CN105856199B - 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
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- CN105856199B CN105856199B CN201610344429.1A CN201610344429A CN105856199B CN 105856199 B CN105856199 B CN 105856199B CN 201610344429 A CN201610344429 A CN 201610344429A CN 105856199 B CN105856199 B CN 105856199B
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- Prior art keywords
- ectoskeleton
- motor
- humerus
- shoulder joint
- elbow
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- 210000000323 shoulder joint Anatomy 0.000 title claims abstract description 37
- 238000000034 method Methods 0.000 title claims abstract description 7
- 210000002758 humerus Anatomy 0.000 claims abstract description 49
- 230000033001 locomotion Effects 0.000 claims abstract description 39
- 210000002310 elbow joint Anatomy 0.000 claims abstract description 13
- 239000013598 vector Substances 0.000 claims abstract description 10
- 230000001360 synchronised effect Effects 0.000 claims abstract description 7
- 210000003109 clavicle Anatomy 0.000 claims description 7
- 238000001514 detection method Methods 0.000 claims description 5
- 230000005611 electricity Effects 0.000 claims 1
- 210000003414 extremity Anatomy 0.000 description 12
- 210000000245 forearm Anatomy 0.000 description 12
- 238000010586 diagram Methods 0.000 description 5
- 210000000988 bone and bone Anatomy 0.000 description 4
- 238000011217 control strategy Methods 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 241001653121 Glenoides Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000005183 dynamical system Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 238000007665 sagging Methods 0.000 description 1
- 210000001364 upper extremity Anatomy 0.000 description 1
- 210000003857 wrist joint Anatomy 0.000 description 1
Classifications
-
- 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
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 CN105856199A (zh) | 2016-08-17 |
CN105856199B true CN105856199B (zh) | 2018-04-10 |
Family
ID=56635671
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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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) |
Families Citing this family (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
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 |
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 |
CN109752131B (zh) * | 2019-02-27 | 2020-11-13 | 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 |
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 |
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 |
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 |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
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 |
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 (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 |
IT1401979B1 (it) * | 2010-09-28 | 2013-08-28 | C N R Consiglio Naz Ricerche | Dispositivo biomedico per la riabilitazione robotizzata dell'arto superiore umano, particolarmente per la riabilitazione neuromotoria dell'articolazione della spalla e del gomito. |
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 (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
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 |
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*** |
Also Published As
Publication number | Publication date |
---|---|
CN105856199A (zh) | 2016-08-17 |
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. |