Upper limb rehabilitation assisting system based on flexible exoskeleton and motion control method thereof

By acquiring joint angle feedback through a visual acquisition device and a human posture recognition algorithm, and combining it with Bowden line flexible transmission and motor drive, the problem of complex feedback and transmission leakage in existing upper limb rehabilitation assistive robots is solved, achieving high wearability comfort and smooth driving effect.

CN122440434APending Publication Date: 2026-07-24ZHENGZHOU UNIV
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Patent Information

Application Number
CN202610836772.1
Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Filing Date
2026-06-10
Publication Date
2026-07-24

AI Technical Summary

Technical Problem

Existing upper limb rehabilitation assistive robots suffer from problems such as complex feedback, transmission leakage, and poor structural adaptation, making it difficult to simultaneously achieve high wearability comfort, precise joint angle feedback, and smooth driving effect.

Method used

The system uses a visual acquisition device combined with a human posture recognition algorithm to obtain joint angle feedback. Through the Bowden line flexible transmission component and motor drive, combined with PID control law superimposed with holding force and buffer force compensation terms, it achieves stable limb maintenance and smooth descent.

Benefits of technology

It achieves precise joint angle feedback without the need for additional sensors, solves the force leakage problem of Bowden's linear drive system, improves wearing comfort, smoothness and safety of movement, and reduces system complexity and cost.

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Abstract

The invention discloses an upper limb rehabilitation assisting system based on a flexible exoskeleton and a motion control method of the upper limb rehabilitation assisting system. The system comprises a flexible exoskeleton body and a visual acquisition device unit, the motion control unit is used for resolving a current joint angle of a wearer through a human body posture recognition algorithm on the basis of an upper limb image acquired by the visual acquisition device, performing deviation calculation on the current joint angle and a target joint angle in a preset rehabilitation training trajectory library, and generating a basic driving torque through a PID control law. According to the motion control method, two compensation items of holding force and buffering force are superposed on basic driving torque, so that the problem of force release of Bowden cable flexible transmission in a holding stage and a descending stage is solved. The flexible exoskeleton body adopts a backpack type driving unit and a Bowden cable flexible transmission assembly, four Bowden cables of a wrist are distributed in a four-quadrant mode on the circumference of the wrist, and coordinated driving of two degrees of freedom of wrist flexion and extension and ulnar / radial deviation is achieved through two motors which are paired in a diagonal mode according to a preset coupling matrix. Visual feedback is adopted to replace a traditional IMU scheme, and smooth control over upper limb training or assisting actions is achieved through torque compensation, coupling driving and safety limiting.
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