGZHOU KUNBO TECHNOLOGY Co.,Ltd. |
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