Tensioning integral upper limb exoskeleton structure

Abstract

The invention discloses a tensegrity upper limb exoskeleton structure, comprising: a first support exoskeleton worn on a palm; the second supporting exoskeleton is connected with one end of the first supporting skeleton through a first elastic part and is used for being worn on a forearm; the first elastic part is rotatably connected with the first supporting exoskeleton, and the first elastic part is rotatably connected with the second supporting exoskeleton; the first elastic part is worn on a wrist; the third supporting exoskeleton is rotatably connected with the other end of the second supporting exoskeleton and is used for being worn on a big arm; the first bending and stretching driving part is used for driving the first supporting exoskeleton to drive the wrist joint to bend or stretch the wrist; the second bending and stretching driving part is used for driving the second supporting exoskeleton to drive the elbow joint to bend or stretch; the ulnar-radioulnar driving part is used for driving the first supporting exoskeleton to drive the wrist joint to do wrist adduction or wrist abduction movement. The problem that in the wearing and using process of an existing upper limb exoskeleton structure, the man-machine motion coincidence degree is poor is solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical devices, in particular to a tensegrity upper limb exoskeleton structure. BACKGROUND

[0002] With the continuous development of medical level, the upper limb exoskeleton structure is researched for the upper limb hemiplegic patients, which assists the upper limb rehabilitation movement of the patients through the upper limb exoskeleton wearing structure on the upper limb of the patients, usually for wrist joint and elbow joint rehabilitation movement, to help the patients recover the upper limb function.

[0003] In the related art, the upper limb exoskeleton structure generally includes a first support exoskeleton, a second support exoskeleton and a driving assembly, the first support exoskeleton and the second support exoskeleton are respectively worn on the palm and the lower arm, the first support exoskeleton and the second support exoskeleton are usually connected and driven by a steel wire rope, or the two are rigidly hinged by a rotating shaft and cooperated with the steel wire rope connection and driving; in use, the wrist joint movement can be realized by driving the steel wire rope to pull the first support exoskeleton to move through the driving assembly, however, the upper limb exoskeleton structure with the above two connection and driving modes has poor man-machine motion compatibility in the wearing and using process, resulting in poor comfort in the using process. SUMMARY

[0004] Therefore, the present application provides a tensegrity upper limb exoskeleton structure to solve the problem of poor man-machine motion compatibility of the existing upper limb exoskeleton structure in the wearing and using process.

[0005] The present application provides a tensegrity upper limb exoskeleton structure, comprising:

[0006] The first support exoskeleton is used for fitting and wearing on the palm;

[0007] The second support exoskeleton is connected with the first support exoskeleton through a first elastic part at one end, and is used for fitting and wearing on the lower arm; the first elastic part is rotatably connected with the first support exoskeleton in a first direction, and rotatably connected with one end of the second support exoskeleton in a second direction; the first elastic part is fitted and worn on the wrist; the first direction is perpendicular to the second direction;

[0008] The third support exoskeleton is rotatably connected with the other end of the second support exoskeleton in the first direction through a second elastic part, and is used for fitting and wearing on the upper arm;

[0009] The driving assembly comprises a driving box and a first flexion and extension driving component, a second flexion and extension driving component and a ulnar and radial driving component arranged in the driving box. The first flexion and extension driving component is drivingly connected with the first supporting exoskeleton through a first flexion and extension tension member, and is used for driving the first supporting exoskeleton to rotate around a second direction to drive the wrist joint to make a wrist flexion or extension movement. The second flexion and extension driving component is drivingly connected with the second supporting exoskeleton through a second flexion and extension tension member, and is used for driving the second supporting exoskeleton to rotate around a first direction to drive the elbow joint to make a flexion or extension movement. The ulnar and radial driving component is drivingly connected with the first supporting exoskeleton through an ulnar and radial tension member, and is used for driving the first supporting exoskeleton to rotate around a first direction to drive the wrist joint to make a wrist adduction or abduction movement.

[0010] In an alternative embodiment, the first elastic part has a rhombus structure, and has a pair of oppositely arranged first end portions and a pair of oppositely arranged second end portions.

[0011] The end portion of the first supporting exoskeleton is provided with a first extension portion on both sides in the first direction, and the outer side of the first extension portion is provided with a first cylinder. The two first cylinders respectively pass outwards to the outer side of the two first end portions, and the first cylinder is rotatably connected with the first end portion around the first direction.

[0012] The end portion of the second supporting exoskeleton is provided with a second extension portion on both sides in the second direction, and the outer side of the second extension portion is provided with a second cylinder. The two second cylinders respectively pass outwards to the outer side of the two second end portions, and the second cylinder is rotatably connected with the second end portion around the second direction.

[0013] In an alternative embodiment, the first flexion and extension driving component comprises two first driving modules, and the first flexion and extension tension member comprises two first driving ropes. The two first driving ropes are respectively located on both sides of the first supporting exoskeleton in the first direction. One end of the first driving rope is connected with the output end of the first driving module, and the other end is movably passed through the second supporting exoskeleton and connected with the first cylinder. The first driving module is used for driving the first driving rope to stretch or contract.

[0014] And / or, the material of the first elastic part is a silica gel material.

[0015] In an alternative implementation, the ulnar and radial driving component comprises two second driving modules, the ulnar and radial tensioning member comprises two second driving ropes, the two second driving ropes are respectively located on two sides of the second support exoskeleton in the second direction; one end of the second driving rope is connected with the output end of the second driving module, and the other end is movably arranged through the second cylinder and connected with the first support exoskeleton; the second driving module is used for driving the second driving rope to stretch or contract.

[0016] In an alternative implementation, the second support exoskeleton is rotatably connected with the third support exoskeleton in the first direction through a second elastic part.

[0017] In an alternative implementation, the second support exoskeleton is provided with the second elastic part on both sides in the first direction, the second elastic part is in an X-shaped structure, the second elastic part has four third end portions, and the second support exoskeleton is provided with a third cylinder corresponding to each third end portion, and the third end portion is sleeved on the third cylinder.

[0018] The end portion of the third support exoskeleton is provided with a third extension portion on both sides in the first direction, and the outer side of the third extension portion is provided with a fourth cylinder, and the two fourth cylinders are rotatably connected with the middle positions of the two second elastic parts, respectively.

[0019] And / or, the material of the second elastic part is silica gel material.

[0020] In an alternative implementation, a third elastic part is further included, the second flexion and extension driving component comprises a third driving module, the second flexion and extension tensioning member comprises a third driving rope, the third driving rope and the third elastic part are respectively located on both sides of the second support exoskeleton in the second direction; one end of the third driving rope is connected with the output end of the third driving module, and the other end is movably arranged through the third support exoskeleton and connected with the second support exoskeleton; the third driving module is used for driving the third driving rope to stretch or contract; one end of the third elastic part is connected with the third support exoskeleton, and the other end is connected with the second support exoskeleton.

[0021] In an alternative implementation, the third elastic part is in a strip-shaped structure and has two fourth end portions; the second support exoskeleton and the third support exoskeleton are both provided with a fifth cylinder, and the two fourth end portions are respectively sleeved on the two fifth cylinders.

[0022] And / or, the material of the third elastic part is silica gel material.

[0023] In an alternative implementation, the second support exoskeleton comprises a first frame and a second frame; the first elastic part is rotatably connected with the first frame in a second direction; the first frame and the second frame are connected through a fourth extension part, and the passing area of the inner cavity of the first frame is smaller than the passing area of the inner cavity of the second frame; the third support exoskeleton is rotatably connected with the second frame in a first direction away from the first frame.

[0024] In an alternative implementation, the first frame comprises a first connecting part, a second connecting part and a connecting plate, the first connecting part and the second connecting part form the first frame; the two ends of the first connecting part are connected with the two ends of the second connecting part through the connecting plate; the connecting plate is provided with two sixth cylinders, and the end portions of the first connecting part and the second connecting part are provided with connecting holes matched with the sixth cylinders.

[0025] The technical scheme provided by the application has at least the following advantages:

[0026] 1、In the application, the first support exoskeleton can be driven to rotate by the first flexion and extension driving part to drive the wrist joint to perform wrist flexion or extension movement, the second support exoskeleton can be driven by the second flexion and extension driving part to drive the elbow joint to perform flexion or extension movement, and the first support exoskeleton can be driven by the ulnar and radial driving part to drive the wrist joint to perform wrist adduction or abduction movement, so as to realize the movement of the wrist joint and the elbow joint, and the application can be applied to rehabilitation training.

[0027] 2、In the application, the first support exoskeleton is connected with the second support exoskeleton through the first elastic part; when worn, on the one hand, the elastic deformation of the first elastic part can lengthen the distance between the first support exoskeleton and the second support exoskeleton to adapt to people with different hand lengths, and has pre-tightening stiffness after elongation to keep the fit with the palm and the lower arm, without the need for other fixing structures, so that the structure is simple and the flexibility is high; on the other hand, the elastic deformation of the first elastic part can better fit the change of the instantaneous center during wrist joint movement, avoid rigid movement between the first support exoskeleton and the second support exoskeleton, improve the human-machine movement fitting degree, and also avoid the problem of poor overall stability caused by connecting only through a steel wire rope, and improve the stability and reliability during use.

[0028] 3、In the application, the driving box can be placed externally, without the need to be worn on the body at the same time, reducing the weight of the user's burden and improving the comfort during wearing and movement.

[0029] 4. In the application, the second support exoskeleton is connected with the third support exoskeleton through the second elastic part and the third elastic part; when worn, on the one hand, the elastic deformation of the second elastic part and the third elastic part can lengthen the distance between the second support exoskeleton and the third support exoskeleton, so as to adapt to people with different hand lengths, and has pre-tightening stretching stiffness after elongation, keeps close to the lower arm and the upper arm, does not need to use other fixing structures, the structure is simple, and the flexibility is relatively high; on the other hand, the elastic deformation of the second elastic part and the third elastic part can better adapt to the change of the instantaneous center during the elbow joint movement, avoids rigid movement between the second support exoskeleton and the third support exoskeleton, improves the human-machine movement fitting degree, and can also avoid the problem that the overall stability is poor due to the connection through the steel wire rope, and improves the stability and reliability during overall use. BRIEF DESCRIPTION OF DRAWINGS

[0030] In order to more clearly illustrate the specific embodiments of the application or the technical solutions in the prior art, the drawings needed to be used in the specific embodiments or the prior art description will be briefly introduced below. Obviously, the drawings in the following description are some embodiments of the application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0031] Figure 1 It is a schematic diagram of the overall structure of the tension integral upper limb exoskeleton structure of the embodiment of the application.

[0032] Figure 2 It is a schematic diagram of the overall structure of the tension integral upper limb exoskeleton structure of the embodiment of the application. Figure 1 It is the first schematic diagram of the wrist joint movement of the tension integral upper limb exoskeleton structure shown in the figure.

[0033] Figure 3 It is the second schematic diagram of the wrist joint movement of the tension integral upper limb exoskeleton structure shown in the figure. Figure 1 It is the second schematic diagram of the wrist joint movement of the tension integral upper limb exoskeleton structure shown in the figure.

[0034] Figure 4 It is an explosion view of the connection between the first support exoskeleton and the second support exoskeleton of the embodiment of the application.

[0035] Figure 5 It is an explosion view of the connection between the second support exoskeleton and the third support exoskeleton of the embodiment of the application.

[0036] Figure 6 It is a schematic diagram of the wrist joint movement of the tension integral upper limb exoskeleton structure shown in the figure. Figure 1 It is a schematic diagram of the wrist joint movement of the tension integral upper limb exoskeleton structure shown in the figure.

[0037] Figure 7 It is a schematic diagram of the wrist joint movement of the tension integral upper limb exoskeleton structure shown in the figure. Figure 1 It is a schematic diagram of the wrist joint movement of the tension integral upper limb exoskeleton structure shown in the figure.

[0038] Figure 8 for Figure 1 A schematic view of the elbow joint of the tensegrity upper limb exoskeleton structure shown in the figure making flexion movement;

[0039] Figure 9 for Figure 8 is a local enlarged view.

[0040] Explanation of reference signs:

[0041] 1, first support exoskeleton; 2, second support exoskeleton; 201, first frame body; 2011, first connecting part; 2012, second connecting part; 2013, connecting plate; 202, second frame body; 203, fourth extension part; 3, first elastic part; 4, third support exoskeleton; 5, first flexion and extension driving part; 6, second flexion and extension driving part; 7, ulnar and radial driving part; 8, first extension part; 9, first cylinder; 10, second extension part; 11, second cylinder; 12, first driving rope; 13, second driving rope; 14, second elastic part; 15, third cylinder; 16, third extension part; 17, fourth cylinder; 18, third driving rope; 19, third elastic part; 20, fifth cylinder; 21, first connecting block; 22, second connecting block; 23, third connecting block; 24, fourth connecting block. DETAILED DESCRIPTION

[0042] The technical solutions of the present application will be described clearly and completely below in combination with the drawings. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0043] In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first", "second", "third" are only for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0044] In the description of the present application, it should be noted that unless specifically defined and limited otherwise, the terms "mounting", "connected", "connection" should be understood broadly, for example, can be fixed connection, can also be detachable connection, or integrally connected; can be mechanical connection, can also be electrical connection; can be directly connected, can also be indirectly connected through intermediate medium, can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0045] In addition, the technical features involved in the different embodiments of the application described below can be combined with each other as long as there is no conflict.

[0046] The embodiments of the present application are described below in conjunction with Figures 1 to 9

[0047] According to the embodiments of the present application, a tensioned whole upper limb exoskeleton structure is provided, comprising: a first support exoskeleton 1 adapted to be worn on the palm; a second support exoskeleton 2 connected to the first support exoskeleton 1 at one end through a first elastic part 3, adapted to be worn on the lower arm; the first elastic part 3 is rotatably connected to the first support exoskeleton 1 around a first direction, and the first elastic part 3 is rotatably connected to one end of the second support exoskeleton 2 around a second direction; the first elastic part 3 is adapted to be worn on the wrist; the first direction is perpendicular to the second direction; a third support exoskeleton 4 is rotatably connected to the other end of the second support exoskeleton 2 around the first direction, adapted to be worn on the upper arm; a drive assembly comprising a drive box and a first flexion and extension drive part 5, a second flexion and extension drive part 6 and a ulnar and radial drive part 7 arranged in the drive box, the first flexion and extension drive part 5 is drivingly connected to the first support exoskeleton 1 through a first flexion and extension tensioning member, for driving the first support exoskeleton 1 to rotate around the second direction to drive the wrist joint to make wrist flexion or extension movement; the second flexion and extension drive part 6 is drivingly connected to the second support exoskeleton 2 through a second flexion and extension tensioning member, for driving the second support exoskeleton 2 to rotate around the first direction to drive the elbow joint to make flexion or extension movement; the ulnar and radial drive part 7 is drivingly connected to the first support exoskeleton 1 through a ulnar and radial tensioning member, for driving the first support exoskeleton 1 to rotate around the first direction to drive the wrist joint to make wrist adduction or abduction movement.

[0048] ​It should be noted that the first elastic part 3, the first support exoskeleton 1, the second support exoskeleton 2 and the third support exoskeleton 4 all have inner cavities, which are convenient for wearing on the arm; the movement form of wrist adduction is that the wrist joint is inclined to the ulnar side; the movement form of wrist abduction is that the wrist joint is inclined to the radial side; the movement form of wrist flexion is that the palm is flexed to the palm side; the movement form of wrist extension is that the palm is flexed to the back side; the movement form of elbow flexion is that the forearm is bent to the upper arm; the movement form of elbow extension is that the elbow joint recovers from the bent state to the straight state; the first direction is the direction perpendicular to the palm in the natural straight state of the arm; and the second direction is the direction parallel to the palm in the natural straight state of the arm and perpendicular to the first direction.

[0049] In the embodiment, when installed, the driving box of the driving assembly is placed outside, the first support exoskeleton 1 is worn on the palm, the first elastic part 3 is worn at the wrist, the second support exoskeleton 2 is worn on the lower arm, and the third support exoskeleton 4 is worn on the upper arm; after wearing is completed, the first support exoskeleton 1 can be driven to rotate around the second direction by the first flexion and extension driving part 5, and then the palm is moved by the first support exoskeleton 1, so that the wrist joint performs wrist flexion or extension movement; the second support exoskeleton 2 can be driven to rotate around the first direction by the second flexion and extension driving part 6, and then the lower arm is moved by the second support exoskeleton 2, so that the elbow joint performs flexion or extension movement; the first support exoskeleton 1 can be driven to rotate around the first direction by the ulnar and radial driving part 7, and then the palm is moved by the first support exoskeleton 1 to drive the wrist joint to perform wrist adduction or abduction movement, so as to realize the movement of the wrist joint and the elbow joint, which can be applied to rehabilitation training; since the first elastic part 3 has the property of elastic deformation, when worn, on the one hand, the elastic deformation of the first elastic part 3 can lengthen the distance between the first support exoskeleton 1 and the second support exoskeleton 2 to adapt to people with different hand lengths, and has pre-tightening stretching stiffness after elongation, so as to keep the palm and the lower arm fit, without the need for other fixing structures, which is simple in structure and high in flexibility; on the other hand, the elastic deformation of the first elastic part 3 can better fit the change of the instantaneous center during wrist joint movement, avoid rigid movement between the first support exoskeleton 1 and the second support exoskeleton 2, improve the human-machine movement fitting degree, and then improve the comfort in use; secondly, the driving box can be placed outside, without the need to be worn on the body at the same time, which reduces the weight of the user's burden and improves the comfort during wearing and movement; in addition, the first support exoskeleton 1 and the second support exoskeleton 2 are connected through the first elastic part 3, which avoids the problem of poor overall stability caused by connecting only through a steel wire rope, and improves the stability and reliability during overall use.

[0050] In one embodiment, as Figure 4As shown, the first elastic part 3 is in a diamond structure, and has a pair of first end parts and a pair of second end parts arranged oppositely; the first support exoskeleton 1 is provided with a first extension part 8 on both sides of the end part in the first direction, and the outer side of the first extension part 8 is provided with a first cylinder 9, two first cylinders 9 are respectively penetrated from inside to outside to the outer side of the two first end parts, and the first cylinder 9 is rotatably connected with the first end part around the first direction; the second support exoskeleton 2 is provided with a second extension part 10 on both sides of the end part in the second direction, and the outer side of the second extension part 10 is provided with a second cylinder 11, two second cylinders 11 are respectively penetrated from inside to outside to the outer side of the two second end parts, and the second cylinder 11 is rotatably connected with the second end part around the second direction.

[0051] It should be noted that the two first end parts are symmetrically arranged in the first direction, and the two second end parts are symmetrically arranged in the second direction, that is, the two first end parts and the two second end parts are respectively arranged at two pairs of opposite corners of the diamond structure; one end of the first extension part 8 is connected with the first support exoskeleton 1, and the other end is provided with the first cylinder 9; one end of the second extension part 10 is connected with the second support exoskeleton 2, and the other end is provided with the second cylinder 11; the axis of the first cylinder 9 is parallel to the first direction, and the axis of the second cylinder 11 is parallel to the second direction.

[0052] In this embodiment, the first elastic part 3 is in a diamond structure, so that there is a space for wearing on the wrist, and the diamond structure is convenient for deforming in the diagonal direction to adapt to different sizes of the wrist; when connected, the ends of the two first extension parts 8 of the first support exoskeleton 1 extend into the first elastic part 3, and are penetrated in the first end part through the first cylinder 9, so as to facilitate the rotating fit; the ends of the two second extension parts 10 of the second support exoskeleton 2 extend into the first elastic part 3, and are penetrated in the second end part through the second cylinder 11, so as to facilitate the rotating fit; the overall connection mode is simple, the overall connection structure is stable, and there is no need for additional fixation, which is convenient for installation and disassembly; the wrist flexion or extension movement of the wrist joint can be realized through the rotating fit of the second end part and the second cylinder 11, and the wrist adduction or abduction movement of the wrist joint can be realized through the rotating fit of the first end part and the first cylinder 9.

[0053] Specifically, the first end part is provided with a first through hole matched with the first cylinder 9, and the second end part is provided with a second through hole matched with the second cylinder 11.

[0054] In one embodiment, as Figures 1 to 3 and Figure 6As shown, the first flexion and extension driving component 5 includes two first driving modules, the first flexion and extension tension member includes two first driving ropes 12, and the two first driving ropes 12 are respectively located on two sides of the first support exoskeleton 1 in the first direction; one end of the first driving rope 12 is connected with the output end of the first driving module, and the other end is movably arranged through the second support exoskeleton 2 and connected with the first cylinder 9; the first driving module is used for driving the first driving rope 12 to stretch or contract.

[0055] It should be noted that the first driving rope 12 is connected to the part of the first cylinder 9 extending out of the first elastic part 3.

[0056] In the embodiment, the first driving rope 12 can be driven to stretch or contract by the first driving module. For the convenience of understanding, the two sides of the first support exoskeleton 1 in the first direction are divided into a flexion side and an extension side; the first driving rope 12 on the flexion side is driven to contract by one of the first driving modules, and the first driving rope 12 on the extension side is driven to stretch by the other first driving module, so that the wrist joint flexion movement can be realized; conversely, when the wrist joint is in the wrist flexion state, the first driving rope 12 on the flexion side is driven to stretch by one of the first driving modules, and the first driving rope 12 on the extension side is driven to contract by the other first driving module, so that the wrist joint extension movement can be realized, thereby repeatedly cooperating to control the wrist joint to repeatedly perform the wrist flexion or extension movement for rehabilitation training.

[0057] In one embodiment, the material of the first elastic part 3 is a silica gel material.

[0058] In the embodiment, the first elastic part 3 is made of a silica gel material, which is easy to deform and has elasticity, and the silica gel material is relatively more skin-friendly, so that the comfort can be improved when the skin is contacted during wearing.

[0059] In one embodiment, as shown in Figures 1 to 3 and Figure 7 As shown, the ulnar and radial driving component 7 includes two second driving modules, the ulnar and radial tension member includes two second driving ropes 13, and the two second driving ropes 13 are respectively located on two sides of the second support exoskeleton 2 in the second direction; one end of the second driving rope 13 is connected with the output end of the second driving module, and the other end is movably arranged through the second cylinder 11 and connected with the first support exoskeleton 1; the second driving module is used for driving the second driving rope 13 to stretch or contract.

[0060] It should be noted that the second driving rope 13 is arranged in the part of the second cylinder 11 extending out of the first elastic part 3.

[0061] In the embodiment, the second driving module can drive the second driving rope 13 to stretch or contract. For the convenience of understanding, the two sides of the second support exoskeleton 2 in the second direction are divided into the ulnar side and the radial side. The second driving rope 13 on the ulnar side is driven to contract by one of the second driving modules, and the second driving rope 13 on the radial side is driven to stretch by the other second driving module, so that the wrist joint can realize the wrist adduction movement. Conversely, the second driving rope 13 on the ulnar side is driven to stretch by one of the second driving modules, and the second driving rope 13 on the radial side is driven to contract by the other second driving module, so that the palm wrist joint can realize the wrist abduction movement. Thus, the palm wrist joint can repeatedly realize the wrist adduction movement and the wrist abduction movement through repeated cooperation, so as to control the palm wrist joint to repeatedly realize the wrist adduction movement and the wrist abduction movement for rehabilitation training.

[0062] In one embodiment, as shown in Figures 1 to 3 , Figure 5 , Figure 8 and Figure 9 , the second support exoskeleton 2 is rotatably connected with the third support exoskeleton 4 in the first direction through the second elastic part 14.

[0063] In the embodiment, the second elastic part 14 has the elastic deformation property. When worn, on the one hand, the elastic deformation of the second elastic part 14 can pull the distance between the second support exoskeleton 2 and the third support exoskeleton 4 to adapt to people with different hand lengths, and has the pre-tightening stretching stiffness after stretching to keep the second support exoskeleton 2 and the third support exoskeleton 4 fit the upper arm and the lower arm, without the need for other fixing structures, so that the structure is simple and the flexibility is high. On the other hand, the elastic deformation of the second elastic part 14 can better fit the change of the instantaneous center during the elbow joint movement, avoid the rigid movement between the third support exoskeleton 1 and the second support exoskeleton 2, improve the human-machine movement fitting degree, and absorb energy through elastic deformation when being impacted to reduce the damage to the hand. In addition, the second support exoskeleton 2 and the third support exoskeleton 4 are connected through the second elastic part 14, which avoids the problem of poor overall stability caused by connecting only through the steel wire rope, and improves the stability and reliability during overall use.

[0064] In one embodiment, as shown in Figure 5 , the second support exoskeleton 2 is provided with the second elastic part 14 on both sides in the first direction, the second elastic part 14 has an X-shaped structure, the second elastic part 14 has four third end portions, the second support exoskeleton 2 is provided with a third cylinder 15 corresponding to each third end portion, and the third end portion is sleeved on the third cylinder 15. The end portion of the third support exoskeleton 4 is provided with a third extension part 16 on both sides in the first direction, the outer side of the third extension part 16 is provided with a fourth cylinder 17, and the two fourth cylinders 17 are rotatably connected with the middle positions of the two second elastic parts 14.

[0065] It should be noted that one end of the third extension part 16 is connected with the third support exoskeleton 4, and the other end is provided with the fourth cylinder 17.

[0066] In this embodiment, during installation, first, the four third end portions of the second elastic portion 14 are respectively sleeved on the four third cylinders 15, then the two third extension portions 16 extend into the inside of the second support exoskeleton 2, and the fourth cylinder 17 is arranged at the middle position of the second elastic portion 14, so that the connection mode is simple, and the installation and disassembly are convenient; the second elastic portion 14 has an X-shaped structure, when facing different crowds or due to incorrect wearing and other unexpected situations causing structural stretching or torsion, the deformation of the second elastic portion 14 in the X-shaped structure in the front-rear, up-down and other directions along the forearm to the palm direction can keep the center of the second elastic portion 14 in the X-shaped structure at the center position of the elbow joint; the second elastic portion 14 absorbs energy through deformation, reduces the harm of the additional force to the upper limbs of the human body caused by the inconsistency of the structural movement center and the joint movement center due to improper wearing, so as to ensure the movement effect and comfort, and improve the adaptability.

[0067] Specifically, as shown in Figure 5 , one end of the side wall of the second support exoskeleton 2 corresponding to the second elastic portion 14 is provided with an opening towards the third support exoskeleton 4, so that the third extension portion 16 extends into the second support exoskeleton 2 along the opening and is connected with the second elastic portion 14.

[0068] Specifically, as shown in Figure 5 , the outer end of the third cylinder 15 is provided with a first limiting flange, and the third end portion is provided with a third through hole matched with the third cylinder 15; the third end portion is elastically deformed and sleeved on the third cylinder 15 through the third through hole, so that the third end portion is located between the first limiting flange and the side wall of the second support exoskeleton 2, and is limited by the first limiting flange to improve the stability.

[0069] Specifically, as shown in Figure 5 , the outer end of the fourth cylinder 17 is provided with a second limiting flange, and the middle position of the second elastic portion 14 is provided with a fourth through hole matched with the fourth cylinder 17; the second elastic portion 14 is elastically deformed and sleeved on the fourth cylinder 17 through the fourth through hole, so that the middle position of the second elastic portion 14 is located between the second limiting flange and the third extension portion 16, and is limited by the second limiting flange to improve the stability.

[0070] In one embodiment, the material of the second elastic portion 14 is silica gel material.

[0071] In this embodiment, the second elastic portion 14 is made of silica gel material, which is easy to deform and has elasticity, and the silica gel material is relatively more skin-friendly, which can improve the comfort when in contact with the skin during wearing.

[0072] In one embodiment, as shown in Figures 1 to 3 , Figure 8 andFigure 9 As shown, the tensile whole upper limb exoskeleton structure further comprises a third elastic part 19, the second flexion and extension driving part 6 comprises a third driving module, the second flexion and extension tensile member comprises a third driving rope 18, the third driving rope 18 and the third elastic part 19 are located on both sides of the second support exoskeleton 2 in the second direction respectively; one end of the third driving rope 18 is connected with the output end of the third driving module, and the other end is movably passed through the third support exoskeleton 4 and connected with the second support exoskeleton 2; the third driving module is used for driving the third driving rope to stretch or contract; one end of the third elastic part 19 is connected with the third support exoskeleton 4, and the other end is connected with the second support exoskeleton 2.

[0073] In this embodiment, the third driving rope 18 is driven to stretch or contract by the third driving module; for the convenience of understanding, both sides of the second support exoskeleton 2 in the second direction are divided into flexion sides and extension sides; the third driving rope 18 on the flexion side is driven to contract by the third driving module, and then the third elastic part 19 on the extension side is deformed and elongated, so that the flexion movement of the elbow joint can be realized; conversely, when the elbow joint is in the flexion state, the third driving rope 18 on the flexion side is driven to stretch by the third driving module, and the third elastic part 19 on the extension side is shortened and restored under the elastic action, so that the extension movement of the elbow joint can be realized, thereby repeatedly cooperating to control the elbow joint to make flexion or extension movement; the elastic deformation of the third elastic part 19 provides an elastic force for the extension movement of the elbow joint, reduces the structure of the driving assembly, simplifies the structure, and better fits the change of the instantaneous center during the movement of the elbow joint through the elastic deformation of the third elastic part 19, thereby improving the fitting degree of human-machine movement; in addition, the second support exoskeleton 2 and the third support exoskeleton 4 are connected through the third elastic part 19, thereby avoiding the problem of poor overall stability caused by the connection through the steel wire rope, and further improving the stability and reliability during the overall use.

[0074] In one embodiment, as shown in Figure 5 The third elastic part 19 has a strip-shaped structure and two fourth ends; the second support exoskeleton 2 and the third support exoskeleton 4 are each provided with a fifth cylinder 20, and the two fourth ends are respectively sleeved on the two fifth cylinders 20.

[0075] In this embodiment, the third elastic part 19 has a strip-shaped structure, which is convenient for elongation and contraction to cooperate with the third driving module to realize the flexion or extension movement of the elbow joint; when connected, only the fourth ends of the two ends of the third elastic part 19 need to be sleeved on the two fifth cylinders 20 respectively, which is simple and convenient and improves the installation and maintenance efficiency.

[0076] Specifically, as shown in Figure 5As shown, the outer end of the fifth cylinder 20 is provided with a third limiting flange, and the fourth end is provided with a fifth through hole matched with the fifth cylinder 20; the fourth end is elastically deformed and sleeved on the fifth cylinder 20 through the fifth through hole, so that the fourth end is located between the third limiting flange and the side wall of the second supporting exoskeleton 2 or the third supporting exoskeleton 4, and is limited by the third limiting flange to improve the stability.

[0077] In one embodiment, the third elastic part 19 is made of silica gel material.

[0078] In this embodiment, the third elastic part 19 is made of silica gel material, which is easy to deform and has elasticity, and the silica gel material is relatively more skin-friendly, which can improve the comfort when in contact with the skin.

[0079] In one embodiment, as shown in Figure 1 and Figure 2 , the second supporting exoskeleton 2 includes a first frame body 201 and a second frame body 202; the first elastic part 3 is rotatably connected with the first frame body 201 around the second direction; the first frame body 201 and the second frame body 202 are connected through a fourth extension part 203, and the through area of the inner cavity of the first frame body 201 is smaller than that of the second frame body 202; the third supporting exoskeleton 4 is rotatably connected with the second frame body 202 away from the first frame body 201 around the first direction.

[0080] In this embodiment, the second supporting exoskeleton 2 is composed of the first frame body 201 and the second frame body 202; when connected, the first frame body 201 is worn on the end of the small arm close to the palm, and the second frame body 202 is worn on the end of the small arm close to the large arm, and the through area of the inner cavity of the first frame body 201 is smaller than that of the second frame body 202, so as to adapt to the structural feature that the size of the small arm gradually decreases towards the palm, and improve the comfort of wearing.

[0081] In one embodiment, as shown in Figure 4 , the first frame body 201 includes a first connecting part 2011, a second connecting part 2012 and a connecting plate 2013, and the first connecting part 2011 and the second connecting part 2012 form the first frame body 201; the two ends of the first connecting part 2011 are connected with the two ends of the second connecting part 2012 through the connecting plate 2013; the connecting plate 2013 is provided with two sixth cylinders, and the end parts of the first connecting part 2011 and the second connecting part 2012 are provided with connecting holes matched with the sixth cylinders.

[0082] It should be noted that the first connecting part 2011 and the second connecting part 2012 are both in concave shape structure.

[0083] In the embodiment, the two ends of the first connecting part 2011 and the second connecting part 2012 are connected by the connecting plate 2013 to form the first frame body 201; the two sixth cylinders on the connecting plate 2013 are respectively inserted into the connecting holes on the first connecting part 2011 and the second connecting part 2012, facilitating installation and disassembly, and when the first connecting part 2011 and the second connecting part 2012 are worn on the forearm, mainly bearing the radial force, the stability is good; when wearing, the first connecting part 2011 and the second connecting part 2012 can be disassembled, and after the forearm passes, the second connecting part 2012 and the first connecting part 2011 are enclosed and sleeved on the forearm, so that the first frame body 201 is worn on the forearm, which is convenient and fast.

[0084] Specifically, as shown in Figure 4 , the outer side wall of the first support exoskeleton 1 is provided with a first connecting block 21 corresponding to the second driving rope 13, and the second driving rope 13 is connected with the first connecting block 21 after passing through the second cylinder 11, having a guiding effect and ensuring stability.

[0085] Specifically, as shown in Figure 4 , the outer side wall of the first frame body 201 is provided with a second connecting block 22 corresponding to the first driving rope 12, and the first driving rope 12 is connected with the first cylinder 9 after passing through the second connecting block 22, having a guiding effect and ensuring stability.

[0086] Specifically, as shown in Figure 1 and Figure 2 , the third support exoskeleton 4 is provided with a third connecting block 23 corresponding to the third driving rope 18, and the second support exoskeleton 2 is provided with a fourth connecting block 24 corresponding to the third driving rope 18; the third driving rope 18 can be movably passed through the third connecting block 23 and connected with the fourth connecting block 24, facilitating the passing of the third driving rope 18, having a guiding effect and ensuring stability.

[0087] Specifically, the first driving module, the second driving module and the third driving module each include a driving motor and a winding drum, the driving motor drives the winding drum to rotate, the first driving rope 12, the second driving rope 13 and the third driving rope 18 are respectively wound on the respective winding drums, and the contraction and elongation of the first driving rope 12, the second driving rope 13 and the third driving rope 18 can be realized by driving the winding drum to rotate.

[0088] Specifically, the first driving rope 12, the second driving rope 13 and the third driving rope 18 are fishing lines or steel wire ropes.

[0089] The specific working principle of the tensegrity upper limb exoskeleton structure provided by the embodiment is as follows: the drive box of the drive assembly is externally arranged, the first support exoskeleton 1 is worn on the palm, the first elastic part 3 is worn at the wrist, the second support exoskeleton 2 is worn on the lower arm, and the third support exoskeleton 4 is worn on the upper arm; after wearing, the two first drive modules drive the two first drive ropes 12 on the flexion side and the extension side to contract or stretch, and cooperate with each other to realize the wrist flexion or wrist extension movement of the palm wrist joint; the two second drive modules drive the two second drive ropes on the ulnar deviation side and the radial deviation side to contract or stretch, and cooperate with each other to realize the wrist adduction or wrist abduction movement of the palm wrist joint; the third drive module drives the third drive rope 18 on the flexion side to contract or stretch, and the third elastic part 19 on the extension side is stretched and contracted to drive the lower arm to move, so that the elbow joint makes flexion or extension movement, which can be applied to rehabilitation training, and is worn on the upper limb of a patient to realize the elbow flexion, wrist flexion / extension, ulnar deviation / radial deviation rehabilitation movement of the patient; the tensegrity upper limb exoskeleton structure provided by the embodiment can meet various movements such as wrist rotation, and the first elastic part 3, the second elastic part 14 and the third elastic part 19 have the property of elastic deformation to adapt to people with different hand lengths, and have pre-tightening stiffness after stretching to keep the exoskeleton in close contact with the palm, the lower arm and the upper arm, without the need for other fixing structures, so that the overall structure is simple, easy to disassemble and assemble, and has high flexibility; secondly, the tensegrity upper limb exoskeleton structure can adapt to the change of the instantaneous center when the wrist joint or the elbow joint moves, avoids the problem that the first support exoskeleton 1, the second support exoskeleton 2 and the third support exoskeleton 4 make rigid movement and are connected only by steel wire ropes, improves the compatibility of human-machine movement, and further improves the comfort during wearing and movement.

[0090] Although the embodiments of the present application are described in conjunction with the drawings, various modifications and changes can be made by those skilled in the art without departing from the spirit and scope of the present application, and such modifications and changes fall within the scope defined by the appended claims.

Claims

1. A tensegrity upper extremity exoskeleton structure, characterized by, The utility model relates to a kind of exoskeletons, including: First support exoskeleton (1), for adapting to wear on palm; Second support exoskeleton (2), one end is connected with the first support skeleton by first elastic part (3), for adapting to wear on small arm;The first elastic part (3) is rotatably connected with one end of the first support exoskeleton (1) around first direction, and the first elastic part (3) is rotatably connected with one end of the second support exoskeleton (2) around second direction;The first elastic part (3) is adapted to wear on wrist;First direction is perpendicular to second direction; Third support exoskeleton (4), rotatably connected with the other end of the second support exoskeleton (2) around first direction, for adapting to wear on large arm; Drive assembly, including drive box and first flexion and extension drive component (5), second flexion and extension drive component (6) and ulnar drive component (7) arranged in the drive box, the first flexion and extension drive component (5) is drivenly connected with the first support exoskeleton (1) by first flexion and extension tension member, for driving the first support exoskeleton (1) rotates around second direction to drive wrist joint to make flexion or extension movement of wrist; The second flexion and extension drive component (6) is drivenly connected with the second support exoskeleton (2) by second flexion and extension tension member, for driving the second support exoskeleton (2) rotates around first direction to drive elbow joint to make flexion or extension movement;The ulnar drive component (7) is drivenly connected with the first support exoskeleton (1) by ulnar tension member, for driving the first support exoskeleton (1) rotates around first direction to drive wrist joint to make wrist adduction or wrist abduction movement.

2. The tensegrity upper-limb exoskeleton structure of claim 1, wherein, The first elastic part (3) is in diamond structure, and the first elastic part (3) has a pair of oppositely arranged first end portions and a pair of oppositely arranged second end portions; The end of the first support exoskeleton (1) is provided with a first extension (8) on both sides in the first direction, the outer side of the first extension (8) is provided with a first cylinder (9), two first cylinders (9) are respectively penetrated from inside to outside to the outer side of the two first end portions, and the first cylinder (9) is rotatably connected with the first end portion around the first direction; The end of the second support exoskeleton (2) is provided with a second extension (10) on both sides in the second direction, the outer side of the second extension (10) is provided with a second cylinder (11), two second cylinders (11) are respectively penetrated from inside to outside to the outer side of the two second end portions, and the second cylinder (11) is rotatably connected with the second end portion around the second direction.

3. The tensegrity upper extremity exoskeleton structure of claim 2, wherein, The first flexion and extension drive component (5) includes two first drive modules, the first flexion and extension tension member includes two first drive ropes (12), and the two first drive ropes (12) are respectively located on both sides of the first support exoskeleton (1) in the first direction;One end of the first drive rope (12) is connected with the output end of the first drive module, and the other end is movably penetrated through the second support exoskeleton (2) and connected with the first cylinder (9);The first drive module is used for driving the first drive rope (12) to stretch or contract; And / or, the material of the first elastic part (3) is silica gel material.

4. The tensegrity upper extremity exoskeleton structure of claim 2, wherein, The size radius driving part (7) includes two second driving modules, the size radius tension member includes two second driving ropes (13), and the two second driving ropes (13) are located on the two sides of the second support exoskeleton (2) in the second direction respectively; one end of the second driving rope (13) is connected with the output end of the second driving module, the other end is movably arranged through the second cylinder (11) and connected with the first support exoskeleton (1); the second driving module is used for driving the second driving rope (13) to stretch or contract.

5. The tensegrity upper extremity exoskeleton structure of claim 1, wherein, The second support exoskeleton (2) is rotatably connected with the third support exoskeleton (4) around the first direction through the second elastic part (14).

6. The tensegrity upper extremity exoskeleton structure of claim 5, wherein, The second support exoskeleton (2) is provided with the second elastic part (14) on the two sides in the first direction, the second elastic part (14) is in X-shaped structure, the second elastic part (14) has four third end portions, and the second support exoskeleton (2) is provided with a third cylinder (15) corresponding to each third end portion; the third end portion is sleeved on the third cylinder (15); The end portion of the third support exoskeleton (4) is provided with a third extension part (16) on the two sides in the first direction, the outer side of the third extension part (16) is provided with a fourth cylinder (17), and the two fourth cylinders (17) are rotatably connected with the middle positions of the two second elastic parts (14) respectively; And / or, the material of the second elastic part (14) is silica gel material.

7. The tensegrity upper extremity exoskeleton structure of claim 1, wherein, Further comprising a third elastic part (19), the second flexion and extension driving part (6) includes a third driving module, the second flexion and extension tension member includes a third driving rope (18), and the third driving rope (18) and the third elastic part (19) are located on the two sides of the second support exoskeleton (2) in the second direction respectively; one end of the third driving rope (18) is connected with the output end of the third driving module, and the other end is movably arranged through the third support exoskeleton (4) and connected with the second support exoskeleton (2); the third driving module is used for driving the third driving rope to stretch or contract; one end of the third elastic part (19) is connected with the third support exoskeleton (4), and the other end is connected with the second support exoskeleton (2).

8. The tensegrity upper extremity exoskeleton structure of claim 7, wherein, The third elastic part (19) is in strip-shaped structure and has two fourth end portions; the second support exoskeleton (2) and the third support exoskeleton (4) are provided with a fifth cylinder (20) respectively, and the two fourth end portions are sleeved on the two fifth cylinders (20) respectively; And / or, the material of the third elastic part (19) is silica gel material.

9. The tensegrity upper extremity exoskeleton structure of any one of claims 1 to 8, wherein, The second support exoskeleton (2) comprises a first frame (201) and a second frame (202); the first elastic part (3) is rotatably connected with the first frame (201) in a second direction; the first frame (201) and the second frame (202) are connected through a fourth extension part (203), and the passing area of the inner cavity of the first frame (201) is smaller than that of the second frame (202); the third support exoskeleton (4) is rotatably connected with the second frame (202) away from the first frame (201) in a first direction.

10. The tensegrity upper extremity exoskeleton structure of claim 9, wherein, The first frame (201) comprises a first connecting part (2011), a second connecting part (2012) and a connecting plate (2013), the first connecting part (2011) and the second connecting part (2012) are enclosed to form the first frame (201); the two ends of the first connecting part (2011) are connected with the two ends of the second connecting part (2012) through the connecting plate (2013) respectively; two sixth cylinders are arranged on the connecting plate (2013), and the end portions of the first connecting part (2011) and the second connecting part (2012) are provided with connecting holes matched with the sixth cylinders.

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