Upper limb multi-joint training device

Abstract

The invention relates to an upper limb multi-joint training device, and belongs to the technical field of rehabilitation medical instruments. The device comprises a main motion platform, a driven execution terminal and a connecting mechanism, the main motion platform is a multi-degree-of-freedom industrial mechanical arm and is used for driving the upper limbs of a user to complete three-dimensional space compound motion of shoulder and elbow joints; the connecting mechanism is arranged between the tail end of the main motion platform and the driven execution terminal and is used for detachably mounting the driven execution terminal at the tail end of the main motion platform; the driven execution terminal comprises three rotating joints which are sequentially connected in series, and the three rotating joints respectively provide a rotating degree of freedom to correspondingly realize the flexion and extension movement of the wrist joint, the radial ulnar deviation movement and the pronation and supination movement of the forearm. According to the invention, large-range collaborative movement of shoulder and elbow joints and full-degree-of-freedom refined training of wrist joints can be realized at the same time, comprehensiveness of rehabilitation training is improved, and the device is suitable for clinical rehabilitation training of patients with upper limb movement dysfunction.

Description

Technical Field

[0001] This invention belongs to the field of rehabilitation medical device technology, specifically relating to an upper limb multi-joint training device. Background Technology

[0002] Patients with stroke, spinal cord injury, and upper limb orthopedic surgery often have varying degrees of upper limb motor dysfunction. Systematic training of multiple joints, including the shoulder, elbow, and wrist, is a core clinical approach to promote neural remodeling and restore limb motor function.

[0003] Currently, the upper limb rehabilitation end-drive devices used in clinical practice are based on multi-degree-of-freedom industrial robotic arms. Although they can drive patients to complete three-dimensional spatial compound movements of the shoulder and elbow joints, they can only drive the wrist to passively follow. They lack independent and refined training of the three physiological degrees of freedom of the wrist joint (flexion and extension, radial and ulnar deviation, and forearm pronation and supination), and cannot achieve coordinated rehabilitation of the entire shoulder, elbow, and wrist joints, making it difficult to cover the full-cycle rehabilitation needs of patients.

[0004] In summary, existing equipment cannot simultaneously meet the core needs of large-range upper limb joint movement and fine-tuned wrist training, resulting in deficiencies such as incomplete training coverage, insufficient adaptability, and inadequate safety. Summary of the Invention

[0005] The purpose of this invention is to overcome the above-mentioned defects of the prior art and provide an upper limb multi-joint training device to realize multi-joint coordinated training of the shoulder, elbow and wrist, and improve human-machine adaptability and training safety.

[0006] To achieve the objectives of this invention, this application provides an upper limb multi-joint training device, including a main motion platform, a driven execution terminal, and a connecting mechanism; the main motion platform is a multi-degree-of-freedom industrial robotic arm used to drive the user's upper limb to complete three-dimensional spatial compound movements of the shoulder and elbow joints; the connecting mechanism is disposed between the end of the main motion platform and the driven execution terminal, used to detachably install the driven execution terminal to the end of the main motion platform; the driven execution terminal includes three rotary joints connected in series, each of the three rotary joints providing a rotational degree of freedom, used to realize wrist flexion and extension movements, radioulnar deviation movements, and forearm pronation and supination movements, respectively.

[0007] In some embodiments of this application, the end of the main motion platform is provided with an end flange for docking and installation of the main motion platform and external components; the connecting mechanism includes an adapter flange and a detachable connecting assembly; the adapter flange is disposed between the end flange and the detachable connecting assembly for docking and fixing the connecting mechanism with the end flange; the detachable connecting assembly is disposed between the adapter flange and the driven execution terminal for detachable connection and locking fixation of the driven execution terminal relative to the main motion platform.

[0008] In some embodiments of this application, the detachable connection assembly includes a fixed-side shell, a movable-side shell, multiple sets of magnetic suction units, and an auxiliary positioning structure. The fixed-side shell is fixedly connected to the adapter flange, forming the fixed mounting end of the detachable connection assembly. The movable-side shell is fixedly connected to the main support structure of the driven actuator, forming the detachable movable end of the detachable connection assembly. The magnetic suction unit is a permanent magnet component that provides adsorption and locking force, and is disposed on the relative contact surfaces of the fixed-side shell and the movable-side shell, for adsorption and locking when the two shells are attached. The auxiliary positioning structure includes a positioning pin and a positioning hole that cooperate with each other, and is disposed on the relative contact surfaces of the fixed-side shell and the movable-side shell, for coaxial centering positioning and circumferential anti-movement limiting when the two shells are magnetically attached.

[0009] In some embodiments of this application, the three rotary joints include a first rotary joint, a second rotary joint, and a third rotary joint, wherein the rotation axes of the first rotary joint, the second rotary joint, and the third rotary joint are orthogonal to each other in space; the rotation axis of the first rotary joint is coaxial with the physiological flexion-extension axis of the human wrist joint, for realizing the flexion-extension movement of the wrist joint; the rotation axis of the second rotary joint is coaxial with the physiological radioulnar deviation axis of the human wrist joint, for realizing the radioulnar deviation movement of the wrist joint; and the rotation axis of the third rotary joint is coaxial with the physiological pronation-supination axis of the human forearm, for realizing the pronation-supination movement of the forearm.

[0010] In some embodiments of this application, the driven execution terminal is a wrist rehabilitation exoskeleton device. The third rotational joint of the wrist rehabilitation exoskeleton device adopts a hollow rotational shaft structure. The hollow rotational shaft has an inner hole that extends axially along its rotational axis. The inner hole allows the user's forearm to pass through, so that the physiological pronation and supination axis of the human forearm is coaxially aligned with the rotational axis of the third rotational joint. A limiting device is provided on the third rotational joint, which is used to limit the rotation angle of the third rotational joint within the range of ±90°.

[0011] In some embodiments of this application, the first rotary joint is the end output joint closest to the user's hand among three serial rotary joints. The output end of the first rotary joint is connected to a handle for the user to grip via an adjustable connecting rod. By adjusting the length of the connecting rod, it can be adapted to the hand size and forearm length of different users, so that the physiological flexion and extension axis of the human wrist joint is coaxially aligned with the rotation axis of the first rotary joint.

[0012] In some embodiments of this application, a second force sensor is connected in series between the output end of the first rotary joint and the connecting rod. The second force sensor is used to collect information on the force and torque applied by the user's hand through the handle in real time.

[0013] In some embodiments of this application, a first force sensor is connected in series between the main motion platform and the connecting mechanism. The first force sensor is used to collect the interaction force and interaction torque between the main motion platform and the driven execution terminal in real time.

[0014] In some embodiments of this application, the training device further includes a force sensing unit, which is communicatively connected to the first force sensor and the second force sensor, respectively, for receiving mechanical signals collected by the first force sensor and the second force sensor, generating and outputting control signals for compliant following motion control and human safety protection of the training device.

[0015] In some embodiments of this application, the force sensing unit is configured to: preset a first safety threshold corresponding to human safety protection and a second safety threshold corresponding to compliant following motion control; when the interaction force or interaction torque collected by the first force sensor exceeds the first safety threshold, output a control signal to trigger emergency stop protection, causing the main motion platform to stop moving immediately; when the user's hand operation force or operation torque collected by the second force sensor exceeds the second safety threshold, output a control signal to trigger compliant following, and adjust the motion trajectory and driving speed of the driven execution terminal in real time based on the direction and magnitude of the user's applied force, so that the training device follows the user's active force to perform compliant following motion.

[0016] The technical solution of this application has achieved at least the following beneficial effects:

[0017] 1. By using a multi-degree-of-freedom industrial robotic arm to cover the three-dimensional spatial compound motion of the shoulder and elbow joints, and by using three orthogonal rotational joints to cover the full degree-of-freedom motion of the wrist joint, the system fully matches the normal upper limb movement pattern of the human body, thereby improving the effectiveness of rehabilitation training. 2. The three rotational joint axes are coaxially set with the physiological axes of the human wrist joint and forearm, and with the hollow through-arm structure and adjustable length connecting rod, it can be adapted to users of different body types, avoid human-machine interference and additional torque during training, and prevent secondary injury. 3. The tool-free quick assembly and disassembly of the driven actuator is achieved through detachable connection components, which reduces the difficulty of cleaning, disinfecting, maintaining and repairing the equipment. At the same time, different end effectors with different functions can be replaced according to the patient's recovery stage, which improves the equipment's adaptability to different scenarios. 4. By constructing a full-link force sensing system through dual force sensors, and in conjunction with hierarchical threshold control logic, it can achieve both emergency stop safety protection at the whole machine level and accurately identify the user's active movement intentions, enabling compliant follow-up training and meeting the dual needs of passive traction rehabilitation and active training. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the overall structure of the training device in the embodiments of this application.

[0019] Figure 2 This is a front structural diagram of the connecting mechanism in the embodiments of this application.

[0020] Figure 3 This is a schematic diagram of the rear structure of the connecting mechanism in the embodiments of this application.

[0021] Figure 4 This is a schematic diagram of the structure of the slave execution terminal in the embodiments of this application.

[0022] Figure 5 This is a cross-sectional view of the driven execution terminal in an embodiment of this application.

[0023] Figure 6 This is a schematic diagram of the end handle structure of the driven execution terminal in the embodiments of this application.

[0024] The specific meanings of the reference numerals in the attached figures are as follows: 1. Main motion platform; 2. Driven actuator; 3. Connecting mechanism; 4. First force sensor; 5. Second force sensor; 201. Movable side housing; 202. Fixed side housing; 203. Positioning pin; 204. Positioning hole; 205. Adaptor flange; 206. First fixing bolt; 207. First suction component; 208. Second suction component; 301. Third drive motor; 302. Third driving pinion; 303. Gear connector; 304. Large gear position fixing component; 305. First tightening component; 306. Third driven large gear; 307. Hollow channel; 308. Hollow rotating shaft of large gear; 309. Built-in crossed roller bearing; 310. Second tightening component; 311. Fifth fixing component; 312. Sixth fixing component; 313. 314. Second transition connector; 315. Seventh fastener; 316. Eighth fastener; 317. Second joint housing; 318. Second drive motor; 319. Fourth connecting flange; 310. Second flange cover; 321. Fifth connecting flange; 322. First fastener; 323. First transition connector; 324. Third fastener; 325. Fourth fastener; 326. First connecting flange; 327. First flange cover; 328. First connector; 329. Second connector; 330. First joint housing; 331. First drive motor; 333. Connecting rod; 334. Connecting rod fastener; 335. Rectangular connector; 336. Second connecting flange; 338. Third connecting flange; 339. Handle. Detailed Implementation

[0025] The present application will now be further described with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solutions of the present application and should not be construed as limiting the scope of protection of the present application. It should be noted that the following detailed descriptions are exemplary and intended to provide further explanation of the present application.

[0026] Unless otherwise defined, all technical and scientific terms used in this application have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the terminology used in the specification of this application is for the purpose of describing particular embodiments only and is not intended to limit the application; the terms "comprising" and "having," and any variations thereof, in the specification, claims, and accompanying drawings of this application are intended to cover non-exclusive inclusion. The terms "first," "second," etc., in the specification, claims, or accompanying drawings of this application are used to distinguish different objects, not to describe a specific order or hierarchy. The term "multiple" in this application refers to two or more (including two); similarly, "multiple sets" refers to two or more sets (including two sets), and "multiple pieces" refers to two or more pieces (including two pieces).

[0027] In this application, the reference to "embodiment" means that a specific feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a mutually exclusive, independent, or alternative embodiment. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described in this application can be combined with other embodiments.

[0028] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," "attachment," "communication," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0029] It should be noted that the directional descriptions such as "front", "rear", "side", and "bottom" in this embodiment are set for the purpose of more clearly explaining the technical solution of this application. In practical applications, these directional descriptions can be adjusted accordingly based on the specific installation and use of the training device.

[0030] Please see Figure 1 The upper limb multi-joint training device described in this embodiment includes three core modules: a main motion platform 1, a driven execution terminal 2, and a connecting mechanism 3.

[0031] The main motion platform 1 is a multi-degree-of-freedom industrial robotic arm, with its base fixed to the ground or next to a rehabilitation training bed. Its end effector is rigidly connected to the driven execution terminal 2 via a connecting mechanism 3. In this embodiment, the main motion platform 1 uses a 6-degree-of-freedom serial industrial robotic arm, a standard execution component commonly used in the robotics field. It can achieve precise adjustment of any position and posture within space, fully covering the entire range of motion of the human shoulder and elbow joints, including flexion and extension, adduction and abduction, and internal and external rotation, meeting the trajectory requirements of different rehabilitation training movements.

[0032] In some embodiments, the end of the main motion platform 1 is fixedly provided with an end flange, which is a standard circular rigid flange with evenly distributed threaded mounting holes on its surface, for docking and installation of the main motion platform 1 with external components, and providing a stable mounting carrier for the subsequent connection mechanism 3 and the first force sensor 4.

[0033] Please see Figure 2 , Figure 3 In some embodiments, the connecting mechanism 3 is disposed between the end flange of the main motion platform 1 and the driven execution terminal 2, for detachably installing the driven execution terminal 2 at the end of the main motion platform 1, and the core includes the adapter flange 205 and the detachable connecting assembly.

[0034] Among them, the adapter flange 205 is a rigid circular connecting component made of aviation aluminum alloy. It is set between the end flange and the detachable connecting component and is fixedly connected to the end flange by bolts. It is used to realize the docking and fixing of the connecting mechanism 3 and the end flange, and at the same time, it reserves standard installation space and docking hole for the first force sensor 4.

[0035] The detachable connection assembly is located between the adapter flange 205 and the driven actuator 2, enabling tool-free quick assembly, disassembly, and locking of the driven actuator 2. Specifically, it includes a fixed-side housing 202, a movable-side housing 201, multiple magnetic units, and an auxiliary positioning structure. The fixed side housing 202 is a disc-shaped rigid housing, which is fixedly connected to the lower end face of the adapter flange 205 by the first fixing bolt 206, forming a fixed installation end of the detachable connection assembly; The movable side housing 201 is a disc-shaped rigid housing that matches the size of the fixed side housing 202. It is fixedly connected to the upper end face of the main support structure of the driven actuator 2 by bolts, forming a detachable movable end of the detachable connection assembly. The magnetic attraction unit is a permanent magnet or ferromagnetic component that provides attraction and locking force. It includes a first attraction element 207 and a second attraction element 208 located on the contact surface of the fixed-side housing 202, and a third and fourth attraction element located on the contact surface of the movable-side housing 201, corresponding one-to-one with the positions of the first and second attraction elements 207 and 208. In this embodiment, a total of four sets of magnetic attraction units are provided, evenly distributed circumferentially within the relative contact surfaces of the two housings. The attraction force of each set of permanent magnets is not less than 50N, and the total locking force is not less than 200N, fully meeting the load and motion locking requirements of the driven actuator 2. When the fixed-side housing 202 and the movable-side housing 201 are in contact, the magnetic attraction unit provides a stable attraction and locking force, achieving tool-free and rapid locking. Applying an outward pulling force separates the two housings, achieving rapid disassembly. The auxiliary positioning structure includes two cooperating positioning pins 203 and two positioning holes 204. The two positioning pins 203 are circumferentially and evenly fixed to the mating surface of the fixed side shell 202, and the two positioning holes 204 are correspondingly opened on the mating surface of the movable side shell 201. When the two shells are magnetically attached, the positioning pins 203 are precisely inserted into the positioning holes 204 to achieve coaxial centering positioning of the two shells with a coaxiality error of no more than 0.02mm. At the same time, it restricts the relative circumferential movement of the two shells and ensures the stability of the connection during movement.

[0036] The technical solution in this example, through a magnetically detachable connection component, enables tool-free, instant assembly and disassembly of the driven actuator 2, improving the convenience of equipment cleaning, disinfection, maintenance, and repair. Simultaneously, it allows for the rapid replacement of end effectors with different functions (such as grip strength training terminals, finger rehabilitation terminals, etc.) according to the patient's rehabilitation stage and training needs, greatly enhancing the device's versatility and adaptability to various scenarios. The auxiliary positioning structure ensures consistent positioning accuracy during each assembly and disassembly, preventing misalignment from affecting the accuracy of the training trajectory.

[0037] Please see Figure 4 In some embodiments, the driven execution terminal 2 is a wrist rehabilitation exoskeleton device, including a third rotational joint, a second rotational joint, and a first rotational joint connected in series along the forearm to the hand. Each of the three rotational joints provides a degree of rotational freedom, and the rotation axes of the three are orthogonal to each other in space, converging at the physiological rotation center of the human wrist joint, which perfectly matches the kinematic characteristics of the human wrist joint.

[0038] Explanation of technical terms: 1. Physiological flexion-extension axis of the human wrist joint: The central axis of rotation of the wrist joint when the palm bends forward and backward; 2. Physiological radial-ulnar axis of the human wrist joint: The central axis of rotation of the wrist joint when the palm swings towards the thumb and little finger; 3. Physiological pronation and supination axis of the human forearm: The central axis of rotation along the long axis of the ulna and radius of the forearm, corresponding to the inward and outward rotation of the palm.

[0039] Please see Figure 4 , Figure 5 In some embodiments, the third rotary joint is the proximal joint closest to the connecting mechanism 3 among the three rotary joints, and adopts a hollow rotary shaft structure. The third rotary joint mainly includes a third joint housing, a third drive motor 301, a third driving pinion 302, a third driven large gear 306, a gear connector 303, a large gear position fixing member 304, and a first tightening member 305.

[0040] The third drive motor 301 is fixedly installed inside the third joint housing, and its output end is coaxially and fixedly connected to the third driving pinion 302. The third driving pinion 302 meshes with the third driven large gear 306 to form a reduction transmission pair, thereby driving the third rotary joint to rotate. The third driven large gear 306 has a built-in crossed roller bearing 309 inside. The crossed roller bearing 309 is coaxially connected to the hollow rotating shaft 308 of the large gear and is configured to cooperate with the third driven large gear 306 to improve the load-bearing capacity, rotational accuracy and operational stability of the joint.

[0041] The position of the hollow rotating shaft 308 of the large gear is fixed by the large gear position fixing part 304 and the first tightening part 305; at the same time, the gear connecting part 303 is also coaxially connected to the hollow rotating shaft 308 of the large gear and is locked in position by the second tightening part 310, thereby ensuring the coaxiality during gear transmission and the stability of the overall structure.

[0042] Furthermore, a hollow channel 307 is formed at the center of the hollow rotating shaft 308 of the large gear, extending axially along its rotation axis. The hollow channel 307 is used for the patient's forearm to pass through and be placed. The user's forearm can be inserted through the hollow channel 307, aligning the physiological pronation and supination axis of the human forearm with the rotation axis of the third rotational joint, thus fundamentally avoiding human-machine interference and additional torque during rotation. A flexible contact pad or flexible support structure is set inside the hollow channel 307 to improve the fit and comfort between the device and the patient's arm, and reduce local pressure during training.

[0043] In some embodiments, a limiting device is provided on the third rotational joint. In this embodiment, a mechanical limiting structure is adopted, including limiting blocks fixed to both ends of the hollow rotational shaft and limiting blocks fixed to the housing of the third joint, which limits the rotation angle of the third rotational joint to the range of -90° (pronation) to +90° (supination), completely covering the normal pronation and supination range of the human forearm, while preventing excessive rotation from causing joint damage to the patient.

[0044] Please see Figure 4 , Figure 5 In a parallel embodiment, the third rotary joint does not require an additional limiting device. Instead, the third driven gear 306 adopts a semi-tooth structure design: along the circumferential direction of the third driven gear 306, only an effective meshing tooth segment with a central angle of 180° is provided, and the remaining 180° circumferential range is a smooth, toothless limiting stop. The two ends of the effective meshing tooth segment are respectively provided with limiting stops that protrude radially. The included angle between the centers of the two limiting stops is 180°, which perfectly matches the safe range of motion of ±90° for forearm pronation and supination.

[0045] Please see Figure 5 In some embodiments, the third rotary joint is connected to the second rotary joint by a second transition connector 313. The normals at both ends of the second transition connector 313 are perpendicular to each other, so that the rotation axes of the third rotary joint and the second rotary joint are orthogonal in space. The two ends of the second transition connector 313 are fixedly connected to the output end of the third rotary joint and the housing of the second rotary joint by fasteners, respectively.

[0046] Please see Figure 5 In some embodiments, the two ends of the second transition connector 313 are connected to the third rotary joint and the second rotary joint respectively via the fifth fixing member 311, the sixth fixing member 312, the seventh fixing member 314, and the eighth fixing member 315. The output end of the third rotary joint is the third driven gear 306. The second transition connector 313 has a hollow structure. The housings of the third driven gear 306 and the second rotary joint are respectively provided with fixing parts. The four fixing members are respectively provided with screw holes. After the fixing parts extend into the interior of the second transition connector 313, the screws pass through each fixing member, the second transition connector 313, and each fixing part in sequence, thereby realizing the fixed connection between the second transition connector 313 and the third rotary joint and the second rotary joint. Specifically, the fifth fixing member 311 and the sixth fixing member 312 are provided at the third driven gear 306 and are positioned opposite each other on both sides of the second transition connector 313; the seventh fixing member 314 and the eighth fixing member 315 are provided at the housing of the second rotary joint and are positioned opposite each other on both sides of the second transition connector 313.

[0047] Please see Figure 5 , Figure 6In some embodiments, a second rotary joint is connected in series between a third rotary joint and a first rotary joint, including a second joint housing 318, a second drive motor 319, a second driving pinion, a second driven large gear, a fourth connecting flange 316, a second flange cover 317, a fifth connecting flange 320, and a second joint output shaft. The second drive motor 319 is fixed inside the second joint housing 318, and its output end is coaxially and fixedly connected to the second driving pinion. The second driving pinion meshes with the second driven large gear to form a reduction transmission pair. The second driven large gear is coaxially and fixedly connected to the fourth connecting flange 316. The output end face is fixedly connected to the second flange cover 317. The second flange cover 317 is coaxially fixedly connected to the second joint output shaft through the fifth connecting flange 320. The joint output end of the fifth connecting flange 320 is fixedly connected to the housing of the first rotary joint. The second drive motor 319 drives the fourth connecting flange 316 and the second flange cover 317 to rotate synchronously through the gear transmission pair, thereby driving the second joint output shaft to rotate. Its rotation axis is coaxially set with the physiological radial and ulnar deviation axis of the human wrist joint, realizing the radial and ulnar deviation swinging motion of the wrist joint. The range of motion is limited to -30° to +20°, matching the normal radial and ulnar deviation range of the human wrist joint.

[0048] Please see Figure 5 , Figure 6 In some embodiments, the second rotary joint is connected to the first rotary joint by a first transition connector 323. The normals at both ends of the first transition connector 323 are perpendicular to each other, so that the rotation axes of the second rotary joint and the first rotary joint are orthogonal in space. The two ends of the first transition connector 323 are fixedly connected to the output end of the second rotary joint and the housing of the first rotary joint by fasteners, respectively, to ensure that the second rotary joint can stably bear the load of the user's hand and the weight of the subsequent modules during training, and maintain the spatial positional relationship of each rotation axis.

[0049] Please see Figure 5 , Figure 6In some embodiments, the two ends of the first transition connector 323 are connected to the second rotary joint and the first rotary joint respectively via a first fixing member 321, a second fixing member 322, a third fixing member 324, and a fourth fixing member 325. The first transition connector 323 is a hollow structure. The output end of the second rotary joint and the housing of the first rotary joint are respectively provided with fixing parts. Each of the four fixing members is provided with a screw hole. After the fixing part extends into the interior of the first transition connector 323, the screw passes through each fixing member, the first transition connector 323, and each fixing part in sequence, thereby realizing the fixed connection between the first transition connector 323 and the second rotary joint and the first rotary joint. Specifically, the first fixing member 321 and the second fixing member 322 are located at the output end of the second rotary joint and are positioned opposite each other on both sides of the first transition connector 323; the third fixing member 324 and the fourth fixing member 325 are located at the housing of the first rotary joint and are positioned opposite each other on both sides of the first transition connector 323.

[0050] Please see Figure 4 , Figure 5 In some embodiments, the first rotary joint is the end output joint closest to the user's hand among three series rotary joints, including a first joint housing 330, a first drive motor 331, a first driving pinion, a first driven large gear, a first joint output shaft, a first connecting flange 326, a first flange cover 327, a first connector 328, and a second connector 329. The first drive motor 331 is fixed inside the first joint housing 330, and its output end is coaxially and fixedly connected to the first driving pinion. The first driving pinion meshes with the first driven large gear to form a reduction transmission pair. The first driven large gear is coaxially and fixedly connected to the first connecting flange 326. The output end face of the first connecting flange 326 is fixedly connected to the first flange cover 327. The first flange cover 327 is sequentially and fixedly connected to the first connector 328 and the second connector 329. The first drive motor 331 outputs power to rotate the first connecting flange 326, which is transmitted through the first flange cover 327 to the first connector 328 and the second connector 329, thereby driving the joint output shaft to complete the flexion and extension movements of the wrist joint. The first connector 328 and the second connector 329 serve as transitional connection structures between the first rotary joint and the end effector, on the one hand, to transmit the flexion and extension degrees of freedom, and on the other hand, to provide an installation interface for the subsequent handle 339 assembly and the second force sensor 5. The first drive motor 331 drives the joint output shaft to rotate through a gear transmission pair. Its rotation axis is coaxial with the physiological flexion and extension axis of the human wrist joint, realizing palmar flexion and dorsiflexion movements of the wrist joint. The range of motion is limited to -60° to +70°, matching the normal flexion and extension range of the human wrist joint.

[0051] Please see Figure 6In some embodiments, the output end of the first rotary joint is connected to a handle 339 for user gripping via an adjustable connecting rod 333. In this embodiment, the connecting rod 333 adopts a graded adjustable sleeve structure. The inner tube has multiple equally spaced positioning holes 204, and the outer tube is equipped with spring positioning pins 203. By adjusting the positioning pins 203 inserted into different positioning holes 204, the axial length of the connecting rod 333 can be adjusted, with an adjustment range of 80mm-150mm. This accommodates different user hand sizes and forearm lengths, ensuring that the physiological flexion-extension axis of the human wrist joint is always coaxially aligned with the rotation axis of the first rotary joint. The handle 339 is a cylindrical grip structure with a non-slip rubber layer on its surface, improving the stability and comfort of the user's grip.

[0052] Please see Figure 4 , Figure 5 In some embodiments, to ensure the connection stability of the connecting rod 333, a connecting rod fixing member 334 is also provided in the device. The connecting rod fixing member 334 is fixed to the second connecting member 329, and a hollow cylindrical channel is provided at its center. The hollow cylindrical channel is coaxially arranged with the connecting rod 333, and the connecting rod 333 passes through the hollow cylindrical channel of the connecting rod fixing member 334 to realize the connection between the connecting rod 333 and the output end of the first rotary joint.

[0053] Please see Figure 6 In some embodiments, the connecting rod 333 is sequentially connected to the handle 339 via a rectangular connecting member 335, a second connecting flange 336, a second force sensor 5, a third connecting flange 338, and a rectangular connecting member 339. Specifically, the second connecting member 329 of the first rotary joint is fixedly connected to the rectangular connecting member 335 via the adjustable-length connecting rod 333, the rectangular connecting member 335 is then fixed to the second connecting flange 336, the second force sensor 5 is installed between the second connecting flange 336 and the third connecting flange 338, and the handle 339 is installed above the third connecting flange 338.

[0054] In this embodiment, the axes of the three orthogonal rotational joints are coaxially aligned with the physiological axes of the human body. Combined with the hollow through-arm structure and the adjustable-length connecting rod 333, the mechanical structure is adapted to the physiological structure of the human body, solving the problems of human-machine interference and additional torque caused by the misalignment of the axes of traditional exoskeletons, and avoiding secondary injuries. At the same time, each joint is equipped with limit protection that conforms to the physiological range of motion of the human body, further improving the safety of training. The gear reduction transmission pair ensures sufficient torque for joint drive and smooth movement, meeting the low-speed, high-torque requirements of rehabilitation training.

[0055] In some embodiments, the device is provided with a dual-layer force sensing system and a force sensing unit. All control logic is built into the hardware chip of the force sensing unit to realize compliant control and hierarchical safety protection of the device.

[0056] The dual-layer force sensing system includes a first force sensor 4 and a second force sensor 5. In this embodiment, both sensors are six-dimensional force sensors, which are high-precision mechanical detection components commonly used in the robotics field. They can simultaneously and independently detect tension / compression in the X, Y, and Z directions in three-dimensional space, as well as torsional torque around the X, Y, and Z axes, providing a total of six dimensions of mechanical information. They are core components for achieving compliant robot control. To distinguish between the two sensors with the same function but different installation locations, they are named the first force sensor 4 and the second force sensor 5, respectively, to avoid confusion. In some embodiments, the first force sensor 4 is connected in series between the end flange of the main motion platform 1 and the adapter flange 205 of the connecting mechanism 3, and is fixedly connected to the flanges at both ends by bolts, so as to collect the whole machine interaction force and interaction torque information between the main motion platform 1 and the driven execution terminal 2 in real time, and realize system-level force detection and overload protection. The second force sensor 5 is connected in series between the output end of the first rotary joint and the connecting rod 333, and is fixedly connected to the structures at both ends by bolts. It is used to collect the operating force and torque information applied by the user's hand through the handle 339 in real time, and accurately identify the user's active movement intention.

[0057] In some embodiments, the force sensing unit is the control core of the device, including a microcontroller, a signal conditioning module, a communication module, and an algorithm module with built-in hierarchical control logic; the signal conditioning module is electrically connected to the first force sensor 4 and the second force sensor 5 respectively, and is used to amplify, filter, and decouple the collected mechanical signals; the communication module is communicatively connected to the main motion platform 1 and the servo drivers of the three rotary joints respectively, and is used to transmit control signals.

[0058] In some embodiments, the hierarchical control logic built into the force sensing unit is specifically configured as follows: A first safety threshold corresponding to human safety protection and a second safety threshold corresponding to compliant following motion control are preset. In this embodiment, the first safety threshold can be set as: force amplitude 50N and torque amplitude 5N·m; the second safety threshold can be set as: force amplitude 10N and torque amplitude 1N·m. The second safety threshold is less than the first safety threshold, realizing graded control. When the amplitude of the interactive force or interactive torque collected by the first force sensor 4 exceeds the first safety threshold, it indicates that the device has collided or experienced a serious overload. The force sensing unit immediately outputs a control signal to trigger emergency stop protection, causing the main motion platform 1 to stop moving immediately and cutting off the power supply to the drive motors of the three rotary joints, achieving the highest level of safety protection and avoiding injury to the patient. When the amplitude of the user's hand operation force or torque collected by the second force sensor 5 exceeds the second safety threshold but does not trigger the first safety threshold, it indicates that the user intends to move actively. The force sensing unit outputs a control signal to trigger compliant following. Based on the direction and magnitude of the force applied by the user collected by the second force sensor 5, the movement trajectory and drive speed of the three rotary joints of the driven execution terminal 2 are adjusted in real time, so that the training device follows the user's active force to perform compliant following movements, thereby achieving active rehabilitation training rather than forced passive traction.

[0059] The technical solution in this embodiment constructs a two-layer, full-link force sensing system of "system level + user end" through dual six-dimensional force sensors. Combined with the hierarchical threshold control logic built into the force sensing unit, it not only realizes the collision emergency stop protection at the whole machine level to eliminate training safety risks, but also accurately identifies the user's active movement intentions to achieve compliant follow-up training. It takes into account the dual needs of passive traction rehabilitation and active training, and greatly improves the effect of rehabilitation training and patient participation.

[0060] This section describes in detail the complete operation and usage process of this device from power-on preparation to the end of training. The specific steps are as follows: Step 1: User Wear and Human-Machine Adaptation Adjustment: 1. The user sits or lies down and inserts the forearm to be rehabilitated through the inner hole of the hollow rotation axis. The position of the forearm is adjusted so that the physiological pronation and supination axis of the forearm is coaxially aligned with the rotation axis of the third rotation joint. 2. The user grips the handle 339. Based on the user's forearm length and hand size, the axial length of the connecting rod 333 is adjusted to make the physiological flexion and extension axis of the human wrist joint coaxial with the rotation axis of the first rotation joint, thus completing the fitting and ensuring that the axes of the three rotation joints are completely coincident with the corresponding physiological axes of the human body without any offset.

[0061] Step 2: Training parameter settings: 1. Based on the patient's rehabilitation assessment results, the therapist sets training parameters in the host computer of the force sensing unit, including the motion trajectory of the main motion platform 1, the range of motion of the three rotational joints, training duration, and motion speed. 2. Adjust the first and second safety thresholds within the force sensing unit according to the patient's muscle strength level and tolerance. For patients with weaker muscle strength, the thresholds can be appropriately lowered to improve the safety protection level and the sensitivity of compliant following.

[0062] Step 3: Training Operation and Real-time Device Response: 1. Start the training program. The main motion platform 1 drives the user's upper limbs to complete three-dimensional spatial compound movements of the shoulder and elbow joints according to the preset trajectory. At the same time, the three rotational joints of the driven execution terminal 2 are synchronously driven by their respective drive motors and gear transmission pairs, driving the user's wrist joint to complete rehabilitation movements of the corresponding degrees of freedom, realizing multi-joint coordinated training of the shoulder, elbow and wrist. 2. During training, the first force sensor 4 collects the interaction force and torque information between the main motion platform 1 and the slave execution terminal 2 in real time, and the second force sensor 5 collects the operating force and torque information applied by the user's hand through the handle 339 in real time. The two mechanical signals are transmitted to the force sensing unit synchronously. 3. If the device collides or the user's limb becomes stuck during training, and the mechanical data collected by the first force sensor 4 exceeds the first safety threshold, the force sensing unit immediately outputs an emergency stop control signal, the main motion platform 1 stops moving instantly, and the power supply to the drive motors of the three rotary joints is cut off to achieve safety protection; if the patient has an intention to move actively during passive training, and the force applied by the hand through the handle 339 exceeds the second safety threshold, the force sensing unit immediately outputs a compliant control signal. Based on the direction and magnitude of the force applied by the user collected by the second force sensor 5, the movement trajectory and drive speed of the three rotary joints of the driven execution terminal 2 are adjusted in real time, so that the device follows the user's active force to make compliant following movements, switching from passive training mode to active assisted training mode to match the patient's movement intention; 4. During training, the limiting device of the third rotational joint always restricts the joint rotation angle within ±90° to avoid excessive rotation and joint damage.

[0063] Step 4: Training End and Equipment Cleanup: 1. After the preset training time is completed, the device will automatically stop running, the main motion platform 1 will return to the initial safe position, and the three rotary joints will return to the zero position; 2. The user releases handle 339 and pulls the forearm out of the inner hole of the hollow rotating shaft to complete the use of the equipment; 3. If cleaning, disinfection, or replacement of the end effector is required, simply apply outward pulling force to separate the fixed side housing 202 and the movable side housing 201 of the detachable connecting assembly. The driven actuator 2 can be quickly removed. After cleaning or replacement, the movable side housing 201 and the fixed side housing 202 are attached together and automatically locked by the magnetic attraction unit. The positioning pin 203 automatically completes the centering and positioning, and the equipment can be reset.

[0064] The above description is only a preferred embodiment of this application. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of this application, and these improvements and modifications should also be considered within the scope of protection of this application.

Claims

1. A multi-joint training device for the upper limb, characterized in that, It includes a main motion platform (1), a driven execution terminal (2), and a connecting mechanism (3); The main motion platform (1) is a multi-degree-of-freedom industrial robotic arm used to drive the user's upper limbs to complete three-dimensional spatial composite movements of the shoulder and elbow joints; The connecting mechanism (3) is disposed between the end of the main motion platform (1) and the driven execution terminal (2), and is used to detachably install the driven execution terminal (2) at the end of the main motion platform (1); The driven actuator (2) includes three rotary joints connected in series. Each of the three rotary joints provides a degree of rotational freedom and is used to realize the flexion and extension movement of the wrist joint, the radial and ulnar deviation movement, and the pronation and supination movement of the forearm.

2. The upper limb multi-joint training device according to claim 1, characterized in that, The main motion platform (1) is provided with an end flange at its end for docking and installation with external components; the connection mechanism (3) includes an adapter flange (205) and a detachable connection assembly. The adapter flange (205) is disposed between the end flange and the detachable connection assembly to realize the docking and fixing of the connection mechanism (3) and the end flange; The detachable connection assembly is disposed between the adapter flange (205) and the driven actuator (2) to realize the detachable connection and locking of the driven actuator (2) relative to the main motion platform (1).

3. The upper limb multi-joint training device according to claim 2, characterized in that, The detachable connection assembly includes a fixed side shell (202), a movable side shell (201), multiple sets of magnetic suction units, and an auxiliary positioning structure; The fixed-side housing (202) is fixedly connected to the adapter flange (205) to form the fixed mounting end of the detachable connection assembly; The movable side shell (201) is fixedly connected to the main support structure of the driven execution terminal (2), forming the detachable movable end of the detachable connection assembly; The magnetic attraction unit is a permanent magnet component that provides adsorption and locking force. It is disposed on the relative contact surfaces of the fixed side shell (202) and the movable side shell (201) to achieve adsorption and locking when the two shells are in contact. The auxiliary positioning structure includes a positioning pin (203) and a positioning hole (204) that cooperate with each other, respectively located on the relative contact surfaces of the fixed side shell (202) and the movable side shell (201), for coaxial centering positioning and circumferential anti-movement limit when the two shells are magnetically attached.

4. The upper limb multi-joint training device according to any one of claims 1-3, characterized in that, The three rotary joints include a first rotary joint, a second rotary joint, and a third rotary joint, and the rotation axes of the first rotary joint, the second rotary joint, and the third rotary joint are orthogonal to each other in space. The rotation axis of the first rotary joint is coaxial with the physiological flexion-extension axis of the human wrist joint, so as to realize the flexion-extension movement of the wrist joint; The rotation axis of the second rotational joint is set coaxially with the physiological radial and ulnar deviation axis of the human wrist joint, so as to realize the radial and ulnar deviation movement of the wrist joint. The rotation axis of the third rotational joint is coaxial with the physiological pronation and supination axis of the human forearm, and is used to realize the pronation and supination movements of the forearm.

5. The upper limb multi-joint training device according to claim 4, characterized in that, The driven execution terminal (2) is a wrist rehabilitation exoskeleton device. The third rotation joint of the wrist rehabilitation exoskeleton device adopts a hollow rotation shaft structure. The hollow rotation shaft has an inner hole that passes through the axis of rotation. The inner hole is for the user's forearm to pass through so that the physiological pronation and supination axis of the human forearm is coaxially aligned with the rotation axis of the third rotation joint. The third rotary joint is provided with a limiting device, which is used to limit the rotation angle of the third rotary joint within the range of ±90°.

6. The upper limb multi-joint training device according to claim 5, characterized in that, The first rotary joint is the end output joint closest to the user's hand among three series rotary joints. The output end of the first rotary joint is connected to a handle (339) for the user to grip via an adjustable connecting rod (333). By adjusting the length of the connecting rod (333), the hand size and forearm length of different users can be adapted to make the physiological flexion and extension axis of the human wrist joint coaxial with the rotation axis of the first rotation joint.

7. The upper limb multi-joint training device according to claim 6, characterized in that, A second force sensor (5) is connected in series between the output end of the first rotary joint and the connecting rod (333). The second force sensor (5) is used to collect the force and torque information applied by the user's hand through the handle (339) in real time.

8. The upper limb multi-joint training device according to claim 7, characterized in that, A first force sensor (4) is connected in series between the main motion platform (1) and the connecting mechanism (3). The first force sensor (4) is used to collect the interaction force and interaction torque between the main motion platform (1) and the driven execution terminal (2) in real time.

9. The upper limb multi-joint training device according to claim 8, characterized in that, It also includes a force sensing unit, which is communicatively connected to the first force sensor (4) and the second force sensor (5) respectively, and is used to receive the mechanical signals collected by the first force sensor (4) and the second force sensor (5), and generate and output control signals for the compliant following motion control of the training device and human safety protection.

10. The upper limb multi-joint training device according to claim 9, characterized in that, The force sensing unit is configured as follows: A first safety threshold corresponding to human safety protection and a second safety threshold corresponding to compliant follow-motion control are preset. When the interaction force or interaction torque collected by the first force sensor (4) exceeds the first safety threshold, a control signal is output to trigger emergency stop protection, so that the main motion platform (1) stops moving immediately. When the force or torque of the user's hand operation collected by the second force sensor (5) exceeds the second safety threshold, a control signal is output to trigger compliant following. Based on the direction and magnitude of the force applied by the user, the motion trajectory and driving speed of the driven execution terminal (2) are adjusted in real time so that the training device follows the user's active force to perform compliant following motion.

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