Shoulder and back integrated upper limb exoskeleton

Abstract

The invention relates to the technical field of mechanical exoskeletons, in particular to a shoulder and back integrated upper limb exoskeleton which comprises a shoulder and back integrated supporting module composed of a Y-shaped carbon fiber back plate and two arc-shaped carbon fiber shoulder plates, and a hip joint module composed of a carbon fiber waist plate and two carbon fiber connecting rods. The carbon fiber back plate is connected with the carbon fiber waist plate, the upper end of the carbon fiber connecting rod is connected with the carbon fiber waist plate through a rotating shaft structure in the horizontal direction, and the lower end of the carbon fiber connecting rod is connected with a rotating joint connected with a lower limb exoskeleton. The robot is suitable for tasks such as backpack type load bearing and front lifting type carrying, weight can be better borne, pressure is transmitted to the ground, the robot has front-back and left-right bending freedom degrees, and the use requirement and the comfort requirement of human bowing and left-right swinging are met.

Description

Technical Field

[0001] This invention relates to the field of mechanical exoskeleton technology, specifically providing an integrated upper limb exoskeleton for the shoulder and back. Background Technology

[0002] In recent years, with the rapid development and changes in society, many fields such as individual combat, emergency rescue, and medical rehabilitation have put forward new demands for assistive robots and carrying devices. Exoskeletons belong to wearable carrying devices and can transfer the load of the upper body to the ground through mechanical mechanisms, thereby indirectly enhancing the wearer's limb strength. They have been widely used in many industries such as agriculture, manufacturing, construction, logistics, medical rehabilitation, disaster relief, and individual combat.

[0003] Existing assistive exoskeleton systems primarily rely on load-bearing supports at the hip joints of the exoskeleton or on back frames connected to the lower limb exoskeleton for weight support. The load-bearing support is a platform extending outward from the hip of the lower limb exoskeleton, upon which the load is placed. However, assistive exoskeletons using load-bearing supports are difficult to integrate perfectly with backpacks and other carrying systems. During exercise, the backpack often slips off the load-bearing support, putting significant pressure on the shoulders and back. Traditional back frames connected to the lower limb exoskeleton are typically rigid frames, such as the Chinese patent publication number CN103315834A, published on September 25, 2013, entitled "A Wearable Lower Limb Assistive Exoskeleton." Some even use only a rigid rod as the back frame, such as the Chinese patent publication number CN210061120U, published on February 14, 2020, entitled "Elastic Exoskeleton Back Frame." The back frame in the aforementioned patent application only considers the force transmission characteristics of the structure. Although it can transfer the load to the lower limb exoskeleton, the carrying comfort is greatly reduced, affecting the freedom of human movement. It has a significant impact on the human body's forward and backward bending and left and right swaying during the carrying process.

[0004] To improve the freedom of movement of back braces, Chinese patent publication number CN109318214A, published on February 12, 2019, entitled "An Exoskeleton Back Device Inspired by the Human Spine," describes a design that mimics the human spine, featuring a sequentially arranged and connected vertebral structure. These vertebrae are linked together by an elastic rope assembly, resulting in a device with good overall mobility and wearing comfort. While this type of flexible back brace solves the flexibility problem for the lower back, it sacrifices the brace's own load-bearing capacity, significantly reducing the efficiency of transferring weight to the lower limb exoskeleton, thus only providing auxiliary support. Furthermore, during walking, the body needs to provide forward traction to the carried weight through the back brace's straps. Traditional double shoulder straps can cause excessive pressure on the shoulders, leading to shoulder constriction. Additionally, the close integration of the back brace with backpacks and other carrying systems can make it difficult to release the load. Summary of the Invention

[0005] To address the aforementioned problems, this invention provides an integrated upper limb exoskeleton that combines the shoulder and back. Through the integrated design of the shoulder and back exoskeleton, the load-bearing weight during carrying and lifting can be transferred to the ground, while also meeting the user's requirements for bending over and swinging left and right, as well as comfort.

[0006] The present invention provides an integrated upper limb exoskeleton for the shoulder and back, comprising: an integrated shoulder and back support module and a hip joint module, wherein the integrated shoulder and back support module includes a Y-shaped carbon fiber back plate and two arc-shaped carbon fiber shoulder plates, the rear end of the carbon fiber shoulder plates is fixed to the upper end of the carbon fiber back plate, and the front end of the carbon fiber shoulder plates has a traction hole for fixing ropes.

[0007] The hip joint module includes a carbon fiber lumbar plate and two carbon fiber connecting rods. The lower end of the carbon fiber back plate is connected to the carbon fiber lumbar plate, and the upper end of the carbon fiber connecting rod is connected to the carbon fiber lumbar plate through a horizontal pivot structure. The lower end of the carbon fiber connecting rod is connected to a rotary joint with a forward and backward rotation direction. The rotary joint is used to connect to the lower limb exoskeleton.

[0008] Preferably, the inner sides of the integrated shoulder and back support module and the hip joint module are padded with Velcro.

[0009] Preferably, the upper end of the carbon fiber connecting rod is connected to the rear surface of the carbon fiber waist plate.

[0010] Preferably, the carbon fiber connecting rod is curved and extends along the rear surface of the carbon fiber waist plate to both sides of the wearer's body.

[0011] Preferably, the rear surface of the carbon fiber waist plate has a wedge-shaped groove extending to the lower edge of the carbon fiber waist plate, and the width of the wedge-shaped groove increases as it extends towards the lower edge of the carbon fiber waist plate; the carbon fiber connecting rod is installed in the wedge-shaped groove, and the carbon fiber connecting rod can rotate laterally within the wedge-shaped groove.

[0012] Preferably, the carbon fiber waist plate is provided with an adjustment mechanism, which can be used to adjust the connection position between the carbon fiber back plate and the carbon fiber waist plate.

[0013] Compared with the prior art, the present invention can achieve the following beneficial effects:

[0014] The upper limb exoskeleton of this invention integrates the shoulder and back bones, utilizing a Y-shaped carbon fiber backplate and an arc-shaped carbon fiber shoulder plate to increase the area of ​​force application during walking. During load-bearing, the carbon fiber shoulder plate effectively increases the force-bearing area of ​​the human shoulder, thereby reducing pressure at any single point, avoiding excessive local compression, and improving the load-bearing effect of both shoulders. The evenly distributed pressure helps reduce shoulder fatigue and discomfort during prolonged use of the exoskeleton, improving wearer comfort. In addition, a rope structure can be set at the front end to meet the needs of forward lifting. During forward lifting, the carbon fiber shoulder plate assists the human body in traction of the load, and the contact area between the carbon fiber backplate and the back of the human body is significantly increased, improving load-bearing capacity.

[0015] Furthermore, this invention features a specially designed hip joint module. The upper end of the carbon fiber connecting rod is rotatably connected to the carbon fiber waist plate, allowing the upper limb exoskeleton to rotate laterally. Simultaneously, the carbon fiber connecting rod is positioned within a wedge-shaped groove, limiting the lateral rotation angle and preventing excessive bending that could prevent the wearer from regaining their upright position or even fall and injury. The lower end of the carbon fiber connecting rod connects to the lower limb exoskeleton via a rotary joint, giving the upper limb exoskeleton freedom to rotate forward and backward. This allows the wearer to perform activities such as bending over, reducing interference with natural movement patterns caused by exoskeleton limitations. Additionally, the rotational angle of the rotary joint is set according to the body's activity needs, limiting backward rotation to prevent excessive backward leaning that could cause the wearer to lose balance. Furthermore, a rotary joint with damping and rebound mechanisms can be selected, improving exoskeleton stability during walking and providing the wearer with restorative force to recover from a bent or backward leaning position to an upright standing position.

[0016] The upper limb exoskeleton of this invention is made entirely of carbon fiber, which is of positive significance for weight reduction. Attached Figure Description

[0017] Figure 1 This is an axonometric view of the upper limb exoskeleton provided according to an embodiment of the present invention;

[0018] Figure 2 This is a rear view of the upper limb exoskeleton provided according to an embodiment of the present invention;

[0019] Figure 3 This is a rear view of a hip joint module provided according to an embodiment of the present invention;

[0020] Figure 4 This is a schematic diagram of the upper limb exoskeleton after the padding layer is installed, according to an embodiment of the present invention.

[0021] The reference numerals in the figures include:

[0022] Shoulder and back integrated support module 1, carbon fiber back plate 11, carbon fiber shoulder plate 12, traction hole 13;

[0023] Hip joint module 2, carbon fiber waist plate 21, carbon fiber connecting rod 22, wedge groove 23, rotating shaft structure 24, rotating joint 25, adjustment mechanism 26;

[0024] Padding layer 3, Velcro 31, Clips 32. Detailed Implementation

[0025] In the following description, embodiments of the invention will be described with reference to the accompanying drawings. In the description below, the same modules are denoted by the same reference numerals. Where the same reference numerals are used, their names and functions are also the same. Therefore, their detailed description will not be repeated.

[0026] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and do not constitute a limitation thereof.

[0027] like Figure 1 and Figure 2As shown, the integrated shoulder and back upper limb exoskeleton provided in this embodiment of the invention mainly includes an integrated shoulder and back support module 1 and a hip joint module 2. The integrated shoulder and back support module 1 is an innovative design based on the existing bionic backplate structure. In the prior art, upper limb exoskeletons do not have a shoulder support and protection structure. This embodiment of the invention not only designs two arc-shaped carbon fiber shoulder plates 12, but also makes a special design for the bionic backplate structure. The carbon fiber backplate 11 is designed as a Y-shaped structure. Specifically, the rear end of the arc-shaped carbon fiber shoulder plate 12 is fixedly installed on the carbon fiber backplate. The raised portion at the upper end of the plate 11 and the arc curve of the carbon fiber shoulder plate 12 are designed according to the physiological curve of the human shoulder. A traction hole 13 is opened at the front end of the carbon fiber shoulder plate 12. In forward lifting scenarios, a rope can be connected through the traction hole 13 to assist in lifting. The object being lifted is pulled forward by the rope, causing the carbon fiber shoulder plate 12 to make large-area contact with the wearer's back. The weight of the object is transferred to the lower limb exoskeleton through the carbon fiber back plate 11 and the carbon fiber shoulder plate 12, and finally applied to the ground, reducing the pressure of the object on the body. Furthermore, because the carbon fiber back plate 11 has a large contact area with the wearer's back, the pressure of the carbon fiber back plate 11 on the back is reduced, improving the wearer's load-bearing capacity. During the carrying process, the carbon fiber shoulder plate 12 can significantly increase the contact area with the wearer's shoulders. Furthermore, during walking, due to the fixed connection between the carbon fiber back plate 11 and the carbon fiber shoulder plate 12, part of the frontal pressure on the shoulders caused by the forward movement of the human body can be transferred to the back, increasing the body's contact area and thus reducing shoulder pressure. In other words, the carbon fiber back plate 11 and the carbon fiber shoulder plate 12 can counteract the horizontal force, improving stability during exercise. The vertical force can be transmitted to the ground through the hip joint module 2 and the lower limb exoskeleton, reducing pressure on the body.

[0028] As a preferred embodiment, the connection structure between the carbon fiber backplate 11 and the carbon fiber shoulder plate 12 can be adjustable to accommodate wearers of different body types and heights.

[0029] The lower end of the carbon fiber backplate 11 is connected to the hip joint module 2. The hip joint module 2 mainly includes a carbon fiber waist plate 21 and a carbon fiber connecting rod 22. The design of the hip joint module 2 is mainly to improve the wearer's waist freedom, making it easier for the wearer to perform movements such as bending over, leaning back, and turning to the side. The carbon fiber waist plate 21 is roughly positioned at the waist and hip joint of the human body, and it can support the waist. An adjustment mechanism 26 is provided on the upper part of the carbon fiber waist plate 21. The lower end of the carbon fiber backplate 11 is connected to the carbon fiber backplate 11 through the adjustment mechanism 26. The connection position between the carbon fiber backplate 11 and the carbon fiber waist plate 21 can be adjusted through the adjustment mechanism. After the position is adjusted, the adjustment mechanism 26 can lock the position. Common adjustment mechanisms 26 include, but are not limited to, buckles, positioning shafts, screws, etc.

[0030] The rear surface of the carbon fiber waist plate 21 has two vertically symmetrical wedge-shaped grooves 23. The included angle of the wedge-shaped grooves 23 is obtuse. Both wedge-shaped grooves 23 extend downward from the middle of the carbon fiber waist plate 21 to its lower edge, making the downward surface of the wedge-shaped grooves 23 open. As the wedge-shaped grooves 23 extend downward, their width continuously increases, meaning they have an outwardly expanding opening angle. The depth of the wedge-shaped grooves 23 is close to the thickness of the carbon fiber connecting rod 22. Two carbon fiber connecting rods 22 are respectively installed in the two wedge-shaped grooves 23. The upper end of the carbon fiber connecting rod 22 is installed in the wedge-shaped groove 23 via a horizontally oriented rotating shaft structure 24. The carbon fiber connecting rod 22 can rotate around the rotating shaft structure 24 within the wedge-shaped groove 23, and the angle of rotation is limited by the opening angle of the wedge-shaped groove 23. Optional rotating shaft structures 24 include, but are not limited to, pins, bearings, etc. The purpose of the aforementioned rotary connection is primarily to provide lateral rotational freedom, facilitating the wearer's waist to twist to both sides of the body. Furthermore, the wedge-shaped groove 23 effectively limits the twisting angle, preventing excessive twisting that could lead to imbalance, falls, or injuries. Therefore, the opening angle of the wedge-shaped groove 23 can be designed according to the actual twisting angle required by the human body. The carbon fiber connecting rod 22 is curved, extending downwards and forwards from the pivot structure 24 along the body's curve to both sides of the wearer's hip joint. The lower end of the carbon fiber connecting rod 22 is connected to a rotary joint 25, such as... Figure 3 As shown, the rotary joint 25 adopts a pivot structure. The lower end of the carbon fiber connecting rod 22 is fitted onto the pivot of the rotary joint 25 through a downwardly extending flange structure. The rotary joint 25 can rotate relative to the carbon fiber connecting rod 22, realizing relative rotation between the upper and lower limb exoskeletons, facilitating the wearer's bending and leaning movements. Furthermore, a torsion spring is also present on the pivot of the rotary joint 25. The two force-bearing ends of the torsion spring abut against the carbon fiber connecting rod 22 and the lower limb exoskeleton, respectively. When the wearer changes from an upright position to a bending or leaning position, the torsion spring converts kinetic energy into elastic potential energy for storage, providing auxiliary force for the transition from a bending or leaning position back to an upright position. This reduces the wearer's physical exertion while improving flexibility. In addition, the torsion spring also reduces the risk of excessive leaning.

[0031] As a preferred embodiment, such as Figure 4 As shown, a padding layer 3 conforming to the physiological curve of the human back is attached to the inner side of the integrated shoulder and back support module 1 and the hip joint module 2 via Velcro 31, further improving the comfort of the back frame. The padding layer 3 is easily removed and cleaned by Velcro tying it to the integrated shoulder and back support module 1 and the hip joint module 2. The padding layer 3 can be provided with two shoulder straps along the front of the carbon fiber shoulder plate 12, and a waist belt can be provided at the position of the carbon fiber waist plate 21. The shoulder straps and the waist belt can be connected by buckles 32, and buckles 32 can also be provided between the two shoulder straps for easy fixation.

[0032] The upper limb exoskeleton of the present invention can not only be applied to various weight-bearing tasks and improve load capacity, but also has a high degree of freedom, avoiding the restriction of the wearer's flexibility by the upper limb exoskeleton.

[0033] Although embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present invention.

[0034] The specific embodiments of the present invention described above do not constitute a limitation on the scope of protection of the present invention. Any other corresponding changes and modifications made in accordance with the technical concept of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. A shoulder and back integrated upper extremity exoskeleton, characterized by, The application relates to a shoulder and back integrated support module and a hip joint module. The shoulder and back integrated support module comprises a Y-shaped carbon fiber back plate and two circular arc-shaped carbon fiber shoulder plates, the rear end of the carbon fiber shoulder plate is fixed to the upper end of the carbon fiber back plate, and a traction hole for fixing a rope is formed in the front end of the carbon fiber shoulder plate. The hip joint module comprises a carbon fiber waist plate and two carbon fiber connecting rods, the lower end of the carbon fiber back plate is connected with the carbon fiber waist plate, the upper end of the carbon fiber connecting rod is connected with the carbon fiber waist plate through a horizontal rotating shaft structure, the lower end of the carbon fiber connecting rod is connected with a rotating joint with a front and back rotating direction, and the rotating joint is used for connecting with a lower limb exoskeleton.

2. The shoulder-to-back integrated upper extremity exoskeleton according to claim 1, wherein, The inner sides of the shoulder and back integrated support module and the hip joint module are bound with a pad layer through magic tape.

3. The shoulder-to-back integrated upper extremity exoskeleton according to claim 1, wherein, The upper end of the carbon fiber connecting rod is connected to the rear surface of the carbon fiber waist plate.

4. The shoulder-to-back integrated upper extremity exoskeleton according to claim 3, wherein, The carbon fiber connecting rod is in a curved shape extending to both sides of the body of a wearer along the rear surface of the carbon fiber waist plate.

5. The shoulder-to-back integrated upper extremity exoskeleton according to claim 1, wherein, The rear surface of the carbon fiber waist plate is provided with a wedge-shaped groove extending to the lower edge of the carbon fiber waist plate, and the width of the wedge-shaped groove increases along with the extension of the wedge-shaped groove to the lower edge of the carbon fiber waist plate; the carbon fiber connecting rod is installed in the wedge-shaped groove, and the carbon fiber connecting rod can relatively rotate in a side direction in the wedge-shaped groove.

6. The shoulder-to-back integrated upper extremity exoskeleton according to claim 1, wherein, An adjusting mechanism is arranged on the carbon fiber waist plate, and the connecting position of the carbon fiber back plate and the carbon fiber waist plate can be adjusted through the adjusting mechanism.

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