Wearable upper limb exoskeleton and control method thereof

Abstract

The invention discloses a wearable upper limb exoskeleton and a control method thereof. The wearable upper limb exoskeleton comprises a back support and two arm exoskeletons. Each arm exoskeleton comprises a plurality of translational connecting modules and a plurality of rotary connecting modules which are alternately connected, the back support is connected with one translational connecting module, each translational connecting module comprises a first sub-connecting part, a second sub-connecting part and a telescopic connecting rod joint, and the telescopic connecting rod joints are connected with the first sub-connecting parts and the second sub-connecting parts correspondingly; and the length of the translation connecting part is adjusted. According to the exoskeleton, the telescopic connecting rod joints are arranged in the multiple translation connecting modules and the multiple rotary connecting modules, the length of each translation connecting module can be adjusted, and the exoskeleton can adapt to the shoulder breadth and the large and small arm length of different users. The adjusted exoskeleton size can meet diversified body type requirements, the application range of the product is expanded, and the control method for automatically adjusting the exoskeleton model parameters improves the exoskeleton accurate control capacity.

Description

Technical Field

[0001] This invention relates to the field of exoskeleton technology, specifically to a wearable upper limb exoskeleton and its control method. Background Technology

[0002] Exoskeletons are the commercialization of robotics technology for specific application areas, and they are gradually being used in military, logistics, medical, and outdoor sports scenarios. When a person wears an upper limb exoskeleton, the exoskeleton can provide support and mechanical assistance to the upper limbs, torso, shoulder, upper arm, elbow, and forearm.

[0003] Existing exoskeletons cannot adapt to people of different heights using the same set of exoskeletons. The main problems are: 1. The arm body size of the exoskeleton product is a fixed size and cannot be adjusted according to different people's shoulder width, upper arm and lower arm length; 2. Changes in the exoskeleton size will cause the original control model to be unable to accurately control arm movement, resulting in abnormal movement and even injury to the patient. In addition, the motion model parameters cannot be adaptively corrected after the size of the existing exoskeleton, upper arm and lower arm linkage, resulting in exoskeleton motion control failure.

[0004] In summary, existing exoskeleton devices suffer from insufficient versatility and technical limitations in adapting to patients of different heights, arm lengths, and body types. Summary of the Invention

[0005] The purpose of this application is to overcome the above-mentioned technical deficiencies and propose a wearable upper limb exoskeleton and its control method to solve the technical problem that the existing technology is not versatile enough and cannot be adapted to patients of different heights, arm lengths and body types.

[0006] To achieve the above-mentioned technical objectives, this application adopts the following technical solution: In a first aspect, this application provides a wearable upper limb exoskeleton, comprising: Back support; Two arm exoskeletons, each arm exoskeleton comprising multiple translational connection modules and multiple rotational connection modules connected alternately, the back support being connected to one of the translational connection modules, each translational connection module comprising a first sub-connection, a second sub-connection, and a telescopic linkage joint, the telescopic linkage joint being connected to the first sub-connection and the second sub-connection respectively to adjust the length of the translational connection.

[0007] In some embodiments of this application, the plurality of translational connection modules include a scapula, an upper arm, and a forearm, and the plurality of rotational connection modules include a shoulder joint, an elbow joint, and a wrist joint. The scapula is connected to the back support and the shoulder joint, the upper arm is connected to the shoulder joint and the elbow joint, and the forearm is connected to the elbow joint and the wrist joint.

[0008] In some embodiments of this application, the telescopic linkage joint further includes a linkage length adjusting component and a locking bolt. The linkage length adjusting component includes a sliding rail and a slider that are slidably connected. The sliding rail is fixed to the first sub-connecting part, and the slider is fixed to the second sub-connecting part. The bottom of the sliding rail is provided with a strip-shaped hole or a plurality of spaced screw holes. The locking bolt is fixed to the slider and is threadedly connected to the strip-shaped hole or the screw holes.

[0009] In some embodiments of this application, a scale and a linear displacement sensor are also included. The scale is attached to the bottom of the slide rail, and the extension direction of the scale is parallel to the extension direction of the slide rail. The linear displacement sensor is electrically connected to the first sub-connecting part and the second sub-connecting part, respectively.

[0010] In some embodiments of this application, a drive motor and a power battery are also included. The drive motor is connected to the shoulder joint, the elbow joint, and the wrist joint via a drive rope, and the power battery is electrically connected to the drive motor.

[0011] In some embodiments of this application, the shoulder joint includes three rotational joints connected orthogonally in sequence, the elbow joint includes one rotational joint, and the wrist joint includes two rotational joints connected orthogonally to each other, each of the rotational joints being connected to the drive rope.

[0012] In some embodiments of this application, an absolute encoder and a tension sensor are also included, the absolute encoder being disposed on the rotary joint and the tension sensor being disposed on the drive rope.

[0013] In some embodiments of this application, a drive glove and a restraint backpack are also included. The drive glove is connected to the wrist joint, the restraint backpack is connected to the back support, and the drive motor is mounted in the restraint backpack and is connected to a plurality of finger sleeves of the drive glove via the drive rope.

[0014] Secondly, this application also provides a control method for a wearable upper limb exoskeleton, employing a wearable upper limb exoskeleton as described in any embodiment of the first aspect, comprising the following steps: Establish multiple dynamic functions: The link length function is f(a) = a + Δa; The linkage rotation angle function is f(α) = α + Δα; Linkage offset function f(d) = d + Δd; Joint angle function f(θ) = θ + Δθ; Where a, α, d, and θ are the basic link length, basic link rotation angle, basic link offset, and basic joint angle, respectively; and Δa, Δα, Δd, and Δθ are the changes in link length, link rotation angle, link offset, and joint angle, respectively. Real-time acquisition of changes in multiple parameters; Output the kinematic model parameters under the current shape; The kinematic matrix T is adjusted in real time to make the theoretical model consistent with the physical entity shape.

[0015] In some embodiments of this application, the real-time acquisition of changes in multiple parameters includes: The change in the length Δa of the connecting rod is detected by a linear displacement sensor; The change in joint angle Δθ is detected by a joint encoder; Let Δα and Δd be fixed constants.

[0016] Compared with the prior art, the beneficial technical effects of the technical solution provided in this application include: This application incorporates telescopic linkage joints within multiple translational and rotational connection modules, allowing for adjustment of the length of each translational connection module. This enables the exoskeleton to adapt to different users' shoulder widths and arm lengths, solving the problem of fixed sizes in existing technologies being unable to accommodate people of varying heights. The adjusted exoskeleton size can meet diverse body shape needs, expanding the product's applicability. The automatic adjustment method for exoskeleton model parameters improves the exoskeleton's precise control capabilities, addressing the lack of versatility in existing technologies. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in this application, the accompanying drawings used in the embodiments will be briefly described below: Figure 1 This is a front view of a wearable upper limb exoskeleton according to an embodiment of this application; Figure 2 This is a rear view of a wearable upper limb exoskeleton according to an embodiment of this application; Figure 3 This is an axonometric view of a wearable upper limb exoskeleton according to an embodiment of this application; Figure 4 This is another axonometric view of a wearable upper limb exoskeleton according to an embodiment of this application; Figure 5 This is a schematic diagram of the structure of an arm exoskeleton according to an embodiment of this application; Figure 6 This is a schematic diagram of the structure of a telescopic linkage joint in an embodiment of this application; Figure 7 This is a flowchart of a control method in an embodiment of this application; Figure 8 This is a logic diagram of a control method in an embodiment of this application.

[0018] Figure label: 1. Back support; 2. Arm exoskeleton; 3. Drive motor; 4. Drive rope; 5. Power battery; 6. Absolute encoder; 7. Tension sensor; 8. Drive glove. 20. Scapula, 21. Shoulder joint, 22. Upper arm, 23. Elbow joint, 24. Forearm, 25. Wrist joint; First sub-connector 2a, second sub-connector 2b, slide rail 2c, slider 2d, locking bolt 2e, scale 2f, linear displacement sensor 2g. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0020] Those skilled in the art will understand that, in this specification, the term "comprising" is an open-ended expression, meaning that the stated feature is present but other features are excluded. Directional terms such as "upper," "lower," "left," and "right" refer to exemplary directions based on the accompanying drawings. Features specified as "first" or "second" implicitly include one or more of that feature. Singular expressions can also be used in plural forms. "Multiple" means two or more. The terms "installed," "connected," and "linked" can refer to a fixed connection, a detachable connection, or an integral connection; it can be a direct connection or an indirect connection via an intermediate medium, and it can be a connection within two components. Furthermore, "linked" can include wireless connections.

[0021] The purpose of this application is to overcome the above-mentioned technical deficiencies and propose a wearable upper limb exoskeleton and its control method to solve the technical problem that the existing technology is not versatile enough and cannot be adapted to patients of different heights, arm lengths and body types.

[0022] To achieve the above-mentioned technical objectives, this application adopts the following technical solution: like Figures 1-6 As shown. In a first aspect, this application provides a wearable upper limb exoskeleton, including a back support 1 and two arm exoskeletons 2.

[0023] The back support 1 serves as the load-bearing base of the exoskeleton, fixed to the back of the human body, and bears the reaction force of the arm exoskeleton 2.

[0024] Each of the arm exoskeletons includes multiple translational connection modules and multiple rotational connection modules connected alternately. The back support is connected to one of the translational connection modules. Each translational connection module includes a first sub-connection 2a, a second sub-connection 2b, and a telescopic link joint. The telescopic link joint is connected to the first sub-connection 2a and the second sub-connection 2b respectively to adjust the length of the translational connection.

[0025] The multiple translational connection modules include a scapula 20, an upper arm 22, and a forearm 24; the multiple rotational connection modules include a shoulder joint 21, an elbow joint 23, and a wrist joint 25. The scapula 20 is connected to the back support 1 and the shoulder joint 21, respectively. The upper arm 22 is connected to the shoulder joint 21 and the elbow joint 23, respectively. The forearm 24 is connected to the elbow joint 23 and the wrist joint 25, respectively. The arm exoskeleton 2 is divided into two symmetrical sets of mechanisms, each set including: the shoulder joint 21 connecting the scapula 20 and the upper arm 22 to realize shoulder flexion / extension / abduction / adduction movements; the upper arm 22 and the elbow joint 23 transmitting power and realizing elbow flexion / extension; and the forearm 24 and the wrist joint 25 assisting hand movements and enhancing operational precision.

[0026] The scapula 20, upper arm 22, and forearm 24 are all equipped with telescopic linkage joints. Each telescopic linkage joint includes a first sub-connecting part 2a and a second sub-connecting part 2b that are slidably connected, used to adjust the length of each component to accommodate different user body shapes. Each translational joint consists of the first sub-connecting part 2a as the fixed end and the second sub-connecting part 2b as the sliding end, achieving sliding through a linear guide rail or dovetail groove structure. Adjustment can be done manually or by stepper motor drive. Adjusting the scapula 20 changes the distance from the back support 1 to the shoulder joint 21 to accommodate different user shoulder widths. Adjusting the upper arm 22 and forearm 24 adjusts their length via telescopic linkages to match the user's arm length.

[0027] This application utilizes telescopic linkage joints built into the scapula 20, upper arm 22, and forearm 24 to adjust the length of each component, allowing the exoskeleton to adapt to different users' shoulder widths and upper arm 22 and forearm 24 lengths. This solves the problem in existing technologies where fixed sizes cannot accommodate people of different heights. The adjusted exoskeleton size can meet diverse body shape needs, expanding the product's applicability. The automatic adjustment method of the exoskeleton model parameters improves the exoskeleton's precise control capabilities, addressing the lack of versatility in existing technologies.

[0028] In some embodiments of this application, the telescopic linkage joint further includes a linkage length adjusting component, which includes a sliding rail 2c and a slider 2d that are slidably connected. The sliding rail 2c is fixed to the first sub-connecting part 2a, and the slider 2d is fixed to the second sub-connecting part 2b.

[0029] The slide rail 2c is fixed to the first sub-connecting part 2a, and the slider 2d is fixed to the second sub-connecting part 2b. When they slide relative to each other, the total length of the connecting rod can be changed. After adjustment, the relative positions are fixed by a locking mechanism, ensuring that each component of the exoskeleton precisely matches the user's body shape. The modular slide rail 2c structure ensures smooth adjustment and precise positioning; the mechanical structure is simple and reliable. This effectively solves the compatibility problem caused by the fixed dimensions of traditional exoskeletons.

[0030] The slide rail 2c can be a V-shaped dovetail slide rail 2c. The first sub-connecting part 2a is fixed to the slide rail 2c by bolts, and the slider 2d is fixed to the second sub-connecting part 2b by bolts. The linear movement of the first sub-connecting part 2a and the second sub-connecting part 2b is achieved by the movement of the slide rail 2c and the slider 2d, and finally the length of the entire telescopic linkage joint is increased or decreased.

[0031] In some embodiments of this application, the telescopic linkage joint further includes a locking bolt 2e, and the bottom of the slide rail 2c is provided with a strip hole or a plurality of spaced screw holes. The locking bolt 2e is fixed to the slider 2d and is threadedly connected to the strip hole or the screw holes.

[0032] The telescopic linkage joint achieves length locking through the engagement of locking bolt 2e and slide rail 2c. When slider 2d slides along slide rail 2c to the target position, tightening the bolt creates friction locking with the slotted hole, or inserting it into the screw hole achieves mechanical interlocking. The slotted hole provides continuous stepless adjustment, while the screw hole enables discrete and precise positioning, meeting the needs of different scenarios. The bolt locking structure is simple, reliable, and highly impact-resistant, ensuring no loosening occurs during movement. The self-locking characteristic of the threaded connection maintains a fixed state without continuous force, balancing ease of operation and safety. This significantly improves the stability of the exoskeleton under dynamic loads while retaining the convenience of rapid adjustment.

[0033] In some embodiments of this application, a scale 2f is also included, which is attached to the bottom of the slide rail 2c, and the extension direction of the scale 2f is parallel to the extension direction of the slide rail 2c.

[0034] Users can intuitively quantify the adjustment amount of the connecting rod length by observing the scale value corresponding to slider 2d, and achieve precise positioning in conjunction with locking bolt 2e. The scale 2f provides a visual reference, improving the efficiency of exoskeleton adaptation; the scale values ​​are directly related to human body size parameters, such as leg length and arm length, facilitating standardized recording and tracking; the scale 2f, attached with wear-resistant material, does not increase the complexity of the mechanism but significantly improves adjustment accuracy. While ensuring mechanical reliability, it achieves low-cost, high-precision, personalized adaptation.

[0035] In some embodiments of this application, a linear displacement sensor 2g is also included, which is electrically connected to the first sub-connection portion 2a and the second sub-connection portion 2b, respectively.

[0036] The sensor monitors the relative displacement between the first sub-connector 2a and the second sub-connector 2b in real time, converting the mechanical displacement into an electrical signal output. Through high-precision electrical signal feedback, digital closed-loop control of the joint length is achieved. Compared to traditional mechanical scales, it can dynamically track fine-tuning changes during movement, making it particularly suitable for rehabilitation training scenarios requiring real-time posture correction. The data can be directly transmitted to the exoskeleton control system, providing basic parameters for kinematic analysis and remote monitoring, while avoiding operational errors from manual readings.

[0037] After donning the exoskeleton, loosen the locking bolt 2e and manually adjust the relative distance between the first sub-connector 2a and the second sub-connector 2b. To ensure the controllability of the adjustment distance, refer to the scale on ruler 2f during adjustment. After the connecting rod length is adjusted, tighten the locking screw. The system measures the relative displacement of the first sub-connector 2a and the second sub-connector 2b through the linear displacement sensor 2g and generates a change in connecting rod length Δa within the control system.

[0038] In some embodiments of this application, the drive motor 3 is connected to the shoulder joint 21, the elbow joint 23, and the wrist joint 25 via a drive rope 31; power is transmitted to each joint, replacing the traditional gear / linkage transmission, reducing weight and inertia.

[0039] The power battery 4 is electrically connected to the drive motor 3; it supplies power to the motor and typically uses a high-energy-density lithium battery pack.

[0040] In some embodiments of this application, the shoulder joint 21 includes three orthogonally connected rotary joints located between the scapula 20 and the upper arm 22; the elbow joint 23 includes one rotary joint located between the upper arm 22 and the forearm 24; and the wrist joint 25 includes two orthogonally connected rotary joints located at one end of the forearm 24. Each rotary joint is connected to the drive rope 31.

[0041] To achieve a dexterous body capable of arbitrary XYZ translation and rotation of the human hand in motion space, this embodiment employs a dual-arm exoskeleton. Each arm has 6 rotational degrees of freedom and 3 translational degrees of freedom, totaling 18 degrees of freedom. The 6 rotational joints of each arm simulate the 3 shoulder rotational joints of the human arm shoulder, decoupling the ball joints of the shoulder into 3 rotational degrees of freedom. The elbow rotational joint has 1 flexion degree of freedom, and the wrist rotational joint has 2 degrees of freedom. Each arm has 3 translational joints: 20 for the scapula, 22 for the upper arm, and 24 for the forearm.

[0042] The translational joints are manually adjustable. Each rotational joint is driven by drive cable 31. In some embodiments of this application, an absolute encoder 5 and a tension sensor 6 are also included, the absolute encoder 5 being disposed on the rotary joint and the tension sensor 6 being disposed on the drive rope 31.

[0043] Each rotary joint is equipped with an absolute encoder 5, which can accurately record the joint rotation angle; a tension sensor 6 is installed on each drive rope 31, which can obtain the torque of each joint in real time.

[0044] In some embodiments of this application, a drive glove 7 and a restraint backpack are also included. The drive glove 7 is connected to the wrist joint 25, the restraint backpack is connected to the back support 1, and the drive motor 3 is mounted in the restraint backpack and is connected to a plurality of finger sleeves of the drive glove 7 via the drive rope 31.

[0045] The exoskeleton product of this embodiment includes a restraint backpack, a carbon fiber back support 1, a left arm, a right arm, a left-hand five-finger driven glove 7, and a right-hand driven glove 7. When wearing it, a second person assists in securing the backpack to the user's back and fastening the backpack straps; the user's arms are then secured to the left and right arms of the exoskeleton via straps; the exoskeleton's left and right gloves, each with a five-finger structure, are respectively fitted onto the user's left and right hands, and the finger straps are adjusted. The left and right gloves are made of flexible silicone material, have a semi-open structure, and include locking straps. Each finger is driven by two drive ropes 31 to achieve the gripping action.

[0046] The drive motor 3 is located in the backpack compartment, which reduces arm weight, decreases motion inertia, makes it more comfortable to wear, and provides more stable control.

[0047] The powered backpack has multiple drive motors 3 built-in, including shoulder drive motors 3, elbow joint drive motors 23, and finger drive servos; it adopts a centralized drive and flexible transmission design. All drive power sources, including shoulder drive motors 3, elbow joint drive motors 23, and finger drive servos, are centrally located in the powered backpack worn on the user's back, forming a centralized power center.

[0048] The arm exoskeleton 2 is connected to the powered backpack for connecting to the human arm; the rehabilitation glove is connected to the arm exoskeleton 2 for connecting to the human hand; one end of the drive rope 31 system is connected to the shoulder drive motor 3, the elbow joint 23 drive motor 3, and the finger drive servo motor respectively, and the other end is connected to the arm exoskeleton 2 and the rehabilitation glove respectively. Power is transmitted from the backpack to the arm and fingers through the drive rope 31 system. This system connects each drive motor 3 in the backpack to the corresponding joint of the arm exoskeleton 2 and the finger joint actuator of the rehabilitation glove respectively via the drive rope 31. When the control system drives the motors in the backpack to rotate according to instructions, the motors precisely control the bending, extending, or grasping movements of the arm exoskeleton 2 and the rehabilitation glove by extending and retracting the drive rope 31, thereby assisting or replacing the user's upper limb movements.

[0049] The powered backpack is secured to the user via shoulder and abdominal straps, and features two armrests on either side. All drive motors 3 and the control unit are centrally located inside the backpack. Shoulder movement is driven by two motors on each side, with the two motors on each side controlling flexion / extension and adduction / abduction movements respectively. Elbow movement is driven by one motor on each side, while the hand movement is controlled by servo motors driven by 12 fingers. The control unit receives user input and instructs the motors to drive the shoulder, elbow, and hand joints via drive cables 31, providing upper limb assistance. Power is supplied by a battery 4 within the backpack. This centralized drive design improves space utilization and ensures stability when worn via the straps.

[0050] Elbow joint 23 is connected to the exoskeleton components of simulated upper arm 22 and simulated forearm 24. When the user needs to bend or extend the arm, the corresponding drive motor 3 in the power backpack is activated. The power generated by the motor is transmitted to the rotary joint at elbow joint 23 through the drive rope 31 transmission system. The rotary joint rotates or moves accordingly, changing the relative angle between upper arm 22 and forearm 24, thereby realizing the flexion, extension or deflection movement of the elbow.

[0051] The wrist joint 25 connects the forearm 24 to the drive glove 7. The wrist joint 25 drive motor 3 inside the restraint backpack pulls the rotation joint set at the wrist joint 25 through the drive rope 31 transmission system, driving the forearm 24 to produce relative flexion, extension or deflection movements between the glove, thereby simulating the flexible posture of the wrist.

[0052] like Figures 7-8 As shown. Secondly, this application also provides a control method for a wearable upper limb exoskeleton, employing a wearable upper limb exoskeleton as described in any embodiment of the first aspect, comprising the following steps: S1. Establish multiple dynamic functions: The link length function is f(a) = a + Δa; The linkage rotation angle function is f(α) = α + Δα; Linkage offset function f(d) = d + Δd; Joint angle function f(θ) = θ + Δθ; Where a, α, d, and θ are the basic link length, basic link rotation angle, basic link offset, and basic joint angle, respectively; and Δa, Δα, Δd, and Δθ are the changes in link length, link rotation angle, link offset, and joint angle, respectively. S2. Real-time acquisition of changes in multiple parameters; S3. Output the kinematic model parameters under the current shape; S4. Adjust the kinematic matrix T in real time to make the theoretical model consistent with the physical entity shape.

[0053] Adjusting any telescopic link joint will change the pose of the end effector. By dynamically updating kinematic parameters, the reconfigurable robot can maintain high-precision control in varied tasks and environments.

[0054] In some embodiments of this application, the real-time acquisition of changes in multiple parameters includes: The change in the length Δa of the connecting rod is detected by a linear displacement sensor 2g. The change in joint angle Δθ is detected by a joint encoder; Let Δα and Δd be fixed constants.

[0055] By employing an incremental parameter adjustment mechanism, the DH model can match the actual physical shape of the exoskeleton in real time, solving the problem of large errors in traditional fixed-parameter models for adjustable mechanisms. Using sensors to directly measure key variables Δa and Δθ ensures the accuracy and real-time nature of parameter updates, improving control precision. Maintaining constant Δα and Δd significantly reduces computational complexity while ensuring model accuracy, enabling the system to quickly update the model and meet real-time control requirements. This dynamic DH modeling method effectively resolves the contradiction between shape adaptation and control precision in adjustable exoskeletons, providing a new approach to high-precision motion control for variable-structure robots. It ensures accurate and effective motion planning and control under different shapes.

[0056] Compared with the prior art, the beneficial technical effects of the technical solution provided in this application include: This application utilizes telescopic linkage joints built into the scapula 20, upper arm 22, and forearm 24 to adjust the length of each component, allowing the exoskeleton to adapt to different users' shoulder widths and upper and lower arm lengths 24. This solves the problem in existing technologies where fixed sizes cannot accommodate people of different heights. The adjusted exoskeleton size can meet diverse body shape needs, expanding the product's applicability. The automatic adjustment method for exoskeleton model parameters improves the exoskeleton's precise control capabilities, addressing the lack of versatility in existing technologies.

[0057] Those skilled in the art will understand that the steps, measures, and schemes in the various operations, methods, processes, and procedures discussed in this application can be alternated, modified, rearranged, decomposed, combined, or deleted.

[0058] The specific embodiments described above do not constitute a limitation on the scope of protection of this application. Any other corresponding changes and modifications made based on the technical concept of this application should be included within the scope of protection of the claims of this application.

Claims

1. A wearable upper limb exoskeleton, characterized in that, include: Back support; Two arm exoskeletons, each arm exoskeleton comprising multiple translational connection modules and multiple rotational connection modules connected alternately, the back support being connected to one of the translational connection modules, each translational connection module comprising a first sub-connection, a second sub-connection, and a telescopic linkage joint, the telescopic linkage joint being connected to the first sub-connection and the second sub-connection respectively to adjust the length of the translational connection.

2. The wearable upper limb exoskeleton according to claim 1, characterized in that, The telescopic linkage joint also includes a linkage length adjusting component and a locking bolt. The linkage length adjusting component includes a sliding rail and a slider that are slidably connected. The sliding rail is fixed to the first sub-connecting part, and the slider is fixed to the second sub-connecting part. The bottom of the sliding rail is provided with a strip-shaped hole or multiple spaced screw holes. The locking bolt is fixed to the slider and is threadedly connected to the strip-shaped hole or the screw holes.

3. The wearable upper limb exoskeleton according to claim 1, characterized in that, It also includes a scale and a linear displacement sensor. The scale is attached to the bottom of the slide rail and extends in a direction parallel to the extension direction of the slide rail. The linear displacement sensor is electrically connected to the first sub-connecting part and the second sub-connecting part, respectively.

4. The wearable upper limb exoskeleton according to claim 1, characterized in that, The multiple translational connection modules include a scapula, an upper arm, and a forearm, and the multiple rotational connection modules include a shoulder joint, an elbow joint, and a wrist joint. The scapula is connected to the back support and the shoulder joint, the upper arm is connected to the shoulder joint and the elbow joint, and the forearm is connected to the elbow joint and the wrist joint.

5. The wearable upper limb exoskeleton according to claim 4, characterized in that, It also includes a drive motor and a power battery. The drive motor is connected to the shoulder joint, the elbow joint, and the wrist joint via a drive rope, and the power battery is electrically connected to the drive motor.

6. The wearable upper limb exoskeleton according to claim 5, characterized in that, The shoulder joint includes three orthogonally connected rotational joints in sequence, the elbow joint includes one rotational joint, and the wrist joint includes two orthogonally connected rotational joints. Each of the rotational joints is connected to the drive rope for transmission.

7. The wearable upper limb exoskeleton according to claim 6, characterized in that, It also includes an absolute encoder and a tension sensor, the absolute encoder being mounted on the rotary joint and the tension sensor being mounted on the drive rope.

8. The wearable upper limb exoskeleton according to claim 5, characterized in that, It also includes a drive glove and a restraint backpack. The drive glove is connected to the wrist joint, and the restraint backpack is connected to the back support. The drive motor is mounted in the restraint backpack and is connected to multiple finger sleeves of the drive glove via the drive rope.

9. A control method for a wearable upper limb exoskeleton, characterized in that, The wearable upper limb exoskeleton as described in any one of claims 1 to 8 includes the following steps: Establish multiple dynamic functions: The link length function is f(a) = a + Δa; The linkage rotation angle function is f(α) = α + Δα; Linkage offset function f(d) = d + Δd; Joint angle function f(θ) = θ + Δθ; Where a, α, d, and θ are the basic link length, basic link rotation angle, basic link offset, and basic joint angle, respectively; and Δa, Δα, Δd, and Δθ are the changes in link length, link rotation angle, link offset, and joint angle, respectively. Real-time acquisition of changes in multiple parameters; Output the kinematic model parameters under the current shape; The kinematic matrix T is adjusted in real time to make the theoretical model consistent with the physical entity shape.

10. The control method for the wearable upper limb exoskeleton according to claim 9, characterized in that, The real-time acquisition of changes in multiple parameters includes: The change in the length Δa of the connecting rod is detected by a linear displacement sensor; The change in joint angle Δθ is detected by a joint encoder; Let Δα and Δd be fixed constants.

Images