Rigid-flexible coupling type bionic exoskeleton rehabilitation robot

Abstract

The invention discloses a rigid-flexible coupling type bionic exoskeleton rehabilitation robot and relates to the technical field of exoskeleton robots, the rigid-flexible coupling type bionic exoskeleton rehabilitation robot comprises a trunk and two limbs, the trunk is composed of a trunk assembly and two shoulder assemblies, and the two shoulder assemblies are located on the shoulders of the two sides of the trunk assembly respectively; the limb is composed of a hand assembly, a lower arm assembly, an upper arm assembly and an arm full-wrapping type air bag assembly, the arm full-wrapping type air bag assembly is installed on the inner side of the lower arm assembly and the inner side of the upper arm assembly, and joint assemblies are installed at the adjacent positions of the hand assembly, the lower arm assembly, the upper arm assembly and the shoulder assembly respectively. The exoskeleton robot is simple and compact in structure, convenient to wear and diversified in driving, meanwhile, the exoskeleton robot can be adjusted from a motion mode to a static mode, a user can have a rest according to the fatigue condition, and rehabilitation training is facilitated.

Description

Technical Field

[0001] The present invention relates to the technical field of exoskeleton robots, and in particular to a rigid-flexible coupling bionic exoskeleton rehabilitation robot. Background Art

[0002] In the field of medical rehabilitation, exoskeleton robots can interact physically and informationally with the human body through perception, control and execution systems, thereby enhancing or assisting the human body's motor ability. They can replace rehabilitation physicians to complete rehabilitation training for patients, avoiding the heavy physical rehabilitation training tasks of rehabilitation physicians.

[0003] Most of the existing upper limb exoskeleton robots are passive training, and have problems such as large driving rigidity, complex device and muscle overload, which are specifically manifested as follows:

[0004] 1. Single drive mode: Most existing upper limb exoskeleton robots are driven by a single rigid motor, which makes it difficult to ensure that multiple joints can perform rehabilitation exercises at the optimal angle and cannot accurately apply the drive torque to specific parts;

[0005] 2. Muscle overload: Long-term muscle rehabilitation exercises will produce a large amount of lactic acid, which will cause lactic acid accumulation and muscle soreness, greatly reducing the recovery time;

[0006] 3. Insufficient product personalization: The same user has different physiological parameters such as height and weight. If the same built-in program is used to assist users in exercise, an average of about 20% of their kinetic energy will be wasted, and the user's rehabilitation efficiency will be slowed down by about 17%, making it difficult to achieve the best rehabilitation treatment effect. Summary of the invention

[0007] The present invention provides a rigid-flexible coupling bionic exoskeleton rehabilitation robot to solve the above technical problems.

[0008] In order to solve the above technical problems, the present invention provides a rigid-flexible coupling bionic exoskeleton rehabilitation robot, comprising a torso and two limbs, the torso consisting of a torso component and two shoulder components, the two shoulder components are respectively located at the shoulders on both sides of the torso component, the limbs consist of a hand component, a lower arm component, an upper arm component and an arm fully-enclosed airbag component, the arm fully-enclosed airbag component is installed on the inner side of the lower arm component and the upper arm component, and a joint component is respectively installed at the adjacent positions of the hand component, the lower arm component, the upper arm component and the shoulder component.

[0009] Preferably, the torso component includes a back plate and two flexible vests distributed on the left and right, the flexible vests are located on the front side of the back plate, the armpits of the flexible vests are fixedly connected with underarm airbags, the back plate and the waist of the flexible vest are fixedly connected with two vest side fixing straps, the back plate and the shoulders of the flexible vest are fixedly connected with vest shoulder fixing straps, and the front sides of the two flexible vests are fixedly connected with two vest front fixing straps.

[0010] Preferably, the shoulder assembly includes a scapula movable plate, which is movably connected to the shoulders on both sides of the back plate through hinges, and the front side of the scapula movable plate is fixedly connected to a yz-plane swing servo, and the yz-plane swing servo is fixedly connected to a shoulder-arm connecting rod.

[0011] Preferably, the upper arm assembly includes an upper arm section plate, the top of the upper arm section plate is fixedly connected to an upper arm upper connecting plate by bolts, the upper arm upper connecting plate and the shoulder-arm connecting rod are connected to each other by a joint assembly, and the bottom of the upper arm section plate is fixedly connected to an upper arm lower connecting plate by bolts.

[0012] Preferably, the lower arm assembly includes a lower arm upper section plate, the top of the lower arm upper section plate is fixedly connected to the lower arm upper connecting plate by bolts, the lower arm upper connecting plate and the upper arm lower connecting plate are connected to each other by a joint assembly, the bottom of the lower arm upper section plate is fixedly connected to the lower arm lower section plate by bolts, and the bottom of the lower arm lower section plate is fixedly connected to the lower arm lower connecting plate by bolts.

[0013] Preferably, the hand assembly includes a grip seat, a grip seat is fixedly connected to a hand grip at the bottom, a wrist joint connecting plate is fixedly connected to the top of the hand grip by bolts, and the wrist joint connecting plate and the lower arm lower connecting plate are interconnected by a joint assembly.

[0014] Preferably, the joint assembly consists of a gear ring, three planetary gears, a planetary gear carrier, a motor fixing cover, a servo motor and an angle sensor protection cover.

[0015] Preferably, the arm full-cover airbag assembly consists of an upper arm covering airbag, an elbow flexible airbag and a lower arm covering airbag, the elbow flexible airbag is fixedly connected between the upper arm covering airbag and the lower arm covering airbag, the upper arm covering airbag is respectively fixedly connected on both sides with an upper arm buckle base end and an upper arm buckle snap end, the seam of the upper arm covering airbag is fixedly connected by the upper arm buckle base end and the upper arm buckle snap end, the elbow flexible airbag is respectively fixedly connected on both sides with an elbow buckle belt ring base and an elbow buckle belt hook base, the seam of the elbow flexible airbag is fixedly connected by the upper arm buckle base end and the upper arm buckle snap end The elbow buckle belt ring base and the elbow buckle belt hook base are fixedly connected, and the lower arm buckle seat end and the lower arm buckle snap button end are respectively fixedly connected on both sides of the lower arm covering airbag, and the seam of the lower arm covering airbag is fixedly connected by the lower arm buckle seat end and the lower arm buckle snap button end, the outer side of the upper arm covering airbag is fixedly connected to the upper arm fixing seat, and the upper arm covering airbag is fixedly connected to the upper arm section plate through the upper arm fixing seat, and the outer side of the lower arm covering airbag is fixedly connected to the lower arm fixing seat, and the lower arm covering airbag is fixedly connected to the lower arm upper section plate through the lower arm fixing seat.

[0016] Compared with the related art, the rigid-flexible coupling bionic exoskeleton rehabilitation robot provided by the present invention has the following advantages:

[0017] Beneficial effects:

[0018] 1. By using the main control mechanism to drive the internal bionic muscle airbag and underarm airbag components to work, when the user's muscles are subjected to long-term cyclic rehabilitation exercises, resulting in lactic acid accumulation and muscle soreness, it can be adjusted to static mode. By driving the bionic muscle airbag to inflate and deflate, the user's arm muscles can be regularly compressed to achieve a massage effect and relieve muscle soreness. The degree of inflation of the underarm airbag corresponds to the angle between the affected limb and the trunk. By controlling the different inflation degrees of the underarm airbag, multi-angle physical therapy effects can be achieved.

[0019] 2. The rigid-flexible coupling exoskeleton robot can achieve fine control of body posture and arm movements through rigid drive and flexible coordination. By coordinating the upper limb exoskeleton with rigid components, a basic conversion between multi-motor drive and upper limb movement posture can be constructed to achieve efficient assistance for general walking. At the same time, with the compensatory force of bionic muscle airbags, fine control of arm posture during training and fine adjustment of elbow joint angle can be achieved.

[0020] 3. The openable vest connecting buckle straps and the left and right flexible vests are used to fit the user's chest, abdomen, waist and back, forming a U-shaped enveloping carrying system. The internal hollow structure can accommodate the user's torso. The shoulder strap structure is designed for easy wearing by the user, keeping the carrying system moving with the user's body posture and always maintaining good load-bearing performance. When the carrying system is bearing weight, the force can be transmitted to the waist and then to the legs through the shoulder straps and flexible vests, reducing the shoulder load. Under the premise of ensuring good human-machine matching of the mechanical structure, it is better used in daily rehabilitation training scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a schematic diagram of the overall structure of a rigid-flexible coupling bionic exoskeleton rehabilitation robot proposed by the present invention;

[0022] Figure 2 This is a front view of the torso of a rigid-flexible coupling bionic exoskeleton rehabilitation robot proposed by the present invention;

[0023] Figure 3 This is a rear view of the torso of a rigid-flexible coupling bionic exoskeleton rehabilitation robot proposed by the present invention;

[0024] Figure 4 A schematic diagram of the limb structure of a rigid-flexible coupling bionic exoskeleton rehabilitation robot proposed in the present invention;

[0025] Figure 5 This is a schematic structural diagram of a hand component, a lower arm component and an upper arm component of a rigid-flexible coupling bionic exoskeleton rehabilitation robot proposed in the present invention;

[0026] Figure 6 This is a schematic diagram of the structure of a fully-enclosed airbag assembly for the arm of a rigid-flexible coupling bionic exoskeleton rehabilitation robot proposed by the present invention;

[0027] Figure 7 This is a schematic diagram of the deployment structure of a fully enclosed airbag assembly of the arm of a rigid-flexible coupling bionic exoskeleton rehabilitation robot proposed by the present invention;

[0028] Figure 8 This is an exploded diagram of the joint components of a rigid-flexible coupling bionic exoskeleton rehabilitation robot proposed in the present invention.

[0029] Numbers in the figure: 1, hand assembly, 11, grip seat, 12, hand grip, 13, wrist joint connecting plate, 2, lower arm assembly, 21, lower arm upper section plate, 22, lower arm upper connecting plate, 23, lower arm lower section plate, 24, lower arm lower connecting plate, 3, upper arm assembly, 31, upper arm section plate, 32, upper arm lower connecting plate, 33, upper arm upper connecting plate, 4, torso assembly, 41, back plate, 42, flexible vest, 43, vest shoulder 44, vest side fixing belt, 45, vest front fixing belt, 5, shoulder assembly, 51, shoulder blade activity plate, 52, yz plane swing servo, 53, shoulder arm connecting rod, 6, armpit airbag, 7, joint assembly, 71, gear ring, 72, planetary gear, 73, planetary gear carrier, 74, motor fixing cover, 75, servo motor, 76, angle sensor protection cover, 8, arm full-cover airbag assembly, 8 1. Upper arm covering airbag, 811, upper arm buckle card seat end, 812, upper arm buckle snap button end, 813, upper arm fixed seat, 82, elbow flexible airbag, 821, elbow buckle belt ring base, 822, elbow buckle belt hook base, 83, lower arm covering airbag, 831, lower arm buckle card seat end, 832, lower arm buckle snap button end, 833, lower arm fixed seat, 221, superficial flexor of digitorum, 222, palmaris longus, 223, pronation anterior teres, 224, flexor carpi ulnaris, 225, flexor carpi radialis, 226, brachioradialis, 231, extensor digiti minimi, 232, extensor digitorum, 233, extensor carpi ulnaris, 234, extensor carpi radialis brevis, 235, extensor carpi radialis longus, 351, long head of biceps brachii, 352, brachialis, 353, short head of biceps brachii, 361, long head of triceps brachii, 362, medial head of triceps brachii, 363, lateral head of triceps brachii. DETAILED DESCRIPTION

[0030] Example, by Figure 1-5 The present invention includes a trunk and two limbs, wherein the trunk is composed of a trunk component 4 and two shoulder components 5, and the two shoulder components 5 are respectively located at the shoulders on both sides of the trunk component 4, and the limbs are composed of a hand component 1, a lower arm component 2, an upper arm component 3 and an arm full-enclosed airbag component 8, and the arm full-enclosed airbag component 8 is installed on the inner side of the lower arm component 2 and the upper arm component 3, and a joint component 7 is respectively installed at the adjacent parts of the hand component 1, the lower arm component 2, the upper arm component 3 and the shoulder component 5.

[0031] The torso component 4 includes a back plate 41 and two flexible vests 42 distributed on the left and right, the flexible vests 42 are located on the front side of the back plate 41, the armpits of the flexible vests 42 are fixedly connected with underarm airbags 6, the waists of the back plate 41 and the flexible vests 42 are fixedly connected with two vest side fixing straps 44, the shoulders of the back plate 41 and the flexible vests 42 are fixedly connected with vest shoulder fixing straps 43, the front sides of the two flexible vests 42 are fixedly connected with two vest front fixing straps 45, the back plate 41 is a rigid part, and the flexible vest 42 is a flexible part, and the torso component can be worn on the patient through the vest shoulder fixing straps 43, the vest side fixing straps 44 and the vest front fixing straps 45, and the connection between the vest front fixing straps 45 and the flexible vest can be fixedly connected with buckles, which is also convenient for subsequent disassembly and wearing.

[0032] The back plate 41 is embedded with a posture sensor, which does not interfere with the airbag. The posture sensor is a three-dimensional motion posture measurement system using MEMS technology. Furthermore, it includes motion sensors such as a three-axis gyroscope, a three-axis accelerometer, and a three-axis electronic compass, and obtains three-dimensional posture and orientation data through an embedded ARM processor. Furthermore, the three-dimensional algorithm and data fusion technology in the ARM processor are used to output three-dimensional posture and orientation data in real time.

[0033] It should be noted that the posture sensor is used to monitor the user's motion posture information. The posture sensor is electrically connected to the main control mechanism, and the posture sensor will transmit the output three-dimensional posture orientation data to the main control mechanism in real time. It can be understood that the posture sensor can monitor the user's motion posture in real time; if the motion posture changes suddenly, the posture sensor triggers the main control mechanism, and the main control board sends a signal to quickly inflate the airbag and sound an alarm at the same time.

[0034] The shoulder assembly 5 includes a scapula movable plate 51, which is D-shaped and movably connected to the shoulders on both sides of the back plate 41 through hinges. A yz-plane swing servo 52 is fixedly connected to the front side of the scapula movable plate 51, and a shoulder-arm connecting rod 53 is fixedly connected to the yz-plane swing servo 52. The yz-plane swing servo 52 can drive the shoulder-arm connecting rod 53 to drive the limbs to swing back and forth on the yz plane. The joint assembly 7 installed between the shoulder assembly 5 and the upper arm assembly 3 can rotate around the X, Y, and Z axes to achieve shoulder flexion / extension, abduction / adduction, and external rotation / internal rotation. At this time, the movable angles of the shoulder in the yz plane and the xz plane are 0-140° and 0-270° respectively.

[0035] The upper arm assembly 3 includes an upper arm section plate 31, the top of the upper arm section plate 31 is fixedly connected to an upper arm upper connecting plate 33 by bolts, the upper arm upper connecting plate 33 and the shoulder arm connecting rod 53 are connected to each other by a joint assembly 7, the bottom of the upper arm section plate 31 is fixedly connected to an upper arm lower connecting plate 32 by bolts, the lower arm assembly 2 includes a lower arm upper section plate 21, the top of the lower arm upper section plate 21 is fixedly connected to a lower arm upper connecting plate 22 by bolts, the lower arm upper connecting plate 22 and the upper arm lower connecting plate 32 are connected to each other by a joint assembly 7, the lower arm The bottom of the upper section plate 21 is fixedly connected to the lower arm section plate 23 by bolts, and the bottom of the lower arm section plate 23 is fixedly connected to the lower arm connecting plate 24 by bolts. The hand assembly 1 includes a grip seat 11, and the bottom of the grip seat 11 is fixedly connected to a grip bar 12, and the top of the grip bar 12 is fixedly connected to a wrist joint connecting plate 13 by bolts. The wrist joint connecting plate 13 and the lower arm connecting plate 24 are connected to each other through a joint assembly 7. The hand assembly 1, the lower arm assembly 2 and the upper arm assembly 3 cooperate with the joint assembly 7 at the joint to form a limb.

[0036] The joint assembly 7 is composed of a gear ring 71 , three planetary gears 72 , a planetary gear carrier 73 , a motor fixing cover 74 , a servo motor 75 and an angle sensor protection cover 76 .

[0037] An angle sensor is also installed in the joint assembly 7. The angle sensor collects angle parameters and feeds back to the main control mechanism. The main control mechanism drives the motor in the joint assembly 7 to run. At the same time, the electromyographic signal patch in the arm full-covered airbag assembly 8 located on the inner side of the upper arm assembly 3 and the lower arm assembly 2 collects the user's arm muscle electrical signals and feeds back to the main control mechanism. The main control mechanism drives the bionic muscle airbag to respond in real time, adaptively drive, and compensate for muscle force. The main control mechanism is the stm32 main control board. Every time the drive shaft of each drive motor rotates 1 / 16 of a circle, the corresponding angle sensor will count once. When rotating in the same direction, the count increases; when rotating in the opposite direction, the count decreases. The initial position of the angle sensor affects the value of the count. After the angle sensor is initialized, its count value returns to 0. It can be understood that the data recorded by each angle sensor will be transmitted to the main control mechanism.

[0038] It should be noted that when the servo motor 75 at the joint assembly 7 moves, a transmission relationship exists between the three planetary gears 72 and the gear ring 71 .

[0039]

[0040] This formula is used to calculate the transmission ratio of the planetary gear 72 and the gear ring 71, that is, the ratio of the rotation speed of the planetary gear 72 to the rotation speed of the gear ring 71, which is equal to the ratio of the number of teeth of 3 to the number of teeth of 1, and the directions are opposite, so the negative sign is taken. The axis of the planetary gear H is fixed.

[0041] The number of teeth of the planetary gear 72 of the joint assembly 7 at the shoulder, elbow and wrist of the exoskeleton rehabilitation robot is designed to be 30, and the number of teeth of the gear ring 71 is designed to be 120, so That is, the planetary gear 712 rotates 4 circles clockwise, and the gear ring 711 rotates 1 circle counterclockwise.

[0042] The arm full-cover airbag assembly 8 is composed of an upper arm covering airbag 81, an elbow flexible airbag 82 and a lower arm covering airbag 83, the elbow flexible airbag 82 is fixedly connected between the upper arm covering airbag 81 and the lower arm covering airbag 83, the upper arm covering airbag 81 is fixedly connected on both sides with an upper arm buckle base end 811 and an upper arm buckle snap end 812, the seam of the upper arm covering airbag 81 is fixedly connected by the upper arm buckle base end 811 and the upper arm buckle snap end 812, the elbow flexible airbag 82 is fixedly connected on both sides with an elbow buckle belt loop base 821 and an elbow buckle belt hook base 822, the seam of the elbow flexible airbag 82 is fixedly connected by the elbow buckle belt loop base 821 and the elbow buckle The buckle hook base 822 is fixedly connected, and the lower arm covering airbag 83 is respectively fixedly connected with the lower arm buckle base end 831 and the lower arm buckle snap end 832 on both sides, and the seam of the lower arm covering airbag 83 is fixedly connected by the lower arm buckle base end 831 and the lower arm buckle snap end 832, and the outer side of the upper arm covering airbag 81 is fixedly connected with the upper arm fixing seat 813, and the upper arm covering airbag 81 is fixedly connected to the upper arm section plate 31 through the upper arm fixing seat 813, and the outer side of the lower arm covering airbag 83 is fixedly connected with the lower arm fixing seat 833, and the lower arm covering airbag 83 is fixedly connected to the lower arm upper section plate 21 through the lower arm fixing seat 833, and the arm full-enclosed airbag assembly 8 is a bionic muscle airbag.

[0043] Six electromyographic signal sensors are arranged on the limbs, and the electromyographic signal sensors are used to collect electromyographic signals on the surface of the human body. Each electromyographic signal sensor is connected to a plurality of signal collection patches, and each electromyographic signal sensor is electrically connected to the main control mechanism so as to transmit the data processed by each electromyographic signal sensor to the main control mechanism in real time. Among them, the six electromyographic signal sensors are respectively the first electromyographic signal sensor, the second electromyographic signal sensor, the third electromyographic signal sensor, the fourth electromyographic signal sensor, the fifth electromyographic signal sensor, and the sixth electromyographic signal sensor.

[0044] The signal acquisition patches of the first electromyographic signal sensor are distributed from top to bottom at the middle and outer side of the back of the user's upper arm; the signal acquisition patches of the second electromyographic signal sensor are distributed from top to bottom at the middle and inner side of the inner side of the user's upper arm; the signal acquisition patches of the third electromyographic signal sensor are distributed at the middle and inner side of the user's elbow; the signal acquisition patches of the fourth electromyographic signal sensor are distributed from top to bottom at the middle of the front of the ulna of the user's lower arm; the signal acquisition patches of the fifth electromyographic signal sensor are distributed from top to bottom at the inner and outer sides of the user's lower arm; the signal acquisition patches of the sixth electromyographic signal sensor are distributed at the middle and outer side of the user's wrist joint.

[0045] The following is a table showing the distribution of specific muscle / joint surface electrical signals collected by the six electromyographic signal sensors:

[0046]

[0047] After the surface electromyographic signals of the human body collected by the electromyographic signal sensor are input into the main control mechanism, the main control mechanism determines the movement intention of the human brain and makes corresponding signal outputs, coordinates the servo motor 75 in the joint assembly 7, and controls the exoskeleton robot to produce the movements that the human brain wants to make; then the torque, speed, and rotation frequency of the servo motor are controlled by the strength, frequency, and duration of the electrical signal, and then the movement speed of the robot is controlled, so as to realize the functions of swinging arms, bending elbows, and rotating. The control principle of the servo motor is that the greater the strength of the electrical signal input to the main control board, the greater the current and pulse frequency output to the servo motor, thereby making the servo motor produce greater torque and speed; the greater the frequency of the electrical signal input to the main control board, the faster the change in the direction of the pulse output to the servo motor, thereby making the direction of the servo motor change rapidly.

Claims

1. A rigid-flexible coupling bionic exoskeleton rehabilitation robot, characterized in that: The invention comprises a trunk and two limbs, wherein the trunk is composed of a trunk component (4) and two shoulder components (5), wherein the two shoulder components (5) are respectively located at the shoulders on both sides of the trunk component (4); the limbs are composed of a hand component (1), a lower arm component (2), an upper arm component (3) and an arm full-enclosed airbag component (8), wherein the arm full-enclosed airbag component (8) is installed on the inner side of the lower arm component (2) and the upper arm component (3); and a joint component (7) is respectively installed at adjacent positions between the hand component (1), the lower arm component (2), the upper arm component (3) and the shoulder component (5).

2. The rigid-flexible coupling bionic exoskeleton rehabilitation robot according to claim 1, characterized in that: The torso component (4) comprises a back plate (41) and two flexible vests (42) distributed on the left and right, wherein the flexible vests (42) are located on the front side of the back plate (41), the armpits of the flexible vests (42) are fixedly connected with underarm airbags (6), the waists of the back plate (41) and the flexible vests (42) are fixedly connected with two vest side fixing straps (44), the shoulders of the back plate (41) and the flexible vests (42) are fixedly connected with vest shoulder fixing straps (43), and the front sides of the two flexible vests (42) are fixedly connected with two vest front fixing straps (45).

3. The rigid-flexible coupling bionic exoskeleton rehabilitation robot according to claim 1, characterized in that: The shoulder assembly (5) comprises a shoulder blade movable plate (51), the shoulder blade movable plate (51) being movably connected to the shoulders on both sides of the back plate (41) via hinges, the front side of the shoulder blade movable plate (51) being fixedly connected to a yz-plane swinging servo (52), and the yz-plane swinging servo (52) being fixedly connected to a shoulder-arm connecting rod (53).

4. The rigid-flexible coupling bionic exoskeleton rehabilitation robot according to claim 1, characterized in that: The upper arm assembly (3) comprises an upper arm section plate (31), the top of the upper arm section plate (31) is fixedly connected to an upper arm upper connecting plate (33) by means of bolts, the upper arm upper connecting plate (33) and a shoulder-arm connecting rod (53) are connected to each other by means of a joint assembly (7), and the bottom of the upper arm section plate (31) is fixedly connected to an upper arm lower connecting plate (32) by means of bolts.

5. The rigid-flexible coupling bionic exoskeleton rehabilitation robot according to claim 1, characterized in that: The lower arm assembly (2) comprises a lower arm upper section plate (21), the top of the lower arm upper section plate (21) is fixedly connected to a lower arm upper connecting plate (22) by bolts, the lower arm upper connecting plate (22) and the upper arm lower connecting plate (32) are connected to each other by a joint assembly (7), the bottom of the lower arm upper section plate (21) is fixedly connected to a lower arm lower section plate (23) by bolts, and the bottom of the lower arm lower section plate (23) is fixedly connected to a lower arm lower connecting plate (24) by bolts.

6. The rigid-flexible coupling bionic exoskeleton rehabilitation robot according to claim 1, characterized in that: The hand assembly (1) comprises a grip seat (11), the bottom of the grip seat (11) is fixedly connected to a grip bar (12), the top of the grip bar (12) is fixedly connected to a wrist joint connecting plate (13) via bolts, and the wrist joint connecting plate (13) and the lower arm lower connecting plate (24) are connected to each other via a joint assembly (7).

7. The rigid-flexible coupling bionic exoskeleton rehabilitation robot according to claim 1, characterized in that: The joint assembly (7) is composed of a gear ring (71), three planetary gears (72), a planetary gear carrier (73), a motor fixing cover (74), a servo motor (75) and an angle sensor protection cover (76).

8. The rigid-flexible coupling bionic exoskeleton rehabilitation robot according to claim 1, characterized in that: The arm full-cover airbag assembly (8) is composed of an upper arm covering airbag (81), an elbow flexible airbag (82) and a lower arm covering airbag (83); the elbow flexible airbag (82) is fixedly connected between the upper arm covering airbag (81) and the lower arm covering airbag (83); the upper arm covering airbag (81) is fixedly connected at both sides with an upper arm buckle base end (811) and an upper arm buckle snap end (812); the upper arm covering airbag (81) is fixedly connected at the seam by the upper arm buckle base end (811) and the upper arm buckle snap end (812); the elbow flexible airbag (82) is fixedly connected at both sides with an elbow buckle belt loop base (821) and an elbow buckle belt hook base (822); the elbow flexible airbag (82) is fixedly connected at the seam by the elbow buckle belt loop The base (821) is fixedly connected to the elbow buckle hook base (822); the lower arm buckle base end (831) and the lower arm buckle snap button end (832) are fixedly connected to the two sides of the lower arm covering airbag (83); the seam of the lower arm covering airbag (83) is fixedly connected by the lower arm buckle base end (831) and the lower arm buckle snap button end (832); the outer side of the upper arm covering airbag (81) is fixedly connected to the upper arm fixing seat (813); the upper arm covering airbag (81) is fixedly connected to the upper arm section plate (31) through the upper arm fixing seat (813); the outer side of the lower arm covering airbag (83) is fixedly connected to the lower arm fixing seat (833); the lower arm covering airbag (83) is fixedly connected to the lower arm upper section plate (21) through the lower arm fixing seat (833).

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