CN116327552A - Rigidity-variable wearable elbow joint exoskeleton rehabilitation device - Google Patents
Rigidity-variable wearable elbow joint exoskeleton rehabilitation device Download PDFInfo
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- CN116327552A CN116327552A CN202310283655.3A CN202310283655A CN116327552A CN 116327552 A CN116327552 A CN 116327552A CN 202310283655 A CN202310283655 A CN 202310283655A CN 116327552 A CN116327552 A CN 116327552A
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- rigidity
- forearm
- elbow joint
- variable
- support frame
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- 210000002310 elbow joint Anatomy 0.000 title claims abstract description 32
- 210000000245 forearm Anatomy 0.000 claims abstract description 39
- 230000007246 mechanism Effects 0.000 claims description 30
- 230000005540 biological transmission Effects 0.000 claims description 3
- 230000033001 locomotion Effects 0.000 abstract description 28
- 238000005452 bending Methods 0.000 abstract description 12
- 210000001364 upper extremity Anatomy 0.000 abstract description 4
- 238000011084 recovery Methods 0.000 abstract description 2
- 238000011160 research Methods 0.000 description 9
- 230000003139 buffering effect Effects 0.000 description 3
- 238000013461 design Methods 0.000 description 3
- 208000006011 Stroke Diseases 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 208000032843 Hemorrhage Diseases 0.000 description 1
- 241000282412 Homo Species 0.000 description 1
- 206010061216 Infarction Diseases 0.000 description 1
- 230000001154 acute effect Effects 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 238000003491 array Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000003169 central nervous system Anatomy 0.000 description 1
- 230000001771 impaired effect Effects 0.000 description 1
- 230000007574 infarction Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 210000003141 lower extremity Anatomy 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000007658 neurological function Effects 0.000 description 1
- 208000011580 syndromic disease Diseases 0.000 description 1
- 238000012549 training Methods 0.000 description 1
- 230000003966 vascular damage Effects 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
- 210000000707 wrist Anatomy 0.000 description 1
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Classifications
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- 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
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
- A61H1/0277—Elbow
-
- 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
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H2001/0203—Rotation of a body part around its longitudinal axis
-
- 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
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H2001/0207—Nutating movement of a body part around its articulation
-
- 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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
- A61H2201/1215—Rotary drive
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A50/00—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE in human health protection, e.g. against extreme weather
- Y02A50/30—Against vector-borne diseases, e.g. mosquito-borne, fly-borne, tick-borne or waterborne diseases whose impact is exacerbated by climate change
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- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
A rigidity-variable wearable elbow joint exoskeleton rehabilitation device relates to the field of upper limb rehabilitation apparatuses. Aiming at the problems that the current elbow joint rehabilitation device has single degree of freedom and tends to be too flexible, so that the mechanical structure of the device is insufficient in rigidity and low in reliability, the invention provides the mechanical structure of the elbow joint rehabilitation device with two degrees of freedom and variable rigidity at elbow bending/stretching degrees of freedom. The principle of the related basic theory and the rigidity variable of the elbow joint of the human body is applied, and the structure with the rigidity variable is matched by adopting a double flange structure disc, so that the rigidity variable is realized, and the mechanical structure is simplified; and provides the driving force for elbow bending movement and forearm pronation/supination movement, the elbow bending and stretching movement range can reach 0-130 degrees, the forearm pronation/supination movement range can reach-25-50 degrees, and the requirements of daily elbow joint recovery are completely met.
Description
Technical Field
The invention relates to the field of upper limb rehabilitation apparatuses, in particular to a wearable elbow joint exoskeleton rehabilitation device of a rigidity variable mechanism based on a flange structure.
Background
Stroke is clinically defined as an acute focal syndrome of impaired neurological function, attributable to vascular damage (infarction, hemorrhage) of the central nervous system. Cerebral stroke is the second leading cause of death or disability in humans worldwide.
In recent years, students at home and abroad have conducted intensive research and analysis on the structural composition and movement of elbow joints, and various elbow joint rehabilitation devices with different characteristics and applications are developed according to the movement characteristics of the elbow joints. Since there is less research on rehabilitation devices for only elbow joints, upper limb rehabilitation devices including elbow joint rehabilitation are also included in the scope of research.
The current development trend of elbow rehabilitation devices is: portability, light weight and exoskeleton. However, some research results only have single degree of freedom, and some tend to be too flexible, so that the problems of insufficient rigidity, low reliability, high maintenance difficulty and the like of the device are caused. And most are non-variable stiffness structures that do not have compliance during movement.
In the existing research, research on rehabilitation devices focuses on a relatively simple lower limb movement module, while research on rehabilitation devices on an upper limb movement module is less, and rehabilitation devices for single joint movement are less. In view of the above, research on a rehabilitation device for elbow joint is of great importance.
At present, most of elbow joint rehabilitation devices at home and abroad are rigid unchangeable mechanisms, and lack certain adaptability and safety; and most elbow rehabilitation devices have only one degree of freedom. The invention provides a mechanical structure of the elbow joint rehabilitation device with two degrees of freedom and variable rigidity at the elbow bending/stretching degree. The rigidity of the elbow bending/stretching movement module is variable due to the combination of the rigidity-variable mechanism, so that the elbow bending/stretching movement module can play a role in absorbing impact and buffering to a certain extent.
Disclosure of Invention
To the research background of elbow joint rehabilitation device at present, the aim at of this patent provides a rigidity changeable wearing formula elbow joint ectoskeleton rehabilitation device, adopts the rigidity variable mechanism based on flange constitutes, utilizes the relevant theoretical knowledge that supports elbow joint rehabilitation device design: the related basic theory of the elbow joint of the human body, the rigidity variable theory and the development trend of the elbow rehabilitation device are complied.
In order to achieve the above purpose, the technical scheme of the invention is as follows: the utility model provides a rigidity changeable wearing formula elbow joint ectoskeleton rehabilitation device, includes upper arm support frame (1), upper arm support frame end cover (2), deep groove ball bearing (3) rigidity variable mechanism (4), big worm wheel axle (5), big worm (6), worm support frame (7), forearm upper rib plate (8), forearm rotation fixing device (9), forearm rotary device (10), upper arm support frame (1) are attached to human upper arm through the bandage, and upper arm support frame (1) are connected through rigidity variable mechanism (4) with forearm rotation fixing device (9), and forearm rotation fixing device (9) are connected through gear engagement mode with forearm rotary device (10). The rigidity variable mechanism (4) comprises a shell 1 (11), a shell 2 (12), a small worm wheel shaft (13), a small worm wheel rod (14), a worm bracket (15), a worm support frame end cover (16), a pulley fixing plate (17), a pre-tightening wheel (18), a large support cover (19), a small support cover (20), an input flange (21), an output flange (22), a tension spring (23), a cable (24) and pulleys (25), wherein the rigidity variable mechanism (4) is formed by connecting the shell 1 (11), the shell 2 (12) with the input flange (21) and the output flange (22) through screws, the large support cover (19) supports an output shaft, the small support cover (20) is used for supporting the small worm wheel rod (14), the small support cover (20) and a key slot on the pre-tightening wheel (18) are used for jointly positioning the position of the small worm wheel rod (14), the rigidity variable mechanism (4) is composed of two coaxial shafts, the input flange (21) and the output flange (22) are respectively designed on the output shaft, a plurality of pulleys are arranged on the input shaft and the input shaft, the cable (24) is wound on the two flanges to be used for expanding a plurality of motion ranges from the input to the output pulley (25), a pre-tightening wheel (18) and a tension spring (23) which can be adjusted manually are respectively arranged on two sides of the cable, wherein a thrust cylindrical roller bearing is arranged on the contact surface of the two flanges, and a bulge for positioning the bearing is arranged at the center of the input flange (21). The elbow bending/stretching movement is realized through the rigidity variable device, the worm wheel is driven to rotate through the motor, the driving force of the elbow bending/stretching movement is provided, the rigidity variable mechanism is positioned at the joint of the upper arm support frame and the rib plate on the forearm, the elbow joint movement range is enlarged, and the movement range can reach 0-130 degrees. The rigidity of the elbow bending/stretching movement module is variable due to the combination of the rigidity-variable mechanism, so that the elbow bending/stretching movement module can play a role in absorbing impact and buffering to a certain extent. Has certain safety and adaptability.
The forearm rotating device adopts a gear transmission mode, a motor drives a pinion to rotate, the pinion drives an annular rack to rotate, the movement of the annular rack is considered to be positioned, a sliding block is added on the rack, and the motor rotates around an annular track. The forearm rotating device increases the movement range of the forearm pronation/supination, and the movement range of the forearm pronation/supination can reach-25 degrees to 50 degrees, thereby completely meeting the daily elbow joint recovery requirement.
The beneficial effects of the invention are as follows:
1. the invention is convenient to carry, can perform elbow joint rehabilitation training at any time and any place, and is not limited by places;
2. on the basis of realizing variable rigidity, the invention increases the degree of freedom of movement of the forearm before/after rotation;
3. the device has simple structure and light volume, and is attached to the arm of a user.
Drawings
FIG. 1 is a three-dimensional block diagram of the present invention
FIG. 2 is a front view of the present invention
FIG. 3 is a three-dimensional block diagram of a variable stiffness structure according to the present invention
FIG. 4 is a front view of the variable stiffness mechanism of the present invention
FIG. 5 is a schematic view showing the internal structure of the rigidity changing mechanism according to the present invention
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings. The utility model provides a rigidity changeable wearing formula elbow joint ectoskeleton rehabilitation device, includes upper arm support frame (1), upper arm support frame end cover (2), deep groove ball bearing (3) rigidity variable mechanism (4), big worm wheel axle (5), big worm (6), worm support frame (7), forearm upper rib plate (8), forearm rotation fixing device (9), forearm rotary device (10), its characterized in that, upper arm support frame (1) is attached to human upper arm through the bandage, and upper arm support frame (1) is connected through rigidity variable mechanism (4) with forearm rotation fixing device (9), and forearm rotation fixing device (9) are connected through gear engagement mode with forearm rotary device (10).
The rigidity variable mechanism (4) simplifies the model of the zero-length basic four-bar mechanism by using pulleys (25) and cables (24) to design the rigidity variable mechanism. In order to make the cable more practical, the relative relation of the models is kept, the models are subjected to circumferential array, the space allocation rationality is considered, the number of the arrays is selected to be three, and then three configurations can be realized according to the winding mode of the cable. The rigidity can be adjusted by changing the configuration. The mechanism embodying the above theory, as shown in fig. 5, takes the configuration n=3 as an example. In order to ensure the strength, a wire rope is selected as a wire rope (24) wound around a plurality of pulleys (25). The rigidity-variable mechanism (4) is composed of two coaxial shafts, an output shaft and an input shaft. Wherein two flanges, an input flange (21) and an output flange (22), are respectively arranged on the output shaft and the input shaft. A plurality of pulleys (25) are mounted on the two flanges. A cable (24) wound around a pulley (25) is used to couple movement from input to output. One end of the cable (24) is connected with an extension spring (23) with a rigidity coefficient of k. The other end is rolled up by a pre-tightening wheel (18), the pre-tightening wheel (18) is connected with a small worm wheel shaft (13), and a small worm wheel rod (14) is used for manually adjusting the pre-tightening force of the spring. The worm wheel rod (14) is supported and positioned on a support frame connected to the input flange through bolts and nuts by two bearings. The center of the contact surface of the two flanges is provided with a bearing which plays a role in positioning and supporting. The center of the input flange (21) is provided with a bulge for positioning the bearing. The complete variable stiffness mechanism requires the addition of a housing, as shown in fig. 4. The housing 1 (11), the housing 2 (12) and the input flange (21) are connected by screws and move together. Two bearings are respectively positioned by the back of the mechanism through the geometric structure of two connecting covers, a large supporting cover (19) is used for supporting an output shaft, and a small supporting cover (20) is used for supporting the positions of the small worm wheel rod (14) and the key grooves on the pretightening wheel (18) together. The rigidity of the elbow bending/stretching movement module is variable due to the combination of the rigidity-variable mechanism, so that the elbow bending/stretching movement module can play a role in absorbing impact and buffering to a certain extent. Has certain safety and adaptability.
The entire elbow flexion/extension structure described above is taken as a view of the position where the forearm is vertically sagged when the posture is 0 deg. as shown in fig. 2. In order to ensure that space distribution is more reasonable, a large worm wheel shaft (5) is connected with an input shaft of an input flange (21) through screws, a large worm (6) is connected with a motor to drive the large worm wheel to rotate together with a rigidity variable mechanism (4), the rigidity variable mechanism (4) is connected with a lower rib plate screw of an elbow joint through an output shaft, and the arrangement mode of a rib plate (8) on a front arm and threaded holes of the output shaft is convenient for installation. All the structures are arranged on the worm support frame (7), and the rib plate (8) on the forearm and the worm support frame (7) are integrated.
Due to the particularity of the front arm rotating degree of freedom and the back rotating degree of freedom, a gear transmission mode is used on the design of the front arm rotating device, a front arm rotating motor (28) drives a pinion (27) to rotate, and the pinion (27) drives an annular rack (26) to rotate, so that the front arm rotating degree of freedom and the back rotating degree of freedom are realized. The movement of the positioning annular rack is considered, and a sliding block is added on the rack and rotates around the annular track, so that the aim is fulfilled.
Since only the movement of the elbow joint is involved, the upper arm only plays a fixed role, so the length from the center of the elbow joint to the end of the upper arm device is fixed, while the forearm relates to the whole length, the length from the center of the elbow joint to the end of the forearm device floats, and a length adjusting device is arranged, and the adjustable range is +/-15 mm. The length adjustment is realized by selecting bolt holes, bolt and nuts of different bolt hole groups of the rib plate on the forearm and the rib plate in the forearm to cooperate. The designed device upper arm is connected with the upper arm of the human body by adding a binding band with a certain thickness to the rib plate of the upper arm, and the designed device forearm is connected with the wrist of the human body by adding a lower rib plate of the forearm and a binding band with a certain thickness to the rib plate of the lower arm.
Claims (3)
1. The utility model provides a rigidity changeable wearing formula elbow joint ectoskeleton rehabilitation device, includes upper arm support frame (1), upper arm support frame end cover (2), deep groove ball bearing (3) rigidity variable mechanism (4), big worm wheel axle (5), big worm (6), worm support frame (7), forearm upper rib plate (8), forearm rotation fixing device (9), forearm rotary device (10), upper arm support frame (1) are attached to human upper arm through the bandage, and upper arm support frame (1) are connected through rigidity variable mechanism (4) with forearm rotation fixing device (9), and forearm rotation fixing device (9) are connected through gear engagement mode with forearm rotary device (10).
2. The wearable elbow joint exoskeleton rehabilitation device with variable rigidity according to claim 1, wherein the rigidity variable mechanism (4) comprises a shell 1 (11), a shell 2 (12), a small worm wheel shaft (13), a small worm wheel rod (14), a worm bracket (15), a worm support frame end cover (16), a pulley fixing plate (17), a pre-tightening wheel (18), a large support cover (19), a small support cover (20), an input flange (21), an output flange (22), a tension spring (23), a cable (24) and a pulley (25), wherein the rigidity variable mechanism (4) is connected with the input flange (21) by a shell 1 (11), the shell 2 (12) and the output flange (22) through screws, the output shaft is supported by the large support cover (19), the small support cover (20) is used for supporting the small worm wheel rod (14), the small support cover (20) and the pre-tightening wheel (18) are positioned together, the rigidity variable mechanism (4) is composed of two coaxial shafts, wherein the input flange (21) and the output flange (22) are respectively designed to be wound on a plurality of input pulleys (24) and a plurality of output pulleys (25) which are respectively connected with the input pulleys (25) by a plurality of screws, in order to expand the rigidity adjusting range, a pre-tightening wheel (18) and a tension spring (23) which can be adjusted manually are respectively arranged on two sides of the cable, wherein the contact surface of the two flanges is provided with a thrust cylindrical roller bearing, and the center of the input flange (21) is provided with a bulge for positioning the bearing.
3. The wearable elbow joint exoskeleton rehabilitation device with variable rigidity according to claim 1, wherein the forearm rotation fixing device (9) and the forearm rotation device (10) select gear transmission, the forearm rotation motor (28) drives the pinion (27) to rotate, and the pinion (27) drives the annular rack (26) to rotate, so that the degree of freedom of forearm rotation and forearm rotation is achieved.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310283655.3A CN116327552A (en) | 2023-03-22 | 2023-03-22 | Rigidity-variable wearable elbow joint exoskeleton rehabilitation device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310283655.3A CN116327552A (en) | 2023-03-22 | 2023-03-22 | Rigidity-variable wearable elbow joint exoskeleton rehabilitation device |
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| Publication Number | Publication Date |
|---|---|
| CN116327552A true CN116327552A (en) | 2023-06-27 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310283655.3A Pending CN116327552A (en) | 2023-03-22 | 2023-03-22 | Rigidity-variable wearable elbow joint exoskeleton rehabilitation device |
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| CN (1) | CN116327552A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117919058A (en) * | 2024-03-25 | 2024-04-26 | 中国科学院长春光学精密机械与物理研究所 | Flexible upper limb exoskeleton rehabilitation training system |
-
2023
- 2023-03-22 CN CN202310283655.3A patent/CN116327552A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117919058A (en) * | 2024-03-25 | 2024-04-26 | 中国科学院长春光学精密机械与物理研究所 | Flexible upper limb exoskeleton rehabilitation training system |
| CN117919058B (en) * | 2024-03-25 | 2024-05-31 | 中国科学院长春光学精密机械与物理研究所 | Flexible upper limb exoskeleton rehabilitation training system |
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