A cable-driven tensegrity exoskeleton wrist

Abstract

The application provides a kind of based on the tension whole wrist exoskeleton of cable drive, including battery pack and drive unit, first support exoskeleton is adapted to patient's forearm by wearing;Second support exoskeleton is adapted to patient's palm by wearing;Flexion and extension tensioning piece and ulnar and radial tensioning piece are sequentially threaded through first support exoskeleton and second support exoskeleton, when flexion part extends from first direction to flexion and extension drive part, extension part extends along second direction opposite to first direction, when ulnar deviation part extends from third direction to ulnar and radial drive part, radial deviation part extends along fourth direction opposite to third direction, flexion part, extension part, ulnar deviation part and radial deviation part are respectively matched with first support exoskeleton and second support exoskeleton to provide at least four direction degrees of freedom of wrist joint movement.The application can realize that patient wears conveniently and provides multiple degrees of freedom for wrist joint movement, and then improves the treatment effect of patient rehabilitation training.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of medical devices, and particularly relates to a tensegrity wrist exoskeleton based on a rope drive. BACKGROUND

[0002] In the structural design of wrist exoskeletons, early exoskeletons usually adopt rigid members and hinge connections, which are equivalent to parallel rigid skeletons on the human body, and are commonly referred to as rigid exoskeletons. As early as 2008, Rice University developed a series of wrist rehabilitation exoskeletons, including RiceWrist (2008), READAPT (2015) and Openwrist (2017), under the sponsorship of the National Science Foundation (NSF) of the United States, which promoted the development of exoskeleton technology. In recent years, representative achievements also include the wrist exoskeleton developed by the Massachusetts Institute of Technology for installation at the end of the upper limb rehabilitation mechanism MIT-MANUS, the portable wrist exoskeleton eWrist developed by the Swiss Federal Institute of Technology for unsupervised training after stroke, the rigid exoskeleton developed by Italy for integrated rehabilitation of the wrist and fingers, etc. Domestic universities have also made a series of achievements since 2010, including the wrist rehabilitation exoskeleton based on multiple flexible units developed by the team of Professor Xu Guanghua of Xi'an Jiaotong University, and the distributed active / semi-active driven rope-driven wrist exoskeleton developed by the team of Professor Song Aiguo of Southeast University. In addition, Beihang University, Shanghai Jiaotong University and Zhengda have also made outstanding contributions. Rigid exoskeletons have good load support performance with the help of rigid skeletons, and have obvious advantages in power transmission. However, most of the current rigid exoskeletons adopt pure rotary joints, passive elastic joints or redundant degrees of freedom to achieve a compromise for the complex wrist joint movement of the human body. However, from the perspective of bionics and motion coordination, the wrist joint has a special instantaneous center trajectory with multiple degrees of freedom of rotation and sliding, and the pure rotary joint does not conform to the physiological structure and joint movement mechanism of the human body. Cappello et al. of the Italian Institute of Technology designed a bionic wrist exoskeleton and adopted two degrees of freedom of rotation and translation to adapt to the movement of the human wrist joint. The rigid wrist exoskeleton does not match the movement mechanism of the human joint, such as the degree of freedom of joint movement, the instantaneous center of movement and the movement law, and can only perform rehabilitation training under the condition of generating additional constraint force / torque, which is not conducive to the wearer to obtain high comfort of wrist joint movement. In addition, its structure is complex, the wearing comfort is poor, the rehabilitation effect is restricted, the numerical evaluation is difficult to improve, and the enthusiasm of patients participating in training is seriously affected.

[0003] Flexible wrist exoskeletons typically utilize flexible materials such as woven materials or mesh straps, similar to wearing flexible clothing or gloves on the upper limb. Due to their advantages such as simple human-machine coupling, good comfort, high acceptance, lightweight structure, and natural movement, flexible wrist exoskeletons have become a widely studied cutting-edge research area in recent years. Many countries have made flexible exoskeletons a key research focus, involving research subjects such as the lower limb and upper limb. Major research programs include the "WarriorWeb" research program launched by DARPA in the United States in 2011 and the "XoSoft" flexible exoskeleton research program launched by the European Union. Representative achievements include the development of fully wearable pneumatic flexible exoskeletons by the University of Salford in the UK and the University of Patras in Greece. The Exo-Wrist, developed in 2019 with funding from the Korean Ministry of Science, Technology and Information Technology (MSIT), assists in the movement of paralyzed arms. Its structure uses flexible woven straps and elastic protective tendon sleeves, providing efficient rehabilitation movements through carefully designed anchor points and rope trajectories. In addition, Professor Liu Lianqing's team at the Shenyang Institute of Automation has also designed a wrist exoskeleton based on a biomimetic musculoskeletal model. Flexible exoskeletons often utilize lightweight, flexible materials in their structure, which to some extent solves the problem of mismatch between human joint movements and improves wearing comfort. However, flexible exoskeletons only provide driving force for joint rotation, resulting in a lack of freedom of movement and an inability to achieve complex joint movements. At the same time, their weak load-bearing capacity is a fatal flaw, leading to poor movement accuracy and rehabilitation effects. Summary of the Invention

[0004] The purpose of this invention is to provide a cable-driven tension-integrated wrist exoskeleton to solve the above-mentioned problems. It can be easily worn by patients and provides multiple degrees of freedom for wrist joint movement, thereby improving the therapeutic effect of rehabilitation training for patients.

[0005] To achieve the above objectives, the present invention provides the following solution: a cable-driven tension-type integral wrist exoskeleton for human wrist joint movement, comprising a battery pack and a drive unit worn on the patient's upper limb, wherein the drive unit includes a flexion-extension drive section and an ulnar-radial drive section.

[0006] The first supporting exoskeleton is fitted to the patient's forearm after being worn.

[0007] The second support exoskeleton is fitted to fit the patient's hand when worn.

[0008] The tensioning assembly includes a flexion-extension tensioning member that is pulsatingly connected to the flexion-extension drive unit and an ulnar-radial tensioning member that is pulsatingly connected to the ulnar-radial drive unit. The flexion-extension tensioning member and the ulnar-radial tensioning member pass through the first support exoskeleton and the second support exoskeleton in sequence. The opposite sides of the flexion-extension tensioning member have a flexion portion and an extension portion, respectively. The opposite sides of the ulnar-radial tensioning member have an ulnar deviation portion and a radial deviation portion, respectively.

[0009] Wherein, when the flexion portion extends from the first direction to the flexion-extension drive portion, the extension portion extends along a second direction opposite to the first direction; when the ulnar deviation portion extends from the third direction to the ulnar-radial drive portion, the radial deviation portion extends along a fourth direction opposite to the third direction; the flexion portion, extension portion, ulnar deviation portion, and radial deviation portion cooperate with the first support exoskeleton and the second support exoskeleton respectively to provide at least four degrees of freedom of wrist joint movement.

[0010] Preferably, the drive unit further includes a fixed backplate fixed to the patient's upper limb. The flexion-extension drive unit and the ulnar-radial drive unit are respectively fixed to the fixed backplate as drive motors. The output shaft of the drive motor is fixed to a twisted coil via a reduction gearbox. The twisted coil is rotatably connected to the fixed backplate. The flexion portion and the extension portion are disposed on both sides of one twisted coil and fixed to the twisted coil. The ulnar deviation portion and the radial deviation portion are disposed on both sides of the other twisted coil and fixed to the twisted coil. The ends of the flexion portion, extension portion, ulnar deviation portion, and radial deviation portion away from the twisted coil are all connected to the second support exoskeleton via the first support exoskeleton.

[0011] Preferably, the flexed portion includes a flexed Bowden wire, the extended portion includes an extended Bowden wire, the ulnar deviation portion includes an ulnar deviation Bowden wire, the radial deviation portion includes a radial deviation Bowden wire, a pressure plate is fixedly connected inside the coil, the control ends of the flexed Bowden wire and the extended Bowden wire are respectively fixedly connected to both sides of one pressure plate, the control ends of the ulnar deviation Bowden wire and the radial deviation Bowden wire are fixedly connected to both sides of another pressure plate, the fixed ends of the flexed Bowden wire and the extended Bowden wire extend to and are fixed to the first supporting exoskeleton, and the first supporting exoskeleton is correspondingly provided with a flexion-extension connector, the fixed ends of the ulnar deviation Bowden wire and the radial deviation Bowden wire extend to and are fixed to the first supporting exoskeleton, and the first supporting exoskeleton is correspondingly provided with an ulnar-radial connector.

[0012] Preferably, the flexion-extension connector includes a flexed steel wire rope with one end connected to the flexion-extension Bowden line and an extension steel wire rope with one end connected to the extension Bowden line. The flexed steel wire rope and the extension steel wire rope are slidably connected to the first supporting exoskeleton. The other end of the flexed steel wire rope is fixed to the side wall of the second supporting exoskeleton, and the other end of the extension steel wire rope is fixed to the opposite side of the second supporting exoskeleton and the flexion-extension steel wire rope. The ulnar-radial connector includes an ulnar-deviation steel wire rope with one end connected to the ulnar-deviation Bowden line and a radial-deviation steel wire rope with one end connected to the radial-deviation Bowden line. The ulnar-deviation steel wire rope and the radial-deviation steel wire rope are slidably connected to the first supporting exoskeleton. The other end of the ulnar-deviation steel wire rope is fixed to the side wall of the second supporting exoskeleton, and the other end of the radial-deviation steel wire rope is fixed to the opposite side of the second supporting exoskeleton and the ulnar-deviation steel wire rope.

[0013] Preferably, an elastic element is provided between the second supporting exoskeleton and the first supporting exoskeleton. The elastic element includes an elastic rope group with both ends fixed to the first supporting exoskeleton and the second supporting exoskeleton, respectively, and the bending steel wire rope, the extension steel wire rope, the ulnar steel wire rope, and the radial steel wire rope are all fixed to the elastic rope group.

[0014] Preferably, the first exoskeleton includes a distal arm ring and a proximal arm ring fitted onto the patient's forearm. Two arm ring connecting plates are fixedly connected between the distal arm ring and the proximal arm ring. The two arm ring connecting plates are respectively disposed on opposite sides of the distal arm ring. An arc-shaped lug is fixedly connected to the outer wall of the arm ring connecting plate. The flexion Bowden line and the extension Bowden line are both fixedly connected to the arm ring connecting plate through the arc-shaped lug. The ulnar deviation Bowden line and the radial deviation Bowden line are disposed opposite to each other on both sides of the arc-shaped lug and fixedly connected to the outer wall of the proximal arm ring. A long tube is fixedly connected to the side of the arc-shaped lug closer to the second supporting exoskeleton.

[0015] Preferably, the second exoskeleton includes a hand-shaped sleeve adapted to the patient's palm, with a front anchor point and a rear anchor point fixed to the outer wall of the hand-shaped sleeve, wherein the flexing steel wire rope and the extending steel wire rope are fixed to the front anchor point, and the ulnar deflection steel wire rope and the radial deflection steel wire rope are fixed to the rear anchor point.

[0016] Compared with the prior art, the present invention has the following advantages and technical effects:

[0017] This invention involves wearing the entire device on the patient's upper limb to achieve wrist flexion / extension and ulnar / radial deviation rehabilitation exercises. Through a battery pack and drive unit worn on the patient's upper limb, the first and second supporting exoskeletons are controlled and driven by flexion-extension tensioners and ulnar-radial tensioners, respectively, thereby driving the patient's wrist joint movement. Compared to traditional methods, this patent allows for separate control of the patient's wrist joint movement speed via flexion-extension and ulnar-radial drive units. Furthermore, the flexion and extension portions of the flexion-extension tensioners are positioned opposite each other, as are the ulnar and radial deviation portions of the ulnar-radial tensioners. When controlling joint movement using the first and second supporting exoskeletons, at least four degrees of freedom of movement can be achieved. Simultaneously, the first and second supporting exoskeletons are adapted to the patient's body, effectively improving wearing comfort and enhancing the overall device's motion compatibility. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly described below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a side view of a cable-driven tensioned integral wrist exoskeleton system;

[0020] Figure 2 This is a schematic diagram of a human wearing a tension-stretched exoskeleton unit;

[0021] Figure 3 This is a schematic diagram of a tensioned integral exoskeleton unit;

[0022] Figure 4 These are the axonometric views of the near and far arm rings;

[0023] Figure 5 This is a side view of a hand-shaped sleeve;

[0024] Figure 6 This is a top view of a hand-shaped sleeve;

[0025] Figure 7 This is a schematic diagram of the drive unit;

[0026] Figure 8 This is a schematic diagram of the transmission principle of the entire device during flexion motion;

[0027] Figure 9 This is a schematic diagram of the transmission principle of the entire device during the extension movement;

[0028] Figure 10 This is a schematic diagram of the transmission principle of the entire device during dimensional deviation.

[0029] Figure 11 This is a schematic diagram of the transmission principle of the entire device during radial deflection.

[0030] The components include: 1. Battery pack; 2. Drive unit; 20. Encoder; 21. Drive motor; 22. Clamp; 23. Gearbox; 24. Pulley; 25. Wire clamp; 26. Strap reel; 27. Fixed back plate; 28. Outer tube; 3. Fixing buckle; 4. Shoulder strap; 5. Bending Bowden cable; 5a. Bending steel wire rope; 5b. Recurved elastic rope; 6. Extended Bowden cable; 6a. Extended steel wire rope; 6b. Recurved elastic rope; 7. Scale-deviation Bowden cable; 7a. Scale-deviation steel wire rope. 7b. Wire rope; 8. Reverse elastic rope; 9. Bowden line; 10. Reverse steel wire rope; 11. Reverse elastic rope; 12. Distal arm loop; 13. Proximal arm loop; 14. Hand sleeve; 15. First anchor point; 16. Second anchor point; 17. Third anchor point; 18. Fourth anchor point; 19. Proximal hook and loop fastener; 10. Distal hook and loop fastener; 10. Arc-shaped lug; 11. Pad; 12. Long tube; 13. Arm loop connecting plate; 14. Rotating shaft; 15. Support plate. Detailed Implementation

[0031] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. 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.

[0032] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0033] Example:

[0034] Reference Figures 1-11 This invention provides a cable-driven tensioned integral wrist exoskeleton for human wrist joint movement, comprising a battery pack 1 worn on the patient's upper limb and a drive unit 2, wherein the drive unit 2 includes a flexion-extension drive section and an ulnar-radial drive section.

[0035] The first supporting exoskeleton is fitted to the patient's forearm after being worn.

[0036] The second support exoskeleton is fitted to fit the patient's hand after being worn.

[0037] The tensioning assembly includes a flexion-extension tensioning member that is driven by the flexion-extension drive unit and an ulnar-radial tensioning member that is driven by the ulnar-radial drive unit. The flexion-extension tensioning member and the ulnar-radial tensioning member pass through the first support exoskeleton and the second support exoskeleton in sequence. The opposite sides of the flexion-extension tensioning member have a flexion portion and an extension portion, respectively. The opposite sides of the ulnar-radial tensioning member have an ulnar deviation portion and a radial deviation portion, respectively.

[0038] Wherein, when the flexion portion extends from the first direction to the flexion-extension drive portion, the extension portion extends along the second direction opposite to the first direction; when the ulnar portion extends from the third direction to the ulnar-radial drive portion, the radial portion extends along the fourth direction opposite to the third direction; the flexion portion, extension portion, ulnar portion, and radial portion cooperate with the first support exoskeleton and the second support exoskeleton respectively to provide at least four degrees of freedom of wrist joint movement.

[0039] This invention involves wearing the entire device on the patient's upper limb to achieve wrist flexion / extension and ulnar / radial deviation rehabilitation exercises. Through a battery pack 1 and a drive unit 2 worn on the patient's upper limb, the first and second supporting exoskeletons are controlled and driven by flexion-extension tensioners and ulnar-radial tensioners, respectively, thereby driving the patient's wrist joint movement. Compared to traditional methods, this patent can control the patient's wrist joint movement speed through flexion-extension and ulnar-radial driveers, respectively. Furthermore, the flexion and extension portions of the flexion-extension tensioners are arranged opposite each other, and the ulnar and radial deviation portions of the ulnar-radial tensioners are arranged opposite each other. When controlling joint movement using the first and second supporting exoskeletons, at least four degrees of freedom of movement can be achieved. Simultaneously, the first and second supporting exoskeletons are adapted to the patient's body, effectively improving wearing comfort and enhancing the overall device's motion matching.

[0040] In this technical solution, the drive unit 2 and battery pack 1 are worn on the front and back sides of the patient by a diagonal strap 4, thereby maintaining the patient's body balance. When the ulnar deviation part extends along the ulnar-radial drive part, the flexion part can be extended simultaneously by the flexion-extension drive part, thereby increasing the fifth movement direction of the patient's wrist joint in addition to the conventional four movement directions. It can be imagined that in the actual rehabilitation exercise treatment of patients, the combination of different movement directions of each drive part can realize rehabilitation exercises in multiple movement directions of the wrist joint, thereby improving the degree of freedom of movement.

[0041] Furthermore, the drive unit 2 also includes a fixed backplate 27 fixed to the patient's upper limb. The flexion-extension drive part and the ulnar-radial drive part are respectively fixed to the fixed backplate 27 as drive motors 21. The output shaft of the drive motor 21 is fixed to a twisted coil 26 via a reduction gearbox 23. The twisted coil 26 is connected to the fixed backplate 27. The flexion part and extension part are located on both sides of one twisted coil 26 and fixed to the twisted coil 26. The ulnar deviation part and radial deviation part are located on both sides of another twisted coil 26 and fixed to the twisted coil 26. The ends of the flexion part, extension part, ulnar deviation part, and radial deviation part away from the twisted coil 26 are all connected to the second support exoskeleton through the first support exoskeleton.

[0042] Reference Figure 2 , 3 7. The drive motor 21 controls the rotation of the stranded reel 26, realizing the opposite motion trajectories of the bent part, extended part, ulnar part and radial part fixed on the stranded reel 26 in four directions. In this technical solution, the drive motor 21 is controlled to start by the encoder 20. A support shell (not marked in the figure) is fixed on the fixed back plate 27 corresponding to the stranded reel 26. The output shaft of the drive motor 21 is fixed to the reduction gearbox 23. The output shaft of the reduction gearbox 23 extends into the support shell and is fixed to the stranded reel 26, thereby driving the stranded reel 26 to rotate in the support shell.

[0043] Furthermore, the flexion portion includes a flexion Bowden wire 5, the extension portion includes an extension Bowden wire 6, the ulnar deviation portion includes an ulnar deviation Bowden wire 7, and the radial deviation portion includes a radial deviation Bowden wire 8. A pressure plate 25 is fixedly connected inside the coil spool 26. The control ends of the flexion Bowden wire 5 and the extension Bowden wire 6 are respectively fixed to both sides of a pressure plate 25. The control ends of the ulnar deviation Bowden wire 7 and the radial deviation Bowden wire 8 are fixed to both sides of another pressure plate 25. The fixed ends of the flexion Bowden wire 5 and the extension Bowden wire 6 extend to and are fixed to the first supporting exoskeleton, and the first supporting exoskeleton is correspondingly provided with a flexion-extension connector. The fixed ends of the ulnar deviation Bowden wire 7 and the radial deviation Bowden wire 8 extend to and are fixed to the first supporting exoskeleton, and the first supporting exoskeleton is correspondingly provided with an ulnar-radial connector.

[0044] In this technical solution, one end of the flexed Bowden wire 5, extended Bowden wire 6, ulnar Bowden wire 7, and radial Bowden wire 8 extends into the support housing and is fixed to the stranded wire reel 26 by the wire pressure plate 25. A pulley 24 is provided inside the support housing to correspond to the flexed Bowden wire 6. The other end passes through the fixing buckle 3 on the diagonal shoulder strap 4 and is then fixed to the first support exoskeleton. As the drive motor 21 rotates, the sliding wire in the corresponding Bowden wire is stretched, thereby driving the adjacent second support exoskeleton to rotate in the stretching direction. The first support exoskeleton is used for positioning to ensure the timeliness of the stretching action.

[0045] Furthermore, the flexion-extension connector includes a flexed wire rope 5a connected at one end to the flexion Bowden line 5 and an extension wire rope 6a connected at one end to the extension Bowden line 6. The flexion wire rope 5a and the extension wire rope 6a are slidably connected to the first supporting exoskeleton. The other end of the flexion wire rope 5a is fixed to the side wall of the second supporting exoskeleton, and the other end of the extension wire rope 6a is fixed to the opposite side of the second supporting exoskeleton and the flexion wire rope 5a. The ulnar-radial connector includes an ulnar deflection wire rope 7a connected at one end to the ulnar deflection Bowden line 7 and a radial deflection wire rope 8a connected at one end to the radial deflection Bowden line 8. The ulnar deflection wire rope 7a and the radial deflection wire rope 8a are slidably connected to the first supporting exoskeleton. The other end of the ulnar deflection wire rope 7a is fixed to the side wall of the second supporting exoskeleton, and the other end of the radial deflection wire rope 8a is fixed to the opposite side of the second supporting exoskeleton and the ulnar deflection wire rope 7a.

[0046] In this technical solution, the bending wire rope 5a, the extending wire rope 6a, the dimensional deviation wire rope 7a, and the deflection wire rope 8a respectively refer to the sliding wires in the corresponding Bowden lines, that is, the control ends of the Bowden lines mentioned above in this patent, corresponding to the technology in this invention. Figure 2 The outer tube 28 marked in the middle is the fixed end of the corresponding Bowden line.

[0047] Furthermore, an elastic element is provided between the second supporting exoskeleton and the first supporting exoskeleton. The elastic element includes an elastic rope group with both ends fixed to the first supporting exoskeleton and the second supporting exoskeleton respectively, and the bending steel wire rope 5a, the extension steel wire rope 6a, the ulnar steel wire rope 7a, and the radial steel wire rope 8a are all fixed to the elastic rope group.

[0048] The elastic rope assembly in this technical solution includes a compound elastic rope 5b, a compound extension elastic rope 6b, a compound ulnar elastic rope 7b, and a compound radial elastic rope 8b, which are respectively arranged to correspond to the flexion steel wire rope 5a, the extension steel wire rope 6a, the ulnar deviation steel wire rope 7a, and the radial deviation steel wire rope 8a, so as to help the first support exoskeleton, the second support exoskeleton, and the wrist joint to reset through their own elastic potential energy.

[0049] Furthermore, the first exoskeleton includes a distal arm ring 9 and a proximal arm ring 10 fitted onto the patient's forearm. Two arm ring connecting plates 17 are fixed between the distal arm ring 9 and the proximal arm ring 10. The two arm ring connecting plates 17 are respectively located on opposite sides of the distal arm ring 9. An arc-shaped lug 14 is fixed to the outer wall of the arm ring connecting plate 17. The flexion Bowden line 5 and extension Bowden line 6 are both fixed to the arm ring connecting plate 17 through the arc-shaped lug 14. The ulnar deviation Bowden line 7 and radial deviation Bowden line 8 are respectively located on both sides of the arc-shaped lug 14 and fixed to the outer wall of the proximal arm ring 10. A long tube 16 is fixed to the side of the arc-shaped lug 14 closest to the second supporting exoskeleton.

[0050] Reference Figure 4 The distal arm ring 9 and the proximal arm ring 10 have the same structure and are both semi-circular arc plates. One end of the two semi-circular arc plates is rotated through a rotating shaft 18, and the other end is respectively provided with proximal Velcro 12 and distal Velcro 13. The Velcro fastens them to the patient's forearm. The distal arm ring 9 and the proximal arm ring 10 are fixed with padding 5 on the inner side to improve the patient's wearing comfort. Through the arc-shaped ear 14 and the long tube 16 fixed to the arc-shaped ear 14, the extension of the long tube 16 allows the ends of the flexion elastic cord 5b, extension elastic cord 6b, ulnar elastic cord 7b, and radial elastic cord 8b near the long tube 16 to be fixed with the anchor holes (not shown in the figure) opened on the long tube. This provides elastic limiting and fixation for the flexion Bowden line 5 and extension Bowden line 6, improving the overall integrity of the device and the adaptability of the movement. The ulnar Bowden line 7 and radial Bowden line 8 are fixed through the anchor holes (not marked in the figure) set on the proximal arm ring 10 to improve the stability of the movement process.

[0051] Furthermore, the second exoskeleton includes a hand sleeve 11 that fits the patient's palm. The outer wall of the hand sleeve 11 is fixed with a front anchor point and a rear anchor point. The flexing steel wire rope 5a and the extension steel wire rope 6a are fixed to the front anchor point, and the ulnar deflection steel wire rope 7a and the radial deflection steel wire rope 8a are fixed to the rear anchor point.

[0052] By setting a first anchor point 11a and a second anchor point 11b on opposite sides of the front end of the outer wall of the hand sleeve 11, and setting a third anchor point 11c and a fourth anchor point 11d at the rear end, the back of the hand and the palm, as well as the top and bottom of the palm, form relative motion force application points after the patient has installed the drive unit 2 and the tensioning assembly, providing at least four degrees of freedom of movement.

[0053] One of the specific implementation processes in this technical solution is referred to... Figures 8-9 When the patient performs flexion and extension movements, the drive motor 21 of the flexion-extension drive unit drives the strand 26 to rotate counterclockwise by a certain angle, flexing the Bowden wire 5 and stretching the flexion steel wire rope 5a, according to... Figure 8 The small arrows indicate the direction, tightening and shortening, stretching the extension wire rope 6a in Bowden line 6 according to... Figure 8 The small arrow in the diagram indicates the direction, releasing the extension, which in turn pulls the hand-shaped sleeve 11 to rotate, transmitting the power of the drive unit 2 to the wrist joint, thereby causing the hand to complete the flexion movement. Meanwhile, the drive motor 21 drives the strand spool 26 to rotate clockwise by a certain angle, extending the extension steel wire rope 6a in the Bowden line 6 according to... Figure 9 The small arrows indicate the direction, tightening and shortening, and buckling the Bowden line 5, the buckling wire rope 5a according to Figure 9 The small arrow in the middle indicates the direction, releases the extension, and transmits the power of the drive unit 22 to the wrist joint, thereby driving the human hand to complete the extension movement.

[0054] The second specific implementation process of this technical solution is described in reference to... Figures 10-11 In drive unit 2, the drive motor 21 of the rudder-deflection drive section drives the strand spool 26 to rotate counterclockwise by a certain angle, and the rudder-deflection Bowden wire 7 in the rudder-deflection cable 7a moves according to... Figure 10 The small arrows indicate the direction, tightening and shortening, and the deflection of the Bowden line 8 in the deflection wire rope 8a is in accordance with... Figure 10 The small arrow in the diagram indicates the direction, releasing the extension and transmitting the power of the drive unit 2 to the wrist joint. The drive motor 21 drives the strand spool 26 to rotate clockwise by a certain angle, and the radial deflection wire rope 8a in the radial deflection Bowden line 8 follows... Figure 11 The small arrows indicate the direction, tightening and shortening, and the deflection of the Bowden line 7 in the deflection steel wire rope 7a according to... Figure 11 The small arrow in the image indicates the direction, releasing the extension and transmitting the power of the drive unit 2 to the wrist joint, thereby driving the hand to complete the radial deviation movement.

[0055] In the description of this invention, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this invention, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0056] The embodiments described above are merely preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Various modifications and improvements made by those skilled in the art to the technical solutions of the present invention without departing from the spirit of the present invention should fall within the protection scope defined by the claims of the present invention.

Claims

1. A cable-driven tensioned integral wrist exoskeleton for human wrist joint movement, characterized in that: It includes a battery pack (1) worn on the patient's upper limb and a drive unit (2), the drive unit (2) including a flexion-extension drive and an ulnar-radial drive. The first supporting exoskeleton is fitted to the patient's forearm after being worn. The second support exoskeleton is fitted to fit the patient's hand when worn. The tensioning assembly includes a flexion-extension tensioning member that is pulsatingly connected to the flexion-extension drive unit and an ulnar-radial tensioning member that is pulsatingly connected to the ulnar-radial drive unit. The flexion-extension tensioning member and the ulnar-radial tensioning member pass through the first support exoskeleton and the second support exoskeleton in sequence. The opposite sides of the flexion-extension tensioning member have a flexion portion and an extension portion, respectively. The opposite sides of the ulnar-radial tensioning member have an ulnar deviation portion and a radial deviation portion, respectively. Wherein, when the flexion portion extends from the first direction toward the flexion-extension drive portion, the extension portion extends along a second direction opposite to the first direction; when the ulnar portion extends from the third direction toward the ulnar-radial drive portion, the radial portion extends along a fourth direction opposite to the third direction; the flexion portion, extension portion, ulnar portion, and radial portion cooperate with the first support exoskeleton and the second support exoskeleton respectively to provide at least four degrees of freedom of wrist joint movement; The drive unit (2) further includes a fixed backplate (27) fixed to the patient's upper limb. The flexion-extension drive unit and the ulnar-radial drive unit are respectively fixed to the fixed backplate (27) as drive motors (21). The output shaft of the drive motor (21) is fixed to a coil (26) via a reduction gearbox (23). The coil (26) is rotatably connected to the fixed backplate (27). The flexion portion and the extension portion are located on both sides of one coil (26) and fixed to the coil (26). The ulnar deviation portion and the radial deviation portion are located on both sides of the other coil (26) and fixed to the coil (26). The flexion portion, extension portion, ulnar deviation portion, and radial deviation portion are located far from the other coil (26). One end of each cable reel (26) is connected to the second support exoskeleton via the first support exoskeleton; the flexed portion includes a flexed Bowden wire (5), the extended portion includes an extended Bowden wire (6), the ulnar portion includes an ulnar Bowden wire (7), and the radial portion includes a radial Bowden wire (8). A pressure plate (25) is fixedly connected inside the cable reel (26). The control ends of the flexed Bowden wire (5) and the extended Bowden wire (6) are respectively fixed to both sides of one pressure plate (25). The control ends of the ulnar Bowden wire (7) and the radial Bowden wire (8) are fixed to both sides of another pressure plate (25). The fixed ends of the climbing line (6) extend to and are fixed to the first supporting exoskeleton, and the first supporting exoskeleton is correspondingly provided with flexion-extension connectors. The fixed ends of the ulnar deflection Bouden line (7) and the radial deflection Bouden line (8) extend to and are fixed to the first supporting exoskeleton, and the first supporting exoskeleton is correspondingly provided with ulnar-radial connectors. The flexion-extension connector includes a flexed steel wire rope (5a) with one end connected to the flexed Bouden line (5) and an extended steel wire rope (6a) with one end connected to the extended Bouden line (6). The flexed steel wire rope (5a) and the extended steel wire rope (6a) slide against the first supporting exoskeleton, and the other end of the flexed steel wire rope (5a) is fixed to the first supporting exoskeleton. The second supporting exoskeleton sidewall has the other end of the extension wire rope (6a) fixed to the opposite side of the second supporting exoskeleton and the bending wire rope (5a). The ulnar-radial connector includes an ulnar deflection wire rope (7a) with one end connected to the ulnar deflection Bowden line (7) and a radial deflection wire rope (8a) with one end connected to the radial deflection Bowden line (8). The ulnar deflection wire rope (7a) and the radial deflection wire rope (8a) slide against the first supporting exoskeleton. The other end of the ulnar deflection wire rope (7a) is fixed to the sidewall of the second supporting exoskeleton, and the other end of the radial deflection wire rope (8a) is fixed to the opposite side of the second supporting exoskeleton and the ulnar deflection wire rope (7a).

2. The cable-driven tensioned integral wrist exoskeleton according to claim 1, characterized in that: An elastic element is provided between the second supporting exoskeleton and the first supporting exoskeleton. The elastic element includes an elastic rope group with both ends fixed to the first supporting exoskeleton and the second supporting exoskeleton respectively, and the bending steel wire rope (5a), the extension steel wire rope (6a), the dimensional deviation steel wire rope (7a), and the radial deviation steel wire rope (8a) are all fixed to the elastic rope group.

3. The cable-driven tensioned integral wrist exoskeleton according to claim 1, characterized in that: The first supporting exoskeleton includes a distal arm ring (9) and a proximal arm ring (10) fitted onto the patient's forearm. Two arm ring connecting plates (17) are fixed between the distal arm ring (9) and the proximal arm ring (10). The two arm ring connecting plates (17) are respectively located on opposite sides of the distal arm ring (9). An arc-shaped lug (14) is fixed to the outer wall of the arm ring connecting plate (17). The flexion Bouden line (5) and the extension Bouden line (6) are both fixed to the arm ring connecting plate (17) through the arc-shaped lug (14). The ulnar deviation Bouden line (7) and the radial deviation Bouden line (8) are located opposite each other on both sides of the arc-shaped lug (14) and fixed to the outer wall of the proximal arm ring (10). A long tube (16) is fixed to the side of the arc-shaped lug (14) near the second supporting exoskeleton.

4. The cable-driven tensioned integral wrist exoskeleton according to claim 2, characterized in that: The second supporting exoskeleton includes a hand sleeve (11) adapted to the patient's palm. The outer wall of the hand sleeve (11) is fixed with a front anchor point and a rear anchor point. The flexing steel wire rope (5a) and the extending steel wire rope (6a) are fixed to the front anchor point, and the ulnar deflection steel wire rope (7a) and the radial deflection steel wire rope (8a) are fixed to the rear anchor point.

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