Multi-degree of freedom active and passive hybrid whole-body exoskeleton rehabilitation training system

• Main Authors: ZHOU LI, YIN XIAOLIANG, ZHANG HAIJUN, ZHU HAIBIN, LIU RUIYING, YANG LINA, JIANG FEILONG, SONG YULAI, DAI TING, CHEN SHENG, QIAN CHENG, ZHU HELEI
• Format: Patent
• Language: Chinese; English
• Published: 19.10.2018
• Subjects: ARTIFICIAL RESPIRATION; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSESOR SPECIFIC PARTS OF THE BODY; HUMAN NECESSITIES; HYGIENE; MASSAGE; MEDICAL OR VETERINARY SCIENCE; PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING ORSTIMULATING REFLEX POINTS IN THE BODY

The invention discloses a multi-degree of freedom active and passive hybrid whole-body exoskeleton rehabilitation training system. An air cylinder is used as a power element for driving shoulder, elbow, wrist, hip, knee, and ankle joints of human body joints to perform rehabilitation exercise training. The system is mainly formed by a right angle component, a fixing plate, an aluminum sectional material, a connecting piece, the air cylinder and foot treadles. A structure mode distributed in a non-rectangular coordinate system is used, and the limitation of dead locking and a motion space caused by existence of singular points of a rectangular coordinate system is avoided. A multi-face inclined curve sheet metal component is used, so a joint driven by the space air cylinder has two degreesof freedom in direction. The shoulder, elbow, wrist, hip, knee, and ankle joints have 5, 1, 3, 5, 1, and 3 degrees of freedom, totally 18 degrees of freedom for the rehabilitation training. A length can be adjusted according