An upper limb assisting system and an upper limb assisting method

Abstract

The application belongs to the technical field of wearable exoskeletons, and particularly relates to an upper limb assisting system and an upper limb assisting method. The upper limb assisting system comprises an upper arm assisting device and a forearm assisting device. The upper arm assisting device senses the movement angle of the upper arm in space in real time, and dynamically outputs first assistance in the direction of conforming to the movement angle based on the movement angle. The intensity of the first assistance is positively correlated with the movement angle of the upper arm. The forearm assisting device obtains the flexion and extension angle of the forearm, and converts and amplifies the flexion and extension angle into second assistance. The intensity of the second assistance is positively correlated with the flexion and extension angle of the forearm. The upper arm assisting device and the forearm assisting device can work independently or cooperatively to provide assistance for the hovering of the upper limb of the operator. The upper limb assisting system of the application is composed of the upper arm intelligent assisting device and the forearm mechanical linkage assisting device, and can respectively or cooperatively provide real-time, self-adaptive and movement-angle-linked comprehensive assistance for the hovering and fine operation of the upper limb of the operator.

Description

Technical Field

[0001] This invention belongs to the field of wearable exoskeleton technology, specifically relating to an upper limb assistive system and an upper limb assistive method. Background Technology

[0002] In fields such as precision instrument assembly, microelectronic welding, laboratory micromanipulation, and endoscopic surgery, operators often need to maintain a specific flexed forearm posture (such as holding instruments or tools) for extended periods and perform extremely delicate manipulations. This continuous static load can easily lead to rapid fatigue of the biceps brachii, brachialis, and forearm flexor muscles, resulting in muscle soreness, decreased control, and even involuntary tremors, severely affecting the precision and stability of the operation and the operator's ability to work continuously.

[0003] Existing technologies offering solutions to this type of fatigue problem are mostly localized and isolated. For example, industrial assistive exoskeletons for the upper arm often focus on improving lifting strength, but their structures are bulky and lack the ability to follow fine postures; while simple support frames or slings for the forearm can share some weight, they cannot provide adaptive assistance based on the actual flexion and extension angles. More importantly, these solutions usually only focus on individual joints, lacking the concept of designing upper arm and forearm assistance as an organic whole. Simply stacking them together not only leads to system redundancy and increased wearing burden, but also causes a fragmented human-computer interaction experience due to the different working principles and force feedback characteristics of different devices, even causing mutual interference, making it difficult to meet the ultimate requirements for a smooth and natural operating experience in complex dynamic tasks.

[0004] For example, Chinese patent application CN110238819A discloses a "flexible wearable shoulder joint assistive exoskeleton suit." This assistive exoskeleton suit integrates an attitude reference system and a tension sensor, enabling real-time monitoring of upper limb posture and cable tension. It also adjusts the output torque of the actuator through a controller to achieve state-based real-time assistive control. However, it suffers from key problems such as system complexity, transmission lag, control coupling, and inconvenience in wearing, limiting its potential for long-term, natural, and comfortable use in everyday environments.

[0005] Therefore, a significant gap exists in the current technological field: there is an urgent need for an integrated system that can deeply integrate intelligent dynamic assistance of the upper arm with precise mechanical linkage assistance of the forearm. An ideal upper limb assistive system should be able to simulate the body's own coordinated movement mechanism, providing coherent, adaptive, and lightweight "exogenous muscle force" support for the entire work chain from shoulder to elbow, maximizing the relief of muscle load while ensuring that the operator enjoys completely unrestricted freedom of movement and dexterity. Summary of the Invention

[0006] The technical problem to be solved by this invention is to provide an upper limb assistive system and an upper limb assistive method. The upper limb assistive system of this invention consists of an intelligent upper arm assistive device and a forearm mechanical linkage assistive device, which can provide real-time, adaptive and motion angle-linked comprehensive assistance for the operator's upper limb suspension and fine operation, either separately or in synergy.

[0007] The present invention provides an upper limb assistive system including an upper arm assistive device and a forearm assistive device.

[0008] The upper arm assist device is configured to: sense the movement angle of the upper arm in space in real time, and dynamically output a first assist in the direction of the movement angle based on the movement angle, wherein the intensity of the first assist is positively correlated with the movement angle of the upper arm.

[0009] The forearm assist device is configured to: acquire the flexion-extension angle of the forearm, convert and amplify the flexion-extension angle into a second assist, the intensity of the second assist being positively correlated with the flexion-extension angle of the forearm.

[0010] The upper arm assist device and the forearm assist device can work independently or in conjunction to provide assistance for the operator's upper limb suspension.

[0011] The beneficial effects of this invention are that the upper limb assistive system provided by this invention, through the dynamic compensation of the main muscle groups of the shoulder joint by the upper arm assistive device and the precise assistance of the elbow joint and forearm muscle groups by the forearm assistive device, work together to provide a complete and ergonomic assistive solution for the upper limb suspension and micro-motion control required by operators when performing precision work. This not only significantly improves the operator's operating comfort and continuous working ability, but also directly improves the accuracy, consistency and overall quality of the work by stabilizing the limbs from the root, and has broad industrial and vocational application value. Attached Figure Description

[0012] Figure 1 This is a schematic diagram of the first angle structure of the upper limb assistive system in this invention;

[0013] Figure 2 This is a schematic diagram of the upper limb assistive system of the present invention from a second angle, showing the exploded connection component.

[0014] Figure 3 This is an exploded view of the connecting components in this invention;

[0015] Figure 4 This is a schematic diagram of the first angle structure of the upper arm assist device in this invention;

[0016] Figure 5 This is a schematic diagram of the second angle structure of the upper arm assist device in this invention (with the control shell hidden).

[0017] Figure 6 This is a schematic diagram of the upper arm assist device in this invention;

[0018] Figure 7 This is a schematic diagram of the forearm assist device in this invention;

[0019] Figure 8 This is a schematic diagram of the forearm assist device in this invention after concealing the drive wheel bracket and the driven wheel bracket;

[0020] Figure 9 This is a schematic diagram of the angle amplification mechanism in the forearm assist device of the present invention;

[0021] Figure 10 This is an exploded view of the angle amplification mechanism in the forearm assist device of the present invention.

[0022] Figure 11 This is a schematic diagram of the forearm assist device in this invention.

[0023] In the diagram, 1-upper arm assist device; 11-waist housing; 111-waist belt; 112-control housing; 12-angle sensing module; 121-pull rope displacement sensor; 122-pull rope; 13-assist output module; 131-drive motor; 132-flexible traction component; 14-shoulder strap; 15-connecting assembly; 151-sliding part; 152-first connecting component; 153-second connecting component; 16-upper arm collar; 2-forearm assist device; 21-angle transmission mechanism; 211-drive wheel; 212-driven wheel; 213-transmission. Components; 214-Telescopic bracket; 22-Angle magnification mechanism; 221-Planetary carrier; 2211-Internal gear ring; 222-Planetary gear; 223-Sun gear; 23-Elastic energy storage mechanism; 231-Coil spring; 2311-Inner end; 2312-Outer end; 232-Rotating housing; 2321-Annular traction cable receiving groove; 24-Tension output mechanism; 241-Flexible traction cable; 25-Forearm connector; 251-First fixing sleeve; 252-Second fixing sleeve; 253-Guide structure; 26-External connecting rod; 3-Connecting belt. Detailed Implementation

[0024] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0025] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indication will also change accordingly.

[0026] Furthermore, in this invention, descriptions involving "first," "second," etc., are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0027] In this invention, unless otherwise explicitly specified and limited, the terms "connection," "fixed," etc., should be interpreted broadly. For example, "fixed" can mean a fixed connection, a detachable connection, or an integral part; it can mean a mechanical connection, an electrical connection, a physical connection, or a wireless communication connection; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0028] Furthermore, the technical solutions of the various embodiments of the present invention can be combined with each other, but only if they are based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection claimed by the present invention.

[0029] like Figures 1-11 As shown, the present invention provides an upper limb assistive system, including an upper arm assistive device 1 and a forearm assistive device 2. The upper arm assistive device 1 and the forearm assistive device 2 can be worn and used independently to adapt to different complexity of demand scenarios; they can also work together to provide comprehensive load-bearing support for the operator's entire upper limb (including the shoulder joint and elbow joint).

[0030] The upper arm assist device 1 is configured to: sense the movement angle of the upper arm in space in real time, and dynamically output a first assist in the direction of the movement angle based on the movement angle. The intensity of the first assist is positively correlated with the movement angle of the upper arm. The upper arm assist device 1 realizes adaptive assist to compensate for the gravitational torque generated when the upper arm is raised, directly reducing the load on the shoulder girdle muscles such as the deltoid and trapezius muscles, thereby effectively preventing and relieving shoulder and neck fatigue and strain.

[0031] The forearm assist device 2 is configured to: acquire the flexion and extension angle of the forearm, convert and amplify the flexion and extension angle into a second assist, the intensity of the second assist being positively correlated with the flexion and extension angle of the forearm; the forearm assist device 2 provides continuous, angle-matched elastic assist to maintain the flexion posture of the forearm through a mechanical angle-tension linkage mechanism, reducing the burden on the biceps brachii and forearm muscle groups, suppressing tremors caused by fatigue, and ensuring the stability of the forearm suspension.

[0032] The upper arm assist device 1 and the forearm assist device 2 can work independently or in conjunction to provide assistance for the operator's upper limb suspension.

[0033] The upper limb assistive system provided by this invention, through the dynamic compensation of the main muscle groups of the shoulder joint by the upper arm assistive device 1 and the precise assistance of the elbow joint and forearm muscle groups by the forearm assistive device 2, works in tandem to provide a complete and ergonomic assistive solution for the upper limb suspension and micro-motion control required by operators when performing precision tasks. This not only significantly improves the operator's operating comfort and continuous working ability, but also directly improves the accuracy, consistency and overall quality of the work by stabilizing the limbs from the root, and has broad industrial and vocational application value.

[0034] In one embodiment, reference is made to Figures 1-6 The upper arm assist device 1 includes a waist shell 11, which is detachably fixed to the operator's waist. The waist shell 11 serves as the mechanical load-bearing base and human body fixation interface of the entire upper arm assist device 1, and is detachably fixed to the operator's waist. This allows the weight of the upper arm assist device 1 to be mainly borne by the strong lumbar and hip bones, avoiding additional load on the shoulders, while ensuring the relative stability of the core components during movement, providing a benchmark for accurate sensing and force output.

[0035] An angle sensing module 12 includes a pull-cord displacement sensor 121 mounted on the waist housing 11. One end of the pull-cord 122 of the pull-cord displacement sensor 121 extends to the operator's upper arm and is pulled out or retracted with the movement of the upper arm. The pull-cord displacement sensor 121 is configured to sense the movement angle of the upper arm in at least one dimension in real time and generate a corresponding angle signal. When the upper arm performs movements such as flexion, extension, abduction, or adduction, the pull-cord 122 is pulled out or retracted accordingly. The pull-cord displacement sensor 121 measures the linear displacement change of the pull-cord 122 in real time and converts it into the corresponding movement angle of the upper arm in at least one dimension (such as the flexion / extension dimension), thereby generating a corresponding angle signal.

[0036] Specifically, when the operator's upper arm flexes (raises forward) or abducts (raises laterally), the distance between the upper arm and the sensor mounting point increases, causing the pull cord 122 to be continuously pulled out. The high-precision encoder inside the sensor measures this pull-out length and directly converts it into an angular increment corresponding to that direction of movement.

[0037] The drawstring displacement sensor 121 has a built-in automatic reset function (usually achieved by a preload spring or motor). When the upper arm extends (moves backward) or retracts (retracts from the side), the tension acting on the drawstring 122 decreases, and the drawstring 122 automatically retracts under the action of the reset mechanism. The sensor also accurately measures this retraction displacement and converts it into an angular reduction (or negative angle). Therefore, a single drawstring displacement sensor 121 can achieve bidirectional angle measurement of reciprocating motion through a complete "pull-retract" displacement cycle.

[0038] The cable displacement sensor 121 converts the aforementioned displacement into a high-resolution digital or analog angle signal in real time. This signal not only includes the magnitude of the angle, but its sign (positive / negative) or direction of change also reflects whether the movement is in the direction of pulling outwards towards the cable 122 (such as flexion or abduction) or in the direction of retraction (such as extension or adduction). The control module receives this signal and can accurately determine the real-time posture and intention of the upper arm movement.

[0039] In this embodiment, the pull-cord displacement sensor 121 achieves the capture of the main working dimensions of the upper arm movement using a single, compact sensor, greatly simplifying the system structure and reducing cost and complexity. Its automatic reset function ensures continuous measurement and rapid response, and avoids measurement errors caused by the slack of the pull-cord 122. For delicate tasks requiring frequent changes in arm posture (such as intraoperative adjustments by surgeons or parts handling by assembly workers), this real-time, bidirectional angle sensing capability is a prerequisite for the upper arm assist device 1 to achieve "natural, following" intelligent assistance, ensuring that the assistance is highly synchronized with the person's movement intentions, without any lag or interference.

[0040] The control module, which is communicatively connected to the angle sensing module 12, is configured to receive the angle signal and generate control commands based on the angle signal.

[0041] The power assist output module 13 is directly responsible for generating the first power assist. It includes a drive motor 131, which is mounted on the waist housing 11 and is communicatively connected to the control module. It is configured to receive the control command and output a torque that is positively correlated with the upper arm movement angle according to the control command. Correspondingly, the greater the upper arm lifting angle, the greater the torque output by the motor, thus realizing adaptive adjustment of the power assist.

[0042] The flexible traction member 132, connected to the output shaft of the drive motor 131 and extending to the operator's upper arm, is configured to convert the torque output by the drive motor 131 into a directional linear assist applied to the upper arm. This assist is applied at a position that conforms to the direction of movement of the upper arm, thereby effectively counteracting part of the gravitational torque.

[0043] In this embodiment, when the operator (such as an engineer performing precision assembly or a surgeon during an operation) raises their upper arm, the pull cord 122 is pulled out, and the pull cord displacement sensor 121 detects the increase in angle and sends a signal. Upon receiving the increased angle signal, the control module immediately sends a command to the drive motor 131 to increase its output torque. The increased torque is converted into a greater lifting force through the flexible traction component 132, acting on the upper arm. The entire process is completed very quickly, achieving a real-time, adaptive effect of "lifting provides assistance, and the greater the angle, the stronger the assistance," significantly reducing the static load on the operator's shoulder muscles, enabling them to perform delicate tasks such as high-altitude wiring and equipment calibration more sustainably and stably.

[0044] In one embodiment, the control module is configured to receive the angle signal and generate control commands for controlling the drive motor 131 based on a preset mapping relationship.

[0045] The mapping relationship is set such that the larger the movement angle of the upper arm, the greater the torque output of the drive motor 131 corresponding to the generated control command.

[0046] The mapping relationship in this embodiment ensures that the assist output matches the operator's movement intention. When the operator raises their arm higher to approach the work point, the system automatically provides stronger lifting assistance, perfectly compensating for the increased gravitational torque. The increase in assistance felt by the operator is far lower than the actual increase, thus significantly reducing subjective fatigue.

[0047] In one embodiment, the end of the drawstring 122 is connected to the posterior side of the upper arm, and its direction is more coordinated with the movement direction of the main muscle groups of the upper arm (such as the posterior deltoid). When the upper arm flexes or abducts, the stretching of the skin and muscles on the posterior side is more pronounced, providing the drawstring with a direct, interference-free displacement path. This ensures that the drawstring displacement sensor 121 can most directly capture the true angular changes dominated by skeletal movement, minimizing signal noise caused by soft tissue deformation or clothing wrinkles, and improving the fidelity of angle perception.

[0048] The end of the flexible traction member 132 is connected to the front side of the upper arm. This configuration allows the drive motor 131 to output torque, which is transmitted through the flexible traction member 132. The pulling force applied to the front side of the upper arm creates a boosting torque opposite to the gravitational torque of the upper arm. This achieves a frontal lift, directly and effectively helping the operator overcome gravity, thus achieving optimal muscle reduction with minimal energy consumption.

[0049] In this embodiment, the two work together to make the operator feel almost unconstrained by the equipment, while achieving significant improvements in endurance and vibration suppression, thus allowing them to focus on the precision work at hand. The determination of this connection layout represents a crucial step from purely mechanical design to biomechanical integration, reflecting profound ergonomic insights.

[0050] In one embodiment, it also includes a shoulder strap 14, which is connected to the waist housing 11 and rests on the operator's shoulder, the shoulder strap 14 forming a stable bridge connecting the waist and upper limbs.

[0051] The flexible traction member 132, after being extended from the waist housing 11, slides sequentially on the rear, top, and front sections of the shoulder strap 14, ultimately extending and connecting to the front of the upper arm. At this point, the flexible traction member 132, after being extended from the drive motor 131 within the waist housing 11, does not directly pull the upper arm, but rather slides sequentially on the rear, top, and front sections of the shoulder strap 14, forming a low-resistance arc-shaped path before finally extending and connecting to the front of the upper arm. This optimizes the direction of the assist vector. The horizontal or oblique pulling force generated by the drive motor 131 at the waist begins to turn when passing the rear section of the shoulder strap 14, becoming nearly vertically upward at the top section, and finally becoming a forward-downward pulling force acting on the upper arm after passing the front section. This continuous turning process cleverly transforms the torque output by the drive motor 131 into an upward assist force almost completely opposite to the direction of the upper arm's weight, creating a direct upward lifting sensation, effectively counteracting the arm's own weight, and greatly improving the efficiency of force utilization.

[0052] The flexible traction element 132 is slidably connected to the shoulder strap 14 via a low-friction slip ring, guide rail, or smooth bushing. This design ensures that when the operator's shoulder or upper arm performs complex movements, the flexible traction element 132 can slide smoothly along the path of the shoulder strap 14, transmitting only tension without restricting or interfering with the natural range of motion of the shoulder joint. Whether it's a doctor making multi-angle adjustments during endoscopic procedures or an assembly worker performing high and low-position operations, the wearer will not feel any constraint or lag from the device, achieving assisted concealment.

[0053] In addition, the shoulder strap 14, as a component integrating load-bearing and guidance, distributes the tension originally concentrated at a certain point in the waist to the entire shoulder area. At the same time, it connects the power source (waist) and the execution end (upper arm), significantly enhancing the overall structural rigidity and stability of the entire upper arm assist device 1 during dynamic operation, avoiding uncontrollable disturbances caused by component swaying, which is crucial for maintaining the absolute stability of the end-effector tool.

[0054] This embodiment resolves the long-standing conflict between flexibility and effectiveness in the field of exoskeletons. It ensures that the operator enjoys significant load reduction while fully retaining the freedom of movement and dexterity required to complete complex and delicate tasks.

[0055] In one embodiment, the waist housing 11 includes a waist belt 111 for wrapping around and securing to the operator's waist. The waist belt 111 serves as an anchor point connecting the entire upper arm assist device 1 to the human body, responsible for securing and distributing the weight of the entire upper arm assist device 1. Ergonomically designed, the waist belt 111 is preferably made of an adjustable-length elastic or rigid strap and may be equipped with quick-release buckles to ensure a secure and comfortable fit.

[0056] The control housing 112 houses the drive motor 131 and the pull rope displacement sensor 121. As a sealed or semi-sealed unit, the control housing 112 provides effective dustproof, moisture-proof, and even splashproof protection for the internal drive motor 131 and pull rope displacement sensor 121, improving reliability and service life in complex working environments (such as electronic manufacturing workshops, laboratories, and operating rooms).

[0057] The control housing 112 is connected to the belt 111.

[0058] In one embodiment, the connection position between the shoulder strap 14 and the waist belt 111 is adjustable in the vertical direction. By adjusting the connection position, the wearing height of the waist belt 111 relative to the operator's torso can be changed.

[0059] In this embodiment, the shoulder strap 14 and the waist belt 111 can be moved up and down at their connection point via means such as sliding buckles, adjusting straps, or knobs. By adjusting this connection position, the wearing height of the waist belt 111 relative to the operator's torso can be directly changed, thereby achieving personalized fine-tuning of the wearing posture of the entire device and improving its adaptability. This can optimize the overall force transmission path of the system and the wearer's center of gravity. As the base for the core load-bearing and control shell 112, the wearing height of the waist belt 111 directly affects two key factors: first, the geometry and tension of the flexible traction component 132 path from the waist to the shoulder; and second, the distribution of the device's weight on the operator's body. By raising the connection point, the waist belt 111 and control shell 112 move upwards, making it more suitable for users with longer torsos, shortening the force transmission path, and bringing the weight closer to the body's center of gravity; lowering it is suitable for users with shorter torsos, avoiding the device compressing the iliac crest or restricting hip movement. This adjustment ensures that the shoulder strap 14 can rest on the shoulder at the most natural and comfortable angle for operators of different body types, avoiding undue pressure on the collarbone or acromion.

[0060] This design simplifies personalized adaptation from complex professional debugging to intuitive and rapid self-adjustment. After adaptive adjustments, different operators can achieve consistent workload reduction and operational freedom, ensuring work efficiency and ergonomic safety.

[0061] Preferably, the connection position between the shoulder strap 14 and the waist belt 111 is adjustable in the vertical direction by adjusting the contraction of the shoulder strap 14.

[0062] In one embodiment, reference Figure 2 and Figure 3 The control housing 112 is detachably connected to the belt 111 via a connecting assembly 15.

[0063] The connecting component 15 includes a sliding part 151, which is disposed on the control shell 112 and can slide along the length of the waist belt 111. This allows the control shell 112 to be freely adjusted in the circumferential position of the wearer's waist, so that the position of the control shell 112 can be adjusted laterally according to the operator's waist size and personal comfort preference, avoiding compression of the side of the spine or iliac crest, and ensuring balanced weight distribution. The sliding part 151 can be a slider embedded in the back of the control shell 112, cooperating with the T-shaped guide rail or dovetail groove on the inner side of the control shell 112; or it can be a combination of a slide rail and a ball bearing to achieve smooth movement.

[0064] The first connector 152 is disposed on the sliding part 151; the second connector 153 is disposed at the connection position between the waist belt 111 and the shoulder strap 14; the first connector 152 and the second connector 153 can form a magnetic pair (such as neodymium iron boron magnets) or a set of mechanical interlocking parts (such as male and female pins, buckles).

[0065] The connection position between the shoulder strap 14 and the waist belt 111 can be adjusted independently of the control housing 112 along the length of the waist belt 111; the second connector 153 can be integrated into a metal ring or a special plastic base for connecting the shoulder strap 14.

[0066] When the sliding part 151 slides to the target position, the control shell 112 is locked to the belt 111 through the detachable connection between the first connector 152 and the second connector 153.

[0067] In this embodiment, since the connection position between the shoulder strap 14 and the waist belt 111 is vertically adjustable, this changes the vertical coordinates of the second connector 153. After determining the height, the operator can slide the control shell 112 along the waist belt 111 to the most comfortable lateral position, aligning the first connector 152 with the second connector 153. When the sliding part 151 drives the first connector 152 to slide to the target position (i.e., aligned with the second connector 153), the control shell 112 is securely locked in that specific position through the detachable connection between the two. This locking action achieves rapid two-dimensional (horizontal and indirectly related vertical) positioning and secure fixation of the control shell 112 on the waist belt 111, while maintaining ease of disassembly.

[0068] This design achieves several advantages. First, it enables personalized adaptation, ensuring that the control shell 112 is positioned at the waist and hips—a position that maximizes mechanical efficiency and comfort for the individual user, regardless of their body size. Second, it significantly simplifies the donning process; the two adjustment steps are intuitive and interconnected, eliminating the need for complex multi-dimensional adjustments. Finally, the detachable connection facilitates quick separation of the device, aiding not only in storage and transportation but also in enabling independent charging, maintenance, or upgrades of the core control shell 112, thus enhancing the system's practicality and lifespan. Furthermore, it achieves a highly efficient balance between wearability, ease of operation, and system maintainability.

[0069] In one embodiment, it also includes an upper arm loop 16, configured to be detachably secured to the operator's upper arm. The upper arm loop 16 replaces the method of directly binding or attaching the pull cord 122 and the flexible traction element 132 to the arm. It provides a stable, reliable, and ergonomic anchor point for the transmission of force and signals, ensuring the connection remains secure even during prolonged exercise or sweating. Furthermore, its adjustable design (such as Velcro, snaps, or elastic bands) adapts to upper arms of different thicknesses, significantly improving wearing consistency and comfort.

[0070] The end of the pull cord 122 is connected to the rear side of the upper arm collar 16, fixing the end of the pull cord 122, which senses the angle of upper arm movement, to the rear side of the upper arm collar 16. This makes the direction of the pull cord 122 more consistent with the movement direction of the main extensor muscle groups of the upper arm (such as the posterior deltoid). When the upper arm flexes forward, the movement of the rear side of the upper arm collar 16 can more directly and without lag drive the pull cord 122, thereby ensuring that the pull cord displacement sensor 121 can accurately capture the change in sagittal plane (flexion / extension) angle with the shoulder joint as the axis, reducing measurement noise caused by soft tissue deformation or clothing wrinkles.

[0071] The end of the flexible traction member 132 is connected to the front side of the upper arm collar 16, so that the point of application of assistance is located on the front side of the upper arm (close to the biceps brachii). When the flexible traction member 132 transmits an upward pulling force, this position can most effectively generate a lifting torque opposite to the direction of the upper arm's gravitational torque, compensating for gravity with the most direct mechanical path and achieving efficient muscle decompression. At the same time, the force on the front side also helps to maintain the postural stability of the upper arm during operation.

[0072] In one embodiment, the upper arm collar 16 is provided with a first connecting portion and a second connecting portion; the end of the pull rope 122 is connected to the upper arm collar 16 through the first connecting portion, and the connection position is adjustable on the upper arm collar 16; the end of the flexible traction member 132 is connected to the upper arm collar 16 through the second connecting portion, and the connection position is adjustable on the upper arm collar 16.

[0073] In this embodiment, two independently adjustable connection points, a first connection and a second connection, are provided on the upper arm collar 16. This allows the operator to not only wear an appropriately sized upper arm collar 16, but also to perform precise, personalized calibration of the input / output points for the two core functions: sensing and assistance. This enables the same device to provide operators of different body types and muscle exertion characteristics with the same high-fidelity angle perception and the same efficient assistance experience.

[0074] In one embodiment, the forearm assist device 2 includes an angle transmission mechanism 21, comprising a drive wheel 211 disposed at the elbow joint, a driven wheel 212 disposed at the shoulder joint, and a transmission member 213 connecting the drive wheel 211 and the driven wheel 212. The drive wheel 211 is configured to rotate with the flexion and extension movements of the forearm and drives the driven wheel 212 to rotate synchronously via the transmission member 213. The angle transmission mechanism 21 accurately and without delay converts the spatial movement of the forearm's flexion and extension angle at the elbow joint into the rotational movement of the driven wheel 212 at the shoulder joint. It transmits angle information from the end of action (forearm) to the proximal end of the torso (shoulder), which is typically more suitable for mounting processing mechanisms, providing a unified rotational input signal for subsequent processing. The drive wheel 211 is fixed by a drive wheel bracket, and the driven wheel 212 is fixed by a driven wheel bracket. The device also includes a telescopic bracket 214 connecting the drive wheel bracket and the driven wheel bracket, which can adapt to different upper arm lengths. The transmission component 213 is preferably a transmission belt.

[0075] An angle amplification mechanism 22, whose input end is connected to the driven wheel 212, is configured to amplify and output the rotation angle of the driven wheel 212; this angle amplification mechanism 22 mechanically amplifies the rotation angle input to the driven wheel 212. It amplifies potentially small angle changes within the actual working range of the forearm into more significant mechanical displacements or rotations. This allows subsequent energy storage elements to operate within their more sensitive and efficient working range, thereby improving the overall system's responsiveness to subtle angle changes and its assist resolution.

[0076] The elastic energy storage mechanism 23, connected to the output of the angle amplification mechanism 22, is configured to generate a corresponding restoring torque based on the amplified rotation angle. The elastic energy storage mechanism 23 converts the amplified mechanical angle input into elastic potential energy (restoring torque) and stores it. The larger the angle, the greater the deformation of the energy storage mechanism, and the greater the resulting restoring torque.

[0077] The force output mechanism 24, directly responsible for generating the second assist, includes a flexible traction cable 241, one end of which is connected to the output end of the elastic energy storage mechanism 23, and the other end is connected to the forearm. The force output mechanism 24 converts the restoring torque generated by the elastic energy storage mechanism 23 back into a linear force with appropriate direction acting on the forearm through the flexible traction cable 241. The stored elastic energy is directly applied to the operator's limb, forming an auxiliary force to counteract the weight of the forearm and the muscle force required to maintain posture.

[0078] The flexion angle of the forearm is transmitted through the angle transmission mechanism 21, amplified by the angle amplification mechanism 22, and then drives the elastic energy storage mechanism 23, so that the flexible traction cable 241 outputs a tension that is linked to the flexion angle of the forearm.

[0079] This forearm assist device 2, through the sequential collaboration of the aforementioned four mechanisms, achieves a closed-loop mechanical servo mechanism: forearm flexion, rotation of the driving wheel 211, synchronous rotation of the transmission component 213 and driven wheel 212, amplification of the rotation angle by the angle amplification mechanism 22, generation of corresponding restoring torque by the driving elastic energy storage mechanism 23, and output of a pulling force linked to the flexion angle via the flexible traction cable 241. The strength and direction of this pulling force automatically match the real-time posture of the forearm, providing the operator with continuous, adaptive assistance without external energy consumption. This design is particularly suitable for precision work requiring prolonged maintenance of a specific forearm flexion posture, effectively reducing the static load on the biceps and forearm muscle groups, significantly delaying fatigue and suppressing tremors, thereby ensuring the durability and accuracy of operation.

[0080] Furthermore, the elbow joint drive wheel 211, transmission component 213, and shoulder joint driven wheel 212 in the transmission path mechanically and synchronously map the localized forearm flexion and extension movement occurring at the elbow joint to the driven wheel 212 located in the shoulder joint region. This moves the core mechanical mechanism (driven wheel 212 and subsequent components) used for angle measurement, subsequent amplification, and energy storage away from the highly flexible forearm and elbow, and installs it in the shoulder-back region, which has a relatively smaller range of motion and greater load-bearing capacity. This significantly reduces the additional weight and inertia of the forearm and elbow, avoiding the pendulum effect and additional muscle burden caused by excessive weight of the remote equipment during delicate operations, which is crucial for ensuring operational dexterity.

[0081] Meanwhile, the shoulder area is more stable than the rapidly moving forearm. Processing angle signals and storing energy here results in more stable and quieter mechanical input, which helps improve the smoothness and accuracy of the entire system's assist output. Freeing up space around the elbow joint allows the operator's wrist and forearm movements to be completely unhindered by complex mechanisms, facilitating extremely delicate end-effector operations such as rotation and twisting.

[0082] More importantly, the driven wheel 212 and its supporting housing are mounted at the shoulder position, but through precise bearing support and structural design, its axis of rotation is decoupled from the rotation center of the human shoulder joint. This means that no matter how the driven wheel 212 rotates due to forearm flexion and extension, it will not attempt to drive or restrict the operator's shoulder joint to perform natural movements such as flexion, extension, abduction, or adduction. This ensures that the user enjoys completely unrestricted freedom of movement in the shoulder, elbow, and wrist joints while receiving continuous, adaptive forearm assistance.

[0083] In one embodiment, reference Figures 8-10The angle amplification mechanism 22 includes a planetary carrier 221, which serves as the input end of the angle amplification mechanism 22 and is connected to the driven wheel 212. The planetary carrier 221 is the carrier of power input, directly introducing the rotational motion of the driven wheel 212 into the planetary gear system. This allows the primary rotational motion derived from the forearm flexion / extension angle to serve as the driving force for the entire planetary gear system.

[0084] At least one planetary gear 222 is rotatably supported on the planet carrier 221. The planetary gear 222 simultaneously performs two motions: revolving around the sun gear 223 under the drive of the planet carrier 221, and simultaneously rotating on its own axis through meshing with the internal gear ring 2211 of the sun gear 223 and the planet carrier 221. Through this combined motion, the input rotation of the planet carrier 221 is effectively transmitted and converted into the output rotation of the sun gear 223. Preferably, three planetary gears 222 are evenly arranged around the axis of the sun gear 223.

[0085] The sun gear 223 meshes with the planetary gear 222 and serves as the output of the angle amplification mechanism 22, connected to the input of the elastic energy storage mechanism 23. The sun gear 223 outputs the amplified angle signal. Driven by the planetary gear 222, it rotates. Based on the transmission ratio characteristics of the planetary gear system, the rotation angle of the sun gear 223 will be greater than the input rotation angle of the planetary carrier 221, thus achieving angle amplification. Finally, the amplified, more significant rotational motion is output to the subsequent elastic energy storage mechanism 23 to more effectively drive its operation.

[0086] The rotation of the planet carrier 221 drives the planetary gear 222 to revolve around the sun gear 223, and drives the sun gear 223 to output at a larger rotation angle.

[0087] In this embodiment, a planetary gear system is used as the angle amplification mechanism 22, achieving high transmission ratio and high-efficiency angle amplification within a compact space. This design has multiple advantages: First, it provides stable and reliable mechanical amplification with no electronic delay and rapid response; second, its structure is symmetrical, has strong load-bearing capacity, runs smoothly, and has low noise; finally, by selecting a specific gear ratio, the amplification factor can be precisely customized, enabling the system to accurately match the relationship between the forearm movement angle and the required assist characteristics. This allows even small forearm flexion and extension to effectively drive the elastic energy storage mechanism 23 to generate sufficiently significant torque changes, thereby ensuring that the entire system provides sensitive and linear assist feedback for fine posture adjustments, greatly improving the precision of control and the operator's intuitive experience.

[0088] In one embodiment, the driven wheel 212 is annular in shape to form the planet carrier 221; an internal gear ring 2211 is provided on the inner wall of the planet carrier 221, and the internal gear ring 2211 meshes with the at least one planetary gear 222.

[0089] In this embodiment, the driven wheel 212 and the planetary carrier 221, two key components, are combined into one. This completely eliminates the traditional connecting shafts, flanges, or fasteners between these two components, thereby significantly reducing the number of parts, lightening the overall weight, and shrinking the axial installation space. It also fundamentally improves the synchronization and coaxial accuracy of their movements, eliminating any gaps or errors that may exist in the connection links. Ultimately, the output end of the angle transmission mechanism 21 and the input end of the angle amplification mechanism 22 are physically and functionally integrated, greatly reducing the system's volume in the shoulder joint area, making it more discreet to wear, and causing less interference with shoulder movement.

[0090] In one embodiment, the elastic energy storage mechanism 23 includes a spiral spring 231. The inner end 2311 of the spiral spring 231 is coaxially and fixedly connected to the sun gear 223, and its outer end 2312 is fixedly connected to a rotating housing 232. The spiral spring 231 provides a linear restoring torque proportional to the amount of deformation (i.e., the number of coils). The rotation angle is directly mapped to the output torque. When the sun gear 223 rotates in the forward direction (corresponding to an increase in the forearm flexion angle), it drives the spiral spring 231 to coil, generating and gradually increasing restoring torque within the spring due to deformation. When the sun gear 223 rotates in the reverse direction or stops, the spiral spring 231 releases or maintains its deformation, and the restoring torque decreases or remains constant. This achieves a dynamic and adaptive process that adapts to changes in angle input, energy storage state, and torque output.

[0091] The rotation of the sun gear 223 drives the spiral spring 231 to tighten or loosen, thereby generating or changing the restoring torque.

[0092] In this embodiment, a spiral spring 231 is used as the elastic energy storage mechanism 23 to construct a completely passive, adaptive mechanical energy storage and output unit. The overall structure is simple, with no complex circuits or moving joints requiring lubrication (only the spiral spring 231 itself), and it has extremely high reliability and durability under complex conditions (such as the need for disinfection, the presence of liquids or dust).

[0093] In one embodiment, the rotating housing 232 is rotatably engaged with the shaft of the sun gear 223. The rotating housing 232, as a rotatable output component, rotatably engages with the shaft of the sun gear 223, enabling independent rotation with the sun gear 223 around the same axis. A movable, rather than absolutely fixed, constraint point is provided for the outer end 2312 of the spiral spring 231, allowing the deformation energy of the spiral spring 231 to be converted into the rotational motion of the rotating housing 232, thus becoming the power source for driving the flexible traction cable 241.

[0094] The outer peripheral wall of the rotating housing 232 is provided with an annular traction cable receiving groove 2321. One end of the flexible traction cable 241 is fixed to the annular traction cable receiving groove 2321, and its cable body is wound and accommodated in the annular traction cable receiving groove 2321. The annular traction cable receiving groove 2321 integrates a winding reel or rope drum, providing an orderly winding space and traction contact surface for the flexible traction cable 241. It efficiently and reliably converts the rotational motion of the rotating housing 232 into the winding or releasing action of the flexible traction cable 241, while preventing the rope from becoming tangled, knotted, or detached.

[0095] The rotation of the sun gear 223 drives the inner end 2311 of the spiral spring 231 to rotate, while the outer end 2312 of the spiral spring 231 drives the rotating housing 232 to rotate, thereby tightening the flexible traction cable 241 to output the pulling force. Specifically, when the sun gear 223 rotates to attempt to tighten the spiral spring 231, the reaction torque (restoring torque) generated by the deformation of the spiral spring 231 acts on its outer end 2312. Since the outer end 2312 is fixedly connected to the rotating housing 232, this torque drives the rotating housing 232 to rotate, thereby winding the flexible traction cable 241 to generate pulling force. This achieves a compliant and adaptive force transmission, with the magnitude of the output pulling force directly and proportionally derived from the restoring torque generated after the spiral spring 231 is driven, thus naturally linking with the forearm flexion angle.

[0096] This embodiment forms an extremely simple and efficient self-contained torque-tension converter. The energy storage element (spiral spring 231) and the output actuator (winding reel) are integrated into one unit, sharing the same rotating housing 232, significantly saving space, reducing weight, and improving structural rigidity. The tension comes directly from the restoring force of the spiral spring 231, giving the output inherent elasticity and buffering characteristics, avoiding the harshness of rigid transmission, and providing the operator with a more comfortable and natural assist experience. The entire path is purely mechanically linked, with a definite and repeatable physical relationship between the angle of the sun gear 223 and the output tension. The system operates stably and reliably, requiring no complex control. The characteristics of the spiral spring 231 enable the system to automatically maintain basic tension on the traction cable, preventing slack and ensuring immediate response.

[0097] In one embodiment, it further includes a forearm connector 25, configured to be detachably fixed to the operator's forearm; the forearm connector 25 serves as a bearing terminal and force distribution platform for the output tension of the flexible traction cable 241. Detachable fixing allows for quick donning and doffing, and allows for adjustment via straps, Velcro, or elastic sleeves to ensure a secure and comfortable fit on different operators' forearms, preventing slippage. This ensures accurate and consistent application of force.

[0098] The other end of the flexible traction cable 241 is connected to the forearm connector 25. Connecting the end of the flexible traction cable 241 to the forearm connector 25 allows the auxiliary pulling force generated by the elastic energy storage mechanism 23 and transmitted through the pulling force output mechanism 24 to be applied to the operator's forearm. Through the dispersion of the forearm connector 25, this pulling force acts on the forearm with a larger contact area, rather than a sharp point, thus keeping the pressure within a comfortable range.

[0099] In this embodiment, the forearm connector 25 provides stable force transmission without restricting the rotation (pronation / supination) of the forearm or the movement of the wrist, ensuring that the operator's hand dexterity is not affected when performing fine tasks.

[0100] In one embodiment, the forearm connector 25 is connected to the rotation center of the drive wheel 211 via an external link 26; the external link 26 is a rigid or semi-rigid mechanical connecting rod. It establishes a fixed geometric relationship between the forearm connector 25 and the rotation center of the drive wheel 211. The movement of the forearm connector 25 in space (mainly rotation and translation around the elbow joint) is rigidly transmitted 1:1 to the rotation center of the drive wheel 211, forcing the axial position of the drive wheel 211 to move synchronously with the forearm connector 25.

[0101] The external connecting rod 26 extends along the outside of the operator's forearm, and its two ends are respectively connected to the forearm connector 25 and the drive wheel 211, so that the drive wheel 211 can rotate synchronously with the forearm connector 25 and the flexion and extension movements of the forearm.

[0102] In this embodiment, the rotation of the drive wheel 211 is directly driven by the movement of the forearm bones, avoiding the error caused by indirectly estimating the angle by measuring the displacement of the skin or clothing, and providing the most realistic and timely angle signal source for the entire assist system.

[0103] Although the external link 26 is rigid or semi-rigid, by positioning it on the outside of the forearm and forming appropriate kinematic pairs with other mechanisms in the elbow and shoulder, it ensures that motion transmission can be accomplished without restricting normal elbow flexion and extension, forearm rotation, and shoulder movement. The operator experiences assistance rather than constraint.

[0104] Furthermore, rigid or semi-rigid mechanical connections provide extremely high bandwidth and very low phase delay along the path from human movement to system signal input. This allows the system to instantaneously sense and respond to minute changes in forearm posture, which is crucial for suppressing sudden tremors or achieving rapid and precise posture adjustments. Compared to purely flexible or non-contact sensing solutions, this mechanical linkage structure is simple, robust, and less affected by environmental factors (such as sweat, light, and electromagnetic interference), offering significant advantages in high-reliability environments such as operating rooms or industrial settings.

[0105] In one embodiment, the forearm connector 25 includes a first fixing sleeve 251 and a second fixing sleeve 252 spaced apart along the longitudinal direction of the forearm. The first fixing sleeve 251 is located on the side near the elbow, and the second fixing sleeve 252 is located on the side near the wrist. The other end of the flexible traction cable 241 is fixedly connected to the second fixing sleeve 252. The first fixing sleeve 251 is provided with a guide structure 253 through which the flexible traction cable 241 passes, and the flexible traction cable 241 is slidably engaged with the guide structure 253.

[0106] In this embodiment, a double-sleeve design with fixed force at the distal end and sliding guidance at the proximal end is adopted. The guide structure 253 ensures that the assisting pull force always acts on the second fixed sleeve 252 in a predetermined direction. No matter how the forearm flexes or extends, the assisting direction is actively optimized, which significantly improves the energy transfer efficiency.

[0107] Furthermore, the distributed fixation of the two retaining sleeves significantly enhances the connector's resistance to torsion and translation, resulting in a more stable fit. Simultaneously, the sliding fit eliminates the feeling of rigid tension, reducing movement resistance and localized frictional heat. Positioning the primary stress point on the second retaining sleeve 252, closer to the wrist, directly assists the muscles maintaining hand posture, providing a more natural feel. The guiding structure 253 ensures that this assistance does not interfere with the free movement of the elbow joint.

[0108] The present invention also provides a forearm assist method, using the above-mentioned forearm assist device 2, comprising the following steps:

[0109] S21, the flexion and extension movement of the forearm is sensed and rotated by the active wheel 211 located at the elbow joint, and the rotation is transmitted to the driven wheel 212 located at the shoulder joint via the transmission member 213, driving the driven wheel 212 to rotate synchronously, thereby transmitting the flexion angle of the forearm as the rotation angle of the driven wheel 212.

[0110] S22, the rotation angle of the driven wheel 212 is transmitted to the angle amplification mechanism 22, and the angle amplification mechanism 22 amplifies the input rotation angle and outputs it;

[0111] S23, the amplified rotation angle is input to the elastic energy storage mechanism 23, driving the elastic energy storage mechanism 23 to generate a corresponding restoring torque according to the amplified rotation angle;

[0112] S24, the restoring torque is converted into a pulling force acting on the forearm through the flexible traction cable 241 connected to the output end of the elastic energy storage mechanism 23;

[0113] In particular, through steps S21 to S24, the final output tension is linked to the flexion angle of the forearm.

[0114] By sequentially executing steps S21 to S24, the forearm assist method achieves a complete and autonomous "sensing-conversion-amplification-energy storage-output" mechanical servo cycle. Its ultimate effect is to make the output tension highly correlated with the real-time flexion angle of the forearm: as the angle increases, the tension adaptively increases; as the angle decreases, the tension correspondingly decreases. This method requires no external power supply or complex control algorithms, relying entirely on sophisticated mechanical linkage to achieve intelligent assistance. It provides the operator with continuous, stable, and proportionally appropriate forearm support, significantly delaying muscle fatigue and effectively suppressing operational tremors, thereby ensuring operational stability, accuracy, and the operator's occupational health during long-term, high-precision work. This method has clear steps and reliable effects, and is the core process for the functional realization of the forearm assist device 2.

[0115] In one embodiment, a connecting strap 3 is also included. One end of the connecting strap 3 is detachably connected to the shoulder strap 14 of the upper arm assist device 1, and the other end is detachably connected to the driven wheel bracket of the forearm assist device 2. The driven wheel 212 of the forearm assist device 2 is rotatably mounted on the driven wheel bracket. Through the connection of the connecting strap 3, the upper arm assist device 1 and the forearm assist device 2 form a detachable mechanical coupling in the shoulder area.

[0116] In this embodiment, the design of the connecting strap 3 cleverly combines the flexibility of modular design with the stability of an integrated system. By connecting the anchor points of the two devices (shoulder strap 14 and driven wheel bracket), the discomfort and interference caused by the independent swaying of multiple parts after wearing are significantly reduced, making the assistive experience more stable and reliable.

[0117] When the upper arm and forearm move together, the connecting strap 3 ensures that the anchor points of the two assistive devices are relatively stable, so that their respective assistive outputs (the lifting force of the upper arm and the flexion assist force of the forearm) can work together better to form a continuous upper limb assistive experience and avoid force line deviation caused by the displacement of the base seat.

[0118] In addition, operators can quickly assemble or disassemble the entire set of equipment as needed, which not only meets the need for complete assistance in complex tasks, but also adapts to the need to reduce the burden in simple tasks or during rest.

[0119] The present invention also provides an upper limb assistive method, comprising the following steps:

[0120] S1, real-time sensing of the operator's upper arm movement angle in space;

[0121] S2, obtain the flexion and extension angle of the operator's forearm;

[0122] S3, based on the upper arm movement angle sensed in step S1, dynamically output a first assist in the direction of the movement angle, wherein the intensity of the first assist is positively correlated with the upper arm movement angle;

[0123] S4, the forearm flexion-extension angle obtained in step S2 is converted and amplified into a second assist, wherein the strength of the second assist is positively correlated with the forearm flexion-extension angle;

[0124] S5, by independently executing steps S3 and S4, or by coordinating steps S3 and S4, provides assistance for the operator's upper limb suspension.

[0125] This upper limb assistive method, through the above five steps, forms a complete, flexible, and efficient solution for upper limb work fatigue.

[0126] It employs the optimal technical path to provide the most suitable assistance for the shoulder and elbow, taking into account their different physiological structures and load characteristics. The intensity of both types of assistance output is positively correlated with the angle of the corresponding joint in real time, making the assistance seamless and extremely natural, significantly reducing the cognitive and adaptive burden on the operator. The assistance output method (flexible traction) and path design (such as sliding through the shoulder strap 14) ensure that strong support is provided without restricting the full range of motion of the upper limb joints.

[0127] In addition, operators can flexibly switch between independent or collaborative modes according to task requirements, which can meet the lightweight needs of simple scenarios and cope with the all-round protection of complex scenarios. The system is highly practical and adaptable.

[0128] The above description is merely an embodiment and does not constitute any limitation on the present invention. Any person skilled in the art can make many possible variations, modifications, or alterations to the technical solutions of the present invention without departing from the scope of the present invention. Therefore, any simple modifications, equivalent changes, and alterations made to the above embodiments based on the technical essence of the present invention, without departing from the scope of the present invention, should fall within the protection scope of the present invention.

Claims

1. An upper limb assistive system, characterized in that, It includes an upper arm assist device (1) and a forearm assist device (2). The upper arm assist device (1) is configured to: sense the movement angle of the upper arm in space in real time, and based on the movement angle, dynamically output a first assist in the direction of the movement angle, wherein the intensity of the first assist is positively correlated with the movement angle of the upper arm; The forearm assist device (2) is configured to: acquire the flexion and extension angle of the forearm, convert and amplify the flexion and extension angle into a second assist, the intensity of the second assist being positively correlated with the flexion and extension angle of the forearm; The upper arm assist device (1) and the forearm assist device (2) can work independently or in conjunction to provide assistance for the operator's upper limb suspension. The forearm assist device (2) includes: Angle transmission mechanism (21) includes a drive wheel (211) disposed at the elbow joint, a driven wheel (212) disposed at the shoulder joint, and a transmission member (213) connecting the drive wheel (211) and the driven wheel (212); the drive wheel (211) is configured to rotate with the flexion and extension movement of the forearm, and drives the driven wheel (212) to rotate synchronously through the transmission member (213); An angle amplification mechanism (22), whose input end is connected to the driven wheel (212), is configured to amplify and output the rotation angle of the driven wheel (212); The elastic energy storage mechanism (23), which is connected to the output end of the angle amplification mechanism (22), is configured to generate a corresponding restoring torque according to the amplified rotation angle; The tension output mechanism (24) includes a flexible traction cable (241), one end of which is connected to the output end of the elastic energy storage mechanism (23), and the other end is connected to the forearm; The flexion angle of the forearm is transmitted through the angle transmission mechanism (21), and after being amplified by the angle amplification mechanism (22), it drives the elastic energy storage mechanism (23), so that the flexible traction cable (241) outputs a pulling force that is linked to the flexion angle of the forearm.

2. The upper limb assistive system as described in claim 1, characterized in that, The upper arm assist device (1) includes a waist housing (11) which is detachably fixed to the operator's waist; An angle sensing module (12) includes a pull cord displacement sensor (121) disposed on the waist housing (11), one end of the pull cord (122) of the pull cord displacement sensor (121) extending to the operator's upper arm to be pulled out or retracted with the movement of the upper arm, the pull cord displacement sensor (121) being configured to sense the movement angle of the upper arm in at least one dimension in real time and generate a corresponding angle signal; The control module, which is communicatively connected to the angle sensing module (12), is configured to receive the angle signal and generate control commands based on the angle signal; Assisted output module (13), which includes: A drive motor (131) is mounted on the waist housing (11), is communicatively connected to the control module, and is configured to receive the control command and output a torque that is positively correlated with the upper arm movement angle according to the control command; A flexible traction member (132), connected to the output shaft of the drive motor (131) and extending to the operator's upper arm, is configured to convert the torque output by the drive motor (131) into an assist applied to the upper arm.

3. The upper limb assistive system as described in claim 2, characterized in that, The control module is configured to receive the angle signal and generate control commands for controlling the drive motor (131) based on a preset mapping relationship; The mapping relationship is set such that the larger the movement angle of the upper arm, the greater the torque output of the drive motor (131) corresponding to the generated control command.

4. The upper limb assistive system as described in claim 1, characterized in that, The angle magnification mechanism (22) includes: The planetary carrier (221), which serves as the input end of the angle amplification mechanism (22), is connected to the driven wheel (212); At least one planetary gear (222) is rotatably supported on the planet carrier (221); The sun gear (223) meshes with the planetary gear (222) and serves as the output end of the angle amplification mechanism (22), while being connected to the input end of the elastic energy storage mechanism (23). The rotation of the planet carrier (221) drives the planetary gear (222) to revolve around the sun gear (223), and drives the sun gear (223) to output at a larger rotation angle.

5. The upper limb assistive system as described in claim 4, characterized in that: The driven wheel (212) is annular and forms the planet carrier (221); An internal gear ring (2211) is provided on the inner wall of the planet carrier (221), and the internal gear ring (2211) meshes with at least one planetary gear (222).

6. The upper limb assistive system as described in claim 4, characterized in that: The elastic energy storage mechanism (23) includes a spiral spring (231), the inner end (2311) of which is coaxially fixedly connected to the sun gear (223), and its outer end (2312) is fixedly connected to a rotating housing (232). The rotation of the sun gear (223) drives the spiral spring (231) to wind or unwind, thereby generating or changing the restoring torque.

7. The upper limb assistive system as described in claim 6, characterized in that: The rotating housing (232) is rotatably coupled to the shaft of the sun gear (223); The outer peripheral wall of the rotating housing (232) is provided with an annular traction cable receiving groove (2321). One end of the flexible traction cable (241) is fixed to the annular traction cable receiving groove (2321), and its cable body is wound and accommodated in the annular traction cable receiving groove (2321); The rotation of the sun gear (223) drives the inner end (2311) of the spiral spring (231) to rotate, and the outer end (2312) of the spiral spring (231) drives the rotating housing (232) to rotate, thereby tightening the flexible traction cable (241) to output the tension.

8. The upper limb assistive system as described in any one of claims 1-7, characterized in that: It also includes a connecting strap (3), one end of which is detachably connected to the shoulder strap (14) of the upper arm assist device (1), and the other end is detachably connected to the driven wheel bracket of the forearm assist device (2), and the driven wheel (212) of the forearm assist device (2) is rotatably mounted on the driven wheel bracket. The upper arm assist device (1) and the forearm assist device (2) are detachably mechanically coupled in the shoulder area through the connection of the connecting strap (3).

9. An upper limb assistive method, characterized in that, Using the upper limb assistive system as described in any one of claims 1-8 includes the following steps: S1, real-time sensing of the operator's upper arm movement angle in space; S2, obtain the flexion and extension angle of the operator's forearm; S3, based on the upper arm movement angle sensed in step S1, dynamically output a first assist in the direction of the movement angle, wherein the intensity of the first assist is positively correlated with the upper arm movement angle; S4, the forearm flexion-extension angle obtained in step S2 is converted and amplified into a second assist, wherein the strength of the second assist is positively correlated with the forearm flexion-extension angle; S5, by independently executing steps S3 and S4, or by coordinating steps S3 and S4, provides assistance for the operator's upper limb suspension.

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