Modularized wearable upper limb exoskeleton

Abstract

The modularized wearable upper limb exoskeleton comprises a shoulder rest module attached to the shoulder and back of a human body, one end of the shoulder rest module is connected with a power control module, the other end of the shoulder rest module is connected with an upper arm exoskeleton module, the upper arm exoskeleton module is attached to the upper arm of a user, and the bottom of the upper arm exoskeleton module is connected with an elbow joint module; the elbow joint module is connected with the forearm exoskeleton module; the forearm exoskeleton module is attached to the forearm of the human body and can rotate with the elbow joint module as the center axis. The forearm exoskeleton module is connected with the hand exoskeleton module, and the hand exoskeleton module accommodates the hand of a user; and the lengths of the upper arm exoskeleton module and the front arm exoskeleton module are adjustable. The mechanical structures of the shoulders, the upper arms, the elbows, the forearms and the hands of the modular mechanical exoskeleton flexibly adapt to the sizes of different parts of the body of a patient; the light-weight mechanical exoskeleton is convenient for the patient to use and perform rehabilitation training in daily life.

Description

Technical Field

[0001] The present invention belongs to the technical field of rehabilitation equipment, and in particular relates to a modular wearable upper limb exoskeleton. Background Art

[0002] In recent years, with the development of medical technology, the mortality rate of stroke patients has dropped significantly, and most stroke survivors will experience motor dysfunction. 55% to 75% of stroke patients will have persistent motor dysfunction of the upper limbs and hands, which will lead to a decline in the quality of daily life. Active exoskeleton devices are expected to improve the patient's rehabilitation effect in the early stage (first 6 months) and enable patients to obtain maximum functional improvement and self-care ability. In the later stage, active exoskeletons can partially replace the patient's unrecoverable functions and further improve their self-care ability and quality of life.

[0003] In the prior art, the invention with publication number CN 115227550 B discloses a human-machine compatible and sparse seven-degree-of-freedom upper limb exoskeleton rehabilitation robot. The invention is based on the concept of human-machine compatibility. Through the combination of active joints and passive joints, the entire human-machine system is designed as a just-constrained system to ensure human-machine motion compatibility and achieve single-joint and multi-joint all-round rehabilitation training of the shoulder girdle, shoulder joint, elbow joint, forearm, and wrist joint. In order to adapt to different human body sizes, a shoulder height adjustment device, an upper arm length adjustment device, a forearm length adjustment device, a shoulder girdle lifting and lowering device, etc. are designed. However, the upper arm and forearm length adjustment mechanism is complex, with many parts, large size and heavy weight, and lacks a structure for hand rehabilitation training.

[0004] The invention with publication number CN118454202 B discloses an upper limb exoskeleton for rehabilitation training, which uses airbags to assist patients in gripping the handle, and drives the gears to mesh the arc-shaped gear row, so that the arc-shaped disc rack, the arc-shaped frame, and the airbags in the arc-shaped frame are adjusted in position, so that when the patient's hand is unable to grip the handle in a local area, the position of the airbags is adjusted to act on the hand area to ensure that the patient's hand area and grip the handle tightly. However, it lacks an effective adjustment mechanism, cannot adapt well to patients with different arm lengths, and lacks a structure for hand rehabilitation training.

[0005] The invention with publication number CN107374907 B discloses a wearable upper limb exoskeleton rehabilitation device, including a fixed back plate, a drive module, an elbow joint exoskeleton module, a joint mechanical hard limit device, a three-way adjustable adaptation module, a shoulder joint module, etc. It transmits torque to each joint capstan through a Bowden cable, and is used for coupled rehabilitation exercises between the upper arm and the exoskeleton, rehabilitation training of the elbow, and coupled rehabilitation exercises between the forearm and the exoskeleton. However, the three-way adjustable adaptation module adjusts the length of the exoskeleton to adapt to different human body sizes by adjusting the position of the set screw in the adjustment slot. Its adjustment requires the use of special tools, which is not convenient for patients with impaired upper limb ability, and lacks a structure for hand rehabilitation training. Summary of the invention

[0006] In view of the above problems, the present invention proposes a modular wearable upper limb exoskeleton. The design concept lies in the mechanical structure of the shoulder, upper arm, elbow, forearm and hand of the modular mechanical exoskeleton, which can flexibly adapt to the sizes of different parts of the patient's body and reduce redundant mechanical structures, so that the lightweight mechanical exoskeleton is convenient for patients to use in daily life and conduct rehabilitation training; the power control module and the exoskeleton module are separated on both shoulders to balance the weight on both shoulders.

[0007] A modular wearable upper limb exoskeleton comprises a shoulder support module 1 that fits the shoulder of a human body, and the shoulder on the side where the user's diseased arm is located is defined as the affected shoulder, and the shoulder on the side where the user's healthy arm is located is defined as the healthy shoulder; one of the left and right ends of the shoulder support module 1, the end located at the healthy shoulder, is connected to a power control module 2, and the other end located at the affected shoulder is connected to an upper arm exoskeleton module 3; the upper arm exoskeleton module 3 fits the user's upper arm, and the bottom of the upper arm exoskeleton module 3 is connected to an elbow joint module 4;

[0008] The elbow joint module 4 is connected to the forearm exoskeleton module 5; the forearm exoskeleton 5 module fits the human forearm and can rotate with the elbow joint module 4 as the central axis; the forearm exoskeleton module 5 is connected to the hand exoskeleton module 6, and the hand exoskeleton module 6 accommodates the user's hand; the lengths of the upper arm exoskeleton module 3, the forearm exoskeleton module 5 and the hand exoskeleton module 6 are adjustable.

[0009] More specifically, the shoulder support module 1 can be divided into a left shoulder support module 14 and a right shoulder support module 15 from the middle, and a shoulder width adjustment component 16 is connected between the left shoulder support module 14 and the right shoulder support module 15; the shoulder width adjustment component 16 is provided with a knob 161, and the distance between the left shoulder support module 14 and the right shoulder support module 15 can be changed by rotating the knob 161 to adapt to different shoulder widths;

[0010] The top of the shoulder support module 1 is provided with a shoulder support protrusion 19 which can be placed on the top of the left shoulder and the right shoulder of the human body respectively, and the top of the shoulder support protrusion 19 is provided with a shoulder strap magnetic buckle 192 and a shoulder support magnetic buckle 191; the top of the shoulder support protrusion 19 close to the affected shoulder is provided with a control box 17, and the top of the shoulder support protrusion 19 close to the healthy shoulder is provided with a control box reserved position 18; the shoulder strap magnetic buckle 192 is connected to the bottom of the shoulder support module 1 through the shoulder strap 11, forming a ring structure allowing the human arm to pass through;

[0011] The control box 17 can control the circuit, and the control box 17 is electrically connected to the power control module 2, the upper arm exoskeleton module 3, the elbow joint module 4, the forearm exoskeleton module 5 and the hand exoskeleton module 6 through the connecting line 7; the shoulder support magnetic buckle 191 located on the left side is connected to the power control module 2, and the shoulder support magnetic buckle 191 located on the right side is connected to the upper arm exoskeleton module 3;

[0012] The side of the shoulder straps 11 close to each other is connected with a chest strap 12; the chest strap 12 can be connected through a chest strap magnetic buckle 13, so that the shoulder support module 1 fits the human body.

[0013] More specifically, the control box 17 is provided with a mode key 171 , a power key 172 and a control indicator light 173 .

[0014] More specifically, the upper arm exoskeleton module 3 includes an arm support assembly 31 that can accommodate the right upper arm of a human body, and the arm support assembly 31 includes an arc-shaped arm support lining 311; the arm support lining 311 is connected to a detachable arm support strap 312, and the arm support lining 311 and the arm support strap 312 form a cylindrical structure that can accommodate the right upper arm of a human body;

[0015] The side of the arm support lining 311 close to the center of the cylindrical structure is defined as the inner side, and the side away from the center of the cylindrical structure is defined as the outer side; an upper arm support 313 and a lower arm support 314 are provided on the outer side of the arm support lining 311; the upper arm support 313 and the lower arm support 314 are sandwiched to form an arm support slide groove 316 surrounding the arm support lining 311; the upper arm support 313 and the lower arm support 314 are fixed by screws, and the arm support hinge 315 is connected and fixed to the upper arm support 313 and the lower arm support 314 by a pin shaft; the upper arm support 313 is connected to an arm support connecting belt 317, and the arm support connecting belt 317 is connected to the shoulder support magnetic buckle 191 on the shoulder support module 1 through the first quick release buckle 318 at its top;

[0016] An arm support base 32 that can slide along the arm support slide groove 316 is provided in the arm support slide groove 316, and the arm support base 32 is connected to a base 94 on an arm exoskeleton module 9 with adjustable length, and the elbow joint ring 933 of the arm exoskeleton module 9 is connected to the elbow joint module.

[0017] More specifically, the forearm exoskeleton module 5 includes a wrist support 51 and an arm exoskeleton module 9 with adjustable length;

[0018] The wrist support 51 can wrap around the user's forearm, and a wrist support soft rubber strap 53 is provided on the inner side of the wrist support 51; a wrist support limit groove 52 is provided on the outer side of the wrist support 51; a wrist support base 54 is embedded in the wrist support limit groove 52 through a limit convex ridge 55, and the wrist support base 54 can slide along the wrist support limit groove 52 to facilitate the user's wrist rotation; a wrist support quick release buckle 56 is provided on the wrist support 51 to prevent the wrist support base 54 from sliding out of the wrist support limit groove 52, and the wrist support quick release buckle 56 can realize the rapid assembly and disassembly of the wrist support 51 and the arm exoskeleton module 9; the wrist support 51 is connected to the hand exoskeleton module 6 through a rotatable hand adjustment component 61;

[0019] One end of the arm exoskeleton module 9 of the forearm skeletal module 5 is connected to the elbow joint module 4 via an elbow joint ring 933 , and the other end of the arm exoskeleton module 9 is connected to the wrist support base 54 via a base 94 .

[0020] More specifically, the hand exoskeleton module 6 includes a hand adjustment component 61, which is connected to a back-of-hand component 62, and the inner cavity of the back-of-hand component 62 can accommodate the palm; the back-of-hand component 62 is connected to a rotatable thumb component 63 on the side close to the thumb, and is connected to a four-finger component 64 on the side close to the other four fingers of the palm, and the length of the four-finger component 64 is adjustable; a hand drive component 65 with a built-in motor is provided on the top of the back-of-hand component 62, and the hand drive component 65 is connected to a connecting line 7; the hand drive component 65 can drive the four-finger component 64 to rotate, and the four-finger component 64 and the hand adjustment component 61 are retractable; a hand strap 66 is provided at the bottom of the back-of-hand component 62 for fixing.

[0021] More specifically, the arm exoskeleton module is composed of a base 94, a main beam 93, a middle shell 92 and an outer shell 91 from left to right; the outer shell 91 is fixedly connected to the main beam 93 by a shell mounting buckle 95 and screws, the middle shell 92 and the base 94 are fixedly connected by screws, and the main beam 93 can slide in the cavity between the middle shell 92 and the base 94; a groove 932 is provided at one end of the main beam 93, and an elbow joint ring 933 is provided at the other end of the main beam 93, and an arc-shaped elbow limiting groove 934 is provided on the elbow joint ring 933, and the elbow joint ring 933 is connected to the elbow joint module 4;

[0022] A wiring groove 938 for accommodating the connecting wire 7 is provided inside the main beam 93, and a plurality of adjustment grooves 935 are provided on the upper and lower sides of the main beam 93; a sliding limit groove 931 is provided on the main beam 93, and a sliding limit block 941 inserted into the sliding limit groove 931 is provided on the base 94, and the sliding limit block 941 can limit the sliding of the main beam 93;

[0023] A pin shaft 936 and an adjusting spring sheet 937 are provided on one side of the base 94 close to the main beam 93. An adjusting button 96 is sleeved on the pin shaft 936. One end of the adjusting button 96 is inserted into the adjusting groove 935 through the inner cavity notch 942 of the base 94, and the other end is in close contact with the compressible adjusting spring sheet 937. The hole position of the adjusting button 96 through which the pin shaft 936 is penetrated is an oblong hole 961.

[0024] The end of the adjusting button 96 that is inserted into the adjusting slot 935 is defined as the head, and the end of the adjusting button 96 that contacts the adjusting spring sheet 937 is defined as the tail; when the tail of the adjusting button 96 is pressed, the pin 936 in the oblong hole 961 deviates toward the head of the adjusting button, and the head of the adjusting button 96 pops out of the adjusting slot 935, so that the main beam 93 can slide relative to the base 94; when the tail of the adjusting button 96 is not pressed, the adjusting spring sheet 937 pops up, tilting the head of the adjusting button 96 to re-insert the adjusting slot 935, so that the main beam 93 is stationary relative to the base 94; the inner cavity notch 942 limits the sliding of the adjusting button 96 in the head direction and the tail direction, so that the pin 936 does not contact the inner wall of the oblong hole 961 near the tail;

[0025] An arm strap 97 is provided on the base 94, and a Type-C interface 8 is provided in the card slot.

[0026] More specifically, the elbow joint module 4 includes a motor 42, and the motor 42 is covered with a motor cover 41; the end of the rotating shaft 421 of the motor 42 is fixedly connected to the motor connecting plate 43, and the motor connecting plate 43 is connected to the elbow joint pad 44, and the elbow joint pad 44 fits the user's elbow;

[0027] The rotating shaft 421 of the motor 42 is sleeved with an elbow joint ring 933 on the main beam 93 of the arm exoskeleton module 9 respectively included in the upper arm exoskeleton module 3 and the forearm exoskeleton module 5; wherein the elbow joint ring 933 of the upper arm exoskeleton module 3 is fixedly connected to the motor housing 422 of the motor 42, and the elbow joint ring 933 of the forearm exoskeleton module 5 is fixedly connected to the motor connecting plate 43; an elbow limiting column 431 is provided on the motor connecting plate 43, and the elbow limiting column 431 passes through the elbow limiting groove 934 on the elbow joint rings 933 of the upper arm exoskeleton module 3 and the forearm exoskeleton module 5, limits the rotation angle of the two elbow joint rings 933, and protects the user's elbow.

[0028] More specifically, the motor cover 41 is provided with heat dissipation holes.

[0029] More specifically, the power control module 2 includes a battery circuit compartment 22, a battery circuit compartment cover 23 is provided on the top of the battery circuit compartment 22, a power connection belt 21 is connected to the top of the battery circuit compartment cover 23, and the power connection belt 21 is connected to the shoulder support magnetic buckle 191 of the shoulder support module 1 through a second quick-release buckle 211; the battery circuit compartment 22 includes a button panel 25, a battery 26 and a control main board 24; the button panel 25 is provided with a Type-C interface 8, and the surface of the battery circuit compartment 22 is provided with an indicator light 221 connecting the button panel 25 and the control main board 24, a power button 222 and a mode button 223; the battery circuit compartment 22 is provided with an upper arm pad 28 on the side close to the arm, and the front and rear sides of the battery circuit compartment 22 are connected with strap rings 224, and the strap ring 224 is connected to the upper arm strap 29.

[0030] More specifically, the arm support connecting belt 317 is provided with a wire clamping groove 27, and the connecting wire 7 can be embedded in the wire clamping groove 27.

[0031] More specifically, the power connection belt 21 is provided with a wire clamping groove 27 , in which the connecting wire 7 can be embedded.

[0032] More specifically, the power control module 2 can be connected to an external myoelectric bracelet or a first-level mobile phone via Bluetooth, and the operation of the exoskeleton can be controlled by the human electromyographic signals received by the myoelectric bracelet, or by a mobile phone APP and an external program.

[0033] The specific workflow of the present invention includes:

[0034] 1. The user fixes the shoulder support module 1 on the shoulder, fixes the power control module 2 on the healthy arm, and optionally fixes the upper arm exoskeleton module 3, elbow joint module 4, forearm exoskeleton module 5 and hand exoskeleton module 6 on the arm that needs rehabilitation training as needed;

[0035] 2. The user presses the adjustment button 96 on the arm exoskeleton module 9 with the healthy arm to slide the main beam 93 and adjust the length of the arm exoskeleton module 9;

[0036] 3. The power control module 2 is connected to an external myoelectric bracelet, and controls the elbow joint module 4 to rotate the forearm exoskeleton module 5 through the human electromyographic signals received by the myoelectric bracelet, and controls the hand drive component 65 of the hand exoskeleton module 6 to drive the four-finger component 64 through the human electromyographic signals received by the myoelectric bracelet, thereby controlling the patient's arm and hand movements for rehabilitation training.

[0037] The beneficial effects of the present invention are:

[0038] 1. Compared with the bracket exoskeleton rehabilitation robot, it greatly reduces the redundant mechanical structure, and the lightweight wearable design makes it easier for patients to use the mechanical exoskeleton without being restricted by the venue and to accurately control each joint.

[0039] 2. The various parts of the mechanical exoskeleton are modularized. When in use, each module can be combined or used independently according to needs. It is easy to disassemble and use, which greatly reduces the production cost. At the same time, the size of each modular part of the mechanical exoskeleton can be flexibly adjusted according to the needs of the user, suitable for most people, and low cost; the adjustment mechanism has a simple structure and light weight.

[0040] 3. The power control module and the robotic arm are separated on the user's shoulders, which reduces the burden on the affected shoulder and balances the weight on both shoulders.

[0041] 4. The overall control of the mechanical exoskeleton can be achieved by connecting the power control module 2 to an external myoelectric bracelet or mobile phone via Bluetooth. The exoskeleton operation can be controlled by the human electromyographic signals received by the myoelectric bracelet, or by mobile phone APP and external programs. The application method is relatively flexible. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 It is a structural diagram of a modular wearable upper limb exoskeleton of the present invention.

[0043] Figure 2 It is a structural diagram of the shoulder support module of the present invention.

[0044] Figure 3 It is a structural diagram of the power control module of the present invention.

[0045] Figure 4 It is the inner structural diagram of the power control module of the present invention.

[0046] Figure 5 is a structural diagram of the upper arm exoskeleton module of the present invention.

[0047] Figure 6 It is a structural diagram of the arm support assembly of the upper arm exoskeleton module of the present invention.

[0048] Figure 7 is a structural diagram of the forearm exoskeleton module of the present invention.

[0049] Figure 8 It is a structural diagram of the hand exoskeleton module of the present invention.

[0050] Fig. 9 Schematic diagram of the range of motion of components of the hand exoskeleton module of the present invention, wherein the dotted line represents the maximum range of motion of the components.

[0051] Fig.10 It is an exploded structural diagram of the base side of the arm exoskeleton module used by the upper arm exoskeleton module and forearm exoskeleton module of the present invention.

[0052] Fig.11It is an exploded structural diagram of the outer shell side of the arm exoskeleton module used by the upper arm exoskeleton module and forearm exoskeleton module of the present invention.

[0053] Fig.12 Schematic diagram of the sliding range of the main beam of the arm exoskeleton module of the present invention, wherein the dotted line represents the maximum sliding range of the main beam.

[0054] Fig.13 It is an exploded structural diagram of the elbow joint module of the present invention. DETAILED DESCRIPTION

[0055] The specific implementation of the embodiment of the present invention is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described here is only used to illustrate and explain the embodiment of the present invention, and is not used to limit the embodiment of the present invention.

[0056] In the description of the present invention, it is to be understood that the terms “center”, “longitudinal”, “lateral”, “length”, “width”, “thickness”, “up”, “down”, “front”, “back”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inside”, “outside”, “clockwise”, “counterclockwise”, “axial”, “radial”, “circumferential”, etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0057] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0058] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection, an electrical connection, or communication with each other; 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, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0059] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0060] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" 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 representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0061] The present invention will be described in detail below in conjunction with exemplary embodiments with reference to the accompanying drawings.

[0062] like Figure 1 As shown, a modular wearable upper limb exoskeleton comprises a shoulder support module 1 that fits the shoulder of a human body, the left end of the shoulder support module 1 is connected to a power control module 2; the right end of the shoulder support module 1 is connected to an upper arm exoskeleton module 3, and the positions of the power control module 2 and the upper arm exoskeleton module 3 can be adjusted according to the position changes of the healthy shoulder and the affected shoulder; the upper arm exoskeleton module 3 fits the upper arm of the user, and the bottom of the upper arm exoskeleton module 3 is connected to an elbow joint module 4;

[0063] The elbow joint module 4 is connected to the forearm exoskeleton module 5; the forearm exoskeleton 5 module fits the human forearm and can rotate with the elbow joint module 4 as the central axis; the forearm exoskeleton module 5 is connected to the hand exoskeleton module 6, and the hand exoskeleton module 6 accommodates the user's hand; the lengths of the upper arm exoskeleton module 3 and the forearm exoskeleton module 5 are adjustable.

[0064] In some embodiments, Figure 2 As shown, the shoulder support module 1 can be divided into a left shoulder support module 14 and a right shoulder support module 15 from the middle, and a shoulder width adjustment component 16 is connected between the left shoulder support module 14 and the right shoulder support module 15; the shoulder width adjustment component 16 is provided with a knob 161, and the distance between the left shoulder support module 14 and the right shoulder support module 15 can be changed by rotating the knob 161 to adapt to different shoulder widths;

[0065] A shoulder support protrusion 19 is provided on the top of the shoulder support module 1, which can be placed on the left shoulder and the right shoulder of the human body respectively. A shoulder strap magnetic buckle 192 and a shoulder support magnetic buckle 191 are provided on the top of the shoulder support protrusion 19; a control box 17 is provided on the top of the shoulder support protrusion 19 close to the affected shoulder, and a control box reserved position 18 is provided on the top of the shoulder support protrusion 19 close to the healthy shoulder; the shoulder strap magnetic buckle 192 is connected to the bottom of the shoulder support module 1 through the shoulder strap 11, forming a ring structure allowing the human arm to pass through;

[0066] The control box 17 can control the circuit, and the control box 17 is electrically connected to the power control module 2, the upper arm exoskeleton module 3, the elbow joint module 4, the forearm exoskeleton module 5 and the hand exoskeleton module 6 through the connecting line 7; the shoulder support magnetic buckle 191 located on the healthy shoulder is connected to the power control module 2, and the shoulder support magnetic buckle 191 located on the affected shoulder is connected to the upper arm exoskeleton module 3;

[0067] The side of the shoulder straps 11 close to each other is connected with a chest strap 12; the chest strap 12 can be connected through a chest strap magnetic buckle 13, so that the shoulder support module 1 fits the human body.

[0068] In some embodiments, the control box 17 is provided with a mode key 171 , a power key 172 and a control indicator light 173 .

[0069] In some embodiments, Figure 5-6 As shown, the upper arm exoskeleton module 3 includes an arm support assembly 31 that can accommodate the right upper arm of a human body, and the arm support assembly 31 includes an arc-shaped arm support lining 311; the arm support lining 311 is connected to a detachable arm support strap 312, and the arm support lining 311 and the arm support strap 312 form a cylindrical structure that can accommodate the right upper arm of a human body;

[0070] The side of the arm support lining 311 close to the center of the cylindrical structure is defined as the inner side, and the side away from the center of the cylindrical structure is defined as the outer side; an upper arm support 313 and a lower arm support 314 are provided on the outer side of the arm support lining 311; the upper arm support 313 and the lower arm support 314 are sandwiched to form an arm support slide groove 316 surrounding the arm support lining 311; the upper arm support 313 and the lower arm support 314 are fixed by screws, and the arm support hinge 315 is connected and fixed to the upper arm support 313 and the lower arm support 314 by a pin shaft; the upper arm support 313 is connected to an arm support connecting belt 317, and the arm support connecting belt 317 is connected to the shoulder support magnetic buckle 191 on the shoulder support module 1 through the first quick release buckle 318 at its top;

[0071] An arm support base 32 that can slide along the arm support slide groove 316 is provided in the arm support slide groove 316, and the arm support base 32 is connected to a base 94 on an arm exoskeleton module 9 with adjustable length, and the elbow joint ring 933 of the arm exoskeleton module 9 is connected to the elbow joint module.

[0072] In some embodiments, Figure 7As shown, the forearm exoskeleton module 5 includes a wrist support 51 and an arm exoskeleton module 9 with adjustable length;

[0073] The wrist support 51 can wrap around the user's forearm, and a wrist support soft rubber strap 53 is provided on the inner side of the wrist support 51; a wrist support limit groove 52 is provided on the outer side of the wrist support 51; a wrist support base 54 is embedded in the wrist support limit groove 52 through a limit convex ridge 55, and the wrist support base 54 can slide along the wrist support limit groove 52 to facilitate the user's hand rotation; a wrist support quick release buckle 56 is provided on the wrist support 51 to prevent the wrist support base 54 from sliding out of the wrist support limit groove 52, and the wrist support quick release buckle 56 can realize the quick release of the wrist support 51 and the arm exoskeleton module 9; the wrist support 51 is connected to the hand exoskeleton module 6 through a rotatable hand adjustment component 61;

[0074] One end of the arm exoskeleton module 9 of the forearm exoskeleton module 5 is connected to the elbow joint module 4 via the elbow joint ring 933 , and the other end of the arm exoskeleton module 9 is connected to the wrist support base 54 via the base 94 .

[0075] In some embodiments, Figure 8-9 As shown, the hand exoskeleton module 6 includes a hand adjustment component 61, which is connected to a back-of-hand component 62, and the inner cavity of the back-of-hand component 62 can accommodate the palm; a rotatable thumb component 63 is connected to the side of the back-of-hand component 62 close to the thumb, and a four-finger component 64 is connected to the side of the back-of-hand component 62 close to the other four fingers of the palm, and the length of the four-finger component 64 is adjustable; a hand driving component 65 with a built-in motor is provided on the top of the back-of-hand component 62, and the hand driving component 65 is connected to a connecting line 7; the hand driving component 65 can drive the four-finger component 64 to rotate, and push the four-finger component 64 and the hand adjustment component 61 to be retractable; Fig. 9 The dotted line portion in the figure shows the maximum rotation and extension range of the hand adjustment component 61, the thumb component 63 and the four-finger component 64; a hand strap 66 for fixing is provided at the bottom of the back of the hand component 62.

[0076] In some embodiments, Figure 10-12 As shown, the arm exoskeleton module is composed of a base 94, a main beam 93, a middle shell 92 and an outer shell 91 from left to right; the outer shell 91 is fixedly connected to the main beam 93 by a shell mounting buckle 95 and screws, the middle shell 92 and the base 94 are fixedly connected by screws, and the main beam 93 can slide in the cavity between the middle shell 92 and the base 94; a groove 932 is provided at one end of the main beam 93, and an elbow joint ring 933 is provided at the other end of the main beam 93, and an arc-shaped elbow limiting groove 934 is provided on the elbow joint ring 933, and the elbow joint ring 933 is connected to the elbow joint module 4;

[0077] The main beam 93 is provided with a wiring groove 938 for accommodating the connecting wire 7, and a plurality of adjustment grooves 935 are provided on the upper and lower sides of the main beam 93; the main beam 93 is provided with a sliding limit groove 931, and the base 94 is provided with a sliding limit block 941 inserted into the sliding limit groove 931, and the sliding limit block 941 can limit the sliding of the main beam 93; the maximum sliding range of the main beam 93 is as follows Fig.12 As shown;

[0078] A pin shaft 936 and an adjusting spring sheet 937 are provided on one side of the base 94 close to the main beam 93. An adjusting button 96 is sleeved on the pin shaft 936. One end of the adjusting button 96 is inserted into the adjusting groove 935 through the inner cavity notch 942 of the base 94, and the other end is in close contact with the compressible adjusting spring sheet 937. The hole position of the adjusting button 96 through which the pin shaft 936 is penetrated is an oblong hole 961.

[0079] The end of the adjusting button 96 that is inserted into the adjusting slot 935 is defined as the head, and the end of the adjusting button 96 that contacts the adjusting spring sheet 937 is defined as the tail; when the tail of the adjusting button 96 is pressed, the pin 936 in the oblong hole 961 deviates toward the head of the adjusting button, and the head of the adjusting button 96 pops out of the adjusting slot 935, and the main beam 93 can slide relative to the base 94; when the tail of the adjusting button 96 is not pressed, the adjusting spring sheet 937 pops up, and the head of the tilting adjusting button 96 is re-inserted into the adjusting slot 935, and the main beam 93 is stationary relative to the base 94; the inner cavity notch 942 limits the sliding of the adjusting button 96 in the head direction and the tail direction, so that the pin 936 does not contact the inner wall of the oblong hole 961 near the tail;

[0080] After the head of the adjustment button 96 is embedded in the adjustment groove 935, if the main beam 93 drives the adjustment button 96 to slide toward the head, the inner cavity notch 942 will limit the sliding distance of the adjustment button 96; when the adjustment button 96 slides to the limit distance toward the head, the pin 936 is still not in contact with the inner wall of the oblong hole 961. This structure prevents the adjustment button 96 from tilting its head with the pin 936 as a fulcrum and escaping from the adjustment groove; if the oblong hole is replaced with an ordinary round hole structure, the round hole and the pin 936 fit tightly, and the head of the adjustment button 96 is easily tilted by the inner cavity notch 942 with the pin 936 in the round hole as a fulcrum and escaping from the adjustment groove 935; in order to avoid this situation, a button locking structure needs to be added. It can be seen that the oblong hole 961 adjustment button can achieve the same adjustment and positioning effect as the ordinary round hole adjustment button with a simpler structure and fewer parts.

[0081] An arm strap 97 is provided on the base 94, and a Type-C interface 8 is provided in the card slot.

[0082] In some embodiments, Fig.13As shown, the elbow joint module 4 includes a motor 42, and the motor 42 is covered with a motor cover 41; the end of the rotating shaft 421 of the motor 42 is fixedly connected to the motor connecting plate 43, and the motor connecting plate 43 is connected to the elbow joint pad 44, and the elbow joint pad 44 fits the user's elbow;

[0083] The rotating shaft 421 of the motor 42 is sleeved with an elbow joint ring 933 on the main beam 93 of the arm exoskeleton module 9 respectively included in the upper arm exoskeleton module 3 and the forearm exoskeleton module 5; wherein the elbow joint ring 933 of the upper arm exoskeleton module 3 is fixedly connected to the motor housing 422 of the motor 42, and the elbow joint ring 933 of the forearm exoskeleton module 5 is fixedly connected to the motor connecting plate 43; an elbow limiting column 431 is provided on the motor connecting plate 43, and the elbow limiting column 431 passes through the elbow limiting groove 934 on the elbow joint rings 933 of the upper arm exoskeleton module 3 and the forearm exoskeleton module 5, limits the rotation angle of the two elbow joint rings 933, and protects the user's elbow.

[0084] In some embodiments, the motor cover 41 is provided with heat dissipation holes.

[0085] In some embodiments, Figure 3-4 As shown, the power control module 2 includes a battery circuit compartment 22, a battery circuit compartment cover 23 is provided on the top of the battery circuit compartment 22, a power connection belt 21 is connected to the top of the battery circuit compartment cover 23, and the power connection belt 21 is connected to the shoulder support magnetic buckle 191 of the shoulder support module 1 through a second quick-release buckle 211; the battery circuit compartment 22 includes a button panel 25, a battery 26 and a control main board 24; the button panel 25 is provided with a Type-C interface 8, and the surface of the battery circuit compartment 22 is provided with an indicator light 221 connecting the button panel 25 and the control main board 24, a power button 222 and a mode button 223; the battery circuit compartment 22 is provided with an upper arm pad 28 on the side close to the arm, and the upper arm pad 28 is connected to the upper arm strap 29.

[0086] In some embodiments, the arm support connection belt 317 and the power connection belt 21 are provided with a wire clamping groove 27, and the connection wire 7 can be embedded in the wire clamping groove 27.

[0087] In some embodiments, the power control module 2 can be connected to an external myoelectric bracelet or a first-level mobile phone via Bluetooth, and the operation of the exoskeleton can be controlled by the human electromyographic signals received by the myoelectric bracelet, or by a mobile phone APP and an external program.

[0088] The specific workflow of the present invention includes:

[0089] 1. The user fixes the shoulder support module 1 on the shoulder, fixes the power control module 2 on the healthy arm, and optionally fixes the upper arm exoskeleton module 3, elbow joint module 4, forearm exoskeleton module 5 and hand exoskeleton module 6 on the arm that needs rehabilitation training as needed;

[0090] 2. The user presses the adjustment button 96 on the arm exoskeleton module 9 with the healthy arm to slide the main beam 93 and adjust the length of the arm exoskeleton module 9;

[0091] 3. The power control module 2 is connected to an external myoelectric bracelet, and controls the elbow joint module 4 to rotate the forearm exoskeleton module 5 through the human electromyographic signals received by the myoelectric bracelet, and controls the hand drive component 65 of the hand exoskeleton module 6 to drive the four-finger component 64 through the human electromyographic signals received by the myoelectric bracelet, thereby controlling the patient's arm and hand movements for rehabilitation training.

[0092] The beneficial effects of the present invention are:

[0093] 1. Compared with the bracket exoskeleton rehabilitation robot, it greatly reduces the redundant mechanical structure, and the lightweight wearable design makes it easier for patients to use the mechanical exoskeleton without being restricted by the venue and to accurately control each joint.

[0094] 2. The various parts of the mechanical exoskeleton are modularized. When in use, each module can be combined or used independently according to needs. It is easy to disassemble and use, which greatly reduces the production cost. At the same time, the size of each modular part of the mechanical exoskeleton can be flexibly adjusted according to the needs of the user, suitable for most people, and low cost; the adjustment mechanism has a simple structure and light weight.

[0095] 3. The power control module and the robotic arm are separated on the user's shoulders, which reduces the burden on the affected shoulder and balances the weight on both shoulders.

[0096] 4. The overall control of the mechanical exoskeleton can be achieved by connecting the power control module 2 to an external myoelectric bracelet or a first-level mobile phone via Bluetooth. The exoskeleton operation can be controlled by the human electromyographic signals received by the myoelectric bracelet, or by a mobile phone APP and an external program. The application method is relatively flexible.

[0097] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A modular wearable upper limb exoskeleton, characterized in that: The invention comprises a shoulder support module (1) which fits the shoulder of a human body, wherein the shoulder on the side where the user's diseased arm is located is defined as the affected shoulder, and the shoulder on the side where the user's healthy arm is located is defined as the healthy shoulder; one of the left and right ends of the shoulder support module (1) located at the healthy shoulder is connected to a power control module (2), and the other end located at the affected shoulder is connected to an upper arm exoskeleton module (3); the upper arm exoskeleton module (3) fits the upper arm of the user, and the bottom of the upper arm exoskeleton module (3) is connected to an elbow joint module (4); The elbow joint module (4) is connected to the forearm exoskeleton module (5); the forearm exoskeleton (5) module fits the human forearm and can rotate with the elbow joint module (4) as the central axis; the forearm exoskeleton module (5) is connected to the hand exoskeleton module (6), and the hand exoskeleton module (6) accommodates the user's hand; the lengths of the upper arm exoskeleton module (3), the forearm exoskeleton module (5) and the hand exoskeleton module (6) are adjustable.

2. A modular wearable upper limb exoskeleton according to claim 1, characterized in that: The shoulder support module (1) can be divided into a left shoulder support module (14) and a right shoulder support module (15) from the middle, and a shoulder width adjustment component (16) is connected between the left shoulder support module (14) and the right shoulder support module (15); a knob (161) is provided on the shoulder width adjustment component (16), and the distance between the left shoulder support module (14) and the right shoulder support module (15) can be changed by rotating the knob (161) to adapt to different shoulder widths; The top of the shoulder support module (1) is provided with a shoulder support protrusion (19) which can be placed on the left shoulder and the right shoulder of the human body respectively, and the top of the shoulder support protrusion (19) is provided with a shoulder strap magnetic buckle (192) and a shoulder support magnetic buckle (191); the top of the shoulder support protrusion (19) close to the affected shoulder is provided with a control box (17), and the top of the shoulder support protrusion (19) close to the healthy shoulder is provided with a control box reserved position (18); the shoulder strap magnetic buckle (192) is connected to the bottom of the shoulder support module (1) through the shoulder strap (11), forming a ring structure allowing the human arm to pass through; The control box (17) can control the circuit. The control box (17) is electrically connected to the power control module (2), the upper arm exoskeleton module (3), the elbow joint module (4), the forearm exoskeleton module (5) and the hand exoskeleton module (6) through the connecting wire (7); the shoulder support magnetic buckle (191) located on the healthy shoulder is connected to the power control module (2), and the shoulder support magnetic buckle (191) located on the affected shoulder is connected to the upper arm exoskeleton module (3); The side of the shoulder straps (11) close to each other is connected to the chest strap (12); the chest strap (12) can be connected via the chest strap magnetic buckle (13) so that the shoulder support module (1) fits the human body.

3. A modular wearable upper limb exoskeleton according to claim 2, characterized in that: The control box (17) is provided with a mode key (171), a power key (172) and a control indicator light (173).

4. A modular wearable upper limb exoskeleton according to claim 2, characterized in that: The upper arm exoskeleton module (3) comprises an arm support assembly (31) capable of accommodating a human right upper arm, wherein the arm support assembly (31) comprises an arc-shaped arm support lining (311); the arm support lining (311) is connected to a detachable arm support strap (312), and the arm support lining (311) and the arm support strap (312) form a cylindrical structure capable of accommodating a human right upper arm; The side of the arm support lining (311) close to the center of the cylindrical structure is defined as the inner side, and the side away from the center of the cylindrical structure is defined as the outer side; an upper arm support (313) and a lower arm support (314) are provided on the outer side of the arm support lining (311); the upper arm support (313) and the lower arm support (314) are clamped together to form an arm support slide groove (316) surrounding the arm support lining (311); the upper arm support (313) and the lower arm support (314) are fixed by screws, and the arm support hinge (315) is connected and fixed to the upper arm support (313) and the lower arm support (314) by a pin shaft; the upper arm support (313) is connected to an arm support connecting belt (317), and the arm support connecting belt (317) is connected to the shoulder support magnetic buckle (191) on the shoulder support module (1) through a first quick release buckle (318) at its top; An arm support base (32) that can slide along the arm support slide groove (316) is arranged in the arm support slide groove (316); the arm support base (32) is connected to a base (94) on an arm exoskeleton module (9) with adjustable length; and an elbow joint ring (933) of the arm exoskeleton module (9) is connected to the elbow joint module.

5. A modular wearable upper limb exoskeleton according to claim 4, characterized in that: The forearm exoskeleton module (5) comprises a wrist support (51) and an arm exoskeleton module (9) with adjustable length; The wrist support (51) can surround the user's forearm, and a wrist support soft rubber strap (53) is provided on the inner side of the wrist support (51); a wrist support limit groove (52) is provided on the outer side of the wrist support (51); a wrist support base (54) is embedded in the wrist support limit groove (52) through a limit convex ridge (55), and the wrist support base (54) can slide along the wrist support limit groove (52) to facilitate the user's wrist rotation; a wrist support quick release buckle (56) is provided on the wrist support (51) to prevent the wrist support base (54) from sliding out of the wrist support limit groove (52); the wrist support (51) is connected to the hand exoskeleton module (6) through a rotatable hand adjustment component (61); One end of the arm exoskeleton module (9) of the forearm exoskeleton module (5) is connected to the elbow joint module (4) via an elbow joint ring (933), and the other end of the arm exoskeleton module (9) is connected to the wrist support base (54) via a base (94).

6. A modular wearable upper limb exoskeleton according to claim 5, characterized in that: The hand exoskeleton module (6) comprises a hand adjustment component (61), the hand adjustment component (61) is connected to a back-of-hand component (62), the inner cavity of the back-of-hand component (62) can accommodate a palm; a rotatable thumb component (63) is connected to the side of the back-of-hand component (62) close to the thumb, and a four-finger component (64) is connected to the side of the back-of-hand component (62) close to the other four fingers of the palm, and the length of the four-finger component (64) is adjustable; a hand drive component (65) with a built-in motor is provided at the top of the back-of-hand component (62), and the hand drive component (65) is connected to a connecting line (7); the hand drive component (65) can drive the four-finger component (64) to rotate, and the four-finger component (64) and the hand adjustment component (61) can be retracted; and a hand strap (66) for fixing is provided at the bottom of the back-of-hand component (62).

7. A modular wearable upper limb exoskeleton according to claim 6, characterized in that: The arm exoskeleton module (9) is composed of a base (94), a main beam (93), a middle shell (92) and an outer shell (91) from left to right; the outer shell (91) is fixedly connected to the main beam (93) by means of an outer shell mounting buckle (95) and screws, the middle shell (92) and the base (94) are fixedly connected by means of screws, and the main beam (93) can slide in the cavity between the middle shell (92) and the base (94); a slot (932) is provided at one end of the main beam (93), and an elbow joint ring 933 is provided at the other end of the main beam (93), and an arc-shaped elbow limiting slot (934) is provided on the elbow joint ring (933), and the elbow joint ring (933) is connected to the elbow joint module (4); A wiring groove (938) for accommodating a connecting line (7) is provided inside the main beam (93), and a plurality of adjustment grooves (935) are provided on the upper and lower sides of the main beam (93); a sliding limit groove (931) is provided on the main beam (93), and a sliding limit block (941) inserted into the sliding limit groove (931) is provided on the base (94), and the sliding limit block (941) can limit the sliding of the main beam (93); A pin shaft (936) and an adjusting spring sheet (937) are provided on one side of the base (94) close to the main beam (93); an adjusting button (96) is sleeved on the pin shaft (936); one end of the adjusting button (96) is inserted into the adjusting groove (935) through an inner cavity notch (942) of the base (94), and the other end is in close contact with the compressible adjusting spring sheet (937); the hole position on the adjusting button (96) through which the pin shaft (936) is penetrated is an oblong hole (961); The end of the adjusting button (96) that is inserted into the adjusting groove (935) is defined as the head, and the end of the adjusting button (96) that contacts the adjusting spring sheet (937) is defined as the tail; when the tail of the adjusting button (96) is pressed, the pin shaft (936) in the oblong hole (961) is offset toward the head of the adjusting button, and the head of the adjusting button (96) pops out of the adjusting groove (935), and the main beam (93) can slide relative to the base (94); when the tail of the adjusting button (96) is not pressed, the adjusting spring sheet (937) pops up, and the head of the tilting adjusting button (96) is re-inserted into the adjusting groove (935), and the main beam (93) is stationary relative to the base (94); the inner cavity notch (942) limits the sliding of the adjusting button (96) in the head direction and the tail direction, so that the pin shaft (936) does not contact the inner wall of the oblong hole (961) near the tail; An arm strap (97) is provided on the base (94), and a Type-C interface (8) is provided in the card slot.

8. A modular wearable upper limb exoskeleton according to claim 7, characterized in that: The elbow joint module (4) comprises a motor (42), and the motor (42) is covered with a motor cover (41); the end of the rotating shaft (421) of the motor (42) is fixedly connected to the motor connecting plate (43), and the motor connecting plate (43) is connected to the elbow joint pad (44), and the elbow joint pad (44) fits the user's elbow; The rotating shaft (421) of the motor (42) is sleeved with an elbow joint ring (933) on the main beam (93) of the arm exoskeleton module (9) respectively included in the upper arm exoskeleton module (3) and the forearm exoskeleton module (5); wherein the elbow joint ring (933) of the upper arm exoskeleton module (3) is fixedly connected to the motor housing (422) of the motor (42), and the elbow joint ring (933) of the forearm exoskeleton module (5) is fixedly connected to the motor connecting plate (43); an elbow limiting column (431) is provided on the motor connecting plate (43), and the elbow limiting column (431) passes through the elbow limiting groove (934) on the elbow joint ring (933) of the upper arm exoskeleton module (3) and the forearm exoskeleton module (5), so as to limit the rotation angle of the two elbow joint rings (933).

9. A modular wearable upper limb exoskeleton according to claim 8, characterized in that: The motor outer cover (41) is provided with heat dissipation holes.

10. The modular wearable upper limb exoskeleton according to claim 2, characterized in that: The power control module (2) comprises a battery circuit compartment (22), a battery circuit compartment cover (23) is provided on the top of the battery circuit compartment (22), a power connection belt (21) is connected to the top of the battery circuit compartment cover (23), and the power connection belt (21) is connected to the shoulder support magnetic buckle (191) of the shoulder support module (1) through a second quick release buckle (211); the battery circuit compartment (22) comprises a key panel (25), a battery (26) and a control main board (24); the key panel (25) is provided with a Type-C interface (8), and the surface of the battery circuit compartment (22) is provided with an indicator light (221) connecting the key panel (25) and the control main board (24), a power button (222) and a mode button (223); an upper arm pad (28) is provided on the side of the battery circuit compartment (22) close to the arm, and a strap ring (224) is connected to the front and rear sides of the battery circuit compartment (22), and the strap ring (224) is connected to the upper arm strap (29).

11. A modular wearable upper limb exoskeleton according to claim 4, characterized in that: The arm support connecting belt (317) is provided with a wire clamping groove (27), and the wire clamping groove (27) can be embedded with a connecting wire (7).

12. The modular wearable upper limb exoskeleton according to claim 10, characterized in that: The power connection belt (21) is provided with a wire clamping groove (27), and the wire clamping groove (27) can be embedded with a connecting wire (7).

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