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

Abstract

The application relates to the technical field of medical rehabilitation, and discloses a 3-DOF wearable upper limb rehabilitation exoskeleton mechanism, which comprises a shoulder joint mechanism and an elbow joint mechanism. Two ends of the shoulder joint mechanism are connected with a human shoulder and a human upper arm respectively, and the shoulder joint mechanism is used for driving the human upper arm to perform forward flexion, backward extension, abduction and adduction movements. Two ends of the elbow joint mechanism are connected with the human upper arm and a human forearm respectively, and the elbow joint mechanism is used for driving the human forearm to perform forward flexion and backward extension movements. Therefore, the forward flexion, backward extension, abduction and adduction movements of the human upper arm are realized through the shoulder joint mechanism, the forward flexion and backward extension of the human forearm are realized through the elbow joint mechanism, and then the hand movement reaches the designated position through the combined movement of the human upper arm and the human forearm. The movement relationship is simple and easy to realize, the required driving is less, the movement is more accurate, the number of components is less, the mass of the exoskeleton device of the mechanism is lighter, and the mechanism is convenient to wear.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical rehabilitation, in particular to a 3-DOF wearable upper limb rehabilitation exoskeleton mechanism. BACKGROUND

[0002] The upper limb rehabilitation robot formed by combining the central nervous plasticity mechanism with the robot can independently or assistively realize the rehabilitation training and evaluation of patients with limb movement dysfunction, provides greater autonomy for people with limb movement dysfunction, and effectively alleviates the contradiction between the supply and demand of rehabilitation medical resources and improves the quality of life of disabled patients and the elderly population.

[0003] At present, the upper limb exoskeleton robot mainly includes rigid upper limb exoskeleton robots and soft exoskeleton robots. Among them, the rigid upper limb exoskeleton robot mechanism has the following defects: movement compatibility, workspace limitation, mechanical system singularity problem, heavy weight, and unsuitable for misplacement. The soft upper limb exoskeleton robot has the following defects: the driving auxiliary power is not as good as the rigid robot, cannot completely replace the joint movement function of the patient, and has certain requirements for the patient's own movement ability. In addition, both the rigid and soft upper limb exoskeleton robots have the problem that the driving device is too heavy and is not suitable for wearing. SUMMARY

[0004] The purpose of the present application is to overcome at least one of the above-mentioned problems existing in the prior art.

[0005] In order to achieve the above-mentioned purpose, the present application provides a 3-DOF 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 fixedly connected with the human shoulder and the human upper arm respectively, and the shoulder joint mechanism is used to drive the human upper arm to realize forward flexion, backward extension, and abduction and adduction movement. The two ends of the elbow joint mechanism are fixedly connected with the human upper arm and the human forearm respectively, and the elbow joint mechanism is used to drive the human forearm to realize forward flexion and backward extension movement.

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

[0007] The elbow joint mechanism comprises the eighth component connected with the human upper arm through the second fixing pair, a sixth component connected with the eighth component through a fifth rotating pair, a seventh component connected with the sixth component through a second cylindrical pair, a ninth component connected with the seventh component through a seventh rotating pair, the axis of the second cylindrical pair is orthogonal to the rotating axis of the seventh rotating pair, and the ninth component is connected with the human forearm through a third fixing pair.

[0008] In some embodiments, the eighth component and the human upper arm are fixedly connected with each other perpendicularly through the second fixing pair.

[0009] In some embodiments, the axis of the fifth rotating 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 fixedly connected with each other perpendicularly through the third fixing pair.

[0011] Through the technical solution, the 3-DOF wearable upper limb rehabilitation exoskeleton mechanism has the following beneficial effects:

[0012] (1) The shoulder joint mechanism realizes the forward flexion, backward extension, abduction and adduction movement of the human upper arm, the elbow joint mechanism realizes the forward flexion and backward extension of the human forearm, and the movement of the human upper arm and the human forearm is combined, so that the hand movement reaches the specified position, the movement relationship of the upper limb rehabilitation exoskeleton mechanism is simple and easy to realize, less driving is required, and the movement is more accurate.

[0013] (2) The number of components in the upper limb rehabilitation exoskeleton mechanism is small, so that the mass of the exoskeleton device of the mechanism is light.

[0014] (3) The upper limb rehabilitation exoskeleton mechanism does not need to align the movement of the exoskeleton mechanism with the human body joint when being worn, solves the problem of joint misplacement of the upper limb rehabilitation exoskeleton mechanism when being worn, reduces the precision requirement of the components of the upper limb rehabilitation exoskeleton mechanism and the human body connection, and further makes the wearing more convenient;

[0015] (4) When the upper limb rehabilitation exoskeleton mechanism provided by the application drives the shoulder joint and the elbow joint to recover, the non-driving force and torque of the human body joint in the man-machine closed chain mechanism are increased, the comfort of the patient is improved, and the damage of the rehabilitation movement to the human body joint is avoided;

[0016] (5) The upper limb rehabilitation exoskeleton mechanism provided by the application can be applied to different patients, when the size of the upper limbs of different patients changes, the relative position of the sixth member and the seventh member is automatically adjusted by adjusting the first cylindrical pair and the fourth member and / or the second cylindrical pair and the sixth member, so that the adaptive wearing of the size change of the upper limbs of different patients is realized, and the wearing convenience of the upper limb exoskeleton mechanism is improved, and the specification or type of the upper limb exoskeleton is reduced. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 is a schematic view of the upper limb exoskeleton mechanism disclosed by the application;

[0018] Figure 2 is a schematic view of the shoulder joint mechanism disclosed by the application;

[0019] Figure 3 is a schematic view of the elbow joint mechanism disclosed by the application;

[0020] Figure 4 is a schematic view of the upper limb exoskeleton combination disclosed by the application.

[0021] EXPLANATION OF REFERENCE NUMBERS

[0022] 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 movement pair; 16-elbow joint movement pair; 17-wrist joint movement pair; 18-first fixed pair; 19-first rotation pair; 20-second rotation pair; 21-third rotation pair; 22-fourth rotation pair; 23-first cylindrical pair; 24-fifth rotation pair; 25-sixth rotation pair; 26-second fixed pair; 27-second cylindrical pair; 28-seventh rotation pair; 29-third fixed pair; 30-rotation center; 31-first rotation drive; 32-movement drive; 33-second rotation drive; 34-combination member; 35-fourth fixed pair; 36-fifth fixed pair; A-shoulder joint mechanism; B-elbow joint mechanism. DETAILED DESCRIPTION

[0023] The specific embodiments of the present application will be described in detail below with reference to the drawings. It should be understood that the specific embodiments described herein are merely illustrative and explanatory and are not meant to limit the application.

[0024] In the present application, the terms "upper", "lower", "left", "right", "inner", "outer", "top", "bottom", and the like, indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are merely for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0025] In addition, the terms "first", "second", and the like are used only for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined with "first", "second" can explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of "a plurality of" is at least two, such as two, three, etc., unless otherwise explicitly specified.

[0026] In the present application, the description of the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" and the like means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any appropriate manner in any one or more embodiments or examples. In addition, different embodiments or examples described in the specification and the features of different embodiments or examples can be combined and combined by those skilled in the art without contradiction.

[0027] In the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connection", "fixing" and the like should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected or communicate with each other; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the internal communication of two elements or the interaction relationship between two elements, unless otherwise explicitly limited. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0028] Upper limb exoskeleton robots, such as mechanical arms, can realize rehabilitation training and evaluation of patients with limb movement dysfunction independently or with assistance by matching the movement of the human upper limb, and provide greater autonomy for people with limb movement dysfunction. Existing upper limb exoskeleton robots mainly include rigid upper limb exoskeleton robots and soft exoskeleton robots. The rigid upper limb exoskeleton robot mechanism has the following defects: movement compatibility, workspace limitation, mechanical system singularity problem, heavy weight, and unsuitability for misplacement. The soft upper limb exoskeleton robot has the following defects: the driving auxiliary power is less than that of the rigid robot, it cannot completely replace the joint movement function of the patient, and it has certain requirements for the movement ability of the patient. In addition, Chinese Patent CN106393071B discloses a 9-DOF wearable adaptive upper limb rehabilitation exoskeleton mechanism. Although multiple passive degrees of freedom are added at the shoulder joint to compensate for the problem of axis drift during the movement of the glenohumeral joint, the robot movement pair still needs to be aligned 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 a large number of driving motors corresponding to the multiple degrees of freedom, and complex movement control.

[0029] The present application mainly aims at the problems of inconvenience in wearing and complex movement control of the existing upper limb exoskeleton robots in the prior art, and provides a 3-DOF wearable upper limb rehabilitation exoskeleton mechanism. Figures 1-3 As shown in the accompanying drawings, 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 with a human shoulder 1 and a human upper arm 10, respectively. The shoulder joint mechanism A is used to drive the human upper arm 10 to realize forward flexion, backward extension, abduction and adduction movement around a shoulder joint movement pair 15, and further realize rehabilitation training of the human shoulder joint. The two ends of the elbow joint mechanism B are fixedly connected with the human upper arm 10 and a human forearm 12, respectively. The elbow joint mechanism B is used to drive the human forearm 12 to realize forward flexion and backward extension movement around an elbow joint movement pair 16, and further realize rehabilitation training of the human elbow joint.

[0030] Among them, as Figure 1 and Figure 2As shown, the shoulder joint mechanism A comprises: a first fixed pair 18, a shoulder fixing part 2, a first member 3, a second member 4, a third member 5, a fourth member 6, a fifth member 7, an eighth member 11, a first rotating pair 19, a second rotating pair 20, a third rotating pair 21, a fourth rotating pair 22, a first cylindrical pair 23, a sixth rotating pair 25 and a second fixed pair 26. The shoulder fixing part 2 is connected with the human shoulder 1 through the first fixed pair 18, the shoulder fixing part 2 is connected with the first member 3 through the first rotating pair 19, the first member 3 is connected with the second member 4 through the second rotating pair 20 and the fourth rotating pair 22, and the rotating axes of the second rotating pair 20 and the fourth rotating pair 22 are coaxially arranged. The second member 4 is connected with the third member 5 through the third rotating pair 21, and the three rotating axes formed by the first rotating pair 19, the second rotating pair 20, the third rotating pair 21 and the fourth rotating pair 22 are orthogonal to each other, so that the first rotating pair 19, the second rotating pair 20, the third rotating pair 21 and the fourth rotating pair 22 can be equivalent to a spherical pair. The third member 5 is connected with the fourth member 6 through an arc slot, and the rotating center 30 of the arc slot is located on the side of the arc slot close to the human upper arm 10. The fourth member 6 is connected with the fifth member 7 through the first cylindrical pair 23, the fifth member 7 is connected with the eighth member 11 through the sixth rotating pair 25, the rotating axis of the sixth rotating pair 25 is orthogonal to the axis of the first cylindrical pair 23, and the eighth member 11 is connected with the human upper arm 10 through the second fixed pair 26.

[0031] The shoulder joint mechanism A provided by the application can be connected to the human shoulder 1 through the shoulder fixing part 2 and the first fixed pair 18, and connected to the human upper arm 10 through the eighth member 11 and the second fixed pair 26, so that the human upper arm 10 can be driven to move around the shoulder joint movement pair 15 through the movement of the shoulder joint mechanism A.

[0032] The shoulder joint mechanism A provided by the application combines the physiological structure and movement characteristics of the human shoulder joint, and comprises three orthogonal rotating pairs (the first rotating pair 19, the second rotating pair 20 and the fourth rotating pair 22 and the third rotating pair 21) which can be equivalent to a spherical pair, an arc slot which can be equivalent to a rotating pair, a first cylindrical pair 23 and a sixth rotating pair 25 to form a composite movement pair, and a spatial swing guide rod mechanism formed by the composite movement pair and the shoulder joint movement pair 15. The spatial swing guide rod mechanism can be driven to rotate and swing, so as to drive the human upper arm 10 to perform forward flexion, backward extension, abduction and adduction movements.

[0033] Specifically, the shoulder joint mechanism A provided by the application combines the physiological structure and movement characteristics of the human shoulder joint, and comprises three orthogonal rotating pairs (the first rotating pair 19, the second rotating pair 20 and the fourth rotating pair 22 and the third rotating pair 21) which can be equivalent to a spherical pair, an arc slot which can be equivalent to a rotating pair, a first cylindrical pair 23 and a sixth rotating pair 25 to form a composite movement pair, and a spatial swing guide rod mechanism formed by the composite movement pair and the shoulder joint movement pair 15. The spatial swing guide rod mechanism can be driven to rotate and swing, so as to drive the human upper arm 10 to perform forward flexion, backward extension, abduction and adduction movements. Figure 1 and Figure 2As shown, when the first rotation drive 31 applied to the third member 5 is applied, the third member 5 rotates around the rotation axis of the first rotation pair 19, the third member 5 drives the fourth member 6 to rotate, and the fourth member 6 moves along the axis of the first cylindrical pair 23 relative to the fifth member 7, and drives the eighth member 11 to rotate with the fourth member 6, since the eighth member 11 is connected to the human upper arm 10 through the second fixed pair 26, the eighth member 11 drives the human upper arm 10 to perform the forward flexion or the backward extension movement around the shoulder joint movement pair 15.

[0034] When the movement drive 32 applied to the fourth member 6 is applied, the fourth member 6 moves along the axis of the first cylindrical pair 23, and moves the fourth member 6 in the circular arc slot of the third member 5, since the circular arc slot is equivalent to a rotation pair, the rotation center 30 of the rotation pair is located on the side of the circular arc slot close to the human upper arm 10, therefore, when the fourth member 6 moves in the circular arc slot, the third member 5 rotates around the rotation axis of the rotation center 30 and the third rotation pair 21, so that the fourth member 6 rotates around the rotation axis of the third rotation pair 21 with the third member 5. The rotation of the fourth member 6 is transmitted through the first cylindrical pair 23, the fifth member 7, the sixth rotation 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 movement pair 15, and further realizes the abduction or adduction movement of the human upper arm 10.

[0035] When the first rotation drive 31 applied to the third member 5 and the movement drive 32 applied to the fourth member 6 are applied at the same time, the compound movement of the forward flexion, the backward extension, the abduction, and the adduction of the human upper arm 10 can be realized.

[0036] In addition, referring to Figure 1 and Figure 3 As shown, the elbow joint mechanism B includes the second fixed pair 26, the eighth member 11, the fifth rotation pair 24, the sixth member 8, the second cylindrical pair 27, the seventh member 9, the seventh rotation pair 28, the ninth member 13, and the third fixed pair 29. According to an embodiment of the upper limb rehabilitation exoskeleton mechanism corresponding to the exoskeleton robot of the present application, the shoulder joint mechanism A and the elbow joint mechanism B can respectively include the eighth member 11 and the second fixed pair 26, or the shoulder joint mechanism A and the elbow joint mechanism B can share the eighth member 11 and the second fixed pair 26, further integrating and simplifying the components, reducing the number of components, and being conducive to reducing the weight of the corresponding upper limb rehabilitation exoskeleton device of the upper limb rehabilitation exoskeleton mechanism.

[0037] In combination with Figure 1 and Figure 3As shown, one end of the eighth member 11 is connected with the human upper arm 10 through the second fixed pair 26, the other end of the eighth member 11 is connected with the sixth member 8 through the fifth rotating pair 24, the fifth rotating pair 24 is connected with the seventh member 9 through the second cylindrical pair 27, the seventh member 9 is connected with the ninth member 13 through the seventh rotating pair 28, and the ninth member 13 is connected with the human forearm 12 through the third fixed pair 29.

[0038] The elbow joint mechanism B provided by the present application can be connected with the human upper arm 10 through the eighth member 11 and the second fixed pair 26, and connected with the human forearm 12 through the ninth member 13 and the third fixed pair 29, so that the movement of the elbow joint mechanism B drives the human forearm 12 to move around the elbow joint movement pair 16.

[0039] The elbow joint mechanism B provided by the present application combines the physiological structure and movement characteristics of the human elbow joint, and forms a planar swing guide rod mechanism through the two rotating pairs (the fifth rotating pair 24 and the elbow joint movement pair 16), the second cylindrical pair 27 and the seventh rotating pair 28, so that the planar swing guide rod mechanism is driven to swing, thereby realizing the forward flexion and backward extension movement of the human forearm 12.

[0040] Specifically, in combination with Figure 1 and Figure 3 As shown, when the second rotating drive 33 is applied to the fifth rotating pair 24, the fifth rotating pair 24 rotates around its rotating axis, drives the sixth member 8 to rotate around the rotating axis of the fifth rotating pair 24, and the sixth member 8 moves relative to the seventh member 9 through the second cylindrical pair 27, while the rotation of the sixth member 8 drives the seventh member 9 and the ninth member 13 to rotate around the rotating axis of the fifth rotating pair 24 through the second cylindrical pair 27, and the ninth member 13 is connected with the human forearm 12 through the third fixed pair 29, so that the ninth member 13 drives the human forearm 12 to rotate around the elbow joint movement pair 16, thereby realizing the forward flexion or backward extension movement of the human forearm 12.

[0041] When the first rotating drive 31, the moving drive 32 and the second rotating drive 33 are applied at the same time, the complex movement of the forward flexion, the backward extension, the abduction, the adduction of the human upper arm 10 and the forward flexion, the backward extension of the human forearm 12 can be realized, and the hand 14 connected with the human forearm 12 through the wrist joint movement pair 17 reaches the required position.

[0042] In some embodiments, in combination with Figures 1-3As shown, the shoulder fixing member 2 is vertically fixedly connected with the human shoulder 1 through the first fixing pair 18, and the rotation axis of the first rotation pair 19 and the shoulder fixing member 2 are perpendicular to each other. The rotation axis of the sixth rotation pair 25 and the axis of the first cylindrical pair 23 are perpendicular to each other, the eighth member 11 is vertically fixedly connected with 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 rotation pair 24 and the axis of the first cylindrical pair are perpendicular to each other, the rotation axis of the seventh rotation pair 28 and the axis of the second cylindrical pair 27 are perpendicular to each other, and the ninth member 13 is vertically fixedly connected with 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.

[0043] The 3-DOF wearable upper limb rehabilitation exoskeleton mechanism has the following beneficial effects:

[0044] (1) The 3-DOF movement can be realized, i.e. the forward flexion or backward extension of the human upper arm 10, the abduction or adduction of the human upper arm 10, and the forward flexion or backward extension of the human forearm 12, and further, the compound movement of the forward flexion, the backward extension, the abduction, and the adduction of the human upper arm 10 and the forward flexion and the backward extension of the human forearm 12 can be realized by compounding the 3-DOF movement, so that the hand 14 reaches the required position.

[0045] (2) In the upper limb rehabilitation exoskeleton mechanism, the number of members is small, so that the weight of the corresponding exoskeleton device is low; and the kinematic pair is simple and easy to realize, the movement relationship is simple, and only three drives are needed to realize the 3-DOF movement, so that the movement is more accurate.

[0046] (3) The shoulder joint mechanism A and the shoulder joint kinematic pair 15 constitute a space swing guide rod mechanism, and the elbow joint mechanism B and the elbow joint kinematic pair 16 constitute a plane swing guide rod mechanism, so that the kinematic pair of the upper limb rehabilitation exoskeleton mechanism does not need to be aligned with the human joint during wearing, and the problem of joint misalignment of the upper limb rehabilitation exoskeleton mechanism during wearing is solved; and when driving the human shoulder joint and elbow joint rehabilitation movement, there is no non-driving force or torque on the human joint in the human-machine closed mechanism, which increases the comfort of the patient and avoids the damage of the rehabilitation movement to the human joint.

[0047] (4) During wearing, the connection position of the member connected with the human body has low precision requirement and is convenient to wear.

[0048] (5) By adjusting the connecting position of the first cylindrical pair 23 and the fourth member 6 and the second cylindrical pair 27 and the sixth member 8, the relative position of the sixth member 8 and the seventh member 9 is automatically adjusted by adjusting the first cylindrical pair 23 and the fourth member 6 and / or the second cylindrical pair 27 and the sixth member 8, so as to realize self-adaptive wearing of the upper limb size change of different patients, and then improve the convenience of wearing the upper limb exoskeleton mechanism, and reduce the specifications or types of the upper limb exoskeleton.

[0049] (6) The third member 5 and the fourth member 6 are connected in the arc groove and the slider structure of the equivalent rotating pair, which is more suitable for the physiological structure of the human shoulder.

[0050] In the wearable shoulder joint rehabilitation exoskeleton mechanism provided by the application, the shoulder joint mechanism A and the elbow joint mechanism B can be used alone to realize rehabilitation training of the shoulder joint and the elbow joint, respectively. As described above, the shoulder joint mechanism A provided by the application can realize the forward flexion, backward extension, abduction and adduction movement of the human upper arm 10 around the shoulder joint movement pair 15, which is helpful for the rehabilitation training of the human shoulder joint. The elbow joint mechanism B provided by the application can realize the forward flexion and backward extension movement of the human forearm 12 around the elbow joint movement pair 16, which is helpful for the rehabilitation training of the human elbow joint.

[0051] In addition, the 3-DOF wearable upper limb rehabilitation exoskeleton mechanism provided by the application can be used in combination. As shown in Figure 4 , the combination includes two aforementioned upper limb rehabilitation exoskeleton mechanisms and a combination member 34 for connecting the two upper limb exoskeleton mechanisms, the two upper limb rehabilitation exoskeleton mechanisms are respectively used for connecting with the left upper limb and the right upper limb of the human body, and the combination member 34 is connected with the shoulder fixing member 2 of the two upper limb rehabilitation exoskeleton mechanisms through the fourth fixed pair 35 and the fifth fixed pair 36. As shown in Figure 4 , the two upper limb rehabilitation exoskeleton mechanisms are respectively connected with the left upper limb and the right upper limb of the human body, and the combination member 34 is vertically fixedly connected with the shoulder fixing member 2 of one of the upper limb rehabilitation exoskeleton mechanisms through the fourth fixed pair 35, and is vertically fixedly connected with the shoulder fixing member 2 of the other upper limb rehabilitation exoskeleton mechanism through the fifth fixed pair 36.

[0052] The preferred embodiments of the application are described in detail above in combination with the drawings, but the application is not limited thereto. Within the technical concept of the application, various simple modifications can be made to the technical solutions of the application, including the combination of various specific technical features in any suitable manner. In order to avoid unnecessary repetition, various possible combination manners are not described again in the application. However, these simple modifications and combinations should also be regarded as the disclosed content of the application, and all belong to the protection scope of the application.

Claims

1. A 3-DOF wearable upper limb rehabilitation exoskeleton mechanism, characterized in that, The application relates to a human upper limb driving mechanism, which comprises: a shoulder joint mechanism (A) having two ends fixedly connected with a human shoulder (1) and a human upper arm (10) respectively, and used for driving the human upper arm (10) to realize forward flexion, backward extension and outward and inward movement; and an elbow joint mechanism (B) having two ends fixedly connected with the human upper arm (10) and a human forearm (12) respectively, and used for driving the human forearm (12) to realize forward flexion and backward extension movement. The shoulder joint mechanism (A) comprises a shoulder fixing part (2) connected with the human shoulder (1) through a first fixed pair (18), a first component (3) connected with the shoulder fixing part (2) through a first rotating pair (19), a second component (4) connected with the first component (3) through a second rotating pair (20) and a fourth rotating pair (22), the axes of the second rotating pair (20) and the fourth rotating pair (22) are coaxially arranged, a third component (5) connected with the second component (4) through a third rotating pair (21), the rotating axes of the first rotating pair (19), the second rotating pair (20) and the third rotating pair (21) are orthogonal to each other, a fourth component (6) connected with the third component (5) through a circular arc slot, the rotating center (30) of the circular arc slot is located on the side of the third component (5) close to the human upper arm (10), a fifth component (7) connected with the fourth component (6) through a first cylindrical pair (23), an eighth component (11) connected with the fifth component (7) through a sixth rotating pair (25), the axis of the first cylindrical pair (23) is orthogonal to the rotating axis of the sixth rotating pair (25), the eighth component (11) is connected with the human upper arm (10) through a second fixed pair (26). The elbow joint mechanism (B) comprises the eighth component (11) connected with the human upper arm (10) through the second fixed pair (26), a sixth component (8) connected with the eighth component (11) through a fifth rotating pair (24), a seventh component (9) connected with the sixth component (8) through a second cylindrical pair (27), a ninth component (13) connected with the seventh component (9) through a seventh rotating pair (28), the axis of the second cylindrical pair (27) is orthogonal to the rotating axis of the seventh rotating pair (28), the ninth component (13) is connected with the human forearm (12) through a third fixed pair (29). The eighth component (11) and the human upper arm (10) are fixedly connected with each other through the second fixed pair (26). The axis of the fifth rotating pair (24) is perpendicular to the axis of the first cylindrical pair (23). The ninth component (13) and the human forearm (12) are fixedly connected with each other through the third fixed pair (29).

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