Flexible exoskeleton system based on human muscle group distribution rule

Abstract

The present application relates to a kind of flexible exoskeleton systems based on human muscle group distribution rule of multiple soft driver series-parallel, it has solved the technical problem that existing flexible exoskeleton can only provide one-way movement of joint, unstable when joint large range deflection, difficult to realize the joint movement under certain impedance, it includes original muscle group side drive group and antagonistic muscle group side support group, three soft drivers of original muscle group side drive group based on soft tooth structure engagement are respectively corresponding mapping biceps brachii, brachialis, brachioradialis, three of antagonistic muscle group side support group are respectively corresponding mapping long side of triceps brachii, lateral of triceps brachii, elbow muscle.The present application is widely used in medical rehabilitation, wearable equipment, soft robot and other fields of human motion and resistance.

Description

Technical Field

[0001] This invention relates to the field of flexible exoskeleton technology, and more specifically, to a flexible exoskeleton system based on the distribution patterns of human muscle groups, using a series and parallel connection of multiple soft actuators. Background Technology

[0002] In the fields of medical rehabilitation and wearable exoskeletons, exoskeletons are key devices that assist the human body in completing rehabilitation movements. When conducting full-cycle rehabilitation training for limb joints, exoskeleton devices not only need to drive the limb to complete flexion and extension at a certain angle, but also need to provide adjustable counter-resistance during active limb movement to achieve resistance training.

[0003] Currently, existing joint rehabilitation exoskeleton systems are mainly divided into two categories based on their physical structure and actuation method: rigid exoskeletons and flexible exoskeletons.

[0004] (1) Rigid rehabilitation exoskeleton devices that output driving torque by using a rigid frame such as metal combined with an electric motor or rigid reducer. In practical applications, although rigid exoskeletons have high load-bearing capacity and trajectory tracking accuracy, their rigid mechanical components are large and heavy. In order to achieve sufficient joint torque, they usually rely on cumbersome rigid anchoring structures or complex transmission components, resulting in a lack of wearability of the device as a whole. It is difficult to meet the lightweight, safe and comfortable requirements of high-frequency spontaneous training at home and in daily activities.

[0005] (2) A flexible exoskeleton using flexible materials combined with pneumatic or cable-driven mechanisms can be described in reference to the invention patent application CN120056072A. Flexible exoskeletons can provide lighter and more compliant joint assist forces. In practical applications, some existing flexible exoskeletons use single-unit soft actuators or parallel actuators in a single direction. Such flexible exoskeletons can only provide unidirectional joint movement, resulting in unstable movement during large-range joint deflection. Furthermore, it is difficult to achieve joint movement under certain resistance conditions. Summary of the Invention

[0006] This invention aims to solve the technical problem that existing flexible exoskeletons can only provide unidirectional joint movement, and the movement becomes unstable when the joint deflects over a large range, making it difficult to achieve joint movement under certain resistance. The invention provides a flexible exoskeleton system based on the distribution pattern of human muscle groups, with multiple soft actuators connected in series and parallel.

[0007] This invention provides a flexible exoskeleton system based on the distribution pattern of human muscle groups, consisting of a prime mover muscle group side drive group and an antagonist muscle group side support group. The prime mover muscle group side drive group includes a first soft actuator based on soft tooth structure engagement, a second soft actuator based on soft tooth structure engagement, and a third soft actuator based on soft tooth structure engagement. The first soft actuator based on soft tooth structure engagement is fixed by an anchoring device to correspond to the biceps brachii muscle. The second soft actuator based on soft tooth structure engagement is fixed by an anchoring device to correspond to the brachialis muscle. The third soft actuator based on soft tooth structure engagement is fixed by an anchoring device to correspond to the brachioradialis muscle.

[0008] The antagonistic muscle group side support group includes a fourth soft actuator based on soft tooth structure engagement, a fifth soft actuator based on soft tooth structure engagement, and a sixth soft actuator based on soft tooth structure engagement; the fourth soft actuator based on soft tooth structure engagement is fixed by an anchoring device to the long side of the corresponding triceps brachii, the fifth soft actuator based on soft tooth structure engagement is fixed by an anchoring device to the lateral side of the corresponding triceps brachii, and the sixth soft actuator based on soft tooth structure engagement is fixed by an anchoring device to the corresponding anconeus muscle.

[0009] Preferably, the first soft actuator based on the meshing of soft teeth is longitudinally parallel to the central axis of the muscle belly where the long head and short head of the biceps brachii meet, with its proximal end fixed to the limb surface below the coracoid process and acromion of the human shoulder joint, and its distal end extending longitudinally along the anterior side of the upper arm and fixed to the attachment point of the biceps brachii tendon below the elbow crease.

[0010] The second soft actuator based on the meshing of soft teeth is arranged in the brachialis projection area deep to the biceps brachii. Its proximal end is fixed to the skin surface of the anterior lower half of the humerus, and the whole extends along the medial side above the lateral epicondyle of the humerus. Its distal end is anchored to the corresponding area of ​​the ulnar tuberosity.

[0011] The third soft actuator based on the meshing of soft teeth is arranged on the surface of the brachioradialis muscle belly on the lateral side of the forearm. Its proximal end is fixed to the upper part of the lateral epicondyle crest of the humerus, and the whole extends distally along the radial side of the forearm. Its distal end is fixed to the limb surface above the radial styloid process.

[0012] The fourth soft actuator based on the meshing of soft teeth is arranged along the longitudinal direction of the long head of the triceps brachii on the posterior side of the upper limb. Its proximal end extends outward and upward and is fixed at the projection of the infraglenoid tubercle of the scapula, and its distal end extends longitudinally along the posteromedial side of the upper arm and is fixed at the base of the olecranon of the ulna.

[0013] The fifth soft actuator based on the meshing of the soft tooth structure is arranged along the lateral head of the triceps brachii on the posterolateral side of the upper limb. Its proximal origin is fixed in the bone surface projection area below the greater tubercle of the humerus and above and outside the radial groove, and its distal end converges inward and downward and is fixed to the lateral edge of the olecranon of the ulna.

[0014] The sixth soft actuator based on the meshing of soft teeth is located in the trigone of the anconeus muscle on the posterolateral side of the elbow joint. Its proximal end is fixed to the posterolateral aspect of the lateral epicondyle of the humerus. The entire unit extends in a fan shape to the distal medial side, and its distal end is fixed to the lateral aspect of the olecranon of the ulna and the upper region of the posterodorsolateral aspect of the ulna.

[0015] Preferably, the anchoring device includes a connecting support, a cylinder, an end cap, a hinge shaft, and a connecting rod. One end of the connecting rod is hinged to the connecting support, and the end cap is fixedly connected to the other end of the connecting rod. The end cap is located inside the cylinder and fixed. The end cap and the opening of the cylinder form an installation chamber. The connecting support is provided with an installation hole, and the end cap is provided with multiple through holes.

[0016] Preferably, the prime mover group lateral drive group and the antagonist group lateral support group are configured as follows:

[0017] The relationship between the air pressure value of the axial drive chamber of the three soft actuators of the prime mover side drive group and the three soft actuators of the antagonist side support group and the elbow joint rotation angle θ is established in advance.

[0018] Step S1: In the initial state, the upper limb is in an extended state, the elbow joint angle is 0°, and the axial drive chambers of the first, second, and third soft actuators based on soft tooth structure meshing are all supplied with high-pressure gas. The first, second, and third soft actuators based on soft tooth structure meshing are all in an extended state, generating traction torque. The axial drive chamber of the sixth soft actuator based on soft tooth structure meshing is not supplied with gas pressure and is in a normal state. The axial drive chamber of the fourth and fifth soft actuators based on soft tooth structure meshing is supplied with high-pressure gas and is in an extended state. The stiffness adjustment chambers of the six soft actuators are maintained at normal pressure.

[0019] Step S2: Calculate the target air pressure value of the axial drive chamber in the six soft actuators based on the desired elbow joint rotation angle θ. Then, deflate the axial drive chambers of the first, second, and third soft actuators (based on soft tooth meshing) to reduce the air pressure value to the target value, shortening the overall length of the three soft actuators. Simultaneously, inflate the axial drive chambers of the fourth, fifth, and sixth soft actuators (represented by the green line, which maps the elbow muscle) to increase the air pressure value to the target value, ultimately achieving the desired elbow joint rotation angle θ.

[0020] Preferably, the prime mover group lateral drive group and the antagonist group lateral support group are configured as follows:

[0021] Only use the prime mover group for lateral drive, and do not use the antagonist group for lateral support;

[0022] Step S1: In the initial state, the elbow joint angle is Aa. The axial drive chambers of the three soft actuators of the prime mover muscle group side drive group are at normal air pressure, and the stiffness adjustment chambers of the three soft actuators are not supplied with high-pressure gas.

[0023] Step S2: Low-pressure gas is introduced into the axial drive cavities of the first, second, and third soft actuators based on soft tooth structure meshing to keep the axial drive cavities full. At the same time, a preset air pressure is introduced into the stiffness adjustment cavities of the first, second, and third soft actuators based on soft tooth structure meshing to increase stiffness and provide joint resistance.

[0024] Step S3: The arm muscles actively exert force to make the elbow joint angle reach another angle value Ba, thereby achieving the purpose of muscle training.

[0025] The beneficial effects of this invention are that it enables joints to achieve resisted movement. The antagonistic synergistic structure and the resistance structure adapt to bidirectional joint movement and movement under the presence of joint resistance. It allows for precise and continuous adjustment of joint resistance and meets the requirements of small size and light weight.

[0026] Based on the biological arrangement of multiple flexible pneumatic units according to real human muscles, it can achieve continuous and precise variable stiffness; achieve adjustable drag torque; the control process is convenient and highly controllable; the whole product is lightweight and small in size; it can be applied to human movement and resistance in fields such as medical rehabilitation, exoskeletons, wearable devices, and soft robots.

[0027] It facilitates bidirectional joint movement.

[0028] Joints move more flexibly. Training becomes more diverse.

[0029] Further features and aspects of the present invention will be clearly described in the following detailed description with reference to the accompanying drawings. Attached Figure Description

[0030] Figure 1 This is a schematic diagram of a flexible exoskeleton system based on the distribution patterns of human muscle groups, with multiple soft actuators connected in series and parallel.

[0031] Figure 2This is a schematic diagram showing the first, second, and third soft actuators based on soft tooth structure meshing, respectively, corresponding to the human biceps brachii, brachialis, and brachioradialis muscles after they are arranged.

[0032] Figure 3 This is a schematic diagram showing the fourth, fifth, and sixth soft actuators based on soft tooth structure meshing, respectively, arranged to correspond to the long side, lateral side, and anconeus muscle of the human body.

[0033] Figure 4 This is a schematic diagram of the anchoring device;

[0034] Figure 5 yes Figure 4 The diagram shows the connection between the end cap and the connecting rod.

[0035] Figure 6 This is a schematic diagram of a soft actuator based on soft tooth meshing;

[0036] Figure 7 It is a diagram showing the correspondence between human muscles and the arrangement of soft actuators;

[0037] Figure 8 It is a diagram showing the actual arrangement of six soft actuators based on the meshing of soft teeth on the human body.

[0038] Figure 9 This is a graph showing the relationship between the axial air pressure and the elbow joint angle of six soft actuators based on the meshing of soft teeth.

[0039] Figure 10 This is a diagram illustrating muscle training using only the lateral drive group of the prime mover muscle group;

[0040] Figure 11 This is a graph showing the relationship between the air pressure and the equivalent Young's modulus of the stiffness adjustment chambers of the first, second, and third soft actuators based on soft tooth meshing.

[0041] Explanation of symbols in the diagram:

[0042] 1-1. First soft actuator based on soft tooth structure meshing; 1-2. Second soft actuator based on soft tooth structure meshing; 1-3. Third soft actuator based on soft tooth structure meshing; 2-1. Fourth soft actuator based on soft tooth structure meshing; 2-2. Fifth soft actuator based on soft tooth structure meshing; 2-3. Sixth soft actuator based on soft tooth structure meshing; 3. Control module; 4. Anchoring device; 4-1. Connecting support; 4-1-1. Mounting hole; 4-2. Cylinder; 4-3. End cap; 4-4. Hinge shaft; 4-5. Connecting rod; 111. Axial flexible tube; 112. Fabric wrapping layer; 113. Rope winding layer; 114. Flexible covering layer; 115. Pipe one; 121. Radial expansion cavity; 122. Radial expansion cylinder; 123. Outer cylinder; 124. Pipe two. Detailed Implementation

[0043] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0044] The specific embodiments described below are merely preferred embodiments of this application, and the scope of protection of this application is not limited thereto. Those skilled in the art can make modifications or variations based on the principles, concepts, and spirit of this application, and the resulting technical solutions should all be covered within the scope of protection of this application.

[0045] like Figure 1As shown, the three actuators on the prime mover side respectively map the spatial distribution of the biceps brachii, brachialis, and brachioradialis muscles in the human body. The three actuators on the prime mover side are the first soft actuator 1-1 based on the engagement of the soft tooth structure, the second soft actuator 1-2 based on the engagement of the soft tooth structure, and the third soft actuator 1-3 based on the engagement of the soft tooth structure. The first soft actuator 1-1 based on the engagement of the soft tooth structure is longitudinally parallel to the central axis of the muscle belly where the long head and short head of the biceps brachii meet. Its proximal end is fixed to the limb surface below the coracoid process and acromion of the shoulder joint by an anchoring device, and its distal end extends longitudinally along the anterior side of the upper arm and is fixed to the attachment point of the biceps brachii tendon below the elbow crease by an anchoring device. The first soft actuator 1-1 based on the engagement of the soft tooth structure corresponds to the biceps brachii muscle. The second soft actuator 1-2, based on the engagement of the soft tooth structure, is positioned in the brachialis muscle projection area deep to the biceps brachii. Its proximal end is fixed to the skin surface of the anterior lower half of the humerus via an anchoring device, extending medially above the lateral epicondyle of the humerus. The distal end is anchored to the corresponding area of ​​the ulnar tuberosity via an anchoring device. The second soft actuator 1-2 corresponds to the brachialis muscle. The third soft actuator 1-3, based on the engagement of the soft tooth structure, is positioned on the surface of the brachioradialis muscle belly on the lateral side of the forearm. Its proximal end is fixed to the upper part of the lateral epicondyle crest of the humerus via an anchoring device, extending distally along the radial side of the forearm. The distal end is anchored to the limb surface above the radial styloid process via an anchoring device. The third soft actuator 1-3 corresponds to the brachioradialis muscle.

[0046] The three actuators on the antagonistic muscle group side respectively map the spatial distribution of the long side of the triceps brachii, the lateral side of the triceps brachii, and the anconeus muscle. The three actuators on the antagonistic muscle group side are the fourth soft actuator 2-1 based on the soft tooth structure engagement, the fifth soft actuator 2-2 based on the soft tooth structure engagement, and the sixth soft actuator 2-3 based on the soft tooth structure engagement. The fourth soft actuator 2-1 based on the soft tooth structure engagement is arranged along the longitudinal direction of the long head of the triceps brachii on the posterior side of the upper limb. Its proximal end extends laterally and superiorly and is fixed to the projection of the infraglenoid tubercle of the scapula through an anchoring device. Its distal end extends longitudinally along the posteromedial side of the upper arm and is fixed to the base of the olecranon of the ulna through an anchoring device. The fourth soft actuator 2-1 based on the soft tooth structure engagement corresponds to the long side of the triceps brachii. The fifth soft actuator 2-2, based on the engagement of the soft tooth structure, is arranged along the lateral head of the triceps brachii on the posterolateral aspect of the upper limb. Its proximal origin is positioned by an anchoring device in the bone surface projection area below the greater tubercle of the humerus and above and lateral to the radial groove. The distal end converges medially and inferiorly and is fixed to the lateral border of the olecranon of the ulna by an anchoring device. The fifth soft actuator 2-2, based on the engagement of the soft tooth structure, corresponds to the lateral aspect of the triceps brachii. The sixth soft actuator 2-3, based on the engagement of the soft tooth structure, is arranged in the anconeus triangle on the posterolateral aspect of the elbow joint. Its proximal end is fixed to the posterolateral aspect of the lateral epicondyle of the humerus by an anchoring device. The entire unit extends distally and medially in a fan shape. The distal end is fixed to the lateral aspect of the olecranon of the ulna and the upper region of the posterodorsolateral aspect of the ulna by an anchoring device. The sixth soft actuator 2-3, based on the engagement of the soft tooth structure, corresponds to the anconeus muscle.

[0047] The specific structure of a soft actuator based on soft tooth meshing is well known (refer to the invention patent with authorization announcement number CN119347723B). For example... Figure 6As shown, the soft actuator based on soft tooth structure meshing includes a core and a soft damping body. The core includes an axial flexible tube 111, a fabric wrapping layer 112, a rope winding layer 113, a flexible covering layer 114, and a conduit 115. The axial flexible tube 111 is made of a flexible material and has an axial driving cavity. The conduit 115 communicates with the axial driving cavity. Inflating the axial driving cavity of the axial flexible tube 111 through the conduit 115 can cause the axial flexible tube 111 to extend in the axial direction, thereby extending the entire soft actuator based on soft tooth structure meshing. Deflating the axial driving cavity of the axial flexible tube 111 through the conduit 115 can cause the axial flexible tube 111 to shorten in the axial direction, thereby shortening the entire axial variable stiffness soft actuator 1 based on soft tooth structure meshing and sliding. The fabric wrapping layer 112 is made of anisotropic fabric material, which wraps around the axial flexible tube 111 to form the fabric wrapping layer 112. The rope winding layer 113 is formed by spirally winding non-stretchable polyethylene rope around the fabric wrapping layer 112 in a left-hand and right-hand manner. The flexible covering layer 114 is made of flexible material to cover the rope winding layer 113. The soft damping body includes a radial expansion cylinder 122, an outer cylinder 123, a second pipe 124, a rear end cap, and a front end cap. The radial expansion cylinder 122 and the outer cylinder 123 are both made of flexible material, as are the front end cap and the rear end cap. The radial expansion cylinder 122 has several inner... The outer cylinder 123 has several low-modulus soft teeth, each located in the radial direction of the radial expansion cylinder. These inner low-modulus soft teeth are distributed along the axial direction of the radial expansion cylinder to form a corrugated shape. The rear end of the outer cylinder 123 is fixedly connected to the rear end cover, and the front end of the outer cylinder 123 is open (not closed). The inner wall of the outer cylinder 123 is provided with several outer high-modulus soft teeth, each located in the radial direction of the outer cylinder. The radial expansion cylinder 122 is located inside the outer cylinder 123, with the inner low-modulus soft teeth corresponding to the outer high-modulus soft teeth. The rear end of the radial expansion cylinder 122 is fixedly connected to the rear end cover, and the second pipe 124 is connected to the rear end cover. The second pipe 124 passes through the rear end cover and communicates with the inner cavity of the radial expansion cylinder 122. The core is located inside the radial expansion cylinder 122. The front end of the radial expansion cylinder 122 is fixedly connected to the front end cover, the front end of the core is fixedly connected to the front end cover, and the rear end of the core is fixedly connected to the rear end cover. Pipe 115 is connected to the rear end cover and, after passing through the rear end cover, communicates with the axial drive cavity of the axial flexible tube 111. The radial expansion cavity is located between the outer periphery of the core and the inner wall of the radial expansion cylinder 122.When air is supplied to the radial expansion cavity through pipe 124, the radial expansion cylinder expands, and the inner low-modulus soft teeth approach the outer high-modulus soft teeth. When the inner low-modulus soft teeth and the outer high-modulus soft teeth approach to a certain extent, they mesh. At this time, when the core elongates or shortens, the inner low-modulus soft teeth and the outer high-modulus soft teeth slip (slippage between flexible materials). The expansion and contraction of the core will be affected by resistance, the magnitude of which is related to the meshing state of the inner low-modulus soft teeth and the outer high-modulus soft teeth. The resistance can be controlled by independently controlling the air pressure input through pipe 124, thereby enabling continuous adjustment of the equivalent tensile stiffness of the entire soft actuator. The radial expansion cavity can be used as a stiffness adjustment cavity.

[0048] Regarding how to actively control the movement of a soft actuator based on a soft-tooth meshing structure, a functional relationship can be established beforehand between the gas pressure input to the axial drive chamber and the elongation of the entire soft actuator. The elongation of the entire soft actuator is the dependent variable, and the gas pressure is the independent variable. During actual control, gas with the set pressure is introduced to achieve the goal of controlling the elongation of the entire soft actuator.

[0049] The control module 3 is connected to six soft actuators based on soft tooth structure meshing. The control module 3 is used to control the operation of the six actuators, and the six actuators are operated independently.

[0050] The anchoring device 4 includes a connecting support 4-1, a cylinder 4-2, an end cap 4-3, a hinge shaft 4-4, and a connecting rod 4-5. One end of the connecting rod 4-5 is hinged to the connecting support 4-1 via the hinge shaft 4-4. The end cap 4-3 is fixedly connected to the other end of the connecting rod 4-5. The end cap 4-3 is located inside and fixed within the cylinder 4-2. The end cap 4-3 and the opening of the cylinder 4-2 form an installation chamber. The connecting support 4-1 is provided with an installation hole 4-1-1. The end cap 4-3 is provided with multiple through holes. The cylinder 4-2 and the end cap 4-3 are usually made of rigid materials, but they can also be made of plastic.

[0051] When installing and positioning the soft actuator based on the soft tooth structure engagement via the anchoring device 4, first use physical constraint components (such as straps and hook and loop fasteners) to pass the straps and hook and loop fasteners through the mounting holes 4-1-1 of the connecting support 4-1. The straps and hook and loop fasteners are then secured to the user. The connecting support 4-1 is adjusted to the target position. Then, the end of the soft actuator is inserted into the mounting chamber of the cylinder 4-2 and fixed, thus completing the installation of the soft actuator. Both ends of each soft actuator are installed in the mounting chamber of the cylinder 4-2 in the corresponding anchoring device 4. The first pipe 115 and the second pipe 124 of the soft actuator exit through the through holes of the end cap 4-3. Since the end cap 4-3 is hinged to the connecting support 4-1 via the connecting rod 4-5, this, in conjunction with the connecting support 4-1, restricts the lateral displacement or nonlinear bending of the soft actuator under high-pressure driving conditions, physically limiting the soft actuator displacement within the flexion-extension plane of the joint.

[0052] Control module 3 is equipped with multiple hoses, which connect to pipe 115 and pipe 124 of the soft actuators. Pipe 115 corresponds to one hose, and pipe 124 corresponds to one hose. The soft actuators are inflated and deflated through the hoses. The air pressure of the six soft actuators is independently distributed and controlled, which physically reproduces the antagonistic co-contraction mechanism of the human flexor and extensor muscle groups.

[0053] The first application scenario of the aforementioned flexible exoskeleton system is described below: passive and assisted rehabilitation training of the elbow joint.

[0054] The first soft actuator 1-1, the second soft actuator 1-2, and the third soft actuator 1-3 based on soft tooth structure engagement constitute the prime mover muscle group side drive group. The fourth soft actuator 2-1, the fifth soft actuator 2-2, and the sixth soft actuator 2-3 based on soft tooth structure engagement constitute the antagonist muscle group side support group.

[0055] The relationship between the air pressure values ​​of the axial drive chambers of the three soft actuators in the prime mover side drive group and the three soft actuators in the antagonist side support group and the elbow joint rotation angle θ is established in advance, such as... Figure 9 As shown, the blue line represents the first soft actuator 1-1 based on the soft tooth structure engagement of the biceps brachii; the black line represents the second soft actuator 1-2 based on the soft tooth structure engagement of the brachialis; the red line represents the third soft actuator 1-3 based on the soft tooth structure engagement of the brachioradialis; the orange line represents the fourth soft actuator 2-1 based on the soft tooth structure engagement of the long side of the triceps brachii; the purple line represents the fifth soft actuator 2-2 based on the soft tooth structure engagement of the lateral side of the triceps brachii; and the green line represents the sixth soft actuator 2-3 based on the soft tooth structure engagement of the anconeus.

[0056] In step S1, initially, the upper limb is in an extended state, the elbow joint angle is 0°, and the axial drive chambers of the first soft-tooth structure meshing soft actuator 1-1, the second soft-tooth structure meshing soft actuator 1-2, and the third soft-tooth structure meshing soft actuator 1-3 are all supplied with high-pressure gas. The first soft-tooth structure meshing soft actuator 1-1, the second soft-tooth structure meshing soft actuator 1-2, and the third soft-tooth structure meshing soft actuator 1-3 are all in an extended state, generating traction torque. The axial drive chamber of the sixth soft-tooth structure meshing soft actuator 2-3 is not supplied with gas pressure and is in a normal state (not extended). The axial drive chamber of the fourth soft-tooth structure meshing soft actuator 2-1 is supplied with high-pressure gas and is in an extended state. The axial drive chamber of the fifth soft-tooth structure meshing soft actuator 2-2 is supplied with high-pressure gas and is in an extended state. The stiffness adjustment chambers of the six soft actuators are maintained at constant pressure (no air pressure input, at which time the inner low-modulus soft teeth and the outer high-modulus soft teeth do not mesh).

[0057] Step S2, based on Figure 9 The display shows the relationship between the air pressure value of the axial drive cavity in the software driver and the elbow joint rotation angle θ. Based on the desired elbow joint rotation angle θ, the target air pressure values ​​of the axial drive cavities in the corresponding 6 software drivers are calculated. For example, if the desired elbow joint rotation angle θ = 60°, then 6 target air pressure values ​​are calculated. Then, the axial drive chambers of the first soft-tooth meshing soft actuator 1-1, the second soft-tooth meshing soft actuator 1-2, and the third soft-tooth meshing soft actuator 1-3 are depressurized, reducing the air pressure value of the axial drive chamber to the target air pressure value, and the three soft actuators are shortened as a whole. At the same time, the axial drive chambers of the fourth soft-tooth meshing soft actuator 2-1, the fifth soft-tooth meshing soft actuator 2-2, and the sixth soft-tooth meshing soft actuator 2-3 (represented by the green line, which maps the elbow muscle) are inflated, increasing the air pressure value of the axial drive chamber to the target air pressure value (the soft actuators of the antagonistic muscle group side support group are lengthened as a whole), ultimately achieving the desired elbow joint rotation angle θ.

[0058] This distributed control method simulates the low-level co-contraction of antagonistic muscle groups during human physiological activities. Under this coordinated drive, the actual joint driving angle closely matches the theoretically predicted angle, with a root mean square error of only 2.49° for angle tracking under a wide range of motion, resulting in a smooth and safe motion trajectory.

[0059] The second application scenario of this invention is described below: progressive resistance rehabilitation training of the elbow joint.

[0060] Use only the prime mover group for lateral drive, and do not use the antagonist group for lateral support. (Refer to...) Figure 10 .

[0061] Step S1, the initial elbow joint angle is Aa, the axial drive chambers of the three soft actuators of the prime mover group side drive group are at normal air pressure (the soft actuators are not extended as a whole), and the stiffness adjustment chambers of the three soft actuators are not supplied with high-pressure gas (the low modulus material layer 122 and the high modulus material layer 123 are not engaged).

[0062] In step S2, low-pressure gas is introduced into the axial drive cavities of the first soft-tooth meshing soft actuator 1-1, the second soft-tooth meshing soft actuator 1-2, and the third soft-tooth meshing soft actuator 1-3 to keep the axial drive cavities full. At the same time, a preset air pressure is introduced into the stiffness adjustment cavities of the first soft-tooth meshing soft actuator 1-1, the second soft-tooth meshing soft actuator 1-2, and the third soft-tooth meshing soft actuator 1-3 to increase stiffness and provide resistance to the joint.

[0063] In step S3, the arm muscles actively exert force, and the elbow joint reaches the angle Ba under the presence of resistance torque, thereby achieving the purpose of training the muscles.

[0064] It should be noted that the magnitude of the joint resistance torque can be adjusted by regulating the radial air pressure in the stiffness adjustment chamber, allowing the patient to perform reciprocating joint movements under different resistance torques to adapt to different stages of rehabilitation. In the early stages of rehabilitation, when the patient's hand strength is relatively low, less air is pumped into the stiffness adjustment chambers of the three soft actuators, resulting in less resistance and easier hand movements. In the later stages of rehabilitation, when the patient's hand strength is relatively high, more air is pumped into the stiffness adjustment chambers of the three actuators, resulting in greater resistance and making hand movements more difficult. This demonstrates that the human arm can reciprocate under the presence of resistance torque.

Claims

1. A flexible exoskeleton system based on the distribution patterns of human muscle groups, characterized in that, It includes a prime mover group side drive group and an antagonist group side support group. The prime mover group side drive group includes a first soft actuator based on soft tooth structure engagement, a second soft actuator based on soft tooth structure engagement, and a third soft actuator based on soft tooth structure engagement. The first soft actuator based on soft tooth structure engagement is fixed by an anchoring device to correspond to the biceps brachii muscle. The second soft actuator based on soft tooth structure engagement is fixed by an anchoring device to correspond to the brachialis muscle. The third soft actuator based on soft tooth structure engagement is fixed by an anchoring device to correspond to the brachioradialis muscle. The antagonistic muscle group side support group includes a fourth soft actuator based on soft tooth structure meshing, a fifth soft actuator based on soft tooth structure meshing and a sixth soft actuator based on soft tooth structure meshing. The fourth soft actuator based on the soft tooth structure engagement is fixed by the anchoring device to the corresponding long side of the triceps brachii, the fifth soft actuator based on the soft tooth structure engagement is fixed by the anchoring device to the corresponding lateral side of the triceps brachii, and the sixth soft actuator based on the soft tooth structure engagement is fixed by the anchoring device to the corresponding anconeus muscle.

2. The flexible exoskeleton system based on the distribution pattern of human muscle groups in series and parallel connection according to claim 1, characterized in that, The first soft actuator based on the meshing of soft teeth is longitudinally parallel to the central axis of the muscle belly where the long head and short head of the biceps brachii meet. Its proximal end is fixed to the limb surface below the coracoid process and acromion of the human shoulder joint, and its distal end extends longitudinally along the anterior side of the upper arm and is fixed to the attachment point of the biceps brachii tendon below the elbow crease. The second soft actuator based on the engagement of soft teeth structure is arranged in the brachialis projection area deep to the biceps brachii, with its proximal end fixed to the skin surface of the anterior lower half of the humerus, extending along the medial side above the lateral epicondyle of the humerus, and its distal end anchored to the corresponding area of ​​the ulnar tuberosity. The third soft actuator based on the engagement of soft teeth structure is arranged on the surface of the brachioradialis muscle belly on the lateral side of the forearm. Its proximal end is fixed to the upper part of the lateral epicondyle crest of the humerus, and the whole extends distally along the radial side of the forearm. Its distal end is fixed to the limb surface above the radial styloid process. The fourth soft actuator based on the meshing of soft teeth is arranged along the longitudinal direction of the long head of the triceps brachii on the posterior side of the upper limb, with its proximal end extending outward and upward and fixed at the projection of the infraglenoid tubercle of the scapula, and its distal end extending longitudinally along the posteromedial side of the upper arm and fixed at the base of the olecranon of the ulna. The fifth soft actuator based on the meshing of soft teeth is arranged along the lateral head of the triceps brachii on the posterolateral side of the upper limb. Its proximal origin is fixed in the bone surface projection area below the greater tubercle of the humerus and above and outside the radial groove, and its distal end converges inward and downward and is fixed to the lateral edge of the olecranon of the ulna. The sixth soft actuator based on the meshing of soft teeth is arranged in the triangular area of ​​the anconeus muscle on the posterolateral side of the elbow joint. Its proximal end is fixed to the posterolateral surface of the lateral epicondyle of the humerus. The entire unit extends in a fan shape to the distal medial side, and its distal end is fixed to the lateral surface of the olecranon of the ulna and the upper region of the posterodorsolateral side of the ulna.

3. The flexible exoskeleton system based on the distribution pattern of human muscle groups in series and parallel connection according to claim 1, characterized in that, The anchoring device includes a connecting support, a cylinder, an end cap, a hinge shaft, and a connecting rod. One end of the connecting rod is hinged to the connecting support, and the end cap is fixedly connected to the other end of the connecting rod. The end cap is located inside the cylinder and is fixed. The end cap and the opening of the cylinder form an installation chamber. The connecting support is provided with an installation hole, and the end cap is provided with multiple through holes.

4. The flexible exoskeleton system based on the distribution pattern of human muscle groups in series and parallel connection according to claim 1, characterized in that, The prime mover group side drive group and the antagonist group side support group are configured as follows: The relationship between the air pressure value of the axial drive chamber of the three soft actuators of the prime mover side drive group and the three soft actuators of the antagonist side support group and the elbow joint rotation angle θ is established in advance. Step S1: In the initial state, the upper limb is in an extended state, the elbow joint angle is 0°, and the axial drive chambers of the first soft actuator based on soft tooth structure meshing, the second soft actuator based on soft tooth structure meshing, and the third soft actuator based on soft tooth structure meshing are all introduced with high pressure gas. The first soft actuator based on soft tooth structure meshing, the second soft actuator based on soft tooth structure meshing, and the third soft actuator based on soft tooth structure meshing are all in an extended state, generating traction torque. The sixth soft actuator based on soft tooth meshing has no air pressure and is in a normal state. The fourth soft actuator based on soft tooth meshing has high pressure gas and is in an elongated state. The fifth soft actuator based on soft tooth meshing has high pressure gas and is in an elongated state. The stiffness adjustment chambers of the six soft actuators are kept at normal pressure. Step S2: Calculate the target air pressure value of the axial drive cavity in the corresponding 6 soft actuators based on the desired elbow joint rotation angle θ. Then, release the air from the axial drive cavities of the first, second, and third soft actuators based on soft tooth structure meshing. Depressurize to reduce the air pressure value of the axial drive cavity to the target air pressure value, and shorten the overall length of the three soft actuators. Simultaneously, the axial drive chambers of the fourth soft-tooth structure meshing soft actuator, the fifth soft-tooth structure meshing soft actuator, and the sixth soft-tooth structure meshing soft actuator (represented by the green line, which maps the elbow muscle) are inflated, increasing the air pressure value of the axial drive chamber to the target air pressure value, ultimately achieving the desired elbow joint rotation angle θ.

5. The flexible exoskeleton system based on the distribution pattern of human muscle groups in series and parallel connection according to claim 1, characterized in that, The prime mover group side drive group and the antagonist group side support group are configured as follows: Only use the prime mover group for lateral drive, and do not use the antagonist group for lateral support; Step S1: In the initial state, the elbow joint angle is Aa. The axial drive chambers of the three soft actuators of the prime mover muscle group side drive group are at normal air pressure, and the stiffness adjustment chambers of the three soft actuators are not supplied with high-pressure gas. Step S2: Low-pressure gas is introduced into the axial drive cavities of the first, second, and third soft actuators based on soft tooth structure meshing to keep the axial drive cavities full. At the same time, a preset air pressure is introduced into the stiffness adjustment cavities of the first, second, and third soft actuators based on soft tooth structure meshing to increase stiffness and provide joint resistance. Step S3: The arm muscles actively exert force to make the elbow joint angle reach another angle value Ba, thereby achieving the purpose of muscle training.

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