• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    Wearable robotic system for controlling the movements of the wrist and forearm. The present invention consists of a wearable robotic system for the assistance and rehabilitation of the adduction-abduction and flexion-extension movements of the wrist and the prone-supination movement of the forearm. (Machine-translation by Google Translate, not legally binding)
    公开号:ES2782724A1
    申请号:ES201930231
    申请日:2019-03-13
    公开日:2020-09-15
    发明作者:Aracil Nicolás Garcia；Ivorra Andrea Blanco；Perez David Lopez；Pomares Jorge Antonio Diez；Orts José María Catalan；Perez José Vicente Garcia；Perez Luis Daniel Lledo；Motos Arturo Bertomeu；Navarro José María Sabater
    申请人:Universidad Miguel Hernandez de Elche；
    IPC主号:
    专利说明:

    [0002] Wearable robotic system to control wrist and forearm movements
    [0003] The present invention consists of a wearable robotic system for the assistance and rehabilitation of the adduction-abduction and flexion-extension movements of the wrist and the prone-supination movement of the forearm. The system uses a single actuator and a gearbox with 1 input connected to the actuator (for example, an electric gear motor) and 3 outputs to control both wrist movements and the pronosupination movement. The main characteristic of the system is the use of an electromagnet and a neodymium magnet to control the longitudinal movement of a shaft that jointly displaces a ball spring lock that engages the input connected to the actuator with the desired output. In addition, the longitudinal control system of said axis has sensors to indicate its longitudinal position. Likewise, it should be noted that the robotic system has an absolute position encoder for each of the three controlled degrees of freedom and also includes a brake that is activated when the pronation-supination movement is not controlled by the system.
    [0005] The fundamental advantages of the wearable robotic system object of the present invention compared to other proposed systems are the reduction in weight of the complete system and its lower electrical consumption and therefore the increase in its autonomy compared to other types of solutions.
    [0007] The invention has its field of application in the total or partial rehabilitation of people who have totally or partially lost control of the motor function of the wrist and the prono-supination movement of the forearm and / or the rehabilitation of said movements after a trauma.
    [0009] Another field of application of the present invention is the assistance to people in the performance of daily tasks that require the motor function of the wrist and the pronosupination movement of the forearm.
    [0011] Technical sector to which the invention refers
    [0013] The present invention falls within the technical field of medical robotics, more specifically with regard to rehabilitation robotics and care robotics.
    [0015] Background of the invention
    [0017] The present invention aims to equip people who have totally or partially lost the motor function of the wrist and the prono-supination movement of the forearm that allows the total or partial rehabilitation of the lost function and / or that allows to assist in the realization of everyday tasks that require lost functionality.
    [0019] Currently, there are various exoskeleton-type devices that allow to assist the lost or weakened motor function of the wrist and the prono-supination movement of the forearm. Among said devices, the one described in patent US2008009771A1 should be highlighted. It is a robotic system for the assistance and rehabilitation of the adduction-abduction and flexion-extension movements of the wrist, and the prone-supination movement of the forearm, which comprises: 1) multiple motors; 2) a two-stage pulley reducer at joints 1-4 and a single-stage pulley reducer with a one-stage planetary gear reducer for the wrist; 3) an optical encoder for each degree of freedom; 4) a brake on each actuator; and 5) a computer coupled to an interface that provides a virtual reality environment that can be controlled by an operator implementing a therapy regimen. Another device that should be highlighted is that described in patent US2701370A. It is a single-motor prosthesis, which allows controlling the pronation-supination movements of the wrist, flexion-extension of the wrist and movement of the fingers by means of the following elements: a motor with a reducer, a transmission with a shaft of flexible input from the motor-gear unit and with three output shafts for pronation and flexion of the wrist and fingers.
    [0021] In the field of robotic prostheses, it is worth highlighting patent US2580987A, which describes a single-motor prosthesis, which allows controlling the pronation-supination movements of the wrist, flexion-extension of the wrist, flexion-extension of the elbow and movement of the fingers by means of the following elements: a motor with a reducer, a set of gears driven by means of an input shaft, connected to the motor-reducer assembly and several clutches (finger clutch, wrist pronation clutch, flexion clutch the hand, and clutch for elbow flexion.
    [0023] Patent US2008009771A1 can be considered the closest to the object of the invention, it contemplates a robotic system for the movements proposed in the present invention, but the system is not wearable but is fixed. The movements to be controlled, object of the present invention, are not controlled with a single motor and therefore, it does not have a system for selecting the movement to act based on the use of an electromagnet and a neodymium magnet to control the longitudinal movement of the axis that jointly displaces a ball spring lock that selects the movement to be controlled.
    [0025] In the field of prosthetics, as indicated in patent US2701370A, they use a single gearmotor together with a gearbox to independently drive movements such as flexion-extension of the wrist. However, the control system of the longitudinal movement of the axis that jointly displaces a ball spring lock that engages each of the movements of the wrist and the prono-supination movement of the forearm object of the present invention is not described in the cited patent. Nor is it obvious for a person skilled in the art to arrive at such a solution, combining documents US2008009771A1 and US2701370A or with any other combination.
    [0027] Description of the invention
    [0029] The wearable robotic system for the assistance and rehabilitation of the adduction-abduction and flexion-extension movements of the wrist and the prono-supination movement of the forearm, can be classified as an exoskeleton type device. Figure 1 shows several images of the attachment of the exoskeleton-type system to the arm and hand of the user. The system is adjusted by means of various sliding mechanical systems to different sizes of arms and hands and is fixed by means of straps to the user's arm and hand at three points with the splints (2, 3.16 and 4.4).
    [0031] The system consists of the following elements as shown in Figure 2: electronic control and power system (1), fixation system of the wearable robotic system to the arm (2), transmission system of the forearm prone-supination movement (3), wrist flexion-extension movement transmission system (4), wrist adduction-abduction movement transmission system (5) and a transmission box with 1 input and 3 outputs (6). The system has a motor-reducer (3.6) that activates each of the movements of the wrist and the pronosupination movement, connecting the output shaft of the motor-reducer to the input of a gearbox with 1 input and 3 outputs ( 6) that triggers the movements of the wrist and pronosupination of the arm. The connection between the input and the selected output is made by controlling the longitudinal movement of an axis (6.3) that jointly displaces a ball spring lock (6.11) that engages the input with the selected output. To control the movement of the axis, an electromagnet (6.9) and a neodymium magnet (6.12) are used to move the axis and a set of optical sensors to monitor its position (6.7).
    [0033] In each of the three degrees of freedom (corresponding to the adduction-abduction and flexion-extension movements of the wrist and the prono-supination movement of the forearm) there is an absolute position encoder (3.11, 4.12, 5.2) and a brake on the axis of the pronation-supination movement that is activated when said movement is not controlled.
    [0034] The wearable robotic system has an interface through which the user can select the movement they want to control and the position, speed and / or force with which they want to perform a certain movement.
    [0035] Brief description of the drawings
    [0036] Figure 1 Views of the complete system attached to a user's arm
    [0037] Figure 2 Components of the complete system
    [0038] Figure 3 Components of the electronic control and power system
    [0039] Figure 4 Components of the transmission system of the prono-supination movement of the forearm (I).
    [0040] Figure 5 Components of the transmission system of the prono-supination movement of the forearm (II).
    [0041] Figure 6 Components of the wrist flexion-extension movement transmission system.
    [0042] Figure 7 Components of the wrist adduction-abduction movement transmission system.
    [0043] Figure 8 Components of the transmission box with 1 input and 3 outputs.
    [0044] Figure 9 Detail of the components of the transmission box with 1 input and 3 outputs.
    [0045] Legend of the figures:
    [0046] (1) System: electronic control and power system
    [0047] (1.1) Battery
    [0048] (1.2) Interface system for absolute encoder
    [0049] (1.3) Enclosure for protection of electronics
    [0050] (1.4) Electronic control system
    [0051] (1.5) Support for fixing electronics to the arm fixing system (2)
    [0052] (2) Fixing system of the wearable robotic system to the arm
    [0053] (3) Transmission system of the pronation-supination movement of the forearm (3.1) Pulley carriage I
    [0054] (3.2) Outside jaws
    [0055] (3.3) Threaded quadrangular prisms
    [0056] (3.4) Exterior plate
    [0057] (3.5) Pulley carriage II
    [0058] (3.6) Motor-reducer assembly
    [0059] (3.7) Brake
    [0060] (3.8) Pulley
    [0061] (3.9) Pulley shaft
    [0062] (3.10) Inner jaws
    [0063] (3.11) Absolute encoder
    [0064] (3.12) Magnetic actuator for absolute encoder
    [0065] (3.13) Output pulley
    [0066] (3.14) Linear guide
    [0067] (3.15) Lower anchor for pulley
    [0068] (3.16) Ferrule
    [0069] (3.17) Coupling ferrule
    [0070] (3.18) Upper anchor for pulley
    [0071] (4) Transmission system of the wrist flexion-extension movement (4.1) Magnetic actuator for the absolute encoder
    [0072] (4.2) Pinion
    [0073] (4.3) Side plate I
    [0074] (4.4) Hand support
    [0075] (4.5) Clamping plate
    [0076] (4.6) Axle
    [0077] (4.7) Side plate II
    [0078] (4.8) Telescopic universal joint
    [0079] (4.9) Shaft for worm gear
    [0080] (4.10) Worm screw
    [0081] (4.11) Shaft support
    [0082] (4.12) Absolute encoder
    [0083] (5) Wrist adduction-abduction movement transmission system (5.1) Magnetic actuator for absolute encoder
    [0084] (5.2) Absolute encoder
    [0085] (5.3) Support for box I
    [0086] (5.4) Worm screw
    [0087] (5.5) Bearing bracket
    [0088] (5.6) Shaft for worm gear
    [0089] (5.7) Side plate I
    [0090] (5.8) I-axis support
    [0091] (5.9) Box holder II
    [0092] (5.10) Axle
    [0093] (5.11) Pinion
    [0094] (5.12) Side plate II
    [0095] (5.13) Axle holder II
    [0096] (5.14) Precision locknut
    [0097] (6) 1 input 3 output transmission box
    [0098] (6.1) Bearing support housing I
    [0099] (6.2) Outer casing
    [0100] (6.3) Drive shaft
    [0101] (6.4) Output gear 2
    [0102] (6.5) Output shaft 2
    [0103] (6.6) Drive idler gear with inner cam
    [0104] (6.7) Optical position sensor
    [0105] (6.8) Comb for position detection
    [0106] (6.9) Electromagnet
    [0107] (6.10) Selector guide support
    [0108] (6.11) Locking balls
    [0109] (6.12) Magnet
    [0110] (6.13) Magnet holder
    [0111] (6.14) Ball bearing
    [0112] (6.15) Lock for magnet holder
    [0113] (6.16) Bearing support housing II
    [0114] (6.17) Output gear 3
    [0115] (6.18) Output 3 tree
    [0116] (6.19) Output 1 tree
    [0117] (6.20) Output gear 1
    [0118] (6.21) Locking spring
    [0120] Detailed exposition of an embodiment of the invention
    [0122] The present invention is further illustrated by the following examples, which are not intended to be limiting of its scope. Figure 1 shows a perspective view of a preferred embodiment of the wearable robotic system for the assistance and rehabilitation of the adduction-abduction and flexion-extension movements of the wrist and the prone-supination movement of the forearm. In the different views of Figure 1, the complete system is shown fixed at 3 points to the user using splints and straps: i) on the arm just above the elbow, ii) on the forearm and iii) on the hand in the area dorsal-palmar. In Figure 2, the parts that make up the present invention are shown: the electronic control and power system (1), fixing system of the robotic wearable system to the arm (2), transmission system of the forearm prone-supination movement (3), wrist flexion-extension movement transmission system (4), wrist adduction-abduction movement transmission system (5) and a transmission box with 1 input and 3 outputs (6). In this embodiment, the electronic control and power system consists of a battery (1.1) that provides the necessary power for the electronic control system and the power electronics (1.4) and for the 3 interface systems (1.2) that are connect to the three absolute encoders. In addition, the electronic control and power system has a support (1.5) for fixing the electronics to the arm fixing system (2) and a housing for the protection of the electronics (1.3) as shown in Figure 3 The arm fixation system (2) has a passive articulation at the elbow, a splint to fix the system to the arm and a coupling and adjustment system to the rest of the wearable robotic system. In this illustrative example, the motor-reducer assembly (3.6) drives each of the degrees of freedom through a transmission box with 1 input and 3 outputs (one output for each of the driven degrees of freedom. of pronosupination, an input pulley (3.8) connected to the output of the gear motor is used that allows the assembly guided by the carriages (3.1, 3.5) to be moved around the output pulley (3.13) controlling said movement as shown in Figure 4. The output of the motor-reducer has a brake (3.7) that is activated when the pronosupination movement is not controlled. In addition, an absolute encoder (3.11, is attached to the input pulley shaft (3.9) 3.12) for provide information on the absolute position of the axis to the control system. Figure 5 shows the detail of the fastening of the pronosupination movement transmission system to the user's forearm through the fastening tapes and the splint (3.16) and the guides (3.14) to adjust the system to the length of each user's forearm. In this embodiment, the transmission system of the flexion-extension movement of the wrist is activated by one of the outputs of the transmission box that engages the gear motor assembly (3.6) with the shaft of a worm screw (4.9, 4.10 ) through a telescopic cardan joint (4.8). The endless screw transmits the movement to the flexion-extension joint of the wrist through a pinion (4.2) and this joint is monitored by means of its corresponding absolute encoder (4.12, 4.1) (see Figure 6). In the case of the adduction-abduction movement of the wrist, one of the outputs of the transmission box engages the motor-reducer assembly (3.6) with the axis of an endless screw (5.4, 5.6) that transmits said movement through of a pinion (5.11). This wrist joint is also monitored by its corresponding absolute encoder (5.1, 5.2) (see Figure 7).
    [0124] In this embodiment, the 1 input and 3 outputs transmission box (6) has a protection and support casing for the bearings of each of the axes (6.1, 6.2, 6.16). Internally, the transmission box has a drive shaft (6.3) that transmits the movement to each of the three outputs through three gears (6.4, 6.17, 6.20) and their corresponding three output shafts (6.5, 6.18, 6.19). The drive shaft is longitudinally displaced by controlling the attractive and repulsive force between a fixed electromagnet (6.9) and a neodymium magnet (or similar) (6.12) attached to the drive shaft. As the selector shaft inside the shaft moves, it engages each of the outputs by a ball spring lock (6.11) and its position is monitored by an optical sensor and a comb (6.7, 6.8) (see Figures 8 and 9).
    [0126] In addition, the user can select the movement that he wishes to control and the position, speed and / or force with which he wishes to carry out a certain movement through an interface that provides control commands to the electronic control system of the device (1).
    权利要求:
    Claims (3)
    [1]
    1. Wearable robotic system for the assistance and rehabilitation of the adduction-abduction and flexion-extension movements of the wrist and the prone-supination movement of the forearm, which uses an electromagnet and a magnet or other electromagnet to control the longitudinal movement of an axis that integrally moves a ball spring lock that engages the input connected to an actuator with the desired output to control each of the wrist movements and the forearm pronation-supination movement. In addition, the axis longitudinal movement control system has optical or any other type sensors that allow its position to be monitored.
    [2]
    Wearable robotic system according to claim 1, which has an absolute position encoder for each of the three controlled degrees of freedom and also includes a brake that is activated when the pronation-supination movement is not controlled by the system.
    [3]
    3. Wearable robotic system according to claims 1 and 2, characterized by having an interface through which the user can indicate to the device the movement they wish to control. Once the movement has been selected, the user through the interface can control the position, speed and / or force with which to carry out the desired movement.
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    同族专利:
    公开号 | 公开日
    WO2020183049A1|2020-09-17|
    ES2782724B2|2021-04-14|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    US20080009771A1|2006-03-29|2008-01-10|Joel Perry|Exoskeleton|
    WO2015002850A1|2013-07-05|2015-01-08|Rubin Jacob A|Whole-body human-computer interface|
    CN206085032U|2016-08-31|2017-04-12|金星宇|Novel bionic manipulator arm|
    WO2018122886A1|2016-12-30|2018-07-05|Signo Motus S.R.L.|Esoskeleton equipped with electro-or magneto- rheological fluid type semi-active joints"|
    RO132234A0|2017-06-14|2017-11-29|Universitatea Tehnică Din Cluj-Napoca|Robot family for medical recovery of upper limb|
    ES2695502A1|2017-06-30|2019-01-08|Torro Jorge Amoros|ARTICULATED ARM |
    CN109172282A|2018-10-17|2019-01-11|苏州帝维达生物科技有限公司|A kind of upper limb rehabilitation robot of seven freedom|
    法律状态:
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    优先权:
    申请号 | 申请日 | 专利标题
    ES201930231A|ES2782724B2|2019-03-13|2019-03-13|Wearable robotic system to control wrist and forearm movements|ES201930231A| ES2782724B2|2019-03-13|2019-03-13|Wearable robotic system to control wrist and forearm movements|
    PCT/ES2020/070172| WO2020183049A1|2019-03-13|2020-03-11|Wearable robotised system for controlling movements of the wrist and forearm|
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