公开(公告)号：US10987271B2

公开(公告)日：2021-04-27

申请号：US16172038

申请日：2018-10-26

Applicant: Huazhong University of Science and Technology

Inventor： Caihua Xiong ,  Xuan Wu ,  Chang He ,  Jianbo Tao ,  Chenbo Wang ,  Wenbin Chen

IPC: A61H1/02 ,  A63B21/00 ,  A63B22/00

Abstract: An upper limb exoskeleton rehabilitation device having man-machine motion matching and side-to-side interchanging, includes a chassis bracket assembly, a shoulder girdle abduction assembly, a side-to-side interchanging assembly and a mechanical arm coupling member. The chassis bracket assembly includes a frame and a lifting unit mounted on the frame. The shoulder girdle abduction assembly is mounted on the lifting unit to be driven by the lifting unit to move up and down. The side-to-side interchanging assembly is rotatably connected to the shoulder girdle abduction assembly and the mechanical arm coupling member, and the mechanical arm coupling member is configured to mount the mechanical arm and drive the mechanical arm to rotate with the respective rotating joints. Through an upper locking assembly and a lower locking assembly mounted on the side-to-side interchanging assembly, the side-to-side interchanging assembly is fixed or rotated relative to the shoulder girdle abduction assembly and the mechanical arm coupling member.

公开(公告)号：US11241354B2

公开(公告)日：2022-02-08

申请号：US16156605

申请日：2018-10-10

Applicant: Huazhong University of Science and Technology

Inventor： Caihua Xiong ,  Jianbo Tao ,  Xuan Wu ,  Chang He ,  Wenbin Chen ,  Chenbo Wang

IPC: A61H1/02 ,  B25J11/00 ,  B25J17/02 ,  F16H19/06

Abstract: The present invention discloses a gravity balancing device for a rehabilitation robot arm, and belongs to the field of rehabilitation robots. The gravity balancing device includes a shoulder joint connecting member, an upper arm connecting member and a gravity balancing assembly; the shoulder joint connecting member and the upper arm connecting member are pivotally connected according to the human body bionic structure to simulate the rotational movement of the upper arm of the human body around the shoulder joint; the gravity balancing assembly includes a plurality of springs, wire ropes and guide pulleys, the wire ropes connect the springs to the shoulder joint connecting member and the upper arm connecting member, the spring tension is used to balance the gravity of the arm, and the guide pulleys are used to change the force directions of the wire ropes, thereby saving space and making the device structure more compact. Further, by locking different guide pulleys, the arm gravity can be still balanced by the spring tension after switching of the rehabilitation robot between the left and right hand training modes, thereby ensuring that the robot can still work normally after the training mode is switched.

公开(公告)号：US10682772B2

公开(公告)日：2020-06-16

申请号：US16011314

申请日：2018-06-18

Applicant: Huazhong University of Science and Technology

Inventor： Caihua Xiong ,  Chenbo Wang ,  Xuan Wu ,  Jianbo Tao ,  Chang He ,  Wei Mao

IPC: B25J19/00 ,  A61H1/02 ,  B25J18/04

Abstract: The present invention belongs to the field of medical rehabilitation training equipment, and particularly discloses a reversible mechanical arm gravitational torque balancing device, comprising a counterweight guide groove module, a counterweight, a mechanical arm joint, a rope, a guide pulley block, a counterweight disc, a mechanical arm joint link and a rack. The counterweight guide groove module is mounted on the rack; the counterweight has a lower end mounted on the counterweight guide groove module and an upper end connected to the rope, and the rope is wound on the counterweight disc after passing through the guide pulley block mounted on the rack; the mechanical arm joint is mounted on the rack and internally provided with a motor; the counterweight disc is mounted on an output shaft of the motor of the mechanical arm joint; and the mechanical arm joint link is also mounted on the output shaft of the motor of the mechanical arm joint and the gravity of the mechanical arm joint link produces a gravitational torque on the mechanical arm joint. The present invention can change the direction of the provided balance torque when the mechanical arm performs the morphological transformation, and features simple, rapid and labor-saving operation as well as reliable structure.