CN-122005275-A - Flexible drive upper limb exoskeleton device with bilateral switchable configuration

CN122005275ACN 122005275 ACN122005275 ACN 122005275ACN-122005275-A

Abstract

The application relates to the technical field of rehabilitation robots, in particular to a flexible driving upper limb exoskeleton device with a double-side switchable configuration. The actuating mechanism sequentially comprises a shoulder joint component, an upper arm component, a binding component, an elbow joint component, a forearm component and a wrist joint component. The shoulder joint component has three active degrees of freedom of adduction/abduction, internal rotation/external rotation and buckling/stretching, the elbow joint has one active degree of freedom of buckling/stretching, and the wrist joint is a passive rotating structure. The upper limb exoskeleton can be quickly switched between the left upper limb and the right upper limb in a turnover installation mode, and the driving unit is arranged away from the upper limb body in a flexible driving and bowden line transmission mode, so that the man-machine interaction safety is improved. The human adaptability of the exoskeleton is improved through the length adjustable structure of the upper arm and the forearm, the height adjustable structure of the platform supporting part and the horizontal adjustable structure of the base part.

Inventors

SUN ZHONGBO
WANG GANG
YU CHANGLIN
XING YE
XU CHANGXIAN
LIU KEPING
YANG JIANTAO
WANG CHUANG
YANG KAI
MA CHENGBO
NIE BAOZHEN
ZHAO LIMING

Assignees

长春工业大学

Dates

Publication Date: 20260512
Application Date: 20260415

Claims (6)

1. A flexible driving upper limb exoskeleton device with a bilateral switchable configuration is characterized by comprising a base component (01), a flexible driving component (02), a platform supporting component (03) and an upper limb exoskeleton actuating mechanism mounted on the platform supporting component (03), wherein the upper limb exoskeleton actuating mechanism comprises a shoulder joint assembly, an upper arm component (08), a binding component (09), an elbow joint component (10), a forearm component (11) and a wrist joint component (12), wherein the shoulder joint assembly comprises a shoulder joint adduction/abduction component (04), a shoulder joint adduction/abduction component (05), a shoulder joint internal rotation/external rotation component (05), The shoulder joint bionic part (06) and the shoulder joint buckling/stretching part (07), wherein the upper limb exoskeleton actuating mechanism is constructed into a left symmetrical structure and a right symmetrical structure, is arranged at the upper end of the platform supporting part (03) in a turnover installation mode, and is suitable for the left upper limb or the right upper limb of a human body, the shoulder joint buckling/stretching part (07) comprises a rotary encoder II (701), a shoulder joint buckling/stretching connecting arm I (702), a U-shaped groove bearing wheel I (703), a guide baffle II (704), a crossed roller bearing I (705), A second driving reel (706) and a second shoulder joint adduction/abduction connecting arm (707), wherein the second guiding baffle (704) is fixed on the first shoulder joint buckling/extension connecting arm (702), the first U-shaped groove bearing wheel (703) is arranged on the second guiding baffle (704) and used for guiding the steel wire rope in the Bowden wire, a winding groove used for winding the inner steel wire rope is arranged at the periphery of the second driving reel (706), a wire jacking hole used for fixing the inner steel wire rope is arranged on the second driving reel (706), the wire jacking hole is arranged at a preset position at one axial side of the second driving reel (706), and the device is used for carrying out left, When the right side is turned over, the fixing mode of the Bowden wire is kept consistent, and the normal driving of the flexion/extension motion of the shoulder joint can be realized under the double-side switching state, wherein the elbow joint part (10) comprises a rotary encoder III (1001), an encoder fixing plate II (1002), an elbow joint flexion/extension connecting arm I (1003), a driving reel III (1004), a U-shaped groove bearing wheel II (1005), a guide baffle III (1006), The second cross roller bearing (1007) and the second elbow joint buckling/stretching connecting arm (1008), the third guide baffle (1006) is fixed on the second elbow joint buckling/stretching connecting arm (1008), the second U-shaped groove bearing wheel (1005) is installed on the third guide baffle (1006) and used for guiding a steel wire rope in a Bowden wire, a winding groove used for winding the inner steel wire rope is formed in the periphery of the third driving winding wheel (1004), a locking top wire hole used for fixing the inner steel wire rope is formed in the third driving winding wheel (1004), the locking top wire hole is formed in a preset position on one axial side of the third driving winding wheel (1004), and left side of the flexible driving upper limb exoskeleton device is formed, When the right side turning is switched, the connection mode of bowden wires is kept consistent, stable driving of the lower elbow joint in a double-side configuration is guaranteed, the flexible driving component (02) is used for providing driving force for the shoulder joint component and the elbow joint component (10), the base component (01) comprises a fuma wheel (101), a first base (102), a first sliding table organ protection cover (103), a second base (104), a second sliding table organ protection cover (105), a heavy load sliding table (106), a coupler (107) and a hand wheel (108), and the heavy load sliding table (106) is used for driving the platform supporting component (03) to move along the horizontal direction and adjusting the spatial position of the upper limb exoskeleton executing mechanism.
2. The flexible driving upper limb exoskeleton device with the bilateral switchable configuration according to claim 1, wherein the flexible driving components (02) are arranged into four groups corresponding to shoulder adduction/abduction degrees of freedom, shoulder flexion/extension degrees of freedom and elbow flexion/extension degrees of freedom respectively, wherein the shoulder adduction/abduction degrees of freedom adopt a direct driving mode, and the other three degrees of freedom adopt a distal flexible driving mode based on bowden wires.
3. A flexible driving upper limb exoskeleton device with a double-sided switchable configuration as claimed in claim 1 wherein said shoulder adduction/abduction means (04) comprises a shoulder adduction/abduction connecting arm (401), a support column (402), a fourth base (403) and a flexible driving means (02), said fourth base (403) being provided on both sides with respective through hole structures, said support column (402) being selectively mountable in said through hole structures such that said shoulder adduction/abduction means (04) forms a support structure on both left and right sides.
4. A flexible driving upper limb exoskeleton device with a double-sided switchable configuration as in claim 1 wherein said forearm part (11) comprises a first forearm connection plate (1101) and a second forearm connection plate (1102), said first forearm connection plate (1101) and said second forearm connection plate (1102) are bolted together and provided with a plurality of sets of spaced mounting holes along the length thereof, and by selecting different combinations of mounting holes, the relative position adjustment between said first forearm connection plate (1101) and said second forearm connection plate (1102) is achieved, thereby adjusting the overall length of said forearm part (11).
5. The flexible driving upper limb exoskeleton device with the double-sided switchable configuration as claimed in claim 1, wherein the upper arm part (08) comprises an upper arm connecting plate one (801) and an upper arm connecting plate two (802), the upper arm connecting plate one (801) and the upper arm connecting plate two (802) are connected through bolts, a plurality of groups of mounting hole sites are arranged between the upper arm connecting plate one (801) and the upper arm connecting plate two (802) along the length direction, and the length adjustment of the upper arm part (08) is realized by selecting different combinations of the mounting hole sites.
6. A flexible drive upper extremity exoskeleton device having a double sided switchable configuration as claimed in claim 1 wherein said wrist joint component (12) comprises a first wrist joint arm (1201), a second flange bearing (1202), a second wrist joint arm (1203) and a gripping handle (1204), said second flange bearing (1202) being a rotational support element having damping characteristics.

Description

Flexible drive upper limb exoskeleton device with bilateral switchable configuration Technical Field The invention relates to the technical field of rehabilitation robots, in particular to a flexible driving upper limb exoskeleton device with a bilateral switchable configuration, and especially relates to a flexible driving upper limb exoskeleton device which has a double-sided rapid overturning mechanism and can be suitable for rehabilitation training of left and right upper limbs. Background The upper limb exoskeleton rehabilitation robot provides passive training, auxiliary training and impedance training for patients with cerebral apoplexy, spinal cord injury and the like through a mechanical joint structure corresponding to the joints of the upper limbs of the human body, and has important application value in promoting the recovery of the movement function. The existing upper limb exoskeleton commonly adopts a series of elastic drivers or other flexible driving modes to realize flexible control of joint output torque. However, most of the existing upper limb exoskeleton devices are generally only suitable for rehabilitation training of a single upper limb of a human body, and the joint arrangement, the driving transmission path and the man-machine interface of the existing upper limb exoskeleton devices have obvious directionality. When rehabilitation training is needed to be carried out on the upper limb on the other side, the whole equipment is needed to be replaced, or complex disassembly, assembly and recalibration are carried out on the device, so that the clinical use efficiency is low, the equipment utilization rate is insufficient, and the rehabilitation cost is increased. Therefore, there is a need for an upper limb exoskeleton device that ensures flexible driving and safe man-machine interaction performance, realizes universal and rapid switching of left and right upper limbs, and solves the problems of strong single-side applicability and poor structural universality in the prior art. The invention aims to provide a flexible driving upper limb exoskeleton device with a double-sided quick overturning mechanism, which enables the same exoskeleton structure to be quickly switched for rehabilitation training of left upper limb or right upper limb without complex disassembly and recalibration by arranging the quick overturning mechanism capable of being used on double sides, so that the universality, clinical use efficiency and economy of the upper limb exoskeleton device are improved. Disclosure of Invention Aiming at the problems, the flexible driving upper limb exoskeleton device with the double-side switchable configuration is provided, the problem of insufficient man-machine interaction safety of a rigid driver is solved by introducing flexible driving, a bowden wire driving mode is adopted to remotely arrange a driving unit, extra load caused by the weight and inertia of the driver on the upper limb of a subject is eliminated, and the problems of strong single-side applicability and poor structural universality in the prior art are effectively overcome by arranging the double-side switchable configuration. The invention provides a flexible driving upper limb exoskeleton device with a bilateral switchable configuration. The flexible driving upper limb exoskeleton device with the double-side switchable configuration has the characteristics of light weight, smoothness and modularization. The shoulder joint is provided with 3 active degrees of freedom to respectively realize adduction/abduction, internal rotation/external rotation and buckling/stretching movement, the elbow joint is provided with 1 active degree of freedom to realize buckling/stretching movement, and the wrist joint adopts a rotary handle to realize passive rotation. The invention aims to solve the problems that the flexible driving upper limb exoskeleton device with the double-side switchable configuration comprises a base component, a flexible driving component, a platform supporting component and an upper limb exoskeleton executing mechanism arranged on the platform supporting component. The upper limb exoskeleton actuating mechanism comprises a shoulder joint assembly, an upper arm part, a binding part, an elbow joint part, a forearm part and a wrist joint part. Wherein the shoulder joint assembly comprises a shoulder joint adduction/abduction component, a shoulder joint bionic component, and a shoulder joint flexion/extension component. According to the invention, by constructing a mechanical structure with a bilateral switchable configuration and combining a flexible driving mode and a remote bowden cable transmission mode, the human-computer interaction safety of the upper limb exoskeleton device is ensured, and the device has the universal and rapid switching capability of left and right upper limbs. Preferably, the base component comprises a base body, a flexible sleeve Ma Lun, an organ shield, a heavy-load slipway, a