A backpack upper limb exoskeleton and its shoulder joint coordinated motion tracking design method

Abstract

The invention discloses a backpack upper limb exoskeleton and a shoulder joint coordinated motion tracking design method thereof. The backpack upper limb exoskeleton comprises a backpack base, a shoulder joint module, an upper arm joint module and a lower arm joint module. The shoulder joint module comprises a first drive, a second drive, a first joint, a second joint and a third joint; the first joint is connected to the backpack base, the first drive is between the first joint and the backpack base; the second joint is connected to the first joint, the second drive is between the first joint and the second joint; the third joint is connected to the second joint, the upper arm joint module comprises an upper arm drive, the upper arm drive is rotatably connected to the third joint; a synchronous transmission mechanism is provided between the second joint, the third joint and the upper arm drive. The invention is applied to the field of exoskeletons, and only five drives are used to track a total of six degrees of freedom of five shoulders and one elbow, thereby reducing the number of drives, reducing weight and reducing manufacturing costs.

Description

Technical Field

[0001] The invention relates to the technical field of exoskeletons, and in particular to a backpack-type upper limb exoskeleton with optimized shoulder design and a design method for tracking the coordinated movement of the shoulder joint. Background Art

[0002] Most of the current upper limb exoskeleton systems use a three-degree-of-freedom design for the shoulder, while the shoulder movement in actual human limb movement is a compound movement generated by the joint movement of the sternoclavicular joint and the glenohumeral joint. And there is a special law of movement between them, called scapulohumeral rhythm, and the shoulder rotation fulcrum moves with the movement of the human scapula. In order to make the design light, the traditional three-degree-of-freedom exoskeleton has ignored the movement of the scapula in these two degrees of freedom, but this will reduce the range of motion of the exoskeleton, making it unable to flexibly follow the movement of the human arm, and will also cause a sense of frustration, and it is impossible to solve the tracking problem of the shoulder rotation fulcrum. A small number of upper limb exoskeletons that take these two degrees of freedom into consideration cannot achieve the effect of being carried on the body due to reasons such as volume and weight.

[0003] In recent years, improved exoskeletons that introduce shoulder blade motion compensation can solve this problem, but most of their designs use five motors to track the five degrees of freedom of the shoulder. Due to the coupling of the degrees of freedom of human shoulder motion, this increases the weight and cost of the exoskeleton, further affecting their application in backpack systems. Summary of the invention

[0004] In view of the deficiencies in the above-mentioned prior art, the present invention provides a backpack upper limb exoskeleton and a design method for coordinated motion tracking of the shoulder joint, which can be used in scenarios such as robot teleoperation, upper limb rehabilitation training, and human upper limb motion collection.

[0005] To achieve the above object, the present invention provides a backpack upper limb exoskeleton, comprising a strap base, a shoulder joint module, an upper arm joint module and a lower arm joint module, wherein the shoulder joint module comprises a first drive, a second drive, a first joint, a second joint and a third joint;

[0006] The first joint is rotatably connected to the shoulder strap base, and the first drive is provided between the first joint and the shoulder strap base to achieve lifting and lowering of the shoulder glenohumeral joint;

[0007] The second joint is rotatably connected to the first joint, and the second drive is provided between the first joint and the second joint to achieve horizontal abduction and horizontal adduction of the shoulder glenohumeral joint;

[0008] The third joint is rotatably connected to the second joint, the upper arm joint module includes an upper arm drive, the upper arm drive is rotatably connected to the third joint to achieve lifting and lowering of the upper arm, and the forearm joint module is connected to the upper arm joint module;

[0009] A synchronous transmission mechanism is provided between the second joint, the third joint and the upper arm drive to realize driving the upper arm joint module to track the shoulder compound movement formed by the coordinated movement of the sternoclavicular joint and the glenohumeral joint of the human upper limb;

[0010] The second joint includes a first connecting rod and a second connecting rod;

[0011] The first ends of the first connecting rod and the second connecting rod are hinged on the first joint, the second ends of the first connecting rod and the second connecting rod are hinged on the third joint, and the first connecting rod, the second connecting rod, the first joint, and the third joint form a parallelogram linkage mechanism.

[0012] In one embodiment, the third joint is rotatably connected to a rotatable driving base, and the upper arm driving device is fixedly mounted on the driving base;

[0013] The synchronous transmission mechanism includes a transmission member, a first transmission wheel and a second transmission wheel, the first transmission wheel is arranged on the first connecting rod or the second connecting rod, the second transmission wheel is arranged on the third joint, and the transmission member is wound around the first transmission wheel, the second transmission wheel and the rotating shaft of the driving base.

[0014] In one embodiment, the third joint is rotatably connected to a driving base, the upper arm drive is fixedly arranged on the driving base, and the third joint is located between the first connecting rod and the second connecting rod;

[0015] The synchronous transmission mechanism comprises a first transmission member, a second transmission member, a first transmission wheel and a second transmission wheel, wherein the first transmission wheel is arranged on the first connecting rod or the second connecting rod, and the second transmission wheel is arranged on the third joint;

[0016] The first transmission member is wound around the first transmission wheel and the second transmission wheel, and the second transmission member is wound around the second transmission wheel and the rotating shaft of the driving base.

[0017] In one embodiment, the upper arm joint module further includes an upper arm plate, an upper arm binding structure, an elbow joint and an elbow drive;

[0018] The first end of the upper arm plate is fixedly connected to the output end of the upper arm drive, the elbow joint is rotationally connected to the second end of the upper arm plate, and the elbow drive is arranged between the upper arm plate and the elbow joint to drive the elbow joint to rotate;

[0019] The upper arm binding structure is arranged on the upper arm flat plate, and an upper arm six-dimensional force sensor is arranged between the upper arm binding structure and the upper arm flat plate.

[0020] In one embodiment, the forearm joint module includes a forearm plate, a forearm drive and a forearm binding structure;

[0021] The forearm drive is arranged between the forearm flat plate and the elbow joint, the forearm binding structure is arranged on the forearm flat plate, and a forearm six-dimensional force sensor is arranged between the forearm binding structure and the forearm flat plate.

[0022] To achieve the above object, the present invention also provides a design method for tracking the coordinated movement of the shoulder joint of the backpack upper limb exoskeleton, comprising the following steps:

[0023] Let point A represent the human clavicle, point B represent the rotation center of the human glenohumeral joint, then line segment AB represents the equivalent connecting line with the clavicle and scapula as connecting rods, and let line segment BC represent the humerus of the human upper arm;

[0024] Let the length of line segment AB be L1, and the deflection angle between line segment AB and the body plane be , the deflection angle between line segment BC and the body plane is ,Will and The coupling relationship of is linearly approximated, then , where the approximate parameters Obtained by fitting the measured data;

[0025] When the upper arm drive is expected to be placed at a point M' perpendicular to the upper arm and at a distance L2 from the glenohumeral joint, the coordinates of point M' are It is expressed as:

[0026] ;

[0027] Let the fixed fulcrum of the exoskeleton be point D, which is directly behind the clavicle and at a distance of , then the second joint is equivalent to a length of The deflection angle between the line segment DE and the body plane is , the second driver directly controls angle, the third joint is equivalent to a length of The line segment EM has a deflection angle with the body plane of ;

[0028] Assume that the actual position of the upper arm drive is at point M, and the deflection angle between the rotation axis of the upper arm drive and the body plane is , then the coordinates of point M It can be expressed as:

[0029] ;

[0030] Assumptions , and The reduction ratios are , The two transmission parts are connected. The initial deflection angle is , ,but Available To linearly represent, the specific expression is as follows:

[0031] ;

[0032] With point M approaching point M' as the goal, determine the optimal connecting rod length , and reduction ratio , and the initial bias , , that is, to optimize the index + Minimum.

[0033] Compared with the prior art, the present invention has the following beneficial technical effects:

[0034] 1. The present invention designs a backpack upper limb exoskeleton with optimized shoulder design using a hybrid transmission of a connecting rod mechanism and a transmission member mechanism according to the coupling relationship between the human sternoclavicular joint, the glenohumeral joint and the swing of the upper arm, so that the exoskeleton can track and compensate for 5 degrees of freedom of the human shoulder using only 4 drives, and at the same time, there is a degree of freedom corresponding to 1 degree of freedom of the human upper limb elbow, which reduces the number of drives, reduces weight, and reduces manufacturing costs. At the same time, the drive layout is optimized, so that 3 drives are installed on the shoulder of the exoskeleton and the other 2 drives are installed on the elbow of the exoskeleton, which reduces interference with the human body and increases the upper limb range of motion of the wearer;

[0035] 2. The exoskeleton robot arm of the present invention can be carried on the back, has a large range of joint motion, and takes into account the coordinated movement of the sternoclavicular joint and the glenohumeral joint, and has higher mobility than the traditional exoskeleton robot arm;

[0036] 3. The lightweight and integrated design of the exoskeleton in the present invention is conducive to use in scenarios such as power assistance, rehabilitation, and remote control of anthropomorphic dual-arm robots. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0038] Figure 1 Schematic diagram of the overall structure of the backpack upper limb exoskeleton in an embodiment of the present invention;

[0039] Figure 2 is a partial schematic diagram of a shoulder joint module in an embodiment of the present invention;

[0040] Figure 3 This is a schematic diagram of the movement of a backpack-type shoulder exoskeleton in an embodiment of the present invention, wherein: Figure 3 (a) is a schematic diagram of the process of the arm moving from inside to outside. Figure 3 (b)~ Figure 3 (d) is a diagram of the tracking process of the exoskeleton;

[0041] Figure 4 It is a partial schematic diagram of an upper arm joint module and a lower arm joint module in an embodiment of the present invention;

[0042] Figure 5 A diagram showing the motion relationship between the human humerus (upper arm) and the glenohumeral joint and sternoclavicular joint in an embodiment of the present invention;

[0043] Figure 6 This is a schematic diagram of the shoulder exoskeleton design mechanism in an embodiment of the present invention.

[0044] Reference numerals: shoulder strap base 1, back plate 101, back plate fixing buckle 102, shoulder joint module 2, first drive 201, second drive 202, first joint 203, second joint 204, first connecting rod 2041, second connecting rod 2042, third joint 205, driving base 206, upper arm joint module 3, upper arm drive 301, upper arm plate 302, upper arm binding structure 303, elbow joint 304, elbow drive 305, forearm joint module 4, forearm plate 401, forearm drive 402, forearm binding structure 403, first transmission wheel 501, second transmission wheel 502, first transmission member 503, second transmission member 504,

[0045] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0046] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0047] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0048] In addition, in the present invention, descriptions such as "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" or "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.

[0049] In the present invention, unless otherwise clearly specified and limited, the terms "connection", "fixation", etc. should be understood in a broad sense. For example, "fixation" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, a physical connection, or a wireless communication connection; it can be a direct connection, or an indirect connection through an intermediate medium, or 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.

[0050] In addition, the technical solutions between the various embodiments of the present invention can be combined with each other, but it must be based on the fact that ordinary technicians in the field can implement it. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0051] Technical term explanation:

[0052] Scapulohumeral rhythm: refers to the coordinated movement pattern between the scapula and humerus when the shoulder joint moves. Specifically, when the arm is raised, the movement ratio of the scapula to the humerus is about 2:1, that is, for every 2 degrees of lifting, the scapula rotates upward by 1 degree. This rhythm is very important for ensuring the stability and flexibility of the shoulder joint.

[0053] Sternoclavicular joint: It is the joint that connects the sternum and clavicle. It plays an important role in shoulder movement, providing stability and range of motion for the shoulder joint. The movement of the sternoclavicular joint not only affects the position of the clavicle, but also affects the movement of the scapula, thus affecting the function of the entire shoulder.

[0054] Glenohumeral joint: It is the main component of the shoulder joint, connecting the glenoid cavity of the scapula and the head of the humerus. This joint is a ball-and-socket joint that allows the humerus to move widely in all directions and is the main source of shoulder flexibility. However, due to its structural characteristics, the glenohumeral joint is also susceptible to injury and dislocation.

[0055] Example 1

[0056] This embodiment discloses a shoulder-optimized backpack upper limb exoskeleton. By using a hybrid transmission of a connecting rod mechanism and a synchronous mechanism, the exoskeleton can track all six degrees of freedom compound motions of the human shoulder including scapular motion using only five drives. The exoskeleton can be applied to robot teleoperation, upper limb rehabilitation training, human upper limb motion collection and other scenarios.

[0057] like Figure 1 The figure shows the backpack-type upper limb exoskeleton in this embodiment, which mainly includes a backpack base 1, a shoulder joint module 2, an upper arm joint module 3 and a lower arm joint module 4. Among them, the backpack base 1 is composed of a backpack back plate 101 and a back plate fixing buckle 102 arranged on the backpack back plate 101. The backpack back plate 101 is carried on the back through the backpack fixed buckle 102. The shoulder joint module 2 includes a first drive 201, a second drive 202, a first joint 203, a second joint 204 and a third joint 205. The upper arm joint module 3 includes an upper arm drive 301, an upper arm plate 302, an upper arm binding structure 303, an elbow joint 304 and an elbow drive 305. The lower arm joint module 4 includes a lower arm plate 401, a lower arm drive 402 and a lower arm binding structure 403.

[0058] refer to Figure 2The first end of the first joint 203 is rotatably connected to the back plate 101 through a bearing. When the shoulder joint module 2 is lifted horizontally, the shaft of the bearing is perpendicular to the back plate 101 in the horizontal direction. The first drive 201 is a motor fixed to the back plate 101. At the same time, the rotation output end of the first drive 201 is also parallel to the back plate 101 in the horizontal direction. The first drive 201 and the first joint 203 are driven by a helical gear, thereby driving the first joint 203 to rotate on the back plate 101, that is, the lifting and lowering of the shoulder glenohumeral joint is realized.

[0059] refer to Figure 2 The first end of the second joint 204 is rotatably connected to the second end of the first joint 203 through the first hinge. When the shoulder joint module 2 is horizontal, the rotation axis direction of the first hinge is the gravity direction. The second drive 202 can also be set as a motor. The main body of the second drive 202 is fixedly connected to the first end of the second joint 204. The rotation output end of the second drive 202 is fixedly connected to the second end of the first joint 203. The second drive 202 can drive the second joint 204 to move forward and backward, that is, to achieve horizontal abduction and horizontal adduction of the shoulder glenohumeral joint.

[0060] refer to Figure 2 , the first end of the third joint 205 is rotatably connected to the second end of the second joint 204 through the second hinge. Similarly, when the shoulder joint module 2 is horizontal, the rotation axis direction of the second hinge is the gravity direction. The second end of the third joint 205 is provided with a driving base 206, and the driving base 206 is rotatably connected to the third joint 205 through a rotating support. The upper arm drive 301 is a motor fixedly connected to the driving base 206. Among them, when the shoulder joint module 2 is horizontal, the rotation axis direction of the rotating support is the gravity direction, and the axial direction of the upper arm drive 301 is perpendicular to the gravity direction where the third joint 205 is located.

[0061] Combination Figure 1 The second joint 204 includes a first connecting rod 2041 and a second connecting rod 2042. The first ends of the first connecting rod 2041 and the second connecting rod 2042 are hinged on the first joint 203, and the second ends of the first connecting rod 2041 and the second connecting rod 2042 are hinged on the third joint 205. The first connecting rod 2041, the second connecting rod 2042, the first joint 203, and the third joint 205 form a parallelogram linkage mechanism, that is, when the second joint 204 makes the shoulder swing back and forth under the action of the second drive 202, the third joint 205 follows the movement of the second joint 204. After a synchronous transmission mechanism is set between the second joint 204, the third joint 205, and the upper arm drive 301, it can be achieved that while tracking the 2-degree-of-freedom movement of the glenohumeral joint, the upper arm drive 301 can also track the movement of the shoulder, that is, two motors are used to approximately fit the 3-degree-of-freedom movement of the shoulder.

[0062] The synchronous transmission mechanism includes a transmission member, a first transmission wheel 501 and a second transmission wheel 502, wherein the transmission member can be a synchronous belt, a transmission chain or a gear set, etc. In this embodiment, a synchronous belt is used as the transmission member, and the first transmission wheel 501 and the second transmission wheel 502 are both synchronous belt wheels. In the specific implementation process, the first transmission wheel 501 is arranged on the first connecting rod 2041 or the second connecting rod 2042, and the second transmission wheel 502 is arranged on the third joint 205. The transmission member is wound around the first transmission wheel 501, the second transmission wheel 502 and the rotating support of the driving base 206, and at this time, it is suitable for the first transmission wheel 501 and the second transmission wheel 502 to be at the same height. Among them, the first transmission wheel 501 and the second transmission wheel 502 can be set in multiple according to the shape and size of the second joint 204 and the third joint 205, and a guide tensioning wheel that can tighten the transmission member can also be arranged on the second joint 204 and the third joint 205.

[0063] In the specific application process, in order to reduce the volume of the exoskeleton, the third joint 205 is located between the first connecting rod 2041 and the second connecting rod 2042. Figure 1 As shown, even if there is a height difference between the third joint 205 and the first connecting rod 2041 and the second connecting rod 2042, it is difficult to use a synchronous belt to connect the first transmission wheel 501, the second transmission wheel 502 and the rotating support of the driving base 206. In this case, the first transmission member 503 and the second transmission member 504 are provided, and both the first transmission member 503 and the second transmission member 504 are synchronous belts. The first transmission member 503 is wound around the first transmission wheel 501 and the second transmission wheel 502, and the second transmission member 504 is wound around the rotating shaft of the second transmission wheel 502 and the driving base 206. Similarly, the first transmission wheel 501 and the second transmission wheel 502 can be provided in plurality according to the shape and size of the second joint 204 and the third joint 205, and a guide tensioning wheel that can tighten the transmission member can also be arranged on the second joint 204 and the third joint 205.

[0064] It is worth noting that sprockets can also be used as the first transmission member 503 and the second transmission member 504. In this case, the first transmission wheel 501 and the second transmission wheel 502 need to be replaced with sprockets accordingly, or other forms of transmission structures can be used as the first transmission member 503, the second transmission member 504, the first transmission wheel 501, and the second transmission wheel 502.

[0065] like Figure 3 As shown, Figure 3 (a) shows the process of the upper arm moving from inside to outside. Figure 3 (b) to Figure 3(d) shows the tracking of the exoskeleton in sequence during this process. The dotted line represents the clavicle-glenohumeral joint connection line, and the solid line represents the direction of the humerus of the upper arm. This process is the working process of the connecting rod and transmission device of the exoskeleton in this embodiment.

[0066] Reference Set Figure 1 , Figure 4 , the first end of the upper arm plate 302 is fixedly connected to the rotation output end of the upper arm drive 301, and the elbow joint 304 is rotationally connected to the second end of the upper arm plate 302. When the upper arm joint module 3 is drooping, the rotation axis direction of the elbow joint 304 is the gravity direction. The elbow drive 305 is a motor, and the main body of the elbow drive 305 is fixed on the back of the upper arm plate 302. The rotation output end of the elbow drive 305 is connected to the elbow joint 304 through a parallelogram linkage mechanism, thereby driving the elbow joint 304 to rotate, and the upper arm binding structure 303 is fixed on the upper arm plate 302 to fix the upper arm. The forearm drive 402 is also a motor, which is fixed at the bottom of the elbow joint 304, and the rotation axis direction of the forearm drive 402 is perpendicular to the gravity direction; at the same time, the forearm plate 401 is fixed to the rotation output end of the forearm drive 402, thereby driving the forearm joint module 4 to rotate, and the forearm binding structure 403 is fixed on the forearm plate 401 to fix the forearm.

[0067] As a preferred embodiment, an upper arm six-dimensional force sensor is provided between the upper arm binding structure 303 and the upper arm plate 302, and a forearm six-dimensional force sensor is provided between the forearm binding structure 403 and the forearm plate 401. The active interaction force between the wearer's arm and the exoskeleton is collected, and the movement of the exoskeleton drive motor is controlled based on this interaction force, so as to achieve power assistance or motion damping for rehabilitation training according to different control gains.

[0068] Example 2

[0069] This embodiment discloses a design method for tracking the coordinated movement of the shoulder joint of the backpack upper limb exoskeleton in Embodiment 1. Figure 5 To describe the details of shoulder movement. The glenohumeral joint of the human shoulder has two degrees of freedom, namely lifting up and down (shrugging action) and swinging forward and backward (chest expansion and chest retraction action). In the exoskeleton of this embodiment, the lifting and lowering of the glenohumeral joint are provided by the first drive, while the horizontal abduction and horizontal adduction are provided by the second drive. In normal human activities, when the upper arm is extended forward, the glenohumeral joint will naturally move forward in a small range; similarly, when the upper arm is extended backward, the glenohumeral joint will naturally move backward. Figure 5 This is a bird's-eye view of a human being looking down from the top of his head. Figure 5The person in the figure has his upper arm horizontal to the ground for demonstration purposes. Due to human movement habits, the glenohumeral joint will also rotate around the clavicle as the upper arm swings back and forth. Assuming that the clavicle fulcrum is fixed, the clavicle-glenohumeral joint-upper arm is regarded as a set of connecting rods. The state of this set of connecting rods at various angles can be respectively expressed by Figure 5 The broken line represents .

[0070] The specific implementation process of the shoulder joint coordinated motion tracking design method in this embodiment is as follows:

[0071] like Figure 6 As shown, let point A represent the human clavicle, point B represent the rotation center of the human glenohumeral joint, then line segment AB represents the equivalent connecting line with the clavicle and scapula as connecting rods, and let line segment BC represent the humerus of the human upper arm;

[0072] Let the length of line segment AB be L1, and the deflection angle between line segment AB and the body plane be , the deflection angle between line segment BC and the body plane is ,Will and The coupling relationship of is linearly approximated, then , where the approximate parameters Obtained by fitting the measured data;

[0073] When the upper arm drive is expected to be placed at a point M' perpendicular to the upper arm and at a distance L2 from the glenohumeral joint, the coordinates of point M' are It is expressed as:

[0074] ;

[0075] Let the fixed fulcrum of the exoskeleton be point D, which is directly behind the clavicle and at a distance of , then the second joint is equivalent to a line segment DE with a length of L3, and the deflection angle between the line segment DE and the body plane is , the second drive directly controls Angle, the third joint is equivalent to a line segment EM with a length of L4, and the deflection angle between the line segment EM and the body plane is ;

[0076] Assume that the actual position of the upper arm drive is at point M, and the deflection angle between the rotation axis of the upper arm drive and the body plane is , then the coordinates of point M It can be expressed as:

[0077] ;

[0078] Assumptions and The reduction ratios are , The two transmission parts are connected. The initial deflection angle is , ,but Available To linearly represent, the specific expression is as follows:

[0079] ;

[0080] With point M approaching point M' as the goal, determine the optimal connecting rod length , and reduction ratio , and the initial bias , , that is, to optimize the index + Minimum, in the specific application process, the optimization problem is programmed in MATLAB, and the required connecting rod length can be automatically calculated , and reduction ratio , and the initial bias , .

[0081] The above description is only a preferred embodiment of the present invention, and does not limit the protection scope of the present invention. All equivalent structural changes made by using the contents of the present invention specification and drawings under the inventive concept of the present invention, or directly / indirectly applied in other related technical fields are included in the protection scope of the present invention.

Claims

1. A backpack-type upper limb exoskeleton, characterized in that: It includes a strap base, a shoulder joint module, an upper arm joint module and a lower arm joint module, wherein the shoulder joint module includes a first drive, a second drive, a first joint, a second joint and a third joint; The first joint is rotatably connected to the shoulder strap base, and the first drive is provided between the first joint and the shoulder strap base to achieve lifting and lowering of the shoulder glenohumeral joint; The second joint is rotatably connected to the first joint, and the second drive is provided between the first joint and the second joint to achieve horizontal abduction and horizontal adduction of the shoulder glenohumeral joint; The third joint is rotatably connected to the second joint, the upper arm joint module includes an upper arm drive, the upper arm drive is rotatably connected to the third joint to achieve lifting and lowering of the upper arm, and the forearm joint module is connected to the upper arm joint module; A synchronous transmission mechanism is provided between the second joint, the third joint and the upper arm drive to realize driving the upper arm joint module to track the shoulder compound movement formed by the coordinated movement of the sternoclavicular joint and the glenohumeral joint of the human upper limb; The second joint includes a first connecting rod and a second connecting rod; The first ends of the first connecting rod and the second connecting rod are hinged on the first joint, the second ends of the first connecting rod and the second connecting rod are hinged on the third joint, and the first connecting rod, the second connecting rod, the first joint, and the third joint form a parallelogram linkage mechanism.

2. The backpack-type upper limb exoskeleton according to claim 1, characterized in that: The third joint is rotatably connected to a rotatable driving base, and the upper arm driving device is fixedly mounted on the driving base; The synchronous transmission mechanism includes a transmission member, a first transmission wheel and a second transmission wheel, the first transmission wheel is arranged on the first connecting rod or the second connecting rod, the second transmission wheel is arranged on the third joint, and the transmission member is arranged between the first transmission wheel, the second transmission wheel and the rotating shaft of the driving base.

3. The backpack-type upper limb exoskeleton according to claim 1, characterized in that: The third joint is rotatably connected to a driving base, the upper arm drive is fixedly arranged on the driving base, and the third joint is located between the first connecting rod and the second connecting rod; The synchronous transmission mechanism comprises a first transmission member, a second transmission member, a first transmission wheel and a second transmission wheel, wherein the first transmission wheel is arranged on the first connecting rod or the second connecting rod, and the second transmission wheel is arranged on the third joint; The first transmission member is arranged between the first transmission wheel and the second transmission wheel, and the second transmission member is arranged between the second transmission wheel and the rotating shaft of the driving base.

4. The backpack-type upper limb exoskeleton according to any one of claims 1 to 3, characterized in that: The upper arm joint module also includes an upper arm plate, an upper arm binding structure, an elbow joint and an elbow drive; The first end of the upper arm plate is fixedly connected to the output end of the upper arm drive, the elbow joint is rotationally connected to the second end of the upper arm plate, and the elbow drive is arranged between the upper arm plate and the elbow joint to drive the elbow joint to rotate; The upper arm binding structure is arranged on the upper arm flat plate, and an upper arm six-dimensional force sensor is arranged between the upper arm binding structure and the upper arm flat plate.

5. The backpack-type upper limb exoskeleton according to claim 4, characterized in that: The forearm joint module includes a forearm plate, a forearm drive and a forearm binding structure; The forearm drive is arranged between the forearm flat plate and the elbow joint, the forearm binding structure is arranged on the forearm flat plate, and a forearm six-dimensional force sensor is arranged between the forearm binding structure and the forearm flat plate.

6. A design method for tracking the coordinated movement of the shoulder joint of the backpack upper limb exoskeleton according to any one of claims 1 to 5, characterized in that: The steps include: Let point A represent the human clavicle, point B represent the rotation center of the human glenohumeral joint, then line segment AB represents the equivalent connecting line with the clavicle and scapula as connecting rods, and let line segment BC represent the humerus of the human upper arm; Let the length of line segment AB be L1, and the deflection angle between line segment AB and the body plane be , the deflection angle between line segment BC and the body plane is ,Will and The coupling relationship of is linearly approximated, then , where the approximate parameters , Obtained by fitting the measured data; When the upper arm drive is expected to be placed at a point M' perpendicular to the upper arm and at a distance L2 from the glenohumeral joint, the coordinates of point M' are It is expressed as: Let the fixed fulcrum of the exoskeleton be point D, which is directly behind the clavicle and at a distance of , then the second joint is equivalent to a line segment DE with a length of L3, and the deflection angle between the line segment DE and the body plane is , the second driver directly controls Angle, the third joint is equivalent to a line segment EM with a length of L4, and the deflection angle between the line segment EM and the body plane is ; Assume that the actual position of the upper arm drive is at point M, and the deflection angle between the rotation axis of the upper arm drive and the body plane is , then the coordinates of point M It can be expressed as: Assumptions , and The reduction ratios are , The two transmission parts are connected. The initial deflection angle is , ,but Available To linearly represent, the specific expression is as follows: With point M approaching point M' as the goal, determine the optimal connecting rod length , and reduction ratio , and the initial bias , , that is, to optimize the index + Minimum.

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