A wearable continuum robot for wrist joint movement assistance

Abstract

This invention belongs to the field of rehabilitation therapy technology and discloses a wearable continuum robot for assisting wrist joint movement. The wearable continuum robot includes a continuum, a power module, and a fixing module. The continuum includes a first end, a second end, and multiple sequentially rotatably connected rotating modules located between the first and second ends. Adjacent rotating modules can rotate relative to each other. Multiple rotating modules are sequentially connected by linkage ropes. The power module drives the rotating module adjacent to the first end to rotate, so that the linkage ropes can sequentially drive the remaining rotating modules to rotate. The fixing module assists the user's hand rotation. This wearable continuum robot solves the problems of bulkiness, inflexibility, and poor adaptability commonly found in existing devices, providing an efficient and comfortable rehabilitation and assistive solution for patients with limited forearm radioulnar joint function.

Description

Technical Field

[0001] This invention relates to the field of rehabilitation therapy technology, and in particular to a wearable continuum robot for assisting wrist joint movement. Background Technology

[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. Relying solely on the assistance of rehabilitation therapists is insufficient in terms of recovery efficiency. Upper limb robotic assistive devices have broad application prospects in motor function compensation, rehabilitation exercise assistance, and enhancing human strength. In particular, the relative rotational function of the proximal and distal radioulnar joints of the forearm is crucial for performing fine motor skills in daily life, such as enabling the hand to perform actions like flipping and grasping, rotating the palm, and carrying rotating objects.

[0003] Rotation of the radioulnar joint of the forearm includes pronation (rotation with the palm facing down) and supination (rotation with the palm facing up) movements of the forearm, which depend 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 prolonged inactivity, many patients have limited forearm rotation ability, affecting their ability to perform daily activities independently.

[0004] Existing forearm assistive devices suffer from a series of significant shortcomings in the areas of motor function compensation and rehabilitation aids. These shortcomings severely impact patients' ability to reproduce motor function and their quality of life. Specifically, traditional devices often employ rigid mechanical structures or heavy-duty electric devices, making them bulky and inconvenient to carry, increasing fatigue during prolonged wear, and hindering patients' ability to use them consistently in daily life. Furthermore, these devices are often fixed in structure and lack flexibility, making it difficult to adapt to the complex radioulnar joint movements of the forearm, particularly exhibiting significant inflexibility in pronation and supination. As a result, the assisted movements of these devices often fail to coordinate with the body's natural movement patterns, leading to discomfort and even potential secondary injury risks during human-machine collaborative movements. Summary of the Invention

[0005] The purpose of this invention is to provide a wearable continuum robot for wrist joint movement assistance. This wearable continuum robot solves the problems of bulkiness, inflexibility and poor adaptability that are common in existing devices, and provides an efficient and comfortable rehabilitation and assistance solution for patients with limited forearm radioulnar joint function.

[0006] To achieve this objective, the present invention adopts the following technical solution:

[0007] This invention discloses a wearable continuum robot for assisting wrist joint movement, comprising: a continuum including a first end, a second end, and a plurality of sequentially rotatably connected rotating modules located between the first end and the second end, wherein adjacent rotating modules can rotate relative to each other, and the plurality of rotating modules are sequentially connected by a linkage rope, and the first end and the second end are respectively connected to the two ends of the user's forearm; a power module installed at the first end of the continuum, the power module being used to drive the rotating modules adjacent to the first end to rotate, so that the linkage rope can sequentially drive the remaining rotating modules to rotate; and a fixing module installed at the second end of the continuum, the fixing module including a driving component and a hand fixing component, the hand fixing component being used to connect to the user's hand, and the driving component being used to drive the hand fixing component to rotate, thereby assisting the user's hand rotation.

[0008] In some embodiments, the power module includes: a drive source, the drive sources being arranged in pairs on the first end; a spool, the spools being arranged in pairs on the first end and corresponding one-to-one with the two drive sources; and a rotating module adjacent to the first end being connected to a drive rope extending from the spool, so that when the drive source drives the spool 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 fixing pin, the fixing pins being arranged in pairs; an adjusting knob, the adjusting knobs being arranged in pairs, and the two adjusting knobs in the pair being located outside the fixing pin; and a grooved pulley, the grooved pulleys being arranged in pairs, and the two grooved pulleys in the pair being located outside the adjusting knob; wherein: the rotating module adjacent to the first end is provided with a driving pin connected to the driving rope; in the three adjacent rotating modules: one linkage rope sequentially engages with the fixing pin on the left side of the upper rotating module, the grooved pulley on the right side of the middle rotating module, and the adjusting knob on the left side of the lower rotating module; another linkage rope sequentially engages with the fixing pin on the right side of the upper rotating module, the grooved pulley on the left side of the middle rotating module, and the adjusting knob on the right side of the lower rotating module.

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

[0011] In some alternative embodiments, the first end has a first groove that cooperates with the slider, and the slider is slidable relative to the first groove; the second end has a second groove that cooperates with the slider, and the slider is fixed relative to the second groove.

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

[0013] In some embodiments, the first end is provided with a first strap and the second end is provided with a second strap, both the first strap and the second strap being used to connect to the user's arm.

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

[0015] In some embodiments, the hand fastener is provided with a third strap for connecting to the user's hand.

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

[0017] The beneficial effects of the wearable continuum robot for wrist joint movement assistance of this invention are as follows: Because multiple rotating modules are sequentially connected by linkage ropes, the continuum uses a line-driven method to achieve sequential rotation of these modules. This significantly reduces the weight of the device, improving wearing comfort and allowing patients to easily wear the device for rehabilitation training and assisted operations in daily life. Furthermore, it allows different parts of the arm to rotate at different angles, accurately simulating the body's natural movement patterns. This makes the movement trajectory more closely match the forearm's rotation pattern, avoiding the movement path limitations of traditional mechanical systems. This makes rotational movements more natural and comfortable for patients, conforming to ergonomic principles. It also reduces mechanical constraints on the patient's forearm, improves wearing comfort, and lowers the risk of muscle fatigue during prolonged use. In addition, the modular design of the continuum makes maintenance and upgrades more convenient. When a module malfunctions or needs replacement, it can be replaced or adjusted individually without replacing the entire continuum, reducing maintenance costs.

[0018] Beneficial effects of the invention: Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

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

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

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

[0022] Figure 4 This is a schematic diagram of the cooperative structure of three adjacent rotating modules in an embodiment of the present invention;

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

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

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

[0026] Figure label:

[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. Grooved pulley; 135. Slider; 136. Sliding groove; 137. Receiving groove; 138. Drive pin;

[0028] 200. Power module; 210. Drive source; 220. Reel; 230. Drive rope;

[0029] 300. Fixed module; 310. Drive component; 320. Hand fixing component; 330. Fixed bracket; 340. Servo bracket;

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

[0031] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, and not all of the structures.

[0032] In the description of this invention, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" 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. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0033] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0034] In the description of this embodiment, the terms "upper," "lower," "right," etc., refer to the orientation or positional relationship shown in the accompanying drawings. They are used only for ease of description and simplification of operation, and do not 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 the present invention. In addition, the terms "first" and "second" are used only for distinction in description and have no special meaning.

[0035] This invention discloses a wearable continuum robot for wrist joint movement assistance (hereinafter referred to as the wearable continuum robot for ease of description), see reference. 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 rotating modules 130 located between the first end 110 and the second end 120 and rotatably connected in sequence. Adjacent rotating modules 130 can rotate relative to each other. The plurality of rotating modules 130 constitute the continuum 100. The plurality of rotating modules 130 are connected in sequence by 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 continuous body 100. The power module 200 is used to drive 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 sequence. The fixing module 300 is installed at the second end 120 of the continuous body 100. The fixing module 300 includes a driving member 310 and a hand fixing member 320. The hand fixing member 320 is used to connect with the user's hand. The driving member 310 is used to drive the hand fixing member 320 to rotate, so as to assist the user's hand rotation. Understandably, in actual operation, when a user puts the wearable continuous robot on their arm, since the first end 110 and the second end 120 are respectively connected to the two ends of the user's forearm, and the hand fixing component 320 is used to connect to the user's hand, the entire device can be stably held on the user's arm. When the power module 200 drives the rotation module 130 adjacent to the first end 110 to rotate, so that the linkage rope 400 can drive the other rotation modules 130 to rotate in sequence, the drive component 310 of the fixing module 300 can drive the hand fixing component 320 to rotate, so as to assist the user's hand rotation. Multiple rotating modules 130 are connected sequentially via linkage ropes 400. The continuous body 100 uses a line-driven method to achieve the sequential rotation of multiple rotating modules 130. On the one hand, this greatly reduces the weight of the device and improves wearing comfort, allowing patients to easily wear the device for rehabilitation training and assisted operation in daily life. On the other hand, it allows different parts of the arm to rotate at different angles, accurately simulating the body's original movement patterns. This makes the movement trajectory more closely match the rotation pattern of the forearm, avoiding the movement path limitations of traditional mechanical systems. This makes rotational movements more natural and comfortable for patients, conforming to ergonomic principles. It also reduces mechanical constraints on the patient's forearm, improves wearing comfort, and reduces the risk of muscle fatigue during prolonged use. In addition, the modular design of the continuous body 100 makes the maintenance and upgrade of the device more convenient. When a module malfunctions or needs to be replaced, it can be replaced or adjusted individually without replacing the entire continuous body 100, reducing maintenance costs.

[0036] Optionally, the linkage rope 400 can be made of nylon rope, or it can be replaced with other types of flexible transmission materials, such as steel wire rope or transmission belt, to improve durability and adaptability to different usage environments.

[0037] In some embodiments, reference Figure 2 and Figure 6 As shown, the power module 200 includes a drive source 210 and a reel 220. The drive sources 210 are arranged in pairs on the first end 110, and the reels 220 are arranged in pairs on the first end 110, corresponding one-to-one with the two drive sources 210. The rotating module 130 adjacent to the first end 110 is connected to the drive rope 230 led out from the reel 220, so that when the drive source 210 drives the reel 220 to rotate, the rotating module 130 adjacent to the first end 110 can rotate. Understandably, the drive source 210 can be selected from motors or rotary cylinders according to actual needs. In actual operation, the drive source 210 drives the spool 220 to rotate, which enables the drive rope 230 to be wound or unwound. 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 winding or unwinding of the drive rope 230, thereby driving the subsequent rotating modules 130 to rotate in sequence. The power module 200 uses a line drive to realize the rotation of the first rotating module 130, which can greatly reduce the weight of the device and improve wearing comfort, so that patients can easily wear the device for rehabilitation training and assisted operation in daily life.

[0038] Optionally, the rotating module 130 adjacent to the first end 110 is provided with a drive pin 138 connected to the drive rope 230. It can be understood that by connecting the drive pin 138 to the drive rope 230, it is convenient to realize that when the spool 220 rotates, the drive rope 230 drives the rotating module 130 adjacent to the first end 110 to rotate, thus ensuring the rotational stability of the continuum 100.

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

[0040] It should be added that the power module 200 can also be driven by other structures such as electric push rods or cylinders to rotate the rotary module 130 connected to the first end 110, thereby adapting to a wider range of power assistance needs.

[0041] In some specific embodiments, reference is made to Figures 3-5As shown, each rotating module 130 includes a rotating body 131, a fixing pin 132, an adjusting knob 133, and a grooved 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 outside the fixing pins 132. The grooved pulleys 134 are arranged in pairs, and the two grooved pulleys 134 arranged in pairs are located outside the adjusting knobs 133. Of the three adjacent rotating modules 130: one linkage rope 400 is sequentially engaged with the fixing pin 132 on the left side of the upper rotating module 130, the grooved 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; another linkage rope 400 is sequentially engaged with the fixing pin 132 on the right side of the upper rotating module 130, the grooved 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.

[0042] Understandably, during actual movement, with the upper rotating module 130 as the reference position, when the middle rotating module 130 is deflected to one side by an external force, the grooved pulley 134 will push the linkage rope 400 that passes over it forward. Since the length of the linkage rope 400 is fixed, when the grooved pulley 134 applies force to the linkage rope 400, the tension of the linkage rope 400 will pull the lower rotating module 130 to rotate relative to the middle rotating module 130. Therefore, when the middle rotating module 130 deflects relative to the upper rotating module 130, the lower rotating module 130 will also deflect relative to the middle rotating module 130. Based on the principle described above, when the lower rotating module 130 deflects relative to the middle rotating module 130, the next section of the lower rotating module 130 will also deflect relative to the lower rotating module 130. This process continues, causing each rotating module 130 to rotate a certain angle relative to the previous rotating module 130. With the first end 110 fixed, when the rotating module 130 adjacent to the first end 110 deflects a certain angle under the drive of the power module 200, all the remaining rotating modules 130 will rotate sequentially. The offset of the second end 120 is the cumulative offset of each module relative to the previous level.

[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 the initial fixation reference. The drive rope 230 connected to the power module 200 is connected to the rotating module 130 adjacent to the first end 110 (as the aforementioned upper section rotating module 130). According to the structural motion principle described above, when the power module 200 pulls the rotating module 130, each rotating module 130 in the overall structure will be offset by a certain angle relative to the upper section slider 135. The fixing module 300 connected to the wrist is connected to the second end 120 at the end of the multiple rotating modules 130. The rotation amount of the entire arm driving the hand to rotate is the accumulation of the rotation amount of each rotating module 130. In this way, different parts of the arm can 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 traditional mechanical systems, making the patient more natural and comfortable when performing rotational movements, which is in line with the principles of ergonomics.

[0044] In some alternative embodiments, reference is made to Figure 3 As shown, the rotating body 131 is provided with a sliding groove 136 extending circumferentially thereon, and a slider 135 is also provided on the rotating body 131. In two adjacent rotating bodies 131, the slider 135 of one rotating body 131 is engaged with 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 restrict and guide the rotation direction of the rotating body 131, thereby ensuring that the rotating bodies 131 of multiple rotating modules 130 can rotate sequentially during actual operation.

[0045] In some alternative embodiments, reference is made to Figure 3 As shown, the rotating body 131 is also provided with a receiving groove 137. The linkage rope 400 is led out from the grooved 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 in the lower part, and then cooperates with the adjustment knob 133 on the right side of the rotating module 130 located in the lower part. In this way, the linkage rope 400 can always be kept in a taut state, thereby ensuring that the rotating module 130 can rotate stably.

[0046] In some optional embodiments, the first end 110 is provided with a first groove that cooperates with the slider 135, and the slider 135 is slidable relative to the first groove. As described above, in actual operation, the first end 110 serves as the rotation reference for the multiple rotating modules 130. The first groove on the first end 110 can restrict 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 sequentially during actual operation.

[0047] In some optional embodiments, the second end portion 120 is provided with a second groove 121 that mates with the slider 135, and the slider 135 is fixed relative to the second groove 121. As described above, the second end portion 120 serves as a mounting component for the fixing module 300, and the fixing of the slider 135 relative to the second groove 121 ensures a stable connection between the second end portion 120 and the rotating body 131 at the end, preventing relative rotation between them, thereby allowing the fixing module 300 to rotate stably under the drive of the continuous body 100.

[0048] In some optional embodiments, the contact surface between the rotating body 131 and the user's arm is curved. It is understood that when the first end 110 and the second end 120 are fixed to the user's arm, the curved contact surface between the rotating body 131 and the user's arm improves wearing comfort. To further enhance 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, a first strap 500 is provided on the first end 110, which is used to connect to the user's arm. It is understood that using the first strap 500 to connect the hand fixation member 320 to the user's arm facilitates wearing and allows the user to adjust the strap according to the arm's thickness, thereby improving wearing comfort. Optionally, the surface of the first end 110 that contacts the user's arm is a curved surface, allowing the first end 110 to fit the user's arm more closely, further improving wearing comfort. To further enhance comfort, a flexible material layer can be provided on the surface of the first end 110 that contacts the user's arm.

[0050] In some embodiments, reference Figure 1 and Figure 7 As shown, a second strap 600 is provided on the second end 120, which is used to connect to the user's arm. It can be understood that using the second strap 600 to connect the hand fixation member 320 to the user's arm facilitates wearing and allows the user to adjust the strap according to the arm's thickness, thereby improving wearing comfort. Optionally, the surface of the second end 120 that contacts the user's arm is a curved surface, allowing the second end 120 to fit the user's arm more closely, further improving wearing comfort. To further enhance comfort, a flexible material layer can be provided on the surface of the second end 120 that contacts the user's arm.

[0051] In some embodiments, reference Figure 7As shown, the drive component 310 is a servo motor. The power module 200 also includes a fixed bracket 330 and a servo motor bracket 340. The fixed bracket 330 is connected to the second end 120 and is used to mount the drive component 310. The servo motor bracket 340 supports the drive component 310 and is connected to the hand fixing component 320. This ensures that the power module 200 can be stably held on the second end 120 and that the servo motor can stably drive the hand fixing component 320, thus providing auxiliary support for the user's hand rotation. It should be noted that in the embodiments of the present invention, the connection between the fixed bracket 330 and the second end 120 can be direct welding or connection via screws or other connecting parts. The connection method between the fixed bracket 330 and the second end 120 can be selected according to actual needs. The connection method between the servo motor bracket 340 and the drive component 310 can be connection via screws or other connecting parts. The connection method between the servo motor bracket 340 and the drive component 310 can be selected according to actual needs. The servo bracket 340 and the hand fixing part 320 can be connected by screws or other connecting parts. The connection method between the servo bracket 340 and the hand fixing part 320 can be selected according to actual needs.

[0052] In some embodiments, reference Figure 7 As shown, the hand fastener 320 is equipped with a third strap 700 for connecting to the user's hand. It is understood that using the third strap 700 to connect the hand fastener 320 to the user's hand facilitates wearing and allows the user to adjust the strap according to hand size, thereby improving wearing comfort. Optionally, the surface of the hand fastener 320 that contacts the back of the user's hand is curved, allowing the hand fastener 320 to fit more closely to the back of the user's hand, further enhancing wearing comfort. To further improve comfort, a flexible material layer can be provided on the surface of the hand fastener 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 actual operation, and the force sensor can measure the magnitude of the force exerted by the rotation module 130 on the user's arm, thereby realizing real-time monitoring and feedback of the user's movement status and improving the level of intelligence.

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

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

[0056] Secondly, high flexibility: The structure of multiple rotating modules 130 degrees in a step-by-step manner can provide stable assistance while allowing a wider range of rotation, thereby achieving naturalness and smoothness in forearm rotation.

[0057] Third, the high coupling of human movement: multiple rotating modules drive the rotation in stages, with different rotation angles for different parts of the arm, 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 limitations of traditional mechanical systems, making patients more natural and comfortable when performing rotational movements, which is in line with the principles of ergonomics.

[0058] Fourth, adaptive assistance reduces the risk of sports injuries: Through the line 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, avoiding excessive external force to damage the patient's fragile joints, thereby reducing the risk of secondary injury.

[0059] Fifth, convenient maintenance and upgrades: The modular design of the Continuum 100 makes the maintenance and upgrades 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, thus reducing maintenance costs.

[0060] In the description of this specification, references to terms such as "some embodiments," "other embodiments," 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 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.

[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 implementation of the present invention. Those skilled in the art will be able to make various obvious changes, readjustments, and substitutions without departing from the scope of protection of the present invention. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection 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) includes a first end (110), a second end (120), and a plurality of rotating modules (130) rotatably connected in sequence between the first end (110) and the second end (120). Two adjacent rotating modules (130) can rotate relative to each other. The plurality of rotating modules (130) are connected in sequence by 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. A power module (200) is installed at the first end (110) of the continuum (100). The power module (200) is used to drive 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 sequence. A fixing module (300) is installed at the second end (120) of the continuum (100). The fixing module (300) includes a driving member (310) and a hand fixing member (320). The hand fixing member (320) is used to connect with 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.

2. The wearable continuum robot for wrist joint movement assistance according to claim 1, characterized in that, The power module (200) includes: A driving source (210) is provided in pairs on the first end (110); A spool (220) is provided in pairs on the first end (110) and is provided in one-to-one correspondence with the two drive sources (210); The rotating module (130) adjacent to the first end (110) is connected to the drive rope (230) leading out from the spool (220) so that when the drive source (210) drives the spool (220) to rotate, the rotating module (130) adjacent to the first end (110) can rotate.

3. The wearable continuum robot for wrist joint movement assistance according to claim 2, characterized in that, Each of the said rotating modules (130) includes: Rotating main body (131); Fixing pins (132), said fixing pins (132) are provided in pairs; Adjustment knobs (133) are arranged in pairs, and the two adjustment 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 drive pin (138) connected to the drive rope (230); among the three adjacent rotating modules (130): One of the linkage ropes (400) is sequentially engaged with the fixing pin (132) on the left side of the upper rotating module (130), the grooved 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) is sequentially engaged with the fixing pin (132) on the right side of the upper rotating module (130), the grooved 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 wrist joint movement assistance 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 slider (135). In 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).

5. The wearable continuum robot for wrist joint movement assistance according to claim 4, characterized in that, The first end (110) is provided with a first groove that cooperates with the slider (135), and the slider (135) is slidable relative to the first groove. The second end (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).

6. The wearable continuum robot for wrist joint movement assistance 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 1-6, characterized in that, The first end (110) is provided with a first strap (500), and the second end (120) is provided with a second strap (600). Both the first strap (500) and the second strap (600) are used to connect to the user's arm.

8. The wearable continuum robot for wrist joint movement assistance according to any one of claims 1-6, characterized in that, The drive unit (310) is a servo motor, and the power module (200) further includes: A fixed bracket (330) is connected to the second end (120) and is used to mount the drive member (310); Servo bracket (340) is used to support the drive unit (310) and is connected to the hand fixing unit (320).

9. The wearable continuum robot for assisting wrist joint movement according to any one of claims 1-6, characterized in that, The hand fastener (320) is provided with a third strap (700) for connecting to the user's hand.

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

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