Modularized wearable upper limb exoskeleton

Abstract

The modularized wearable upper limb exoskeleton comprises a shoulder rest module attached to the shoulder and back of a human body, one end of the shoulder rest module is connected with a power control module, the other end of the shoulder rest module is connected with an upper arm exoskeleton module, the upper arm exoskeleton module is attached to the upper arm of a user, and the bottom of the upper arm exoskeleton module is connected with an elbow joint module; the elbow joint module is connected with the forearm exoskeleton module; the forearm exoskeleton module is attached to the forearm of the human body and can rotate with the elbow joint module as the center axis. The forearm exoskeleton module is connected with the hand exoskeleton module, and the hand exoskeleton module accommodates the hand of a user; and the lengths of the upper arm exoskeleton module and the front arm exoskeleton module are adjustable. The mechanical structures of the shoulders, the upper arms, the elbows, the forearms and the hands of the modular mechanical exoskeleton flexibly adapt to the sizes of different parts of the body of a patient; the light-weight mechanical exoskeleton is convenient for the patient to use and perform rehabilitation training in daily life.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the technical field of rehabilitation equipment, and specifically relates to a modular wearable upper limb exoskeleton. BACKGROUND

[0002] In recent years, with the development of medical technology, the mortality rate of stroke patients has decreased significantly, and most stroke survivors will have motor dysfunction. 55% to 75% of stroke patients will have persistent upper limb and hand motor dysfunction, resulting in a decrease in the quality of daily life. Active exoskeleton devices are expected to improve patient rehabilitation outcomes in the early stage (first 6 months) and enable patients to achieve maximum functional improvement and self-care ability. In the later stage, active exoskeletons can partially replace the functions that patients cannot recover, further improving self-care ability and quality of life.

[0003] In the prior art, the invention with publication number CN 115227550 B discloses a human-computer compatible and singular-avoiding seven-degree-of-freedom upper limb exoskeleton rehabilitation robot. Based on the human-computer compatibility concept, the invention combines active joints and passive joints to design the whole human-machine system as a constraint system, ensuring human-computer motion compatibility and realizing single-joint and multi-joint full-range rehabilitation training of the scapular belt, shoulder joint, elbow joint, forearm, and wrist joint. To adapt to different body sizes, shoulder height adjusting devices, upper arm length adjusting devices, forearm length adjusting devices, and scapular belt lifting and lowering devices are designed. However, the upper arm and forearm length adjusting mechanisms are complex, have many parts, are large in size and heavy in weight, and lack structures for hand rehabilitation training.

[0004] The invention with publication number CN 118454202 B discloses an upper limb exoskeleton for rehabilitation training. The invention uses air bags to assist patients in gripping the handlebars. By engaging the arc-shaped tooth row with the driving gear, the arc-shaped disc frame and the arc-shaped frame, as well as the air bags inside the arc-shaped frame, are adjusted in position. When the patient's hand cannot grip the handlebars, the air bag position is adjusted to act on the hand area to ensure that the patient's hand area and the handlebars are tightly gripped. However, the invention lacks effective adjusting mechanisms and cannot well adapt to patients with different arm lengths, and lacks structures for hand rehabilitation training.

[0005] The application with the publication number CN107374907 B discloses a wearable upper limb exoskeleton rehabilitation device, which comprises a fixed back plate, a driving module, an elbow joint exoskeleton module, a joint mechanical hard stop device, a three-way adjustable adaptive module, a shoulder joint module and the like. The device transmits torsion to various joint winches through Bowden wires, and is used for the coupled rehabilitation movement of the upper arm and the exoskeleton, the rehabilitation training of the elbow, and the coupled rehabilitation movement of the forearm and the exoskeleton. However, the three-way adjustable adaptive module adjusts the length of the exoskeleton to adapt to different human body sizes by adjusting the position of the locking screw in the adjusting sliding groove, the adjustment needs to be assisted by a special tool, and the device is inconvenient for patients with upper limb defects to use, and lacks a structure for hand rehabilitation training. Utility model content

[0006] The utility model provides a modularization wearable upper limb exoskeleton, and the design concept lies in the mechanical structure of the shoulder, upper arm, elbow, forearm and hand of the modularization mechanical exoskeleton, which flexibly adapts to the size of different parts of the patient's body, reduces redundant mechanical structure at the same time, makes the light weight mechanical exoskeleton convenient for the patient to use and carry out rehabilitation training in daily life, and balances the load of the two shoulders by separating the power control module and the exoskeleton module into two shoulders.

[0007] A modularization wearable upper limb exoskeleton comprises a shoulder support module 1 that fits the human body shoulder and back, defines the shoulder on the side of the arm of the user suffering from the disease as the diseased side shoulder, and defines the shoulder on the side of the healthy arm of the user as the healthy side shoulder. One end of the shoulder support module 1 on the left and right sides and located at the healthy side shoulder is connected with a power control module 2, and one end of the shoulder support module 1 on the left and right sides and located at the diseased side shoulder is connected with an upper arm exoskeleton module 3. The upper arm exoskeleton module 3 fits the upper arm of the user, and the bottom of the upper arm exoskeleton module 3 is connected with an elbow joint module 4.

[0008] The elbow joint module 4 is connected with a forearm exoskeleton module 5. The forearm exoskeleton module 5 fits the forearm of the human body and can rotate around the elbow joint module 4 as the central axis. The forearm exoskeleton module 5 is connected with a hand exoskeleton module 6, and the hand exoskeleton module 6 accommodates the hand of the user. The length of the upper arm exoskeleton module 3, the forearm exoskeleton module 5 and the hand exoskeleton module 6 can be adjusted.

[0009] More specifically, the shoulder support module 1 can be divided into a left shoulder support module 14 and a right shoulder support module 15 from the middle part. A shoulder width adjusting assembly 16 is connected between the left shoulder support module 14 and the right shoulder support module 15. A knob 161 is arranged on the shoulder width adjusting assembly 16, the distance between the left shoulder support module 14 and the right shoulder support module 15 can be changed by rotating the knob 161, and different shoulder widths can be adapted.

[0010] The shoulder support module 1 is provided with shoulder support protrusions 19 on the top, which can be respectively placed on the top of the left and right shoulders of the human body. The top of the shoulder support protrusions 19 is provided with a shoulder strap magnetic buckle 192 and a shoulder support magnetic buckle 191. The top of the shoulder support protrusion close to the affected side shoulder is provided with a control box 17, and the top of the shoulder support protrusion close to the healthy side shoulder is provided with a control box reserved position 18. The shoulder strap magnetic buckle 192 is connected to the bottom of the shoulder support module 1 through the shoulder strap 11, forming a ring structure allowing the human arm to pass through.

[0011] The control box 17 can control the circuit, and the control box 17 is electrically connected to the power supply control module 2, the upper arm exoskeleton module 3, the elbow joint module 4, the forearm exoskeleton module 5 and the hand exoskeleton module 6 through the connecting line 7. The shoulder support magnetic buckle 191 on the left side is connected to the power supply control module 2, and the shoulder support magnetic buckle 191 on the right side is connected to the upper arm exoskeleton module 3.

[0012] The chest strap 12 can be connected through the chest strap magnetic buckle 13, so that the shoulder support module 1 is attached to the human body.

[0013] More specifically, the control box 17 is provided with a mode key 171, a power key 172 and a control indicator light 173.

[0014] More specifically, the upper arm exoskeleton module 3 includes an arm support assembly 31 that can accommodate the right upper arm of the human body, and the arm support assembly 31 includes an arc-shaped arm support lining 311. The arm support lining 311 is connected to a detachable arm support band 312, and the arm support lining 311 and the arm support band 312 form a cylindrical surface structure that can accommodate the right upper arm of the human body.

[0015] The side of the arm support lining 311 close to the center of the cylindrical surface structure is defined as the inner side, and the side away from the center of the cylindrical surface structure is defined as the outer side. The outer side of the arm support lining 311 is provided with an upper arm support 313 and a lower arm support 314. The upper arm support 313 and the lower arm support 314 are clamped to form an arm support sliding groove 316 around the arm support lining 311. The upper arm support 313 and the lower arm support 314 are fixed by screws, and the arm support hinge 315 is connected and fixed to the upper arm support 313 and the lower arm support 314 by a pin shaft. The upper arm support 313 is connected to the arm support connecting band 317, and the arm support connecting band 317 is connected to the shoulder support magnetic buckle 191 on the shoulder support module 1 through the first quick release buckle 318 at the top end of the arm support connecting band 317.

[0016] The arm support sliding groove 316 is provided with an arm support base 32 that can slide along the arm support sliding groove 316. The arm support base 32 is connected to the base 94 of one length-adjustable arm exoskeleton module 9, and the elbow joint ring 933 of the arm exoskeleton module 9 is connected to the elbow joint module.

[0017] More specifically, the forearm exoskeleton module 5 includes a wrist support 51 and one length-adjustable arm exoskeleton module 9.

[0018] The wrist support 51 can surround the user's forearm, and the inner side of the wrist support 51 is provided with a wrist support soft rubber band 53; the outer side of the wrist support 51 is provided with a wrist support limiting groove 52; a wrist support base 54 is embedded in the wrist support limiting groove 52 through a limiting protruding rib 55, and the wrist support base 54 can slide along the wrist support limiting groove 52, facilitating the rotation of the user's wrist; the wrist support 51 is provided with a wrist support quick release buckle 56 for preventing the wrist support base 54 from sliding out of the wrist support limiting groove 52, and the wrist support quick release buckle 56 can realize the quick assembly and disassembly of the wrist support 51 and the arm exoskeleton module 9; the wrist support 51 is connected with the hand exoskeleton module 6 through a rotatable hand adjusting assembly 61.

[0019] One end of the arm exoskeleton module 9 of the forearm skeleton module 5 is connected with the elbow joint module 4 through an elbow joint ring 933, and the other end of the arm exoskeleton module 9 is connected with the wrist support base 54 through a base 94.

[0020] More specifically, the hand exoskeleton module 6 comprises a hand adjusting assembly 61, the hand adjusting assembly 61 is connected with a hand back assembly 62, and the inner cavity of the hand back assembly 62 can accommodate a palm; the side of the hand back assembly 62 close to the thumb is connected with a rotatable thumb assembly 63, and the side of the hand back assembly 62 close to the palm of the remaining four fingers is connected with a four-finger assembly 64, and the length of the four-finger assembly 64 is adjustable; the top of the hand back assembly 62 is provided with a hand driving assembly 65 with a built-in motor, and the hand driving assembly 65 is connected with a connecting line 7; the hand driving assembly 65 can drive the four-finger assembly 64 to rotate, and the four-finger assembly 64 and the hand adjusting assembly 61 are telescopic; the bottom of the hand back assembly 62 is provided with a hand band 66 for fixing.

[0021] More specifically, the arm exoskeleton module is spliced from left to right by the base 94, the main beam 93, the middle shell 92 and the outer shell 91; the outer shell 91 is fixedly connected with the main beam 93 through an outer shell mounting buckle 95 and a screw, the middle shell 92 and the base 94 are fixedly connected through a screw, and the main beam 93 can slide in the cavity between the middle shell 92 and the base 94; one end of the main beam 93 is provided with a clamping groove 932, the other end of the main beam 93 is provided with an elbow joint ring 933, the elbow joint ring 933 is provided with an arc-shaped elbow limiting groove 934, and the elbow joint ring 933 is connected with the elbow joint module 4;

[0022] The inside of the main beam 93 is provided with a wire slot 938 for accommodating the connecting line 7, and the upper and lower sides of the main beam 93 are provided with a plurality of adjusting grooves 935; the main beam 93 is provided with a sliding limiting groove 931, and the base 94 is provided with a sliding limiting block 941 inserted into the sliding limiting groove 931, and the sliding limiting block 941 can limit the sliding of the main beam 93;

[0023] The base 94 is provided with a pin shaft 936 and an adjusting spring sheet 937 near one side of the main beam 93, the pin shaft 936 is sleeved with an adjusting button 96, one end of the adjusting button 96 is clamped into an adjusting slot 935 through an inner cavity slot 942 of the base 94, and the other end is in close contact with the compressible adjusting spring sheet 937; the hole position of the pin shaft 936 passing through the adjusting button 96 is an oblong hole 961;

[0024] The end of the adjusting button 96 clamped into the adjusting slot 935 is defined as a head, and the end of the adjusting button 96 in contact with the adjusting spring sheet 937 is defined as a tail; when the tail of the adjusting button 96 is pressed, the pin shaft 936 in the oblong hole 961 is offset to the head of the adjusting button, the head of the adjusting button 96 pops out of the adjusting slot 935, and the main beam 93 can slide relative to the base 94; when the tail of the adjusting button 96 is not pressed, the adjusting spring sheet 937 is popped up, and the head of the adjusting button 96 is clamped into the adjusting slot 935 again, so that the main beam 93 is stationary relative to the base 94; the inner cavity slot 942 limits the sliding of the adjusting button 96 in the head direction and the tail direction, so that the pin shaft 936 is not in contact with the inner wall near the tail of the oblong hole 961;

[0025] The base 94 is provided with an arm binding belt 97, and a Type-C interface 8 is arranged in the clamping groove.

[0026] More specifically, the elbow joint module 4 comprises a motor 42, and the motor 42 is sleeved with a motor cover 41; the end of the rotating shaft 421 of the motor 42 is fixedly connected with a motor connecting plate 43, the motor connecting plate 43 is connected with an elbow joint pad 44 close to the elbow joint pad 44, and the elbow joint pad 44 is attached to the elbow of the user;

[0027] The rotating shaft 421 of the motor 42 is sleeved with the elbow joint rings 933 on the main beams 93 of the arm exoskeleton modules 9 included in the upper arm exoskeleton module 3 and the forearm exoskeleton module 5; wherein the elbow joint ring 933 of the upper arm exoskeleton module 3 is fixedly connected with the motor shell 422 of the motor 42, and the elbow joint ring 933 of the forearm exoskeleton module 5 is fixedly connected with the motor connecting plate 43; the motor connecting plate 43 is provided with an elbow limiting column 431, the elbow limiting column 431 passes through the elbow limiting grooves 934 on the elbow joint rings 933 of the upper arm exoskeleton module 3 and the forearm exoskeleton module 5, and the rotating angles of the two elbow joint rings 933 are limited, thereby protecting the elbow of the user.

[0028] More specifically, the motor cover 41 is provided with a heat dissipation hole.

[0029] More specifically, the power control module 2 comprises a battery circuit compartment 22, the top of the battery circuit compartment 22 is provided with a battery circuit cabin cover 23, the top of the battery circuit cabin cover 23 is connected with a power connection band 21, the power connection band 21 is connected with the shoulder support magnetic attraction buckle 191 of the shoulder support module 1 through the second quick release buckle 211; the inside of the battery circuit compartment 22 comprises a key panel 25, a battery 26 and a control mainboard 24; the key panel 25 is provided with a Type-C interface 8, the surface of the battery circuit compartment 22 is provided with an indicator light 221, an upper limb power key 222 and an upper limb mode key 223 which are connected with the key panel 25 and the control mainboard 24; the side of the battery circuit compartment 22 close to the arm is provided with an upper arm pad 28, the front and back sides of the battery circuit compartment 22 are connected with a band ring 224, and the band ring 224 is connected with an upper arm band 29.

[0030] More specifically, the arm support connecting band 317 is provided with a wire clamping groove 27, and the wire clamping groove 27 can be embedded with a connecting line 7.

[0031] More specifically, the power connection band 21 is provided with a wire clamping groove 27, and the wire clamping groove 27 can be embedded with a connecting line 7.

[0032] More specifically, the power control module 2 can be connected with an external electromyographic bracelet or a first-level mobile phone through Bluetooth, the human body electromyographic signals received by the electromyographic bracelet can be used for controlling the operation of the exoskeleton, and the exoskeleton can also be controlled through a mobile phone APP and an external program.

[0033] The specific working process of the utility model comprises:

[0034] 1. The user fixes the shoulder support module 1 on the shoulder, fixes the power control module 2 on the healthy arm, and according to the needs, can select the upper arm exoskeleton module 3, the elbow joint module 4, the forearm exoskeleton module 5 and the hand exoskeleton module 6 to be fixed on the arm needing rehabilitation training;

[0035] 2. The user adjusts the length of the arm exoskeleton module 9 by pressing the adjusting button 96 on the arm exoskeleton module 9 through the healthy arm, so that the main beam 93 slides.

[0036] 3. The power control module 2 is connected with the external electromyographic bracelet, the human body electromyographic signals received by the electromyographic bracelet are used for controlling the rotation of the forearm exoskeleton module 5 through the elbow joint module 4, and the human body electromyographic signals received by the electromyographic bracelet are used for controlling the four finger assembly 64 driven by the hand driving assembly 65 of the hand exoskeleton module 6, so as to control the movement of the arm and the hand of the patient and carry out rehabilitation training.

[0037] The utility model has the advantages that:

[0038] 1. Compared with the support exoskeleton rehabilitation robot, the redundant mechanical structure is greatly reduced, the lightweight wearable design is convenient for the patient to use the mechanical exoskeleton without being limited by the site, and each joint can be accurately controlled.

[0039] 2. The parts of the mechanical exoskeleton are modularized, each module can be combined or used independently according to the needs, and the mechanical exoskeleton is convenient to disassemble and use, and the production cost is greatly reduced; meanwhile, the size of the modularized parts of the mechanical exoskeleton can be flexibly adjusted according to the needs of the user, and is suitable for most people and has low cost; the adjusting mechanism has simple structure and light weight.

[0040] 3. The power control module and the mechanical arm are separated on the two shoulders of the user, thereby reducing the burden of the affected side shoulder and balancing the load of the two shoulders.

[0041] 4. The overall control of the mechanical exoskeleton can be realized through the power control module 2, an external electromyographic bracelet or a mobile phone through Bluetooth connection, the electromyographic signal received by the electromyographic bracelet is used for controlling the exoskeleton to run, and the exoskeleton can also be controlled to run through the mobile phone APP and an external program, and the application mode is relatively flexible. BRIEF DESCRIPTION OF DRAWINGS

[0042] Figure 1 It is a structure diagram of a modularized wearable upper limb exoskeleton.

[0043] Figure 2 It is a structure diagram of a shoulder supporting module.

[0044] Figure 3 It is a structure diagram of a power control module.

[0045] Figure 4 It is an inside structure diagram of a power control module.

[0046] Figure 5 It is a structure diagram of an upper arm exoskeleton module.

[0047] Figure 6 It is a structure diagram of an arm supporting assembly of an upper arm exoskeleton module.

[0048] Figure 7 It is a structure diagram of a forearm exoskeleton module.

[0049] Figure 8 It is a structure diagram of a hand exoskeleton module.

[0050] Figure 9 It is a component activity range schematic view of a hand exoskeleton module, wherein the dashed line represents the maximum activity range of the component.

[0051] Figure 10 It is an exploded structure diagram of the base side of the arm exoskeleton module used by the upper arm exoskeleton module and the forearm exoskeleton module.

[0052] Figure 11 is an explosion structure view of the shell side of the arm exoskeleton module used by the upper arm exoskeleton module and the forearm exoskeleton module of the utility model.

[0053] Figure 12 is a main beam sliding range schematic view of the arm exoskeleton module of the utility model, wherein the dotted line represents the maximum sliding range of the main beam.

[0054] Figure 13 is an explosion structure view of the elbow joint module of the utility model. DETAILED DESCRIPTION

[0055] The specific embodiments of the utility model embodiments are described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only used to illustrate and explain the utility model embodiments, and are not used to limit the utility model embodiments.

[0056] In the description of the utility model, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the utility model and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or elements indicated must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the utility model.

[0057] In addition, the terms "first", "second" are only used for description purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined with "first", "second" can explicitly or implicitly include at least one of the features. In the description of the utility model, the meaning of "multiple" is at least two, such as two, three, etc., unless otherwise specifically limited.

[0058] In the utility model, unless otherwise specifically defined and limited, the terms "mounting", "connection", "connection", "fixing" and the like should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected or in communication with each other; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the internal communication of two elements or the interaction relationship between two elements, unless otherwise specifically limited. For ordinary skilled in the art, the specific meaning of the above terms in the utility model can be understood according to the specific circumstances.

[0059] In the present application, unless otherwise explicitly specified and limited, the first feature is "on" or "under" the second feature, which can be direct contact between the first and second features, or indirect contact through an intermediate medium. Moreover, the first feature "above", "above" and "above" the second feature can be directly above or obliquely above the first feature, or only indicate that the horizontal height of the first feature is higher than that of the second feature. The first feature "below", "below" and "below" the second feature can be directly below or obliquely below the first feature, or only indicate that the horizontal height of the first feature is less than that of the second feature.

[0060] In the description of the present application, the description of the terms "one embodiment", "some embodiments", "example", "specific example" or "some examples" means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present application, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in the present application and the features of different embodiments or examples without contradiction.

[0061] The present application will be described in detail below with reference to the accompanying drawings and in conjunction with exemplary embodiments.

[0062] As shown in Figure 1 A modular wearable upper limb exoskeleton comprises a shoulder support module 1 fitted on the human shoulder and back, and the left end of the shoulder support module 1 is connected to a power control module 2. The right end of the shoulder support module 1 is connected to an upper arm exoskeleton module 3, and the positions of the power control module 2 and the upper arm exoskeleton module 3 can be adjusted according to the position changes of the healthy side shoulder and the affected side shoulder. The upper arm exoskeleton module 3 is fitted on the upper arm of the user, and the bottom of the upper arm exoskeleton module 3 is connected to an elbow joint module 4.

[0063] The elbow joint module 4 is connected to a forearm exoskeleton module 5, and the forearm exoskeleton module 5 is fitted on the human forearm and can rotate around the elbow joint module 4 as the center axis. The forearm exoskeleton module 5 is connected to a hand exoskeleton module 6, and the hand exoskeleton module 6 accommodates the user's hand. The length of the upper arm exoskeleton module 3 and the forearm exoskeleton module 5 can be adjusted.

[0064] In some embodiments, as shown in Figure 2 The shoulder support module 1 can be divided into a left shoulder support module 14 and a right shoulder support module 15 from the middle, and a shoulder width adjusting assembly 16 is connected between the left shoulder support module 14 and the right shoulder support module 15. A knob 161 is arranged on the shoulder width adjusting assembly 16, and the distance between the left shoulder support module 14 and the right shoulder support module 15 can be changed by rotating the knob 161 to adapt to different shoulder widths.

[0065] The shoulder support module 1 is provided with shoulder support protrusions 19 on the top, which can be respectively placed on the left and right shoulders of the human body. The top of the shoulder support protrusions 19 is provided with a shoulder strap magnetic buckle 192 and a shoulder support magnetic buckle 191. The top of the shoulder support protrusion 19 close to the affected side shoulder is provided with a control box 17, and the top of the shoulder support protrusion 19 close to the healthy side shoulder is provided with a control box reserved position 18. The shoulder strap magnetic buckle 192 is connected to the bottom of the shoulder support module 1 through the shoulder strap 11, forming a ring structure allowing the human arm to pass through.

[0066] The control box 17 can control the circuit, and the control box 17 is electrically connected to the power supply control module 2, the upper arm exoskeleton module 3, the elbow joint module 4, the forearm exoskeleton module 5 and the hand exoskeleton module 6 through the connecting line 7. The shoulder support magnetic buckle 191 located on the healthy side shoulder is connected to the power supply control module 2, and the shoulder support magnetic buckle 191 located on the affected side shoulder is connected to the upper arm exoskeleton module 3.

[0067] The shoulder strap 11 is connected to the chest strap 12 on the side close to each other. The chest strap 12 can be connected through the chest strap magnetic buckle 13, so that the shoulder support module 1 is attached to the human body.

[0068] In some embodiments, the control box 17 is provided with a mode key 171, a power key 172 and a control indicator light 173.

[0069] In some embodiments, as shown in Figures 5-6 The upper arm exoskeleton module 3 contains an arm support assembly 31 that can accommodate the right upper arm of the human body. The arm support assembly 31 contains an arc-shaped arm support lining 311. The arm support lining 311 is connected to a detachable arm support band 312, and the arm support lining 311 and the arm support band 312 form a cylindrical surface structure that can accommodate the right upper arm of the human body.

[0070] The side of the arm support lining 311 close to the center of the cylindrical surface structure is defined as the inner side, and the side away from the center of the cylindrical surface structure is defined as the outer side. The outer side of the arm support lining 311 is provided with an upper arm support 313 and a lower arm support 314. The upper arm support 313 and the lower arm support 314 are clamped to form an arm support sliding groove 316 around the arm support lining 311. The upper arm support 313 and the lower arm support 314 are fixed by screws, and the arm support hinge 315 is connected and fixed with the upper arm support 313 and the lower arm support 314 by a pin shaft. The upper arm support 313 is connected to the arm support connecting band 317, and the arm support connecting band 317 is connected to the shoulder support magnetic buckle 191 on the shoulder support module 1 through the first quick release buckle 318 at the top end of the arm support connecting band 317.

[0071] The arm support sliding groove 316 is provided with an arm support base 32 that can slide along the arm support sliding groove 316. The arm support base 32 is connected to the base 94 of one arm exoskeleton module 9 with adjustable length, and the elbow joint ring 933 of the arm exoskeleton module 9 is connected to the elbow joint module.

[0072] In some embodiments, as shown in Figure 7As shown, the forearm exoskeleton module 5 comprises a wrist support 51 and an adjustable length arm exoskeleton module 9;

[0073] The wrist support 51 can be wrapped around the user's forearm, and the inner side of the wrist support 51 is provided with a wrist support soft rubber strap 53. The outer side of the wrist support 51 is provided with a wrist support limiting groove 52. A wrist support base 54 is embedded in the wrist support limiting groove 52 through a limiting protrusion 55, and the wrist support base 54 can slide along the wrist support limiting groove 52 to facilitate the rotation of the user's hand. A wrist support quick release buckle 56 is provided on the wrist support 51 to prevent the wrist support base 54 from sliding out of the wrist support limiting groove 52, and the wrist support quick release buckle 56 can realize the quick connection of the wrist support 51 and the arm exoskeleton module 9. The wrist support 51 is connected to the hand exoskeleton module 6 through a rotatable hand adjustment assembly 61.

[0074] One end of the arm exoskeleton module 9 of the forearm exoskeleton module 5 is connected to the elbow joint module 4 through an elbow joint ring 933, and the other end of the arm exoskeleton module 9 is connected to the wrist support base 54 through a base 94.

[0075] In some embodiments, as shown in Figures 8-9 The hand exoskeleton module 6 comprises a hand adjustment assembly 61, which is connected to a hand back assembly 62. The inner cavity of the hand back assembly 62 can accommodate a palm. The side of the hand back assembly 62 close to the thumb is connected to a rotatable thumb assembly 63, and the side of the hand back assembly 62 close to the palm of the remaining four fingers is connected to a four-finger assembly 64, the length of which can be adjusted. The top of the hand back assembly 62 is provided with a hand driving assembly 65 with a built-in motor, and the hand driving assembly 65 is connected to a connecting line 7. The hand driving assembly 65 can drive the four-finger assembly 64 to rotate, and the four-finger assembly 64 and the hand adjustment assembly 61 can be telescopic. Figure 9 The dashed part in the figure shows the maximum rotation and telescopic range of the hand adjustment assembly 61, the thumb assembly 63 and the four-finger assembly 64. The bottom of the hand back assembly 62 is provided with a hand strap 66 for fixing.

[0076] In some embodiments, as shown in Figures 10-12 The arm exoskeleton module is spliced from left to right by the base 94, the main beam 93, the middle shell 92 and the outer shell 91. The outer shell 91 is fixedly connected with the main beam 93 through the outer shell mounting buckle 95 and screws, and the middle shell 92 and the base 94 are fixedly connected through screws. The main beam 93 can slide in the cavity between the middle shell 92 and the base 94. One end of the main beam 93 is provided with a clamping groove 932, and the other end of the main beam 93 is provided with an elbow joint ring 933. The elbow joint ring 933 is provided with an arc-shaped elbow limiting groove 934, and the elbow joint ring 933 is connected to the elbow joint module 4.

[0077] The main beam 93 is internally provided with a wiring groove 938 for accommodating the connecting line 7, and is provided on the upper and lower sides with a plurality of adjusting grooves 935. The main beam 93 is provided with a sliding limiting groove 931, and the base 94 is provided with a sliding limiting block 941 inserted into the sliding limiting groove 931, which can limit the sliding of the main beam 93. The maximum sliding range of the main beam 93 is shown in Figure 12 ;

[0078] The base 94 is provided on one side close to the main beam 93 with a pin shaft 936 and an adjusting spring piece 937. The pin shaft 936 is sleeved with an adjusting button 96, one end of which is clamped into the adjusting groove 935 through the inner cavity slot 942 of the base 94, and the other end is in close contact with the compressible adjusting spring piece 937. The hole position of the pin shaft 936 passing through the adjusting button 96 is an oblong hole 961.

[0079] The end of the adjusting button 96 clamped into the adjusting groove 935 is defined as the head, and the end of the adjusting button 96 in contact with the adjusting spring piece 937 is defined as the tail. When the tail of the adjusting button 96 is pressed, the pin shaft 936 in the oblong hole 961 is offset to the head of the adjusting button, the head of the adjusting button 96 pops out of the adjusting groove 935, and the main beam 93 can slide relative to the base 94. When the tail of the adjusting button 96 is not pressed, the adjusting spring piece 937 is popped up, the head of the adjusting button 96 is clamped into the adjusting groove 935 again, and the main beam 93 is stationary relative to the base 94. The inner cavity slot 942 limits the sliding of the adjusting button 96 in the head direction and the tail direction, so that the pin shaft 936 is not in contact with the inner wall of the oblong hole 961 close to the tail.

[0080] After the head of the adjusting button 96 is embedded in the adjusting groove 935, if the main beam 93 drives the adjusting button 96 to slide in the head direction, the inner cavity slot 942 will limit the sliding distance of the adjusting button 96. When the adjusting button 96 slides in the head direction to the limit distance, the pin shaft 936 is still not in contact with the inner wall of the oblong hole 961. This structure makes the adjusting button 96 unable to lift the head with the pin shaft 936 as the fulcrum and disengage from the adjusting groove. If the oblong hole is replaced by a common round hole structure, the round hole is in close contact with the pin shaft 936, and the head of the adjusting button 96 is easily lifted by the inner cavity slot 942 with the pin shaft 936 in the round hole as the fulcrum and disengaged from the adjusting groove 935. In order to avoid this situation, a button locking structure needs to be added. As can be seen, the oblong hole 961 adjusting button can achieve the same adjusting and positioning effect as the common round hole adjusting button through a simpler structure and a smaller number of components.

[0081] The base 94 is provided with an arm strap 97, and the Type-C interface 8 is arranged in the clamping groove.

[0082] In some embodiments, as Figure 13As shown, the elbow joint module 4 comprises a motor 42, and the motor 42 is covered by a motor cover 41; the end of the rotating shaft 421 of the motor 42 is fixedly connected with a motor connecting plate 43, the motor connecting plate 43 is connected with an elbow joint pad 44 close to the elbow joint pad 44, and the elbow joint pad 44 is attached to the elbow of the user;

[0083] The rotating shaft 421 of the motor 42 is sleeved with the elbow joint rings 933 on the main beams 93 of the arm exoskeleton modules 9 comprised by the upper arm exoskeleton module 3 and the forearm exoskeleton module 5 respectively; wherein the elbow joint ring 933 of the upper arm exoskeleton module 3 is fixedly connected with the motor shell 422 of the motor 42, and the elbow joint ring 933 of the forearm exoskeleton module 5 is fixedly connected with the motor connecting plate 43; the motor connecting plate 43 is provided with an elbow limiting column 431, the elbow limiting column 431 passes through the elbow limiting grooves 934 on the elbow joint rings 933 of the upper arm exoskeleton module 3 and the forearm exoskeleton module 5, and the rotating angles of the two elbow joint rings 933 are limited, thereby protecting the elbow of the user.

[0084] In some embodiments, the motor cover 41 is provided with heat dissipation holes.

[0085] In some embodiments, as shown, Figures 3-4 As shown, the power control module 2 comprises a battery circuit compartment 22, the top of the battery circuit compartment 22 is provided with a battery circuit cover 23, the top of the battery circuit cover 23 is connected with a power connection band 21, the power connection band 21 is connected with the shoulder supporting magnetic attraction buckle 191 of the shoulder supporting module 1 through a second quick release buckle 211; the inside of the battery circuit compartment 22 comprises a key panel 25, a battery 26 and a control mainboard 24; the key panel 25 is provided with a Type-C interface 8, the surface of the battery circuit compartment 22 is provided with an indicator light 221, an upper limb power key 222 and an upper limb mode key 223 which are connected with the key panel 25 and the control mainboard 24; the side of the battery circuit compartment 22 close to the arm is provided with an upper arm pad 28, and the upper arm pad 28 is connected with an upper arm bandage 29.

[0086] In some embodiments, the arm supporting connecting band 317 and the power connection band 21 are provided with wire clamping grooves 27, and the wire clamping grooves 27 can be embedded with connecting lines 7.

[0087] In some embodiments, the power control module 2 can be connected with an external electromyography bracelet or a first-level mobile phone through Bluetooth, the human body electromyography signals received by the electromyography bracelet can be used to control the operation of the exoskeleton, and the exoskeleton can also be controlled through a mobile phone APP and an external program.

[0088] The specific working process of the utility model comprises:

[0089] 1. The user fixes the shoulder supporting module 1 on the shoulder back, fixes the power control module 2 on the healthy arm, and according to the needs, can select the upper arm exoskeleton module 3, the elbow joint module 4, the forearm exoskeleton module 5 and the hand exoskeleton module 6 to be fixed on the arm which needs to be rehabilitated.

[0090] 2. The user adjusts the length of the arm exoskeleton module 9 by pressing the adjustment button 96 on the arm exoskeleton module 9 with the healthy arm, and sliding the main beam 93.

[0091] 3. The power control module 2 is connected with the external electromyographic bracelet, the human body electromyographic signal received by the electromyographic bracelet controls the rotation of the forearm exoskeleton module 5 of the elbow joint module 4, and the human body electromyographic signal received by the electromyographic bracelet controls the four-finger assembly 64 driven by the hand driving assembly 65 of the hand exoskeleton module 6, so as to control the movement of the patient's arm and hand, and carry out rehabilitation training.

[0092] The utility model has the advantages that:

[0093] 1. Compared with the support exoskeleton rehabilitation robot, the redundant mechanical structure is greatly reduced, the lightweight wearable design facilitates the patient to use the mechanical exoskeleton without being limited by the site, and each joint is accurately controlled.

[0094] 2. Each part of the mechanical exoskeleton is modularized, each module can be combined or used independently according to the demand during use, and the disassembly and use are convenient, so that the production cost is greatly reduced; meanwhile, the size of each part of the modularized mechanical exoskeleton can be flexibly adjusted according to the needs of the user, is suitable for most people, and is low in cost; the adjusting mechanism is simple in structure and light in quality.

[0095] 3. The power control module and the mechanical arm are separated on the two shoulders of the user, so that the burden of the affected side shoulder is reduced, and the double-shoulder load is balanced.

[0096] 4. The overall control of the mechanical exoskeleton can be realized by connecting the power control module 2 with the external electromyographic bracelet or the first-class mobile phone through Bluetooth, controlling the exoskeleton operation through the human body electromyographic signal received by the electromyographic bracelet, or controlling the exoskeleton operation through the mobile phone APP and the external program, so that the application mode is relatively flexible.

[0097] Although the embodiments of the utility model have been shown and described above, it can be understood that the above-mentioned embodiments are exemplary, and cannot be understood as the limitation of the utility model, and the ordinary skilled in the art can change, modify, replace and modify the above-mentioned embodiments within the scope of the utility model.

Claims

1. A modular wearable upper limb exoskeleton, characterized in that: It includes a shoulder support module (1) that fits the human shoulder and back, defining the shoulder on the side where the user's diseased arm is located as the affected shoulder and the shoulder on the side where the user's healthy arm is located as the healthy shoulder; the end of the shoulder support module (1) located on the healthy shoulder is connected to the power control module (2), and the end located on the affected shoulder is connected to the upper arm exoskeleton module (3); the upper arm exoskeleton module (3) fits the user's upper arm, and the bottom of the upper arm exoskeleton module (3) is connected to the elbow joint module (4); The elbow joint module (4) is connected to the forearm exoskeleton module (5); the forearm exoskeleton module (5) fits the human forearm and can rotate around the elbow joint module (4) as the central axis; the forearm exoskeleton module (5) is connected to the hand exoskeleton module (6), and the hand exoskeleton module (6) accommodates the user's hand; the lengths of the upper arm exoskeleton module (3), the forearm exoskeleton module (5) and the hand exoskeleton module (6) are adjustable.

2. The modular wearable upper limb exoskeleton according to claim 1, characterized in that: The shoulder support module (1) can be divided into a left shoulder support module (14) and a right shoulder support module (15) from the middle. A shoulder width adjustment component (16) is connected between the left shoulder support module (14) and the right shoulder support module (15). The shoulder width adjustment component (16) is provided with a knob (161), which can be rotated to change the distance between the left shoulder support module (14) and the right shoulder support module (15) to adapt to different shoulder widths. The shoulder support module (1) has a shoulder support protrusion (19) on the top that can be placed on the left and right shoulders of the human body respectively. The shoulder support protrusion (19) has a shoulder strap magnetic buckle (192) and a shoulder support magnetic buckle (191) on the top. The shoulder support protrusion (19) close to the affected shoulder has a control box (17) on the top, and the shoulder support protrusion (19) close to the healthy shoulder has a control box reserved position (18) on the top. The shoulder strap magnetic buckle (192) is connected to the bottom of the shoulder support module (1) through the shoulder strap (11) to form a ring structure that allows the human arm to pass through. The control box (17) can control the circuit. The control box (17) is electrically connected to the power control module (2), the upper arm exoskeleton module (3), the elbow joint module (4), the forearm exoskeleton module (5), and the hand exoskeleton module (6) via the connecting wire (7). The shoulder support magnetic buckle (191) located on the healthy shoulder is connected to the power control module (2), and the shoulder support magnetic buckle (191) located on the affected shoulder is connected to the upper arm exoskeleton module (3). The shoulder straps (11) are connected to the chest strap (12) on the side closest to each other; the chest strap (12) can be connected by the chest strap magnetic buckle (13) so that the shoulder support module (1) fits the human body.

3. The modular wearable upper limb exoskeleton according to claim 2, characterized in that: The control box (17) is equipped with a mode key (171), a power key (172) and a control indicator light (173).

4. A modular wearable upper limb exoskeleton according to claim 2, characterized in that: The upper arm exoskeleton module (3) includes an arm support assembly (31) that can accommodate the right upper arm of a human body. The arm support assembly (31) includes an arc-shaped arm support liner (311). The arm support liner (311) is connected to a detachable arm support strap (312). The arm support liner (311) and the arm support strap (312) form a cylindrical structure that can accommodate the right upper arm of a human body. The inner side of the arm support liner (311) is defined as the side closest to the center of the cylindrical structure, and the outer side is defined as the side furthest from the center of the cylindrical structure. The outer side of the arm support liner (311) is provided with an upper arm support (313) and a lower arm support (314). The upper arm support (313) and the lower arm support (314) are clamped together to form an arm support groove (316) surrounding the arm support liner (311). The upper arm support (313) and the lower arm support (314) are fixed by screws, and the arm support hinge (315) is connected and fixed to the upper arm support (313) and the lower arm support (314) by a pin. The upper arm support (313) is connected to an arm support connecting strap (317), and the arm support connecting strap (317) is connected to the shoulder support magnetic buckle (191) on the shoulder support module (1) through the first quick-release buckle (318) at its top. The arm support groove (316) is provided with an arm support base (32) that can slide along the arm support groove (316). The arm support base (32) is connected to a base (94) on an arm exoskeleton module (9) with adjustable length. The elbow joint ring (933) of the arm exoskeleton module (9) is connected to the elbow joint module.

5. A modular wearable upper limb exoskeleton according to claim 4, characterized in that: The forearm exoskeleton module (5) includes a wrist rest (51) and an arm exoskeleton module (9) with adjustable length. The wrist support (51) can wrap around the user's forearm. The inner side of the wrist support (51) is provided with a wrist support soft rubber strap (53). The outer side of the wrist support (51) is provided with a wrist support limiting groove (52). A wrist support base (54) is embedded in the wrist support limiting groove (52) through a limiting protrusion (55). The wrist support base (54) can slide along the wrist support limiting groove (52) to facilitate the user's wrist rotation. The wrist support (51) is provided with a wrist support quick release buckle (56) to prevent the wrist support base (54) from sliding out of the wrist support limiting groove (52). The wrist support (51) is connected to the hand exoskeleton module (6) through a rotatable hand adjustment component (61). One end of the arm exoskeleton module (9) of the forearm exoskeleton module (5) is connected to the elbow joint module (4) via the elbow joint ring (933), and the other end of the arm exoskeleton module (9) is connected to the wrist support base (54) via the base (94).

6. A modular wearable upper limb exoskeleton according to claim 5, characterized in that: The hand exoskeleton module (6) includes a hand adjustment component (61), which is connected to a back of hand component (62). The inner cavity of the back of hand component (62) can accommodate the palm. A rotatable thumb component (63) is connected to the side of the back of hand component (62) near the thumb. A four-finger component (64) is connected to the side of the back of hand component (62) near the other four fingers of the palm. The length of the four-finger component (64) is adjustable. A hand drive component (65) with a built-in motor is provided at the top of the back of hand component (62). A connecting wire (7) is connected to the hand drive component (65). The hand drive component (65) can drive the four-finger component (64) to rotate. The four-finger component (64) and the hand adjustment component (61) are retractable. A hand strap (66) with a fixing function is provided at the bottom of the back of hand component (62).

7. A modular wearable upper limb exoskeleton according to claim 6, characterized in that: The arm exoskeleton module (9) is composed of a base (94), a main beam (93), a middle shell (92), and an outer shell (91) from left to right. The outer shell (91) is fixedly connected to the main beam (93) by the outer shell mounting buckle (95) and screws. The middle shell (92) and the base (94) are fixedly connected by screws. The main beam (93) can slide in the cavity between the middle shell (92) and the base (94). One end of the main beam (93) is provided with a slot (932), and the other end of the main beam (93) is provided with an elbow joint ring (933). The elbow joint ring (933) is provided with an arc-shaped elbow limiting groove (934). The elbow joint ring (933) is connected to the elbow joint module (4). The main beam (93) is provided with a wiring groove (938) to accommodate the connecting wire (7), and several adjustment grooves (935) are provided on the upper and lower sides of the main beam (93); the main beam (93) is provided with a sliding limit groove (931), and the base (94) is provided with a sliding limit block (941) that is inserted into the sliding limit groove (931). The sliding limit block (941) can restrict the sliding of the main beam (93); The base (94) is provided with a pin (936) and an adjusting spring plate (937) on the side near the main beam (93). An adjusting button (96) is fitted on the pin (936). One end of the adjusting button (96) is inserted into the adjusting groove (935) through the inner cavity groove (942) of the base (94), and the other end is in close contact with the compressible adjusting spring plate (937). The hole through which the pin (936) passes on the adjusting button (96) is an oblong hole (961). Define the end of the adjustment button (96) that is inserted into the adjustment groove (935) as the head, and the end of the adjustment button (96) that contacts the adjustment spring plate (937) as the tail. When the tail of the adjustment button (96) is pressed, the pin (936) in the elongated hole (961) shifts towards the head of the adjustment button, and the head of the adjustment button (96) pops out of the adjustment groove (935), allowing the main beam (93) to slide relative to the base (94). When the tail of the adjustment button (96) is not pressed, the adjustment spring plate (937) springs up, causing the head of the adjustment button (96) to re-insert into the adjustment groove (935), and the main beam (93) remains stationary relative to the base (94). The inner cavity groove (942) restricts the sliding of the adjustment button (96) towards the head and tail, so that the pin (936) does not contact the inner wall of the elongated hole (961) near the tail. The base (94) is equipped with an arm strap (97) and a Type-C interface (8) is provided in the slot.

8. A modular wearable upper limb exoskeleton according to claim 7, characterized in that: The elbow joint module (4) includes a motor (42), which is covered by a motor cover (41); the end of the shaft (421) of the motor (42) is fixedly connected to a motor connecting plate (43), and the motor connecting plate (43) is connected to a pad near the elbow joint (44), which fits the user's elbow. The motor (42) has an elbow joint ring (933) on the main beam (93) of the arm exoskeleton module (9) included in the upper arm exoskeleton module (3) and the forearm exoskeleton module (5). The elbow joint ring (933) of the upper arm exoskeleton module (3) is fixedly connected to the motor housing (422) of the motor (42), and the elbow joint ring (933) of the forearm exoskeleton module (5) is fixedly connected to the motor connecting plate (43). The motor connecting plate (43) has an elbow limiting post (431), which passes through the elbow limiting groove (934) on the elbow joint ring (933) of the upper arm exoskeleton module (3) and the forearm exoskeleton module (5) to limit the rotation angle of the two elbow joint rings (933).

9. A modular wearable upper limb exoskeleton according to claim 8, characterized in that: The motor housing (41) is provided with heat dissipation holes.

10. A modular wearable upper limb exoskeleton according to claim 2, characterized in that: The power control module (2) includes a battery circuit compartment (22), the top of which is provided with a battery circuit cover (23), and the top of the battery circuit cover (23) is connected with a power connection strap (21). The power connection strap (21) is connected to the shoulder support magnetic buckle (191) of the shoulder support module (1) through a second quick-release buckle (211). The battery circuit compartment (22) contains a button panel (25), a battery (26), and a control motherboard (24). The button panel (25) is provided with a Type-C interface (8). The surface of the battery circuit compartment (22) is provided with an indicator light (221), an upper limb power button (222), and an upper limb mode button (223) that connect the button panel (25) and the control motherboard (24). The side of the battery circuit compartment (22) near the arm is provided with an upper arm pad (28). The front and rear sides of the battery circuit compartment (22) are connected with strap rings (224), and the strap rings (224) are connected to the upper arm straps (29).

11. A modular wearable upper limb exoskeleton according to claim 4, characterized in that: The arm support connecting strap (317) is provided with a wire-holding groove (27), which can be used to embed a connecting wire (7).

12. A modular wearable upper limb exoskeleton according to claim 10, characterized in that: The power connector (21) is provided with a wire slot (27), which can be used to embed the connecting wire (7).

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