Wearable continuum robot aimed at wrist joint movement assistance

Abstract

The invention belongs to the technical field of rehabilitation treatment, and discloses a wearable continuum robot aimed at wrist joint movement assistance. The wearable continuum robot comprises a continuum, a power module and a fixing module, the continuum comprises a first end, a second end and a plurality of rotating modules which are located between the first end and the second end and rotatably connected in sequence, every two adjacent rotating modules can rotate relatively, and the rotating modules are sequentially connected through a linkage rope; the power module is used for driving the rotating module adjacent to the first end part to rotate, so that the linkage rope can sequentially drive the other rotating modules to rotate, and the fixing module is used for assisting the hand of the user to rotate. According to the wearable continuum robot, the ubiquitous problems of bulkiness, inflexibility and poor adaptability in existing equipment are solved, and an efficient and comfortable rehabilitation and auxiliary solution is provided for patients with limited forearm radioulnar joint functions.

Description

Technical Field

[0001] The present invention relates to the technical field of rehabilitation therapy, and in particular to a wearable continuum robot for assisting wrist joint movement. Background Art

[0002] With the advancement of modern medical technology, the demand for robotic assistive devices in the field of rehabilitation therapy is increasing, especially in the rehabilitation process for upper limb motor dysfunction. If only the assistance of rehabilitation therapists is relied on, the recovery efficiency is insufficient. Upper limb robotic assistive devices have broad application prospects in motor function compensation, rehabilitation exercise assistance, and enhancing human strength. Among them, the relative rotation function of the proximal and distal radioulnar joints of the forearm is crucial for completing fine movements in daily life, such as driving the hand to complete hand flipping, palm rotation, and carrying rotating objects.

[0003] The rotation of the radioulnar joint of the forearm includes the pronation (rotation with the palm facing down) and supination (rotation with the palm facing up) of the forearm, which depends on the relative rotation of the radius and ulna at the distal and proximal ends of the forearm. Due to trauma, disease (such as stroke, muscular dystrophy, osteoarthritis, etc.) or long-term inactivity, the forearm rotation ability of many patients is limited, affecting their ability to take care of themselves in daily life.

[0004] Existing forearm assistive devices have a series of significant defects in the field of motor function compensation and rehabilitation assistance, which seriously affect the patient's motor function reproduction effect and daily quality of life. Specifically, traditional equipment mostly adopts rigid mechanical structures or heavy electric devices, which makes the equipment bulky as a whole. It is not only inconvenient to carry, but also increases the fatigue when worn for a long time, making it difficult for patients to continue to use it in daily life. At the same time, the structure of these devices is often fixed and lacks flexibility, making it difficult to adapt to the complex radioulnar joint movement of the forearm, especially when achieving pronation and supination movements. It shows obvious lack of flexibility. As a result, the power-assisting actions of these devices are often inconsistent with the natural movement patterns of the human body, resulting in discomfort and even potential secondary injury risks during human-machine collaborative movement. Summary of the invention

[0005] The purpose of the present invention is to provide a wearable continuum robot for assisting wrist joint movement, which solves the problems of bulkiness, inflexibility and poor adaptability commonly found in existing equipment, and provides an efficient and comfortable rehabilitation and assistance solution for patients with limited forearm radioulnar joint function.

[0006] To achieve this object, the present invention adopts the following technical solutions:

[0007] The present invention discloses a wearable continuum robot for assisting wrist joint movement, comprising: a continuum, wherein the continuum comprises a first end, a second end, and a plurality of rotation modules rotatably connected in sequence between the first end and the second end, wherein two adjacent rotation modules can rotate relative to each other, and wherein the plurality of rotation modules are connected in sequence through a linkage rope, wherein the first end and the second end are respectively connected to two ends of a user's forearm; a power module, wherein the power module is mounted on the first end of the continuum, and wherein the power module is used to drive the rotation module adjacent to the first end to rotate, so that the linkage rope can drive the remaining rotation modules to rotate in sequence; and a fixing module, wherein the fixing module is mounted on the second end of the continuum, and wherein the fixing module comprises a driving member and a hand fixing member, wherein the hand fixing member is used to be connected to the user's hand, and wherein the driving member is used to drive the hand fixing member to rotate, so as to assist the user's hand in rotating.

[0008] In some embodiments, the power module includes: a driving source, which is arranged in pairs on the first end; a wire wheel, which is arranged in pairs on the first end and is arranged one-to-one corresponding to the two driving sources; the rotating module adjacent to the first end is connected to the driving rope led out from the wire wheel, so that when the driving source drives the wire wheel to rotate, the rotating module adjacent to the first end can rotate.

[0009] In some specific embodiments, each of the rotating modules includes: a rotating body; a fixed pin, which is arranged in pairs; an adjusting knob, which is arranged in pairs, and the two adjusting knobs arranged in pairs are located on the outside of the fixed pin; a groove pulley, which is arranged in pairs, and the two groove pulleys arranged in pairs are located on the outside of the adjusting knob; wherein: a driving pin connected to the driving rope is provided on the rotating module adjacent to the first end; among the three adjacent rotating modules: one linkage rope cooperates with the fixed pin on the left side of the rotating module located at the upper part, the groove pulley on the right side of the rotating module located at the middle part, and the adjusting knob on the left side of the rotating module located at the lower part in sequence; another linkage rope cooperates with the fixed pin on the right side of the rotating module located at the upper part, the groove pulley on the left side of the rotating module located at the middle part, and the adjusting knob on the right side of the rotating module located at the lower part in sequence.

[0010] In some more specific embodiments, the rotating body is provided with a sliding groove extending along its circumference, and the rotating body is also provided with a slider, and in two adjacent rotating bodies, the slider of one rotating body is in the sliding groove of the other rotating body.

[0011] In some optional embodiments, a first groove cooperating with the slider is provided on the first end, and the slider is slidable relative to the first groove; a second groove cooperating with the slider is provided on the second end, and the slider is fixed relative to the second groove.

[0012] In some optional embodiments, the contact surface between the rotating body and the user's arm is an arc-shaped surface.

[0013] In some embodiments, a first strap is disposed on the first end portion, and a second strap is disposed on the second end portion, and both the first strap and the second strap are used to be connected to the user's arm.

[0014] In some embodiments, the driving member is a servo, and the power module further includes: a fixed bracket, which is connected to the second end and is used to install the driving member; a servo bracket, which is used to support the driving member and is connected to the hand fixing member.

[0015] In some embodiments, a third strap is provided on the hand fixing member, and the third strap is used to be connected to the user's hand.

[0016] In some embodiments, each of the rotation modules is further provided with an angle sensor and a force sensor.

[0017] The beneficial effects of the wearable continuum robot for assisting wrist joint movement of the present invention are as follows: since multiple rotating modules are connected in sequence through linkage ropes, the continuum adopts a line drive method to realize the sequential rotation of multiple rotating modules. On the one hand, it can greatly reduce the weight of the equipment and improve the wearing comfort, so that patients can easily wear the equipment for rehabilitation training and auxiliary operations in daily life. On the other hand, it can make different parts of the arm rotate at different angles, accurately simulate the original movement mode of the human body, make the movement trajectory more in line with the rotation mode of the forearm, avoid the movement path limitation of the traditional mechanical system, make the patient more natural and comfortable when performing rotational movement, and conform to the principles of ergonomics. This can reduce the mechanical constraints on the patient's forearm, improve wearing comfort, and reduce the risk of muscle fatigue during long-term use. In addition, the modular design of the continuum makes the maintenance and upgrading of the equipment more convenient. When a module fails or needs to be replaced, it can be replaced or adjusted separately without replacing the entire continuum, reducing maintenance costs.

[0018] Beneficial effects of the invention: Additional aspects and advantages of the invention will be given in part in the following description, and in part will become apparent from the following description, or will be understood through the practice of the invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1is a schematic structural diagram of a wearable continuum robot for assisting wrist joint motion according to an embodiment of the present invention;

[0020] Figure 2 is a schematic structural diagram of a wearable continuum robot for wrist joint motion assistance during rotation according to an embodiment of the present invention;

[0021] Figure 3 is a structural schematic diagram of a rotating module according to an embodiment of the present invention

[0022] Figure 4 is a schematic diagram of the coordination structure of three adjacently arranged rotation modules according to an embodiment of the present invention;

[0023] Figure 5 yes Figure 4 A schematic diagram of the structure in another direction of the structure shown;

[0024] Figure 6 is a schematic diagram of the matching structure between the first end and the power module of an embodiment of the present invention;

[0025] Figure 7 It is a schematic diagram of the matching structure between the second end and the fixing module of an embodiment of the present invention.

[0026] Reference numerals:

[0027] 100, continuum; 110, first end; 120, second end; 121, second groove; 130, rotating module; 131, rotating body; 132, fixing pin; 133, adjusting knob; 134, groove pulley; 135, slider; 136, sliding groove; 137, receiving groove; 138, driving pin;

[0028] 200, power module; 210, driving source; 220, reel; 230, driving rope;

[0029] 300, fixing module; 310, driving member; 320, hand fixing member; 330, fixing bracket; 340, steering gear bracket;

[0030] 400, linkage rope; 500, first binding strap; 600, second binding strap; 700, third binding strap. DETAILED DESCRIPTION

[0031] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for ease of description, only parts related to the present invention, rather than all structures, are shown in the accompanying drawings.

[0032] In the description of the present invention, unless otherwise clearly specified and limited, the terms "connected", "connected", and "fixed" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0033] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0034] In the description of this embodiment, the terms "upper", "lower", "right", etc., directions or positional relationships are based on the directions or positional relationships shown in the drawings, and are only for the convenience of description and simplification of operation, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are only used to distinguish in the description and have no special meaning.

[0035] The present invention discloses a wearable continuum robot for assisting wrist joint movement (for the convenience of description, the wearable continuum robot is used in the following test), referring to Figure 1 and Figure 2As shown, the wearable continuum robot includes a continuum 100, a power module 200 and a fixed module 300. The continuum 100 includes a first end 110, a second end 120 and a plurality of rotation modules 130 that are rotatably connected in sequence between the first end 110 and the second end 120. Two adjacent rotation modules 130 can rotate relative to each other. The plurality of rotation modules 130 constitute the continuum 100. The plurality of rotation modules 130 are sequentially connected through a linkage rope 400. The first end 110 and the second end 120 are respectively connected to the two ends of the user's forearm. The power module 200 is installed at the first end 110 of the continuum 100. The power module 200 is used to drive the rotation module 130 adjacent to the first end 110 to rotate, so that the linkage rope 400 can drive the remaining rotation modules 130 to rotate in turn. The fixed module 300 is installed at the second end 120 of the continuum 100. The fixed module 300 includes a driving member 310 and a hand fixing member 320. The hand fixing member 320 is used to be connected to the user's hand. The driving member 310 is used to drive the hand fixing member 320 to rotate to assist the user's hand rotation. It can be understood that in the actual working process, when the user wears the wearable continuum robot on his arm, since the first end 110 and the second end 120 are respectively connected to the two ends of the user's forearm, the hand fixing part 320 is used to connect to the user's hand, which can ensure that the entire device is stably maintained on the user's arm. When the power module 200 drives the rotating module 130 adjacent to the first end 110 to rotate, so that the linkage rope 400 can drive the remaining rotating modules 130 to rotate in turn, the driving part 310 of the fixing module 300 can drive the hand fixing part 320 to rotate to assist the user's hand rotation. Multiple rotating modules 130 are connected in sequence through linkage ropes 400, and the continuum 100 uses a line drive method to realize the sequential rotation of multiple rotating modules 130. On the one hand, it can greatly reduce the weight of the device and improve the wearing comfort, so that patients can easily wear the device for rehabilitation training and auxiliary operations in daily life. On the other hand, it can make different parts of the arm rotate at different angles, accurately simulate the original movement mode of the human body, make the movement trajectory more in line with the rotation mode of the forearm, avoid the movement path limitation of the traditional mechanical system, make the patient more natural and comfortable when performing rotational movement, and conform to the principles of ergonomics. This can reduce the mechanical constraints on the patient's forearm, improve wearing comfort, and reduce the risk of muscle fatigue during long-term use. In addition, the modular design of the continuum 100 makes the maintenance and upgrading of the equipment more convenient. When a module fails or needs to be replaced, it can be replaced or adjusted separately without replacing the entire continuum 100, which reduces maintenance costs.

[0036] Optionally, the linkage rope 400 may be a nylon rope, or may be replaced by other types of flexible transmission materials, such as a steel wire rope or a transmission belt, to improve durability and adapt to different usage environments.

[0037] In some embodiments, reference Figure 2 and Figure 6 As shown, the power module 200 includes a driving source 210 and a reel 220. The driving sources 210 are arranged in pairs on the first end 110, and the reels 220 are arranged in pairs on the first end 110, and are arranged one-to-one corresponding to the two driving sources 210; the rotating module 130 adjacent to the first end 110 is connected to the driving rope 230 led out from the reel 220, so that when the driving source 210 drives the reel 220 to rotate, the rotating module 130 adjacent to the first end 110 can rotate. It is understandable that the driving source 210 can select a motor or a rotary cylinder according to actual needs. In actual working conditions, the driving source 210 drives the pulley 220 to rotate, which can cause the driving rope 230 to be reeled in or unreeled. Since the rotating module 130 adjacent to the first end 110 is rotatable relative to the first end 110, the rotating module 130 can rotate during the process of reeling or unreeling the driving rope 230, thereby driving subsequent rotating modules 130 to rotate in sequence. The power module 200 uses a wire drive method to realize the rotation of the first rotating module 130, which can greatly reduce the weight of the equipment and improve the wearing comfort, so that patients can easily wear the equipment for rehabilitation training and auxiliary operations in daily life.

[0038] Optionally, a driving pin 138 connected to the driving rope 230 is provided on the rotating module 130 adjacent to the first end 110. It is understandable that the driving pin 138 is connected to the driving rope 230 so that when the wire wheel 220 rotates, the driving rope 230 drives the rotating module 130 adjacent to the first end 110 to rotate, thereby ensuring the rotation stability of the continuum 100.

[0039] Optionally, the drive rope 230 may be a nylon rope, or may be replaced by other types of flexible transmission materials, such as a steel wire rope or a transmission belt, to improve durability and adapt to different usage environments.

[0040] It should be supplemented that the power module 200 can also select other structures such as electric push rods or cylinders to drive the rotation module 130 connected to the first end 110 to rotate according to actual needs, so as to adapt to a wider range of power assistance needs.

[0041] In some specific embodiments, reference Figure 3-Figure 5As shown, each rotating module 130 includes a rotating body 131, a fixing pin 132, an adjusting knob 133 and a groove pulley 134. The fixing pins 132 are arranged in pairs, the adjusting knobs 133 are arranged in pairs, and the two adjusting knobs 133 arranged in pairs are located on the outside of the fixing pins 132. The groove pulleys 134 are arranged in pairs, and the two groove pulleys 134 arranged in pairs are located on the outside of the adjusting knobs 133. Among the three adjacent rotating modules 130: one linkage rope 400 cooperates with the fixing pin 132 on the left side of the upper rotating module 130, the groove pulley 134 on the right side of the middle rotating module 130, and the adjusting knob 133 on the left side of the lower rotating module 130 in sequence; the other linkage rope 400 cooperates with the fixing pin 132 on the right side of the upper rotating module 130, the groove pulley 134 on the left side of the middle rotating module 130, and the adjusting knob 133 on the right side of the lower rotating module 130 in sequence.

[0042] It is understandable that, in the actual movement process, the three adjacent rotating modules 130 are based on the rotating module 130 at the top as the reference position. When the rotating module 130 at the middle is deflected to one side by an external force, the groove pulley 134 will push the linkage rope 400 passing through it forward. Since the length of the linkage rope 400 is fixed, when the groove pulley 134 applies force to the linkage rope 400, the tension of the linkage rope 400 will pull the rotating module 130 at the bottom to rotate relative to the rotating module 130 at the middle. Therefore, when the rotating module 130 at the middle is relatively deflected relative to the rotating module 130 at the top, the rotating module 130 at the bottom will also be deflected relative to the rotating module 130 at the middle. According to the principle described above, when the rotating module 130 at the bottom is deflected relative to the rotating module 130 at the middle, the next section of the rotating module 130 at the bottom will also be deflected relative to the rotating module 130 at the bottom. By analogy, each section of the rotating module 130 will rotate a certain angle relative to the previous section of the rotating module 130. When the first end 110 is fixed and the rotating module 130 adjacent to the first end 110 is deflected by a certain angle under the drive of the power module 200, the remaining multiple rotating modules 130 will rotate in sequence, and the offset of the second end 120 is the accumulation of the offset of each section relative to the previous stage.

[0043] Therefore, in this design structure, reference Figure 2As shown, the first end 110 is fixed to the user's arm by a strap, which can be regarded as an initial fixed reference. The driving rope 230 connected to the power module 200 is connected to the rotation module 130 adjacent to the first end 110 (as the aforementioned segment rotation module 130 located at the upper part). According to the structural movement principle described above, when the power module 200 pulls the rotation module 130, each rotation module 130 in the overall structure will be offset by a certain angle relative to the previous slider 135. The fixed module 300 connected to the wrist part is connected to the second end 120 at the end of the plurality of rotation modules 130. The rotation amount of the whole arm driving the hand to flip is the accumulation of the rotation amount of each rotation module 130. In this way, different parts of the arm can rotate at different angles, accurately simulate the original movement mode of the human body, make the movement trajectory more in line with the rotation mode of the forearm, avoid the movement path limitation of the traditional mechanical system, and make the patient more natural and comfortable when performing rotational movement, in line with the principle of ergonomics.

[0044] In some optional embodiments, reference Figure 3 As shown, the rotating body 131 is provided with a sliding groove 136 extending along the circumference thereof, and the rotating body 131 is also provided with a slider 135. Among two adjacent rotating bodies 131, the slider 135 of one rotating body 131 is in the sliding groove 136 of the other rotating body 131. It can be understood that the cooperation between the sliding groove 136 and the slider 135 can limit and guide the rotation direction of the rotating body 131, thereby ensuring that the rotating bodies 131 of the multiple rotating modules 130 can rotate in sequence during the actual work process.

[0045] In some optional embodiments, reference Figure 3 As shown, the rotating body 131 is further provided with a receiving groove 137, and the linkage rope 400 is led out from the groove pulley 134 on the left side of the rotating module 130 located in the middle, passes through the receiving groove 137 of the rotating module 130 located at the lower part, and then cooperates with the adjusting knob 133 on the right side of the rotating module 130 located at the lower part. In this way, the linkage rope 400 can be always in a taut state, thereby ensuring that the rotating module 130 can rotate stably.

[0046] In some optional embodiments, the first end portion 110 is provided with a first groove that cooperates with the slider 135, and the slider 135 can slide relative to the first groove. According to the foregoing, in the actual working process, the first end portion 110 serves as a rotation reference for the plurality of rotating modules 130, and the first groove provided on the first end portion 110 can limit and guide the rotation direction of the rotating body 131, thereby ensuring that in the actual working process, the rotating bodies 131 of the plurality of rotating modules 130 can rotate in sequence.

[0047] In some optional embodiments, the second end portion 120 is provided with a second groove 121 that cooperates with the slider 135, and the slider 135 is fixed relative to the second groove 121. As described above, the second end portion 120 is used as a mounting member for the fixed module 300, and the slider 135 is fixed relative to the second groove 121 to ensure that the second end portion 120 is stably connected to the rotating body 131 at the end, and there is no relative rotation between the two, so that the fixed module 300 can stably rotate under the drive of the continuum 100.

[0048] In some optional embodiments, the contact surface between the rotating body 131 and the user's arm is an arc-shaped surface. It is understandable that when the first end 110 and the second end 120 are fixed to the user's arm, since the contact surface between the rotating body 131 and the user's arm is an arc-shaped surface, it is conducive to improving wearing comfort. In order to further improve comfort, a flexible material layer can be provided on the contact surface between the rotating body 131 and the user's arm.

[0049] In some embodiments, reference Figure 1 As shown, the first end portion 110 is provided with a first strap 500, and the first strap 500 is used to connect with the user's arm. It is understandable that the first strap 500 is used to connect the hand fixing member 320 and the user's arm. While being convenient to wear, the user can adjust the strap according to the thickness of the arm, which is conducive to improving the wearing comfort. Optionally, the surface of the first end portion 110 that contacts the user's arm is an arc surface, so that the first end portion 110 fits the user's arm more closely, thereby further improving the wearing comfort. In order to further improve the comfort, a flexible material layer can be provided on the surface of the first end portion 110 that contacts the user's arm.

[0050] In some embodiments, reference Figure 1 and Figure 7 As shown, the second end portion 120 is provided with a second strap 600, and the second strap 600 is used to connect with the user's arm. It is understandable that the second strap 600 is used to connect the hand fixing member 320 and the user's arm. While being convenient to wear, the user can adjust the strap according to the thickness of the arm, which is conducive to improving the wearing comfort. Optionally, the surface of the second end portion 120 that contacts the user's arm is an arc surface, so that the second end portion 120 fits the user's arm more closely, thereby further improving the wearing comfort. In order to further improve the comfort, a flexible material layer can be provided on the surface of the second end portion 120 that contacts the user's arm.

[0051] In some embodiments, reference Figure 7As shown, the driving member 310 is a steering gear, and the power module 200 also includes a fixed bracket 330 and a steering gear bracket 340. The fixed bracket 330 is connected to the second end 120 and is used to install the driving member 310. The steering gear bracket 340 is used to support the driving member 310 and is connected to the hand fixing member 320. Thus, it can be ensured that the power module 200 can be stably maintained on the second end 120, and it can be ensured that the steering gear can stably drive the hand fixing member 320 to be connected, so as to achieve the auxiliary support effect when the user's hand rotates. It should be supplemented that, in the embodiment of the present invention, the connection method of the fixed bracket 330 and the second end 120 can be directly welded, or it can be connected by a connecting member such as a screw, and the connection method of the fixed bracket 330 and the second end 120 can be selected according to actual needs. The connection method of the steering gear bracket 340 and the driving member 310 can be connected by a connecting member such as a screw, and the connection method of the steering gear bracket 340 and the driving member 310 can be selected according to actual needs. The connection method between the servo bracket 340 and the hand fixing member 320 can be connected by connecting parts such as screws, and the connection method between the servo bracket 340 and the hand fixing member 320 can be selected according to actual needs.

[0052] In some embodiments, reference Figure 7 As shown, the hand fixing member 320 is provided with a third strap 700, and the third strap 700 is used to connect with the user's hand. It can be understood that the third strap 700 is used to connect the hand fixing member 320 and the user's hand. While being convenient to wear, the user can adjust the strap according to the size of the palm, which is conducive to improving the wearing comfort. Optionally, the surface of the hand fixing member 320 that contacts the back of the user's hand is an arc surface, so that the hand fixing member 320 fits the back of the user's hand more closely, thereby further improving the wearing comfort. In order to further improve the comfort, a flexible material layer can be provided on the surface of the hand fixing member 320 that contacts the back of the user's hand.

[0053] In some embodiments, each rotation module 130 is further provided with an angle sensor (not shown) and a force sensor (not shown). The angle sensor can measure the rotation angle of each rotation module 130 during the actual working process, and the force sensor can measure the magnitude of the force exerted by the rotation module 130 on the user's arm, thereby achieving real-time monitoring and feedback of the user's motion state and improving the level of intelligence.

[0054] The advantages of the wearable continuum robot provided by the present invention are as follows:

[0055] First, lightweight design: The drive rope 230 and the linkage rope 400 are used to form a linear drive system. The transmission method of the linear drive system and the flexible transmission medium can greatly reduce the weight of the device and improve the wearing comfort, so that patients can easily wear the device for rehabilitation training and auxiliary operations in daily life.

[0056] Second, high flexibility: the structure in which multiple rotating modules 130 are pushed step by step can provide stable assistance while allowing a wider range of rotation, thereby achieving naturalness and smoothness of forearm rotation.

[0057] Third, high coupling of human body movement: multiple rotation modules 130 promote rotation step by step, and different parts of the arm rotate at different angles, accurately simulating the original movement pattern of the human body, making the movement trajectory more in line with the rotation pattern of the forearm, avoiding the movement path limitation of the traditional mechanical system, making the patient more natural and comfortable when performing rotational movement, in line with ergonomic principles.

[0058] Fourth, adaptive assistance reduces the risk of sports injuries: Through the wire drive system technology, the tension threshold of the linkage rope 400 can be adjusted in real time according to the patient's movement status, gradually transitioning to higher-intensity rehabilitation training to avoid excessive external force from damaging the patient's fragile joints, thereby reducing the risk of secondary injuries.

[0059] Fifth, convenient maintenance and upgrade: The modular design of the continuum 100 makes the maintenance and upgrade of the equipment more convenient. When a module fails or needs to be replaced, it can be replaced or adjusted individually without replacing the entire continuum 100, reducing maintenance costs.

[0060] In the description of this specification, the description with reference to the terms "some embodiments", "other embodiments", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0061] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. For those skilled in the art, various obvious changes, readjustments and substitutions can be made without departing from the protection scope of the present invention. It is not necessary and impossible to list all the embodiments here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A wearable continuum robot for assisting wrist joint movement, characterized in that: include: A continuum (100), the continuum (100) comprising a first end (110), a second end (120), and a plurality of rotation modules (130) located between the first end (110) and the second end (120) and connected in sequence and rotatably, two adjacent rotation modules (130) can rotate relative to each other, the plurality of rotation modules (130) are connected in sequence via a linkage rope (400), and the first end (110) and the second end (120) are respectively connected to two ends of a user's forearm; a power module (200), the power module (200) being mounted on the first end (110) of the continuum (100), the power module (200) being used to drive the rotation module (130) adjacent to the first end (110) to rotate, so that the linkage rope (400) can sequentially drive the remaining rotation modules (130) to rotate; A fixing module (300), wherein the fixing module (300) is installed at the second end portion (120) of the continuum (100), and the fixing module (300) comprises a driving member (310) and a hand fixing member (320), wherein the hand fixing member (320) is used to be connected to a user's hand, and the driving member (310) is used to drive the hand fixing member (320) to rotate, so as to assist the user's hand in rotating.

2. The wearable continuum robot for assisting wrist joint movement according to claim 1, characterized in that: The power module (200) comprises: A driving source (210), the driving source (210) being arranged in pairs on the first end portion (110); Wire wheels (220), the wire wheels (220) being arranged in pairs on the first end portion (110) and being arranged in one-to-one correspondence with the two driving sources (210); The rotating module (130) adjacent to the first end (110) is connected to a driving rope (230) led out from the wire wheel (220), so that when the driving source (210) drives the wire wheel (220) to rotate, the rotating module (130) adjacent to the first end (110) can rotate.

3. The wearable continuum robot for assisting wrist joint movement according to claim 2, characterized in that: Each of the rotation modules (130) comprises: Rotating the main body (131); Fixing pins (132), the fixing pins (132) are arranged in pairs; An adjusting knob (133), wherein the adjusting knobs (133) are arranged in pairs, and the two adjusting knobs (133) arranged in pairs are located outside the fixing pin (132); Grooved pulleys (134), the grooved pulleys (134) are arranged in pairs, and the two grooved pulleys (134) arranged in pairs are located outside the adjusting knob (133); wherein: The rotating module (130) adjacent to the first end (110) is provided with a driving pin (138) connected to the driving rope (230); among the three adjacent rotating modules (130): A linkage rope (400) is sequentially matched with the fixing pin (132) on the left side of the upper rotating module (130), the groove pulley (134) on the right side of the middle rotating module (130), and the adjusting knob (133) on the left side of the lower rotating module (130); The other linkage rope (400) cooperates in sequence with the fixing pin (132) on the right side of the upper rotating module (130), the groove pulley (134) on the left side of the middle rotating module (130), and the adjusting knob (133) on the right side of the lower rotating module (130).

4. The wearable continuum robot for assisting wrist joint movement according to claim 3, characterized in that: The rotating body (131) is provided with a sliding groove (136) extending along its circumference, and the rotating body (131) is also provided with a sliding block (135). Among the two adjacent rotating bodies (131), the sliding block (135) of one rotating body (131) is in the sliding groove (136) of the other rotating body (131).

5. The wearable continuum robot for assisting wrist joint movement according to claim 4, characterized in that: The first end portion (110) is provided with a first groove cooperating with the slider (135), and the slider (135) is slidable relative to the first groove. The second end portion (120) is provided with a second groove (121) cooperating with the slider (135), and the slider (135) is fixed relative to the second groove (121).

6. The wearable continuum robot for assisting wrist joint movement according to claim 3, characterized in that: The contact surface between the rotating body (131) and the user's arm is an arc-shaped surface.

7. The wearable continuum robot for assisting wrist joint movement according to any one of claims 1 to 6, characterized in that: A first strap (500) is provided on the first end (110), and a second strap (600) is provided on the second end (120); the first strap (500) and the second strap (600) are both used to be connected to the user's arm.

8. The wearable continuum robot for assisting wrist joint movement according to any one of claims 1 to 6, characterized in that: The driving member (310) is a steering gear, and the power module (200) further comprises: a fixed bracket (330), the fixed bracket (330) being connected to the second end portion (120) and being used for mounting the driving member (310); A steering gear bracket (340), the steering gear bracket (340) is used to support the driving component (310) and is connected to the hand fixing component (320).

9. The wearable continuum robot for assisting wrist joint movement according to any one of claims 1 to 6, characterized in that: The hand fixing member (320) is provided with a third binding strap (700), and the third binding strap (700) is used to be connected to the user's hand.

10. The wearable continuum robot for assisting wrist joint movement according to any one of claims 1 to 6, characterized in that: Each of the rotating modules (130) is also provided with an angle sensor and a force sensor.

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