Upper limb rehabilitation exoskeleton system

Abstract

The application provides an upper limb rehabilitation exoskeleton system, which comprises a mode selection module, a control module and a posture adjustment module. The mode selection module is used for determining a rehabilitation mode in response to an input mode selection instruction. The rehabilitation mode comprises an active rehabilitation mode and a corrective rehabilitation mode. The control module is used for driving the posture adjustment module to move based on a preset trajectory when the mode selection module determines that the rehabilitation mode is the active rehabilitation mode. The control module is also used for adjusting a movement trajectory of the posture adjustment module based on a real-time movement trajectory of an arm of a target patient when the mode selection module determines that the rehabilitation mode is the corrective rehabilitation mode. The posture adjustment module is used for moving under the driving of the control module to drive the arm of the target patient to move. The upper limb rehabilitation exoskeleton system provided by the application has high cost effectiveness, is portable and easy to maintain, can improve the rehabilitation effect of a patient, and is suitable for the specific needs and rehabilitation targets of a patient in different recovery stages.

Description

Technical Field

[0001] This invention relates to the field of rehabilitation medicine technology, and in particular to an upper limb rehabilitation exoskeleton system. Background Technology

[0002] Stroke, as a global health problem, is rapidly spreading its impact. Post-stroke sequelae can cause limb dysfunction and affect a patient's quality of life.

[0003] Studies show that stroke patients who receive targeted rehabilitation training can significantly reduce the impact of stroke sequelae. Currently, stroke patient rehabilitation training mainly relies on the guidance of professional therapists. However, the number and resources of professional therapists are limited, and treatment costs are high, making it difficult to ensure the high efficiency of rehabilitation training for every patient. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide an upper limb rehabilitation exoskeleton system for the rehabilitation training of stroke patients, which can improve the efficiency and effectiveness of rehabilitation training for stroke patients.

[0005] The technical solution of the present invention to solve the above-mentioned technical problems is as follows:

[0006] This invention provides an upper limb rehabilitation exoskeleton system, comprising: a mode selection module, a control module, and a posture adjustment module. The mode selection module is used to determine a rehabilitation mode in response to an input mode selection command; the rehabilitation modes include an active rehabilitation mode and a corrective rehabilitation mode. The control module is used to drive the posture adjustment module to move based on a preset trajectory when the mode selection module determines the rehabilitation mode to be the active rehabilitation mode. The control module is also used to adjust the movement trajectory of the posture adjustment module based on the real-time movement trajectory of the target patient's arm when the mode selection module determines the rehabilitation mode to be the corrective rehabilitation mode; the target patient is a patient wearing the posture adjustment module. The posture adjustment module moves under the drive of the control module to drive the arm movement of the target patient.

[0007] Furthermore, the preset trajectory includes the position coordinates of the target position at at least one time point, and the target position is located on the posture adjustment module; the control module is also used to determine the ideal shoulder joint angle of the target patient at each of the at least one time points based on the target patient's arm structure, the position coordinates of the target position at at least one time point, and a first preset relationship. The first preset relationship includes the correspondence between the target patient's arm structure, the position coordinates of the target position at at least one time point, and the ideal shoulder joint angle of the target patient at each of the at least one time points.

[0008] The control module is further configured to determine the ideal elbow angle of the target patient at each of the at least one time points, based on the target patient's arm structure, the position coordinates of the target location at at least one time point, and a second preset relationship. The second preset relationship includes the correspondence between the target patient's arm structure, the position coordinates of the target location at at least one time point, and the ideal elbow angle of the target patient at each of the at least one time points.

[0009] The control module is also used to drive the posture adjustment module to move based on the ideal shoulder joint angle and ideal elbow joint angle of the target patient at each of the at least one time points.

[0010] Furthermore, the first preset relationship includes:

[0011]

[0012] in, The ideal shoulder joint angle of the target patient at time t is represented by the target patient at any of the at least one time points; This represents the x-coordinate of the target location at time t; L1 represents the vertical coordinate of the target position at time t; L2 represents the length of the target patient's upper arm; L3 represents the length of the target patient's forearm.

[0013] Furthermore, the second preset relationship includes:

[0014]

[0015] in, The ideal elbow angle of the target patient at time t is defined as any time point among the at least one time points. This represents the x-coordinate of the target location at time t; L1 represents the vertical coordinate of the target position at time t; L2 represents the length of the target patient's upper arm; L3 represents the length of the target patient's forearm.

[0016] Furthermore, the posture adjustment module also includes an upper arm posture adjustment module and a forearm posture adjustment module. The control module is further configured to determine a torque for adjusting the shoulder joint of the target patient based on the ideal shoulder joint angle of the target patient at each of the at least one time points. It also determines a torque for adjusting the elbow joint of the target patient based on the ideal elbow joint angle of the target patient at each of the at least one time points. The control module adjusts the motion trajectory of the forearm posture adjustment module based on the torque used to adjust the elbow joint of the target patient, and / or adjusts the motion trajectory of the upper arm posture adjustment module based on the torque used to adjust the shoulder joint of the target patient.

[0017] Furthermore, the torque used to adjust the shoulder joint of the target patient is determined based on a third preset relationship, which includes:

[0018]

[0019] Where, τ as The torque used to adjust the shoulder joint of the target patient is represented by I1, the moment of inertia of the upper arm posture adjustment module is represented by α1, the acceleration of the shoulder joint of the target patient is represented by m1, the mass of the upper arm posture adjustment module is represented by d1, the distance between the center of mass of the target patient's shoulder joint and the center of mass of the target patient's upper arm is represented by g, and g represents the acceleration due to gravity. Let m1 represent the ideal shoulder joint angle of the target patient at time t, m2 represent the mass of the forearm posture adjustment module, L1 represent the upper arm length of the target patient, and L2 represent the forearm length of the target patient. This represents the ideal elbow angle of the target patient at time t.

[0020] Furthermore, the torque used to adjust the elbow joint of the target patient is determined based on a fourth preset relationship, which includes:

[0021]

[0022] Where, τ ae I2 represents the torque used to adjust the elbow joint of the target patient, α2 represents the moment of inertia of the forearm posture adjustment module, m2 represents the acceleration of the elbow joint of the target patient, g represents the acceleration due to gravity, and L2 represents the length of the forearm of the target patient. This represents the ideal shoulder joint angle of the target patient at time t. This represents the ideal elbow angle of the target patient at time t.

[0023] Furthermore, the control module is also used to determine the real-time angles of the shoulder joint and elbow joint corresponding to the target patient based on the real-time motion trajectory of the target patient's arm. Based on the deviation between the real-time shoulder joint angle and the ideal shoulder joint angle, a corrective torque is determined for adjusting the target patient's shoulder joint, and the motion trajectory of the upper arm posture adjustment module is adjusted based on this corrective torque. Similarly, based on the deviation between the real-time elbow joint angle and the ideal elbow joint angle, a corrective torque is determined for adjusting the target patient's elbow joint, and the motion trajectory of the forearm posture adjustment module is adjusted based on this corrective torque.

[0024] Furthermore, the control module is also used to determine the corrective torque for adjusting the shoulder joint of the target patient based on the deviation between the real-time angle of the shoulder joint and the ideal angle of the shoulder joint, and a fifth preset relationship. The fifth preset relationship includes:

[0025]

[0026] Where, τ cs This indicates the corrective torque used to adjust the elbow joint of the target patient. This represents the real-time angle of the shoulder joint of the target patient at time t. k represents the ideal shoulder joint angle of the target patient at time t. p The first preset impact factor, k i For the second preset impact factor, k d This is the third preset impact factor.

[0027] Furthermore, the control module is also used to determine the corrective torque for adjusting the elbow joint of the target patient based on the deviation between the real-time elbow joint angle and the ideal elbow joint angle, and a sixth preset relationship. The sixth preset relationship includes:

[0028]

[0029] Where, τ cs This indicates the corrective torque used to adjust the shoulder joint of the target patient. This represents the real-time angle of the target patient's elbow joint at time t. k represents the ideal elbow angle of the target patient at time t. p The first preset impact factor, k i For the second preset impact factor, k d This is the third preset impact factor.

[0030] The beneficial effects of this invention are: it provides a cost-effective, portable, and easy-to-maintain upper limb rehabilitation exoskeleton system. This exoskeleton system, through innovative design, reduces manufacturing and operating costs, improves its fit with human kinematics, and can maintain or enhance the rehabilitation outcomes of stroke patients.

[0031] Furthermore, the upper limb rehabilitation exoskeleton system provided by this invention has an active rehabilitation mode and a corrective rehabilitation mode, which can provide patients with more personalized and flexible treatment plans to adapt to the specific needs and rehabilitation goals of patients at different stages of stroke recovery.

[0032] The active rehabilitation mode is designed for stroke patients who have completely or partially lost limb motor function, based on the early stage of stroke recovery. At this stage, the patient's injured limb is unable to move voluntarily or has extremely limited motor ability. The active rehabilitation mode enables the upper limb rehabilitation exoskeleton system provided by this invention to actively drive the stroke patient's arm to perform preset rehabilitation movements. Thus, even if the patient cannot move the injured limb voluntarily, the upper limb rehabilitation exoskeleton system provided by this invention can help the patient complete necessary movements, thereby promoting muscle and nerve rehabilitation.

[0033] The corrective rehabilitation mode is designed for the later stages of stroke recovery, suitable for stroke patients who have regained some motor function but whose motor control is imprecise. At this stage, patients can perform some basic voluntary movements, but these movements may not be precise enough or may involve uncontrolled comorbidities. The corrective rehabilitation mode enables the upper limb rehabilitation exoskeleton system provided by this invention to provide appropriate corrective forces when patients perform rehabilitation exercises. The upper limb rehabilitation exoskeleton system provided by this invention can monitor the movement trajectory of the affected limb in real time and provide corrective forces when the affected limb deviates from the preset trajectory, thereby helping patients practice precise control of the damaged limb and improving the accuracy and coordination of their movements. Attached Figure Description

[0034] Figure 1 This is a schematic diagram of the upper limb rehabilitation exoskeleton system provided by the present invention;

[0035] Figure 2 This is a schematic diagram of the attitude adjustment module provided by the present invention;

[0036] Figure 3 A schematic diagram of the structure of the boom support provided by the present invention;

[0037] Figure 4 This is a schematic diagram of the forearm support provided by the present invention;

[0038] Figure 5 This is a schematic diagram of the workflow of an upper limb rehabilitation exoskeleton system provided by the present invention. Detailed Implementation

[0039] The principles and features of the present invention are described below. The examples given are only for explaining the present invention and are not intended to limit the scope of the present invention.

[0040] Stroke, as a global health problem, is rapidly spreading its impact. According to the World Stroke Organization, a new stroke occurs every 3 seconds globally, resulting in approximately 12.2 million new patients each year. Currently, about 101 million stroke patients worldwide are suffering from the effects of stroke sequelae, a number that has nearly doubled in the past 30 years. Stroke sequelae typically include limb dysfunction, which significantly impacts patients' quality of life.

[0041] Currently, stroke rehabilitation primarily relies on the guidance of professional therapists. Studies show that stroke patients who receive targeted rehabilitation training can significantly reduce the risk of symptom exacerbation. However, limited resources for professional therapists and high treatment costs restrict the possibility of many patients accessing long-term, continuous rehabilitation training.

[0042] In recent years, the development of rehabilitation exoskeleton technology has provided a new approach to solving this problem. As an advanced rehabilitation assistive device, a rehabilitation exoskeleton can simulate and enhance the movement of human limbs, providing necessary physical correction and motion guidance, thereby assisting stroke patients in regaining motor function. Compared with traditional treatments, exoskeleton technology offers a more feasible and cost-effective rehabilitation method, especially in resource-constrained environments. Therefore, developing an efficient and patient-friendly rehabilitation exoskeleton system to meet the growing rehabilitation needs of stroke patients has become an urgent problem to be solved in this field.

[0043] To address the aforementioned problems, this invention provides an upper limb rehabilitation exoskeleton system. This system includes two rehabilitation modes: an active rehabilitation mode and a corrective rehabilitation mode, both designed according to the stroke recovery stages. The active rehabilitation mode is suitable for the early stages of stroke recovery, when patients have limited limb movement or are unable to move voluntarily. In this mode, the system actively drives the patient's arm to move along a trajectory set by the rehabilitation therapist. The corrective rehabilitation mode is suitable for the later stages of recovery, when patients have regained some voluntary movement ability. In this mode, the system provides corrective torque to correct the patient's movement, guiding it back to the movement trajectory set by the rehabilitation therapist. The system also includes high-precision sensors and control algorithms to achieve precise motion control and personalized rehabilitation training.

[0044] See Figure 1 The upper limb rehabilitation exoskeleton system provided by the present invention includes a mode selection module, a control module, and a posture adjustment module.

[0045] Among them, see Figure 2The posture adjustment module may include an upper arm posture adjustment module (also referred to as an upper arm support in this embodiment) 201, a forearm posture adjustment module (also referred to as a forearm support in this embodiment) 202, and a back posture adjustment module (also referred to as a back support in this embodiment) 203.

[0046] The upper arm brace can be worn on the patient's upper arm to fix its position and / or drive its movement. The forearm brace can be worn on the patient's forearm to fix its position and / or drive its movement. The back brace can be worn on the patient's back to provide support and ensure stability during upper arm and / or forearm movements.

[0047] Furthermore, the upper arm support, forearm support, and back support are all connected to motors, which can drive the upper arm support, forearm support, and back support to move under the control of the control module. Additionally, both the upper arm support and forearm support are equipped with at least one sensor for detecting the patient's arm movement trajectory, which can be used to acquire the patient's arm movement trajectory in real time.

[0048] In some embodiments, the upper arm support, forearm support, and back support can all be manufactured using 3D printing technology, with polylactic acid (PLA) as the primary material. This material choice not only significantly reduces the weight of the support, thereby reducing the torque required by the electric motor, but also offers significant ecological benefits due to its recyclability and complete biodegradability in the natural environment.

[0049] It should be noted that the materials of the upper arm support, forearm support, and back support can also be ABS (acrylonitrile-butadiene-styrene copolymer), PLA (polylactic acid), PETG (polyethylene terephthalate), TPU / TPE (thermoplastic polyurethane / thermoplastic elastomer), etc., and are not limited in the embodiments of this application.

[0050] In some embodiments, see Figure 3 The boom support structure can consist of two layers to enhance its ability to support the weight of different human arms, ensuring system stability and applicability. The boom support surface can have multiple holes (e.g., three holes) to facilitate the installation of sensors and wiring, while also providing some expandability. This allows researchers to easily rearrange or select sensors according to actual needs, without being limited by the initial design. The perforated design of the support further reduces material weight, thereby reducing the torque required to drive the boom support.

[0051] In some embodiments, see Figure 4The forearm support surface can also have multiple holes (e.g., three holes) to facilitate the installation of sensors and wires, while also providing some expandability. This allows researchers to easily rearrange or select sensors according to actual needs, without being limited by the initial design. The perforated design of the support further reduces material weight, thereby reducing the torque required to drive the forearm support.

[0052] In some embodiments, the back support can be made of aluminum alloy. This material choice makes the back support of the present invention lighter than existing back supports, thereby reducing stress on the user. Furthermore, to minimize the impact of the posture adjustment module's structure on the user's center of gravity during rehabilitation training, the battery pack powering the posture adjustment module and the control module driving its movement can be cleverly housed on the back support to balance the weight of the upper arm support, forearm support, and motor. This design helps to bring the center of gravity of the posture adjustment module as close as possible to the user's own center of gravity.

[0053] It should be noted that the size of the back brace can be adjusted according to the body size of different patients. Because the back brace has a simple structure, size adjustments do not affect the overall structural characteristics of the posture adjustment module; therefore, adjusting the size of the back brace will not incur additional costs.

[0054] Furthermore, the back support can also be made of high-performance plastics and composite materials, high-strength polymer materials, etc., and this application embodiment does not limit the scope.

[0055] In some embodiments, the back support is connected to two adjustable-length straps. During rehabilitation training, when a patient wears the upper limb rehabilitation exoskeleton system provided in this application embodiment, the back support can lock the patient's body to the posture adjustment module via the straps, preventing relative movement between the patient and the posture adjustment module.

[0056] In some embodiments, a soft fabric layer is provided on the back support. The soft fabric layer of the back support provides correction to the patient's back, increasing patient comfort.

[0057] In some embodiments, based on the lightweight design of the upper arm and forearm supports, the required motor torque for the upper arm and forearm supports in this invention is also relatively small. Therefore, the motor in this invention can be a smaller electric motor while ensuring sufficient driving force. For example, the motor reduction ratio can be adjusted to 1:6 to avoid the motor's self-locking effect from causing injury to the user. The motor connecting the upper arm and forearm supports in this invention can also have bidirectional motion capability, that is, when the motor power part is not working, the user can provide rotational force to the motor part to realize resistance movement and corrective movement in rehabilitation exercises.

[0058] In some embodiments, the upper limb rehabilitation exoskeleton system provided by the present invention offers a rehabilitation mode selection function. The rehabilitation modes include an active rehabilitation mode and a corrective rehabilitation mode. The active rehabilitation mode and the corrective rehabilitation mode are described in detail below.

[0059] Active Rehabilitation Mode: In the early stages after a stroke, patients often lose basic motor function in the affected limb. To address this, the active rehabilitation mode of the upper limb rehabilitation exoskeleton system provided by this invention can offer necessary motor assistance. In active rehabilitation mode, the upper limb rehabilitation exoskeleton system actively drives the patient's arm to move along a preset trajectory, requiring no effort from the patient. The high-feedback gain controller used in the active rehabilitation mode has been precisely adjusted and evaluated to ensure that injury is avoided during rehabilitation exercises.

[0060] Corrective Rehabilitation Mode: As patients progress through the later stages of rehabilitation, they gradually regain a certain degree of voluntary motor ability. To address this, the corrective rehabilitation mode of the upper limb rehabilitation exoskeleton system provided by this invention assists the patient's arm in performing precise movements through the application of corrective force. The corrective rehabilitation mode provides a corrective force perpendicular to the direction of movement, rather than a direct force to complete the rehabilitation action. Its purpose is to force the patient's arm to perform precise movements through the corrective force of the upper limb rehabilitation exoskeleton system provided by this invention, helping the patient avoid uncontrolled comorbid movements. In the corrective rehabilitation mode, the upper limb rehabilitation exoskeleton system provided by this invention does not actively drive the affected limb to reach the target, but rather corrects the affected limb to reach the target when its movement trajectory deviates from the preset trajectory.

[0061] In some embodiments, combined with Figure 5 The mode selection module can respond to the input mode selection command and determine the rehabilitation mode.

[0062] For example, the mode selection module can respond to an input instruction to set the rehabilitation mode to active rehabilitation mode, thus confirming that the rehabilitation mode is active rehabilitation mode. As another example, the mode selection module can respond to an input instruction to set the rehabilitation mode to corrective rehabilitation mode, thus confirming that the rehabilitation mode is corrective rehabilitation mode.

[0063] In some embodiments, the upper limb rehabilitation exoskeleton system provided by the present invention may include a display screen, which can display an interactive interface for interacting with the user. For example, it can display an interactive interface for supporting the user in setting rehabilitation modes. The user can input a corresponding mode selection command in the interactive interface, and after receiving the mode selection command input by the user, the mode selection module can determine the corresponding rehabilitation mode.

[0064] In some embodiments, if the mode selection module determines that the rehabilitation mode is active rehabilitation mode, the control module can drive the posture adjustment module to move based on a preset trajectory. The preset trajectory includes the position coordinates of the target location at at least one point in time, and the target location is located on the posture adjustment module. For example, the target location is the endpoint of the forearm support furthest from the upper arm support.

[0065] In some embodiments, the control module can determine the ideal shoulder joint angle of the target patient at each time point in at least one time point based on the target patient's arm structure, the position coordinates of the target position at at least one time point, and a first preset relationship.

[0066] The first preset relationship includes the correspondence between the target patient's arm structure, the position coordinates of the target location at at least one time point, and the ideal angle of the target patient's shoulder joint at each time point in at least one time point.

[0067] In some embodiments, the first preset relationship includes:

[0068]

[0069] in, This represents the ideal shoulder joint angle of the target patient at time t, where time t is any time point among at least one time point; The x-coordinate of the target position at time t; L1 represents the vertical coordinate of the target position at time t; L2 represents the length of the target patient's upper arm; L3 represents the length of the target patient's forearm.

[0070] The control module can also determine the ideal elbow angle of the target patient at each time point in at least one time point based on the target patient's arm structure, the position coordinates of the target position at at least one time point, and a second preset relationship.

[0071] The second preset relationship includes the correspondence between the target patient's arm structure, the position coordinates of the target location at at least one time point, and the ideal angle of the target patient's elbow joint at each time point in at least one time point.

[0072] In some embodiments, the second preset relationship includes:

[0073]

[0074] in, This represents the ideal elbow angle of the target patient at time t, where time t is any time point among at least one time point. The x-coordinate of the target position at time t; L1 represents the vertical coordinate of the target position at time t; L2 represents the length of the target patient's upper arm; L3 represents the length of the target patient's forearm.

[0075] After determining the ideal shoulder and elbow angles of the target patient at each of at least one time points, the control module can drive the posture adjustment module to move (e.g., drive the upper arm support and / or forearm support to move) based on the ideal shoulder and elbow angles of the target patient at each time point. Correspondingly, the posture adjustment module can move under the drive of the control module to drive the arm movement of the target patient.

[0076] In some embodiments, after the mode selection module determines the rehabilitation mode as an active rehabilitation mode, the control module can further determine the torque for adjusting the target patient's shoulder joint based on the ideal shoulder joint angle of the target patient at each of at least one time point. Additionally, it can determine the torque for adjusting the target patient's elbow joint based on the ideal elbow joint angle of the target patient at each of at least one time point. Subsequently, the control module can adjust the motion trajectory of the forearm support based on the torque used to adjust the target patient's elbow joint, and / or adjust the motion trajectory of the upper arm support based on the torque used to adjust the target patient's shoulder joint.

[0077] In some embodiments, the torque used to adjust the shoulder joint of the target patient is determined based on a third preset relationship, which includes:

[0078]

[0079] Where, τ ae Let I2 represent the torque used to adjust the elbow joint of the target patient, α2 represent the moment of inertia of the forearm posture adjustment module, α2 represent the acceleration of the elbow joint of the target patient, m2 represent the mass of the forearm posture adjustment module, g represent the acceleration due to gravity, and L2 represent the length of the forearm of the target patient. This represents the ideal shoulder joint angle of the target patient at time t. This represents the ideal elbow angle of the target patient at time t.

[0080] In some embodiments, the torque used to adjust the elbow joint of the target patient is determined based on a fourth preset relationship, which includes:

[0081]

[0082] Where, τ aeLet I2 represent the torque used to adjust the elbow joint of the target patient, α2 represent the moment of inertia of the forearm posture adjustment module, α2 represent the acceleration of the elbow joint of the target patient, m2 represent the mass of the forearm posture adjustment module, g represent the acceleration due to gravity, and L2 represent the length of the forearm of the target patient. This represents the ideal shoulder joint angle of the target patient at time t. This represents the ideal elbow angle of the target patient at time t.

[0083] In some embodiments, if the mode selection module determines that the rehabilitation mode is the corrective rehabilitation mode, the control module can adjust the motion trajectory of the posture adjustment module based on the real-time motion trajectory of the target patient's arm.

[0084] The control module determines the real-time shoulder and elbow angles of the target patient based on the real-time movement trajectory of the patient's arm. Then, based on the deviation between the real-time shoulder angle and the ideal shoulder angle, it determines the corrective torque used to adjust the target patient's shoulder joint. The control module adjusts the movement trajectory of the upper arm posture adjustment module based on this corrective torque.

[0085] Furthermore, the control module can determine the corrective torque for adjusting the elbow joint of the target patient based on the deviation between the real-time elbow joint angle and the ideal elbow joint angle. Subsequently, the motion trajectory of the forearm posture adjustment module can be adjusted based on the corrective torque used to adjust the elbow joint of the target patient.

[0086] In some embodiments, the control module may determine the corrective torque for adjusting the shoulder joint of the target patient based on the deviation between the real-time angle of the shoulder joint and the ideal angle of the shoulder joint, as well as a fifth preset relationship.

[0087] The fifth pre-defined relationship includes:

[0088]

[0089] Where, τ cs This indicates the corrective torque used to adjust the elbow joint of the target patient. This represents the real-time angle of the shoulder joint in the target patient at time t. k represents the ideal shoulder joint angle of the target patient at time t. p The first preset impact factor, k i For the second preset impact factor, k d This is the third preset impact factor.

[0090] In some embodiments, the control module can determine the corrective torque for adjusting the elbow joint of the target patient based on the deviation between the real-time elbow joint angle and the ideal elbow joint angle, and a sixth preset relationship. The sixth preset relationship includes:

[0091]

[0092] Where, τ ce This indicates the corrective torque used to adjust the shoulder joint of the target patient. This represents the real-time angle of the elbow joint of the target patient at time t. k represents the ideal elbow angle of the target patient at time t. p The first preset impact factor, k i For the second preset impact factor, k d This is the third preset impact factor.

[0093] In some embodiments, to enhance the patient's and therapist's intuitive understanding of the patient's arm movement status, the upper limb rehabilitation exoskeleton system provided by this invention can also employ a human-machine interface based on "Serial Studio". This interface can display the movement status of the posture adjustment module provided by this invention in real time, allowing both the patient and therapist to have a detailed understanding of the patient's arm movement. Data regarding the patient's arm movement can be continuously transmitted to the human-machine interface from sensors installed on the posture adjustment module at a frequency of 200Hz, ensuring the real-time nature and accuracy of the information.

[0094] In some embodiments, the data generated by the posture adjustment module during movement can be visualized, allowing patients and therapists to easily access relevant information. The torque and rotation degree generated by the motor can be displayed in various formats, including curves, bar graphs, and instrument pointer graphs, to enhance data readability and comprehension. In addition to motor data, the upper limb rehabilitation exoskeleton system provided by this invention can also monitor the passive torque and rotation angle of the wearer's arm joints in real time, enabling patients and therapists to determine whether the arm's rotation angle matches the motor's rotation angle. Users can also send the required joint torque and rotation angle commands in real time through the human-machine interface to achieve autonomous movement control. The information display settings of the human-machine interface can be adjusted according to the preferences of the wearer and medical personnel to provide the best user experience.

[0095] The upper limb rehabilitation exoskeleton system provided by this invention not only significantly reduces the manufacturing and maintenance costs of upper limb rehabilitation exoskeletons, but also improves the system's flexibility and adaptability. Through precise calculation and control strategies, the force applied to the patient's limb by the posture adjustment module is adjusted to achieve precise control of the patient's limb's movement trajectory. Specifically, the advanced algorithm in this invention can dynamically adjust the torque generated by the joint motors. In this way, the patient's arm can be accurately guided to move along the optimal rehabilitation trajectory preset by the rehabilitation therapist, better meeting the personalized rehabilitation needs of different patients. The innovative 3D-printed frame design, lightweight aluminum alloy rear support, and precise motor control together ensure the exoskeleton system's high efficiency and low energy consumption. The data visualization and interactive interface design allows patients and therapists to monitor and adjust the rehabilitation process in real time, thereby achieving more precise rehabilitation results.

[0096] Furthermore, the upper limb rehabilitation exoskeleton system provided by this invention includes active rehabilitation mode and corrective rehabilitation mode, offering customized treatment plans for different rehabilitation stages and needs of stroke patients. This not only improves rehabilitation efficiency but also reduces the risk of injury by precisely controlling movement trajectories. Finally, the environmentally friendly design and user-friendly interface of the system make it easy to deploy and use in clinical and home environments. In summary, the upper limb rehabilitation exoskeleton system provided by this invention demonstrates significant advantages in both technological innovation and practical application, offering a more effective, economical, and readily acceptable solution for the rehabilitation of stroke patients.

[0097] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0098] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0099] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0100] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0101] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0102] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. An upper limb rehabilitation exoskeleton system, characterized in that, include: The module includes a mode selection module, a control module, and an attitude adjustment module; among which, The mode selection module is used to determine the rehabilitation mode in response to the input mode selection command; the rehabilitation mode includes active rehabilitation mode and corrective rehabilitation mode; The control module is used to drive the posture adjustment module to move based on a preset trajectory when the mode selection module determines that the rehabilitation mode is the active rehabilitation mode. The control module is also used to adjust the motion trajectory of the posture adjustment module based on the real-time motion trajectory of the target patient's arm when the mode selection module determines that the rehabilitation mode is the corrective rehabilitation mode; the target patient is a patient wearing the posture adjustment module. The posture adjustment module is used to move under the drive of the control module to drive the arm movement of the target patient; The preset trajectory includes the position coordinates of the target location at at least one time point, and the target location is located on the posture adjustment module; the control module is used to drive the posture adjustment module to move based on the preset trajectory when the mode selection module determines that the rehabilitation mode is the active rehabilitation mode; the control module is also used to: Based on the target patient's arm structure, the position coordinates of the target location at at least one time point, and a first preset relationship, the ideal shoulder joint angle of the target patient at each of the at least one time points is determined; the first preset relationship includes the correspondence between the target patient's arm structure, the position coordinates of the target location at at least one time point, and the ideal shoulder joint angle of the target patient at each of the at least one time points. Based on the target patient's arm structure, the position coordinates of the target location at at least one time point, and a second preset relationship, the ideal elbow angle of the target patient at each of the at least one time points is determined; the second preset relationship includes the correspondence between the target patient's arm structure, the position coordinates of the target location at at least one time point, and the ideal elbow angle of the target patient at each of the at least one time points. The posture adjustment module is driven to move based on the ideal shoulder and elbow angles of the target patient at each of the at least one time points.

2. The system according to claim 1, characterized in that, The first preset relationship includes: ； in, The ideal shoulder joint angle of the target patient at time t is represented by the target patient at any of the at least one time points; This represents the x-coordinate of the target location at time t; This represents the ordinate of the target location at time t; This indicates the length of the target patient's upper arm; This indicates the length of the target patient's forearm.

3. The system according to claim 2, characterized in that, The second preset relationship includes: ； in, The ideal elbow angle of the target patient at time t is defined as any time point among the at least one time points. This represents the x-coordinate of the target location at time t; This represents the ordinate of the target location at time t; This indicates the length of the target patient's upper arm; This indicates the length of the target patient's forearm.

4. The system according to claim 3, characterized in that, The posture adjustment module further includes an upper arm posture adjustment module and a forearm posture adjustment module. The control module is used to drive the posture adjustment module to move based on the ideal shoulder joint angle and ideal elbow joint angle of the target patient at each of the at least one time points. The control module is also used to: Based on the ideal shoulder joint angle of the target patient at each of the at least one time points, determine the torque used to adjust the shoulder joint of the target patient; Based on the ideal elbow angle of the target patient at each of the at least one time points, determine the torque used to adjust the elbow joint of the target patient; The motion trajectory of the forearm posture adjustment module is adjusted based on the torque used to adjust the elbow joint of the target patient, and / or the motion trajectory of the upper arm posture adjustment module is adjusted based on the torque used to adjust the shoulder joint of the target patient.

5. The system according to claim 4, characterized in that, The torque used to adjust the shoulder joint of the target patient is determined based on a third preset relationship, which includes: ； in, This indicates the torque used to adjust the shoulder joint of the target patient. This represents the moment of inertia of the boom attitude adjustment module. This represents the acceleration of the shoulder joint in the target patient. This indicates the mass of the upper arm posture adjustment module. This represents the distance between the target patient's shoulder joint and the center of mass of the target patient's upper arm. Represents gravitational acceleration. This represents the ideal shoulder joint angle of the target patient at time t. This indicates the mass of the forearm posture adjustment module. This indicates the length of the target patient's upper arm. This indicates the length of the target patient's forearm. This represents the ideal elbow angle of the target patient at time t.

6. The system according to claim 5, characterized in that, The torque used to adjust the elbow joint of the target patient is determined based on a fourth preset relationship, which includes: ； in, This indicates the torque used to adjust the elbow joint of the target patient. This represents the moment of inertia of the forearm posture adjustment module. This represents the acceleration of the target patient's elbow joint. This indicates the mass of the forearm posture adjustment module. Represents gravitational acceleration. This indicates the length of the target patient's forearm. This represents the ideal shoulder joint angle of the target patient at time t. This represents the ideal elbow angle of the target patient at time t.

7. The system according to claim 6, characterized in that, The control module is used to adjust the motion trajectory of the posture adjustment module based on the real-time motion trajectory of the target patient's arm when the mode selection module determines the rehabilitation mode as the corrective rehabilitation mode. The control module is also used to: Based on the real-time movement trajectory of the target patient's arm, the real-time angles of the shoulder joint and elbow joint corresponding to the target patient are determined. Based on the deviation between the real-time angle of the shoulder joint and the ideal angle of the shoulder joint, a corrective torque for adjusting the shoulder joint of the target patient is determined, and the motion trajectory of the upper arm posture adjustment module is adjusted based on the corrective torque for adjusting the shoulder joint of the target patient. Based on the deviation between the real-time elbow joint angle and the ideal elbow joint angle, a corrective torque for adjusting the elbow joint of the target patient is determined, and the motion trajectory of the forearm posture adjustment module is adjusted based on the corrective torque for adjusting the elbow joint of the target patient.

8. The system according to claim 7, characterized in that, The control module is used to determine the corrective torque for adjusting the shoulder joint of the target patient based on the deviation between the real-time angle of the shoulder joint and the ideal angle of the shoulder joint. The control module is also used to: Based on the deviation between the real-time shoulder joint angle and the ideal shoulder joint angle, and a fifth preset relationship, a corrective torque is determined for adjusting the shoulder joint of the target patient; the fifth preset relationship includes: ； in, This represents the real-time angle of the shoulder joint of the target patient at time t. This represents the ideal shoulder joint angle of the target patient at time t. As the first preset impact factor, For the second preset impact factor, This is the third preset impact factor.

9. The system according to claim 8, characterized in that, The control module is used to determine the corrective torque for adjusting the elbow joint of the target patient based on the deviation between the real-time elbow joint angle and the ideal elbow joint angle. The control module is also used to: Based on the deviation between the real-time elbow joint angle and the ideal elbow joint angle, and the sixth preset relationship, a corrective torque for adjusting the elbow joint of the target patient is determined. The sixth preset relationship includes: ； in, , This represents the real-time angle of the elbow joint of the target patient at time t. This represents the ideal elbow angle of the target patient at time t. As the first preset impact factor, For the second preset impact factor, This is the third preset impact factor.

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