Robotic wrist exoskeleton

Abstract

A robotic wrist exoskeleton (1) includes a series of kinematic chains comprising a first base link member (10); a second link member (11); a third link member (12); a fourth link member (13); an end effector element (14) that can be grasped by a user's hand and associated with the fourth link member (13); and a first rotary joint (15) rotatably connecting the first link member (10) and the second link member (11) about a first rotation axis (21) arranged along the Z-axis of a first Cartesian reference three-axis coordinate system XYZ having a first three-axis coordinate system origin W. Two-link component (11); a second rotary joint (16) connecting the second link component (11) and the third link component (12) around a second rotation axis (22), the second rotation axis (22) being arranged along the Y' axis of the second Cartesian reference three-axis coordinate system XY'Z', the second reference three-axis coordinate system rotating in the YZ plane relative to the first reference three-axis coordinate system XYZ, wherein the Y' axis rotates relative to the Y axis by a first preset angle γ1; a third rotary joint (17) connecting the third link component (12) and the fourth link component around a third rotation axis (23). The rod component (13) has a third rotation axis (23) arranged along the X'' axis of the third Cartesian reference three-axis coordinate system X''Y'Z''. The third reference three-axis coordinate system rotates in the XZ' plane relative to the second reference three-axis coordinate system XY'Z', where the X'' axis rotates relative to the X axis by a second preset angle γ2. The first rotation axis (21), the second rotation axis (22), and the third rotation axis (23) all intersect at the axis origin W. The first rotary motor (31) and the first motion transmission connected to the first motor (31) and the first rotary joint (15) are also included. Motion (41); second rotary motor (32); third rotary motor (33); differential motion transmission (50) connects the second motor (32) and the third motor (33) in parallel to the second rotary joint (16) and the third rotary joint (17), so that the second motor (32) and the third motor (33) rotate in the same direction with equal speed and intensity, generating the rotation of the second rotary joint (16), and so that the second motor (32) and the third motor (33) rotate in opposite directions with equal speed and intensity, generating the rotation of the third rotary joint (17).

Description

Technical Field

[0001] This invention relates to a robotic wrist exoskeleton capable of replicating the natural movements of the distal portion of the human upper limb. Specifically, this exoskeleton is designed for use as a medical device within a workstation to develop customized robotic therapeutic systems integrating adaptive algorithms, or for integration with an upper limb exoskeleton for the shoulder to create a complete exoskeleton system also suitable for developing bimanual tasks in the field of teleoperation. In both cases, the wrist exoskeleton can be used independently to focus on wrist movements, or integrated with a hand exoskeleton to provide a complete configuration for fully replicating the natural behavior of the human limb when simulating typical movements in Daily Life Activities (ADL) or for rehabilitation purposes. Background Technology

[0002] In the field of medical rehabilitation for the upper limbs, for example after injury, it is necessary to actively perform pronation-supination (PS) movements on the wrist (such as...). Figure 3 As shown), radial-ulnar offset (RU) (as shown) Figure 1 (as shown) and flexion-extension (FE) (as shown) Figure 2 The rehabilitation process (as shown) aims to achieve a range of motion (RoM) covering the entire range of human movement, as well as a strength level matching the level required for natural human movement. The potential applications of virtual reality enrich the context of using the device and increase user engagement.

[0003] Traumatic injury is defined as any external damage that compromises the physical and mental integrity of the affected subject. Depending on the severity of the event, surgery may be required. For example, the subject's susceptibility or failure to receive timely and appropriate rehabilitation may lead to fibrosis (typically occurring in small joints), adhesions (which may be muscle / myofascia, joint / tendon, or tendon / bone sac type), nodule formation or calcification on tendons (as a consequence of chronic inflammation), thickening or nodule formation of the palmar aponeurosis (palmar aponeurosis contracture), joint stiffness (often a consequence of prolonged immobilization), and reduced range of motion (RoM). Timely rehabilitation limits the likelihood of these conditions. The primary cause of reduced RoM is prolonged immobilization; if it exceeds 30 days, it can lead to loss of muscle tone and tendon elasticity, especially in older subjects. These results in a significant loss of mobility in the injured limb, severely hindering or delaying the patient's ability to resume normal activities of daily living (ADL).

[0004] Traditional treatment methods have certain limitations: the severity of the injury may hinder practice; patients may lose motivation due to numerous repetitive, tedious, and strenuous exercises; therapists must be on call throughout the rehabilitation process; and feedback and performance during (and at the end of) treatment may be unclear and imprecise. To overcome these problems, the role of robot-assisted rehabilitation becomes apparent. Furthermore, virtual reality can be used as an aid to targeted training to improve the patient's proprioception. During treatment, the system assists both therapist and patient.

[0005] It can perform objective, large-scale measurements, create customized treatment plans, encourage patients to actively participate in practice, improve users' independence during treatment, reduce the physical exertion of therapists, and increase the number of patients treated simultaneously.

[0006] Several robotic wrist exoskeletons are currently known for performing wrist rehabilitation.

[0007] Robotic wrist exoskeletons are assistive devices designed to balance the gravitational loads borne by users during movement, and they have applications in both industrial and medical fields.

[0008] Robotic wrist exoskeletons need to meet very strict compliance requirements because they must allow normal, natural wrist movements while avoiding the application of external forces or torques that are incompatible with such wrist movements.

[0009] The human wrist is modeled as having three rotational degrees of freedom (GdL): rotation about the pronation-supination (PS) axis, rotation about the radioulnar offset (RU) axis, and rotation about the flexion-extension (FE) axis.

[0010] These axes are orthogonal to each other and intersect at the center of rotation.

[0011] Specifically, Figure 1 This illustrates the rotation of the human wrist about the ulnar-radial offset axis. Figure 2 This illustrates the rotation of the human wrist about its flexion-extension axis. Figure 3 This illustrates the rotation of the human wrist around the pronation-supination axis.

[0012] It also defines the maximum angle and minimum torque for three types of rotation in the human wrist, such as... Figure 4 As shown in the table below.

[0013] Figure 1 , 2 3 also shows these maximum angles given in the table.

[0014] The working space of the human wrist can be simulated as follows: for pronation and supination movements, such as Figure 7 The semi-cylinder shown; for radioulnar deviation and flexion-extension movements, such as Figure 8The cone shown has an elliptical base, which is an asymmetrical structure.

[0015] The robotic wrist exoskeleton must be able to replicate the natural movements of the human wrist according to the specifications listed above, without producing destructive motion responses, such as residual tension.

[0016] Given a wrist exoskeleton with three rotational joints and three intersecting, perpendicular axes, corresponding to the rotational axes of the human wrist, such as... Figure 9 As illustrated; however, such exoskeletons cannot achieve the RoM value required for rehabilitation while remaining size-restricted. Furthermore, in order to maximize the exoskeleton's range of rotation to approximate that of the human wrist, these known exoskeletons are too large for medical rehabilitation purposes.

[0017] Therefore, there is a need for a robotic wrist exoskeleton that can replicate the entire human wrist, avoid residual destructive force, and has a small size and low weight. Summary of the Invention

[0018] The purpose of this invention is to develop and provide a robotic wrist exoskeleton that can meet the above-mentioned requirements and at least partially overcome the aforementioned disadvantages of the prior art.

[0019] Specifically, the objective of this invention is to provide a robotic wrist exoskeleton that is small in size and capable of achieving a full range of wrist motion according to specifications related to the human wrist's RoM (range of motion).

[0020] These and further objectives and advantages, as claimed in the independent claims, are achieved by robotic wrist exoskeletons, upper limb robotic exoskeletons, and rehabilitation platforms.

[0021] Further objectives, solutions, and advantages are described in the embodiments below and in the dependent claims.

[0022] According to the general embodiment, the robotic wrist exoskeleton according to the present invention includes a series kinematic chain of three rotary joints, the axes of the three rotary joints being non-perpendicular to each other and intersecting at a point, and a differential motion transmission device that connects a second motor and a third motor in parallel to the second and third rotary joints, such that the co-rotation (equal speed) of the second and third motors produces the rotation of the second rotary joint, and the anti-rotation (equal speed) of the second and third motors produces the rotation of the third rotary joint.

[0023] Advantageously, this arrangement allows the exoskeleton to perform well in terms of range of motion (RoM), compactness, and overall low weight.

[0024] Specifically, Figure 11A performance table showing the exoskeleton according to the present invention is provided.

[0025] Through with Figure 4 By comparing the design requirements for the human wrist RoM shown in the figure with the corresponding values ​​of the minimum torque that each joint needs to achieve when the user uses the exoskeleton, it can be seen that the exoskeleton according to the present invention can achieve the RoM required for rehabilitation purposes.

[0026] Most known devices are designed for the average human RoM value (i.e., to meet the classic ADL).

[0027] The exoskeleton according to the invention achieves the specific RoM required for the human wrist (i.e., the maximum RoM of the human wrist required to ensure a complete rehabilitation process); therefore, it is able to achieve a higher RoM compared to commercially available devices.

[0028] about Figure 11 The minimum torque values ​​in the table above, note their relationship with... Figure 4 The values ​​in the table are roughly the same.

[0029] The torque required at the joint is defined as the minimum torque required to perform at least passive wrist movements, resist gravity, and passive joint elasticity.

[0030] It can be concluded that the wrist exoskeleton according to the present invention achieves very high performance compared to the minimum performance expected of robot-assisted rehabilitation devices.

[0031] Meanwhile, a differential motion transmission device is provided that connects the second motor and the third motor in parallel to the second rotary joint, thereby utilizing the motor dependence to obtain the movement of the second and third joints, thus limiting the size and weight of the device itself.

[0032] These advantages are achieved by utilizing new kinematics and the resulting mismatch between the exoskeleton joint axis and the human joint axis. The non-perpendicularity of the RU and FE joints enables the manufacture of small-sized structures with complete RoM that conform to the relevant specifications of the human wrist.

[0033] More specifically, for example, such as Figure 5 and Figure 6 As shown, this robotic wrist exoskeleton achieves a rotation range from -110° to 110° to perform pronation and supination (PS) rotations, a rotation range from -16° to 46° to perform ulnar-radial (RU) offset rotations, and a rotation range from -60° to 99° to perform flexion-extension (FE) rotations.

[0034] By developing a theoretical kinematic model that converts the human wrist RoM into the corresponding RoM of the exoskeleton device, the proposed exoskeleton design can be optimized. Attached Figure Description

[0035] The following description, by way of non-limiting example and in conjunction with the accompanying drawings, will illustrate several embodiments of the present invention, wherein: Figure 1 This illustrates the radioulnar (RU) offset motion of the human wrist; Figure 2 This illustrates the flexion-extension (FE) movement of the human wrist; Figure 3 This illustrates the pronation and supination (PS) movements of the human wrist. Figure 4 The table shows the design requirements for the human wrist RoM and minimum torque of each joint that the user must meet when reproducing natural wrist movements by modeling three movements of the human wrist with three mutually orthogonal and intersecting rotation axes. Figure 5 The radioulnar offset motion is depicted graphically, and the following is shown based on... Figure 4 The table shows the minimum and maximum range of motion of the human wrist. Figure 6 The correspondence between the limits of the human wrist and the limits of the exoskeleton is depicted, where the motion of the end effector is the same; due to the gripping method, there is an 11° offset between the human body and the exoskeleton. Therefore, in terms of flexion and extension movements, the minimum and maximum angles of the human wrist are -85° and +85°, while the minimum and maximum angles of the exoskeleton are -96° and +74°. Figure 7 The working space of the human wrist around the pronation-supination axis is shown, which has a semi-cylindrical shape. Figure 8 A schematic diagram of the working space of the human wrist around the radioulnar offset axis and the flexion-extension axis is shown, which is a circumferential cone shape with an irregular elliptical base. Figure 9 The modeling of the human wrist is shown using three rotational joints whose axes are orthogonal to each other and intersect at the center of rotation. Figure 10 A kinematic schematic diagram of a robotic wrist exoskeleton according to the present invention is shown, the exoskeleton comprising three non-orthogonal rotational joints with intersecting axes; Figure 11 A table is shown, which contains the angular motion endpoints of the three rotational joints of the wrist exoskeleton according to the present invention and their associated minimum torques; Figure 12 A perspective view of a robotic wrist exoskeleton according to the present invention is shown, wherein the rotation axes of the three rotary joints of the exoskeleton are shown; Figure 13 It shows Figure 12A slanted view of the robot's wrist exoskeleton, without the cover plate element, to show its internal components; Figure 14 It shows Figure 13 Oblique views of the mid-wrist exoskeleton viewed from different angles; Figure 15 It shows Figure 13 Part of the structure in which the exoskeleton portion containing the first rotational joint of the robot wrist was removed in order to more clearly observe the exoskeleton portion containing the second and third rotational joints; Figure 16 It shows Figure 13 A perspective view of a robot exoskeleton, highlighting a cable-driven motion pulley, wherein the rotation of a first motor drives a first joint; Figure 17 It shows Figure 13 A perspective view of a robot exoskeleton, highlighting the cable motion transmission pulley, and showing the operation of driving the second joint to run when the second and third motors rotate at the same speed and in the same direction; Figure 18 It shows Figure 13 A perspective view of a robot exoskeleton, highlighting the cable motion transmission pulley, and showing the operation of driving the third joint to run when the second and third motors rotate at the same speed in opposite directions; Figure 19 It shows Figure 13 A perspective view of a robotic exoskeleton, highlighting the cable-driven motion transmission pulleys used to drive the second and third joints, showing... Figure 17 The movement of the winch is described, and the operation of driving the second joint is explained when the second motor and the third motor rotate at the same speed and in the same direction, with details of the winch's movement included. Figure 20 It shows Figure 13 A perspective view of a robotic exoskeleton, highlighting the cable-driven motion transmission pulleys used to drive the second and third joints. The figure shows... Figure 18 The movement of the winch is described, and the operation of driving the third joint is explained when the second and third motors rotate at the same speed and in opposite directions is described, along with details of the winch's movement. Figure 21 A cross-section of a dual winch assembly mounted on the rotating shaft of a second rotary joint is shown, the cross-section being cut through a cutting plane containing the rotating shaft of the second rotary joint; Figure 22 It shows Figure 21 A perspective view of the medium-sized double-twist assembly; Figure 23 A front view of the first base link member and the first rotary joint portion is shown. Figure 24 It shows Figure 23 The rear view of the component described in the text; Figure 25 and Figure 26 They are shown respectively Figure 23 Two side views of the component described in the image; Figure 27 and Figure 28 They are shown respectively Figure 23 Top and bottom views of the components; Figure 29 It shows Figure 13 A front view of a robotic wrist exoskeleton assembly, which includes a second link member, a third link member, a fourth link member, a second rotary joint and a third rotary joint, and an end effector, all with a first rotary joint movable portion fixed to them. Figure 30 It shows Figure 29 The rear view of the middle component; Figure 31 and Figure 32 They are shown respectively Figure 29 The right and left views of the middle component; Figure 33 and Figure 34 They are shown respectively Figure 29 Top and bottom views of the components; Figure 35 It shows Figure 29 A perspective view of the middle component; Figure 36 It shows Figure 12 Front view of the mid-wrist exoskeleton; Figure 37 It shows Figure 36 Rear view of the robot's wrist exoskeleton; Figure 38 and Figure 39 They are shown respectively Figure 36 Right and left views of the robot's wrist exoskeleton; Figure 40 and Figure 41 They are shown respectively Figure 36 Top and bottom views of the exoskeleton of the robot's wrist; Figure 42 It shows Figure 36 A perspective view of the exoskeleton of the robot's wrist; Figure 43 It shows Figure 12 A front view of a second embodiment of a robotic wrist exoskeleton, wherein the cover plate element has been removed, and the second link member, the third link member, and the fourth link member, as well as the components of the second rotary joint and the third rotary joint, are mounted to the first rotary joint from the radially opposite side relative to the first link member. Figure 44 It shows Figure 43 Rear view of the robot's wrist exoskeleton; Figure 45 and Figure 46 They are shown respectively Figure 44 Right and left views of the mid-wrist exoskeleton; Figure 47 and Figure 48 They are shown respectively Figure 44 Top and bottom views of the mid-wrist exoskeleton; Figure 49 It shows Figure 44 A perspective view of the exoskeleton of the robot's wrist; Figure 50 The image shows a right-side view of a human upper limb exoskeleton, which includes... Figure 12 The wrist exoskeleton and hand exoskeleton; Figure 51 It shows Figure 50 Left side view of the exoskeleton; Figure 52 It shows Figure 50 Top view of the exoskeleton; Figure 53 It shows that it contains Figure 12 Front view of the rehabilitation platform of the mid-wrist exoskeleton; Figure 54 It shows Figure 53 A perspective view of the Zhongkang Rehabilitation Platform; Figure 55 and Figure 56 They are shown respectively Figure 12 The image shows a side view and a top view of the wrist exoskeleton used to connect to the interface of the rehabilitation platform. Detailed Implementation

[0036] Referring to the accompanying drawings, the robot wrist exoskeleton according to the present invention is generally indicated by reference numeral 1.

[0037] The wrist-wrist robotic exoskeleton includes a series of kinematic chains comprising: a first base link 10; a second link 11; a third link 12; a fourth link 13; an end effector element 14 grippable by a user's hand, associated with the fourth link 13; a first rotary joint 15 rotatably connecting the first link 10 and the second link 11 about a first rotation axis 21 arranged along the Z-axis of a first Cartesian reference three-axis coordinate system XYZ, the first coordinate system having a first coordinate system origin W; and a second rotary joint 16 about a second rotation axis 21 arranged along the Y'-axis of a second Cartesian reference three-axis coordinate system XY'Z'. 2. Connect the second link member 11 and the third link member 12 to each other. The second Cartesian reference three-axis coordinate system rotates in the YZ plane relative to the first reference three-axis coordinate system XYZ, wherein the Y' axis rotates relative to the Y axis by a first preset angle γ1. The third rotation joint 17, which is arranged around the third rotation axis 23 along the X'' axis of the third Cartesian reference three-axis coordinate system X''Y'Z'', connects the third link member 12 and the fourth link member 13 to each other. The third Cartesian reference three-axis coordinate system rotates in the XZ' plane relative to the second reference three-axis coordinate system XY'Z', wherein the X'' axis rotates relative to the X axis by a second preset angle γ2.

[0038] The first rotation axis 21, the second rotation axis 22, and the third rotation axis 23 all intersect at the origin W.

[0039] Since the first rotational joint 15, the second rotational joint 16, and the third rotational joint 17 are not perpendicular to each other, the axis of the exoskeleton does not correspond to the axis of the human wrist.

[0040] Pronation and supination of the human wrist can be achieved by manipulating the first rotational joint 15. However, to achieve simple radioulnar deviation or simple flexion and extension movements of the human wrist, the combined operation of the first rotational joint 15, the second rotational joint 16, and the third rotational joint 17 is required.

[0041] Figure 10 The spatial arrangement of the aforementioned rotation axes 21, 22, and 23 of the three rotational joints of the robotic wrist exoskeleton 1 is shown. Figure 9 This shows a model of the human wrist, in which the three axes of pronation and supination (PS), ulnar-radial offset (RU), and flexion-extension (FE) are orthogonal to each other and intersect.

[0042] The values ​​of the first preset angle γ1 and the second preset angle γ2 are selected according to the specific motion requirements of the kinematic chain. Preferably, the value of the first preset angle γ1 is a positive non-zero value with a maximum limit of 45°, and the value of the second preset angle γ2 is a positive non-zero value with a maximum limit of 45°.

[0043] Preferably, the value of the first preset angle γ1 is approximately 10°, and / or the value of the second preset angle γ2 is approximately 15°.

[0044] According to an embodiment, this robotic wrist exoskeleton achieves a rotation range of -110° to 110° around a first rotation axis 21, and / or a rotation range of -16° to 46° around a second rotation axis 22, and / or a rotation range of -60° to 99° around a third rotation axis 23.

[0045] The rotation γ1 of the second rotation axis 22 allows sufficient space for the user's hand during extension movements without interfering with the device.

[0046] The rotation γ2 of the third rotating axis 23 moves the pulley 80 of the third joint 17 away from the first joint 15, ensuring full radial offset movement. These two rotations have the advantage of reducing the size of the equipment.

[0047] The wrist robot exoskeleton 1 also includes a first rotary motor 31 and a first motion transmission 41, the first motion transmission 41 being connected to the first motor 31 and the first rotary joint 15; a second rotary motor 32; and a third rotary motor 33.

[0048] In addition, the robotic wrist exoskeleton 1 includes a differential motion transmission 50 (e.g., in... Figures 17 to 20 As shown in the diagram, the second motor 32 and the third motor 33 are connected in parallel to the second rotary joint 16 and the third rotary joint 17, such that when the second motor 32 and the third motor 33 rotate in the same direction at the same speed and intensity, the second rotary joint 16 rotates, and when the second motor 32 and the third motor 33 rotate in opposite directions at the same speed and intensity, the third rotary joint 17 rotates.

[0049] Therefore, the second motor 32 and the third motor 33 are coupled.

[0050] The theoretical model of the device was established to explore a new RoM that conforms to human wrist specifications and simulates typical movements of rehabilitation techniques.

[0051] According to the embodiment, the differential motion transmission 50 is a linear transmission.

[0052] According to an embodiment, the differential motion transmission 50 includes a winch assembly 60, which includes a first winch 61 and a second winch 62, which are coaxial with each other and with the second rotary joint 16, and an idle third joint pulley 80, which is coaxial with the third rotary joint 17.

[0053] The first winch 61 includes a first outer winch element 63 having a first radius value and a second outer winch element 64 having a second radius value, which are integrated with each other by a first connecting element 65; the second winch 62 includes a first inner winch element 66 having the first radius value and a second inner winch element 67 having the second radius value, which are connected with each other by a second connecting element 68.

[0054] The first outer winch element 63 is driven by the second motor 32 via the second transmission line 72, and the first inner winch element 66 is driven by the third motor 33 via the third transmission line 73.

[0055] The second outer winch element 64 is connected to the idle third joint pulley 80 via a co-directional drive line 81 (e.g., a non-crossing drive line), and wherein the second inner winch element 67 is connected to the idle third joint pulley 80 via a counter-directional drive line 82 (e.g., a crossing drive line).

[0056] According to an embodiment, the second radius value is smaller than the first radius value.

[0057] According to an embodiment, the idling third joint pulley 80 is integrated with the fourth link member 13.

[0058] According to an embodiment, the second motor 32 and the third motor 33 are fastened to the second connecting rod member 11. The second motor 32 is associated with the second drive wheel 34, and the third motor is associated with the third drive wheel 35. The second drive wheel 34 and the third drive wheel 35 are rotatable about their respective rotation axes, which are parallel to each other and parallel to the rotation axis 22 of the second rotary joint 16.

[0059] According to an embodiment, the differential motion transmission 50 includes a second idle return pulley 74 disposed between the second drive wheel 34 and the first outer winch 63; and a third idle return pulley 75 disposed between the third drive wheel 35 and the first inner winch element 66, wherein the second idle return pulley 74 and the third idle return pulley 75 are rotatably constrained on the second connecting rod member 11.

[0060] According to the embodiment, the second idle return pulley 74 and the third idle return pulley 75 are coaxial with each other, and their axes are parallel to the rotation axis 22 of the second rotary joint 16.

[0061] According to an embodiment, the differential motion transmission 50 includes a first left idle return pulley 85 and a first right idle return pulley 86, which are rotatably engaged on the third link member 12, rotate about a rotation axis parallel to the third rotation axis 23, are located on opposite sides of a plane containing the third rotation axis 23 and the second rotation axis 22, and are driven by the same-direction transmission line 81 (e.g., non-crossing).

[0062] According to an embodiment, the differential motion transmission 50 includes a second left idling return pulley 83 and a second right idling return pulley 84, which are rotatably engaged on the third link member 12 and driven by the opposite transmission lines 82 (e.g., crossed).

[0063] According to the embodiment, the second left idle return pulley 83 and the second right idle return pulley 84 are coaxial with the first left idle return pulley 85 and the first right idle return pulley 86, respectively.

[0064] According to an embodiment, the differential motion transmission 50 includes a first intermediate idling return pulley 87, which is rotatably engaged on the third link member 12, rotates about a rotation axis parallel to the second rotation axis 22, is located between the first left return pulley 85 and the second left return pulley 83 and the right return pulleys 84, 86 and the winch assembly 60, and is driven by the opposite-direction drive line 82 (e.g., crossed); and a second intermediate idling return pulley 88, which is rotatably engaged on the third link member 12 and is driven by the same-direction drive line 81 (e.g., non-crossed).

[0065] According to the embodiment, the second intermediate idle return pulley 88 is coaxial with the first intermediate idle pulley 87.

[0066] Each component is designed to optimize the overall dimensions of the exoskeleton and ensure full RoM performance, avoiding interference.

[0067] According to an embodiment, the end effector element 14 includes an elongated element 9 extending along a linear principal direction 8, wherein the linear principal direction 8 is orthogonal to the first rotation axis 21 in at least one configuration of the robot wrist exoskeleton 1.

[0068] According to an embodiment, the end effector element 14 is slidably constrained on the fourth link member 13 by a linear translation guide 92 and slides along a sliding direction 7, which is parallel to the first rotation axis 21 in at least one configuration of the robot wrist exoskeleton 1.

[0069] Therefore, the translation guide 92 introduces a passive degree of freedom.

[0070] This feature allows the device's size to be adjusted according to the dimensions of the human limbs and to correct any misalignment during movement.

[0071] In addition, this can avoid exerting undesirable forces on the user when performing rehabilitation exercises.

[0072] According to an embodiment, the first rotary joint 15 includes an inner annular element 5 and an outer annular element 6, both of which are coaxial with the first rotary shaft 21 and can be rotatably engaged with each other around the first rotary shaft 21. The inner annular element 5 is integral with the first base connecting rod member 10, while the outer annular element 6 is integral with the second connecting rod member 11.

[0073] According to an embodiment, the first rotary joint 15 includes two angular contact rolling bearings mounted back-to-back.

[0074] Therefore, torsional motion between the inner and outer ring components is avoided during operation.

[0075] According to an embodiment, the inner diameter of the inner annular element 5 allows the user's hand to be inserted into it, pass through the inner annular element 5, and grasp the end effector 14.

[0076] According to an embodiment, the inner diameter is approximately 150 mm.

[0077] According to an embodiment, the wrist exoskeleton 1 includes a forearm support, which is integrated with the inner annular element 5.

[0078] According to an embodiment, the first motion transmission 41 is a linear transmission.

[0079] According to an embodiment, a first motor is associated with a first drive wheel 29, which is rotatably engaged with the first base linkage member 10 about a rotation axis parallel to the first rotation axis 21, and a first transmission line 30 is wound around the first drive wheel 29 and the outer annular element 6, the first transmission line 30 having its opposite ends fixed at two opposite points on the outer annular element 6.

[0080] According to an embodiment, the first motor 31 is fixed on the base connecting rod member 10.

[0081] This ensures a reduction in inertia during motion.

[0082] According to an embodiment, the first link member 10 has a connecting surface or connecting element for connecting the first link member 10 to an upper limb exoskeleton or rehabilitation platform.

[0083] According to an embodiment, the exoskeleton 1 includes: a first angular position encoder associated with the first rotary motor 31; a second angular position encoder associated with the second rotary motor 32; a third angular position encoder associated with the third rotary motor 33; a pressure sensor associated with the end effector element 14; and an electronic control unit connected to the first rotary motor 31, the second rotary motor 32, the third rotary motor 33, the first position encoder, the second position encoder, the third position encoder, and the pressure sensor.

[0084] Therefore, pressure sensors allow for monitoring of the forces exchanged between the patient and the exoskeleton and for assessing the effectiveness of the rehabilitation process during progression.

[0085] According to an embodiment, the first rotary motor 31 is associated with a speed reducer, preferably having a speed ratio of 14:1.

[0086] According to an embodiment, the second motor and the third motor are each associated with a corresponding reducer, preferably having a transmission ratio of 6.6:1.

[0087] According to an embodiment, the first rotary motor 31 is a brushless motor, preferably capable of providing a maximum torque of 53 mNm.

[0088] According to the embodiment, the second rotary motor 32 and the third rotary motor are brushless motors capable of providing a maximum torque of 32 mNm.

[0089] According to an embodiment, the electronic control unit is programmed to run the rehabilitation program.

[0090] According to another aspect of the invention, the above and other objects and advantages are achieved by a human upper limb robotic exoskeleton 100, which includes a wrist robotic exoskeleton 1 and a hand robotic exoskeleton 101 according to any of the above embodiments, wherein the hand robotic exoskeleton 101 is fixed to the fourth link member 13.

[0091] According to another aspect of the invention, the above-mentioned objects and advantages are achieved by a rehabilitation platform 200, which includes a robotic wrist exoskeleton 1 according to any of the above embodiments, at least one column 201, a working platform 202 disposed above the column 201, and a radial arm 203 extending radially from the at least one column 201 and defining a free end 204 of the radial arm 203, wherein the wrist exoskeleton 1 is connected to the free end 204, and the radial arm 203 is rotatable about the at least one column 201.

[0092] According to an embodiment, the radial arm 203 is an articulated arm.

[0093] According to an embodiment, the at least one column 201 is retractable.

[0094] Advantageously, the aforementioned robotic wrist exoskeleton is highly versatile in its application areas. Specifically, it can be used for neurological rehabilitation (e.g., post-injury rehabilitation with robot assistance) or in industrial environments (e.g., during teleoperation and performing bimanual tasks). In fact, the device's compact structure allows complete freedom of the inner palm, enabling two limbs to approach each other without interference, limited only by the size of the first joint.

[0095] Advantageously, the aforementioned exoskeleton allows for use in different configurations (e.g., as a single-use device on a workbench), or integration with hand exoskeletons, or with upper limb exoskeletons (e.g., shoulder and elbow).

[0096] Advantageously, the aforementioned exoskeletons, such as Figure 43 As shown, it allows integration with hand exoskeletons, ensuring joint reproduction of complete wrist and hand ROMs.

[0097] Advantageously, the aforementioned exoskeleton allows for the reproduction of the complete ROM of the human wrist.

[0098] Advantageously, the exoskeleton allows for independent joint actuation.

[0099] The exoskeleton described above has the advantages of linear drive, such as zero gaps, reduced noise and vibration.

[0100] Advantageously, the exoskeleton is compact due to the distribution of components on the back of the hand, resulting in a clutter-free space on the palm side, thereby optimizing the torque-to-weight ratio and achieving high transparency and low inertia.

[0101] Advantageously, the aforementioned robotic exoskeleton allows for advanced software integration, such as through virtual reality.

[0102] Advantageously, the aforementioned robotic exoskeleton allows for monitoring of the equipment in use thanks to pressure sensors applied to the end effectors.

[0103] Given the effectiveness of robotic devices in learning, motor control, and muscle strength recovery in neurorehabilitation, and considering that the manufacturing requirements for medical devices are more stringent than those for industrial applications, the proposed device is manufactured in accordance with design requirements relevant to the rehabilitation field.

[0104] However, the proposed wrist exoskeleton is also easy to use in industrial applications, while maintaining strict requirements in terms of compactness and integration with upper limb and hand exoskeletons in order to perform two-handed tasks during teleoperation.

[0105] Those skilled in the art can make changes and adjustments to the embodiments of the above-described device, or replace elements with other functionally equivalent elements to meet temporary needs, without departing from the scope of the following claims. Each feature described as belonging to a possible embodiment can be implemented independently of the other described embodiments.

Claims

1. A robotic wrist exoskeleton (1), comprising a cascaded kinematic chain, the cascaded kinematic chain comprising: - First base connecting rod component (10); - Second link member (11); - Third link component (12); - Fourth link member (13); - An end effector component (14) that can be gripped by a user's hand and is associated with the fourth link component (13); - A first rotary joint (15) rotatably connects the first link member (10) and the second link member (11) about a first rotation axis (21), the first rotation axis (21) being arranged along the Z-axis of a first Cartesian reference three-axis coordinate system XYZ having an origin W. - A second rotary joint (16) connects the second link member (11) and the third link member (12) to each other about a second rotation axis (22). The second rotation axis (22) is arranged along the Y' axis of the second Cartesian reference three-axis coordinate system XY'Z'. The second Cartesian reference three-axis coordinate system rotates relative to the first reference three-axis coordinate system XYZ in the YZ plane, wherein the Y' axis rotates relative to the Y axis by a first preset angle γ1. - A third rotary joint (17) connects the third link member (12) and the fourth link member (13) about a third rotation axis (23), which is arranged along the X'' axis of the third Cartesian reference three-axis coordinate system X''Y'Z''. The third Cartesian reference three-axis coordinate system rotates relative to the second reference three-axis coordinate system XY'Z' in the XZ' plane, wherein the X'' axis is rotated relative to the X-axis by a second preset angle γ2. - The first rotation axis (21), the second rotation axis (22), and the third rotation axis (23) all intersect at the origin W of the axes. - A first rotary motor (31) and a first motion transmission (41), the first motion transmission (41) being connected to the first motor (31) and the first rotary joint (15); - Second rotary motor (32); - Third rotary motor (33); - Differential motion transmission (50) connects the second motor (32) and the third motor (33) in parallel to the second rotary joint (16) and the third rotary joint (17), so that the second motor (32) and the third motor (33) rotate in the same direction at the same speed and intensity, generating the rotation of the second rotary joint (16), and so that the second motor (32) and the third motor (33) rotate in opposite directions at the same speed and intensity, generating the rotation of the third rotary joint (17).

2. The robotic wrist exoskeleton (1) according to claim 1, wherein the pronation and supination movements of the user's wrist are achieved by the operation of the first rotary joint (15), and wherein the simple radioulnar offset movement or simple flexion and extension movement of the user's wrist is achieved by the combined operation of the first rotary joint (15), the second rotary joint (16) and the third rotary joint (17).

3. The robotic wrist exoskeleton (1) according to claim 1, wherein the differential motion transmission (50) is a linear transmission.

4. The robotic wrist exoskeleton (1) according to claim 3, wherein the differential motion transmission (50) includes a winch assembly (60), comprising: - A first winch (61) and a second winch (62), wherein the first winch (61) and the second winch (62) are coaxial with each other and with the second rotary joint (16); - The idling third joint pulley (80) is coaxial with the third rotary joint (17); - The first winch (61) includes a first outer winch element (63) having a first radius value and a second outer winch element (64) having a second radius value, the first outer winch element (63) and the second outer winch element (64) being integrated together by a first connecting element (65); - The second winch (62) includes a first inner winch element (66) having the first radius value and a second inner winch element (67) having the second radius value, the first inner winch element (66) and the second inner winch element (67) being interconnected by a second connecting element (68); - Wherein, the first outer winch element (63) is driven by the second motor (32) through the second transmission line (72), and the first inner winch element (66) is driven by the third motor (33) through the third transmission line (73); - Wherein, the second outer winch element (64) is connected to the idling third joint pulley (80) via a co-directional transmission line (81), and wherein the second inner winch element (67) is connected to the idling third joint pulley (80) via a counter-directional transmission line (82).

5. The robotic wrist exoskeleton (1) according to claim 4, wherein the unidirectional transmission line (81) is a non-crossing transmission line.

6. The robotic wrist exoskeleton (1) according to claim 4, wherein the anisotropic transmission line (82) is a cross transmission line.

7. The robotic wrist exoskeleton (1) according to claim 4, wherein the second radius value is smaller than the first radius value.

8. The robotic wrist exoskeleton (1) according to claim 4, wherein the idling third joint pulley (80) is integral with the fourth link member (13).

9. A robotic wrist exoskeleton (1) according to at least one of the preceding claims, wherein the second motor (32) and the third motor (33) are fixed to the second link member (11), the second motor (32) is associated with the second drive wheel (34), the third motor is associated with the third drive wheel (35), and the second drive wheel (34) and the third drive wheel (35) are rotatable about their respective rotation axes, which are parallel to each other and parallel to the rotation axis (22) of the second rotary joint (16).

10. The robotic wrist exoskeleton (1) according to claims 4 and 9, wherein the differential motion transmission (50) includes a second idle return pulley (74) disposed between the second drive wheel (34) and the first outer winch (63), and a third idle return pulley (75) disposed between the third drive wheel (35) and the first inner winch element (66), wherein the second idle return pulley (74) and the third idle return pulley (75) are rotatably constrained to the second linkage member (11).

11. The robotic wrist exoskeleton (1) according to claim 10, wherein the second idle return pulley (74) and the third idle return pulley (75) are coaxial with each other and their axes are parallel to the rotation axis (22) of the second rotary joint (16).

12. The robotic wrist exoskeleton (1) according to claim 4, wherein the differential motion transmission (50) comprises: - The first left idle return pulley (85) and the first right idle return pulley (86) are rotatably engaged with the third link member (12), rotate about a rotation axis parallel to the third rotation axis (23), are located on opposite sides of the plane containing the third rotation axis (23) and the second rotation axis (22), and are driven by the same-direction transmission line (81); - The second left free-spinning return pulley (83) and the second right free-spinning return pulley (84) are rotatably engaged with the third link member (12) and driven by the opposite transmission line (82).

13. The robotic wrist exoskeleton (1) according to claim 12, wherein the differential motion transmission (50) comprises: - A first intermediate idle return pulley (87), rotatably engaged with the third link member (12), rotates about a rotation axis parallel to the second rotation axis (22), is located between the first left return pulley and the second left return pulley (83, 85) and the right return pulley (84, 86) and the winch assembly (60), and is driven by the opposite transmission line (82); and a second intermediate idle return pulley (88) is rotatably engaged with the third link member (12) and is driven by the same transmission line (81).

14. The robotic wrist exoskeleton (1) according to claim 13, wherein the second intermediate idle return pulley (88) is coaxial with the first intermediate idle pulley (87).

15. The robotic wrist exoskeleton (1) according to at least one of the preceding claims, wherein the end effector element (14) includes an elongated element (9) extending along a linear principal direction (8), wherein in at least one configuration of the robotic wrist exoskeleton (1), the linear principal direction (8) is orthogonal to the first rotation axis (21).

16. The robotic wrist exoskeleton (1) according to at least one of the preceding claims, wherein the end effector element (14) is slidably constrained to the fourth link member (13) by a linear translation guide (92) and slides along a sliding direction (7), wherein in at least one configuration of the robotic wrist exoskeleton (1), the sliding direction (7) is parallel to the first rotation axis (21).

17. The robotic wrist exoskeleton (1) according to claim 1, wherein the first rotary joint (15) comprises an inner annular element (5) and an outer annular element (6), both of which are coaxial with the first rotation axis (21) and rotatably engaged with each other about the first rotation axis (21), wherein the inner annular element (5) is integral with the first base link member (10), and the outer annular element (6) is integral with the second link member (11).

18. The robot wrist exoskeleton (1) according to claim 17, wherein said inner annular element (5) has an inner diameter value such as to allow the insertion of a user's hand therein, To pass through the inner annular element (5) and grasp the end actuator (14).

19. The robotic wrist exoskeleton (1) according to claim 18, comprising a forearm support integral with the inner annular element (5).

20. The robotic wrist exoskeleton (1) according to claim 1, wherein the first motion transmission (41) is a linear transmission.

21. The robotic wrist exoskeleton (1) according to claim 20, wherein the first motor (31) is associated with a first drive wheel (29), the first drive wheel (29) being rotatably engaged with the first base linkage member (10) and rotating about a rotation axis parallel to the first rotation axis (21), and a first motion transmission line (30) is wound around the first drive wheel (29) and the outer annular element (6), the first motion transmission line (30) having opposite ends fixed to two opposite points of the outer annular element (6).

22. The robotic wrist exoskeleton (1) according to at least one of the preceding claims, wherein the first motor (31) is fixed to the base link member (10).

23. The robotic wrist exoskeleton (1) according to claim 1, wherein the value of the first preset angle γ1 is positive and non-zero, with a maximum limit of 45°, and preferably the value of the first preset angle γ1 is about 10°.

24. The robotic wrist exoskeleton (1) according to claim 1 or 23, wherein the value of the second preset angle γ2 is positive and non-zero, with a maximum limit of 45°, and preferably the value of the second preset angle γ2 is about 15°.

25. The robotic wrist exoskeleton (1) according to at least one of the preceding claims, comprising: - A first angular position encoder, associated with the first rotary motor (31); - A second angle position encoder, associated with the second rotary motor (32); - A third angle position encoder, associated with the third rotary motor (33); - A pressure sensor associated with the end effector element (14); - An electronic control unit is connected to the first rotary motor (31), the second rotary motor (32), the third rotary motor (33), the first position encoder, the second position encoder and the third position encoder, and the pressure sensor.

26. The robotic wrist exoskeleton (1) of claim 25, wherein the electronic control unit is programmed to run a rehabilitation program.

27. A robotic human upper limb exoskeleton (100) comprising a robotic wrist exoskeleton (1) and a robotic hand exoskeleton (101) according to at least one of the preceding claims, wherein the robotic hand exoskeleton (101) is fixed to the fourth link member (13).

28. A rehabilitation platform (200) comprising a robotic wrist exoskeleton (1) according to at least one of claims 1 to 26, at least one column (201) having a working plane (202) above the column (201) and a radial arm (203) extending radially from the at least one column (201) and defining a free end (204) of the radial arm (203), wherein the wrist exoskeleton (1) is connected to the free end (204) and the radial arm (203) is rotatable about the at least one column (201).

29. The rehabilitation platform (200) according to claim 28, wherein the radial arm (203) is an articulated arm.

30. The rehabilitation platform (200) according to claim 29, wherein the at least one column (201) is retractable.

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