Induction type upper limb exoskeleton

Abstract

An upper limb inductive exoskeleton (100) configured to interface with external systems (600) such as FES, advanced cognitive systems, and VR / AR interactive programs to facilitate rehabilitation and assistance of upper limb injury patients. The inductive upper limb exoskeleton (100) can provide anti-gravity support at the shoulder level, achieve upper limb configuration restrictions of the shoulder and elbow range of motion, and read kinematic data that can be analyzed by the user and clinician. An inductive upper limb exoskeleton (100) is equipped with electronic processing and communication devices (602, 620) that can support bidirectional communication between the exoskeleton (600) and an external system (600).

Description

Technical Field

[0001] The present disclosure relates to a sensory upper limb exoskeleton, which is constructed to provide rehabilitation and assistance to users with upper limb impairments based on wearable robotic technology, and also relates to a passive shoulder and elbow module for helping users and clinicians provide feedback on motion and physiological data. Background Art

[0002] The present disclosure relates to an inductive exoskeleton system for assisting a user to exert force, which, when worn by the user, can engage with the mutually movable parts of the user's joints and provide anti-gravity support at the shoulder level. The present disclosure also relates to an inductive exoskeleton system, which is configured with an actuator, a sensor system, and an electronic processing and communication unit.

[0003] Wearable exoskeletons can assist patients in rehabilitation settings. Exoskeletons can be set up to transfer loads from the user, reducing the forces on the body. Stroke patients can use exoskeletons in training settings and during activities of daily living (ADL). In an aging society, the need for rehabilitation is increasing, and clinical professionals and doctors need to incorporate advanced robotics to deal with these issues.

[0004] An exemplary exoskeleton system is provided for the upper body, including the shoulders and arms, to improve performance by reducing forces at the shoulders (e.g., gravity pulling the arms downward) and enabling the user to perform tasks that require lifting the shoulders with less effort. The exoskeleton can help the user elevate and support the user's arms, reducing physical risk and discomfort when performing tasks in front of the chest or above the head.

[0005] Current wearable exoskeletons do not offer a lightweight shoulder and elbow orthosis that provides anti-gravity support and integrates functional electrical stimulation (FES), digital twin technology, virtual reality (VR) and augmented reality (AR) systems for ADL and rehabilitation tasks. In addition, the exoskeleton design must be intrinsically safe and comply with safety regulations and standards. Existing wearable exoskeletons do not assist with shoulder flexion and abduction movements, nor do they allow the user to set a specific upper limb configuration through the end stops of the movable robotic joints.

[0006] Another issue is ensuring that the assistance provided by the exoskeleton system is commensurate with the specific needs and activities of the user. Existing passive systems can provide static or non-dynamic assistance, but they are not tailored to specific movements, postures, or users. Different users may use the exoskeleton system in subsequent shifts. However, existing exoskeleton systems are not sufficiently adaptable to the user's specific physique, strength, and tasks, resulting in poor compliance and poor effectiveness for different users. In addition, existing exoskeleton devices may be poorly adaptable to users performing unrelated tasks and must be removed if they are to perform these tasks comfortably and effectively.

[0007] Due to the variability and uncertainty of human movement, current robotic systems do not have the ability to integrate with FES systems to provide appropriate assistance to patients as needed. Therefore, exoskeletons need to provide a full set of kinematic data through embedded sensors and integrate the communication and control functions of the FES system to identify the patient's movement intentions during the rehabilitation process.

[0008] There is a need for a sensing upper extremity exoskeleton that can interface with FES, advanced cognitive systems, and VR / AR interaction programs to regulate the stimulation response of each muscle, provide collaborative control strategies, ensure safe and robust execution of interaction strategies, and adjust the system in real time based on evaluation functions and combined with multimodal communication interfaces. In addition, there is a need for a sensing passive upper extremity exoskeleton that can deliver anti-gravity support at the shoulder level, achieve upper extremity configuration restrictions for shoulder and elbow range of motion, and read kinematic data. In addition, there is a need for a sensing upper extremity exoskeleton equipped with electronic processing and communication devices to support two-way communication with external systems. Summary of the invention

[0009] The embodiments disclosed herein have several aspects, no single aspect of which alone encompasses the desirable attributes of the present disclosure. Without limiting the scope of the present disclosure, its more salient features will now be briefly discussed. After considering this discussion, and particularly after reading the "Detailed Description of the Invention" section, it will become apparent how the features of the embodiments described herein provide advantages over existing rehabilitation systems and exoskeleton devices.

[0010] The present disclosure provides a personalized robotic system and related methods that can be used for physical rehabilitation of stroke patients. The system combines a passive upper limb exoskeleton with embedded sensors to provide a sensing exoskeleton system. The system provides a lighter, portable exoskeleton for rehabilitation applications. The sensing exoskeleton can be used at home to monitor the patient's practice in daily training and ALD tasks. Clinicians can use this information to plan personalized rehabilitation programs for patients at home.

[0011] According to one embodiment, a passive upper body exoskeleton is configured for use in a sensor-based exoskeleton system. The exoskeleton is lightweight, portable, and can be monitored in a clinical setting and at home. The exoskeleton includes a physical human machine interface (pHRi), a compensation device, a shoulder kinematic chain, a rotation cuff, an elbow module, and onboard electronics integrated with an electronics platform.

[0012] The pHRi and shoulder kinematic chain facilitate a controlled, near-physiological range of motion of the shoulder and elbow. In one embodiment, the pHRi is adjustable in length along the user's spine and has a lockable linear guide for adjusting shoulder width. The pHRi has a rear horizontal support that generally extends over the user's left and right shoulder blades and from the user's left shoulder to the right shoulder. The horizontal support is connected to the linear guide for adjusting shoulder width. A vertical pivot frame is slidably secured to the linear guide by screws or other fasteners. The vertical pivot frame generally extends from a posterior medial portion of the horizontal support about a second shoulder rotation axis to a laterally positioned free vertical pivot joint at a first shoulder rotation axis above the user's shoulder. The vertical pivot frame is configured to be substantially vertical to avoid interference with the user, thereby reducing burden.

[0013] The free vertical pivot joint allows movement in the transverse plane and is equipped with an encoder for determining the joint position around the first shoulder rotation axis. A horizontal arm extends from the free vertical pivot joint and is connected to the vertical arm by a lockable hinge. The hinge is used to identify and set the correct position of the shoulder kinematic chain on the user. The horizontal arm includes a slot for adjusting the relative distance between the free vertical pivot joint at the first shoulder rotation axis and the shoulder internal and external rotation joint (or rotation sleeve) at the third shoulder rotation axis. The horizontal arm rotates around the first shoulder rotation axis. The free vertical pivot joint has a torque limiting knob, which can fix the slot of the horizontal arm on the vertical pivot frame and set the relative distance between the free vertical pivot joint at the first shoulder rotation axis and the shoulder internal and external rotation joint at the third shoulder rotation axis.

[0014] The shoulder kinematic chain also includes a spring-loaded lift joint that allows movement in the sagittal plane and the frontal plane. The center of rotation of the spring-loaded lift joint is consistent with the second shoulder rotation axis. The spring-loaded lift joint is connected to a spring-loaded mechanism (or elastic element) encapsulated in the compensation device. The spring-loaded lift joint is also equipped with an encoder for reading the joint position about the second shoulder rotation axis. The shoulder kinematic chain enables physical integration of the FES system and kinematic monitoring of the shoulder joint through a sensor device. The shoulder kinematic chain does not include a coaxial joint for adduction and abduction of the arm in the frontal plane, nor does it include a parallel tele-joint. Instead, the shoulder kinematic chain has a free vertical pivot joint and a spring-loaded lift joint. The exoskeleton uses the shoulder kinematic chain to reposition the compensation device and uses the spring-loaded lift joint to allow and assist adduction and abduction of the arm in the frontal plane.

[0015] The compensating device is arranged to provide an assistive variable torque at the level of the shoulder and to compensate for gravity when the shoulder moves in the sagittal and frontal planes. The compensating device is arranged to extend the duration and intensity of rehabilitation training and to improve performance when performing tasks. The compensating device can be kinematically monitored by sensors and ensure the correct routing of cables. The compensating device includes a mechanism or switch to switch between an assist mode and a zero torque mode. The compensating device has a fixed axis, which corresponds to the shoulder elevation axis or the second shoulder rotation axis. When the compensating device is switched to the transparent mode, the bayonet is inserted. The lever is fixed to the fixed axis, and the second shoulder rotation axis coincides with the housing-elastic element axis. Therefore, during the shoulder elevation process, the elastic element cannot generate torque to assist the user because the direction of force applied by the elastic element coincides with the second shoulder rotation axis. When the compensating device is switched to the assist mode, the lever is allowed to rotate about the lever axis, and the lever and the direction of force applied by the elastic element are consistent. The presence of the inner stroke end stop limits the stroke of the lever, so that torque can be generated above a certain angle, and torque transmission cannot be achieved below this certain angle.

[0016] The rotation cuff includes a circular guide, the center of rotation of which is consistent with the user's shoulder internal and external rotation axis or the third shoulder rotation axis. The rotation cuff includes a circular platform, and first and second movable end stops. The circular platform has a bearing that allows the circular platform to slide along the circular guide. The rotation cuff is located between the compensation device and the elbow module. The first and second movable end stops have different degrees of steps, so that the rotation cuff can achieve customization of the user's range of motion around the third shoulder rotation axis.

[0017] The first and second movable end stops have first and second annular movable tracks and use spring pins to release and stop the movement of the movable end stops. The rotation cuff can monitor the movement status through an encoder and promote free movement. The rotation cuff can also be equipped with an encoder encapsulated in an encoder housing. The encoder is located between the first and second movable end stops and is used to read the joint position of the rotation cuff. This design provides a compact solution for monitoring the internal and external rotation angles.

[0018] The elbow module is configured to ensure the freedom of flexion and extension movement at the user's elbow joint. The elbow module can be configured to maintain the user's upper limbs in a specific position to restore the physiological posture according to the desired physiological pattern. The elbow module can achieve physical integration of the FES system and can use a sensor device to perform kinematic monitoring of the elbow joint. The elbow module has a flexion and extension joint, and its rotation center is consistent with the user's elbow flexion and extension axis or the fourth rotation axis I4. The elbow module may include a first and a second movable end stop to facilitate adjustment of the range of motion of the flexion and extension joint.

[0019] The exoskeleton may be integrated with an electronic platform for sensor data acquisition, processing and communication. The electronic platform for sensor data acquisition, processing and communication of the exoskeleton includes multiple sensors, encoders, and IMUs located at strategic locations of the portable exoskeleton. The electronic platform may include a main control unit, at least one Bluetooth dongle, an Ethernet switch, and a battery pack. The electronic platform for sensor data acquisition, processing and communication also facilitates comprehensive software integration with the FES system, thereby controlling the stimulation and acquisition modules through a central platform.

[0020] The complete set of kinematic data obtained from the embedded sensors can provide relevant input variables for the user, medical clinician and other interactive modules. The electronic platform includes data monitoring devices, such as a graphical user interface on a monitoring computer to enable real-time visualization of kinematic data acquired by the sensor device, record and store kinematic data, and regulate FES communication and control.

[0021] These and other features, aspects and advantages of the present disclosure will become better understood with regard to the following description, appended claims and accompanying drawings.

[0022] Glossary

[0023] Where used, the term "proximal" has its ordinary meaning and refers to a location immediately adjacent to or near the point of attachment or origin or center point, or located toward the center of the body. Similarly, the term "distal" has its ordinary meaning and refers to a location away from the point of attachment or origin or center point, or located away from the center of the body. The term "posterior" also has its ordinary meaning and refers to a location that is behind or rearward of another location. Finally, the term "anterior" has its ordinary meaning and refers to a location that is in front of or in front of another location.

[0024] These anatomical terms refer to the anatomical position of the user when wearing the sensor-enabled upper limb exoskeleton. The anatomical position generally refers to the position of the body upright, face forward, arms at the sides, and palms facing forward, which is a benchmark for describing the relationship between the various parts of the body.

[0025] The terms "rigid", "flexible", "compliant", and "elastic" may be used to distinguish between properties of certain features of the interface system. The term "rigid" shall mean that a component of the exoskeleton (such as the frame) is generally not flexible. For some features to be "rigid" shall mean that they do not lose their overall shape when subjected to force, but may break if subjected to sufficient force to bend. The term "flexible" shall mean that these features can be repeatedly bent so that they can be bent into a retained shape, or that these features do not retain their overall shape but continue to deform when subjected to force.

[0026] The term "compliant" may refer to the ability of such flexible features to generally conform to the shape of another object when in contact with the other object, either by any suitable natural or applied force (e.g., gravity) or by a force applied by an external mechanism (e.g., a strapping mechanism). The term "elastic" may refer to the ability of such flexible features to generally return to an initial general shape without permanent deformation. As for the term "semi-rigid," it refers to the property of a support or housing that provides support and is self-supporting; however, such support or housing may be flexible or elastic.

[0027] The term "zero torque mode" is used to describe a mode of the compensating device in which the exoskeleton provides neither resistance nor assistance. Zero torque mode refers to the application of approximately zero Newton-meters, or less than 0.57 Newton-meters of torque throughout the entire range of shoulder flexion angles.

[0028] The term "control unit" is used to describe a main circuit board that is configured to provide power and appropriate electronic interfaces for wired connections to all relevant sensors. A control unit is part of an electronic platform that supports two-way communication with external systems.

[0029] The term "encoder" has its ordinary and customary meaning to those skilled in the art and, unless otherwise specified, may refer to both absolute and incremental encoders. An encoder may include a device or sensor for detecting position information. An encoder may be mechanical, optical, magnetic, or electromagnetic induction.

[0030] The term "sensor" has its ordinary and usual meaning to those skilled in the art. A sensor may refer to a device that measures a physical quantity or quality and converts the measurement result into an electrical signal that can be read, analyzed, stored and / or understood by a user, clinician or other instrument. In addition, the term "inductive" refers to the installation or embedding of one or more sensors.

[0031] The term "kinematic data" is to be understood as data relating to the movement of the exoskeleton and the sensing parts of the exoskeleton.

[0032] The term "cable" should not be construed restrictively, but includes any flexible, elongated structure capable of being wound and unwound, such as a rope, wire, cord, or thread.

[0033] The term "user" refers to a person who uses an exoskeleton. A user can be a patient or an operator. The term "clinician" refers to a clinical specialist, supervisor, therapist, physician, or a person in a similar role who assists or supervises a user in operating an exoskeleton.

[0034] Embodiments of the present disclosure are suitable for use with humans and can be sized to accommodate the sizes and contours of humans of different types, shapes, and builds. For ease of explanation, embodiments of the sensory exoskeleton system are described corresponding to different body parts and are represented in general anatomical terms of the human body.

[0035] Embodiments of the inductive exoskeleton system may correspond to the anterior and posterior of the body defined by the anterior-posterior plane. The anatomical terms are not intended to depart from the normal understanding of such terms as would be readily understood by one of ordinary skill in the orthotics, braces, human interfaces, and braces arts. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1A An overview of an exoskeleton embodiment for a sensor-based exoskeleton system is shown, the system comprising a physical human-machine interface, a shoulder kinematic chain, a compensation device, an elbow module, and a main control unit.

[0037] Figure 1B The motion architecture of one embodiment of a sensor-enabled exoskeleton is shown.

[0038] Figure 2A An overview of one embodiment of a shoulder kinematic chain is shown.

[0039] Figure 2B is a schematic diagram showing another embodiment of a shoulder kinematic chain.

[0040] Figure 2C is a perspective view of the passive rotational joint of the shoulder kinematic chain.

[0041] Figure 2D yes Figure 2C Cross-sectional view of the passive rotational joint shown.

[0042] Figure 2E It is shown Figure 2C Schematic diagram of the locking system of the passive rotation joint shown.

[0043] Figure 3A is a cross-section of the free vertical pivot joint of the shoulder kinematic chain.

[0044] Figure 3B is a perspective view of an anterior-posterior adjustment guide for the free vertical pivot joint of the shoulder kinematic chain.

[0045] Figure 4 is a cross-sectional view showing one embodiment of a compensation device.

[0046] Figure 5 yes Figure 4 A perspective view of the compensation device is shown.

[0047] Figure 6 is a schematic diagram showing the internal components of one embodiment of a compensation device.

[0048] Figure 7 is a schematic diagram showing the internal components of an embodiment of a compensating device having different axes of rotation.

[0049] Fig. 8A and 8B is a schematic diagram showing one embodiment of a shoulder internal and external rotation joint.

[0050] Figure 8C is a cross-sectional view of one embodiment of a circular platform showing the shoulder internal and external rotation joint.

[0051] Fig.8D is a schematic diagram showing another embodiment of the shoulder internal and external rotation joint.

[0052] Fig. 9A is a schematic diagram showing one embodiment of an elbow module.

[0053] Fig. 9B is a schematic diagram showing another embodiment of an elbow module.

[0054] Fig.10 is a simplified block diagram of one embodiment of an electronics platform for a sensory exoskeleton system.

[0055] Fig.11A graphical user interface is shown that allows a user to intuitively view data collected from the various sensors of the sensing exoskeleton system.

[0056] Fig.12 The electric drive strategy for the sensor-based exoskeleton system is shown. DETAILED DESCRIPTION

[0057] Overview

[0058] The various embodiments of the present disclosure may be better understood by reading the following description in conjunction with the accompanying drawings, in which like reference numerals represent like elements.

[0059] Although various modifications and alternative configurations may be made to the contents of the present disclosure, certain illustrative embodiments are shown in the accompanying drawings and described below. However, it should be understood that the present disclosure is not intended to be limited to the specific embodiments disclosed. They are intended to cover all modifications, alternative configurations, combinations and equivalents that fall within the spirit and scope of the present disclosure.

[0060] Embodiments of the present disclosure are applicable to the human body and can be sized to accommodate the sizes and contours of different types, shapes, and builds of humans. For ease of explanation, embodiments of the sensory exoskeleton system are described corresponding to different parts of the human body and are represented in general anatomical terms of the human body. The term "muscle" is used in this article in a broad sense to include any neuroskeletal muscle (sometimes referred to as "skeletal muscle" or "striated muscle tissue") of the human body. For example, it can include muscles in the legs, arms, back, or any other part of the body.

[0061] This article describes a sensing exoskeleton that is capable of monitoring the user's arm kinematics and can interface with external platforms (including FES and AR / VR systems). FES here refers to sensors, technologies, devices, etc. that use electrical pulses to stimulate muscles. FES can be used in conjunction with electromyography (EMG) to record and interpret biological signals generated by muscles. For example, this includes sensors and technologies that use electromyography, surface electromyography, intramuscular electromyography, implantable electromyography sensors, or other sensors that use electrical activity or signals generated by any muscle of the human body. Other electronic devices carried along with the sensing system may include encoders, controllers, IMU devices, batteries, cameras, load cells, reducers, memory, motors, and resistors.

[0062] Sensor-Based Passive Upper Body Exoskeleton

[0063] Figure 1AOne embodiment of an upper body exoskeleton 100 that can be used in a sensor-based exoskeleton system is shown. It should be understood that not all objects or advantages must be achieved in any particular embodiment of the present disclosure. Those skilled in the art will recognize that the implementation or execution of the exoskeleton 100 can achieve or optimize one advantage or group of advantages taught without achieving other objects or advantages taught or suggested herein.

[0064] The exoskeleton 100 has a physical human machine interface (pHRi) 102 that is specifically designed to enhance the interaction between the exoskeleton 100 and the user. In an exemplary embodiment, the pHRi 102 provides trunk and spine stability to the user and balances the weight of the unilateral architecture of the exoskeleton 100; however, the exoskeleton 100 may also be constructed with a bilateral architecture. In addition, the pHRi 102 also helps to safely transmit the auxiliary forces provided by the compensation device 106. The pHRi 102 may include a padded rigid or semi-rigid back support plate, shoulder straps, a balance posture strap, arm sleeves, one or more forearm sleeves, and a fastening device (such as a strap or belt) for wrapping around the user's torso. The pHRi 102 may also include discrete adjustment devices, such as a slidable panel and locking pins, to adjust the length of the pHRi 102 along the user's spine. In addition, the pHRi 102 may also include an IMU 105, such as a nine-axis inertial module connected to the pHRi torso support 134.

[0065] The exoskeleton 100 has a unique shoulder kinematic chain 104 that provides enhanced mobility in the transverse, sagittal, and frontal planes. The exoskeleton has a shoulder internal and external rotation joint 108 that is configured to provide freedom of internal and external rotation movement. The shoulder internal and external rotation joint (i.e., rotation sleeve) 108 can be configured to maintain the user's upper limb in a specific position to restore the user's physiological posture for a desired physiological pattern. The exoskeleton 100 has an elbow module 110 that allows adjustable flexion and extension movement. The elbow module 110 is configured to provide freedom of flexion and extension movement at the user's elbow joint. The elbow module 110 can be configured to maintain the user's upper limb in a specific position to restore the user's physiological posture for a desired physiological pattern.

[0066] The exoskeleton 100 has a compensating device 106 that can provide assistance to the user when performing shoulder movements in the sagittal plane and the frontal plane. The compensating device 106 can partially compensate for the gravity generated by the weight of the user's upper limbs. In addition, the exoskeleton 100 also has an electronic control unit 112 connected to a plurality of sensors and a computer, which can be part of the exoskeleton electronic platform. The control unit 112 is capable of processing motion data received from the embedded sensors of the exoskeleton 100 and can be connected to the communication and control systems of other FES and VR / HR modules.

[0067] Figure 1B is a schematic diagram of an embodiment of a sensor-based exoskeleton 100, and is a conceptual diagram of a novel kinematic chain. The pHRi 102 can be discretely adjusted along the user's spine to accommodate users of different heights, and the length of the pHRi 102 can be discretely adjusted. The pHRi 102 includes an IMU 105, such as a 9-axis inertial module, which is connected to the pHRi torso support 134 to measure various factors, including the acceleration and angular velocity of the pHRi 102.

[0068] The exoskeleton 100 includes linear guides 116 for continuous linear adjustment, or passive linear degrees of freedom. Figure 2A As shown, in an embodiment where the linear guide 116 is configured as a passive linear degree of freedom to allow linear movement at the horizontal and frontal planes of the user's shoulder, the linear guide 116 includes an elastic member, such as an elastic strap or cable, extending parallel to the horizontal support 114 and between the vertical pivot frame 118 and the pHRi 102. The elastic linear degree of freedom of the linear guide 116 provided by the elastic member can be used to further increase the range of motion of the shoulder, especially when performing movements in the transverse plane. This allows the vertical pivot frame 118 to slide freely in the transverse plane and facilitates the vertical pivot frame 118 to elastically return to a normal resting position.

[0069] The exoskeleton 100 also includes an anterior-posterior adjustment guide 103 for setting the anterior-posterior position of the free vertical pivot joint 120. The anterior-posterior adjustment guide 103 can accommodate a wide range of anthropometric measurements. The anterior-posterior adjustment guide 103 both improves the alignment of the exoskeleton kinematic chain relative to the human joints and improves the wearability of the exoskeleton 100. This adjustment is particularly beneficial for users suffering from pathological postural abnormalities such as kyphosis.

[0070] In one embodiment, the free vertical pivot joint 120 includes a continuously adjustable joint 107, such as Figure 2A The slot 129 shown in FIG. 1 is used to continuously adjust the distance between the free vertical pivot joint 120 and the shoulder internal and external rotation joint 108. Figure 1B Although not explicitly shown, the exoskeleton 100 may include a lockable hinge 126, such as Figure 2A As shown, it is located between the free vertical pivot joint 120 and the adjacent rotational joint 113 .

[0071] In one embodiment, the exoskeleton 100 includes an adjacent rotational joint 113 located between the spring-loaded lifting joint 122 and the free vertical pivot joint 120. The adjacent rotational joint 113 allows passive rotational movement to partially simulate the extension and retraction freedom of the shoulder blade. The adjacent rotational joint 113 improves the alignment of the exoskeleton kinematic chain with the human joint during shoulder movement and increases the range of motion of the exoskeleton 100. The adjacent rotational joint 113 is particularly suitable for specific occasions to achieve some tasks of daily activities and functional rehabilitation.

[0072] The spring-loaded lifting joint 122 realizes the spring-loaded degree of freedom. The free vertical pivot joint 120, the adjacent rotation joint 113, the internal and external rotation joint 108 and the elbow module 110 realize the passive rotational degree of freedom. The pHRi 102, the arm length adjustment guide 115 and the forearm adjustment member 117 facilitate discrete linear adjustment to improve wearability and improve alignment with human joints. The exoskeleton 100 may further include an IMU 119, such as a 9-axis inertial module, which is connected to the spring-loaded lifting joint 122.

[0073] Shoulder kinetic chain

[0074] Figure 2A , 2B 3A and 3B show one embodiment of a shoulder kinematic chain 104 that may be used with an exoskeleton 100 of an inductive exoskeleton system. Figure 2A A shoulder kinematic chain 104 is shown, which can be motion-monitored by an encoder (e.g., encoder 109) and facilitate proper mobility of the entire shoulder. The pHRi 102 has a rear horizontal support rod 114 that is configured to extend approximately over the user's left and right shoulder blades and from the user's left shoulder to the user's right shoulder. A linear guide 116 is fixed to the horizontal support rod 114 and extends between the two ends of the horizontal support rod 114. The linear guide 116 may include holes or markings to indicate the alignment position of the vertical pivot relative to the sagittal plane. A vertical pivot frame 118 is slidably fixed to the linear guide 116 and can be fixed to a specific position of the linear guide 116 using screws or other fasteners. The vertical pivot frame 118 has a first end 130 connected to the linear guide and a second end 132 located above the user's shoulder at the first shoulder rotation axis or first rotation axis I1. The first end 130 may include a slider member for adjusting the position of the vertical pivot frame 118 along the linear guide 116.

[0075] The vertical pivot frame 118 generally extends from the posterior medial portion of the horizontal support rod 114 about a second shoulder rotation axis or a horizontal second rotation axis I2 to a laterally positioned free vertical pivot joint 120 located above the user's shoulder at the first rotation axis I1 and approximately in the frontal plane of the user. The vertical pivot frame 118 may be provided with a hole or opening at a first end 130, which are generally arranged along a length perpendicular to the horizontal support rod 114 to adjust the height of the vertical pivot frame 118 and accommodate users of different body shapes and heights. In addition, because the vertical pivot frame 118 is arranged to be substantially vertical, the vertical pivot frame 118 can avoid interference with the user's neck, shoulders, and other components of the exoskeleton 100.

[0076] The free vertical pivot joint 120 allows movement in the transverse plane and is equipped with an encoder 121 (such as Figure 3A 125 ), is used to determine the joint position around the first rotation axis I1. The free vertical pivot joint 120 can be fixed at a position approximately 150 mm to 185 mm from the user's sagittal plane. The horizontal arm 124 extends from the free vertical pivot joint 120 and is connected to the vertical arm 125 by a lockable hinge 126. The hinge 126 is used to identify and set the correct position of the shoulder kinematic chain 104 on the user. The horizontal arm 124 includes a slot 129 to allow adjustment of the relative distance D1 between the free vertical pivot joint 120 at the first rotation axis I1 and the shoulder internal and external rotation joint 108 at the third shoulder rotation axis or the third rotation axis I3. The horizontal arm 124 rotates around the first rotation axis I1.

[0077] The torque limiting knob 128 is used to secure the horizontal arm 124 to the vertical pivot frame 118 at the free vertical pivot joint 120. In one embodiment, the second end 132 of the vertical pivot frame 118 includes a groove 127 for receiving the horizontal arm 124. The groove 127 allows the horizontal arm 124 to move at the free vertical pivot joint 120. The torque limiting knob is used to set the relative distance D1 between the free vertical pivot joint 120 at the first rotation axis I1 and the shoulder internal and external rotation joint 108 at the third rotation axis I3. The horizontal arm 124 is provided with a slot 129 through which the torque limiting knob 128 extends and along which the relative distance D1 can be adjusted parallel to the second rotation axis I2. The vertical arm 125 is connected to the compensation device 106 at a spring-loaded lifting joint 122, which is located at the second rotation axis I2.

[0078] Figure 2BAnother embodiment of the shoulder kinematic chain 104 is shown. The horizontal support rod 114 has a linear guide 116 so that the vertical pivot frame 118 can be slidably fixed to the linear guide 116 and can be fixed to the linear guide 116 at a specific position by screws or other fasteners. The vertical pivot frame 118 has a rear rotation shoulder joint 136, which can be used to add a small range of freedom during the various stages of arm descent. The rear rotation shoulder joint 136 can be constructed to limit the abduction and adduction of the shoulder and can be locked to limit rotation. At the free vertical pivot joint 120 located above the shoulder, the vertical pivot frame 118 is connected to the adjacent vertical pivot frame 131. The adjacent vertical pivot frame 131 is connected to the compensation device 106 at a spring-loaded lifting joint 122 located at the second rotation axis I2.

[0079] Figure 2C-2E An embodiment of a shoulder kinematic chain 104 is shown, which includes an adjacent shoulder rotation joint 113 connected to a vertical pivot joint 120. The adjacent rotation joint 113 includes an arm 140 that can rotate about an adjacent shoulder axis A1. The rotation about the adjacent axis A1 achieved by the arm 140 allows the exoskeleton 100 to follow the extension and retraction movement of the user's shoulder blade. The adjacent rotation joint 113 includes a rotation flange 142 connected to the compensation device 106, and an axial constraint 144 connecting the arm 140 and the rotation flange 142. The adjacent rotation joint 113 is equipped with an absolute encoder 156 and a selective locking system 111.

[0080] Figure 2D A cross-sectional view of a selective locking system 111 is shown, which allows adjacent rotational joints 113 to lock a degree of freedom, or selectively limit the range of motion of a degree of freedom. The selective locking system 111 includes at least one selection pin 148, 149, which can be moved up and down relative to the upper arm of the user. At least one operating selector 146, 147 is fixed to at least one selection pin 148, 149 for operating and driving the selection pin to lock or unlock the degree of freedom about the adjacent axis A1. The selective locking system 111 also includes at least one spring plunger 150, 151 for ensuring the correct positioning of the at least one selection pin 148, 149. The selective locking system 111 includes a shaped socket 152, 153 for each selection pin 148, 149, which is formed on the rotational flange 142 to allow the selective locking system 111 to selectively limit the range of motion about the adjacent axis A1. The selective locking system 111 is easy to set up and has a minimal impact on the weight and load of the exoskeleton 100.

[0081] Figure 2EA detailed view of the selective locking system 111 is shown. The selective locking system 111 is based on the logic that the device can be operated from the right or left side using the selective locking system 111. When both selection pins 148 and 149 are in the "up" or "unengaged" position, the freedom of the flange 142 around the adjacent axis A1 is free and unrestricted. When the first selection pin 148 is in the non-engaged position and the second selection pin 149 is in the "down" or "engaged" position, the second selection pin 149 extends into the shaped socket 153, and the flange 142 is restricted to move only over a portion of the angle (half of the total range of motion) of rotation around the adjacent axis A1, thereby being selectively locked. When the first selection pin 148 is in the engaged position and the second selection pin 149 is in the non-engaged position, the flange 142 can move over the complementary portion of the angle. When both selection pins 148 and 149 are in the engaged position, the freedom of the flange 142 around the adjacent axis A1 is completely locked. The selective locking system 111 includes bearings 154 , 155 to accommodate rotation of the flange 142 about the adjacent axis A1 .

[0082] Figure 3A A cross-sectional view of the free vertical pivot joint is shown, and the fine adjustment capability of the lateral dimension of the shoulder kinematic chain 104 is illustrated. The shoulder mechanical chain 104 has a recess 127 for receiving a horizontal arm 124 and a torque limiting knob 128. This arrangement allows the horizontal arm 124 to extend from the first rotation axis I1 along the second rotation axis I2 and be inserted a relative distance D1 of approximately 0 mm to 25 mm. The shoulder kinematic chain 104 includes a spring-loaded lifting joint 122 to allow movement in the sagittal and frontal planes. The center of rotation of the spring-loaded lifting joint 122 coincides with the second rotation axis I2.

[0083] A spring-loaded lift joint 122 is connected to the compensating device 106 along the second axis of rotation I2. The spring-loaded lift joint has an encoder 109 to read the joint position about the second axis of rotation I2. The shoulder kinematic chain 104 does not include a coaxial joint for adduction and abduction of the arm in the frontal plane, nor a parallel tele-joint. Instead, the shoulder kinematic chain 104 has a free vertical pivot joint 120 and a spring-loaded lift joint 122. The exoskeleton 100 uses the shoulder kinematic chain 104 to reposition the compensating device 106 and uses the spring-loaded lift joint 122 to allow and assist adduction and abduction of the arm in the frontal plane.

[0084] Figure 3BAn embodiment of a front-to-back adjustment guide unit 103 is shown. The front-to-back adjustment guide unit 103 is a part of a vertical pivot frame 118, which forms a front-to-back guide 158 for adjusting the position of the first rotation axis I1 forward and backward. The front-to-back adjustment guide unit 103 includes a front-to-back guide 158 and a stand 160. In one embodiment, the stand 160 includes a locking member 162, such as a fastener, for fixing to the front-to-back guide 158. The front-to-back guide 158 also includes at least one rod 164, 166 to allow the stand 160 to translate linearly forward and backward in the front-to-back direction. The at least one rod 164, 166 can be cylindrical and connected to the stand 160.

[0085] Compensation device

[0086] Figure 4-6 A perspective view of a compensating device 200 is shown. The compensating device 200 is configured to provide an assistive variable torque at the level of the shoulder and compensate for gravity during movement of the shoulder in the sagittal and frontal planes. The compensating device 200 may use sensors to enable motion monitoring and ensure proper routing of cables. The compensating device 200 includes a spring-loaded mechanism 205 for switching between an assist mode and a zero torque mode.

[0087] The mode switch 204 has a bayonet 207 coaxially arranged with the second rotation axis I2, and can be switched between the transparent mode and the auxiliary mode by engaging and disengaging with the elastic loading mechanism 205. When the mode switch 204 is set to the transparent mode position, the bayonet 207 is inserted, the lever is fixed on the fixed axis, and the shoulder and the axis of the elastic member coincide. During the shoulder lifting process, the elastic member cannot generate torque to help the user because the force direction of the elastic member coincides with the shoulder axis I2. The transparent mode is a zero-torque mode, and the exoskeleton provides neither hindering action nor auxiliary action.

[0088] When the mode switch 204 is set to the auxiliary mode position, the pin 207 is not inserted, the lever can rotate around the lever axis, and the lever is aligned with the force direction of the elastic member. The inner stroke end of the fixed shaft 224 allows the compensation device 200 to limit the stroke of the lever 222, and torque can be generated above a specific angle (for example, 20°, 25°, 30°, 35° or 40°), while torque transmission is prohibited below this angle. The auxiliary mode setting provides a two-stage curve, which is characterized by a zero torque range and then an auxiliary range. The torque-angle curve is proportional to the weight of the user's upper limbs during anti-gravity exercise. The following will refer to Figure 7 The lever, spring loading mechanism and associated axis are described in more detail below.

[0089] like Figure 4As shown, the compensating device 200 has a frame or housing 202, in which the features of the compensating device 200 are contained. The compensating device 200 has a mode switch 204, which is located near the user's shoulder joint or near the second rotation axis I2. The compensating device 200 has an auxiliary level selector 206, which can change the preload of the auxiliary elastic member through at least one cam 236, 237 and a slider 238. The auxiliary level selector 206 can be adjusted between 8 different torque-angle characteristic levels. The compensating device 200 is provided with an IMU 234, such as a 9-axis IMU, in the housing 202 for monitoring the position of the user's arm. The compensating device 200 has an encoder 209 for reading the joint position around the second rotation axis I2. In addition, the compensating device is also equipped with a cable fixing system 208 for firmly fixing the cables of sensors (such as IMU and encoders) and leading them to the main control unit. The cable fixing system 208 minimizes the possibility of cable jamming.

[0090] like Figure 5 As shown, the compensating device 200 has an arm attachment 210 for connecting the compensating device 200 to the user's arm. The arm attachment 210 has an integrated D-ring portion that can be used with a strap and a fixing device to connect the compensating device 200 to the user's arm. The arm attachment 210 can be semi-rigid and have an arc-shaped profile that is bent around the third rotation axis I3. The compensating device 200 has an arm length adjustment guide 212, which can be used as a linear guide and adjust the length between the user's shoulder and elbow and is parallel to the third rotation axis I3. The arm length adjustment guide 212 can be set at a length of approximately 270 mm to 320 mm. The length of the arm length adjustment guide 212 can be set using a spring pin or a linear guide pin 214. The linear guide pin 214 can be located at the distal end of the compensating device 200 and is set to be perpendicular to the arm length adjustment guide 212. In one embodiment, the compensating device 200 includes a linear guide located inside the compensating device and parallel to the third rotation axis I3 to allow adjustment of the arm attachment 210. The compensating device 200 may also be equipped with an encoder 213, which is enclosed in an encoder housing 215 and is configured to measure the shoulder internal / external rotation joint angle. It should be understood that the encoder 213 and the housing 215 are Figure 8B An embodiment of the encoder 415 and the housing 414.

[0091] Figure 6Features of a compensation device 200 contained in a housing 202 are shown. The compensation device 200 has an elastic member 216, which is perpendicular to the second rotation axis I2 and has a first end 218 and a second end 220. The compensation device 200 has a fixed shaft 224 corresponding to the shoulder lifting axis or the second rotation axis I2. A lever 222 is rotatably connected to the fixed shaft 224. The first end 218 of the elastic member 216 is connected to a first mounting seat 226, which is connected to a first bracket 230. The second end 220 of the elastic member 216 is connected to a second mounting seat 228, which is connected to a second bracket 232. The elastic member 216 connects the lever 222 and the housing 202 (i.e., the outer frame of the housing 202), and the housing 202 can move with the user's arm and rotate around the second axis I2.

[0092] It should be understood that the compensation devices 200 and 300 are embodiments of the compensation device 106 . Figure 7 The compensation device 300 is shown in the auxiliary mode, which is a conceptual diagram of the novel elastic loading mechanism. The compensation device 300 has a fixed axis 312, which corresponds to the shoulder lifting axis or the second rotation axis I2. When the compensation device 300 is switched to the transparent mode, the bayonet 301 is inserted through the housing 302 of the compensation device 300 along the shoulder lifting axis I2, the lever 310 is fixed on the fixed axis 312, and the shoulder axis I2 and the housing-elastic member axis I5 coincide.

[0093] During the shoulder lifting process, the elastic member 304 cannot generate torque to assist the user because the force direction of the elastic member 304 coincides with the shoulder lifting axis I2. The lever-housing axis I7 is located at the far end of the compensation device 300 and is parallel to the housing-elastic member axis I5. When the compensation device 300 is switched to the auxiliary mode, the lever 310 is allowed to rotate around the lever axis I6, the lever 310 is aligned with the force direction of the elastic member 304, and the bayonet 301 is not engaged to fix the lever 310 and the fixed axis 312.

[0094] The presence of the inner stroke end of the fixed shaft 312 limits the stroke of the lever 310, so that torque can be generated above a specific angle (such as 20°, 25°, 30°, 35° or 40°), while torque transmission is not allowed below the specific angle. The first end 306 of the elastic member 304 is connected to the first mounting seat 314, and the first mounting seat 314 is connected to the first bracket 318. The second end 308 of the elastic member 304 is connected to the second mounting seat 316, and the second mounting seat 316 is connected to the second bracket 320. The elastic member 304 connects the lever 310 and the housing 302 (i.e., the outer frame of the housing 302), and the housing 302 can move with the user's arm and rotate around the shoulder lifting axis I2.

[0095] Rotating cuff

[0096] Figures 8A-8D An exemplary embodiment of a rotation sleeve 400 is shown. It should be understood that the shoulder internal and external rotation sleeve 400 is an embodiment of a shoulder internal and external rotation joint or rotation sleeve 108. The rotation sleeve 400 includes a circular guide 404, which can serve as a slider path around the user's shoulder internal and external rotation axis or third rotation axis I3. The circular guide defines arcuate channels 409, 411 for guiding and receiving the circular platform 402 and the movable end stops 406, 408. The center of rotation of the circular platform 402 is consistent with the third rotation axis I3. The rotation sleeve 400 is located between the compensation device 416 and the elbow module 418.

[0097] The first movable end stop 406 and the second movable end stop 408 have 10 degree steps, so that the rotation cuff 400 can customize the user's range of motion around the third rotation axis I3. The first movable end stop 406 and the second movable end stop 408 have a first annular movable track 410 and a second annular movable track 412, respectively, and use a spring pin to release and stop the movement of the movable end stops 406, 408. The movable tracks 410, 412 may have indicators or markings to indicate whether the movable end stops 406, 408 are in a free position or a locked position.

[0098] The circular stage 402 has one or more coupling bearings 401 , 403 for sliding the circular stage 402 along the circular guide 404 . Figure 8C An exemplary embodiment of coupling bearings 401 , 403 of a circular stage 402 and channels 409 , 411 of a circular guide 404 is shown. Figure 8C The coupling bearing 401 of the circular stand 402 is shown to be configured such that the first bearing 405 contacts the bottom surface 413 of the channel 411, while the second bearing 407 contacts the top surface 419 of the channel 411. This configuration is beneficial for reducing friction and avoiding backlash. The configuration of the coupling bearing 403 and the channel 409 is similar to that of the coupling bearing 401 and the channel 411, see Figure 8C Those skilled in the art will recognize that the coupling bearing 401 of the gantry 402 may be replaced with a suitable component to reduce friction and facilitate rotation and movement.

[0099] The circular stand 402 is configured to be coupled to various embodiments of the compensating device 106. In one exemplary embodiment, the circular stand 402 is coupled to Figure 5The arm length adjustment guide 212 of the compensation device 200 shown is connected. It will be appreciated by those of ordinary skill in the art that there are numerous ways to connect the circular stand 402 to the compensation device 106, such as using adhesives, screws, or straps. In addition, it will be appreciated by those of ordinary skill in the art that the components of the rotation sleeve 400 can be made of any suitable material. In an exemplary embodiment, the circular stand 402 is made of a metal element (such as aluminum) and the circular guide 404 includes a plastic material.

[0100] The rotation cuff 400 can use at least one encoder to monitor the state of motion and facilitate freedom of motion. The rotation cuff 400 has an encoder 415 encapsulated in an encoder housing 414. The encoder 415 is used to read the joint position of the rotation cuff 400 and is located between the first movable end stop 406 and the second movable end stop 408. The encoder 415 can use a magnetic scale 417 mounted on the rotation cuff 400 to obtain motion data. This design provides a compact solution for monitoring the internal and external rotation angles. The movable end stops 406 and 408 provide the system with an option to adjust the user's range of motion by limiting or completely locking the internal and external rotation of the shoulder joint. In addition, the resetting of the initial joint position of the rotation cuff 400 can be managed by software associated with the electronic platform.

[0101] Fig.8D Another embodiment of a shoulder internal and external rotation sleeve 400 is shown. The rotation sleeve 400 includes a base member 420 having an arcuate slot 422. The arcuate slot 422 is used to guide the protrusion 424 of the elbow module 418 to rotate around the third rotation axis I3. The base member 420 is connected to both the compensation device 416 and the elbow module 418. The base member 420 can extend along the inner side of the compensation device 416. The rotation center of the rotation sleeve 400 is consistent with the third rotation axis I3, while the user's shoulder internal and external rotation axis is not consistent with the third rotation axis I3. The protrusion 424 may include a pin or a protrusion that extends into or through the arcuate slot 422. The arcuate slot 422 can also have a movable end stop, a screw or other fastener to limit the range of motion of the rotation sleeve 400 around the third rotation axis.

[0102] Elbow Module

[0103] Fig. 9AA preferred embodiment of the elbow module 500 is shown. It should be understood that the elbow module 500 is an embodiment of the elbow module 110. The elbow module 500 is configured to ensure the freedom of flexion and extension at the user's elbow joint. The elbow module 500 can be arranged to keep the user's upper limb in a specific position to restore the user's physiological posture according to the required physiological pattern. The elbow module 500 allows physical integration with the FES system and can carry out kinematic monitoring of the elbow joint by a sensor device.

[0104] The elbow module 500 facilitates the effective integration of the encoder 538 and the correct routing of the sensor cable. The elbow module 500 has a flexion joint 502, whose center of rotation is consistent with the user's elbow flexion axis or the fourth rotation axis I4. The elbow module 500 includes a first movable end stop 504 and a second movable end stop 506 to facilitate adjustment of the flexion joint 502. The movable end stops 504 and 506 can adjust the flexion joint to a specific angle or an angle range of 0 to 105 degrees of flexion. The movable end stops 504 and 506 may also include one or more holes 508 for indicating the position or specific angle of the degree of flexion.

[0105] The elbow module 500 has a semi-rigid or rigid support 518 that extends from the elbow flexion joint 502 and supports the user's forearm. The support 518 is configured to interface with the first forearm connector 512 and the second forearm connector 514. The first forearm connector 512 is configured to bend around the user's forearm and may include a D-ring connector that can be engaged with a strap, belt or other fastening device to further support the user's arm. The support 518 also has a hole 520 for adjusting the forearm length using the second forearm connector 514.

[0106] The forearm adjustment member 516 is used to lock the position of the second forearm connection member 514 along the support column 518. The forearm adjustment member 516 may include a pin, screw or other fastener to engage with the hole 520. The hole 520 may be a groove or cavity along the length of the support column 518 corresponding to the forearm adjustment member 516. The second forearm connection member 514 is configured to bend around the user's forearm and may include a D-ring connection that can be engaged with a strap, belt or other fastening device to further support the user's arm.

[0107] Fig. 9BAnother embodiment of the elbow module 500 is shown. The first component 524 of the elbow module 500 is connected to the shoulder internal and external rotation sleeve 522 at the third rotation axis I3. The first component 524 has linear grooves 530, 532 so as to adjust the arm length along the third rotation axis I3. The elbow module 500 includes a second component 526, which has an arcuate groove 534 for achieving bending and extension of the elbow. The center point of the arcuate groove 534 is consistent with the user's elbow flexion and extension rotation axis. The third component 528 of the elbow module 500 has a protrusion 536, which is configured to engage with the arcuate groove 534. The arcuate groove 534 is configured to guide the protrusion 536 to rotate around the user's elbow flexion and extension rotation axis or the fourth rotation axis I4. The third member 528 can be connected to an adjustable support rod 518, which is configured to support the user's forearm.

[0108] Electronic Platform

[0109] It can be understood that the electronic platform 600 can be integrated with the exoskeleton 100 to form a sensing exoskeleton system and / or a connection method between the exoskeleton 100 and the electronic platform 600, and the control unit 602 is an embodiment of the control unit 112. Fig.10 6 is a block diagram showing one embodiment of an electronic platform 600. The electronic platform 600 of the exoskeleton includes a plurality of sensors, encoders, and an IMU. The electronic platform 600 includes a main control unit 602, at least one Bluetooth dongle 620, an Ethernet switch 628, and a battery pack 636. The battery pack 636 may include a high capacity compact lithium ion battery pack. In an exemplary embodiment, the control unit 602 is a customized carrier board having a dual core processor and a field programmable gate array running a real time operating system.

[0110] The control unit 602 is connected to a Bluetooth dongle 620, which manages the communication between the control unit 602 and the external FES modules 624, 626. The Bluetooth dongle 620 is connected to the control unit 602 via SPI or similar interface bus technology. The Bluetooth dongle 620 communicates with the FES modules 624, 626 via Bluetooth or other suitable short-range data exchange technology. The Ethernet switch 628 is used to ensure communication with the external monitoring computer 634 to enable real-time visualization of sensor data. In addition, the Ethernet switch 628 allows communication with the AR / VR host 630. The Ethernet switch 628 is connected to the control unit 602, the AR / VR host 630 (via Ethernet communication), and the monitoring computer 634.

[0111] The main components of the electronic platform 600 can be embedded in one or more 3D printed housings and remotely connected to the exoskeleton 100 via multi-core wires. The control unit 602 can be connected to a custom board embedded in the exoskeleton 100. Preferably, the control unit 602 includes one or more surface mount device (SMD) connectors for exoskeleton connection and one or more SMD connectors for sensor interface to reduce the bulk and weight of the exoskeleton 100.

[0112] The electronic platform 600 may be equipped with an encoder for each axis of rotation of the exoskeleton 100. The electronic platform 600 preferably has at least three absolute encoders 604, 606, 608, and at least one incremental encoder 610. The free vertical pivot joint 120 may be equipped with an absolute encoder 604, the spring-loaded lift joint 122 may be equipped with an absolute encoder 606, the elbow module 110 may be equipped with an absolute encoder 608, and the shoulder internal and external rotation joint 108 may be equipped with an incremental encoder 610. The encoders 604, 606, 608, and 610 are preferably connected to the main board or control unit 602 via a synchronous serial interface (SSI) or similar interface bus. It will be appreciated that the user or clinician may receive feedback and motion data obtained from the electronic platform 600.

[0113] Graphical User Interface

[0114] Fig.11 A graphical user interface (GUI) 700 of the electronic platform 600 is shown, which is configured to interact with the sensors and electronics of the exoskeleton 100. The electronic platform 600 can also interact with the graphical user interface 700 on the monitoring computer 634 to facilitate real-time visualization of motion data acquired by the encoders 604, 606, 608, 610 and the IMUs 616, 618, and to enable data logging. In addition, the GUI 700 can also interact with the FES modules 624, 626. The GUI 700 can display a graph 704, 706, 708, 710 of joint angles over time as a visualization of the data collected from the encoders 604, 606, 608, 610. As shown in FIG. Fig.11 As shown, GUI 700 displays a shoulder flexion and extension angle graph 704, a shoulder motion or transverse plane angle graph 706, a shoulder internal and external rotation angle graph 708, and an elbow flexion and extension angle graph 710. GUI 700 may include a control button 702 or multiple control buttons for encoder initialization. GUI 700 may also display graphs 712, 714, 716, 718 of data collected from IMUs 616, 618. Fig.11The IMU torso data graphs 712, 714, 716 shown show the magnitude over time. The torso Euler angle graph 718 also shows the magnitude of the torso Euler angles over time. The graphs 712, 714, 716, 718 of the IMU 616, 618 can report acceleration, angular rate, magnetic field, and Euler angles.

[0115] The GUI 700 may also enable data logging by storing a binary file on the control unit 602 or monitoring computer 634. Thus, a data save option 720 may be provided. The data collected by the monitoring computer 634 may be used to assist in planning personalized rehabilitation training for the user or patient at home. The GUI 700 may also provide a command 722 for starting or stopping data visualization. The real-time visualization, data logging, and FES modules of the electronic platform 600 may create a digital user twin or virtual representation of the user and the sensory exoskeleton system.

[0116] The sensory exoskeleton system described in this article is capable of providing anti-gravity support at the shoulder level and setting a specific upper limb configuration by adjusting the range of motion of the shoulder and elbow. The sensory exoskeleton system is equipped with a sensor system for monitoring motion data from the device and an electronic processing and communication unit for supporting two-way communication with external systems. Therefore, the sensory exoskeleton system can be connected with FES, VR / AR, digital twin technology and other feedback systems.

[0117] Electric drive strategy

[0118] It should be appreciated that the disclosed exoskeleton 100 and associated adjustable joints 108, 110, 120, 122 may be configured to accommodate either electric or active drive architectures. Fig.12 The illustrated embodiment shows an electric drive strategy for the disclosed sensing exoskeleton 100. The electric drive strategy may include one or more actuators 168 that are directly disposed at the joints. An embodiment of the drive strategy includes driving one or more joints of the exoskeleton 100 (i.e., the free vertical pivot joint 120, the spring-loaded lift joint 122, and the elbow flexion joint 502). In one embodiment, the exoskeleton 100 includes an electric actuator 168 disposed at the free vertical pivot joint 120. The electric actuator 168 may include a digital servo motor, an electric motor, or a pneumatic muscle actuator. In one embodiment, the vertical pivot frame 118 is formed as a hollow frame that is configured to accommodate and route one or more actuator cables 170, 172.

[0119] It should be understood that any one embodiment of the present disclosure may not necessarily achieve all objectives or advantages. Those skilled in the art will recognize that embodiments of the present invention can be implemented or executed to achieve or optimize one advantage or a group of advantages taught without achieving other objectives or advantages taught or suggested.

[0120] Those skilled in the art will recognize the interchangeability between the various features disclosed. In addition to the described changes, those skilled in the art can also mix and match other known equivalents of each feature to construct an interface system according to the principles of the present disclosure.

[0121] Although a shoulder assist mechanism is briefly described, it is not limited to the described embodiment and the interface system can be adjusted to accommodate different shoulder assist mechanisms.

Claims

1. A sensor-based upper limb exoskeleton (100), comprising: Compensation device (106, 200, 300, 416); at least one adjustable joint (108, 110, 120, 122) for changing the range of motion of the user's upper limb; at least one sensor (109, 121, 209, 415, 538, 604, 606, 608, 610, 618, 616) mounted on the exoskeleton (100) and configured to read motion data; as well as A control unit (112, 602) is configured to connect to the electronic platform (600) and support two-way communication with at least one external system (630, 634) and the at least one sensor (109, 121, 209, 415, 538, 604, 606, 608, 610, 618, 616).

2. The sensing upper limb exoskeleton (100) according to claim 1, wherein: A shoulder kinematic chain (104) is included having a free vertical pivot joint (120) at a first rotation axis (I1) and a spring-loaded lift joint (122) at a second rotation axis (I2).

3. The inductive upper limb exoskeleton (100) according to any one of the preceding claims, wherein: Includes a shoulder rotation joint (108, 400, 522).

4. The inductive upper limb exoskeleton (100) according to any one of the preceding claims, wherein: An elbow module (110, 418, 500) is included that is configured to facilitate integration with a functional electrical stimulation module (624, 626).

5. The inductive upper limb exoskeleton (100) according to any one of the preceding claims, wherein: The compensation device (106, 200, 300, 416) comprises a mode switch (204) which is used to switch the compensation device (106, 200, 300, 416) between an auxiliary mode and a non-auxiliary mode, wherein the mode switch (204) has a latch (207, 301) which is coaxially arranged with the second rotation axis (I2).

6. The sensing upper limb exoskeleton (100) according to claim 5, wherein: When the mode switch (204) is in the non-auxiliary mode, the compensation device (106, 200, 300, 416) switches to the transparent mode, the latch (207, 301) is inserted to fix the lever (222, 310) to the fixed shaft (224, 312), the second rotation axis (I2) coincides with the housing-elastic member axis (I5), and the second rotation axis (I2) is consistent with the force direction of the elastic member (216, 304) of the compensation device (106, 200, 300, 416).

7. The inductive upper limb exoskeleton (100) according to claim 5, wherein: When the mode switch (204) is in the auxiliary mode, the compensation device (106, 200, 300, 416) is switched to the auxiliary mode, the latch (207, 301) is removed to decouple the lever (222, 310) and the fixed shaft (224, 312) to allow the lever (222, 310) to rotate relative to the lever axis (I6), and the lever (222, 310) is aligned with the force application direction of the elastic member (216, 304) of the compensation device (106, 200, 300, 416).

8. The sensor-enabled upper limb exoskeleton (100) according to any one of the preceding claims, wherein: The compensating device (106, 200, 300, 416) further comprises an assist level selector (206) capable of defining different assist levels, which is configured to adjust the preload force of the elastic member (216, 304) of the compensating device (106, 200, 300, 416).

9. The sensor-based upper limb exoskeleton (100) according to claim 2, wherein: The shoulder motion chain (104) includes a vertical pivot frame (118) extending from a first end (130) of the vertical pivot frame (118) located at a trunk support (134) to a second end (132) of the vertical pivot frame (118) located at the free vertical pivot joint (120), wherein the first end (130) is constructed to move along a horizontal linear guide (116) provided on the trunk support (134), and the second end (132) of the vertical pivot frame (118) is connected to the free vertical pivot joint (120).

10. The sensor-based upper limb exoskeleton (100) according to claim 3, wherein: The shoulder rotation joint (108, 400, 522) is connected to the compensation device (106, 200, 300, 416), and the shoulder rotation joint (108, 400, 522) includes a circular guide (404), the rotation center of which is consistent with the third rotation axis (I3).

11. The sensor-based upper limb exoskeleton (100) according to claim 10, wherein: The shoulder rotation joint (108, 400, 522) also includes a circular platform (402) and at least two movable end stops (406, 408).

12. The sensor-based upper limb exoskeleton (100) according to claim 4, wherein: The elbow module (110, 418, 500) includes a flexion-extension joint (502) whose center of rotation coincides with a fourth rotation axis (I4), movable end stops (504, 506), at least one forearm attachment (512, 514), and at least one sliding strut (518).

13. A method for providing a personalized upper limb rehabilitation system (600), comprising: Providing at least one sensor (604, 606, 608, 610, 616, 618) disposed on the sensing upper limb exoskeleton (100) according to any one of claims 1 to 12, which is configured to connect to the system (600) and collect kinematic and physiological data; A graphical user interface (700) is provided that is configured to interact with the sensor-enabled upper-limb exoskeleton (100), at least one sensor (604, 606, 608, 610, 616, 618), and an external system (624, 626).

14. The method according to claim 13, wherein: The at least one sensor (604, 606, 608, 610, 616, 618) includes an encoder and an inertial measurement unit (109, 121, 209, 415, 538, 604, 606, 608, 610, 618, 616) for determining a joint position.

15. The method according to claim 14, wherein: The joint positions determined by the at least one sensor (604, 606, 608, 610, 616, 618) include shoulder flexion and extension joint angles, shoulder internal and external rotation joint angles, shoulder horizontal flexion and extension joint angles, and elbow flexion and extension joint angles.

16. The method according to claim 13, wherein: The graphical user interface (700) is configured to provide real-time data visualization, data logging capable of recording data collected from the at least one sensor (604, 606, 608, 610, 616, 618), and external system communication and control.

17. An exoskeleton (100) comprising a shoulder kinematic chain (104), the shoulder kinematic chain (104) comprising: a free vertical pivot joint (120) located at the first axis of rotation (I1), wherein the free vertical pivot joint (120) facilitates movement along a transverse plane of the user; a spring-loaded lifting joint (122) located at the second axis of rotation (12), wherein the spring-loaded lifting joint (122) facilitates movement along the sagittal and frontal planes of the user; and An adjacent rotary joint (113) is arranged between the free vertical pivot joint (120) and the elastically loaded lifting joint (122), wherein the adjacent rotary joint (113) can rotate around an adjacent axis (A1) and promote the extension and retraction of the shoulder kinematic chain (104).

18. The exoskeleton (100) of claim 17, wherein: The adjacent rotational joint (113) comprises a selective locking system (111).

19. The exoskeleton (100) of claim 17, wherein: The adjacent swivel joint (113) includes a swivel flange (142) anchored to the spring-loaded swivel joint (122).

20. The exoskeleton (100) of claim 17, wherein: The free vertical pivot joint (120) comprises a front-rear adjustment guide unit (103) for linearly changing the position of the first rotation axis (I1) in both front-rear directions.

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