An upper limb rehabilitation exoskeleton structure driven by a pneumatic artificial muscle

Abstract

The present invention relates to an upper limb exoskeleton rehabilitation structure driven by pneumatic artificial muscles, which includes a back frame, a shoulder joint abduction module, a shoulder joint flexion and extension module, an elbow joint flexion and extension module, a shoulder joint adjustment module, and an elbow joint adjustment module. The present invention adopts a combination of cable drive and direct drive. At some joints, the use of pneumatic artificial muscles for direct drive can achieve a rehabilitation effect closer to that of manual treatment by a doctor. It has size adjustment mechanisms at both the shoulder joint and the elbow joint, which can adapt to the sizes of the upper limbs of most patients. Compared with fixed exoskeletons, the overall structure is more compact, meeting the requirements of wearability. On this basis, a larger working space is achieved to meet more complex rehabilitation needs. It combines the high adaptability of flexible actuators and the motion accuracy of rigid structures.

Description

Technical Field

[0001] The present invention relates to the technical field of limb assisted rehabilitation, and particularly relates to an upper limb rehabilitation exoskeleton structure driven by pneumatic artificial muscles. Background Art

[0002] An exoskeleton refers to a wearable mechanical structure that enables the wearer to move with less effort or even drives the wearer to move during the wearing process by providing additional energy or a passive mechanical structure. As a type of exoskeleton, the upper limb exoskeleton is fixed to the shoulder, upper arm, forearm, hand and other parts of the wearer to provide assistance for the movement of the upper limb or drive the upper limb to move. During the rehabilitation process of diseases such as stroke, it is necessary to allow patients with poor upper limb mobility to perform upper limb movements. At this time, the upper limb exoskeleton active rehabilitation robot with external energy supply can be used to train the patients, specifically training the upper limb mobility and self-control ability of the patients to promote the rehabilitation of the diseases. The existing driving methods of rehabilitation exoskeleton robots mainly include motor driving, hydraulic driving and pneumatic driving, etc. Compared with other driving methods, pneumatic driving has certain stiffness and flexibility while ensuring safety, and has greater advantages.

[0003] In the prior art, US10420695B2 discloses an exoskeleton device driven by pneumatic artificial muscles and having functions of upper limb assistance and rehabilitation training, including an upper limb, a shoulder joint mechanism and an elbow joint mechanism, which utilizes a processing unit, a first angle sensing unit, a second angle sensing unit, a first proportional pressure valve, a pressure sensitive element and a pneumatic muscle device. The exoskeleton device can be used alone as an upper limb exoskeleton assistance device or can be combined together to form an upper limb exoskeleton rehabilitation training system to simulate upper limb movements in daily life, help the upper limbs of the wearer move through the upper limb frame, and complete the rehabilitation training of each upper and lower arm joint and nerve function.

[0004] Stroke is an acute cerebrovascular disease that suddenly occurs and is characterized by focal neurological deficits, with the characteristics of high incidence, high fatality rate and high disability rate. Due to the acute neuron damage during the onset process, 73% - 88% of stroke patients have hemiplegia sequelae and 55% - 75% have motor dysfunction after surgery. These symptoms will accompany the patient for life and seriously affect their daily activities. Postoperative rehabilitation training for stroke is an effective means for patients to recover motor function and brain function after surgery. Effective rehabilitation training can improve motor dysfunction, restore the motor function of the affected limb, and accelerate the rehabilitation process of stroke patients. Therefore, promoting the recovery of the damaged functions of stroke patients has always been the core content of stroke rehabilitation.

[0005] Currently, the rehabilitation treatment in clinical practice mainly adopts the method of manual treatment by physicians. Taking the rehabilitation treatment of the elbow joint as an example, the general steps are as follows: 1) Place the patient in a standing or sitting position; 2) Support the wrist of the affected side and slowly perform elbow flexion movement; 3) Hold for 5 seconds when flexed to the maximum limit; 4) Support the wrist of the affected side and slowly perform elbow extension movement to return to the original position. In view of the problems existing in the manual treatment by physicians, such as low frequency, poor timeliness, and heavy workload, scholars have proposed to use exoskeleton robots to assist in the rehabilitation process of stroke. Such robots need to meet the following requirements: 1) In terms of rehabilitation effect, the robot should be as close as possible to the effect of manual treatment by physicians; 2) During the rehabilitation process, the robot should avoid mechanical damage and prevent secondary harm to patients; 3) In terms of rehabilitation mode, the robot should have multiple options to meet the needs of different rehabilitation stages and different patients.

[0006] In the prior art, six pneumatic muscles are mostly used to achieve the rotation of four joints, and the rotation of two degrees of freedom is completed by a pair of antagonistic pneumatic muscles. The most similar part between this scheme and the technical scheme proposed by the present invention is that both control the movement of each joint separately and use pneumatic artificial muscles as actuators.

[0007] The difference of the present invention is that it adopts a combination of cable drive and direct drive. At some joints, the direct drive by pneumatic artificial muscles can achieve a rehabilitation effect closer to that of manual treatment by physicians. It has size adjustment mechanisms at the shoulder joint and the elbow joint, which can adapt to the sizes of the upper limbs of most patients. The overall structure of the exoskeleton is more compact, meeting the requirements of wearability. On this basis, a larger working space is achieved to meet more complex rehabilitation needs. It combines the high adaptability of flexible actuators and the motion accuracy of rigid structures.

[0008] A pneumatic artificial muscle (PAM). A pneumatic artificial muscle (PAM) is a linear actuator that uses air pressure in a variable diameter volume to provide linear force or motion. They use high tensile strength fibers woven (braided) into a closed or embedded membrane (bladder). When pressurized, the bladder reacts with radial expansion and provides linear displacement and force.

[0009] The shortcomings of the existing technology include: 1) In terms of driving mode, exoskeleton robots driven by motors and hydraulics are prone to causing harm to patients when the system becomes unstable due to the characteristics of the drivers themselves. Pneumatically driven exoskeleton robots can avoid this situation to a certain extent due to their own flexible driving characteristics; 2) In terms of wearing mode, fixed exoskeleton robots are usually large in size and need to be fixed in one location. In actual use, this location is usually a common rehabilitation treatment location such as a hospital or rehabilitation center, while wearable exoskeleton robots can change the usage scenario according to the patient's wishes, realizing rehabilitation at any time and any place. The structure is more compact, while ensuring a large working space to meet more complex rehabilitation needs; 3) In terms of transmission mode, all use the same transmission mode, such as Bowden cable transmission or rope drive, and fail to select a suitable transmission mode for the different rehabilitation needs of different joints. Summary of the Invention

[0010] To address at least one of the aforementioned problems in the prior art, the present invention combines rope drive with direct drive. Direct drive using pneumatic artificial muscles at some joints can achieve a rehabilitation effect closer to that of manual treatment by a physician. The present invention proposes a pneumatic artificial muscle-driven upper limb rehabilitation exoskeleton robot system, characterized in that the system includes a back frame, a shoulder abduction module, a shoulder flexion and extension module, an elbow flexion and extension module, a shoulder adjustment module, and an elbow adjustment module. The shoulder abduction module is a wire-driven mechanism, the shoulder and elbow flexion and extension modules are hinged four-bar mechanisms, and the shoulder and elbow adjustment modules are spiral mechanisms.

[0011] The technical solutions of the present invention are as follows:

[0012] An upper limb exoskeleton rehabilitation structure driven by pneumatic artificial muscles, characterized by comprising a back frame, a shoulder abduction module, a shoulder flexion and extension module, an elbow flexion and extension module, a shoulder adjustment module and an elbow adjustment module, wherein the back frame is adapted to the patient's back, the shoulder abduction module is a wire drive mechanism, and the shoulder flexion and extension module is a wire drive mechanism.

[0013] The module is a swing guide rod mechanism, the elbow joint flexion and extension module is a swing guide rod mechanism, the shoulder joint adjustment module is a screw adjustment mechanism, the elbow joint adjustment module is a screw adjustment mechanism, the distal connecting rod shoulder joint upper end rod Y-shaped rod, elbow joint upper end rod, elbow joint lower end rod are arranged in sequence, the shoulder joint upper end rod can slide between the distal connecting rod wall, the Y-shaped rod and the elbow joint upper end rod, the elbow joint upper end rod and the elbow joint lower end rod form a rotation connection respectively.

[0014] As an improvement, the back frame includes a hip joint brace. The hip joint brace fits the patient's waist. The right hip joint fixing plate and the left hip joint fixing plate are connected to the hip joint brace by screws. The back support plate, the right hip joint fixing plate, and the left hip joint fixing plate are connected by screws. The back support plate is connected to the U-shaped plate of the shoulder joint abduction module through an L-shaped connecting plate.

[0015] As an improvement, the shoulder joint abduction module includes a shoulder abduction PAM, a tenon and mortise mechanism arm composed of a U-shaped plate, a proximal connecting rod, a distal connecting rod, and a tenon and mortise connecting block. The shoulder abduction PAM is respectively connected to a wire drive fixing part and a back connecting block. A wire rope bypasses a fixed pulley and is respectively connected to the wire drive fixing part and a ring bolt at both ends. The proximal connecting rod is rotationally connected to the U-shaped plate through a pair of deep groove ball bearings; the proximal connecting rod, the distal connecting rod, and the tenon and mortise connecting block are connected by screws to form a tenon and mortise structure. The distal connecting rod is provided with a tenon and mortise connecting block. Square notches are provided on both sides of the tenon and mortise connecting block. The protruding part of the proximal connecting rod is inserted into the square notch of the distal connecting rod to form a tenon and mortise structure. The tenon and mortise connecting block and the protruding part of the proximal connecting rod are connected by screws to ensure the structural stability.

[0016] As an improvement, the shoulder joint flexion and extension module is a swing guide bar mechanism. One end of the shoulder flexion and extension PAM, the upper shoulder joint rod, the upper connecting shaft of the shoulder PAM, and a pair of deep groove ball bearings form a rotating pair. The upper connecting shaft of the shoulder PAM is rotationally arranged between the inner walls of the upper shoulder joint rod through a pair of deep groove ball bearings. The shoulder flexion and extension PAM is connected to the upper connecting shaft of the shoulder PAM; the other end of the shoulder flexion and extension PAM, the Y-shaped rod, the lower connecting shaft of the shoulder PAM, and a pair of deep groove ball bearings form another rotating pair. The lower connecting shaft of the shoulder PAM is rotationally arranged between the inner walls of the Y-shaped rod through a pair of deep groove ball bearings. The other end of the shoulder flexion and extension PAM is connected to the lower connecting shaft of the shoulder PAM; when the shoulder flexion and extension PAM contracts and relaxes, it drives the joint formed by the upper shoulder joint rod and the Y-shaped rod to generate relative rotation.

[0017] As an improvement, the elbow joint flexion and extension module is a swing guide bar mechanism. One end of the elbow joint flexion and extension PAM, the upper elbow joint rod, the upper connecting shaft of the elbow PAM, and a pair of deep groove ball bearings form a rotating pair. The upper connecting shaft of the elbow PAM is rotationally arranged between the inner walls of the upper elbow joint rod through a pair of deep groove ball bearings. The elbow joint flexion and extension PAM is connected to the upper connecting shaft of the elbow PAM; the other end of the elbow joint flexion and extension PAM, the lower elbow joint rod, the lower connecting shaft of the elbow PAM, and a pair of deep groove ball bearings form another rotating pair. The lower connecting shaft of the elbow PAM is rotationally arranged between the inner walls of the lower elbow joint rod through a pair of deep groove ball bearings. The elbow joint flexion and extension PAM is connected to the lower connecting shaft of the elbow PAM; when the elbow joint flexion and extension PAM contracts and relaxes, it drives the joint formed by the upper elbow joint rod and the lower elbow joint rod to generate relative rotation.

[0018] As an improvement, the screw positioning block in the shoulder joint adjustment module is connected to the distal link, and a revolute pair is formed between the rear threaded fixing ring rod positioning block. A screw pair is formed between the shoulder screw threaded fixing ring. The handwheel is connected to the shoulder screw set screw. By turning the handwheel, the upper rod of the shoulder joint moves back and forth relative to the distal link to adjust the size to meet the needs of different patients.

[0019] As an improvement, the left slider and the right slider in the elbow joint adjustment module are connected to the Y-shaped rod by screws. The left slider and the right slider can slide in the straight slots of the upper rod of the elbow joint. The screw fixing plate is fixedly connected to the upper rod of the elbow joint. A screw locking ring is provided on the screw fixing plate. A revolute pair is formed between the elbow screw and the screw locking ring and is connected to the right slider by a thread. By turning the elbow screw, the upper rod of the elbow joint and the Y-shaped rod move relatively up and down to adjust the size to meet the needs of different patients.

[0020] As an improvement, the rotation center axes of the shoulder joint abduction module and the shoulder joint flexion and extension module coincide at one point.

[0021] As an improvement, it further includes a C-ring and a small C-ring. The small C-ring is connected to the upper rod of the elbow joint and the lower rod of the elbow joint respectively by screws. The elastic binding strap passes through the holes of the C-ring and the small C-ring to provide support for the patient during the rehabilitation exercise.

[0022] As an improvement, incremental encoders are equipped at the joint rotation points between the proximal links of the U-shaped plate, between the upper rod of the shoulder joint and the Y-shaped rod, and between the upper rod of the elbow joint and the lower rod of the elbow joint. Each encoder is connected to the encoder fixing plate by screws. One end of multiple hexagonal copper posts is connected to the encoder fixing plate by screws, and the other end is fixed to the upper rod of the elbow joint, the Y-shaped rod and the U-shaped plate respectively by threads. One end of the rigid coupling is connected to the joint output shaft, and the other end is connected to the encoder through the encoder connecting shaft. The joint output shaft threads are connected to the proximal link, the upper rod of the shoulder joint, and the lower rod of the elbow joint respectively. When the proximal link moves relative to the U-shaped plate and the lower rod of the elbow joint rotates relative to the upper rod of the elbow joint, the rigid coupling passes through the joint output shaft and the encoder connecting shaft, so that the encoder generates counting pulses. When the Y-shaped rod moves relative to the upper rod of the shoulder joint, the encoder connecting shaft is fixed to the upper rod of the shoulder joint, and the encoder rotates relative to the encoder connecting shaft fixed on the Y-shaped rod, so that the encoder generates counting pulses.

[0023] As an improvement, the materials of the right hip joint fixing plate, the left hip joint fixing plate, the back support plate, the U-shaped plate, the back connecting block, and the L-shaped connecting plate in the back frame are one of aerospace aluminum alloy, carbon fiber, and engineering plastics.

[0024] As an improvement, the exoskeleton rehabilitation structure is applicable to both the left and right arms.

[0025] Among them, the shoulder joint flexion and extension module is composed of the shoulder flexion and extension PAM11 and a link structure. The link structure includes the upper shoulder rod 8, the Y-shaped rod 10, the upper connecting shaft 9 of the shoulder PAM, and the lower connecting shaft 13 of the shoulder PAM. The upper shoulder rod 8, the upper connecting shaft 9 of the shoulder PAM, and a pair of deep groove ball bearings form a revolute pair. The Y-shaped rod 10, the lower connecting shaft 13 of the shoulder PAM, and a pair of deep groove ball bearings form another revolute pair.

[0026] Among them, the elbow joint flexion and extension module is composed of the elbow joint flexion and extension PAM17 and a link structure. The link structure includes the upper elbow rod 14, the lower elbow rod 16, the upper connecting shaft 15 of the elbow PAM, and the lower connecting shaft 19 of the elbow PAM. The upper elbow rod 14, the upper connecting shaft 15 of the elbow PAM, and a pair of deep groove ball bearings form a revolute pair. The lower elbow rod 16, the lower connecting shaft 19 of the elbow PAM, and a pair of deep groove ball bearings form another revolute pair.

[0027] Among them, in the shoulder joint adjustment module, the screw positioning block is connected to the distal link 7. The rear thread fixing ring 32 and the screw positioning block 34 form a revolute pair. The shoulder screw 31 and the front thread fixing ring 30 form a screw pair. The handwheel 33 and the shoulder screw 31 are connected by a set screw. By turning the handwheel, the upper shoulder rod 8 will move back and forth relative to the distal link 7 to adjust the size to meet the needs of different patients.

[0028] Among them, in the elbow joint adjustment module, the left slider 39 and the right slider 40 are connected to the Y-shaped rod 10. The left slider 39 and the right slider 40 can slide in the straight groove of the upper elbow rod 14. The screw fixing plate 38 is fixedly connected to the upper elbow rod 14. The screw locking ring 37 is arranged on the screw fixing plate 38. The elbow screw 36 and the screw locking ring 37 form a revolute pair and are connected to the right slider 40 by a thread. By turning the elbow screw 36, the upper elbow rod 14 and the Y-shaped rod 10 move relatively up and down to adjust the size to meet the needs of different patients.

[0029] Furthermore, the materials of the right hip joint fixing plate, the left hip joint fixing plate, the back support plate, the U-shaped plate, the back connecting block, and the L-shaped connecting plate in the back frame are 7075 aluminum alloy.

[0030] Furthermore, the materials of the C-ring and the small C-ring are nylon.

[0031] The present invention adopts a combination of cable drive and direct drive. The direct drive of pneumatic artificial muscles at some joints can achieve

[0032] Closer to the rehabilitation effect of manual treatment by physicians. It has size adjustment mechanisms at both the shoulder joint and the elbow joint, which can adapt to the sizes of the upper limbs of most patients. As a whole, it has a more compact structure compared to fixed exoskeletons, meets the requirements of wearability, and on this basis, achieves a larger working space to meet more complex rehabilitation needs. It combines the high adaptability of flexible actuators and the motion accuracy of rigid structures. Description of the Drawings

[0033] Appendix Figure 1 is the overall structural schematic diagram of an upper limb rehabilitation exoskeleton robot driven by pneumatic artificial muscles of the present invention Figure 1 ;

[0034] Appendix Figure 2 The overall structural schematic diagram of an upper limb rehabilitation exoskeleton robot driven by pneumatic artificial muscles of the present invention Figure 2 ;

[0035] Appendix Figure 3 is the structural diagram of the shoulder joint adjustment module;

[0036] Appendix Figure 4 is the structural diagram of the elbow joint adjustment module;

[0037] Appendix Figure 5 is the schematic diagram of the encoder drive structure.

[0038] In the drawings, 1 hip joint brace, 2 right fixing plate of the hip joint, 3 back support plate, 4 U-shaped plate, 5 proximal connecting rod, 6 eyebolt, 7 distal connecting rod, 8 upper rod of the shoulder joint, 9 upper connecting shaft of the shoulder PAM, 10 Y-shaped rod, 11 shoulder flexion and extension PAM, 12 C-shaped ring, 13 lower connecting shaft of the shoulder PAM, 14 upper rod of the elbow joint, 15 upper connecting shaft of the elbow PAM, 16 lower rod of the elbow joint, 17 elbow flexion and extension PAM, 18 small C-shaped ring, 19 upper connecting shaft of the elbow PAM, 20 left fixing plate of the hip joint, 21 back connecting block, 22 shoulder abduction PAM, 23 hexagonal copper post, 24 encoder, 25 encoder fixing plate, 26 rigid coupling, 27 fixed pulley, 28 L-shaped connecting plate, 29 wire drive fixing part, 30 front thread fixing ring, 31 shoulder screw, 32 rear thread fixing ring, 33 handwheel, 34 screw positioning block, 35 mortise and tenon connecting block, 36 elbow screw, 37 screw locking ring, 38 screw fixing plate, 39 left slider, 40 right slider, 41 encoder connecting shaft, 42 joint output shaft. Specific Embodiment

[0040] In order to more clearly illustrate the purpose, technical solution and advantages of the present invention, the present invention will be further described in detail below with reference to the drawings and embodiments.

[0041] An upper limb exoskeleton rehabilitation structure driven by a pneumatic artificial muscle, characterized in that: it includes a back frame, a shoulder joint abduction module, a shoulder joint flexion and extension module, an elbow joint flexion and extension module, a shoulder joint adjustment module and an elbow joint adjustment module. The back frame is adapted to the patient's back. The shoulder joint abduction module is a wire drive mechanism. The shoulder joint flexion and extension module is a swinging guide bar mechanism. The elbow joint flexion and extension module is a swinging guide bar mechanism. The shoulder joint adjustment module is a screw adjustment mechanism. The elbow joint adjustment module is a screw adjustment mechanism. The distal link 7, the upper shoulder rod 8, the Y-shaped rod 10, the upper elbow rod 14, and the lower elbow rod 16 are arranged in sequence. The upper shoulder rod 8 can slide between the inner walls of the distal link 7. Rotational connections are respectively formed between the Y-shaped rod 10 and the upper elbow rod 14, and between the upper elbow rod 14 and the lower elbow rod 16.

[0042] As an improvement, the back frame includes a hip joint brace. The hip joint brace fits the patient's waist. The right hip joint fixing plate 2 and the left hip joint fixing plate 20 are connected to the hip joint brace by screws. The back support plate 3 is connected to the right hip joint fixing plate 2 and the left hip joint fixing plate 20 by screws. The back support plate 3 is connected to the U-shaped plate 4 of the shoulder joint abduction module through an L-shaped connecting plate 28.

[0043] As an improvement, the shoulder joint abduction module includes a shoulder abduction PAM22, a U-shaped plate 4, and a mortise and tenon mechanism arm composed of a proximal link 5, a distal link 7, and a mortise and tenon connection block 35. The shoulder abduction PAM22 is respectively connected to a wire drive fixing part 29 and a back connection block 21. The steel wire rope bypasses a fixed pulley 27, and its two ends are respectively connected to the wire drive fixing part 29 and a ring bolt 6. The proximal link 5 is rotationally connected to the U-shaped plate 4 through a pair of deep groove ball bearings; the proximal link 5, the distal link 7, and the mortise and tenon connection block 35 are connected by screws to form a mortise and tenon structure. The distal link 7 is provided with a mortise and tenon connection block 35. Square notches are provided on both sides of the mortise and tenon connection block 35. The protruding part of the proximal link 5 is inserted into the square notch of the distal link 7 to form a mortise and tenon structure. The mortise and tenon connection block 35 is connected to the protruding part of the proximal link 5 by screws to ensure the structural stability.

[0044] As an improvement, the shoulder joint flexion and extension module is a swing guide bar mechanism. One end of the shoulder flexion and extension PAM11 forms a rotating pair with the upper rod 8 of the shoulder joint, the upper connecting shaft 9 of the shoulder PAM, and a pair of deep groove ball bearings. Between the inner walls of the upper rod 8 of the shoulder joint, the upper connecting shaft 9 of the shoulder PAM is rotatably arranged through a pair of deep groove ball bearings, and the shoulder flexion and extension PAM11 is connected to the upper connecting shaft 9 of the shoulder PAM; the other end of the shoulder flexion and extension PAM11 forms another rotating pair with the Y-shaped rod 10, the lower connecting shaft 13 of the shoulder PAM, and a pair of deep groove ball bearings. Between the inner walls of the Y-shaped rod 10, the lower connecting shaft 13 of the shoulder PAM is rotatably arranged through a pair of deep groove ball bearings, and the other end of the shoulder flexion and extension PAM11 is connected to the lower connecting shaft 13 of the shoulder PAM; when the shoulder flexion and extension PAM11 contracts and relaxes, it drives the joint formed by the upper rod 8 of the shoulder joint and the Y-shaped rod 10 to rotate relatively.

[0045] As an improvement, the elbow joint flexion and extension module is a swing guide bar mechanism. One end of the elbow flexion and extension PAM17 forms a rotating pair with the upper rod 14 of the elbow joint, the upper connecting shaft 15 of the elbow PAM, and a pair of deep groove ball bearings. Between the inner walls of the upper rod 14 of the elbow joint, the upper connecting shaft 15 of the elbow PAM is rotatably arranged through a pair of deep groove ball bearings, and the elbow flexion and extension PAM17 is connected to the upper connecting shaft 15 of the elbow PAM; the other end of the elbow flexion and extension PAM17 forms another rotating pair with the lower rod 16 of the elbow joint, the lower connecting shaft 19 of the elbow PAM, and a pair of deep groove ball bearings. Between the inner walls of the lower rod 16 of the elbow joint, the lower connecting shaft 19 of the elbow PAM is rotatably arranged through a pair of deep groove ball bearings, and the elbow flexion and extension PAM17 is connected to the lower connecting shaft 19 of the elbow PAM; when the elbow flexion and extension PAM17 contracts and relaxes, it drives the joint formed by the upper rod 14 of the shoulder and elbow joint and the lower rod 16 of the elbow joint to rotate relatively.

[0046] As an improvement, the screw positioning block in the shoulder joint adjustment module is connected to the distal link 7. The rear thread fixing ring 32 forms a rotating pair with the screw positioning block 34. The shoulder screw 31 forms a screw pair with the front thread fixing ring 30. The handwheel 33 is connected to the shoulder screw 31 through a set screw. By turning the handwheel, the upper rod 8 of the shoulder joint will move back and forth relative to the distal link 7 to adjust the size to meet the needs of different patients.

[0047] As an improvement, the left slider 39 and the right slider 40 in the elbow joint adjustment module are connected to the Y-shaped rod 10 through screws. The left slider 39 and the right slider 40 can slide in the straight groove of the upper rod 14 of the elbow joint. The screw fixing plate 38 is fixedly connected to the upper rod 14 of the elbow joint. The screw locking ring 37 is arranged on the screw fixing plate 38. The elbow screw 36 forms a rotating pair with the screw locking ring 37 and is connected to the right slider 40 through a thread. By turning the elbow screw 36, the upper rod 14 of the elbow joint and the Y-shaped rod 10 move relatively up and down to adjust the size to meet the needs of different patients.

[0048] As an improvement, the rotational central axis lines of the shoulder joint abduction module and the shoulder joint flexion and extension module coincide at one point.

[0049] As an improvement, it further includes a C-shaped ring and a small C-shaped ring. The small C-shaped ring is connected to the upper rod of the elbow joint and the lower rod of the elbow joint respectively through screws, and the elastic binding straps pass through the hole positions of the C-shaped ring and the small C-shaped ring to provide support for the patient during the rehabilitation exercise process.

[0050] As an improvement, incremental encoders 24 are provided at the joint rotation points between the U-shaped plate 4 and the proximal connecting rod 5, between the upper rod 8 of the shoulder joint and the Y-shaped rod 10, and between the upper rod 14 of the elbow joint and the lower rod 16 of the elbow joint. Each encoder is connected to the encoder fixing plate 25 through screws. One end of multiple hexagonal copper posts 23 is connected to the encoder fixing plate 25 through screws, and the other end is fixed on the upper rod 14 of the elbow joint, the Y-shaped rod 10, and the U-shaped plate 4 respectively through threads. One end of the rigid coupling 26 is connected to the joint output shaft 42, and the other end is connected to the encoder through the encoder connecting shaft 41. The joint output shaft 42 is connected to the proximal connecting rod 5, the upper rod 8 of the shoulder joint, and the lower rod 16 of the elbow joint respectively through threads. When the proximal connecting rod 5 rotates relative to the U-shaped plate 4 and the lower rod 16 of the elbow joint rotates relative to the upper rod 14 of the elbow joint, the rigid coupling 26 drives the encoder connecting shaft 41 to rotate through the joint output shaft 42, so that the encoder 24 generates counting pulses. When the Y-shaped rod 10 rotates relative to the upper rod 8 of the shoulder joint, the encoder connecting shaft 41 is fixed relative to the upper rod 8 of the shoulder joint, and the encoder 24 rotates relative to the encoder connecting shaft 41 fixed on the Y-shaped rod 10, so that the encoder 24 generates counting pulses.

[0051] As an improvement, the materials of the right hip joint fixing plate, the left hip joint fixing plate, the back support plate, the U-shaped plate, the back connecting block, and the L-shaped connecting plate in the back frame are one of aviation aluminum alloy, carbon fiber, and engineering plastic.

[0052] As an improvement, the exoskeleton rehabilitation structure is applicable to both the left and right arms.

[0053] Attached Figures 1-5 Shown is an upper limb rehabilitation exoskeleton robot driven by pneumatic artificial muscles, which includes a back

[0054] frame, a shoulder joint abduction module, a shoulder joint flexion and extension module, an elbow joint flexion and extension module, a shoulder joint adjustment module, and an elbow joint adjustment module.

[0055] The described shoulder abduction module is a wire-driven mechanism, which consists of a mortise and tenon mechanism arm formed by the shoulder abduction PAM22, the proximal link 5, and the distal link 7. The shoulder abduction PAM22 is respectively connected to the wire drive fixing member 29 and the back connection block 21 by threads. The steel wire rope bypasses the fixed pulley 27, and its two ends are respectively connected to the wire drive fixing member 29 and the eyebolt 6. The proximal link 5 is connected to the U-shaped plate 4 through a pair of deep groove ball bearings. The proximal link 5, the distal link 7, and the mortise and tenon connection block 35 are connected by screws to form a mortise and tenon structure. When the shoulder abduction PAM22 contracts, the proximal link 5 and the U-shaped plate 4 rotate relative to each other to complete the shoulder abduction movement.

[0056] The shoulder flexion and extension module is a four-bar hinge mechanism, which consists of the shoulder flexion and extension PAM11 and a link structure. The link structure includes the upper rod 8 of the shoulder joint, the Y-shaped rod 10, the upper connecting shaft 9 of the shoulder PAM, and the lower connecting shaft 13 of the shoulder PAM. When the shoulder flexion and extension PAM11 contracts, the Y-shaped rod 10 and the upper rod 8 of the shoulder joint rotate relative to each other to complete the shoulder flexion and extension movement.

[0057] The elbow flexion and extension module is a four-bar hinge mechanism, which consists of the elbow flexion and extension PAM17 and a link structure. The link structure includes the upper rod 14 of the elbow joint, the lower rod 16 of the elbow joint, the upper connecting shaft 15 of the elbow PAM, and the lower connecting shaft 19 of the elbow PAM. When the elbow flexion and extension PAM contracts, the lower rod 16 of the elbow joint and the upper rod 14 of the elbow joint rotate relative to each other to complete the shoulder flexion and extension movement.

[0058] Appendix Figure 3 The shown shoulder joint adjustment module is a screw mechanism. The screw positioning block is connected to the distal link 7 by screws. The rear thread fixing ring 32 and the screw positioning block 34 form a rotating pair. The shoulder screw 31 and the front thread fixing ring 30 form a screw pair. The handwheel 33 is connected to the shoulder screw 31 by a set screw. When the handwheel is rotated, the upper rod 8 of the shoulder joint will move back and forth relative to the distal link 7 to adjust the size to meet the needs of different patients.

[0059] Appendix Figure 4 The shown elbow joint adjustment module is a screw mechanism. The left slider 39 and the right slider 40 are both connected to the upper rod 14 of the elbow joint by screws and can slide in the straight slot of the upper rod 14 of the elbow joint. The screw fixing plate 38 and the screw locking ring 37 form a rotating pair. The elbow screw 36 is in a tight fit with the screw locking ring 37 and is connected to the right slider 40 by threads. When the screw is rotated, the upper rod 14 of the elbow joint will move up and down relative to the Y-shaped rod 10 to adjust the size to meet the needs of different patients.

[0060] During operation, first use the shoulder joint adjustment module and the elbow joint adjustment module to adjust the size of the exoskeleton to adapt to the patient

[0061] The dimensions of the patient's shoulder and elbow are measured, and then compound movements are performed using the shoulder joint abduction module, shoulder joint flexion and extension module, and elbow joint flexion and extension module to complete the specified rehabilitation actions and assist the patient in rehabilitation.

Claims

1. An upper limb exoskeleton rehabilitation structure driven by a pneumatic artificial muscle, characterized in that: It includes a back frame, a shoulder joint abduction module, a shoulder joint flexion and extension module, an elbow joint flexion and extension module, a shoulder joint adjustment module and an elbow joint adjustment module. The back frame is adapted to the patient's back. The shoulder joint abduction module is a wire-driven mechanism. The shoulder joint abduction module includes a shoulder abduction PAM (22), a U-shaped plate (4), and a mortise and tenon mechanism arm composed of a proximal link (5), a distal link (7) and a mortise and tenon connection block (35). The shoulder abduction PAM (22) is respectively connected to a wire drive fixing member (29) and a back connection block (21). A wire rope bypasses a fixed pulley (27), and its two ends are respectively connected to the wire drive fixing member (29) and an eye bolt (6). The proximal link (5) is rotatably connected to the U-shaped plate (4) through a pair of deep groove ball bearings; the proximal link (5), the distal link (7), and the mortise and tenon connection block (35) are connected by screws to form a mortise and tenon structure. A mortise and tenon connection block (35) is provided on the distal link (7). Square notches are provided on both sides of the mortise and tenon connection block (35). The protruding part of the proximal link (5) is inserted into the square notch of the distal link (7) to form a mortise and tenon structure. The mortise and tenon connection block (35) and the protruding part of the proximal link (5) are connected by screws to ensure the structural stability. The shoulder joint flexion and extension module is a swinging guide bar mechanism. One end of the shoulder flexion and extension PAM (11) forms a rotating pair with the upper end rod (8) of the shoulder joint, the upper connecting shaft (9) of the shoulder PAM and a pair of deep groove ball bearings. The upper connecting shaft (9) of the shoulder PAM is rotatably arranged between the inner walls of the upper end rod (8) of the shoulder joint through a pair of deep groove ball bearings. The shoulder flexion and extension PAM (11) is connected to the upper connecting shaft (9) of the shoulder PAM; the other end of the shoulder flexion and extension PAM (11) forms another rotating pair with the Y-shaped rod (10), the lower connecting shaft (13) of the shoulder PAM and a pair of deep groove ball bearings. The lower connecting shaft (13) of the shoulder PAM is rotatably arranged between the inner walls of the Y-shaped rod (10) through a pair of deep groove ball bearings. The other end of the shoulder flexion and extension PAM (11) is connected to the lower connecting shaft (13) of the shoulder PAM; when the shoulder flexion and extension PAM (11) contracts and relaxes, it drives the joint formed by the upper end rod (8) of the shoulder joint and the Y-shaped rod (10) to generate relative rotation. The elbow joint flexion and extension module is a swinging guide bar mechanism. The shoulder joint adjustment module is a screw adjustment mechanism. The elbow joint adjustment module is a screw adjustment mechanism. The distal link (7), the upper end rod (8) of the shoulder joint, the Y-shaped rod (10), the upper end rod (14) of the elbow joint, and the lower end rod (16) of the elbow joint are arranged in sequence. The upper end rod (8) of the shoulder joint can slide between the inner walls of the distal link (7). Rotating connections are respectively formed between the Y-shaped rod (10) and the upper end rod (14) of the elbow joint, and between the upper end rod (14) of the elbow joint and the lower end rod (16) of the elbow joint.

2. The upper limb exoskeleton rehabilitation structure according to claim 1, wherein, The back frame includes a hip joint protector which fits against the patient's waist. The right hip joint fixing plate (2) and the left hip joint fixing plate (20) are connected to the hip joint protector by screws. The back support plate (3) is connected to the right hip joint fixing plate (2) and the left hip joint fixing plate (20) by screws. The back support plate (3) is connected to the U-shaped plate (4) of the shoulder joint abduction module through an L-shaped connecting plate (28).

3. The upper limb exoskeleton rehabilitation structure according to claim 2, wherein, The elbow joint flexion and extension module is a swing guide bar mechanism. One end of the elbow joint flexion and extension PAM (17) forms a rotating pair with the upper elbow rod (14), the upper connecting shaft (15) of the elbow PAM, and a pair of deep groove ball bearings. The upper connecting shaft (15) of the elbow PAM is rotatably arranged between the inner walls of the upper elbow rod (14) through a pair of deep groove ball bearings, and the elbow joint flexion and extension PAM (17) is connected to the upper connecting shaft (15) of the elbow PAM; the other end of the elbow joint flexion and extension PAM (17) forms another rotating pair with the lower elbow rod (16), the lower connecting shaft (19) of the elbow PAM, and a pair of deep groove ball bearings. The lower connecting shaft (19) of the elbow PAM is rotatably arranged between the inner walls of the lower elbow rod (16) through a pair of deep groove ball bearings, and the elbow joint flexion and extension PAM (17) is connected to the lower connecting shaft (19) of the elbow PAM; when the elbow joint flexion and extension PAM (17) contracts and relaxes, it drives the joint formed by the upper elbow rod (14) and the lower elbow rod (16) to generate relative rotation.

4. The upper limb exoskeleton rehabilitation structure according to claim 3, wherein, In the shoulder joint adjustment module, the screw positioning block is connected to the distal link (7). The rear thread fixing ring (32) forms a rotating pair with the screw positioning block (34). The shoulder screw (31) forms a screw pair with the front thread fixing ring (30). The handwheel (33) is connected to the shoulder screw (31) by a set screw. When the handwheel is rotated, the upper shoulder rod (8) will move back and forth relative to the distal link (7) to adjust the size to meet the needs of different patients.

5. The upper limb exoskeleton rehabilitation structure according to claim 4, wherein, In the elbow joint adjustment module, the left slider (39) and the right slider (40) are connected to the Y-shaped rod (10) by screws. The left slider (39) and the right slider (40) can slide in the straight slots of the upper elbow rod (14). The screw fixing plate (38) is fixedly connected to the upper elbow rod (14). A screw locking ring (37) is arranged on the screw fixing plate (38). The elbow screw (36) forms a rotating pair with the screw locking ring (37) and is connected to the right slider (40) by a thread. When the elbow screw (36) is rotated, the upper elbow rod (14) and the Y-shaped rod (10) move relatively up and down to adjust the size to meet the needs of different patients.

6. The upper limb exoskeleton rehabilitation structure according to any one of claims 1-5, wherein, The rotation center axes of the shoulder joint abduction module and the shoulder joint flexion and extension module coincide at one point.

7. The upper limb exoskeleton rehabilitation structure according to any one of claims 1-5, wherein, It also includes a C-shaped ring and a small C-shaped ring. The small C-shaped ring is connected to the upper elbow rod and the lower elbow rod respectively by screws. The elastic band passes through the holes of the C-shaped ring and the small C-shaped ring to provide support for the patient during the rehabilitation exercise process.

8. The upper limb exoskeleton rehabilitation structure according to any one of claims 1-5, wherein, Incremental encoders (24) are provided at the articulation points between the U-shaped plate (4) and the proximal connecting rod (5), between the upper shoulder joint rod (8) and the Y-shaped rod (10), and between the upper elbow joint rod (14) and the lower elbow joint rod (16). Each encoder is connected to the encoder fixing plate (25) by screws. One end of multiple hexagonal copper columns (23) is connected to the encoder fixing plate (25) by screws. The other end is respectively fixed on the upper elbow joint rod (14), the Y-shaped rod (10) and the U-shaped plate (4) by threads. One end of the rigid coupling (26) is connected to the joint output shaft (42), and the other end is connected to the encoder through the encoder connecting shaft (41). The joint output shaft (42) is respectively connected to the proximal connecting rod (5), the upper shoulder joint rod (8) and the lower elbow joint rod (16) by threads. When the proximal connecting rod (5) rotates relative to the U-shaped plate (4), and when the lower elbow joint rod (16) rotates relative to the upper elbow joint rod (14), the rigid coupling (26) drives the encoder connecting shaft (41) to rotate through the joint output shaft (42), so that the encoder (24) generates counting pulses. When the Y-shaped rod (10) rotates relative to the upper shoulder joint rod (8), the encoder connecting shaft (41) is fixed relative to the upper shoulder joint rod (8), and the encoder (24) rotates relative to the encoder connecting shaft (41) fixed on the Y-shaped rod (10), so that the encoder (24) generates counting pulses.

9. The upper limb exoskeleton rehabilitation structure according to any one of claims 1-5, wherein, The materials of the right hip joint fixing plate, the left hip joint fixing plate, the back support plate, the U-shaped plate, the back connecting block, and the L-shaped connecting plate in the back frame are one of aviation aluminum alloy, carbon fiber, and engineering plastics.

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