Human limb bionic mechanical arm device for simulating human tendon reflex

Abstract

The invention discloses a human body limb bionic mechanical arm device simulating human body tendon reflex, which comprises a base, a linear guide rail pair, a bionic mechanical arm module and an electric control module, and is characterized in that the bionic mechanical arm module is mounted on the linear guide rail pair arranged on the base and comprises a length-adjustable large arm and a length-adjustable small arm; a hip / shoulder joint flexion and extension and retraction mechanism, a knee / elbow joint flexion and extension mechanism, an ankle / wrist joint flexion and extension mechanism, a pressure sensor module and an inertial sensor module; the electric control module is used for controlling movement of all the joint motors and collecting data of the pressure sensor module and the inertial sensor module, the joint motors are adopted for simulating the joint freedom degree of the limbs of the human body, and movement actions of tendon reflex of the human body are simulated by controlling the joint motors. Sliding mode PD control and fuzzy control are combined, trajectory tracking of human body tendon reflex joint movement is achieved, and tendon reflex actions are accurately simulated.

Description

Technical Field

[0001] The present invention belongs to the field of bionic robotic arm equipment, and particularly relates to a human limb bionic robotic arm device that simulates human tendon reflexes. Background Art

[0002] Neurological diseases are diseases with a relatively high incidence rate. The tendon reflexes of patients with neurological diseases show abnormal symptoms. Therefore, tendon reflex examinations are required during the examination of neurological diseases. Accurately diagnosing tendon reflex symptoms requires medical staff to have a lot of clinical experience. The diagnostic ability of medical staff can be improved through tendon reflex examination practice.

[0003] Currently, the main methods for tendon reflex examination are the manual method and the method using electronic instruments. Among them, the manual method mainly includes the percussion method, the fist clenching method, and the percussion hammer percussion examination method. The manual method is simple to operate during tendon reflex examination, can eliminate the patient's nervousness, and keep the patient's muscles in a relaxed state, making the tendon reflex diagnosis result more accurate. Among them, the method of using a percussion hammer to percussion the tendon reflex is more common. The method using electronic instruments mainly includes evaluating the tendon reflex by measuring the percussion force through a pressure sensor, evaluating the tendon reflex by measuring the electromyographic signal of the muscle through an electromyographic signal sensor, and evaluating the tendon reflex by measuring the amplitude of the angular change or the speed change of the tendon reflex through an acceleration sensor. In the invention patent with the patent number CN202223082781.2, an adjustable automatic percussion hammer is disclosed. This percussion hammer precisely controls the percussion force and percussion position through a mechanical device, and evaluates the tendon reflex examination from the perspective of the percussion force. In the invention patent with the patent number CN202210209561.7, an evaluation method for knee tendon reflex state based on electromyography-inertial sensing is invented. The tendon reflex is evaluated by comparing the electromyographic signal to evaluate the muscle state and the motion signal to evaluate the tendon reflex motion action. In the invention patent with the patent number CN202320441024.5, an intelligent percussion device is designed. This device quantitatively analyzes the percussion force and tendon reflex intensity of the tendon reflex through a pressure sensor and an acceleration sensor, and diagnoses the tendon reflex from the perspectives of the tendon reflex percussion force and the tendon reflex intensity. The method of evaluating the tendon reflex by using electronic instruments can quantitatively analyze the tendon reflex with high measurement accuracy. However, this method is complex to operate, and sometimes various sensors need to be strapped to the patient, causing the patient to be nervous and having a certain impact on the measurement results. Summary of the Invention

[0004] The purpose of the present invention is to provide a human limb bionic robotic arm device that simulates human tendon reflexes, aiming at the universality and simplicity of using a percussion hammer during the tendon reflex examination process.

[0005] The technical solution for achieving the purpose of the present invention is as follows:

[0006] A bionic robotic arm device for simulating human tendon reflex of a human limb, comprising:

[0007] A base for fixing a linear guide pair;

[0008] A linear guide pair for adjusting the height of the bionic robotic arm module;

[0009] The bionic robotic arm module includes a slider connecting plate, a hip / shoulder joint abduction / adduction motor, a hip / shoulder joint motor connecting plate, a hip / shoulder joint flexion / extension motor, a large arm hip / shoulder connecting plate, a large arm, a large arm knee / elbow connecting plate, a knee / elbow joint flexion / extension motor, a small arm knee / elbow connecting plate, a small arm, a small arm limit bolt, a small arm limit nut, a small arm ankle / wrist connecting plate, an ankle / wrist joint flexion / extension motor, a terminal connecting plate, a terminal piece, a pressure sensor module, and an inertial sensor module; the slider connecting plate is connected to the linear guide pair, the outer ring of the slider connecting plate is fixed to the hip / shoulder joint abduction / adduction motor, the hip / shoulder joint motor connecting plate is connected to the inner ring of the hip / shoulder joint abduction / adduction motor and is also connected to the outer ring of the hip / shoulder joint flexion / extension motor, the axes of the hip / shoulder joint abduction / adduction motor and the hip / shoulder joint flexion / extension motor are perpendicular to each other, respectively providing the abduction / adduction degree of freedom and the flexion / extension degree of freedom of the bionic robotic arm device at the hip / shoulder position; the large arm hip / shoulder connecting plate is connected to the inner ring of the hip / shoulder joint flexion / extension motor; the large arm hip / shoulder connecting plate is connected to the large arm, the large arm knee / elbow connecting plate is connected to the large arm, the outer ring of the knee / elbow joint flexion / extension motor is connected to the large arm knee / elbow connecting plate, and the inner ring is connected to the small arm knee / elbow connecting plate, driving the small arm to complete the flexion / extension movement; the small arm knee / elbow connecting plate is connected to the small arm, the small arm ankle / wrist connecting plate is connected to the small arm, the small arm ankle / wrist connecting plate is connected to the small arm, the outer ring of the ankle / wrist joint flexion / extension motor is connected to the small arm ankle / wrist connecting plate, the terminal connecting plate is connected to the inner ring of the ankle / wrist joint flexion / extension motor, and the ankle / wrist joint flexion / extension motor drives the terminal piece to complete the flexion / extension movement, realizing the simulation of the flexion / extension movement of the hand / foot position;

[0010] The pressure sensor module includes pressure sensors arranged at the positions corresponding to the biceps tendon and triceps tendon of the human body on the large arm and at the positions corresponding to the knee tendon and Achilles tendon of the human body on the small arm, for detecting the tendon reflex percussion force;

[0011] The inertial sensor module includes inertial sensors arranged on the large arm and the small arm, for feeding back the angle change signal in the current state.

[0012] Compared with the prior art, the remarkable advantages of the present invention are:

[0013] The present invention combines the advantages of using a percussion hammer to examine tendon reflexes and using an electronic instrument to examine tendon reflexes. An inertial sensor module is installed on the upper arm sleeve and the forearm sleeve of the bionic robotic arm module, and a pressure sensor module is installed at the corresponding positions of the bionic robotic arm module according to the positions corresponding to human tendons, enabling the human tendon reflex simulation device to accurately simulate the joint movements caused by human tendon reflexes, as well as the percussion positions and percussion forces when the user is performing tendon reflex examination simulation. Quantify the percussion force, tendon reflex intensity, and amplitude during tendon reflex examination, and the operator can, based on the feedback of the system, master the norms of using a percussion hammer to examine tendon reflexes and improve the ability to use a percussion hammer to examine tendon reflexes.

[0014] The present invention can simulate different sizes and poses of human limbs by changing the lengths of the connecting rod parts of the robotic arm and the height and pose of the robotic arm, enabling the tendon reflex simulation device to simulate multiple tendon reflex actions of the human body and improving the versatility of the tendon reflex simulation device; by implementing a trajectory tracking control algorithm for the joint motor module, the tendon reflex simulation device can accurately track the joint movement trajectory. The present invention can simulate multiple human tendon reflex movements in terms of structural dimensions, position and pose, and movement trajectory tracking, enabling medical staff to more realistically experience the process of simulating tendon reflexes.

[0015] The control algorithm of the present invention combines sliding mode PD control and fuzzy control to achieve trajectory tracking of human tendon reflex joint movements and accurately simulate tendon reflex actions. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 Figure 1 is a schematic diagram of the overall structure of the present invention;

[0017] Figure 2 is a schematic diagram of the overall structure of the present invention;

[0018] Figure 3 is a schematic diagram of the structure of the bionic robotic arm of the present invention;

[0019] Figure 4 is an exploded view of the structure of the bionic robotic arm of the present invention;

[0020] Figure 5 is the overall schematic diagram of the present invention;

[0021] Figure 6 is the structure diagram of the control system of the present invention

[0022] Figure 7 is a schematic diagram of the instruction for use of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0023] The following further introduces the present invention in conjunction with the accompanying drawings and specific embodiments.

[0024] As Figure 1 and Figure 2 shown, a bionic robotic arm device for a human limb that simulates the human tendon reflex of the present invention is composed of a base 1, a support frame 2, a universal self-locking wheel 7, a linear guide rail 4, a slider 5, a guide rail connecting plate 3, and a bionic robotic arm module 6. Threaded holes are provided on both the upper and lower surfaces of the base 1. Among them, the support frame 2 is connected to the threaded holes on the upper surface of the base 1 through bolts, and the universal self-locking wheel 7 is connected to the threaded holes on the lower surface of the base 1 through bolts; a through chute is opened on the upper surface of the support frame 2, through holes are opened on two planes of the guide rail connecting plate 3, and the through holes of the guide rail connecting plate 3 are connected to the chute of the support frame 2 through bolts and nuts, and the installation position with the support frame 2 can be selected according to actual needs; the linear guide rail 4 is connected to the guide rail connecting plate 3 through bolts and nuts. The slider 5 can slide up and down relative to the linear guide rail 4. Threaded holes are provided on the surface of the slider 5 and are locked by bolts after the position is adjusted. The bionic robotic arm module 6 is fixed to the slider 5 through bolts, and the bionic robotic arm 6 realizes height adjustment in the vertical direction through the slider 5.

[0025] As Figure 3 and Figure 4As shown in the figure, the bionic robotic arm module 6 includes a slider connection plate 614, a hip / shoulder joint abduction / adduction motor 615, a hip / shoulder joint motor connection plate 616, a hip / shoulder joint flexion / extension motor 617, a large arm hip / shoulder connection plate 613, a large arm sleeve 619, a large arm telescopic tube 610, a large arm limit bolt 612, a large arm limit nut 620, a large arm knee / elbow connection plate 609, a knee / elbow joint flexion / extension motor 622, a small arm knee / elbow connection plate 608, a small arm sleeve 623, a small arm telescopic tube 607, a small arm limit bolt 605, a small arm limit nut 625, a small arm ankle / wrist connection plate 601, an ankle / wrist joint flexion / extension motor 626, a terminal connection plate 603, a terminal piece 602, a biceps tendon pressure sensor 611, a triceps tendon pressure sensor 621, a knee tendon pressure sensor 606, a Achilles tendon pressure sensor 604, a large arm inertial sensor 618, and a small arm inertial sensor 624. The bionic robotic arm module 6 is connected to the slider 5 through the slider connection plate 614. The bottom surface of the slider connection plate 614 is fixed to the outer threaded holes of the hip / shoulder joint abduction / adduction motor 615 by screws. The hip / shoulder joint motor connection plate 616 is provided with through holes on both planes. Its upper plane is connected to the inner ring of the hip / shoulder joint abduction / adduction motor 615 by screws, and the side surface is connected to the outer ring of the hip / shoulder joint flexion / extension motor 617 by screws. The axes of the hip / shoulder joint abduction / adduction motor 615 and the hip / shoulder joint flexion / extension motor 617 are perpendicular to each other, providing the abduction / adduction degree of freedom and the flexion / extension degree of freedom of the bionic robotic arm 6 at the hip / shoulder part respectively; the side surface of the large arm hip / shoulder connection plate 613 is connected to the inner ring of the hip / shoulder joint flexion / extension motor 617 by screws, and then drives the large arm and the small arm to complete the flexion / extension movement when the hip / shoulder joint flexion / extension motor 617 works; the upper and lower sides of the large arm hip / shoulder connection plate 613 are provided with threaded holes, which are connected to the through holes on the upper end surface of the large arm sleeve 619 by screws. The large arm telescopic tube 610 is nested inside the large arm sleeve 619 through clearance fit. The side surfaces of the large arm sleeve 619 and the large arm telescopic tube 610 are provided with limit holes at the same interval. In order to prevent the large arm telescopic tube 610 from moving around inside the large arm sleeve 619, it is limited according to the actual use situation through the large arm limit bolt 612 and the large arm limit nut 620 through the limit holes; the large arm inertial sensor 618 is fixed in the card slot on the upper surface of the large arm sleeve 619 through interference fit, and the biceps tendon pressure sensor 611 and the triceps tendon pressure sensor 621 are fixed in the card slots on the upper and lower surfaces of the large arm sleeve 619 in the same way, and their positions correspond to the biceps / triceps tendons of the human body; the side plane of the large arm telescopic tube 610 is provided with threaded holes, and the upper surface of the large arm knee / elbow connection plate 609 is fixed to the end surface of the large arm telescopic tube 610 by screws; the outer threaded holes of the knee / elbow joint flexion / extension motor 622 are connected to the large arm knee / elbow connection plate 609, and the inner threaded holes are connected to the side surface of the small arm knee / elbow connection plate 608, and drive the small arm and the parts below it to complete the flexion / extension movement through the small arm knee / elbow connection plate 608;The upper and lower sides of the forearm knee / elbow connecting plate 608 are provided with threaded holes, which are connected to the through holes at the upper end of the forearm sleeve 623 by screws. The forearm telescopic tube 607 is nested inside the forearm sleeve 623 through clearance fit. The sides of the forearm sleeve 623 and the forearm telescopic tube 607 are provided with limiting holes at the same spacing. According to the actual use size, the forearm limiting bolt 605 and the forearm limiting nut 625 are used to limit it; the forearm inertial sensor 624 is fixed in the card slot on the front surface of the forearm sleeve 623 through interference fit, and the knee tendon pressure sensor 606 and the Achilles tendon pressure sensor 604 are fixed in the card slots on the surface of the forearm sleeve 623 in the same way, and their positions correspond to the knee tendon and Achilles tendon of the human body; the forearm ankle / wrist connecting plate 601 is connected to the flat threaded hole at the bottom of the forearm telescopic tube 607 by screws. The outer threaded hole of the ankle / wrist joint flexion and extension motor 626 is connected to the forearm ankle / wrist connecting plate 601, and the side of the end connecting plate 603 is connected to the inner ring of the ankle / wrist joint flexion and extension motor 626. The upper and lower sides of the end connecting plate 603 are provided with threaded holes, and the end piece 602 is connected by screws. The ankle / wrist joint flexion and extension motor 626 drives the end piece 602 to complete the flexion and extension movement, realizing the simulation of the flexion and extension movement of the hand / foot part.;

[0026] As Figure 5 shown, the electronic control module of the present invention includes a Raspberry Pi 3B development board, an MCP2515 transceiver module, an RS485 serial port to CAN module, a DC / DC power conversion module, and a 36V DC power supply. The communication method between the above-mentioned inertial sensor module, pressure sensor module and joint motor and the Raspberry Pi development board 3B is selected as CAN communication. Among them, the Raspberry Pi 3B is mounted on the CAN bus through the MCP2515 transceiver module, and the pressure sensor module and the inertial sensor module are mounted on the CAN bus through the RS485 serial port to CAN module, and the joint motor module is directly mounted on the CAN bus; each electronic component in the electronic control system is powered by a 36V DC power supply. Each joint motor is directly connected to the 36V power supply. The pressure sensor module uses a DC / DC power conversion module to convert the 36V voltage into 12V voltage for power supply. The Raspberry Pi 3B development board and the inertial sensor module use a DC / DC power conversion module to convert the 36V voltage into 5V voltage for power supply. The Raspberry Pi 3B serves as the main control board of the system, responsible for sending instructions to each joint motor, and at the same time receiving the data collected by the pressure sensor module and the inertial sensor module. This process is completed on the upper computer of the Raspberry Pi 3B.

[0027] As Figure 6 shown, the control system of the present invention is a sliding mode PD trajectory tracking control algorithm based on fuzzy control, and its purpose is to calculate the driving torque through the control law so that the actual trajectory can track the desired trajectory.

[0028] Establish the dynamic model of the bionic robotic arm module according to the Lagrangian method:

[0029]

[0030] where τ represents the joint torque, \(H(q)_{inertia}\) is the inertia matrix term, is the Coriolis and centrifugal force term, \(G(q)\) is the gravity term, and q is the joint angle, is the joint angular velocity, is the joint angular acceleration;

[0031] When the pressure sensors collect the pressure signals within the triggering tendon reflex knocking force threshold, the robotic arm module starts to move. The inertial sensor module will feedback the angle change signal in the current state in real time, and subtract the feedback angle signal q from the desired angle change signal q d to obtain the angle error

[0032]

[0033] Take the derivative of the desired angle q d to obtain the desired angular velocity and the desired angular acceleration Take the derivative of the angle error to obtain the angular velocity error Further define the functions related to the angle error and the angular velocity error and to obtain:

[0034]

[0035] Design the sliding mode function as:

[0036]

[0037] where, is the desired angular velocity and the desired angular acceleration, Λ is a diagonal constant matrix, and Λ > 0.

[0038] Therefore, the control law of the control system can be designed as:

[0039]

[0040] where K D is a positive definite matrix of PD coefficients.

[0041] Further input and into the fuzzy controller to obtain ΔK D , and then the PD coefficient in the control law is:

[0042] K D ′ = KD +ΔK D

[0043] where ΔK D is the coefficient obtained after fuzzy control, and K D ' is the coefficient obtained after dynamic adjustment.

[0044] Furthermore, the s calculated by the control system and ΔK obtained through the fuzzy controller D are input to the control law:

[0045]

[0046] The joint control torque τ is obtained, so as to control the robotic arm module to move along the desired trajectory.

[0047] The following is Figure 7 to elaborate on the usage method. Before simulating the tendon reflex, first select the type of tendon reflex to be simulated. After determining the dimensions of each part, the main control board changes the posture according to the instruction. The user strikes the pressure sensor at the corresponding part with a percussion hammer. After the main control board receives the signal from the pressure sensor, it judges whether the percussion force condition for triggering the tendon reflex is reached. If not, the Raspberry Pi development board only collects the signal from the pressure sensor. If it reaches, the main control board will send an instruction to the joint motor to perform the corresponding tendon reflex action, and the Raspberry Pi development board records the signals of the pressure sensor and the inertial sensor. After completing one operation, the usage process ends.

[0048] The steps are as follows:

[0049] Step 1: Select the type of tendon reflex to be simulated, and manually adjust the height of the bionic robotic arm and the lengths of the upper arm and the lower arm; at the same time, the host computer sends an instruction for posture change to the Raspberry Pi, and the Raspberry Pi controls the motor to reach a certain angle.

[0050] Step 2: After the posture change, the user performs a tendon reflex examination according to the operation specifications of the tendon reflex examination, and uses a percussion hammer to strike the tendon sensor at the corresponding part.

[0051] Step 3: After the percussion action is completed, the tendon pressure sensor reads the percussion force data, and the Raspberry Pi judges whether the percussion force for triggering the tendon reflex intensity is reached. If not, only the tendon pressure sensor records the percussion data; if it reaches, the Raspberry Pi sends an instruction to the joint motor again to perform the tendon reflex action, and at the same time records the tendon sensor data and the inertial sensor data. After completing one operation, end the current use.

Claims

1. A human limb bionic mechanical arm device simulating human tendon reflex, characterized in that: include: A base, used to fix the linear guide pair; Linear guide pair, used to adjust the height of the bionic robot arm module; A bionic robotic arm module comprises a slider connecting plate, a hip / shoulder joint extension and retraction motor, a hip / shoulder joint motor connecting plate, a hip / shoulder joint flexion and extension motor, an upper arm hip / shoulder connecting plate, an upper arm, an upper arm knee / elbow connecting plate, a knee / elbow joint flexion and extension motor, a lower arm knee / elbow connecting plate, a lower arm, a lower arm limit bolt, a lower arm limit nut, a lower arm ankle / wrist connecting plate, an ankle / wrist joint flexion and extension motor, an end connecting plate, an end piece, a pressure sensor module, and an inertial sensor module; the slider connecting plate is connected to a linear guide pair, the slider connecting plate is fixed to an outer ring of a hip / shoulder joint extension and retraction motor, the hip / shoulder joint motor connecting plate is connected to an inner ring of a hip / shoulder joint extension and retraction motor, and is connected to an outer ring of a hip / shoulder joint flexion and extension motor, and the axes of the hip / shoulder joint extension and retraction motor and the hip / shoulder joint flexion and extension motor are perpendicular to each other , respectively providing the bionic robotic arm device with the extension and retraction degrees of freedom and the flexion and extension degrees of freedom at the hip / shoulder part; the upper arm hip / shoulder connecting plate is connected to the inner circle of the hip / shoulder joint flexion and extension motor; the upper arm hip / shoulder connecting plate is connected to the upper arm, the upper arm knee / elbow connecting plate is connected to the upper arm, the outer circle of the knee / elbow joint flexion and extension motor is connected to the upper arm knee / elbow connecting plate, and the inner circle is connected to the forearm knee / elbow connecting plate, driving the forearm to complete the flexion and extension movement; the forearm knee / elbow connecting plate is connected to the forearm, the forearm ankle / wrist connecting plate is connected to the forearm, the forearm ankle / wrist connecting plate is connected to the forearm, the outer circle of the ankle / wrist joint flexion and extension motor is connected to the forearm ankle / wrist connecting plate, the end connecting plate is connected to the inner circle of the ankle / wrist joint flexion and extension motor, and the ankle / wrist joint flexion and extension motor drives the end piece to complete the flexion and extension movement, thereby realizing the simulation of the flexion and extension movement of the hand / foot part; The pressure sensor module includes pressure sensors arranged on the upper arm corresponding to the biceps tendon and triceps tendon of the human body and on the lower arm corresponding to the knee tendon and Achilles tendon of the human body, for detecting tendon reflex percussion force; The inertial sensor module includes inertial sensors arranged on the upper arm and the lower arm, and is used to feed back angle change signals in the current state.

2. The human limb bionic mechanical arm device simulating human tendon reflex according to claim 1, characterized in that: The boom includes a boom sleeve, a boom telescopic tube, a boom limiting bolt and a boom limiting nut; the boom telescopic tube is nested in the boom sleeve, and the side of the boom sleeve and the side of the boom telescopic tube are provided with limiting holes with the same spacing, and the boom limiting bolt and the boom limiting nut limit the boom sleeve and the boom telescopic tube through the limiting holes.

3. The human limb bionic mechanical arm device simulating human tendon reflex according to claim 1, characterized in that: The forearm includes a forearm sleeve, a forearm telescopic tube, a forearm limiting bolt and a forearm limiting nut; the forearm telescopic tube is nested in the upper arm sleeve, and the side of the forearm sleeve and the side of the forearm telescopic tube are provided with limiting holes with the same spacing, and the forearm limiting bolt and the forearm limiting nut limit the forearm sleeve and the forearm telescopic tube through the limiting holes.

4. The human limb bionic mechanical arm device simulating human tendon reflex according to claim 1, characterized in that: The following control law is used for control: in K D ′=K D +ΔK D Where H(q) is the inertia matrix term, are the Coriolis force and centrifugal force, G(q) is the gravity term, q d , are the desired angle, desired angular velocity, and desired angular acceleration, q, The actual joint angle and actual joint angular velocity, is the angle error, is the angular velocity error, Λ is a diagonal constant matrix, K D is the positive definite matrix of PD coefficients, ΔK D is the coefficient obtained after fuzzy control, K D ′ is the coefficient after dynamic adjustment.

5. The human limb bionic mechanical arm device simulating human tendon reflex according to claim 1, characterized in that: An electric control module is provided, including a development board, a transceiver module, a serial port to CAN module, a DC / DC power conversion module, and a DC power supply; the inertial sensor module, the pressure sensor module and each motor communicate with the development board through a CAN bus, wherein the development board is mounted on the CAN bus through the transceiver module, the pressure sensor module and the inertial sensor module are mounted on the CAN bus through the serial port to CAN module, and each motor is directly mounted on the CAN bus; each motor is directly connected to the DC power supply, and the pressure sensor module and the inertial sensor module are powered after voltage conversion by the DC / DC power conversion module; the development board serves as a main control board, is responsible for sending instructions to each motor, and at the same time receives data collected by the pressure sensor module and the inertial sensor module.

6. The human limb bionic mechanical arm device simulating human tendon reflex according to claim 1, characterized in that: The base comprises a pedestal, a support frame and a guide rail connecting plate; the support frame is fixed on the pedestal, a through slide groove is provided on the support frame, and the guide rail connecting plate is connected to the slide groove of the support frame.

7. The human limb bionic mechanical arm device simulating human tendon reflex according to claim 6, characterized in that: A universal self-locking wheel is arranged at the lower end of the base.

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