Upper limb exoskeleton rehabilitation robot based on SMA

Abstract

The invention discloses an SMA-based upper limb exoskeleton rehabilitation robot which comprises a big arm exoskeleton auxiliary block detachably mounted on a big arm, a front arm exoskeleton block detachably mounted on a front arm and a wrist joint exoskeleton frame detachably mounted on a wrist joint, and the front arm exoskeleton block can be rotationally mounted on the big arm exoskeleton auxiliary block in a driven manner; an upper SMA tractor used for driving the forearm exoskeleton block to rotate is arranged on the big arm exoskeleton auxiliary block, and a lower SMA tractor used for enabling the wrist to move up and down is arranged on the forearm exoskeleton block. When the upper SMA tractor is heated to a certain temperature, the upper SMA tractor begins to contract, the forearm exoskeleton block is dragged in the contraction process, the forearm exoskeleton block rotates on the big arm exoskeleton auxiliary block, the forearm of the human body is driven to swing, meanwhile, the lower SMA tractor is heated, and when the lower SMA tractor is heated to a certain temperature, the lower SMA tractor begins to contract, and the forearm exoskeleton block rotates on the big arm exoskeleton auxiliary block and drives the forearm of the human body to swing. In the contraction process, the hand is dragged, the hand moves up and down, and the auxiliary effect on arm and hand rehabilitation is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of medical rehabilitation robots, and particularly to an upper limb exoskeleton rehabilitation robot based on SMA. Background Art

[0002] With the increase in global aging and disability incidence, currently about 15% of the population suffers from some form of disability. Such disabilities seriously affect the daily activities of patients. For patients, reasonable rehabilitation training can promote the recovery of the patient's motor function, thereby improving the patient's quality of life. However, due to the insufficient global rehabilitation medical resources, the rehabilitation process is not only drug treatment, but also requires long-term and repetitive movements by rehabilitation therapists. Obviously, this is difficult to achieve for most patients. Therefore, in order to reduce the consumption of finance and resources, and also driven by national policies. Scholars have gradually focused on the option of exoskeletons. Compared with rehabilitation therapists, exoskeletons can provide precise and stable motion assistance and have become a relatively mature research direction at present.

[0003] The common driving methods of current exoskeletons are mainly motors, hydraulics, and pneumatics. However, because hydraulic systems and motors make the entire exoskeleton larger in volume, or rely on fixed systems, and at the same time such rigid interactions cause excessive load on patients and may also cause unpredictable injuries.

[0004] Therefore, there is a need to provide an upper limb exoskeleton rehabilitation robot based on SMA, which utilizes the lightness and flexibility of SMA materials through Shape Memory Alloy (SMA) to achieve precise control of the patient's movement and avoid secondary injuries. Summary of the Invention

[0005] In view of this, the purpose of the present invention is to provide an upper limb exoskeleton rehabilitation robot based on SMA, which utilizes the lightness and flexibility of SMA materials through Shape Memory Alloy (SMA) to achieve precise control of the patient's movement and avoid secondary injuries.

[0006] The upper limb exoskeleton rehabilitation robot based on SMA provided by the present invention adopts the following technical solutions:

[0007] An upper limb exoskeleton rehabilitation robot based on SMA includes a large arm exoskeleton auxiliary block detachably installed on the large arm, a forearm exoskeleton block detachably installed on the forearm, and a wrist joint exoskeleton frame detachably installed on the wrist joint. The forearm exoskeleton block is rotatably installed on the large arm exoskeleton auxiliary block in a drivable manner. An upper SMA traction device for driving the forearm exoskeleton block to rotate is arranged on the large arm exoskeleton auxiliary block, and a lower SMA traction device for moving the wrist up and down is arranged on the forearm exoskeleton block.

[0008] Further, a rotating shaft is provided on the auxiliary block of the upper arm exoskeleton. The forearm exoskeleton block is rotatably arranged on the auxiliary block of the upper arm exoskeleton through the rotating shaft. The upper SMA traction device is drivingly connected to the forearm exoskeleton block. The upper SMA traction device heats and shrinks to traction the forearm exoskeleton block to make the rotating shaft rotate.

[0009] Further, the upper SMA traction device includes SMA traction wires, a first protective layer for enclosing multiple SMA traction wires, and a second protective layer wrapped outside the first protective layer. The first protective layer is a PTFE tube, and the second protective layer is a Bowden cable sheath. The two ends of the SMA traction wires are respectively connected to the auxiliary block of the upper arm exoskeleton and the forearm exoskeleton block.

[0010] Further, an elastic member is provided on the auxiliary block of the upper arm exoskeleton to reset the forearm exoskeleton block after the upper SMA traction device cools down and recovers.

[0011] Further, a limiting block is provided on the auxiliary block of the upper arm exoskeleton to limit the rotation angle of the forearm exoskeleton block.

[0012] Further, a plurality of mounting holes for mounting the limiting blocks are provided at different positions on the auxiliary block of the upper arm exoskeleton.

[0013] Further, an angle sensor for detecting the deflection angle of the forearm exoskeleton block and a temperature sensor for detecting the temperature of the SMA traction wire are provided on the rotating shaft. A displacement sensor for detecting the moving distance of the human hand is provided on the wrist joint exoskeleton frame.

[0014] Further, two groups of lower SMA traction devices are provided and respectively extend into and connect with the hand from the upper and lower sides of the wrist joint skeleton frame for traction of the rear part to move up and down.

[0015] Further, fixing frames for fixing themselves on the arm are provided on the auxiliary block of the upper arm exoskeleton and the forearm exoskeleton block.

[0016] Further, a fixing part for fixing the upper SMA traction device is provided on the auxiliary block of the upper arm exoskeleton.

[0017] In summary, the present invention has at least one of the following beneficial effects: During rehabilitation, the upper SMA traction device is heated. When the upper SMA traction device is heated to a certain temperature, it begins to contract. During the contraction process, it will traction the forearm exoskeleton block, causing the forearm exoskeleton block to rotate on the upper arm exoskeleton auxiliary block, driving the swing of the human forearm. At the same time, the lower SMA traction device is heated. When the lower SMA traction device is heated to a certain temperature, it begins to contract. During the contraction process, it will traction the hand, causing the hand to move up and down, playing an auxiliary role in the rehabilitation of the arm and hand. After the rehabilitation training is completed, the heating is cancelled, and the upper SMA traction device and the lower SMA traction device cool down. The upper SMA traction device and the lower SMA traction device cancel the traction on the forearm and the hand. It can be 3D printed, with low cost and easy maintenance. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 is a schematic structural diagram of an embodiment of the present invention;

[0019] Figure 2 is a schematic structural diagram of the SMA traction device of an embodiment of the present invention;

[0020] Figure 3 is a schematic structural diagram of the lower limit position posture of the elbow joint exoskeleton of an embodiment of the present invention;

[0021] Figure 4 is a schematic structural diagram of the upper limit position posture of the elbow joint exoskeleton of an embodiment of the present invention;

[0022] Figure 5 is a force diagram of the elbow joint of an embodiment of the present invention;

[0023] Figure 6 is a schematic structural diagram of the upper limit position of the wrist joint exoskeleton of an embodiment of the present invention;

[0024] Figure 7 is a schematic structural diagram of the lower limit position of the wrist joint exoskeleton of an embodiment of the present invention;

[0025] Figure 8 is a force diagram of the wrist joint of an embodiment of the present invention.

[0026] Description of the reference numerals:

[0027] 1. Upper arm exoskeleton auxiliary block; 11. Rotating shaft; 12. Elastic member; 13. Limiting block; 14. Mounting hole; 15. Temperature sensor; 16. Angle sensor; 2. Forearm exoskeleton block; 3. Wrist joint exoskeleton frame; 4. Upper SMA traction device; 41. SMA traction wire; 42. First protective layer; 43. Second protective layer; 5. Lower SMA traction device; 6. Fixed frame; 7. Fixed part. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0028] The following specific examples illustrate the implementation manners of the present invention, and those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific implementation manners, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention.

[0029] The following is a further detailed description of the present invention in conjunction with the Figures 1-6 accompanying drawings.

[0030] An embodiment of the present invention discloses an upper limb exoskeleton rehabilitation robot based on SMA. Refer to Figures 1-6, the SMA-based upper limb exoskeleton rehabilitation robot includes a large arm exoskeleton auxiliary block 1 detachably installed on the large arm, a forearm exoskeleton block 2 detachably installed on the forearm, and a wrist joint exoskeleton frame 3 detachably installed on the wrist joint. The forearm exoskeleton block 2 is rotatably installed on the large arm exoskeleton auxiliary block 1 in a drivable manner. An upper SMA tractor 4 for driving the rotation of the forearm exoskeleton block 2 is provided on the large arm exoskeleton auxiliary block 1. A lower SMA tractor 5 for moving the wrist up and down is provided on the forearm exoskeleton block 2. The SMA tractor 5 made of SMA material can reversibly transform between a low-temperature phase and a high-temperature phase. When the SMA material undergoes a phase change, the length of the SMA wire changes. Such a phenomenon is called the shape memory effect. When the SMA changes from the low-temperature phase to the high-temperature phase, the internal crystal structure of the SMA wire changes, and the SMA wire generates a recovery stress. Conversely, when changing from the high-temperature phase to the low-temperature phase, the SMA wire returns to its original length. The SMA wire has a high power density and can provide a large driving force in a smaller volume, which helps to reduce the volume and weight of the entire exoskeleton system. At the same time, the SMA material has good flexibility, can provide a more natural and comfortable interaction experience, and reduce the risk of secondary injury to patients. In addition, the SMA material has a fast response speed and can achieve precise motion control, which is beneficial to improving the effect of rehabilitation training. During rehabilitation, the upper SMA tractor 4 is powered on and heated. When the upper SMA tractor 4 is heated to a certain temperature, it starts to contract. During the contraction process, it will traction the forearm exoskeleton block 2, causing the forearm exoskeleton block 2 to rotate on the large arm exoskeleton auxiliary block 1, driving the human forearm to swing. At the same time, the lower SMA tractor 5 is heated. When the lower SMA tractor 5 is heated to a certain temperature, it starts to contract. During the contraction process, it will traction the hand, causing the hand to move up and down, playing an auxiliary role in the rehabilitation of the arm and hand. After the rehabilitation training is completed, the heating is cancelled, and the upper SMA tractor 4 and the lower SMA tractor 5 cool down. The upper SMA tractor 4 and the lower SMA tractor 5 cancel the traction on the forearm and the hand. By adjusting the power-on time and current magnitude of the upper SMA tractor 4 and the lower SMA tractor 5 through the controller, precise motion control of the elbow joint and the wrist joint can be achieved. This robot can be 3D printed, with low cost and easy maintenance.

[0031] In this embodiment, a rotating shaft 11 is provided on the large arm exoskeleton auxiliary block 1. The forearm exoskeleton block 2 is rotatably arranged on the large arm exoskeleton auxiliary block 1 through the rotating shaft 11. The upper SMA traction device 4 is drivingly connected to the forearm exoskeleton block 2. When the upper SMA traction device 4 is heated and shrunk, it traction the forearm exoskeleton block 2 to make the rotating shaft 11 rotate. When the upper SMA traction device 4 traction the forearm exoskeleton block 2, the forearm exoskeleton block 2 rotates on the large arm exoskeleton auxiliary block 1 through the rotating shaft 11, driving the human forearm to move. The rotating shaft 11 can adopt different material and structure designs, such as stainless steel shafts, carbon fiber shafts, etc., to meet different strength and weight requirements. The installation position of the rotating shaft 11 can be optimized according to ergonomic principles to better simulate the movement of the human elbow joint. The setting of the rotating shaft 11 provides a stable rotating support for the forearm exoskeleton block 2, enabling the forearm exoskeleton block 2 to rotate around a fixed axis, which is consistent with the movement characteristics of the human elbow joint. The driving connection between the upper SMA traction device 4 and the forearm exoskeleton block 2 utilizes the shape memory effect of the SMA material. When the SMA traction device 4 is electrified and heated, it will generate a contraction force. This contraction force is transmitted to the forearm exoskeleton block 2 through the connection point with the forearm exoskeleton block 2, forming a torque, thereby driving the forearm exoskeleton block 2 to rotate around the rotating shaft 11. It has the characteristics of fast response and precise control, and can achieve the smooth rotation of the forearm exoskeleton block 2.

[0032] In this embodiment, the upper SMA actuator 4 includes SMA traction wires 41, a first protective layer 42 for enclosing multiple SMA traction wires 41, and a second protective layer 43 wrapped around the first protective layer 42. The SMA traction wires 41 can be activated by heating with an electric current. For example, pulse width modulation control can be used to precisely control the temperature and contraction degree of the SMA traction wires 41 by adjusting the duty cycle of the current. When it is necessary to drive the forearm exoskeleton block 2, the control system applies an electric current to the SMA traction wires 41, raising their temperature to approximately 70°C. At this time, the SMA traction wires 41 will contract by about 3 - 5% in length, generating sufficient traction force. When reset is required, the current is cut off, and the SMA traction wires 41 will return to their original length as the temperature decreases; the first protective layer 42 is a PTFE tube, and the second protective layer 43 is a Bowden cable sheath. The two ends of the SMA traction wires 41 are respectively connected to the upper arm exoskeleton assist block 1 and the forearm exoskeleton block 2. In this embodiment, three SMA traction wires 41 are provided, and the specific quantity can be determined according to the actual situation. The first protective layer 42 is a Bowden cable sheath, which can provide physical protection for the internal SMA traction wires 41 and enhance the flexibility of the system. The second protective layer 43 is a special pipe made of polytetrafluoroethylene material, which has advantages such as high temperature resistance and electrical insulation, making the entire upper SMA actuator 4 small in size, large in force, simplified in design, corrosion-resistant, and having high energy density and load-carrying capacity, etc., enabling it to perform excellently in applications requiring precise control and high output force. The PTFE tube as the first protective layer 42 can not only isolate the influence of the external environment on the SMA traction wires 41, but also reduce the friction between the SMA traction wires 41 and the external structure, improving the smoothness of movement. The Bowden cable sheath as the second protective layer 43 has good flexibility and wear resistance, which can ensure the flexibility of the entire actuator while protecting the internal structure.

[0033] In this embodiment, an elastic member 12 is provided on the large arm exoskeleton auxiliary block 1 for resetting the forearm exoskeleton block 2 after the upper SMA tractor 4 cools down and recovers. The elastic member 12 is a rubber band, torsion spring, tension spring or compression spring. When the upper SMA tractor 4 performs traction to make the forearm exoskeleton block 2 rotate, the elastic member 12 is in a stretched state during the rotation of the forearm exoskeleton block 2. When the upper SMA tractor 4 cools down and contracts, the forearm exoskeleton block 2 rotates and resets under the action of the elastic member 12. The elastic member 12 can provide a constant reset force to ensure that the forearm exoskeleton block 2 can accurately return to the initial position after the upper SMA tractor 4 cools down and recovers. Precise reset is crucial for the repeatability and consistency of rehabilitation training. Secondly, the setting of the elastic member 12 can compensate for the possible hysteresis effect of the SMA material during the cooling process, thereby improving the response speed and sensitivity of the entire system, which is particularly important for rehabilitation training that requires rapid action switching. Thirdly, the presence of the elastic member 12 can reduce the working burden of the upper SMA tractor 4 and extend its service life. Without the elastic member 12, the upper SMA tractor 4 needs to be responsible for both the traction and reset processes simultaneously. After adding the elastic member 12, the reset process is mainly completed by the elastic member 12, reducing the burden on the upper SMA tractor 4. In addition, the setting of the elastic member 12 can also improve the safety of the entire system. In the case of a sudden power disconnection or failure of the upper SMA tractor 4, the elastic member 12 can ensure that the forearm exoskeleton block 2 automatically returns to the safe initial position to avoid harm to the user.

[0034] In this embodiment, a limit block 13 for restricting the rotation angle of the forearm exoskeleton block 2 is provided on the large arm exoskeleton auxiliary block 1. The limit block 13 is installed on the upper and lower sides of the forearm exoskeleton block 2. When the forearm exoskeleton block 2 rotates to a certain angle, the limit block 13 will block the forearm exoskeleton block 2 to prevent the forearm exoskeleton block 2 from rotating too large an angle upward or downward and causing injury to the human body.

[0035] In this embodiment, a plurality of mounting holes 14 for mounting the limiting block 13 are provided at different positions on the large arm exoskeleton auxiliary block 1. The mounting holes 14 can be designed in the form of threaded holes, so that the limiting block 13 can be firmly fixed at the required position by bolts. Additionally, the mounting holes 14 can also be designed as slot-type mounting holes, and the limiting block 13 is fixed by means of a buckle or a pin, so as to facilitate quick adjustment and replacement. During use, medical staff can select a suitable mounting hole 14 to install the limiting block 13 according to the patient's rehabilitation stage and movement requirements. For example, in the initial stage of rehabilitation, the limiting block 13 can be installed on the mounting hole 14 close to the rotating shaft 11 to limit the rotation range of the forearm exoskeleton block 2 and prevent excessive movement. As the rehabilitation progresses, the limiting block 13 can be gradually moved to the mounting hole 14 away from the rotating shaft 11 to increase the movement range and promote the recovery of the patient's elbow joint function. In addition, the design of multiple mounting holes 14 also allows multiple limiting blocks 13 to be installed simultaneously, thereby achieving more precise angle control. For example, the limiting blocks 13 can be installed on the mounting holes 14 at two different positions to respectively limit the maximum extension angle and the maximum flexion angle of the forearm exoskeleton block 2.

[0036] In this embodiment, an angle sensor 16 for detecting the deflection angle of the forearm exoskeleton block 2 and a temperature sensor 15 for detecting the temperature of the SMA traction wire 41 are provided on the rotating shaft 11. A displacement sensor for measuring the moving distance of the human hand is provided on the wrist joint exoskeleton frame 3. The angle sensor 16 is installed on the rotating shaft 11 and can directly measure the rotation angle of the forearm exoskeleton block 2 relative to the upper arm exoskeleton auxiliary block 1. This data is crucial for evaluating the range of motion of the patient's elbow joint and the rehabilitation progress. The temperature sensor 15 is arranged closely to the SMA traction wire 41 to monitor the temperature change of the SMA material. Since the shape memory effect of SMA is closely related to temperature, accurate temperature data can help the system better control the contraction and relaxation of the SMA traction wire 41, thereby achieving more precise motion control. The displacement sensor is installed on the wrist joint exoskeleton frame 3 to measure the moving distance of the patient's hand. This data can be used to evaluate the mobility of the patient's wrist and the rehabilitation effect. The data of these three sensors can be integrated into the control system to achieve closed-loop control of the exoskeleton rehabilitation robot. For example, when the angle sensor 16 detects that the forearm exoskeleton block 2 reaches a preset angle, the system can automatically adjust the heating current of the SMA traction wire 41. When the temperature sensor 15 detects that the temperature of the SMA traction wire 41 is too high, the system can timely reduce the current to prevent overheating. The data of the displacement sensor can be used to evaluate the patient's rehabilitation progress and adjust the intensity and frequency of the rehabilitation training accordingly. The angle sensor 16 can be a high-precision optical encoder, the temperature sensor 15 can be a thermocouple or a thermistor, and the displacement sensor can be a linear variable differential transformer. The data of these sensors can be converted into digital signals through an analog-to-digital converter and then transmitted to the central control unit for processing. The control unit can adjust the heating current of the SMA traction wire 41 in real time based on this data, thereby precisely controlling the movement of the exoskeleton. For example, when the angle sensor 16 detects that the rotation angle of the forearm exoskeleton block 2 reaches 45°, the control unit can gradually reduce the heating current of the SMA traction wire 41 to achieve a smooth deceleration process. At the same time, if the temperature sensor 15 detects that the temperature of the SMA traction wire 41 exceeds 90°C, the control unit will immediately cut off the heating current to prevent the SMA material from being damaged by overheating. By introducing these sensors, the control accuracy and safety of the exoskeleton rehabilitation robot are significantly improved. Compared with the traditional open-loop control system, it can adjust the motion parameters in real time and better adapt to the individual differences and rehabilitation needs of patients. In addition, the collaborative work of multiple sensors also provides objective and quantitative data support for rehabilitation evaluation, which helps medical staff formulate more personalized and scientific rehabilitation programs.

[0037] Among them Figure 5It is a force diagram of the elbow joint. M1 is the centroid of the forearm exoskeleton block 2. Point A is the connection point of the elastic member 12 and the upper arm exoskeleton auxiliary block 1. Point B is the connection point of the elastic member 12 and the forearm exoskeleton block 2. Point D is the connection point of the traction device and the forearm exoskeleton block 2. Point E is the connection point of the traction device and the upper arm exoskeleton auxiliary block 1. Point O is the joint rotation point. m1g is the gravity of the forearm exoskeleton block 2. Fsma is the traction force of the upper SMA traction device 4. Fr is the restoring force of the elastic member 12. θ is the rotation angle of the elbow joint.

[0038] In this embodiment, two sets of lower SMA traction devices 5 are provided and extend from the upper and lower sides of the wrist joint skeleton 3 respectively to be connected with the hand for traction of the up and down movement of the rear part. The wrist joint skeleton 3 is detachably installed on the forearm exoskeleton block 2, which is convenient for patients with different heights and weights to use. The lower SMA traction device 5 has the same structure as the upper SMA traction device 4. When the two sets of lower SMA traction devices 5 are in the cooling state, and at the same time, since the wrist is fixed by the wrist joint skeleton 3, the hand naturally hangs down. When the upper lower SMA traction device 5 is activated, the hand is pulled upward by the traction force generated by the SMA wire. By installing an infrared displacement sensor at the end of the wrist joint skeleton 3, the moving distance of the hand is collected. After reaching the desired position, the upper lower SMA traction device 5 stops heating, and then the lower lower SMA traction device 5 is heated and activated. After the hand is pulled to the desired angle by the lower lower SMA traction device 5, the heating stops, and the next round of rehabilitation exercise is carried out, so as to perform cyclic rehabilitation on the hand.

[0039] Among them Figure 8 It is a force diagram of the wrist joint. Points A and B are the contact points of the actuator and the hand respectively. Point O is the joint rotation point. m2g is the gravity of the wrist joint. F(u)sma is the upward traction force of the traction device on the wrist joint. F(l)sma is the downward traction force of the traction device on the wrist joint.

[0040] In this embodiment, fixing frames 6 for fixing themselves on the arm are provided on the upper arm exoskeleton auxiliary block 1 and the forearm exoskeleton block 2. The fixing frames 6 can be fixed on the human arm through elastic bands, tightening bands, etc., which can better meet the needs of different patients. The fixing frames 6 can be adjusted according to the thickness of the patient's arm to ensure the fit between the exoskeleton and the arm. This not only improves the comfort of the rehabilitation training, but also enhances the safety during the training process. The setting of the fixing frames 6 can also prevent the exoskeleton from sliding or shifting during use, thus ensuring the accuracy and consistency of the rehabilitation training actions.

[0041] In this embodiment, the large arm exoskeleton auxiliary block 1 is provided with a fixing portion 7 for fixing the upper SMA traction device 4. The fixing portion 7 can fix the upper SMA traction device 4. By providing the fixing portion 7, the position of the upper SMA traction device 4 is effectively restricted, which not only improves the working stability of the SMA traction device 4, but also enhances the structural strength of the entire rehabilitation robot. The presence of the fixing portion 7 enables the SMA traction device 4 to maintain a predetermined position during the contraction and relaxation processes, avoiding traction loss or direction deviation caused by position offset. Similarly, the same structure can be provided on the forearm exoskeleton block 2 to fix the lower SMA traction device 5, which is not shown in the drawings.

[0042] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the technical solutions of the present invention can be modified or equivalently replaced without departing from the purpose and scope of the technical solutions of the present invention, and they should all be covered within the scope of the claims of the present invention.

Claims

1. An upper limb exoskeleton rehabilitation robot based on SMA, characterized in that: The invention comprises an upper arm exoskeleton auxiliary block (1) detachably mounted on the upper arm, a forearm exoskeleton block (2) detachably mounted on the forearm, and a wrist joint exoskeleton frame (3) detachably mounted on the wrist joint. The forearm exoskeleton block (2) can be driven to rotate on the upper arm exoskeleton auxiliary block (1). The upper arm exoskeleton auxiliary block (1) is provided with an upper SMA tractor (4) for driving the forearm exoskeleton block (2) to rotate. The forearm exoskeleton block (2) is provided with a lower SMA tractor (5) for moving the wrist up and down.

2. The SMA-based upper limb exoskeleton rehabilitation robot according to claim 1, characterized in that: The upper arm exoskeleton auxiliary block (1) is provided with a rotating shaft (11), the forearm exoskeleton block (2) is rotatably arranged on the upper arm exoskeleton auxiliary block (1) via the rotating shaft (11), the upper SMA tractor (4) is drivingly connected to the forearm exoskeleton block (2), and the upper SMA tractor (4) is heated and contracted to pull the forearm exoskeleton block (2) to rotate the rotating shaft (11).

3. The SMA-based upper limb exoskeleton rehabilitation robot according to claim 2, characterized in that: The upper SMA traction device (4) comprises an SMA traction wire (41), a first protective layer (42) for enclosing a plurality of SMA traction wires (41), and a second protective layer (43) wrapped outside the first protective layer (42), wherein the first protective layer (42) is a PTFE tube, and the second protective layer (43) is a Bowden wire sheath, and the two ends of the SMA traction wire (41) are respectively connected to the upper arm exoskeleton auxiliary block (1) and the forearm exoskeleton block (2).

4. The SMA-based upper limb exoskeleton rehabilitation robot according to claim 2, characterized in that: The upper arm exoskeleton auxiliary block (1) is provided with an elastic member (12) for resetting the forearm exoskeleton block (2) after the upper SMA tractor (4) cools down and recovers.

5. The SMA-based upper limb exoskeleton rehabilitation robot according to claim 2, characterized in that: The upper arm exoskeleton auxiliary block (1) is provided with a limit block (13) for limiting the rotation angle of the forearm exoskeleton block (2).

6. The SMA-based upper limb exoskeleton rehabilitation robot according to claim 5, characterized in that: A plurality of mounting holes (14) for mounting the limit blocks (13) are arranged at different positions on the upper arm exoskeleton auxiliary block (1).

7. The SMA-based upper limb exoskeleton rehabilitation robot according to claim 2, characterized in that: The rotating shaft (11) is provided with an angle sensor (16) for detecting the deflection angle of the forearm exoskeleton block (2) and a temperature sensor (15) for detecting the temperature of the SMA traction wire (41), and the wrist joint exoskeleton frame (3) is provided with a displacement sensor for the moving distance of a human hand.

8. The SMA-based upper limb exoskeleton rehabilitation robot according to claim 1, characterized in that: The lower SMA traction device (5) is provided with two groups and extends from the upper and lower sides of the wrist joint skeleton frame (3) respectively to be connected to the hand for traction of the rear part to move up and down.

9. The SMA-based upper limb exoskeleton rehabilitation robot according to any one of claims 1 to 8, characterized in that: The upper arm exoskeleton auxiliary block (1) and the forearm exoskeleton block (2) are provided with a fixing frame (6) for fixing the upper arm exoskeleton auxiliary block (1) and the forearm exoskeleton block (2) on the arm.

10. The SMA-based upper limb exoskeleton rehabilitation robot according to claim 2, characterized in that: The upper arm exoskeleton auxiliary block (1) is provided with a fixing portion (7) for fixing an upper SMA tractor (4).

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