A bionic forearm exoskeleton power-assisting mechanism based on tensegrity structure

Abstract

The present invention discloses a bionic forearm exoskeleton power-assisting mechanism based on a tensegrity structure, comprising a two-bar tension wrist mechanism and a four-bar tension forearm mechanism connected sequentially from front to back. The present invention combines the tension structure with a bionic forearm exoskeleton power-assisting device, establishes a tensegrity structure mapping of the forearm and wrist joint through bionic analysis, studies and analyzes the structural characteristics and joint motion characteristics of the human upper limb, determines structural parameters and motion parameters, and utilizes the tensegrity structure to adapt to the environment and maintain self-balancing and self-stabilization characteristics based on its own structure, thereby solving the problems of exoskeleton power-assisting device design. The device can better fit the human forearm during movement, and is lightweight and easy to wear. The bionic exoskeleton robot designed based on tension technology can not only play a role in supporting the body, but also assist in limb movement. It also has the advantages of being lightweight, easy to wear, and smooth to operate, while ensuring the comfort and safety of wearing.

Description

Technical Field

[0001] The present invention relates to the field of bionic engineering technology and can be applied to research fields such as robots and wearable exoskeletons. More specifically, it relates to a bionic forearm exoskeleton power-assisting mechanism based on a tensegrity structure. Background Art

[0002] Robots have good application prospects in scientific exploration, aerospace, transportation, equipment maintenance, social entertainment, rehabilitation medicine and other fields. Because of their high flexibility and adaptability, they have very broad application prospects and good economic benefits.

[0003] In rehabilitation medicine, forearm-assisted exoskeletons help stroke patients and hemiplegic patients with upper limb rehabilitation training. However, existing upper limb exoskeletons have many limitations. First, the drive device inevitably requires a large and heavy external motor or battery. Second, if rigid components are used in existing designs, the device may be damaged due to stress concentration during operation. Flexible components cannot provide precise assistance during operation, and the control system is complex and inconvenient to operate.

[0004] Therefore, it is an urgent problem for those skilled in the art to provide a bionic forearm exoskeleton power-assisting mechanism based on a tensegrity structure that has stability, flexibility, lightness, accuracy and adaptability. Summary of the Invention

[0005] In view of this, the present invention provides a bionic forearm exoskeleton power-assisting mechanism based on a tensegrity structure to solve the technical problems of traditional wearable robotic arms, such as heavy equipment, complex structure, and inconvenient rigidity for wearing.

[0006] In order to achieve the above object, the present invention adopts the following technical solutions:

[0007] A bionic forearm exoskeleton power-assisting mechanism based on a tensegrity structure comprises a two-bar tensegrity wrist mechanism and a four-bar tensegrity forearm mechanism which are sequentially connected from front to back.

[0008] Furthermore, the two-rod tensioning wrist mechanism includes a first wrist sleeve, a connecting sleeve, a slide connector and a second wrist sleeve distributed in sequence from front to back, the rear end of the first wrist sleeve is rotatably connected to the front end of the connecting sleeve; the front end of the slide connector is slidably connected to the slider of the rear end of the connecting sleeve; the front end of the second wrist sleeve is fixedly connected to the rear end of the slide connector; the rear end of the second wrist sleeve is fixedly connected to the four-rod tensioning forearm mechanism; the first wrist sleeve and the second wrist sleeve are connected by four wrist elastomers that are symmetrically distributed front to back and left to right.

[0009] Furthermore, the four-bar tensioning forearm mechanism includes a front fixed ring, a rotating ring and a rear fixed ring that are spaced apart from front to back, and the rear end of the second wrist sleeve is fixedly connected to the front fixed ring; the front fixed ring and the rotating ring are connected by a first tensioning component; the rear fixed ring and the rotating ring are connected by a second tensioning component, and the first tensioning component and the second tensioning component are symmetrically distributed with the rotating ring as the center.

[0010] Furthermore, the first tensioning assembly includes four front rotating support rods and four front elastic bodies, and the two ends of each front rotating support rod are respectively connected to the front fixed ring and the rotating ring; the two ends of each front elastic body are respectively connected to the front fixed ring and the rotating ring, and the four front rotating support rods and the four front elastic bodies are staggered; the second tensioning assembly includes four rear rotating support rods and four rear elastic bodies, and the two ends of each rear rotating support rod are respectively connected to the rear fixed ring and the rotating ring; the two ends of each rear elastic body are respectively connected to the rear fixed ring and the rotating ring, and the four rear rotating support rods and the four rear elastic bodies are staggered; the four rear rotating support rods and the four front rotating support rods are symmetrically distributed with the rotating ring as the center, and the four rear elastic bodies and the four front elastic bodies are symmetrically distributed with the rotating ring as the center.

[0011] Furthermore, the rear fixing ring is fixed with a first ball joint fixing block, a second ball joint fixing block, a third ball joint fixing block and a fourth ball joint fixing block uniformly distributed along the circumferential direction, and one side of the rotating ring is fixed with a fifth ball joint fixing block, a sixth ball joint fixing block, a seventh ball joint fixing block and an eighth ball joint fixing block uniformly distributed along the circumferential direction, and the fifth ball joint fixing block is staggered with the first ball joint fixing block, the sixth ball joint fixing block is staggered with the second ball joint fixing block, the seventh ball joint fixing block is staggered with the third ball joint fixing block, and the eighth ball joint fixing block is staggered with the fourth ball joint fixing block; the four rear rotating support rods are respectively the rear first rotating support rod, the rear second rotating support rod, the rear third rotating support rod and the rear fourth rotating support rod in the circumferential direction, and the four rear elastomers are respectively the rear first elastomer, the rear second elastomer, the rear third elastomer and the rear fourth elastomer in the circumferential direction. The two ends of the rear first rotating support rod are respectively hinged to the first ball joint fixing block and the seventh ball joint fixing block; the two ends of the rear second rotating support rod are respectively hinged to the second ball joint fixing block and the sixth ball joint fixing block; the two ends of the rear third rotating support rod are respectively hinged to the third ball joint fixing block and the fifth ball joint fixing block; the two ends of the rear fourth rotating support rod are respectively hinged to the fourth ball joint fixing block and the eighth ball joint fixing block; the two ends of the rear first elastic body are respectively hinged to the first ball joint fixing block and the sixth ball joint fixing block; the two ends of the rear second elastic body are respectively hinged to the second ball joint fixing block and the fifth ball joint fixing block; the two ends of the rear third elastic body are respectively hinged to the third ball joint fixing block and the eighth ball joint fixing block; the two ends of the rear fourth elastic body are respectively hinged to the fourth ball joint fixing block and the seventh ball joint fixing block;

[0012] The other side of the rotating ring is fixed with a ninth ball joint fixing block, a tenth ball joint fixing block, an eleventh ball joint fixing block and a twelfth ball joint fixing block along the circumferential direction, and the ninth ball joint fixing block is symmetrically distributed with the fifth ball joint fixing block, the tenth ball joint fixing block is symmetrically distributed with the sixth ball joint fixing block, the eleventh ball joint fixing block is symmetrically distributed with the seventh ball joint fixing block, and the twelfth ball joint fixing block is symmetrically distributed with the eighth ball joint fixing block; the front fixing ring is fixed with a thirteenth ball joint fixing block, a tenth ball joint fixing block and a twelfth ball joint fixing block along the circumferential direction. The fourteenth ball joint fixing block, the fifteenth ball joint fixing block and the sixteenth ball joint fixing block, and the thirteenth ball joint fixing block is symmetrically distributed with the first ball joint fixing block, the fourteenth ball joint fixing block is symmetrically distributed with the second ball joint fixing block, the fifteenth ball joint fixing block is symmetrically distributed with the third ball joint fixing block, and the sixteenth ball joint fixing block is symmetrically distributed with the fourth ball joint fixing block; the four front rotating support rods are respectively the first front rotating support rod, the second front rotating support rod, the third front rotating support rod and the fourth front rotating support rod in the circumferential direction. The four front elastic bodies are respectively the front first elastic body, the front second elastic body, the front third elastic body and the front fourth elastic body in the circumferential direction; the two ends of the front first rotating support rod are respectively hinged to the ninth ball joint fixing block and the fifteenth ball joint fixing block; the two ends of the front second rotating support rod are respectively hinged to the tenth ball joint fixing block and the fourteenth ball joint fixing block; the two ends of the front third rotating support rod are respectively hinged to the eleventh ball joint fixing block and the thirteenth ball joint fixing block; the two ends of the front fourth rotating support rod are respectively hinged to the eleventh ball joint fixing block and the thirteenth ball joint fixing block They are respectively hinged to the twelfth ball joint fixing block and the sixteenth ball joint fixing block; the two ends of the front first elastic body are respectively hinged to the ninth ball joint fixing block and the sixteenth ball joint fixing block; the two ends of the front second elastic body are respectively hinged to the tenth ball joint fixing block and the fifteenth ball joint fixing block; the two ends of the front third elastic body are respectively hinged to the eleventh ball joint fixing block and the fourteenth ball joint fixing block; the two ends of the front fourth elastic body are respectively hinged to the twelfth ball joint fixing block and the thirteenth ball joint fixing block.

[0013] Furthermore, the four-bar tensioning forearm mechanism also includes a first fixed cover plate, a second fixed cover plate and a support connecting frame, the two ends of the first fixed cover plate are respectively fixedly connected to the front fixed ring and the rear fixed ring; the two ends of the second fixed cover plate are respectively fixedly connected to the front fixed ring and the rear fixed ring, and the first fixed cover plate and the second fixed cover plate are symmetrically distributed; the rotating ring is respectively slidably connected to the first fixed cover plate and the second fixed cover plate; the first fixed cover plate and the second fixed cover plate are connected through the support connecting frame.

[0014] Furthermore, the supporting connecting frame includes a first frame body and a second frame body, the first frame body is fixed through the first fixed cover plate and the second fixed cover plate; the second frame body is inserted into the first frame body and fixed by bolts.

[0015] It can be seen from the above technical solution that compared with the existing technology, the present invention discloses a bionic forearm exoskeleton power-assisting mechanism based on a tensegrity structure, which combines the tensegrity structure with the bionic forearm exoskeleton power-assisting equipment, establishes the tensegrity structure mapping of the forearm and wrist joint through bionic analysis, and studies and analyzes the structural characteristics and joint motion characteristics of the human upper limbs, determines the structural parameters and motion parameters, and overall utilizes the tensegrity structure to rely on its own structure to adapt to the environment and maintain self-balance and self-stability, which cleverly solves the important problems in the design of exoskeleton power-assisting equipment, and can better fit the human forearm movement process. At the same time, it has the characteristics of lightweight and easy to wear. The bionic exoskeleton robot designed based on tensegrity technology can not only play the role of body support, but also assist limb movement. It also has the advantages of lightweight structure, easy to wear, smooth operation, and at the same time ensures comfort and safety of wearing. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are merely embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0017] Figure 1 A schematic diagram of the overall structure of a bionic forearm exoskeleton power-assisting mechanism based on a tensegrity structure provided by the present invention;

[0018] Figure 2 A schematic structural diagram of a bionic forearm exoskeleton power-assisting mechanism based on a tensegrity structure provided by the present invention, excluding the first fixed cover plate, the second fixed cover plate and the supporting connecting frame;

[0019] Figure 3 A schematic diagram of the three-dimensional structure of the two-rod tensioning wrist mechanism provided by the present invention;

[0020] Figure 4 A schematic diagram of the three-dimensional structure of the four-bar tensioning forearm mechanism provided by the present invention;

[0021] Figure 5 This is a structural schematic diagram of the first fixed cover plate, the second fixed cover plate and the supporting connecting frame provided by the present invention. DETAILED DESCRIPTION

[0022] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0023] like Figure 1-5 As shown, an embodiment of the present invention discloses a bionic forearm exoskeleton power-assistance mechanism based on a tensegrity structure, comprising a two-bar tensegrity wrist mechanism 1 and a four-bar tensegrity forearm mechanism 2, connected sequentially from front to back. This invention leverages the self-balancing and self-stabilizing properties of the tensegrity structure to achieve various angular motions by modifying the mechanism's geometric configuration. This overcomes the limitations of conventional exoskeleton power-assistance devices, such as bulk, weight, poor stability, and complex control.

[0024] Specifically, the two-rod tensioning wrist mechanism 1 includes a first wrist sleeve 11, a connecting sleeve 12, a slide connector 13 and a second wrist sleeve 14, which are distributed in sequence from front to back. The rear end of the first wrist sleeve 11 is rotatably connected to the front end of the connecting sleeve 12; the front end of the slide connector 13 is slidably connected to the slider 121 at the rear end of the connecting sleeve 12; the front end of the second wrist sleeve 14 is fixedly connected to the rear end of the slide connector 13; the rear end of the second wrist sleeve 14 is fixedly connected to the four-rod tensioning forearm mechanism 2; the first wrist sleeve 11 and the second wrist sleeve 14 are connected by four wrist elastomers 15 that are symmetrically distributed front, back, left and right. The first wrist sleeve 11 and the connecting sleeve 12 rotate relative to each other under the action of the wrist elastomer 15 to realize the flexion and extension movement of the wrist, and the slider 121 of the connecting sleeve 12 cooperates with the track of the slide connector 13 to slide to realize the adduction and abduction movement of the wrist.

[0025] Specifically, the four-bar tensioning forearm mechanism 2 includes a front fixed ring 21, a rotating ring 22 and a rear fixed ring 23 which are spaced apart from each other from front to back. The rear end of the second wrist sleeve 14 is fixedly connected to the front fixed ring 21; the front fixed ring 21 and the rotating ring 22 are connected by a first tensioning component 24; the rear fixed ring 23 and the rotating ring 22 are connected by a second tensioning component 25, and the first tensioning component 24 and the second tensioning component 25 are symmetrically distributed with the rotating ring 22 as the center.

[0026] Specifically, the first tensioning assembly 24 includes four front rotating rods 241 and four front elastic bodies 242, and the two ends of each front rotating rod 241 are respectively connected to the front fixed ring 21 and the rotating ring 22; the two ends of each front elastic body 242 are respectively connected to the front fixed ring 21 and the rotating ring 22, and the four front rotating rods 241 and the four front elastic bodies 242 are staggered. The second tensioning assembly 25 includes four rear rotating rods 251 and four rear elastic bodies 252, each of which is connected to the front fixed ring 21 and the rotating ring 22. The two ends of each rear rotating support rod 251 are respectively linked to the rear fixed ring 23 and the rotating ring 22; the two ends of each rear elastic body 252 are respectively linked to the rear fixed ring 23 and the rotating ring 22, and the four rear rotating support rods 251 and the four rear elastic bodies 252 are staggered; the four rear rotating support rods 251 and the four front rotating support rods 241 are symmetrically distributed with the rotating ring 22 as the center, and the four rear elastic bodies 252 and the four front elastic bodies 242 are symmetrically distributed with the rotating ring 22 as the center.

[0027] Specifically, the rear fixing ring 23 is fixed with a first ball joint fixing block, a second ball joint fixing block, a third ball joint fixing block and a fourth ball joint fixing block along the circumferential direction, and one side of the rotating ring 22 is fixed with a fifth ball joint fixing block, a sixth ball joint fixing block, a seventh ball joint fixing block and an eighth ball joint fixing block along the circumferential direction, and the fifth ball joint fixing block is staggered with the first ball joint fixing block, the sixth ball joint fixing block is staggered with the second ball joint fixing block, the seventh ball joint fixing block is staggered with the third ball joint fixing block, and the eighth ball joint fixing block is staggered with the fourth ball joint fixing block; the four rear rotating support rods 251 are respectively the rear first rotating support rod, the rear second rotating support rod, the rear third rotating support rod and the rear fourth rotating support rod in order along the circumferential direction, and the four rear elastic bodies 252 are respectively the rear first elastic body, the rear second elastic body, the rear body, the rear third elastic body and the rear fourth elastic body; the two ends of the rear first rotating support rod are respectively hinged to the first ball joint fixing block and the seventh ball joint fixing block; the two ends of the rear second rotating support rod are respectively hinged to the second ball joint fixing block and the sixth ball joint fixing block; the two ends of the rear third rotating support rod are respectively hinged to the third ball joint fixing block and the fifth ball joint fixing block; the two ends of the rear fourth rotating support rod are respectively hinged to the fourth ball joint fixing block and the eighth ball joint fixing block; the two ends of the rear first elastic body are respectively hinged to the first ball joint fixing block and the sixth ball joint fixing block; the two ends of the rear second elastic body are respectively hinged to the second ball joint fixing block and the fifth ball joint fixing block; the two ends of the rear third elastic body are respectively hinged to the third ball joint fixing block and the eighth ball joint fixing block; the two ends of the rear fourth elastic body are respectively hinged to the fourth ball joint fixing block and the seventh ball joint fixing block;

[0028] On the other side of the rotating ring 22, there are fixed along the circumference a ninth spherical joint fixing block, a tenth spherical joint fixing block, an eleventh spherical joint fixing block and a twelfth spherical joint fixing block which are evenly distributed, and the ninth spherical joint fixing block is symmetrically distributed with the fifth spherical joint fixing block, the tenth spherical joint fixing block is symmetrically distributed with the sixth spherical joint fixing block, the eleventh spherical joint fixing block is symmetrically distributed with the seventh spherical joint fixing block, and the twelfth spherical joint fixing block is symmetrically distributed with the eighth spherical joint fixing block; the front fixing ring 21 is fixed along the circumference with the thirteenth spherical joint fixing block, the fourteenth spherical joint fixing block is symmetrically distributed with the first spherical joint fixing block, the fourteenth spherical joint fixing block is symmetrically distributed with the second spherical joint fixing block, the fifteenth spherical joint fixing block is symmetrically distributed with the third spherical joint fixing block, and the sixteenth spherical joint fixing block is symmetrically distributed with the fourth spherical joint fixing block; the four front rotating rods 241 are respectively the first front rotating rod, the second front rotating rod, the third front rotating rod and the front The fourth rotating support rod, the four front elastomers 242 are respectively the front first elastomer, the front second elastomer, the front third elastomer and the front fourth elastomer in circumferential order; the two ends of the front first rotating support rod are respectively hinged to the ninth ball joint fixing block and the fifteenth ball joint fixing block; the two ends of the front second rotating support rod are respectively hinged to the tenth ball joint fixing block and the fourteenth ball joint fixing block; the two ends of the front third rotating support rod are respectively hinged to the eleventh ball joint fixing block and the thirteenth ball joint fixing block; the two ends of the front fourth rotating support rod are respectively hinged to the twelfth ball joint fixing block and the sixteenth ball joint fixing block; the two ends of the front first elastomer are respectively hinged to the ninth ball joint fixing block and the sixteenth ball joint fixing block; the two ends of the front second elastomer are respectively hinged to the tenth ball joint fixing block and the fifteenth ball joint fixing block; the two ends of the front third elastomer are respectively hinged to the eleventh ball joint fixing block and the fourteenth ball joint fixing block; the two ends of the front fourth elastomer are respectively hinged to the twelfth ball joint fixing block and the thirteenth ball joint fixing block.

[0029] All the above-mentioned ball joint fixing blocks are of the same specifications and are used to fix the ball joint to realize the rotation function.

[0030] Specifically, the four-bar tensioning forearm mechanism 2 also includes a first fixed cover plate 26, a second fixed cover plate 27 and a support connecting frame 28. The two ends of the first fixed cover plate 26 are fixedly connected to the front fixed ring 21 and the rear fixed ring 23 respectively; the two ends of the second fixed cover plate 27 are fixedly connected to the front fixed ring 21 and the rear fixed ring 23 respectively, and the first fixed cover plate 26 and the second fixed cover plate 27 are symmetrically distributed; the rotating ring 22 is slidingly connected to the first fixed cover plate 26 and the second fixed cover plate 27 respectively; the first fixed cover plate 26 and the second fixed cover plate 27 are connected by the support connecting frame 28, and the formed whole is used to limit and fix the four-bar tensioning structure, so that only the rotation about the Z axis and a small part of the movement about the Z axis are retained.

[0031] Specifically, the supporting connecting frame 28 includes a first frame body 281 and a second frame body 282 . The first frame body 281 penetrates and is fixed on the first fixed cover plate 26 and the second fixed cover plate 27 ; the second frame body 282 is inserted into the first frame body 281 and fixed by bolts.

[0032] Working principle of the present invention:

[0033] The present invention can complete the following actions:

[0034] The four-bar tensioned forearm mechanism 2 (the forearm mechanism adopts a four-bar tensioned structure) can realize a certain angle rotation and small displacement translation of the human forearm, while the two-bar tensioned wrist mechanism 1 can realize ulnar deviation, radial deviation, flexion and extension of the wrist joint.

[0035] When the upper two wrist elastomers 15 or the lower two wrist elastomers 15 are subjected to force and extended at the same time, the first wrist sleeve 11 will rotate up and down relative to the connecting sleeve 12 and other stationary rigid components, so as to realize the flexion and extension movement of the wrist joint. When the upper two wrist elastomers 15 or the lower two wrist elastomers 15 are subjected to force at the same time, the slider 121 of the connecting sleeve 12 will slide along the track of the slide connector 13, while the slide connector 13 and components such as the second wrist sleeve 14 remain relatively stationary. In this way, the ulnar and radial deviation movement of the wrist joint can be completed.

[0036] When the forearm rotates, it can be divided into two parts. When the forearm rotates clockwise, the front fixed ring 21 moves. At this time, the front elastic body 242 gradually increases from the minimum force to the maximum. During this process, the front rotating support rod 241 rotates under the side effect of the balls at both ends. That is to say, the front fixed ring 21 and the rotating ring 22 rotate relative to each other. Due to the movement of the front rotating support rod 241, the relative distance between the front fixed ring 21 and the rotating ring 22 will also increase. When the front elastic body 242 is stretched to the maximum force, the rotation angle is also When the front elastic body 242 is relaxed, it gradually returns to its initial state, completing the rotation in one direction. The rear fixed ring 23 is stationary relative to the rotating ring from beginning to end. When the forearm rotates counterclockwise, the front fixed ring 21 and the rotating ring 22 are relatively stationary, and the four-bar tensioning platform composed of the rear fixed ring 23 and the rotating ring 22 rotates. The rotating ring 22 rotates relative to the rear fixed ring 23, and the above movement process is repeated to complete the counterclockwise rotation of the forearm.

[0037] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. Reference can be made to the common and similar parts between the various embodiments. For the devices disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple, and the relevant parts can be referred to the method description.

[0038] The above description of the disclosed embodiments is intended to enable one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be readily apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not limited to the embodiments shown herein but is intended to conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A bionic forearm exoskeleton power-assisting mechanism based on a tensegrity structure, characterized in that: It includes a two-bar tension wrist mechanism and a four-bar tension forearm mechanism connected in sequence from front to back; The two-bar tensioning wrist mechanism includes a first wrist sleeve, a link sleeve, a slide connector and a second wrist sleeve, which are sequentially distributed from front to back. The rear end of the first wrist sleeve is rotatably connected to the front end of the link sleeve; the front end of the slide connector is slidably connected to a slider at the rear end of the link sleeve; the front end of the second wrist sleeve is fixedly connected to the rear end of the slide connector; the rear end of the second wrist sleeve is fixedly connected to the four-bar tensioning forearm mechanism; the first wrist sleeve and the second wrist sleeve are connected by four wrist elastic bodies symmetrically distributed front and back and left and right; The four-bar tensioning forearm mechanism includes a front fixed ring, a rotating ring, and a rear fixed ring that are spaced apart from each other from front to back. The rear end of the second wrist sleeve is fixedly connected to the front fixed ring; the front fixed ring and the rotating ring are connected by a first tensioning assembly; the rear fixed ring and the rotating ring are connected by a second tensioning assembly, and the first tensioning assembly and the second tensioning assembly are symmetrically distributed with the rotating ring as the center. The first tensioning assembly includes four front rotating support rods and four front elastic bodies, and the two ends of each front rotating support rod are respectively connected to the front fixed ring and the rotating ring; the two ends of each front elastic body are respectively connected to the front fixed ring and the rotating ring, and the four front rotating support rods and the four front elastic bodies are staggered; the second tensioning assembly includes four rear rotating support rods and four rear elastic bodies, and the two ends of each rear rotating support rod are respectively connected to the rear fixed ring and the rotating ring; the two ends of each rear elastic body are respectively connected to the rear fixed ring and the rotating ring, and the four rear rotating support rods and the four rear elastic bodies are staggered; the four rear rotating support rods and the four front rotating support rods are symmetrically distributed with the rotating ring as the center, and the four rear elastic bodies and the four front elastic bodies are symmetrically distributed with the rotating ring as the center.

2. The bionic forearm exoskeleton power-assisting mechanism based on tensegrity structure according to claim 1, characterized in that: The rear fixing ring is fixed with a first ball joint fixing block, a second ball joint fixing block, a third ball joint fixing block and a fourth ball joint fixing block that are evenly distributed along the circumferential direction, and one side of the rotating ring is fixed with a fifth ball joint fixing block, a sixth ball joint fixing block, a seventh ball joint fixing block and an eighth ball joint fixing block that are evenly distributed along the circumferential direction, and the fifth ball joint fixing block is staggered with the first ball joint fixing block, the sixth ball joint fixing block is staggered with the second ball joint fixing block, the seventh ball joint fixing block is staggered with the third ball joint fixing block, and the eighth ball joint fixing block is staggered with the fourth ball joint fixing block; the four rear rotating support rods are respectively the rear first rotating support rod, the rear second rotating support rod, the rear third rotating support rod and the rear fourth rotating support rod in order along the circumferential direction, and the four rear elastomers are respectively the rear first elastomer, the rear second elastomer, the rear third elastomer and the rear fourth elastomer in order along the circumferential direction; The two ends of the rear first rotating support rod are respectively hinged to the first ball joint fixing block and the seventh ball joint fixing block; the two ends of the rear second rotating support rod are respectively hinged to the second ball joint fixing block and the sixth ball joint fixing block; the two ends of the rear third rotating support rod are respectively hinged to the third ball joint fixing block and the fifth ball joint fixing block; the two ends of the rear fourth rotating support rod are respectively hinged to the fourth ball joint fixing block and the eighth ball joint fixing block; the two ends of the rear first elastic body are respectively hinged to the first ball joint fixing block and the sixth ball joint fixing block; the two ends of the rear second elastic body are respectively hinged to the second ball joint fixing block and the fifth ball joint fixing block; the two ends of the rear third elastic body are respectively hinged to the third ball joint fixing block and the eighth ball joint fixing block; the two ends of the rear fourth elastic body are respectively hinged to the fourth ball joint fixing block and the seventh ball joint fixing block; The other side of the rotating ring is fixed with a ninth ball joint fixing block, a tenth ball joint fixing block, an eleventh ball joint fixing block and a twelfth ball joint fixing block along the circumferential direction, and the ninth ball joint fixing block is symmetrically distributed with the fifth ball joint fixing block, the tenth ball joint fixing block is symmetrically distributed with the sixth ball joint fixing block, the eleventh ball joint fixing block is symmetrically distributed with the seventh ball joint fixing block, and the twelfth ball joint fixing block is symmetrically distributed with the eighth ball joint fixing block; the front fixing ring is fixed with a thirteenth ball joint fixing block, a tenth ball joint fixing block and a twelfth ball joint fixing block along the circumferential direction. The fourteenth ball joint fixing block, the fifteenth ball joint fixing block and the sixteenth ball joint fixing block, and the thirteenth ball joint fixing block is symmetrically distributed with the first ball joint fixing block, the fourteenth ball joint fixing block is symmetrically distributed with the second ball joint fixing block, the fifteenth ball joint fixing block is symmetrically distributed with the third ball joint fixing block, and the sixteenth ball joint fixing block is symmetrically distributed with the fourth ball joint fixing block; the four front rotating support rods are respectively the first front rotating support rod, the second front rotating support rod, the third front rotating support rod and the fourth front rotating support rod in the circumferential direction. The four front elastic bodies are respectively the front first elastic body, the front second elastic body, the front third elastic body and the front fourth elastic body in the circumferential direction; the two ends of the front first rotating support rod are respectively hinged to the ninth ball joint fixing block and the fifteenth ball joint fixing block; the two ends of the front second rotating support rod are respectively hinged to the tenth ball joint fixing block and the fourteenth ball joint fixing block; the two ends of the front third rotating support rod are respectively hinged to the eleventh ball joint fixing block and the thirteenth ball joint fixing block; the two ends of the front fourth rotating support rod are respectively hinged to the eleventh ball joint fixing block and the thirteenth ball joint fixing block They are respectively hinged to the twelfth ball joint fixing block and the sixteenth ball joint fixing block; the two ends of the front first elastic body are respectively hinged to the ninth ball joint fixing block and the sixteenth ball joint fixing block; the two ends of the front second elastic body are respectively hinged to the tenth ball joint fixing block and the fifteenth ball joint fixing block; the two ends of the front third elastic body are respectively hinged to the eleventh ball joint fixing block and the fourteenth ball joint fixing block; the two ends of the front fourth elastic body are respectively hinged to the twelfth ball joint fixing block and the thirteenth ball joint fixing block.

3. A bionic forearm exoskeleton power-assisting mechanism based on a tensegrity structure according to claim 1 or 2, characterized in that: The four-bar tensioning forearm mechanism also includes a first fixed cover plate, a second fixed cover plate and a support connecting frame, the two ends of the first fixed cover plate are respectively fixedly connected to the front fixed ring and the rear fixed ring; the two ends of the second fixed cover plate are respectively fixedly connected to the front fixed ring and the rear fixed ring, and the first fixed cover plate and the second fixed cover plate are symmetrically distributed; the rotating ring is respectively slidably connected to the first fixed cover plate and the second fixed cover plate; the first fixed cover plate and the second fixed cover plate are connected through the support connecting frame.

4. The bionic forearm exoskeleton power-assisting mechanism based on tensegrity structure according to claim 3, characterized in that: The supporting connecting frame includes a first frame body and a second frame body. The first frame body is fixed through the first fixed cover plate and the second fixed cover plate; the second frame body is inserted into the first frame body and fixed by bolts.

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