A passive upper limb assistive exoskeleton based on self-locking guide rails

Abstract

This invention discloses a passive upper limb assistive exoskeleton based on self-locking guide rails, belonging to the field of assistive exoskeleton technology. It includes a guide rail frame; two guide rail grooves respectively formed on both sides of the outer wall of the guide rail frame, each groove wall having multiple locking teeth; and two self-locking sliders. This invention utilizes the coordinated work of the guide rail frame, guide rail grooves, self-locking sliders, arm assist mechanism, energy storage mechanism, and locking teeth. By precisely matching the locking teeth on the guide rail frame with the self-locking tongue inside the self-locking sliders, stable sliding and self-locking can be achieved in the vertical direction. Combined with the arm assist mechanism's close support for the upper limb and the energy storage mechanism's directional energy storage and release, the overall force trajectory precisely matches vertical lifting movements such as pull-ups. This significantly improves the assistive effect, helps fitness enthusiasts break through training limits, and expands the application boundaries of passive upper limb assistive exoskeletons in fitness scenarios.

Description

Technical Field

[0001] This invention relates to the field of assistive exoskeleton technology, specifically to a passive upper limb assistive exoskeleton based on a self-locking guide rail. Background Technology

[0002] A passive upper limb assistive exoskeleton is a wearable device that does not rely on external power. Instead, it provides additional assistance to the human upper limb through a cleverly designed mechanical structure that works in conjunction with the movement of the upper limb. It is usually constructed with lightweight materials to build the frame, and the core components such as guide rails and joints are precisely designed. This passive design gives it the advantages of simple structure, light weight, and low maintenance cost. At the same time, there is no need to worry about running out of power. It can be widely used in industrial handling, logistics sorting, rehabilitation medicine and other scenarios to help users improve work efficiency, reduce labor intensity or assist in the recovery of motor function.

[0003] Chinese patent CN221111818U discloses a passive upper limb assistive exoskeleton device that uses a gas spring as a tension component and utilizes a highly efficient hydraulic drive to provide more assistance support, thereby shortening the overall operation time and improving work efficiency; the support rod is equipped with a movable groove, which can further increase the range of upper limb elevation; and a universal coupling is used to connect the waist component and the back component, which can better adapt to the waist rotation of the operator.

[0004] Existing passive upper limb assistive exoskeletons have limited application scenarios, primarily focusing on industrial weight-bearing and rehabilitation assistance. Their force trajectory is adapted to limb movements such as horizontal lifting and weight-bearing, but cannot accurately match the vertical lifting force requirements of the upper limbs, such as pull-ups. This not only results in weak targeted assistance but also leads to poor assistance effects, making it difficult to help fitness enthusiasts break through their training limits. Summary of the Invention

[0005] The purpose of this invention is to provide a passive upper limb assistive exoskeleton based on a self-locking guide rail, so as to solve the problem that existing passive upper limb assistive exoskeletons have limited assistive scenarios.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a passive upper limb assistive exoskeleton based on a self-locking guide rail, comprising a guide rail frame; Two guide rail grooves are respectively opened on both sides of the outer wall of the guide rail frame, and the groove walls of the two guide rail grooves are provided with multiple locking tooth grooves. Two self-locking sliders are slidably connected to the two guide rail grooves, respectively; Two arm-assisted mechanisms are respectively installed on the outer walls of the two self-locking sliders; Two energy storage mechanisms are respectively installed on the outer walls of the two arm assist mechanisms; The arm assist mechanism includes a slider mounting plate, a connector, an upper arm support, and an upper arm binding ring. The slider mounting plate is mounted on the outer wall of the self-locking slider. The connector is mounted on the upper side of one end of the slider mounting plate via a connecting shaft. The upper arm support is mounted on the other end of the connector via a connecting shaft. The upper arm binding ring is mounted on the inner side of the upper arm support.

[0007] Furthermore, the arm assist mechanism also includes a joint frame, an adjusting block, a forearm support, and a forearm binding ring. The joint frame is installed at the other end of the upper arm support, the adjusting block is installed on the lower side of the other end of the joint frame, the forearm support is installed on the inner side of the adjusting block via a bearing, and the forearm binding ring is installed on the inner side of the forearm support.

[0008] Furthermore, the energy storage mechanism includes a spring box, an inlet / outlet, four mounting blocks, an elastic band, and a fixed base. The inlet / outlet is located in the middle of the outer wall of the spring box. The four mounting blocks are all installed around the outer wall of the spring box. The spring box is installed on the rear side of the outer wall of the boom support through the mounting blocks. The elastic band is installed inside the spring box, and the other end of the elastic band passes through the inlet / outlet and is tied to the outer wall of the fixed base. One end of the fixed base is installed on the upper side of one end of the guide rail frame.

[0009] Furthermore, both of the self-locking sliders have clearance grooves on their upper outer walls, and both ends of the guide rail frame are fitted with fixing straps. The ends of the two fixing straps away from the guide rail frame are fitted with fixing female buckles and fixing male buckles, respectively, and the fixing female buckles and fixing male buckles are engaged. The front outer walls of the upper arm support members in both arm assist mechanisms are fitted with guide blocks via bearings.

[0010] Furthermore, the articulated frame is assembled from two L-shaped frames, and the upper parts of the opposite surfaces of the two L-shaped frames are movably connected by a connecting shaft, and the forearm support is set as an arc-shaped plate.

[0011] Furthermore, the outer wall of the slider mounting plate is provided with multiple convex mounting holes, and the boom support is assembled from two U-shaped connecting blocks and two connecting strips, with multiple connecting holes provided on each of the two connecting strips.

[0012] Furthermore, the spring box is equipped with a spring assembly inside, the elastic band is a flat elastic band, and the elastic band is made of highly elastic and wear-resistant rubber. The elastic band is tied to the fixed base in a shepherd's knot manner.

[0013] Furthermore, both the guide block and the fixing base are configured as thumbtack structures, and the elastic band wraps around the outer wall of the guide block, with the outer wall of the elastic band in contact with the outer wall of the guide block.

[0014] Furthermore, the guide rail frame is configured as an H-shaped structure, and the self-locking slider is provided with a self-locking tongue that matches the locking tooth groove.

[0015] Compared with the prior art, the beneficial effects of the present invention are: (1) This invention utilizes the coordinated work of the guide rail frame, guide rail groove, self-locking slider, arm assist mechanism, energy storage mechanism and locking tooth groove. By precisely matching the locking tooth groove on the guide rail frame with the self-locking tongue inside the self-locking slider, stable sliding and self-locking can be achieved in the vertical direction. In addition, the arm assist mechanism provides close support to the upper limb and the energy storage mechanism stores and releases energy in a directional manner, so that the overall force trajectory is precisely matched with the vertical lifting action of the upper limb such as pull-up. This not only significantly improves the assist effect and helps fitness enthusiasts break through training limits, but also expands the application boundaries of the passive upper limb assist exoskeleton in fitness scenarios.

[0016] (2) Through the coordinated work of components such as the slider mounting plate, connector, upper arm support and upper arm binding ring, the present invention achieves precise adaptation and stable binding between the exoskeleton and the human upper limb. The slider mounting plate stably connects the self-locking slider and the connector. The connector enables multi-angle movement adaptation of the upper arm support. The upper arm support, together with the inner upper arm binding ring, can closely fit the upper arm muscle group, ensuring efficient power transmission and even pressure distribution. Combined with the joint movement frame linkage, it can adapt to the flexion and extension trajectory of the shoulder and elbow joints, ensuring that the limb movement is not restricted during vertical lifting, and taking into account both assistive stability and movement flexibility.

[0017] (3) This invention constructs a highly efficient and stable passive energy storage and release structure through the coordinated work of the spring box, inlet and outlet, mounting block, elastic band and fixed base. The elastic band is tied to the fixed base of the thumbtack structure in the form of a shepherd's knot, allowing users to quickly and reliably install and remove the elastic band and easily adjust the tightness, just like fastening a seat belt. This solves the pain points of traditional rope knots being easy to loosen, difficult to untie and inconvenient to adjust. In addition, it accurately stores energy during the pull-up descent and releases a stable vertical boost force during the ascent, effectively sharing the upper limb force load. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this invention. For those skilled in the art, other drawings can be obtained based on these drawings.

[0019] Figure 1 This is one of the overall structural schematic diagrams provided in the embodiments of the present invention; Figure 2 This is the second overall structural schematic diagram provided for an embodiment of the present invention; Figure 3 Provided for embodiments of the present invention Figure 1 Enlarged view of the structure of A in the middle; Figure 4 A connection diagram of the arm-assist mechanism, energy storage mechanism, and guide block is provided for embodiments of the present invention; Figure 5 One of the structural schematic diagrams of the arm-assist mechanism is provided for an embodiment of the present invention; Figure 6 A second structural schematic diagram of the arm-assist mechanism is provided for an embodiment of the present invention; Figure 7 A schematic diagram of the energy storage mechanism is provided for an embodiment of the present invention.

[0020] Explanation of reference numerals in the attached figures: 1. Guide rail frame; 2. Guide rail groove; 3. Self-locking slider; 4. Arm assist mechanism; 5. Energy storage mechanism; 6. Locking tooth groove; 7. Clearance groove; 8. Fixing strap; 9. Fixing female buckle; 10. Fixing male buckle; 11. Guide block; 12. Slider mounting plate; 13. Connector; 14. Upper arm support component; 15. Upper arm binding ring; 16. Joint movement frame; 17. Adjusting block; 18. Forearm support component; 19. Forearm binding ring; 20. Spring coil box; 21. Inlet / outlet; 22. Mounting block; 23. Elastic band; 24. Fixing base. Detailed Implementation

[0021] To enable those skilled in the art to better understand the technical solution of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings.

[0022] As attached Figure 1 To be continued Figure 7 As shown: Example 1: This invention provides a passive upper limb assistive exoskeleton based on a self-locking guide rail, including a guide rail frame 1, which is integrally formed from lightweight, high-strength aluminum alloy; Two guide rail grooves 2 are respectively opened on both sides of the outer wall of the guide rail frame 1. The groove walls of the two guide rail grooves 2 are provided with multiple locking tooth grooves 6. These locking tooth grooves 6 are evenly distributed, providing precise locking points for the positioning and locking of the self-locking slider 3. Two self-locking sliders 3 are slidably connected to two guide rail grooves 2 respectively; Two arm assist mechanisms 4 are respectively installed on the outer wall of two self-locking sliders 3. The two arm assist mechanisms 4 are arranged symmetrically on the left and right to adapt to the physiological curve of human arms. Two energy storage mechanisms 5 are installed on the outer walls of the two arm assist mechanisms 4 respectively, for storing and releasing energy to provide power support for upper limb assistance; The arm assist mechanism 4 includes a slider mounting plate 12, a connector 13, an upper arm support 14, and an upper arm binding ring 15. The slider mounting plate 12 is mounted on the outer wall of the self-locking slider 3. The connector 13 is mounted on the upper side of one end of the slider mounting plate 12 via a connecting shaft. The upper arm support 14 is mounted on the other end of the connector 13 via a connecting shaft. The upper arm binding ring 15 is mounted on the inner side of the upper arm support 14 to fix the user's upper arm and ensure that the arm fits tightly with the exoskeleton. The arm assist mechanism 4 also includes a joint frame 16, an adjustment block 17, a forearm support 18, and a forearm binding ring 19. The joint frame 16 is installed at the other end of the upper arm support 14, the adjustment block 17 is installed on the lower side of the other end of the joint frame 16, the forearm support 18 is installed on the inner side of the adjustment block 17 via a bearing, and the forearm binding ring 19 is installed on the inner side of the forearm support 18 to fix the user's forearm. The joint frame 16 is assembled from two L-shaped frames, and the upper part of the opposite surfaces of the two L-shaped frames are movably connected by a connecting shaft, so that the joint frame 16 can simulate the movement of the human elbow joint, realize the flexion and extension of the forearm, and provide support for the natural movement of the upper limb. The forearm support 18 is set as an arc plate. The arc design conforms to the physiological curve of the human forearm, which can better fit the forearm and provide comfortable support. The outer wall of the slider mounting plate 12 has multiple convex mounting holes, which facilitates a stable connection between the slider mounting plate 12 and the self-locking slider 3. The convex structure can also house the bolt head in the mounting holes, improving the smoothness of the surface of the slider mounting plate 12. The upper arm support 14 is assembled from two U-shaped connecting blocks and two connecting strips. Both connecting strips have multiple connecting holes, allowing the upper arm support 14 to be flexibly adjusted according to the arm size of different users. By changing the connection position of the connecting strips, the length of the upper arm support 14 can be adjusted, improving the adaptability of the exoskeleton. The guide frame 1 is designed with an H-shaped structure, which has high stability and strength and can effectively disperse the force generated during upper limb movement, ensuring that the exoskeleton remains stable under various movements. The self-locking slider 3 is equipped with a self-locking tongue that matches the locking tooth groove 6. The self-locking tongue is driven by a spring. When the self-locking slider 3 slides to the appropriate position in the guide groove 2, the self-locking tongue will automatically engage in the locking tooth groove 6 to achieve the self-locking function. It can automatically engage and unlock without additional operation.

[0023] Working principle: During use, the guide rail frame 1 is first fitted to fit the contour of the human back. The arm assist mechanism 4 then binds the device to the upper limbs. The slider mounting plate 12 is fixed to the outer wall of the self-locking slider 3 via mounting holes. The connecting piece 13 uses a connecting shaft to achieve multi-angle movable connection between the slider mounting plate 12 and the upper arm support 14. The upper arm support 14, along with the upper arm binding ring 15, fits snugly against the upper arm for fixation. The joint movement frame 16 adapts to the flexion and extension trajectory of the shoulder and elbow joints, ensuring unrestricted limb movement during vertical pull-ups, balancing assist stability and movement flexibility. The adjusting block 17, in conjunction with the arc-shaped forearm support 18 and forearm binding ring 19, achieves a stable fit and flexible movement of the forearm. After binding, the self-locking slider 3 slides upwards along the guide rail groove 2 of the guide rail frame 1 to its end. The self-locking tongue inside, which matches the locking tooth groove 6, automatically engages to achieve locking and positioning, requiring no tools throughout the process. During the pull-up, the upper limbs exert force, driving the arm assist mechanism 4 to move, and the pulling force is transmitted through… The arm-assist mechanism 4 transmits power to the guide rail frame 1. The greater the pulling force, the tighter the self-locking tongue and locking tooth groove 6 engage, achieving passive self-locking that becomes more reliable with use. The guide rail frame 1 also bears the power transmission and overall load-bearing support functions of the entire device, ensuring structural stability and preventing loosening. Simultaneously, the guide rail frame 1 and the arm-assist mechanism 4 work together to regulate the limb's force trajectory, correcting incorrect force application to prevent injuries such as tennis elbow. Combined with the close support of the arm-assist mechanism 4 and the directional energy storage and release of the energy storage mechanism 5, the overall force trajectory precisely matches vertical lifting movements like pull-ups. This design overcomes the limitations of existing passive upper limb assistive exoskeletons, which are limited to single-scenario applications and only suitable for industrial weight-bearing and rehabilitation assistance. It solves the problems of weak vertical assistance and poor effectiveness of existing equipment. It not only significantly improves the assistance effect and helps fitness enthusiasts break through training limits but also expands the application boundaries of passive upper limb assistive exoskeletons in fitness scenarios, achieving precise adaptation and stable assistance for vertical lifting scenarios.

[0024] Example 2: This embodiment is basically the same as the previous embodiment, except that the energy storage mechanism 5 includes a spring box 20, an inlet / outlet 21, four mounting blocks 22, an elastic band 23, and a fixed base 24. The inlet / outlet 21 is located in the middle of the outer wall of the spring box 20 and serves as the channel for the elastic band 23 to enter and exit the spring box 20, ensuring that the elastic band 23 can pass through smoothly. The four mounting blocks 22 are all installed around the outer wall of the spring box 20. The spring box 20 is installed on the rear side of the outer wall of the boom support 14 through the mounting blocks 22, so that the spring box 20 can be stably installed on the boom support 14, and at the same time, it is easy to disassemble and maintain. The elastic band 23 is installed inside the spring box 20, and the other end of the elastic band 23 passes through the inlet / outlet 21 and is tied to the outer wall of the fixed base 24. One end of the fixed base 24 is installed on the upper side of one end of the guide rail frame 1, providing a stable fixing point for the elastic band 23 and ensuring that the elastic band 23 can maintain a stable position during energy storage and energy release. The spring box 20 is equipped with a spring assembly inside. The spring assembly can store energy during upper limb movement and release energy when needed to provide continuous power for upper limb assistance. The elastic band 23 is a flat elastic band. The flat design increases the contact area between the elastic band 23 and the spring assembly, improving energy transfer efficiency. The elastic band 23 is made of high-elasticity and wear-resistant rubber. The high-elasticity and wear-resistant rubber material gives the elastic band 23 good elasticity and wear resistance, and can maintain stable performance during long-term use. The elastic band 23 is tied to the fixed base 24 in a shepherd's knot. The shepherd's knot is sturdy, durable, easy to adjust and disassemble, and can ensure that the elastic band 23 is firmly connected to the fixed base 24.

[0025] Working principle: In the energy storage mechanism 5, the spring box 20 is securely installed on the rear side of the outer wall of the upper arm support 14 by four mounting blocks 22. The internal spring assembly and elastic band 23 are pre-assembled. One end of the elastic band 23 is placed inside the spring box 20, and the other end passes through the inlet / outlet 21 in the middle of the outer wall of the spring box 20. It is tied and fixed to the outer wall of the fixed base 24 by a shepherd's knot. The middle section of the elastic band 23 passes around the guide block 11, which is also a thumbtack structure. This assembly structure allows users to quickly and reliably install and remove the elastic band 23 and easily adjust the tightness, just like fastening a seat belt, through the cooperation of the shepherd's knot and the thumbtack structure. This solves the pain points of traditional knots being easy to loosen, difficult to untie, and inconvenient to adjust. It also optimizes the force transmission path through the guide block 11 to ensure the directional transmission of force. After the assembly is completed, the entire passive upper limb assistive exoskeleton is worn. The system achieves efficient passive assistance during pull-ups. During the descent phase, the upper limbs pull down, causing the arm assist mechanism 4 and the upper arm support 14 to move synchronously, thereby pulling the elastic band 23 outward along the inlet and outlet 21. The coil spring assembly in the coil spring box 20 deforms accordingly to complete precise energy storage. During the ascent phase, the coil spring assembly releases elastic potential energy, causing the stretched elastic band 23 to contract and release energy. The released energy is precisely transferred to the upper limbs by the arm assist mechanism 4, outputting a stable vertical thrust and effectively distributing the force load on the arms and back. This structure constructs an efficient and stable passive energy storage and release system that provides directional assistance for vertical lifting movements without the need for electric drive. It not only solves the problem of weak targeting of existing passive exoskeletons but also significantly improves the assistance effect and equipment durability in vertical lifting scenarios.

[0026] Example 3: This embodiment is basically the same as the previous embodiment, except that the upper side of the outer wall of the two self-locking sliders 3 is provided with a relief groove 7 in order to avoid interference between the self-locking sliders 3 and other components during the sliding process and to ensure that the various components of the exoskeleton can move smoothly. The lower side of both ends of the guide rail frame 1 is equipped with a fixing strap 8. The two fixing straps 8 are respectively equipped with a fixing female buckle 9 and a fixing male buckle 10 at the ends away from the guide rail frame 1, and the fixing female buckle 9 and the fixing male buckle 10 are engaged so that the exoskeleton can be firmly fixed to the user's body, preventing the exoskeleton from falling off or shifting during the movement and improving the safety of use. The front side of the outer wall of the upper arm support 14 in the two arm assist mechanisms 4 is equipped with a guide block 11 through a bearing. Both the guide block 11 and the fixed base 24 are designed as thumbtacks, which can limit the elastic band 23 and prevent it from detaching from the guide block 11 and the fixed base 24. The elastic band 23 wraps around the outer wall of the guide block 11 and the outer wall of the elastic band 23 contacts the outer wall of the guide block 11. During the process of storing and releasing energy, the guide block 11 can guide the elastic band 23 to move along a predetermined path, reducing energy loss and improving the assist efficiency of the exoskeleton.

[0027] Working principle: First, the guide rail frame 1 is worn close to the back of the body. The fixing straps 8 on the lower sides of both ends of the guide rail frame 1 are wrapped around the body, and the fixing female buckle 9 and fixing male buckle 10 are engaged to achieve overall stability and fixation of the guide rail frame 1, preventing displacement during exercise. Then, the upper limb is bound by the arm assist mechanism 4. At this time, the avoidance groove 7 opened on the upper side of the outer wall of the self-locking slider 3 can avoid the movement trajectory of the connecting piece 13, preventing movement interference. During the pull-up descent phase, the upper limb pulls down, driving the upper arm support 14 to move, pulling the elastic band 23 to extend along the guide trajectory of the guide block 11. The coil spring assembly deforms and stores energy. The guide block 11 effectively optimizes the force path of the elastic band 23, avoiding friction loss and deviation. During the ascent phase, the coil spring assembly releases energy, causing the elastic band 23 to contract. The assist force is accurately transmitted to the upper limb through the elastic band 23, the coil spring box 20, and the upper arm support 14. This exoskeleton provides more stable, efficient, and comfortable vertical lifting assistance. It can also be extended to applications such as upper limb support for home-based elderly care and elbow joint reduction for housewives. The core functionality requires no changes to the structure and connections of the aforementioned mechanical components; only minor adjustments to the dimensions or parameters of some parts are needed. When extended to home-based elderly care, the overall size of the guide frame 1 is reduced, and the thickness of the upper arm strap 15 and forearm strap 19 is optimized to accommodate the upper limb size of the elderly. The installation positions of each component remain unchanged, providing assistance for the elderly when lifting and bearing weight. When extended to elbow joint reduction for housewives, the elastic coefficient of the elastic band 23 installed on the fixed base 24 is adjusted to weaken the assistance intensity. The upper arm strap 15 and forearm strap 19 are positioned along the outer side of the forearm and elbow joint, using the elastic band 23 to buffer the force applied to the elbow joint and prevent strain caused by long-term labor.

[0028] The foregoing has only described certain exemplary embodiments of the present invention by way of illustration. Undoubtedly, those skilled in the art can modify the described embodiments in various ways without departing from the spirit and scope of the present invention. Therefore, the foregoing drawings and descriptions are illustrative in nature and should not be construed as limiting the scope of protection of the claims of the present invention.

Claims

1. A passive upper limb assistive exoskeleton based on a self-locking guide rail, characterized in that, include: Guide rail frame (1); Two guide rail grooves (2) are respectively opened on both sides of the outer wall of the guide rail frame (1), and multiple locking tooth grooves (6) are opened on the groove walls of the two guide rail grooves (2). Two self-locking sliders (3) are slidably connected to the two guide rail grooves (2) respectively; Two arm-assisting mechanisms (4) are respectively installed on the outer walls of the two self-locking sliders (3); Two energy storage mechanisms (5) are respectively installed on the outer walls of the two arm assist mechanisms (4); The arm assist mechanism (4) includes a slider mounting plate (12), a connector (13), an upper arm support (14), and an upper arm binding ring (15). The slider mounting plate (12) is installed on the outer wall of the self-locking slider (3). The connector (13) is installed on the upper side of one end of the slider mounting plate (12) through a connecting shaft. The upper arm support (14) is installed on the other end of the connector (13) through a connecting shaft. The upper arm binding ring (15) is installed on the inner side of the upper arm support (14).

2. The passive upper limb assistive exoskeleton based on a self-locking guide rail according to claim 1, characterized in that, The arm assist mechanism (4) also includes a joint frame (16), an adjustment block (17), a forearm support (18), and a forearm binding ring (19). The joint frame (16) is installed at the other end of the upper arm support (14), the adjustment block (17) is installed on the lower side of the other end of the joint frame (16), the forearm support (18) is installed on the inner side of the adjustment block (17) by a bearing, and the forearm binding ring (19) is installed on the inner side of the forearm support (18).

3. The passive upper limb assistive exoskeleton based on a self-locking guide rail according to claim 2, characterized in that, The energy storage mechanism (5) includes a spring box (20), an inlet / outlet (21), four mounting blocks (22), an elastic band (23), and a fixed base (24). The inlet / outlet (21) is located in the middle of the outer wall of the spring box (20). The four mounting blocks (22) are all installed around the outer wall of the spring box (20). The spring box (20) is installed on the rear side of the outer wall of the boom support (14) through the mounting blocks (22). The elastic band (23) is installed inside the spring box (20), and the other end of the elastic band (23) passes through the inlet / outlet (21) and is tied to the outer wall of the fixed base (24). One end of the fixed base (24) is installed on the upper side of one end of the guide rail frame (1).

4. A passive upper limb assistive exoskeleton based on a self-locking guide rail according to claim 3, characterized in that, Both of the self-locking sliders (3) have clearance grooves (7) on their upper outer walls. Both ends of the guide rail frame (1) are fitted with fixing straps (8). The two fixing straps (8) are fitted with fixing female buckles (9) and fixing male buckles (10) respectively at the ends away from the guide rail frame (1). The fixing female buckle (9) and the fixing male buckle (10) are engaged. The front of the upper arm support member (14) in both arm assist mechanisms (4) is fitted with guide blocks (11) through bearings.

5. A passive upper limb assistive exoskeleton based on a self-locking guide rail according to claim 2, characterized in that, The articulated frame (16) is assembled from two L-shaped frames, and the upper part of the opposite surfaces of the two L-shaped frames is movably connected by a connecting shaft. The forearm support (18) is set as an arc plate.

6. A passive upper limb assistive exoskeleton based on a self-locking guide rail according to claim 1, characterized in that, The outer wall of the slider mounting plate (12) is provided with multiple convex mounting holes. The upper arm support (14) is assembled from two U-shaped connecting blocks and two connecting strips, and multiple connecting holes are provided on both connecting strips.

7. A passive upper limb assistive exoskeleton based on a self-locking guide rail according to claim 3, characterized in that, The spring box (20) is equipped with a spring assembly inside. The elastic band (23) is a flat elastic band and the material of the elastic band (23) is high elastic wear-resistant rubber. The elastic band (23) is tied to the fixed base (24) in a shepherd's knot.

8. A passive upper limb assistive exoskeleton based on a self-locking guide rail according to claim 4, characterized in that, Both the guide block (11) and the fixed base (24) are configured as thumbtack structures. The elastic band (23) passes around the outer wall of the guide block (11), and the outer wall of the elastic band (23) contacts the outer wall of the guide block (11).

9. A passive upper limb assistive exoskeleton based on a self-locking guide rail according to claim 1, characterized in that, The guide rail frame (1) is configured as an H-shaped structure, and the self-locking slider (3) is provided with a self-locking tongue that is compatible with the locking tooth groove (6).

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