Wang Zongbao, Wang Zongbing, Yang Yonghui, Wang Congzhen, Yang Guang, Li Yefu
The Third Affiliated Hospital of Anhui University of Chinese Medicine, Hefei, 230031.
School of Rehabilitation Medicine of Anhui University of Chinese Medicine, Hefei, 230038.
Zhongguo Yi Liao Qi Xie Za Zhi. 2022 Jan 30;46(1):42-46. doi: 10.3969/j.issn.1671-7104.2022.01.009.
Based on the biomechanical mechanism of human upper limb, the disadvantages of traditional rehabilitation training and the current status of upper limb rehabilitation robot, a six degree of freedom, flexible adjustment, wearable upper limb rehabilitation exoskeleton design scheme is proposed. Firstly, the mechanics of each joint of the upper limb is analyzed, and the virtual prototype design of the whole mechanical structure of the upper limb rehabilitation wearable exoskeleton is carried out by using CATIA three-dimensional software. The tooth transmission of the forearm and the upper arm single row four point contact ball bearing with internal/external rotation and the shoulder flexible passive adjustment mechanism (viscoelastic damper) are innovatively designed. Then, the joints of the upper limb rehabilitation exoskeleton are analyzed, theoretical analysis and calculation of the driving torque, the selection of the motor and gearbox of each driving joint are carried out. Finally, the whole finite element analysis of the upper limb exoskeleton is carried out. The research and experimental results showed that the design scheme of the upper limb exoskeleton assist structure is highly feasible, which can help the patients with upper limb paralysis and motor dysfunction self-rehabilitation.
基于人体上肢的生物力学机制、传统康复训练的弊端以及上肢康复机器人的现状，提出了一种具有六个自由度、可灵活调节、可穿戴的上肢康复外骨骼设计方案。首先，分析了上肢各关节的力学特性，并利用CATIA三维软件对上肢康复可穿戴外骨骼的整体机械结构进行虚拟样机设计。创新性地设计了前臂的齿传动以及具有内/外旋转功能的上臂单列四点接触球轴承和肩部柔性被动调节机构（粘弹性阻尼器）。然后，对上肢康复外骨骼的关节进行分析，对驱动扭矩进行理论分析和计算，对各驱动关节的电机和减速器进行选型。最后，对上肢外骨骼进行整体有限元分析。研究和实验结果表明，上肢外骨骼辅助结构的设计方案具有高度可行性，可帮助上肢瘫痪和运动功能障碍患者进行自我康复。
