An arm rehabilitation training system

Abstract

The application relates to an arm rehabilitation training system, which comprises a processing unit and an arm exoskeleton, the arm exoskeleton comprising: a forearm rotating motor arranged at the trunk of a human body to generate a torque; a Bowden cable connected with the forearm rotating motor and transmitting the torque generated by the forearm rotating motor; a guide sleeve arranged at the elbow of the human body and defining a space for forearm rotating movement; wherein the torque of the forearm rotating motor transmitted by the Bowden cable is guided through at least two groups of guide assemblies and guide pulleys, and then the torque is transmitted to a driving chuck on the guide sleeve of the elbow, the driving chuck drives a driving rod and makes the driving rod rotate in the space trajectory of the guide sleeve, so that the forearm of the human body is driven to make pronation / supination movement. The arm rehabilitation training system of the application fully considers the ergonomics and biomechanics principles, and ensures that the exoskeleton system has good adaptability and stability when assisting the human body movement.

Description

Technical Field

[0001] This invention relates to the field of rehabilitation training technology, and in particular to an arm rehabilitation training system. Background Technology

[0002] Existing rehabilitation training systems can utilize exoskeletons to provide rehabilitation training services for patients. For example, the root cause of disability due to stroke or spinal cord injury is damage to the central nervous system, leading to loss of limb control. By using exoskeleton robots to guide patients through rehabilitation training, the connection between the limbs and the central nervous system can be rebuilt, achieving the ideal effect of restoring limb motor function.

[0003] In clinical applications, the advantages of rehabilitation exoskeleton robots mainly include three aspects: good motion repeatability and consistency, rich training modes, and good training feedback.

[0004] First, exoskeletons are better suited to assist patients' limbs in performing long-term, simple, and repetitive movement tasks, ensuring the intensity, effectiveness, and precision of rehabilitation training, and exhibiting good movement consistency.

[0005] Secondly, the processing unit of the rehabilitation exoskeleton is programmable, which can provide personalized training of different intensities and modes according to the patient's degree of injury and rehabilitation, thereby enhancing the patient's initiative and participation.

[0006] Third, rehabilitation exoskeletons typically integrate multiple sensors and have powerful information processing capabilities, which can effectively monitor and record human kinematic and physiological data throughout the entire rehabilitation training process, providing real-time feedback on the patient's rehabilitation progress.

[0007] However, current arm exoskeletons, especially forearm exoskeletons, have the drawback that the elbow joint structure is simple and bulky, making it impossible for the forearm exoskeleton to work in conjunction with the forearm.

[0008] For example, patent application CN110236879A discloses an exoskeleton rehabilitation training robotic arm and its voice interaction system. This system uses a human-computer interaction module for efficient information exchange between the patient and the robotic arm, increasing patient participation in rehabilitation training and improving the user experience. The voice broadcasting unit in this invention uses a control unit to call information from the system's voice interaction prompt unit to broadcast messages, transmitting information to the patient and completing the information flow from machine to human. To increase the patient's information reception channels, an image display unit is included as an auxiliary to the voice broadcasting unit, compensating for the shortcomings in natural human-computer interaction in the field of exoskeleton rehabilitation robotic arms. However, the mechanical structure of this exoskeleton rehabilitation training robotic arm is simple; its forearm rotation mechanism typically uses a fixed C-shape or an integral circular design, making the exoskeleton rehabilitation robotic arm bulky and difficult to adapt to limbs of different sizes.

[0009] As shown above, current rehabilitation arm exoskeletons suffer from drawbacks: their mechanical structures are bulky and they cannot adapt to limbs of different sizes. This invention aims to provide an exoskeleton that can adapt to the movement of elbow joints and forearms of different human sizes.

[0010] Furthermore, on the one hand, there are differences in understanding among those skilled in the art; on the other hand, the applicant studied a large number of documents and patents when making this invention, but due to space limitations, not all details and contents were listed in detail. However, this does not mean that the present invention does not possess the features of these prior art. On the contrary, the present invention already possesses all the features of the prior art, and the applicant reserves the right to add relevant prior art to the background art. Summary of the Invention

[0011] A common drawback of existing forearm exoskeletons is that their mechanical structures are bulky and difficult to adapt to arms of different sizes. This makes it difficult for users to efficiently complete rehabilitation exercises due to the mismatch between the exoskeleton and their own arm size.

[0012] To address this shortcoming, how to provide a lightweight, flexible, and adaptable rehabilitation training system is a technical problem that has not yet been solved in the field of arm exoskeletons for rehabilitation training.

[0013] Existing technologies have developed solutions for traction training of the human forearm using highly quantified drive rope structures. For example, patent document CN112077827A discloses a bamboo-inspired upper limb exoskeleton device, including: a shoulder adduction / abduction joint, a shoulder flexion / extension joint, an elbow flexion / extension joint, a bamboo-inspired robotic arm, a drive module, a backplate support, and an electrical system. The shoulder adduction / abduction joint and the shoulder flexion / extension joint are connected via an L-shaped workpiece, the shoulder flexion / extension joint is connected to the elbow flexion / extension joint, the bamboo-inspired robotic arm is interference-fitted with the elbow flexion / extension joint, and the drive module is connected to the shoulder adduction / abduction joint, the shoulder flexion / extension joint, and the elbow flexion / extension joint, respectively. This technical solution achieves biomimetic transmission from the exoskeleton by planning and setting rope paths within the internal cavity or by embedding other components. However, the bamboo-inspired robotic arm structure in this solution can only simulate the flexion and extension process of the forearm by connecting to the elbow flexion / extension joint structure, and cannot be used for auxiliary rehabilitation training of forearm rotational movements.

[0014] To address the shortcomings of existing technologies, this invention provides an arm rehabilitation training system, including a processing unit and an arm exoskeleton. The processing unit and the forearm rotary motor of the arm exoskeleton are connected via wired and / or wireless means. The arm exoskeleton includes a forearm rotary motor, a Bowden cable, and a guide sleeve. The forearm rotary motor is positioned on the torso to generate torque; the Bowden cable connects to the forearm rotary motor and transmits the torque generated by the motor; the guide sleeve is positioned at the elbow and defines the space for forearm rotational movement. The processing unit controls the forearm rotary motor to generate corresponding torque according to a rehabilitation training strategy. After the torque transmitted by the forearm rotary motor via the Bowden cable is guided by at least two sets of guide components and guide pulleys, the torque is transmitted to a drive chuck on the guide sleeve at the elbow. The drive chuck drives a drive rod to rotate within the spatial trajectory of the guide sleeve, thereby driving the forearm to perform internal / external rotation movements.

[0015] To simulate the rotational movement of the human forearm, existing technologies have attempted to use drive ropes to drive and realize the internal / external rotation of the forearm. For example, patent document CN106691778A discloses a wearable exoskeleton upper limb rehabilitation robot, including an arm adjustment component, a shoulder joint flexion-extension component, a shoulder joint abduction-adduction component, an upper arm rotation component, an elbow joint flexion-extension component, a forearm rotation component, a wrist joint flexion-extension component, and a frame motor component. The arm adjustment component is fixed to the frame motor component, and the arm adjustment component, shoulder joint flexion-extension component, shoulder joint abduction-adduction component, upper arm rotation component, elbow joint flexion-extension component, forearm rotation component, and wrist joint flexion-extension component are connected sequentially. In this technical solution, the upper arm rotation component and the forearm rotation component are used to fix the upper arm and forearm, enabling the arm to rotate. That is, the internal and external rotation of the forearm is mainly achieved by driving the rotation of the driven wheel of the forearm rotation. However, this technical solution achieves forearm rotation by confining the forearm within a driven wheel and directly applying force to the forearm body to induce internal / external rotation, essentially twisting the forearm directly. On one hand, forearm internal and external rotation are typically achieved by wrist rotation, which in turn drives the forearm. This natural movement pattern is completely opposite to the direct application of force to the forearm to induce wrist internal / external rotation in this solution, failing to provide a more suitable auxiliary movement effect for human movement. On the other hand, because the forearm is connected to the elbow, the elbow cannot directly follow the forearm in internal / external rotation, thus limiting the forearm's range of motion. Specifically, during forearm internal / external rotation, the wrist's range of motion is significantly greater than the forearm's. If only the forearm is rotated to achieve the corresponding wrist internal / external rotation, the forearm's rotation control range is relatively small, resulting in low overall rotation control accuracy. Furthermore, excessive forearm rotation can easily lead to joint sprains. Compared with the prior art, in this invention, the torque of the forearm rotary motor transmitted by the Bowden cable is guided by at least two sets of guide components and guide pulleys to achieve traction in two opposite directions. The torque is then transmitted to a drive chuck on the guide sleeve at the elbow, thereby driving the chuck to move the drive rod and cause it to reciprocate within the spatial trajectory of the guide sleeve, accompanied by a small-amplitude oscillation, thus driving the human forearm to perform internal / external rotation movements. Based on the above distinguishing technical features, the problem to be solved by this invention can include: how to provide an auxiliary system that conforms to the actual internal and external rotation movement trajectories of the human forearm and wrist.Specifically, during normal wrist pronation / external rotation, the forearm experiences a slight swinging motion. Relying solely on methods like those in existing technologies that directly rotate the forearm, directly acting on it, fails to accurately reflect the true state of wrist pronation / external rotation, resulting in low accuracy in assisting forearm pronation and external rotation. Conversely, the drive rod of this invention, driven by a drive chuck, simultaneously achieves rotation and swinging, a feat impossible with existing technologies that rely solely on a forearm-clamping rotational structure. This invention uses torque provided by a forearm rotary motor to traction the drive rod, rotating it within a limited space while simultaneously engaging in a small-amplitude swing to drive forearm pronation / external rotation, thus simulating the real movement trajectory of the human upper limb and making forearm rehabilitation exercises more precise. The arm rehabilitation training system of this invention, responding to control commands from the processing unit, can adapt to arms of different sizes, featuring a simple structure and flexible assembly. The arm exoskeleton of this invention fully considers ergonomics and biomechanical principles, ensuring good adaptability and stability when assisting human movement.

[0016] According to a preferred embodiment, the arm exoskeleton further includes an elbow joint module connected to the upper arm unit and the forearm unit. The elbow joint module is connected to a forearm rotary motor via Bowden cables. With the torque transmitted from the forearm rotary motor via the Bowden cables, after being guided by at least two sets of guide components and guide pulleys, at least one set of Bowden cables transmits the torque to a redirection pulley in the elbow joint module. The redirection pulley drives the elbow joint drive disc to rotate, thereby rotating the elbow joint of the human arm to achieve extension / flexion movements of the arm. The arm exoskeleton of the present invention, through the extension and flexion movements of the Bowden cables and the elbow joint module, can limit the range of motion of the elbow joint to protect it.

[0017] According to a preferred embodiment, the elbow joint module is connected to the sliding formwork telescopic assembly via an upper arm connector, the sliding formwork telescopic assembly is connected to a first strap, and the Bowden cable is disposed on the outside of the sliding formwork telescopic assembly with a gap between it and the sliding formwork telescopic assembly.

[0018] The sliding module and sliding groove design allows the arm exoskeleton to slide along the arm's axis to accommodate different arm sizes. This design not only ensures the exoskeleton's adaptability but also increases user comfort. Adjustable bolts allow users to easily adjust the position of the various straps on the exoskeleton according to their arm size. This design allows the exoskeleton to adapt to various size requirements, making it suitable for both children and adults. The structure of the first strap further enhances the stability and comfort of the exoskeleton. The multiple straps of this invention not only help to better secure the exoskeleton to the arm but also provide additional support and protection.

[0019] According to a preferred embodiment, the surface of the elbow joint module is provided with at least two guide components. Bowden cable bends through the guide components and connects to the drive chuck through guide pulleys. When Bowden cable transmits the torque of the forearm rotary motor, Bowden cable transmits the torque of the forearm rotary motor to the drive chuck.

[0020] In this invention, the drive chuck is one of the core components of the arm rehabilitation training system, and the accuracy of its rotation directly affects the control effect of the arm exoskeleton on the internal and external rotation movements of the forearm. By rotating the drive chuck with the Bowden cable, effective driving of the internal and external rotation movements of the human forearm can be achieved.

[0021] According to a preferred embodiment, the guide sleeve includes a drive chuck, which includes a chuck plate and a cable winch. The chuck plate restricts the position of the drive rod and drives the drive rod to rotate. The chuck plate of this invention engages the drive rod and drives it to rotate, thus withstanding the loads caused by frequent forearm internal and external rotation movements and reducing the degree of sliding wear on the drive rod.

[0022] According to a preferred embodiment, the drive rod includes a sleeve, a shaft, a connecting rod, and at least two radial joint bearings. The first end of the sleeve is connected to the shaft in a manner that allows the shaft to interact within it, and at least one radial joint bearing is disposed at the end of the shaft that does not contact the sleeve. The second end of the sleeve is connected to the connecting rod in a manner that allows the connecting rod to interact within it, and at least one radial joint bearing is disposed at the end of the connecting rod that does not contact the sleeve. This configuration allows the entire drive rod to assume any posture within a certain space. The advantage of the extendable function of the drive rod is that (1) it can adapt to length changes when driving the forearm to rotate internally and externally, and (2) the length of the drive rod matches the user's forearm, improving the adaptability of the arm exoskeleton.

[0023] According to a preferred embodiment, the elbow joint module includes a redirecting pulley, an elbow joint drive winding disc, a thin-walled bearing, and a limiting block. The Bowden cable is guided by the redirecting pulley and wound around the elbow joint drive winding disc. The thin-walled bearing is coaxially disposed on one side of the elbow joint drive winding disc. The limiting block is disposed between the elbow joint drive winding disc and the elbow joint module housing to limit the rotation angle range of the elbow joint drive winding disc. Compared with the prior art, the Bowden cable of the present invention is guided by the redirecting pulley and wound around the elbow joint drive winding disc to fix the direction of force application of the Bowden cable. Based on the above distinguishing technical features, the problem to be solved by the present invention may include: how to achieve directional force application of the Bowden cable during the rotation of the elbow joint drive winding disc. Specifically, since the Bowden cable is used to transmit torque, the rotation of the elbow joint drive disc inevitably involves changes in the position of the Bowden cable. Without a redirecting pulley structure, the direction of force applied during torque transmission by the Bowden cable will change with the rotation of the elbow joint drive disc, leading to friction between the Bowden cable and the inner wall of the elbow joint module, or uneven force application by the Bowden cable. These factors increase mechanical wear on the elbow joint module, making it prone to mechanical failure and affecting the lifespan of the arm rehabilitation training system. This invention, by setting a redirecting pulley, can fix the direction of force applied by the Bowden cable during torque transmission, thus avoiding the adverse effects of different rotation angles of the elbow joint drive disc on the Bowden cable. Furthermore, this invention incorporates a limiting block on the inner side of the housing to limit the rotation angle range of the winch, preventing angle overshoot due to control failure or other unforeseen factors. This design provides mechanical protection for the elbow joint's angle limits during actual use, ensuring the safety of the rehabilitation training system.

[0024] According to a preferred embodiment, the elbow joint module further includes a positioning sleeve, which is coaxially disposed on the side of the thin-walled bearing near the elbow joint module housing. The positioning sleeve has an annular structure. The positioning sleeve functions as a retaining ring at the shaft end of the thin-walled bearing, providing precise positioning and end support for the bearing, preventing axial movement of the bearing and the elbow joint drive disc, and ensuring stable operation of the elbow joint drive disc in its designed position.

[0025] According to a preferred embodiment, the sliding telescopic assembly connected to the elbow joint module via the upper arm connector includes a sliding module and a sliding groove. One end of the sliding module is connected to a first strap; the sliding groove is slidably connected to the other end of the sliding module, and the sliding module and the sliding groove are adjusted in position by adjusting bolts, so that the position of the first strap or the elbow joint module can be adjusted by adjusting the adjustable length of the sliding telescopic assembly. This invention adjusts the adjustable length of the sliding telescopic assembly by adjusting bolts, allowing the arm exoskeleton to match arms of different sizes.

[0026] According to a preferred embodiment, a first end of the drive rod is connected to a fixed base disposed on a second strap, and a second end of the drive rod is connected to a wrist assembly. When the drive rod is rotated by the Bowden cable, the wrist assembly rotates to drive the forearm to perform internal / external rotation movements. The drive rod of the present invention is designed such that the forearm portion of the arm exoskeleton matches the human forearm, making it easier for the forearm portion to perform internal and external rotation. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the arm rehabilitation training system provided by the present invention; Figure 2 This is a schematic diagram of the arm exoskeleton provided by the present invention; Figure 3 This is a schematic diagram of the forearm unit provided by the present invention; Figure 4 This is an exploded structural diagram of the guide sleeve provided by the present invention; Figure 5 This is a schematic diagram of the upper arm unit provided by the present invention; Figure 6 This is a side view structural diagram of the forearm unit provided by the present invention; Figure 7 This is a side perspective structural view of the guide component provided by the present invention; Figure 8 This is a schematic diagram of the connection structure of the elbow joint module provided by the present invention; Figure 9 This is a schematic diagram of the drive rod provided by the present invention.

[0028] List of reference numerals 100: Arm exoskeleton; 101: First strap; 102: Wrist kit; 103: Drive rod; 104: Guide sleeve; 105: Elbow joint module; 106: Guide assembly; 107: Upper arm connector; 108: Bowden cable; 109: Slipform telescopic assembly; 110: Forearm connector; 111: Chuck plate. 112: Fixed base; 113: Port nut; 114: Terminal fastener; 115: Forearm shaft end fastener; 116: Cable winch; 117: Guide pulley; 118: Bowden line; 119: Drive chuck; 120: Sliding module; 121: Sliding groove; 122: Adjusting bolt; 123: Redirecting pulley; 124: Elbow joint module housing; 125: Limiting block; 126: Elbow joint drive winding disc; 127: Thin-walled bearing; 128: Positioning sleeve; 129: Redirecting component housing; 130: Sleeve rod; 131: Shaft rod; 132: Connecting rod; 133: Radial joint bearing; 134: Second strap; 135: Stop block; 200: Processing unit; 300: Forearm rotary motor. Detailed Implementation

[0029] The following is a detailed description with reference to the accompanying drawings.

[0030] A common drawback of existing forearm exoskeletons is that their mechanical structures are bulky and difficult to adapt to arms of different sizes. This makes it difficult for users to efficiently complete rehabilitation exercises when using the arm exoskeleton 100 due to the mismatch between the exoskeleton 100 and their own arm size.

[0031] To address this shortcoming, how to provide a lightweight, flexible, and adaptable rehabilitation training system is a technical problem that has not yet been solved in the field of arm exoskeletons for rehabilitation training.

[0032] This invention provides explanations for some terms and nouns.

[0033] Bowden cable 108: Similar to a bicycle brake cable, it has an outer high-strength sheath and an inner Bowden wire 118. The outer rigid sheath ensures that the sheath is virtually incompressible and deformable along its length, and when the sheath is fixed, the Bowden wire 118 inside can transmit tension. In this invention, Bowden cable 108 is used to transmit torque.

[0034] Bowden Line 118: The steel wires within Bowden Cable 108 are used to be pulled to transmit the torque of the forearm rotary motor 300.

[0035] Straps: Straps are the components of the arm exoskeleton that come into direct contact with the human body, and are typically made of soft yet durable materials. Materials for straps include, for example, polyethylene plastic. The main function of the straps is to connect and secure the arm exoskeleton to the human arm, while also providing a degree of comfort and support. Straps can be individually removed and replaced to fit different arm sizes.

[0036] Example 1 This invention provides an arm rehabilitation training system, such as Figure 1 As shown, the system includes a processing unit 200 and an arm exoskeleton 100. The processing unit 200 is hardware such as a dedicated integrated chip or server capable of executing coded programs for rehabilitation training strategies. The processing unit 200 and the forearm rotary motor 300 of the arm exoskeleton 100 are connected via wired and / or wireless means. Preferably, the processing unit 200 is connected to the forearm rotary motor 300 of the arm exoskeleton 100 via a controller via wired and / or wireless means. In the case of a wireless connection, the processing unit 200 includes a wireless communication component, and the controller or the forearm rotary motor 300 of the arm exoskeleton 100 also includes a wireless communication component. The processing unit 200 is used to control the forearm rotary motor 300 to generate corresponding torque according to the rehabilitation training strategy.

[0037] Patients undergo rehabilitation training according to a pre-defined coded program of rehabilitation training strategies, which helps improve the effectiveness of rehabilitation and shorten the rehabilitation period. The arm rehabilitation training system of this invention can not only assist patients in performing upper limb rehabilitation exercises independently, but also work in conjunction with other rehabilitation medical devices, and can be used to assist patients in related rehabilitation treatments.

[0038] Current rehabilitation training strategies are relatively mature, and will not be described in detail here. This invention mainly describes the structure of the arm exoskeleton 100.

[0039] The processing unit 200 contains a rehabilitation training model. This model stores torque parameters, such as rotation direction, rotation angle, and torque magnitude, corresponding to various human body postures, for each forearm rotary motor 300. When a certain posture needs to be achieved by driving the arm, the processing unit 200 sends control commands to the forearm rotary motor 300 according to the corresponding torque parameters. This causes the forearm rotary motor 300 to transmit torque via the Bowden cable 108 and drive the forearm to achieve the corresponding movement. When continuous movement needs to be achieved by driving the arm through an exoskeleton, the processing unit 200 controls the torque transmission of each forearm rotary motor 300 and its connected Bowden cable 118 according to time-related torque parameters, enabling the arm to achieve the specified movement under the drive of the exoskeleton.

[0040] like Figure 2 As shown, the arm exoskeleton 100 includes an upper arm unit, an elbow joint module 105, and a forearm unit. The upper arm unit is mechanically connected to the elbow joint module 105. The elbow joint module 105 and the forearm unit are also mechanically connected.

[0041] The upper arm unit, elbow joint module 105, and forearm unit are sequentially connected by Bowden cable 108, which transmits the torque of the forearm rotary motor 300. The upper arm unit is designed to be compatible with the human upper arm unit. The elbow joint module 105 is designed to be compatible with the human elbow joint. The forearm unit is designed to be compatible with the human forearm.

[0042] The present invention Figure 1 A forearm rotary motor 300 is simply illustrated. The forearm rotary motor 300 is used to generate torque by being positioned on the torso of the human body. This invention... Figures 2-9 The diagram shows a schematic of the arm exoskeleton 100.

[0043] Figure 5 and Figure 6 A schematic diagram of the mechanical structure of the upper arm unit is shown. Figure 2 , Figure 5 and Figure 6As shown, the upper arm unit may include a first strap 101, a sliding formwork telescopic assembly 109, and an upper arm connector 107. A first end of the sliding formwork telescopic assembly 109 is connected to the first strap 101. A second end of the sliding formwork telescopic assembly 109 is connected to the upper arm connector 107.

[0044] According to a preferred embodiment, the sliding formwork telescopic assembly 109 includes a sliding module 120 and a sliding formwork groove 121. One end of the sliding module 120 is connected to the first strap 101. The sliding formwork groove 121 is slidably connected to the other end of the sliding module 120. The sliding module 120 and the sliding formwork groove 121 are adjusted in connection by adjusting bolts 122, so that the telescopic range of the sliding formwork telescopic assembly 109 can be adjusted by adjusting the length of their interlocking parts within the assembly. The smaller the telescopic range of the sliding formwork telescopic assembly 109, the smaller the distance between the first strap 101 and the upper arm connector 107, i.e., the closer the first strap 101 and the upper arm connector 107 are. The larger the telescopic range of the sliding formwork telescopic assembly 109, the larger the distance between the first strap 101 and the upper arm connector 107, i.e., the farther apart the first strap 101 and the upper arm connector 107 are. Preferably, the overall length of the sliding formwork telescopic assembly 109 can be adjusted by adjusting the bolt 122, so that the upper arm unit can be adapted to upper arms of different sizes.

[0045] The combined design of the sliding module 120 and the sliding groove 121 allows the first strap 101 of the upper arm unit to slide along the arm to accommodate different arm sizes. This design not only ensures the structural adaptability of the arm exoskeleton 100 but also increases its comfort. The presence of the adjusting bolt 122 allows the user to easily adjust the position of the first strap 101 of the arm exoskeleton 100 according to their arm size. The arm exoskeleton 100 of this invention can adapt to various size requirements and can be worn by both children and adults. The placement of the first strap 101 in the upper arm unit further enhances the stability and comfort of the arm exoskeleton 100. The sliding telescopic assembly 109 not only helps to better secure the arm exoskeleton 100 to the arm but also provides additional support and protection for the arm exoskeleton 100.

[0046] Figure 8 A schematic diagram of the elbow joint module 105 is shown. Figure 2 As shown, the elbow joint module 105 is mechanically connected to the upper arm connector 107 and the forearm connector 110. The elbow joint module 105 is used to limit the flexion and extension angle of the elbow joint, and to realize the extension and flexion movements of the elbow joint.

[0047] The elbow joint, a crucial link between the upper arm and forearm, is composed of the humerus (upper arm bone), radius, and ulna (the two bones of the forearm), and its structure resembles a hinge. The range of motion of the human elbow joint is approximately 9–137°. Elbow joint movement is essential for everyday tasks such as grasping objects and pushing / pulling. Forearm rotation involves the coordinated movement of the radius and ulna. The average forearm internal rotation angle in adults is 84°, and the external rotation angle is 82°. To ensure that the arm exoskeleton 100 can adapt to a wider range of patients' arms, this invention increases the rotational limit angle of the forearm unit to 90° and the elbow flexion / extension limit angle to 150°.

[0048] like Figure 8 As shown, the elbow joint module 105 includes a redirecting pulley 123, an elbow joint drive winding disc 126, a thin-walled bearing 127, and a limiting block 125. The redirecting pulley 123 and the elbow joint drive winding disc 126 are arranged in the same plane of rotation, such that the Bowden cable 108 is guided by the redirecting pulley 123 and wound around the elbow joint drive winding disc 126. The thin-walled bearing 127 is coaxially arranged on one side of the elbow joint drive winding disc 126. In the present invention Figure 8 In the design, a thin-walled bearing 127 is disposed on the left side of the elbow joint drive disc 126. A positioning sleeve 128 is disposed coaxially with the elbow joint drive disc 126 on the side of the thin-walled bearing 127 near the elbow joint module housing 124, such that the thin-walled bearing 127 is located between the elbow joint drive disc 126 and the positioning sleeve 128.

[0049] The elbow joint drive disc 126 is driven by a bidirectional Bowden wire 118 wound around it. At least one limiting block 125 is disposed between the elbow joint drive disc 126 and the elbow joint module housing 124. Figure 8 In the middle, the limiting block 125 is located on the right side of the elbow joint drive disc 126. The limiting block 125 is used to limit the rotation angle range of the elbow joint drive disc 126.

[0050] Preferably, the elbow joint module 105 is externally covered by an elbow joint module shell 124. For example, in Figure 8In this design, the elbow joint module housing 124 covers the elbow joint module 105 from two opposite directions along the axial direction of the elbow joint drive disc 126. Preferably, the elbow joint module housing 124 is adaptively provided with cavities, grooves, and fixing holes that match the elbow joint module 105, so that the two elbow joint module housings 124 can be relatively fixed when they contact each other. Preferably, after the two elbow joint module housings 124 are relatively fixed, several bolts are passed through the fixing holes to mechanically fix the two opposing elbow joint module housings 124. The elbow joint module housing 124 is made of lightweight aluminum material, which serves to fix the internal components and to provide a sealed environment for lubricated components such as the Bowden wire 118 and bearings, thereby improving the service life of the equipment.

[0051] In this invention, at least two limiting blocks 125 are provided on the side wall of the elbow joint drive winch 126 to limit the rotation angle range of the winch, thereby preventing the angle from exceeding the limit due to control failure or other force majeure factors. Figure 8 As shown, two limiting blocks 125 are set at different circumferential positions of the elbow joint drive disk 126, and one limiting block 125 is set at the upper part of the elbow joint drive module housing 124 on the left side, and the other limiting block 125 is set at the lower part of the elbow joint drive module housing 124 on the right side.

[0052] The limiting block 125 is injection molded integrally with the elbow joint drive module housing 124. A stop 135 is provided on the elbow joint drive winding disc 126. There is a gap between the stop 135 and the Bowden wire 118, that is, the stop 135 does not affect the movement of the Bowden wire 118 on the elbow joint drive winding disc 126. The side of the stop 135 that contacts the Bowden wire 118 may be provided with several grooves to allow the Bowden wire 118 to slide, so as to make the Bowden wire 118 move in an orderly manner and prevent the Bowden wire 118 from shifting and knotting.

[0053] When the Bowden line 118 drives the elbow joint drive disk 126 to rotate, the stop block 135 is restricted within the circumferential angle range formed by the two limit blocks 125, thereby ensuring that the rotation angle of the elbow joint module 105 does not exceed the design range.

[0054] When the elbow joint drive disc 126 rotates, the limiting block 125 mechanically limits the maximum rotation angle of the elbow joint drive disc 126 to ensure the safety of the rehabilitation training system. The limiting block 125 also prevents injury to the wearer due to malfunction of the motor or other parts.

[0055] After the Bowden wire 118 exits the elbow joint drive winding disc 126, it is wound and guided by the redirection pulley 123, making the input and output ends of the Bowden wire 118 as close as possible, or even parallel, thus making the entire elbow joint module 105 more compact and easier to assemble. The redirection pulley 123 inside the elbow joint module 105 cooperates with the elbow joint drive winding disc 126, improving the space utilization of the elbow joint module 105. The elbow joint module 105 of the present invention has a compact and lightweight structure and can be modularly assembled.

[0056] Given its relatively distant location from the upper arm unit, the lightweight and compact design of the forearm unit became the primary considerations. Traditional forearm rotation mechanisms typically employ a fixed C-shaped or integral circular design, making the arm exoskeleton 100 bulky and difficult to adapt to limbs of different sizes. This invention observes the characteristics of relative rotation between the radius and ulna during forearm internal rotation, particularly pronounced near the wrist, while the relative rotation at the elbow joint is smaller. This invention mounts the second strap 134 of the forearm unit at the elbow joint, while the follower component is mechanically fixed near the wrist, ensuring that forearm rotation does not negatively impact the stability and rigidity of the arm exoskeleton 100.

[0057] like Figure 2 As shown, the forearm unit includes a guide sleeve 104, a second strap 134, and a wrist assembly 102. The guide sleeve 104 is disposed outside the second strap 134. The guide sleeve 104 is used to position itself at the elbow and define the space for forearm rotational movement. Figure 3 As shown, a forearm shaft end fastener 115 is provided on the outer side of the second strap 134. The forearm shaft end fastener 115 is used to fix the second strap 134 and several components. The forearm shaft end fastener 115 is mechanically connected to the elbow joint module 105 via the forearm connector 110. A fixing base 112 is provided on the forearm shaft end fastener 115. Terminal fasteners 114 are used to allow the Bowden cable 118 to pass through and to restrict the swing and lateral movement of the Bowden cable 118. Terminal fasteners 114 are provided on both sides of the fixing base 112. The line connecting the two terminal fasteners 114 is approximately perpendicular to the direction of the Bowden cable 118.

[0058] like Figure 4As shown, a drive chuck 119 is provided at one end of the forearm shaft end fitting 115 facing the wrist assembly 102. The drive chuck 119 is covered by a guide sleeve 104 and exists in a cavity within the guide sleeve 104. The drive chuck 119 includes a chuck plate 111 and a cable winch 116. The through hole of the chuck plate 111 faces the direction of the wrist assembly 102. The chuck plate 111 has a hole for engaging the drive rod 103. The hole can be an open hole or a closed hole. The cable winch 116 is located on the side of the chuck plate 111 facing the wrist assembly 102, and the centerline of the cable winch 116 is not perpendicular to the axis of the forearm. For example, the winding direction of the Bowden wire 118 on the cable winch 116 is approximately perpendicular to the axis of the forearm. The radial joint bearing 133 at the first end of the drive rod 103 is rotatably mechanically connected to the fixed base 112. The drive rod 103 passes through the through hole of the chuck plate 111. The radial joint bearing 133 at the second end of the drive rod 103 is rotatably connected to the connecting end on the wrist assembly 102, allowing the wrist assembly 102 and the drive rod 103 to adaptively adjust their connection angle. When the drive rod 103 is rotated by the Bowden cable 108, the wrist assembly 102 rotates to drive the forearm to perform internal / external rotation. The drive rod 103 of the present invention is designed such that the forearm portion of the arm exoskeleton 100 matches the human forearm, making it easier for the forearm portion to internally and externally rotate.

[0059] The chuck plate 111 restricts the position of the drive rod 103 and drives the drive rod 103 to rotate. The chuck plate 111 of the present invention holds the drive rod 103 and drives the drive rod 103 to rotate, which can withstand the load caused by frequent forearm internal and external rotation movements and reduce the degree of sliding wear of the drive rod 103.

[0060] At least two guide pulleys 117 are provided at one end of the forearm shaft end fastener 115 near the wrist assembly 102. The at least two guide pulleys 117 are located on both sides of the guide sleeve 104, and the height of the axis of the guide pulleys 117 is close to the height of the hole in the terminal fastener 114. This allows the Bowden wire 118 to bend and be guided to the connection position of the drive rod 103 after passing through the terminal fastener 114, enabling the Bowden wire 118 to pull the drive rod 103 to move and rotate. This arrangement of the forearm unit enables effective driving of the internal and external rotation movements of the human forearm. The chuck plate 111 is made of a high-strength and wear-resistant material to withstand the load caused by frequent internal and external rotation movements of the forearm and reduce the degree of sliding wear on the drive rod 103.

[0061] The forearm unit of the present invention utilizes a second strap 134 and a retractable drive rod 103 to maintain stability and rigidity of the forearm during rotation, while taking into account the natural characteristics of the forearm's rotational motion.

[0062] Between the fixed base 112 and the follower component, this invention introduces a retractable drive rod 103 to transmit force. The follower component refers to a component capable of adaptive movement, representing various components in this invention. This arrangement not only avoids the entire arm being wrapped up but also achieves optimal weight reduction. Both ends of the drive rod 103 are fixed using radial joint bearings 133, allowing it to swing and rotate arbitrarily within space. Combined with the elbow joint module 105, force is transmitted from the forearm drive motor, and the Bowden line 118, after passing over the redirection pulley 123, is applied to the guide pulley 117, pushing the drive rod 103 to rotate, thereby causing the forearm to rotate inward and outward. It is important to note that the movement trajectory of the forearm unit must be consistent with the inward and outward rotation of the arm and provide force support for this rotation. Therefore, the movement trajectory of the drive rod 103 is restricted to a space related to the size and kinematic model of the arm, which is why the guide sleeve 104 is designed in this way.

[0063] To accurately determine the shape and size of the guide sleeve 104, this invention first establishes a spatial mathematical model related to the size and movement characteristics of the human forearm. Specifically, based on actual measurements and observations of the human forearm, key dimensions and movement parameters are extracted through detailed analysis of the forearm's physiological structure and movement mechanism, thereby constructing a spatial mathematical model closely related to the size and movement characteristics of the human forearm. The structural design of the guide sleeve 104 directly affects the overall performance of the exoskeleton system and the wearer's comfort. Therefore, this invention employs a "reverse construction method," transforming the parameters in the spatial mathematical model into a geometric description of the internal space of the guide sleeve 104. This unique design method allows the guide sleeve 104 to better adapt to the physiological structure and movement requirements of the human forearm, improving the control accuracy and stability of the arm exoskeleton 100 for the internal and external rotation movements of the forearm. The guide sleeve 104 can be processed using 3D additive manufacturing technology.

[0064] like Figure 9As shown, the drive rod 103 includes a sleeve rod 130, a shaft rod 131, a connecting rod 132, and at least two radial articulated bearings 133. The first end of the sleeve rod 130 is connected to the shaft rod 131 in a manner that allows the shaft rod 131 to slide within it. At least one radial articulated bearing 133 is disposed at one end of the shaft rod 131 that does not contact the sleeve rod 130. The second end of the sleeve rod 130 is connected to the connecting rod 132 in a manner that allows the connecting rod 132 to slide within it. At least one radial articulated bearing 133 is disposed at one end of the connecting rod 132 that does not contact the sleeve rod 130. This arrangement allows the entire drive rod 103 to assume any posture within a certain space. The advantage of the extendable function of the drive rod 103 is that (1) it can adapt to the length changes when driving the forearm to rotate internally and externally, and (2) the drive rod 103 matches the length of the user's forearm, improving the adaptability of the arm exoskeleton 100.

[0065] Preferably, the first strap 101 and the elbow joint module 105 are provided with guide components 106. For example... Figure 7 As shown, the guide assembly 106 consists of a redirecting pulley 123, a port nut 113, and a guide housing. Port nuts 113 are provided at both the inlet and outlet of the guide housing. At least one redirecting pulley 123 is provided within the cavity of the guide housing.

[0066] Within the guide assembly 106, the Bowden cable 118 directly contacts and is guided by the redirection pulley 123. During the transmission of the Bowden cable 118, only static friction is generated, avoiding sliding friction and bending stress between the cable sleeve and the Bowden cable 118 when it bends directly. This reduces transmission capacity loss and improves the overall transmission efficiency of the exoskeleton 100. The guide assembly 106 has a 90° inlet / outlet angle and can be modularly assembled and combined, ensuring accurate positioning and smooth rotation at any location. This allows the Bowden cable 108 to smoothly transmit torque, thereby improving the sensitivity and controllability of the entire exoskeleton system.

[0067] like Figure 2 As shown, Bowden cable 108 is positioned at a distance from sliding formwork telescopic assembly 109 on its outer side. After Bowden cable 108 passes through and is guided by guide assembly 106, it connects to terminal fixing member 114, with Bowden wire 118 passing through a hole in terminal fixing member 114. Bowden wire 118, after passing through terminal fixing member 114, is guided by guide pulley 117 and wound around cable winch 116. Chuck plate 111 connected to cable winch 116 drives drive rod 103 to rotate, thereby driving forearm internal and external rotation.

[0068] like Figure 2As shown, the torque transmitted by the forearm rotary motor 300 via the Bowden cable 108 is guided by at least two sets of guide assemblies 106 and guide pulleys 117, and then transmitted to the drive chuck 119 on the guide sleeve 104 at the elbow. The drive chuck 119 drives the drive rod 103 and makes it rotate within the spatial trajectory of the guide sleeve 104, thereby driving the human forearm to perform internal / external rotation movements.

[0069] The arm rehabilitation training system of the present invention can be adapted to arms of different sizes in response to control commands from the processing unit 200. It has a simple structure and flexible assembly. The arm exoskeleton 100 of the present invention fully considers the principles of ergonomics and biomechanics, ensuring that the exoskeleton system has good adaptability and stability when assisting human movement.

[0070] like Figure 2 As shown, when the Bowden cable 108 transmits the torque of the forearm rotary motor 300, after being guided by at least two sets of cable guide assemblies 106 and guide pulleys, at least one set of Bowden cables 108 transmits the torque to the redirection pulley 123 in the elbow joint module 105. The redirection pulley 123 drives the elbow joint drive disc 126 to rotate and drives the elbow joint of the human arm to rotate, thereby realizing the extension / flexion movement of the arm. The arm exoskeleton 100 of the present invention, through the extension and flexion movements of the Bowden cable 108 and the elbow joint module 105, can limit the range of motion of the elbow joint to protect the elbow joint.

[0071] The pulley transmission structure composed of Bowden cable 108 and several pulleys in this invention enables the design of the entire arm exoskeleton 100 to not only meet functional requirements, but also to have features such as lightweight, flexibility and adaptability, optimizing the heavyness of traditional motor drive and having an innovative application in ergonomics.

[0072] It should be noted that the specific embodiments described above are exemplary. Those skilled in the art can devise various solutions inspired by the disclosure of this invention, and these solutions all fall within the scope of this invention and its protection. Those skilled in the art should understand that this specification and its accompanying drawings are illustrative and not intended to limit the scope of the claims. The scope of protection of this invention is defined by the claims and their equivalents. This specification contains multiple inventive concepts; terms such as "preferredly," "according to a preferred embodiment," or "optionally" indicate that the corresponding paragraph discloses an independent concept. The applicant reserves the right to file divisional applications based on each inventive concept.

Claims

1. An arm rehabilitation training system, comprising a processing unit (200) and an arm exoskeleton (100), wherein the forearm rotary motors (300) of the processing unit (200) and the arm exoskeleton (100) are connected in a wired and / or wireless manner, characterized in that, The arm exoskeleton (100) includes: A forearm rotary motor (300) is installed in the torso of the human body to generate torque; Bowden cable (108) is connected to the forearm rotary motor (300) and transmits the torque generated by the forearm rotary motor (300); The second strap (134) is installed at the elbow joint of the forearm; Guide sleeve (104) defines the space for the rotational movement of the forearm; The guide sleeve (104) is disposed on the outside of the second strap (134); a forearm shaft end fastener (115) is disposed on the outside of the second strap (134); a drive chuck (119) is disposed at one end of the forearm shaft end fastener (115) facing the wrist kit (102); the drive chuck (119) is covered by the guide sleeve (104) and exists in the cavity inside the guide sleeve (104); a fixing base (112) is disposed on the forearm shaft end fastener (115); in, After the torque of the forearm rotary motor (300) transmitted by the Bowden cable (108) is guided by at least two sets of guide components (106) and guide pulleys (117), the torque is transmitted to the drive chuck (119) on the guide sleeve (104) at the elbow. The drive chuck (119) drives the drive rod (103) and makes it rotate within the spatial trajectory of the guide sleeve (104), thereby driving the human forearm to perform internal / external rotation movements. The drive rod (103) includes a sleeve (130), a shaft (131), a connecting rod (132), and at least two radial joint bearings (133). A first end of the sleeve (130) is connected to the shaft (131) in a manner that allows the shaft (131) to slide within it. At least one radial joint bearing (133) is disposed at one end of the shaft (131) that does not contact the sleeve (130). A second end of the sleeve (130) is connected to the connecting rod (131) in a manner that allows the connecting rod (132) to slide within it. 32) Connection; at least one of the radial joint bearings (133) is disposed at one end of the connecting rod (132) that does not contact the sleeve rod (130); the first end of the drive rod (103) is connected to the fixed base (112) disposed on the forearm shaft end fastener (115), the second end of the drive rod (103) is connected to the wrist kit (102), and the wrist kit (102) rotates to drive the forearm to perform internal / external rotation when the drive rod (103) is rotated by the Bowden cable (108).

2. The arm rehabilitation training system according to claim 1, characterized in that, The arm exoskeleton (100) also includes an elbow joint module (105), which is connected to the upper arm unit and the forearm unit, and the elbow joint module (105) is connected to the forearm rotary motor (300) via the Bowden cable (108). When the Bowden cable (108) transmits the torque of the forearm rotary motor (300), after being guided by at least two sets of the guide components (106) and the guide pulleys (117), at least one set of Bowden cables (108) transmits the torque to the redirection pulleys (123) in the elbow joint module (105). The redirection pulleys (123) drive the elbow joint drive disc (126) to rotate and drive the elbow joint of the human arm to rotate, so as to realize the extension / flexion movement of the arm.

3. The arm rehabilitation training system according to claim 2, characterized in that, The elbow joint module (105) is connected to the sliding formwork telescopic assembly (109) via the upper arm connector (107). The sliding formwork telescopic assembly (109) is connected to the first strap (101). The Bowden cable (108) is disposed on the outside of the sliding form telescopic assembly (109) with a gap between it and the sliding form telescopic assembly (109).

4. The arm rehabilitation training system according to claim 2, characterized in that, The surface of the elbow joint module (105) is provided with at least two guide components (106). The Bowden cable (108) is bent by the guide assembly (106) and connected to the drive chuck (119) via the guide pulley (117). When the Bowden cable (108) transmits the torque of the forearm rotary motor (300), the Bowden wire (118) within the Bowden cable (108) transmits the torque of the forearm rotary motor (300) to the drive chuck (119).

5. The arm rehabilitation training system according to claim 1, characterized in that, The drive chuck (119) includes a chuck plate (111) and a cable winch (116). The chuck plate (111) restricts the position of the drive rod (103) and drives the drive rod (103) to rotate.

6. The arm rehabilitation training system according to claim 2, characterized in that, The elbow joint module (105) includes a redirection pulley (123), an elbow joint drive disc (126), a thin-walled bearing (127), and a limiting block (125). The Bowden cable (108) is guided by the redirection pulley (123) and wound around the elbow joint drive disc (126). The thin-walled bearing (127) is coaxially disposed on one side of the elbow joint drive disc (126). The limiting block (125) is disposed between the elbow joint drive disc (126) and the elbow joint module housing (124) to limit the rotation angle range of the elbow joint drive disc (126).

7. The arm rehabilitation training system according to claim 6, characterized in that, The elbow joint module (105) also includes a positioning sleeve (128). The positioning sleeve (128) is arranged coaxially with the elbow joint drive disc (126) on the side of the thin-walled bearing (127) near the elbow joint module housing (124).

8. The arm rehabilitation training system according to claim 3, characterized in that, The sliding telescopic assembly (109) connected to the elbow joint module (105) via the upper arm connector (107) includes a sliding module (120) and a sliding groove (121). One end of the sliding module (120) is connected to the first strap (101); The sliding groove (121) is slidably connected to the other end of the sliding module (120), and the sliding module (120) and the sliding groove (121) are connected by adjusting bolts (122) so that the position of the first strap (101) or the elbow joint module (105) can be adjusted by adjusting the adjustable length of the sliding telescopic assembly (109).

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