Arm exoskeletons, upper body exoskeletons, and teleoperation systems

Abstract

The present application is about an arm exoskeleton, an upper body exoskeleton and a teleoperation system, and relates to the field of robots. The arm exoskeleton includes a shoulder exoskeleton, an elbow exoskeleton and a wrist exoskeleton; the shoulder exoskeleton, the elbow exoskeleton and the wrist exoskeleton are connected in sequence. When the arm exoskeleton performs active movement according to control instructions, or performs passive movement following the user's arm movement, the shoulder motor group simulates the movement guided by the human shoulder joint, the elbow motor group simulates the movement guided by the human elbow joint, and the wrist joint group simulates the movement guided by the human wrist joint. When the user wears the arm exoskeleton to exercise, the motor group and the skeleton are combined and set corresponding to the shoulder joint, elbow joint and wrist joint of the user's arm, so that the arm exoskeleton simulates the human body movement more realistically during the movement process, and improves the simulation accuracy of the human body movement state.

Description

Technical Field

[0001] The present application relates to the field of robots, and in particular to an arm exoskeleton, an upper body exoskeleton and a teleoperation system. Background Art

[0002] The upper body exoskeleton consists of an arm exoskeleton and a torso exoskeleton. It is a mechanical device that imitates the upper body structure of the human body. It can be worn by the user and cooperate with the user's torso and arms to complete movements. At present, upper body exoskeletons are often used in bionic simulation scenarios to simulate the movement process of the user's upper body.

[0003] In this scenario, the user wears an upper body exoskeleton on the master end and performs exercises. At this time, a simulation device on a remote slave end simulates the exercises based on the exercise data sent by the upper body exoskeleton.

[0004] However, due to the complex structure of the human arm, it is difficult to imitate it by mechanical means. The upper body exoskeleton in the related art has a low simulation accuracy for the human body's motion state. Summary of the invention

[0005] The embodiments of the present application provide an arm exoskeleton, an upper body exoskeleton, and a teleoperation system, which can improve the simulation accuracy of the upper body exoskeleton for the human body's motion state:

[0006] According to one aspect of the present application, an arm exoskeleton is provided, the arm exoskeleton comprising a shoulder exoskeleton, an elbow exoskeleton and a wrist exoskeleton;

[0007] The shoulder exoskeleton, elbow exoskeleton and wrist exoskeleton are connected in sequence;

[0008] The shoulder exoskeleton includes a shoulder motor group and a shoulder frame driven by the shoulder motor group, wherein the shoulder motor group includes a shoulder abduction and extension motor, an upper arm flexion and extension motor, and an upper arm rotation motor;

[0009] The shoulder abduction and extension motor, the upper arm flexion and extension motor, and the upper arm rotation motor are respectively connected to the shoulder exoskeleton;

[0010] The elbow exoskeleton includes an elbow motor group and an elbow skeleton driven by the elbow motor group, wherein the elbow motor group includes a forearm flexion and extension motor and a forearm rotation motor;

[0011] The forearm flexion and extension motor and the forearm rotation motor are respectively connected to the elbow skeleton;

[0012] The wrist exoskeleton includes a wrist motor group and a wrist skeleton driven by the wrist motor group, wherein the wrist motor group includes a hand flexion and extension motor and a hand swing motor;

[0013] The hand flexion and extension motor and the hand swing motor are respectively connected to the wrist skeleton;

[0014] When the user wears the arm exoskeleton, the user's shoulder joint and upper arm are adapted to the shoulder exoskeleton, the user's elbow joint and forearm are adapted to the elbow exoskeleton, and the user's wrist joint is adapted to the wrist exoskeleton.

[0015] On the other hand, an upper body exoskeleton is provided, the upper body exoskeleton comprising two arm exoskeletons and a torso exoskeleton as described above;

[0016] The trunk exoskeleton includes a first support plate, a second support plate, and a support plate connecting member;

[0017] The first support plate is connected to the two arm exoskeletons, and the first support plate is connected to the second support plate through a support plate connecting piece; the support plate connecting piece includes at least one positioning hole;

[0018] When the user wears the upper body exoskeleton, the user's arms fit into the arm exoskeleton, the user's back fits into the first support plate, and the user's waist fits into the second support plate.

[0019] On the other hand, a teleoperation system is provided, the teleoperation system comprising the upper body exoskeleton, the central control device and the simulation motion device as described above;

[0020] The upper body exoskeleton and the simulated motion device establish a communication connection through the central control device.

[0021] The beneficial effects brought by the technical solution provided by the embodiment of the present application include at least:

[0022] When the arm exoskeleton performs active movement according to control instructions or performs passive movement following the user's arm movement, the shoulder motor group simulates the movement guided by the human shoulder joint, the elbow motor group simulates the movement guided by the human elbow joint, and the wrist joint group simulates the movement guided by the human wrist joint. When the user wears the arm exoskeleton to exercise, the motor group and the skeleton are combined and set corresponding to the shoulder joint, elbow joint and wrist joint of the user's arm, so that the arm exoskeleton simulates the human body movement more realistically during the exercise process, and improves the simulation accuracy of the human body movement state. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0024] Figure 1 A schematic diagram of an application scenario of an upper body exoskeleton provided by an exemplary embodiment of the present application is shown;

[0025] Figure 2 A schematic diagram of the structure of an arm exoskeleton provided by an exemplary embodiment of the present application is shown;

[0026] Figure 3 A schematic diagram showing seven modes of motion of the human arm;

[0027] Figure 4 A schematic diagram of the structure of another arm exoskeleton provided by an exemplary embodiment of the present application is shown;

[0028] Figure 5 A schematic structural diagram of another wrist exoskeleton provided by an exemplary embodiment of the present application is shown;

[0029] Figure 6 A schematic structural diagram of a first transmission member provided by an exemplary embodiment of the present application is shown;

[0030] Figure 7 A schematic structural diagram of a first transmission member connected to a shoulder frame provided by an exemplary embodiment of the present application is shown;

[0031] Figure 8 A schematic structural diagram of another first transmission member provided by an exemplary embodiment of the present application is shown;

[0032] Fig. 9 A schematic diagram showing a connection between a second support frame and a second transmission member provided by an exemplary embodiment of the present application is shown;

[0033] Fig.10 A schematic diagram of connection between a first connection rack and a second connection rack provided by an exemplary embodiment of the present application is shown;

[0034] Fig.11 A schematic diagram of a rotation adjustment mechanism provided by an exemplary embodiment of the present application is shown;

[0035] Fig.12 A schematic diagram showing the placement of an upper arm rotary motor provided by an exemplary embodiment of the present application is shown;

[0036] Fig.13 A schematic structural diagram of a first four-link frame group provided by an exemplary embodiment of the present application is shown;

[0037] Fig.14 A schematic diagram showing the connection between a first four-link frame and an elbow exoskeleton in an exemplary embodiment of the present application is shown;

[0038] Fig.15 A schematic diagram showing a connection relationship between a first parallelogram frame and a support tube provided by an exemplary embodiment of the present application is shown;

[0039] Fig.16 A schematic structural diagram of a bevel gear set provided by an exemplary embodiment of the present application is shown;

[0040] Fig.17 A schematic diagram showing a connection method between a transmission shaft of a second bevel gear and a support tube provided by an exemplary embodiment of the present application is shown;

[0041] Fig.18 A schematic diagram showing a connection mode between a forearm rotating motor and a second bevel gear transmission mechanism provided by an exemplary embodiment of the present application is shown;

[0042] Fig.19 A schematic diagram showing the connection relationship between a first wrist support frame and a second elbow transmission member provided by an exemplary embodiment of the present application is shown;

[0043] Fig. 20 A schematic diagram of a wrist exoskeleton provided by an exemplary embodiment of the present application is shown;

[0044] Fig.21 A schematic structural diagram of a binding strap provided by an exemplary embodiment of the present application is shown;

[0045] Fig. 22 A schematic structural diagram of an upper body exoskeleton provided by an exemplary embodiment of the present application is shown;

[0046] Fig.23 A schematic structural diagram of a remote operation system provided by an exemplary embodiment of the present application is shown.

[0047] The descriptions of the various reference numerals in the accompanying drawings are as follows:

[0048] 1- Arm exoskeleton;

[0049] 11-shoulder exoskeleton, 12-elbow exoskeleton, 13-wrist exoskeleton, 14-support tube, 15-strap;

[0050] 111-shoulder motor group, 112-shoulder frame, 121-elbow motor group, 122-elbow frame, 131-wrist motor group, 132-wrist frame;

[0051] 1111-shoulder abduction and extension motor, 1112-upper arm flexion and extension motor, 1113-upper arm rotation motor, 1121-shoulder first support frame, 1122-shoulder second support frame, 1123-shoulder third support frame, 1124-shoulder first transmission member, 1125-shoulder second transmission member, 1126-shoulder third transmission member, 1127-rotation adjustment mechanism;

[0052] 11241-driving member outer cover, 11242-first driving gear, 11243-second driving gear, 11244-transmission belt, 11245-driving member upper cover, 11246-driving member bottom cover, 11247-tensioning frame, 11248-compression bearing;

[0053] 11251 - first connection frame, 11252 - screw array;

[0054] 11261-second connecting frame, 11262-first four-link frame group, 11263-first bevel gear transmission mechanism, 11264-first type bevel gear, 11265-first quadrilateral frame, 11266-second quadrilateral frame, 11267-first rotating rod, 11268-second rotating rod;

[0055] 11271-first adjustment plate, 11272-second adjustment plate, 11273-adjustment connecting piece;

[0056] 1211 - upper arm flexion and extension motor, 1212 - upper arm rotation motor, 1221 - first elbow support frame, 1222 - second elbow support frame, 1223 - first elbow transmission member, 1224 - second elbow transmission member.

[0057] 12231-bevel gear set, 12232-first bevel gear, 12233-second bevel gear, 12234-transmission base;

[0058] 12241-second bevel gear transmission mechanism, 12242-second type bevel gear;

[0059] 1311-hand flexion and extension motor, 1312-hand swing motor, 1321-wrist first support frame, 1312-wrist second support frame;

[0060] 141-slider, 142-support plate;

[0061] 2-Upper body exoskeleton;

[0062] 21-Trunk exoskeleton;

[0063] 211-first support plate, 212-second support plate, 213-support plate connecting member;

[0064] 2111-screw hole slot, 2131-positioning hole;

[0065] 3-teleoperation system, 301-central control equipment, 302-simulation motion device;

[0066] 101-master end, 102-slave end, 103-computer device;

[0067] 1010-user, 1022-object;

[0068] 31-shoulder joint, 32-upper arm, 33-elbow joint, 34-forearm, 35-wrist joint;

[0069] 301 - first movement mode, 302 - second movement mode, 303 - third movement mode, 304 - fourth movement mode, 305 - fifth movement mode, 306 - sixth movement mode. DETAILED DESCRIPTION

[0070] Unless otherwise defined, all technical terms used in the embodiments of the present application have the same meanings as commonly understood by those skilled in the art.

[0071] In the embodiments of the present application, the “front” and “rear” mentioned herein are based on the front and rear shown in the drawings; the “first end” and “second end” are two opposite ends.

[0072] In order to make the objectives, technical solutions and advantages of the present application clearer, the implementation methods of the present application will be further described in detail below in conjunction with the accompanying drawings.

[0073] The human hand has a total of 7 degrees of freedom during the movement. The seven degrees of freedom correspond to the abduction and retraction of the human shoulder, the rotation of the upper arm driven by the human shoulder joint, the flexion and extension of the upper arm driven by the human shoulder joint, the rotation of the forearm driven by the human elbow joint, the flexion and extension of the forearm driven by the human elbow joint, the rotation of the hand driven by the human wrist joint, and the flexion and extension of the hand driven by the human wrist joint. In this application, in the process of simulating the movement of the human arm, the above 7 degrees of freedom are restored so that the movement state of the human arm can be accurately simulated in various usage scenarios.

[0074] Figure 1 A schematic diagram of an application scenario of an upper body exoskeleton 2 provided by an exemplary embodiment of the present application is shown. Figure 1, the application scenario includes a master terminal 101, a slave terminal 102, and a computer device 103 for realizing data interaction between the master terminal 101 and the slave terminal 102. In the master terminal 101, there is a user 1010, who wears an upper body exoskeleton 2. The movement signal of the upper body exoskeleton 2 will be sent to the computer device 103, and then sent to the arm exoskeleton 1 of the slave terminal 102 via the computer device 103. The arm exoskeleton 1 will perform interaction with the object 1022 according to the movement signal, such as contacting the object 1022. When the arm exoskeleton 1 contacts the object 1022, the arm exoskeleton 1 sends a contact signal to the upper body exoskeleton 2 worn by the user 1010 through the computer device 103. After receiving the contact signal, the upper body exoskeleton 2 brakes to limit the movement of the user 1010's arm, so that the user 1010 gets feedback similar to contacting an object.

[0075] The above is only an exemplary description of the application scenarios of the arm exoskeleton and upper body exoskeleton involved in this application. In another optional embodiment, the arm exoskeleton and upper body exoskeleton involved in this application can also be used to assist patients in postoperative rehabilitation of upper limb surgery; in another optional embodiment, the arm exoskeleton and upper body exoskeleton involved in this application can also be used to provide support for the upper limbs to lift heavy objects. This application does not limit the actual application of the hand exoskeleton.

[0076] Figure 2 FIG. 1 shows a schematic diagram of the structure of an arm exoskeleton 1 provided by an exemplary embodiment of the present application. Please refer to FIG. Figure 2 . The arm exoskeleton 1 includes a shoulder exoskeleton 11, an elbow exoskeleton 12 and a wrist exoskeleton 13. The shoulder exoskeleton 11, the elbow exoskeleton 12 and the wrist exoskeleton 13 are connected in sequence. The shoulder exoskeleton 11 includes a shoulder motor group 111 and a shoulder skeleton 112 driven by the shoulder motor group 111, the elbow exoskeleton 12 includes an elbow motor group 121 and an elbow skeleton 122 driven by the elbow motor group 121, and the wrist exoskeleton 13 includes a wrist motor group 131 and a wrist skeleton 132 driven by the wrist motor group 131. When the user wears the arm exoskeleton, the user's shoulder joint and upper arm are adapted to the shoulder exoskeleton 11, the user's elbow joint and forearm are adapted to the elbow exoskeleton 12, and the user's wrist joint is adapted to the wrist exoskeleton 13.

[0077] Please refer to Figure 3 The human arm has a shoulder joint 31, an upper arm 32, an elbow joint 33, a forearm 34, and a wrist joint 35. When the human arm moves, the arm has the following 7 movement modes:

[0078] Movement mode 301: With the shoulder joint 31 as the axis, the shoulder joint 31 drives the entire arm to perform abduction and adduction shoulder movement.

[0079] Movement mode 302: With the shoulder joint 31 as the axis, the shoulder joint 31 drives the upper arm 32 to perform flexion and extension movements.

[0080] Movement mode 303: The upper arm 32 is equivalent to a cylinder, and the axis of the cylinder is used as the rotation axis, so that the shoulder joint 31 drives the upper arm 32 to rotate, that is, the upper arm rotation movement.

[0081] Movement mode 304: With the elbow joint 33 as the axis, the forearm 34 is driven to perform forearm flexion and extension movement.

[0082] Movement mode 305: The forearm 34 is equivalent to a cylinder, and the axis of the cylinder is used as the rotation axis, so that the elbow joint 33 drives the forearm 34 to rotate to perform forearm rotation movement.

[0083] Movement method 306: Using the wrist joint 35 as the axis, drive the hand to perform flexion and extension movement.

[0084] Movement mode 307: The hand is equivalent to a cylinder, and the axis of the cylinder is used as the rotation axis, so that the wrist joint 35 drives the hand to perform a hand swinging movement in the horizontal direction.

[0085] Among the above-mentioned motion modes, motion modes 301 to 303 are motion modes driven by the shoulder joint, motion modes 304 to 305 are motion modes driven by the elbow joint, and motion modes 306 to 307 are motion modes driven by the wrist joint. Therefore, in the embodiment of the present application, the arm exoskeleton 1 is divided into the shoulder exoskeleton 11, the elbow exoskeleton 12 and the wrist exoskeleton 13, and during the movement of the arm exoskeleton 1, the shoulder exoskeleton 11 simulates motion modes 301 to 303; the elbow exoskeleton 12 simulates motion modes 304 to 305; and the wrist exoskeleton 13 simulates motion modes 306 to 307. Through the simulation of the human body, that is, the corresponding connection of the shoulder exoskeleton 11, the elbow exoskeleton 12 and the wrist exoskeleton 13, the arm exoskeleton 1 achieves the simulation function of the human arm.

[0086] Next, the shoulder exoskeleton 11, the elbow exoskeleton 12, and the wrist exoskeleton 13 are introduced respectively:

[0087] Shoulder Exoskeleton 11: Please refer to Figure 2The shoulder exoskeleton 11 includes a shoulder skeleton 112 and a shoulder motor group 111 for driving the shoulder skeleton 112. The shoulder motor group 111 includes at least one motor for controlling the shoulder skeleton 112 to realize the above-mentioned motion modes 301 to 303, namely, shoulder abduction and extension motion, upper arm rotation motion, and upper arm flexion and extension motion. Optionally, in order to ensure the efficiency of the motor, three separate motors are provided to correspond to the above-mentioned motion modes 301 to 303 respectively. At the same time, the three motors are connected to the shoulder skeleton 112 respectively. Figure 2 As shown, the shoulder motor group includes three motors.

[0088] In the embodiment of the present application, the shoulder skeleton 112 also has a load-bearing function. When the user wears the arm exoskeleton 11, the user's shoulder joint and upper arm can be adapted to the shoulder exoskeleton 11. In one example, the user's shoulder joint and upper arm can be carried on the shoulder skeleton 112; in another example, the user's shoulder joint and upper arm are located below the shoulder skeleton 112. In another example, the shoulder skeleton 112 has a shoulder skeleton fixing part to fix the user's shoulder joint and upper arm. The embodiment of the present application does not limit the connection method between the shoulder skeleton 122 and the human shoulder joint and upper arm.

[0089] Elbow Exoskeleton 12: Please refer to Figure 2 The elbow exoskeleton 12 includes an elbow skeleton 122 and an elbow motor group 121 for driving the elbow skeleton 122. The elbow motor group 121 includes at least one motor for controlling the elbow skeleton 122 to realize the above-mentioned motion modes 304 to 305, that is, forearm flexion and extension motion and forearm rotation motion. As mentioned above, in order to ensure the efficiency of the motor, two separate motors are set to correspond to the above-mentioned motion modes 304 and 305 respectively. At the same time, the two motors are connected to the elbow skeleton 122 respectively. Figure 2 As shown, the elbow motor group includes two motors.

[0090] In the embodiment of the present application, the elbow skeleton 122 also has a load-bearing function. In one example, when the user wears the arm exoskeleton 1, the elbow skeleton 122 has a forearm fixing piece to connect the user's forearm to the elbow skeleton; in another example, since the user's shoulder joint and upper arm have been positioned by the hand exoskeleton, the user's elbow joint and forearm can correspond to the position of the elbow skeleton 122. The embodiment of the present application does not limit the connection method between the elbow skeleton 122 and the elbow joint and upper arm of the human body.

[0091] Wrist Exoskeleton 13: Please refer to Figure 2The wrist exoskeleton 13 includes a wrist skeleton 132 and a wrist motor group 131 for driving the wrist skeleton 132. The wrist motor group 131 includes at least one motor for controlling the wrist skeleton 132 to realize the above-mentioned motion modes 306 to 307, that is, hand flexion and extension motion and hand swing motion. As mentioned above, in order to ensure the efficiency of the motor, two separate motors are set to correspond to the above-mentioned motion modes 306 and 307 respectively. At the same time, the two motors are connected to the wrist skeleton 132 respectively, such as Figure 2 As shown, the wrist motor group includes two motors.

[0092] In the embodiment of the present application, the wrist skeleton 132 also has a bearing function. In one example, when the user wears the arm exoskeleton 1, the wrist skeleton 132 has a hand fixing piece, which connects the user's wrist joint to the wrist skeleton 132. In another example, since the user's shoulder joint, upper arm, elbow joint and forearm are all fixed by the arm exoskeleton 1, the user's wrist joint directly corresponds to the position of the wrist skeleton 132. The embodiment of the present application does not limit the connection method between the wrist skeleton 132 and the human wrist joint.

[0093] In the embodiment of the present application, the shoulder exoskeleton 11, the elbow exoskeleton 12 and the wrist exoskeleton 13 are connected to each other. When the arm exoskeleton 1 receives a control signal and is driven by each motor to perform active movement, or performs passive movement according to the user's hand movement, the arm exoskeleton 1 can simulate the user's movement due to the setting of each motor and the exoskeleton part. At this time, coupled movement is generated between the shoulder exoskeleton 11, the elbow exoskeleton 12 and the wrist exoskeleton 13.

[0094] It should be noted that the various motors described in the various embodiments of the present application are implemented as a collection of motors and encoders, that is, the motors described in the various embodiments of the present application can record and store their own motion states and position changes during the movement of the arm exoskeleton 1.

[0095] In summary, the arm exoskeleton provided in the embodiment of the present application, when the arm exoskeleton performs active movement according to control instructions, or performs passive movement following the user's arm movement, simulates the movement guided by the human shoulder joint through the shoulder motor group, simulates the movement guided by the human elbow joint through the elbow motor group, and simulates the movement guided by the human wrist joint through the wrist joint group. When the user wears the arm exoskeleton to exercise, the motor group and the skeleton are combined and set corresponding to the shoulder joint, elbow joint and wrist joint of the user's arm, so that the arm exoskeleton simulates the human body movement more realistically during the exercise process, and improves the simulation accuracy of the human body movement state.

[0096] Figure 4 A schematic diagram of the structure of another arm exoskeleton provided by an exemplary embodiment of the present application is shown. Figure 4 The arm exoskeleton 1 comprises a shoulder exoskeleton 11, an elbow exoskeleton 12 and a wrist exoskeleton 13. The shoulder exoskeleton 11, the elbow exoskeleton 12 and the wrist exoskeleton 13 are connected in sequence.

[0097] like Figure 4 As shown, the shoulder motor group 111 includes a shoulder abduction motor 1111, an upper arm flexion and extension motor 1112, and an upper arm rotation motor 1113, which are respectively connected to the shoulder skeleton 112. The shoulder skeleton 112 has a shoulder first support frame 1121, a shoulder second support frame 1122, and a shoulder third support frame 1123, wherein the shoulder abduction motor 1111 is located on the shoulder first support frame 1121, the upper arm flexion and extension motor 1112 is located on the shoulder second support frame 1122, and the upper arm rotation motor 1113 is located on the shoulder third support frame 1123.

[0098] Please refer to Figure 4 In the embodiment of the present application, corresponding to the shoulder skeleton 112, there is a shoulder first support frame 1121, a shoulder second support frame 1122 and a shoulder third support frame 1123, which correspond to the shoulder abduction motor 1111, the upper arm flexion and extension motor 1112 and the upper arm rotation motor 1113 respectively. Optionally, in order to adapt to the structural adjustment of the human body during the shoulder abduction and extension movement, the position of the shoulder abduction and extension motor 1111 corresponds to the position of the human shoulder joint. Therefore, the shoulder first support frame 1121 is located at the top of the shoulder exoskeleton 11; in order to adapt to the structural adjustment of the human body during the upper arm rotation movement and the upper arm flexion and extension movement, the positions of the upper arm flexion and extension motor 1112 and the upper arm rotation motor 1113 correspond to the position of the human upper arm. Therefore, the shoulder second support frame 1122 and the shoulder third support frame 1123 are both located on the side of the shoulder exoskeleton, and the shoulder second support frame 1122 and the shoulder third support frame 1123 are connected through the shoulder skeleton 112.

[0099] Optionally, the first shoulder support frame 1121, the second shoulder support frame 1122, and the third shoulder support frame 1123 all have a position adjustment function to adapt to users with different arm lengths. In one example, adjustment screws are provided at the first shoulder support frame 1121, the second shoulder support frame 1122, and the third shoulder support frame 1123 to adjust the size and the degree of abduction and extension of the shoulder exoskeleton 11.

[0100] like Figure 4As shown, the elbow motor group 121 includes a forearm flexion and extension motor 1211 and a forearm rotation motor 1212, and the forearm flexion and extension motor 1211 and the forearm rotation motor 1212 are respectively connected to the elbow skeleton 122; the elbow skeleton 122 has a first elbow support frame 1221 and a second elbow support frame 1222, the forearm flexion and extension motor 1211 is located on the first elbow support frame 1221, and the forearm rotation motor 1212 is located on the second elbow support frame 1222.

[0101] Please refer to Figure 4 In the embodiment of the present application, in order to adapt to the structural adjustment of the arm exoskeleton 1 during the forearm rotation movement and forearm flexion and extension movement of the human body, the positions of the forearm flexion and extension motor 1211 and the forearm rotation motor 1212 correspond to the positions of the human forearm. Therefore, the first elbow support frame 1221 and the second elbow support frame 1222 are both located on the side of the elbow exoskeleton 12, and the first elbow support frame 1221 and the second elbow support frame 1222 are connected through the elbow frame 122.

[0102] Optionally, the first elbow support frame 1221 and the second elbow support frame 1222 both have a position adjustment function to adapt to users with different arm lengths. In one example, an adjustment knob is provided between the first elbow support frame 1221 and the second elbow support frame 1222, and the length of the elbow skeleton between the first elbow support frame 1221 and the second elbow support frame 1222 can be adjusted to adapt to users with different arm lengths.

[0103] like Figure 4 As shown, the wrist motor group 131 includes a hand flexion and extension motor 1311 and a hand swing motor 1312, and the hand flexion and extension motor 1311 and the hand swing motor 1312 are respectively connected to the wrist skeleton 132. The wrist skeleton 132 has a first wrist support frame 1321 and a second wrist support frame 1322. The hand flexion and extension motor 1311 is located on the first wrist support frame 1321, and the hand swing motor 1312 is located on the second wrist support frame 1322.

[0104] Please refer to Figure 4 In order to adapt to the structural adjustment of the arm exoskeleton 1 during the human body's hand swinging and hand flexion and extension movements, the positions of the hand swinging motor 1312 and the hand flexion and extension motor 1311 correspond to the positions of the human hand. Since the wrist exoskeleton 13 does not need to simulate the additional degrees of freedom of the hand, the wrist skeleton 132 is located at the end of the arm exoskeleton 1. Correspondingly, in the embodiment of the present application, the length of the first wrist support frame 1321 and the second wrist support frame 1322 are less than the length of the elbow support frame and the shoulder support frame. In one example, the wrist support frame can be implemented as the wrist skeleton 132, and the hand flexion and extension motor 1311 and the hand swing motor 1312 are implemented as disc motors.

[0105] Due to the size requirements of the wrist exoskeleton 13, in the embodiment of the present application, when the hand flexion and extension motor 1311 and the hand swing motor 1312 are implemented as disc motors, the first wrist support frame 1321 and the second wrist support frame 1322 can be implemented as the wrist skeleton 132 connected thereto.

[0106] In summary, the arm exoskeleton provided in the embodiment of the present application, when the arm exoskeleton performs active movement according to control instructions, or performs passive movement following the user's arm movement, simulates the movement guided by the human shoulder joint through the shoulder motor group, simulates the movement guided by the human elbow joint through the elbow motor group, and simulates the movement guided by the human wrist joint through the wrist joint group. When the user wears the arm exoskeleton to exercise, the motor group and the skeleton are combined and set corresponding to the shoulder joint, elbow joint and wrist joint of the user's arm, so that the arm exoskeleton simulates the human body movement more realistically during the exercise process, and improves the simulation accuracy of the human body movement state.

[0107] The arm exoskeleton provided in the embodiment of the present application drives the shoulder skeleton through the shoulder abduction and extension motor, the upper arm flexion and extension motor, and the upper arm rotation motor to simulate the abduction and extension movement of the shoulder joint, the rotation movement of the upper arm, and the flexion and extension movement of the upper arm; drives the elbow skeleton through the forearm flexion and extension motor and the forearm rotation motor to simulate the forearm rotation movement and forearm flexion and extension movement driven by the elbow joint, and drives the wrist skeleton through the hand flexion and extension motor and the hand flexion and extension motor to simulate the hand swing movement and hand flexion and extension movement driven by the wrist joint. When the user wears the arm exoskeleton to exercise, the arm exoskeleton can completely simulate the 7 degrees of freedom of the human arm through the above 7 motors, thereby improving the simulation accuracy of the human body's motion state.

[0108] Figure 5 A schematic diagram of the structure of another arm exoskeleton provided by an exemplary embodiment of the present application is shown. Figure 5, the arm exoskeleton 1 includes a shoulder exoskeleton 11, an elbow exoskeleton 12 and a wrist exoskeleton 13. The shoulder exoskeleton 11, the elbow exoskeleton 12 and the wrist exoskeleton 13 are connected in sequence. The shoulder exoskeleton 11 includes a shoulder skeleton 112 and a shoulder motor group 111 consisting of a shoulder abduction motor 1111, an upper arm flexion and extension motor 1112 and an upper arm rotation motor 1113; the elbow exoskeleton 12 includes an elbow skeleton 122 and an elbow motor group 121 consisting of a forearm flexion and extension motor 1211 and a forearm rotation motor 1212; the wrist exoskeleton 13 includes a wrist skeleton 132 and a wrist motor group 131 consisting of a hand flexion and extension motor 1311 and a hand swing motor 1312. Corresponding to each motor, the arm exoskeleton 1 has a corresponding support frame and a transmission member to adapt to the motor. Next, the structural correspondence between each support frame, transmission member and motor in the present application is explained in the order of shoulder exoskeleton, elbow exoskeleton and hand exoskeleton.

[0109] First, the shoulder exoskeleton will be described.

[0110] In the embodiment of the present application, the shoulder abduction and extension motor 1111 corresponds to a shoulder first support frame 1121 and a shoulder first transmission member 1124; the upper arm flexion and extension motor 1112 corresponds to a shoulder second support frame 1122 and a shoulder second transmission member 1125; the upper arm rotation motor 1113 corresponds to a shoulder third support frame 1123 and a shoulder third transmission member 1126.

[0111] In the examples of this application, please refer to Figure 6 , the shoulder first transmission member 1124 of the shoulder extension motor includes a drive member outer cover 11241, a first drive gear 11242, a second drive gear 11243 and a transmission belt 11244. The drive member outer cover 11241 includes a drive member upper cover 11245 and a drive member bottom cover 11246, and the first drive gear 11242, the second drive gear 11243 and the transmission belt 11244 are located in the accommodation space formed by the drive member upper cover 11245 and the drive member bottom cover 11246. The first drive gear 11242, the second drive gear 11243 and the transmission belt 11244 are located in the drive member outer cover 11241, and the first drive gear 11242 and the second drive gear 11243 are connected through the transmission belt 11244. The first drive gear 11242 is connected to the shoulder extension motor 1111.

[0112] Since the movement of the shoulder exoskeleton 11 driven by the shoulder abduction motor 1111 corresponds to the shoulder abduction movement driven by the shoulder joint during the movement of the upper limbs of the human body, that is, the movement mode 301 described above, the shoulder abduction motor 1111 is located above the shoulder skeleton to keep itself stable during movement. In the embodiment of the present application, the shoulder first support frame 1121 is connected to the shoulder abduction motor 1111, and the shoulder abduction motor 1111 transmits power to the shoulder exoskeleton through the shoulder first transmission member 1124, so that the shoulder exoskeleton performs corresponding movement. In the embodiment of the present application, please refer to Figure 6 , the power transmission component is located in the accommodation space formed by the driver upper cover 11245 and the driver bottom cover 11246. Please refer to Figure 7 , the accommodation space formed by the upper cover 11245 of the driving member and the bottom cover 11246 of the driving member includes a first driving gear 11242, a second driving gear 11243 and a transmission belt 11244. In the embodiment of the present application, the first driving gear 11242 and the second driving gear 11243 are both implemented as spur gears, the transmission shaft of the first driving gear 11242 is connected to the shoulder extension motor 1111, and the transmission shaft of the second driving gear 11243 is connected to the shoulder exoskeleton 11. In the embodiment of the present application, the gear radius of the second driving gear 11243 is greater than the gear radius of the first driving gear 11242 to improve the transmission effect of power. In the embodiment of the present application, the first driving gear 11242 and the second driving gear 11243 are connected by a transmission belt 11244. In one example, the transmission belt 11244 is a belt. Through the connection of the transmission belt 11244, power transmission can be performed between the first driving gear 11242 and the second driving gear 11243.

[0113] Optionally, refer to Figure 8 The shoulder first transmission member 1124 further includes a tensioning frame 11247 and a pressing bearing 11248. The tensioning frame 11247 and the pressing bearing 11248 are located between the first driving gear 11242 and the second driving gear 11243. The tensioning frame 11247 and the pressing bearing 11248 are connected to the transmission belt 11244. Optionally, the combination of the tensioning frame 11247 and the pressing bearing 11248 is at least one set. In one example, please refer to Figure 8 The first transmission member 1124 of the shoulder includes a combination of two sets of tensioning frames 11247 and compression bearings 11248 arranged opposite to each other.

[0114] In the embodiment of the present application, since the transmission belt 11244 is implemented as a belt, during the movement process, due to the friction between the belt and the driving gear, the belt will be deformed, resulting in unstable power transmission between the first driving gear 11242 and the second driving gear 11243. Therefore, in the embodiment of the present application, there is a combination of a tensioning frame 11247 and a clamping bearing 11248 between the first driving gear 11242 and the second driving gear 11243, and the transmission belt 11244 is connected to the combination of the tensioning frame 11247 and the clamping bearing 11248. Before the transmission belt 11244 moves, the combination of the tensioning frame 11247 and the clamping bearing 11248 can adjust the tightness of the transmission belt 11244 to ensure transmission efficiency.

[0115] In the embodiment of the present application, the shoulder abduction motor 1111 transmits power through a transmission belt, which reduces the space occupied by itself and prevents the shoulder abduction motor 1111 from contacting other components when the shoulder exoskeleton 11 moves, thereby preventing motion interference.

[0116] Optionally, the shoulder abduction and extension motor 1111 is connected to the shoulder second transmission member 1125 corresponding to the upper arm flexion and extension motor 1112, and the shoulder second transmission member 1125 is connected to the shoulder third transmission member 1126 to ensure the coupled motion between the various parts in the shoulder exoskeleton 11. In the embodiment of the present application, the shoulder second transmission member 1125 includes a first connecting frame 11251, the shoulder third transmission connecting member 1126 includes a second connecting frame 11261, and the shoulder skeleton 112 also includes a rotation adjustment mechanism 1127. The first connecting frame 11251 is connected to the shoulder second support frame 1122, the second connecting frame 11261 is connected to the shoulder third support frame 1123, and the first connecting frame 11251 is connected to the second connecting frame 11261 through the rotation adjustment mechanism 1127.

[0117] In the examples of this application, please refer to Fig. 9 , the upper arm flexion and extension motor 1112 is located on the second shoulder support frame 1122. Optionally, since the upper arm flexion and extension motor 1112 is a disc-type rotating motor, in order to reduce the space occupied by itself, it is prevented from contacting with other components during movement, thereby preventing interference. In an embodiment of the present application, the second shoulder support frame 1122 is a disc-shaped support frame with fastening screws. At this time, the shoulder second transmission member 1125 connected to the shoulder second support frame 1122 includes a first connecting frame 11251. Optionally, the first connecting frame 11251 has a screw array 11252 corresponding to the shoulder second support frame 1122.

[0118] After being connected to the second shoulder support frame 1122 , the upper arm flexion and extension motor 1112 can drive the shoulder exoskeleton 11 through the second shoulder support frame 1122 to control the shoulder exoskeleton 11 to perform the movement described in the above-mentioned movement mode 302 .

[0119] Since the upper arm rotation movement and the upper arm flexion and extension movement performed by the human body usually have coupling, the shoulder second transmission member 11251 is connected to the shoulder third transmission member 11261 to simulate the coupling movement. Fig.10 The shoulder third transmission member 1126 connected to the upper arm rotation motor 1113 includes a second connection frame 11261. When there is no rotation deviation between the first connection frame 11251 and the second connection frame 11261, the second connection frame 11261 can be regarded as an extension of the first connection frame 11251. At the same time, a rotation adjustment mechanism 1127 is included between the second connection frame 11261 and the first connection frame 11251. In the embodiment of the present application, please refer to Fig.11 The rotation adjustment mechanism 1127 includes a first adjustment plate 11271, a second adjustment plate 11272 and an adjustment connector 11273. The first adjustment plate 11271 and the second adjustment plate 11272 are connected by screws. Fig.11 As shown, the adjustment connecting member 11273 is embodied as a flap. By adjusting the height of the flap, the relative angle between the first connecting frame 11271 and the second connecting frame 11272 can be changed to simulate the change in the rotation angle between the forearm and the upper arm caused by the existence of the human elbow joint.

[0120] In the embodiment of the present application, the third transmission connecting member 1126 of the shoulder includes a first four-link frame group 11262. The first four-link frame group 11262 is connected to the bottom of the third support frame 1123 of the shoulder; the first four-link frame group 11262 includes a first quadrilateral frame 11265, a second quadrilateral frame 11266, a first rotating rod 11267 and a second rotating rod 11268. The first rotating rod 11267 and the second rotating rod 11268 are connected to the bottom of the third support frame 1123 of the shoulder. The first quadrilateral frame 11265 and the second quadrilateral frame 11266 are located at the bottom of the first rotating rod 11267 and the second rotating rod 11268, and the first quadrilateral frame 11265 and the second quadrilateral frame 11266 are rotatably connected to the first rotating rod 11267 and the second rotating rod 11268 respectively.

[0121] Please refer to Fig.12The upper arm rotating motor 1113 is located on the third shoulder support frame 1123, and is connected to the first connecting frame 11251 through the second connecting frame 11261 above to receive and respond to the power transmitted from above, while the first four-link frame group 11262 is provided below to simulate the rotational movement of the upper arm during the movement, that is, to simulate the above-mentioned movement mode 303.

[0122] Optionally, refer to Fig.12 Since the upper arm rotation motor 1113 is implemented as a horizontally placed linear motor, its driving force needs to be transmitted to the first four-link frame assembly 11262 through the first bevel gear transmission mechanism 11263. Optionally, the first bevel gear transmission mechanism 11263 includes two first-type bevel gears 11264 that are perpendicular to each other. Since the bevel gear transmission mechanism occupies a small space, the upper arm rotation motor 1113 can also prevent interference with other components of the shoulder exoskeleton 11 during operation.

[0123] Please refer to Fig.13 In the embodiment of the present application, the first four-bar linkage frame group 11262 includes a first quadrilateral frame 11265, a second quadrilateral frame 11266, a first rotating rod 11267 and a second rotating rod 11268. The four components constitute a four-bar linkage frame that can move in a cycle. When the upper arm rotation motor 1113 is relatively fixed and drives the shoulder exoskeleton 11 to rotate, the first four-bar linkage frame group 11262 drives the elbow exoskeleton 12 and the wrist exoskeleton 13 below it to move through the connecting rod movement, thereby simulating the rotational movement of the human upper arm and causing the forearm and hand to perform corresponding coupled movements. Optionally, the first quadrilateral frame 11262 and the second quadrilateral frame 11266 are both parallelogram frames.

[0124] It should be noted that, in the embodiment of the present application, the connector for connecting the motors in the shoulder exoskeleton 11 also includes a support tube 14. Optionally, the support tube 14 has an array of through holes, or the support tube 14 has a slide groove for adjusting the distance between the motors, so that the shoulder exoskeleton 11 can be used by users with different upper arm lengths. In the embodiment of the present application, the support tube 14 has an array of through holes for adjusting the length between the motors. In the embodiment of the present application, the support tube is implemented as a carbon fiber tube.

[0125] Next, the elbow exoskeleton is described:

[0126] In the embodiment of the present application, the forearm flexion and extension motor 1211 corresponds to the first elbow support frame 1221 and the first elbow transmission member 1223 ; the forearm rotation motor 1212 corresponds to the second elbow support frame 1222 and the second elbow transmission member 1224 .

[0127] In the embodiment of the present application, the shoulder third transmission member 1126 also includes a support tube 14, which is located at the bottom of the first four-bar linkage frame group 11262, and the elbow first transmission member 1223 is connected to the first four-bar linkage frame group 11262 through the support tube 14.

[0128] Optionally, when the third transmission member 1126 of the shoulder transmits the rotational force of the upper arm through the first four-link frame assembly 11262, please refer to Fig.14 The first four-link frame 11262 transmits power to the elbow exoskeleton 12 through the support tube 14 connected to itself, so that the elbow exoskeleton 12 and the shoulder exoskeleton 11 perform corresponding movements. Optionally, in the elbow exoskeleton 12, the support tube also has a through-hole array for adjusting the degree of adjustment to adapt to users with different forearm lengths. In an example, please refer to Fig.15 There is a slider 141 between the first four-link frame group 11262 and the support tube 14. Through the slider 141, the position of the support tube 14 can be adjusted to adapt to the upper arm diameter of different users. After adjusting the position of the support tube 14, optionally, please refer to Fig.15 The first four-link frame 11262 is fixedly connected to the slider 141 and the support tube 14 via a support plate 142 .

[0129] In the embodiment of the present application, the first transmission member 1223 of the elbow includes a bevel gear set 12231. The bevel gear set includes a first bevel gear 12232 and a second bevel gear 12233. The first bevel gear 12232 is connected to the bottom of the elbow flexion and extension motor 1211, and the first bevel gear 12232 is perpendicular to and meshes with the second bevel gear 12233. As mentioned above, since the transmission method through the bevel gear set 12231 occupies less space, the elbow flexion and extension motor 1211 will not interfere with other components in the arm exoskeleton 1.

[0130] In the examples of this application, please refer to Fig.16 The elbow flexion and extension motor 1211 is implemented as a cylindrical linear motor, which is vertically located in the first elbow support frame 1221 and between the support tubes 14. Optionally, the first elbow transmission member 1223 corresponding to the elbow flexion and extension motor 1211 includes a bevel gear set 12231. Please refer to Fig.23In the bevel gear set 12231, a first bevel gear 12232 and a second bevel gear 12233 are meshed with each other. When the elbow flexion and extension motor 1211 is driven, the first bevel gear 12232 is connected to the elbow flexion and extension motor 1211 through a transmission shaft. When the elbow flexion and extension motor 1211 drives the first bevel gear 12232, the first bevel gear 12232 rotates along with the transmission shaft, and due to the meshing between the first bevel gear 12232 and the second bevel gear 12233, the second bevel gear 12233 is driven to rotate, and the second bevel gear 12233 is used to transmit power to the elbow exoskeleton 12 through its transmission shaft, so that the elbow exoskeleton 12 simulates the flexion and extension movement of the human forearm, that is, simulates the above-mentioned movement mode 304.

[0131] Optionally, the second elbow transmission member 1224 is connected to the first elbow transmission member 1223 through the support tube 14 .

[0132] In the examples of this application, please refer to Fig.17 The transmission shaft of the second bevel gear 12233 is located on a transmission base 12234, and the transmission base 12234 is connected to a support tube 14 made of carbon fiber.

[0133] In the embodiment of the present application, the support tube 14 for supporting the elbow flexion and extension motor 1211 and the support tube 14 for connecting to the transmission base 12234 are in a parallel state when the elbow exoskeleton 12 does not rotate relative to each other, so as to simulate the forearm joint of the human body.

[0134] In the embodiment of the present application, the elbow second transmission member 1224 also includes a second four-link frame group. The second four-link frame group is located at the bottom of the elbow second support frame 1222, and the second four-link frame group includes a third quadrilateral frame, a fourth quadrilateral frame, a third rotating rod, and a fourth rotating rod. In the embodiment of the present application, the structure of the second four-link frame group is the same as that of the first four-link frame group 11262.

[0135] Optionally, refer to Fig.18Since the forearm rotation motor 1212 is implemented as a horizontally placed linear motor, it is necessary to transmit its driving force to the second four-bar linkage frame group 12241 through the second bevel gear transmission mechanism 12242. Similar to the first bevel gear transmission mechanism 11263, the second bevel gear transmission mechanism 12242 includes two second-type bevel gears 12243 that are perpendicular to each other and meshing. It should be noted that in the present application, the type of bevel gear only describes the adaptation of the bevel gear, and does not represent the specific form of the bevel gear. In one example, when two bevel gears are adapted bevel gears, it means that they are of the same type. Optionally, the first type bevel gear and the second type bevel gear are of the same type. The second bevel gear transmission mechanism occupies a small space, making it less likely for the forearm rotation motor 1212 to interfere with other transmission mechanisms.

[0136] Optionally, the structure of the second transmission member 1224 of the elbow is the same as the structure of the third transmission member 1126 of the shoulder. That is, after being connected through the second bevel gear transmission mechanism 11242. Optionally, since the diameter of the human forearm is usually smaller than the diameter of the upper arm, the size of the second four-link frame group 12241 corresponding to the second transmission member 1224 of the elbow is smaller than the size of the first four-link frame group 11242 corresponding to the third transmission member 1126 of the shoulder. When the forearm rotation motor 1212 is relatively fixed and drives the elbow exoskeleton 12 to rotate, the second four-link frame group drives the wrist exoskeleton 12 below it to move through the connecting rod movement, thereby simulating the rotation movement of the human forearm.

[0137] Finally, let's explain the wrist exoskeleton:

[0138] In the embodiment of the present application, the hand flexion and extension motor 1311 corresponds to the first wrist support frame 1321 ; the hand swing motor 1312 corresponds to the second wrist support frame 1322 .

[0139] Optionally, the first wrist support frame 1321 is connected to the second elbow transmission member 1224 through the support tube 14 , and the second wrist support frame 1322 is connected to the first wrist support frame 1321 .

[0140] Please refer to Fig.19 In order to simulate the human skeleton, the first wrist support frame 1321 and the second elbow transmission member 1224 are also connected through a carbon fiber support tube 14.

[0141] Optionally, similar to the structure of the third shoulder transmission member 1126, a slider is provided between the second parallelogram frame and the support tube 14, through which the position of the support tube can be adjusted to adapt to the forearm conditions of different users.

[0142] In the examples of this application, please refer to Fig. 20In order to adapt to the size of the human wrist and avoid interference with the movement of other structures of the arm exoskeleton 1 during movement, the hand flexion and extension motor 1311 and the hand swing motor 1312 are both disc motors. The hand swing motor 1312 is located on the wrist first support frame 1321 between the support tubes, and the wrist second support frame where the hand flexion and extension motor 1311 is located is connected to the wrist second support frame 1322 where the hand swing motor is located.

[0143] In the embodiment of the present application, the arm exoskeleton 1 further includes at least one strap 15; at least one strap 15 is connected to the elbow skeleton 122. When the user wears the arm exoskeleton 1, the strap 15 is fixed to the user's forearm.

[0144] In the embodiment of the present application, in order to prevent the user's arm from being separated from the arm exoskeleton 1 during the wearing and use of the arm exoskeleton 1, at least one strap 15 is provided on the arm exoskeleton 1. Fig.21 , the strap 15 is connected to the user's arm exoskeleton 1, and when in use, the strap 15 is fixed to the user's arm. Optionally, the strap 15 is located on the elbow skeleton 122, or the strap is connected to the elbow skeleton 122 and / or the wrist skeleton 132 and the shoulder exoskeleton 121. Fig.21 As shown, there are two straps 15, and both straps are connected to the support tube 14 in the elbow exoskeleton 122. The two straps 15 at the elbow skeleton 122 can be connected to the user's forearm and upper arm respectively. In the embodiment of the present application, in order to ensure that users with different arm lengths can maintain a good connection between their arms and the arm exoskeleton 1 through the straps, the straps can move along the support tube to adjust the position.

[0145] In summary, the arm exoskeleton provided in the embodiment of the present application, when the arm exoskeleton performs active movement according to control instructions, or performs passive movement following the user's arm movement, simulates the movement guided by the human shoulder joint through the shoulder motor group, simulates the movement guided by the human elbow joint through the elbow motor group, and simulates the movement guided by the human wrist joint through the wrist joint group. When the user wears the arm exoskeleton to exercise, the motor group and the skeleton are combined and set corresponding to the shoulder joint, elbow joint and wrist joint of the user's arm, so that the arm exoskeleton simulates the human body movement more realistically during the exercise process, and improves the simulation accuracy of the human body movement state.

[0146] The arm exoskeleton provided in the embodiment of the present application drives the shoulder skeleton through the shoulder abduction and extension motor, the upper arm flexion and extension motor, and the upper arm rotation motor to simulate the abduction and extension movement of the shoulder joint, the rotation movement of the upper arm, and the flexion and extension movement of the upper arm; drives the elbow skeleton through the forearm flexion and extension motor and the forearm rotation motor to simulate the forearm rotation movement and forearm flexion and extension movement driven by the elbow joint, and drives the wrist skeleton through the hand flexion and extension motor and the hand flexion and extension motor to simulate the hand swing movement and hand flexion and extension movement driven by the wrist joint. When the user wears the arm exoskeleton to exercise, the arm exoskeleton can completely simulate the 7 degrees of freedom of the human arm through the above 7 motors, thereby improving the simulation accuracy of the human body's motion state.

[0147] The arm exoskeleton provided in the embodiment of the present application corresponds to the arm exoskeleton, and the power transmission path in the arm exoskeleton is clear through the setting of different motor forms and transmission methods of the transmission parts. At the same time, under the setting method of the motor and the transmission parts as described in this embodiment, when the arm exoskeleton is working, there will be no mutual interference between the various structures to affect the movement of the arm exoskeleton, thereby improving the use efficiency of the arm exoskeleton, and while ensuring that the output torque of each joint meets the requirements of each joint, it ensures the user's wearing comfort and improves the portability of the arm exoskeleton.

[0148] The arm exoskeleton provided in the embodiment of the present application adjusts the length of the support tube to achieve relative position adjustment between components, and sets straps to improve the adaptability of the arm exoskeleton to users with different arm spans, thereby improving the stability of the arm exoskeleton during use.

[0149] Fig. 22 A schematic diagram of the structure of an upper body exoskeleton 2 provided by an exemplary embodiment of the present application is shown. The upper body exoskeleton 2 includes two arm exoskeletons 1 as described in any of the above embodiments, and a trunk exoskeleton 21. The trunk exoskeleton 21 includes a first support plate 211, a second support plate 212, and a support plate connector 213. The first support plate 211 simulates the connection between the human trunk and the upper limbs, and is connected to the two arm exoskeletons 1 respectively.

[0150] In the embodiment of the present application, when the user wears the upper body exoskeleton 2, the user's arms are adapted to the arm exoskeleton 1, the user's back is adapted to the first support plate 211, and the user's waist is adapted to the second support plate 212. In this case, the support plate connector 213 simulates the human spine, that is, supports the human torso.

[0151] In the examples of this application, please refer to Fig. 22The support plate connector 213 includes at least one positioning hole 2131, and the positioning hole 2131 on the support plate connector 213 is used to adjust and fix the distance between the first support plate 211 and the second support plate 212. After the position is adjusted through the positioning hole 2131, the first support plate 211 will be adjusted to a position that fits the user's back, and the second support plate 212 will be adjusted to a position that fits the user's waist. That is, the trunk exoskeleton 21 can adapt to users with different torso lengths by adjusting the support plate connector 213.

[0152] Optionally, refer to Fig. 22 At the connection between the trunk exoskeleton 21 and the shoulder exoskeleton 11 in the arm exoskeleton 1, at least one set of screw hole grooves 2111 is provided, and the screw hole grooves 2111 are used to be combined with screws to adjust the relative position between the arm exoskeleton 1 and the trunk exoskeleton 21 to adapt to the user's body needs.

[0153] The upper body exoskeleton provided in the embodiment of the present application, on the premise of having an arm exoskeleton that can highly restore the movements of the human body, connects two arm exoskeletons through a torso exoskeleton, so that when the upper limbs of the human body wear the upper body exoskeleton, the arms and torso can be fully adapted to the upper body exoskeleton, while ensuring that the arm exoskeleton can restore the movements of the user, while improving the wearing stability of the upper body exoskeleton by the human body.

[0154] Fig.23 FIG. 1 shows a schematic diagram of a remote operation system 3 provided by an exemplary embodiment of the present application. Fig.23 The teleoperation system 3 includes an upper body exoskeleton 2, a central control device 301 and a simulation motion device 302.

[0155] In the embodiment of the present application, the upper body exoskeleton 2 establishes a communication connection with the simulation motion device 302 through the central control device 301.

[0156] As described in the above embodiments, each motor described in the embodiments of the present application is implemented as a collection of motors and encoders, that is, the motors described in each embodiment of the present application can record and store their own motion states and position changes during the movement of the arm exoskeleton.

[0157] In one example, the simulated motion device 302 is also an upper body exoskeleton 2 .

[0158] The upper body exoskeleton 2 is a device that directly follows the user to perform movements. Optionally, when the upper body exoskeleton 2 follows the user to perform movements, each encoder generates a corresponding motion signal, and aggregates it into a first motion signal, which is sent to the central control device 301 that performs signal transfer. After the central control device 301 receives the first motion signal, it generates a first control signal according to the first motion signal, and sends the first control signal to the simulated motion device 302 at the slave end. The simulated motion device 302 simulates the motion according to the first control signal, and when the simulated motion device 302 is limited in simulating the motion according to the first control signal, it will generate a second motion signal and send it to the central control device 301. At this time, the central control device 301 generates a second control signal according to the second motion signal, and feeds it back to the upper body exoskeleton 2 at the master end. Each motor of the upper body exoskeleton 2 brakes the upper body exoskeleton 2 according to the second control signal. At this time, the user at the master end will sense the braking to confirm the environmental conditions of the slave end, and further drive the upper body exoskeleton 2 to change its state through his own movement.

[0159] To summarize, the simulated motion system provided in the embodiment of the present application realizes the communication connection between the upper body exoskeleton and the simulated motion device through the central control device, and interacts the signals between the two according to the communication connection, so that the motor can receive the feedback signal, drive the simulated motion device on the slave end, and brake the upper body exoskeleton on the master end, thereby improving the simulation accuracy of the human body's motion state.

[0160] It should be understood that, in the present application, the terms “first”, “second”, etc. are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features.

[0161] All the above optional technical solutions can be arbitrarily combined to form optional embodiments of the present application, which will not be described one by one here.

[0162] The above description is only an optional embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. An arm exoskeleton (1), characterized in that: The arm exoskeleton (1) comprises a shoulder exoskeleton (11), an elbow exoskeleton (12) and a wrist exoskeleton (13); The shoulder exoskeleton (11), the elbow exoskeleton (12), and the wrist exoskeleton (13) are connected in sequence; The shoulder exoskeleton (11) comprises a shoulder motor group (111) and a shoulder frame (112) driven by the shoulder motor group (111); The shoulder motor group (111) comprises an upper arm flexion and extension motor (1112) and an upper arm rotation motor (1113); The shoulder frame (112) comprises a second shoulder support frame (1122), a third shoulder support frame (1123), a second shoulder transmission member (1125), a third shoulder transmission member (1126) and a rotation adjustment mechanism (1127); The second shoulder transmission member (1125) is connected to the upper arm flexion and extension motor (1112), and the third shoulder transmission member (1126) is connected to the upper arm rotation motor (1113); The shoulder second transmission member (1125) includes a first connecting frame (11251), and the shoulder third transmission member (1126) includes a second connecting frame (11261); The first connecting frame (11251) is connected to the second shoulder supporting frame (1122), and the second connecting frame (11261) is connected to the third shoulder supporting frame (1123); The first connecting frame (11251) and the second connecting frame (11261) are connected via the rotation adjustment mechanism (1127); The rotation adjustment mechanism (1127) comprises a first adjustment plate (11271), a second adjustment plate (11272) and an adjustment connecting piece (11273); the first adjustment plate (11271) and the second adjustment plate (11272) are connected by screws; and the height of the adjustment connecting piece (11273) is adjustable; The elbow exoskeleton (12) comprises an elbow motor group (121) and an elbow frame (122) driven by the elbow motor group (121); The wrist exoskeleton (13) comprises a wrist motor group (131) and a wrist skeleton (132) driven by the wrist motor group (131); When a user wears the arm exoskeleton (1), the user's shoulder joint and upper arm are adapted to the shoulder exoskeleton (11), the user's elbow joint and forearm are adapted to the elbow exoskeleton (12), and the user's wrist joint is adapted to the wrist exoskeleton (13).

2. The arm exoskeleton (1) according to claim 1, characterized in that: The shoulder motor group (111) further comprises a shoulder abduction and extension motor (1111); The shoulder frame (112) also has a first shoulder support frame (1121); The shoulder abduction and extension motor (1111), the upper arm flexion and extension motor (1112), and the upper arm rotation motor (1113) are respectively connected to the shoulder frame (112); The shoulder abduction and extension motor (1111) is located on the first shoulder support frame (1121), the upper arm flexion and extension motor (1112) is located on the second shoulder support frame (1122), and the upper arm rotation motor (1113) is located on the third shoulder support frame (1123).

3. The arm exoskeleton (1) according to claim 2, characterized in that: The shoulder frame (112) further includes a shoulder first transmission member (1124); The shoulder first transmission member (1124) is connected to the shoulder inward and outward extension motor (1111).

4. The arm exoskeleton (1) according to claim 3, characterized in that: The shoulder first transmission member (1124) comprises a driving member outer cover (11241), a first driving gear (11242), a second driving gear (11243) and a transmission belt (11244); The driving member outer cover (11241) includes a driving member upper cover (11245) and a driving member bottom cover (11246); the first driving gear (11242), the second driving gear (11243) and the transmission belt (11244) are located in a containing space formed by the driving member upper cover (11245) and the driving member bottom cover (11246); The first driving gear (11242), the second driving gear (11243) and the transmission belt (11244) are located inside the driving member outer cover (11241), and the first driving gear (11242) and the second driving gear (11243) are connected via the transmission belt (11244); The first driving gear (11242) is connected to the shoulder abduction motor (1111).

5. The arm exoskeleton (1) according to claim 4, characterized in that: The shoulder third transmission member (1126) includes a first four-link frame assembly (11262); The first four-link frame assembly (11262) is connected to the bottom of the third shoulder support frame (1123); The first four-link frame group (11262) includes a first quadrilateral frame (11265), a second quadrilateral frame (11266), a first rotating rod (11267) and a second rotating rod (11268); The first rotating rod (11267) and the second rotating rod (11268) are connected to the bottom of the third shoulder support frame (1123); The first quadrilateral frame (11265) and the second quadrilateral frame (11266) are located at the bottom of the first rotating rod (11267) and the second rotating rod (11268), and the first quadrilateral frame (11265) and the second quadrilateral frame (11266) are rotatably connected to the first rotating rod (11267) and the second rotating rod (11268) respectively.

6. The arm exoskeleton (1) according to claim 1, characterized in that: The elbow motor group (121) comprises a forearm flexion and extension motor (1211) and a forearm rotation motor (1212); The elbow frame (122) comprises a first elbow support frame (1221) and a second elbow support frame (1222); The forearm flexion and extension motor (1211) and the forearm rotation motor (1212) are respectively connected to the elbow frame (122); The forearm flexion and extension motor (1211) is located on the first elbow support frame (1221), and the forearm rotation motor (1212) is located on the second elbow support frame (1222).

7. The arm exoskeleton (1) according to claim 6, characterized in that: The elbow frame (122) further comprises a first elbow transmission member (1223) and a second elbow transmission member (1224); The first elbow transmission member (1223) is connected to the forearm flexion and extension motor (1211), and the second elbow transmission member (1224) is connected to the forearm rotation motor (1212).

8. The arm exoskeleton (1) according to claim 7, characterized in that: The first transmission member (1223) of the elbow includes a bevel gear set (12231); The bevel gear set (12231) includes a first bevel gear (12232) and a second bevel gear (12233); The first bevel gear (12232) is connected to the bottom of the forearm flexion and extension motor (1211); The first bevel gear (12232) is perpendicular to and meshes with the second bevel gear (12233).

9. The arm exoskeleton (1) according to claim 1, characterized in that: The wrist motor group (131) comprises a hand flexion and extension motor (1311) and a hand swing motor (1312); The wrist skeleton (132) comprises a first wrist support frame (1321) and a second wrist support frame (1322); The hand flexion and extension motor (1311) and the hand swing motor (1312) are respectively connected to the wrist skeleton (132); The hand flexion and extension motor (1311) is located on the first wrist support frame (1321), and the hand swing motor (1312) is located on the second wrist support frame (1322).

10. The arm exoskeleton (1) according to any one of claims 1 to 9, characterized in that: The arm exoskeleton (1) further comprises at least two straps (15); When a user wears the arm exoskeleton (1), the at least two straps (15) are fixedly connected to the user's arm.

11. An upper body exoskeleton (2), characterized in that: The upper body exoskeleton (2) comprises two arm exoskeletons (1) and a trunk exoskeleton (21) as claimed in any one of claims 1 to 10; The trunk exoskeleton (21) comprises a first support plate (211), a second support plate (212) and a support plate connecting member (213); The first support plate (211) is connected to the two arm exoskeletons (1), and the first support plate (211) and the second support plate (212) are connected via the support plate connector (213); The support plate connecting piece (213) comprises at least one positioning hole; When a user wears the upper body exoskeleton (2), the user's arms fit into the arm exoskeleton (1), the user's back fits into the first support plate (211), and the user's waist fits into the second support plate (212).

12. A teleoperation system (3), characterized in that: The teleoperation system (3) comprises the upper body exoskeleton (2) as claimed in claim 11, a central control device (301) and a simulation motion device (302); The upper body exoskeleton (2) and the simulated motion device (302) establish a communication connection via the central control device (301).

13. A remote operation system (3), characterized in that: The teleoperation system (3) comprises the upper body exoskeleton (2) as claimed in claim 11, a central control device (301) and a simulation motion device (302); The upper body exoskeleton (2) is used to generate a first motion signal, wherein the first motion signal is a signal generated in response to a user's operation on the upper body exoskeleton (2); and send the first motion signal to the central control device (301); The central control device (301) is used to receive the first motion signal; generate a first control signal according to the first motion signal, and send the first control signal to the simulated motion device (302); The simulated motion device (302) is used to receive the first control signal and control its own motion according to the first control signal.

14. A teleoperation system (3), characterized in that: The teleoperation system (3) comprises the upper body exoskeleton (2) as claimed in claim 11, a central control device (301) and a simulation motion device (302); The simulated motion device (302) is used to generate a second motion signal, wherein the second motion signal is a signal generated in response to a braking effect of the environment on the simulated motion device (302); and send the second motion signal to the central control device (301); The central control device (301) is used to receive the second motion signal; generate a second control signal according to the second motion signal, and forward the second control signal to the upper body exoskeleton (2); The upper body exoskeleton (2) is used to receive the second control signal; The movement of the vehicle itself is controlled according to the second control signal.

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