A reconfigurable upper limb rehabilitation exoskeleton robot

Abstract

The present invention discloses a reconfigurable upper limb rehabilitation exoskeleton robot, comprising a lifting and moving chair, a shoulder module arranged on the lifting and moving chair, an upper arm module connected to the shoulder module, an elbow-wrist module connected to the upper arm module, and a hand module connected to the elbow-wrist module. The lifting and moving chair is provided with a transverse driving device to drive the shoulder module to move left and right; the shoulder module, the upper arm module, and the elbow-wrist module are rotated by three large torque motors, the shoulder module is provided with a shoulder arc track for the movement of the upper arm module, and the elbow-wrist module is provided with an elbow arc track for the movement of the hand module. By adjusting the connection position of the gravity compensation device, it is only necessary to adjust the initial angle of the corresponding joint motor and cooperate with the horizontal movement of the transverse driving device to realize the switching of the two working modes of the left upper limb and the right upper limb, so as to meet the rehabilitation training needs of patients with different hemiplegic sides.

Description

Technical Field

[0001] The invention relates to an assistive robot, in particular to a reconfigurable upper limb rehabilitation exoskeleton robot. Background Art

[0002] With the advancement of modern technology and the improvement of medical equipment, the aging level of the population is gradually increasing. Based on the current trend, the aging level will continue to worsen. Among the elderly group, stroke is the most common disease.

[0003] Most stroke patients will have partial limb disability, and most of this disability only exists on one side of the body, so it is also called hemiplegia. The method of treating these sequelae of stroke generally requires rehabilitation physicians to help patients with rehabilitation training, but rehabilitation trainers as a medical human resource are very scarce and cannot meet the demand at all. Traditional rehabilitation therapy requires professional techniques of rehabilitation trainers to carry out training, and the patient's arm is in a passive state, but this process consumes a lot of physical energy of the trainer, and rehabilitation training is also subject to the working hours of rehabilitation trainers and human resources issues. Therefore, it is necessary to research and develop an upper limb rehabilitation robot to replace the work of rehabilitation therapists.

[0004] Most of the existing upper limb rehabilitation exoskeleton robot systems can only achieve rehabilitation training for one side of the affected limb, and even fewer can be disassembled and reconstructed, which limits the scope and effect of rehabilitation training. Since the center of the human shoulder joint will change with rehabilitation training, the position of the rotation center of the robot shoulder joint cannot be adjusted, which will cause misalignment deviation in the human-machine joint, generate unnecessary pulling force between the human and the machine, and reduce human-machine coordination, safety, and comfort. Moreover, many upper limb rehabilitation exoskeleton robot systems do little in terms of gravity balance, and there are even fewer devices that combine gravity balance or gravity compensation after the left and right hands are interchanged. The weight of the exoskeleton that lacks gravity balance ability will greatly affect the driving performance of the motor itself, increasing unnecessary waste of resources. In addition, at this stage, most upper limb rehabilitation exoskeleton robots ignore hand rehabilitation treatment and are only designed for the shoulder, elbow, and wrist joints. The main reason is that the hands have too many degrees of freedom. Designing a portable rehabilitation device for the hands and integrating it into the front end of the exoskeleton will greatly increase the cost, and the effect is not ideal. Summary of the invention

[0005] Purpose of the invention: In view of the above shortcomings, the present invention provides a reconfigurable upper limb rehabilitation exoskeleton robot that can switch between left and right hand modes.

[0006] Technical solution: To solve the above problems, the present invention adopts a reconfigurable upper limb rehabilitation exoskeleton robot, including a lifting and moving chair, a shoulder module arranged on the lifting and moving chair, an upper arm module connected to the shoulder module, an elbow-wrist module connected to the upper arm module, and a hand module connected to the elbow-wrist module. The lifting and moving chair includes a transverse driving device, and the transverse driving device is used to drive the shoulder module to move left and right on the lifting and moving chair;

[0007] The shoulder module includes a first joint torque motor and a shoulder arc track. The fixed end of the first joint torque motor is fixedly connected to the lateral driving device, the output end of the first joint torque motor is fixedly connected to one end of the shoulder arc track, and the extension direction of the output shaft of the first joint torque motor is parallel to the plane where the shoulder arc track is located and perpendicular to the tangent of the shoulder arc track. The first joint torque motor drives the shoulder arc track to rotate; when the shoulder module is located on the left side of the lifting and moving chair, the concave side of the shoulder arc track faces the right side; when the shoulder module moves to the right side of the lifting and moving chair, the concave side of the shoulder arc track faces the left side;

[0008] The upper arm module includes an upper arm driving device arranged on the shoulder arc track, an upper arm connecting part for fixing the user's upper arm, and a second joint torque motor, wherein the upper arm driving device drives the second joint torque motor to move along the shoulder arc track, the output end of the second joint torque motor is fixedly connected to one end of the upper arm connecting part, the extension direction of the output shaft of the second joint torque motor is perpendicular to the extension direction of the upper arm connecting part, the second joint torque motor drives the upper arm connecting part to rotate, and the rotation plane of the upper connecting part is parallel to the plane where the tangent of the shoulder arc track is located;

[0009] The elbow-wrist module includes a third joint torque motor fixedly connected to the other end of the upper arm connection, an elbow-wrist arc track, an elbow-wrist driving device, an elbow-wrist connection for fixing the user's elbow, and a wrist motor, the elbow-wrist arc track being sleeved on the outside of the elbow-wrist connection, the elbow-wrist driving device driving the elbow-wrist connection to rotate in the elbow-wrist arc track, the elbow-wrist arc track being fixedly connected to the output end of the third joint torque motor, and the extension direction of the output shaft of the third joint torque motor is perpendicular to the extension direction of the elbow-wrist connection; the wrist motor is fixedly connected to the outside of the elbow-wrist arc track, and the extension direction of the output shaft of the wrist motor is parallel to the extension direction of the third joint torque motor; the hand module is fixedly connected to the output end of the wrist motor, and the wrist motor drives the hand module to rotate.

[0010] Furthermore, the shoulder module also includes a shoulder gravity compensation device, which includes a shoulder spring, a shoulder guide wheel group, and a shoulder connecting rope. One end of the shoulder spring is fixedly connected to the shoulder arc track, and the other end of the shoulder spring is fixedly connected to the transverse driving device after being guided by the shoulder guide wheel group through the shoulder connecting rope. The tension applied by the shoulder connecting rope to the shoulder spring always has a component force opposite to the direction of gravity.

[0011] Furthermore, the upper arm driving device includes an upper arm driving motor, an upper arm transmission gear fixed to the output end of the upper arm driving motor, a shoulder arc rack meshing with the upper arm transmission gear, and an arc track slider, the shoulder arc rack is fixed on the shoulder arc track, the shoulder arc rack has the same curvature as the shoulder arc track, and is arranged in parallel, the arc track slider is arranged in the shoulder arc track, and the fixed end of the upper arm driving motor and the fixed end of the second joint torque motor are both fixedly connected to the arc track slider, the upper arm driving motor drives the upper arm transmission gear to rotate, and the upper arm transmission gear moves on the shoulder arc rack, thereby driving the arc track slider to slide along the shoulder arc track, and the arc track slider drives the second joint torque motor to move.

[0012] Furthermore, the upper arm module also includes an upper arm gravity compensation device, which includes an upper arm spring, an upper arm guide wheel group, and an upper arm connecting rope. One end of the upper arm spring is fixedly connected to the upper arm connecting part, and the other end of the upper arm spring is fixedly connected to the arc track slider after being guided by two upper arm connecting ropes through the upper arm guide wheel group. There is always a tension applied to the upper arm spring by an upper arm connecting rope, and the applied tension always has a component force opposite to the direction of gravity, and the other component force applied to the upper arm spring by the two upper arm connecting ropes is opposite in direction.

[0013] Furthermore, the elbow-wrist module also includes an elbow-wrist gravity compensation device, which includes an elbow spring, an elbow guide wheel group, and an elbow connecting rope. One end of the elbow spring is fixedly connected to the elbow-wrist arc track, and the other end of the elbow spring is fixedly connected to the upper arm connecting part after being guided by the elbow guide wheel group through the elbow connecting rope. The tension applied by the elbow connecting rope to the elbow spring always has a component force opposite to the direction of gravity.

[0014] Furthermore, the elbow-wrist driving device includes an elbow driving motor, an elbow transmission gear fixed to the output end of the elbow driving motor, an elbow arc-shaped rack meshing with the elbow transmission gear, and an elbow arc-shaped track slider, wherein the elbow arc-shaped rack is fixed on the elbow-wrist arc-shaped track, the elbow arc-shaped rack has the same curvature as the elbow-wrist arc-shaped track, and is arranged in parallel, the elbow arc-shaped track slider is arranged in the elbow-wrist arc-shaped track, and the fixed end of the elbow driving motor and the elbow-wrist connecting part are both fixedly connected to the elbow arc-shaped track slider, the elbow driving motor drives the elbow transmission gear to rotate, and the elbow transmission gear moves on the elbow arc-shaped rack, thereby driving the elbow arc-shaped track slider to slide along the elbow-wrist arc-shaped track, and the elbow arc-shaped track slider drives the elbow-wrist connecting part to rotate, and an electric stimulation patch is arranged on the side of the elbow-wrist connecting part that contacts the user.

[0015] Furthermore, the hand module includes a hand motor, a hand connecting piece, and a hand grab bar. The fixed end of the hand motor is fixedly connected to the output end of the wrist motor, and the extension direction of the hand motor output shaft is perpendicular to the extension direction of the wrist motor output shaft. The hand grab bar is fixedly connected to the output end of the hand motor through the hand connecting piece, and the extension direction of the hand grab bar is parallel to the extension direction of the hand motor output shaft.

[0016] Furthermore, the lifting and moving chair includes a seat, a push rod fixed on the seat and extending in the vertical direction, and a chair back fixed to the upper end of the push rod. The transverse driving device is arranged on the chair back. The transverse driving device includes a transverse motor, a transverse screw rod fixedly connected to the output end of the transverse motor, and a movable base plate sleeved on the transverse screw rod. The fixed end of the first joint torque motor is fixedly connected to the movable base plate (803). The transverse motor drives the transverse screw rod to rotate. The rotation of the transverse screw rod drives the movable base plate to move left and right relative to the chair back, thereby driving the shoulder module to move left and right relative to the chair back.

[0017] Furthermore, it also includes an infrared positioning compensation device, which includes an infrared photoelectric sensor fixed at one end of the shoulder arc track, a black and white detection patch, and a control module. The black and white detection patch is set on the user's shoulder, and the infrared photoelectric sensor is used to detect the displacement of the black and white detection patch. The control module is used to control the lifting and moving chair and the transverse movement drive device to drive the shoulder module to move according to the displacement of the black and white detection patch detected by the infrared photoelectric sensor.

[0018] Furthermore, the center of the black and white detection patch is a black circle, and the outside of the black circle is surrounded by a white ring. The infrared positioning compensation device is provided with four infrared photoelectric sensors, and the detection points of the four infrared photoelectric sensors are evenly distributed circumferentially within the white ring. When any infrared photoelectric sensor detects a change in color, the control module controls the lifting and moving chair lifting and transverse driving device to drive the shoulder module to move according to the time difference of the feedback signal and the distribution position of the infrared photoelectric sensor, so that the detection points of the four infrared photoelectric sensors remain within the set range.

[0019] Beneficial effects: Compared with the prior art, the present invention has the following significant advantages:

[0020] (1) Most of the upper limb rehabilitation exoskeleton robots at this stage are designed to only meet the rehabilitation training of one limb. For the rehabilitation training of the left and right limbs, two rehabilitation systems are required, which increases the cost and space occupied by medical rehabilitation equipment. The present invention, through the reasonable optimization design of the robot structure, only needs to adjust the initial angle of the corresponding joint motor and cooperate with the horizontal movement of the lateral drive device to realize the switching of the two working modes of the left upper limb and the right upper limb, so as to meet the rehabilitation training of patients with different hemiplegic sides.

[0021] (2) Traditional upper limb rehabilitation exoskeleton robots cannot meet the requirements of real-time detection of patient joint changes during operation. During rehabilitation training, the joint axis corresponding to the robot joint is easily offset from the patient's joint axis, resulting in reduced training effect. The present invention locates the patient's shoulder joint by adding an infrared photoelectric sensor to the robot's shoulder joint and attaching a black and white detection patch to the patient's shoulder joint. The movable chair is then used to compensate for the offset, ensuring that the shoulder joint is always in a suitable training position.

[0022] (3) Most traditional upper limb rehabilitation exoskeleton robots ignore the rehabilitation treatment of the hands, and only perform rehabilitation training treatment on the shoulder, elbow, and wrist joints. They are rarely integrated and cannot meet the needs of patients with impaired hand functions. The present invention adds a functional electrical stimulation patch to the elbow-wrist connection of the robot, so that it can perform rehabilitation treatment on the grasping and releasing functions of the hands by electrically stimulating the forearm muscles, thus meeting the needs of more patients.

[0023] (4) Most traditional upper limb rehabilitation exoskeleton robots are integrated and their degrees of freedom cannot be changed. Only fully functional equipment can be purchased. For patients with different upper limb injuries, the working mode is often modified according to the program. The remaining joint modules that do not require rehabilitation treatment cannot be deleted, which increases the cost of medical rehabilitation equipment. The present invention optimizes the structure of the robot so that the drive unit can be removed separately, and each module can be directly connected. Rigid connections can be used at unnecessary training positions, and there is no need to purchase motors. Patients can purchase the required number of motors according to their needs and install them at different joint positions that need to be trained, which greatly reduces the actual price.

[0024] (5) The gravity balance device or gravity compensation device in the traditional upper limb rehabilitation exoskeleton robot can often only be fixed on one side and cannot be combined with the left-hand switching function at the same time, which greatly limits the flexibility of the mechanism and increases the equipment manufacturing cost. The present invention makes the robot gravity compensation device reasonably designed in structure so that it is not affected by the left-hand switching of the mechanism. Regardless of the left upper limb or right upper limb training mode, the gravity balance device can perform torque compensation for the corresponding joint motor, reduce the performance requirements of the corresponding joint motor, avoid safety hazards such as the fall of the affected limb when the system fails, and improve safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 The figure shows the overall structure of the present invention in the right upper limb training mode;

[0026] Figure 2 Shown is a schematic diagram of the overall structure of the present invention in the left upper limb training mode;

[0027] Figure 3 It is a schematic diagram of the shoulder module structure in the present invention;

[0028] Figure 4 It is a schematic diagram of the structure of the upper arm driving device in the present invention;

[0029] Figure 5 It is a schematic diagram of the structure of the upper arm module in the present invention;

[0030] Figure 6 It is a schematic diagram of the structure of the elbow-wrist module in the present invention;

[0031] Figure 7 It is a schematic diagram of the structure of the elbow-wrist driving device in the present invention;

[0032] Figure 8 It is a schematic diagram of the structure of the wrist ulnar flexion / radial flexion module in the present invention;

[0033] Fig. 9 It is a schematic diagram of the hand module structure in the present invention;

[0034] Fig.10 It is a schematic diagram of the structure of the liftable movable chair in the present invention;

[0035] Fig.11 It is a schematic diagram of the compensation principle of the elbow-wrist gravity compensation device of the present invention;

[0036] Fig.12 It is a schematic diagram of the compensation principle of the upper arm gravity compensation device in the present invention;

[0037] Fig.13 It is a schematic diagram of the compensation principle of the shoulder gravity compensation device in the present invention;

[0038] Fig.14 It is a schematic diagram of the spatial distribution of each module when the upper limb exoskeleton robot of the present invention is in use. DETAILED DESCRIPTION

[0039] like Figure 1 to Figure 2As shown, a reconfigurable upper limb rehabilitation exoskeleton robot in this embodiment includes a liftable movable chair 8, a shoulder module 1 (to achieve shoulder abduction / adduction), an upper arm driving device 2 (to achieve shoulder external rotation / internal rotation), an upper arm module 3 (to achieve shoulder flexion / extension), an elbow-wrist module 4 (to achieve elbow flexion / hyperextension), an elbow-wrist driving device 5 (to achieve elbow pronation / supination), a wrist ulnar flexion / radial flexion module 6, and a hand module 7 (to achieve wrist palmar flexion / dorsiflexion). The shoulder module 1, the upper arm module 3, and the elbow-wrist module 4 change their angles by rotating the motors therein, and then combine the transverse motor 810 in the liftable movable chair 8 with the coupling 809, the transverse screw 807, and the screw nut seat 804 to drive the horizontal movement of the exoskeleton moving base plate 803 to achieve the switching of the two working modes of the left upper limb and the right upper limb.

[0040] like Figure 3 As shown, the shoulder module 1 includes a shoulder arc track 101, a shoulder arc rack 102, an infrared photoelectric sensor 103, a shoulder guide wheel 104, a shoulder spring base 105, a shoulder abduction / adduction limit plate 106, a first joint torque motor 107, a first large torque motor mounting base 108, a shoulder spring 109, a shoulder small guide wheel 110, a photoelectric sensor mounting plate 111 and a black and white detection patch 112. The first joint torque motor adopts a large torque motor. The shoulder arc rack 102 and the shoulder abduction / adduction limit plate 106 are fixedly connected to the shoulder arc track 101 by bolts. The shoulder arc rack 102 has the same curvature as the shoulder arc track 101 and is parallel. The four symmetrical infrared photoelectric sensors 103 are fixed by clamping the photoelectric sensor mounting plate 111 with two nuts, and the photoelectric sensor mounting plate 111 is fixed to the shoulder arc track 101 with bolts. The shoulder guide wheel 104 and the shoulder small guide wheel 110 are connected to the shoulder spring base 105, and the shoulder spring base 105 is fixed to the shoulder arc track 101 with bolts, and one end of the shoulder spring 109 is connected to the O-shaped interface of the shoulder spring base 105 with a hook, and the other end extends to the position of the shoulder guide wheel 104 through a guide element and a wire rope, and the other end of the guide wire rope passing through the shoulder guide wheel 104 is fixedly connected to the shoulder guide head 806, as shown in FIG. Fig.12 As shown, the tension applied by the wire rope always has a component force opposite to the direction of gravity, the first large torque motor mounting base plate 108 is fixed to the bottom of the first joint torque motor 107 by screws, and the front end of the first joint torque motor 107 is tightened and fixed to the shoulder arc track 101 by six screws, wherein the first large torque motor mounting base plate 108 is fixed to the rear side of the exoskeleton moving base plate 803 by bolts, so that the first joint torque motor 107 passes through the circular interface of the exoskeleton moving base plate 803, so as to realize the docking of the upper limb exoskeleton with the liftable movable chair 8, and the black and white detection patch 112 is attached to the user's shoulder joint and is not directly connected to the module.

[0041] The four symmetrical infrared photoelectric sensors 103 installed on the shoulder module 1 can determine the movement of the black and white detection patch 112 by detecting the black and white areas of the black and white detection patch 112. The black area of ​​the black and white detection patch 112 is a circle, and the white area is a ring. The white area surrounds the black area. The installation positions of the four infrared photoelectric sensors 103 are tangent to the preset working range, and the size of the black area of ​​the patch is smaller than the set range. During use, the black and white detection patch 112 needs to be attached to the appropriate position of the user's shoulder joint before use. During the actual rehabilitation training process, the movement of the black and white detection patch 112 can be obtained according to the different recognition degrees of the infrared photoelectric sensor 103 for the black and white colors. The detection distance of the infrared photoelectric sensor 103 can be manually adjusted , the distance is set to be slightly larger than the gap between the patch and the sensor. White is the most sensitive to detection, while black is the opposite. That is, white can be detected within the set detection distance, but black cannot. Once the patch moves beyond the set range, the black area will be detected by one or two of the four symmetrical infrared photoelectric sensors 103 and the signal disappears. The movement trend of the black area can be determined by the time difference of its feedback signal and the different installation positions of the signal source. Combined with the liftable movable chair 8, the shoulder module 1 is driven to perform position compensation in the opposite direction, and the black area is moved back to the set range. The detection positions of the four infrared photoelectric sensors 103 are changed back to the white area, so that the position of the black and white detection patch 112 is kept within the set range.

[0042] like Figure 4 As shown, the upper arm driving device 2 includes an upper arm driving motor 21 (the upper arm driving motor adopts a planetary reduction motor), an upper arm transmission gear 22, a first reduction motor mounting base 23, a shoulder arc track slider 24, a shoulder slider mounting kit 25, a shoulder flexion / extension limit plate 26, a first upper arm guide head 27 and a second upper arm guide head 28, wherein the first reduction motor mounting base 23 is fixedly connected to the upper arm driving motor 21 by bolts, the inner hole of the upper arm transmission gear 22 is interference fit with the output shaft of the upper arm driving motor 21, if there is sliding, it is fixed with glue, and the first reduction motor mounting base 23 is fixed to the shoulder arc track slider 24 by bolts. Above the arc track slider 24, the shoulder flexion / extension limit plate 26 is fixedly connected to the shoulder slider installation kit 25 by four bolts, and the first upper arm guide head 27 and the second upper arm guide head 28 are respectively connected to the front and rear sides of the shoulder flexion / extension limit plate 26, and the two guide heads can rotate in the hole position, and the shoulder arc track slider 24 is fitted with the shoulder arc track 101, and the shoulder slider installation kit 25 passes through the shoulder arc track 101 and is connected to the shoulder arc track slider 24, so that it can slide along the shoulder arc track 101, and ensure that the upper arm transmission gear 22 and the shoulder arc rack 102 are engaged, and complete docking with the shoulder module 1.

[0043] like Figure 5 As shown, the upper arm module 3 includes an elbow-shoulder lower connecting piece 301, an upper arm wearing connecting plate 302, an elbow guide head 303, an upper arm spring 304, an upper arm spring sleeve 305, a positioning pin 306, a second large torque motor mounting base 307, a second joint torque motor 308, an elbow-shoulder upper connecting piece 309, a shoulder flexion / extension limit bolt 310, an upper arm spring base 311, an upper arm guide wheel 312, an upper arm wearing component 313 and an upper arm strap 314, wherein the second joint torque motor adopts a large torque motor, and the upper arm spring sleeve 305 and the upper arm spring base 307 are connected. 11 are fixed by bolts, the upper arm guide wheel 312 is set on the upper arm spring base 311, and the upper arm spring base 311 is fixed to the elbow shoulder lower connecting piece 301 by bolts, one end of the upper arm spring 304 is connected to the O-shaped interface of the upper arm spring base 311 by a hook, and the other end is extended to the position of the upper arm guide wheel 312 by a wire rope, and three upper arm guide wheels 312 are set, one end of two wire ropes are connected to the upper arm spring 304, and pass through the middle of the three upper arm guide wheels 312 respectively, and are connected to the first upper arm guide head 27 and the second upper arm guide head 28 respectively, When switching to left and right hand mode, the two steel wires are subjected to force respectively, and the applied tension always has a component force opposite to the direction of gravity. The two steel wires apply tension in addition to balancing the gravity component, and the other component force is opposite in direction. The upper arm strap 314 and the upper arm wearable component 313 are hinged. The upper arm strap 314 is made of flexible material, and one end of the strap can be opened and closed. The upper arm wearable connecting plate 302 is fixed to the upper arm wearable component 313 and the elbow shoulder lower connecting piece 301 by bolts at the same time. The second large torque motor mounting base plate 307 is fixed to the bottom of the second joint torque motor 308 by screws, and The front end of the second joint torque motor 308 is fastened to the upper connecting piece 309 of the elbow shoulder by six screws, and the shoulder flexion / extension limit bolt 310 is fixed to the upper connecting piece 309 of the elbow shoulder with a nut. The elbow guide head 303 is connected to the lower connecting piece 301 of the elbow shoulder, wherein the lower connecting piece 301 of the elbow shoulder and the upper connecting piece 309 of the elbow shoulder are docked with a rectangular slide groove and fastened with a positioning pin 306 to realize the height change of the module. The second large torque motor mounting base plate 307 is fixed to the concave surface of the shoulder slider mounting kit 25 by bolts to complete the docking with the upper arm drive device 2.

[0044] like Figure 6As shown, the elbow-wrist module 4 includes an elbow-wrist rear connecting piece 401, a third joint torque motor 402, a third large torque motor mounting base plate 403, an elbow flexion / hyperextension limit bolt 404, an elbow-wrist front connecting piece 405, an elbow arc rack 406, a forearm positioning bolt 407, an elbow small guide wheel 408, an elbow spring base 409, an elbow spring 410 and an elbow guide wheel 411, wherein the third large torque motor mounting base plate 403 is fixed to the bottom of the third joint torque motor 402 by screws, and the front end of the third joint torque motor 402 is tightened and fixed to the elbow-wrist rear connecting piece 401 by six screws, the elbow small guide wheel 408 and the elbow guide wheel 411 are hinged to the elbow spring base 409, wherein one end of the elbow spring 410 is connected to the O-shaped interface of the elbow spring bottom 409 seat by a hook, and the other end is connected to the elbow by a guide element. And the wire rope extends to the position of the elbow guide wheel 411, the wire rope is guided by the elbow guide wheel 411 and then connected to the elbow guide head 303, the elbow arc rack 406 is fixed to the elbow wrist front connecting piece 405 by bolts, the elbow arc rack 406 has the same curvature as the elbow wrist arc track, and is arranged in parallel, there are two elbow flexion / hyperextension limit bolts 404, which are symmetrically installed in the corresponding hole positions of the elbow wrist rear connecting piece 401, wherein the elbow wrist rear connecting piece 401 and the elbow wrist front connecting piece 405 are connected by an arc groove, and are fastened by two forearm positioning bolts 407 to realize the length change and position limitation of the module, the third large torque motor mounting base plate 403 is fixed to the bottom of the elbow shoulder lower connecting piece 301 by bolts, and the third joint torque motor 402 passes through the circular interface of the elbow shoulder lower connecting piece 301 to complete the docking with the upper arm module 3.

[0045] like Figure 7As shown, the elbow-wrist drive device 5 includes an elbow drive motor 51 (the elbow drive motor adopts a planetary reduction motor), an elbow transmission gear 52, a second reduction motor mounting base 53, an elbow arc track slider 54, a forearm slider mounting kit 55, a forearm wearable component 56, a first forearm strap 57, a functional electrical stimulation patch 58 and a second forearm strap 59. The second reduction motor mounting base 53 is fixed to the elbow drive motor 51 by bolts, and the inner hole of the elbow transmission gear 52 is interference fit with the output shaft of the elbow drive motor 51. If there is slippage, it is fixed with glue, and the second reduction motor mounting base 53 is fixed to the elbow arc track slider 54 by bolts. The first forearm strap 57 and the second forearm strap 59 are hinged to the forearm wearable component 56. The first forearm strap 57 and the second forearm strap 59 are made of flexible material, one end of which can be opened and closed, the lower end of the functional electrical stimulation patch 58 is fixed to the forearm wearable component 56 with glue, and the front end of the patch is freely curled. When in use, it is attached to the user's forearm near the elbow joint, wherein the forearm wearable component 56 is fixedly connected to the forearm slider mounting kit 55 by bolts, wherein the elbow arc track slider 54 is fitted with the arc groove of the elbow-wrist front connecting piece 405, and the forearm slider mounting kit 55 is passed through the arc groove of the elbow-wrist front connecting piece 405 and then connected to the elbow arc track slider 54, so that it can slide along the arc groove of the elbow-wrist front connecting piece 405, and ensure that the elbow transmission gear 52 and the elbow arc rack 406 are meshed, and docking with the elbow-wrist module 4 is completed.

[0046] like Figure 8 As shown, the wrist ulnar flexion / radial flexion module 6 includes a wrist motor 61, a first small motor mounting base plate 62, a wrist ulnar flexion / radial flexion limit bolt 63, a forearm slider extension 64 and a first wrist rotation connection 65, the first small motor mounting base plate 62 is fixed to the bottom of the wrist motor 61 by screws, and the first small motor mounting base plate 62 and the forearm slider extension 64 are fixed by bolts, wherein the front end of the wrist motor 62 is fixedly connected to the first wrist rotation connection 65 by screws, the wrist ulnar flexion / radial flexion limit bolt 63 is also fixed to the first wrist rotation connection 65 with a nut, and one end of the bolt passes through the arc groove of the forearm slider extension 64, wherein the forearm slider extension 64 is fixed to the elbow arc track slider 54 by bolts, and completes docking with the elbow-wrist drive device 5.

[0047] like Fig. 9As shown, the hand module 7 includes a second small motor mounting base plate 71, a hand motor 72, a hand lower support plate 73, a six-dimensional force sensor 74, a hand upper support plate 75, a hand grip bar 76, a wrist palmar flexion / dorsiflexion limit bolt 77 and a second wrist rotation connection member 78, wherein the second small motor mounting base plate 71 is fixed to the bottom of the hand motor 72 by screws, and the second small motor 71 mounting base plate is fixed to the second wrist rotation connection member 78 by bolts, and the front end of the hand motor 72 and the hand lower support plate 73 are screwed together. The six-dimensional force sensor 74 is fixedly installed in the circular groove of the lower hand support plate 73 by screws, and is screwed with the hand grip bar 76 by threads. The upper hand support plate 75 is fixed on the top of the hand grip bar 76 by screws. The wrist palmar flexion / dorsiflexion limit bolt 77 is fixed to the lower hand support plate 73 with a nut, so that one end of the bolt passes through the arc groove of the second wrist rotation connector 78. The second wrist rotation connector 78 is fixedly connected to the first wrist rotation connector 65 by bolts, and is docked with the wrist ulnar flexion / radial flexion module 6.

[0048] like Fig.10 As shown, the liftable movable chair 8 includes a seat 801, a first electric push rod 802, an exoskeleton moving base plate 803, a screw nut seat 804, a shoulder abduction / adduction limit plate 805, a shoulder guide head 806, a transverse screw rod 807, a bearing seat 808, a coupling 809, a transverse motor 810, a horizontal moving guide rail seat 811, a lift docking plate 812 and a second electric push rod 813. The first electric push rod 802 and the second electric push rod 813 are symmetrically mounted on both sides of the seat 801 and fixed by screws. The lift docking plate 812 is inserted into the rectangular groove of the seat 801 and is fixedly connected to the horizontal moving guide rail seat 811 by bolts, wherein the bottom of the horizontal moving guide rail seat 811 is fixedly connected to the top push plates of the first electric push rod 802 and the second electric push rod 813 by bolts, and two bearing seats 808 are symmetrically mounted on the left and right sides of the horizontal moving guide rail seat 811 by bolts. After the output shaft of the transverse motor 810 cooperates with the coupling 809, it is connected to one end of the transverse screw 807, and the screw nut seat 803 and the transverse screw 807 adopt an internal circulation cooperation mode, the four are butt-connected and installed in the bearing seat 808 on both sides of the horizontal moving guide rail seat 811, and the transverse motor 810 is fixed to the horizontal moving guide rail seat 811 by bolts through its own motor seat, wherein the screw nut seat 804 is fixedly connected to the exoskeleton moving base plate 803 by screws, and the sliders on both sides of the lower side of the exoskeleton moving base plate 803 are inserted into the parallel guide rails on both sides of the horizontal moving guide rail seat 811, so that the screw nut seat 804 can drive the exoskeleton moving base plate 803 to slide above the horizontal moving guide rail seat 811, and the shoulder abduction / adduction limit plate 805 is fixed to the exoskeleton moving base plate 803 by bolts, and the shoulder guide head 806 is hinged to the exoskeleton moving base plate 803.

[0049] The shoulder module 1, upper arm module 3 and elbow-wrist module 4 of the mechanism are all equipped with gravity compensation devices, using springs as energy storage elements. One end of the shoulder spring 109 is fixed and the other end is connected to the shoulder guide head 806 through a guide element. One end of the elbow spring 410 is also fixed and the other end is connected to the elbow guide head 303 through a guide element. The functions of these two springs are not affected by the left-right hand switching function. In the upper arm module 3, the upper arm spring 304 needs to extend two connecting lines of the same length at the upper arm guide wheel 312, respectively connecting the first upper arm guide head 27 and the second upper arm guide head 28 on the front and rear sides of the shoulder flexion / extension limit plate 26, so as to avoid the influence of the left-right hand switching function of the mechanism.

[0050] like Figures 11 to 13 As shown, the gravity compensation device adopts the principle of zero free length spring. The zero free length spring is a stretchable spring that can balance the gravity of the corresponding connecting rod without changing its own spring stiffness. During actual installation, the flexible steel wire rope needs to be fixed to the movable end of the spring so that the movable end of the steel wire rope coincides with the position of the guide wheel without the influence of external force. Then the steel wire rope is stretched and connected to the other end fixed relative to the connecting rod to achieve gravity balance of the connecting rod. Since there are multiple degrees of freedom in this mechanism, the gravity balance may fail during the operation of the mechanism and become gravity compensation, so it is called a gravity compensation device in this mechanism.

[0051] like Fig.12 As shown, in the elbow-wrist module 4, the gravity generated by the forearm component is m1g, and the torque generated at the rotation center of the module is M 10 , and the spring tension generated by the gravity compensation device here is F1, and the torque generated at the rotation center is M1, M 10 The opposite direction of M1 can cancel each other out, thus achieving gravity compensation; Fig.13 As shown, in the upper arm module 3, the gravity generated by the forearm and upper arm parts is m2g, and the torque generated at the rotation center of the module is M 20 , and the spring tension generated by the gravity compensation device here is F2, and the torque generated at the rotation center is M2, M 20 The opposite direction of M2 can cancel each other out, thus achieving gravity compensation; Fig.14 As shown, in shoulder module 1, the torque generated by the upper limb exoskeleton at the rotation center of the module is M 30 , and the spring tension generated by the gravity compensation device here is F3, and the torque generated at the rotation center is M3, M 30 The opposite direction of M3 can offset each other, thus achieving gravity compensation.

[0052] The upper arm module 3 and the elbow-wrist module 4 can be adjusted according to the user's body shape, and the upper arm strap 314, the first forearm strap 57 and the second forearm strap 59 are used to make the exoskeleton fit the user. Fig.14 As shown, after the adjustment is completed and the wearer is put on, the center extension line 107 of the first joint torque motor in the shoulder module 1, the arc center extension line of the shoulder arc track 101 and the center extension line of the second joint torque motor 308 in the shoulder flexion / extension joint 3 intersect at the user's shoulder joint O, and a black and white detection patch 112 is affixed to this position on the user's back; the center extension line of the third joint torque motor 402 in the elbow-wrist module 4 and the arc center extension line of the shoulder arc track 101 intersect at the user's elbow joint P; the arc center extension line of the arc track in the elbow-wrist module 4, the center extension line of the wrist motor 61 in the wrist ulnar flexion / radial flexion module 6 and the center extension line of the hand motor 72 in the hand module 7 intersect at the user's wrist joint Q.

[0053] The robot's kinematic parameters are measured in real time through the high-precision encoders built into the motors in each module of the upper limb exoskeleton. Functional electrical stimulation is integrated to achieve rehabilitation treatment of the hand's grasping / releasing function. The six-dimensional force sensor 74 installed in the hand module 7 measures the interaction force between the human hand and the exoskeleton in real time. The operation mode can be divided into a passive rehabilitation training mode and an active (impedance) rehabilitation training mode.

[0054] Through the reasonable optimization design of the robot structure, only the initial angle of the corresponding joint motor is adjusted, and the horizontal movement of the lifting and moving chair is coordinated to realize the switching of the two working modes of the left upper limb and the right upper limb, so as to meet the rehabilitation training of patients with different hemiplegic sides. The position of the patient's shoulder joint is located by adding an infrared photoelectric sensor to the robot's shoulder joint and a black and white detection patch to the patient's shoulder joint, and the lifting and moving chair is compensated according to its offset to ensure that the position of the shoulder joint can always be in the appropriate training position. By adding a functional electrical stimulation patch to the robot's elbow and wrist drive device, it can perform rehabilitation treatment on the grasping and releasing functions of the hand by electrically stimulating the forearm muscles to meet the needs of more patients. Through the reasonable optimization design of the robot structure, the drive unit can be removed separately, and each module can be disassembled separately and directly connected to each other. In the training position that is not needed, the motor can be directly connected with a rigid connection without installing the motor. Then, the user does not need to purchase the motor. The patient can purchase the required number of motors according to the needs and install them in different joint positions that need to be trained, which greatly reduces the actual price. Through the reasonable structural design of the robot's gravity compensation device, it is not affected by the left-right hand switching of the mechanism, the performance requirements of the corresponding joint motors are reduced, and safety hazards such as the falling of the affected limb when a system failure occurs are avoided, thereby improving safety.

Claims

1. A reconfigurable upper limb rehabilitation exoskeleton robot, characterized in that: The invention comprises a lifting and moving chair (8), a shoulder module (1) arranged on the lifting and moving chair (8), an upper arm module (3) connected to the shoulder module, an elbow and wrist module (4) connected to the upper arm module, and a hand module (7) connected to the elbow and wrist module (4), wherein the lifting and moving chair (8) comprises a transverse movement driving device, and the transverse movement driving device is used to drive the shoulder module (1) to move left and right on the lifting and moving chair (8); The shoulder module (1) comprises a first joint torque motor (107) and a shoulder arc track (101); the fixed end of the first joint torque motor (107) is fixedly connected to the transverse driving device; the output end of the first joint torque motor (107) is fixedly connected to one end of the shoulder arc track (101); and the extension direction of the output shaft of the first joint torque motor (107) is parallel to the plane where the shoulder arc track (101) is located and perpendicular to the tangent of the shoulder arc track (101); the first joint torque motor (107) drives the shoulder arc track (101) to rotate; when the shoulder module is located on the left side of the lifting and moving chair, the concave side of the shoulder arc track (101) faces the right side; when the shoulder module moves to the right side of the lifting and moving chair, the concave side of the shoulder arc track (101) faces the left side; The upper arm module (3) comprises an upper arm driving device (2) arranged on the shoulder arc track (101), an upper arm connecting part for fixing the user's upper arm, and a second joint torque motor (308); the upper arm driving device (2) drives the second joint torque motor (308) to move along the shoulder arc track (101); the output end of the second joint torque motor (308) is fixedly connected to one end of the upper arm connecting part; the extension direction of the output shaft of the second joint torque motor (308) is perpendicular to the extension direction of the upper arm connecting part; the second joint torque motor (308) drives the upper arm connecting part to rotate; and the rotation plane of the upper connecting part is parallel to the plane where the tangent of the shoulder arc track (101) is located; The elbow-wrist module (4) comprises a third joint torque motor (402) fixedly connected to the other end of the upper arm connection part, an elbow-wrist arc track, an elbow-wrist driving device (5), an elbow-wrist connection part for fixing the user's elbow, and a wrist motor (61), wherein the elbow-wrist arc track is sleeved on the outside of the elbow-wrist connection part, and the elbow-wrist driving device drives the elbow-wrist connection part to rotate in the elbow-wrist arc track, and the elbow-wrist arc track is fixedly connected to the output end of the third joint torque motor (402), and the extension direction of the output shaft of the third joint torque motor (402) is perpendicular to the extension direction of the elbow-wrist connection part; the wrist motor (61) is fixedly connected to the outside of the elbow-wrist arc track, and the extension direction of the output shaft of the wrist motor (61) is parallel to the extension direction of the third joint torque motor (402); the hand module (7) is fixedly connected to the output end of the wrist motor (61), and the wrist motor (61) drives the hand module to rotate; It also includes an infrared positioning compensation device, the infrared positioning compensation device including an infrared photoelectric sensor (103) fixed to one end of the shoulder arc track (101), a black and white detection patch (112), and a control module, the black and white detection patch (112) being arranged on the shoulder of the user, the infrared photoelectric sensor (103) being used to detect the displacement of the black and white detection patch (112), and the control module being used to control the lifting and moving chair (8) lifting and lateral movement driving device to drive the shoulder module (1) to move according to the displacement of the black and white detection patch (112) detected by the infrared photoelectric sensor (103); The center of the black and white detection patch is a black circle, and the outer side of the black circle is surrounded by a white ring. The infrared positioning compensation device is provided with four infrared photoelectric sensors (103), and the detection points of the four infrared photoelectric sensors (103) are evenly distributed in the circumference of the white ring. When any infrared photoelectric sensor (103) detects a change in color, the control module controls the lifting and moving chair (8) to lift and move the shoulder module (1) according to the time difference of the feedback signal and the distribution position of the infrared photoelectric sensor (103), so that the detection points of the four infrared photoelectric sensors (103) are kept within a set range.

2. The reconfigurable upper limb rehabilitation exoskeleton robot according to claim 1, characterized in that: The shoulder module (1) also includes a shoulder gravity compensation device, which includes a shoulder spring (109), a shoulder guide wheel group, and a shoulder connecting rope. One end of the shoulder spring (109) is fixedly connected to the shoulder arc track (101), and the other end of the shoulder spring (109) is fixedly connected to the transverse driving device after being guided by the shoulder guide wheel group via the shoulder connecting rope. The tension applied by the shoulder connecting rope to the shoulder spring (109) always has a component force in the opposite direction to the gravity.

3. The reconfigurable upper limb rehabilitation exoskeleton robot according to claim 1, characterized in that: The upper arm driving device (2) comprises an upper arm driving motor (21), an upper arm transmission gear (22) fixed to the output end of the upper arm driving motor, a shoulder arc-shaped rack (102) meshing with the upper arm transmission gear, and an arc-shaped track slider (24), wherein the shoulder arc-shaped rack (102) is fixed to the shoulder arc-shaped track (101), the shoulder arc-shaped rack (102) and the shoulder arc-shaped track (101) have the same curvature and are arranged in parallel, and the arc-shaped track slider (24) is arranged on the shoulder arc-shaped track. The upper arm driving motor (21) and the second joint torque motor (308) are fixedly connected to the arc track slider (24). The upper arm driving motor (21) drives the upper arm transmission gear (22) to rotate. The upper arm transmission gear (22) moves on the shoulder arc rack (102), thereby driving the arc track slider (24) to slide along the shoulder arc track (101). The arc track slider (24) drives the second joint torque motor (308) to move.

4. The reconfigurable upper limb rehabilitation exoskeleton robot according to claim 1, characterized in that: The upper arm module (3) further comprises an upper arm gravity compensation device, the upper arm gravity compensation device comprising an upper arm spring (304), an upper arm guide wheel group, and an upper arm connecting rope, one end of the upper arm spring (304) being fixedly connected to the upper arm connecting portion, the other end of the upper arm spring (304) being fixedly connected to the arc track slider (24) after being guided by the upper arm guide wheel group via two upper arm connecting ropes, there is always a pulling force applied by the upper arm connecting rope to the upper arm spring (304), and the applied pulling force always has a component force opposite to the direction of gravity, and the other component force direction of the pulling force applied by the two upper arm connecting ropes to the upper arm spring (304) is opposite.

5. The reconfigurable upper limb rehabilitation exoskeleton robot according to claim 1, characterized in that: The elbow-wrist module (4) further comprises an elbow-wrist gravity compensation device, which comprises an elbow spring (410), an elbow guide wheel group, and an elbow connecting rope. One end of the elbow spring (410) is fixedly connected to the elbow-wrist arc track, and the other end of the elbow spring (410) is fixedly connected to the upper arm connecting part after being guided by the elbow guide wheel group via the elbow connecting rope. The tension applied by the elbow connecting rope to the elbow spring (410) always has a component force opposite to the direction of gravity.

6. The reconfigurable upper limb rehabilitation exoskeleton robot according to claim 1, characterized in that: The elbow-wrist driving device (5) comprises an elbow driving motor (51), an elbow transmission gear (52) fixed to the output end of the elbow driving motor, an elbow arc-shaped rack (406) meshing with the elbow transmission gear (52), and an elbow arc-shaped track slider (54); the elbow arc-shaped rack (406) is fixed on the elbow-wrist arc-shaped track; the elbow arc-shaped rack (406) and the elbow-wrist arc-shaped track have the same curvature and are arranged in parallel; the elbow arc-shaped track slider (54) is arranged in the elbow-wrist arc-shaped track. The fixed end of the elbow drive motor (51) and the elbow-wrist connection part are both fixedly connected to the elbow arc track slider (54); the elbow drive motor (51) drives the elbow transmission gear (52) to rotate; the elbow transmission gear (52) moves on the elbow arc rack (406), thereby driving the elbow arc track slider (54) to slide along the elbow-wrist arc track; the elbow arc track slider (54) drives the elbow-wrist connection part to rotate; and an electrical stimulation patch (58) is provided on the side of the elbow-wrist connection part that contacts the user.

7. The reconfigurable upper limb rehabilitation exoskeleton robot according to claim 1, characterized in that: The hand module (7) comprises a hand motor (72), a hand connecting piece, and a hand grab bar (76); the fixed end of the hand motor (72) is fixedly connected to the output end of the wrist motor (61), and the extension direction of the output shaft of the hand motor (72) is perpendicular to the extension direction of the output shaft of the wrist motor (61); the hand grab bar (76) is fixedly connected to the output end of the hand motor (72) via the hand connecting piece, and the extension direction of the hand grab bar (76) is parallel to the extension direction of the output shaft of the hand motor (72).

8. The reconfigurable upper limb rehabilitation exoskeleton robot according to claim 1, characterized in that: The lifting and moving chair (8) comprises a seat (801), a push rod fixed on the seat and extending in the vertical direction, and a chair back fixed to the upper end of the push rod. The transverse driving device is arranged on the chair back. The transverse driving device comprises a transverse motor (810), a transverse screw rod (807) fixedly connected to the output end of the transverse motor, and a movable base plate (803) sleeved on the transverse screw rod (807). The fixed end of the first joint torque motor (107) is fixedly connected to the movable base plate (803). The transverse motor drives the transverse screw rod to rotate. The rotation of the transverse screw rod drives the movable base plate to move left and right relative to the chair back (811), thereby driving the shoulder module to move left and right relative to the chair back.

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