Passive exoskeleton for shoulder assistance
The passive shoulder exoskeleton, with its split design and worm gear transmission adjustment, solves the portability and torque adjustment problems of existing devices, achieving lightweight, non-linear torque assistance and personalized adjustment, and is suitable for scenarios such as construction, manufacturing and agriculture.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- HANGZHOU INNOVATION RES INST OF BEIJING UNIV OF AERONAUTICS & ASTRONAUTICS
- Filing Date
- 2023-12-05
- Publication Date
- 2026-06-05
AI Technical Summary
Existing passive shoulder exoskeletons cannot simultaneously meet the requirements of portability, lightness, reduced arm weight, provision of non-linear torque assistance, and personalized adjustment. Furthermore, the torque generator of most devices is integrated into the arm or the output torque is not adjustable.
The support components and torque generation device are designed separately, using steel wire ropes and Bowden tubes to transmit torque. The output torque is adjusted by combining worm gear transmission, and the rope pretension and spring stiffness are adjusted to meet the needs of different users and tasks.
It achieves lightweight exoskeleton, reduced arm weight, and provides non-linear torque assistance to meet personalized assistance needs, making it suitable for different tasks and users.
Smart Images
Figure CN117601102B_ABST
Abstract
Description
Technical Field
[0001] This invention belongs to the field of human movement assistive devices, and specifically relates to a passive exoskeleton for shoulder assistance. Background Technology
[0002] Although robots and automation technologies have been gradually applied in construction, manufacturing, and agriculture in recent years, workers still play an irreplaceable role in some tasks, such as carrying and lifting. These physically demanding tasks often cause musculoskeletal diseases related to the shoulder. In addition to the impact on the worker's body, the treatment of shoulder injuries also brings a huge economic burden to the worker, family, and even the whole society.
[0003] A shoulder-assisted exoskeleton is a wearable device that reduces shoulder load by providing auxiliary torque; this allows workers to improve lifting capacity and reduce muscle fatigue during prolonged manual lifting or carrying tasks. Exoskeletons are divided into active and passive types. Active exoskeletons are typically driven by electric or hydraulic motors and use batteries as a power source; however, power supply becomes a major issue for active exoskeletons during extended use, as they cease functioning and become a burden once the power is depleted. Passive exoskeletons do not require external power; their movement is controlled by the user. Passive exoskeletons are typically designed with springs, which provide auxiliary force through the storage and release of energy as the user moves in different positions. Generally, passive exoskeletons are lighter, cheaper, and safer to use.
[0004] In various scenarios such as construction, manufacturing, and agriculture, workers often need to wear exoskeletons for extended periods. To reduce the load on workers' shoulders, passive shoulder exoskeletons must meet the following requirements: 1) The exoskeleton must be portable and lightweight to prevent burdening the user's body; 2) Since the weight of the user's arm significantly increases energy consumption during movement, the exoskeleton design should minimize the weight of components connecting to the arm; 3) The passive shoulder exoskeleton must meet the non-linear torque requirements of the shoulder joint, providing maximum assistance when the arm is raised to approximately 90 degrees for lifting operations; 4) The auxiliary torque provided by the exoskeleton to the shoulder must be adjustable to meet the personalized assistance needs of different users facing different tasks. To date, many passive shoulder exoskeletons with different working principles have been developed. However, most devices struggle to simultaneously meet the above requirements. On one hand, the torque generator of most devices is generally integrated into the arm, increasing the user's arm weight and reducing the exoskeleton's assistive effect; on the other hand, the output torque of the torque generator in some devices is not adjustable or has a small adjustment range, resulting in a narrow range of applicability for the exoskeleton. Summary of the Invention
[0005] The purpose of this invention is to address the aforementioned problems in the prior art by providing a passive exoskeleton for shoulder assistance.
[0006] The objective of this invention can be achieved through the following technical solution: a passive exoskeleton for shoulder assistance, characterized in that it includes a supporting back plate, the supporting back plate is provided with a wearable device for a person to wear, a torque generating device for generating torque and support components provided on both sides of the torque generating device are provided on the side of the supporting back plate away from the wearable device, the torque generating device is provided with a Bowden tube, the other end of the Bowden tube is connected to the support components, and the torque generating device is provided with an adjustment device for adjusting the output torque.
[0007] The working principle of this invention is as follows: The user first wears the support backplate on their back using the wearable device, and then wears the two support components on their two arms respectively. The torque of the torque generating device is adjusted by the adjustment device. When the shoulder joint is at 0 degrees or 180 degrees, the output torque of the torque generating device is 0. When the shoulder joint is at 90 degrees, the output torque is at its maximum and is transmitted to the support components through the Bowden tube. After the adjustment is completed, the purpose of reducing the load on the worker's shoulders can be achieved.
[0008] In the aforementioned passive exoskeleton for shoulder assistance, the torque generating device includes a base plate, a top plate, a support block, and two energy storage components. The support block and the energy storage components are disposed between the base plate and the top plate. The support block is used to support the top plate and the base plate. One end of the energy storage component is connected to the support block, and the other end of the energy storage component is connected to the Bowden tube.
[0009] In the aforementioned passive exoskeleton for shoulder assistance, the energy storage component includes a tension spring, a first steel wire rope, a second steel wire rope, a first reel, a guide block, a first guide wheel, and multiple second guide wheels. The multiple second guide wheels are rotatably connected to a base plate, and a connecting plate is rotatably connected to the base plate. The first guide wheel is rotatably connected to the connecting plate. The tension spring is connected to the support block. One end of the first steel wire rope is connected to the tension spring, and the other end of the first steel wire rope passes through the first guide wheel and the multiple second guide wheels and is connected to the adjustment device. The first guide wheel is disposed on the side wall of the first reel, and the first reel is rotatably connected to a top plate. The guide block is disposed above the first reel, and a first guide hole is provided inside the guide block. One end of the second steel wire rope is connected to the first reel, and the other end of the second steel wire rope passes through the first guide hole and is connected to the Bowden tube.
[0010] In the aforementioned passive exoskeleton for shoulder assistance, the adjustment device includes a support housing, a drive shaft, a worm gear, a worm, and a rotating handle. The worm gear and the worm are disposed within the support housing. The drive shaft is rotatably connected to the base plate and is connected to the second steel wire rope. The end of the drive shaft away from the base plate is connected to the worm gear. The worm is connected to the worm gear, and the rotating handle is connected to the worm.
[0011] In the aforementioned passive exoskeleton for shoulder assistance, the base plate and top plate are provided with multiple weight-reducing grooves.
[0012] In the aforementioned passive exoskeleton for shoulder assistance, the support assembly includes a support rod, a shoulder joint connecting block, a third steel wire rope, an upper arm connecting rod, and an upper arm support plate. The support rod is rotatably connected to the support back plate. One end of the shoulder joint connecting block is slidably connected to the support rod, and the other end of the shoulder joint connecting block is rotatably connected to the upper arm connecting rod. The upper arm support plate is disposed on the upper arm connecting rod. The support rod is provided with two fixing rings for fixing the shoulder joint connecting block. The fixing rings are disposed at the upper and lower ends of the shoulder joint connecting block. The third steel wire rope is used to connect the upper arm connecting rod and the Bowden tube.
[0013] In the aforementioned passive exoskeleton for shoulder assistance, a base is provided on the support back plate, a ball head is provided on the base, and a mounting seat is provided on the support rod for ball-joint connection with the ball head.
[0014] In the aforementioned passive exoskeleton for shoulder assistance, a connecting seat is provided at one end of the shoulder joint connecting block near the upper arm link, and the connecting seat is provided with a clearance channel for the third steel wire rope to pass through.
[0015] In the aforementioned passive exoskeleton for shoulder assistance, the upper arm linkage includes a second reel and a connecting piece for mounting the upper arm support plate. The second reel is rotatably connected to the connecting seat. The third steel wire rope connects to the second reel. The connecting piece is fixedly connected to the second reel. The connecting piece is provided with multiple mounting holes. The connecting piece is riveted to the upper arm support plate through the mounting holes.
[0016] In the aforementioned passive exoskeleton for shoulder assistance, the wearable device includes a back pad and a waist belt, both of which are disposed on the supporting back plate.
[0017] Compared with the prior art, the present invention has the following advantages:
[0018] 1. In this invention, the support component and the torque generation device adopt a separate design and use steel wire rope and Bowden line for power transmission to transmit the output force of the torque generation device to the shoulder joint. This allows the torque generation device to be installed on the support back plate, making the mechanical structure of the exoskeleton connecting the arm very lightweight.
[0019] 2. The torque generating device of the present invention can change the output torque of the torque generating device by changing parameters such as the pretension of the internal rope and the spring stiffness, so as to meet the personalized assistance needs of different users or different tasks. Attached Figure Description
[0020] Figure 1 This is a schematic diagram of the wearable device of the present invention.
[0021] Figure 2 This is a schematic diagram of the structure of the present invention.
[0022] Figure 3 This is a schematic diagram of the hidden top plate of the torque generation device of the present invention.
[0023] Figure 4 This is a schematic diagram of the structure of the hidden base plate of the torque generation device of the present invention.
[0024] Figure 5 This is a schematic diagram showing the dimensional relationships of the energy storage component of the present invention.
[0025] Figure 6 This is a graph showing the relationship between the output force of the energy storage component of the present invention and the shoulder joint rotation angle under different first wire rope pretensions.
[0026] In the diagram, 1. Support backplate; 2. Wearable device; 3. Torque generating device; 4. Support assembly; 5. Bowden tube; 6. Adjustment device; 7. Base plate; 8. Top plate; 9. Support block; 10. Energy storage assembly; 11. Tension spring; 12. First wire rope; 13. Second wire rope; 14. First reel; 15. Guide block; 16. First guide wheel; 17. Second guide wheel; 18. Connecting plate; 19. First guide hole; 2 0. Support housing; 21. Drive shaft; 24. Rotating handle; 25. Weight reduction groove; 26. Support rod; 27. Shoulder joint connecting block; 28. Third steel wire rope; 29. Upper arm connecting rod; 30. Upper arm support plate; 31. Fixing ring; 32. Base; 33. Ball head; 34. Mounting seat; 35. Connecting seat; 36. Clearance channel; 37. Second reel; 38. Connecting piece; 39. Mounting hole; 40. Back pad; 41. Waist belt. Detailed Implementation
[0027] The following are specific embodiments of the present invention, which are described in conjunction with the accompanying drawings. However, the present invention is not limited to these embodiments.
[0028] like Figures 1-6 As shown, the passive exoskeleton for shoulder assistance includes a support backplate 1, a wearable device 2 for wearing by a person, a torque generating device 3 for generating torque and support components 4 on both sides of the torque generating device 3 on the side of the support backplate 1 away from the wearable device 2, the torque generating device 3 is provided with a Bowden tube 5, the other end of the Bowden tube 5 is connected to the support components 4, and the torque generating device 3 is provided with an adjustment device 6 for adjusting the output torque.
[0029] To elaborate further, the torque generating device 3 includes a base plate 7, a top plate 8, a support block 9, and two energy storage components 10. The support block 9 and the energy storage components 10 are disposed between the base plate 7 and the top plate 8. The support block 9 is used to support the top plate 8 and the base plate 7. One end of the energy storage component 10 is connected to the support block 9, and the other end of the energy storage component 10 is connected to the Bowden tube 5. The base plate 7, the top plate 8, and the support block 9 form a chamber for installing the energy storage components 10. At the same time, the base plate 7 and the top plate 8 are used for installing the energy storage components 10.
[0030] In further detail, the energy storage component 10 includes a tension spring 11, a first steel wire rope 12, a second steel wire rope 13, a first reel 14, a guide block 15, a first guide wheel 16, and multiple second guide wheels 17. The multiple second guide wheels 17 are rotatably connected to the base plate 7. A connecting plate 18 is rotatably connected to the base plate 7. The first guide wheel 16 is rotatably connected to the connecting plate 18. The tension spring 11 is connected to the support block 9. One end of the first steel wire rope 12 is connected to the tension spring 11, and the other end of the first steel wire rope 12 passes through the first guide wheel 16 and the multiple second guide wheels 17 and is connected to the adjusting device 6. A guide wheel 16 is disposed on the side wall of the first winding wheel 14, which is rotatably connected to the top plate 8. A guide block 15 is disposed above the first winding wheel 14, and a first guide hole 19 is disposed inside the guide block 15. One end of the second wire rope 13 is connected to the first winding wheel 14, and the other end of the second wire rope 13 passes through the first guide hole 19 and is connected to the Bowden tube 5. The second guide wheels 17 are respectively located at the positions where the first wire rope 12 needs to turn. In this embodiment, three second guide wheels 17 are provided, one located below the tension spring 11, and the other two located on both sides of the first guide wheel 16.
[0031] like Figure 5 As shown, the relationship between the output force of the torque generating device 3 and the preload on the first wire rope 12 is expressed as follows:
[0032]
[0033] In the formula, F out This indicates the output force of the torque generation device 3 and the single-sided energy storage component 10, F. tθ represents the preload on the first wire rope 12, r represents the rotation angle of the first reel 14, l1 represents the radius of the first reel 14, l3 represents the distance from the rotation center of the first guide wheel 16 to the rotation center of the first reel 14, l3 represents the distance from the rotation center of the first reel 14 to the midpoint of the line connecting the centers of the second guide wheels 17 located on both sides of the first guide wheel 16, and k represents the stiffness of the tension spring 11.
[0034] In this invention, parameters such as the spring stiffness in the unilateral energy storage component 10 need to be obtained through optimized design so that the exoskeleton can be used for shoulder assistance in normal individuals, balancing the weight of the user's arm. It should be noted that the optimized design parameters obtained in this invention are not unique; in a specific embodiment of this invention, a set of optimized parameters is obtained as follows: r = 35mm, l1 = 13.5m, l3 = 30m, k = 4.5N / mm.
[0035] like Figure 6 The figure shows the relationship between the output force of the single-sided energy storage component 10 of the passive exoskeleton for shoulder assistance of the present invention under different pretension forces of the first steel wire rope 1A1 and the shoulder joint rotation angle. As can be seen from the figure, the torque generating device 3 of the present invention can change its output force by adjusting the pretension force of the first steel wire rope 12 to provide different shoulder joint assist torques. Furthermore, as can be seen from the figure, the output force of the torque generating device 3 of the present invention is a non-linear curve and conforms to the principle of gravitational balance; the output force is 0 when the shoulder joint is at 0 degrees and 180 degrees where no assistance is needed, and the output force is maximum at 90 degrees.
[0036] To elaborate further, the adjusting device 6 includes a support housing 20, a drive shaft 21, a worm gear, a worm, and a rotating handle 24. The worm gear and worm are housed within the support housing 20. The drive shaft 21 is rotatably connected to the base plate 7 and is connected to the second wire rope 13. The end of the drive shaft 21 away from the base plate 7 is connected to the worm gear, and the worm is connected to the worm gear. The rotating handle 24 is connected to the worm. The rotational position of the drive shaft 21 is changed through the worm gear transmission assembly, and self-locking is achieved. The preload on the first wire rope 12 is adjusted, thereby adjusting the output force of the torque generating device 3, i.e., the tension on the second wire rope 13. The worm gear and worm use existing technology and are located inside the support housing. For clarity in the accompanying drawings, they are not shown in the accompanying drawings.
[0037] To elaborate further, the bottom plate 7 and the top plate 8 are provided with multiple weight-reducing grooves 25, which are used to reduce the overall weight.
[0038] In further detail, the support assembly 4 includes a support rod 26, a shoulder joint connecting block 27, a third steel wire rope 28, an upper arm connecting rod 29, and an upper arm support plate 30. The support rod 26 is rotatably connected to the support back plate 1. One end of the shoulder joint connecting block 27 is slidably connected to the support rod 26, and the other end of the shoulder joint connecting block 27 is rotatably connected to the upper arm connecting rod 29. The upper arm support plate 30 is set on the upper arm connecting rod 29. The support rod 26 is provided with two fixing rings 31 for fixing the shoulder joint connecting block 27. The fixing rings 31 are set at the upper and lower ends of the shoulder joint connecting block 27. The third steel wire rope 28 is used to connect the upper arm connecting rod 29 and the Bowden tube 5. The shoulder joint connecting block 27 is L-shaped, so that the shoulder joint connecting block 27 will not affect the user's arm rotation. The fixing rings 31 allow the height of the shoulder joint connecting block 27 to be adjusted to meet the needs of different users.
[0039] To elaborate further, a base 32 is provided on the support back plate 1, a ball head 33 is provided on the base 32, and a mounting seat 34 is provided on the support rod 26 to be ball-jointed to the ball head 33. This arrangement allows the support rod 26 to have three degrees of rotational freedom, which meets the rotation range of the support rod 26 during use.
[0040] To elaborate further, the shoulder joint connecting block 27 is provided with a connecting seat 35 at one end near the upper arm connecting rod 29, and the connecting seat 35 is provided with a clearance channel 36 for the third steel wire rope 28 to pass through.
[0041] To elaborate further, the upper arm link 29 includes a second reel 37 and a connecting piece 38 for mounting the upper arm support plate 30. The second reel 37 is rotatably connected to the connecting seat 35. A third steel wire rope 28 is connected to the second reel 37. The connecting piece 38 is fixedly connected to the second reel 37. The connecting piece 38 is provided with multiple mounting holes 39. The connecting piece 38 is riveted to the upper arm support plate 30 through the mounting holes 39. This configuration allows the invention to be adjusted according to different users, and the corresponding mounting hole 39 can be selected for installation.
[0042] To elaborate further, the wearable device 2 includes a back pad 40 and a waist belt 41. Both the back pad 40 and the waist belt 41 are mounted on the support back plate 1. The back pad 40 increases comfort, and the waist belt 41 secures the invention to the waist. At the same time, the upper arm support 30 secures it to the user's arm, ensuring that it will not fall off during use.
[0043] The specific embodiments described herein are merely illustrative of the spirit of the invention. Those skilled in the art to which this invention pertains may make various modifications or additions to the described specific embodiments or use similar methods to substitute them, without departing from the spirit of the invention or exceeding the scope defined by the appended claims.
[0044] Although this document uses a large number of technical terms, the possibility of using other terms is not excluded. These terms are used merely for the convenience of describing and explaining the essence of the invention; interpreting them as any additional limitation would be contrary to the spirit of the invention.
Claims
1. A passive exoskeleton for shoulder assistance, characterized in that, The device includes a support back plate (1), which is provided with a wearable device (2) for a person to wear. On the side of the support back plate (1) away from the wearable device (2), a torque generating device (3) for generating torque and support components (4) are provided on both sides of the torque generating device (3). The torque generating device (3) is provided with a Bowden tube (5), the other end of which is connected to the support components (4). The torque generating device (3) is provided with an adjustment device (6) for adjusting the output torque. The torque generating device (3) includes a base plate (7), a top plate (8), a support block (9), and two energy storage components (10). The support block (9) and the energy storage components (10) are disposed between the base plate (7) and the top plate (8). The support block (9) is used to support the top plate (8) and the base plate (7). One end of the energy storage component (10) is connected to the support block (9), and the other end of the energy storage component (10) is connected to the Bowden tube (5). The energy storage component (10) includes a tension spring (11), a first wire rope (12), a second wire rope (13), a first reel (14), a guide block (15), a first guide wheel (16), and multiple second guide wheels (17). The multiple second guide wheels (17) are rotatably connected to a base plate (7). A connecting plate (18) is rotatably connected to the base plate (7). The first guide wheel (16) is rotatably connected to the connecting plate (18). The tension spring (11) is connected to the support block (9). One end of the first wire rope (12) is connected to the tension spring (11). The other end of the rope (12) passes through the first guide wheel (16) and a plurality of second guide wheels (17) and is connected to the adjusting device (6). The first guide wheel (16) is disposed on the side wall of the first reel (14). The first reel (14) is rotatably connected to the top plate (8). The guide block (15) is disposed above the first reel (14). The guide block (15) is provided with a first guide hole (19). One end of the second wire rope (13) is connected to the first reel (14), and the other end of the second wire rope (13) passes through the first guide hole (19) and is connected to the Bowden tube (5).
2. The passive exoskeleton for shoulder assistance according to claim 1, characterized in that, The adjusting device (6) includes a support housing (20), a drive shaft (21), a worm gear, a worm, and a rotating handle (24). The worm gear and the worm are disposed inside the support housing (20). The drive shaft (21) is rotatably connected to the base plate (7). The drive shaft (21) is connected to the second steel wire rope (13). The end of the drive shaft (21) away from the base plate (7) is connected to the worm gear. The worm is connected to the worm gear. The rotating handle (24) is connected to the worm.
3. The passive exoskeleton for shoulder assistance according to claim 1, characterized in that, Multiple weight-reducing grooves (25) are provided on the bottom plate (7) and the top plate (8).
4. The passive exoskeleton for shoulder assistance according to claim 1, characterized in that, The support assembly (4) includes a support rod (26), a shoulder joint connecting block (27), a third steel wire rope (28), an upper arm connecting rod (29), and an upper arm support plate (30). The support rod (26) is rotatably connected to the support back plate (1). One end of the shoulder joint connecting block (27) is slidably connected to the support rod (26), and the other end of the shoulder joint connecting block (27) is rotatably connected to the upper arm connecting rod (29). The upper arm support plate (30) is disposed on the upper arm connecting rod (29). The support rod (26) is provided with two fixing rings (31) for fixing the shoulder joint connecting block (27). The fixing rings (31) are disposed at the upper and lower ends of the shoulder joint connecting block (27). The third steel wire rope (28) is used to connect the upper arm connecting rod (29) and the Bowden tube (5).
5. A passive exoskeleton for shoulder assistance according to claim 4, characterized in that, The support back plate (1) is provided with a base (32), the base (32) is provided with a ball head (33), and the support rod (26) is provided with a mounting seat (34) that is ball-jointed to the ball head (33).
6. A passive exoskeleton for shoulder assistance according to claim 4, characterized in that, The shoulder joint connecting block (27) is provided with a connecting seat (35) at one end near the upper arm connecting rod (29), and the connecting seat (35) is provided with a clearance channel (36) for the third steel wire rope (28) to pass through.
7. A passive exoskeleton for shoulder assistance according to claim 6, characterized in that, The upper arm connecting rod (29) includes a second reel (37) and a connecting piece (38) for mounting the upper arm support plate (30). The second reel (37) is rotatably connected to the connecting seat (35). The third wire rope (28) is connected to the second reel (37). The connecting piece (38) is fixedly connected to the second reel (37). The connecting piece (38) is provided with a plurality of mounting holes (39). The connecting piece (38) is riveted to the upper arm support plate (30) through the mounting holes (39).
8. A passive exoskeleton for shoulder assistance according to claim 1, characterized in that, The wearable device (2) includes a back pad (40) and a waist belt (41), both of which are mounted on the support back plate (1).