An exoskeleton robotic arm for suppressing static tremors

Abstract

The present invention belongs to the technical field of assistive robotic arms, and specifically refers to an exoskeleton robotic arm for suppressing static tremors, including an adaptive damping anti-tremor mechanism, a damping manual preloading component, a palm fixing mechanism, a forearm fixing mechanism, and a large arm fixing mechanism. There are two sets of the adaptive damping anti-tremor mechanisms. The palm fixing mechanism and the forearm fixing mechanism are rotationally connected through the adaptive damping anti-tremor mechanism, and the forearm fixing mechanism and the large arm fixing mechanism are rotationally connected through the adaptive damping anti-tremor mechanism. Through the technical solution combining hydraulic suppression and motor suppression, in the initial stage of high-frequency tremor movements, high-speed response is achieved through hydraulic suppression, and then an electronically controlled mechanism with general precision is supplemented, so that relatively excellent technical effects can be achieved at a relatively low cost.

Description

Technical Field

[0001] The present invention belongs to the technical field of assistive robotic arms, and specifically refers to an exoskeleton robotic arm for suppressing static tremors. Background Art

[0002] Static tremor is a common core symptom of Parkinson's syndrome, usually manifested as involuntary and rhythmic movements of the hands, feet, or chin. This tremor is most obvious when the patient is stationary and not making active movements, and will weaken or even disappear during active movements.

[0003] With the current medical level, there is no complete treatment plan for Parkinson's syndrome. In order to improve the stability of the patient's limbs at rest, relieve the patient's symptoms and anxiety, and slow down the deterioration rate of the disease, currently, the method of applying a reverse force is mostly used to suppress the patient's static tremor; no side effects will be produced during this process, nor will it cause secondary harm to the patient.

[0004] Most of these medical devices are expensive, and the high cost will cause an obvious burden on patients. To enable ordinary people to enjoy the convenience brought by technology at a lower price, the cost reduction plan for exoskeleton robotic arms is a key issue that needs to be considered in this field.

[0005] In addition, the response speed and control accuracy have always been the main reasons for the high cost of such medical devices. Because static tremor is a small-amplitude high-frequency movement, if the response speed and control accuracy are insufficient, almost no obvious inhibitory effect can be achieved. To achieve good results, not only high requirements are imposed on software control, but also high requirements are imposed on the accuracy of basic hardware. Summary of the Invention

[0006] In view of the above situation, to overcome the defects of the prior art, the present invention proposes an exoskeleton robotic arm for suppressing static tremors based on dual control of hydraulic pressure and electric control; through a technical solution combining hydraulic suppression and motor suppression, at the initial stage of high-frequency tremor movements, high-speed response is achieved through hydraulic suppression, and then an electric control mechanism with general accuracy is supplemented, so that relatively excellent technical effects can be achieved at a lower cost; when the movement is slow (the normal movements of such patients are generally relatively slow, and generally there is no need for rapid movements), a low-cost control component is sufficient to provide assistance for them.

[0007] The technical solution adopted by the present invention is as follows: The present invention provides an exoskeleton robotic arm for suppressing static tremors, which includes an adaptive damping anti-tremor mechanism, a damping manual preloading component, a palm fixing mechanism, a forearm fixing mechanism, and a upper arm fixing mechanism. There are two sets of the adaptive damping anti-tremor mechanisms. The palm fixing mechanism and the forearm fixing mechanism are rotationally connected through the adaptive damping anti-tremor mechanism. The forearm fixing mechanism and the upper arm fixing mechanism are rotationally connected through the adaptive damping anti-tremor mechanism. There are two sets of the damping manual preloading components. One set of the damping manual preloading components is arranged on the palm fixing mechanism, and the other set of the damping manual preloading components is arranged on the upper arm fixing mechanism. The adaptive damping anti-tremor mechanism and the damping manual preloading component are connected through a hydraulic pipeline in a through manner;

[0008] Further, the adaptive damping anti-tremor mechanism includes an annular hydraulic cavity component and an adaptive damping component. The adaptive damping component is rotatably arranged in the annular hydraulic cavity component.

[0009] The adaptive damping anti-tremor mechanism can adaptively adjust the motion damping according to the joint movement speed of the patient, so as to suppress the static tremors of the patient by hindering the movement, achieving the technical purpose of stabilizing the limb.

[0010] Preferably, the annular hydraulic cavity component includes an annular cavity, an annular rotating cover, and a fixed plug. The annular rotating cover is rotatably arranged on the annular cavity. The fixed plugs are symmetrically fixed inside the annular cavity. The cavity formed by the annular cavity and the annular rotating cover is filled with liquid;

[0011] As a further preference of the present invention, the adaptive damping component includes a hollow annular slider. The hollow annular slider is fixed on the annular rotating cover. The hollow annular slider is engaged and slidably arranged in the annular cavity.

[0012] There is a round hole in the center of the hollow annular slider. When the hollow annular slider rotates in the annular cavity, it will be subjected to resistance from the liquid. This resistance will prevent the human limb from moving, and the magnitude of this resistance will increase with the increase of the movement speed. Furthermore, the resistance of the adaptive damping anti-tremor mechanism is reduced during normal movement at low speeds, and the resistance of the adaptive damping anti-tremor mechanism is increased during tremor movement at high speeds.

[0013] As a further preference of the present invention, the adaptive damping component further includes elastic baffles. The elastic baffles are symmetrically arranged on both sides of the hollow annular slider. One end of the elastic baffle is fixed on the hollow annular slider. The elastic baffles enclose a ring with a hole in the center. As the angle of the elastic baffle changes, the size of the central ring also changes.

[0014] The elastic baffle further restricts and constrains the central hole of the hollow annular slider itself. When the sliding speed of the hollow annular slider increases, not only does the flow resistance increase, but the diameter of the central hole of the hollow annular slider also further shrinks, thereby further increasing the amplitude of the resistance increase when the speed increases, and further making the corresponding speed and damping effect more obvious, achieving a better technical effect of suppressing tremors.

[0015] As a further preference of the present invention, the hollow annular slider is composed of a non-elastic part, a hard rubber part, and a soft rubber part. A first joint is provided on the non-elastic part. The adaptive damping assembly further includes a pressure sensor, and the pressure sensor is located in the hard rubber part.

[0016] By designing the materials or thicknesses of different parts of the hollow annular slider, the softness of each position can be changed. Then, when moving rapidly, the soft rubber part can still be deformed by the extrusion of the fluid, thereby achieving the technical purpose of shrinking the flow channel when the speed increases.

[0017] Furthermore, the damping manual preloading assembly includes a preloading cylinder bracket, a preloading cylinder body, a preloading adjusting nut, and a preloading adjusting screw. The preloading cylinder body is snap-fitted in the preloading cylinder bracket. A second joint is provided on the preloading cylinder body. The second joint and the first joint are connected by a hydraulic pipeline. The preloading adjusting nut is fixedly connected to the end of the preloading cylinder body. The preloading adjusting screw and the preloading adjusting nut are in threaded transmission. An adjusting piston part is provided on the preloading adjusting screw, and the adjusting piston part is snap-fitted and slidably arranged in the preloading cylinder body.

[0018] The damping manual preloading assembly can manually preset and adjust the resistance of the adaptive damping anti-tremor mechanism, so that it can adapt to different users and different stages of the same user.

[0019] Furthermore, the palm fixing mechanism includes a palm assisting component and a palm fixing component. The palm fixing component is rotatably arranged on the palm assisting component;

[0020] Preferably, the palm assisting component includes a palm hinge seat, an assisting push rod hinge seat, and an assisting push rod body. The palm hinge seat and the assisting push rod hinge seat are arranged on the annular rotating seal cover. The palm hinge seat and the assisting push rod hinge seat are respectively located on both sides of the annular rotating seal cover. The assisting push rod body is rotatably arranged on the assisting push rod hinge seat.

[0021] The palm fixing mechanism can assist in the adduction and eversion of the patient's wrist through the active telescoping of the power-assisted push rod body. Since the static tremors of the patient mainly concentrate on the rotation of the wrist and the rotation of the elbow, only a power-assisted mechanism (controlled by sensor induction) is provided for the adduction and eversion parts of the palm, and no damping mechanism is provided. If necessary during actual application, it can still be adaptively installed according to the principles of the adaptive damping anti-tremor mechanism and the damping manual preloading component.

[0022] As a further preference of the present invention, the palm fixing component includes a palm fixing member and a palm fixing strap. An installation ring part one is provided on the palm fixing member. One end of the installation ring part one is hinged to the palm hinge seat, and the other end of the installation ring part one is hinged to the power-assisted push rod body. The palm fixing strap is arranged on the palm fixing member, and one set of the damping manual preloading components is fixedly connected to the palm fixing member through a preloading cylinder bracket.

[0023] Furthermore, the forearm fixing mechanism includes a forearm fixing component and a forearm power-assisted component. The forearm fixing component includes a forearm bracket and a forearm fixing strap. An installation ring part two is provided on the forearm bracket. The forearm bracket is fixedly connected to the annular cavity through the installation ring part two. One set of the adaptive damping anti-tremor mechanism is arranged between the installation ring part two and the palm power-assisted component;

[0024] As a further preference of the present invention, the forearm power-assisted component includes a forearm power-assisted motor and a forearm power-assisted gear. The forearm power-assisted motor is fixedly connected to the forearm bracket, the forearm power-assisted gear is arranged on the output shaft of the forearm power-assisted motor, an edge gear part is provided on the annular rotating cover, and the forearm power-assisted gear meshes with the edge gear part for transmission.

[0025] The forearm fixing mechanism and the upper arm fixing mechanism respectively have power-assisted functions. On the one hand, they can feedback the current movement speed of the hollow annular slider through the pressure induction of the pressure sensor, and according to the driving preset between the pressure sensor and the forearm power-assisted motor, and between the pressure sensor and the upper arm power-assisted motor, achieve the technical effect of providing power assistance during low-speed movements and providing damping during high-speed movements.

[0026] Furthermore, the upper arm fixing mechanism includes an upper arm fixing component and an upper arm power-assisted component. The upper arm fixing component includes an upper arm bracket and an upper arm fixing strap. The other set of the adaptive damping anti-tremor mechanism is arranged between the forearm bracket and the upper arm bracket. Among them, the forearm bracket is fixedly connected to the annular cavity, the upper arm bracket is fixedly connected to the annular rotating cover, the upper arm fixing strap is arranged on the upper arm bracket, and the other set of the damping manual preloading components is fixedly connected to the upper arm bracket through a preloading cylinder bracket;

[0027] Preferably, the upper arm assisting assembly includes an upper arm assisting motor and an upper arm assisting gear. The upper arm assisting motor is arranged on the forearm bracket, and the upper arm assisting gear is arranged on the output shaft of the upper arm assisting motor. The upper arm assisting gear is in meshing transmission with the edge gear portion.

[0028] The beneficial effects achieved by the present invention with the above structure are as follows:

[0029] (1) The adaptive damping anti-tremor mechanism can adaptively adjust the movement damping according to the joint movement speed of the patient, thereby suppressing the static tremor of the patient by hindering the movement, achieving the technical purpose of stabilizing the limb.

[0030] (2) There is a round hole in the center of the hollow annular slider. When the hollow annular slider rotates in the annular cavity, it will be subjected to resistance from the liquid. This resistance will prevent the human limb from moving, and the magnitude of this resistance will increase with the increase in the movement speed. Furthermore, when the normal movement is at a low speed, the resistance of the adaptive damping anti-tremor mechanism is reduced, and when the tremor movement is at a high speed, the resistance of the adaptive damping anti-tremor mechanism is increased.

[0031] (3) The elastic baffle further restricts and constrains the central hole of the hollow annular slider itself. When the sliding speed of the hollow annular slider increases, not only does the flow resistance increase, but the diameter of the central hole of the hollow annular slider also further shrinks, thereby further increasing the amplitude of the resistance increase when the speed increases, and further making the corresponding speed and damping effect more obvious and achieving a better anti-tremor technical effect.

[0032] (4) By designing the materials or thicknesses of different parts of the hollow annular slider, the softness of each position can be changed. Furthermore, when moving quickly, the soft rubber part can still be deformed by the extrusion of the fluid, thereby achieving the technical purpose of narrowing the flow channel when the speed increases.

[0033] (5) Through the damping manual preloading assembly, the resistance of the adaptive damping anti-tremor mechanism can be manually preset and adjusted, so that it can adapt to different users and different stages of the same user.

[0034] (6) The palm fixing mechanism can realize the assistance for the internal rotation and eversion of the patient's wrist through the active telescoping of the assisting push rod body. Since the static tremor of the patient mainly focuses on the rotation of the wrist and the rotation of the elbow, for the internal rotation and eversion parts of the palm, only the assisting mechanism (controlled by sensor induction) is set, and the damping mechanism is not set. If necessary during actual application, this part can still be adaptively installed according to the principles of the adaptive damping anti-tremor mechanism and the damping manual preloading assembly.

[0035] (7) The forearm fixing mechanism and the upper arm fixing mechanism are respectively equipped with a boosting function. On the one hand, it can feedback the current movement speed of the hollow annular slider through the pressure induction of the pressure sensor, and according to the driving preset between the pressure sensor and the forearm boosting motor, as well as between the pressure sensor and the upper arm boosting motor, achieve the technical effect of providing boost during low-speed operation and damping during high-speed operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 A three-dimensional view of an exoskeleton robotic arm for suppressing static tremors proposed by the present invention;

[0037] Figure 2 A front view of an exoskeleton robotic arm for suppressing static tremors proposed by the present invention;

[0038] Figure 3 A left view of an exoskeleton robotic arm for suppressing static tremors proposed by the present invention;

[0039] Figure 4 A top view of an exoskeleton robotic arm for suppressing static tremors proposed by the present invention;

[0040] Figure 5 is Figure 2 A cross-sectional view along the cutting line A-A in ;

[0041] Figure 6 is Figure 2 A cross-sectional view along the cutting line B-B in ;

[0042] Figure 7 is Figure 4 A cross-sectional view along the cutting line C-C in ;

[0043] Figure 8 is Figure 4 A cross-sectional view along the cutting line D-D in ;

[0044] Figure 9 An exploded schematic view of an exoskeleton robotic arm for suppressing static tremors proposed by the present invention;

[0045] Figure 10 is Figure 5 A partial enlarged view of part Ⅰ in ;

[0046] Figure 11 is Figure 8 A partial enlarged view of part Ⅱ in ;

[0047] Figure 12 is Figure 6 A partial enlarged view of part Ⅲ in ;

[0048] Figure 13 A partial structural schematic view of the adaptive damping anti-tremor mechanism;

[0049] Figure 14 It is a schematic diagram of the relationship between the indication of the pressure sensor and the torque of the assist motor.

[0050] Among them, 1. Adaptive damping anti-vibration mechanism, 2. Damping manual preload component, 3. Palm fixing mechanism, 4. Forearm fixing mechanism, 5. Upper arm fixing mechanism, 6. Annular hydraulic cavity component, 7. Adaptive damping component, 8. Annular cavity, 9. Annular rotating cover, 10. Fixed plug, 11. Hollow annular slider, 12. Elastic baffle, 13. Pressure sensor, 14. Edge gear part, 15. Inelastic part, 16. First joint, 17. Hard rubber part, 18. Soft rubber part, 19. Preload cylinder bracket, 20. Preload cylinder body, 21. Preload adjusting nut, 22. Preload adjusting screw, 23. Second joint, 24. Adjusting piston part, 25. Palm assist component, 26. Palm fixing component, 27. Palm hinge seat, 28. Assist push rod hinge seat, 29. Assist push rod body, 30. Palm fixing piece, 31. Palm fixing strap, 32. Installation ring part 1, 33. Forearm fixing component, 34. Forearm assist component, 35. Forearm bracket, 36. Forearm fixing strap, 37. Forearm assist motor, 38. Forearm assist gear, 39. Installation ring part 2, 40. Upper arm fixing component, 41. Upper arm assist component, 42. Upper arm bracket, 43. Upper arm fixing strap, 44. Upper arm assist motor, 45. Upper arm assist gear.

[0051] The accompanying drawings are used to provide a further understanding of the present invention, and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention, and do not constitute a limitation to the present invention. Detailed implementation manners

[0052] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments; based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0053] In the description of the present invention, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", etc. indicating the orientation or position relationship are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus cannot be understood as a limitation to the present invention.

[0054] Such as Figures 1 to 13As shown in the figure, the present invention proposes an exoskeleton robotic arm for suppressing static tremors, which includes an adaptive damping anti-tremor mechanism 1, a damping manual preloading component 2, a palm fixing mechanism 3, a forearm fixing mechanism 4, and a upper arm fixing mechanism 5. There are two sets of adaptive damping anti-tremor mechanisms 1. The palm fixing mechanism 3 and the forearm fixing mechanism 4 are rotationally connected through the adaptive damping anti-tremor mechanism 1. The forearm fixing mechanism 4 and the upper arm fixing mechanism 5 are rotationally connected through the adaptive damping anti-tremor mechanism 1. There are two sets of damping manual preloading components 2. One set of the damping manual preloading components 2 is arranged on the palm fixing mechanism 3, and the other set of the damping manual preloading components 2 is arranged on the upper arm fixing mechanism 5. The adaptive damping anti-tremor mechanism 1 and the damping manual preloading component 2 are connected through a hydraulic pipeline in a through manner;

[0055] The adaptive damping anti-tremor mechanism 1 includes an annular hydraulic cavity assembly 6 and an adaptive damping assembly 7. The adaptive damping assembly 7 is rotatably arranged in the annular hydraulic cavity assembly 6.

[0056] The adaptive damping anti-tremor mechanism 1 can adaptively adjust the motion damping according to the joint movement speed of the patient, so as to suppress the static tremors of the patient by hindering the movement, achieving the technical purpose of stabilizing the limb.

[0057] The annular hydraulic cavity assembly 6 includes an annular cavity 8, an annular rotating cover 9, and a fixed plug 10. The annular rotating cover 9 is rotatably arranged on the annular cavity 8. The fixed plug 10 is symmetrically fixed inside the annular cavity 8. The cavity formed by the annular cavity 8 and the annular rotating cover 9 is filled with liquid;

[0058] The adaptive damping assembly 7 includes a hollow annular slider 11. The hollow annular slider 11 is fixed on the annular rotating cover 9. The hollow annular slider 11 is engaged and slidably arranged in the annular cavity 8.

[0059] There is a round hole in the center of the hollow annular slider 11. When the hollow annular slider 11 rotates in the annular cavity 8, it will be subjected to resistance from the liquid. This resistance will prevent the movement of the human limb, and the magnitude of this resistance will increase with the increase of the movement speed. Furthermore, the resistance of the adaptive damping anti-tremor mechanism 1 will be reduced during normal movement at low speed, and the resistance of the adaptive damping anti-tremor mechanism 1 will be increased during tremor movement at high speed.

[0060] The adaptive damping assembly 7 further includes elastic baffles 12. The elastic baffles 12 are symmetrically arranged on both sides of the hollow annular slider 11. One end of the elastic baffle 12 is fixed on the hollow annular slider 11. The elastic baffles 12 enclose a ring with a hole in the center. As the angle of the elastic baffle 12 changes, the size of the central ring also changes.

[0061] The elastic baffle 12 further restricts and constrains the central hole of the hollow annular slider 11 itself. When the sliding speed of the hollow annular slider 11 increases, not only does the flow resistance increase, but the diameter of the central hole of the hollow annular slider 11 also further shrinks, thereby further increasing the amplitude of the resistance increase when the speed increases, and further making the corresponding speed and damping effect more obvious, achieving a better technical effect of suppressing tremors.

[0062] The hollow annular slider 11 is composed of a non-elastic part 15, a hard rubber part 17, and a soft rubber part 18. A first joint 16 is provided on the non-elastic part 15. The adaptive damping assembly 7 further includes a pressure sensor 13, and the pressure sensor 13 is located in the hard rubber part 17.

[0063] By designing the materials or thicknesses of different parts of the hollow annular slider 11, the softness of each position can be changed. Then, when moving quickly, the soft rubber part 18 can still be deformed by the extrusion of the fluid, thereby achieving the technical purpose of narrowing the flow channel when the speed increases.

[0064] The damping manual preloading assembly 2 includes a preloading cylinder bracket 19, a preloading cylinder body 20, a preloading adjusting nut 21, and a preloading adjusting screw 22. The preloading cylinder body 20 is snap-fitted in the preloading cylinder bracket 19. A second joint 23 is provided on the preloading cylinder body 20. The second joint 23 and the first joint 16 are connected by a hydraulic pipeline. The preloading adjusting nut 21 is fixedly connected to the end of the preloading cylinder body 20. The preloading adjusting screw 22 is in threaded transmission with the preloading adjusting nut 21. An adjusting piston part 24 is provided on the preloading adjusting screw 22, and the adjusting piston part 24 is snap-fitted and slidably arranged in the preloading cylinder body 20.

[0065] The damping manual preloading assembly 2 can manually preset and adjust the resistance of the adaptive damping anti-tremor mechanism 1, so that it can adapt to different users and different stages of the same user.

[0066] The palm fixing mechanism 3 includes a palm assisting component 25 and a palm fixing component 26. The palm fixing component 26 is rotatably arranged on the palm assisting component 25;

[0067] The palm assisting component 25 includes a palm hinge seat 27, an assisting push rod hinge seat 28, and an assisting push rod body 29. The palm hinge seat 27 and the assisting push rod hinge seat 28 are arranged on the annular rotating cover 9. The palm hinge seat 27 and the assisting push rod hinge seat 28 are respectively located on both sides of the annular rotating cover 9. The assisting push rod body 29 is rotatably arranged on the assisting push rod hinge seat 28.

[0068] The palm fixing mechanism 3 can assist in the internal rotation and eversion of the patient's wrist through the active telescoping of the power-assisted push rod body 29. Since the static tremors of the patient mainly concentrate on the rotation of the wrist and the rotation of the elbow, for the internal rotation and eversion parts of the palm, only a power-assisted mechanism (controlled by sensor induction) is provided, and no damping mechanism is set. If necessary during actual application, it is still possible to adaptively install this part according to the principles of the adaptive damping anti-tremor mechanism 1 and the damping manual preloading component 2.

[0069] The palm fixing component 26 includes a palm fixing member 30 and a palm fixing strap 31. An installation ring part one 32 is provided on the palm fixing member 30. One end of the installation ring part one 32 is hinged to the palm hinge seat 27, and the other end of the installation ring part one 32 is hinged to the power-assisted push rod body 29. The palm fixing strap 31 is arranged on the palm fixing member 30. One set of the damping manual preloading component 2 is fixedly connected to the palm fixing member 30 through the preloading cylinder bracket 19.

[0070] The forearm fixing mechanism 4 includes a forearm fixing component 33 and a forearm power-assisted component 34. The forearm fixing component 33 includes a forearm bracket 35 and a forearm fixing strap 36. An installation ring part two 39 is provided on the forearm bracket 35. The forearm bracket 35 is fixedly connected to the annular cavity 8 through the installation ring part two 39. One set of the adaptive damping anti-tremor mechanism 1 is arranged between the installation ring part two 39 and the palm power-assisted component 25;

[0071] The forearm power-assisted component 34 includes a forearm power-assisted motor 37 and a forearm power-assisted gear 38. The forearm power-assisted motor 37 is fixedly connected to the forearm bracket 35. The forearm power-assisted gear 38 is arranged on the output shaft of the forearm power-assisted motor 37. An edge gear part 14 is provided on the annular rotating cover 9. The forearm power-assisted gear 38 and the edge gear part 14 are in meshing transmission.

[0072] The forearm fixing mechanism 4 and the upper arm fixing mechanism 5 respectively have power-assisted functions. On the one hand, they can feedback the current movement speed of the hollow annular slider 11 through the pressure induction of the pressure sensor 13, and according to the drive preset between the pressure sensor 13 and the forearm power-assisted motor 37, and between the pressure sensor 13 and the upper arm power-assisted motor 44, achieve the technical effect of providing power assistance during low-speed actions and providing damping during high-speed actions.

[0073] The upper arm fixing mechanism 5 includes an upper arm fixing component 40 and an upper arm power-assisted component 41. The upper arm fixing component 40 includes an upper arm bracket 42 and an upper arm fixing strap 43. The other set of the adaptive damping anti-tremor mechanism 1 is arranged between the forearm bracket 35 and the upper arm bracket 42. Among them, the forearm bracket 35 is fixedly connected to the annular cavity 8, the upper arm bracket 42 is fixedly connected to the annular rotating cover 9, the upper arm fixing strap 43 is arranged on the upper arm bracket 42, and the other set of the damping manual preloading component 2 is fixedly connected to the upper arm bracket 42 through the preloading cylinder bracket 19;

[0074] The upper arm assisting component 41 includes an upper arm assisting motor 44 and an upper arm assisting gear 45. The upper arm assisting motor 44 is arranged on the forearm bracket 35, and the upper arm assisting gear 45 is arranged on the output shaft of the upper arm assisting motor 44. The upper arm assisting gear 45 meshes with and drives the edge gear portion 14.

[0075] Figure 14 It is a schematic diagram of the relationship between the torque of the assisting motor and the pressure sensor 13. The horizontal axis represents the magnitude of the pressure received by the pressure sensor 13, and the positive and negative axes represent the direction of the pressure. The vertical axis represents the magnitude of the torque of the assisting motor, and the positive and negative axes represent the direction of the assistance. Taking the positive half-axis of the horizontal axis as an example, it is divided into three intervals A, B, and C. In interval A, the reading of the pressure sensor 13 is small, indicating that the movement speed of the hollow annular slider 11 is slow. At this time, the assisting motor provides assistance in the same direction as the movement direction. In interval B, after the speed increases to a certain extent, the system identifies that tremors may be occurring or about to occur. At this time, the assistance that the assisting motor can generate decreases until it becomes zero. Interval B, as a transition interval (rather than a working interval) between A and C, should be as narrow as possible. In interval C, after the speed is too high, the system identifies that the operator is experiencing tremors at this time. At this time, the assisting motor can generate a resistance force in the opposite direction to the movement direction. Under the action of this force, the movement of the operator is actually restricted, thereby achieving the purpose of suppressing tremors.

[0076] The negative half-axis of the horizontal axis represents another movement direction, and its principle is the same as the above.

[0077] In specific use, first, the user needs to complete the fixation between the device and the limb through the palm fixing strap 31, the forearm fixing strap 36, and the upper arm fixing strap 43. When the limb moves, on the one hand, the assisting motor can provide assistance or resistance to the moving part by identifying the speed; on the other hand, the adaptive damping anti-tremor mechanism 1 can automatically adjust the movement damping of the joint part according to the movement speed of the joint.

[0078] All moving parts of the arm actually require active assistance, such as the flipping of the palm, the rotation of the wrist, and the rotation of the elbow; while static tremors mainly occur in the rotation of the wrist and the rotation of the elbow, and are mainly manifested in a small-amplitude and high-frequency mode.

[0079] When the joint moves at a relatively low speed, the assist motor can provide assistance in the same direction as the movement; when the speed of the joint movement increases to a certain extent, the system recognizes that tremors may be occurring or about to start. At this time, the assistance generated by the assist motor decreases until it reaches zero; when the speed of the joint movement is too high, the system recognizes that the operator is experiencing tremors at this time. At this time, the assist motor can generate a resistance force opposite to the movement direction. Under the action of this force, the movement of the operator is actually restricted, thus achieving the purpose of suppressing tremors.

[0080] In addition to the active assistance of each joint, the rotating part can also automatically adjust the damping of the rotating part through the adaptive damping anti-tremor mechanism 1. The hollow annular slider 11 slides in the annular cavity 8 filled with liquid. Since the central flow channel of the hollow annular slider 11 is relatively small, the hollow annular slider 11 will be subject to resistance from the liquid when sliding, and this resistance will increase with the increase in speed.

[0081] Embodiment 1: Elastic baffles 12 are evenly distributed on both sides of the hollow annular slider 11 in a circular shape. As the sliding speed of the hollow annular slider 11 in the annular cavity 8 increases, the elastic baffle 12 located on the front side will approach the hollow annular slider 11 under the extrusion of the liquid. During this process, the elastic baffle 12 tightens and the holes between the elastic baffles 12 decrease, thereby further increasing the rotational resistance of the adaptive damping anti-tremor mechanism 1.

[0082] Embodiment 2: If the elastic baffle 12 is removed, since the soft rubber part 18 is made of a soft material, after being subjected to the extrusion force of the liquid on the side, the soft rubber part 18 will become flattened during the extrusion process. In this process, the diameter of the central hole of the hollow annular slider 11 actually also decreases, which can also further increase the movement resistance of the adaptive damping anti-tremor mechanism 1.

[0083] The combination of the adaptive damping anti-tremor mechanism 1 and the assist component can provide assistance to the user during low-speed movements, and restrict the movement of the patient by increasing the movement resistance during high-speed tremors, thereby achieving the technical effect of suppressing static tremors.

[0084] When it is necessary to actively adjust the initial state of the adaptive damping anti-tremor mechanism 1, it is necessary to control the liquid flow between the preload cylinder body 20 and the hollow annular slider 11 by rotating the preload adjustment screw 22. The more liquid in the hollow annular slider 11, the smaller the central hole of the hollow annular slider 11 in the initial state, and the greater the rotational resistance of the adaptive damping anti-tremor mechanism 1; the less liquid in the hollow annular slider 11, the larger the central hole of the hollow annular slider 11 in the initial state, and the smaller the rotational resistance of the adaptive damping anti-tremor mechanism 1.

[0085] It should be noted that in this text, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, such that a process, method, article or device comprising a series of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article or device.

[0086] The above describes the present invention and its implementation manners. Such description is not restrictive. What is shown in the drawings is only one of the implementation manners of the present invention, and the actual structure is not limited thereto. Generally speaking, if those of ordinary skill in the art are inspired by it and, without departing from the gist of the present invention, design similar structural modes and embodiments to this technical solution without creative efforts, they shall fall within the protection scope of the present invention.

Claims

1. An exoskeleton mechanical arm for suppressing resting tremor, comprising a palm fixing mechanism (3), a forearm fixing mechanism (4) and an upper arm fixing mechanism (5), characterized in that: It also comprises an adaptive damping anti-vibration mechanism (1) and a damping manual preload component (2), wherein the adaptive damping anti-vibration mechanism (1) is provided with two groups, the palm fixing mechanism (3) and the forearm fixing mechanism (4) are rotationally connected via the adaptive damping anti-vibration mechanism (1), the forearm fixing mechanism (4) and the upper arm fixing mechanism (5) are rotationally connected via the adaptive damping anti-vibration mechanism (1), the damping manual preload component (2) is provided with two groups, one group of the damping manual preload components (2) is provided on the palm fixing mechanism (3), and the other group of the damping manual preload components (2) is provided on the upper arm fixing mechanism (5), and the adaptive damping anti-vibration mechanism (1) and the damping manual preload component (2) are connected via a hydraulic pipeline; The adaptive damping anti-tremor mechanism (1) comprises an annular hydraulic cavity component (6) and an adaptive damping component (7), wherein the adaptive damping component (7) is rotatably disposed in the annular hydraulic cavity component (6); The adaptive damping component (7) comprises a hollow annular slider (11); The hollow annular slider (11) is composed of a non-elastic part (15), a hard rubber part (17) and a soft rubber part (18); the non-elastic part (15) is provided with a first joint (16); The damping manual preload assembly (2) comprises a preload cylinder bracket (19), a preload cylinder body (20), a preload adjustment nut (21) and a preload adjustment screw (22); the preload cylinder body (20) is clamped and arranged in the preload cylinder bracket (19); a second joint (23) is provided on the preload cylinder body (20); the second joint (23) and the first joint (16) are connected via a hydraulic pipeline; the preload adjustment nut (21) is fixed to the end of the preload cylinder body (20); the preload adjustment screw (22) and the preload adjustment nut (21) are threadedly driven; the preload adjustment screw (22) is provided with an adjustment piston part (24); the adjustment piston part (24) is clamped and slidably arranged in the preload cylinder body (20); The annular hydraulic cavity assembly (6) comprises an annular cavity (8), an annular rotating cover (9) and a fixed plug (10), wherein the annular rotating cover (9) is rotatably arranged on the annular cavity (8), and the fixed plug (10) is symmetrically fixed to the inside of the annular cavity (8), and the cavity formed by the annular cavity (8) and the annular rotating cover (9) is filled with liquid; The hollow annular slider (11) is fixedly connected to the annular rotating cover (9), and the hollow annular slider (11) is slidably arranged in the annular cavity (8).

2. The exoskeleton mechanical arm for suppressing resting tremor according to claim 1, characterized in that: The adaptive damping component (7) further comprises an elastic baffle (12), wherein the elastic baffle (12) is symmetrically arranged on both sides of the hollow annular slider (11), one end of the elastic baffle (12) is fixedly connected to the hollow annular slider (11), and the elastic baffle (12) forms a circular ring with a hole in the center, and as the angle of the elastic baffle (12) changes, the size of the central circular ring also changes accordingly.

3. The exoskeleton mechanical arm for suppressing resting tremor according to claim 1, characterized in that: The adaptive damping assembly (7) further comprises a pressure sensor (13), wherein the pressure sensor (13) is located in the hard rubber part (17).

4. The exoskeleton mechanical arm for suppressing resting tremor according to claim 3, characterized in that: The palm fixing mechanism (3) comprises a palm assisting component (25) and a palm fixing component (26), wherein the palm fixing component (26) is rotatably mounted on the palm assisting component (25); The palm assist assembly (25) comprises a palm hinge seat (27), a assist push rod hinge seat (28) and a assist push rod body (29); the palm hinge seat (27) and the assist push rod hinge seat (28) are arranged on the annular rotating cover (9); the palm hinge seat (27) and the assist push rod hinge seat (28) are respectively located on two sides of the annular rotating cover (9); and the assist push rod body (29) is rotatably arranged on the assist push rod hinge seat (28).

5. The exoskeleton mechanical arm for suppressing resting tremor according to claim 4, characterized in that: The palm fixing assembly (26) comprises a palm fixing member (30) and a palm fixing strap (31); the palm fixing member (30) is provided with a mounting annular portion (32); one end of the mounting annular portion (32) is hinged to a palm hinge seat (27); the other end of the mounting annular portion (32) is hinged to a booster push rod body (29); the palm fixing strap (31) is arranged on the palm fixing member (30); and one group of the damping manual preload assembly (2) is fixed to the palm fixing member (30) via a preload cylinder bracket (19).

6. The exoskeleton mechanical arm for suppressing resting tremor according to claim 5, characterized in that: The forearm fixing mechanism (4) comprises a forearm fixing assembly (33) and a forearm assist assembly (34), the forearm fixing assembly (33) comprises a forearm bracket (35) and a forearm fixing strap (36), the forearm bracket (35) is provided with a second mounting annular portion (39), the forearm bracket (35) is fixedly connected to the annular cavity (8) via the second mounting annular portion (39), and one group of the adaptive damping anti-tremor mechanism (1) is arranged between the second mounting annular portion (39) and the palm assist assembly (25); The forearm assist assembly (34) comprises a forearm assist motor (37) and a forearm assist gear (38); the forearm assist motor (37) is fixedly connected to the forearm bracket (35); the forearm assist gear (38) is arranged on the output shaft of the forearm assist motor (37); an edge gear portion (14) is arranged on the annular rotating cover (9); the forearm assist gear (38) and the edge gear portion (14) are meshed for transmission.

7. The exoskeleton mechanical arm for suppressing resting tremor according to claim 6, characterized in that: The upper arm fixing mechanism (5) comprises an upper arm fixing component (40) and an upper arm assisting component (41), the upper arm fixing component (40) comprises an upper arm bracket (42) and an upper arm fixing strap (43), another group of the adaptive damping anti-tremor mechanism (1) is arranged between the lower arm bracket (35) and the upper arm bracket (42), wherein the lower arm bracket (35) is fixedly connected to the annular cavity (8), the upper arm bracket (42) is fixedly connected to the annular rotating cover (9), the upper arm fixing strap (43) is arranged on the upper arm bracket (42), and another group of the damping manual preload component (2) is fixedly connected to the upper arm bracket (42) via a preload cylinder bracket (19); The upper arm assist assembly (41) comprises an upper arm assist motor (44) and an upper arm assist gear (45); the upper arm assist motor (44) is arranged on the lower arm bracket (35); the upper arm assist gear (45) is arranged on the output shaft of the upper arm assist motor (44); the upper arm assist gear (45) and the edge gear portion (14) are meshed for transmission.

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