Upper limb rehabilitation robot

Abstract

The application relates to the technical field of upper limb rehabilitation robots, in particular to an upper limb rehabilitation robot. The upper limb rehabilitation robot comprises a wearable garment, a shoulder support, an elbow support, a driving system and a soft power exoskeleton support; the wearable garment is used for human body wearing and fixing, the shoulder support is fixed at the position corresponding to the human body shoulder of the wearable garment, and the elbow support is used for fixing the elbow of the upper limb of the human body; the driving system is connected with the soft power exoskeleton support, the soft power exoskeleton support comprises an upper arm soft power exoskeleton support, the upper arm soft power exoskeleton support is connected between the shoulder support and the elbow support, and the driving system is used for driving the upper arm soft power exoskeleton support to drive the elbow support to move close to or away from the shoulder support. The upper limb rehabilitation robot provided by the application can be directly worn on the patient, can follow the patient to move, and thus the patient can freely select a training position, and the demand of home rehabilitation training can be met.

Description

Technical Field

[0001] This invention relates to the field of upper limb rehabilitation robot technology, and more specifically, to an upper limb rehabilitation robot. Background Technology

[0002] Currently, there are some patients whose muscle function declines due to stroke or other diseases. These patients exhibit abnormal muscle tone and disuse atrophy, which affects their motor function. For these patients, rehabilitation training is mainly used to strengthen the muscles in the affected area in order to restore their daily activity ability.

[0003] Traditional rehabilitation training is mostly non-home-based, requiring hospitals or designated rehabilitation institutions to conduct rehabilitation training according to a pre-designed training model. Currently, in order to meet the needs of patients for home-based training, some home rehabilitation robots are available on the market. These robots are large and immobile, requiring patients to conduct rehabilitation training in a designated location, which cannot meet the needs of patients for different training locations.

[0004] In summary, overcoming the aforementioned shortcomings of existing rehabilitation robots is a technical problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0005] The purpose of this invention is to provide an upper limb rehabilitation robot to alleviate the technical problems of existing rehabilitation robots being large in size and immobile.

[0006] The upper limb rehabilitation robot provided by the present invention includes a wearable garment, shoulder support, elbow support, drive system, and soft-powered exoskeleton support.

[0007] The garment is used for wearing and securing to the human body. The shoulder support is fixed to the corresponding shoulder area of ​​the garment, and the elbow support is used for securing to the elbow of the upper limb.

[0008] The drive system is connected to the soft-powered exoskeleton support, which includes an upper arm soft-powered exoskeleton support. The upper arm soft-powered exoskeleton support is connected between the shoulder support and the elbow support. The drive system is used to drive the upper arm soft-powered exoskeleton support to move the elbow support closer to or away from the shoulder support.

[0009] Preferably, as one possible implementation, the upper limb rehabilitation robot further includes a glove for being fitted and fixed to the human hand.

[0010] The soft-powered exoskeleton support also includes a lower arm soft-powered exoskeleton support, which is connected between the elbow support and the glove. The drive system is used to drive the lower arm soft-powered exoskeleton support to move the glove closer to or away from the elbow support; and / or, the soft-powered exoskeleton support also includes a hand soft-powered exoskeleton support, the glove having a main body and finger parts, the hand soft-powered exoskeleton support being connected between the main body and the finger parts, and the drive system is used to drive the hand soft-powered exoskeleton support to move the fingers to perform grasping actions.

[0011] Preferably, as one possible implementation, the soft-powered exoskeleton support includes a pressure tube, the drive system is capable of filling the pressure tube with fluid for pressurization, and is capable of extracting the fluid from the pressure tube to release pressure, and the soft-powered exoskeleton support is capable of tensioning when the pressure tube is pressurized.

[0012] Preferably, as one possible implementation, the pressure tube comprises multiple strands, and all pressure tubes are connected to the drive system. The upper arm soft power exoskeleton support and the lower arm soft power exoskeleton support both comprise a network of tubes woven from several strands of the pressure tubes.

[0013] Preferably, as one possible implementation, the multiple pressure tubes include several warp pressure tubes and at least one weft pressure tube. The warp pressure tubes extend along the length of the upper limb, and the weft pressure tubes include several interlacing sections and several connecting sections. Each pair of adjacent interlacing sections is connected by a connecting section. The interlacing sections and the warp pressure tubes are arranged in a crisscross pattern, and the two ends of the weft pressure tubes are fixedly connected to the two ends of the warp pressure tubes, respectively.

[0014] Preferably, as one possible implementation, the tubing includes an upper arm extension tubing, an upper arm flexion tubing, a lower arm extension tubing, and a lower arm flexion tubing. The upper arm extension tubing is worn on the outer side of the upper arm, the upper arm flexion tubing is worn on the inner side of the upper arm, the lower arm extension tubing is worn on the outer side of the lower arm, and the lower arm flexion tubing is worn on the inner side of the lower arm.

[0015] Preferably, as one possible implementation, the pressure tube is an artificial muscle made of ethylene propylene diene monomer;

[0016] And / or, the drive system is a pneumatic system.

[0017] Preferably, as one possible implementation, the upper limb rehabilitation robot further includes a controller and a human-computer interaction module. The human-computer interaction module is used to acquire control commands issued by the user. Both the human-computer interaction module and the drive system are communicatively connected to the controller. The controller is used to control the drive system to perform corresponding drive actions according to the control commands.

[0018] Preferably, as one possible implementation, the human-computer interaction module is installed on a smart terminal in the form of an APP. The human-computer interaction module can acquire voice commands issued by the user through the microphone of the smart terminal and can convert the voice commands into control commands.

[0019] Preferably, as one possible implementation, the controller includes an admittance control module and a position control module, and the upper limb rehabilitation robot further includes a negative feedback module. The negative feedback module is used to obtain the actual tendon tension at the support of the soft-powered exoskeleton. The negative feedback module and the human-computer interaction module are both communicatively connected to the admittance control module. The admittance control module is communicatively connected to the position control module, and the position control module is electrically connected to the drive system.

[0020] Preferably, as one possible implementation, the upper limb rehabilitation robot further includes a power supply module, wherein both the drive system and the controller are electrically connected to the power supply module, and the power supply module is used to supply power to the drive system and the controller;

[0021] And / or, the upper limb rehabilitation robot further includes a switch module, which is electrically connected to the controller and is used to control the start and stop of the upper limb rehabilitation robot.

[0022] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0023] The upper limb rehabilitation robot provided by this invention allows the wearable garment to be directly put on the human body. After wearing, the shoulder can be positioned for shoulder support, and the elbow can be positioned for elbow support. Based on this, the upper arm soft-powered exoskeleton support connected between the shoulder and elbow supports provides soft support to the upper arm. When the upper arm soft-powered exoskeleton support is driven by the drive system, it can move the elbow support closer to or further away from the shoulder support. When the upper arm soft-powered exoskeleton support moves the elbow support closer to the shoulder support, the upper arm will flex under the influence of the elbow support; when it moves the elbow support away from the shoulder support, the upper arm will extend under the influence of the elbow support. This achieves the flexion and extension movements of the upper arm, thus achieving the effect of upper arm rehabilitation training.

[0024] It should be noted that the upper limb rehabilitation robot provided by this invention can be worn directly on the patient and can move with the patient. In this way, the patient can freely choose the training position, which can meet the needs of home rehabilitation training. In addition, when the upper limb rehabilitation robot provided by this embodiment is not in use, it can be stored in a suitable location to reduce the area occupied on the ground. Attached Figure Description

[0025] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0026] Figure 1 This is a schematic diagram of the upper limb rehabilitation robot worn on the human body according to an embodiment of the present invention;

[0027] Figure 2 This is a schematic diagram of the soft-powered exoskeleton support structure in the upper limb rehabilitation robot provided in an embodiment of the present invention;

[0028] Figure 3 This is a schematic diagram of the soft-powered exoskeleton support in the upper limb rehabilitation robot provided in this embodiment of the invention when worn on the human body.

[0029] Figure 4 This is a schematic diagram of the hand soft-powered exoskeleton support in the upper limb rehabilitation robot provided in this embodiment of the invention when worn on the hand;

[0030] Figure 5 A schematic flowchart illustrating the control algorithm of the controller in the upper limb rehabilitation robot provided in an embodiment of the present invention;

[0031] Figure 6 This is a schematic diagram of the workflow of the human-computer interaction module in the upper limb rehabilitation robot provided in an embodiment of the present invention.

[0032] Explanation of reference numerals in the attached figures:

[0033] 100 - Clothing;

[0034] 200-Shoulder support;

[0035] 300-Elbow support;

[0036] 410 - Upper arm soft-powered exoskeleton support; 420 - Lower arm soft-powered exoskeleton support; 430 - Hand soft-powered exoskeleton support; 440 - Tube network; 441 - Meridional pressure tube; 442 - Weft pressure tube; 443 - Upper arm extension network; 444 - Upper arm flexion network; 445 - Lower arm extension network; 446 - Lower arm flexion network;

[0037] 500-Drive System;

[0038] 600 - Glove; 610 - Main body; 620 - Finger part;

[0039] 700 - Human-Computer Interaction Module; 710 - Calibration Module; 720 - Command Module;

[0040] 810 - Admittance control module; 820 - Position control module; 830 - Negative feedback module; 831 - Tendon tension sensor;

[0041] 900-Switch Module. Detailed Implementation

[0042] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0043] The present invention will now be described in further detail with reference to specific embodiments and accompanying drawings.

[0044] See Figure 1 This embodiment provides an upper limb rehabilitation robot, which includes a wearable suit 100, a shoulder support 200, an elbow support 300, a drive system 500, and a soft-powered exoskeleton support. The wearable suit 100 is used for wearing and fixing the human body. The shoulder support 200 is fixed to the wearable suit 100 at the corresponding shoulder of the human body. The elbow support 300 is used for fixing to the elbow of the human upper limb. The drive system 500 is connected to the soft-powered exoskeleton support, which includes an upper arm soft-powered exoskeleton support 410. The upper arm soft-powered exoskeleton support 410 is connected between the shoulder support 200 and the elbow support 300. The drive system 500 is used to drive the upper arm soft-powered exoskeleton support 410 to move the upper arm in flexion and extension movements. Because the driving force is soft power, it is not easy to cause rigid impact to the human body, and the safety is high.

[0045] The upper limb rehabilitation robot provided in this embodiment can be used by directly wearing the wearable garment 100 on the human body. After the wear is completed, the human shoulder can position the shoulder support 200, and the human upper limb elbow can position the elbow support 300. On this basis, the upper arm soft power exoskeleton support 410 connected between the shoulder support 200 and the elbow support 300 will provide soft support for the upper arm. When the upper arm soft-powered exoskeleton support 410 is driven by the drive system, the upper arm soft-powered exoskeleton support 410 can move the elbow support 300 closer to or further away from the shoulder support 200. When the upper arm soft-powered exoskeleton support 410 moves the elbow support 300 closer to the shoulder support 200, the upper arm will flex under the action of the elbow support 300; when the upper arm soft-powered exoskeleton support 410 moves the elbow support 300 further away from the shoulder support 200, the upper arm will extend under the action of the elbow support 300. In this way, the flexion and extension movements of the upper arm can be achieved, thus achieving the effect of upper arm rehabilitation training.

[0046] It should be noted that the upper limb rehabilitation robot provided in this embodiment can be worn directly on the patient and can move with the patient. In this way, the patient can freely choose the training position, which can meet the needs of home rehabilitation training. In addition, when the upper limb rehabilitation robot provided in this embodiment is not in use, it can be stored in a suitable location to reduce the area occupied on the ground.

[0047] In the specific structure of the upper limb rehabilitation robot provided in this embodiment, a glove 600 can also be added. The glove 600 can be fitted and fixed to the human hand, and the patient can wear it on their hand like a regular glove.

[0048] In the specific structure of the aforementioned soft-powered exoskeleton support, a lower arm soft-powered exoskeleton support 420 can also be set. The lower arm soft-powered exoskeleton support 420 is connected between the elbow support 300 and the glove 600. When the patient wears the upper limb rehabilitation robot, the shoulder support 200 will be positioned by the corresponding part of the human shoulder of the wearable garment 100, and the glove 600 will be positioned by the human hand. On this basis, the upper arm soft-powered exoskeleton support 410 and the lower arm soft-powered exoskeleton support 420 will pull the elbow support 300 from both sides of the elbow support 300, so that the elbow support 300 can be fixed by the upper limb elbow and can also be positioned by the upper arm soft-powered exoskeleton support 410 and the lower arm soft-powered exoskeleton support 420. In this way, the elbow support 300 is less likely to deviate from the upper limb elbow area, which can ensure better training effect. The aforementioned drive system 500 can drive the lower arm soft power exoskeleton support 420 to move the glove 600 closer to or away from the elbow support 300. When the lower arm soft power exoskeleton support 420 moves the glove 600 closer to the elbow support 300, the lower arm will flex under the action of the glove 600; when the lower arm soft power exoskeleton support 420 moves the glove 600 away from the elbow support 300, the lower arm will extend under the action of the glove 600. In this way, the flexion and extension movements of the lower arm can be realized, achieving the effect of lower arm rehabilitation training.

[0049] See Figure 4 The aforementioned glove 600 includes a main body 610 and a finger portion 620. The finger portion 620 is used to cover the fingers. In the specific structure of the aforementioned soft-powered exoskeleton support, a hand soft-powered exoskeleton support 430 can also be provided, connecting the hand soft-powered exoskeleton support 430 between the main body 610 and the finger portion 620 of the glove 600. The aforementioned drive system 500 can drive the finger portion 620 to move relative to the main body 610, so that the fingers covered by the finger portion 620 can perform grasping movements, thus achieving the effect of hand rehabilitation training. Specifically, the glove 600 can be made of high-consistency rubber (HCR) silicone, which has good durability. A biomimetic tendon wiring strategy can be used to provide under-driven finger flexion and extension. Specifically, the glove 600 has seven degrees of freedom, allowing the exoskeleton to independently control the thumb (two degrees of freedom), index finger (two degrees of freedom), middle finger (one degree of freedom), ring finger (one degree of freedom), and little finger (one degree of freedom).

[0050] In fact, the drive system 500 can drive the upper arm soft power exoskeleton support 410, the lower arm soft power exoskeleton support 420 and the hand soft power exoskeleton support 430 to move in coordination. That is to say, while controlling the fingers to grasp, it will also control the arm to generate auxiliary support force of the shoulder / axis joint, so that the entire upper limb can participate in rehabilitation training.

[0051] To support elbow and shoulder flexion, a portion of the wearable garment 100 is fitted onto the patient's thigh to improve its fit and prevent slippage, thus better supporting forward arm extension. The ends of the soft-powered exoskeleton support can be fitted with nylon straps and buckles for size adjustment to accommodate patients of different body types. Due to the robot's compliance, the wearer can make subtle postural adjustments using their own strength when the balance point shifts, eliminating the need for frequent ventilation.

[0052] In the specific structure of the aforementioned soft-powered exoskeleton support, pressure tubes can be installed. The drive system 500 can pressurize the pressure tubes by filling them with fluid (liquid or gas), or it can depressurize the pressure tubes by extracting the fluid. When the pressure tubes are pressurized, the soft-powered exoskeleton support will tension, forming a structure with a certain strength. Thus, the soft-powered exoskeleton support can drive the structures at both ends of its body to move relative to each other. The upper arm soft-powered exoskeleton support 410 will drive the elbow support 300 to move closer to or away from the shoulder support 200, the lower arm soft-powered exoskeleton support 420 will drive the glove 600 to move closer to or away from the elbow support 300, and the hand soft-powered exoskeleton support 430 will drive the finger part 620 of the glove 600 to move relative to the main body 610 to achieve a grasping action. Among them, the pressure tubes in the upper arm soft-powered exoskeleton support 410, the lower arm soft-powered exoskeleton support 420, and the hand soft-powered exoskeleton support 430 are different pressure tubes to achieve separate drive control of different parts of the upper limb.

[0053] Specifically, see Figure 1 and Figure 2 The pressure tubes can be configured as multiple strands, and all pressure tubes can be connected to the drive system 500 (either directly or indirectly). In this way, the drive system 500 can fill or extract fluid into all pressure tubes to make full use of each pressure tube. Specifically, both the upper arm soft power exoskeleton support 410 and the lower arm soft power exoskeleton support 420 include a network 440 formed by weaving several strands of pressure tubes. When fluid is filled into the pressure tubes and pressurized, the network 440 will tighten and contract along its extension direction, thereby driving the structures at both ends to move relative to each other. The upper arm soft power exoskeleton support 410 will drive the elbow support 300 to move closer to or away from the shoulder support 200, the lower arm soft power exoskeleton support 420 will drive the glove 600 to move closer to or away from the elbow support 300, and the hand soft power exoskeleton support 430 will drive the finger part 620 of the glove 600 to move relative to the main body 610 to achieve a grasping action. It should be noted that the braided tubing 440 has high strength and uniform distribution, which helps to improve the reliability and uniformity of the force applied to the patient's upper limb.

[0054] The aforementioned multi-strand pressure pipe includes several warp pressure pipes 441 and at least one weft pressure pipe 442. The warp pressure pipes 441 extend along the length of the upper limb, and the weft pressure pipes 442 include several interlacing sections and several connecting sections. Each pair of adjacent interlacing sections is connected by a connecting section. The interlacing sections and the warp pressure pipes 441 are arranged in a crisscross pattern, and the two ends of the weft pressure pipes 442 are fixedly connected to the two ends of the warp pressure pipes 441. The pipe network 440 formed by this braiding method, when pressurized, will have the warp pressure pipes 441 pressurizing the weft pressure pipes 441. Under the forced deformation force of 42, it forms a taut wave shape, which makes the radial pressure tube 441 have a high contraction rate. As a result, the radial length of the tube network 440 is effectively shortened, which can drive the structures at both ends to move effectively relative to each other. That is, the upper arm soft power exoskeleton support 410 will drive the elbow support 300 to move closer to or away from the shoulder support 200, the lower arm soft power exoskeleton support 420 will drive the glove 600 to move closer to or away from the elbow support 300, and the hand soft power exoskeleton support 430 will drive the finger part 620 of the glove 600 to move relative to the main body part 610 to achieve the grasping action.

[0055] Specifically, see Figure 3 The aforementioned tubing 440 includes an upper arm extension tubing 443, an upper arm flexion tubing 444, a lower arm extension tubing 445, and a lower arm flexion tubing 446. The upper arm extension tubing 443 can be worn on the outside of the upper arm. When the pressure tube in the upper arm extension tubing 443 is pressurized, the upper arm extension tubing 443 will shorten, thereby causing the upper arm to open and extend outward. The upper arm flexion tubing 444 can be worn on the inside of the upper arm. When the pressure tube in the upper arm flexion tubing 444 is pressurized, the upper arm flexion tubing 444 will shorten, thereby causing the upper arm to flex inward. In this way, the flexion and extension exercises of the upper arm can be achieved. Wearing the lower arm extension tube 445 on the outside of the lower arm, when the pressure tube in the lower arm extension tube 445 is pressurized, the lower arm extension tube 445 will shorten, thereby causing the lower arm to open and extend outward; wearing the lower arm flexion tube 446 on the inside of the lower arm, when the pressure tube in the lower arm flexion tube 446 is pressurized, the lower arm flexion tube 446 will shorten, thereby causing the lower arm to flex inward. In this way, the flexion and extension exercises of the lower arm can be achieved.

[0056] Artificial muscles made of ethylene propylene diene monomer can be used as the pressure tubes mentioned above to achieve better training results.

[0057] Preferably, the drive system 500 can be configured as a pneumatic system, which helps to reduce the weight of the upper limb rehabilitation robot and reduce the burden on patients when wearing the upper limb rehabilitation robot.

[0058] See Figure 1 and Figure 5In the specific structure of the upper limb rehabilitation robot provided in this embodiment, a controller and a human-computer interaction module 700 can be set. The human-computer interaction module 700 can obtain the control commands issued by the user. Both the human-computer interaction module 700 and the drive system 500 are communicatively connected to the controller, so that the controller can receive the control commands sent by the human-computer interaction module 700 and control the drive system 500 to perform corresponding drive actions according to the control commands. In other words, the user can input their own needs into the human-computer interaction module 700 so that the upper limb rehabilitation robot can perform corresponding exercise methods according to the patient's needs.

[0059] Specifically, the human-computer interaction module 700 can be installed as an app on a smart terminal (such as a mobile phone, tablet, or computer). Users can issue voice commands through the microphone of the smart terminal. After being recognized by the app, these commands are converted into control commands and sent to the controller, thus realizing voice control. During exercise, the upper limb rehabilitation robot can be controlled at any time by voice to change the exercise mode, which is very suitable for patients whose upper limb movement is limited and has high practicality. The app provides an intuitive user interface so that users can easily understand the robot's current operating status.

[0060] See Figure 6 The app allows for the configuration of a calibration module 710 and a command module 720. Upon entering calibration mode, inputting a voice signal triggers a corresponding action in the soft-powered exoskeleton. When the target training effect is achieved, the current robot state is saved, creating a unique user profile that serves as the training state for the input voice command during calibration. Subsequently, in command mode, whenever the user inputs the same voice command, the controller controls the drive system 500 to execute the saved action, enabling personalization. The voice commands and their corresponding robot states saved by the calibration module 710 can be stored in the cloud.

[0061] See Figure 5The controller provided in this embodiment includes an admittance control module 810 and a position control module 820, and adds a negative feedback module 830 to obtain the actual tendon tension at the soft-powered exoskeleton support. The negative feedback module 830 and the human-computer interaction module 700 are both communicatively connected to the admittance control module 810, and the admittance control module 810 is communicatively connected to the position control module 820. The position control module 820 is electrically connected to the drive system 500. Different admittance coefficients and user-issued control commands can be input into the admittance control module 810 through the human-computer interaction module 700. The admittance control module 810 can calculate the ideal position and input it into the position control module 820. The position control module 820 can then control the drive system 500 to perform corresponding actions based on the information, thereby driving the patient's upper limbs and hands to move. Different admittance coefficients can obtain different dynamic and reaction force movements, thus achieving the rehabilitation training effect required by the user.

[0062] Specifically, the admittance control module 810 can be based on the admittance control formula. Seeking Then, by integration, the ideal position of the i-th finger can be obtained. ,in, The admittance coefficient, Counted by fingertips The actual tendon tension is obtained by converting the actual tendon tension detected by the negative feedback module 830. The ideal tension corresponding to the control command input by the user; wherein, the admittance control formula is obtained by conversion through the ideal target dynamics formula.

[0063] The aforementioned position control module 820 may be equipped with an interference observer to achieve accurate and fast position control performance. Figure 5 This is a schematic diagram of the algorithm for the position control module, where, These represent the position control module, the nominal object of the motor, the second-order low-pass filter, the control input, and the current, respectively.

[0064] The negative feedback module 830 can use a tendon tension sensor 831, which can be installed at any position on the soft-powered exoskeleton support.

[0065] A power supply module can be added, connecting both the drive system 500 and the controller electrically to it. This allows the power supply module to power the drive system 500 and the controller, ensuring the robot's normal operation. Specifically, a battery can be used as the power supply module.

[0066] See Figure 1Furthermore, a switch module 900 can be added, which is electrically connected to the controller to control the start and stop of the upper limb rehabilitation robot. The switch module 900 can also be used as an emergency stop button to ensure the safety of human-machine interaction.

[0067] The aforementioned controller and drive system 500 can be worn around the patient's waist by connecting the drive system 500 to a pressure tube in a soft-powered exoskeleton support via tubing.

[0068] In summary, this invention discloses an upper limb rehabilitation robot that overcomes many technical shortcomings of traditional rehabilitation robots. The upper limb rehabilitation robot provided by this invention can be directly worn by the patient and moves with them, allowing the patient to freely choose their training position and meeting the needs of home rehabilitation training. Furthermore, when not in use, the upper limb rehabilitation robot can be stored in a suitable location, minimizing its footprint.

[0069] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0070] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. An upper limb rehabilitation robot, characterized in that, This includes wearable clothing, shoulder support, elbow support, drive system, and soft-powered exoskeleton support; The garment is used for wearing and securing to the human body, the shoulder support is fixed to the corresponding shoulder of the human body, and the elbow support is used for fixing to the elbow of the human upper limb. The drive system is connected to the soft power exoskeleton support, which includes an upper arm soft power exoskeleton support. The upper arm soft power exoskeleton support is connected between the shoulder support and the elbow support. The drive system is used to drive the upper arm soft power exoskeleton support to move the elbow support closer to or away from the shoulder support. The soft-powered exoskeleton support includes a pressure tube. The drive system can pressurize the pressure tube by filling it with fluid and depressurize it by extracting the fluid from the pressure tube. The soft-powered exoskeleton support can be tensioned when the pressure tube is pressurized. The pressure tube comprises multiple strands, and all pressure tubes are connected to the drive system. The upper arm soft power exoskeleton support comprises a network of tubes woven from several strands of the pressure tubes. The multiple pressure tubes include several warp pressure tubes and at least one weft pressure tube. The warp pressure tubes extend along the length of the upper limb. The weft pressure tubes include several interlacing sections and several connecting sections. Each pair of adjacent interlacing sections is connected by a connecting section. The interlacing sections and the warp pressure tubes are arranged in a crisscross pattern. The two ends of the weft pressure tubes are fixedly connected to the two ends of the warp pressure tubes, respectively.

2. The upper limb rehabilitation robot according to claim 1, characterized in that, The upper limb rehabilitation robot also includes gloves, which are used to cover and fix the human hand; The soft power exoskeleton support also includes a lower arm soft power exoskeleton support, which is connected between the elbow support and the glove. The drive system is used to drive the lower arm soft power exoskeleton support to move the glove closer to or away from the elbow support. And / or, the soft-powered exoskeleton support also includes a hand soft-powered exoskeleton support, the glove has a main body and finger parts, the hand soft-powered exoskeleton support is connected between the main body and the finger parts, and the drive system is used to drive the hand soft-powered exoskeleton support to drive the fingers to perform grasping actions.

3. The upper limb rehabilitation robot according to claim 2, characterized in that, The lower arm soft-powered exoskeleton support includes a network of tubes woven from several strands of the aforementioned pressure tubes.

4. The upper limb rehabilitation robot according to claim 3, characterized in that, The tubing includes an upper arm extension tubing, an upper arm flexion tubing, a lower arm extension tubing, and a lower arm flexion tubing. The upper arm extension tubing is worn on the outer side of the upper arm, the upper arm flexion tubing is worn on the inner side of the upper arm, the lower arm extension tubing is worn on the outer side of the lower arm, and the lower arm flexion tubing is worn on the inner side of the lower arm.

5. The upper limb rehabilitation robot according to claim 1, characterized in that, The pressure tube is an artificial muscle made of ethylene propylene diene monomer; And / or, the drive system is a pneumatic system.

6. The upper limb rehabilitation robot according to any one of claims 1-5, characterized in that, The upper limb rehabilitation robot also includes a controller and a human-computer interaction module. The human-computer interaction module is used to obtain control commands issued by the user. Both the human-computer interaction module and the drive system are communicatively connected to the controller. The controller is used to control the drive system to perform corresponding drive actions according to the control commands.

7. The upper limb rehabilitation robot according to claim 6, characterized in that, The human-computer interaction module is installed on the smart terminal in the form of an APP. The human-computer interaction module can acquire voice commands issued by the user through the microphone of the smart terminal and can convert the voice commands into control commands.

8. The upper limb rehabilitation robot according to claim 6, characterized in that, The controller includes an admittance control module and a position control module. The upper limb rehabilitation robot also includes a negative feedback module. The negative feedback module is used to obtain the actual tendon tension at the support of the soft-powered exoskeleton. The negative feedback module and the human-computer interaction module are both communicatively connected to the admittance control module. The admittance control module is communicatively connected to the position control module. The position control module is electrically connected to the drive system. And / or, the upper limb rehabilitation robot further includes a power supply module, wherein the drive system and the controller are both electrically connected to the power supply module, and the power supply module is used to supply power to the drive system and the controller; And / or, the upper limb rehabilitation robot further includes a switch module, which is electrically connected to the controller and is used to control the start and stop of the upper limb rehabilitation robot.

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