Flexible driving upper limb exoskeleton device with bilateral switchable configuration

Abstract

The invention relates to the technical field of rehabilitation robots, in particular to a flexible driving upper limb exoskeleton device with bilateral switchable configurations, which comprises a base component, a flexible driving component, a platform supporting component and an upper limb exoskeleton executing mechanism. The executing mechanism sequentially comprises a shoulder joint assembly, an upper arm component, a binding component, an elbow joint component, a front arm component and a wrist joint component. The shoulder joint assembly has three active degrees of freedom of adduction / abduction, inward rotation / outward rotation and flexion / extension, the elbow joint has an active degree of freedom of flexion / extension, and the wrist joint is of a passive rotation structure. According to the upper limb exoskeleton, rapid switching between the left upper limb and the right upper limb is achieved in a turnover installation mode, flexible driving and Bowden cable transmission modes are adopted, a driving unit is arranged away from an upper limb body, and the man-machine interaction safety is improved. Through an upper arm and front arm length adjustable structure, a platform supporting part height adjustable structure and a base part horizontal adjustable structure, the human body adaptability of the exoskeleton is improved.

Description

Technical Field

[0001] This invention relates to the field of rehabilitation robot technology, specifically to a flexible driven upper limb exoskeleton device with a dual-sided switchable configuration, and more particularly to a flexible driven upper limb exoskeleton device with a dual-sided rapid flipping mechanism that can be applied to rehabilitation training of the left and right upper limbs. Background Technology

[0002] Upper limb exoskeleton rehabilitation robots, through mechanical joint structures corresponding to the joints of the human upper limb, provide passive training, assisted training, and impedance training for patients with stroke, spinal cord injury, and other conditions, and have significant application value in promoting the recovery of motor function. Existing upper limb exoskeletons generally employ a series of elastic actuators or other flexible actuation methods to achieve compliant control of joint output torque. However, most existing upper limb exoskeleton devices are typically only suitable for rehabilitation training of one upper limb, and their joint arrangement, drive transmission path, and human-machine interface have obvious directional characteristics. When rehabilitation training of the other upper limb is required, the entire device needs to be replaced, or the device needs complex disassembly, assembly, and recalibration, resulting in low clinical efficiency, insufficient equipment utilization, and increased rehabilitation costs.

[0003] Therefore, there is an urgent need for an upper limb exoskeleton device that ensures flexible actuation and safe human-computer interaction, enabling versatile and rapid switching between the left and right upper limbs, thus addressing the problems of strong unilateral applicability and poor structural versatility in existing technologies. The objective of this invention is to provide a flexible actuated upper limb exoskeleton device with a double-sided rapid flipping mechanism. By setting up a double-sided rapid flipping mechanism, the same exoskeleton structure can be quickly switched for rehabilitation training of the left or right upper limb without complex disassembly, reassembly, and recalibration, improving the versatility, clinical efficiency, and economy of the upper limb exoskeleton device. Summary of the Invention

[0004] To address the aforementioned issues, a flexible driven upper limb exoskeleton device with a dual-sided switchable configuration is provided. This device aims to solve the problem of insufficient human-computer interaction safety of rigid actuators by introducing flexible actuation. The drive unit is positioned at the distal end using Bowden wire actuation, eliminating the additional load on the subject's upper limb caused by the weight and inertia of the actuator itself. By setting a dual-sided switchable configuration, the device effectively overcomes the problems of strong unilateral applicability and poor structural versatility in existing technologies.

[0005] This invention proposes a flexible actuated upper limb exoskeleton device with a bilaterally switchable configuration. The device is lightweight, compliant, and modular. The shoulder joint has three active degrees of freedom, enabling adduction / abduction, internal / external rotation, and flexion / extension movements. The elbow joint has one active degree of freedom for flexion / extension. The wrist joint uses a rotating handle for passive rotation. The problem addressed by this invention is achieved through the following technical solution: A flexible actuated upper limb exoskeleton device with a bilaterally switchable configuration includes a base component, a flexible actuation component, a platform support component, and an upper limb exoskeleton actuator mounted on the platform support component. The upper limb exoskeleton actuator includes a shoulder joint assembly, an upper arm component, a binding component, an elbow joint component, a forearm component, and a wrist joint component. The shoulder joint assembly includes a shoulder adduction / abduction component, a shoulder internal / external rotation component, a shoulder bionic component, and a shoulder flexion / extension component. This invention constructs a mechanical structure with a dual-sided switchable configuration, and combines flexible drive with remote Bowden wire transmission to enable the upper limb exoskeleton device to ensure human-computer interaction safety and have the ability to be used on both the left and right upper limbs and to switch quickly.

[0006] Preferably, the base component includes a base body, casters, a bellows-shaped protective cover, a high-load slide, a coupling, and a handwheel. The base component is used to achieve overall position adjustment and support of the flexible-drive upper limb exoskeleton device. The high-load slide, in conjunction with the handwheel, enables horizontal translation adjustment of the flexible-drive upper limb exoskeleton device, meeting the spatial position switching requirements between the left and right upper limbs. The casters enable movement and fixation of the device, improving its flexibility and applicability in clinical environments. The flexible drive component provides compliant and controllable drive torque output to each joint of the upper limb exoskeleton, improving safety and stability during human-computer interaction. The platform support component includes an outer hollow column, ribs, a lifter, a wheel with a screw bearing, and an inner hollow column. The platform support component supports the entire upper limb exoskeleton device. The lifter and screw transmission structure enable continuous height adjustment of the flexible-drive upper limb exoskeleton device, adapting to the usage needs of subjects of different heights.

[0007] Preferably, the shoulder joint adduction / abduction component includes a shoulder joint adduction / abduction connecting arm, a base, a support column, and a flexible actuator. The shoulder joint adduction / abduction component drives the upper limb exoskeleton to achieve adduction and abduction movements in the coronal plane of the shoulder joint. The shoulder joint internal / external rotation component includes a drive winding wheel, a guide baffle, a flange bearing, an encoder fixing plate, and a rotary encoder. The shoulder joint internal / external rotation component drives the upper limb exoskeleton to achieve internal and external rotation movements of the shoulder joint around the upper arm axis, and the rotary encoder collects joint angle information in real time. The shoulder joint bionic component is constructed as a multi-degree-of-freedom linkage mechanism with three-axis concentricity. By setting a double parallelogram mechanism, the rotation axes converge at the center of the virtual shoulder joint, achieving bionic movement with the human shoulder joint as the distal point. The shoulder joint flexion / extension component includes a shoulder joint flexion / extension connecting arm, a U-groove bearing wheel, a guide baffle, a crossed roller bearing, a rotary encoder, and a drive winding wheel. The shoulder joint flexion / extension component is used to drive the upper limb exoskeleton to achieve flexion and extension movements in the sagittal plane of the shoulder joint, and the cross roller bearing improves the load-bearing capacity and movement accuracy of the joint.

[0008] Preferably, the upper arm component is used to connect with the subject's upper arm, and its structural dimensions are adjustable to accommodate subjects with different upper arm lengths, improving wearability and comfort. The binding components are respectively disposed on the upper arm component and the forearm component, used to fix the upper limb exoskeleton to the subject's upper arm and forearm. The binding components improve human-machine fit through a multi-degree-of-freedom connection structure, achieving adaptive alignment between the exoskeleton joint rotation axis and the human joint axis, reducing relative slippage and additional constraint forces, and improving comfort and safety during movement. The elbow joint component includes an encoder fixing plate, an elbow joint flexion / extension connecting arm, a drive winding wheel, a U-groove bearing wheel, a cross roller bearing, a rotary encoder, and a guide baffle. The elbow joint component is used to drive the upper limb exoskeleton to achieve elbow joint flexion and extension movements, and the encoder detects the joint movement state. The forearm component is used to connect with the subject's forearm, and its length adjustment structure accommodates subjects with different forearm sizes. The wrist joint component includes a wrist joint connecting arm, a flange bearing, and a grip handle. The wrist joint component provides end-effector support and a gripping interface for the subject, while the grip handle allows for holding, improving stability and comfort during use and permitting a certain range of passive wrist rotation to accommodate natural movement needs. In summary, this invention, while ensuring the safety of human-computer interaction, significantly improves the structural universality, ease of operation, and adaptability of upper limb exoskeleton devices, demonstrating promising clinical application prospects.

[0009] The present invention achieves the following technical effects compared to the prior art:

[0010] 1. By setting a dual-sided switchable configuration, the present invention makes the same upper limb exoskeleton device applicable to rehabilitation training of the left and right upper limbs, without the need to replace equipment, complex disassembly and recalibration, thereby improving the versatility of the equipment and the efficiency of clinical use, and reducing the cost of use.

[0011] 2. The present invention adopts a spatial position adjustment structure based on a large load slide to realize the flexible drive upper limb exoskeleton device to be continuously adjustable in the horizontal direction, so that the device can quickly complete the switching between left and right side use positions, improving the ease of operation and system adaptability.

[0012] 3. The present invention adopts a flexible driving method to provide smooth and controllable driving torque output to each joint, reducing the impact caused by rigid driving and improving the safety and stability of human-computer interaction.

[0013] 4. This invention uses Bowden wire drive to arrange the flexible drive unit at the far end, reducing the impact of the actuator inertia on the subject's upper limbs, reducing the wearing burden, and improving the system's lightweight level and movement flexibility.

[0014] 5. By incorporating adjustable upper arm and forearm components, this invention enables the device to adapt to subjects of different body types, thereby improving the system's adaptability and scope of use.

[0015] 6. By setting an adjustable-height platform support structure, the present invention enables the exoskeleton device to be adapted to subjects of different heights, thereby improving the system's versatility and clinical adaptability.

[0016] 7. This invention, by setting up a passive wrist joint rotation structure, enables subjects to maintain a natural wrist posture during training, thereby improving the overall coordination and comfort of movement. Attached Figure Description

[0017] Figure 1 This is a front view of the flexible driven upper limb exoskeleton device described in this invention;

[0018] Figure 2 This is an isometric view of the flexible actuated upper limb exoskeleton device described in this invention;

[0019] Figure 3 This is an exploded view of the base component described in this invention;

[0020] Figure 4 This is an exploded view of the platform support component described in this invention;

[0021] Figure 5 This is an exploded view of the shoulder joint adduction / abduction component described in this invention;

[0022] Figure 6 This is an exploded view of the shoulder joint internal / external rotation component described in this invention;

[0023] Figure 7 This is an exploded view of the shoulder joint flexion / extension component described in this invention;

[0024] Figure 8 This is an exploded view of the upper arm component and an isometric view of the binding component according to the present invention;

[0025] Figure 9 This is an exploded view of the elbow joint component described in this invention;

[0026] Figure 10 These are exploded views of the forearm component and the wrist joint component of the present invention.

[0027] Figure 11 This is a schematic diagram of the flexible driven upper limb exoskeleton device described in this invention.

[0028] The attached diagrams illustrate the following: 01. Base component; 101. Fuma wheel; 102. First base; 103. First slide accordion protective cover; 104. Second base; 105. Second slide accordion protective cover; 106. High-load slide; 107. Coupling; 108. Handwheel; 02. Flexible drive component; 03. Platform support component; 301. Outer hollow column; 302. Rib plate; 303. Lifter; 304. Third base; 305. Screw bearing wheel; 306. 04. Hollow column; 401. Shoulder joint adduction / abduction component; 402. Shoulder joint adduction / abduction connecting arm; 403. Support column; 404. Fourth base; 05. Shoulder joint internal / external rotation component; 501. Drive winding wheel one; 502. Guide baffle one; 503. Flange bearing one; 504. Encoder fixing plate one; 505. Rotary encoder one; 06. Shoulder joint bionic component; 07. Shoulder joint flexion / extension component; 701. Rotary encoder two; 702. 703. Shoulder joint flexion / extension connecting arm 1; 704. U-groove bearing wheel 1; 705. Guide baffle 2; 706. Cross roller bearing 1; 707. Drive winding wheel 2; 708. Shoulder joint adduction / abduction connecting arm 2; 809. Upper arm component; 8000. Upper arm connecting plate 1; 8000. Upper arm connecting plate 2; 1000. Binding component; 101. Elbow joint component; 102. Rotary encoder 3; 103. Encoder fixing plate 2; 104. Elbow joint flexion / extension... 1004. Extending connecting arm 1; 1005. Drive winding wheel 3; 1006. U-groove bearing wheel 2; 1007. Guide baffle 3; 1008. Cross roller bearing 2; 1009. Elbow joint flexion / extension connecting arm 2; 11. Forearm assembly; 1101. Forearm connecting plate 1; 1102. Forearm connecting plate 2; 12. Wrist joint assembly; 1201. Wrist joint connecting arm 1; 1202. Flange bearing 2; 1203. Wrist joint connecting arm 2; 1204. Grip handle. Detailed Implementation

[0029] The following is in conjunction with the appendix Figure 1-11 The present invention will be further described as follows:

[0030] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. The described embodiments are only some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0031] In the description of this invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this invention and simplifying the description, and therefore should not be construed as limiting this invention.

[0032] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" 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 mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0033] Through analysis of existing upper limb exoskeleton devices, the inventors discovered that: Existing upper limb exoskeleton devices are structurally designed for one side of the upper limb, with distinctly directional joint arrangements, human-machine interface structures, and drive transmission paths, making them only applicable to one side of the left or right upper limb. When rehabilitation training is needed for the other upper limb, the entire device must be replaced or complex disassembly and assembly are required, resulting in low clinical efficiency and poor device versatility. Furthermore, existing upper limb exoskeletons mostly employ direct-drive motors, with the drive unit typically located on the upper limb itself. This leads to a large overall system mass and rotational inertia, increasing the subject's workload and reducing the comfort and safety of human-machine interaction. In addition, rigid drive structures struggle to provide sufficient compliance during human-machine interaction, posing safety hazards.

[0034] In one embodiment of this application, the present invention proposes a flexible driven upper limb exoskeleton device with a dual-sided switchable configuration. By setting a dual-sided flip-up structure, the same device can be quickly switched between the left and right upper limbs. At the same time, by combining a flexible driving method and a Bowden wire distal transmission structure, the driving unit is positioned away from the human upper limb, reducing the system's inertial load and improving safety and comfort during human-computer interaction.

[0035] like Figure 1The image shown is a front view of the flexible driven upper limb exoskeleton device of the present invention. Figure 2 This is an isometric view of the flexible driven upper limb exoskeleton device described in this invention. Figure 11 This is a schematic diagram of the flexible actuated upper limb exoskeleton device described in this invention. Figure 1 , Figure 2 and Figure 11 As shown, the first embodiment of the present invention provides a flexible driven upper limb exoskeleton device with a dual-sided switchable configuration, including a base component 01, a flexible driving component 02, a platform support component 03, and an upper limb exoskeleton execution mechanism mounted on the platform support component 03. The upper limb exoskeleton execution mechanism includes a shoulder joint assembly, an upper arm component 08, a binding component 09, an elbow joint component 10, a forearm component 11, and a wrist joint component 12. The shoulder joint assembly includes a shoulder joint adduction / abduction component 04, a shoulder joint internal rotation / external rotation component 05, a shoulder joint bionic component 06, and a shoulder joint flexion / extension component 07. The shoulder joint has three active degrees of freedom, used to realize shoulder joint adduction / abduction, internal rotation / external rotation, and flexion / extension movements, respectively. The elbow joint has one active degree of freedom, realizing elbow joint flexion and extension movements. The wrist joint is configured as a passive rotation structure, allowing the wrist to adaptively rotate within a certain range by gripping a handle.

[0036] The flexible drive components 02 are configured in four groups, corresponding to the four active degrees of freedom of the shoulder joint: adduction / abduction, internal / external rotation, flexion / extension, and elbow flexion / extension. The shoulder joint adduction / abduction degree of freedom uses a direct drive method, with the drive unit directly connected to the joint body, providing sufficient output torque to support the overall structure of the upper limb exoskeleton and the weight of the subject's upper limb. The other three degrees of freedom—shoulder internal / external rotation, shoulder flexion / extension, and elbow flexion / extension—use a distal flexible transmission method based on Bowden lines, positioning the drive unit away from the upper limb body to reduce the equivalent inertial load of the system and improve flexibility and comfort during human-computer interaction. The base component 01 cooperates with the platform support component 03 to achieve spatial position adjustment and left / right switching of the entire device. Each joint component constructs a multi-degree-of-freedom linkage structure through the shoulder joint bionic component 06, achieving bionic movement that matches the movement of the human upper limb.

[0037] Figure 3 This is an exploded view of the base component 01. Figure 3As shown, the base component 01 includes casters 101, a first base 102, a first slide accordion cover 103, a second base 104, a second slide accordion cover 105, a high-load slide 106, a coupling 107, and a handwheel 108. The first base 102 has an overall H-shaped structure, reserving installation space for the subject's seat and improving the adaptability of the device in different usage scenarios. The casters 101 are bolted to the four corners of the first base 102, enabling the overall movement of the device. The casters 101 are equipped with locking mechanisms, which can lift the casters when fixation is required, making the base component 01 stably contact the ground and improving the stability of the device during use. The high-load slide 106 is located between the first base 102 and the second base 104, and its bottom is fixedly connected to the first base 102 via threaded connectors.

[0038] One end of the high-load slide 106 is connected to the handwheel 108 via the coupling 107. Rotating the handwheel 108 drives the slide to move horizontally, enabling continuous adjustment of the overall position of the device. The high-load slide 106 is equipped with a first slide accordion cover 103 and a second slide accordion cover 105 at both ends, respectively, to enclose and protect the slide guide rail and transmission structure, preventing dust and impurities from entering the sliding pair, reducing wear, and improving the service life and operational reliability of the transmission system. The second base 104 is connected to the high-load slide 106 via bolts. The second base 104 serves as a transitional connection between the base component 01 and the platform support component 03, transmitting the displacement adjustment of the high-load slide 106 to the upper platform support component 03, thereby adjusting the overall spatial position of the upper limb exoskeleton.

[0039] Figure 4 This is an exploded view of the platform support component 03 described in this invention. Figure 4 As shown, the platform support component 03 includes an outer hollow column 301, ribs 302, a lifter 303, a third base 304, a screw bearing wheel 305, and an inner hollow column 306. The outer hollow column 301 is fixedly connected to the second base 104 via four ribs 302. The ribs 302 are respectively positioned circumferentially on the outer hollow column 301 and connected to both the outer hollow column 301 and the second base 104 by screws, improving the overall rigidity and stability of the connection structure. The lifter 303 is fixedly installed on the second base 104, achieving reliable fixation through bolt connections. The output end of the lifter 303 is connected to the third base 304, which is fixedly connected to the inner hollow column 306, transmitting the displacement of the lifter 303 to the upper structure.

[0040] Eight screw bearing wheels 305 are installed on the outer side of the inner hollow column 306. The screw bearing wheels 305 cooperate with the guide grooves on the inner wall of the outer hollow column 301. The inner side of the outer hollow column 301 has four guide groove structures arranged axially. Through the rolling contact between the screw bearing wheels 305 and the guide grooves, the inner hollow column 306 is stably guided and slid relative to the outer hollow column 301, ensuring the smoothness and guiding accuracy of the lifting process. By driving the lifting device 303, the inner hollow column 306 can be moved up and down along the axial direction of the outer hollow column 301, realizing the continuous adjustment of the overall height of the upper limb exoskeleton device to adapt to the usage needs of subjects of different heights and improve the system's human adaptability and user comfort.

[0041] Figure 5 This is an exploded view of the shoulder joint adduction / abduction component 04 described in this invention. Figure 5 As shown, the shoulder joint adduction / abduction component 04 includes a shoulder joint adduction / abduction connecting arm 401, a support column 402, a fourth base 403, and a flexible drive component 02. The flexible drive component 02 is fixedly installed on the fourth base 403 and connected by bolts. The output end of the flexible drive component 02 is fixedly connected to the shoulder joint adduction / abduction connecting arm 401 to achieve power transmission. The fourth base 403 has through-hole structures on both sides for installing the support column 402. The support column 402 passes through the through-holes of the fourth base 403 and forms a support connection structure with it. By symmetrically arranging the support columns 402 on both sides of the fourth base 403, the shoulder joint adduction / abduction component 04 can have support structures installed on different sides, meeting the structural requirement of switching between left and right sides of the device.

[0042] The support column 402 provides support and maintains a stable posture for the overall structure of the upper limb exoskeleton when the exoskeleton device is not in operation, preventing the structure from sagging or deflecting due to its own weight, thus improving the structural stability and safety of the device. The flexible drive component 02 acts on the shoulder joint adduction / abduction connecting arm 401 through direct drive, driving it to achieve adduction and abduction movements of the shoulder joint around the corresponding rotation axis. Since the shoulder joint adduction / abduction degree of freedom needs to bear the weight of the overall structure of the upper limb exoskeleton device and the subject's upper limb during movement, it is a major load-bearing degree of freedom. Therefore, a direct drive method is adopted to improve the output torque capacity and system stiffness, ensuring the stability and reliability of the movement process.

[0043] Figure 6 This is an exploded view of the shoulder joint internal / external rotation component 05 described in this invention. Figure 6As shown, the shoulder joint internal / external rotation component 05 includes a drive winding wheel 501, a guide baffle 502, a flange bearing 503, an encoder mounting plate 504, and a rotary encoder 505. The drive winding wheel 501 is fixedly connected to the shoulder joint bionic component 06 by bolts and serves as the output actuator for Bowden cable transmission. The guide baffle 502 is fixed to the shoulder joint adduction / abduction connecting arm 401 and is used to constrain and guide the Bowden cable path. The Bowden cable includes an outer tube and an inner steel wire rope. The outer tube is fixedly confined by the guide baffle 502, and the inner steel wire rope passes through the guide baffle 502 and connects to the drive winding wheel 501. By fixing and constraining the outer tube through the guide baffle 502, the movement of the inner steel wire rope can be converted into a traction force on the drive winding wheel 501, thus achieving force transmission.

[0044] The drive winding wheel 501 has two independent winding grooves on its outer circumference for winding two Bowden wire inner steel wires. Through the relative traction of the two Bowden wires, the drive winding wheel 501 achieves forward and reverse rotation, driving the shoulder joint to move in both internal and external rotation directions. The encoder fixing plate 504 is fixedly installed on the shoulder joint adduction / abduction connecting arm 401. The rotary encoder 505 is fixed to the encoder fixing plate 504 by bolts. The output end of the rotary encoder 505 is connected to the shoulder joint bionic component 06 and fixed by a set screw, used for real-time acquisition and feedback of the angle information of the shoulder joint's internal / external rotation movement.

[0045] Figure 7 This is an exploded view of the shoulder joint flexion / extension component 07 described in this invention. Figure 7As shown, the shoulder joint flexion / extension component 07 includes a rotary encoder 701, a shoulder joint flexion / extension connecting arm 702, a U-groove bearing wheel 703, a guide baffle 704, a crossed roller bearing 705, a drive winding wheel 706, and a shoulder joint adduction / abduction connecting arm 707. The outer ring of the crossed roller bearing 705 is fixedly mounted on the shoulder joint flexion / extension connecting arm 702, and the drive winding wheel 706 is fixedly connected to the inner ring of the crossed roller bearing 705, forming a support and rotation separation structure to improve the joint's load-bearing capacity and rotational accuracy. The shoulder joint flexion / extension connecting arm 702 has an internal clearance groove structure to provide clearance space for the crossed roller bearing 705 during rotation, avoiding interference with the connecting arm, reducing friction, and improving motion stability. The second guide baffle 704 is fixedly installed on the first shoulder joint flexion / extension connecting arm 702, and a pair of first U-groove bearing wheels 703 are installed on the second guide baffle 704. The second guide baffle 704 is used to fix and limit the Bowden cable outer tube and constrain the movement path of the inner wire rope, so that the pulling of the inner wire rope is effectively converted into the traction effect on the second drive winding wheel 706, thereby realizing the transmission of force.

[0046] The U-shaped groove bearing wheel 703 is used to guide the inner steel wire rope during rolling, ensuring it remains in contact with the outer circumference of the drive winding wheel 706 during movement, thus improving transmission stability and ensuring an effective stroke range. The guide baffle 704 limits the rotation range of the drive winding wheel 706, preventing joint movement from exceeding the set range and improving system operational safety. The drive winding wheel 706 has a winding groove on its outer circumference, with a through structure along the circumference to allow the inner steel wire rope of the Bowden cable to pass through. The drive winding wheel 706 has a set screw hole, which clamps and secures the inner steel wire rope, achieving a reliable connection between the inner steel wire rope and the drive winding wheel 706. By pulling and releasing a single Bowden cable, the drive winding wheel 706 can be driven to rotate in both directions, enabling shoulder joint flexion and extension movements.

[0047] The set screw hole is located at a predetermined position on one side of the axial direction of the second drive winding wheel 706, ensuring that the fixing method of the Bowden wire remains consistent when the device is flipped to the left or right, thereby guaranteeing normal drive of shoulder joint flexion / extension movements in both switching states. The second rotary encoder 701 is fixedly mounted on the first shoulder joint flexion / extension connecting arm 702 by bolts, and its output shaft is connected to the second drive winding wheel 706 and fixed by a set screw, used for real-time acquisition and feedback of angle information of shoulder joint flexion / extension movements.

[0048] Figure 8This is an exploded view of the upper arm component 08 and an isometric view of the binding component 09 described in this invention. Figure 8 As shown, the upper arm component 08 includes an upper arm connecting plate 1 801 and an upper arm connecting plate 2 802. The upper arm connecting plate 1 801 and the upper arm connecting plate 2 802 are fixed together by bolts. Multiple sets of mounting holes are provided between them along the length direction. By selecting different combinations of connecting holes, the effective length of the upper arm component 08 can be adjusted to accommodate subjects with different upper arm lengths, improving the device's human adaptability and versatility. The binding component 09 is disposed on the upper arm component 08 and the forearm component 11, and is used to connect and fix the upper limb exoskeleton to the subject's upper limb. The binding component 09 is constructed as a connection structure with multi-degree-of-freedom adjustment capabilities, possessing a certain degree of relative adjustment and buffering capacity in multiple directions, ensuring reliable fixation while improving the human-machine fit.

[0049] Figure 9 This is an exploded view of the elbow joint component 10 described in this invention. Figure 9 As shown, the elbow joint component 10 includes a rotary encoder 1001, an encoder mounting plate 1002, an elbow flexion / extension connecting arm 1003, a drive winding wheel 1004, a U-groove bearing wheel 1005, a guide baffle 1006, a crossed roller bearing 1007, and an elbow flexion / extension connecting arm 1008. The outer ring of the crossed roller bearing 1007 is fixedly mounted on the elbow flexion / extension connecting arm 1008, and the drive winding wheel 1004 is rigidly connected to the inner ring of the crossed roller bearing 1007, improving the structural rigidity and motion accuracy of the elbow joint under load conditions. The elbow flexion / extension connecting arm 1008 has an internal clearance space structure, providing a movement clearance for the crossed roller bearing 1007 during rotation, reducing frictional resistance and improving the smoothness and reliability of joint movement.

[0050] The guide baffle 3 1006 is fixed to the elbow joint flexion / extension connecting arm 2 1008, and a pair of U-groove bearing wheels 2 1005 are mounted on the guide baffle 3 1006. The guide baffle 3 1006 is used to position and constrain the outer sheath of the Bowden wire, guide the movement path of the inner wire rope, and enable the traction force of the inner wire rope to be effectively transmitted to the drive winding wheel 3 1004. The U-groove bearing wheels 2 1005 are used to provide rolling support and guidance for the inner wire rope, keeping it in contact with the outer circumference of the drive winding wheel 3 1004 during movement, improving transmission efficiency and ensuring effective working stroke. The outer circumference of the drive winding wheel 1004 is provided with an annular winding groove for winding steel wire rope. The winding groove has a through structure along its circumference, allowing the steel wire rope inside the Bowden line to pass through and be wound onto it. The drive winding wheel 1004 is provided with a locking screw hole, which clamps and secures the inner steel wire rope, achieving a reliable connection between the steel wire rope and the winding wheel. During operation, the drive winding wheel 1004 can be driven to rotate bidirectionally by the tensioning and releasing of a single Bowden line steel wire rope, thereby completing the flexion and extension movements of the elbow joint.

[0051] The locking set screw hole is located at a predetermined position on one side of the drive winding wheel 1004, ensuring that the connection method of the Bowden wire remains consistent when the device is switched between left and right sides, thereby guaranteeing stable and reliable drive of the elbow joint in both configurations. The encoder fixing plate 1002 is mounted on the elbow joint flexion / extension connecting arm 1003, and the rotary encoder 1001 is fixedly mounted on the encoder fixing plate 1002. Its output shaft is coaxially connected to the drive winding wheel 1004 and locked by a set screw, used to collect and feedback the angle information of the elbow joint flexion / extension movement in real time, so as to achieve accurate detection of the joint movement state.

[0052] Figure 10 These are exploded views of the forearm component 11 and the wrist joint component 12 described in this invention. Figure 10 As shown, the forearm component 11 includes a first forearm connecting plate 1101 and a second forearm connecting plate 1102. The first forearm connecting plate 1101 and the second forearm connecting plate 1102 are fixed together by bolts. Multiple sets of spaced mounting holes are provided between them along the length direction. By selecting different combinations of holes, the relative position between the two connecting plates can be adjusted, thereby changing the overall length of the forearm component 11 to adapt to subjects with different forearm sizes and improve the human adaptability and versatility of the device.

[0053] The wrist joint component 12 includes a wrist joint connecting arm 1201, a flange bearing 1202, a wrist joint connecting arm 1203, and a grip handle 1204. The wrist joint connecting arm 1201 and the wrist joint connecting arm 1203 are rotatably connected via the flange bearing 1202, forming a passive rotation structure for the wrist joint. The flange bearing 1202 is a rotational support element with damping characteristics. While allowing the wrist joint to rotate freely, it provides appropriate damping constraints on its rotational speed and amplitude, preventing excessively fast or large wrist swings and improving stability and controllability during movement. Simultaneously, this damping characteristic helps reduce the impact of external disturbances on wrist posture, enabling the subject to maintain a more natural and smooth movement state during training, thus improving the comfort and safety of human-computer interaction.

[0054] The grip handle 1204 is installed on the wrist joint connecting arm 2 1203 via a threaded connection. Specifically, it is screwed into the internal thread structure of the wrist joint connecting arm 2 1203 by a screw or threaded joint, thus achieving a detachable and fixed connection of the grip handle 1204. The grip handle 1204 is used by the subject to perform grasping operations, providing stable end support, and is easy to replace or adjust according to different usage needs.

[0055] The above description is merely a preferred embodiment of this application and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of the invention involved in this application is not limited to the technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the inventive concept.

Claims

1. A flexible actuated upper limb exoskeleton device with a bilaterally switchable configuration, characterized in that, The system includes a base component (01), a flexible drive component (02), a platform support component (03), and an upper limb exoskeleton actuator mounted on the platform support component (03). The upper limb exoskeleton actuator includes a shoulder joint assembly, an upper arm component (08), a binding component (09), an elbow joint component (10), a forearm component (11), and a wrist joint component (12). The shoulder joint assembly includes a shoulder adduction / abduction component (04), a shoulder internal rotation / external rotation component (05), a shoulder bionic component (06), and a shoulder flexion / extension component (07). The upper limb exoskeleton actuator is constructed with a left-right symmetrical structure and is mounted on the platform support component via a flip-mounted installation method. 03) The upper end is suitable for the left or right upper limb of the human body; the shoulder joint flexion / extension component (07) includes a rotary encoder two (701), a shoulder joint flexion / extension connecting arm one (702), a U-groove bearing wheel one (703), a guide baffle two (704), a cross roller bearing one (705), a drive winding wheel two (706), and a shoulder joint adduction / abduction connecting arm two (707). The guide baffle two (704) is fixed to the shoulder joint flexion / extension connecting arm one (702), and the U-groove bearing wheel one (703) is installed on the guide baffle two (704) for guiding the inner wire rope of the Bowden line; the outer periphery of the drive winding wheel two (706) is provided for winding the inner wire rope. The winding groove is provided with a top screw hole for fixing the inner steel wire rope on the second driving winding wheel (706). The top screw hole is located at a predetermined position on one side of the axial direction of the second driving winding wheel (706). When the device is flipped to the left and right, the fixing method of the Bowden wire remains consistent, ensuring that the shoulder joint flexion / extension movement can be normally driven in the dual-side switching state. The elbow joint component (10) includes a third rotary encoder (1001), a second encoder fixing plate (1002), a first elbow joint flexion / extension connecting arm (1003), a third driving winding wheel (1004), a second U-groove bearing wheel (1005), a third guide baffle (1006), a second crossed roller bearing (1007), and a second elbow joint flexion / extension connecting arm. Second (1008), the guide baffle three (1006) is fixed to the elbow joint flexion / extension connecting arm two (1008), the U-groove bearing wheel two (1005) is installed on the guide baffle three (1006) to guide the steel wire rope inside the Bowden line; the outer periphery of the drive winding wheel three (1004) is provided with a winding groove for winding the inner steel wire rope, and the drive winding wheel three (1004) is provided with a locking top screw hole for fixing the inner steel wire rope; the locking top screw hole is located at a predetermined position on one side of the axial direction of the drive winding wheel three (1004), and when the flexible drive upper limb exoskeleton device is flipped and switched between the left and right sides, the Bowden line connection method remains consistent to ensure stable drive of the elbow joint under the dual-sided configuration;The flexible drive component (02) provides driving force for the shoulder joint assembly and elbow joint assembly (10); the base component (01) includes a fender (101), a first base (102), a first slide accordion cover (103), a second base (104), a second slide accordion cover (105), a high-load slide (106), a coupling (107), and a handwheel (108); the high-load slide (106) drives the platform support component (03) to move horizontally, adjusting the spatial position of the upper limb exoskeleton actuator.

2. The flexible actuated upper limb exoskeleton device with a dual-sided switchable configuration according to claim 1, characterized in that, The flexible drive component (02) is configured in four groups, corresponding to the shoulder joint adduction / abduction degree of freedom, shoulder joint internal rotation / external rotation degree of freedom, shoulder joint flexion / extension degree of freedom and elbow joint flexion / extension degree of freedom respectively; wherein, the shoulder joint adduction / abduction degree of freedom adopts a direct drive method, and the other three degrees of freedom adopt a distal flexible transmission method based on Bowden line.

3. The flexible actuated upper limb exoskeleton device with a dual-sided switchable configuration according to claim 1, characterized in that, The shoulder joint adduction / abduction component (04) includes a shoulder joint adduction / abduction connecting arm (401), a support column (402), a fourth base (403), and a flexible drive component (02). The fourth base (403) has through-hole structures on both sides. The support column (402) can be selectively installed in the through-hole structure, so that the shoulder joint adduction / abduction component (04) forms a support structure on the left and right sides.

4. The flexible actuated upper limb exoskeleton device with a dual-sided switchable configuration according to claim 1, characterized in that, The forearm component (11) includes a first forearm connecting plate (1101) and a second forearm connecting plate (1102). The first forearm connecting plate (1101) and the second forearm connecting plate (1102) are connected by bolts. Multiple sets of spaced mounting holes are provided between them along the length direction. By selecting different combinations of mounting holes, the relative position between the first forearm connecting plate (1101) and the second forearm connecting plate (1102) can be adjusted, thereby adjusting the overall length of the forearm component (11).

5. The flexible actuated upper limb exoskeleton device with a dual-sided switchable configuration according to claim 1, characterized in that, The upper arm component (08) includes an upper arm connecting plate one (801) and an upper arm connecting plate two (802). The upper arm connecting plate one (801) and the upper arm connecting plate two (802) are connected by bolts. Multiple sets of mounting holes are provided between them along the length direction. By selecting different combinations of mounting holes, the length of the upper arm component (08) can be adjusted.

6. The flexible actuated upper limb exoskeleton device with a dual-sided switchable configuration according to claim 1, characterized in that, The wrist joint component (12) includes a wrist joint connecting arm one (1201), a flange bearing two (1202), a wrist joint connecting arm two (1203), and a grip handle (1204). The flange bearing two (1202) is a rotating support element with damping characteristics.

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