Electro-hydraulic integrated driving bionic humanoid robot upper limb structure and upper limb component

Abstract

The embodiment of the invention provides an electro-hydraulic integrated driving bionic humanoid robot upper limb structure and an upper limb component, which are characterized by comprising a humanoid skeleton structure, and the configuration of the humanoid skeleton structure is constructed by referring to a human upper limb anatomical structure; the ligament system is arranged at the joint of each skeleton to simulate a biological ligament function; the electro-hydraulic integrated driving system comprises a plurality of hydraulic artificial muscle units and a pressure source device, the pressure source device conveys liquid to the hydraulic artificial muscle units through a soft catheter, so that the hydraulic artificial muscle units expand in the radial direction and contract in the axial direction under the action of the pressure source device, and therefore traction force is generated to drive the skeleton structure to achieve joint movement; according to the tendon system, the hydraulic artificial muscle unit is connected with a target skeleton through an artificial tendon. A bionic structure design and an advanced electro-hydraulic driving scheme are deeply fused, the humanoid robot with physiological structure similarity, control response sensitivity and power distribution reasonability is constructed, and the humanoid robot has high degree of freedom, high flexibility and high dynamic performance.

Description

Technical Field

[0001] This specification relates to the field of robotics technology, specifically to an electro-hydraulic integrated driven bionic humanoid robot upper limb structure and upper limb components. Background Technology

[0002] Currently, traditional humanoid robots generally employ rigid structures paired with motor-driven systems. Their motion control primarily relies on independent joint actuators, lacking a multi-joint collaborative mechanism similar to that of biological muscle systems. While this structure exhibits high precision and repeatability in industrial automation scenarios, it suffers from significant shortcomings in mimicking human movements. Specifically, traditional robots lag considerably behind human movements in terms of naturalness, coordination, and compliance, making it difficult to realistically reproduce the complexity of the human musculoskeletal system.

[0003] The shortcomings of traditional robots are particularly pronounced in scenarios involving the simultaneous coordination of multiple joints and degrees of freedom. They often exhibit difficulties in achieving cross-joint force / displacement coupling in multi-joint collaboration and compliant control, leading to discontinuous motion trajectories and insufficient adaptability to external disturbances. For example, when complex movements require rapid and flexible execution, traditional robots, lacking cross-joint linkage mechanisms, cannot move as smoothly and naturally as humans, failing to meet the demands of applications requiring high motion quality. Furthermore, research on motion learning and adaptive control remains limited in its validation and generalization in real-world physical environments without a physical platform possessing cross-joint muscle group coupling characteristics.

[0004] To address the problems inherent in traditional robots, researchers have increasingly shifted their focus in recent years to the development of musculoskeletal bionic robot structures. This research direction aims to construct robot frameworks that more closely resemble human locomotion mechanisms by introducing bionic skeletons, artificial ligaments, and artificial muscle systems.

[0005] These biomimetic robots offer numerous advantages. They not only mimic natural human movement but also demonstrate the intricate structure and complex functions of the human joint system. Their structural design itself provides valuable reference for physiology and anatomy, offering novel ideas and inspiration for robot structure and manufacturing methods. For instance, through in-depth research into the principles of human skeletal and muscular movement, the structural design of biomimetic robots can better conform to the laws of human movement, thereby improving the robot's motion performance and adaptability.

[0006] In the fields of medical rehabilitation and orthopedic research, such biomimetic robotic structures have potential applications. For example, joint dysfunction may be related to abnormal biomechanical distribution of multiple muscle groups, leading to abnormal joint movement or accompanying noise. Existing clinical intervention protocols rely to some extent on empirical judgment and lack repeatable and quantifiable biomechanical assessment methods for muscle force distribution, joint stress, and motor response. By using a robotic experimental platform equipped with biomimetic skeletons, biomimetic ligaments, and artificial muscle actuation systems, joint movement and stress characteristics under different muscle force distributions, traction paths, and intervention parameters can be simulated under controllable conditions, thus providing experimental evidence for optimizing treatment strategies and evaluating rehabilitation programs.

[0007] Furthermore, biomimetic upper limb structures with biomimetic skeletal, ligament, and artificial muscle actuation capabilities can serve as validation platforms for novel biomimetic medical materials, used to evaluate the mechanical properties and durability of biomimetic ligaments, tendons, and tissue-engineered scaffolds under dynamic loads. Given the limitations imposed by medical ethics and human trials, biomimetic robotic platforms with dynamic actuation capabilities can provide alternative means for material performance evaluation and surgical strategy validation. Compared to traditional static anatomical models, platforms capable of simulating the stress and wear evolution of joint surfaces under active artificial muscle traction are more conducive to systematic research on joint etiologies and rehabilitation strategies.

[0008] Hydraulic artificial muscles, as key actuators for achieving biomimetic contractile functions, directly affect the performance of the entire bionic system through their control precision and responsiveness. Existing hydraulic artificial muscle systems mainly rely on electric or hydraulic pumps as pressure sources and use hydraulic valves to control flow to drive the artificial muscle movements.

[0009] However, this system suffers from numerous problems. Using a hydraulic pump to provide pressure / flow and hydraulic valves to regulate the flow or pressure for controlling the inflation and deflation of artificial muscles leads to a complex coupling relationship between displacement and output force, resulting in numerous control parameters and high calibration difficulty. Furthermore, when multiple artificial muscles share the same hydraulic source and valve assembly, flow competition and pressure fluctuations easily occur between circuits, causing mutual coupling and interference, limiting the output of a single muscle and reducing the system's power distribution efficiency. Moreover, due to fluid pulsation and mechanical noise in the electric / hydraulic pump and valve control process, the system noise is relatively high, limiting its application in noise-sensitive fields such as medical rehabilitation and home services. Therefore, there is an urgent need for a hydraulic artificial muscle drive solution that is compact, quieter, has a more intuitive control relationship, and avoids power dispersion caused by multiple muscles sharing the same source, in order to reduce system complexity and improve response and controllability. Summary of the Invention

[0010] To overcome the problems of stiff movement, complex control, and lack of biomimetic coordination mechanisms in traditional humanoid robots, this specification provides an electro-hydraulic integrated driven biomimetic humanoid robot upper limb structure. By simulating the skeletal structure, joint constraint system, and muscle-tendon mechanics of the human upper limb, it achieves highly biomimetic multi-degree-of-freedom coordinated movement, which is suitable for complex task scenarios such as grasping, manipulation, and gesture simulation, and has good prospects for medical simulation and engineering applications.

[0011] This specification provides the following technical solution through its embodiments: an electro-hydraulic integrated driven bionic humanoid robot upper limb structure, comprising: The humanoid skeletal structure is constructed based on the anatomical structure of the human upper limb, including the ulna, radius, humerus, scapula, clavicle, multiple carpal bones, and the phalanges of the fingers. The skeletal components are connected by mechanical joints to form the shoulder, elbow, wrist, and finger joints. A ligament system, located at various bone joints to mimic the function of biological ligaments, includes elbow ligaments, wrist ligaments, finger ligaments, and glenohumeral ligaments, used to limit the range of motion of joints and provide structural stability; The joint contact surface of the skeletal structure is provided with a biomimetic joint contact layer or a low-friction pad to reduce the frictional resistance of the joint contact surface and improve the smoothness of movement. An electro-hydraulic integrated drive system includes multiple hydraulic artificial muscle units and a pressure source device. The pressure source device delivers liquid to the hydraulic artificial muscle units via a flexible conduit, causing the hydraulic artificial muscle units to expand radially and contract axially under the action of the pressure source device, thereby generating traction force to drive the skeletal structure to achieve joint movement. Each hydraulic artificial muscle unit is fluidly connected to a corresponding pressure source device, which supplies liquid and provides driving force to the hydraulic artificial muscle unit. The liquid supply circuits between different hydraulic artificial muscle units are independent of each other. The tendon system, wherein the hydraulic artificial muscle unit is connected to the target bone through artificial tendons to form a muscle-like tendon force transmission path, driving the relevant joints to achieve flexion, extension, abduction and rotation movements, so as to realize multi-degree-of-freedom linkage humanoid movements.

[0012] Preferably, the pressure source device includes: A drive mechanism, the drive mechanism including a motor and a transmission component driven by the motor; An extrusion plate is connected to the output end of the transmission assembly; A sealed hydraulic cavity, filled with liquid, is positioned on the extrusion path of the extrusion plate; A reset mechanism is used to restore the extrusion plate to its initial position; A liquid delivery mechanism includes a conduit, one end of which is connected to a hydraulic cavity, and the other end is used to connect to a hydraulic artificial muscle. The motor drives the extrusion plate to move through the transmission assembly. When the extrusion plate compresses the hydraulic cavity, the liquid is output through the conduit to drive the hydraulic artificial muscle. When the extrusion plate returns to its original position, the liquid flows back to the hydraulic cavity. The transmission assembly and the extrusion plate constitute a quantitative extrusion mechanism, which causes the effective volume of the hydraulic cavity to change accordingly due to the displacement of the extrusion plate. This results in a corresponding relationship between the volume of liquid output through the conduit and the displacement of the extrusion plate, and a corresponding relationship between the contraction amount of the hydraulic artificial muscle and the displacement of the extrusion plate.

[0013] Preferably, the sealed hydraulic cavity is a syringe-type cavity or a sealed cavity formed by a syringe structure.

[0014] Preferably, the transmission assembly includes a winding reel connected to the output shaft of the motor and a drive rope. One end of the drive rope is fixed to the winding reel, and the other end is connected to the extrusion plate. The winding reel drives the extrusion plate to move by winding or releasing the drive rope. The rotation angle of the motor and the displacement of the extrusion plate are related by the effective radius of the winding reel and the winding and unwinding length of the drive rope.

[0015] Preferably, the transmission assembly further includes a reciprocating transmission mechanism for driving the extrusion plate to reciprocate, wherein the reciprocating transmission mechanism is any one of a rope-pulley transmission mechanism, a lead screw transmission mechanism, a gear and rack transmission mechanism, or a cam / eccentric wheel transmission mechanism.

[0016] Preferably, the transmission assembly further includes a pulley system, with the drive rope passing through the pulley system and connecting to the extrusion plate. The pulley system includes at least one fixed pulley and at least one movable pulley. The fixed pulley is mounted on the motor base, and the movable pulley is mounted on the extrusion plate or a moving component linked to the extrusion plate. The pulley system includes multiple fixed pulleys and / or multiple movable pulleys to form a multi-stage pulley transmission. The number of stages and / or the number of pulleys in the pulley system are configured according to the requirements of output force, stroke, and structural compactness.

[0017] Preferably, the pressure source device further includes a length fine-tuning mechanism, and the anchoring end of the drive rope is connected to the motor base through the length fine-tuning mechanism. The length fine-tuning mechanism includes a cable connector, a screw, and an adjusting nut. The tension of the drive rope is adjusted by rotating the adjusting nut to change the position of the screw.

[0018] Preferably, the hydraulic cavity is a capsule-shaped elastic sealed cavity with a first end and a second end. The first end is a closed end, and the second end is provided with a liquid outlet communicating with the conduit. The first end and the second end are respectively supported and fixed by a first slider and a second slider. The first slider and the second slider are slidably mounted on a guide rod, and the guide rod is fixed to the motor base.

[0019] Preferably, the reset mechanism includes a spring sleeved on the guide rod, the spring being located between the slider and the motor base. When the extrusion plate compresses the hydraulic cavity, the spring stores energy, and when the extrusion plate returns, the spring releases energy to push the first slider and the second slider to reset.

[0020] Preferably, multiple joints of the skeletal structure are flexibly connected by biomimetic ligaments. The ligaments are woven from high-strength fiber materials and have the functions of limiting the range of motion of the joints, enhancing stability, and absorbing external impacts. The ligament system includes elbow joint ligament structure, radius and ulna connection ligament system, forearm and carpal bone connection ligament, carpal bone connection ligament, ligament connection between phalanges and carpal bones, shoulder joint ligament structure, and ligament length and / or tension adjustment system.

[0021] Preferably, the high-strength fiber material is a wear-resistant fiber material, and the ligament is woven from one weft thread and multiple warp threads. The weft thread and warp thread are interwoven or wrapped to form a flexible strip. The width, thickness and stiffness of the ligament can be changed by adjusting the number of warp threads and the thickness of the material.

[0022] Preferably, the elbow joint ligament structure includes: The first and second radial ligaments connect the humerus and ulna and are used to control the lateral stability of the radius; The first to third ulnar ligaments are used to limit excessive inversion, abduction and rotation and provide flexible response at different angles. The first and third ulnar ligaments have angle-dependent tension characteristics and take turns playing a stabilizing role at different angles of the elbow joint.

[0023] Preferably, the radius-ulna connection ligament system includes: The annular ligament surrounds the proximal radius and is used for rotational stability between the radius and ulna and humerus. The first to sixth membranous ligaments are arranged with oblique tension between the radius and ulna. The first, second, and sixth membranous ligaments are used to transfer tension from the radius to the ulna, while the third, fourth, and fifth membranous ligaments are used to transfer pressure from the radius to the ulna. The palmar and dorsal radioulnar ligaments are used to ensure that the radius rotates smoothly around its axis of rotation relative to the ulna.

[0024] Preferably, the ligament connecting the forearm and wrist bones includes: The radius connects to the second carpal bone via the first and second carpal ligaments, and to the fifth carpal bone via the third carpal ligament. The fourth, fifth, and sixth carpal ligaments form a complex connection, simultaneously connecting the radius, third, and seventh carpal bones. The seventh carpal ligament connects the radius and the seventh carpal bone. The eighth carpal ligament is a three-point crossing ligament, simultaneously connecting the radius, third, seventh carpal bones, and the base of the index finger. The ninth carpal ligament connects the radius and the first carpal bone, thus forming a multi-point flexible connection between the radius, carpal bones, and the base of the fingers.

[0025] The ulna connects to the second carpal bone via the tenth carpal ligament, to the fifth carpal bone via the eleventh carpal ligament, and to the seventh carpal bone via the twelfth and thirteenth carpal ligaments.

[0026] Preferably, the intercarpal ligaments include the fourteenth to thirty-first carpal ligaments and the thirty-second carpal ligament. Multiple carpal bones in the wrist region form a multi-degree-of-freedom stable network through multiple sets of interlaced ligaments, and the relative range of motion of each carpal bone is precisely constrained by the ligament length and connection position. Preferably, the ligament connections between the phalanges and carpal bones include the ligament connection structures of the thumb, index finger, middle finger, ring finger, and little finger. The ligamentous connections of the thumb include: the proximal phalanx of the thumb is connected to the third carpal bone via the first and second ligaments of the thumb, and is laterally connected to the base of the index finger via the third and fourth ligaments of the thumb; the middle phalanx of the thumb is connected to the proximal phalanx via the fifth and sixth ligaments of the thumb, and the seventh ligament of the thumb limits the maximum extension angle of the middle phalanx relative to the proximal phalanx; the distal phalanx of the thumb is connected to the middle phalanx via the eighth and ninth ligaments of the thumb, and the tenth ligament of the thumb restricts the movement of the distal phalanx. The ligament connections of the index finger include: the base of the index finger is connected to the fourth carpal bone via the first to fourth ligaments of the index finger, and a laterally flexible connection is established with the base of the middle finger via the fifth to eighth ligaments of the index finger; the proximal phalanx of the index finger is connected to the base of the finger via the ninth and tenth ligaments of the index finger, and the eleventh ligament of the index finger limits its maximum extension angle; the middle phalanx of the index finger is connected to the proximal phalanx via the twelfth and thirteenth ligaments of the index finger, and the fourteenth ligament of the index finger limits its range of motion; the distal phalanx of the index finger is connected to the middle phalanx via the fifteenth and sixteenth ligaments of the index finger, and the seventeenth ligament of the index finger controls its maximum extension angle; The ligament connection of the middle finger includes: the base of the middle finger is connected to the fifth carpal bone through the first to fourth ligaments of the middle finger, and a transverse flexible connection is established with the base of the ring finger through the fifth and sixth ligaments of the middle finger; The ligament connection of the ring finger includes: the base of the ring finger is connected to the fifth and sixth carpal bones of the ring finger through the first and second ligaments of the ring finger, respectively, and a transverse flexible connection is established with the base of the little finger through the third and fourth ligaments of the ring finger; The ligament connections of the little finger include: the base of the little finger is connected to the sixth carpal bone through the first and second ligaments of the little finger, and to the eighth carpal bone through the third ligament of the little finger.

[0027] Preferably, the shoulder joint ligament structure includes the glenohumeral joint soft tissue structure, specifically: The first to sixth glenohumeral ligaments limit the range of motion of the humerus relative to the scapula. The first scapular ligament is used to support the scapular structure; The second to fifth scapular ligaments form the ligamentous complex of the acromioclavicular joint; The first to sixth branches of the glenohumeral joint capsule are made of latex material and have stainless steel ports at both ends. They are fixed to the humeral head and the glenoid fossa of the scapula with screws, respectively, to passively extend or retract during joint movement to stabilize the joint.

[0028] Preferably, the shoulder joint ligament structure includes the scapulothoracic joint ligament, wherein: The scapula forms a movable fulcrum with the trunk via the clavicle, and the scapula and clavicle are connected by the second to fifth scapular ligaments, forming an acromioclavicular connection network. The clavicle and torso are connected by ligaments to form a rotatable hinge, allowing the clavicle to slide relative to the torso in the front-back direction, thereby causing the scapula to float biomimeticly on the surface of the thoracic cavity.

[0029] Preferably, the ligament length / tension adjustment system includes: A slider, screw, and knurled nut type adjustment device includes: ligament material passes through a guide hole inside the bone from the bone insertion point and is connected to a ligament sliding connection block equipped with a guide rail; the tail end of the sliding connection block is equipped with a screw, which passes through the bone shell and connects to the knurled nut; by rotating the knurled nut, the sliding connection block is driven to slide, thereby achieving fine adjustment of ligament length and tension; And / or, a screw-fixed adjustment device, comprising: an adjustable excess length segment formed after the ligament passes through a flat hole inside the bone, tension is adjusted by stretching or loosening the excess length segment, and when the tension reaches a target value, the excess length segment is fastened to a fixation point on the outside of the bone using a first screw and a second screw.

[0030] Preferably, the hydraulic artificial muscle unit includes Hydraulic quick-connect plug, used as a hydraulic input interface; A thin latex tube is fitted over the outside of the hydraulic quick-connect plug; A hydraulic hose is inserted into the hydraulic quick-connect plug and extends into the thin latex tube; Nylon snakeskin braided tubing, covering the outside of the thin latex tubing, is used to provide radial confinement and mimic the structure of biological muscle fibers; The hose clamp is fastened to the location of the hydraulic quick connector and is used to press the nylon braided tubing and the thin latex tubing onto the hydraulic quick connector to achieve a seal. A sleeve is respectively fitted onto the outside of both ends of the artificial muscle. The sleeve is flattened and has fixing holes for the connector to pass through, for fixing a single artificial muscle to the bone structure. When liquid is injected into the thin latex tube through the hydraulic pipe, the latex tube expands under pressure, which in turn causes the nylon braided tube to expand radially and contract axially, thus achieving active contraction.

[0031] Preferably, the hydraulic artificial muscle unit is provided with multiple units, with at least two hydraulic artificial muscles arranged in parallel. Each hydraulic artificial muscle is fixed to the corresponding position of the bone structure through sleeves and connectors at both ends. The contraction and extension of the artificial muscles drive joint movement through the force transmission path that simulates biological tendons.

[0032] Preferred options also include: Index finger driving module, the index finger driving module includes: The first flexor tendon of the index finger is fixed to the ulna proximally, and its distal end passes through the eighteenth carpal ligament and the first to third tendon sheaths of the index finger in sequence, attaching to the distal phalanx of the index finger. It is used to drive the phalanx, proximal phalanx, middle phalanx and distal phalanx to achieve synchronous flexion. The second flexor tendon of the index finger is located above the first flexor tendon. Its proximal end is fixed to the ulna, and its distal end passes through the eighteenth ligament of the carpal bone and the first and second tendon sheaths, attaching to the middle phalanx. It is used to drive the flexion of the base, proximal phalanx and middle phalanx. The third flexor tendon of the index finger connects the proximal phalanx and the base of the index finger, and is used to drive the local flexion between the proximal phalanx and the base of the finger; The first extensor tendon of the index finger (which can correspond to a biomimetic extensor tendon cap / dorsal extensor aponeurosis structure) is fixed proximally to the ulna (e.g., fixed to a pre-set anchor point on the ulna or brought out and fixed after being guided through a guide hole / flat hole), and extends distally along the dorsal side of the forearm, entering the dorsal side of the hand through the dorsal wrist guide structure; the distal branch structure of the tendon passes sequentially through the fourth to fifth tendon sheaths (the tendon sheaths can be channels, grooves or sleeve-type guides formed in the bone body, used to constrain the tendon to follow the bone, avoid skipping and reduce wear), and after passing through the tendon sheaths, it is located on the dorsal side of the index finger and forms a spread portion, which is further divided into at least three branches, including a middle branch and two lateral branches.

[0033] The intermediate branch extends distally along the dorsal side of the proximal phalanx of the index finger and is attached / fixed to the proximal dorsal side of the middle phalanx of the index finger (e.g., the dorsal side of the base of the middle phalanx or a predetermined connection point) to form a central force transmission channel. This channel is used to generate an extension torque on the joint between the proximal and middle phalanx of the index finger when the tendon is stretched, and to drive the middle phalanx to extend relative to the proximal phalanx.

[0034] The two collateral branches extend distally along the dorsal side of the proximal phalanx of the index finger at their branching points, crossing the joint between the proximal and middle phalanges, and forming symmetrical or nearly symmetrical lateral force lines on both sides of the joint. During the crossing of the joint, the two collateral branches are distributed on both sides of the joint in a near-rhomboid / encircling structure and are constrained by corresponding guiding structures (such as bone surface guide grooves, limiting flanges, low-friction bushings, or collars), thereby maintaining a stable force arm and contact position during joint flexion and extension. The two collateral branches converge distally on the middle phalanx to form a distal convergence bundle, and continue to extend distally and attach / fix to the proximal dorsal position of the distal phalanx of the index finger (such as the dorsal side of the base of the distal phalanx or a predetermined connection point) to form a distal force transmission channel, which is used to generate an extension torque on the joint between the middle and distal phalanges when the tendon is stretched and drive the distal phalanx to extend relative to the middle phalanx.

[0035] Through the aforementioned branching and cross-joint arrangement of "central branch + two lateral branches + distal converging bundle", the same extension drive input can form a coordinated extension torque at multiple joints of the index finger, thereby realizing the linked extension and straightening and repositioning of the index finger from the base of the finger to the distal phalanx. At the same time, the tendon sheath and guiding structure constrain the path and relative position of each branch, enabling the distribution and adaptive adjustment of traction force between the central branch and the lateral branches at different flexion and extension angles, thereby improving the stability, smoothness and biomimetic consistency of the index finger extension movement.

[0036] The first and second abductor tendons of the index finger are connected at one end to the base of the finger, and at the other end to the two lateral branches and the middle branch of the first extensor tendon of the index finger through branch tendons. They are arranged symmetrically to enable the index finger to swing laterally in the coronal plane. Thumb drive module, the thumb drive module includes: The first flexor tendon of the thumb attaches to the first carpal bone at one end and to the middle phalanx of the thumb at the other end. It is used to drive the flexion of the joint between the third carpal bone, the proximal phalanx of the thumb, and the middle phalanx. The second flexor tendon of the thumb is fixed at one end to the radius, and the other end passes through the lower part of the eighteenth carpal ligament, the first thumb tendon sheath and the second thumb tendon sheath in sequence, and attaches to the distal phalanx of the thumb. It is used to drive the multi-joint flexion of the third carpal bone, the proximal phalanx of the thumb, the middle phalanx and the distal phalanx. The first adductor tendon of the thumb is composed of multiple bundles of tendon fibers. One end attaches to the middle phalanx of the thumb, and the other end connects to the base of the middle finger. It is used to drive the adduction of the joint between the third carpal bone and the proximal phalanx of the thumb. The first extensor tendon of the thumb connects to the ulna at one end and attaches to the proximal phalanx of the thumb at the other end, and is used to drive the extension of the joint between the third carpal bone and the proximal phalanx of the thumb. The second extensor tendon of the thumb inserts into the ulna at one end and passes through the tendon sheath of the third extensor tendon of the thumb at the other end, attaching to the middle phalanx of the thumb. It is used to drive the extension of the two joints between the third carpal bone, the proximal phalanx of the thumb, and the middle phalanx. The extensor thumb third tendon originates from the ulna at one end and passes through the tendon sheath of the thumb third and the tendon sheath of the thumb fourth in sequence, attaching to the distal phalanx of the thumb. It is used to drive the three joints between the third carpal bone, the proximal phalanx of the thumb, the middle phalanx and the distal phalanx of the thumb to achieve overall extension. The middle, ring, and little fingers are driver modules, and each finger driver module includes: Multi-segmented, interlacing flexor muscles and tendons pass sequentially through pre-defined tendon sheaths and attach to the proximal, middle, and distal phalanges respectively, to drive flexion of each joint; Branched extensor tendons have a single proximal fixation point and generate multi-joint tension, used to achieve synchronous or segmental extension of the phalanges; The phalangeal and proximal phalangeal tendons connect the base of the finger and the proximal phalanx, and are used for local movement control. Abductor or adductor tendons are used for the coordination of interphalangeal movements.

[0037] Preferred options also include: Elbow joint drive module, the elbow joint drive module comprising: The brachialis muscle is attached at one end to the anterior side of the middle segment of the humerus and at the other end to the proximal end of the ulna. It is used to drive the flexion of the forearm around the elbow joint. The long head and short head of the biceps brachii originate from the upper part of the scapula. The long head passes through the groove of the humerus via the transverse ligament guide slide and terminates at the proximal radius together with the short head. It is used to drive the forearm to complete the flexion movement relative to the humerus. The triceps brachii consists of the medial head, lateral head, and long head. The medial and lateral heads originate from the middle of the posterior aspect of the humerus, while the long head originates from the lower part of the scapula. All three tendons insert into the proximal end of the ulna and are used to drive elbow joint extension when they contract together. A glenohumeral joint drive module, which constitutes a rotator cuff structure, includes: The supraspinatus muscle and tendon attach at one end to the supraspinous fossa above the scapula and at the other end to the head of the humerus, and are used to drive the initial abduction of the humerus. The teres major tendon attaches to the lower border of the scapula at one end and inserts into the middle and lower part of the humerus at the other end, and is used to drive the adduction of the humerus; The subscapularis muscle and tendon originate from the subscapular fossa on the anterior side of the scapula and insert onto the anteromedial surface of the humeral head. It is the main muscle group controlling the internal rotation of the glenohumeral joint. The infraspinatus muscle and tendon originate from the infraspinous fossa on the posterior side of the scapula and insert onto the posterolateral surface of the humeral head, and are used to drive the external rotation of the glenohumeral joint. The teres minor tendon, arranged in conjunction with the infraspinatus muscle, connects at one end to the lateral border of the scapula and attaches at the other end to the posterior aspect of the humeral head, and is used to jointly participate in the external rotation control of the humerus. The deltoid muscle drive module is divided into anterior, middle, and posterior deltoids. The anterior deltoid muscle includes the first anterior deltoid tendon and the second anterior deltoid tendon. The first anterior deltoid tendon originates from the scapula and the second anterior deltoid tendon originates from the clavicle. Both tendons insert into the upper anterior part of the humerus and are used to drive the flexion of the glenohumeral joint. The middle deltoid muscle includes the first, second, and third tendons, all of which originate from the lateral border of the scapula and insert into the deltoid tuberosity on the lateral side of the humerus, and are used to synergistically drive the abduction of the humerus. The posterior deltoid muscle includes the first, second, and third tendons of the posterior deltoid. All of them originate from the posterior border of the scapula and insert on the upper posterior part of the humerus. They are used to pull the humerus backward during synchronous contraction to achieve glenohumeral extension. The scapulothorax sliding muscle group module includes: The pectoralis minor tendon system includes the first to third tendons. Each tendon attaches to the anteromedial border of the scapula at one end and connects to the third to fifth ribs of the trunk at the other end, and is used to drive the scapula to slide along the anterior direction of the thorax. The rhomboid tendon system, including the first to third tendons, attaches proximally to the thoracic vertebrae of the trunk and distally to the medial border of the scapula, and is used to drive the scapula to slide posteriorly along the thorax. The serratus anterior tendon system, including the first to sixth tendons, connects to the anterior border of the scapula at one end and attaches to the fourth to ninth ribs at the other end, and is used to achieve translation of the scapula along the lateral and anterior sides of the trunk. The pectoralis major tendon system includes the first to seventh tendons, of which the first and second tendons connect the humerus and clavicle, and the remaining five tendons connect the humerus and the thoracic region of the trunk, which are used to drive the scapula to slide forward and pull the humerus to flex. The latissimus dorsi tendon system, including tendons one through five, is fixed at one end to the back of the trunk and the other end to the proximal humerus. It is used to drive the extension and adduction of the humerus and to cooperate with the gliding of the scapula. The trapezius tendon system includes the first and second anterior bundle tendons, which drive the scapula to rotate upwards and glide; the first and second lateral bundle tendons, which drive the scapula to rotate upwards and glide; the first to third posterior bundle tendons, which drive the scapula to glide upwards; and the first to third dorsal bundle tendons, which drive the scapula to rotate downwards and glide.

[0038] Preferably, the artificial muscle unit and the skeletal structure are provided with a quick-release and quick-installation structure. The quick-release and quick-installation structure includes a hydraulic sealing quick-connect structure and a mechanical positioning structure. The mechanical positioning structure includes a positioning groove, a positioning key, a positioning hole, a limiting surface or a combination thereof, which is used to achieve repeated positioning of a predetermined spatial posture after disassembly and replacement.

[0039] A biomimetic humanoid robot upper limb component, comprising: A skeletal joint mechanism, wherein the skeletal joint mechanism forms shoulder joints, elbow joints, wrist joints and finger joints through mechanical joints; A ligament system, located at at least a portion of the bone segment connections of the skeletal joint mechanism, is used to provide passive limitation of the range of motion of the joint and to provide rebound stability. The tendon system is arranged along a predetermined force line and connected to the skeletal joint mechanism to form a biomimetic force transmission path; And an artificial muscle drive system, the artificial muscle drive system comprising multiple artificial muscle units, the artificial muscle units applying traction force to the skeletal joint mechanism through the tendon system to drive the shoulder joint, elbow joint, wrist joint and / or finger joint to produce linked movements; The skeletal joint mechanism includes a scapulothoracic joint mechanism, which enables the scapula to form a floating base relative to the trunk and generate a complex movement of translation, sliding, and rotation. The ligament system provides constraints on the range of motion of the scapula relative to the trunk. The artificial muscle drive system includes at least two groups of scapulothoracic drive muscles with different directions of action. The at least two groups of scapulothoracic drive muscles are connected to different connection points of the scapula and / or clavicle through different tendon lines to apply traction forces with different directions to the scapula, thereby achieving coordinated regulation of at least two types of movements among scapular elevation / depression, anterior retraction / retraction, and internal / external rotation. Furthermore, the wrist of the skeletal joint mechanism includes multiple carpal bones, and the ligament system forms an inter-carpal ligament network that is interwoven between the multiple carpal bones, allowing limited relative micro-movements between the carpal bones and providing stable constraints for multi-directional wrist movements; the artificial muscle drive system drives the wrist joint to achieve at least two degrees of freedom of compound movement through at least two wrist drive tendon force lines with different directions of action, under the passive constraint of the inter-carpal ligament network. Furthermore, the finger joint includes an index finger extension mechanism, which includes a main extensor tendon and its distal branch structure. The proximal end of the main extensor tendon is fixed to the forearm bone segment and extends along the back of the hand. The distal end passes through at least two index finger extensor tendon sheaths in sequence and forms a branch point on the back of the index finger, dividing into at least three branches. One intermediate branch connects to the proximal dorsal end of the index and middle phalanges. Two lateral branches cross the joint between the proximal and middle phalanges of the index finger and run around both sides of the joint. The two lateral branches converge at the position of the middle phalanx near the distal phalanx to form a distal convergence bundle and extend to the proximal dorsal end of the distal phalanx of the index finger, thus forming a multi-branch extensor force transmission structure of the dorsal finger extensor tendon cap.

[0040] Compared with the prior art, the beneficial effects that at least one technical solution adopted in the embodiments of this specification can achieve include at least: By deeply integrating biomimetic structural design with advanced electro-hydraulic drive solutions, a humanoid robot with physiological structural similarity, sensitive control response, and reasonable power distribution has been constructed. It not only has high degrees of freedom, strong compliance, and high dynamic performance, but also provides high-precision and high-efficiency experimental and application support for medical simulation, rehabilitation training, complex behavior simulation, and intelligent human-computer interaction. Attached Figure Description

[0041] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0042] Figure 1 This is a three-dimensional structural diagram of the pressure source device; Figure 2 This is a top view of the pressure source device; Figure 3 for Figure 2 Sectional view at EE; Figure 4 for Figure 2 Sectional view at FF; Figure 5 The front view of the pressure source device shows the state of the artificial muscle before and after compression of the hydraulic cavity; Figure 6 for Figure 5 Sectional view at point DD; Figure 7 This is a schematic diagram of the internal structure of the pressure source device; the motor base and motor are not shown. Figure 8This is a front view of the upper limb skeletal system of a highly realistic robot, showing the compositional relationship of the bionic bones in the upper arm, forearm, shoulder girdle, and hand. Figure 9 An isometric schematic diagram of an artificial ligament braided structure, showing the weaving method of the weft and warp threads; Figure 10 These are front and side views of an artificial ligament braid, showing the directional relationship between the ligament's thickness and width; Figure 11 This is a front view of the upper limb skeleton-ligament system of a highly realistic robot, showing the joint connections and ligament layout. Figure 12 This is a rear view of the upper limb skeleton-ligament system of a highly realistic robot, which helps to illustrate the ligament connection status of the major joints in the back. Figure 13 A frontal view of the muscle and tendon distribution of the forearm and hand of a highly realistic robot, with a focus on marking the path of the finger flexor muscles; Figure 14 This is a frontal view (excluding the torso) of the upper limb skeleton-ligament-muscle-tendon system of a highly realistic robot, mainly showing the forearm and elbow joint area. Figure 15 This is a rear view (excluding the torso) of the upper limb skeleton-ligament-muscle-tendon system of a highly realistic robot, showing the coordination of back tendons and joints. Figure 16 A frontal view of the ligaments and joint capsule branches in the glenohumeral joint region of a highly realistic robot, showing the bionic joint capsule layout of latex tubing; Figure 17 for Figure 16 The rear view of the structure shown further illustrates the spatial location of the glenohumeral joint capsule branches; Figure 18 This is a top view (excluding the torso) of the muscle and tendon distribution in the shoulder region of the upper limb of a highly realistic robot, showing the connection between the rotator cuff muscles and the humeral head. Figure 19 This is a frontal view (including the trunk) of the upper limb skeleton-ligament-muscle-tendon system of a highly realistic robot, showing the pectoral muscles and anterior deltoid muscles as a whole. Figure 20 This is a rear view (including the trunk) of the upper limb skeleton-ligament-muscle-tendon system of a highly realistic robot, showing the configuration of the scapular region and back tendons. Figure 21 A side view (including the trunk) of the upper limb skeleton-ligament-muscle-tendon system of a highly realistic robot, supplemented with a display of the spatial arrangement of tendons; Figure 22 This is a frontal view of the upper limb of a highly realistic robot (excluding the pectoral and deltoid muscles), used to highlight the tendons and joint structures connecting the scapula and thorax. Figure 23This is a schematic diagram of the ulnar ligament of the elbow joint in a highly realistic robot, highlighting the effect of changes in bending angle on ligament tension. Figure 24 A complete frontal view of the upper limb of a highly realistic robot, showcasing the three-dimensional integrated effect of the entire skeleton, ligaments, muscles, and tendons; Figure 25 This is an isometric structural diagram of a single hydraulic artificial muscle, showing the hydraulic interface and packaging method; Figure 26 This is a front view of a single hydraulic artificial muscle, showing the tube, the serpentine mesh, and the fixing interface. Figure 27 This is a top view of a single hydraulic artificial muscle, further showing the radial layout of the serpentine tubes and the location of the structural crimping. Figure 28 This is a side view of a single hydraulic artificial muscle, showing the direction of the pipeline inlet and outlet. Figure 29 This is a cross-sectional diagram of a single hydraulic artificial muscle, illustrating the connection method between the thin latex tube, the braided tube, and the hydraulic interface. Figure 30 This is a top view of a flat artificial muscle composed of three hydraulic artificial muscles connected in parallel, showing the assembly method and the snake-braided tube encapsulation structure. Figure 31 This is a structural diagram of the radial ligament of the elbow joint in a highly realistic robot, used to illustrate the stabilization mechanism at different angles; Figure 32 This is a schematic diagram of the palmar and dorsal radioulnar ligaments of the distal radius and ulna in a highly realistic robot, viewed from the hand direction, with the hand hidden.

[0043] Figure 33 A front view of the skeletal-ligament-muscle-tendon system of a highly realistic robot hand and wrist; Figure 34 Rear view of the skeletal-ligament-muscle-tendon system of a highly realistic robot hand and wrist. Detailed Implementation

[0044] The embodiments of this application will now be described in detail with reference to the accompanying drawings.

[0045] The following specific examples illustrate the implementation of this application. Those skilled in the art can easily understand other advantages and effects of this application from the content disclosed in this specification. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. This application can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of this application. It should be noted that, in the absence of conflict, the following embodiments and features in the embodiments can be combined with each other. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0046] It should be noted that various aspects of embodiments within the scope of the appended claims are described below. It will be apparent that the aspects described herein can be embodied in a wide variety of forms, and any particular structure and / or function described herein is merely illustrative. Based on this application, those skilled in the art will understand that one aspect described herein can be implemented independently of any other aspect, and two or more of these aspects can be combined in various ways. For example, any number and aspects set forth herein can be used to implement the device and / or practice the method. Additionally, this device and / or method can be implemented using structures and / or functionalities other than one or more of the aspects set forth herein.

[0047] It should also be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of this application. The drawings only show the components related to this application and are not drawn according to the actual number, shape and size of the components in the actual implementation. In the actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0048] Furthermore, specific details are provided in the following description to facilitate a thorough understanding of the examples. However, those skilled in the art will understand that the described aspects can be practiced without these specific details.

[0049] Currently, traditional humanoid robots generally employ rigid structures paired with motor-driven systems. Their motion control primarily relies on independent joint actuators, lacking a multi-joint collaborative mechanism similar to that of biological muscle systems. While this structure exhibits high precision and repeatability in industrial automation scenarios, it suffers from significant shortcomings in mimicking human movements. Specifically, traditional robots lag considerably behind human movements in terms of naturalness, coordination, and compliance, making it difficult to realistically reproduce the complexity of the human musculoskeletal system.

[0050] The drawbacks of traditional robots become even more pronounced, especially in situations involving the simultaneous coordination of multiple joints and degrees of freedom. They often exhibit problems such as stiff movement, delayed response, and insufficient dynamic adaptability. For example, when complex movements need to be performed quickly and flexibly, traditional robots, lacking cross-joint linkage mechanisms, cannot move as smoothly and naturally as humans, making it difficult to meet the demands of applications requiring high-quality movements.

[0051] To address the problems inherent in traditional robots, researchers have increasingly shifted their focus in recent years to the development of musculoskeletal bionic robot structures. This research direction aims to construct robot frameworks that more closely resemble human locomotion mechanisms by introducing bionic skeletons, artificial ligaments, and artificial muscle systems.

[0052] These biomimetic robots offer numerous advantages. They not only mimic natural human movement but also demonstrate the intricate structure and complex functions of the human joint system. Their structural design itself provides valuable reference for physiology and anatomy, offering novel ideas and inspiration for robot structure and manufacturing methods. For instance, through in-depth research into the principles of human skeletal and muscular movement, the structural design of biomimetic robots can better conform to the laws of human movement, thereby improving the robot's motion performance and adaptability.

[0053] In the medical field, musculoskeletal bionic robots have broad potential applications, particularly demonstrating significant advantages in orthopedic and orthopedic treatment research. Joint dysfunction is often caused by uneven distribution of force among multiple controlling muscles, leading to abnormal joint movement or noise. Existing intervention methods, such as botulinum toxin injections, often rely on the physician's experience in selecting injection sites and dosages, lacking systematic and repeatable biomechanical assessment models.

[0054] Robotic platforms equipped with simulated skeletons, ligaments, and artificial muscles offer an effective solution to this problem. These platforms allow for experimental simulations of different muscle force distributions and intervention protocols, thereby assisting doctors in developing more precise and personalized treatment strategies. For example, doctors can use the results of robotic simulations to more accurately determine the injection site and dosage of botulinum toxin, improving treatment effectiveness and reducing adverse reactions.

[0055] Bionic robot models can also serve as experimental platforms for validating various novel biomaterials (such as bionic ligaments, bionic muscles, and tissue-engineered scaffolds). Given the ethical constraints in medicine, conducting experiments directly on humans presents numerous obstacles. However, bionic robot models with dynamic actuation capabilities offer an alternative means for evaluating novel medical materials and surgical strategies.

[0056] Compared to traditional static anatomical models, the robotic platform proposed in this study has significant advantages. It can simulate the actual force, stress distribution, and wear evolution process of joint surfaces under active muscle traction, thus opening up new pathways for joint etiology analysis and rehabilitation strategy development. For example, by testing novel biomimetic ligament materials on biomimetic robots, their performance under different movement conditions can be understood, providing a basis for material optimization and clinical application.

[0057] From a scientific research perspective, while current artificial intelligence control algorithms perform well in virtual simulation environments, their ability to achieve efficient motion control and self-adaptation in real physical environments depends on a physical platform with human muscle structure and motion characteristics.

[0058] Traditional robot structures differ fundamentally from human lobe systems. Human movement is achieved through the brain's coordinated control of multiple muscle groups distributed across joints, such as the shoulder, elbow, and wrist joints. In contrast, traditional robots often use independently controlled single-joint actuators, lacking cross-joint linkage mechanisms, making it difficult to simulate natural and fluid movements similar to humans. This limits the application of artificial intelligence control algorithms in traditional robots, preventing them from fully leveraging their advantages.

[0059] Therefore, developing biomimetic robot systems with realistic muscle structure and coordination control capabilities can not only promote the application of robots in fields such as medical rehabilitation, assisted walking, and human-computer interaction, but also provide a key verification platform for the deployment and generalization of artificial intelligence in real physical environments. These robots possess motion control logic and biomechanical characteristics closer to humans, and will play a core role in areas such as motion learning, complex behavior control, and intelligent perception in the future.

[0060] Hydraulic artificial muscles, as key actuators for achieving biomimetic contractile functions, directly affect the performance of the entire bionic system through their control precision and responsiveness. Existing hydraulic artificial muscle systems mainly rely on electric or hydraulic pumps as pressure sources and use hydraulic valves to control flow to drive the artificial muscle movements.

[0061] However, this system has several problems. Hydraulic valves regulate muscle deformation by adjusting fluid volume, making the control logic for displacement and output force complex, increasing the difficulty and precision requirements of system control. Furthermore, when multiple artificial muscles share a single hydraulic source, pressure dispersion often occurs, leading to insufficient driving force and reduced overall power distribution efficiency, further complicating the control system. Moreover, current hydraulic systems are extremely noisy, limiting their application in noise-sensitive fields such as medical rehabilitation and home services. Therefore, optimizing the performance of hydraulic artificial muscle systems is a pressing issue that needs to be addressed.

[0062] The technical solutions provided by the various embodiments of this application are described below with reference to the accompanying drawings.

[0063] like Figures 1-34 As shown, an electro-hydraulic integrated driven bionic humanoid robot upper limb structure includes: The humanoid skeletal structure is constructed based on the anatomical structure of the human upper limb, including the ulna, radius, humerus, scapula, clavicle, multiple carpal bones, and the phalanges of the fingers. The skeletal components are connected by mechanical joints to form the shoulder, elbow, wrist, and finger joints. A ligament system, located at various bone joints to mimic the function of biological ligaments, includes elbow ligaments, wrist ligaments, finger ligaments, and glenohumeral ligaments, used to limit the range of motion of joints and provide structural stability; An electro-hydraulic integrated drive system includes multiple hydraulic artificial muscle units and a pressure source device. The pressure source device delivers liquid to the hydraulic artificial muscle units via a soft conduit, causing the hydraulic artificial muscle units to expand radially and contract axially under the action of the pressure source device, thereby generating traction force to drive the skeletal structure to achieve joint movement. The tendon system, wherein the hydraulic artificial muscle unit is connected to the target bone through artificial tendons to form a muscle-like tendon force transmission path, driving the relevant joints to achieve flexion, extension, abduction and rotation movements.

[0064] The skeletal structure is meticulously constructed based on the anatomy of the human upper limb, including the ulna, radius, humerus, scapula, clavicle, multiple carpal bones, and the phalanges of the fingers. This design makes the robot's upper limb highly similar to that of a human in both form and function, providing a solid foundation for subsequent simulations of the ligament, muscle, and tendon systems. Mechanical joints connect the various skeletal components, forming shoulder, elbow, wrist, and finger joints, enabling multi-degree-of-freedom joint movements. This design allows the robot to perform complex upper limb actions, such as grasping, manipulation, and gesture simulation.

[0065] The ligament system, located at the joints of the bones, mimics the function of biological ligaments, effectively limiting the range of motion of the joints. This limitation prevents injuries caused by excessive joint movement, improving the stability and safety of robot motion. The ligament system includes ligaments of the elbow, wrist, fingers, and glenohumeral joint, which play an important stabilizing role in joint movement. They absorb and disperse the impact forces generated during movement, maintaining the integrity of the joint structure.

[0066] The electro-hydraulic integrated drive system comprises multiple hydraulic artificial muscle units and pressure source devices. The pressure source devices deliver fluid to the hydraulic artificial muscle units via flexible conduits, causing these units to expand radially and contract axially under pressure. This contraction generates traction force, precisely driving the skeletal structure to achieve joint movement, thus enabling precise control of joint motion. Each hydraulic artificial muscle unit has an independent pressure source device, avoiding pressure dispersion and control interference caused by sharing a pressure source in traditional systems. This design improves the system's responsiveness and power adaptability, enabling the robot to execute various upper limb movements quickly and accurately. The electro-hydraulic integrated drive system employs a modular design, allowing for easy disassembly, replacement, and maintenance of the hydraulic artificial muscle units and pressure source devices. This design improves the system's maintainability and modularity, reducing operating costs.

[0067] The hydraulic artificial muscle unit connects to the target skeleton via artificial tendons, forming a force transmission path that mimics muscles and tendons. This design simulates the collaborative working mechanism of muscles and tendons in a living organism, enabling the robot to perform various upper limb movements more naturally. The tendon system drives the relevant joints to achieve a variety of complex movements such as flexion, extension, abduction, and rotation. This design allows the robot's upper limbs to exhibit high compliance and coordination during movement, better adapting to the needs of various task scenarios.

[0068] This biomimetic humanoid robot's upper limb structure achieves a high-precision replication of human upper limb motor functions through a highly realistic skeletal design, a stable ligament system, a precise electro-hydraulic integrated drive system, and a biomimetic tendon system. This design not only improves the robot's motion performance and stability but also provides broad prospects for its application in fields such as medical simulation, rehabilitation training, and bionics research.

[0069] The specific structure and working principle of the pressure source device will be explained below: The hydraulic drive device of the present invention adopts an integrated design of motor-pulley block-hydraulic cavity, and transmits torque through flexible drive rope to achieve precise compression and reset control of hydraulic cavity.

[0070] Motor winding mechanism: like Figures 1-6 As shown, the output shaft of motor 1 is rigidly connected to winding reel 2 via a key or coupling. The winding reel 2 is a cylindrical drum structure with rope grooves in the circumference.

[0071] like Figure 1 , Figure 3 , Figure 4As shown, the first end of the first drive rope 3 is fixedly wound in the first rope groove of the winding reel 2, and passes in sequence around the first fixed pulley 5, the second fixed pulley 6 and the third fixed pulley 7 installed on the motor base 4. Then it passes through the rope hole on the side wall of the motor base 4, and passes in sequence around the first movable pulley 9 and the second movable pulley 10 installed on the extrusion plate 8. Finally, it returns to the motor base 4 and is tensioned and fixed by the first anchoring mechanism.

[0072] The first anchoring mechanism includes a first cable connector 14, a first adjusting screw 15, and a first knurled nut 16. The second end of the first drive rope 3 is fixedly pressed against the first cable connector 14. The first adjusting screw 15 is rigidly connected to the first cable connector 14. This screw 15 passes through a threaded adjustment elongated hole in the side wall of the motor base 4 and is locked in place by the first knurled nut 16. By rotating the first knurled nut 16, the first adjusting screw 15 can be driven to linearly displace along the elongated hole, thereby adjusting the effective working length of the first drive rope 3.

[0073] like Figure 4 As shown, the first end of the second drive rope 17 is fixedly wound in the second rope groove of the winding reel 2, and passes in sequence around the fourth fixed pulley 18, the fifth fixed pulley 19 and the sixth fixed pulley 20 installed on the motor base 4, then passes out of the motor base 4, and then passes in sequence around the third movable pulley 23 and the fourth movable pulley 24 installed on the extrusion plate 8, and finally returns to the motor base 4 and is tensioned and fixed by the second anchoring mechanism.

[0074] The second anchoring mechanism includes a second cable connector 25, a second adjusting screw 26, and a second knurled nut 27. The second end of the second drive rope 17 is fixedly crimped to the second cable connector 25. The second adjusting screw 26 is rigidly connected to the second cable connector 25. This screw 26 passes through a threaded adjustment elongated hole in the side wall of the motor base 4 and is locked in place by the second knurled nut 27. Rotating the second knurled nut 27 drives the second adjusting screw 26 to linearly displace along the elongated hole, thereby adjusting the effective working length of the second drive rope 17.

[0075] In this embodiment, the first drive rope 3 and the second drive rope 17 are arranged symmetrically to form a double rope traction structure on the left and right sides of the extrusion plate 8, respectively, to ensure that the extrusion plate 8 is subjected to balanced force.

[0076] Hydraulic cavity and extrusion mechanism: like Figure 1 As shown, a capsule-shaped hydraulic cavity 28 is provided between the extrusion plate 8 and the motor base 4. The cavity 28 is integrally molded from elastic rubber material. Its shape is approximately ellipsoidal when it is not under pressure, and it is filled with incompressible hydraulic oil.

[0077] like Figure 7The motor 1 and motor base 4 are omitted in the diagram. The upper end of the hydraulic cavity 28 is sealed to the first slider 29 via a first fixing ring, and the lower end is sealed to the second slider 30 via a second fixing ring. Both the first slider 29 and the second slider 30 are rectangular metal blocks with guide holes at their four corners, which slide in contact with four guide rods 31-34. The guide rods 31-34 are vertically fixed between the bottom plate and the top plate of the motor base 4, and their surfaces are chrome-plated to reduce the coefficient of friction.

[0078] When the extrusion plate 8 moves downward under the traction of the drive ropes 3 and 17, the hydraulic cavity 28 undergoes elastic deformation due to axial compression, pushing the first slider 29 and the second slider 30 to slide downward synchronously along the guide rods 31-34. During this process, the first short spring 35, the second short spring 36, the third short spring 37, and the fourth short spring 38, which are sleeved on each of the guide rods 31-34, are compressed and store energy (see...). Figure 7 The short springs 35-38 are cylindrical helical compression springs, with their upper and lower ends respectively abutting against the sliders 29 and 30 and the base plate of the motor base 4.

[0079] Fluid delivery and artificial muscle coordination: like Figure 1 , Figure 7 As shown, the upper end of the hydraulic cavity 28 is a closed end, and the lower end is connected to the first end of the soft tube 39 through a sealing joint. The second end of the soft tube 39 is sealed to the inlet of the hydraulic artificial muscle 40.

[0080] The hydraulic artificial muscle 40 is composed of a latex tube and a nylon braided tube. Specifically, the inner thin-walled latex tube is closed at one end and connected to the soft conduit 39 at the other end; the outer nylon braided tube tightly covers the outside of the latex tube to limit radial expansion and generate axial contraction force.

[0081] When winding disc 2 rotates counterclockwise (see...) Figure 4 When the first drive rope 3 and the second drive rope 17 are tensioned simultaneously, the traction compression plate 8 is displaced downwards, the hydraulic cavity 28 is compressed and its volume decreases, the internal hydraulic oil is squeezed out and pumped into the inner latex tubing of the hydraulic artificial muscle 40 through the soft conduit 39. The latex tubing expands radially under pressure, driving the outer braided tubing to expand synchronously and contract axially, thereby achieving active contraction of the artificial muscle (see...). Figure 5 ).

[0082] As the winding reel 2 rotates clockwise, the first drive rope 3 and the second drive rope 17 gradually relax. Under the combined action of the elastic restoring force of the short springs 35-38 and the elastic restoring force of the hydraulic cavity 28 itself, the compression plate 8 returns to its original position. The high-pressure oil in the hydraulic artificial muscle 40 flows back to the hydraulic cavity 28, and the system returns to its initial state (see...). Figure 5 ) The specific structure and principles of skeletal structure will be explained below: The skeletal system of this invention is biomimeticly designed according to the anatomical structure of the human upper limb, and consists of the shoulder girdle, upper arm, forearm, wrist, and hand. Each bony component is made of high-strength aluminum alloy or carbon fiber composite material. Figure 8 As shown, it specifically includes: Forearm bones: Ulna 69: a long tubular structure, its proximal end forms the humeroulnar joint with humerus 71, and its distal end participates in the formation of the wrist joint; Radius 70: Arranged parallel to ulna 69, its proximal end forms a complex joint with humerus 71 and ulna 69, and its distal end connects to the carpal bones; the forearm pronation and supination degrees of freedom are achieved between ulna 69 and radius 70 through a proximal hinge structure and a distal rotational coupling structure.

[0083] Upper arm bones: Humerus 71: The main bone of the upper arm, its upper end forms the glenohumeral joint with the scapula 72 through the ball-and-socket joint head, and its lower end forms the elbow joint with the ulna 69 through the trochlear notch.

[0084] Shoulder girdle bones: Scapula 72: Plate-like bone structure that provides the glenohumeral fossa as a stable base for the humeral head 71; Clavicle 73: An S-shaped long bone that connects laterally to scapula 72 and trunk 74, forming the acromioclavicular joint; Torso 74: A rectangular frame structure that serves as the connecting base between the shoulder girdle and clavicle, simulating the supporting function of the human thoracic cage.

[0085] Wrist bones: Composed of eight bionic wrist bones, namely the first wrist bone 75, the second wrist bone 76, the third wrist bone 77, the fourth wrist bone 78, the fifth wrist bone 79, the sixth wrist bone 80, the seventh wrist bone 81 and the eighth wrist bone 82. The wrist bones are connected to each other by articular surfaces and ligaments to form a wrist joint complex.

[0086] Hand skeleton: The five fingers have a multi-segment phalanx structure, with each finger biomimeticly designed with four bone segments: root, proximal phalanx, middle phalanx, and distal phalanx. Specifically, these include: Thumb: Proximal phalanx of thumb 83, Middle phalanx of thumb 84, Distal phalanx of thumb 85; Index finger: base of index finger 86, proximal phalanx of index finger 87, middle phalanx of index finger 88, distal phalanx of index finger 89; Middle finger: 90 at the base of the middle finger, 91 at the proximal phalanx of the middle finger, 92 at the middle phalanx of the middle finger, and 93 at the distal phalanx of the middle finger; Ring finger: 94. Base of ring finger; 95. Proximal joint of ring finger; 96. Middle joint of ring finger; 97. Distal joint of ring finger. Little finger: little finger base 98, little finger proximal joint 99, little finger middle joint 100, little finger distal joint 101.

[0087] The aforementioned skeletal components are connected to a bionic ligament system via mechanical hinge joints to form a complete bionic upper limb skeleton, providing a structural basis for joint movement.

[0088] The specific structure and principles of the ligament system will be explained below: The ligament system of this invention is made of ultra-high molecular weight polyethylene fiber or Kevlar fiber material through a biomimetic weaving process, and is used for flexible connection between bones, joint stability and range of motion restriction.

[0089] Ligament weaving structure: such as Figure 9 and Figure 10 As shown, a single ligament is formed by a two-dimensional weft yarn 102 and multiple warp yarns 103. The weft yarn 102 is spirally wound around the warp yarn 103, forming a flat band-like structure with a width of 2-8 mm and a thickness of 0.5-2 mm. The ligament width can be changed by adjusting the number of warp yarns 103 (4-20), and the ligament thickness and stiffness can be changed by adjusting the fiber diameter (0.1-0.5 mm), thus adapting to the mechanical requirements of different joints.

[0090] elbow joint ligament structure like Figure 11 , Figure 12 , Figure 23 and Figure 31 As shown, the following bionic ligaments are arranged around the elbow joint formed by the humerus 71 and the ulna 69: Radial stabilizing ligament group: First radial ligament 105: originates from the lateral condyle of the 71st humerus and inserts into the annular ligament groove of the radius proximal to the 70th radius; The second radial ligament 106 originates below the lateral condyle of the humerus 71 and inserts into the lateral bony process of the mid-shaft of the radius 70, together maintaining the lateral stability of the radius 70.

[0091] Ulnar stabilizing ligament group: First ulnar ligament 107: originates from the medial condyle of humerus 71, and is distributed in a fan shape to insert on the medial side of the proximal coronoid process of ulna 69; Second ulnar ligament 108: connects the medial condyle of the humerus 71 to the medial border of the olecranon process of the ulna 69; The third ulnar ligament 109 extends obliquely from the medial condyle of the humerus 71 to the medial aspect of the mid-shaft of the ulna 69. The first ulnar ligament 107 and the third ulnar ligament 109 exhibit angle-dependent tension characteristics. The first ulnar ligament 107 dominates tension when the elbow is flexed from 0-90°, while the third ulnar ligament 109 dominates tension when flexed from 90-150°, achieving phased stability control (see [link to relevant documentation]). Figure 23 ).

[0092] Radius-ulna ligament system The ulna 69 and radius 70 are stabilized by rotation and load transfer through the following ligament system: Rotational stabilizing ligaments: Circular ligament 104: Encircles the proximal radial neck of radius 70, with both ends fixed to the anterior and posterior margins of the radial notch of ulna 69, thus restricting axial displacement of radius 70.

[0093] Membrane ligament group (e.g.) Figure 11 , Figure 12 (as shown) The first membranous ligament 110, the second membranous ligament 111 and the sixth membranous ligament 115 are arranged at the same tilt angle (30-45° with the radial axis). When the hand is subjected to tensile load, the tensile force on the radius 70 is transferred to the ulna 69, thus achieving load sharing between the two bones. The third membranous ligament 112, the fourth membranous ligament 113, and the fifth membranous ligament 114 are arranged at a reverse tilt angle (at -30° to -45° with the radial axis) to transfer the pressure on the radius 70 to the ulna 69 when the hand is subjected to pressure load, providing compressive support.

[0094] Rotation axis stabilizing ligaments (such as) Figure 32 As shown, where Figure 32 (This is a view taken from the direction of the hand; hand structures are hidden to highlight the palmar / dorsal radial-ulnar ligament.) Palmar radial-ulnar ligament 116: connects the palmar distal end of radius 70 to the palmar distal end of ulna 69; The dorsal radioulnar ligament 117 connects the distal dorsal side of radius 70 and the distal dorsal side of ulna 69, and together they ensure that radius 70 rotates smoothly about the axis of rotation relative to ulna 69.

[0095] Ligaments connecting the forearm and wrist bones: like Figure 11 and Figure 12 As shown, the radius 70 and ulna 69 are connected to the carpal bones at multiple points through multiple sets of ligaments: Radius-carpal ligament: The first carpal ligament 274 and the second carpal ligament 118 connect the distal end of the radius 70 and the second carpal bone 76 in parallel. Third carpal ligament 119: connects the distal end of radius 70 to fifth carpal bone 79; The fourth carpal ligament 120, the fifth carpal ligament 121 and the sixth carpal ligament 122 are connected in a complex manner, and also connect the radius 70, the third carpal bone 77 and the seventh carpal bone 81. The seventh carpal ligament 127 connects the radius 70 and the seventh carpal bone 81; The eighth carpal ligament 128: is a three-point cruciate ligament that connects the radius 70, the third carpal bone 77, the seventh carpal bone 81, and the base of the index finger 86. Ninth carpal ligament 129: connects radius 70 and first carpal bone 75.

[0096] Ulnar-carpal ligament: Carpal ligament 123: connects ulna 69 and second carpal bone 76; Eleventh carpal ligament 124: connects ulna 69 and fifth carpal bone 79; The 12th and 13th carpal ligaments (125 and 126) connect the ulna (69) and the seventh carpal bone (81) side by side.

[0097] Intercarpal ligaments: like Figure 11 , Figure 12 As shown, the eight carpal bones are interconnected by the fourteenth carpal ligament 130, fifteenth carpal ligament 131, sixteenth carpal ligament 132, seventeenth carpal ligament 133, eighteenth carpal ligament 134, nineteenth carpal ligament 135, twentieth carpal ligament 136, twenty-first carpal ligament 137, twenty-second carpal ligament 138, twenty-third carpal ligament 139, twenty-fourth carpal ligament 140, twenty-fifth carpal ligament 141, twenty-sixth carpal ligament 142, twenty-seventh carpal ligament 143, twenty-eighth carpal ligament 144, twenty-ninth carpal ligament 145, thirtieth carpal ligament 146, thirty-first carpal ligament 147, and thirty-second carpal ligament 275, forming a multi-degree-of-freedom flexible and stable network of the wrist. The relative range of motion of each carpal bone is precisely constrained by the ligament length and connection position.

[0098] The ligamentous connection between the phalanges and carpal bones: Thumb joint ligament connection like Figure 8 , Figure 11 and Figure 12 As shown, the various bone segments of the thumb are connected and have their movement restrained by the following specialized ligaments: Proximal knuckle 83 connection: The first ligament of the thumb 148 and the second ligament of the thumb 149: connect the proximal phalanx of the thumb 83 and the third carpal bone 77, forming the main stabilizing structure of the metacarpophalangeal joint; The third ligament of the thumb 150 and the fourth ligament of the thumb 151 connect the proximal phalanx of the thumb 83 and the base of the index finger 86, enabling lateral coordinated control between the fingers.

[0099] Middle finger joint 84 connection: The fifth ligament of the thumb 152 and the sixth ligament of the thumb 153: connect the proximal phalanx of the thumb 83 and the middle phalanx 84, forming an intermediate transmission link; The seventh ligament of the thumb, 154, is a limiting ligament used to restrict the maximum extension angle of the middle phalanx 84 relative to the proximal phalanx 83.

[0100] Distal knuckle 85 connection: The eighth ligament of the thumb (155) and the ninth ligament of the thumb (156) connect the middle phalanx (84) and the distal phalanx (85). The tenth ligament of the thumb (157) is a distal limiting ligament that restrains the excessive extension of the distal phalanx (85).

[0101] The ligaments connecting the index finger joint: like Figure 8 , Figure 11 and Figure 12 As shown, the base of the index finger 86 is connected to the fourth carpal bone 78 through the first to fourth ligaments 160-163, and forms a lateral flexible connection with the base of the middle finger 90 through the fifth ligament 164, the sixth ligament 165, the seventh ligament 166, and the eighth ligament 167, thus achieving multi-finger coordination.

[0102] Proximal phalanx 87 connection: It is connected to the finger root 86 through the ninth ligament 168 and the tenth ligament 169, forming the main flexion-extension joint. The eleventh ligament 170 is the extension limiting ligament.

[0103] The middle phalanx 88 is connected to the proximal phalanx 87 via the 12th ligament 171 and the 13th ligament 172, while the 14th ligament 173 is an extension-limiting ligament.

[0104] The distal phalanx 89 is connected to the middle phalanx 88 via the fifteenth ligament 174 and the sixteenth ligament 175, while the seventeenth ligament 176 is an extension-limiting ligament.

[0105] The ligaments connecting the middle finger joints: The base of the middle finger (90) connects to the fifth carpal bone (79) via the first to fourth ligaments (177-180), and to the base of the ring finger (94) via the fifth ligament (181) and the sixth ligament (182). The arrangement of the ligaments between the phalanges is exactly the same as that of the index finger, achieving functional symmetry. The internal connection structure between the phalanges of the middle finger is the same as that of the index finger, with all limiting and supporting mechanisms symmetrically reproduced, ensuring hand functional coordination.

[0106] The ligaments connecting the ring finger joints are as follows: the base of the ring finger 94 connects to the fifth carpal bone 79 via the first ligament 183, to the sixth carpal bone 80 via the second ligament 184, and to the base of the little finger 98 via the third ligament 185 and the fourth ligament 186. The ligament connections between the segments of the ring finger are arranged exactly as the structure of the index finger, ensuring consistency in load transmission and motion control.

[0107] The little finger joint ligaments connect the base of the little finger (98) to the sixth carpal bone (80) via the first ligament (187) and the second ligament (188), and to the eighth carpal bone (82) via the third ligament (189). This creates a stable connection structure along the outer edge of the hand. The connection scheme between the segments within the little finger (proximal phalanx (99), middle phalanx (100), and distal phalanx (101)) is completely identical to that of the index finger, possessing the same flexion-extension control mechanism and range of motion limitation, ensuring a balance between flexibility and stability in the little finger's movements. The interphalangeal ligament structure is also identical to that of the index finger.

[0108] Soft tissue structures of the glenohumeral joint: like Figure 11 and Figure 12 As shown, the glenohumeral joint is formed by the ball-shaped articular head of the humerus 71 and the glenoid fossa of the scapula 72, and its stability is achieved by the following structures: The glenohumeral joint cardinal ligament group: The first to sixth ligaments of the glenohumeral joint (219 to 224) are radially distributed, originating from the glenoid fossa of the scapula (72) and inserting into different quadrants of the neck of the humerus (71). They are used to limit the range of motion of the humerus (71) in all directions and prevent dislocation.

[0109] Acromioclavicular joint ligament group: First scapular ligament 225: Connects the upper and lower borders of the scapula 72, enhancing the overall structure of the scapula; The second ligament of the scapula (226) to the fifth ligament (229) connect the scapula (72) and clavicle (73), forming the acromioclavicular joint ligament complex.

[0110] Bionic joint capsule: such as Figure 16 and Figure 17 As shown, the glenohumeral joint cavity contains six capsule branches 230-235, made of latex tubing with a wall thickness of 1-2 mm. Both ends are fixed to the humeral head and scapular glenoid fossa via stainless steel ports and screws, respectively. During joint movement, each capsule branch passively extends and retracts, providing joint cavity sealing and auxiliary stability.

[0111] Scapulothoracic joint structure ligaments: The scapulothoracic joint is a biomimetic structure that mimics the sliding relationship between the human scapula (72) and thoracic rim (74). Figure 11 , Figure 12 As shown, its key feature is that the scapula 72 is not directly fixed to the trunk 74 through ligaments, but indirectly forms a movable fulcrum with the trunk 74 through the clavicle 73, so as to realize the sliding function of the scapula 72 on the chest wall surface.

[0112] The specific structure is as follows: The scapula 72 and clavicle 73 are connected by the second to fifth scapular ligaments 226-229, forming a stable acromioclavicular connection network.

[0113] like Figure 22 As shown, the clavicle 73 and the torso 74 are connected by a connecting ligament 249 to form a rotatable hinge. This structure allows the clavicle to slide relative to the torso 74 in the front-back direction, thereby causing the scapula 72 to float biomimeticly on the surface of the thorax.

[0114] Since the scapula 72 is not directly connected to the trunk 74, its positional changes are entirely driven by the movement of the clavicle. This "floating scapula" mechanism effectively enhances the freedom and coordination of humanoid shoulder movements, and is especially suitable for the reproduction of complex multi-axis shoulder movements.

[0115] Ligament length and tension adjustment system: Slider-screw-knurled nut adjustment system: like Figure 12 As shown, for the ligaments 290 on major bones such as the humerus 71, a built-in precision adjustment structure is used: After the ligament 290 passes through the guide hole inside the humerus 71, its other end is connected to the ligament sliding connecting block 291. This connecting block 291 is a rectangular metal slider, embedded in the guide rail structure within the cavity of the humerus 71, and can slide axially. An adjusting screw 292 is rigidly connected to the tail end of the connecting block 291. This screw 292 passes through the guide hole in the outer shell of the humerus 71 and engages with a knurled nut 293. By rotating the knurled nut 293, the screw 292 is driven to move axially, causing the connecting block 291 to slide, thus achieving stepless adjustment of the tension of the ligament 290.

[0116] Simplified tension adjustment system: For space-constrained areas such as the ulna, carpal bones, and phalanges, an external, simplified adjustment structure is used: like Figure 11 As shown, after ligament 114 passes through the flat foramen of ulna 69, it extends into an excess segment 294. During adjustment, the excess segment 294 is manually tightened to the target tension, and then the first screw 295 and the second screw 296 are used to press and fix the excess segment 294 into the threaded hole on the outer side of ulna 69, achieving tension locking. If readjustment is required, screws 295 and 296 can be removed and the above steps repeated. After adjustment, the excess segment 294 can be trimmed.

[0117] This structure features a simple and compact design, making it suitable for use in confined spaces such as the elbow, wrist, and fingers. It effectively adjusts ligament tension without requiring a complex sliding adjustment mechanism.

[0118] The specific structure and principle of the hydraulic artificial muscle unit will be explained below: This invention uses hydraulic artificial muscles as the active driving element, combined with bionic tendons to achieve joint movement. The structure of a single hydraulic artificial muscle is as follows: Figures 25-29 As shown.

[0119] Single hydraulic artificial muscle structure The hydraulic quick-connect plug 278 is a hydraulic input interface, externally fitted with a thin latex tube 277, and internally connected to a hydraulic pipe 281. The thin latex tube 277 is further covered with a nylon braided tube 276 to provide radial confinement and mimic the fibrous structure of biological muscle. At the location of the hydraulic quick-connect plug 278, the nylon braided tube 276 and the internal thin latex tube 277 are secured together by a stainless steel hose clamp 279, ensuring a reliable seal of the latex tube 277 at the quick-connect plug 278. The hydraulic pipe 281 extends through the nylon braided tube 276 and is used to connect to the pressurized end of the hydraulic system.

[0120] Stainless steel sleeves 280 and 282 are provided at both ends of the artificial muscle, respectively fitted over the nylon braided tube 276 and its inner thin latex tube 277. The stainless steel sleeves are artificially flattened and perforated to allow screws 310 and 311 to pass through, thus securely fixing a single artificial muscle to the bone structure. The stainless steel sleeves 280 and 282 can also simultaneously compress and fix the nylon braided tube 276, the thin latex tube 277, and the artificial tendon (not shown) to the bone, achieving integrated installation of the artificial muscle.

[0121] During use, liquid is injected into the thin latex tube 277 through the hydraulic pipe 281. The latex tube expands under pressure, which in turn expands the nylon snake-woven tube 276 covering it, producing radial expansion and axial contraction effects, thereby realizing the active contraction action of the artificial muscle.

[0122] like Figure 30 As shown, to increase output force, multiple artificial muscles can be installed in parallel: three artificial muscles are arranged in parallel, and the whole is covered with a wide nylon snake-patterned braided tube 283. The two ends of each muscle are pressed and fixed to the outer braided tube 283 by stainless steel sleeves 284-289 to form a muscle bundle, which is then fixed to the bone as a whole by screws.

[0123] The biomimetic muscle system used in this invention employs the aforementioned artificial muscle technology, combined with structured "muscle-tendon" components, to achieve joint flexion, extension, abduction, and rotation functions through linear contraction. The following sections describe these functions: The structure of the index finger muscles and tendons: like Figure 13 As shown, the flexion of the index finger is controlled by multiple artificial muscles and tendons working together, with the specific structure as follows: The first flexor tendon of the index finger (190) is fixed proximally to the ulna (69) and distally passes through the eighteenth carpal ligament (138) and the tendon sheaths of the first to third index finger muscles (191-193), finally attaching to the distal phalanx (89) of the index finger. Contraction of this tendon drives the joints of the index finger at various levels, including the base (86), proximal phalanx (87), middle phalanx (88), and distal phalanx (89), achieving synchronous flexion movements.

[0124] like Figure 13 , Figure 14 , Figure 33 As shown: The second flexor tendon of the index finger 194 is located above the first flexor tendon 190, also originating from the ulna 69, and distally passing through the same path, the eighteenth carpal ligament 138, and the first and second tendon sheaths 191 and 192, finally attaching to the middle phalanx 88. This tendon mainly controls the flexion movement between the base of the finger 86, the proximal phalanx 87, and the middle phalanx 88.

[0125] like Figure 15 , Figure 34 As shown, the proximal end of the first extensor muscle tendon 300 of the index finger is fixed to the ulna 69. Its distal branches pass successively through the fourth and fifth tendon sheaths 195-196, and after passing through the fifth tendon sheath 196, divide into three branches (301, 302, and 303). The middle branch 301 attaches to the dorsal proximal end of the middle phalanx 88, while the other two lateral branches (302 and 303) cross the joint between the proximal phalanx 87 and the middle phalanx 88 in an approximately rhomboid shape, converging near the distal phalanx 89 and extending to the distal phalanx 89. Contraction of this muscle tendon 300 enables coordinated extension of the index finger from the base to the distal phalanx.

[0126] like Figure 14 , Figure 33 As shown, the third flexor tendon of the index finger 198 connects the proximal phalanx 87 and the base of the finger 86. Its individual contraction can drive flexion between the proximal phalanx and the base of the finger, enhancing fine grasping control.

[0127] like Figure 14 , Figure 15 , Figure 33 , Figure 34 As shown, the first and second abductor tendons of the index finger (210, 211) are connected at one end to the base of the finger 86, and at the other end to the two lateral branches (302, 303) of the first extensor tendon 300 of the index finger via tendons (304, 305). Simultaneously, the other ends of the first and second abductor tendons 210 and 211 are also connected to the intermediate branch 301 of the first extensor tendon 300 of the index finger via tendons (306, 307). The first and second abductor tendons (210, 211) are symmetrically arranged. Tendon 210 primarily controls abduction towards the thumb, while tendon 211 primarily controls adduction towards the middle finger. Through a synergistic mechanism of active contraction and passive relaxation, lateral swing adjustment in the coronal plane is achieved.

[0128] Thumb muscle and tendon structure: like Figure 14 , Figure 33As shown, one end of the first flexor tendon 200 of the thumb is attached to the first carpal bone 75, and the other end is attached to the middle phalanx of the thumb 84. When the tendon contracts and flexes, it can drive the joint between the third carpal bone 77, the proximal phalanx of the thumb 83, and the middle phalanx of the thumb 84 to produce a flexing motion.

[0129] The first adductor tendon 201 of the thumb is composed of multiple bundles of tendon fibers, with one end attached to the middle phalanx 84 of the thumb and the other end connected to the base of the middle finger 90. When this tendon contracts, it can cause adduction movement between the joint between the third carpal bone 77 and the proximal phalanx 83 of the thumb.

[0130] One end of the second flexor thumb tendon 202 is fixed to the radius 70, and the other end passes under the eighteenth carpal ligament 138, and then passes through the first thumb tendon sheath 203 and the second thumb tendon sheath 204 in sequence, finally attaching to the distal phalanx 85 of the thumb. When this tendon contracts, it can drive multiple joints between the third carpal bone 77, the proximal phalanx 83 of the thumb, the middle phalanx 84, and the distal phalanx 85 to achieve flexion.

[0131] like Figure 14 , Figure 15 , Figure 33 , Figure 34 As shown, the first extensor tendon of the thumb 205 is connected at one end to the ulna 69 and at the other end to the proximal phalanx of the thumb 83. Its contraction can extend the joint between the third carpal bone 77 and the proximal phalanx of the thumb 83.

[0132] One end of the second extensor tendon of the thumb 206 inserts into the ulna 69, and the other end passes through the tendon sheath of the third tendon of the thumb 207 and attaches to the middle phalanx of the thumb 84. When this tendon contracts, it can drive the extension of the two joints between the third carpal bone 77, the proximal phalanx of the thumb 83, and the middle phalanx 84.

[0133] The extensor thumb third tendon 208 also originates from the ulna 69, and its end passes sequentially through the thumb third tendon sheath 207 and the thumb fourth tendon sheath 209, finally attaching to the distal phalanx 85 of the thumb. When this tendon contracts, it can sequentially drive the three joints between the third carpal bone 77, the proximal phalanx 83, the middle phalanx 84, and the distal phalanx 85 to achieve overall extension movement.

[0134] The muscle and tendon structure of the middle, ring, and little fingers: like Figure 13 , Figure 14 , Figure 15 , Figure 33 and Figure 34 As shown, the segmental drive structures of the middle, ring, and little fingers are basically the same as those of the index finger in terms of muscle and tendon arrangement. They all use independently arranged flexor tendons, extensor tendons, and auxiliary control tendons to form a coordinated movement system.

[0135] The drive system for each finger typically includes: A group of multi-segmented, interlacing flexor muscles and tendons pass sequentially through a set tendon sheath and attach to the proximal, middle, and distal segments, driving the flexion of each joint; A branched extensor tendon generates multi-joint tension at a single proximal fixation point, enabling synchronous or segmental extension of the phalanges. Several phalangeal-proximal phalangeal tendons are used to achieve local movement control; If necessary, abductor or adductor tendons can be added for the adjustment of interphalangeal coordination.

[0136] The above structure ensures that the middle, ring, and little fingers can achieve the same range of motion and control precision as the index finger, while supporting the functional requirements of highly realistic hand grasping, pinching, and finger technique changes.

[0137] Elbow muscle and tendon structure: Brachialis 212: One end is fixed to the anterior aspect of the mid-shaft of the humerus 71, and the other end attaches to the proximal end of the ulna 69, near the ulnar-humeral joint. When this muscle tendon contracts, it directly drives the forearm to flex around the elbow joint, making it one of the main power sources for elbow flexion. Biceps brachii long head 213 and short head 215: Both originate from the upper region of the scapula 72. The long head 213 passes through the humeral groove via the transverse ligament 214 and terminates together with the short head 215 at the proximal end of the radius 70, near the radius-humeral joint. When they contract, they generate traction on the radius 70, thereby driving the forearm to flex relative to the humerus 71, playing a crucial role, especially in rapid, load-changing arm flexion movements.

[0138] like Figure 15 As shown, the triceps brachii is the main extensor muscle group of the elbow joint, and it is divided into three bundles: Both the medial head 216 and the lateral head 217 originate from the mid-posterior segment of the humerus 71 and terminate at the proximal end of the ulna 69 near the articular surface. The long head 218 begins in the lower region of the scapula 72 and terminates in the same region proximal to the ulna 69.

[0139] When the three tendons mentioned above contract together, they exert a posterior traction force on the ulna 69, thereby enabling the elbow joint to extend.

[0140] Muscle and tendon structure of the glenohumeral joint: The multiaxial movement of the glenohumeral joint is controlled by a system of muscles and tendons attached between the scapula 72 and the humerus 71, including the main muscle groups responsible for abduction, adduction, internal rotation, and external rotation. The specific structure is as follows: like Figure 18As shown, the supraspinatus muscle tendon 236 attaches at one end to the supraspinous fossa above the scapula 72 and at the other end to the head of the humerus 71. When this muscle tendon 236 contracts, it generates an upward traction force, which can drive the humerus 71 to achieve the initial abduction movement around the glenohumeral joint, playing a key role, especially in the initial lifting phase of the upper limb.

[0141] like Figure 14 and Figure 15 As shown, the teres major tendon 237 attaches at one end to the lower border of the scapula 72 and at the other end to the middle and lower segment of the humerus 71. Its contraction generates an inward traction force, which can drive the humerus 71 to adduct along the coronal plane, and cooperate with the supraspinatus 236 to achieve coordinated regulation of upper limb abduction and inversion.

[0142] like Figure 14 As shown, the subscapularis muscle tendon 238 originates in the subscapular fossa anterior to scapula 72 and inserts into the anteromedial surface of the humeral head. Its contraction generates an inward torsional torque about the vertical axis, and it is the main muscle group controlling the internal rotation of the glenohumeral joint.

[0143] like Figure 15 As shown, the infraspinatus muscle and tendon 239 originate from the infraspinous fossa on the posterior side of the scapula 72 and insert onto the posterolateral surface of the humeral head. Contraction of the infraspinatus muscle can drive the glenohumeral joint to complete external rotation.

[0144] Teres minor tendon 240: Arranged in conjunction with infraspinatus 239, one end connects to the lateral border of scapula 72, and the other end attaches to the posterior aspect of the humeral head. Together with infraspinatus 239, it participates in the external rotation control of humerus 71, enhancing the stability of the joint during horizontal rotation of the shoulder.

[0145] The five tendons mentioned above constitute a typical "rotator cuff" structure, which not only enables active drive in multiple directions, but also provides continuous and stable support for the glenohumeral joint during complex spatial movements.

[0146] The deltoid muscle, located on the lateral side of the shoulder and covering the glenohumeral joint, is the primary power source for compound movements of the upper limb, including flexion, abduction, and extension. Based on its anatomical and functional characteristics, the deltoid muscle can be subdivided into the anterior, middle, and posterior deltoids. Each deltoid is connected to the space between the humerus (71) and scapula (72) or clavicle (73) via an independent muscle and tendon. Its specific structure is as follows: like Figure 19 and Figure 21 As shown, the anterior deltoid muscle comprises two tendons: the first anterior deltoid tendon 241 originates from the scapula 72, and the second anterior deltoid tendon 242 originates from the clavicle 73, both inserting into the upper anterior part of the humerus 71. When the anterior deltoid tendons contract, the humerus 71 is subjected to anterior traction, which drives the glenohumeral joint to achieve flexion of the upper limb.

[0147] like Figure 21As shown, the middle deltoid muscle consists of three tendons: the first tendon 243, the second tendon 244, and the third tendon 245. All tendons originate from the lateral border of the scapula 72 and insert into the deltoid tuberosity on the lateral side of the humerus 71. The synergistic contraction of the middle deltoids 243-245 generates an outward traction force in the coronal plane, thereby driving the humerus 71 to perform abduction of the glenohumeral joint.

[0148] like Figure 20 As shown, the posterior deltoid muscle also comprises three tendons: the first tendon 246, the second tendon 247, and the third tendon 248. All three originate at the posterior border of the scapula 72 and insert onto the upper posterior aspect of the humerus 71. When the three tendons 246-248 contract synchronously, they pull the humerus 71 posteriorly, thus achieving extension of the glenohumeral joint.

[0149] Scapulothorax sliding muscles: The scapulothoracic joint enables multidirectional sliding of the scapula 72 relative to the trunk 74 through a multi-muscle-tendon system, thus endowing the shoulder girdle with a high degree of flexibility. This system also coordinates the control of flexion, extension, and adduction of the humerus 71 in the sagittal and coronal planes. The specific structure is as follows: like Figure 22 As shown, the pectoralis minor tendon system includes the first to third pectoralis minor tendons 250-252. One end of each tendon attaches to the anteromedial border of the scapula 72, and the other end connects to the third to fifth ribs of the trunk 74. When the three tendons 250-252 contract synergistically, they can drive the scapula 72 to slide along the anterior direction of the thorax, mainly used to assist in shoulder protraction.

[0150] like Figure 20 As shown, the rhomboid major tendon system consists of tendons 253-255 (first to third), which attach proximally to the thoracic vertebrae of the trunk 74 and distally to the medial border of the scapula 72. Contraction of tendons 253-255 in this system enables the scapula 72 to slide posteriorly along the thorax, and is the main power source for controlling the repositioning of the scapula 72 and the retraction of the shoulder in the back.

[0151] like Figure 20 and Figure 21 As shown, the serratus anterior tendon system consists of tendons 256-261, from the first to the sixth. One end of each tendon connects to the anterior border of the scapula 72, while the other ends attach to the fourth to ninth ribs. When all six tendons 256-261 contract simultaneously, the scapula 72 can be translated laterally and anteriorly along the trunk 74. This is a key structure for maintaining the scapula 72's attachment to the thorax and coordinating with forward extension movements.

[0152] like Figure 19As shown, the pectoralis major tendon system comprises tendons 262-268, numbered 1 to 7. The first and second tendons connect the humerus 71 to the clavicle 73, while the remaining five tendons connect the humerus 71 to the trunk 74 in the thoracic region. When tendons 262-268 contract, they not only drive the scapula 72 forward but also simultaneously pull the humerus 71 to complete a forward flexion movement, making it suitable for upper limb movements such as bionic pushes and front hugs.

[0153] like Figure 20 As shown, the latissimus dorsi tendon system consists of tendons 269-273, from the first to the fifth. One end of each tendon is fixed to the back of the trunk 74, and the other end attaches to the proximal end of the humerus 71. When this muscle group 269-273 contracts, it drives the humerus 71 to perform extension and adduction movements, while simultaneously coordinating with the sliding of the scapula 72 to achieve stable back stretching movements.

[0154] like Figure 19-21 As shown, the trapezius muscle includes the anterior bundle (tendons 315-316, first and second), lateral bundle (tendons 320-321, first and second), posterior bundle (tendons 317-319, first and third), and dorsal bundle (tendons 312-314, first and third). When the anterior and lateral bundles contract, they drive the scapula 72 to rotate upwards relative to the trunk, accompanied by sliding. When the posterior bundle contracts, it drives the scapula 72 to slide upwards relative to the trunk. When the dorsal bundle contracts, it drives the scapula 72 to rotate downwards relative to the trunk, accompanied by sliding. Through different combinations of contraction of these four bundles of the trapezius muscle, the scapula 72 can produce various complex movements of sliding and rotation. This allows for a more comprehensive replication of the control methods of the various functional bundles of the human trapezius muscle on scapular movement in a robot, further improving the simulation accuracy of scapulothoracic joint movement and the overall stability of the shoulder joint.

[0155] This structure constructs a highly biomimetic scapular-thoracic control system, which has multi-directional sliding and forward-backward coordinated traction capabilities, and is the core foundation for supporting complex degrees of freedom of upper limb movements.

[0156] The muscle and tendon system of the present invention is linked with the hydraulic drive device, and hydraulic oil is delivered to each artificial muscle through the soft conduit 39 to realize the coordinated movement of the bionic upper limb.

[0157] It should be noted that, in this invention, the artificial muscles, tendons, ligaments and / or drive circuits may be replaced or their quantities increased or decreased, including but not limited to adding or reducing biomimetic soft tissues such as ligaments, tendons, cartilage, synovial bursae, fascia or skin; and hydraulic drive may be replaced by pneumatic drive, cable drive or other drive methods that can achieve muscle traction output, as long as the same or equivalent joint drive and mechanical synergy effects as this invention are still achieved.

[0158] The same or similar parts between the various embodiments in this specification can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, the method embodiments described later are relatively simple in description since they correspond to the system, and relevant parts can be referred to the descriptions in the system embodiments.

[0159] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. An electro-hydraulic integrated driven bionic humanoid robot upper limb structure, characterized in that, include: The humanoid skeletal structure is constructed based on the anatomical structure of the human upper limb, including the ulna, radius, humerus, scapula, clavicle, multiple carpal bones, and the phalanges of the fingers. The skeletal components are connected by mechanical joints to form the shoulder, elbow, wrist, and finger joints. A ligament system, located at various bone joints to mimic the function of biological ligaments, includes elbow ligaments, wrist ligaments, finger ligaments, and glenohumeral ligaments, used to limit the range of motion of joints and provide structural stability; The joint contact surface of the skeletal structure is provided with a biomimetic joint contact layer or a low-friction pad to reduce the frictional resistance of the joint contact surface and improve the smoothness of movement. An electro-hydraulic integrated drive system includes multiple hydraulic artificial muscle units and a pressure source device. The pressure source device delivers liquid to the hydraulic artificial muscle units via a flexible conduit, causing the hydraulic artificial muscle units to expand radially and contract axially under the action of the pressure source device, thereby generating traction force to drive the skeletal structure to achieve joint movement. Each hydraulic artificial muscle unit is fluidly connected to a corresponding pressure source device, which supplies liquid and provides driving force to the hydraulic artificial muscle unit. The liquid supply circuits between different hydraulic artificial muscle units are independent of each other. The tendon-muscle system, wherein the hydraulic artificial muscle unit is connected to the target bone through artificial tendons and muscles to form a muscle-like tendon force transmission path, driving the relevant joints to achieve flexion, extension, abduction and rotation movements, so as to realize multi-degree-of-freedom linkage humanoid movements.

2. The electro-hydraulic integrated driven bionic humanoid robot upper limb structure according to claim 1, characterized in that, The pressure source device includes: A drive mechanism, the drive mechanism including a motor and a transmission component driven by the motor; An extrusion plate is connected to the output end of the transmission assembly; A sealed hydraulic cavity, filled with liquid, is positioned on the extrusion path of the extrusion plate; A reset mechanism is used to restore the extrusion plate to its initial position; A liquid delivery mechanism includes a conduit, one end of which is connected to a hydraulic cavity, and the other end is used to connect to a hydraulic artificial muscle. The motor drives the extrusion plate to move through the transmission assembly. When the extrusion plate compresses the hydraulic cavity, the liquid is output through the conduit to drive the hydraulic artificial muscle. When the extrusion plate returns to its original position, the liquid flows back to the hydraulic cavity. The transmission assembly and the extrusion plate constitute a quantitative extrusion mechanism, which causes the effective volume of the hydraulic cavity to change accordingly due to the displacement of the extrusion plate. This results in a corresponding relationship between the volume of liquid output through the conduit and the displacement of the extrusion plate, and a corresponding relationship between the contraction amount of the hydraulic artificial muscle and the displacement of the extrusion plate.

3. The pressure source device according to claim 2, characterized in that, The sealed hydraulic cavity is a syringe-type cavity or a sealed cavity formed by a syringe structure.

4. The electro-hydraulic integrated driven bionic humanoid robot upper limb structure according to claim 2, characterized in that, The transmission assembly includes a winding reel connected to the motor output shaft and a drive rope. One end of the drive rope is fixed to the winding reel, and the other end is connected to an extrusion plate. The winding reel drives the extrusion plate to move by winding or releasing the drive rope. The rotation angle of the motor and the displacement of the extrusion plate are related by the effective radius of the winding reel and the winding / unwinding length of the drive rope. The transmission assembly also includes a pulley system. The drive rope passes through the pulley system and connects to the extrusion plate. The pulley system includes at least one fixed pulley and at least one movable pulley. The fixed pulley is mounted on the motor base, and the movable pulley... The pulley is mounted on the extrusion plate or a moving component linked to the extrusion plate. The pulley group includes multiple fixed pulleys and / or multiple movable pulleys to form a multi-stage pulley group transmission. The number of stages and / or pulleys in the pulley group is configured according to the requirements of output force, stroke, and structural compactness. The pressure source device also includes a length fine-tuning mechanism. The anchoring end of the drive rope is connected to the motor base through the length fine-tuning mechanism. The length fine-tuning mechanism includes a cable connector, a screw, and an adjusting nut. The tension of the drive rope is adjusted by rotating the adjusting nut to change the position of the screw.

5. The electro-hydraulic integrated driven bionic humanoid robot upper limb structure according to claim 2, characterized in that, The pressure source device includes a hydraulic cavity and a drive mechanism for changing the volume of the hydraulic cavity. The drive mechanism can be a linear drive, a rotary drive, a lead screw-nut, a gear rack, a cam, a connecting rod, or a combination thereof. Each hydraulic artificial muscle is pressure isolated through an independent pressure source or isolation valve group / independent energy storage unit, so that pressure fluctuations in any hydraulic artificial muscle do not cause significant pressure coupling in other hydraulic artificial muscles, thereby achieving independent pressure or displacement control.

6. The electro-hydraulic integrated driven bionic humanoid robot upper limb structure according to claim 2, characterized in that, The hydraulic cavity is a capsule-shaped elastic sealed cavity with a first end and a second end. The first end is a closed end, and the second end has a liquid outlet communicating with the conduit. The first end and the second end are respectively supported and fixed by a first slider and a second slider. The first slider and the second slider are slidably mounted on a guide rod, and the guide rod is fixed to the motor base. The reset mechanism includes a spring sleeved on the guide rod. The spring is located between the slider and the motor base. When the extrusion plate compresses the hydraulic cavity, the spring stores energy, and when the extrusion plate returns, the spring releases energy to push the first slider and the second slider to reset.

7. The electro-hydraulic integrated driven bionic humanoid robot upper limb structure according to any one of claims 1-6, characterized in that, Multiple joints of the skeletal structure are flexibly connected by biomimetic ligaments. These ligaments are woven from high-strength fiber materials and have the functions of limiting the range of motion of the joints, enhancing stability, and absorbing external impacts. The ligament system includes elbow joint ligament structures, radius and ulna connecting ligament systems, forearm and carpal connecting ligaments, carpal connecting ligaments, ligament connections between phalanges and carpal bones, shoulder joint ligament structures, and ligament length and / or tension adjustment systems.

8. The electro-hydraulic integrated driven bionic humanoid robot upper limb structure according to claim 7, characterized in that, The high-strength fiber material is a wear-resistant fiber material. The ligament is woven from weft threads and multiple warp threads. The weft threads and warp threads are interwoven or wrapped to form a flexible strip. The width, thickness and stiffness of the ligament can be changed by adjusting the number of warp threads and the thickness of the material.

9. The electro-hydraulic integrated driven bionic humanoid robot upper limb structure according to claim 7, characterized in that, The elbow joint ligament structure includes: The first and second radial ligaments connect the humerus and ulna and are used to control the lateral stability of the radius; The first to third ulnar ligaments are used to limit excessive inversion, abduction and rotation and provide flexible response at different angles. The first and third ulnar ligaments have angle-dependent tension characteristics and take turns playing a stabilizing role at different angles of the elbow joint.

10. The electro-hydraulic integrated driven bionic humanoid robot upper limb structure according to claim 7, characterized in that, The radius-ulna ligament system includes: The annular ligament surrounds the proximal radius and is used for rotational stability between the radius and ulna and humerus. The first to sixth membranous ligaments are arranged with oblique tension between the radius and ulna. The first, second, and sixth membranous ligaments are used to transfer tension from the radius to the ulna, while the third, fourth, and fifth membranous ligaments are used to transfer pressure from the radius to the ulna. The palmar and dorsal radioulnar ligaments are used to ensure that the radius rotates smoothly around its axis of rotation relative to the ulna.

11. The electro-hydraulic integrated driven bionic humanoid robot upper limb structure according to claim 7, characterized in that, The ligament connecting the forearm and wrist bones includes: The radius forms multiple flexible connections with the first to third carpal bones, the fifth carpal bone, the seventh carpal bone, and the base of the index finger via the first to ninth carpal ligaments. The ulna is connected to the second, fifth, and seventh carpal bones via the tenth to thirteenth carpal ligaments, respectively.

12. The electro-hydraulic integrated driven bionic humanoid robot upper limb structure according to claim 7, characterized in that, The intercarpal ligaments include the fourteenth to thirty-first carpal ligaments and the thirty-second carpal ligament. The multiple carpal bones in the wrist region form a multi-degree-of-freedom stable network through multiple sets of interlaced ligaments. The relative range of motion of each carpal bone is constrained by the ligament length and connection position.

13. The electro-hydraulic integrated driven bionic humanoid robot upper limb structure according to claim 7, characterized in that, The ligamentous connections between the phalanges and carpal bones include the ligamentous connection structures of the thumb, index finger, middle finger, ring finger, and little finger; The ligamentous connections of the thumb include: the proximal phalanx of the thumb is connected to the third carpal bone via the first and second ligaments of the thumb, and is laterally connected to the base of the index finger via the third and fourth ligaments of the thumb; the middle phalanx of the thumb is connected to the proximal phalanx via the fifth and sixth ligaments of the thumb, and the seventh ligament of the thumb limits the maximum extension angle of the middle phalanx relative to the proximal phalanx; the distal phalanx of the thumb is connected to the middle phalanx via the eighth and ninth ligaments of the thumb, and the tenth ligament of the thumb restricts the movement of the distal phalanx. The ligament connections of the index finger include: the base of the index finger is connected to the fourth carpal bone via the first to fourth ligaments of the index finger, and a laterally flexible connection is established with the base of the middle finger via the fifth to eighth ligaments of the index finger; the proximal phalanx of the index finger is connected to the base of the finger via the ninth and tenth ligaments of the index finger, and the eleventh ligament of the index finger limits its maximum extension angle; the middle phalanx of the index finger is connected to the proximal phalanx via the twelfth and thirteenth ligaments of the index finger, and the fourteenth ligament of the index finger limits its range of motion; the distal phalanx of the index finger is connected to the middle phalanx via the fifteenth and sixteenth ligaments of the index finger, and the seventeenth ligament of the index finger controls its maximum extension angle; The ligament connection of the middle finger includes: the base of the middle finger is connected to the fifth carpal bone through the first to fourth ligaments of the middle finger, and a transverse flexible connection is established with the base of the ring finger through the fifth and sixth ligaments of the middle finger; The ligament connection of the ring finger includes: the base of the ring finger is connected to the fifth and sixth carpal bones through the first and second ligaments of the ring finger, respectively, and a transverse flexible connection is established with the base of the little finger through the third and fourth ligaments of the ring finger; The ligament connections of the little finger include: the base of the little finger is connected to the sixth carpal bone through the first and second ligaments of the little finger, and to the eighth carpal bone through the third ligament of the little finger.

14. The electro-hydraulic integrated driven bionic humanoid robot upper limb structure according to claim 7, characterized in that, The shoulder joint ligament structure includes the glenohumeral joint soft tissue structure, specifically: The first to sixth glenohumeral ligaments limit the range of motion of the humerus relative to the scapula. The first scapular ligament is used to support the scapular structure; The second to fifth scapular ligaments form the ligamentous complex of the acromioclavicular joint; The first to sixth branches of the glenohumeral joint capsule are made of latex material and have stainless steel ports at both ends. They are fixed to the humeral head and the glenoid fossa of the scapula with screws, respectively, to passively extend or retract during joint movement to stabilize the joint.

15. The electro-hydraulic integrated driven bionic humanoid robot upper limb structure according to claim 7, characterized in that, The shoulder joint ligament structure includes the scapulothoracic joint ligaments, wherein: the scapula forms a movable fulcrum with the trunk via the clavicle; the scapula and clavicle are connected by the second to fifth scapular ligaments to form an acromioclavicular connection network; the clavicle and trunk are connected by connecting ligaments to form a rotatable hinge, allowing the clavicle to undergo restricted sliding and / or rotation around a preset axis relative to the trunk in the anterior-posterior direction, thereby driving the scapula to perform biomimetic translational sliding and biomimetic rotation on the thoracic surface; the length, connection position, and / or tension of the connecting ligaments and / or tendons and muscles connected to the scapula are used to jointly constrain the range of motion of the scapula relative to the thoracic cavity and provide rebound stability; wherein, the translational sliding of the scapula causes a controllable change in the kinematic rotation center of the upper limb.

16. The electro-hydraulic integrated driven bionic humanoid robot upper limb structure according to any one of claims 8-15, characterized in that, The ligament length / tension adjustment system includes: A slider, screw, and knurled nut type adjustment device includes: ligament material passes through a guide hole inside the bone from the bone insertion point and is connected to a ligament sliding connection block equipped with a guide rail; the tail end of the sliding connection block is equipped with a screw, which passes through the bone shell and connects to the knurled nut; by rotating the knurled nut, the sliding connection block is driven to slide, thereby achieving fine adjustment of ligament length and tension; And / or, a screw-fixed adjustment device, comprising: an adjustable excess length segment formed after the ligament passes through a flat hole inside the bone, tension is adjusted by stretching or loosening the excess length segment, and when the tension reaches a target value, the excess length segment is fastened to a fixation point on the outside of the bone using a first screw and a second screw.

17. The electro-hydraulic integrated driven bionic humanoid robot upper limb structure according to any one of claims 1-6, characterized in that, The hydraulic artificial muscle unit includes Hydraulic quick-connect plug, used as a hydraulic input interface; A thin latex tube is fitted over the outside of the hydraulic quick-connect plug; A hydraulic hose is inserted into the hydraulic quick-connect plug and extends into the thin latex tube; Nylon snakeskin braided tubing, covering the outside of the thin latex tubing, is used to provide radial confinement and mimic the structure of biological muscle fibers; The hose clamp is fastened to the location of the hydraulic quick connector and is used to press the nylon braided tubing and the thin latex tubing onto the hydraulic quick connector to achieve a seal. A sleeve is respectively fitted onto the outside of both ends of the artificial muscle. The sleeve is flattened and has fixing holes for the connector to pass through, for fixing a single artificial muscle to the bone structure. When liquid is injected into the thin latex tube through the hydraulic tube, the latex tube expands under pressure and drives the nylon braided tube to produce radial expansion and axial contraction, thereby achieving active contraction. The hydraulic artificial muscle unit is provided with multiple units, with at least two hydraulic artificial muscles arranged in parallel. Each hydraulic artificial muscle is fixed to the corresponding position of the bone structure through sleeves and connectors at both ends, and drives joint movement through the force transmission path that simulates biological tendons.

18. The electro-hydraulic integrated driven bionic humanoid robot upper limb structure according to claim 1, characterized in that, Also includes: Index finger driving module, the index finger driving module includes: The first flexor tendon of the index finger is fixed to the ulna proximally, and its distal end passes through the eighteenth carpal ligament and the first to third tendon sheaths of the index finger in sequence, attaching to the distal phalanx of the index finger. It is used to drive the phalanx, proximal phalanx, middle phalanx and distal phalanx to achieve synchronous flexion. The second flexor tendon of the index finger is located above the first flexor tendon. Its proximal end is fixed to the ulna, and its distal end passes through the eighteenth ligament of the carpal bone and the first and second tendon sheaths, attaching to the middle phalanx. It is used to drive the flexion of the base, proximal phalanx and middle phalanx. The third flexor tendon of the index finger connects the proximal phalanx and the base of the index finger, and is used to drive the local flexion between the proximal phalanx and the base of the finger; The first extensor tendon of the index finger is fixed to the ulna at its proximal end. Its distal branch structure passes through the fourth to fifth tendon sheaths and then divides into three branches. The middle branch inserts into the middle phalanx, and the two lateral branches cross the joint between the proximal and middle phalanges in an approximately rhomboid structure and then merge and extend to the distal phalanx, which is used to achieve coordinated extension of the entire segment of the index finger. The first and second abductor tendons of the index finger are connected at one end to the base of the finger, and at the other end to the two lateral branches and the middle branch of the first extensor tendon of the index finger through branch tendons. They are arranged symmetrically to enable the index finger to swing laterally in the coronal plane. Thumb drive module, the thumb drive module includes: The first flexor tendon of the thumb attaches to the first carpal bone at one end and to the middle phalanx of the thumb at the other end. It is used to drive the flexion of the joint between the third carpal bone, the proximal phalanx of the thumb, and the middle phalanx. The second flexor tendon of the thumb is fixed at one end to the radius, and the other end passes through the lower part of the eighteenth carpal ligament, the first thumb tendon sheath and the second thumb tendon sheath in sequence, and attaches to the distal phalanx of the thumb. It is used to drive the multi-joint flexion of the third carpal bone, the proximal phalanx of the thumb, the middle phalanx and the distal phalanx. The first adductor tendon of the thumb is composed of multiple bundles of tendon fibers. One end attaches to the middle phalanx of the thumb, and the other end connects to the base of the middle finger. It is used to drive the adduction of the joint between the third carpal bone and the proximal phalanx of the thumb. The first extensor tendon of the thumb connects to the ulna at one end and attaches to the proximal phalanx of the thumb at the other end, and is used to drive the extension of the joint between the third carpal bone and the proximal phalanx of the thumb. The second extensor tendon of the thumb inserts into the ulna at one end and passes through the tendon sheath of the third extensor tendon of the thumb at the other end, attaching to the middle phalanx of the thumb. It is used to drive the extension of the two joints between the third carpal bone, the proximal phalanx of the thumb, and the middle phalanx. The extensor thumb third tendon originates from the ulna at one end and passes through the tendon sheath of the thumb third and the tendon sheath of the thumb fourth in sequence, attaching to the distal phalanx of the thumb. It is used to drive the three joints between the third carpal bone, the proximal phalanx of the thumb, the middle phalanx and the distal phalanx of the thumb to achieve overall extension. The middle, ring, and little fingers are driver modules, and each finger driver module includes: Multi-segmented, interlacing flexor muscles and tendons pass sequentially through pre-designed tendon sheaths and attach to the proximal, middle, and distal phalanges respectively, to drive flexion of each joint; Branched extensor tendons have a single proximal fixation point and generate multi-joint tension, used to achieve synchronous or segmental extension of the phalanges; The phalangeal and proximal phalangeal tendons connect the base of the finger and the proximal phalanx, and are used for local movement control. Abductor or adductor tendons are used for interphalangeal coordination.

19. The electro-hydraulic integrated driven bionic humanoid robot upper limb structure according to claim 18, characterized in that, Also includes: Elbow joint drive module, the elbow joint drive module comprising: The brachialis muscle is attached at one end to the anterior side of the middle segment of the humerus and at the other end to the proximal end of the ulna. It is used to drive the flexion of the forearm around the elbow joint. The long head and short head of the biceps brachii originate from the upper part of the scapula. The long head passes through the groove of the humerus via the transverse ligament guide slide and terminates at the proximal radius together with the short head. It is used to drive the forearm to complete the flexion movement relative to the humerus. The triceps brachii consists of the medial head, lateral head, and long head. The medial and lateral heads originate from the middle of the posterior aspect of the humerus, while the long head originates from the lower part of the scapula. All three tendons insert into the proximal end of the ulna and are used to drive elbow joint extension when they contract together. A glenohumeral joint drive module, which constitutes a rotator cuff structure, includes: The supraspinatus muscle and tendon attach at one end to the supraspinous fossa above the scapula and at the other end to the head of the humerus, and are used to drive the initial abduction of the humerus. The teres major tendon attaches to the lower border of the scapula at one end and inserts into the middle and lower part of the humerus at the other end, and is used to drive the adduction of the humerus; The subscapularis muscle and tendon originate from the subscapular fossa on the anterior side of the scapula and insert into the anteromedial surface of the humeral head. It is the main muscle group controlling the internal rotation of the glenohumeral joint. The infraspinatus muscle and tendon originate from the infraspinous fossa on the posterior side of the scapula and insert onto the posterolateral surface of the humeral head, and are used to drive the external rotation of the glenohumeral joint. The teres minor tendon, arranged in conjunction with the infraspinatus muscle, connects at one end to the lateral border of the scapula and attaches at the other end to the posterior aspect of the humeral head, and is used to jointly participate in the external rotation control of the humerus. The deltoid muscle drive module is divided into the anterior deltoid, middle deltoid, and posterior deltoid: The anterior deltoid muscle includes the first anterior deltoid tendon and the second anterior deltoid tendon. The first anterior deltoid tendon originates from the scapula and the second anterior deltoid tendon originates from the clavicle. Both tendons insert into the upper anterior part of the humerus and are used to drive the flexion of the glenohumeral joint. The middle deltoid muscle includes the first, second, and third tendons, all of which originate from the lateral border of the scapula and insert into the deltoid tuberosity on the lateral side of the humerus, and are used to synergistically drive the abduction of the humerus. The posterior deltoid muscle includes the first, second, and third tendons of the posterior deltoid. All of them originate from the posterior border of the scapula and insert on the upper posterior part of the humerus. They are used to pull the humerus backward during synchronous contraction to achieve glenohumeral extension. Scapulothorax sliding muscle group module, the scapulothorax sliding muscle group module comprising: The pectoralis minor tendon system includes the first to third tendons. Each tendon attaches to the anteromedial border of the scapula at one end and connects to the third to fifth ribs of the trunk at the other end, and is used to drive the scapula to slide along the anterior direction of the thorax. The rhomboid tendon system, including the first to third tendons, attaches proximally to the thoracic vertebrae of the trunk and distally to the medial border of the scapula, and is used to drive the scapula to slide posteriorly along the thorax. The serratus anterior tendon system, including the first to sixth tendons, connects to the anterior border of the scapula at one end and attaches to the fourth to ninth ribs at the other end, and is used to achieve translation of the scapula along the lateral and anterior sides of the trunk. The pectoralis major tendon system includes the first to seventh tendons, of which the first and second tendons connect the humerus and clavicle, and the remaining five tendons connect the humerus and the thoracic region of the trunk, which are used to drive the scapula to slide forward and pull the humerus to flex. The latissimus dorsi tendon system, including tendons one through five, is fixed at one end to the back of the trunk and the other end to the proximal humerus. It is used to drive the extension and adduction of the humerus and to cooperate with the gliding of the scapula. The trapezius tendon system includes the first and second anterior bundle tendons, which drive the scapula to rotate upwards and glide; the first and second lateral bundle tendons, which drive the scapula to rotate upwards and glide; the first to third posterior bundle tendons, which drive the scapula to glide upwards; and the first to third dorsal bundle tendons, which drive the scapula to rotate downwards and glide.

20. The electro-hydraulic integrated driven bionic humanoid robot upper limb structure according to claim 1, characterized in that, The artificial muscle unit is connected to the skeletal structure by a quick-release and quick-installation structure, which includes a hydraulic sealing quick-connect structure and a mechanical positioning structure. The mechanical positioning structure includes a positioning groove, a positioning key, a positioning hole, a limiting surface or a combination thereof, which is used to achieve repeated positioning of a predetermined spatial posture after disassembly and replacement.

21. A bionic humanoid robot upper limb component, characterized in that, include: A skeletal joint mechanism, wherein the skeletal joint mechanism forms shoulder joints, elbow joints, wrist joints and finger joints through mechanical joints; A ligament system, located at at least a portion of the bone segment connections of the skeletal joint mechanism, is used to provide passive limitation of the range of motion of the joint and to provide rebound stability. The tendon system is arranged along a predetermined force line and connected to the skeletal joint mechanism to form a biomimetic force transmission path; And an artificial muscle drive system, the artificial muscle drive system comprising multiple artificial muscle units, the artificial muscle units applying traction force to the skeletal joint mechanism through the tendon system to drive the shoulder joint, elbow joint, wrist joint and / or finger joint to produce linked movements; The skeletal joint mechanism includes a scapulothoracic joint mechanism, which enables the scapula to form a floating base relative to the trunk and generate a complex movement of translation, sliding, and rotation. The ligament system provides constraints on the range of motion of the scapula relative to the trunk. The artificial muscle drive system includes at least two groups of scapulothoracic drive muscles with different directions of action. The at least two groups of scapulothoracic drive muscles are connected to different connection points of the scapula and / or clavicle through different tendon lines to apply traction forces with different directions to the scapula, thereby achieving coordinated regulation of at least two types of movements among scapular elevation / depression, anterior retraction / retraction, and internal / external rotation. Furthermore, the wrist of the skeletal joint mechanism includes multiple carpal bones, and the ligament system forms an inter-carpal ligament network that is interwoven between the multiple carpal bones, allowing limited relative micro-movements between the carpal bones and providing stable constraints for multi-directional wrist movements; the artificial muscle drive system drives the wrist joint to achieve at least two degrees of freedom of compound movement through at least two wrist drive tendon force lines with different directions of action, under the passive constraint of the inter-carpal ligament network. Furthermore, the finger joint includes an index finger extension mechanism, which includes a primary extensor tendon and its distal branch structure. The proximal end of the primary extensor tendon is fixed to the forearm bone segment and extends along the back of the hand. The distal end passes through at least two index finger extensor tendon sheaths in sequence and forms a branch point on the back of the index finger, dividing into at least three branches. One intermediate branch connects to the proximal dorsal end of the index and middle phalanges. Two lateral branches cross the joint between the proximal and middle phalanges of the index finger and run around both sides of the joint. The two lateral branches converge at the position of the middle phalanx near the distal phalanx to form a distal convergence bundle and extend to the proximal dorsal end of the distal phalanx of the index finger, thus forming a multi-branch extensor force transmission structure of the dorsal finger extensor tendon cap.

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