Wearable rope-driven flexible elbow exoskeleton rehabilitation device

Abstract

The invention discloses a wearable rope-driven flexible elbow exoskeleton rehabilitation device, and relates to the technical field of rehabilitation robots. The driving assembly is provided with two driving units for controlling the two Bowden threads to be wound and unwound alternately to achieve antagonistic movement, the exoskeleton base is sewn into a sleevelet form through flexible fabric, a forearm anchor point, an elbow transition anchor point and a big arm anchor point are sequentially fixed in a sleeved mode from front to back, and each anchor point is provided with a guide wheel for guiding inner threads of the Bowden threads. Line sheaths of the two Bowden lines are fixed between the upper side and the lower side of the large arm anchor point and the corresponding driving units respectively, and inner line heads of the Bowden lines are guided and then are finally fixed to the front end of the front arm anchor point. Power is transmitted through Bowden cables, motors are arranged at the rear, elbow burdens of a user are reduced, exoskeleton assemblies are fixed through binding bands through flexible bases, wearing is more comfortable, movement deviation is avoided in combination with guide wheels, and the use requirements of daily life are met.

Description

Technical Field

[0001] This invention relates to the field of rehabilitation robot technology, specifically a wearable, cable-driven flexible elbow exoskeleton rehabilitation device. Background Technology

[0002] As the world ages, the number of patients with stroke and related diseases continues to increase. Patients who survive often suffer from upper limb movement disorders, which can seriously affect their daily lives. Therefore, the demand for rehabilitation exoskeletons is growing.

[0003] Currently, upper limb rehabilitation robots on the market can be broadly divided into two types: one is a rehabilitation robot fixed to the ground, which requires the patient to fix their upper arm to a motion device and use the motion device as the main driver for rehabilitation training. However, because this type of rehabilitation robot is often large, it is mostly used in large treatment facilities such as hospitals and sanatoriums, and it is difficult to meet the daily needs of users. The other type is a relatively lightweight exoskeleton robot. However, the more mature exoskeleton robots generally adopt a rigid structure. Their large inertia and the difficulty in flexibly adjusting the structure will interfere with the user's movement, causing deviation from natural movement and reducing the user's mobility. In addition, it will seriously increase the user's metabolic cost, exacerbate the user's physical exertion, and affect the user's daily life.

[0004] Therefore, there is an urgent need for a small, lightweight, wearable exoskeleton for upper limb rehabilitation training that allows for flexible movement while worn by the user to meet the needs of daily life. Summary of the Invention

[0005] To address the shortcomings of the prior art, this invention provides a wearable rope-driven flexible elbow exoskeleton rehabilitation device. It uses Bowden cables to transmit power and places the motor at the rear, reducing the user's elbow burden. The exoskeleton components use a flexible base and are fixed by straps, making it more comfortable to wear. Combined with guide wheels, it prevents movement deviation and meets the needs of daily life.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: a wearable cable-driven flexible elbow exoskeleton rehabilitation device, comprising a drive component, an exoskeleton component, and two Bowden cables;

[0007] The drive assembly has two drive units, which control the inner wires of the two Bowden wires to alternately extend and retract through the motor-driven reel shaft to achieve antagonistic movement. The drive assembly is positioned and installed on the user's back when worn.

[0008] The exoskeleton assembly includes a forearm anchor point, an elbow transition anchor point, an upper arm anchor point, and an exoskeleton base. The exoskeleton base is made of flexible fabric and sewn into a sleeve-like form for the user's arm to wear and fix. The forearm anchor point, the elbow transition anchor point, and the upper arm anchor point are all ring-shaped structures and are sequentially fitted and fixed to the exoskeleton base from front to back. The forearm anchor point and the upper arm anchor point are respectively provided with single guide wheels on the upper and lower sides, and the elbow transition anchor point is provided with double guide wheels at the bottom.

[0009] The two Bowden lines correspond to the flexion and extension movements of the elbow. The sheaths of the two Bowden lines are fixed between the upper and lower sides of the upper arm anchor point and the corresponding drive unit. The inner ends of the two Bowden lines are wound around the spools of the two drive units. The inner end of the upper Bowden line passes through the bottom of the single guide wheel on the upper side of the upper arm anchor point and the top of the single guide wheel on the upper side of the forearm anchor point, and is finally fixed to the front end of the forearm anchor point. The inner end of the lower Bowden line passes through the bottom of the single guide wheel on the lower side of the upper arm anchor point, and is then led out from the middle of the double guide wheels of the elbow transition anchor point. It then passes through the top of the single guide wheel on the lower side of the forearm anchor point and is finally fixed to the front end of the forearm anchor point.

[0010] Furthermore, the exoskeleton base is equipped with IMU (Inertial Measurement Unit) units in the forearm and upper arm segments respectively to record the relative position data of the user's forearm and upper arm during movement in real time; the motor is equipped with a rotor encoder to collect the rope length change data of the corresponding Bowden line in real time; a force sensor is connected in series on the inner line of the Bowden line to measure the tension data in real time; the onboard control system obtains elbow movement posture data through relative position data and rope length change data, and then combines the tension data to adjust the release and retraction speed and tension of the inner lines of the two Bowden lines to correct movement deviations.

[0011] Furthermore, the forearm anchor point, elbow transition anchor point, and upper arm anchor point are all connected by straps in a loop structure, and the straps can be adjusted in tightness.

[0012] Furthermore, the drive unit includes a motor, a motor base, a coupling, a bearing housing, a reel shaft, and a pressure plate. The motor is a brushless geared motor, and the motor base is an L-shaped base. The motor housing is vertically fixed to the side support arm of the motor base by screws. The output shaft of the motor is connected to the reel shaft via the coupling. Both ends of the reel shaft are rotatably mounted between the bearing housings via bearings. An arc-shaped positioning groove is integrally extended from the bottom side of the bearing housing. The pressure plate has an arc-shaped structure in the middle and is connected and fixed to the arc-shaped positioning groove by screws, thereby clamping and fixing the rear end of the Bowden line sheath. During wear, the motor base and bearing housing serve as fixing points positioned on the user's back.

[0013] Furthermore, the bearing housing adopts a split structure, including an L-shaped bearing housing split one and an I-shaped bearing housing split two, which are fixed together by screws to form a U-shaped bearing housing whole. The bearing holes of the bearing housing split one and the bearing housing split two are respectively covered with dustproof end caps.

[0014] Furthermore, the forearm anchor point consists of two symmetrical forearm anchor point bases connected in a ring shape by two forearm straps. The forearm anchor point base integrates a line fixing point, a forearm wheel frame, and two forearm strap fixing components. The line fixing point is located at the front end of the forearm anchor point base surface and the inner wire end of the corresponding Bowden line is fixed by tightening with screw bolts. The forearm wheel frame is located at the middle position of the forearm anchor point base surface and rotatably mounts the forearm guide wheel. The two forearm strap fixing components are located at the left and right ends of the forearm anchor point base to fix the corresponding forearm strap ends.

[0015] Furthermore, the elbow transition anchor point is formed by connecting the elbow anchor point base located below the elbow to a ring structure via a separate elbow strap. The elbow anchor point base integrates an elbow wheel frame and two elbow strap fixing components. The elbow wheel frame is located at the middle position on the surface of the elbow anchor point base and rotatably mounts elbow guide wheel one and elbow guide wheel two. The two elbow strap fixing components are located at the left and right ends of the elbow anchor point base to fix the two ends of the elbow strap.

[0016] Furthermore, the boom anchor point consists of two symmetrical boom anchor point bases connected in a ring shape by two boom straps. The boom anchor point base integrates an arc-shaped groove bottom, a boom wheel frame, and two boom strap fixing components. The arc-shaped groove bottom is located at the rear end of the boom anchor point base surface and is fitted with a pressure plate. The pressure plate has an arc-shaped structure in the middle and is connected and fixed to the arc-shaped groove bottom with screws, thereby clamping and fixing the front end of the Bowden line sheath. The boom wheel frame is located in the middle of the boom anchor point base surface and rotatably mounts the boom guide wheel. The two boom strap fixing components are located at the left and right ends of the boom anchor point base to fix the corresponding ends of the boom straps.

[0017] Compared with the prior art, the beneficial effects of the present invention are:

[0018] 1. This invention uses rope drive to transmit power and places the motor at the rear. It uses 3D printing to manufacture rigid components of the exoskeleton, which greatly reduces the mass of the exoskeleton and solves the problem of large inertia caused by direct motor drive at the joints of traditional rigid exoskeleton robots, which increases the burden on the user's elbows.

[0019] 2. This invention uses a structure with flexible fabric as the base and straps as the fixing method to replace the rigid structure of traditional exoskeleton robots, making the exoskeleton components more comfortable to wear, solving the problem of rigid exoskeletons interfering with the user's movement and reducing the user's flexibility, ensuring that the user's movement is more in line with the natural state during wear, and facilitating daily life use.

[0020] 3. This invention guides the inner line of the Bowden line through the guide wheel, reduces friction, changes the force direction on the forearm during wear, helps to increase the torque on the forearm, and improves the force transmission efficiency.

[0021] 4. This invention collects the length changes of the Bowden wires through the motor rotor and the IMU inertial measurement unit collects the relative positions of the forearm and upper arm during the user's wearing period, forming a closed-loop comprehensive measurement of upper limb posture. Combined with the control algorithm, it can achieve relatively accurate position control. Furthermore, the force sensor measures the force on the Bowden wires in real time to assist in adjusting rehabilitation movements, making the movement of the exoskeleton components smoother and reducing the pulling sensation caused by the Bowden wires during movement. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the overall structure of the device of the present invention;

[0023] Figure 2 This is an exploded view of the driving unit in this invention;

[0024] Figure 3 This is a schematic diagram of the exoskeleton component in this invention;

[0025] Figure 4 This is a schematic diagram of the forearm anchor point in this invention;

[0026] Figure 5 This is a schematic diagram of the elbow transition anchor point in this invention;

[0027] Figure 6 This is a schematic diagram of the structure of the boom anchor point in this invention.

[0028] In the diagram: 1. Drive assembly; 2. Bowden cable; 3. Exoskeleton assembly; 101. Motor; 102. Motor base; 103. Coupling; 104. Motor side end cover; 105. Bearing housing unit 1; 106. Sleeve; 107. Bearing 1; 108. Thread reel shaft; 109. Bearing 2; 110. Retaining ring; 111. Bearing housing unit 2; 112. Shaft side end cover; 113. Pressure plate 1; 31. Forearm anchor point; 32. Elbow transition anchor point; 33. Upper arm anchor point; 34. Exoskeleton base; 35. Force sensor 1; 36. Force sensor 2; 37. Forearm IMU inertial measurement unit; 38. Upper arm IMU U-shaped inertial measurement unit; 311. Line fixed point; 312. Forearm wheel axle; 313. Forearm guide wheel; 314. Forearm strap fastener; 315. Forearm strap; 316. Forearm anchor base; 321. Elbow wheel axle one; 322. Elbow guide wheel one; 323. Elbow guide wheel two; 324. Elbow wheel axle two; 325. Elbow strap fastener; 326. Elbow strap; 327. Elbow anchor base; 331. Pressure plate two; 332. Arc-shaped groove bottom; 333. Boom wheel axle; 334. Boom guide wheel; 335. Boom strap fastener; 336. Boom strap; 337. Boom anchor base. Detailed Implementation

[0029] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the invention, not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0030] like Figures 1-6 As shown, a wearable, cable-driven flexible elbow exoskeleton rehabilitation device is mainly used for single-degree-of-freedom rehabilitation training of the human upper limb flexion and extension. It includes a drive component 1, an exoskeleton component 3, two Bowden cables 2, and a sensing and measurement component for motion precision control and movement correction. Specifically: the drive component 1 uses two independent drive units to control the alternating extension and retraction of the two Bowden cables 2 to achieve antagonistic movements, applying force to the user's forearm to simulate the way human muscles exert force; the exoskeleton component 3, through a combination of a flexible base and three anchor points, achieves a close fit between the device and the human upper limb and precise guidance of the Bowden cables 2, avoiding movement interference; the sensing and measurement component is used to acquire movement posture and tension data in real time, ensuring the flexibility and accuracy of rehabilitation training.

[0031] Combination Figure 1 , Figure 2 As shown, the drive assembly 1 consists of two independent drive units arranged symmetrically in top and bottom, which provide retraction and extension power to the two Bowden lines 2 respectively. Its structural composition and connection relationship are as follows:

[0032] The drive unit includes a motor 101, a motor base 102, a coupling 103, a motor side end cover 104, a bearing housing split 105, a sleeve 106, a bearing 107, a reel shaft 108, a bearing 2 109, a retaining ring 110, a bearing housing split 2 111, a shaft side end cover 112, and a pressure plate 113.

[0033] The motor 101 is a brushless geared motor, and the motor base 102 is an L-shaped base. The bottom of the motor base 102 serves as a fixing point, positioned against the user's back during wear. The housing of the motor 101 is vertically fixed to the side support arm of the motor base 102 by screws. The output shaft of the motor 101 is connected to the reel shaft 108 via the coupling 103 to drive its slow rotation. For ease of installation, the bearing housing supporting the reel shaft 108 is in a split form, including an L-shaped bearing housing split 105 and an I-shaped bearing housing split 111. The bearing housing split 105 and the bearing housing split 111 are fixed together with screws to form a U-shaped bearing housing assembly. The bottom of this assembly also serves as a fixing point, positioned against the user's back along with the motor base 102 during wear. The two ends of the reel shaft 108 are rotatably mounted between the bearing holes of bearing housing segment 105 and bearing housing segment 111 via bearings 107 and 109 respectively. Driven by motor 101, it can rotate freely around its own axis, thereby controlling the winding and unwinding of the Bowden wire 2 by forward and reverse rotation. The motor-side end cover 104 and the shaft-side end cover 112 respectively cover the bearing holes of bearing housing segment 105 and bearing housing segment 111, serving to prevent dust and limit the axial displacement of bearings 107 and 109. The sleeve 106 is coaxially inserted into the bearing hole of bearing housing segment 105. One end of the reel shaft 108 is a stepped shaft inserted into the sleeve 106. The retaining ring 110 is locked into a pre-made annular groove at the other end of the reel shaft 108. The sleeve 106 and the retaining ring 110 cooperate to limit the axial displacement of the reel shaft 108. An arc-shaped positioning groove is integrally extended from the bottom side of the bearing housing split 105. The middle of the pressure plate 113 is an arc-shaped structure and is connected and fixed to the arc-shaped positioning groove by screws. The joint between the pressure plate 113 and the arc-shaped positioning groove forms a locking hole through two arc structures for clamping and fixing the rear end of the Bowden wire 2 sheath.

[0034] The action logic of the driving component 1 during its working phase is as follows:

[0035] Pre-tightening stage: Motor 101 drives the reel shaft 108 to rotate and take in the wire through coupling 103, tightening the inner wire of Bowden wire 2. At the same time, the corresponding force sensor 1 35 or force sensor 2 36 collects the current pre-tightening force in real time. When the pre-tightening force reaches the set threshold, motor 101 stops rotating to complete the pre-tightening.

[0036] Working phase: According to the user's elbow flexion and extension needs, the motor 101 drives the reel shaft 108 to rotate in both directions through the coupling 103, realizing the take-up or release of the inner line of Bowden line 2, thereby driving the user's forearm movement.

[0037] Combination Figure 1 As shown, the Bowden lines 2, acting as transmission components, convert the rotational motion of the drive assembly 1 into a pulling force on the exoskeleton assembly 3. Two Bowden lines are arranged on the upper and lower sides of the exoskeleton assembly 3 between the corresponding drive units, respectively corresponding to the flexion and extension movements of the elbow: the upper Bowden line 2 pulls the forearm when the elbow flexes, and the lower Bowden line 2 pulls the forearm when the elbow extends. The alternating release and retraction of these two lines achieve antagonistic movements, simulating the coordinated force exertion of the human upper limb muscles. Compared to traditional rigid structures, the Bowden lines 2 better conform to the contours of the human arm, reducing interference with the user's movement habits.

[0038] Because the inner wire (force-bearing rope) of Bowden line 2 has a certain elongation, it is prone to creep under long-term load, which may lead to a decrease in motion accuracy. To solve this problem, this invention uses two methods for synergistic compensation:

[0039] Indirect measurement: The motor speed and rotation angle are collected in real time by the rotor encoder of motor 101. Combined with the radius parameter of reel shaft 108, the motion angle of reel shaft 108 can be calculated, and then the change in rope length of Bowden line 2 can be derived.

[0040] Direct measurement: A forearm IMU inertial measurement unit 37 and an upper arm IMU inertial measurement unit 38 are configured on the exoskeleton component 3 to record the relative position of the forearm and upper arm in real time during the movement.

[0041] Combining the two types of measurement data, more accurate elbow movement posture data can be obtained, correcting the errors caused by rope elongation or creep of Bowden line 2.

[0042] In addition, during rehabilitation training, it is difficult for users to perfectly achieve standard movements, and there is a certain deviation in the movement. Force sensor 1 35 and force sensor 2 36 are installed on the inner lines of the two Bowden lines 2 respectively to measure their respective tension data in real time. The built-in control system can combine elbow movement posture data and tension data to adjust the opening and closing speed and tension of the inner lines of the two Bowden lines 2 to apply corrective force to the user's forearm, correct movement deviations in a timely manner, ensure the smoothness of movement, and reduce the pulling sensation of Bowden lines 2 on the skin during exercise.

[0043] Combination Figure 1 , Figure 3As shown, the exoskeleton component 3 is used to secure the user's arm and provides precise guidance for the two Bowden lines 2, avoiding friction or path deviation caused by direct contact between the inner line of the Bowden lines 2 and the user's arm. It includes a forearm anchor point 31, an elbow transition anchor point 32, an upper arm anchor point 33, and an exoskeleton base 34, wherein:

[0044] The exoskeleton base 34 is made of flexible fabric (neoprene rubber) sewn into a sleeve-like form, which has good elasticity and fit, and can adapt to the arm contours of different users. Without anchor point design, the inner thread of the Bowden line 2 would need to extend from the user's upper arm to the forearm, coming into contact with the user's arm during extension and retraction. This would not only generate additional friction affecting the transmission efficiency of the exoskeleton component 3, but also easily cause the inner thread of the Bowden line 2 to deviate from its original path due to interference from the user's arm during movement, affecting the movement effect. Therefore, from front to back, forearm anchor points 31, elbow transition anchor points 32, and upper arm anchor points 33 are sequentially fitted onto the outside of the exoskeleton base 34. Each anchor point is fixed to the exoskeleton base 34 by adhesive or bolt connection, ensuring that the anchor points do not shift or move during the user's arm movement.

[0045] Calculations show that after the user wears the exoskeleton base 34 on their arm, the forearm anchor point 31 is located near the wrist on the forearm, while the upper arm anchor point 33 is located near the elbow on the upper arm. With this arrangement, the upper Bowden line 2 has a larger lever arm, which helps to obtain a larger torque.

[0046] Combination Figure 3 , Figure 4 As shown, the forearm anchor point 31 is a symmetrical structure connecting the inner ends of two Bowden lines 2. It consists of two symmetrical forearm anchor point bases 316 connected in a ring shape by two forearm straps 315. Each forearm anchor point base 316 integrates a line fixing point 311, a forearm wheel frame, and two forearm strap fixing members 314. The line fixing point 311 is located at the front end of the surface of the forearm anchor point base 316 and fixes the inner end of the corresponding Bowden line 2 by tightening with screw bolts. The forearm wheel frame is located in the middle of the surface of the forearm anchor point base 316 and is rotatably mounted on the forearm guide wheel 313 via the forearm wheel axle 312. The two forearm strap fixing members 314 are located at the left and right ends of the forearm anchor point base 316 and fix the ends of the corresponding forearm straps 315.

[0047] Combination Figure 3 , Figure 5As shown, the elbow transition anchor point 32 is used for the inner line transfer and positioning of the lower Bowden line 2. Since the movement direction of the human elbow joint is unidirectional, only the Bowden line 2 located below the elbow may directly contact the user's elbow during movement. Therefore, the elbow transition anchor point 32 is a ring structure formed by connecting the elbow anchor point base 327 located below the elbow through a separate elbow strap 326. The elbow anchor point base 327 integrates an elbow wheel frame and two elbow strap fixing members 325. The elbow wheel frame is located in the middle of the surface of the elbow anchor point base 327, and elbow guide wheels 322 and 323 are rotatably mounted by elbow wheel axle 1 321 and elbow wheel axle 2 324 arranged in front and behind. The two elbow strap fixing members 325 are located at the left and right ends of the elbow anchor point base 327 to fix the two ends of the elbow strap 326.

[0048] Combination Figure 3 , Figure 6 As shown, the upper arm anchor point 33 is a symmetrical structure that connects the front ends of the sheaths of two Bowden lines 2. It is a ring structure formed by two upper and lower symmetrical upper arm anchor point bases 337 connected by two upper arm straps 336 on the left and right. Each boom anchor base 337 integrates an arc-shaped groove bottom 332, a boom wheel frame, and two boom strap fasteners 335. The arc-shaped groove bottom 332 is located at the rear end of the boom anchor base 337 and is fitted with a pressure plate 331. The pressure plate 331 has an arc-shaped structure in the middle and is connected and fixed to the arc-shaped groove bottom 332 by screws. The joint between the pressure plate 331 and the arc-shaped groove bottom 332 forms locking holes through two arc structures to clamp and fix the front end of the corresponding Bowden line 2 sheath. The boom wheel frame is located in the middle of the boom anchor base 337 and is rotatably mounted with a boom guide wheel 334 via a boom wheel axle 333. The two boom strap fasteners 335 are located at the left and right ends of the boom anchor base 337 to fix the ends of the corresponding boom straps 336.

[0049] In addition, the forearm strap 315, elbow strap 326 and upper arm strap 336 all use Velcro for easy adjustment of tightness to meet the different fit requirements of the user's arm. The forearm wheel axle 312, forearm strap fastener 314, elbow wheel axle 1 321, elbow wheel axle 2 324, elbow strap fastener 325, upper arm wheel axle 333 and upper arm strap fastener 335 all use screws. The forearm guide wheel 313, elbow guide wheel 1 322, elbow guide wheel 2 323 and upper arm guide wheel 334 all have annular grooves to restrict the inner line of Bowden line 2 from sliding out.

[0050] Combination Figure 1As shown, during assembly, the rear ends of the sheaths of the two Bowden lines 2 are clamped and fixed at corresponding positions on the two drive units, and the front ends of the sheaths of the two Bowden lines 2 are clamped and fixed at corresponding positions on the upper and lower sides of the boom anchor point 33, respectively. The inner ends of the two Bowden lines 2 are wound and wrapped around the reel shafts 108 of the two drive units. The inner end of the upper Bowden line 2 passes sequentially through the bottom of the upper arm guide wheel 334 on the upper side of the upper arm anchor point 33 and the top of the forearm guide wheel 313 on the upper side of the forearm anchor point 31, and is finally fixed to the line fixing point 311 on the upper side of the forearm anchor point 31; the inner end of the lower Bowden line 2 passes through the bottom of the upper arm guide wheel 334 on the lower side of the upper arm anchor point 33, and is then led out between the elbow guide wheel 1 322 and the elbow guide wheel 2 323 on the elbow transition anchor point 32, and then passes through the top of the forearm guide wheel 313 on the lower side of the forearm anchor point 31, and is finally fixed to the line fixing point 311 on the lower side of the forearm anchor point 31.

[0051] The forearm anchor point 31 has two forearm guide wheels 313 positioned above and below it. This can change the direction of the inner line of the Bowden line 2, increasing the lever arm of the tension of the Bowden line 2 during movement and improving the efficiency of force utilization. The design of the double guide wheels at the bottom of the elbow transition anchor point 32 serves two purposes: firstly, it changes the direction of the inner line of the lower Bowden line 2, and secondly, it avoids the risk of the inner line of the Bowden line 2 falling off from a single guide wheel when the arm bends significantly. The purpose of the upper arm anchor point 33 having two upper arm guide wheels 334 positioned above and below it is to ensure that the inner line of the Bowden line 2 remains coaxial when it enters the sheath through the direction-changing function of the guide wheels. This avoids friction between the inner line and the sheath caused by changes in the angle of movement, thereby improving the power transmission efficiency and increasing the service life of the inner line.

[0052] In addition, to reduce weight, facilitate wearing, and simplify manufacturing, the motor base 102, motor side end cover 104, bearing housing part one 105, sleeve 106, bearing housing part two 111, shaft side end cover 112, and pressure plate one 113 of the drive assembly 1, and the forearm guide wheel 313, forearm anchor base 316, elbow guide wheel one 322, elbow guide wheel two 323, elbow anchor base 327, pressure plate two 331, upper arm guide wheel 334, and upper arm anchor base 337 of the exoskeleton assembly 3 are all made of PLA material using 3D printing.

[0053] Combination Figure 1 As shown, the sensing and measurement component is used to acquire motion and tension data in real time, providing a basis for precise control. Its structure and function are as follows:

[0054] The IMU (Inertial Measurement Unit) is divided into a forearm IMU 37 and an upper arm IMU 38. The forearm IMU 37 is located near the end of the forearm segment of the exoskeleton base 34, and the upper arm IMU 38 is located near the end of the upper arm segment of the exoskeleton base 34. It is used to collect the three-dimensional acceleration and angular velocity data of the user's forearm and upper arm in real time, and calculate the relative angle and displacement of the forearm and upper arm, i.e., the motion posture data of the elbow, through a data fusion algorithm.

[0055] The force sensor is divided into force sensor 1 35 and force sensor 2 36. Force sensor 1 35 is connected in series at the front end of the inner line of the upper Bowden line 2, and force sensor 2 36 is connected in series at the front end of the inner line of the lower Bowden line 2. It is used to measure the tension value of the two Bowden lines 2 in real time. On the one hand, it is used to determine the force threshold during the pre-tightening stage, and on the other hand, it is used for motion correction during the working stage (adjusting the tension and correcting the motion deviation by combining the data of the IMU inertial measurement unit).

[0056] The working principle of the rehabilitation device of this invention is based on "antagonistic transmission + precise control". It uses drive component 1 to drive two Bowden wires 2 to achieve elbow flexion and extension, and uses sensor measurement component to ensure the accuracy and safety of movement. The specific usage process and principle are as follows:

[0057] Wearing and initialization:

[0058] The user wears the drive component 1 on their back (secured by a backpack-like structure or straps to ensure stability and prevent wobbling), and puts the exoskeleton base 34 on their arm. The position of the exoskeleton component 3 on the arm is determined by aligning the elbow transition anchor point 32 with the elbow rotation center. Then, the lengths of the forearm strap 315, elbow strap 326, and upper arm strap 336 are adjusted sequentially until they fit the user's arm thickness. The path of the two Bowden lines 2 is checked and adjusted to ensure that the sheaths are securely fixed and the inner lines are not tangled.

[0059] Pre-tightening stage:

[0060] The pre-tightening procedure of drive assembly 1 is initiated. Two motors 101 start and drive their corresponding reels 108 to take in the wire, pre-tightening the two Bowden wires 2. During this process, force sensors 1 35 and 2 36 provide real-time feedback on the tension value. When the pre-tightening force of both Bowden wires 2 reaches the preset threshold, the two motors 101 stop rotating, and the pre-tightening is completed. At this point, the two Bowden wires 2 are not slack, ensuring that there is no idle travel in the transmission.

[0061] Rehabilitation training phase:

[0062] The control system, based on the training target (such as bending angle and speed), instructs the motor 101 corresponding to the upper Bowden line 2 (bending side) to rotate and retract the line, while simultaneously instructing the motor 101 corresponding to the lower Bowden line 2 (extending side) to rotate and release the line, thus completing the arm bending motion. Conversely, after the bending motion is completed, the control system instructs the motor 101 corresponding to the upper Bowden line 2 (bending side) to rotate and release the line, while simultaneously instructing the motor 101 corresponding to the lower Bowden line 2 (extending side) to rotate and retract the line, thus completing the arm extension motion. During the process, the forearm IMU inertial measurement unit 37 and the upper arm IMU inertial measurement unit 38 collect motion posture data in real time, while force sensor 1 35 and force sensor 2 36 collect tension data in real time. If the bending angle deviates from the standard trajectory, the control system adjusts the rotation speed of the two motors 101, correcting the motion by changing the tension magnitude to ensure a smooth and precise bending process.

[0063] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of the equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0064] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A wearable, cable-driven flexible elbow exoskeleton rehabilitation device, characterized in that: Includes a drive assembly (1), an exoskeleton assembly (3), and two Bowden wires (2); The drive assembly (1) has two drive units, which drive the spool shaft (108) of the motor (101) to control the alternating winding and unwinding of the inner wires of the two Bowden wires (2) to achieve antagonistic movement. The drive assembly (1) is positioned and installed on the back of the user when worn. The exoskeleton component (3) includes a forearm anchor point (31), an elbow transition anchor point (32), an upper arm anchor point (33), and an exoskeleton base (34). The exoskeleton base (34) is made of flexible fabric and sewn into a sleeve for the user's arm to wear and fix. The forearm anchor point (31), the elbow transition anchor point (32), and the upper arm anchor point (33) are all ring structures and are sequentially fitted and fixed on the exoskeleton base (34) from front to back. The forearm anchor point (31) and the upper arm anchor point (33) are respectively provided with single guide wheels on the upper and lower sides, and the elbow transition anchor point (32) is provided with double guide wheels at the bottom. The two Bowden lines (2) correspond to the flexion and extension movements of the elbow. The sheaths of the two Bowden lines (2) are fixed between the upper and lower sides of the upper arm anchor point (33) and the corresponding drive unit. The inner ends of the two Bowden lines (2) are wound around the spool shafts (108) of the two drive units. The inner end of the upper Bowden line (2) passes through the bottom of the single guide wheel on the upper side of the upper arm anchor point (33) and the top of the single guide wheel on the upper side of the forearm anchor point (31) in sequence, and is finally fixed to the front end of the forearm anchor point (31). The inner end of the lower Bowden line (2) passes through the bottom of the single guide wheel on the lower side of the upper arm anchor point (33), and is then led out from the middle of the double guide wheel of the elbow transition anchor point (32), and then passes through the top of the single guide wheel on the lower side of the forearm anchor point (31), and is finally fixed to the front end of the forearm anchor point (31).

2. The wearable cable-driven flexible elbow exoskeleton rehabilitation device according to claim 1, characterized in that: The exoskeleton base (34) is equipped with IMU inertial measurement units in the forearm and upper arm sections respectively to record the relative position data of the user's forearm and upper arm during the movement in real time; the motor (101) is equipped with a rotor encoder to collect the rope length change data of the corresponding Bowden line (2) in real time; a force sensor is connected in series on the inner line of the Bowden line (2) to measure the tension data in real time; the onboard control system obtains the elbow movement posture data through the relative position data and rope length change data, and then adjusts the inner line release speed and tension of the two Bowden lines (2) to correct the movement deviation by combining the tension data.

3. A wearable cable-driven flexible elbow exoskeleton rehabilitation device according to claim 1 or 2, characterized in that: The forearm anchor point (31), elbow transition anchor point (32) and upper arm anchor point (33) are all connected by straps in a ring structure, and the straps can be adjusted in tightness.

4. The wearable cable-driven flexible elbow exoskeleton rehabilitation device according to claim 1, characterized in that: The drive unit includes a motor (101), a motor base (102), a coupling (103), a bearing housing, a reel shaft (108), and a pressure plate (113). The motor (101) is a brushless geared motor, and the motor base (102) is an L-shaped base. The housing of the motor (101) is fixed vertically to the side support arm of the motor base (102) by screws. The output shaft of the motor (101) is connected to the reel shaft (108) through the coupling (103). The two ends of the reel shaft (108) are rotatably mounted between the bearing housings through bearings. An arc-shaped positioning groove is integrally extended on the bottom side of the bearing housing. The pressure plate (113) has an arc-shaped structure in the middle and is connected and fixed to the arc-shaped positioning groove by screws, thereby clamping and fixing the rear end of the Bowden line (2) sheath. During the user's wearing, the motor base (102) and the bearing housing are fixed points on the user's back.

5. The wearable cable-driven flexible elbow exoskeleton rehabilitation device according to claim 4, characterized in that: The bearing housing adopts a split structure, including an L-shaped bearing housing split one (105) and an I-shaped bearing housing split two (111), which are fixed together by screws to form a U-shaped bearing housing whole. The bearing holes of the bearing housing split one (105) and the bearing housing split two (111) are respectively covered with dustproof end caps.

6. The wearable cable-driven flexible elbow exoskeleton rehabilitation device according to claim 1, characterized in that: The forearm anchor point (31) is a ring structure formed by two symmetrical forearm anchor point bases (316) connected by two forearm straps (315). The forearm anchor point base (316) integrates a line fixing point (311), a forearm wheel frame and two forearm strap fixing parts (314). The line fixing point (311) is located at the front end of the surface of the forearm anchor point base (316) and the inner end of the corresponding Bowden line (2) is fixed by tightening with screw bolts. The forearm wheel frame is located in the middle of the surface of the forearm anchor point base (316) and the forearm guide wheel (313) is rotatably installed. The two forearm strap fixing parts (314) are located at the left and right ends of the forearm anchor point base (316) and fix the ends of the corresponding forearm straps (315).

7. The wearable cable-driven flexible elbow exoskeleton rehabilitation device according to claim 1, characterized in that: The elbow transition anchor point (32) is connected to the elbow anchor point base (327) located below the elbow by a separate elbow strap (326) to form a ring structure. The elbow anchor point base (327) integrates an elbow wheel frame and two elbow strap fixing members (325). The elbow wheel frame is located in the middle of the surface of the elbow anchor point base (327) and rotatably mounts elbow guide wheel one (322) and elbow guide wheel two (323). The two elbow strap fixing members (325) are located at the left and right ends of the elbow anchor point base (327) to fix the two ends of the elbow strap (326).

8. The wearable cable-driven flexible elbow exoskeleton rehabilitation device according to claim 1, characterized in that: The boom anchor point (33) is a ring structure formed by two symmetrical boom anchor point bases (337) connected by two boom straps (336). The boom anchor point base (337) integrates an arc-shaped groove bottom (332), a boom wheel frame, and two boom strap fixing parts (335). The arc-shaped groove bottom (332) is located at the rear end of the surface of the boom anchor point base (337) and is fitted with a pressure plate (331). The pressure plate (331) has an arc-shaped structure in the middle and is connected and fixed to the arc-shaped groove bottom (332) with screws, thereby clamping and fixing the front end of the sheath of the Bowden line (2). The boom wheel frame is located in the middle of the surface of the boom anchor point base (337) and is rotatably mounted with a boom guide wheel (334). The two boom strap fixing parts (335) are located at the left and right ends of the boom anchor point base (337) to fix the corresponding ends of the boom straps (336).

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