Soft clothes device for shoulder joint full-degree-of-freedom auxiliary movement based on SMA driving

Abstract

The invention discloses a soft clothing device for shoulder joint full-degree-of-freedom auxiliary movement based on SMA driving, relates to the technical field of shoulder rehabilitation treatment, and solves the problems that a shoulder rehabilitation exoskeleton robot is heavy in overall system, large in size, poor in portability and likely to cause secondary injury to a patient in the use process. The chest side and the back side of a wearer are each provided with an inner-layer waistcoat in a wearing mode, and the six SMA driving units of each driving device are used for driving the six fixing ring buckles so as to drive shoulder joints on the left side or the right side of the human body to move. According to the invention, the extension and contraction of the SMA spring are controlled, so that the shoulder joint of a patient can be effectively driven to move in three degrees of freedom through the extension and contraction of the PE wire, and the patient with shoulder injury can be effectively driven to complete the three-degree-of-freedom movement of contraction and expansion, flexion and extension and internal and external rotation, so that the disease of the patient with shoulder dyskinesia can be effectively relieved.

Description

Technical Field

[0001] This invention relates to the technical field of shoulder rehabilitation therapy, and more particularly to a soft garment device for assisting full-degree-of-freedom shoulder joint movement based on SMA-driven actuation. Background Technology

[0002] The shoulder joint is a vital joint connecting the upper limb and the trunk, and its proper function is a prerequisite for the normal movement of other joints in the upper limb. However, injuries, occupational strain, and strokes often lead to limited shoulder joint function. Furthermore, with age, various bodily functions gradually decline, making the shoulder more susceptible to injury and disease. Loss of shoulder function can prevent patients from performing daily activities normally; therefore, shoulder rehabilitation is crucial for helping patients restore upper limb function and regain self-care abilities.

[0003] With the advancement of research into shoulder rehabilitation exoskeleton robots, wearable intelligent assistive devices can effectively help patients perform shoulder adduction, flexion, and internal / external rotation movements. Currently, most existing shoulder rehabilitation exoskeletons for shoulder dysfunction utilize motor-driven and pneumatic / hydraulic actuation. While these exoskeletons can achieve precise movements or offer good controllability, the overall system is bulky, large in size, and lacks portability, and may cause secondary injuries to patients during use.

[0004] Therefore, to address the above issues, a soft garment device based on SMA-driven shoulder joint full-degree-of-freedom movement assistance needs to be designed using biomechanical loading technology, thereby effectively improving patients' shoulder movement dysfunction. Summary of the Invention

[0005] In view of the problems that the aforementioned shoulder rehabilitation exoskeleton robot systems are bulky, large in size, poorly portable, and may cause secondary injury to patients during use, the purpose of this invention is to provide a soft suit device for assisting full-degree-of-freedom shoulder joint movement based on SMA drive.

[0006] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0007] A soft garment device for assisting full-degree-of-freedom shoulder joint movement based on SMA-driven design includes: an inner vest 1, with one inner vest 1 worn on the front chest and one on the back of the wearer, and the two inner vests 1 are connected by straps on both shoulders and under both ribs.

[0008] It also includes: one or two sets of drive devices, each set of drive devices including: six SMA drive units 3 and six fixing buckles 17, wherein two SMA drive units 3 are installed in the inner vest 1 located on the front chest side of the wearer, and the remaining four SMA drive units 3 are installed in the inner vest 1 located on the back side of the wearer; the six fixing buckles 17 are all worn on the left or right arm of the human body; the six SMA drive units 3 are used to drive the six fixing buckles 17 respectively, thereby driving the left or right shoulder joint movement of the human body;

[0009] When the drive device is set as a set and all six fixing rings 17 are worn on the left arm of the human body, the drive device is used to drive the shoulder joint movement of the left arm of the human body.

[0010] When the drive device is set as a set and all six fixing rings 17 are worn on the right arm of the human body, the drive device is used to drive the shoulder joint movement of the right arm of the human body.

[0011] When the drive device is set to two sets, the two sets of drive devices are symmetrically arranged on the left and right sides, and the two sets of drive devices are used to drive the shoulder joint movements on the left and right sides of the human body respectively.

[0012] The aforementioned soft suit device for assisting full-degree-of-freedom shoulder joint movement based on SMA drive, wherein each of the SMA drive units 3 includes: a winding mechanism 4, the winding mechanism 4 including: a rectangular box and a cover plate, the cover plate being detachably mounted on the rectangular box; the cover plate having multiple strip-shaped through holes along its length; the rectangular box including: a base plate 101, a first long side plate 102, a second long side plate 103, a first narrow side plate 104, and a second narrow side plate 105, the first long side plate 102, the first narrow side plate 104, the second long side plate 103, and the second narrow side plate 105 being connected end to end; the bottom edges of the first long side plate 102, the first narrow side plate 104, the second long side plate 103, and the second narrow side plate 105 are all connected to the edge of the base plate 101;

[0013] Four sliding guide rails 10 are provided on the base plate; the four sliding guide rails 10 are respectively located near the four corners of the rectangular box; each sliding guide rail 10 is arranged along the length of the rectangular box.

[0014] The aforementioned soft suit device for assisting full-degree-of-freedom shoulder joint movement based on SMA drive, wherein each of the SMA drive units 3 further includes: two SMA springs 5 ​​and a sliding module group 6, the sliding module group 6 including: a first sliding block 601, a second sliding block 602, a third sliding block 603 and a fourth sliding block 604, the first sliding block 601, the second sliding block 602, the third sliding block 603 and the fourth sliding block 604 being slidably mounted in four sliding guide rails 10 respectively;

[0015] The first sliding block 601 is located at the angle connection between the first long side plate 102 and the first narrow side plate 104; the second sliding block 602 is located at the angle connection between the first long side plate 102 and the second narrow side plate 105; the third sliding block 603 is located at the angle connection between the second long side plate 103 and the first narrow side plate 104; and the fourth sliding block 604 is located at the angle connection between the second long side plate 103 and the second narrow side plate 105.

[0016] One SMA spring 5 has its two ends connected to the first sliding block 601 and the second sliding block 602, respectively; the other SMA spring 5 has its two ends connected to the third sliding block 603 and the fourth sliding block 604, respectively.

[0017] The aforementioned soft suit device for assisting full-degree-of-freedom shoulder joint movement based on SMA drive, wherein each of the SMA drive units 3 further includes: a support shaft group 12, the support shaft group 12 including: a first support shaft 121, a second support shaft 122, a third support shaft 123 and a fourth support shaft 124, the ends of the first support shaft 121, the second support shaft 122, the third support shaft 123 and the fourth support shaft 124 are all connected to the base plate 101;

[0018] The first support pivot 121 is located between the first sliding block 601 and the first narrow side plate 104; the second support pivot 122 is located between the second sliding block 602 and the second narrow side plate 105; the third support pivot 123 is located between the third sliding block 603 and the first narrow side plate 104; and the fourth support pivot 124 is located between the fourth sliding block 604 and the second narrow side plate 105.

[0019] The aforementioned soft suit device for assisting full-degree-of-freedom shoulder joint movement based on SMA drive, wherein each of the SMA drive units 3 further includes: a pulley group 8, the pulley group 8 including: a first pulley 801, a second pulley 802, a third pulley 803, a fourth pulley 804, a fifth pulley 805, a sixth pulley 806, a seventh pulley 807, and an eighth pulley 808. The first pulley 801 is rotatably mounted on a first sliding block 601; the second pulley 802 is rotatably mounted on a second sliding block 602; the third pulley 803 is rotatably mounted on a third sliding block 603; the fourth pulley 804 is rotatably mounted on a fourth sliding block 604; the fifth pulley 805 is rotatably mounted on a first support shaft 121; the sixth pulley 806 is rotatably mounted on a second support shaft 122; the seventh pulley 807 is rotatably mounted on a third support shaft 123; and the eighth pulley 808 is rotatably mounted on a fourth support shaft 124.

[0020] The aforementioned soft suit device for assisting full-degree-of-freedom shoulder joint movement based on SMA drive, wherein each of the SMA drive units 3 further includes: a square fixing block 7, a PE wire 15, and a guide plate 11. The square fixing block 7 is mounted on the second narrow side plate 105 and is positioned close to the first long side plate 102. The guide plate 11 is mounted on the base plate 101 and is positioned close to the middle of the second long side plate 103. A threading hole 9 is provided on the first narrow side plate 104, and a wire hole is provided on the guide plate 11. One end of the PE wire 15 is connected to the square fixing block 7, and the other end of the PE wire 15 is connected sequentially... After passing through the second pulley 802, the sixth pulley 806, the fourth pulley 804, the eighth pulley 808, the seventh pulley 807, the third pulley 803, the fifth pulley 805 and the first pulley 801, the PE wire 15 is passed through the wire hole 9; the PE wire 15 located between the eighth pulley 808 and the seventh pulley 807 is located in the wire hole. The outer diameter of the ends of the first pulley 801, the second pulley 802, the third pulley 803, the fourth pulley 804, the fifth pulley 805, the sixth pulley 806, the seventh pulley 807 and the eighth pulley 808 is larger than the outer diameter of the middle part in order to limit the PE wire 15.

[0021] The aforementioned soft suit device for assisting full-degree-of-freedom shoulder joint movement based on SMA drive further includes: Bowden cable 16, with the other end of each PE wire 15 passing through the thread hole 9 connected to a fixing ring 17; and each PE wire 15 located outside the winding mechanism 4 is covered with a Bowden cable 16.

[0022] The aforementioned soft clothing device for assisting full-degree-of-freedom shoulder joint movement based on SMA drive includes four identical sliding blocks: the first sliding block 601, the second sliding block 602, the third sliding block 603, and the fourth sliding block 604. Each block includes a fixed block 14 and a slider pivot seat 13, which are connected. The bottom of each slider pivot seat 13 is slidably mounted in a sliding guide rail 10. The fixed block 14 has a groove. Both ends of the SMA spring 5 have closed loops 51, and each closed loop 51 is engaged in a groove. The slider pivot seat 13 has a pivot for mounting the first pulley 801, the second pulley 802, the third pulley 803, or the fourth pulley 804.

[0023] The aforementioned soft suit device for assisting full-degree-of-freedom shoulder joint movement based on SMA drive further includes: a protective shell 2 and a button cap 18. A protective shell 2 is provided on the front side of the inner vest 1 located on the chest side and on the back side of the inner vest 1. Each protective shell 2 has multiple hollow round tubes on its inner side. Each inner vest 1 has multiple mounting through holes. Each hollow round tube passes through a mounting through hole and is connected by a button cap 18.

[0024] The aforementioned soft suit device for assisting full-degree-of-freedom shoulder joint movement based on SMA drive includes six fixed rings 17 for driving the shoulder joint movement of the left arm, which are respectively mounted on the pectoralis major, anterior deltoid, supraspinatus, infraspinatus, teres major and teres minor muscles of the left arm; and six fixed rings 17 for driving the shoulder joint movement of the right arm, which are respectively mounted on the pectoralis major, anterior deltoid, supraspinatus, infraspinatus, teres major and teres minor muscles of the right arm.

[0025] The present invention, by employing the above-mentioned technology, has the following positive effects compared with the prior art:

[0026] (1) By controlling the stretching and contraction of the SMA spring, the present invention can effectively drive the patient's shoulder joint to move in three degrees of freedom through the stretching and contraction of the PE line. It can effectively drive the patient with shoulder injury to complete the three degrees of freedom of adduction, extension, flexion and extension and internal and external rotation, thereby effectively alleviating the symptoms of patients with shoulder movement disorders.

[0027] (2) This invention uses SMA springs as the driving source and transmits the transmission through PE lines to realize the patient's shoulder movement. SMA has the characteristics of simple driving, rapid response and high power ratio. It is a potential biomimetic muscle material that can show better human-computer interaction effect. At the same time, the transmission is carried out by ropes and the end is fixed to the stop point of the human shoulder muscle movement, which can effectively realize the precise control of shoulder movement.

[0028] (3) The present invention conforms to the human joints in structure and is comfortable to wear. It is also safe, controllable, lightweight and portable, and will not interfere with the patient's daily activities when the disease is not present. Attached Figure Description

[0029] Figure 1 This is a schematic diagram of wearing a soft clothing device for assisting full-degree-of-freedom shoulder joint movement based on SMA drive, according to the present invention. Figure 2 This is a schematic diagram of the configuration of the front chest SMA drive unit of a soft clothing device for assisting full-degree-of-freedom shoulder joint movement based on SMA drive according to the present invention. Figure 3 This is a schematic diagram of the configuration of the SMA drive unit on the back side of a soft clothing device for assisting full-degree-of-freedom shoulder joint movement based on SMA drive according to the present invention. Figure 4 This is an exploded view of the inner vest and protective shell of a soft clothing device for assisting full-degree-of-freedom shoulder joint movement based on SMA drive, according to the present invention. Figure 5 This is an assembly view of the inner vest and protective shell of a soft clothing device based on SMA-driven shoulder joint full-degree-of-freedom assisted movement according to the present invention. Figure 6 This is a front view of the inner vest and protective shell of a soft clothing device for assisting full-degree-of-freedom shoulder joint movement based on SMA drive, according to the present invention. Figure 7 This is a rear view of the inner vest and protective shell of a soft clothing device based on SMA-driven shoulder joint full-degree-of-freedom assisted movement according to the present invention. Figure 8 This is a rear view of the protective shell of a soft clothing device for assisting full-degree-of-freedom shoulder joint movement based on SMA drive, according to the present invention. Figure 9 This is a schematic diagram of the SMA drive unit of a soft clothing device for assisting full-degree-of-freedom shoulder joint movement based on SMA drive, according to the present invention. Figure 10 This is a schematic diagram of the internal structure of the SMA drive unit of a soft clothing device for assisting full-degree-of-freedom shoulder joint movement based on SMA drive, according to the present invention. Figure 11 This is a schematic diagram of the PE wire winding principle of a soft clothing device for assisting full-degree-of-freedom shoulder joint movement based on SMA drive according to the present invention. Figure 12 This is a diagram of the internal structure of the winding mechanism of a soft clothing device for assisting full-degree-of-freedom shoulder joint movement based on SMA drive, according to the present invention. Figure 13 This is a structural diagram of the sliding module of a soft clothing device for assisting full-degree-of-freedom shoulder joint movement based on SMA drive, according to the present invention. Figure 14 This is a diagram of the SMA spring structure of a soft clothing device for assisting full-degree-of-freedom shoulder joint movement based on SMA drive, according to the present invention. Figure 15 This is a schematic diagram of the PE line fixing of a soft clothing device for assisting full-degree-of-freedom shoulder joint movement based on SMA drive according to the present invention. Figure 16 This is an example diagram of a wearer performing an inward-outward rotation movement. Figure 17 This is an example diagram of a wearer performing an abduction-adduction movement. Figure 18 This is an example diagram of a wearer performing a forward bending-backward extension movement.

[0030] In the attached diagram: 1. Inner jacket; 2. Protective outer shell; 3. SMA drive unit; 4. Winding mechanism; 5. SMA spring; 6. Sliding module assembly; 7. Square fixing block; 8. Pulley assembly; 9. Wire hole; 10. Sliding guide rail; 11. Wire guide plate; 12. Support shaft assembly; 13. Slider pivot seat; 14. Fixing block; 15. PE wire; 16. Bowden cable; 17. Fixing ring; 18. Button cap; 51. Closed loop; 101. Base plate; 102. First long side plate; 103. Second long side plate; 1 04. First narrow side plate; 105. Second narrow side plate; 121. First support pivot; 122. Second support pivot; 123. Third support pivot; 124. Fourth support pivot; 601. First sliding block; 602. Second sliding block; 603. Third sliding block; 604. Fourth sliding block; 801. First pulley; 802. Second pulley; 803. Third pulley; 804. Fourth pulley; 805. Fifth pulley; 806. Sixth pulley; 807. Seventh pulley; 808. Eighth pulley. Detailed Implementation

[0031] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, but this is not intended to limit the scope of the invention.

[0032] Please refer to Figures 1 to 18 As shown, a soft garment device for assisting full-degree-of-freedom shoulder joint movement based on SMA drive is illustrated. It consists of an inner lining, an SMA drive layer, and a heat insulation layer. The wearer wears an inner vest 1 on both the front chest and back sides. Two sets of drive devices are symmetrically arranged on the left and right sides and distributed on the two inner vests 1. Each drive device includes six sets of SMA drive units 3, two of which are fixed on the inner vest 1 on the front chest side and the remaining four are fixed on the inner vest 1 on the back side. Then, the hollow protective shell 2 completely covers the SMA drive units 3 on the front chest and back sides. The protective shells 2 on both sides are detachably fixed to the inner vest 1 by buttons 18.

[0033] Furthermore, in a preferred embodiment, each of the six SMA drive units 3 in each drive device consists of a pair of trained SMA springs 5, a PE wire 15, a winding mechanism 4, four sliding blocks, and eight pulleys. Both ends of each SMA spring 5 are connected to the fixed blocks 14 on both sides of the sliding blocks. The four sliding blocks are respectively placed at the four sliding guide rails 10 of the winding mechanism 4. Each winding mechanism 4 has a pulley on its support shaft, and the remaining four pulleys are respectively placed in the four sliding blocks via the slider shaft seat 13.

[0034] Furthermore, in a preferred embodiment, in each SMA drive unit 3, one end of the PE wire 15 is fixed to the square fixing block 7 on one side of the winding mechanism, and the other end passes in an S-shape around the second pulley 802 and the sixth pulley 806, then in an S-shape around the fourth pulley 804 and the eighth pulley 808, then through the wire hole on the wire guide plate 11, passing in an S-shape around the seventh pulley 807 and the third pulley 803, and finally in an S-shape around the fifth pulley 805 and the first pulley 801, and finally out through the wire hole 9. Figures 9 to 15 As shown.

[0035] Furthermore, in a preferred embodiment, since the human shoulder has a large range of motion and typically requires a greater displacement, a mechanism is needed to increase the contraction displacement of the SMA spring 5. Simultaneously, to ensure the comfort of the shoulder-covered garment during wear, the structural dimensions of the SMA drive unit 3 must be controlled within an appropriate range. Therefore, by selecting an SMA spring 5 of a certain length, and utilizing the principle of a pulley system, a series of moving and fixed pulleys 8 can amplify the contraction displacement of the SMA spring 5 to eight times its original value, thereby satisfying the required displacement of the shoulder during movement.

[0036] Furthermore, in a preferred embodiment, the SMA spring 5 contracts when energized, pulling the PE line 15 and thereby driving the retaining ring 17.

[0037] Furthermore, in a preferred embodiment, the PE wire 15 led out from each SMA drive unit 3 is guided by Bowden cables 16 and finally fixed to the fixing ring 17 at the upper arm. One end of each of the six Bowden cables 16 is connected to the wire hole 9 on the side of the six SMA drive units 3, and the other end leads to the fixing ring 17. The Bowden cables 16 serve to insulate and insulate, and limit the PE wire 15 on the outside of the winding mechanism 4, preventing the PE wire 15 from contacting human skin.

[0038] Furthermore, in a preferred embodiment, the SMA spring 5 is extended and retracted by electrical heating. When the SMA spring 5 is electrically heated, its internal crystal structure undergoes reorganization due to the increased temperature, resulting in a phase transition and generating contraction force and displacement. This pulls the first sliding block 601, the second sliding block 602, the third sliding block 603, and the fourth sliding block 604 to slide along their respective sliding guide rails 10, thereby driving the PE line 15 wound on the pulley block 8. This enables the PE line 15 to be wound up. During the winding process, one end of the PE line 15 is fixed to the square fixing block 7, and the other end of the PE line 15 pulls the fixing ring 17 along the Bowden cable 16. Under the traction of the PE line 15, the patient is assisted in completing shoulder movements.

[0039] Furthermore, in a preferred embodiment, the layout of the six SMA drive units 3 is based on the distribution of shoulder muscles in the human body, with two SMA drive units 3 arranged on the front chest side and four SMA drive units 3 arranged on the back side. Simultaneously, according to the insertion points of the shoulder muscles, all six fixing rings 17 are located on the upper arm of the soft garment device. Specifically, the fixing points of the SMA drive units 3 on the front chest side are located at the outer 1 / 3 and 1 / 2 of the upper arm, respectively; one SMA drive unit 3 on the back side is located at the inner 1 / 3 of the upper arm, and the other three SMA drive units 3 are located at the proximal end of the dorsal side of the upper arm.

[0040] Furthermore, in a preferred embodiment, the coordinated movement of the shoulder muscles is crucial to ensuring the shoulder joint can perform basic three-degree-of-freedom movements. The functional muscles primarily include the pectoralis major, anterior deltoid, supraspinatus, infraspinatus, teres major, and teres minor. Utilizing the origin and insertion points and distribution of these muscles guides the arrangement of the drive units and the layout of their distal fixation points, thus providing the patient with a highly compatible shoulder joint assistive motion suit.

[0041] The above are merely preferred embodiments of the present invention and are not intended to limit the implementation methods and protection scope of the present invention.

[0042] In addition to the above, the present invention also has the following embodiments:

[0043] In a further embodiment of the present invention, by controlling the stretching and contraction of the SMA spring, the present invention can effectively drive the patient's shoulder joint to move in three degrees of freedom through the stretching and contraction of the PE line. It can effectively drive the patient with shoulder injury to complete the three degrees of freedom of adduction, extension, flexion and extension, and internal and external rotation, thereby effectively alleviating the symptoms of patients with shoulder movement disorders.

[0044] In a further embodiment of the present invention, the present invention utilizes an SMA spring as a driving source and transmits the motion through a PE wire to realize the patient's shoulder movement. SMA has the characteristics of simple driving, rapid response and high power ratio, and is a potential biomimetic muscle material that can exhibit better human-computer interaction effects. At the same time, the use of a rope for transmission and fixing the end to the stop point of the human shoulder muscle movement can effectively achieve precise control of shoulder movement.

[0045] In a further embodiment of the present invention, the present invention is structurally conformable to human joints, comfortable to wear, and also features safety, controllability, lightweight portability, and will not interfere with the patient's daily activities in a non-disease state.

[0046] This invention relates to the field of shoulder rehabilitation therapy, primarily targeting individuals with shoulder dysfunction. Specifically, it is a soft garment device based on SMA (Shoulder Muscle Association)-driven, fully free-degree-of-freedom shoulder joint movement assistance, targeting the three degrees of freedom of the shoulder: abduction / adduction, flexion / extension, and internal / external rotation. The device employs a layered soft garment structure design, including an inner lining layer, an SMA flexible drive layer, and a heat dissipation and protective layer. The SMA drive layer comprises six SMA drive units, each consisting of a pair of trained SMA springs, a PE (Polymer) cable, a winding mechanism, four sliding modules, and eight pulleys. Based on the origin and insertion points and distribution of the shoulder muscles, two sets of SMA drive units are positioned on the front chest, and the remaining four sets are positioned on the back. The PE cables leading from the six SMA drive units are guided by Bowden cables, and their ends are fixed to the upper arm of the shoulder soft garment worn by the patient according to the muscle force insertion points. This invention is easy to operate and features lightweight and comfortable wear. During operation, the device not only effectively assists patients in performing shoulder joint adduction, abduction, flexion, extension, and internal / external rotation movements, but also coordinates with other joints in the upper limb to complete synergistic movements. The device requires no assistance from other medical personnel and exhibits high stability.

[0047] In a further embodiment of the present invention, the sliding block sliding principle is as follows: the bottom of the sliding block is slidably installed in the sliding guide rail 10, and the top is limited by the cover plate of the winding mechanism 4. When the SMA spring 5 contracts linearly, it will drive the sliding block to move in the sliding guide rail 10. Due to the constraint of the sliding guide rail 10, the sliding block can only move in the direction of the sliding guide rail 10.

[0048] In a further embodiment of the present invention, there is a closed loop 51 on each side of the SMA spring 5. The closed loops 51 on both sides of the SMA spring 5 are respectively fitted into the grooves of the fixing blocks 14 on both sides to fix the SMA spring 5.

[0049] In a further embodiment of the present invention, the buckle structure assembly principle is as follows: the inner vest 1 has six assembly through holes, which are respectively fitted onto the six hollow round tubes protruding on the inner side of the corresponding hollow protective shell 2, and then the six buttons 18 are respectively installed on the hollow round tubes passing through the inner vest 1.

[0050] In a further embodiment of the present invention, the coordinated movement of the shoulder muscles is the key to ensuring that the shoulder joint can complete the basic three degrees of freedom of movement. The functional muscles mainly include the pectoralis major, anterior deltoid, supraspinatus, infraspinatus, teres major, and teres minor.

[0051] Taking the right shoulder of the human body as an example, the six SMA drive units 3 correspond to the pectoralis major (right), anterior deltoid (right), supraspinatus (right), infraspinatus (right), teres minor (right), and teres major (right).

[0052] According to human shoulder anatomy, the pectoralis major and anterior deltoid muscles are located on the anterior chest, while the supraspinatus, infraspinatus, teres minor, and teres major muscles are located on the posterior back. Therefore, of the six SMA drive units, two are located on the anterior chest and the remaining four on the posterior back.

[0053] The pectoralis major muscle inserts at the crest of the greater tubercle of the humerus; the anterior deltoid muscle inserts at the deltoid tuberosity of the humerus; the supraspinatus, infraspinatus, and teres minor muscles insert at the upper, middle, and lower parts of the greater tubercle of the humerus, respectively; and the teres major muscle inserts at the crest of the lesser tubercle of the humerus. Therefore, the fixation ring 17 corresponding to the pectoralis major SMA drive unit 3 is fixed at the lateral 1 / 3 of the arm; the fixation ring 17 corresponding to the anterior deltoid SMA drive unit 3 is fixed at the lateral 1 / 2 of the arm; the fixation rings 17 corresponding to the supraspinatus, infraspinatus, and teres minor SMA drive units 3 are fixed at the proximal dorsal aspect of the upper arm; and the fixation ring 17 corresponding to the teres major SMA drive unit 3 is fixed at the medial 1 / 3 of the upper arm.

[0054] The correspondence between SMA drive unit 3 and the three degrees of freedom of shoulder movement: Taking one side of the human shoulder as an example, the SMA drive units of the pectoralis major, teres major, and supraspinatus muscles dominate the adduction and abduction movements of the human shoulder; the SMA drive units of the pectoralis major, anterior deltoid, and teres major muscles dominate the flexion and extension movements of the human shoulder; and the SMA drive units of the pectoralis major, infraspinatus, teres major, and teres minor muscles dominate the internal and external rotation movements of the human shoulder.

[0055] See the table below:

[0056]

[0057] The above are merely preferred embodiments of the present invention and are not intended to limit the implementation methods and protection scope of the present invention. Those skilled in the art should recognize that any equivalent substitutions and obvious changes made based on the description and illustrations of the present invention should be included within the protection scope of the present invention.

Claims

1. A soft suit device for assisting full-degree-of-freedom shoulder joint movement based on SMA actuation, characterized in that, include: Inner vest (1): The wearer wears one inner vest (1) on the front chest and one on the back. The two inner vests (1) are connected by straps on the shoulders and under the ribs. It also includes: one or two sets of drive devices, each set of drive devices including: six SMA drive units (3) and six fixing buckles (17), wherein two SMA drive units (3) are installed in the inner vest (1) located on the front chest side of the wearer, and the remaining four SMA drive units (3) are installed in the inner vest (1) located on the back side of the wearer; the six fixing buckles (17) are all worn on the left or right arm of the human body; the six SMA drive units (3) are used to drive the six fixing buckles (17) respectively, thereby driving the left or right shoulder joint of the human body to move; When the drive device is set as a set and all six fixed rings (17) are worn on the left arm of the human body, the drive device is used to drive the shoulder joint movement of the left arm of the human body. When the drive device is set as a set and all six fixed rings (17) are worn on the right arm of the human body, the drive device is used to drive the shoulder joint movement of the right arm of the human body. When the drive device is set to two sets, the two sets of drive devices are symmetrically arranged on the left and right sides, and the two sets of drive devices are used to drive the shoulder joint movements on the left and right sides of the human body respectively.

2. The soft suit device for assisting full-degree-of-freedom shoulder joint movement based on SMA drive according to claim 1, characterized in that, Each of the SMA drive units (3) includes: a winding mechanism (4), the winding mechanism (4) includes: a rectangular box and a cover plate, the cover plate is detachably mounted on the rectangular box; the cover plate has a plurality of strip-shaped through holes along the length direction; the rectangular box includes: a bottom plate (101), a first long side plate (102), a second long side plate (103), a first narrow side plate (104) and a second narrow side plate (105), the first long side plate (102), the first narrow side plate (104), the second long side plate (103) and the second narrow side plate (105) are connected end to end in sequence; the bottom edges of the first long side plate (102), the first narrow side plate (104), the second long side plate (103) and the second narrow side plate (105) are all connected to the edge of the bottom plate (101); Four sliding guide rails (10) are provided on the base plate; the four sliding guide rails (10) are respectively set near the four corners of the rectangular box; each sliding guide rail (10) is set along the length of the rectangular box.

3. The soft suit device for assisting full-degree-of-freedom shoulder joint movement based on SMA drive according to claim 2, characterized in that, Each of the SMA drive units (3) further includes: two SMA springs (5) and a sliding module group (6). The sliding module group (6) includes: a first sliding block (601), a second sliding block (602), a third sliding block (603) and a fourth sliding block (604). The first sliding block (601), the second sliding block (602), the third sliding block (603) and the fourth sliding block (604) are respectively slidably installed in four sliding guide rails (10). The first sliding block (601) is located at the corner connection position of the first long side plate (102) and the first narrow side plate (104); the second sliding block (602) is located at the corner connection position of the first long side plate (102) and the second narrow side plate (105); the third sliding block (603) is located at the corner connection position of the second long side plate (103) and the first narrow side plate (104); the fourth sliding block (604) is located at the corner connection position of the second long side plate (103) and the second narrow side plate (105). One SMA spring (5) is connected at both ends to the first sliding block (601) and the second sliding block (602) respectively; the other SMA spring (5) is connected at both ends to the third sliding block (603) and the fourth sliding block (604) respectively.

4. The soft suit device for assisting full-degree-of-freedom shoulder joint movement based on SMA drive according to claim 3, characterized in that, Each of the SMA drive units (3) further includes a support shaft group (12), which includes a first support shaft (121), a second support shaft (122), a third support shaft (123), and a fourth support shaft (124). The ends of the first support shaft (121), the second support shaft (122), the third support shaft (123), and the fourth support shaft (124) are all connected to the base plate (101). The first support pivot (121) is located between the first sliding block (601) and the first narrow side plate (104); the second support pivot (122) is located between the second sliding block (602) and the second narrow side plate (105); the third support pivot (123) is located between the third sliding block (603) and the first narrow side plate (104); and the fourth support pivot (124) is located between the fourth sliding block (604) and the second narrow side plate (105).

5. The soft suit device for assisting full-degree-of-freedom shoulder joint movement based on SMA drive according to claim 4, characterized in that, Each of the SMA drive units (3) further includes a pulley group (8), which includes a first pulley (801), a second pulley (802), a third pulley (803), a fourth pulley (804), a fifth pulley (805), a sixth pulley (806), a seventh pulley (807), and an eighth pulley (808). The first pulley (801) is rotatably mounted on a first sliding block (601); the second pulley (802) is rotatably mounted on a second sliding block (608). 02) On; the third pulley (803) is rotatably mounted on the third sliding block (603); the fourth pulley (804) is rotatably mounted on the fourth sliding block (604); the fifth pulley (805) is rotatably mounted on the first support shaft (121); the sixth pulley (806) is rotatably mounted on the second support shaft (122); the seventh pulley (807) is rotatably mounted on the third support shaft (123); the eighth pulley (808) is rotatably mounted on the fourth support shaft (124).

6. The soft suit device for assisting full-degree-of-freedom shoulder joint movement based on SMA drive according to claim 5, characterized in that, Each of the SMA drive units (3) further includes: a square fixing block (7), a PE wire (15), and a wire guide plate (11). The square fixing block (7) is mounted on the second narrow side plate (105) and is located near the first long side plate (102). The wire guide plate (11) is mounted on the base plate (101) and is located near the middle of the second long side plate (103). A wire hole (9) is provided on the first narrow side plate (104), and a wire hole is provided on the wire guide plate (11). One end of the PE wire (15) is connected to the square fixing block (7), and the other end of the PE wire (15) passes around the second pulley (802) and the sixth pulley (806) in sequence. The fourth pulley (804), the eighth pulley (808), the seventh pulley (807), the third pulley (803), the fifth pulley (805), and the first pulley (801) are then passed through the wire hole (9); the PE wire (15) located between the eighth pulley (808) and the seventh pulley (807) is located in the wire hole, and the outer diameter of the ends of the first pulley (801), the second pulley (802), the third pulley (803), the fourth pulley (804), the fifth pulley (805), the sixth pulley (806), the seventh pulley (807), and the eighth pulley (808) is larger than the outer diameter of its middle part in order to limit the PE wire (15).

7. The soft suit device for assisting full-degree-of-freedom shoulder joint movement based on SMA drive according to claim 6, characterized in that, Also includes: Bowden cable (16), with the other end of each PE wire (15) passing through the wire hole (9) connected to a retaining ring (17); each PE wire (15) located outside the winding mechanism (4) is covered with a Bowden cable (16).

8. The soft suit device for assisting full-degree-of-freedom shoulder joint movement based on SMA drive according to claim 5, characterized in that, The first sliding block (601), the second sliding block (602), the third sliding block (603), and the fourth sliding block (604) have the same structure, each including: a fixed block (14) and a slider pivot seat (13). The fixed block (14) and the slider pivot seat (13) are connected. The bottom of each slider pivot seat (13) is slidably installed in a sliding guide rail (10). The fixed block (14) is provided with a groove. Both ends of the SMA spring (5) are provided with closed loops (51), and each closed loop (51) is engaged in a groove. The slider pivot seat (13) is provided with a pivot for installing the first pulley (801), the second pulley (802), the third pulley (803), or the fourth pulley (804).

9. The soft suit device for assisting full-degree-of-freedom shoulder joint movement based on SMA drive according to claim 1, characterized in that, Also includes: The protective shell (2) and the button cap (18) are provided on the front side of the inner vest (1) located on the chest side and the back side of the inner vest (1) located on the back side. Each protective shell (2) has multiple hollow round tubes on its inner side. Each inner vest (1) has multiple assembly through holes. Each hollow round tube passes through an assembly through hole and is connected by a button cap (18).

10. The soft suit device for assisting full-degree-of-freedom shoulder joint movement based on SMA drive according to claim 1, characterized in that, The six fixed rings (17) of the drive device for driving the shoulder joint movement of the left arm are respectively mounted on the pectoralis major, anterior deltoid, supraspinatus, infraspinatus, teres major and teres minor muscles of the left arm; the six fixed rings (17) of the drive device for driving the shoulder joint movement of the right arm are respectively mounted on the pectoralis major, anterior deltoid, supraspinatus, infraspinatus, teres major and teres minor muscles of the right arm.

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