Device for assisting the movement of the upper limbs of a user

Abstract

An apparatus for assisting a user's upper limb movement, comprising: a humerus module and a shoulder module. The humerus module comprises: a first joint, a first drive source, a first cable and a second cable. The shoulder module comprises: a first rotating assembly and a first fixing device. The apparatus further comprises: a first support configured to align the first joint with a shoulder joint of the upper limb; and a second support connected between the humerus module and the shoulder module. The first joint is positioned in use to assist the user's humerus movement. The first drive source is connected to the first joint by the first cable and the second cable, and is for pulling the first cable and the second cable to transmit a force to the first joint to respectively elevate and depress the humerus. The first fixing device is for fixing the first rotating assembly to the upper limb. The first rotating assembly is configured to allow relative rotation between the second support and the first fixing device during internal / external rotation of the user's shoulder.

Description

Technical Field

[0001] This application relates to a device for assisting a user's upper limb movements. Background Technology

[0002] The statements in this document are provided only as background information in relation to this application and do not necessarily constitute prior art.

[0003] Millions of people worldwide suffer from stroke, neurological disorders, and muscle atrophy each year. Rehabilitation and assistance with activities of daily living (ADL) are crucial for patients. Robotic rehabilitation and assistive devices are essential to provide assistance in both clinical and non-clinical settings. However, existing exoskeletons designed for upper limb joint alignment and ADL rehabilitation and assistance suffer from various limitations, such as shoulder joint singularities, exoskeleton-human joint misalignment, insufficient joint mobility for upper limb assistance, and motion resistance due to the heavy frame structure. Summary of the Invention

[0004] To address the aforementioned problems, one objective of this application is to provide a device for assisting users' upper limb movements, aiming to solve the technical problems of existing devices for assisting users' upper limb movements, such as shoulder joint singularities, exoskeleton misalignment with human joints, insufficient joint mobility for upper limb assistance, and human movement resistance caused by heavy frame structures.

[0005] To achieve the above objectives, according to one embodiment of this application, a device for assisting a user's upper limb movement is provided, comprising: a humeral module and a shoulder module. The humeral module includes: a first joint, a first drive source, a first cable, and a second cable. The shoulder module includes: a first rotating assembly and a first fixing device. The device further includes: a first support configured such that the first joint is aligned with the shoulder joint of the upper limb; and a second support connected between the humeral module and the shoulder module. The first joint is positioned in use to assist the user's humeral movement. The first drive source is connected to the first joint via the first cable and the second cable and is used to pull the first cable and the second cable, thereby transmitting force to the first joint to elevate and depress the humerus, respectively. The first fixing device is used to fix the first rotating assembly to the upper limb. The first rotating assembly is configured to allow relative rotation between the second support and the first fixing device during inward / outward rotation of the user's shoulder.

[0006] The advantages of the device for assisting a user's upper limb movement according to the embodiments of this application are summarized as follows:

[0007] In the device for assisting user upper limb movement provided in this application embodiment, the first support is configured such that the first joint is aligned with the shoulder joint of the upper limb. The first joint is driven by a cable-driven source to move the humerus up and down, and the first rotating assembly provides a passive degree of freedom for internal and external rotation of the shoulder. Therefore, using a combination of the first support, the first joint, and the first rotating assembly instead of a universal joint avoids shoulder singularities and joint misalignment. Furthermore, the first drive source is configured to transmit driving force to the first joint by pulling the first and second cables to elevate and depress the humerus. Therefore, the bulky actuator can be detached from the device frame and placed in other suitable locations via a cable-driven mechanism, so the size of the actuator does not affect the user's movement.

[0008] Brief description of the attached figures

[0009] Exemplary embodiments of this application are illustrated by way of example in the accompanying drawings, wherein the same reference numerals denote the same or similar elements, and wherein:

[0010] Figure 1 This is a schematic diagram of an exemplary device for assisting upper limb movement according to an embodiment of the present invention, which can be used in bilateral training;

[0011] Figure 2 This is a schematic diagram of a first support member in the form of an exemplary extendable beam according to an embodiment of the present invention.

[0012] Figure 3 This is a schematic diagram of an exemplary connection between a first support member and a platform according to an embodiment of the present invention;

[0013] Figures 4A-4B This is a schematic diagram of an exemplary connection between a first support member and a platform according to an embodiment of the present invention;

[0014] Figure 5 This is a schematic diagram of an exemplary humerus and shoulder module according to an embodiment of the present invention;

[0015] Figure 6 This is a schematic diagram of an exemplary first cable drive mechanism for humeral elevation / depression according to an embodiment of the present invention;

[0016] Figure 7 This is a schematic diagram of an exemplary first rotating component in a shoulder module according to an embodiment of the present invention;

[0017] Figure 8 This is a schematic diagram of an exemplary passive rotation assembly for shoulder rotation according to an embodiment of the present invention;

[0018] Figure 9 This is a schematic diagram of an exemplary elbow and forearm module according to an embodiment of the present invention;

[0019] Figure 10 This is a schematic diagram of an exemplary second cable drive mechanism for elbow flexion / extension according to an embodiment of the present invention;

[0020] Figure 11 This is an illustration of an exemplary forearm module according to an embodiment of the present invention;

[0021] Figure 12 This is a schematic diagram of an exemplary second rotating component in a forearm module according to an embodiment of the present invention;

[0022] Figure 13 This is a schematic diagram of an exemplary third cable drive mechanism for forearm pronation / supination according to an embodiment of the present invention;

[0023] Figure 14 This is a schematic diagram of an example wrist module according to an embodiment of the present invention;

[0024] Figure 15 This is a schematic diagram of an exemplary fourth cable drive mechanism for wrist flexion / extension according to an embodiment of the present invention;

[0025] Figure 16 This is a schematic diagram of an exemplary sensor and cable drive mechanism according to an embodiment of the present invention; Detailed Implementation

[0026] Before turning to the accompanying drawings, which illustrate certain exemplary embodiments in detail, it should be understood that this application is not limited to the details or methods set forth in the specification or shown in the drawings. It should also be understood that the terminology used herein is for descriptive purposes only and should not be considered limiting.

[0027] As used herein, when referring to a feature, element, or component, one or a class (or more) may be used, unless the context clearly indicates otherwise. It should also be further understood that, when used in this specification, the terms “comprising” and / or “including” specify the presence of the stated feature, integer, step, operation, element, and / or component, but do not preclude the presence or addition of one or more other features, integers, steps, operations, element components, and / or groups thereof.

[0028] As used herein, the terms “length,” “width,” “up,” “down,” “front,” “back,” “left,” “right,” “vertical,” “horizontal,” “top,” “bottom,” “inner,” and “outer,” etc., refer to the positions or positional relationships shown in the accompanying drawings. They are used only to facilitate the illustration of the embodiments of this application and to simplify the description of this application, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of this application.

[0029] In the embodiments of this application, unless otherwise expressly specified and defined, the terms "installation," "contact," "connection / coupling," "fixation," etc., should be understood in a broad sense. For example, it can be a fixed connection or a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection achieved through an intermediate medium; it can be an internal connection between two components, or an interactive relationship between two components. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of this application according to the specific circumstances.

[0030] The various embodiments described herein relate to a device for assisting a user's upper limb movement, particularly suitable for helping people with stroke, neurological disorders, or muscle atrophy perform activities of daily living (ADL) and rehabilitation.

[0031] According to one embodiment of this application, a device for assisting a user's upper limb movement includes a humeral module I and a shoulder module II. The humeral module I has a first cable drive mechanism, which includes a first joint 201, a first drive source 401, a first cable 202, and a second cable 204. The shoulder module II includes a first rotating assembly 7 and a first fixing device 8. The device further includes a first support 1 configured such that the first joint 201 is aligned with the shoulder joint of the upper limb; and a second support 6 connected between the humeral module I and the shoulder module II. The first joint 201 is positioned in use to assist the user's humeral movement. The first drive source 401 is connected to the first joint 201 via the first cable 202 and the second cable 204, and is used to pull the first cable 202 and the second cable 204, thereby transmitting force to the first joint 201 to respectively raise and lower the humerus. The first fixing device 8 is used to fix the first rotating assembly 7 to the upper limb. The first rotating component 7 is configured to allow relative rotation between the second support 6 and the first fixing device 8 during inward / outward rotation of the user's shoulder. In one embodiment, the first joint 201 may be in the form of a first wheel.

[0032] In the device for assisting user upper limb movement provided in this application embodiment, the first support member 1 is configured such that the first joint 201 is aligned with the shoulder joint of the upper limb. The first joint is driven by a cable-driven source to move the humerus up / down, and the first rotation component provides a passive degree of freedom for internal / external rotation of the shoulder. Therefore, using a combination of the first support member, the first joint, and the first rotation component instead of a universal joint avoids shoulder singularities and joint misalignment. Furthermore, the first drive source is configured to transmit driving force to the first joint by pulling the first and second cables to elevate and depress the humerus. Therefore, the bulky actuator can be detached from the device frame and placed in other suitable locations via a cable-driven mechanism, so the size of the actuator does not affect the user's movement.

[0033] According to one embodiment of this application, the device further includes: an elbow module III, a forearm module IV, and a wrist module V. The humerus module I, shoulder module II, elbow module III, forearm module IV, and wrist module V are sequentially connected and configured to attach to the user's upper limb. Each of the humerus module I, elbow module III, forearm module IV, and wrist module V has a cable-driven mechanism, each including a separate drive source to transmit force via a cable, thereby achieving corresponding humeral elevation / depression, elbow flexion / extension, forearm pronation / supination, or wrist flexion / extension. In this way, the bulky drive source can be separated from the device frame via the cable-driven mechanism and placed in another suitable location, so the size of the drive source does not affect the user's movement.

[0034] According to one embodiment of this application, the first rotating component 7 is arc-shaped and includes: a first roller group 701 and a first circular guide rail 702 for guiding the rolling motion of the first roller group 701.

[0035] According to one embodiment of this application, the first fixation device 8 further includes a first arm support 801. The first arm support 801 is connected to the first rotating assembly 7 and, in use, is used to hold the humeral head within the glenoid cavity of the shoulder of the upper limb.

[0036] According to one embodiment of this application, the first support 1 connects the first joint 201 to the platform via a multi-degree-of-freedom (DOF) joint 9. The DOF joint 9 is configured such that the first joint 201 is passively aligned with the shoulder joint of the upper limb. In one embodiment, the DOF joint 9 may be in the form of a ball joint. In addition to allowing the first joint 201 to be passively aligned with the shoulder joint, the DOF joint 9 can also passively follow the extension / retraction of the scapula; and, similar to the pivot joint 1101, passively follow the abduction and adduction of the shoulder.

[0037] According to one embodiment of this application, the first support 1 connects the first joint 201 to the platform via a pivot joint 1101, which allows the shoulder of the upper limb to be horizontally abducted and adducted.

[0038] According to one embodiment of this application, pivot joint 1101 passively follows the horizontal abduction and adduction of the shoulder. According to another embodiment of this application, pivot joint 1101 is connected to a drive source to apply force to assist the horizontal abduction and adduction of the shoulder.

[0039] According to one embodiment of this application, the device for assisting a user's upper limb movement further includes a universal joint 1102. The universal joint 1102 connects a pivot 1101 to a first support 1 and is configured to passively follow the movement of the scapula corresponding to the upper limb.

[0040] According to one embodiment of this application, the elbow module III has a second cable drive mechanism 12. The second cable drive mechanism 12 includes a second joint 1201, a second drive source 402, and bilateral structures 12A and 12B. The second joint 1201 is aligned with the elbow joint of the upper limb during use and is configured to follow the flexion and extension of the elbow. The second drive source 402 is connected to the second joint 1201 via a third cable 1202 and a fourth cable 1204. The second drive source 402 is configured to pull the third cable 1202 and the fourth cable 1204 to transmit force to the second joint 1201 to flex and extend the elbow, respectively. The bilateral structures 12A and 12B are connected to a first rotating assembly 7 during use and to the forearm of the upper limb via a second fixing device 14. The second joint 1201 is attached to the bilateral structures 12A and 12B at the elbow. In one embodiment, the second joint 1201 may be in the form of a second wheel. The first rotating assembly 7 is a passive shoulder rotating assembly for conforming to internal / external rotation of the humerus to prevent elbow joint misalignment.

[0041] According to one embodiment of this application, forearm module IV is connected to elbow module III via a double-sided structure 12B. Forearm module IV has a third cable drive mechanism 13, which includes a second rotation assembly 13A. The second rotation assembly 13A allows relative rotation between the double-sided structure 12B and the second fixation device 14 during forearm pronation and supination.

[0042] According to one embodiment of this application, the second rotating assembly 13A is arc-shaped and includes: a second roller assembly 1301 and a second circular guide rail 1302 for guiding the rolling motion of the second roller assembly 1301.

[0043] According to one embodiment of this application, the third cable drive mechanism 13 further includes a third drive source 403. The third drive source 403 is connected to the second rotating assembly 13A via a fifth cable 1303 and a sixth cable 1305 to transmit force to the forearm to pronate and supinate the forearm, respectively.

[0044] According to one embodiment of this application, the third cable drive mechanism further includes: pulley systems 1307 and 1308 for guiding the fifth cable 1303 and the sixth cable 1305 into the second rotating assembly 13A.

[0045] According to one embodiment of this application, the wrist module V is connected to the second rotating assembly 13A via a third support 15. The wrist module V has a fourth cable drive mechanism 16, which includes a third joint 1601. The third joint 1601 is configured to align with the wrist joint of the upper limb in use and to move with flexion and extension of the wrist. A third fixation device 14 is configured to fix the third joint to the hand of the upper limb. In one embodiment, the third joint 1601 may be in the form of a third wheel.

[0046] According to one embodiment of this application, the wrist module V further includes a fourth drive source 404. The fourth drive source 404 is connected to the third joint 1601 via a seventh cable 1602 and an eighth cable 1604. The fourth drive source 404 is used to pull the seventh cable 1602 and the eighth cable 1604 to transmit force to the third joint 1601, thereby causing wrist flexion and extension, respectively.

[0047] According to an embodiment of this application, the first cable 202, the second cable 204, the third cable 1202, the fourth cable 1204, the fifth cable 1303, the sixth cable 1305, the seventh cable 1602, and the eighth cable 1604 are slidably covered in sheaths 203, 205, 1203, 1205, 1304, 1306, 1603, and 1605.

[0048] According to one embodiment of this application, the device for assisting a user's upper limb movement further includes: a sensor system 2001, 2003, 2004, 2005, 2006, including at least one motion, force, muscle, or neuron sensor or marker for motion capture, which is positioned to capture human kinematics and dynamic motion data.

[0049] According to one embodiment of this application, sensor systems 2001, 2003, 2004, 2005, and 2006 are configured to control the activation of each of the drive sources to actively assist the movement of the upper limb.

[0050] According to one embodiment of this application, sensor systems 2001, 2003, 2004, 2005, and 2006 are configured to capture human kinematics and dynamic motion data of a first upper limb, and the device uses this data to assist in the movement of a second upper limb.

[0051] According to embodiments of this application, each pair of cables, namely the first and second cables, the third and fourth cables, the fifth and sixth cables, and the seventh and eighth cables, is formed by a single cable fixed in a suitable position to provide the above-described action.

[0052] According to one embodiment of this application, the first support member 1, the second support member 6, and the third support member 15 are retractable or non-retractable beams. In one embodiment, the first support member 1, the second support member 6, and the third support member 15 are retractable beams.

[0053] In one embodiment, the device includes: a first support 1; a first joint 201 parallel to the humerus; a first cable 202 connecting a first drive source 401 to the first joint 201; a first sheath 203; a second cable 204 connecting the first drive source 401 to the first joint 201; a second sheath 205; a device 206 for securing the first sheath 203 and the second sheath 205; a second support 6 attached to the first joint 201; a first roller assembly 701 consisting of at least one roller and connected to the second support 6; a first circular guide rail 702 allowing the first roller assembly 701 to slide; and a first fixation device 8 for attaching the device to the humerus. The first joint 201 is configured to elevate or depress the humerus. The first cable 202 is configured to transmit force from the first drive source 401 and elevate the humerus. The first cable 202 slides within the first sheath 203. The second cable 204 is configured to transmit force from the first drive source 401 in the opposite direction to the first cable 202 and press down on the humerus. The second cable 204 slides within the second sheath 205. The first circular guide rail 702 passively follows or actively assists in the internal / external rotation of the humerus.

[0054] In one embodiment, the first support member is in the form of a telescopic beam 1, including a screw hole member 103 and a screw member 104.

[0055] In one embodiment, the device may further include: a second joint 1201 aligned with an elbow joint, wherein the second joint 1201 is used for flexing or extending the elbow; a third cable 1202 connecting a second drive source 402 to the second joint 1201; the third cable 1202 for transmitting force from the second drive source 402 and flexing the elbow; a third sheath 1203 in which the third cable 1202 slides; a fourth cable 1204 connecting the second drive source 402 to the second joint 1201 and for transmitting force from the second drive source 402 in the opposite direction of the third cable 1202 and extending the elbow; a fourth sheath 1205 in which the fourth cable 1204 slides; a device 1206 for securing the third sheath 1203 and the fourth sheath 1205; and four links 1207-1210 aligned with the arm and forming a bilateral structure.

[0056] In one embodiment, the device may further include: a connector 1309 comprising a second roller assembly 1301 consisting of at least one roller; a second circular guide rail 1302 allowing the second roller assembly 1301 to slide and actively pronate / supinate the forearm; a fifth cable 1303 connecting a third drive source 403 to the connector 1309, the fifth cable 1303 being used to transmit force from the third drive source 403 and pronate the forearm; and a fifth sheath 1304, wherein the fifth cable 1303... Sliding within a fifth sheath 1304; a sixth cable 1305 that connects a third drive source 403 to a connector 1309 and is used to transmit force from the third drive source 403 in the opposite direction of the fifth cable 1303 and to supinate the forearm; a sixth sheath 1306 that slides within a sixth sheath 1306; a device 1310 for securing the fifth sheath 1304; a device 1311 for securing the sixth sheath 1306; and a first device 14 for attaching the device to the forearm.

[0057] In one embodiment, the device further includes: a first set of pulleys 1307 and a second set of pulleys 1308. Both the first set of pulleys 1307 and the second set of pulleys 1308 consist of at least one pulley. The first set of pulleys 1307 is used to change the driving direction of the fifth cable 1303. The second set of pulleys 1308 is used to change the driving direction of the sixth cable 1305.

[0058] In one embodiment, the device may further include: a third support 15 connected to the connector 1309; a third joint 1601 aligned with a wrist joint, wherein the third joint 1601 is configured to flex or extend the wrist; a seventh cable 1602 connecting a fourth drive source 404 to the third joint 1601, wherein the seventh cable 1602 is configured to transmit force from the fourth drive source 404 and flex the wrist; a seventh sheath 1603 in which the seventh cable 1602 slides; and an eighth cable 1604. The device includes: a fourth drive source 404 connected to a third joint 1601, configured to transmit the force of the fourth drive source 404 in the opposite direction to the seventh cable 1602 and extend the wrist; an eighth sheath 1605 in which the eighth cable 1604 slides; a device 1606 for securing the seventh sheath 1603 and the eighth sheath 1605; a second device 17 for attaching the device to the forearm; a fourth support 18 attached to the third joint 1601; and a device 19 for attaching the device to the hand.

[0059] In some embodiments, the device can be used as a human motion assist provider, wherein the assist requires at least one side of the device. In other embodiments, the device can also be used as a human motion capture device, wherein human motion is captured by at least one sensor.

[0060] Figure 1An exemplary device for upper limb movement assistance according to an embodiment of this application, which can be used in bilateral training, is shown. The device has two symmetrical structures worn on both limbs. During bilateral training, one side of the device assists the affected limb via four drive sources 401-404; the other side collects real-time motion data from the healthy limb for interaction with virtual reality (VR) and control of the drive sources. In another non-limiting embodiment, eight drive sources drive the two symmetrical structures of the device to assist both limbs. The driven side can actively assist the upper limb in humeral elevation / depression, elbow flexion / extension, forearm pronation / supination, and wrist flexion / extension, and passively accommodate scapular movements and shoulder internal / external rotation; the non-driven side passively accommodates the aforementioned upper limb movements. Exemplary applications of this device include unilateral and bilateral movement assistance in ADL and rehabilitation. Furthermore, since the drive sources can be detached from the device frame and placed in other suitable locations, the inertia of the device can be reduced by means of cable drive mechanisms 2, 12, 13, 16, allowing the user to move freely and easily without being hindered by the bulky drive sources. In one embodiment, the drive sources 401-404 can be various actuators, including but not limited to electric motors, pneumatic actuators, and hydraulic actuators. In a preferred embodiment, the drive sources 401-404 can be cascaded elastic actuators for force control and compliant movement. The four active joints employed in the cable drive mechanisms 2, 12, 13, and 16 are used to achieve humeral elevation / depression, elbow flexion / extension, forearm pronation / supination, and wrist flexion / extension, respectively, thereby assisting the user in training and ADL (Activities of Daily Living).

[0061] Each side of the device has five modules: a humeral module I for humeral elevation / depression, a shoulder module II for shoulder internal / external rotation, an elbow module III for elbow flexion / extension, a forearm module IV for forearm pronation / supination, and a wrist module V for wrist flexion / extension. In one embodiment, the five modules, supported by a first support 1, are mounted on a fixed platform 10. Another embodiment of the platform is a movable platform, such as a wheelchair or a wheeled support.

[0062] In addition, five modules are sequentially connected and attached to the user's body. One end of the humeral module I is sequentially connected to the first support 1 and the platform 10; the other end of the humeral module I is sequentially connected to the second support 6 and the shoulder module II. The shoulder module II is then attached to the upper arm via a first fixation device 8. The first fixation device 8 includes a first arm brace 801 and a first strap 802. A fabric 804 with three straps 803 connected to the first arm brace 801 is configured to pull the humeral head into the glenoid cavity of the shoulder joint to prevent shoulder dislocation. Furthermore, the shoulder module II is connected to the elbow module III, followed by the forearm module IV, the third support 15, and the wrist module V. The second arm brace 1401 in the forearm module IV is attached to the user's forearm via a second strap 1402, while the third arm brace 1701 in the wrist module V is attached to another forearm location via a third strap 1702. Subsequently, during training, a handle 19 connected to the fourth support 18 and the wrist module V is held by the user's hand. Another embodiment for attachment to the hand uses an arm brace that attaches the wrist module V to the hand with straps. Embodiments of straps and fabric in the shoulder module II are configured to hold the user's shoulder and humerus in place and prevent shoulder subluxation.

[0063] In embodiments, the first to fourth supports 1, 6, 15, 18 may be non-extendable or extendable beams. In one embodiment, the first to fourth supports 1, 6, 15, 18 may be extendable beams, such that when the device is attached to a user's body, the user can adjust the first to fourth supports 1, 6, 15, 18 to fit his / her body size so that the joints of the human body are aligned with the joints of the device.

[0064] Figure 2 An exemplary embodiment of the first support member 1 is shown, which includes first and second support portions 101, 102, a screw hole member 103, and a screw member 104. Another possible embodiment of the first support member 1 is to replace the screw hole member 103 and the screw member 104 with a ball screw. Such embodiments are also applicable to the second to fourth supports 6, 15, 18, and... Figure 1 Another embodiment of the second to fourth supports 6, 15, 18 is shown, in which their lengths are adjusted by aligning different sets of holes.

[0065] Figure 3 and 4A Two embodiments of an exemplary connection between the first support member 1 and the platform 10 are shown. Figure 3 In this design, a multi-degree-of-freedom joint 9, preferably a ball joint, is used to achieve the connection, wherein the ball joint passively aligns the rotational axis of the first wheel with the center of the shoulder. The multi-degree-of-freedom joint 9 provides three passive degrees of freedom to accommodate scapular movement.

[0066] exist Figure 4A In embodiment B, a pivot joint 1101 is used instead of this connection. The pivot joint 1101 can be a passive or active joint with one degree of freedom. Therefore, it can passively follow or actively assist the shoulder in horizontal abduction / adduction. However, this pivot joint 1101 cannot accommodate the movement of the scapula. Therefore, in another embodiment, a universal joint 1102 is connected to the pivot joint 1101, providing two passive degrees of freedom for scapular movement, such as... Figure 4B As shown.

[0067] Figure 5 This is a schematic diagram of the humerus and shoulder modules. Humerus module I assists in elevating / depressing the humerus, while shoulder module II passively accommodates internal / external rotation of the shoulder. Humerus module I has a first cable drive mechanism 2, which includes: a first joint 201. This first joint 201 is in the form of a first wheel and is connected to two cables; first and second joint support members 206 and 208; and a support connecting member 207 connected to a second support member 6. The use of a ball joint and the first wheel-shaped first joint 201 instead of a universal joint achieves elevation / depression, thereby avoiding shoulder joint misalignment and dislocation.

[0068] Figure 6 A first cable drive mechanism 2 is shown in one embodiment. A first joint 201, parallel to the humerus, is configured to elevate and depress the humerus. The torque for elevating and depressing the humerus is provided by a first drive source 401 via first and second cables 202, 204, which slide within first and second sheaths 203, 205. A first joint support member 206, including two sheath retainers, is configured to fix the first and second sheaths 203, 205 such that the first and second cables 202, 204 can slide forward and backward without moving the sheaths 203, 205.

[0069] also, Figure 5 Shoulder module II is also shown, which includes: an arc-shaped first rotating assembly 7 and a first arm support 801.

[0070] As for the first rotating component 7 Figure 7 More details are shown: the first rotating assembly 7 consists of four rollers 701 and a first circular guide rail 702 that allows the rollers 701 to slide, and a first roller connecting member 703 is used to connect the rollers 701 to the second support member 6.

[0071] The first rotation component 7 can provide a passive degree of freedom for the internal / external rotation of the shoulder, such as Figure 8 As shown.

[0072] Figure 9This is a schematic diagram of an exemplary elbow and forearm module according to an embodiment of the present invention. Elbow module III is aligned with the user's elbow joint to aid in elbow flexion / extension. In one possible embodiment, elbow module III is connected to shoulder module II via first and second links 1207, 1208. It has a second cable drive mechanism 12 aligned with the user's elbow, comprising: a second joint 1201 in the form of a second wheel connected to two cables; a first sheath fixing member 1206; third and fourth links 1209, 1210; and a third joint support member 1211. Notably, the first and second links 1207, 1208 and the third and fourth links 1209, 1210 form a double-sided structure 12A, which transmits force to the upper arm more firmly and smoothly.

[0073] Figure 10 A second cable drive mechanism 12 is shown in one embodiment. Similar to the first cable drive mechanism 2 for humeral elevation / depression, the second joint 1201 is configured to flex and extend the elbow 402 via third and fourth cables 1202, 1204 sliding within third and fourth sheaths 1203, 1205 under the drive of a second drive source. A first sheath fixing member 1206, comprising two sheath fixators, is configured to fix the third and fourth sheaths 1203, 1205 such that the third and fourth cables 1202, 1204 can slide forward and backward without moving the third and fourth sheaths 1203, 1205.

[0074] Figure 11 This is an illustration of an exemplary forearm module IV that can employ the device of this application. Forearm module IV facilitates forearm pronation / supination. In one possible embodiment, forearm module IV is connected to elbow module III via third and fourth links 1209, 1210. It has a third cable drive mechanism 13, which includes: a second rotating assembly 13A, two pulley sets 1307, 1308, and second and third sheath fixing members 1310, 1311 located on the third and fourth links 1209, 1210. The second rotating assembly 13A is arc-shaped and is connected to fifth and sixth cables 1303, 1305, wherein the fifth and sixth cables 1303, 1305 slide within fifth and sixth sheaths 1304, 1306. The second and third sheath fixing members 1310 and 1311 are used to fix the fifth and sixth sheaths 1304 and 1306, so that the fifth and sixth cables 1303 and 1305 can slide forward and backward without moving the fifth and sixth sheaths 1304 and 1306. In addition, the forearm module IV has a second arm bracket 1401, which is attached to the second circular guide rail 1302 in the second rotating assembly 13A.

[0075] In addition to the second circular guide rail 1302 connected to the third and fourth links 1209 and 1210, the second rotating assembly 13A further includes four rollers 1301 and connectors 1309, such as Figure 12 As shown. The connector 1309 is used to connect the roller 1301 to the third support 15 and slide along the second circular guide rail 1302.

[0076] Figure 13 A third cable drive mechanism 13 for actuation is shown in one embodiment. The third cable drive mechanism 13, namely the second rotation component 13A, provides an active degree of freedom for forearm pronation / supination by pulling the connecting member 1309 via the fifth cable 1303 and the sixth cable 1305. Figure 13 The dashed lines in the diagram represent the fifth and sixth cables 1303 and 1305 within the second circular guide rail 1302. When pulled by the fifth and sixth cables 1303 and 1305, the connector 1309 actively slides along the second circular guide rail 1302. Two pulley sets 1307 and 1308 are used to vertically change the driving direction of the fifth and sixth cables 1303 and 1305, allowing them to be parallel to the user's forearm.

[0077] Figure 14 This is a schematic diagram of an example wrist module V from which the device of this application can be employed. The wrist module V assists in wrist flexion / extension. In one possible embodiment, the wrist module V is connected to the second rotating assembly 13A via a third support 15. It has a fourth cable drive mechanism 16 aligned with the user's wrist, the fourth cable drive mechanism 16 including: a third joint 1601; a third joint support member 1606; and a support member connecting member 1607. The third joint 1601 is in the form of a third wheel and is connected to two cables. The support member connecting member 1607 is connected to the fourth support member 18. Furthermore, the wrist module V also has: a third arm support 1701 configured to be attached to the forearm via a third strap 1702, and a handle or arm support 19 for the hand, which is connected to the fourth cable drive mechanism 16 via the fourth support member 18.

[0078] Figure 15 A fourth cable drive mechanism 16 is shown in one embodiment. Similar to the first cable drive mechanism 2 for humeral elevation / depression, the third joint 1601 is configured to flex and extend the wrist via the seventh and eighth cables 1602, 1604 located within the seventh and eighth sheaths 1603, 1605, driven by a fourth drive source 404.

[0079] The third joint support member 1606, which has two sheath retainers, is configured to fix the positions of the seventh and eighth sheaths 1603 and 1605, so that the seventh and eighth cables 1602 and 1604 can slide forward and backward without moving the seventh and eighth sheaths 1603.

[0080] Figure 16 An embodiment of a device with sensors is shown. Real-time motion data for various applications is measured by three IMUs 2001-2003 mounted on the upper arm, forearm, and hand via straps. Examples include drive control, interaction with virtual reality (VR), and user condition assessment. Furthermore, joint information acquired by three encoders 2004-2006 can be sent to a control unit to control the drive source.

[0081] This device can serve various roles, such as a human motion assist provider, wherein at least one side of the device assists the upper limb; and a human motion capture device, wherein at least one sensor measures real-time human motion data for drive control and user condition assessment. Exemplary applications of the device include unilateral and bilateral rehabilitation training. Particularly for bilateral training, the device can acquire motion data of the healthy limb in real time to provide active assistance to the injured limb.

[0082] The advantages of the device for assisting a user's upper limb movement according to embodiments of this application are summarized as follows:

[0083] The device is configured to provide active assistance for four upper limb movements: humeral elevation / depression (i.e., shoulder flexion / extension and adduction / abduction), elbow flexion / extension, forearm pronation / supination, and wrist flexion / extension. In addition, the device passively accommodates scapular movements and internal / external shoulder rotation. The length of the device frame is adjustable to accommodate users of different body types.

[0084] Embodiments of the straps and fabric in the shoulder module are configured to hold the user's shoulder and humerus in proper position and prevent shoulder subluxation. Furthermore, the device can be mounted on a fixed platform or, in various scenarios, on other mobile platforms such as wheelchairs.

[0085] Because the heavy-duty actuator can be detached from the device frame and placed in other suitable locations via a cable-driven mechanism, the size of the actuator does not affect the user's movement. Various drive sources can be used, such as electric, pneumatic, and hydraulic actuators of different sizes. In a preferred embodiment, a series resilient actuator is used to achieve force control and compliant motion.

[0086] This device can serve various roles, such as a human motion assist provider, wherein at least one side of the device assists the upper limb; and a human motion capture device, wherein at least one sensor measures real-time human motion data for drive control and user condition assessment. Exemplary applications of the device include unilateral and bilateral rehabilitation training. Particularly for bilateral training, the device can acquire motion data of the healthy limb in real time to provide active assistance to the injured limb.

[0087] It should be noted that the term "exemplary" and variations thereof, used herein to describe various embodiments, are intended to indicate that such embodiments are possible examples, representations, or illustrations of possible embodiments (and such terms are not intended to imply that such embodiments are necessarily unusual or superlative examples). It should also be noted that the terms "about" and "substantially" as used herein are intended to have a broad meaning consistent with the common and accepted usage by those skilled in the art to whom the subject matter of this disclosure is addressed.

[0088] The term "or" as used herein is used in its inclusive (rather than exclusive) sense, and therefore, when used to connect lists of elements, the term "or" indicates one, some, or all of the elements in the list. Unless otherwise specified, phrases such as "at least one of X, Y, and Z" are understood to mean that the elements can be X, Y, and Z; X and Y; X and Z; Y and Z; or X, Y, and Z (i.e., any combination of X, Y, and Z). Therefore, unless otherwise stated, such conjunctions are generally not intended to imply that some embodiments require at least one X, at least one Y, and at least one Z to be present.

[0089] Although this disclosure has been described with reference to exemplary embodiments or multiple embodiments, those skilled in the art will understand that various changes can be made and elements thereof can be substituted with equivalents without departing from the scope of this disclosure. Furthermore, many modifications can be made to adapt particular situations or materials to the teachings of this disclosure without departing from the essential scope of this disclosure. Therefore, this disclosure is not limited to the specific embodiments disclosed as the best solution contemplated for carrying out this disclosure, but rather this disclosure will include all embodiments falling within the scope of the claims.

Claims

1. A device for assisting a user's upper limb movement, comprising: The humeral module and the shoulder module; among them, The humeral module includes: a first joint, a first drive source, a first cable, and a second cable; The shoulder module includes: a first rotating assembly and a first fixing device; The device further includes: A first support member is configured such that the first joint is aligned with the shoulder joint of the upper limb; and A second support member is connected between the humeral module and the shoulder module; The first joint is positioned to assist the user's humeral movement during use; The first drive source is connected to the first joint via the first cable and the second cable, and is used to pull the first cable and the second cable to transmit force to the first joint to raise and lower the humerus respectively; The first fixing device is used to fix the first rotating assembly to the upper limb; and The first rotating component is configured to allow relative rotation between the second support and the first fixing device during inward / outward rotation of the user's shoulder; The first support member connects the first joint to the platform via a ball joint; and the ball joint is configured such that the first joint is passively aligned with the shoulder joint of the upper limb and provides three passive degrees of freedom to accommodate the extension / contraction of the scapula and the abduction / adduction of the shoulder. The combination of the first support member, the first joint, and the first rotational assembly avoids shoulder singularities and joint misalignment.

2. The apparatus of claim 1, further comprising: Elbow module, forearm module, and wrist module; among which: The humeral module, shoulder module, elbow module, forearm module, and wrist module are sequentially connected and configured to attach to the user's upper limb; and Each of the humeral module, the elbow module, the forearm module, and the wrist module has a cable drive mechanism, each including a separate drive source to transmit force via a cable, thereby achieving corresponding humeral elevation / depression, elbow flexion / extension, forearm pronation / supination, or wrist flexion / extension.

3. The apparatus as claimed in claim 1 or 2, wherein, The first rotating component is arc-shaped and includes: a first roller assembly and a first circular guide rail for guiding the rolling motion of the first roller assembly.

4. The apparatus as claimed in claim 1 or 2, wherein, The first fixation device further includes a first arm support; the first arm support is connected to the first rotating assembly and, in use, is used to hold the humeral head within the glenoid cavity of the shoulder of the upper limb.

5. The apparatus of claim 2, wherein, The elbow module includes: The second joint, wherein the second joint is aligned with the elbow joint of the upper limb during use and is configured to follow the flexion and extension of the elbow; A second drive source, wherein the second drive source is connected to the second joint via a third cable and a fourth cable, and the second drive source is configured to pull the third cable and the fourth cable to transmit force to the second joint to flex and extend the elbow, respectively; and A bilateral structure, wherein the bilateral structure is connected in use to the first rotating assembly and connected to the forearm of the upper limb via a second fixing device, and the second joint is attached to the bilateral structure at the elbow.

6. The apparatus of claim 5, wherein, The forearm module is connected to the elbow module via the bilateral structure; the forearm module includes a second rotation component; and the second rotation component is used to allow relative rotation between the bilateral structure and the second fixation device during forearm pronation and supination.

7. The apparatus of claim 6, wherein, The second rotating component is arc-shaped and includes: a second roller assembly and a second circular guide rail for guiding the rolling motion of the second roller assembly.

8. The apparatus of claim 6, wherein, The forearm module includes a third drive source, which is connected to a second rotating assembly via a fifth cable and a sixth cable to transmit force to the forearm for pronation and supination, respectively.

9. The apparatus of claim 8, wherein, The forearm module further includes a pulley system for guiding the fifth cable and the sixth cable into the second rotating assembly.

10. The apparatus of claim 9, wherein the pulley system further comprises: A first set of pulleys and a second set of pulleys; both the first set of pulleys and the second set of pulleys consist of at least one pulley; the first set of pulleys is used to change the driving direction of the fifth cable; The second set of pulleys is used to change the driving direction of the sixth cable.

11. The apparatus according to any one of claims 8 to 10, wherein: The wrist mold is connected to the second rotating assembly via a third support member; The wrist module includes a third joint; The third joint is configured to align with the wrist joint of the upper limb during use and to move with flexion and extension of the wrist; The third fixation device is configured to fix the third joint to the hand of the upper limb.

12. The apparatus as claimed in claim 11, characterized in that, The wrist module further includes a fourth drive source; the fourth drive source is connected to the third joint via a seventh cable and an eighth cable; and the fourth drive source is used to pull the seventh cable and the eighth cable to transmit force to the third joint, thereby causing the wrist to flex and extend, respectively.

13. The apparatus of claim 12, wherein, Each of the first cable, the second cable, the third cable, the fourth cable, the fifth cable, the sixth cable, the seventh cable, and the eighth cable is slidably covered within a sheath.

14. The apparatus of claim 1, further comprising a sensor system including at least one motion, force, muscle, or neuronal sensor or marker for motion capture, positioned to capture human kinematics and dynamic motion data.

15. The apparatus of claim 14, wherein, The sensor system is configured to control the activation of each of the drive sources to actively assist the movement of the upper limb.

16. The apparatus of claim 14, wherein, The sensor system is configured to capture human kinematics and dynamic motion data of the first upper limb, and the device uses the data to assist the movement of the second upper limb.

17. The apparatus of claim 11, wherein, The first support member, the second support member, and the third support member are telescopic beams; and the first support member includes a screw hole member and a screw member.

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