A wearable upper limb hemiplegic rehabilitation exoskeleton

Abstract

This invention discloses a wearable upper limb hemiplegic rehabilitation exoskeleton, comprising a back module, an upper arm module, and a forearm module. The back module is used to stabilize and drive the movement of the upper arm and forearm modules. The bottom end of the upper arm module is connected to the top end of the forearm module, and the back module is hinged to the top end of the upper arm module via a connecting plate. This invention achieves controllable stability while being lightweight and easy to wear with one hand; it can effectively suppress back compensation to a certain extent; the back module is equipped with a drive control device to avoid interference from the weight of the drive control device itself on the movement control and the patient's active movement caused by excessive weight on the arm exoskeleton. The drive control device drives the connecting hinge to rotate around the hinge point through Bowden wire transmission, driving the upper arm and forearm modules to perform periodic shoulder joint flexion / extension, abduction / adduction, internal / external rotation, and elbow flexion / extension movements.

Description

Technical Field

[0001] This invention relates to an exoskeleton, specifically to a wearable upper limb hemiplegic rehabilitation exoskeleton. Background Technology

[0002] The main sequela of stroke is hemiplegia. Hemiplegic patients not only lose the ability to move their limbs, but also cannot live independently and need care from others. This not only causes them pain, but also brings huge economic and psychological pressure to their families and society. Post-stroke limb rehabilitation is particularly crucial.

[0003] Adhesive-bonded rehabilitation exoskeletons perfectly combine intelligent control with a robotic system for limb movement, enabling patients to complete various rehabilitation exercises and possessing advantages unmatched by traditional rehabilitation treatments. Most existing research on adhesive-bonded rehabilitation exoskeletons focuses on the mechanical structure of limb movement control and degrees of freedom, with little research on the ease of use and user experience of upper limb trainers. Furthermore, few existing adhesive-bonded rehabilitation exoskeletons achieve controllable stability while remaining lightweight; and their wearability is limited, with few capable of independent operation. Summary of the Invention

[0004] To address the problems existing in the prior art, this invention provides a wearable upper limb hemiplegic rehabilitation exoskeleton that is lightweight, highly stable, easy to wear, safe and reliable, and can be used in the field of home rehabilitation training.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a wearable upper limb hemiplegic rehabilitation exoskeleton, comprising an upper arm module and a forearm module, wherein the bottom end of the upper arm module and the top end of the forearm module are connected by an elbow connecting hinge, and further comprising a back module, wherein the top end of the upper arm module is provided with a shoulder connecting hinge.

[0006] The back module includes a rigid base, a housing, a flexible fixing device, a mirror device, and a back elastic device. The flexible fixing device is located at the lower end of the housing, the rigid base is located on the outer side of the housing, the mirror device is located on the outer side of the rigid base, and the back elastic device consists of a spring box and a spring. The spring box is located inside the mirror device, and the spring extends from the inside of the mirror device to the outside and is connected to one end of the first connecting plate. The other end of the first connecting plate is connected to one end of the second connecting plate through a second back connecting hinge, and the other end of the second connecting plate is connected to the shoulder connecting hinge through the first back connecting hinge.

[0007] A detachable panel is located in the middle of the inner side of the housing. The surface of the detachable panel, the flexible fixing device, and the inner side of the housing are all equipped with back padding. An elastic anti-slip shoulder strap is provided on the left and right sides of the inner side of the housing. A waist nylon hook and loop fastener is provided at the bottom of the flexible fixing device. Silicone electrode patches are provided on the back padding on the surface of the detachable panel.

[0008] The housing contains a drive control device and a power supply for the transcutaneous electrical stimulation device. The drive control device includes a first shoulder drive motor, a second shoulder drive motor, a third shoulder drive motor, and an elbow drive motor. Each of the four drive motors has a grooved wheel on its top. The first shoulder drive motor, the second shoulder drive motor, the third shoulder drive motor, and the elbow drive motor are connected to the first back connection hinge, the second back connection hinge, the shoulder connection hinge, and the elbow connection hinge, respectively, via Bowden wires.

[0009] Furthermore, one end of the Bowden line is connected to the grooved wheel on each of the four drive motors, and the other end of the Bowden line passes through the rigid base, the first connecting plate, the second connecting plate, the shoulder connecting hinge, and the upper arm module in sequence, and is connected to the second back connecting hinge, the first back connecting hinge, the shoulder connecting hinge, and the elbow connecting hinge, respectively.

[0010] Furthermore, the boom module includes a first boom fixing plate, a second boom fixing plate, and an adjustment assembly. The first boom fixing plate and the second boom fixing plate are connected by the adjustment assembly. The adjustment assembly consists of a guide groove, a sliding rod, and a limiting block. The guide groove is formed on the inner side wall of the bottom of the first boom fixing plate. The bottom end of the sliding rod is connected to the top end of the second boom fixing plate, and the top end of the sliding rod is inserted into the guide groove. The limiting block is hinged to the bottom of the guide groove. The sliding rod has a groove corresponding to the limiting block. The first boom fixing plate and the second boom fixing plate are respectively provided with a first boom nylon hook and loop fastener and a second boom nylon hook and loop fastener.

[0011] Furthermore, the forearm module includes a forearm fixing plate, a forearm nylon hook and loop fastener, and an elbow connecting hinge. The elbow connecting hinge is located at the top of the forearm fixing plate, and the bottom of the second upper arm fixing plate is hinged to the top of the forearm fixing plate via the elbow connecting hinge. The bottom of the forearm fixing plate is annular, and the forearm nylon hook and loop fastener is located on one side of the annular plate at the bottom of the forearm fixing plate.

[0012] Furthermore, the flexible fixation device is provided with multiple shaped fish bones at intervals in the longitudinal middle position. The shaped fish bones help to stretch the patient's back and effectively inhibit back compensation to a certain extent. An adjustable front buckle is provided between the two elastic anti-slip shoulder straps. The adjustable front buckle is used to adjust the distance between the two elastic anti-slip shoulder straps.

[0013] Furthermore, the outer side of the forearm fixation plate is equipped with a speaker and an information feedback system; the speaker and information feedback system are used to provide information feedback. The speaker is located at the hinge point between the upper arm module and the forearm module, and the information feedback system is located at the end of the forearm fixation plate. The patient can read and adjust the current training intensity through the information feedback system on the forearm module. The patient can increase or decrease the training intensity as needed, encouraging the patient to actively participate in rehabilitation training and significantly improving the rehabilitation effect.

[0014] Furthermore, a shoulder pad is provided on the top of the inner side of the first large arm fixing plate.

[0015] Furthermore, it also includes a sliding device, which consists of a fixed guide rail and a movable guide rail. The fixed guide rail is set on a rigid base, and the movable guide rail is set at one end of the first connecting plate. The movable guide rail is clamped on the fixed guide rail.

[0016] Compared with existing technologies, this invention adopts a simple double-shoulder back design as the support for movement, based on the activity forms of upper limb hemiplegic rehabilitation training. It uses a flexible fixation device to replace some of the rigid fixation devices in traditional rehabilitation robotic arms, achieving controllable stability while reducing weight, ensuring shoulder fixation and normal arm movement. The biceps and triceps are the largest muscle groups in the entire arm and play a crucial role in the strength and circumference of the arm. Moreover, the upper arm muscle group is more numerous than the forearm muscle group. The upper arm is fixed in sections, while the forearm is fixed in a one-piece wearable form, which facilitates single-hand wear. This invention utilizes the combined operation of a back elastic device and a sliding device to maintain uniform force distribution while adjusting the back width, thereby increasing stability. The modules of this invention are easy to disassemble and install, and easy to replace. At the same time, the mirror device makes it more convenient to interchange the exoskeleton mirror images. The drive control device is fixed inside the shell to avoid interference from the weight of the drive control device itself on the motion control and the patient's active movement of the arm exoskeleton. The drive control device drives the connecting hinge to rotate around the hinge point through Bowden wire transmission, driving the upper arm module and the forearm module to perform periodic shoulder joint flexion / extension, abduction / adduction, internal / external rotation, and elbow flexion / extension movements. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0018] Figure 2 This is a schematic diagram of the flexible fixing device of the present invention;

[0019] Figure 3 This is a schematic diagram showing a partial structural detail of the present invention;

[0020] Figure 4 This is a schematic diagram of the upper arm module and lower arm module of the present invention;

[0021] Figure 5 This is a schematic diagram of the abduction and adduction movements of the shoulder joint according to the present invention;

[0022] Figure 6 This is a schematic diagram of the flexion and extension movements of the shoulder joint according to the present invention;

[0023] Figure 7 This is a schematic diagram of the internal and external rotation movements of the shoulder joint according to the present invention;

[0024] Figure 8This is a schematic diagram of the flexion and extension movements of the elbow joint according to the present invention;

[0025] In the diagram: 1. Back module; 1-1. Rigid base; 1-2. Housing; 1-2-1-1. First shoulder drive motor; 1-2-1-2. Second shoulder drive motor; 1-2-1-3. Third shoulder drive motor; 1-2-1-4. Elbow drive motor; 1-2-1-5. Grooved wheel; 1-2-1-6. Bowden wire; 1-2-2. Power supply for transcutaneous electrical stimulation device; 1-3. Flexible fixation device; 1-3-1. Back pad; 1-3-2. Shaped fishbone; 1-3-3. Elastic anti-slip shoulder strap; 1-3-4. Adjustable front buckle; 1-3-5. Waist nylon hook and loop fastener; 1-3-6. Removable panel; 1-3-7. Silicone electrode patch; 1-4. Mirror device; 1-5. Back elastic device; 1-5-1. Spring box; 1 -5-2, coil spring; 1-6, sliding device; 1-6-1, fixed guide rail; 1-6-2, movable guide rail; 1-7, first back connecting hinge; 1-8, second back connecting hinge; 1-9, first connecting plate; 1-10, second connecting plate; 2. upper arm module; 2-1, first upper arm fixing plate; 2-2, second upper arm fixing plate; 2-3, adjusting assembly; 2-3-1, guide groove; 2-3-2, sliding rod; 2-3-3, limiting block; 2-4, first upper arm nylon hook and loop fastener; 2-5, second upper arm nylon hook and loop fastener; 2-6, shoulder connecting hinge; 2-7, shoulder pad; 3. forearm module; 3-1, forearm fixing plate; 3-2, forearm nylon hook and loop fastener; 3-3, speaker; 3-4, elbow connecting hinge; 3-5, information feedback system. Implementation

[0026] The invention will now be further described with reference to the accompanying drawings.

[0027] 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.

[0028] like Figures 1 to 8 As shown, the present invention provides a technical solution including an upper arm module 2, a forearm module 3 and a back module 1. The upper arm module 2 is used to fix the patient's upper arm, the forearm module 3 is used to fix the patient's forearm, and the back module 1 is used to be worn on the patient's back. The bottom end of the upper arm module 2 and the top end of the forearm module 3 are connected by an elbow connecting hinge 3-4.

[0029] like Figure 1 and Figure 4As shown, the boom module 2 includes a first boom fixing plate 2-1, a second boom fixing plate 2-2, and an adjustment assembly 2-3. The top of the first boom fixing plate 2-1 is provided with a shoulder connecting hinge 2-6, allowing the first boom fixing plate 2-1 to rotate around the shoulder connecting hinge 2-6. The first boom fixing plate 2-1 and the second boom fixing plate 2-2 are connected via the adjustment assembly 2-3. The adjustment assembly 2-3 consists of a guide groove 2-3-1, a sliding rod 2-3-2, and a limiting block 2-3-3. The guide groove 2-3-1 is formed on the inner sidewall of the bottom of the first boom fixing plate 2-1, and the sliding rod 2-3... -2 The bottom end is connected to the top end of the second upper arm fixing plate 2-2. The top end of the sliding rod 2-3-2 is inserted into the guide groove 2-3-1. The limiting block 2-3-3 is hinged to the bottom of the guide groove 2-3-1. The sliding rod 2-3-2 is provided with a groove corresponding to the limiting block 2-3-3. The length of the upper arm module 2 can be adjusted by adjusting component 2-3 to meet the needs of patients with different arm lengths. The first upper arm fixing plate 2-1 and the second upper arm fixing plate 2-2 are respectively provided with a first upper arm nylon hook and loop fastener 2-4 and a second upper arm nylon hook and loop fastener 2-5 to fix the patient's upper arm on the upper arm module 2.

[0030] like Figure 1 and Figure 4 As shown, the forearm module 3 includes a forearm fixing plate 3-1, a forearm nylon hook and loop fastener 3-2, and an elbow connecting hinge 3-4. The elbow connecting hinge 3-4 is located at the top of the forearm fixing plate 3-1. The bottom of the second upper arm fixing plate 2-2 is hinged to the top of the forearm fixing plate 3-1 through the elbow connecting hinge 3-4. The forearm fixing plate 3-1 can rotate around the elbow connecting hinge 3-4. The bottom of the forearm fixing plate 3-1 is annular, and the forearm nylon hook and loop fastener 3-2 is located on one side of the annular plate at the bottom of the forearm fixing plate 3-1.

[0031] like Figure 1 As shown, the back module 1 includes a rigid base 1-1, a housing 1-2, a flexible fixing device 1-3, a mirror device 1-4, and a back elastic device 1-5. The rigid base 1-1 serves as the main body of the back module 1 and is used to fix other components. The flexible fixing device 1-3 is located at the lower end of the housing 1-2, the rigid base 1-1 is located on the outer side of the housing 1-2, and the mirror device 1-4 is located on the outer side of the rigid base 1-1. Figure 3As shown, the back elastic device 1-5 consists of a spring box 1-5-1 and a spring 1-5-2. The spring box 1-5-1 is located inside the mirror device 1-4. The spring 1-5-2 extends from the inside of the mirror device 1-4 to the outside and is connected to one end of the first connecting plate 1-9. The other end of the first connecting plate 1-9 is connected to one end of the second connecting plate 1-10 via the second back connecting hinge 1-8. The other end of the second connecting plate 1-10 is connected to the shoulder connecting hinge 2-6 via the first back connecting hinge 1-7. It also includes a sliding device 1-6, which is composed of a fixed guide rail 1-6-1. It consists of a fixed guide rail 1-6-1 and a movable guide rail 1-6-2. The fixed guide rail 1-6-1 is set on the rigid base 1-1, and the movable guide rail 1-6-2 is set at one end of the first connecting plate 1-9. The movable guide rail 1-6-2 clamps onto the fixed guide rail 1-6-1. The first connecting plate 1-9 can slide along the fixed guide rail 1-6-1. After sliding outward, it will be pulled back by the elastic action of the back elastic device 1-5. The cooperation between the back elastic device 1-5 and the sliding device 1-6 can maintain uniform force while adjusting the width of the back, thus increasing stability.

[0032] like Figure 2 As shown, a detachable panel 1-3-6 is provided in the middle of the inner side of the housing 1-2. A back pad 1-3-1 is provided on the surface of the detachable panel 1-3-6, the flexible fixing device 1-3, and the inner side of the housing 1-2. The back pad 1-3-1 can improve the comfort of the patient when wearing it. An elastic anti-slip shoulder strap 1-3-3 is provided on the left and right sides of the inner side of the housing 1-2. A waist nylon hook and loop fastener 1-3-5 is provided at the bottom of the flexible fixing device 1-3. The waist nylon hook and loop fastener 1-3-5 is used to fix the flexible fixing device 1-3 to the patient's waist, increasing the force-bearing area and thus distributing the shoulder pressure. A silicone electrode patch 1-3-7 is provided on the back pad 1-3-1 on the surface of the detachable panel 1-3-6. During active movement, electrical stimulation is applied to the back antagonist muscles through the silicone electrode patch 1-3-7, which can effectively inhibit back compensation to a certain extent.

[0033] like Figure 3As shown, the housing 1-2 contains a drive control device and a power supply 1-2-2 for the transcutaneous electrical stimulation device. The drive control device includes a first shoulder drive motor 1-2-1-1, a second shoulder drive motor 1-2-1-2, a third shoulder drive motor 1-2-1-3, and an elbow drive motor 1-2-1-4. The top of each of the four drive motors is provided with a grooved wheel 1-2-1-5. The first shoulder drive motor 1-2-1-1, the second shoulder drive motor 1-2-1-2, the third shoulder drive motor 1-2-1-3, and the elbow drive motor 1-2-1-4 are respectively connected to the first back connection hinge 1-7, the second back connection hinge 1-8, the shoulder connection hinge 2-6, and the elbow connection hinge 3-4 through corresponding Bowden wires 1-2-1-6. One end of the Bowden wire 1-2-1-6 is connected to the grooved wheel 1-2-1-5 on each of the four drive motors. The other end of the Bowden wire 1-2-1-6 passes sequentially through the rigid base 1-1, the first connecting plate 1-9, the second connecting plate 1-10, the shoulder connecting hinge 2-6, and the upper arm module 2, and is connected to the second back connecting hinge 1-8, the first back connecting hinge 1-7, the shoulder connecting hinge 2-6, and the elbow connecting hinge 3-4, respectively. The drive control device is fixed inside the housing 1-2 to avoid interference from the weight of the motor itself on the motion control and the excessive weight of the arm exoskeleton during the patient's active movement. The first shoulder drive motor 1-2-1-1, the second shoulder drive motor 1-2-1-2, and the third shoulder drive motor 1-2-1-3 are connected in series, and the three shoulder drive motors are connected in parallel with the elbow drive motor 1-2-1-4, so as to realize the separate control of the shoulder and elbow according to the rehabilitation situation.

[0034] like Figure 3 As shown, the drive control device activates the corresponding drive motors according to the training requirements. When the training begins, the drive motors start to operate and send signals according to the movement of different modules. The drive motors drive the first end of the Bowden line 1-2-1-6 to wind around the grooved wheel 1-2-1-5 in a circumferential direction. Then, the second end of the Bowden line pulls and drives the first back connecting hinge 1-7, the second back connecting hinge 1-8, the shoulder connecting hinge 2-6 and the elbow connecting hinge 3-4 to rotate, so as to complete the simulated movement.

[0035] In use, the patient's arms are threaded through the left and right elastic anti-slip shoulder straps 1-3-3 respectively, and then the waist nylon hook and loop fasteners 1-3-5 are fastened to tighten the waist and rib area and stabilize the torso. At this time, the back module 1 is worn on the patient's back. Then, the adjustment component 2-3 is adjusted according to the length of the patient's upper arm. The patient's upper arm is attached to the first upper arm fixing plate 2-1 and the second upper arm fixing plate 2-2. Then, the first upper arm nylon hook and loop fasteners 2-4 and the second upper arm nylon hook and loop fasteners 2-5 are fastened to fix the patient's upper arm. After the patient's forearm is threaded through the bottom ring plate of the forearm fixing plate 3-1, the patient's forearm is fixed to the inside of the forearm module by adjusting the position of the forearm nylon hook and loop fasteners 3-2.

[0036] The drive control device is used to drive the upper arm module 2 and the forearm module 3 to perform periodic shoulder joint flexion / extension, abduction / adduction, internal / external rotation, and elbow flexion / extension movements. The transcutaneous electrical stimulation device power supply 1-2-2 is used to provide power to the silicone electrode patch 1-3-7 to stimulate the patient's muscles.

[0037] like Figure 5 As shown, the first shoulder drive motor 1-2-1-1 drives the first back connecting hinge 1-7 to rotate around the hinge point via Bowden wire 1-2-1-6, thereby realizing the abduction and adduction movements of the shoulder joint; as Figure 7 As shown, the second shoulder drive motor 1-2-1-2 drives the second back connecting hinge 1-8 to rotate around the hinge point via Bowden wire 1-2-1-6, realizing the internal and external rotation of the shoulder joint; as Figure 6 As shown, the third shoulder drive motor 1-2-1-3 drives the shoulder connecting hinge 2-6 to rotate around the hinge point via Bowden wire 1-2-1-6, thereby realizing the flexion and extension movements of the shoulder joint; as Figure 8 As shown, the elbow drive motor 1-2-1-4 drives the elbow connecting hinge 3-4 to rotate via Bowden line 1-2-1-6, thereby realizing the flexion and extension movements of the elbow joint.

[0038] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0039] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any minor modifications, equivalent substitutions, and improvements made to the above embodiments based on the technical essence of the present invention should be included within the protection scope of the present invention.

Claims

1. A wearable upper limb hemiplegic rehabilitation exoskeleton, comprising an upper arm module (2) and a forearm module (3), wherein the bottom end of the upper arm module (2) and the top end of the forearm module (3) are connected by an elbow hinge (3-4), characterized in that, It also includes a back module (1) and a shoulder connection hinge (2-6) at the top of the upper arm module (2). The back module (1) includes a rigid base (1-1), a housing (1-2), a flexible fixing device (1-3), a mirror device (1-4), and a back elastic device (1-5); the flexible fixing device (1-3) is located at the lower end of the housing (1-2), the rigid base (1-1) is located on the outer side of the housing (1-2), the mirror device (1-4) is located on the outer side of the rigid base (1-1), and the back elastic device (1-5) consists of a spring box (1-5-1) and a spring (1- Composed of 5-2), the coil spring box (1-5-1) is set inside the mirror device (1-4), the coil spring (1-5-2) extends from the inside of the mirror device (1-4) to the outside and is connected to one end of the first connecting plate (1-9), the other end of the first connecting plate (1-9) is connected to one end of the second connecting plate (1-10) through the second back connecting hinge (1-8), and the other end of the second connecting plate (1-10) is connected to the shoulder connecting hinge (2-6) through the first back connecting hinge (1-7); A detachable panel (1-3-6) is provided in the middle of the inner side of the shell (1-2). The surface of the detachable panel (1-3-6), the flexible fixing device (1-3), and the inner side of the shell (1-2) are all provided with back pads (1-3-1). An elastic anti-slip shoulder strap (1-3-3) is provided on the left and right sides of the inner side of the shell (1-2). The bottom of the flexible fixing device (1-3) is provided with a waist nylon hook and loop fastener (1-3-5). A silicone electrode patch (1-3-7) is provided on the back pad (1-3-1) on the surface of the detachable panel (1-3-6). The housing (1-2) is equipped with a drive control device and a power supply (1-2-2) for the transcutaneous electrical stimulation device. The drive control device includes a first shoulder drive motor (1-2-1-1), a second shoulder drive motor (1-2-1-2), a third shoulder drive motor (1-2-1-3), and an elbow drive motor (1-2-1-4). The top of each of the four drive motors is equipped with a grooved wheel (1-2-1-5). The first shoulder drive motor (1-2-1-1), the second shoulder drive motor (1-2-1-2), the third shoulder drive motor (1-2-1-3), and the elbow drive motor (1-2-1-4) are connected to the first back connection hinge (1-7), the second back connection hinge (1-8), the shoulder connection hinge (2-6), and the elbow connection hinge (3-4) respectively through Bowden wire (1-2-1-6).

2. The wearable upper limb hemiplegic rehabilitation exoskeleton according to claim 1, characterized in that: One end of the Bowden line (1-2-1-6) is connected to the groove wheel (1-2-1-5) on the four drive motors respectively. The other end of the Bowden line (1-2-1-6) passes through the rigid base (1-1), the first connecting plate (1-9), the second connecting plate (1-10), the shoulder connecting hinge (2-6), and the upper arm module (2) respectively and is connected to the second back connecting hinge (1-8), the first back connecting hinge (1-7), the shoulder connecting hinge (2-6), and the elbow connecting hinge (3-4).

3. The wearable upper limb hemiplegic rehabilitation exoskeleton according to claim 1, characterized in that: The boom module (2) includes a first boom fixing plate (2-1), a second boom fixing plate (2-2), and an adjustment assembly (2-3). The first boom fixing plate (2-1) and the second boom fixing plate (2-2) are connected by the adjustment assembly (2-3). The adjustment assembly (2-3) consists of a guide groove (2-3-1), a sliding rod (2-3-2), and a limiting block (2-3-3). The guide groove (2-3-1) is formed on the inner side wall of the bottom of the first boom fixing plate (2-1). The sliding rod (2-3-2) is formed on the inner side wall of the first boom fixing plate (2-1). 2-3-2) The bottom end is connected to the top end of the second main arm fixing plate (2-2), the top end of the sliding rod (2-3-2) is inserted into the guide groove (2-3-1), the limiting block (2-3-3) is hinged to the bottom of the guide groove (2-3-1), and the sliding rod (2-3-2) is provided with a groove corresponding to the limiting block (2-3-3); the first main arm fixing plate (2-1) and the second main arm fixing plate (2-2) are respectively provided with the first main arm nylon hook and loop fastener (2-4) and the second main arm nylon hook and loop fastener (2-5).

4. The wearable upper limb hemiplegic rehabilitation exoskeleton according to claim 3, characterized in that: The forearm module (3) includes a forearm fixing plate (3-1), a forearm nylon hook and loop fastener (3-2), and an elbow connecting hinge (3-4). The elbow connecting hinge (3-4) is located at the top of the forearm fixing plate (3-1), and the bottom of the second upper arm fixing plate (2-2) is hinged to the top of the forearm fixing plate (3-1) through the elbow connecting hinge (3-4). The bottom of the forearm fixing plate (3-1) is annular, and the forearm nylon hook and loop fastener (3-2) is located on one side of the annular plate at the bottom of the forearm fixing plate (3-1).

5. The wearable upper limb hemiplegic rehabilitation exoskeleton according to claim 1, characterized in that: The flexible fixing device (1-3) has multiple plastic fish bones (1-3-2) spaced at the longitudinal middle position, and an adjustable front buckle (1-3-4) is provided between the two elastic anti-slip shoulder straps (1-3-3).

6. The wearable upper limb hemiplegic rehabilitation exoskeleton according to claim 4, characterized in that: The outer side of the forearm fixing plate (3-1) is equipped with a speaker (3-3) and an information feedback system (3-5).

7. The wearable upper limb hemiplegic rehabilitation exoskeleton according to claim 3, characterized in that: A shoulder pad (2-7) is provided on the top of the inner side of the first upper arm fixing plate (2-1).

8. The wearable upper limb hemiplegic rehabilitation exoskeleton according to claim 1, characterized in that: It also includes a sliding device (1-6), which consists of a fixed guide rail (1-6-1) and a movable guide rail (1-6-2). The fixed guide rail (1-6-1) is set on the rigid base (1-1), and the movable guide rail (1-6-2) is set at one end of the first connecting plate (1-9). The movable guide rail (1-6-2) clamps onto the fixed guide rail (1-6-1).

Images