CN-122005263-A - Upper limb exoskeleton rehabilitation auxiliary robot

CN122005263ACN 122005263 ACN122005263 ACN 122005263ACN-122005263-A

Abstract

An upper limb exoskeleton rehabilitation auxiliary robot relates to the technical field of rehabilitation medical appliances and comprises a hand support module, a forearm support module, an upper arm connecting module, a shoulder connecting module and a shoulder connecting module, wherein the hand support module is used for supporting the hand of a user or holding the hand support module, the forearm support module is connected to the hand support module and is provided with a wrist motion joint corresponding to a human wrist joint, the upper arm connecting module is connected with the forearm support module through an elbow motion joint corresponding to a human elbow joint, the shoulder connecting module is connected with the upper arm connecting module through a shoulder motion joint corresponding to a human shoulder joint, and the wrist motion joint, the elbow motion joint and the shoulder motion joint are respectively provided with an actuating unit, and each actuating unit is configured to independently drive corresponding joints or cooperatively drive a plurality of joints to realize linkage. The invention realizes effective assistance to the movement of the shoulder, elbow, wrist and forearm of the human body through the modularized multi-joint structure and the driving system which can be controlled independently or cooperatively, and improves the adaptability, naturalness and flexibility of rehabilitation training.

Inventors

YIN KE
XU DU
LU XINJIANG

Assignees

南华大学附属第一医院
长沙理工大学
中南大学

Dates

Publication Date: 20260512
Application Date: 20260206

Claims (10)

1. An upper limb exoskeleton rehabilitation assistance robot, comprising: the hand support module is used for supporting the hand of a user or holding the hand; A forearm support module connected to the hand support module and configured with wrist motion joints corresponding to the wrist joints of a human body; the upper arm connecting module is connected with the forearm supporting module through an elbow motion joint corresponding to the elbow joint of the human body; the shoulder connecting module is connected with the upper arm connecting module through a shoulder motion joint corresponding to a shoulder joint of a human body; The wrist motion joint, the elbow motion joint and the shoulder motion joint are respectively provided with an actuating unit, and each actuating unit is configured to independently drive the corresponding joint or cooperatively drive a plurality of joints to realize linkage.
2. The upper limb exoskeleton rehabilitation assistance robot of claim 1, The hand support module comprises a support body (1) and a holding piece (2) arranged on the support body, wherein the holding piece (2) is configured to support a user to hold in a horizontal posture or a vertical posture.
3. The upper limb exoskeleton rehabilitation assistance robot of claim 2, The forearm support module comprises a first bracket (3) and a second bracket (4); the first bracket (3) is connected to the rear end of the support body (1) through a first rotating pair; the second bracket (4) is connected to the outer side of the first bracket (3) through a second revolute pair; the rotation axes of the first revolute pair and the second revolute pair are mutually perpendicular to form a wrist motion joint corresponding to the wrist joint of the human body.
4. The upper limb exoskeleton rehabilitation assistance robot of claim 3, The first bracket (3) is provided with an arc-shaped support (3 b), the periphery of the arc-shaped support (3 b) is provided with an arc-shaped groove (3 b 1), the arc-shaped groove (3 b 1) is formed by encircling two axial side walls and an inner radial side wall, the outer radial side wall of the arc-shaped groove is provided with a circumferential opening, and a mounting notch is formed; The second bracket (4) is provided with an arc-shaped sliding block (6), the arc-shaped sliding block (6) is embedded into the arc-shaped groove (3 b 1) through the mounting notch, and is limited by two axial side walls of the arc-shaped groove (3 b 1) in the axial direction to form the second revolute pair; The second bracket (4) is provided with an actuating unit, the power output end of the actuating unit is provided with a friction wheel or a gear which is in friction contact or meshed with the outer peripheral surface of the radial outer side wall of the arc-shaped groove (3 b 1) so as to drive the first bracket (3) to move around the second revolute pair relative to the second bracket (4).
5. The upper limb exoskeleton rehabilitation assistance robot of claim 3, The upper arm connecting module comprises a third bracket (9); the third bracket (9) is connected with the forearm support module through a third revolute pair; the rotation axis of the third revolute pair is perpendicular to the rotation axis of the second revolute pair; the third revolute pair forms an elbow motion joint corresponding to an elbow joint of a human body.
6. The upper limb exoskeleton rehabilitation assistance robot of claim 5, The linear adjusting mechanism comprises a displacement supporting rod (10 a) and a sliding seat (10 b) which is in sliding fit with the displacement supporting rod; The second bracket (4) is fixedly connected with the sliding seat (10 b); One end of the displacement supporting rod (10 a) is connected with the third bracket (9) through the third revolute pair; The sliding seat (10 b) is configured to be axially movable along the displacement support rod (10 a) and is provided with a locking structure.
7. The upper limb exoskeleton rehabilitation assistance robot of claim 1, And a linear adjusting mechanism is further arranged between the forearm supporting module and the upper arm connecting module and used for adjusting the position of the forearm in the direction close to or far from the trunk of the user and locking the forearm.
8. The upper limb exoskeleton rehabilitation assistance robot of claim 1, The support base assembly comprises a base (15) and a support seat (16) arranged on the base, wherein the support seat (16) is connected with the shoulder connection module and is configured to be lifted in the vertical direction and rotate around a vertical axis.
9. The upper limb exoskeleton rehabilitation assistance robot of claim 1, The robot comprises one set or two sets of upper limb exoskeleton rehabilitation auxiliary robots, and when the two sets are included, the two sets correspond to the left upper limb and the right upper limb of a user respectively.
10. The upper limb exoskeleton rehabilitation assistance robot of claim 9, The two sets of exoskeleton robots are in communication connection through a central controller; the central controller is configured to perform any one of the following training modes: mirror mode, driving the left and right upper limbs to execute symmetrical movement; And the complementary mode is to drive the left and right upper limbs to execute alternating or cooperative task actions.

Description

Upper limb exoskeleton rehabilitation auxiliary robot Technical Field The invention relates to the technical field of rehabilitation medical appliances, in particular to an upper limb exoskeleton rehabilitation auxiliary robot. Background The upper limb rehabilitation robot aims at providing quantitative and repeated rehabilitation training for patients with stroke, spinal cord injury and the like, and is required to accurately simulate a complete movement chain formed by key degrees of freedom such as pronation/supination of the shoulder, elbow, wrist and forearm of a human body. The existing upper limb rehabilitation equipment is mainly divided into two types, namely a rigid exoskeleton type and a tail end traction type. While rigid exoskeletons support multi-joint driving, generally rely on complex shoulder straps or trunk fixing structures, the shoulder rotation shafts of the rigid exoskeletons are difficult to match with the individual shoulder blade movement tracks, so that the whole movement tracks of the upper limbs are easy to deviate from physiological paths, while terminal traction type structures are light and simple, do not need to be worn, but generally only provide three in-plane coupling degrees of freedom, so that key physiological movements such as shoulder abduction/adduction, forearm pronation/supination, wrist flexion/ulnar deviation and the like cannot be independently controlled. Taking the end traction type upper limb rehabilitation platform disclosed in the Chinese patent document CN110123580A as an example, three sets of devices are used for realizing three-dimensional space motion of hands, namely a base motor drives a slewing bearing to realize integral rotation in a horizontal plane, an electric push rod drives a lifting platform to realize lifting in the vertical direction, and a ball screw slipway drives a handle to move back and forth to realize traction in a sagittal plane. However, the three degrees of freedom of the platform are essentially the result of the linkage synthesis of the mechanism, and the key physiological degrees of freedom of the shoulder, forearm and wrist cannot be independently and decoupled controlled. In addition, the existing system generally lacks a shoulder-elbow-wrist multi-joint cooperative driving mechanism, the training mode is mostly a fixed track or a simple mirror image, double-side equipment is also only the juxtaposition of a single-side system, intelligent cooperative strategies such as mirror symmetry or task complementation are lacking, and nerve plasticity is difficult to effectively excite. Therefore, there is a need for an upper limb rehabilitation robot with the capabilities of individual structural adaptation, multi-joint linkage driving and double-sided intelligent collaborative training. Disclosure of Invention The invention aims to provide an upper limb exoskeleton rehabilitation auxiliary robot which can effectively assist the movement of shoulders, elbows, wrists and forearms of a human body through a modularized multi-joint structure and a driving system capable of being controlled independently or cooperatively, and improves adaptability, naturalness and flexibility of rehabilitation training. In order to achieve the above purpose, the present invention adopts the following technical scheme: An upper extremity exoskeleton rehabilitation assistance robot comprising: the hand support module is used for supporting the hand of a user or holding the hand; A forearm support module connected to the hand support module and configured with wrist motion joints corresponding to the wrist joints of a human body; the upper arm connecting module is connected with the forearm supporting module through an elbow motion joint corresponding to the elbow joint (such as flexion and extension motion) of the human body; the shoulder connecting module is connected with the upper arm connecting module through a shoulder motion joint corresponding to a shoulder joint of a human body; The wrist motion joint, the elbow motion joint and the shoulder motion joint are respectively provided with an actuating unit, and each actuating unit is configured to independently drive the corresponding joint or cooperatively drive a plurality of joints to realize linkage. Further, the hand support module includes a support body and a grip disposed thereon, the grip being configured to support a user to grip in a horizontal or vertical posture. Further, the forearm support module includes a first bracket and a second bracket; The first bracket is connected to the rear end of the support body through a first rotating pair; The second bracket is connected to the outer side of the first bracket through a second revolute pair; the rotation axes of the first revolute pair and the second revolute pair are mutually perpendicular to form a wrist motion joint corresponding to the wrist joint of the human body. Further, the first bracket is provided with an arc-shaped support, th