Wearable exoskeleton mechanism for shoulder joint and hip joint space six-connecting-rod and differential gear train combination
By designing a wearable exoskeleton mechanism that combines a spatial six-bar linkage and a differential wheel system for the shoulder and hip joints, the problems of complex control, large mass, and poor adaptability of existing exoskeletons are solved, enabling multi-dimensional rehabilitation and assisted movement, and improving the convenience and safety of wearing.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- NANCHANG UNIV
- Filing Date
- 2026-04-14
- Publication Date
- 2026-05-12
AI Technical Summary
Existing wearable exoskeleton mechanisms have many degrees of freedom, which leads to complex control. They require strict alignment with human joints, are heavy, have poor adaptability, and affect the ease of wearing and the safety of rehabilitation.
Design a wearable exoskeleton mechanism for the shoulder and hip joints, which combines a spatial 6-bar linkage with a differential gear train. The structure consists of a 3-DOF spatial 6-bar linkage and a 2-DOF differential gear train, including a frame, bevel gears, a planetary carrier, a revolute joint, and a rotation drive. This mechanism enables the human upper arm or thigh to raise, abduct, rotate, and perform combined rehabilitation and assisted movements, avoiding limitations in movement space and high-precision alignment requirements.
It enables multi-dimensional rehabilitation and assisted movement of the upper arm or thigh, reduces the mass of the exoskeleton, improves wearing comfort and adaptability, is suitable for people of different heights, avoids joint damage, and reduces costs.
Smart Images
Figure CN122005273A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of rehabilitation engineering technology, and more specifically, to a wearable exoskeleton mechanism for a combination of a six-bar linkage and a differential wheel system for the shoulder and hip joints. Background Technology
[0002] As my country's population ages, the contradiction between supply and demand for rehabilitation medical resources becomes more prominent. Wearable rehabilitation exoskeletons, as an important solution, are increasingly in demand for practicality and adaptability, driving the development of related technologies towards lightweight, easy-to-operate, and highly adaptable designs.
[0003] Traditional wearable upper limb rehabilitation exoskeletons often have fixed bases, which severely restrict the patient's range of motion and are relatively heavy. For example, the Co-Exos exoskeleton, jointly developed by the Institute of Automation, Chinese Academy of Sciences and Beijing University of Technology, although it compensates for joint axis drift by increasing passive degrees of freedom, still requires precise alignment of the human joints. Its nine degrees of freedom correspond to multiple drive motors, resulting in complex motion control. At the same time, it has poor adaptability and cannot meet the diverse rehabilitation and assistance needs of people of different heights and body types. It may also cause joint damage due to misalignment.
[0004] Therefore, it is necessary to design a wearable exoskeleton mechanism that combines a 6-bar linkage and a differential wheel system for the shoulder and hip joints. This would solve the problems of existing exoskeletons, which have many degrees of freedom, resulting in complex control, require strict alignment with human joints, are heavy, have poor adaptability, and affect the ease of wearing and rehabilitation safety. Summary of the Invention
[0005] In view of this, the present invention proposes a wearable exoskeleton mechanism for the combination of a 6-bar linkage and a differential wheel system in the shoulder and hip joint space. It aims to solve the problems of existing exoskeletons having many degrees of freedom, which leads to complex control, and requiring strict alignment with human joints, as well as being heavy, poorly adaptable, and affecting the ease of wearing and rehabilitation safety.
[0006] In one aspect, the present invention proposes a wearable exoskeleton mechanism for a combination of a six-bar linkage and a differential wheel system in the shoulder and hip joint space, comprising: A 2-DOF differential gear train includes a frame 1, a first bevel gear 7, a planetary carrier 8, a second bevel gear 9, a gear pair 15, a fourth revolute pair 16, a fifth revolute pair 17, a sixth revolute pair 18, a first rotational drive 19, and a second rotational drive 20. The first bevel gear 7 is connected to the planetary carrier 8 via the fourth revolute pair 16 and to the second bevel gear 9 via the gear pair 15. The planetary carrier 8 is connected to the frame 1 via the fifth revolute pair 17, and the second bevel gear 9 is connected to the frame 1 via the sixth revolute pair 18. The first rotational drive 19 is applied to the planetary carrier 8 via the fourth revolute pair 16, and the second rotational drive 20 is applied to the second bevel gear 9 via the sixth revolute pair 18. The spatial SRSP-RR type 6-bar linkage includes: a frame 1, a human upper arm / thigh 2, a first component 3, a second component 4, a third component 5, a fourth component 6, a shoulder / hip joint ball joint 10, a first revolute joint 11, a second revolute joint 12, a third revolute joint 13, a prismatic joint 14, and a third rotation drive 21. The human upper arm / thigh 2 is connected to the frame 1 via the shoulder / hip joint ball joint 10. The first component 3 is connected to the human upper arm / thigh 2 via the first revolute joint 11. The second component 4 is connected to the third component 5 via the second revolute joint 12. The third component 5 is connected to the fourth component 6 via the third revolute joint 13. The axes of the first revolute joint 11, the second revolute joint 12, and the third revolute joint 13 are all orthogonal to each other. The third component 5 is connected to the fourth component 6 via the prismatic joint 14. The axis of movement of the prismatic joint 14 is orthogonal to the axis of the third revolute joint 13. The fourth component 6 is fixedly connected to the first bevel gear 7.
[0007] Furthermore, the transmission relationship of the 2-DOF differential gear train is as follows: (1) (2) In the formula: The rotational speed of the first bevel gear 7 about the axis of the fourth revolute 16; The rotational speed of the second bevel gear 9 about the axis of the sixth revolute 18; The rotational speed of planet carrier 8 around the fifth revolute joint 17; The number of teeth of the first bevel gear 7; This refers to the number of teeth on the second bevel gear 9. The ratio of the number of teeth of the second bevel gear 9 to the number of teeth of the first bevel gear 7.
[0008] Furthermore, the output motion of the first bevel gear 7 consists of two orthogonal motions: rotation about the axis of the fourth revolute joint 16 and revolution about the axis of the fifth revolute joint 17. The speeds of the two output motions of the first bevel gear 7 are determined by the speed of the input motion planetary carrier 8. The rotational speed of the second bevel gear 9 Determine according to Formula 2.
[0009] Furthermore, the rotational speeds of the two output motions of the first bevel gear 7 are determined by the rotational speed of the input motion planetary carrier 8. The rotational speed of the second bevel gear 9 When determined according to Formula 2, it includes: (a) when hour, The first bevel gear 7, the motion output component, only outputs about the fifth revolute joint 17 at a rotational speed of Revolutionary motion.
[0010] Furthermore, the rotational speeds of the two output motions of the first bevel gear 7 are determined by the rotational speed of the input motion planetary carrier 8. The rotational speed of the second bevel gear 9 When determined according to Formula 2, it also includes: (b) When At that time, the first bevel gear 7 of the motion output component only outputs about the fourth revolute joint 16. Rotational motion at a certain speed.
[0011] Furthermore, the rotational speeds of the two output motions of the first bevel gear 7 are determined by the rotational speed of the input motion planetary carrier 8. The rotational speed of the second bevel gear 9 When determined according to Formula 2, it also includes: (c) When At that time, the output motion of the first bevel gear 7 of the motion output component is about the fourth revolute joint 16. The rotation of the axis and the rotation about the fifth rotational joint 17 The rotation axis is orthogonal to the revolution axis, and the rotation of 19 is driven by the first rotation. The rotational speed of the second rotation drive 20 The combination enables the first bevel gear 7 to rotate and revolve at any speed to achieve motion output.
[0012] Furthermore, when the first rotation drives 19 rotational speeds The rotational speed of the second rotation drive 20 When condition (a) is met, it includes: In the aforementioned spatial SRSP-RR type 6-bar linkage, the fourth component 6 is fixedly connected to the first bevel gear 7, and the fourth component 6 revolves around the fifth rotating joint 17 at a rotational speed of Rotation; the fourth component 6 drives the third component 5 through the sliding joint 14, the third component 5 rotates synchronously with the fourth component 6, and the third component 5 moves along the axis of the sliding joint 14; the third component 5 drives the second component 4 to rotate through the third revolute joint 13, the second component 4 drives the first component 3 to rotate through the second revolute joint 12, and the first component 3 drives the human upper arm / thigh 2 to abduct through the first revolute joint 11.
[0013] Furthermore, when the first rotation drives 19 rotational speeds The rotational speed of the second rotation drive 20 When condition (a) is met, it also includes: When the third rotation drive 21 is not zero, the upper arm / thigh 2 of the human body rotates around the axis of the first rotation pair 11; when the third rotation drive 21 is equal to zero, the upper arm / thigh 2 of the human body only abducts and does not rotate around the axis of the first rotation pair 11.
[0014] Furthermore, when the first rotation drives 19 rotational speeds The rotational speed of the second rotation drive 20 When condition (b) is met, it includes: In the aforementioned spatial SRSP-RR type 6-bar linkage, the fourth component 6 is fixedly connected to the first bevel gear 7, and the fourth component 6 rotates around the axis of the fourth revolute joint 16 at a speed of [missing information]. Rotation; the fourth component 6 drives the third component 5 through the sliding joint 14, the third component 5 rotates synchronously with the fourth component 6, and the third component 5 moves along the axis of the sliding joint 14; the third component 5 drives the second component 4 to rotate through the third revolute joint 13, the second component 4 drives the first component 3 to rotate through the second revolute joint 12, and the first component 3 drives the human upper arm / thigh 2 to lift forward through the first revolute joint 11. During this driving process, if the third rotation drive 21 is not equal to zero, the upper arm / thigh 2 of the human body rotates around the axis of the first rotation pair 11; if the third rotation drive 21 is equal to zero, the upper arm / thigh 2 of the human body only abducts and does not rotate around the axis of the first rotation pair 11.
[0015] Furthermore, when the first rotation drives 19 rotational speeds The rotational speed of the second rotation drive 20 When condition (c) is met, it includes: In the aforementioned spatial SRSP-RR type 6-bar linkage, the fourth component 6 is fixedly connected to the first bevel gear 7, and the fourth component 6 rotates around the fourth revolute joint 16 at a speed of [missing information]. While rotating, it revolves around the fifth revolute joint 17 at a speed of [speed missing]. The rotation axis is orthogonal to the revolution axis; the fourth component 6 drives the third component 5 through the sliding joint 14, the third component 5 rotates synchronously with the fourth component 6, and the third component 5 moves along the axis of the sliding joint 14; the third component 5 drives the second component 4 to rotate through the third revolute joint 13, the second component 4 drives the first component 3 to rotate through the second revolute joint 12, and the first component 3 drives the human upper arm / thigh 2 to achieve a combined movement of forward lifting and abduction through the first revolute joint 11; During this driving process, if the third rotation drive 21 is not equal to zero, the upper arm / thigh 2 of the human body rotates around the axis of the first revolute joint 11; if the third rotation drive 21 is equal to zero, the upper arm / thigh 2 of the human body performs a combination of forward lifting and abduction movements, without rotating around the axis of the first revolute joint 11, and rotates at the speed of the first rotation drive 19. The rotational speed of the second rotation drive 20 Different combinations of parameters allow for arbitrary postures and movement speeds of the human upper arm / thigh 2 within its movement space.
[0016] Compared with the prior art, the beneficial effects of the present invention are as follows: The wearable exoskeleton mechanism of the present invention, which combines a spatial 6-link and differential wheel system for the shoulder and hip joints, innovatively designs a wearable exoskeleton mechanism combining a spatial 6-link and differential wheel system. It adopts a structure of a 3-DOF spatial 6-link and a 2-DOF differential wheel system connected in series, adapting to both the shoulder and hip joints. It can realize the forward extension, abduction, rotation, and combined rehabilitation and assisted movements of the upper arm or thigh. Except for the gear pairs, its low-pair design provides stronger load-bearing capacity and eliminates the space limitations of ball joints. The differential wheel system is arranged on the back of the human torso, which not only facilitates the connection of the drive motor but also allows for... It is more convenient to wear and has better load-bearing capacity. The dual-input drive can reduce motor power and weight. At the same time, the mechanism does not require strict alignment with human joints and has low requirements for the precision of installation and connection positions. This avoids damage to human joints during rehabilitation and assistance. The fewer components and simpler kinematic pairs make the exoskeleton lightweight and comfortable to wear. It can also be adapted to people of different heights, effectively reducing the cost of the exoskeleton. It successfully solves the problems of existing exoskeletons, such as fixed base restricting movement, large weight, high requirements for joint alignment, and complex control due to multiple degrees of freedom. It provides a better rehabilitation and assistance solution for people with limb movement dysfunction. Attached Figure Description
[0017] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings: Figure 1 This is a schematic diagram of a wearable exoskeleton mechanism for a combination of a six-bar linkage and a differential wheel system in the shoulder and hip joint space, provided by an embodiment of the present invention. In the diagram: 1-Frame; 2-Human upper arm / thigh; 3-First component; 4-Second component; 5-Third component; 6-Fourth component; 7-First bevel gear; 8-Planet carrier; 9-Second bevel gear; 10-Shoulder / hip joint ball joint; 11-First revolute joint; 12-Second revolute joint; 13-Third revolute joint; 14-Pulley joint; 15-Gear pair; 16-Fourth revolute joint; 17-Fifth revolute joint; 18-Sixth revolute joint; 19-First rotational drive; 20-Second rotational drive; 21-Third rotational drive. Detailed Implementation
[0018] The specific embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and examples. The following examples are for illustrative purposes only and are not intended to limit the scope of the invention.
[0019] In the description of this application, it should be understood that the terms "center", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.
[0020] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, unless otherwise stated, "a plurality of" means two or more.
[0021] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections 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 based on the specific circumstances.
[0022] Reference Figure 1 As shown in some embodiments of this application, a wearable exoskeleton mechanism for a combination of a six-bar linkage and a differential wheel system in the shoulder and hip joint space includes: A 2-DOF differential gear train includes a frame 1, a first bevel gear 7, a planetary carrier 8, a second bevel gear 9, a gear pair 15, a fourth revolute pair 16, a fifth revolute pair 17, a sixth revolute pair 18, a first rotational drive 19, and a second rotational drive 20. The first bevel gear 7 is connected to the planetary carrier 8 via the fourth revolute pair 16 and to the second bevel gear 9 via the gear pair 15. The planetary carrier 8 is connected to the frame 1 via the fifth revolute pair 17, and the second bevel gear 9 is connected to the frame 1 via the sixth revolute pair 18. The first rotational drive 19 is applied to the planetary carrier 8 via the fourth revolute pair 16, and the second rotational drive 20 is applied to the second bevel gear 9 via the sixth revolute pair 18. The spatial SRSP-RR type 6-bar linkage includes: a frame 1, a human upper arm / thigh 2, a first component 3, a second component 4, a third component 5, a fourth component 6, a shoulder / hip joint ball joint 10, a first revolute joint 11, a second revolute joint 12, a third revolute joint 13, a prismatic joint 14, and a third rotation drive 21. The human upper arm / thigh 2 is connected to the frame 1 via the shoulder joint ball joint 10. The first component 3 is connected to the human upper arm / thigh 2 via the first revolute joint 11. The second component 4 is connected to the third component 5 via the second revolute joint 12. The third component 5 is connected to the fourth component 6 via the third revolute joint 13. The axes of the first revolute joint 11, the second revolute joint 12, and the third revolute joint 13 are all orthogonal to each other. The third component 5 is connected to the fourth component 6 via the prismatic joint 14. The axis of movement of the prismatic joint 14 is orthogonal to the axis of the third revolute joint 13. The fourth component 6 is fixedly connected to the first bevel gear 7.
[0023] Understandably, the connection between the 2-DOF differential gear train and the spatial SRSP-RR type 6-bar linkage establishes the structural foundation of "dual-joint adaptation and multiple motion modes." The central shoulder joint ball joint 10 can be flexibly switched to the hip joint ball joint, achieving universal adaptation between the shoulder and hip joints. The design of the axes of each rotary joint being orthogonal to each other and the axis of the prismatic joint 14 being orthogonal to the axis of the third rotary joint 13 avoids motion interference. The fixed connection between the fourth component 6 and the first bevel gear 7 ensures efficient power transmission. Moreover, except for the gear pair 15, all other components are low-pair structures, which significantly improves the load-bearing capacity of the mechanism, gets rid of the motion space limitation of the ball joint, and solves the problems of poor universality and weak load-bearing capacity of existing exoskeletons.
[0024] Reference Figure 1 As shown, in some embodiments of this application, the transmission relationship of the 2-DOF differential gear train is as follows: (1) (2) In the formula: The rotational speed of the first bevel gear 7 about the axis of the fourth revolute 16; The rotational speed of the second bevel gear 9 about the axis of the sixth revolute 18; The rotational speed of planet carrier 8 around the fifth revolute joint 17; The number of teeth of the first bevel gear 7; This refers to the number of teeth on the second bevel gear 9. The ratio of the number of teeth of the second bevel gear 9 to the number of teeth of the first bevel gear 7.
[0025] Specifically, Formula 2 is derived from Formula 1 through algebraic transformations such as rearranging terms and combining like terms. The derivation process strictly follows the motion composition law of differential gear trains.
[0026] Reference Figure 1 As shown, in some embodiments of this application, the output motion of the first bevel gear 7 consists of two orthogonal motions: rotation about the axis of the fourth revolute joint 16 and revolution about the axis of the fifth revolute joint 17. Furthermore, the rotational speeds of the two output motions of the first bevel gear 7 are determined by the rotational speed of the input motion planetary carrier 8. The rotational speed of the second bevel gear 9 Determine according to Formula 2.
[0027] Understandably, the output motion characteristics of the first bevel gear 7 are defined. Its orthogonal design of rotation and revolution precisely corresponds to the forward and abduction motion dimensions of the human upper arm / thigh 2 or thigh. Moreover, the rotation speed is determined by the input parameters according to the formula, realizing the fine control of motion speed and adapting to the training needs of different intensities in rehabilitation training. Compared with the existing exoskeletons with many degrees of freedom and poor motion coordination, this design makes motion control simpler and more efficient, while ensuring the naturalness and precision of limb movement.
[0028] Reference Figure 1 As shown, in some embodiments of this application, the rotational speeds of the two output motions of the first bevel gear 7 are determined by the rotational speed of the input motion planetary carrier 8. The rotational speed of the second bevel gear 9 When determined according to Formula 2, it includes: (a) when hour, The first bevel gear 7, the motion output component, only outputs about the fifth revolute joint 17 at a rotational speed of Revolutionary motion.
[0029] Understandably, by defining the single revolution motion mode under condition (a), the first bevel gear 7 is made to output only revolution motion through a specific combination of rotation speed parameters, thereby driving the upper arm / thigh 2 of the human body to achieve simple abduction. This provides a dedicated motion mode for abduction function rehabilitation training, solves the problem of the lack of a dedicated training mode in existing exoskeletons, and improves the pertinence of rehabilitation training.
[0030] Reference Figure 1 As shown, in some embodiments of this application, the rotational speeds of the two output motions of the first bevel gear 7 are determined by the rotational speed of the input motion planetary carrier 8. The rotational speed of the second bevel gear 9 When determined according to Formula 2, it also includes: (b) When At that time, the first bevel gear 7 of the motion output component only outputs about the fourth revolute joint 16. Rotational motion at a certain speed.
[0031] Understandably, under the single rotational motion mode limited to condition (b), after the planetary frame 8 is fixed, the rotational motion of the first bevel gear 7 can precisely drive the upper arm / thigh 2 of the human body to lift forward. The rotational speed is flexibly adjusted by the second rotation drive 20 to adapt to the forward lifting training needs of different rehabilitation stages. Moreover, there is no need for complicated joint alignment operations. The braking function ensures the stability of the movement. Compared with the existing exoskeleton forward lifting motion control, which is complicated and prone to deviation, this design makes the forward lifting motion more stable and precise.
[0032] Reference Figure 1 As shown, in some embodiments of this application, the rotational speeds of the two output motions of the first bevel gear 7 are determined by the rotational speed of the input motion planetary carrier 8. The rotational speed of the second bevel gear 9 When determined according to Formula 2, it also includes: (c) When At that time, the output motion of the first bevel gear 7 of the motion output component is about the fourth revolute joint 16. The rotation of the axis and the rotation about the fifth rotational joint 17 The rotation axis is orthogonal to the revolution axis, and the rotation of 19 is driven by the first rotation. The rotational speed of the second rotation drive 20 The combination enables the first bevel gear 7 to rotate and revolve at any speed to achieve motion output.
[0033] Understandably, under condition (c), the composite motion mode is defined. The rotation and revolution of the first bevel gear 7 work together, and the rotation axes are orthogonal and do not interfere. Through the combination of the rotation speeds of the first rotation drive 19 and the second rotation drive 20, composite motion of any proportion can be achieved, covering a variety of combined postures of the human upper arm / thigh 2 raising and abducting, meeting the complex movement needs in daily activities. Compared with the shortcomings of the single motion mode of existing exoskeletons, this design greatly expands the application scenarios of the mechanism and improves the flexibility of use.
[0034] Reference Figure 1 As shown, in some embodiments of this application, when the first rotation drives a rotational speed of 19... The rotational speed of the second rotation drive 20 When condition (a) is met, it includes: In the aforementioned spatial SRSP-RR type 6-bar linkage, the fourth component 6 is fixedly connected to the first bevel gear 7, and the fourth component 6 revolves around the fifth rotating joint 17 at a rotational speed of Rotation; the fourth component 6 drives the third component 5 through the sliding joint 14, the third component 5 rotates synchronously with the fourth component 6, and the third component 5 moves along the axis of the sliding joint 14; the third component 5 drives the second component 4 to rotate through the third revolute joint 13, the second component 4 drives the first component 3 to rotate through the second revolute joint 12, and the first component 3 drives the human upper arm / thigh 2 to abduct through the first revolute joint 11.
[0035] Understandably, the abduction power transmission path under condition (a) is described in detail. The synchronous movement of the fourth component 6 and the first bevel gear 7 ensures the accurate transmission of the revolution force. The movement of the third component 5 along the sliding joint 14 adapts to the displacement changes during limb abduction, avoiding force interference between the mechanism and the human body. The low-resistance design of each sliding joint ensures that the abduction movement is smooth and continuous, and there is no need to strictly align the human joints, avoiding potential damage to the joints during rehabilitation. This solves the problems of unstable motion transmission and easy joint damage in existing exoskeletons.
[0036] Reference Figure 1 As shown, in some embodiments of this application, when the first rotation drives a rotational speed of 19... The rotational speed of the second rotation drive 20 When condition (a) is met, it also includes: When the third rotation drive 21 is not zero, the upper arm / thigh 2 of the human body rotates around the axis of the first rotation pair 11; when the third rotation drive 21 is equal to zero, the upper arm / thigh 2 of the human body only abducts and does not rotate around the axis of the first rotation pair 11.
[0037] Understandably, the third rotation drive 21 is added to the function under condition (a). Through its speed control, the upper arm / thigh 2 of the human body can rotate around the corresponding rotational axis, allowing abduction motion to be combined with rotational motion, expanding the motion dimension, and adapting to the needs of complex daily actions such as dressing and picking up objects. Moreover, the braking function of the third rotation drive 21 can lock the degree of freedom of rotation and flexibly switch between simple abduction and compound motion modes. Compared with the problem of fixed motion modes of existing exoskeletons, this design improves the scene adaptability and ease of use of the mechanism.
[0038] Reference Figure 1 As shown, in some embodiments of this application, when the first rotation drives a rotational speed of 19... The rotational speed of the second rotation drive 20 When condition (b) is met, it includes: In the aforementioned spatial SRSP-RR type 6-bar linkage, the fourth component 6 is fixedly connected to the first bevel gear 7, and the fourth component 6 rotates around the axis of the fourth revolute joint 16 at a speed of [missing information]. Rotation; the fourth component 6 drives the third component 5 through the sliding joint 14, the third component 5 rotates synchronously with the fourth component 6, and the third component 5 moves along the axis of the sliding joint 14; the third component 5 drives the second component 4 to rotate through the third revolute joint 13, the second component 4 drives the first component 3 to rotate through the second revolute joint 12, and the first component 3 drives the human upper arm / thigh 2 to lift forward through the first revolute joint 11. During this driving process, if the third rotation drive 21 is not equal to zero, the upper arm / thigh 2 of the human body rotates around the axis of the first rotation pair 11; if the third rotation drive 21 is equal to zero, the upper arm / thigh 2 of the human body only abducts and does not rotate around the axis of the first rotation pair 11.
[0039] Understandably, the forward lifting power transmission path under condition (b) is explained. The rotational motion of the fourth component 6 precisely drives the upper arm / thigh 2 of the human body to lift forward through component linkage. The synchronous movement and rotation of the third component 5 adapt to the changes in the spatial position of the limbs during the forward lifting. The length of each component can be adjusted according to the human body size, ensuring the adaptability of people of different heights. The optional intervention of the third rotation drive 21 allows the forward lifting motion to be combined with rotation, and there is no need for strict installation position requirements. This solves the problems of the narrow range of adaptable people and complex installation of existing exoskeletons. At the same time, the smooth transmission of the forward lifting motion avoids joint damage.
[0040] Reference Figure 1 As shown, in some embodiments of this application, when the first rotation drives a rotational speed of 19... The rotational speed of the second rotation drive 20 When condition (c) is met, it includes: In the aforementioned spatial SRSP-RR type 6-bar linkage, the fourth component 6 is fixedly connected to the first bevel gear 7, and the fourth component 6 rotates around the fourth revolute joint 16 at a speed of [missing information]. While rotating, it revolves around the fifth revolute joint 17 at a speed of [speed missing]. The rotation axis is orthogonal to the revolution axis; the fourth component 6 drives the third component 5 through the sliding joint 14, the third component 5 rotates synchronously with the fourth component 6, and the third component 5 moves along the axis of the sliding joint 14; the third component 5 drives the second component 4 to rotate through the third revolute joint 13, the second component 4 drives the first component 3 to rotate through the second revolute joint 12, and the first component 3 drives the human upper arm / thigh 2 to achieve a combined movement of forward lifting and abduction through the first revolute joint 11; During this driving process, if the third rotation drive 21 is not equal to zero, the upper arm / thigh 2 of the human body rotates around the axis of the first revolute joint 11; if the third rotation drive 21 is equal to zero, the upper arm / thigh 2 of the human body performs a combination of forward lifting and abduction movements, without rotating around the axis of the first revolute joint 11, and rotates at the speed of the first rotation drive 19. The rotational speed of the second rotation drive 20 Different combinations of parameters allow for arbitrary postures and movement speeds of the human upper arm / thigh 2 within its movement space.
[0041] Understandably, the combined motion implementation method under condition (c) is explained in detail. The combined rotation and revolution of the fourth component 6 drives the upper arm / thigh 2 of the human body to achieve a combined movement of forward lifting and abduction through the linkage mechanism. The orthogonal rotation axis design ensures that the movement is free from interference. The selective intervention of the third rotation drive 21 increases the rotation dimension. Furthermore, through different parameter combinations of the first rotation drive 19 and the second rotation drive 20, any posture and speed in the movement space can be achieved, adapting to the diverse needs of people of different heights and body types. The design with fewer components and simpler kinematic pairs makes the exoskeleton lightweight, convenient and comfortable to wear. It does not require joint alignment and has low requirements for connection position accuracy, effectively reducing costs. It successfully solves the core problems of existing exoskeletons, such as large weight, inconvenience of wearing, poor adaptability, and complex control, providing a better rehabilitation and assistance solution for people with limb movement dysfunction.
[0042] It will be understood by those skilled in the art that the above descriptions are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.
Claims
1. A wearable exoskeleton mechanism for use in the shoulder and hip joint space with a six-bar linkage and differential wheel system, characterized in that, include: A 2-DOF differential gear train includes a frame, a first bevel gear, a planetary carrier, a second bevel gear, a gear pair, a fourth revolute joint, a fifth revolute joint, a sixth revolute joint, a first rotational drive, and a second rotational drive. The first bevel gear is connected to the planetary carrier via the fourth revolute joint and to the second bevel gear via the gear pair. The planetary carrier is connected to the frame via the fifth revolute joint, and the second bevel gear is connected to the frame via the sixth revolute joint. The first rotational drive is applied to the planetary carrier via the fourth revolute joint, and the second rotational drive is applied to the second bevel gear via the sixth revolute joint. The SRSP-RR type 6-bar linkage includes: a frame, a human upper arm / thigh, a first component, a second component, a third component, a fourth component, a shoulder / hip joint ball joint, a first revolute joint, a second revolute joint, a third revolute joint, a prismatic joint, and a third rotation drive. The human upper arm / thigh is connected to the frame via the shoulder / hip joint ball joint. The first component is connected to the human upper arm / thigh via the first revolute joint. The second component is connected to the third component via the second revolute joint. The third component is connected to the fourth component via the third revolute joint. The axes of the first, second, and third revolute joints are mutually orthogonal. The third component is connected to the fourth component via a prismatic joint. The prismatic joint's axis of motion is orthogonal to the axis of the third revolute joint. The fourth component is fixedly connected to the first bevel gear.
2. The wearable exoskeleton mechanism for a combination of a six-link linkage and a differential wheel system in the shoulder and hip joint space according to claim 1, characterized in that, The transmission relationship of the 2-DOF differential gear train is as follows: (1) (2) In the formula: The rotational speed of the first bevel gear about the axis of the fourth revolute joint; The rotational speed of the second bevel gear about the axis of the sixth revolute joint; The rotational speed of the planetary carrier about the fifth revolute joint; The number of teeth on the first bevel gear; This represents the number of teeth on the second bevel gear. The ratio of the number of teeth of the second bevel gear to that of the first bevel gear.
3. A wearable exoskeleton mechanism for a combination of a six-link linkage and a differential wheel system in the shoulder and hip joint space according to claim 2, characterized in that, The output motion of the first bevel gear consists of two orthogonal motions: rotation about the axis of the fourth revolute joint and revolution about the axis of the fifth revolute joint. The speeds of these two output motions of the first bevel gear are determined by the speed of the input planetary carrier. The rotational speed of the second bevel gear Determined by the formula.
4. A wearable exoskeleton mechanism for a combination of a six-link linkage and a differential wheel system in the shoulder and hip joint space, as described in claim 3, is characterized in that... The speeds of the two output motions of the first bevel gear are determined by the speed of the input motion planet carrier. The rotational speed of the second bevel gear When determined by the formula, it includes: (a) when hour, The first bevel gear of the motion output component only outputs rotational speed around the fifth revolute joint. Revolutionary motion.
5. A wearable exoskeleton mechanism for a combination of a six-link linkage and a differential wheel system in the shoulder and hip joint space according to claim 4, characterized in that, The speeds of the two output motions of the first bevel gear are determined by the speed of the input motion planet carrier. The rotational speed of the second bevel gear When determined by the formula, it also includes: (b) When At that time, the first bevel gear of the motion output component only outputs about the fourth revolute joint. Rotational motion at a certain speed.
6. A wearable exoskeleton mechanism for a combination of a six-link linkage and a differential wheel system in the shoulder and hip joint space, as described in claim 5, is characterized in that... The speeds of the two output motions of the first bevel gear are determined by the speed of the input motion planet carrier. The rotational speed of the second bevel gear When determined by the formula, it also includes: (c) When At that time, the output motion of the first bevel gear of the motion output component is about the fourth revolute joint. The rotation of the axis and the rotation about the fifth axis The rotation of the axis of rotation is orthogonal to the axis of rotation, and the rotation speed driven by the first rotation is... Second rotational drive speed The combination enables the first bevel gear to rotate and revolve at any speed to achieve motion output.
7. A wearable exoskeleton mechanism for a combination of a six-link linkage and a differential wheel system in the shoulder and hip joint space according to claim 6, characterized in that, When the first rotational drive speed Second rotational drive speed When condition (a) is met, it includes: In the aforementioned spatial SRSP-RR type 6-bar linkage, the fourth component is fixedly connected to the first bevel gear, and the fourth component revolves around the fifth rotating joint at a rotational speed of... Rotation; the fourth component drives the third component through a sliding joint, the third component and the fourth component rotate synchronously, the third component moves along the axis of the sliding joint; the third component drives the second component to rotate through a third revolute joint, the second component drives the first component to rotate through a second revolute joint, and the first component drives the human upper arm / thigh to abduct through a first revolute joint.
8. A wearable exoskeleton mechanism for a combination of a six-link linkage and a differential wheel system in the shoulder and hip joint space according to claim 7, characterized in that, When the first rotational drive speed Second rotational drive speed When condition (a) is met, it also includes: When the third rotational drive is not zero, the upper arm / thigh of the human body rotates around the axis of the first rotational joint; when the third rotational drive is equal to zero, the upper arm / thigh of the human body only abducts and does not rotate around the axis of the first rotational joint.
9. A wearable exoskeleton mechanism for a combination of a six-link linkage and a differential wheel system in the shoulder and hip joint space according to claim 8, characterized in that, When the first rotational drive speed Second rotational drive speed When condition (b) is met, it includes: In the aforementioned spatial SRSP-RR type 6-bar linkage, the fourth component is fixedly connected to the first bevel gear, and the fourth component rotates around the axis of the fourth revolute joint at a speed of [missing information]. Rotation; the fourth component drives the third component through a sliding joint, the third component rotates synchronously with the fourth component, and the third component moves along the axis of the sliding joint; the third component drives the second component to rotate through the third revolute joint, the second component drives the first component to rotate through the second revolute joint, and the first component drives the human upper arm / thigh to lift forward through the first revolute joint; During this driving process, if the third rotational drive is not equal to zero, the upper arm / thigh of the human body rotates around the axis of the first rotational joint; if the third rotational drive is equal to zero, the upper arm / thigh of the human body only abducts and does not rotate around the axis of the first rotational joint.
10. A wearable exoskeleton mechanism for a combination of a six-link linkage and a differential wheel system in the shoulder and hip joint space, as described in claim 9, is characterized in that... When the first rotational drive speed Second rotational drive speed When condition (c) is met, it includes: In the aforementioned spatial SRSP-RR type 6-bar linkage, the fourth component is fixedly connected to the first bevel gear, and the fourth component revolves around the fourth rotating joint at a rotational speed. While rotating, it revolves around the fifth revolute joint at a speed of [speed missing]. The rotation axis is orthogonal to the revolution axis; the fourth component drives the third component through a sliding joint, and the third component rotates synchronously with the fourth component. The third component moves along the axis of the sliding joint; the third component drives the second component to rotate through the third revolute joint, the second component drives the first component to rotate through the second revolute joint, and the first component drives the upper arm / thigh of the human body to achieve a combination of forward lifting and abduction through the first revolute joint. During this driving process, if the third rotational drive is not zero, the upper arm / thigh of the human body rotates around the axis of the first rotational joint; if the third rotational drive is zero, the upper arm / thigh of the human body performs a combination of forward and abduction movements, without rotating around the axis of the first rotational joint, and the rotational speed is determined by the first rotational drive. Second rotational drive speed Different combinations of parameters allow for arbitrary postures and movement speeds of the human upper arm / thigh within its movement space.