Three-degree-of-freedom wearable upper limb rehabilitation exoskeleton mechanism

Abstract

The invention relates to the technical field of medical rehabilitation, and discloses a three-degree-of-freedom wearable upper limb rehabilitation exoskeleton mechanism which comprises a shoulder joint mechanism and an elbow joint mechanism, the two ends of the shoulder joint mechanism are connected with the shoulder and the upper arm of the human body respectively, and the shoulder joint mechanism is used for driving the upper arm of the human body to do forward flexion, backward extension, abduction and adduction movement; the two ends of the elbow joint mechanism are connected with the upper human arm and the front human arm correspondingly, and the elbow joint mechanism is used for driving the front human arm to bend forwards and stretch backwards. Therefore, forward flexion, backward extension, abduction and adduction motions of the upper arm of the human body are achieved through the shoulder joint mechanism, forward flexion and backward extension of the front arm of the human body are achieved through the elbow joint mechanism, then by combining motions of the upper arm of the human body and the front arm of the human body, the hand can move to the designated position, the motion relation is simple and easy to achieve, and needed drive is small. The movement is more accurate; the number of components is small, so that the weight of the exoskeleton device of the mechanism is light; meanwhile, the wearing is convenient.

Description

Technical Field

[0001] The present invention relates to the field of medical rehabilitation technology, and in particular to a 3-DOF wearable upper limb rehabilitation exoskeleton mechanism. Background Art

[0002] The upper limb rehabilitation robot formed by combining the central nervous system plasticity mechanism with a robot can independently or assist in the rehabilitation training and assessment of patients with limb motor dysfunction, providing greater autonomy for people with limb motor dysfunction, and can effectively alleviate the contradiction between supply and demand of rehabilitation medical resources and improve the quality of life of disabled patients and the elderly.

[0003] At present, upper limb exoskeleton robots are mainly divided into two categories: rigid upper limb exoskeleton robots and soft exoskeleton robots. Among them, rigid upper limb exoskeleton robot mechanisms have defects such as motion compatibility, workspace limitations, mechanical system singularity problems, heavy weight, and inappropriate dislocation. Soft upper limb exoskeleton robots have the following problems: the driving auxiliary power is not as good as that of rigid robots, and they cannot completely replace the patient's joint movement function, and they have certain requirements for the patient's own movement ability. In addition, both rigid and soft upper limb exoskeleton robots have problems such as heavy drive devices that are not suitable for wear. Summary of the invention

[0004] The object of the present invention is to overcome at least one of the above problems in the prior art.

[0005] In order to achieve the above-mentioned purpose, the present invention provides a 3-DOF wearable upper limb rehabilitation exoskeleton mechanism, comprising: a shoulder joint mechanism and an elbow joint mechanism, wherein the two ends of the shoulder joint mechanism are respectively fixedly connected to the human shoulder and the human upper arm, and the shoulder joint mechanism is used to drive the human upper arm to achieve flexion, extension, abduction and adduction movements; the two ends of the elbow joint mechanism are respectively fixedly connected to the human upper arm and the human forearm, and the elbow joint mechanism is used to drive the human forearm to achieve flexion and extension movements.

[0006] Wherein, the shoulder joint mechanism includes: a shoulder fixing part connected to the human shoulder through a first fixed pair; a first component connected to the shoulder fixing part through a first rotating pair; a second component connected to the first component through a second rotating pair and a fourth rotating pair, and the axes of the second rotating pair and the fourth rotating pair are coaxially arranged; a third component connected to the second component through a third rotating pair, and the rotation axes of the first rotating pair, the second rotating pair and the third rotating pair are orthogonal to each other; a fourth component connected to the third component through an arc groove, and the rotation center of the arc groove is located on the side of the third component close to the human upper arm; a fifth component connected to the fourth component through a first cylindrical pair; an eighth component connected to the fifth component through a sixth rotating pair, and the axis of the first cylindrical pair is orthogonal to the rotation axis of the sixth rotating pair, and the eighth component is connected to the human upper arm through a second fixed pair.

[0007] The elbow joint mechanism includes: the eighth component connected to the human upper arm through the second fixed pair; the sixth component connected to the eighth component through the fifth rotation pair; the seventh component connected to the sixth component through the second cylindrical pair; the ninth component connected to the seventh component through the seventh rotation pair, the axis of the second cylindrical pair is orthogonal to the rotation axis of the seventh rotation pair, and the ninth component is connected to the human forearm through the third fixed pair.

[0008] In some embodiments, the eighth component and the upper arm of the human body are vertically fixedly connected to each other via the second fixing pair.

[0009] In some embodiments, the axis of the fifth rotation pair and the axis of the first cylindrical pair are perpendicular to each other.

[0010] In some embodiments, the ninth component and the human forearm are vertically fixedly connected to each other via the third fixing pair.

[0011] Through the above technical solution, the 3-DOF wearable upper limb rehabilitation exoskeleton mechanism of the present invention has the following beneficial effects: (1) The flexion, extension, abduction and adduction of the human upper arm are achieved through the shoulder joint mechanism, and the flexion and extension of the human forearm are achieved through the elbow joint mechanism. Then, by combining the movements of the human upper arm and the human forearm, the hand can be moved to a specified position. The movement relationship of the upper limb rehabilitation exoskeleton mechanism provided by the present invention is simple and easy to achieve, less drive is required, and the movement is more precise; (2) The number of components in the upper limb rehabilitation exoskeleton is small, making the exoskeleton device of the mechanism lighter; (3) When the upper limb rehabilitation exoskeleton is worn, there is no need to align the movement of the exoskeleton with the human joints, which solves the problem of joint dislocation when the upper limb rehabilitation exoskeleton is worn, reduces the accuracy requirements for the connection between the components of the upper limb rehabilitation exoskeleton and the human body, and thus makes wearing more convenient; (4) When the upper limb rehabilitation exoskeleton mechanism provided by the present invention drives the shoulder and elbow joint rehabilitation exercises, the non-driving force and torque on the human joints in the unmanned-machine closed chain mechanism increase the patient's comfort and avoid damage to the human joints caused by rehabilitation exercises; (5) The upper limb rehabilitation exoskeleton mechanism provided by the present invention can be applied to different patients. When the upper limb sizes of different patients change, the relative positions of the sixth component and the seventh component are automatically adjusted by adjusting the first cylindrical pair and the fourth component and / or the second cylindrical pair and the sixth component, thereby achieving adaptive wearing of the upper limb size changes of different patients, thereby improving the convenience of wearing the upper limb exoskeleton mechanism and reducing the specifications or models of the upper limb exoskeleton. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 is a schematic diagram of an upper limb exoskeleton mechanism disclosed in the present invention; Figure 2 is a schematic diagram of the shoulder joint mechanism disclosed in the present invention; Figure 3 is a schematic diagram of the elbow joint mechanism disclosed in the present invention; Figure 4 It is a schematic diagram of the upper limb exoskeleton assembly disclosed in the present invention.

[0013] Description of Reference Numerals 1-human shoulder; 2-shoulder fixing member; 3-first member; 4-second member; 5-third member; 6-fourth member; 7-fifth member; 8-sixth member; 9-seventh member; 10-human upper arm; 11-eighth member; 12-human forearm; 13-ninth member; 14-hand; 15-shoulder joint motion pair; 16-elbow joint motion pair; 17-wrist joint motion pair; 18-first fixed pair; 19-first rotation pair; 20-second rotation pair; 21-third rotating pair; 22-fourth rotating pair; 23-first cylindrical pair; 24-fifth rotating pair; 25-sixth rotating pair; 26-second fixed pair; 27-second cylindrical pair; 28-seventh rotating pair; 29-third fixed pair; 30-rotation center; 31-first rotation drive; 32-movement drive; 33-second rotation drive; 34-combined component; 35-fourth fixed pair; 36-fifth fixed pair; A-shoulder joint mechanism; B-elbow joint mechanism. DETAILED DESCRIPTION

[0014] The specific implementation 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 present invention, and is not used to limit the present invention.

[0015] In the present invention, unless otherwise specified, the directions or positional relationships indicated by terms such as "up, down, left, right, inside, outside, top, bottom" etc. are based on the directions or positional relationships shown in the accompanying drawings and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as a limitation on the present invention.

[0016] In addition, the terms "first", "second", etc. 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" 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.

[0017] In the present invention, 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.

[0018] 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.

[0019] An upper limb exoskeleton robot, such as a mechanical arm, can independently or assist in the rehabilitation training and evaluation of patients with limb motor dysfunction through movements that match the movements of the human upper limbs, providing greater autonomy for people with limb motor dysfunction. Existing upper limb exoskeleton robots are mainly divided into two categories: rigid upper limb exoskeleton robots and soft exoskeleton robots. The rigid upper limb exoskeleton robot mechanism has defects such as motion compatibility, workspace limitations, mechanical system singularity problems, heavy weight, and inappropriate dislocation. The driving auxiliary power of the soft upper limb exoskeleton robot is not as good as that of the rigid robot, and it cannot completely replace the patient's joint movement function, and it has certain requirements on the patient's own movement ability. In addition, Chinese patent CN106393071B discloses a 9-degree-of-freedom wearable adaptive upper limb rehabilitation exoskeleton mechanism. Although it adds multiple passive degrees of freedom at the shoulder joint to compensate for the problem of axis drift during the movement of the glenohumeral joint, the robot kinematic pair still needs to align with the human joint when the exoskeleton robot is worn, and the number of components is large, resulting in a large weight of the robot, and at the same time, there are many degrees of freedom, corresponding drive motors, and complex motion control.

[0020] The present invention mainly aims at the problems of the inconvenience of wearing the upper limb exoskeleton robot and the complex motion control in the prior art, and provides a 3-DOF wearable upper limb rehabilitation exoskeleton mechanism. Figure 1-Figure 3 As shown, the upper limb rehabilitation exoskeleton mechanism includes a shoulder joint mechanism A and an elbow joint mechanism B. The two ends of the shoulder joint mechanism A are fixedly connected to the human shoulder 1 and the human upper arm 10 respectively. The shoulder joint mechanism A is used to drive the human upper arm 10 to realize flexion, extension, abduction and adduction around the shoulder joint kinematic pair 15, thereby realizing rehabilitation training for the human shoulder joint. The two ends of the elbow joint mechanism B are fixedly connected to the human upper arm 10 and the human forearm 12 respectively. The elbow joint mechanism B is used to drive the human forearm 12 to realize flexion and extension around the elbow joint kinematic pair 16, thereby realizing rehabilitation training for the human elbow joint.

[0021] Among them, Figure 1 and Figure 2As shown, the shoulder joint mechanism A includes: a first fixed pair 18, a shoulder fixing member 2, a first component 3, a second component 4, a third component 5, a fourth component 6, a fifth component 7, an eighth component 11, a first rotational pair 19, a second rotational pair 20, a third rotational pair 21, a fourth rotational pair 22, a first cylindrical pair 23, a sixth rotational pair 25 and a second fixed pair 26. The shoulder fixing member 2 is connected to the human shoulder 1 through the first fixed pair 18, the shoulder fixing member 2 is connected to the first component 3 through the first rotational pair 19, the first component 3 is connected to the second component 4 through the second rotational pair 20 and the fourth rotational pair 22, and the rotational axes of the second rotational pair 20 and the fourth rotational pair 22 are coaxially arranged. The second component 4 is connected to the third component 5 through the third rotational pair 21, and the three rotational axes formed by the first rotational pair 19, the second rotational pair 20, the third rotational pair 21 and the fourth rotational pair 22 are orthogonal to each other, so the first rotational pair 19, the second rotational pair 20, the third rotational pair 21 and the fourth rotational pair 22 can be equivalent to a ball pair. The third member 5 is connected to the fourth member 6 through an arc groove, and the rotation center 30 of the arc groove is located on the side of the arc groove close to the human upper arm 10. The fourth member 6 is connected to the fifth member 7 through the first cylindrical pair 23, the fifth member 7 is connected to the eighth member 11 through the sixth rotation pair 25, the rotation axis of the sixth rotation pair 25 is orthogonal to the axis of the first cylindrical pair 23, and the eighth member 11 is connected to the human upper arm 10 through the second fixed pair 26.

[0022] The shoulder joint mechanism A provided by the present invention can be connected to the human shoulder 1 through the shoulder fixing member 2 with the first fixing pair 18, and connected to the human upper arm 10 through the eighth component 11 with the second fixing pair 26. In this way, the movement of the shoulder joint mechanism A can drive the human upper arm 10 to perform corresponding movements around the shoulder joint motion pair 15.

[0023] The shoulder joint mechanism A provided by the present invention combines the physiological structure and movement characteristics of the human shoulder joint, and forms a composite motion pair through three orthogonal rotation pairs (the first rotation pair 19, the second rotation pair 20, the fourth rotation pair 22 and the third rotation pair 21) that are equivalent to the ball pair, the arc groove of the equivalent rotation pair, the first cylindrical pair 23 and the sixth rotation pair 25, and forms a spatial swing guide rod mechanism with the shoulder joint motion pair 15. By driving the spatial swing guide rod mechanism to rotate and swing, the human upper arm 10 can be driven to perform flexion, extension, abduction and adduction movements.

[0024] Specifically, combined Figure 1 and Figure 2As shown, when the first rotation drive 31 loaded on the third component 5 is applied, the third component 5 rotates around the rotation axis of the first rotation pair 19, the third component 5 rotates to drive the fourth component 6 to rotate, and the fourth component 6 moves along the axis of the first cylindrical pair 23 relative to the fifth component 7, and drives the eighth component 11 to rotate with the fourth component 6. Since the eighth component 11 is connected to the human upper arm 10 through the second fixed pair 26, the eighth component 11 rotates to drive the human upper arm 10 to perform flexion or extension movement around the shoulder joint motion pair 15.

[0025] When the moving drive 32 loaded on the fourth member 6 is applied, the fourth member 6 moves along the axis of the first cylindrical pair 23, and the fourth member 6 moves in the circular arc groove of the third member 5. Since the circular arc groove is equivalent to a revolute pair, the rotation center 30 of the revolute pair is located on the side of the circular arc groove close to the human upper arm 10. Therefore, when the fourth member 6 moves in the circular arc groove, the third member 5 rotates around the rotation center 30 and the rotation axis of the third revolute pair 21, so that the fourth member 6 follows the third member 5 to rotate around the rotation axis of the third revolute pair 21. The rotation of the fourth member 6 rotates through the first cylindrical pair 23, the fifth member 7, the sixth revolute pair 25 and the eighth member 11, and the eighth member 11 is connected to the human upper arm 10 through the second fixed pair 26. Therefore, the rotation of the fourth member 6 drives the human upper arm 10 to rotate around the shoulder joint motion pair 15, thereby realizing the abduction or adduction movement of the human upper arm 10.

[0026] When the first rotation drive 31 loaded on the third member 5 and the movement drive 32 loaded on the fourth member 6 are applied simultaneously, a compound movement of flexion, extension, abduction and adduction of the upper arm 10 of the human body can be achieved.

[0027] In addition, refer to Figure 1 and Figure 3 As shown, the elbow joint mechanism B includes: a second fixed pair 26, an eighth component 11, a fifth rotational pair 24, a sixth component 8, a second cylindrical pair 27, a seventh component 9, a seventh rotational pair 28, a ninth component 13 and a third fixed pair 29. According to an embodiment of an exoskeleton robot corresponding to the upper limb rehabilitation exoskeleton mechanism of the present invention, the shoulder joint mechanism A and the elbow joint mechanism B may include the eighth component 11 and the second fixed pair 26 respectively, or the shoulder joint mechanism A and the elbow joint mechanism B may share the eighth component 11 and the second fixed pair 26, further integrating and simplifying the components, reducing the number of components, and facilitating reducing the weight of the upper limb rehabilitation exoskeleton device corresponding to the upper limb rehabilitation exoskeleton mechanism.

[0028] Combination Figure 1 and Figure 3As shown, one end of the eighth component 11 is connected to the human upper arm 10 through the second fixed pair 26, the other end of the eighth component 11 is connected to the sixth component 8 through the fifth rotation pair 24, the fifth rotation pair 24 is connected to the seventh component 9 through the second cylindrical pair 27, the seventh component 9 is connected to the ninth component 13 through the seventh rotation pair 28, and the ninth component 13 is connected to the human forearm 12 through the third fixed pair 29.

[0029] The elbow joint mechanism B provided by the present invention can be connected to the human upper arm 10 through the eighth component 11 with the second fixed pair 26, and connected to the human forearm 12 through the ninth component 13 with the third fixed pair 29. In this way, the movement of the elbow joint mechanism B can drive the human forearm 12 to perform corresponding movements around the elbow joint motion pair 16.

[0030] The elbow joint mechanism B provided by the present invention combines the physiological structure and movement characteristics of the human elbow joint, and forms a planar swing guide rod mechanism through a composite motion pair formed by two rotational pairs (the fifth rotational pair 24 and the elbow joint motion pair 16), the second cylindrical pair 27 and the seventh rotational pair 28. By driving the planar swing guide rod mechanism to swing, the human forearm 12 can be driven to perform flexion and extension movements.

[0031] Specifically, combined Figure 1 and Figure 3 As shown, when the second rotation drive 33 loaded on the fifth rotation pair 24 is applied, the fifth rotation pair 24 rotates around its rotation axis, driving the sixth component 8 to rotate around the rotation axis of the fifth rotation pair 24, and the sixth component 8 moves relative to the seventh component 9 through the second cylindrical pair 27. At the same time, the rotation of the sixth component 8 drives the seventh component 9 and the ninth component 13 to rotate around the rotation axis of the fifth rotation pair 24 following the sixth component 8 through the second cylindrical pair 27. The ninth component 13 is connected to the human forearm 12 through the third fixed pair 29. Therefore, the ninth component 13 rotates to drive the human forearm 12 to rotate around the elbow joint motion pair 16, thereby realizing the flexion or extension movement of the human forearm 12.

[0032] When the first rotation drive 31, the movement drive 32 and the second rotation drive 33 are applied simultaneously, the combined movements of flexion, extension, abduction and adduction of the human upper arm 10 and flexion and extension of the human forearm 12 can be realized, thereby enabling the hand 14 connected to the human forearm 12 through the wrist joint kinematic pair 17 to reach the desired position.

[0033] In some embodiments, reference Figure 1-Figure 3As shown, the shoulder fixing member 2 is vertically fixedly connected to the human shoulder 1 through the first fixing pair 18, and the rotation axis of the first rotating pair 19 is perpendicular to the shoulder fixing member 2. The rotation axis of the sixth rotating pair 25 is perpendicular to the axis of the first cylindrical pair 23. The eighth component 11 is vertically fixedly connected to the human upper arm 10 through the second fixing pair 26, and the axis of the first cylindrical pair 23 is parallel to the human upper arm 10. The rotation axis of the fifth rotating pair 24 is perpendicular to the axis of the first cylindrical pair, the rotation axis of the seventh rotating pair 28 is perpendicular to the axis of the second cylindrical pair 27, and the ninth component 13 is vertically fixedly connected to the human forearm 12 through the third fixing pair 29, and the axis of the second cylindrical pair 27 is parallel to the human forearm 12.

[0034] The 3-DOF wearable upper limb rehabilitation exoskeleton mechanism provided by the present invention has the following beneficial effects: (1) It can realize three degrees of freedom of movement, namely, flexion or extension of the human upper arm 10, abduction or adduction of the human upper arm 10, and flexion or extension of the human forearm 12. In addition, by combining the three degrees of freedom of movement, it can further realize the compound movement of flexion, extension, abduction and adduction of the human upper arm 10 and flexion and extension of the human forearm 12, so that the hand 14 can reach the desired position.

[0035] (2) In the upper limb rehabilitation exoskeleton mechanism provided by the present invention, the number of components is small, so that the weight of the exoskeleton device corresponding to the mechanism is low; moreover, the kinematic pair is simple and easy to implement, the motion relationship is simple, and only three drives are required to achieve 3-degree-of-freedom movement, and the movement is more precise.

[0036] (3) The shoulder joint mechanism A and the shoulder joint kinematic pair 15 constitute a spatial swing guide rod mechanism, and the elbow joint mechanism B and the elbow joint kinematic pair 16 constitute a planar swing guide rod mechanism. Therefore, when the upper limb rehabilitation exoskeleton mechanism of the present invention is worn, the kinematic pair does not need to be aligned with the human joints, thereby solving the problem of joint dislocation when the upper limb rehabilitation exoskeleton mechanism is worn. Moreover, when driving the human shoulder and elbow joints for rehabilitation exercises, the non-driving force or torque on the human joints in the unmanned-machine closed chain mechanism increases the patient's comfort and avoids damage to the human joints caused by rehabilitation exercises.

[0037] (4) When worn, the connection position accuracy requirements of the components connected to the human body are low, making it easy to wear.

[0038] (5) By adjusting the connection positions of the first cylindrical pair 23 and the fourth member 6 and the second cylindrical pair 27 and the sixth member 8, and by adjusting the first cylindrical pair 23 and the fourth member 6 and / or the second cylindrical pair 27 and the sixth member 8, the relative positions of the sixth member 8 and the seventh member 9 are automatically adjusted, thereby achieving adaptive wearing according to the changes in the upper limb sizes of different patients, thereby improving the convenience of wearing the upper limb exoskeleton mechanism and reducing the specifications or models of the upper limb exoskeleton.

[0039] (6) The third component 5 and the fourth component 6 are connected to the slider structure by an arc groove of an equivalent revolute pair, which is more suitable for the physiological structure of the human shoulder.

[0040] In the wearable shoulder joint rehabilitation exoskeleton mechanism provided by the present invention, the shoulder joint mechanism A and the elbow joint mechanism B can be used separately to implement rehabilitation training for the shoulder joint and the elbow joint respectively. As mentioned above, the shoulder joint mechanism A provided by the present invention can realize the flexion, extension, abduction and adduction movement of the human upper arm 10 around the shoulder joint motion pair 15, which is helpful for the rehabilitation training of the human shoulder joint. The elbow joint mechanism B provided by the present invention can realize the flexion and extension movement of the human forearm 12 around the elbow joint motion pair 16, which is helpful for the rehabilitation training of the human elbow joint.

[0041] In addition, the 3-DOF wearable upper limb rehabilitation exoskeleton mechanism provided by the present invention can be used in combination, referring to Figure 4 As shown, the combination includes two upper limb rehabilitation exoskeleton mechanisms and a combined component 34 for connecting the two upper limb exoskeleton mechanisms. The two upper limb rehabilitation exoskeleton mechanisms are respectively used to connect to the left upper limb and the right upper limb of the human body. The combined component 34 is connected to the two shoulder fixing members 2 through the fourth fixing pair 35 and the fifth fixing pair 36. Figure 4 As shown, two upper limb rehabilitation exoskeleton mechanisms are respectively connected to the left upper limb and the right upper limb of the human body, and the combined component 34 is vertically fixedly connected to the shoulder fixing part 2 of one of the upper limb rehabilitation exoskeleton mechanisms through the fourth fixing pair 35, and is vertically fixedly connected to the shoulder fixing part 2 of the other upper limb rehabilitation exoskeleton mechanism through the fifth fixing pair 36.

[0042] The preferred embodiments of the present invention are described in detail above in conjunction with the accompanying drawings, but the present invention is not limited thereto. Within the technical concept of the present invention, the technical solution of the present invention can be subjected to a variety of simple modifications, including the combination of various specific technical features in any appropriate manner. In order to avoid unnecessary repetition, the present invention will not further describe various possible combinations. However, these simple modifications and combinations should also be regarded as the contents disclosed by the present invention and belong to the protection scope of the present invention.

Claims

1. A 3-DOF wearable upper limb rehabilitation exoskeleton mechanism, characterized in that: include: A shoulder joint mechanism (A), wherein two ends of the shoulder joint mechanism (A) are respectively fixedly connected to a human shoulder (1) and a human upper arm (10), and the shoulder joint mechanism (A) is used to drive the human upper arm (10) to achieve flexion, extension, abduction and adduction movements; and An elbow joint mechanism (B), wherein two ends of the elbow joint mechanism (B) are respectively fixedly connected to the human upper arm (10) and the human forearm (12), and the elbow joint mechanism (B) is used to drive the human forearm (12) to achieve flexion and extension movements; The shoulder joint mechanism (A) comprises: a shoulder fixing member (2) connected to the human shoulder (1) via a first fixing pair (18); a first member (3) connected to the shoulder fixing member (2) via a first rotation pair (19); a second member (4) connected to the first member (3) via a second rotation pair (20) and a fourth rotation pair (22), wherein the axes of the second rotation pair (20) and the fourth rotation pair (22) are coaxially arranged; and a third member (5) connected to the second member (4) via a third rotation pair (21), wherein the first rotation pair (19), the second rotation pair (20) and the third rotation pair (22) are coaxially arranged. The rotation axes of the rotation pairs (21) are orthogonal to each other; a fourth member (6) connected to the third member (5) via an arc groove, the rotation center (30) of the arc groove being located on a side of the third member (5) close to the human upper arm (10); a fifth member (7) connected to the fourth member (6) via a first cylindrical pair (23); an eighth member (11) connected to the fifth member (7) via a sixth rotation pair (25), the axis of the first cylindrical pair (23) being orthogonal to the rotation axis of the sixth rotation pair (25), and the eighth member (11) being connected to the human upper arm (10) via a second fixed pair (26); The elbow joint mechanism (B) comprises: the eighth component (11) connected to the human upper arm (10) via the second fixed pair (26); the sixth component (8) connected to the eighth component (11) via the fifth rotational pair (24); the seventh component (9) connected to the sixth component (8) via the second cylindrical pair (27); and the ninth component (13) connected to the seventh component (9) via the seventh rotational pair (28), wherein the axis of the second cylindrical pair (27) is orthogonal to the rotational axis of the seventh rotational pair (28); and the ninth component (13) is connected to the human forearm (12) via the third fixed pair (29).

2. The three-degree-of-freedom wearable upper limb rehabilitation exoskeleton mechanism according to claim 1, characterized in that: The eighth component (11) and the human upper arm (10) are vertically fixedly connected to each other via the second fixing pair (26).

3. The three-degree-of-freedom wearable upper limb rehabilitation exoskeleton mechanism according to claim 1, characterized in that: The axis of the fifth rotation pair (24) and the axis of the first cylindrical pair (23) are perpendicular to each other.

4. The three-degree-of-freedom wearable upper limb rehabilitation exoskeleton mechanism according to claim 1, characterized in that: The ninth component (13) and the human forearm (12) are vertically fixedly connected to each other via the third fixing pair (29).

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