Exoskeleton power assisting device and exoskeleton power assisting method

Abstract

The invention discloses an exoskeleton power assisting device and an exoskeleton power assisting method. The exoskeleton power assisting device comprises a back plate, a shoulder joint module, a supporting module and a monitoring assembly. The back plate is fixed to the back of a human body; the shoulder joint module is connected with the back plate and comprises a first rotating structure and a second rotating structure, the rotating axis of the first rotating structure extends in the front-back direction of the human body, and the rotating axis of the second rotating structure extends in the width direction of the human body; the supporting module is used for fixing the upper limb and is connected with the shoulder joint module, the supporting module comprises a third rotating structure, the third rotating structure is located at the position corresponding to the elbow joint, and the rotating axis extends in the width direction of the human body; the monitoring assembly is used for obtaining the motion state of the upper limb, and at least one of the first rotating structure, the second rotating structure and the third rotating structure rotates according to the motion state of the upper limb and provides assistance for the motion of the upper limb. According to the technical scheme, the exoskeleton power assisting device can be applied to an operation scene.

Description

Technical Field

[0001] This disclosure relates to the field of exoskeleton assistance, and more particularly to an exoskeleton assistance device and an exoskeleton assistance method. Background Technology

[0002] During surgery, surgeons need to maintain an arm suspended in the air for extended periods. In this position, certain muscle groups in the upper limb must continuously contract to counteract the effects of gravity. This sustained muscle contraction not only leads to metabolic fatigue but also causes unavoidable tremors in the upper limb, affecting the precision of the surgical procedure, reducing the success rate, and potentially damaging the surgeon's occupational health in the long run. To alleviate upper limb fatigue, surgeons can wear exoskeletons, which provide support for the upper limb.

[0003] Exoskeletons in related technologies typically only provide support for the upper limbs, assisting them in maintaining posture. For example, Chinese Patent (Publication No.: CN119036410A) discloses an upper limb unpowered support exoskeleton that can assist the upper limbs in overcoming gravity and maintaining posture. However, in use, these exoskeletons cannot actively provide assistance to the upper limbs, making it difficult for existing exoskeletons to meet the needs of surgeons who frequently need to change surgical positions during operations. Summary of the Invention

[0004] This disclosure provides an exoskeleton assistive device and an exoskeleton assistive method to at least partially solve the problems existing in the related art.

[0005] This disclosure provides an exoskeleton assistive device, the exoskeleton assistive device comprising: Backplate, used to secure to the back of the human body; A shoulder joint module is connected to the back plate. The shoulder joint module includes a first rotating structure and a second rotating structure. The rotation axis of the first rotating structure extends along the front-back direction of the human body, and the rotation axis of the second rotating structure extends along the width direction of the human body. A support module for fixing the upper limb and connected to the shoulder joint module, the support module including a third rotating structure located at a position corresponding to the elbow joint and having a rotation axis extending along the width direction of the human body; and Monitoring components are used to acquire the movement status of the upper limbs. In this configuration, at least one of the first rotating structure, the second rotating structure, and the third rotating structure is configured to rotate according to the movement state of the upper limb, thereby providing assistance to the movement of the upper limb. In some possible implementations, the monitoring component includes: A force sensor, disposed on the support module and located at a position corresponding to the wrist joint, is used to acquire the contact force between the wrist joint and the support module; and Magnetic encoders are respectively installed on the first rotating structure, the second rotating structure and the third rotating structure, and are used to acquire the position information of the upper limb.

[0006] In some possible implementations, the shoulder joint module further includes a connecting structure disposed between the first rotating structure and the second rotating structure, the connecting structure being used to allow the first rotating structure and the second rotating structure to move relative to each other in a horizontal plane.

[0007] In some possible implementations, the connection structure includes: The first connecting rod is horizontally positioned and its end is hinged to the first rotating structure. The second connecting rod is horizontally positioned and its end is hinged to the second rotating structure. A third link, parallel to and spaced apart from the first link, has one end hinged to the first rotating structure and the other end hinged to the second link; and The fourth link is parallel to and spaced apart from the second link. The fourth link is hinged to the third link. One end of the fourth link is hinged to the second rotating structure, and the other end is hinged to the first link.

[0008] In some possible implementations, the first rotating structure, the second rotating structure, and the third rotating structure have the same structure, and the first rotating structure includes: A first fixed seat has a boss and a first friction plate mounted on the boss; A second fixed seat is rotatably mounted on the boss; and The third fixing seat is spaced apart from the first friction plate and fixedly connected to the second fixing seat; The first rotating structure further includes an electromagnet and a second friction plate. The electromagnet is fixed on the third fixed base, and the second friction plate has an armature and is disposed between the third fixed base and the first friction plate.

[0009] In some possible implementations, the support module further includes a boom structure and a forearm structure, with the third rotating structure connected between the boom structure and the forearm structure. The boom structure and the forearm structure each include a length-adjustable support rod, the support rod comprising: A sleeve, wherein multiple positioning holes are provided on the sleeve; A movable rod is slidably disposed within the sleeve, and a sliding rod extending radially along the end of the movable rod is provided thereon; A bracket is disposed at the end of the movable rod; and A movable block, installed within the bracket, has a radially inclined groove on the movable rod, and the movable rod is slidably disposed within the groove. In the radial direction of the moving rod, one side of the moving block is connected to a locking rod that can pass through the bracket and the positioning hole, and the other side is connected to an elastic element.

[0010] In some possible implementations, the exoskeleton assistive device further includes a movably disposed base and a plurality of drive components disposed on the base, the drive components including: A lead screw, rotatably mounted on the base and connected to the output shaft of a drive motor, is provided with a movable seat screwed onto the lead screw; and A pull rope, one end of which is connected to the movable seat, and the other end of which is wrapped around one of the first rotating structure, the second rotating structure, and the third rotating structure; The drive component is configured such that when the pull rope is tightened, it drives the corresponding rotating structure to rotate, so that the corresponding rotating structure provides assistance for the movement of the upper limb.

[0011] This disclosure also provides an exoskeleton assistance method, applied to the exoskeleton assistance device described in any one of the above-mentioned methods, the exoskeleton assistance method comprising: The movement posture of the user's upper limbs is obtained, and the inertial torque of the upper arm and forearm is obtained according to the movement posture. The interaction contact force between the user's wrist joint and the exoskeleton assist device in the current posture is obtained; based on the interaction contact force, the external torque of the forearm is obtained; Based on the inertial torques of the upper arm and forearm, and the external torque of the forearm, the three-dimensional total torque of the elbow and shoulder joints is obtained. Based on the total three-dimensional torque of the elbow joint, the torque of the elbow joint in the flexion and extension direction is obtained, and the third rotating structure is driven to rotate accordingly; based on the total three-dimensional torque of the shoulder joint, the torque of the shoulder joint in the flexion, extension and abduction directions is obtained, and the second rotating structure and the first rotating structure are driven to rotate accordingly.

[0012] In some possible implementations, acquiring the movement posture of the user's upper limbs, and acquiring the inertial torques of the upper arm and forearm based on the movement posture, includes: The monitoring component acquires the user's upper limb movement posture, and based on the movement posture, acquires the angular velocity and angular acceleration of shoulder joint flexion and extension, the angular velocity and angular acceleration of shoulder joint abduction, and the angular velocity and angular acceleration of elbow joint flexion and extension. Based on the angular velocities and angular accelerations of shoulder joint flexion and extension, shoulder joint abduction, and elbow joint flexion and extension, obtain the center-of-mass acceleration of the upper arm and the center-of-mass acceleration of the forearm. Based on the acceleration of the center of mass of the upper arm and the acceleration of the center of mass of the forearm, obtain the inertial force and moment of inertia of the upper arm, and obtain the inertial force and moment of inertia of the forearm. The inertial torques of the upper arm and forearm are obtained based on the inertial force and moment of inertia of the upper arm and the inertial force and moment of inertia of the forearm.

[0013] In some possible implementations, the acquisition of the interactive contact force between the user's wrist joint and the exoskeleton assistive device in the current posture includes: The monitoring component determines the first contact force between the user's wrist joint and the exoskeleton assistive device in a natural standing posture. The monitoring component determines the contact force between the user's wrist joint and the exoskeleton assistive device in the current posture as the second contact force. Wherein, the interactive contact force is the second contact force minus the first contact force.

[0014] The technical solutions provided by the embodiments of this disclosure may include the following beneficial effects: Through the above technical solution, the exoskeleton assistive device disclosed herein fixes and supports the upper limbs of the human body through a support module, assisting doctors in maintaining upper limb posture and avoiding upper limb fatigue. The shoulder joint module with two degrees of freedom and the third rotational structure can simulate the movement of the human shoulder and elbow joints. The support module can support the upper limbs in various postures, ensuring the flexibility of the exoskeleton assistive device and adapting to situations where the doctor's upper limb posture needs to change frequently during surgery, meeting the needs of surgical scenarios. Simultaneously, through monitoring components and the three rotational structures, during the doctor's active posture adjustment, at least one of the first, second, and third rotational structures can actively rotate according to the upper limb's movement state to actively drive the doctor's upper limb movement, providing assistance during posture adjustment and preventing fatigue caused by the doctor having to overcome the gravity of the support module when adjusting the upper limb posture during surgery. Compared to surgical robots and exoskeleton products in related technologies, the exoskeleton assistive device disclosed herein is more suitable for clinical surgical use, possessing higher flexibility, versatility, and adaptability.

[0015] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure. Attached Figure Description

[0016] The accompanying drawings, which are incorporated in and form a part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure.

[0017] Figure 1 This is a schematic diagram of the structure of an exoskeleton assistive device according to an exemplary embodiment; Figure 2 This is a schematic diagram illustrating the use of a monitoring component according to an exemplary embodiment; Figure 3 This is a schematic diagram of a connection structure according to an exemplary embodiment; Figure 4 This is an exploded view of the first rotating structure according to an exemplary embodiment; Figure 5 This is a cross-sectional view of a first rotating structure according to an exemplary embodiment; Figure 6 This is a schematic diagram of the structure of a support module according to an exemplary embodiment; Figure 7 This is a schematic diagram of a driving structure according to an exemplary embodiment; Figure 8 This is a schematic diagram of the upper arm structure according to an exemplary embodiment; Figure 9 This is a schematic diagram of the structure of the end of a movable rod according to an exemplary embodiment; Figure 10 This is a schematic diagram showing a locking lever passing through a positioning hole according to an exemplary embodiment; Figure 11 This is a schematic diagram illustrating a locking lever disengaging from a positioning hole according to an exemplary embodiment; Figure 12 This is a flowchart illustrating an exoskeleton-assisted method according to an exemplary embodiment; Figure 13 This is a flowchart of step S100 in an exoskeleton assistance method according to an exemplary embodiment; Figure 14 This is a flowchart of step S200 in an exoskeleton assistance method according to an exemplary embodiment.

[0018] Explanation of reference numerals in the attached figures 1-Exoskeleton assistive device, 10-Backplate, 20-Shoulder joint module, 201-First rotating structure, 2011-First fixing seat, 2011a-Boss, 2011b-First friction plate, 2012-Second fixing seat, 2013-Third fixing seat, 2014-Electromagnet, 2015-Second friction plate, 2016-Armature, 2017-Bearing, 2018-Torsion spring, 202-Second rotating structure, 203-Connecting structure, 2031-First link, 2032-Second link, 2033-Third link, 2034-Fourth link, 30-Support module, 301 - Third rotating structure, 302- Main arm structure, 3021- Sleeve, 3021a- Positioning hole, 3022- Moving rod, 3022a- Sliding rod, 3023- Bracket, 3024- Moving block, 3024a- Slide groove, 3024b- Locking rod, 3024c- Elastic element, 303- Forearm structure, 304- Elastic strap, 40- Monitoring component, 401- Force sensor, 402- Magnetic encoder, 403- Magnet, 50- Base, 60- Drive component, 601- Lead screw, 601a- Moving seat, 602- Pull rope, 603- Wireless foot switch, 70- Wearable clothing. Detailed Implementation

[0019] The technical solutions of the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this disclosure, and not all embodiments. Based on the embodiments of this disclosure, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this disclosure. When the following description refers to the accompanying drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements.

[0020] In this disclosure, the terms “upper,” “lower,” “left,” “right,” “front,” “rear,” “inner,” and “outer,” etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings. These terms are primarily for the purpose of better describing this disclosure and its embodiments, and are not intended to limit the indicated devices, elements, or components to having a specific orientation, or to be constructed and operated in a specific orientation.

[0021] Furthermore, in addition to indicating location or positional relationship, some of the aforementioned terms may also have other meanings. For example, the term "above" may also be used in some cases to indicate a dependency or connection relationship. Those skilled in the art can understand the specific meaning of these terms in this disclosure according to the specific circumstances.

[0022] Furthermore, the terms "installation," "setup," "equipped with," "connected," "linked," "connected," or similar terms should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral construction; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection via an intermediate medium, or an internal connection between two devices, components, or parts. Those skilled in the art can understand the specific meaning of the above terms in this disclosure according to the specific circumstances.

[0023] Furthermore, the terms "first," "second," etc., are primarily used to distinguish different devices, components, or parts (which may be the same or different in specific type and construction), and are not intended to indicate or imply the relative importance or quantity of the indicated devices, components, or parts. Unless otherwise stated, "a plurality of" means two or more.

[0024] Generally, during surgery, doctors need to hold and manipulate surgical instruments to perform the procedure. During this process, doctors need to keep their arms in a flexed and suspended position for an extended period. In this position, the muscles in the doctor's upper limbs need to continuously contract to counteract the effects of gravity. This prolonged and continuous muscle contraction not only leads to metabolic fatigue but also causes unavoidable tremors in the doctor's upper limbs, affecting the precision of the surgical procedure.

[0025] In related technologies, wearable exoskeletons can support the upper limbs of surgeons during operations, reducing upper limb fatigue. Existing wearable exoskeletons are generally modified from industrial exoskeletons, such as those used for industrial handling, or from rehabilitation exoskeletons, such as those for lower limb rehabilitation. They often fail to fully consider the actual clinical needs of surgical scenarios and typically only provide support for the upper limbs, assisting them in maintaining posture. For example, Chinese patent (publication number: CN119036410A) discloses a non-powered upper limb support exoskeleton that only assists the upper limbs in overcoming gravity and maintaining posture.

[0026] However, surgeons need to adjust their posture frequently during surgery. For example, they may need to adjust their posture after completing a step in the procedure, when changing surgical instruments, or to relieve muscle tension and promote blood circulation. These posture adjustments require moving the worn exoskeleton and overcoming its weight. Frequent posture adjustments during surgery can lead to upper limb fatigue. Therefore, this is why current exoskeletons often fail to meet the demands of frequent posture adjustments required by surgeons in surgical settings.

[0027] To address the issue that exoskeletons in related technologies often fail to meet the requirements of frequent posture adjustments during surgery, referencing... Figures 1 to 11 This disclosure provides an exoskeleton assistive device 1, including a backplate 10, shoulder joint modules 20, support modules 30, and a monitoring component 40. The backplate 10 is used to fix to the back of a human body. The support module 30 is used to fix the upper limbs of the human body and is connected to the shoulder joint modules 20. The shoulder joint modules 20 are connected to the backplate 10 and are disposed between the support modules 30 and the backplate 10. It is understood that the exoskeleton assistive device 1 includes two support modules 30 and two shoulder joint modules 20, corresponding to the two arms and two shoulders of the human body.

[0028] It is understood that, in addition to surgical scenarios, the exoskeleton assistive device 1 of this disclosure can also be applied to other scenarios involving frequent posture adjustments. To better illustrate the solution of the exoskeleton assistive device 1 of this disclosure, this disclosure will describe the solution in detail by applying the exoskeleton assistive device 1 to a surgical scenario.

[0029] Reference Figure 1 When the exoskeleton assistive device 1 is worn on the upper body, the support module 30 can fix the upper limbs of the human body. This fixation can be understood as supporting the upper limbs, enabling the upper limbs to overcome gravity and maintain their posture. Under the action of the support module 30, the surgeon's upper limbs can maintain a certain posture for a long time during the operation and perform surgical procedures, avoiding fatigue of the upper limbs after prolonged flexion and suspension.

[0030] Generally, when the human body adjusts its posture, the upper limbs exhibit four movements: abduction, adduction, flexion, and extension. The upper limbs include the upper arm, forearm, and elbow joint. The shoulder joint also rotates in sync with the upper limb movements. These four movements require the upper limbs to overcome gravity. The combination of these movements allows the upper limbs to perform complex movements in multiple directions, enabling surgical procedures. Abduction refers to the movement of the upper limb from the side of the body upwards or outwards, increasing the angle of the shoulder joint and moving the arm away from the body. Adduction refers to the movement of the arm from the abducted position towards the center line of the body, decreasing the angle of the shoulder joint and bringing the arm closer to the body. Flexion refers to the movement of the arm forward from the side of the body, such as raising the arm forward. Extension refers to the movement of the arm backwards. Simultaneously, the elbow joint allows the forearm to move independently. The forearm exhibits two movements: flexion and extension. Taking forearm flexion as an example, it refers to the movement of the forearm from the side of the body forward, such as raising the forearm forward. Extension refers to the movement of the forearm backwards. It is understandable that the front, back, and sides mentioned here are relative to the human body, that is, the front, back, and sides of the human body.

[0031] Reference Figure 1 and Figure 3 The shoulder joint module 20 includes a first rotating structure 201 and a second rotating structure 202, both of which are rotatable. The rotation axis of the first rotating structure 201 extends along the anterior-posterior direction of the human body, and the rotation axis of the second rotating structure 202 extends along the width direction of the human body. It can be understood that the anterior-posterior direction of the human body corresponds to the sagittal axis, and the width direction corresponds to the coronal axis. At this time, the rotation axis of the second rotating structure 202 is perpendicular to the rotation axis of the first rotating structure 201. The first rotating structure 201 is used to adapt the shoulder joint module 20 to the abduction and adduction movements of the upper limb, and the second rotating structure 202 is used to adapt the shoulder joint module 20 to the flexion and extension movements of the upper limb.

[0032] The support module 30 includes a rotatable third rotation structure 301, which is located at the elbow joint and its rotation axis extends along the width of the human body. At this time, the rotation axis of the third rotation structure 301 is perpendicular to the rotation axis of the first rotation structure 201. The third rotation structure 301 is used to adapt the support module 30 to the flexion and extension movements of the human forearm.

[0033] The support module 30 can adapt to the movement of the human upper limb through the shoulder joint module 20 and to the movement of the human elbow joint through the third rotation structure 301. This makes the exoskeleton assistive device 1 of this disclosure highly flexible. The support module 30 can support the human upper limb in various postures. This design makes the exoskeleton assistive device 1 more suitable for use in surgical scenarios, adapting to situations where doctors need to frequently change the posture of the upper limb during surgery. At the same time, the shoulder joint module 20 of this disclosure can simulate the complex rotation of the human shoulder joint with only two degrees of freedom (two rotation directions). This not only ensures the flexibility of the support module 30 but also makes the exoskeleton assistive device 1 lighter.

[0034] The first rotating structure 201 is connected to the back plate 10, and the first rotating structure 201 is connected to the second rotating structure 202. The support module 30 is connected to the second rotating structure 202, ensuring that the exoskeleton assistive device 1 forms a whole. The back plate 10 can serve as a "fixed structure" for the exoskeleton assistive device 1, ensuring the position and stability of the shoulder joint module 20 and the support module 30. The back plate 10 can be designed to conform to the curve of the human back, ensuring the stability of the exoskeleton assistive device 1 after wearing and preventing the exoskeleton assistive device 1 from shaking after wearing.

[0035] Reference Figure 2The monitoring component 40 is used to acquire the motion state of the upper limb. Here, motion state refers to the movements of the upper limb and forearm mentioned above. At least one of the first rotating structure 201, the second rotating structure 202, and the third rotating structure 301 is configured to rotate according to the motion state of the upper limb, providing assistance for the movement of the upper limb. During surgery, when the surgeon needs to adjust the posture of the upper limb, at least one of the first rotating structure 201, the second rotating structure 202, and the third rotating structure 301 will rotate or move. After the monitoring component 40 acquires the motion state of the upper limb, at least one of the first rotating structure 201, the second rotating structure 202, and the third rotating structure 301 can actively rotate according to the motion state of the upper limb to actively drive the surgeon's upper limb movement, providing assistance for the surgeon's upper limb posture adjustment and preventing the surgeon from becoming fatigued due to overcoming the gravity of the support module 30 when adjusting the posture of the upper limb during surgery.

[0036] Through the above technical solution, the exoskeleton assistive device 1 disclosed herein uses a support module 30 to fix and support the upper limbs of the human body, assisting doctors in maintaining upper limb posture and avoiding upper limb fatigue. The shoulder joint module 20 with two degrees of freedom and the third rotation structure 301 can simulate the movement of the human shoulder and elbow joints. The support module 30 can support the upper limbs in various postures, ensuring the flexibility of the exoskeleton assistive device 1 and adapting to situations where the doctor's upper limb posture needs to change frequently during surgery, thus meeting the needs of surgical scenarios. Simultaneously, through the monitoring component 40 and the three rotation structures, during the doctor's active posture adjustment during surgery, at least one of the first rotation structure 201, the second rotation structure 202, and the third rotation structure 301 can actively rotate according to the upper limb's movement state to actively drive the doctor's upper limb movement, providing assistance to the doctor's upper limb during posture adjustment and preventing fatigue caused by the doctor having to overcome the gravity of the support module 30 when adjusting the upper limb posture during surgery. Compared to surgical robots and exoskeleton products in related technologies, the exoskeleton assistive device 1 disclosed herein can assist the doctor during surgery according to the doctor's movements, making it more suitable for clinical surgical use and having greater flexibility, versatility and adaptability.

[0037] In some possible implementations, the monitoring component 40 may include a force sensor 401 and a magnetic encoder 402. The force sensor 401 may be disposed on the support module 30 and located at a position corresponding to the wrist joint, and the force sensor 401 is used to acquire the contact force between the wrist joint and the support module 30. The magnetic encoder 402 may be disposed on the first rotating structure 201, the second rotating structure 202, and the third rotating structure 301, respectively, and is used to acquire the position information of the upper limb.

[0038] Typically, when adjusting the posture of the upper limbs, doctors first move the hand, then adjust the forearm and upper arm. The force sensor 401, located at the wrist joint, can detect the change as soon as the doctor begins adjusting the posture, shortening the time it takes for the exoskeleton assistive device 1 to begin assisting the upper limbs. The force sensor 401 can acquire the magnitude of the contact force. Through this contact force, the exoskeleton assistive device 1 can obtain the force actively generated by the doctor during posture adjustment in real time. Based on the magnitude and position information of the contact force, the exoskeleton assistive device 1 can adjust the magnitude and speed of the force applied to each rotating structure during assistance, ensuring a better match between the support module and the doctor's upper limb posture during the assistance process.

[0039] In some possible implementations, refer to Figure 1 and Figure 6 The force sensor 401 may include an annular housing and a plurality of sub-sensors spaced apart within the annular housing. The sub-sensors at least partially protrude from the inner wall of the annular housing. The annular housing may be fixed to the forearm structure 303, which will be described below. The wrist joint of the human body passes through the annular housing and contacts the sub-sensors, which then acquire the contact force. The annular housing may be made of a material with a certain degree of elasticity to ensure both the fixation of the sub-sensors and comfort in contact with the human body. It is understood that this disclosure does not limit the specific design of the force sensor 401. Besides the aforementioned design of the annular housing and sub-sensors, other forms that meet the usage requirements may be adopted, and this disclosure does not specifically limit such forms.

[0040] The magnetic encoder 402 is a sensor that uses changes in magnetic field to measure position, speed, and angle. It detects the magnetic field signal generated by the movement of the magnet 403 and converts it into an electrical signal output. It can be understood that when the magnetic encoder 402 needs to be installed on the first rotating structure 201, the second rotating structure 202, and the third rotating structure 301, magnets 403 can be respectively installed on the first rotating structure 201, the second rotating structure 202, and the third rotating structure 301. The magnets 403 can generate a stable magnetic field for the magnetic encoder 402 to use.

[0041] During the doctor's adjustment of the upper limb posture, at least one of the first rotating structure 201, the second rotating structure 202, and the third rotating structure 301 will rotate or move. The magnetic encoder 402 can detect the rotation and movement of the three rotating structures, thereby determining the specific upper limb movement. The exoskeleton assistive device 1 can actively control the three rotating structures through the force sensor 401 and the magnetic encoder 402, ensuring that the three rotating structures can accurately assist the upper limb. The exoskeleton assistive device 1 more closely matches the doctor's upper limb posture adjustment trajectory during the assistance process, making its use more natural. In addition to active assistance, the monitoring component 40 can also ensure the doctor's safety. If the monitoring component 40 detects that the upper limb posture is close to the body's limits, the exoskeleton assistive device 1 can be locked to prevent upper limb strain for the doctor.

[0042] In some possible implementations, considering the actual clinical needs of surgical scenarios and the actual wearing requirements of the exoskeleton assistive device 1, in order to enable different doctors to share one exoskeleton assistive device 1 and improve its versatility, the backplate 10 in this disclosure can have an adjustable width. The width direction of the backplate 10 is the same as the width direction of the human body, thereby improving the versatility and adaptability of the exoskeleton assistive device 1. In the width direction of the human body, the distance between the two shoulder joint modules 20 and the distance between the two support modules 30 can be adjusted, allowing the exoskeleton assistive device 1 to match doctors with different shoulder widths, meeting the wearing needs of doctors with different body shapes and sizes, and enabling different doctors to share one exoskeleton assistive device 1. At the same time, matching the shoulder width of the exoskeleton assistive device 1 with the shoulder width of the human body allows the rotation trajectory of the shoulder joint module 20 to be consistent with the human shoulder joint, ensuring that the exoskeleton assistive device 1 moves synchronously with the human body and does not hinder the human body's force exertion. The shoulder width matching design can reduce the gap between the exoskeleton assistive device 1 and the body, avoid the wobbling of the exoskeleton assistive device 1 during use, reduce fatigue from wearing it for a long time, and also improve the wearing comfort of the exoskeleton assistive device 1. In this disclosure, the design of the back panel 10 is not specifically limited, and the back panel 10 can adopt an adjustable design structure of any width.

[0043] In some possible implementations, the shoulder joint module 20 may further include a connecting structure 203 disposed between the first rotating structure 201 and the second rotating structure 202. The connecting structure 203 allows the first rotating structure 201 and the second rotating structure 202 to move relative to each other in a horizontal plane. This allows the first rotating structure 201 and the second rotating structure 202 to move closer to or further apart in the horizontal plane, increasing the range of motion of the shoulder joint module 20. Simultaneously, the shoulder joint module 20 can be adapted to doctors with different shoulder sizes. When the exoskeleton assistive device 1 is worn, the first rotating structure 201 and the second rotating structure 202 can be adjusted to a position that better fits the upper limb and shoulder joint, ensuring that the support module 30 remains stably fitted to the upper limb, providing continuous and stable support and assistance.

[0044] In some possible implementations, refer to Figure 3 The connecting structure 203 may include a first connecting rod 2031, a second connecting rod 2032, a third connecting rod 2033, and a fourth connecting rod 2034. The first connecting rod 2031 is horizontally positioned and its end is hinged to the first rotating structure 201; the second connecting rod 2032 is horizontally positioned and its end is hinged to the second rotating structure 202; the third connecting rod 2033 is parallel to and spaced apart from the first connecting rod 2031, with one end hinged to the first rotating structure 201 and the other end hinged to the second connecting rod 2032; the fourth connecting rod 2034 is parallel to and spaced apart from the second connecting rod 2032, hinged to the third connecting rod 2033, with one end hinged to the second rotating structure 202 and the other end hinged to the first connecting rod 2031. This connecting rod structure 203 prevents jamming between the first rotating structure 201 and the second rotating structure 202 during relative movement, ensuring stability during relative movement. Meanwhile, the connecting structure 203 adopts the form of a connecting rod, which makes the force on the connecting structure 203 more uniform and the force on the connecting structure 203 can be distributed to each connecting rod, thus avoiding damage to the connecting structure 203 due to stress concentration.

[0045] In some possible implementations, refer to Figure 3 Each link can have two parallel links spaced apart in the vertical direction. Taking the first link 2031 as an example, the two first links 2031 are arranged parallel apart in the vertical direction, forming a whole. Correspondingly, there can be two hinge points, which can be connected as a whole. This design ensures the strength and stability of the connection structure 203.

[0046] In some possible implementations, a locking element may also be provided on the connecting structure 203. The locking element can lock the movement between multiple links and further lock the relative position between the first rotating structure 201 and the second rotating structure 202, so as to prevent the two from shifting during the operation and affecting the support and assist effect of the support module 30.

[0047] In some possible implementations, the structures of the first rotating structure 201, the second rotating structure 202, and the third rotating structure 301 can be identical, which can reduce the manufacturing difficulty of the exoskeleton assistive device 1. Unless otherwise specified, in this disclosure, the first rotating structure 201 is used as an example, and the first rotating structure 201, the second rotating structure 202, and the third rotating structure 301 are also described. The structures of the first rotating structure 201, the second rotating structure 202, and the third rotating structure 301 can be identical. Here, "identical" can be understood as having the same basic working principle and core components. The first rotating structure 201, the second rotating structure 202, and the third rotating structure 301 can differ in direction, size, and connection method. In some embodiments, since the third rotating structure 301 is located at the elbow joint, taking the first fixing seat 2011, the second fixing seat 2012, and the third fixing seat 2013 mentioned below as examples, the dimensions of the first fixing seat 2011, the second fixing seat 2012, and the third fixing seat 2013 in the third rotating structure 301 can be smaller than the dimensions of the first fixing seat 2011, the second fixing seat 2012, and the third fixing seat 2013 in the first rotating structure 201 and the second rotating structure 202. Because the dimensions of the second fixing seat 2012 and the third fixing seat 2013 in the third rotating structure 301 are smaller, the fixing method or connection method between the first fixing seat 2011 and the second fixing seat 2012 in the third rotating structure 301 can also be different from that in the first rotating structure 201 and the second rotating structure 202.

[0048] Taking the first rotating structure 201 as an example, refer to Figure 4 and Figure 5The first rotating structure 201 may include a first fixed seat 2011, a second fixed seat 2012, and a third fixed seat 2013: the first fixed seat 2011 has a boss 2011a and a first friction plate 2011b mounted on the boss 2011a; the second fixed seat 2012 is rotatably disposed on the boss 2011a, for example, the second fixed seat 2012 may be rotatably disposed on the boss 2011a through a bearing 2017; the third fixed seat 2013 is spaced apart from the first friction plate 2011b and fixedly connected to the second fixed seat 2012; wherein, the first rotating structure 201 also includes an electromagnet 2014 and a second friction plate 2015, the electromagnet 2014 is fixed on the third fixed seat 2013, and the second friction plate 2015 has an armature 2016 disposed between the third fixed seat 2013 and the first friction plate 2011b. When energized, the electromagnet 2014 generates magnetism, creating a repulsive or attractive force on the armature 2016. When the electromagnet 2014 repels the armature 2016, the armature 2016 moves away from the electromagnet 2014 and the third fixed base 2013, and the second friction plate 2015 rubs against the first friction plate 2011b, preventing the rotation of the second fixed base 2012 and the third fixed base 2013 relative to the first fixed base 2011. When the electromagnet 2014 generates an attractive force, the armature 2016 moves closer to the electromagnet 2014 and the third fixed base 2013, the second friction plate 2015 separates from the first friction plate 2011b, and the second fixed base 2012 and the third fixed base 2013 can continue to rotate. The electromagnetic drive method has a fast response speed. When it is necessary to prevent the first rotating structure 201 from rotating, the second friction plate 2015 can be quickly driven to abut against the first friction plate 2011b, locking the position of the support module 30. The electromagnet 2014 and armature 2016 are configured to lock the rotation of the rotating structure. The design of multiple fixing bases makes the first rotating structure 201 more compact and able to withstand repeated clamping and rotational loads, ensuring reliability for long-term use. The first rotating structure 201 does not contain heavy components such as motors and reducers, which reduces the weight of the exoskeleton assistive device 1 and allows doctors to wear and use it for extended periods.

[0049] In some possible implementations, the first rotating structure 201 may further include a torsion spring 2018, see reference 2018. Figure 5The torsion spring 2018 is embedded within the first fixing seat 2011 and the second fixing seat 2012. The torsion spring 2018 is configured to retract when the upper limb moves against gravity. This retraction refers to the process by which the torsion spring 2018 gradually retracts from a torsional state to a non-torsional state, i.e., the process by which the torsion spring 2018 gradually releases energy. In this way, the torsion spring 2018 can provide passive assistance to the first rotating structure 201, further reducing fatigue in the doctor's upper limb. When the doctor's upper limb moves against gravity, such as raising the arm, the torsion spring 2018 retracts and releases energy to assist the upper limb movement; when the arm is lowered or moved, the torsion spring 2018 is twisted to store energy. This mechanism reduces the muscle strength required for the doctor to raise and hold the arm, making the upper limb less prone to fatigue. Simultaneously, the design of the torsion spring 2018 being embedded within the fixing seat protects it from external impacts or contamination, ensuring long-term performance stability.

[0050] Meanwhile, the torsion spring 2018 is configured to twist back when the upper limbs of the human body move against gravity. In other words, during the use of the exoskeleton assistive device 1, the torsion spring 2018 is basically in a torsional state. The torsional torsion spring 2018 can drive the second fixed seat 2012 to rotate. When the pull rope 602 mentioned below is provided on the second fixed seat 2012, the torsion spring 2018 can drive the second fixed seat 2012 to rotate, tighten the pull rope 602, ensure that there is a certain pressure on the pull rope 602, prevent the pull rope 602 from slack, and ensure the friction between the pull rope 602 and the second fixed seat 2012.

[0051] In some possible implementations, refer to Figure 7The exoskeleton assistive device 1 may further include a movably mounted base 50 and a plurality of drive components 60 mounted on the base 50. Each drive component 60 includes a lead screw 601 and a pull rope 602. The lead screw 601 is rotatably mounted on the base 50 and is connected to the output shaft of a drive motor. A movable seat 601a is mounted on the lead screw 601 and screwed onto it. One end of the pull rope 602 is connected to the movable seat 601a, and the other end is wound around one of the first rotating structure 201, the second rotating structure 202, and the third rotating structure 301. The drive component 60 is configured such that when the pull rope 602 is tightened, it drives the corresponding rotating structure to rotate, so that the corresponding rotating structure provides assistance for the movement of the upper limb. Taking the first rotating structure 201 as an example, the outer side of the second fixed base 2012 may have a groove. The pull rope 602 can be wound around the groove of the second fixed base 2012. When the pull rope 602 is tightened, the friction between the pull rope 602 and the rotating structure enables the pull rope 602 to drive the rotating structure to rotate. It can be understood that the direction of rotation here refers to the direction of rotation that can overcome gravity, so that the corresponding rotating structure can provide assistance for the movement of the upper limb. When the pull rope 602 is relaxed, it can be ensured that when the upper limb adjusts its posture along the direction of gravity, the pull rope 602 will not hinder the rotation of the corresponding rotating structure. The design of the lead screw 601 ensures the accuracy of the pull rope 602 when tightening and relaxing, realizing precise control of the rotating structure. In some embodiments, the base 50 can be locked to ensure that the base 50 will not shift when the pull rope 602 is tightened.

[0052] In some embodiments, the drive assembly 60 may further include a guide sleeve, which is fitted over the pull rope 602 to protect it. Simultaneously, the guide sleeve can limit and fix the pull rope 602, guiding its movement trajectory. When the pull rope 602 is tightened and loosened, it can move along the trajectory of the guide sleeve, preventing the pull rope 602 from becoming entangled with other structures. Multiple guide sleeves may be provided in segments, each connected to the shoulder joint module 20.

[0053] In some possible implementations, refer to Figure 7 The drive assembly 60 may also include a wireless foot switch 603, which can be connected to the electromagnet 2014 to control whether the electromagnet 2014 is energized and to switch the direction of current, so as to control and adjust the locking and unlocking of the three rotating structures.

[0054] In some possible implementations, refer to Figure 6The support module 30 may further include an upper arm structure 302 and a forearm structure 303, with a third rotating structure 301 connecting the upper arm structure 302 and the forearm structure 303. In some possible embodiments, the upper arm structure 302 and the forearm structure 303 may have identical structures, which reduces the manufacturing difficulty of the exoskeleton assistive device 1. Unless otherwise specified, this disclosure uses the upper arm structure 302 as an example, while also describing the upper arm structure 302 and the forearm structure 303. The upper arm structure 302 and the forearm structure 303 have identical structures, differing only in size.

[0055] In some embodiments, the boom structure 302 may include a sleeve 3021, a moving rod 3022, a bracket 3023, and a moving block 3024. See details for further information. Figures 8 to 11 The sleeve 3021 can be connected to the shoulder joint module 20, and multiple positioning holes 3021a can be opened on the sleeve 3021; ​​the moving rod 3022 is slidably disposed in the sleeve 3021, and the end of the moving rod 3022 is provided with a sliding rod 3022a extending radially along the moving rod 3022; the bracket 3023 is disposed at the end of the moving rod 3022; the moving block 3024 is installed in the bracket 3023, and the moving block 3024 has a sliding groove 3024a inclined to the radial direction of the moving rod 3022, and the sliding rod 3022a is slidably disposed in the sliding groove 3024a. In the radial direction of the moving rod 3022, one side of the moving block 3024 is connected to a locking rod 3024b that can pass through the bracket 3023 and the positioning hole 3021a, and the other side is connected to an elastic element 3024c. The locking rod 3024b passes through the positioning hole 3021a, fixing the relative position of the sleeve 3021 and the moving rod 3022. The locking rod 3024b, by passing through positioning holes 3021a at different positions, allows the upper arm structure 302 to have different lengths. Multiple positioning holes 3021a provide multiple adjustment options, covering a common arm length range, while ensuring a secure lock and preventing accidental slippage during surgery.

[0056] When the length of the boom structure 302 needs to be adjusted, the relative movement of the moving rod 3022 and the sleeve 3021 can be controlled. When the moving rod 3022 and the sleeve 3021 have just begun to move relative to each other, the locking rod 3024b is still inserted in the positioning hole 3021a, and the radial displacement of the locking rod 3024b in the positioning hole 3021a is restricted. The state of the boom structure 302 at this time can be referenced... Figure 10When the moving rod 3022 and the sleeve 3021 continue to move relative to each other, the bracket 3023 and the moving rod 3022 will move radially relative to the locking rod 3024b along the positioning hole 3021a. The sliding rod 3022a will be displaced radially relative to the locking rod 3024b in the positioning hole 3021a. The sliding rod 3022a will drive the locking rod 3024b through the sliding groove 3024a, causing the locking rod 3024b to be displaced axially in the positioning hole 3021a. At this time, the boom structure 302 will be... Figure 10 Become Figure 11 As the relative movement distance between the moving rod 3022 and the sleeve 3021 increases, the locking rod 3024b will eventually disengage from the positioning hole 3021a and reside within the sleeve 3021. When the locking rod 3024b aligns with another positioning hole 3021a, it will re-enter that other positioning hole 3021a under the action of the elastic element 3024c, automatically locking itself to ensure stability. Thus, when adjusting the length of the upper arm structure 302, only the moving rod 3022 and / or the sleeve 3021 need to be pulled. The locking rod 3024b and the positioning hole 3021a can disengage and lock automatically, eliminating the need for other adjustment tools and operations. This simplifies the length adjustment of the upper arm structure 302, making it more convenient to use and meeting the convenience requirements of surgical procedures.

[0057] In some embodiments, multiple sleeves 3021 and moving rods 3022 may be provided at intervals to ensure the strength of the support module 30.

[0058] In some embodiments, elastic straps 304 may be provided on the upper arm structure 302 and the forearm structure 303 respectively, and the elastic straps 304 are used to connect the upper arm structure 302 and the forearm structure 303 to the upper limbs of the human body respectively.

[0059] The exoskeleton assistive device 1 may also include a wearable garment 70, which can be wrapped around the upper body of the human body. The backplate 10 is connected to the wearable garment 70, allowing the backplate 10 to be positioned on the back of the human body. The wearable garment 70 conforms to the upper body of the human body, fixing the position of the backplate 10 and preventing displacement and shaking of the backplate 10, thus ensuring the stability of the exoskeleton assistive device 1 during use. At the same time, the wearable garment 70 can also bear the weight of the support module 30, the backplate 10, and the shoulder joint module 20 and evenly distribute it to the human body, reducing the local pressure caused by the exoskeleton assistive device 1 on the upper body of the human body, and making it less tiring for doctors to wear the exoskeleton assistive device 1 for a long time. The wearable garment 70 can be made of comfortable, breathable, and abrasion-resistant materials to reduce discomfort during wear and protect the skin and muscle tissue. The material can have a certain degree of elasticity to ensure that the wearable garment 70 can be worn by doctors of different body types and sizes, ensuring the versatility and adaptability of the wearable garment 70. This disclosure does not make specific limitations on the form and material of the wearable garment 70. For example, the form of the garment 70 can be designed with reference to a life jacket, that is, the garment 70 fits the upper body of the human body, but is not worn on the upper limbs to avoid affecting the movement of the upper limbs. Meanwhile, since the weight of the exoskeleton assistive device 1 is generally concentrated on the back of the human body after wearing, in order to ensure the stability of the exoskeleton assistive device 1 after wearing, the garment 70 needs to generate sufficient friction and fastening force on the shoulders, chest, and waist of the human body to prevent the back plate 10 of the exoskeleton assistive device 1 from sagging after wearing. For example, the inner surface of the garment 70 can be provided with rubber strips to increase friction; or, for example, the garment 70 can have a certain degree of rigidity, being elastic yet not easily deformed.

[0060] This disclosure also provides an exoskeleton-assisted method, referring to... Figure 12 The exoskeleton assistive device 1, applied to any of the above embodiments, possesses all its beneficial effects, which will not be elaborated here. The exoskeleton assistive method includes: Step S100: Obtain the user's upper limb movement posture, and based on the posture, obtain the inertial torque of the upper arm and forearm respectively. Inertial torque is a physical quantity that determines how easily an object rotates around an axis under the action of torque. Obtaining the inertial torque of the upper arm and forearm based on the movement posture reflects the resistance of the upper arm and forearm to gravity when the posture changes during the adjustment of the upper limb posture. The movement posture can be obtained using a magnetic encoder 402.

[0061] Step S200: Obtain the interaction contact force between the user's wrist joint and the exoskeleton assist device 1 in the current posture; obtain the external torque of the forearm based on the interaction contact force.

[0062] As mentioned above, typically, when adjusting the posture of the upper limb, a doctor will first move the hand, then adjust the forearm and upper arm. The force sensor 401, located at the wrist joint, can detect this as soon as the doctor begins adjusting the upper limb posture. External torque, also known as moment of force, is a physical quantity used to describe the ability of a force to cause an object to rotate about a point or axis; it reflects the magnitude of the force required to rotate the forearm. By acquiring the interactive contact force, the doctor's active force during posture adjustment can be directly reflected, thus obtaining the external torque on the forearm. By acquiring the interactive contact force, it is possible to determine whether the doctor needs to adjust their posture and the direction of the force applied by the doctor when adjustment is needed, ensuring that assistance is only triggered when the doctor actively needs to adjust, avoiding erroneous assistance and interference with surgical procedures.

[0063] Step S300: Based on the inertial torques of the upper and lower arms, and the external torque of the forearm, obtain the three-dimensional total torque of the elbow and shoulder joints. The movement of the human upper limbs mainly occurs at the shoulder and elbow joints. By using the inertial torques of the upper and lower arms, and the external torque of the forearm, the actual forces and directions acting on the shoulder and elbow joints can be determined. This allows for precise differentiation of the torque requirements for different movement directions of the two joints, clarifying the magnitude and direction of the force required to assist each rotating structure.

[0064] Step S400: Based on the total three-dimensional torque of the elbow joint, obtain the torque of the elbow joint in the flexion-extension direction, and use it to drive the third rotating structure 301 to rotate; based on the total three-dimensional torque of the shoulder joint, obtain the torque of the shoulder joint in the flexion-extension and abduction directions, and use it to drive the second rotating structure 202 and the first rotating structure 201 to rotate. In this way, by decomposing the total three-dimensional torque of the shoulder and elbow joints, each rotating structure can provide assistance only in the corresponding direction of movement, ensuring precise assistance, effectively distributing the force burden on the surgeon in that direction, and avoiding interference from assistance in other directions.

[0065] Meanwhile, the three rotating structures are individually adjusted to ensure that the exoskeleton assistive device 1 can assist the human upper limbs when they have complex movements, fully adapting to the surgical scenario and meeting the flexibility requirements of the surgical process.

[0066] The assistive method disclosed herein can significantly reduce fatigue for surgeons wearing exoskeletons and requiring frequent posture adjustments. By actively rotating multiple rotating structures to provide assistance, it helps surgeons overcome the weight of the support module 30 and the upper limbs, reducing fatigue and preventing limb tremors caused by fatigue, thus ensuring the precision of surgical procedures.

[0067] In some possible implementations, refer to Figure 13 Step S100 may include: Step S101: The user's upper limb movement posture is acquired through the monitoring component 40. Based on the movement posture, the angular velocity and angular acceleration of shoulder joint flexion and extension, the angular velocity and angular acceleration of shoulder joint abduction, and the angular velocity and angular acceleration of elbow joint flexion and extension are acquired.

[0068] Step S102: Based on the angular velocities and angular accelerations of shoulder joint flexion and extension, shoulder joint abduction, and elbow joint flexion and extension, obtain the center of mass acceleration of the upper arm and the center of mass acceleration of the forearm.

[0069] Step S103: Based on the center of mass acceleration of the upper arm and the center of mass acceleration of the lower arm, obtain the inertial force and moment of inertia of the upper arm, and obtain the inertial force and moment of inertia of the lower arm.

[0070] Step S104: Obtain the inertial torques of the upper arm and forearm based on the inertial force and moment of inertia of the upper arm and the inertial force and moment of inertia of the forearm.

[0071] It is understood that the acceleration and angular acceleration here can be obtained through the aforementioned magnetic encoder 402. Based on this, it is possible to ensure comprehensive capture of the doctor's upper limb movement state, and to guarantee that the assistive method in this disclosure can accurately determine various complex postures of the human upper limb.

[0072] In some possible implementations, refer to Figure 14 Step S200 may include: Step S201: The monitoring component 40 determines the contact force between the user's wrist joint and the exoskeleton assistive device 1 in a natural standing posture as the first contact force. In a natural standing posture, the doctor's shoulders are relaxed and slightly extended backward, the upper limbs hang naturally at both sides of the body, the elbows are slightly bent, and the fingers are naturally curved.

[0073] Step S202: The monitoring component 40 determines the contact force between the user's wrist joint and the exoskeleton assistive device 1 in the current posture as the second contact force. Here, the current posture can be the posture maintained by the surgeon before the posture needs to be adjusted during the operation.

[0074] Step S203: Wherein, the interactive contact force is the second contact force minus the first contact force.

[0075] The first contact force can be understood as a "baseline value" or "reference value". In a natural standing posture, the wrist joint will also come into contact with the force sensor 401 to generate force, which is the first contact force. The second contact force is generated when the doctor actively applies force and adjusts the upper limb posture. The interactive contact force obtained by subtracting the first contact force from the second contact force allows the exoskeleton assistive device 1 to ignore the basic contact force that will always exist on the force sensor 401 during use, ensuring the accuracy of the assistance.

[0076] Understandably, since each doctor has a different body type and weight at different times, the exoskeleton assist device 1 needs to obtain an initial contact force before use to ensure the accuracy of its assistance.

[0077] It should be noted that in this disclosure, the parameters are primarily acquired through the monitoring component 40. The calculation formulas and processes surrounding the parameters are conventional methods in the art. Generally, parameters can be obtained using methods such as Newton-Euler dynamics equations, Lagrange methods, matrix calculations, and recursive calculations. Therefore, the specific calculation process for the parameters is not elaborated in this disclosure. In some embodiments, users can also use simulation software, such as the CoppeliaSim robot simulation platform, to perform dynamic simulations of the exoskeleton assistive device 1, establishing a model of the exoskeleton assistive device 1 applying the exoskeleton assistive method. By using data obtained from the actual use of the exoskeleton assistive device 1 and the established model, parameters can be calculated. This ensures the accuracy of the exoskeleton assistive device 1's assistance and allows for prediction of the doctor's upper limb posture, enabling advance assistance to the upper limbs. The response delay of the exoskeleton assistive device 1 can be shorter, allowing it to provide more accurate and real-time assistance to the doctor's upper limbs.

[0078] Taking step S100 as an example, a three-dimensional model of the exoskeleton assistive device 1 in this disclosure can be established in the simulation software first. The three-dimensional model is simplified into a three-link dynamic model. It can be understood that the three links here are formed by the first rotating structure 201 and the connecting structure 203, the second rotating structure 202 and the upper arm structure 302, and the third rotating structure 301 and the forearm structure 303, respectively. The above structure is simplified into an equivalent fixed link to improve computational efficiency while ensuring dynamic characteristics. Subsequently, core dynamic parameters such as the mass, inertia tensor, and offset position of the center of mass relative to the rotational joint of each link are extracted using 3D design software to obtain the inertial parameters of the human posture. Combined with kinematic information, the total kinetic energy and total potential energy equations of the system are constructed. Then, the dynamic equations of the exoskeleton system are established using the Lagrange algorithm to obtain the inertial torque formula. This equation decomposes the joint torque into three parts: the inertial term caused by the acceleration of the link, the Coriolis force and centrifugal force term caused by the velocity of the link, and the gravity term caused by the position of the link. Finally, by obtaining the angular velocity and angular acceleration of each joint as system input, the inertial torque required by each active joint under different motion states can be calculated. Subsequently, the driving torque required by the exoskeleton can be calculated by collecting human-computer interaction forces.

[0079] In use, the exoskeleton assistive device 1 of this disclosure can provide assistance to the exoskeleton device 1 once at a first time interval, that is, the exoskeleton assistive method of the disclosure is executed once at each first time interval. The shorter the duration of the first time interval, the more precise the assistance to the upper limb provided by the exoskeleton assistive device 1. In some embodiments, the duration of the first time interval can be 1ms, 2ms, 3ms, 4ms, 5ms, 6ms, 7ms, 8ms, or 9ms. The duration of the first time interval can be determined by the performance of the computing unit used to calculate the parameters. The higher the performance of the computing unit and the faster the calculation speed, the shorter the duration of the first time interval can be, and the shorter the response delay of the exoskeleton assistive device 1 can be. This allows the exoskeleton assistive device 1 to provide more accurate and real-time assistance to the doctor's upper limb.

[0080] In some implementations, the torques of the elbow joint in the flexion-extension direction and the torques of the shoulder joint in the flexion-extension and abduction directions obtained in the exoskeleton-assisted method can each be preset to a minimum value. When the corresponding torque is less than the minimum value, it indicates that the movement of the upper limb is not due to the need to adjust the upper limb posture, and in this case, the corresponding rotating structure does not need to be driven to rotate. This ensures that the exoskeleton-assisted device will not erroneously assist the upper limbs during use.

[0081] Other embodiments of this disclosure will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this disclosure are indicated by the appended claims.

[0082] It should be understood that this disclosure is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this disclosure is limited only by the appended claims.

Claims

1. An exoskeleton assistive device, characterized in that, include: Backplate, used to secure to the back of the human body; A shoulder joint module is connected to the back plate. The shoulder joint module includes a first rotating structure and a second rotating structure. The rotation axis of the first rotating structure extends along the front-back direction of the human body, and the rotation axis of the second rotating structure extends along the width direction of the human body. A support module for fixing the upper limb and connected to the shoulder joint module, the support module includes a third rotating structure, the third rotating structure being located at the position corresponding to the elbow joint and the axis of rotation extending along the width direction of the human body; as well as Monitoring components are used to acquire the movement status of the upper limbs. In this configuration, at least one of the first rotating structure, the second rotating structure, and the third rotating structure is configured to rotate according to the movement state of the upper limb, thereby providing assistance to the movement of the upper limb.

2. The exoskeleton assistive device according to claim 1, characterized in that, The monitoring components include: A force sensor, disposed on the support module and located at a position corresponding to the wrist joint, is used to acquire the contact force between the wrist joint and the support module; and Magnetic encoders are respectively installed on the first rotating structure, the second rotating structure and the third rotating structure, and are used to acquire the position information of the upper limb.

3. The exoskeleton assistive device according to claim 1, characterized in that, The shoulder joint module further includes a connecting structure disposed between the first rotating structure and the second rotating structure, the connecting structure being used to allow the first rotating structure and the second rotating structure to move relative to each other in a horizontal plane.

4. The exoskeleton assistive device according to claim 3, characterized in that, The connection structure includes: The first connecting rod is horizontally positioned and its end is hinged to the first rotating structure. The second connecting rod is horizontally positioned and its end is hinged to the second rotating structure. A third link, parallel to and spaced apart from the first link, has one end hinged to the first rotating structure and the other end hinged to the second link; and The fourth link is parallel to and spaced apart from the second link. The fourth link is hinged to the third link. One end of the fourth link is hinged to the second rotating structure, and the other end is hinged to the first link.

5. The exoskeleton assistive device according to claim 1, characterized in that, The first rotating structure, the second rotating structure, and the third rotating structure have the same structure, and the first rotating structure includes: A first fixed seat has a boss and a first friction plate mounted on the boss; A second fixed seat is rotatably mounted on the boss; and The third fixing seat is spaced apart from the first friction plate and fixedly connected to the second fixing seat; The first rotating structure further includes an electromagnet and a second friction plate. The electromagnet is fixed on the third fixed base, and the second friction plate has an armature and is disposed between the third fixed base and the first friction plate.

6. The exoskeleton assistive device according to claim 1, characterized in that, The support module further includes a main boom structure and a forearm structure, and the third rotating structure is connected between the main boom structure and the forearm structure. The main boom structure and the forearm structure each include a length-adjustable support rod, and the support rod includes: A sleeve, wherein multiple positioning holes are provided on the sleeve; A movable rod is slidably disposed within the sleeve, and a sliding rod extending radially along the end of the movable rod is provided thereon; A bracket is disposed at the end of the movable rod; and A movable block, installed within the bracket, has a radially inclined groove on the movable rod, and the movable rod is slidably disposed within the groove. In the radial direction of the moving rod, one side of the moving block is connected to a locking rod that can pass through the bracket and the positioning hole, and the other side is connected to an elastic element.

7. The exoskeleton assistive device according to claim 1, characterized in that, The exoskeleton assistive device also includes a movably mounted base and multiple drive components disposed on the base, the drive components including: A lead screw, rotatably mounted on the base and connected to the output shaft of a drive motor, is provided with a movable seat screwed onto the lead screw; and A pull rope, one end of which is connected to the movable seat, and the other end of which is wrapped around one of the first rotating structure, the second rotating structure, and the third rotating structure; The drive component is configured to drive the corresponding rotating structure to rotate when the pull rope is tightened, so that the corresponding rotating structure provides assistance for the movement of the upper limb. The drive component also includes a wireless foot switch.

8. An exoskeleton-assisted method, characterized in that, The exoskeleton assistive device applied to any one of claims 1-7, the exoskeleton assistive method comprising: The movement posture of the user's upper limbs is obtained, and the inertial torque of the upper arm and forearm is obtained according to the movement posture. The interaction contact force between the user's wrist joint and the exoskeleton assist device in the current posture is obtained; Based on the interactive contact force, the external torque of the forearm is obtained; Based on the inertial torques of the upper arm and forearm, and the external torque of the forearm, the three-dimensional total torque of the elbow and shoulder joints is obtained. Based on the total three-dimensional torque of the elbow joint, the torque of the elbow joint in the flexion and extension direction is obtained, and the third rotating structure is driven to rotate accordingly; based on the total three-dimensional torque of the shoulder joint, the torque of the shoulder joint in the flexion, extension and abduction directions is obtained, and the second rotating structure and the first rotating structure are driven to rotate accordingly.

9. The exoskeleton assistance method according to claim 8, characterized in that, The step of acquiring the user's upper limb movement posture, and acquiring the inertial torque of the upper arm and forearm based on the movement posture, includes: The monitoring component acquires the user's upper limb movement posture, and based on the movement posture, acquires the angular velocity and angular acceleration of shoulder joint flexion and extension, the angular velocity and angular acceleration of shoulder joint abduction, and the angular velocity and angular acceleration of elbow joint flexion and extension. Based on the angular velocities and angular accelerations of shoulder joint flexion and extension, shoulder joint abduction, and elbow joint flexion and extension, obtain the center of mass acceleration of the upper arm and the center of mass acceleration of the forearm. Based on the acceleration of the center of mass of the upper arm and the acceleration of the center of mass of the forearm, obtain the inertial force and moment of inertia of the upper arm, and obtain the inertial force and moment of inertia of the forearm. The inertial torques of the upper arm and forearm are obtained based on the inertial force and moment of inertia of the upper arm and the inertial force and moment of inertia of the forearm.

10. The exoskeleton assistance method according to claim 8, characterized in that, The acquisition of the interaction contact force between the user's wrist joint and the exoskeleton assistive device in the current posture includes: The monitoring component determines the first contact force between the user's wrist joint and the exoskeleton assistive device in a natural standing posture. The monitoring component determines the contact force between the user's wrist joint and the exoskeleton assistive device in the current posture as the second contact force. The interactive contact force is the second contact force minus the first contact force.

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