Upper limb exoskeleton rehabilitation assisting robot

Abstract

An upper limb exoskeleton rehabilitation assisting robot relates to the technical field of rehabilitation medical instruments and comprises a hand supporting module used for supporting the hand of a user or allowing the user to hold the hand; the forearm supporting module is connected to the hand supporting module and is provided with a wrist movement joint corresponding to the wrist joint of the human body; the upper arm connecting module is connected with the forearm supporting module through an elbow movement joint corresponding to the elbow joint of the human body; the shoulder connecting module is connected with the upper arm connecting module through a shoulder movement joint corresponding to the shoulder joint of the human body; the wrist movement joint, the elbow movement joint and the shoulder movement joint are each provided with an actuating unit, and the actuating units are configured to independently drive the corresponding joints or cooperatively drive the multiple joints to achieve linkage. Through the modularized multi-joint structure and the driving system capable of being independently or cooperatively controlled, effective assistance for movement of shoulders, elbows, wrists and forearms of the human body is achieved, and the adaptability, naturalness and flexibility of rehabilitation training are improved.

Description

Technical Field

[0001] This invention relates to the field of rehabilitation medical device technology, and in particular to an upper limb exoskeleton rehabilitation assistive robot. Background Technology

[0002] Upper limb rehabilitation robots aim to provide quantitative and repetitive rehabilitation training for patients with stroke, spinal cord injury, and other conditions. They need to accurately simulate the complete kinematic chain formed by key degrees of freedom such as shoulder, elbow, wrist, and forearm pronation / supination. Existing upper limb rehabilitation equipment is mainly divided into two categories: rigid exoskeletons and end-effector traction devices. Although rigid exoskeletons support multi-joint actuation, they usually rely on complex shoulder girdle or trunk fixation structures. Their shoulder rotation axis is difficult to match the individualized scapular movement trajectory, which can easily cause the overall upper limb movement trajectory to deviate from the physiological path. While end-effector traction devices are lightweight and do not require wearing, they generally only provide coupling degrees of freedom in three planes and cannot independently control key physiological movements such as shoulder abduction / adduction, forearm pronation / supination, and wrist flexion / extension / radial deviation.

[0003] Taking the end-effector traction upper limb rehabilitation platform disclosed in Chinese patent document CN110123580A as an example, it achieves three-dimensional spatial movement of the hand through three sets of devices: a base motor drives a rotary bearing to achieve overall rotation in the horizontal plane; an electric push rod drives a lifting platform to achieve vertical lifting; and a ball screw slide moves the handle back and forth to achieve traction in the sagittal plane. However, the three degrees of freedom of this platform are essentially the result of the linkage and synthesis of mechanisms, and cannot independently and decouple the key physiological degrees of freedom of the shoulder, forearm, and wrist.

[0004] Furthermore, existing systems generally lack multi-joint collaborative driving mechanisms for the shoulder, elbow, and wrist. Training modes are mostly fixed trajectories or simple mirror images, and bilateral devices are often just juxtapositions of unilateral systems. They lack intelligent collaborative strategies such as mirror symmetry or task complementarity, making it difficult to effectively stimulate neuroplasticity. Therefore, there is an urgent need for an upper limb rehabilitation robot that combines individualized structural adaptation, multi-joint linkage driving, and bilateral intelligent collaborative training capabilities. Summary of the Invention

[0005] The purpose of this invention is to provide an upper limb exoskeleton rehabilitation assistive robot, which, through a modular multi-joint structure and a drive system that can be controlled independently or collaboratively, effectively assists in the movement of the human shoulder, elbow, wrist, and forearm, thereby improving the adaptability, naturalness, and flexibility of rehabilitation training.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] An upper limb exoskeleton rehabilitation assistive robot, comprising:

[0008] Hand support module, used to support the user's hand or for them to hold;

[0009] A forearm support module is connected to the hand support module and is equipped with a wrist joint corresponding to the human wrist joint.

[0010] The upper arm connection module is connected to the forearm support module through an elbow joint corresponding to the human elbow joint (such as flexion and extension movements);

[0011] The shoulder connection module is connected to the upper arm connection module via a shoulder joint corresponding to the human shoulder joint;

[0012] The wrist, elbow, and shoulder joints are each equipped with an actuation unit. Each actuation unit is configured to independently drive the corresponding joint or to collaboratively drive multiple joints to achieve linkage.

[0013] Furthermore, the hand support module includes a support body and a gripping member disposed thereon, the gripping member being configured to support the user to hold in a horizontal or vertical posture.

[0014] Furthermore, the forearm support module includes a first bracket and a second bracket;

[0015] The first bracket is connected to the rear end of the support body via a first rotating joint;

[0016] The second bracket is connected to the outside of the first bracket via a second rotating joint;

[0017] The rotation axes of the first and second revolute joints are perpendicular to each other, together forming a wrist joint corresponding to the human wrist joint.

[0018] Furthermore, the first bracket is provided with an arc-shaped support, and the outer periphery of the arc-shaped support is provided with an arc-shaped groove. The arc-shaped groove is surrounded by two axial side walls and radial inner and outer side walls, and its radial outer side wall is provided with a circumferential opening to form an installation notch for inserting the slider.

[0019] The second bracket is provided with an arc-shaped slider, which is embedded in the arc-shaped groove through the mounting notch and is limited in the axial direction by the two axial side walls of the arc-shaped groove, thus forming the second rotating pair;

[0020] The second bracket is provided with an actuation unit, and its power output end is provided with a friction wheel or gear, which rubs against or meshes with the outer peripheral surface of the radial outer wall of the arc groove to drive the first bracket to move relative to the second bracket around the second rotating pair.

[0021] Furthermore, the upper arm connection module includes a third bracket;

[0022] The third bracket is connected to the forearm support module via a third revolute joint;

[0023] The rotation axis of the third rotating joint is perpendicular to the rotation axis of the second rotating joint.

[0024] The third revolute joint constitutes an elbow movement joint corresponding to the human elbow joint (such as flexion and extension movements).

[0025] Furthermore, the robot also includes a linear adjustment mechanism, which includes a displacement support rod and a sliding seat slidably fitted thereon;

[0026] The second bracket is fixedly connected to the sliding seat;

[0027] One end of the displacement support rod is connected to the third bracket via the third revolute joint;

[0028] The sliding seat is configured to move axially along the displacement support rod and is equipped with a locking structure.

[0029] Furthermore, a linear adjustment mechanism is provided between the forearm support module and the upper arm connection module to adjust the position of the forearm in the direction of approaching or moving away from the user's torso, and it can be locked.

[0030] Furthermore, the robot also includes a support base assembly, which includes a base and a support seat mounted thereon. The support seat is connected to the shoulder connection module and is configured to be able to move up and down in the vertical direction and rotate about a vertical axis.

[0031] Furthermore, the robot includes one or two sets of the upper limb exoskeleton rehabilitation assistive robots; when two sets are included, they correspond to the user's left and right upper limbs respectively, and are used to provide rehabilitation assistance.

[0032] Furthermore, the two exoskeleton robots are connected via a central controller;

[0033] The central controller is configured to execute any of the following training modes:

[0034] Mirror mode: Drives the left and right upper limbs to perform symmetrical movements;

[0035] Complementary mode: Drives the left and right upper limbs to perform alternating or coordinated tasks.

[0036] Compared with the prior art, the present invention has the following beneficial effects:

[0037] This invention features interconnected hand support, forearm support, upper arm connection, and shoulder connection modules, with actuators at the wrist, elbow, and shoulder joints. This allows each joint to be driven independently for targeted single-joint training or to be driven collaboratively to simulate the natural movement of multiple joints. This structure can reproduce functional movements related to daily life, such as reaching for objects, wrist rotation for grasping, and simulated eating. It effectively overcomes the shortcomings of traditional devices, such as disjointed movements and a disconnect between training content and daily activities due to isolated joint control, thus providing patients with rehabilitation assistance that better aligns with the physiological movement patterns of the human upper limb. Attached Figure Description

[0038] Figure 1 Three-dimensional assistive robot for upper limb exoskeleton rehabilitation Figure 1 ;

[0039] Figure 2 Three-dimensional assistive robot for upper limb exoskeleton rehabilitation Figure 2 ;

[0040] Figure 3 Schematic diagram of the hand support module and forearm support module Figure 1 ;

[0041] Figure 4 Schematic diagram of the hand support module and forearm support module Figure 2 ;

[0042] Figure 5 This is an exploded view of the hand support module and the forearm support module.

[0043] In the picture:

[0044] 1—Support body, 1a—Support plate, 1b—Arc-shaped support component,

[0045] 1c – Extension component, 2 – Grip component, 3 – First support component

[0046] 3a – Connector, 3b – Arc-shaped support, 3b1 – Arc-shaped groove

[0047] 4 – Second support; 5 – First drive motor; 6 – Arc-shaped slider.

[0048] 7 – Second drive motor; 8a – Drive wheel; 8b – Driven wheel;

[0049] 8c – Synchronous belt; 9 – Third support; 10a – Displacement support rod.

[0050] 10b – Sliding seat; 10c – Locking element; 11 – Third drive motor;

[0051] 12 – Fourth support bracket, 13 – Fifth support bracket, 14 – Fifth drive motor

[0052] 15 – Base, 16 – Support, 17 – Casters. Detailed Implementation

[0053] To facilitate understanding by those skilled in the art, the present invention will be further described below with reference to embodiments and accompanying drawings. The content mentioned in the embodiments is not intended to limit the present invention.

[0054] like Figure 1-5 As shown, this embodiment provides an upper limb exoskeleton rehabilitation assistive robot, including a hand support module, a forearm support module, an upper arm connection module, and a shoulder connection module that are connected to each other.

[0055] Specifically, the hand support module supports the user's hand or allows the user to grip it; the forearm support module is connected to the hand support module and has a wrist joint corresponding to the human wrist joint, configured to achieve forearm pronation / supination and / or wrist flexion / extension; the upper arm connection module is connected to the forearm support module through an elbow joint corresponding to the human elbow joint, configured to achieve elbow flexion / extension; the shoulder connection module is connected to the upper arm connection module through a shoulder joint corresponding to the human shoulder joint, configured to achieve shoulder flexion / extension and / or shoulder abduction / adduction. Each of the wrist, elbow, and shoulder joints has an actuation unit, configured to independently drive the corresponding joint or collaboratively drive multiple joints to reproduce a natural kinetic chain.

[0056] Through its modular multi-joint structure and flexible drive control strategy, this robot can effectively match the biomechanical characteristics of the human upper limb, thereby improving the realism of rehabilitation training movements and its clinical applicability.

[0057] In this embodiment, the hand support module includes a support body 1 and a grip 2 disposed thereon. The grip 2 is configured to support the user (hand) in a horizontal or vertical grip posture to adapt to different training needs. The support body 1 includes a support plate 1a and an arc-shaped support 1b connected to each other. The support plate 1a is located at the front end of the support body 1 (i.e., the distal end away from the user's torso), and the arc-shaped support 1b is located at the rear end of the support body 1 (i.e., the proximal end close to the user's torso). The grip 2 is detachably mounted on the support plate 1a for easy replacement; its form includes, but is not limited to: a straight rod perpendicular to the surface of the support plate 1a, or a U-shaped rod with both ends fixed to the support plate 1a and the crossbar section parallel to the surface of the support plate 1a.

[0058] In some embodiments, multiple optional fixed connection positions can be provided between the support plate 1a and the arc-shaped support member 1b. By selecting different connection positions, the initial posture of the hand grip member 2 relative to the forearm (such as horizontal grip or vertical grip) can be adjusted.

[0059] In this embodiment, the forearm support module includes a first bracket 3 and a second bracket 4 connected to each other; the first bracket 3 is connected to the rear end of the support body 1 of the hand support module through a first rotating joint, and the second bracket 4 is connected to the outside of the first bracket 3 through a second rotating joint, and the rotation axes of the first rotating joint and the second rotating joint are perpendicular to each other, together forming a multi-degree-of-freedom wrist joint corresponding to the human wrist joint.

[0060] Specifically, the arc-shaped support member 1b at the rear end of the supporting body 1 has axially rearwardly extending extension members 1c at both circumferential ends, and the front end of the extension member 1c is fixedly connected to the arc-shaped support member 1b. The first bracket 3 includes: an axially forward extending connector 3a, and an arc-shaped support 3b that matches the contour of the arc-shaped support member 1b; the rear end of the connector 3a is fixedly connected to the arc-shaped support 3b. The extension member 1c and the connector 3a are arranged opposite each other axially, and the rear end of the extension member 1c is rotatably connected to the front end of the connector 3a, and is driven to rotate relative to each other by a first actuation unit disposed on one of them. For example, the first actuation unit includes a first drive motor 5, which is fixed on a connecting member 3a on one side of the first bracket 3. The output shaft is fixedly connected to the extension 1c at one end of the arc-shaped support member 1b, while the extension 1c at the other end of the arc-shaped support member 1b is hinged to the connecting member 3a on the other side of the first bracket 3 through a rotating shaft. The rotating shaft is coaxially arranged with the output shaft of the first drive motor 5, and together they form a first rotating pair. When the first drive motor 5 is running, the first bracket 3 serves as the supporting base, driving the arc-shaped support member 1b to drive the entire supporting body 1 to swing around the first rotating pair.

[0061] The first bracket 3 has an arc-shaped groove 3b1 on the outer periphery of its arc-shaped support 3b at the rear end, which engages with the arc-shaped slider 6 on the second bracket 4 to form a second rotating pair. The arc-shaped groove 3b1 is formed by two axial side walls and two radial inner and outer side walls, with the radial outer side wall having an opening in the circumferential direction, thus creating a mounting notch for inserting the slider. The second bracket 4 has an arc-shaped slider 6 at one end near the first bracket 3. The slider 6 is inserted into the arc-shaped groove 3b1 through the mounting notch and is axially limited by the two axial side walls of the groove 3b1. Its radial inner side is constrained by the radial inner side wall, and its radial outer side engages with the radial outer side wall in the non-notch area to transmit driving force or provide guidance. Together, they form the second rotating pair.

[0062] The second support 4 is equipped with a second actuation unit, whose power output end is provided with a friction wheel or gear, which frictionally contacts or meshes with the outer peripheral surface of the radial outer wall of the arc-shaped groove 3b1 to drive the first support 3 to move relative to the second support 4 around the second rotary joint. Specifically, the second actuation unit includes a second drive motor 7 fixed on the second support 4, whose output shaft is connected to the drive wheel 8a. The second support 4 is provided with a driven wheel 8b at one end near the arc-shaped slider 6. The drive wheel 8a and the driven wheel 8b are connected by a synchronous belt 8c. The outer peripheral surface of the driven wheel 8b is constructed as a friction surface or gear surface, and it cooperates with the friction surface or gear surface corresponding to the radial outer wall of the arc-shaped groove 3b1. In other embodiments, the second drive motor 7 can also directly drive the driven wheel 8b to rotate, omitting the synchronous belt structure.

[0063] In this embodiment, the upper arm connection module includes a third bracket 9, which is connected to the forearm support module through a third rotating joint. The rotation axis of the third rotating joint is perpendicular to the rotation axis of the second rotating joint, forming an elbow joint corresponding to the human elbow joint.

[0064] Specifically, the lower end of the third support 9 is indirectly connected to the forearm support module via a third revolute joint. This indirect connection is achieved through a linear adjustment mechanism: the linear adjustment mechanism includes a displacement support rod 10a and a sliding seat 10b slidably fitted thereon. One end (e.g., the rear end) of the displacement support rod 10a is connected to the third support 9 via the third revolute joint. The sliding seat 10b is fixedly connected to the second support 4 in the forearm support module and can move axially along the displacement support rod 10a, and is provided with a locking structure for locking its position. The locking structure includes an operable locking element 10c, such as a locking screw or a hand-tightening bolt. This linear adjustment mechanism can be used to adjust the position of the forearm in the direction closer to or further away from the user's torso. In other embodiments, the lower end of the third support 9 can also be directly connected to the forearm support module via the third revolute joint.

[0065] The third support 9 is equipped with a third actuation unit, which drives the forearm support module to rotate relative to the third support 9 around the third revolute joint. For example, the third actuation unit includes a third drive motor 11, which is fixed on the third support 9, and its output shaft is fixedly connected to one end (such as the rear end) of the displacement support rod 10a. When the locking structure is in the locked state, the operation of the third drive motor 11 can drive the displacement support rod 10a, the sliding seat 10b and the second support 4 to swing synchronously around the third revolute joint, thereby driving the entire forearm support module to achieve elbow joint flexion and extension movements.

[0066] In this embodiment, the shoulder connection module includes a fourth bracket 12 and a fifth bracket 13 that are connected to each other.

[0067] Specifically, the fourth support 12 is rotatably connected to the third support 9 of the upper arm connection module via a fourth rotating joint. The rotation axis of the fourth rotating joint is parallel to the third rotating joint (i.e., the elbow joint flexion-extension axis) to realize the flexion-extension movement of the shoulder joint. A fourth actuation unit is provided between the fourth support 12 and the third support 9 to drive the two to rotate relative to each other. For example, the fourth actuation unit includes a fourth drive motor (not shown in the figure), which is fixed on the third support 9 and its output shaft is fixedly connected to the fourth support 12.

[0068] The fifth support 13 is rotatably connected to the fourth support 12 via a fifth rotating joint. The rotation axis of the fifth rotating joint is perpendicular to the rotation axis of the third rotating joint, and is used to realize the abduction / adduction movement of the shoulder joint. A fifth actuation unit is provided between the fifth support 13 and the fourth support 12. For example, the fifth actuation unit includes a fifth drive motor 14, which is fixed on the fifth support 13 and its output shaft is fixedly connected to the fourth support 12, thereby driving the fourth support 12 to rotate relative to the fifth support 13.

[0069] The fourth and fifth revolute joints combine to form a multi-degree-of-freedom shoulder joint, which corresponds to the main degrees of freedom of the human shoulder joint.

[0070] In some embodiments, the fourth support 12 and the third support 9 are rotatably connected, but no actuation unit is configured to drive the relative rotation of the two, so that the flexion and extension movements of the shoulder joint are achieved in a passive manner, which is suitable for rehabilitation scenarios that only require active abduction / adduction assistance.

[0071] In other embodiments, the fourth support 12 is fixedly connected to the third support 9, thereby simplifying the shoulder joint into a single degree of freedom structure, retaining only the abduction / adduction degrees of freedom formed by the fifth support 13 and the fourth support 12, so as to reduce system complexity and meet specific training needs.

[0072] In this embodiment, the upper limb exoskeleton rehabilitation assistive robot also includes a support base assembly, which includes a base 15 and a support seat 16 mounted thereon. The support seat 16 is fixedly connected to the fifth bracket 13 of the shoulder connection module and is configured to be able to rise and fall in the vertical direction and rotate around the vertical axis to adapt to the height and training orientation needs of different users.

[0073] The support base assembly may be equipped with a sixth actuation unit and a seventh actuation unit, which are used to drive the support base 16 to rise and fall in the vertical direction and rotate around the vertical axis, respectively; optionally, the rising and rotating functions can also be realized through a manual adjustment mechanism.

[0074] In addition, the bottom of the base 15 is equipped with a roller 17 to facilitate moving or repositioning the entire robot; the roller 17 is equipped with a locking mechanism to lock it when needed to prevent accidental displacement.

[0075] In this embodiment, the upper limb exoskeleton rehabilitation assistive robot supports multi-joint coordinated actuation and can reproduce various functional movement chains related to daily life. For example:

[0076] a. Reaching for an object: The shoulder joint is abducted through the shoulder connection module, while the elbow joint is extended through the upper arm connection module. The wrist joint drives the forearm to supinate and the wrist joint to flex, and finally the hand support module completes the grip.

[0077] b. Wrist rotation grasping action: With the elbow joint in a flexed position, the wrist joint drives the forearm to pronate or supinate, and simultaneously adjusts the wrist flexion and extension to adjust the palm posture, so as to grasp objects facing different directions.

[0078] c. Simulated eating action: The shoulder joint flexes to raise the upper arm forward, the elbow joint flexes simultaneously to raise the height of the forearm, and the wrist joint slightly adjusts the wrist posture so that the grip 2 faces the mouth.

[0079] The above actions are coordinated by the central controller to control the output timing and torque of each joint actuator, thereby achieving the linkage control of shoulder, elbow, wrist and forearm rotation, thus reproducing natural and continuous upper limb functional movements.

[0080] In this embodiment, the upper limb exoskeleton rehabilitation assistive robot can be configured for unilateral or bilateral use. When the bilateral configuration is adopted, the system includes two structurally identical upper limb exoskeleton rehabilitation assistive robots, used for the user's left and right upper limbs respectively, and the two devices are mechanically independent of each other.

[0081] The two exoskeleton robots communicate with each other via a central controller configured to coordinate the motion outputs of the left and right sides. Specifically, the central controller can execute the following training modes:

[0082] a. Mirror mode: Using the movement trajectory of one upper limb as a reference, it drives the opposite upper limb to perform symmetrical mirror movements, which is suitable for scenarios where one side actively drives the other side passively.

[0083] b. Complementary mode: Controls the left and right upper limbs to perform tasks that alternate in time or coordinate in space (such as alternating pushing and pulling with both hands, coordinating to grasp objects, etc.), which is suitable for rehabilitation training that requires bilateral coordination.

[0084] In each mode, the central controller adjusts the output of each joint actuator according to the preset strategy, thereby realizing flexible and configurable bilateral rehabilitation training.

[0085] Optionally, the above system can be combined with sensor signals to assist in motion monitoring.

[0086] In this embodiment, the hand support module, forearm support module, upper arm connection module, and shoulder connection module are interconnected via a bracket to form an open multi-link mechanism. The robot is equipped with multiple actuation units, supporting multi-dimensional movements of the shoulder, elbow, wrist, and forearm, and possesses multiple active degrees of freedom (e.g., six or seven), effectively reproducing functional movement chains of the upper limbs.

[0087] By setting up interconnected hand support modules, forearm support modules, upper arm connection modules, and shoulder connection modules, and configuring actuation units at the wrist, elbow, and shoulder joints, the robot in this embodiment allows each joint to be driven independently for targeted single-joint training, as well as to be driven collaboratively to simulate the natural movement process of multiple joint linkages. This structure not only improves the exoskeleton's adaptability to the complex kinetic chains of the human upper limbs, but also enhances the functionality and flexibility of rehabilitation training, effectively overcoming the shortcomings of traditional equipment, such as disjointed movements and training detached from daily life scenarios due to isolated joint control.

[0088] Based on this, the robot can support functional rehabilitation training for unilateral or bilateral upper limbs: in unilateral mode, it can independently or in conjunction with the rotation of the shoulder, elbow, wrist, and forearm to reproduce daily tasks such as reaching for objects, wrist rotation for grasping, and simulated eating; in bilateral mode, the central controller coordinates the left and right exoskeletons to execute mirror or complementary movement strategies, making it suitable for rehabilitation scenarios requiring bilateral coordination training. This design provides a highly adaptable, flexible, and easily deployable rehabilitation assistive solution for patients with upper limb dysfunction such as stroke and spinal cord injury.

[0089] The above description is merely a preferred embodiment of the present invention and does not constitute any limitation on the present invention. Any content that does not depart from the technical solution of the present invention shall still fall within the patent scope of the technical solution of the present invention.

Claims

1. An upper limb exoskeleton rehabilitation assistive robot, characterized in that, include: Hand support module, used to support the user's hand or for them to hold; A forearm support module is connected to the hand support module and is equipped with a wrist joint corresponding to the human wrist joint. The upper arm connection module is connected to the forearm support module via an elbow joint corresponding to the human elbow joint. The shoulder connection module is connected to the upper arm connection module via a shoulder joint corresponding to the human shoulder joint; The wrist, elbow, and shoulder joints are each equipped with an actuation unit. Each actuation unit is configured to independently drive the corresponding joint or to collaboratively drive multiple joints to achieve linkage.

2. The upper limb exoskeleton rehabilitation assistive robot according to claim 1, characterized in that, The hand support module includes a support body (1) and a grip (2) disposed thereon, the grip (2) being configured to support the user to hold in a horizontal or vertical posture.

3. The upper limb exoskeleton rehabilitation assistive robot according to claim 2, characterized in that, The forearm support module includes a first bracket (3) and a second bracket (4); The first bracket (3) is connected to the rear end of the support body (1) via a first rotating joint; The second bracket (4) is connected to the outside of the first bracket (3) via a second rotating joint; The rotation axes of the first and second revolute joints are perpendicular to each other, together forming a wrist joint corresponding to the human wrist joint.

4. The upper limb exoskeleton rehabilitation assistive robot according to claim 3, characterized in that, The first bracket (3) is provided with an arc-shaped support (3b), and the outer periphery of the arc-shaped support (3b) is provided with an arc-shaped groove (3b1). The arc-shaped groove (3b1) is formed by two axial side walls and radial inner and outer side walls, and its radial outer side wall is provided with a circumferential opening to form an installation notch. The second bracket (4) is provided with an arc-shaped slider (6), which is embedded in the arc-shaped groove (3b1) through the mounting notch and is limited in the axial direction by the two side walls of the arc-shaped groove (3b1) to form the second rotating pair; The second bracket (4) is provided with an actuation unit, and its power output end is provided with a friction wheel or gear, which rubs against or meshes with the outer peripheral surface of the radial outer wall of the arc groove (3b1) to drive the first bracket (3) to move around the second rotating pair relative to the second bracket (4).

5. The upper limb exoskeleton rehabilitation assistive robot according to claim 3, characterized in that, The upper arm connection module includes a third bracket (9); The third bracket (9) is connected to the forearm support module via a third rotating joint; The rotation axis of the third rotating joint is perpendicular to the rotation axis of the second rotating joint. The third revolute joint constitutes an elbow joint corresponding to the human elbow joint.

6. The upper limb exoskeleton rehabilitation assistive robot according to claim 5, characterized in that, It also includes a linear adjustment mechanism, which includes a displacement support rod (10a) and a sliding seat (10b) slidably fitted thereon. The second bracket (4) is fixedly connected to the sliding seat (10b); One end of the displacement support rod (10a) is connected to the third bracket (9) through the third rotating joint. The sliding seat (10b) is configured to move axially along the displacement support rod (10a) and is provided with a locking structure.

7. The upper limb exoskeleton rehabilitation assistive robot according to claim 1, characterized in that, A linear adjustment mechanism is also provided between the forearm support module and the upper arm connection module to adjust the position of the forearm in the direction of approaching or moving away from the user's torso, and it can be locked.

8. The upper limb exoskeleton rehabilitation assistive robot according to claim 1, characterized in that, It also includes a support base assembly, which includes a base (15) and a support seat (16) mounted thereon, the support seat (16) being connected to the shoulder connection module and configured to be vertically movable and rotatable about a vertical axis.

9. The upper limb exoskeleton rehabilitation assistive robot according to claim 1, characterized in that, The robot includes one or two sets of the upper limb exoskeleton rehabilitation assistive robots; when two sets are included, they correspond to the user's left and right upper limbs, respectively.

10. The upper limb exoskeleton rehabilitation assistive robot according to claim 9, characterized in that, The two exoskeleton robots are connected via a central controller. The central controller is configured to execute any of the following training modes: Mirror mode: Drives the left and right upper limbs to perform symmetrical movements; Complementary mode: Drives the left and right upper limbs to perform alternating or coordinated tasks.

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