Upper limb rehabilitation exoskeleton with shoulder-humerus linkage mechanism

Abstract

The application discloses an upper limb rehabilitation exoskeleton with a shoulder-humerus linkage mechanism and belongs to the field of rehabilitation devices. The upper limb rehabilitation exoskeleton comprises a support platform, a shoulder-humerus linkage mechanism, a shoulder joint mechanism, a large arm and an elbow joint mechanism, a forearm and a hand mechanism. The shoulder-humerus linkage mechanism is slidingly connected to the support platform, the shoulder joint mechanism is connected to the free end of the shoulder-humerus linkage mechanism, the large arm and the elbow joint mechanism are connected to the free end of the shoulder joint, and the forearm and the hand mechanism are connected to the free end of the large arm and the elbow joint mechanism. The linkage joint actuator is connected to gear reduction boxes, worm and gear reduction boxes and other components, the rotation center of the exoskeleton shoulder joint on the frontal plane can rotate around the set point, the rotation center offset of the human body shoulder joint abduction and adduction can be followed, the dislocation of the human body upper limb when moving with the exoskeleton can be reduced, and the wearing comfort of the exoskeleton is improved. The shoulder-humerus linkage mechanism of the exoskeleton is simple in structure, reliable in movement and lower in cost compared with the motor-driven active shoulder following mechanism.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of rehabilitation devices, more particularly, to an upper limb rehabilitation exoskeleton with a scapulohumeral rhythm mechanism. BACKGROUND

[0002] The human upper limb, especially the scapulohumeral joint, has complexity in biomechanics. The scapulohumeral rhythm (SR) phenomenon refers to the linkage phenomenon of the shoulder joint and the scapulohumeral joint, which is reflected in the rotation center of the shoulder joint when the human drives the shoulder joint to abduct, adduct, and protract and retract, respectively at a point in the frontal plane and the transverse plane (corresponding to the abduction-adduction and internal-external rotation of SR, respectively), which has a significant impact on the compatibility of the human-machine structure of the upper limb exoskeleton.

[0003] The structural design of the upper limb exoskeleton needs to balance the complexity of the mechanism, the compatibility of the human-machine structure, and the cost. The invention patent CN 202211685801.7 discloses "a shoulder exoskeleton for upper limb auxiliary rehabilitation", which to some extent adapts to the rotation center offset of the shoulder joint brought by the scapulohumeral joint, but the structure is complex and will also increase the cost. The invention patent CN 202211679260.7 discloses "a novel upper limb rehabilitation exoskeleton structure design", which uses a guide rail and a sliding block to connect the shoulder joint connecting rod, and approximates the arc offset trajectory of the shoulder joint rotation center in the frontal plane with a straight line, which inevitably weakens the compatibility of the human-machine structure of the shoulder joint. The invention patent CN 202310070002.7 discloses "a double-arm upper limb exoskeleton rehabilitation training device", which uses a motor to control the movement of the scapulohumeral joint, which has high compatibility of the human-machine structure, but the motor added before the shoulder joint needs the maximum load capacity, which is of high specification and will cause a large increase in cost. The invention patent CN 202310643861.0 discloses "a force feedback exoskeleton mechanical arm based on a master-slave joint", which follows the offset of the shoulder joint rotation center in the transverse plane through a passive joint, which is simple in structure, but this scheme is difficult to apply to the offset in the frontal plane where the scapulohumeral rhythm is more obvious. In addition, due to the lack of symmetry in the structure of the above-mentioned invention, it is difficult to realize the training of both arms with a single exoskeleton mechanical arm at a low cost. SUMMARY

[0004] In order to overcome the defects of the prior art, the present application provides an upper limb rehabilitation exoskeleton with a scapulohumeral rhythm mechanism, which can overcome the defects of the prior art that the relative movement caused by the inconsistency between the exoskeleton and the user's upper limb shoulder joint leads to discomfort and even secondary injury to the user.

[0005] To achieve this purpose, the present application adopts the following technical solutions.

[0006] The application provides an upper limb rehabilitation exoskeleton with a shoulder-humerus linkage mechanism, which comprises a support platform, a shoulder-humerus linkage mechanism, a shoulder joint mechanism, a large arm and an elbow joint mechanism, a forearm and a hand mechanism.

[0007] In the preferred technical scheme of the application, the support platform comprises a lifting platform, an electrical cabinet, a first support plate, a second support plate and a first guide rail. The lifting platform is fixed to the second support plate, the electrical cabinet is fixed to the upper end of the lifting platform, the first support plate is fixed to the top of the electrical cabinet, the first guide rail is arranged on the top of the first support plate, and the shoulder-humerus linkage mechanism is slidably connected to the first guide rail through a sliding block.

[0008] In the preferred technical scheme of the application, the shoulder-humerus linkage mechanism comprises a third support plate, a first joint actuator, a first gear shaft, a second gear shaft, a gear reduction box, a shaft coupling, a first joint actuator and a worm reduction box. The sliding block is fixed to the bottom of the third support plate, the gear reduction box, the worm reduction box and the first joint actuator are all fixed to the third support plate, the first gear shaft and the second gear shaft are both rotatably connected to the gear reduction box, and the first gear shaft and the second gear shaft are in meshing engagement, the first gear shaft is connected to the output shaft of the worm reduction box through the shaft coupling, the first joint actuator is connected to the second gear shaft, and the second gear shaft is connected to the shoulder joint mechanism.

[0009] In the preferred technical scheme of the application, the shoulder joint mechanism comprises a first connecting rod, a second connecting rod, a second joint actuator, a third connecting rod, a fourth connecting rod and a third joint actuator. The first connecting rod is fixedly connected to the first gear shaft, the first connecting rod is connected to the second connecting rod, the second joint actuator is fixed to the second connecting rod, the third connecting rod is fixed to the free end of the second joint actuator, the fourth connecting rod is connected to the third connecting rod, and the third joint actuator is fixed to the fourth connecting rod.

[0010] In the preferred technical scheme of the application, the large arm and the elbow joint mechanism comprise a fifth connecting rod, a sixth connecting rod, a second guide rail, a motor, a screw rod, a nut, a large arm fixing assembly and a fourth joint actuator. The end of the fifth connecting rod is connected to the free end of the third joint actuator, the second guide rail is fixed to the fifth connecting rod, the sixth connecting rod is slidably connected to the second guide rail, the motor is fixed to the fifth connecting rod, the screw rod is connected to the power output end of the motor, the nut is fixed to the sixth connecting rod, the screw rod passes through the nut and is in threaded engagement with the nut, the large arm fixing assembly is fixed to one side of the fifth connecting rod, and the fourth joint actuator is fixed to the sixth connecting rod.

[0011] In the preferable technical scheme of the present application, the forearm and hand mechanism comprises a seventh connecting rod, an eighth connecting rod, a forearm fixing assembly and a handle.

[0012] In the preferable technical scheme of the present application, the eighth connecting rod is in U-shaped arrangement, and the two ends of the handle are respectively hinged to the two ends of the eighth connecting rod.

[0013] In the preferable technical scheme of the present application, the motor is fixed to the fifth connecting rod through a first support, and the nut is fixed to the sixth connecting rod through a second support.

[0014] In the preferable technical scheme of the present application, the bottom of the third support plate is connected with a limiting handle, and the side of the electrical cabinet is connected with a limiting block, both of which are located on the same side of the third support plate.

[0015] In the preferable technical scheme of the present application, the bottom of the second support plate is provided with a plurality of pulleys.

[0016] The present application has the following beneficial effects:

[0017] The upper limb rehabilitation exoskeleton with shoulder-humerus linkage mechanism provided by the present application can make the rotation center of the exoskeleton shoulder joint rotate on the frontal plane around the set point, so as to follow the rotation center offset of the human shoulder joint during abduction and adduction, thereby reducing the misplacement of the human upper limb when moving with the exoskeleton and improving the wearing comfort of the exoskeleton.

[0018] The rehabilitation exoskeleton is provided with a lifting platform with wheels, which facilitates the transfer of the exoskeleton equipment, and supports the sitting and standing training at the same time, and is convenient for medical staff and patients to adjust the use according to the needs.

[0019] The rehabilitation exoskeleton has symmetry in each joint connecting rod, and the joint angle of the exoskeleton can be adjusted through the joint actuator, and the output shaft angle of the worm and gear reducer and the position of the sliding support platform can be manually adjusted, so that the left and right hands of the exoskeleton can be exchanged. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1is a structural schematic view of an upper limb rehabilitation exoskeleton with shoulder-humerus linkage mechanism provided in the specific embodiment of the present application;

[0021] Figure 2 is Figure 1 is a structural schematic view of the support platform in the specific embodiment of the present application;

[0022] Figure 3 is Figure 1 is a structural schematic view of the shoulder-humerus linkage mechanism in the specific embodiment of the present application;

[0023] Figure 4 is Figure 3 is a left rear side view of the specific embodiment of the present application;

[0024] Figure 5 is Figure 3 is a rear structural schematic view of the specific embodiment of the present application;

[0025] Figure 6 is Figure 4 is a structural schematic view of the A-A direction in the specific embodiment of the present application;

[0026] Figure 7 is Figure 1 is a structural schematic view of the shoulder joint mechanism in the specific embodiment of the present application;

[0027] Figure 8 is Figure 1 is a structural schematic view of the upper arm and elbow joint and mechanism in the specific embodiment of the present application;

[0028] Figure 9 is Figure 1 is a structural schematic view of the forearm and hand mechanism in the specific embodiment of the present application.

[0029] In the drawings:

[0030] 1. Support platform; 2. Shoulder-arm linkage mechanism; 3. Shoulder joint mechanism; 4. Upper arm and elbow joint mechanism; 5. Forearm and hand mechanism; 101. Slider; 102. First guide rail; 103. First support plate; 104. Limit block; 105. Electrical cabinet; 106. Lifting platform; 107. Second support plate; 108. Pulley; 201. First gearbox bracket; 202. Third support plate; 203. Second gearbox bracket; 204. First joint actuator; 205. Joint actuator bracket; 206. Gear reducer; 207. Coupling; 208. Worm gear reducer; 209. Limit handle; 210. First flange. 211. Second gear shaft; 212. First gear shaft; 213. Third gearbox bracket; 301. Second flange; 302. First connecting rod; 303. Second connecting rod; 304. Second joint actuator; 305. Third connecting rod; 306. Fourth connecting rod; 307. Third joint actuator; 401. Fifth connecting rod; 402. Motor; 403. First bracket; 404. Second guide rail; 405. Nut; 406. Second bracket; 407. Sixth connecting rod; 408. Fourth joint actuator; 409. Boom fixing assembly; 501. Seventh connecting rod; 502. Forearm fixing assembly; 503. Eighth connecting rod; 504. Handle. Detailed Implementation

[0031] The technical solution of the present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0032] like Figure 1 As shown, this embodiment provides an upper limb rehabilitation exoskeleton with a shoulder-humerus linkage mechanism, including a support platform 1, a shoulder-humerus linkage mechanism 2, a shoulder joint mechanism 3, an upper arm and elbow joint mechanism 4, and a forearm and hand mechanism 5. The shoulder-humerus linkage mechanism 2 is slidably connected to the support platform 1, the shoulder joint mechanism 3 is connected to the free end of the shoulder-humerus linkage mechanism 2, the upper arm and elbow joint mechanism 4 is connected to the free end of the shoulder joint, and the forearm and hand mechanism 5 is connected to the free end of the upper arm and elbow joint mechanism 4.

[0033] The support platform 1 provides support for the exoskeleton, so that the exoskeleton is suitable for the height of the corresponding patient, and the support platform 1 also allows the exoskeleton to move conveniently. By rotating the shoulder and humerus structure with the shoulder joint mechanism 3, the shoulder and humerus rhythm phenomenon of the offset of the center of motion of the shoulder joint when the human shoulder joint is abducted or adducted is simulated, so as to improve the comfort of the patient when wearing the exoskeleton for rehabilitation training. The shoulder joint structure is provided with two active degrees of freedom, the distal active degree of freedom is used to realize the forward extension or backward flexion of the shoulder joint, and the proximal active degree of freedom cooperates with the active degree of freedom of the shoulder and humerus linkage mechanism 2 to realize the internal rotation or external rotation of the shoulder joint. The cooperation of the upper arm and elbow joint mechanism 4 and the forearm and hand mechanism 5 simulates the movement of the forearm, and the upper arm and elbow joint mechanism 4 has two active degrees of freedom, wherein the distal active degree of freedom is used to realize the flexion and extension of the elbow joint, and the intermediate active degree of freedom is used to realize the adjustment of the length of the upper arm. The forearm and hand mechanism 5 has a passive degree of freedom, which is used to realize the abduction or adduction of the wrist joint. Through the above setting, the active or passive movement of the shoulder joint, shoulder and humerus, elbow joint and wrist joint is realized, the upper limb is realized for comprehensive rehabilitation training, the comfort of rehabilitation training is improved, and the discomfort of the patient is avoided.

[0034] Further, as shown in Figure 2 The support platform 1 includes a lifting platform 106, an electrical cabinet 105, a first support plate 103, a second support plate 107 and a first guide rail 102. The lifting platform 106 is fixed to the second support plate 107, the electrical cabinet 105 is fixed to the upper end of the lifting platform 106, the first support plate 103 is fixed to the top of the electrical cabinet 105, the first guide rail 102 is arranged on the top of the first support plate 103, and the shoulder and humerus linkage mechanism 2 is slidably connected to the first guide rail 102 through the sliding block 101.

[0035] The height of the top of the lifting platform 106 can be adjusted by using a remote controller matched with the lifting platform 106, so that the rehabilitation exoskeleton can be adapted to patients of different heights, and the adjustment of the lifting platform 106 can also realize the switching between sitting training and standing training, and meet the different rehabilitation training requirements of patients. The two first guide rails 102 can allow the exoskeleton to slide horizontally through the sliding block 101, so as to conveniently adjust the horizontal position according to the actual use requirements. The sliding block 101 is configured with 4, and 2 sliding blocks 101 are arranged on each first guide rail 102, so as to drive the shoulder and humerus linkage mechanism 2 and other mechanisms to move horizontally.

[0036] Further, as shown in Figures 3-6As shown, the shoulder-humerus linkage mechanism 2 comprises a third support plate 202, a first joint actuator 204, a first gear shaft 212, a second gear shaft 211, a gear reduction box 206, a coupling 207, the first joint actuator 204, and a worm-gear reduction box 208. The slider 101 is fixed to the bottom of the third support plate 202, the gear reduction box 206, the worm-gear reduction box 208, and the first joint actuator 204 are all fixed to the third support plate 202, the first gear shaft 212 and the second gear shaft 211 are both rotationally connected in the gear reduction box 206, and the first gear shaft 212 and the second gear shaft 211 are in meshing engagement, the first gear shaft 212 is connected to the output shaft of the worm-gear reduction box 208 through the coupling 207, the first joint actuator 204 is connected to the second gear shaft 211, and the second gear shaft 211 is connected to the shoulder joint mechanism 3.

[0037] The first joint actuator 204 is fixedly connected to the second gear shaft 211 through a first flange 210. The output shaft of the first joint actuator 204 drives the second gear shaft 211 to rotate and the shoulder joint mechanism 3 to rotate relative to the gear reduction box 206. At the same time, the first gear shaft 212 in the gear reduction box 206 rotates. The gear modulus of the first gear shaft 212 is 2, the number of teeth is 53, the gear modulus of the second gear shaft 211 is 2, the number of teeth is 27, and the distance between the two gear shafts is 80 mm. The first gear shaft 212 and the second gear shaft 211 are installed in the gear reduction box 206 through bearings. The first gear shaft 212 is fixed to the output shaft of the worm-gear reduction box 208 having a self-locking function through the coupling 207, and the fixed angle of the output shaft of the worm-gear reduction box 208 can be manually adjusted. The second gear shaft 211 is connected to the shoulder joint and is fixed by bolts. The second gear shaft 211 is in meshing engagement with the first gear shaft 212, and when the first gear shaft 212 rotates relative to the gear reduction box 206, the second gear shaft 211 will make planetary motion around the first gear shaft 212. The worm-gear reduction box 208 is fixed to the third support plate 202 through a first reduction box support 201, the first joint actuator 204 is fixed to one side of the gear reduction box 206 through a joint actuator support 205, and the first gear shaft 212 is rotationally connected to a second reduction box support 203 and a third reduction box support 213.

[0038] Further, as shown in FIG. 2, the shoulder joint mechanism 3 comprises a fourth support plate 302, a second joint actuator 304, a third gear shaft 312, a fourth gear shaft 311, a gear reduction box 306, a coupling 307, the second joint actuator 304, and a worm-gear reduction box 308. The slider 101 is fixed to the bottom of the fourth support plate 302, the gear reduction box 306, the worm-gear reduction box 308, and the second joint actuator 304 are all fixed to the fourth support plate 302, the third gear shaft 312 and the fourth gear shaft 311 are both rotationally connected in the gear reduction box 306, and the third gear shaft 312 and the fourth gear shaft 311 are in meshing engagement, the third gear shaft 312 is connected to the output shaft of the worm-gear reduction box 308 through the coupling 307, the second joint actuator 304 is connected to the fourth gear shaft 311, and the fourth gear shaft 311 is connected to the elbow joint mechanism 4. Figure 7As shown, the shoulder joint mechanism 3 comprises a first connecting rod 302, a second connecting rod 303, a second joint actuator 304, a third connecting rod 305, a fourth connecting rod 306 and a third joint actuator 307. The first connecting rod 302 is fixedly connected with the first gear shaft 212, the first connecting rod 302 is connected with the second connecting rod 303, the second joint actuator 304 is fixed on the second connecting rod 303, the third connecting rod 305 is fixed on the free end of the second joint actuator 304, the fourth connecting rod 306 is connected with the third connecting rod 305, and the third joint actuator 307 is fixed on the fourth connecting rod 306. The second gear shaft 211 is connected with the first connecting rod 302 through the second flange 301 and is fixed by bolts.

[0039] Further, as shown in the figure, Figure 8 The forearm and hand mechanism 5 comprises a seventh connecting rod 501, an eighth connecting rod 503, a forearm fixing assembly 502 and a grip 504. The seventh connecting rod 501 is fixed to the free end of the fourth joint actuator 408, a slot hole is formed on the seventh connecting rod 501, the eighth connecting rod 503 is fixed on the slot hole by bolts, the grip 504 is rotatably connected to the eighth connecting rod 503, and the forearm fixing assembly 502 is fixed to one side of the seventh connecting rod 501. The position of the eighth connecting rod 503 on the second connecting rod 303 can be adjusted through the vertically formed slot hole, so that the grip 504 can be moved to a position suitable for the patient. And the forearm fixing assembly 502 is a C-shaped block according to the shape of the patient's forearm, which is used to bind the patient's forearm when using the device, and provides limitation for the forearm to avoid displacement.

[0040] Further, as shown in the figure, Figure 9 The forearm and hand mechanism 5 comprises a seventh connecting rod 501, an eighth connecting rod 503, a forearm fixing assembly 502 and a grip 504. The seventh connecting rod 501 is fixed to the free end of the fourth joint actuator 408, a slot hole is formed on the seventh connecting rod 501, the eighth connecting rod 503 is fixed on the slot hole by bolts, the grip 504 is rotatably connected to the eighth connecting rod 503, and the forearm fixing assembly 502 is fixed to one side of the seventh connecting rod 501. The position of the eighth connecting rod 503 on the second connecting rod 303 can be adjusted through the vertically formed slot hole, so that the grip 504 can be moved to a position suitable for the patient. And the forearm fixing assembly 502 is a C-shaped block according to the shape of the patient's forearm, which is used to bind the patient's forearm when using the device, and provides limitation for the forearm to avoid displacement.

[0041] Further, the eighth connecting rod 503 is arranged in a U shape, and the two ends of the handle 504 are hingedly connected with the two ends of the eighth connecting rod 503 respectively. The U-shaped arrangement of the eighth connecting rod 503 can bring certain constraint and limitation to the wrist part, so as to avoid displacement of the wrist during use.

[0042] Further, the motor 402 is fixed to the fifth connecting rod 401 through the first support 403, and the nut 405 is fixed to the sixth connecting rod 407 through the second support 406.

[0043] Further, the bottom of the third support plate 202 is connected with a limiting handle 209, and the side of the electrical cabinet 105 is connected with a limiting block 104, and the limiting block 104 and the limiting handle 209 are located on the same side of the third support plate 202. The movement of the third support plate 202 in the direction of the guide rail is limited and fixed through the cooperation of the limiting handle 209 and the limiting block 104.

[0044] Further, the bottom of the second support plate 107 is provided with a plurality of pulleys 108. The pulleys 108 make the device more convenient and labor-saving when moving as a whole.

[0045] The upper limb rehabilitation exoskeleton provided by the embodiment can realize the exchange of left and right hands, and assist in rehabilitation training of the left arm or the right arm according to needs. This function is realized by the symmetrical design of the exoskeleton connecting rod mechanism.

[0046] Specifically, the movement connecting rod mechanism is composed of the gear reduction box 206, the first gear shaft 212, the second gear shaft 211 and the first joint actuator 204 of the shoulder and humerus linkage mechanism 2; the movement connecting rod mechanism is composed of the second flange 301, the first connecting rod 302, the second connecting rod 303 and the second joint actuator 304 in the shoulder joint mechanism 3; the movement connecting rod mechanism is composed of the third connecting rod 305, the fourth connecting rod 306 and the third joint actuator 307 in the shoulder joint mechanism 3; the large arm and the elbow joint mechanism 4; the exoskeleton forearm and hand mechanism 5.

[0047] The output shaft angle of the four joint actuators of the exoskeleton shoulder joint and elbow joint is adjusted through the upper computer or the controller, the angle of the output shaft of the worm and gear reduction box 208 is manually adjusted, the exoskeleton shoulder and humerus linkage mechanism 2 is transversely moved to the other end, the limiting handle 209 is clamped into the limiting block 104, and the exchange of left and right hands can be completed.

[0048] Other technologies of the embodiment adopt the prior art.

[0049] The application is described through preferred embodiments, and those skilled in the art know that various changes or equivalent replacements can be made to the features and embodiments without departing from the spirit and scope of the application. The application is not limited by the specific embodiments disclosed herein, and other embodiments falling within the claims of the application are within the protection scope of the application.

Claims

1. An upper limb rehabilitation exoskeleton with shoulder-humerus linkage mechanism, characterized in that: It comprises a support platform (1), a shoulder-humerus linkage mechanism (2), a shoulder joint mechanism (3), a large arm and elbow joint mechanism (4), and a forearm and hand mechanism (5); The shoulder-humerus linkage mechanism (2) is slidably connected to the support platform (1), the shoulder joint mechanism (3) is connected to the free end of the shoulder-humerus linkage mechanism (2), the large arm and elbow joint mechanism (4) is connected to the free end of the shoulder joint, and the forearm and hand mechanism (5) is connected to the free end of the large arm and elbow joint mechanism (4); The support platform (1) comprises a lifting platform (106), an electrical cabinet (105), a first support plate (103), a second support plate (107), and a first guide rail (102); The lifting platform (106) is fixed to the second support plate (107), the electrical cabinet (105) is fixed to the upper end of the lifting platform (106), the first support plate (103) is fixed to the top of the electrical cabinet (105), the first guide rail (102) is arranged on the top of the first support plate (103), and the shoulder-humerus linkage mechanism (2) is slidably connected to the first guide rail (102) through a sliding block (101); The shoulder-humerus linkage mechanism (2) comprises a third support plate (202), a first joint actuator (204), a first gear shaft (212), a second gear shaft (211), a gear reduction box (206), a shaft coupling (207), the first joint actuator (204), and a worm reduction box (208); The sliding block (101) is fixed to the bottom of the third support plate (202), the gear reduction box (206), the worm reduction box (208), and the first joint actuator (204) are all fixed to the third support plate (202), the first gear shaft (212) and the second gear shaft (211) are both rotationally connected in the gear reduction box (206), the first gear shaft (212) is engaged with the second gear shaft (211), the first gear shaft (212) is connected with the output shaft of the worm reduction box (208) through the shaft coupling (207), the first joint actuator (204) is connected with the second gear shaft (211), and the second gear shaft (211) is connected with the shoulder joint mechanism (3); The shoulder joint mechanism (3) comprises a first connecting rod (302), a second connecting rod (303), a second joint actuator (304), a third connecting rod (305), a fourth connecting rod (306), and a third joint actuator (307); The first connecting rod (302) is fixedly connected with the first gear shaft (212), the first connecting rod (302) is connected with the second connecting rod (303), the second joint actuator (304) is fixed to the second connecting rod (303), the third connecting rod (305) is fixed to the free end of the second joint actuator (304), the fourth connecting rod (306) is connected with the third connecting rod (305), and the third joint actuator (307) is fixed to the fourth connecting rod (306). The large arm and elbow joint mechanism (4) comprises a fifth connecting rod (401), a sixth connecting rod (407), a second guide rail (404), a motor (402), a screw rod, a nut (405), a large arm fixing assembly (409), and a fourth joint actuator (408); An end of the fifth connecting rod (401) is connected with a free end of the third joint actuator (307), the second guide rail (404) is fixed on the fifth connecting rod (401), the sixth connecting rod (407) is slidingly connected on the second guide rail (404), the motor (402) is fixed on the fifth connecting rod (401), the screw rod is connected with a power output end of the motor (402), the nut (405) is fixed on the sixth connecting rod (407), the screw rod passes through the nut (405) and is in threaded cooperation with the nut (405), the large arm fixing assembly (409) is fixed on one side of the fifth connecting rod (401), and the fourth joint actuator (408) is fixed on the sixth connecting rod (407).

2. The upper limb rehabilitation exoskeleton with a shoulder-humerus linkage mechanism according to claim 1, wherein: The forearm and hand mechanism (5) comprises a seventh connecting rod (501), an eighth connecting rod (503), a forearm fixing assembly (502), and a handle (504); The seventh connecting rod (501) is fixed on a free end of the fourth joint actuator (408), the seventh connecting rod (501) is provided with a slot hole, the eighth connecting rod (503) is fixed on the slot hole through bolts, the handle (504) is rotationally connected on the eighth connecting rod (503), and the forearm fixing assembly (502) is fixed on one side of the seventh connecting rod (501).

3. The upper limb rehabilitation exoskeleton with a shoulder-humerus linkage mechanism according to claim 2, wherein: The eighth connecting rod (503) is in a U-shaped arrangement, and two ends of the handle (504) are hingedly connected with two ends of the eighth connecting rod (503) respectively.

4. The upper limb rehabilitation exoskeleton with a shoulder-humerus linkage mechanism according to claim 1, wherein: The motor (402) is fixed on the fifth connecting rod (401) through a first support (403), and the nut (405) is fixed on the sixth connecting rod (407) through a second support (406).

5. The upper limb rehabilitation exoskeleton with a shoulder-humerus linkage mechanism according to claim 1, wherein: A limiting handle (209) is connected at a bottom of the third support plate (202), a limiting block (104) is connected at a side of the electrical cabinet (105), and the limiting block (104) and the limiting handle (209) are located on the same side of the third support plate (202).

6. The upper limb rehabilitation exoskeleton with a shoulder-humerus linkage mechanism according to claim 1, wherein: A plurality of pulleys (108) are arranged at a bottom of the second support plate (107).

Images