Exoskeleton for bilateral shoulder joint motion coupling and mutual gravity compensation

Abstract

The present application relates to the field of exoskeleton, provide a kind of to realize bilateral shoulder joint motion coupling and mutual gravity compensation rehabilitation exoskeleton, including two scalable exoskeleton structural members and cable pulley system, cable pulley system is installed on two scalable exoskeleton structural members, the scalable exoskeleton structural member includes arm support structure, upper arm rod, upper arm connecting structure, vertically nested tubular member, horizontally nested tubular member and exoskeleton rack.The present application utilizes cable drive to couple together the pitch motion and yaw motion of bilateral shoulder joint, uses one side upper limb as the counterweight of another side upper limb to realize mutual gravity compensation, since it is unnecessary to introduce any external energy storage element and accessory mechanism, the present exoskeleton satisfies compact and lightweight design requirements.

Description

Technical Field

[0001] This invention relates to the field of exoskeleton technology, specifically to an exoskeleton that achieves bilateral shoulder joint motion coupling and mutual gravity compensation. Background Technology

[0002] With the continuous increase in the number of disabled and semi-disabled elderly people, the demand for personalized and intelligent rehabilitation services among the elderly population is showing a significant growth trend. However, traditional rehabilitation equipment training methods are monotonous and have limited range of activities, while medical intervention traction therapy faces the problems of high-intensity work and passive patient participation, making it difficult to meet the requirements of building a full-cycle elderly health service system. Accelerating the development of lightweight human-machine coordination rehabilitation equipment adapted to the needs of the elderly population has become an urgent task in implementing the national strategy of actively addressing population aging.

[0003] Precise, lightweight, and compact passive gravity compensation is key to the widespread application of wearable exoskeletons in individuals, homes, and senior living communities. Existing designs still face two major technical bottlenecks: First, it is difficult to balance system complexity and complete gravity compensation, resulting in exoskeletons that are too complex to meet the needs of clinical rehabilitation and community applications. Second, they rely entirely on external energy storage components, which cannot overcome the performance bottlenecks of redundant systems, large size, and poor transparency. Summary of the Invention

[0004] To address the aforementioned technical problems, this invention aims to provide an exoskeleton that achieves bilateral shoulder joint motion coupling and mutual gravity compensation. To solve these problems, this invention employs the following technical solution: A rehabilitation exoskeleton that enables bilateral shoulder joint motion coupling and mutual gravity compensation includes two retractable exoskeleton components and a rope pulley system mounted on the two retractable exoskeleton components.

[0005] Optionally, the retractable exoskeleton structure includes an arm support structure, an upper arm rod, an upper arm connecting structure, a vertically nested tube, a horizontally nested tube, and an exoskeleton frame; The arm support structure is fixed to the end of the upper arm rod, the upper arm connecting structure is rotatably connected to the upper arm rod, and the upper arm connecting structure is connected to the vertically nested tubular fitting. Horizontal nested pipe fittings and vertical nested pipe fittings are connected; Horizontal nested tubing and exoskeleton frame connection.

[0006] Optionally, the vertically nested pipe fittings include upper and lower pipe fittings nested together, with an embedded fixing block connecting the upper and lower pipe fittings; The horizontally nested pipe fitting includes mutually nested T-shaped sleeves and horizontal pipe fittings. After the horizontal pipe fittings move within the T-shaped sleeves, they are fixed by set screws. Vertical nested pipe fittings and T-shaped sleeves are connected, and the lower pipe fitting and upper arm are connected by a structural connection.

[0007] Optionally, the upper arm connection structure includes an upper arm pulley, an upper arm connecting member, and an upper arm bearing. One side of the upper arm pulley is fixedly connected to the upper arm rod, and the other side of the upper arm pulley is rotatably connected to the upper arm connecting member through the upper arm bearing. The upper arm connecting member is fixedly connected to the lower tube.

[0008] Optionally, the rope pulley system includes a distal joint rope winding pretensioner, a proximal joint rope winding pretensioner, a proximal joint coupling winding, and a distal joint coupling winding. The proximal joint coupling winding enables yaw linkage of both shoulder joints, and the distal joint coupling winding enables pitch linkage of both shoulder joints.

[0009] Optionally, the proximal joint cable winding pretensioner includes a threaded hook, a hook fixing seat, and a pretension nut. The threaded hook passes through a through hole on the hook fixing seat and is connected to the pretension nut. The hook fixing seat is fixed to the horizontal pipe fitting by screws. The exoskeleton frame includes crossed roller bearings and a mounting base; The near-end winding pulley is fixed to the inner ring of the crossed roller bearing by screws, and the outer ring of the crossed roller bearing is fixed to the fixed seat; The distal joint cable winding pretensioner is connected to the upper arm rod; The proximal joint coupling winding includes a proximal winding pulley, a proximal first wire rope, and a proximal second wire rope; The horizontal pipe fitting is fixed to the proximal winding pulley by screws. The two ends of the proximal first wire rope are respectively connected to the threaded hooks of the two proximal joint rope winding pretensioners. The proximal first wire rope is wound around the two proximal winding pulleys. The two ends of the proximal second wire rope are respectively connected to the threaded hooks of the two proximal joint rope winding pretensioners, and the proximal second wire rope is wound around the two proximal winding pulleys.

[0010] Optionally, the distal joint coupling winding includes an idler wheel, an idler wheel mounting base, a distal winding pulley, a distal first wire rope, a distal second wire rope, and a redirection pulley; The two ends of the first wire rope at the far end are respectively fixed to two pretensioners of the rope winding at the far end joint. The first wire rope at the far end passes through one upper arm pulley, one idler pulley, one far end winding pulley, another far end winding pulley, another idler pulley and another upper arm pulley in sequence. The two ends of the distal second wire rope are respectively fixed to two distal joint rope winding pretensioners. The distal second wire rope passes through one upper arm pulley, one idler pulley, one distal winding pulley, another distal winding pulley, another idler pulley and another upper arm pulley in sequence. The distal winding pulley is rotatably connected to the horizontal pipe fitting. The distal winding pulley and the proximal winding pulley are coaxial. The idler wheel mounting base is fixedly connected to the horizontal pipe fitting by screws. The idler wheel is rotatably connected to the idler wheel mounting base by screws. The redirecting pulley is rotatably connected to the upper pipe fitting.

[0011] Optionally, the retractable exoskeleton structure is equipped with a yaw joint motor, a pitch joint motor, and an inertial measurement unit. The yaw joint motor is connected to the exoskeleton frame, the pitch joint motor is connected to the upper arm connecting component, and the inertial measurement unit is connected to the upper arm rod.

[0012] Optionally, a portion of the horizontal section of the first wire rope at the near end and a portion of the horizontal section of the second wire rope at the near end are arranged in parallel. The horizontal sections of the first wire rope at the far end and the horizontal sections of the second wire rope at the far end are set in parallel.

[0013] Optionally, a portion of the horizontal section of the first wire rope at the near end and a portion of the horizontal section of the second wire rope at the near end are arranged to cross each other; The horizontal sections of the first wire rope at the far end and the horizontal sections of the second wire rope at the far end are intersected; The vertical sections of the first wire rope at the far end and the vertical sections of the second wire rope at the far end cross and pass over the redirection pulley.

[0014] The present invention has the following beneficial effects: Compared to existing technologies, this invention utilizes cable transmission to couple the flexion / extension and yaw movements (horizontal abduction / adduction) of both shoulder joints, using one upper limb as a counterweight for the other to achieve mutual gravity compensation. With the aid of this exoskeleton, hemiplegic patients can use their healthy upper limb to drive the affected upper limb in autonomous rehabilitation training. Since no external energy storage components or auxiliary mechanisms are required, this exoskeleton meets the requirements of a compact and lightweight design. Attached Figure Description

[0015] The present invention will be further described with reference to the accompanying drawings, but the embodiments in the drawings do not constitute any limitation on the present invention. For those skilled in the art, other drawings can be obtained based on the following drawings without creative effort.

[0016] Figure 1 This is a schematic diagram of an exoskeleton structure that realizes bilateral shoulder joint motion coupling and mutual gravity compensation according to the present invention; Figure 2 This is an exploded view of the vertically nested tubular components in this invention; Figure 3 This is an exploded view of the horizontally nested tubular component in this invention; Figure 4This is a schematic diagram of the parallel rope winding structure for achieving yaw in the same direction and pitch in opposite directions in the present invention; Figure 5 This is a schematic diagram of the cross-rope winding structure for realizing the reverse yaw and reverse pitch motion of the two shoulders in this invention.

[0017] Figure 6 This is a schematic diagram of one embodiment of the exoskeleton in this invention.

[0018] Reference numerals: 1. Arm support structure; 2. Distal joint cable winding pretensioner; 3. Upper arm bar; 4. Upper arm connection structure; 5. Vertical nested tube; 6. Proximal joint cable winding pretensioner; 7. Exoskeleton frame; 8. Proximal joint coupling winding; 9. Distal joint coupling winding; 10. Horizontal nested tube; 401. Upper arm bearing; 402. Upper arm connecting component; 403. Upper arm pulley; 501. Upper fitting; 502. Embedded fixing block; 503. Lower fitting; 601. Threaded hook; 602. Hook fixing seat; 603. Preload nut; 701. Fixed base; 702. Crossed roller bearing; 801. Near-end winding pulley; 802. Near-end first wire rope; 803. Near-end second wire rope; 901. Idler sheave; 902. Idler sheave mounting base; 903. Distal winding pulley; 904. Distal first wire rope; 905. Distal second wire rope; 906. Redirecting pulley; 1001. Horizontal pipe fittings; 1002. T-shaped sleeves; 1101. Yaw joint motor; 1102. Pitch joint motor; 1103. Inertial measurement unit. Detailed Implementation

[0019] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0020] In the description of this invention, it should be noted that the terms "vertical," "upper," "lower," and "horizontal," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, "first," "second," "third," and "fourth" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0021] In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" 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 a connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0022] like Figures 1-6 As shown, a rehabilitation exoskeleton that enables bilateral shoulder joint motion coupling and mutual gravity compensation includes two retractable exoskeleton structural components and a rope pulley system, which is mounted on the two retractable exoskeleton structural components.

[0023] Based on the above scheme, in some embodiments, the retractable exoskeleton structure includes an arm support structure 1, an upper arm rod 3, an upper arm connecting structure 4, a vertical nested tube 5, a horizontal nested tube 10, and an exoskeleton frame 7. The arm support structure 1 is fixedly connected to the end of the upper arm rod 3, the upper arm connecting structure 4 is rotatably connected to the upper arm rod 3, and the upper arm connecting structure 4 is fixedly connected to the vertical nested tube 5. The horizontally nested pipe fitting 10 and the vertically nested pipe fitting 5 are adjustable and fixedly connected; The horizontally nested tube 10 and the exoskeleton frame 7 are rotatably connected.

[0024] In some embodiments, the vertically nested pipe fitting 5 includes an upper pipe fitting 501 and a lower pipe fitting 503 nested together, and an embedded fixing block 502 connects the upper pipe fitting 501 and the lower pipe fitting 503. The horizontally nested pipe fitting 10 includes mutually nested T-shaped sleeves 1002 and horizontal pipe fittings 1001. After the horizontal pipe fittings 1001 move in the T-shaped sleeves 1002, they are fixed by set screws. The vertical nested pipe fitting 5 is connected to the T-shaped sleeve 1002, and the lower pipe fitting 503 is connected to the upper arm connecting structure 4.

[0025] In an optional embodiment, the upper arm connection structure 4 includes an upper arm pulley 403, an upper arm connection member 402, and an upper arm bearing 401. One side of the upper arm pulley 403 is fixedly connected to the upper arm rod 3, and the other side of the upper arm pulley 403 is rotatably connected to the upper arm connection member 402 through the upper arm bearing 401. The upper arm connection member 402 is fixedly connected to the lower tube 503.

[0026] In a preferred embodiment, the rope pulley system includes a distal joint rope winding pretensioner 2, a proximal joint rope winding pretensioner 6, a proximal joint coupling winding 8, and a distal joint coupling winding 9. The proximal joint coupling winding 8 enables yaw linkage of both shoulder joints, and the distal joint coupling winding 9 enables pitch linkage of both shoulder joints.

[0027] In the preferred configuration, the proximal joint cable winding pretensioner 6 includes a threaded hook 601, a hook fixing seat 602 and a pretension nut 603. The threaded hook 601 passes through the through hole on the hook fixing seat 602 and is connected to the pretension nut 603. The hook fixing seat 602 is fixed to the horizontal pipe fitting 1001 by screws. The exoskeleton frame 7 includes a cross roller bearing 702 and a mounting base 701; The near-end winding pulley 801 is fixed to the inner ring of the crossed roller bearing 702 by screws, and the outer ring of the crossed roller bearing 702 is fixed to the fixed seat 701. The distal joint rope winding pretensioner 2 is connected to the upper arm rod 3; The proximal joint coupling winding 8 includes a proximal winding pulley 801, a proximal first steel wire rope 802, and a proximal second steel wire rope 803; The horizontal pipe fitting 1001 is fixed to the proximal winding pulley 801 by screws. The two ends of the proximal first wire rope 802 are respectively connected to the threaded hooks 601 of the two proximal joint rope winding pretensioners 6. The proximal first wire rope 802 is wound around the two proximal winding pulleys 801. The two ends of the proximal second wire rope 803 are respectively connected to the threaded hooks 601 of the two proximal joint rope winding pretensioners 6, and the proximal second wire rope 803 is wound around the two proximal winding pulleys 801.

[0028] In a preferred embodiment, the distal joint coupling winding 9 includes an idler wheel 901, an idler wheel mounting base 902, a distal winding pulley 903, a distal first wire rope 904, a distal second wire rope 905, and a redirection pulley 906. The two ends of the first wire rope 904 at the far end are respectively fixed to two far joint rope winding pretensioners 2. The first wire rope 904 at the far end passes through one upper arm pulley 403, one idler pulley 901, one far end winding pulley 903, another far end winding pulley 903, another idler pulley 901 and another upper arm pulley 403 in sequence. The two ends of the distal second wire rope 905 are respectively fixed to two distal joint rope winding pretensioners 2. The distal second wire rope 905 passes through one upper arm pulley 403, one idler pulley 901, one distal winding pulley 903, another distal winding pulley 903, another idler pulley 901 and another upper arm pulley 403 in sequence. The distal winding pulley 903 is rotatably connected to the horizontal pipe fitting 1001. The distal winding pulley 903 and the proximal winding pulley 801 are coaxial. The idler wheel mounting base 902 is fixedly connected to the horizontal pipe fitting 1001 by screws. The idler wheel 901 is rotatably connected to the idler wheel mounting base 902 by screws. The redirection pulley 906 is rotatably connected to the upper pipe fitting 501.

[0029] In addition, the retractable exoskeleton structure is equipped with a yaw joint motor 1101, a pitch joint motor 1102 and an inertial measurement unit 1103. The yaw joint motor 1101 is connected to the exoskeleton frame 7, the pitch joint motor 1102 is connected to the upper arm connecting member 402, and the inertial measurement unit 1103 is connected to the upper arm rod 3.

[0030] In one type of rope winding, a portion of the horizontal section of the first wire rope 802 and a portion of the horizontal section of the second wire rope 803 are arranged in parallel. A portion of the horizontal section of the first wire rope 904 at the far end and a portion of the horizontal section of the second wire rope 905 at the far end are set in parallel.

[0031] In another rope winding method, a portion of the horizontal section of the first wire rope 802 at the near end and a portion of the horizontal section of the second wire rope 803 at the near end are arranged to cross each other; A portion of the horizontal section of the first wire rope 904 at the far end and a portion of the horizontal section of the second wire rope 905 at the far end are intersected; A portion of the vertical section of the first wire rope 904 at the far end and a portion of the vertical section of the second wire rope 905 at the far end cross and pass over the redirection pulley 906.

[0032] Working principle: The exoskeleton includes a retractable exoskeleton structure with yaw-pitch motion and a rope pulley system. The rope pulley system is used to couple the rotational motion of the retractable exoskeleton structure on both sides, and the exoskeleton structure is used for human-machine mechanical interaction.

[0033] like Figure 1 As shown, the retractable exoskeleton structure includes an arm support structure 1, an upper arm bar 3, an upper arm connecting structure 4, a vertically nested tube 5, a horizontally nested tube 10, and an exoskeleton frame 7. The arm support structure 1 is fixed to the end of the upper arm bar 3, and the patient places their upper arm on the arm support structure 1 when using the exoskeleton.

[0034] like Figure 2 As shown, the upper arm connection structure 4 includes an upper arm pulley 403, an upper arm connection component 402, and an upper arm bearing 401. One side of the upper arm pulley 403 is fixedly connected to the upper arm rod 3, and the other side is rotatably connected to the upper arm connection component 402 through the upper arm bearing 401. The upper arm connection component 402 is fixedly connected to the lower tube 503. The above connection method allows the upper arm rod 3 to pitch and rotate relative to the vertically nested tube 5 about the horizontal axis.

[0035] like Figure 2 As shown, the vertically nested tube 5 includes an upper tube 501 and a lower tube 503. The lower tube 503 is nested in the upper tube 501 and can move relative to it to change the extension length. Then, the upper tube 501 and the lower tube 503 are fixed together by an embedded fixing block 502 and screws and nuts. The above structure is used to adjust the vertical position of the rotation center of the upper arm pulley 403 and make it the same height as the shoulder joint.

[0036] like Figure 1 and Figure 3 As shown, the horizontal nested tube 10 includes a horizontal tube 1001 and a T-shaped sleeve 1002. The upper side of the T-shaped sleeve 1002 is fitted onto the horizontal tube 1001. After moving to a suitable position, the two are fixed together by the set screw on the T-shaped sleeve 1002, so that the exoskeleton structure can adapt to different patients' shoulder widths.

[0037] The lower side of the T-shaped sleeve 1002 is fitted over the outside of the upper pipe fitting 501 and the two are fixed together with set screws. The horizontal pipe fitting 1001 is fixed to the near-end winding pulley 801 by screws.

[0038] The proximal winding pulley 801 is fixed to the inner ring of the crossed roller bearing 702 by screws, and the outer ring of the crossed roller bearing 702 is fixedly connected to the fixed seat 701. This method allows the horizontal nested tube 10 to yaw about the vertical axis relative to the exoskeleton frame 7.

[0039] The distal winding pulley 903 is rotatably connected to the horizontal pipe fitting 1001 and is coaxial with the proximal winding pulley 801. The idler wheel mounting base 902 is fixedly connected to the horizontal pipe fitting 1001 by screws, and the idler wheel 901 is rotatably connected to the idler wheel mounting base 902 by screws. The proximal joint rope winding pretensioner 6 includes a threaded hook 601, a hook fixing base 602, and a pretension nut 603. The hook fixing base 602 is fixed to the horizontal pipe fitting 1001 by screws, and the threaded hook 601 passes through a through hole in the hook fixing base 602 and connects to the pretension nut 603.

[0040] like Figure 1As shown, the rope pulley system includes a proximal joint coupling winding 8 and a distal joint coupling winding 9. The proximal joint coupling winding 8 enables yaw linkage of both shoulder joints, while the distal joint coupling winding 9 enables pitch linkage of both shoulder joints. By employing two different rope winding methods, bilateral shoulder joint yaw in the same direction and pitch in opposite directions, as well as bilateral shoulder joint yaw in the opposite direction and pitch in opposite directions, can be achieved respectively.

[0041] The rope winding method for bilateral shoulder joint yaw in the same direction and pitch in opposite directions is as follows: Figure 4 As shown, the proximal joint coupling winding 8 includes a proximal first steel wire rope 802, a proximal second steel wire rope 803, and a proximal winding pulley 801. One end of the proximal first steel wire rope 802 is connected to the threaded hook 601 of the proximal joint rope winding pretensioner 6, and the other end is wound once on the proximal winding pulley 801, and then wound parallel into the symmetrical structure on the other side of the exoskeleton. The winding method of the proximal second steel wire rope 803 is similar to that of the proximal first steel wire rope 802. The distal joint coupling winding 9 includes a distal first steel wire rope 904, a distal second steel wire rope 905, an idler pulley 901, an idler pulley mounting base 902, and a distal winding pulley 903. One end of the distal first steel wire rope 904 is fixedly connected to the threaded hook 601 in the distal joint rope winding pretensioner 2 (the distal joint rope winding pretensioner 2 and the proximal joint rope winding pretensioner 6 have the same structure). The other end is wound around the upper arm pulley 403, then passes upward over the idler pulley 901, and then wound once around the distal winding pulley 903. After that, it is wound parallel into the symmetrical structure on the other side. The winding method of the distal second steel wire rope 905 is similar to that of the distal first steel wire rope 904. The above rope winding method can realize the bilateral shoulder joint pitch and roll movements. In addition to securing the steel wire rope, the proximal joint cable winding pretensioner 6 and the distal joint cable winding pretensioner 2 can also pretension the steel wire rope by adjusting the position of the pretension nut 603. This cable winding method enables bilateral shoulder joint yaw in the same direction and pitch in opposite directions.

[0042] The rope winding method for bilateral shoulder joint yaw-pitch reversal movements is as follows: Figure 5 As shown, the overall winding method and Figure 4 The methods are roughly similar, with the following differences: When the proximal first wire rope 802 and proximal second wire rope 803 are wound from one side to the other, a cross-winding method is used to achieve bilateral shoulder joint yaw-reverse movement; when the distal first wire rope 904 and distal second wire rope 905 are wound from one side to the other, a cross-winding method is also used, and then they are additionally crossed over the redirecting pulley 906, thereby achieving bilateral shoulder joint pitch-reverse movement. The redirecting pulley 906 is mounted on the upper tube 501 by screw rotation. Figure 2 As shown.

[0043] The main functions of the rehabilitation training exoskeleton that achieves bilateral shoulder joint motion coupling and mutual gravity compensation are twofold: first, it enables bilateral shoulder joint motion coupling; second, it fully utilizes the symmetry of the mass of both limbs to achieve mutual gravity compensation. When using this exoskeleton, hemiplegic patients place both upper arms in the arm support structure 1, and then use their healthy upper limb to drive the affected upper limb for rehabilitation training. Because the two upper limbs completely compensate for each other's gravity, the healthy upper limb only needs to provide a small torque to drive the affected limb for movement therapy, thereby reducing fatigue during training.

[0044] like Figure 6 The rehabilitation exoskeleton can also be additionally equipped with a yaw joint motor 1101, a pitch joint motor 1102, and an inertial measurement unit 1103 to form a hybrid active and passive drive system. This provides additional upper limb assistance on the basis of bilateral linkage and mutual gravity compensation, thereby achieving intelligent support to meet the needs of various sports training modes such as assisted and resistance training.

[0045] Compared with the prior art, the present invention uses rope transmission to couple the pitching (i.e. flexion / extension) and yaw (i.e. horizontal abduction / adduction) movements of both shoulder joints together, and uses one upper limb as a counterweight for the other upper limb to achieve mutual gravity compensation. Since no external energy storage components or auxiliary mechanisms are required, this exoskeleton meets the requirements of compact and lightweight design.

[0046] The components, modules, mechanisms, and devices in this invention that are not described in detail are all general standard parts or components known to those skilled in the art. Their structures and principles can be learned by those skilled in the art through technical manuals or conventional experimental methods.

[0047] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit the scope of protection of the present invention. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the essence and scope of the technical solutions of the present invention.

Claims

1. A rehabilitation exoskeleton that achieves bilateral shoulder joint motion coupling and mutual gravity compensation, characterized in that, It includes two retractable exoskeleton components and a rope pulley system, which is mounted on the two retractable exoskeleton components.

2. The rehabilitation exoskeleton for achieving bilateral shoulder joint motion coupling and mutual gravity compensation according to claim 1, characterized in that, The retractable exoskeleton structure includes an arm support structure (1), an upper arm rod (3), an upper arm connecting structure (4), a vertical nested tube (5), a horizontal nested tube (10), and an exoskeleton frame (7). The arm support structure (1) is fixed to the end of the upper arm rod (3), the upper arm connecting structure (4) and the upper arm rod (3) are rotatably connected, and the upper arm connecting structure (4) and the vertical nested tube (5) are fixedly connected. The horizontally nested pipe fitting (10) and the vertically nested pipe fitting (5) are connected; The horizontally nested tube (10) and the exoskeleton frame (7) are rotatably connected.

3. The rehabilitation exoskeleton for achieving bilateral shoulder joint motion coupling and mutual gravity compensation according to claim 2, characterized in that, The vertically nested pipe fitting (5) includes an upper pipe fitting (501) and a lower pipe fitting (503) nested together, and an embedded fixing block (502) connects the upper pipe fitting (501) and the lower pipe fitting (503); The horizontally nested pipe fitting (10) includes a T-shaped sleeve (1002) and a horizontal pipe fitting (1001) nested together. The horizontal pipe fitting (1001) is fixed by a set screw after moving in the T-shaped sleeve (1002). The vertically nested pipe fitting (5) is connected to the T-shaped sleeve (1002), and the lower pipe fitting (503) is connected to the upper arm connecting structure (4).

4. The rehabilitation exoskeleton for achieving bilateral shoulder joint motion coupling and mutual gravity compensation according to claim 3, characterized in that, The upper arm connection structure (4) includes an upper arm pulley (403), an upper arm connection component (402), and an upper arm bearing (401). One side of the upper arm pulley (403) is fixedly connected to the upper arm rod (3), and the other side of the upper arm pulley (403) is rotatably connected to the upper arm connection component (402) through the upper arm bearing (401). The upper arm connection component (402) is fixedly connected to the lower tube (503).

5. A rehabilitation exoskeleton for achieving bilateral shoulder joint motion coupling and mutual gravity compensation according to claim 4, characterized in that, The rope pulley system includes a distal joint rope winding pretensioner (2), a proximal joint rope winding pretensioner (6), a proximal joint coupling winding (8), and a distal joint coupling winding (9). The proximal joint coupling winding (8) enables yaw linkage of both shoulder joints, and the distal joint coupling winding (9) enables pitch linkage of both shoulder joints.

6. A rehabilitation exoskeleton for achieving bilateral shoulder joint motion coupling and mutual gravity compensation according to claim 5, characterized in that, The proximal joint cable winding pretensioner (6) includes a threaded hook (601), a hook fixing seat (602) and a pretension nut (603). The threaded hook (601) passes through the through hole on the hook fixing seat (602) and is connected to the pretension nut (603). The hook fixing seat (602) is fixed to the horizontal pipe fitting (1001) by screws. The exoskeleton frame (7) includes a cross roller bearing (702) and a mounting base (701); The near-end winding pulley (801) is fixed to the inner ring of the crossed roller bearing (702) by screws, and the outer ring of the crossed roller bearing (702) is fixed to the fixed seat (701). The distal joint rope winding pretensioner (2) is connected to the upper arm rod (3); The proximal joint coupling winding (8) includes a proximal winding pulley (801), a proximal first wire rope (802), and a proximal second wire rope (803). The horizontal pipe fitting (1001) is fixed to the proximal winding pulley (801) by screws. The two ends of the proximal first wire rope (802) are respectively connected to the threaded hooks (601) of the two proximal joint rope winding pretensioners (6). The proximal first wire rope (802) is wound around the two proximal winding pulleys (801). The two ends of the proximal second wire rope (803) are respectively connected to the threaded hooks (601) of the two proximal joint rope winding pretensioners (6), and the proximal second wire rope (803) is wound around the two proximal winding pulleys (801).

7. A rehabilitation exoskeleton for achieving bilateral shoulder joint motion coupling and mutual gravity compensation according to claim 6, characterized in that, The distal joint coupling winding (9) includes an idler wheel (901), an idler wheel mounting base (902), a distal winding pulley (903), a distal first wire rope (904), a distal second wire rope (905), and a redirection pulley (906). The two ends of the first wire rope (904) at the far end are respectively fixed to two far joint rope winding pretensioners (2). The first wire rope (904) at the far end passes through one upper arm pulley (403), one idler pulley (901), one far end winding pulley (903), another far end winding pulley (903), another idler pulley (901) and another upper arm pulley (403) in sequence. The two ends of the distal second wire rope (905) are respectively fixed to two distal joint rope winding pretensioners (2). The distal second wire rope (905) passes through one upper arm pulley (403), one idler pulley (901), one distal winding pulley (903), another distal winding pulley (903), another idler pulley (901) and another upper arm pulley (403) in sequence. The distal winding pulley (903) is rotatably connected to the horizontal pipe fitting (1001). The distal winding pulley (903) and the proximal winding pulley (801) are coaxial. The idler wheel mounting base (902) is fixedly connected to the horizontal pipe fitting (1001) by screws. The idler wheel (901) is rotatably connected to the idler wheel mounting base (902) by screws. The redirection pulley (906) is rotatably connected to the upper pipe fitting (501).

8. A rehabilitation exoskeleton for achieving bilateral shoulder joint motion coupling and mutual gravity compensation according to claim 7, characterized in that, The retractable exoskeleton structure is equipped with a yaw joint motor (1101), a pitch joint motor (1102), and an inertial measurement unit (1103). The yaw joint motor (1101) is connected to the exoskeleton frame (7), the pitch joint motor (1102) is connected to the upper arm connecting component (402), and the inertial measurement unit (1103) is connected to the upper arm rod (3).

9. A rehabilitation exoskeleton according to any one of claims 6-8, characterized in that, A portion of the horizontal section of the first steel wire rope (802) at the near end and a portion of the horizontal section of the second steel wire rope (803) at the near end are arranged in parallel; A portion of the horizontal section of the first wire rope (904) at the far end and a portion of the horizontal section of the second wire rope (905) at the far end are set in parallel.

10. A rehabilitation exoskeleton for achieving bilateral shoulder joint motion coupling and mutual gravity compensation according to any one of claims 6-8, characterized in that, A portion of the horizontal section of the first steel wire rope (802) at the near end and a portion of the horizontal section of the second steel wire rope (803) at the near end are arranged to cross each other; A portion of the horizontal section of the first wire rope (904) at the far end and a portion of the horizontal section of the second wire rope (905) at the far end are intersected; A portion of the vertical section of the first wire rope (904) at the far end and a portion of the vertical section of the second wire rope (905) at the far end cross and pass over the redirection pulley (906).

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