CN1961848B - Flexible exoskeleton elbow joint based on pneumatic muscles - Google Patents
Flexible exoskeleton elbow joint based on pneumatic muscles Download PDFInfo
- Publication number
- CN1961848B CN1961848B CN2006101547707A CN200610154770A CN1961848B CN 1961848 B CN1961848 B CN 1961848B CN 2006101547707 A CN2006101547707 A CN 2006101547707A CN 200610154770 A CN200610154770 A CN 200610154770A CN 1961848 B CN1961848 B CN 1961848B
- Authority
- CN
- China
- Prior art keywords
- pneumatic muscles
- joint
- degree
- elbow joint
- freedom
- 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.)
- Expired - Fee Related
Links
- 210000003205 muscle Anatomy 0.000 title claims abstract description 36
- 210000002310 elbow joint Anatomy 0.000 title claims abstract description 18
- 238000005096 rolling process Methods 0.000 claims description 6
- 210000001364 upper extremity Anatomy 0.000 abstract description 3
- 206010028289 Muscle atrophy Diseases 0.000 abstract description 2
- 230000020763 muscle atrophy Effects 0.000 abstract description 2
- 201000000585 muscular atrophy Diseases 0.000 abstract description 2
- 230000008447 perception Effects 0.000 abstract description 2
- 210000001503 joint Anatomy 0.000 abstract 2
- 235000001968 nicotinic acid Nutrition 0.000 abstract 1
- 238000005452 bending Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000004140 cleaning Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 210000003414 extremity Anatomy 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 239000011664 nicotinic acid Substances 0.000 description 1
Landscapes
- Rehabilitation Tools (AREA)
Abstract
本发明公开的基于气动肌肉的柔性外骨骼肘关节由两条气动肌肉及一个单自由度旋转运动副构成，实现人体上臂肘关节的单自由度的转动。这种结构与现有的外骨骼机械手或者其它穿戴器械相比，结构新颖，轻便灵巧，采用气动肌肉作为关节的执行元件，模仿人体肌肉伸缩的动作，具有仿生学的特点。操作者通过穿戴此装置，并由安装在旋转副上的扭矩传感器获取其运动参数，可对单自由度的工业机械手进行主从式操作，适应性强。同时通过对关节中气动肌肉腔体内气体压力的控制，实现具有临场感知的力反馈信号，增强控制的逼真程度。该发明也可广泛用于医疗，通过对关节中气动肌肉的控制，作为上肢肘关节肌肉萎缩或者残疾人士的医疗康复辅助器械。
The pneumatic muscle-based flexible exoskeleton elbow joint disclosed by the present invention is composed of two pneumatic muscles and a single-degree-of-freedom rotary motion pair, and realizes the single-degree-of-freedom rotation of the upper arm elbow joint of a human body. Compared with the existing exoskeleton manipulator or other wearable devices, this structure is novel, light and dexterous, and uses pneumatic muscles as the actuators of the joints, imitating the stretching and contracting movements of human muscles, and has the characteristics of bionics. By wearing the device and obtaining its motion parameters from the torque sensor installed on the rotating joint, the operator can perform master-slave operation on the single-degree-of-freedom industrial manipulator, which has strong adaptability. At the same time, through the control of the gas pressure in the pneumatic muscle cavity in the joint, the force feedback signal with on-the-spot perception is realized, and the fidelity of the control is enhanced. The invention can also be widely used in medical treatment, through the control of the pneumatic muscles in the joints, it can be used as a medical rehabilitation aid for the elbow joint muscle atrophy of the upper limbs or the disabled.
Description
Technical field
The present invention relates to the flexible exoskeleton elbow joint based on pneumatic muscles, is a kind of bionical characteristics that have specifically, can realize the collection of human upper limb elbow joint exercise data, and force feedback signal produces or assist the device of functions such as elbow joint motion.
Background technology
The ectoskeleton technology is a kind of novel man-machine intelligence system's control technology, can be widely used in principal and subordinate's control of robot, the residual patient's of limb medical rehabilitation assistive device.But traditional exoskeleton system adopts motor, hydraulic pressure or cylinder as control executive component, complex structure usually.
Summary of the invention
The purpose of this invention is to provide a kind of simple in structure, light, cleaning, reliable, have force feedback when participating in the cintest, be suitable for the flexible exoskeleton elbow joint based on pneumatic muscles of single-degree-of-freedom mechanical hand principal and subordinate control.
Flexible exoskeleton elbow joint based on pneumatic muscles of the present invention, comprise that single-degree-of-freedom forward and reverse crooked pneumatic muscles and the operators that install in joint, two that rotatablely move dress support, the single-degree-of-freedom joint that rotatablely moves comprises torque sensor and U type connecting rod, the two ends of torque sensor are separately installed with rolling bearing, the two ends of U type connecting rod opening are hinged with rolling bearing respectively, form rotary motion pair; Article two, the pneumatic muscles of forward and reverse bending is fixed with the straight-bar of U type connecting rod respectively, and the curved end of two pneumatic muscles links to each other with torque sensor through connector respectively; Operator's support comprises that upper arm is dressed support and underarm is dressed support, and upper arm is dressed the bottom of support and U type connecting rod and fixed, and underarm is dressed support and fixed through rack rod and torque sensor.
During use, operator's upper arm and underarm pasted respectively by bandage be fixed on overarm brace and the following arm support suitablely, the single-degree-of-freedom joint that rotatablely moves has the ancon revolute of one degree of freedom, article two, forward and reverse crooked pneumatic muscles of installing, by control to the pneumatic muscles cavity pressure, can produce positive and negative moment, realize that the people goes up the rotation of underarm around elbow joint around the single-degree-of-freedom revolute.
For ease of gathering the pneumatic muscles cavity internal pressure, can on the pneumatic muscles air inlet of two forward and reverse bendings, gas pressure sensor be installed respectively, like this, refuse pick off in conjunction with turning round on the rotary joint, can control the turning moment that is applied on the whole joint.
Flexible exoskeleton elbow joint based on pneumatic muscles of the present invention is simple in structure, portable and smart, adopts the executive component of pneumatic muscles as the joint, and the action that the imitation human muscle stretches has bionic characteristics.Can be by to operator's elbow joint movement parameter measurement, the industry mechanical arm of single-degree-of-freedom is carried out the master-slave mode operation, adaptability is strong.By control, realize having the force feedback signal of perception when participating in the cintest simultaneously, strengthen the degree true to nature of control gas pressure in the pneumatic muscles cavity in the joint.This invention also can be widely used in medical treatment, by the control to pneumatic muscles in the joint, as muscle atrophy of upper limb elbow joint or individuals with disabilities's medical rehabilitation assistive device.
Description of drawings
Fig. 1 is based on the flexible exoskeleton elbow joint structural representation of pneumatic muscles.
The specific embodiment
Further specify the present invention below in conjunction with accompanying drawing.
With reference to accompanying drawing, the flexible exoskeleton elbow joint that the present invention is based on pneumatic muscles comprises that rotatablely move joint 1, two forward and reverse crooked pneumatic muscles 2 and operators that install of single-degree-of-freedom dress support 3, the single-degree-of-freedom joint 1 that rotatablely moves comprises torque sensor 10 and U type connecting rod 11, the two ends of torque sensor 10 are separately installed with rolling bearing 4, the two ends of U type connecting rod 11 openings are hinged with rolling bearing respectively, form rotary motion pair; Article two, the pneumatic muscles 2 of forward and reverse bending is fixed with the straight-bar of U type connecting rod 11 respectively, and the curved end of two pneumatic muscles links to each other with torque sensor 10 through connector 5 respectively; Operator's support 3 comprises that upper arm is dressed support 8 and underarm is dressed support 9, and upper arm is dressed support 8 and fixed with the bottom of U type connecting rod 11, and it is fixing with torque sensor 10 through rack rod 6 that underarm is dressed support 9.In the diagram instantiation, on two forward and reverse crooked pneumatic muscles air inlets of installing, be separately installed with gas pressure sensor 7.
Flexible exoskeleton elbow joint based on pneumatic muscles has one degree of freedom altogether, by control to gas pressure in the control pneumatic muscles cavity, in conjunction with turning round the signal of refusing pick off in the joint, can realize that the single-degree-of-freedom mechanical hand is had principal and subordinate's control of force feedback signal when participating in the cintest.
Claims (1)
1. based on the flexible exoskeleton elbow joint of pneumatic muscles, it is characterized in that it comprises that single-degree-of-freedom forward and reverse crooked pneumatic muscles (2) and the operators that install in joint (1), two that rotatablely move dress support (3), the single-degree-of-freedom joint (1) that rotatablely moves comprises torque sensor (10) and U type connecting rod (11), the two ends of torque sensor (10) are separately installed with rolling bearing (4), the two ends of U type connecting rod (11) opening are hinged with rolling bearing respectively, form rotary motion pair; Article two, forward and reverse crooked pneumatic muscles of installing (2) is fixed with the straight-bar of U type connecting rod (11) respectively, article two, the curved end of pneumatic muscles links to each other with torque sensor (10) through connector (5) respectively, on two forward and reverse crooked pneumatic muscles air inlets of installing gas pressure sensor (7) is installed respectively; Operator's support (3) comprises that upper arm is dressed support (8) and underarm is dressed support (9), and upper arm is dressed support (8) and fixed with the bottom of U type connecting rod (11), and it is fixing through rack rod (6) and torque sensor (10) that underarm is dressed support (9).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2006101547707A CN1961848B (en) | 2006-11-24 | 2006-11-24 | Flexible exoskeleton elbow joint based on pneumatic muscles |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2006101547707A CN1961848B (en) | 2006-11-24 | 2006-11-24 | Flexible exoskeleton elbow joint based on pneumatic muscles |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1961848A CN1961848A (en) | 2007-05-16 |
| CN1961848B true CN1961848B (en) | 2010-09-22 |
Family
ID=38081191
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2006101547707A Expired - Fee Related CN1961848B (en) | 2006-11-24 | 2006-11-24 | Flexible exoskeleton elbow joint based on pneumatic muscles |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN1961848B (en) |
Families Citing this family (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101181175B (en) * | 2007-12-07 | 2010-08-04 | 华中科技大学 | An elbow joint rehabilitation training device |
| CN103190999B (en) * | 2012-01-09 | 2015-02-18 | 上海理工大学 | Rehabilitation training device for range of upper-limb joint motion |
| CN102764188B (en) * | 2012-07-16 | 2014-04-02 | 上海大学 | Controllable variable-stiffness flexible elbow joint rehabilitation robot |
| CN105108761B (en) * | 2015-08-14 | 2017-05-24 | 浙江大学 | Reduced-order adaptive robust cascading force control method for single-joint powered exoskeleton |
| CN105030487B (en) * | 2015-09-10 | 2017-01-25 | 哈尔滨工业大学 | A bionic flexible wearable lower limb exoskeleton driven by pneumatic artificial muscles |
| CN106564071B (en) * | 2016-11-11 | 2018-11-13 | 北京交通大学 | A kind of robot softly turn-off of simulation human synovial |
| CN107322631B (en) * | 2017-07-12 | 2020-05-22 | 国家康复辅具研究中心 | Humanoid shoulder joint based on dielectric elastomer actuator |
| CN108356848B (en) * | 2018-03-30 | 2023-09-29 | 天津理工大学 | Pneumatic artificial muscle and servo motor hybrid driving joint |
| CN108721047B (en) * | 2018-04-25 | 2021-02-23 | 上海大学 | A wearable upper limb rehabilitation training device |
| CN108578173B (en) * | 2018-04-25 | 2020-04-24 | 北京工业大学 | Flexible upper limb assistance exoskeleton |
| CN109363886B (en) * | 2018-11-05 | 2023-08-01 | 山东大学 | Elbow joint rehabilitation training device and implementation method |
| CN111558934B (en) * | 2020-05-21 | 2021-02-19 | 江苏凌步智能科技有限公司 | Method for simulating main dynamic state of muscles of four limbs of human body by robot |
| CN111920638A (en) * | 2020-07-07 | 2020-11-13 | 燕山大学 | A kind of elbow joint flexion and extension rehabilitation training device |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2591336Y (en) * | 2002-12-27 | 2003-12-10 | 刘忠魁 | Pneumatic multidirectional movement joint |
| CN1753653A (en) * | 2003-03-28 | 2006-03-29 | 株式会社日立医药 | Wear-type joint drive device |
| CN200984250Y (en) * | 2006-11-24 | 2007-12-05 | 浙江大学 | Flexible ectoskeleton elbow joint based on pneumatic power |
-
2006
- 2006-11-24 CN CN2006101547707A patent/CN1961848B/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2591336Y (en) * | 2002-12-27 | 2003-12-10 | 刘忠魁 | Pneumatic multidirectional movement joint |
| CN1753653A (en) * | 2003-03-28 | 2006-03-29 | 株式会社日立医药 | Wear-type joint drive device |
| CN200984250Y (en) * | 2006-11-24 | 2007-12-05 | 浙江大学 | Flexible ectoskeleton elbow joint based on pneumatic power |
Also Published As
| Publication number | Publication date |
|---|---|
| CN1961848A (en) | 2007-05-16 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN1961848B (en) | Flexible exoskeleton elbow joint based on pneumatic muscles | |
| CN200984250Y (en) | Flexible ectoskeleton elbow joint based on pneumatic power | |
| Tadano et al. | Development of grip amplified glove using bi-articular mechanism with pneumatic artificial rubber muscle | |
| CN204450526U (en) | The ectoskeleton servomechanism that a kind of pneumatic muscles drives | |
| CN204562790U (en) | The upper limb rehabilitation robot that pneumatic muscles drives | |
| CN108186293B (en) | A flexible knee-joint exoskeleton actuated by negative-pressure contractile elastomers | |
| Costa et al. | Joint motion control of a powered lower limb orthosis for rehabilitation | |
| WO2018093448A2 (en) | Robotic upper limb rehabilitation device | |
| CN109646156B (en) | Exoskeleton rehabilitation glove | |
| Al-Fahaam et al. | Power assistive and rehabilitation wearable robot based on pneumatic soft actuators | |
| CN101596139A (en) | Assistant movement exoskeleton of three-degree of freedom ankle joint | |
| CN1325229C (en) | Dress-able type flexible exoskeleton manipulator | |
| CN104942791B (en) | Rope pulled and pneumatic muscle driven multi-degree-of-freedom bionic manipulator | |
| He et al. | RUPERT: a device for robotic upper extremity repetitive therapy | |
| Tsabedze et al. | A compact, compliant, and biomimetic robotic assistive glove driven by twisted string actuators | |
| Wang et al. | Soft robotics for hand rehabilitation | |
| CN104799982B (en) | Single motor underactuated prosthetic hand based on continuum differential mechanism | |
| JP2010264546A (en) | Five-fingered hand device | |
| CN109172063A (en) | A kind of Coupled Rigid-flexible artifucial limb hand with complaisant grasping characteristic | |
| Meng et al. | Soft robotic hand exoskeleton systems: review and challenges surrounding the technology | |
| Beigzadeh et al. | Design and development of one degree of freedom upper limb exoskeleton | |
| CN107028690A (en) | A kind of artificial limb system for upper limbs high amputation person | |
| Tran et al. | Voice-controlled flexible exotendon (flexotendon) glove for hand rehabilitation | |
| CN112091954B (en) | A kind of bionic dexterous hand and control method thereof | |
| Shen et al. | Upper limb wearable exoskeleton systems for rehabilitation: State of the art review and a case study of the EXO-UL8—Dual-arm exoskeleton system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20100922 Termination date: 20121124 |