Upper limb rehabilitation exoskeleton equipment

Abstract

The utility model provides upper limb rehabilitation exoskeleton equipment which comprises an equipment body and an arm exoskeleton mechanism, the equipment body and the arm exoskeleton mechanism are sequentially connected, the arm exoskeleton mechanism is composed of a shoulder assembly, an elbow assembly and a wrist floating assembly, and the equipment body is provided with a first motor and a second motor; the shoulder component comprises a first large arm connecting plate and a shoulder motor; the elbow assembly comprises a first forearm connecting plate and an elbow motor; the wrist floating assembly comprises a grip rod, a fixing plate and a wrist connecting plate, the upper end of the fixing plate is slidably connected with the wrist connecting plate, and the lower end of the fixing plate is rotatably connected with the grip rod. In the implementation mode, the shoulder motor and the elbow motor are used for driving, so that the upper arms and the forearms of the user can be guided and assisted to perform rehabilitation training actions. And the wrist floating assembly can realize three-dimensional actions of swinging, rotating and sliding of the gripping rod, and has the effect of compensating the distance difference generated in the action process of the human hand and the gripping rod, so that the pulling feeling is reduced.

Description

Technical Field

[0001] This utility model relates to the field of medical device technology, and in particular to an upper limb rehabilitation exoskeleton device. Background Technology

[0002] Upper limb rehabilitation equipment is a medical device that helps patients regain upper limb function. Related upper limb rehabilitation equipment includes exoskeletons, which, by simulating human arm movements, can guide and assist patients in rehabilitation training, and are therefore suitable for patients with upper limb dysfunction caused by various diseases.

[0003] Specifically, the relevant exoskeleton structure typically uses motors to drive the arm bones to rotate in order to achieve abduction movements.

[0004] The rotation center of the motor cannot be perfectly aligned with the rotation axis of the human shoulder. This can cause a distance difference between the end of the arm bones (i.e., the gripping part) and the hand when the arm bones rotate, resulting in a noticeable pulling sensation in the arm. This can negatively impact the patient's recovery.

[0005] Therefore, a new upper limb rehabilitation device is needed to solve the above problems. Utility Model Content

[0006] The summary section of this utility model is intended to briefly introduce the concepts, which will be described in detail in the detailed description section below. This summary section is not intended to identify key or essential features of the claimed technical solution, nor is it intended to limit the scope of the claimed technical solution.

[0007] This invention provides an upper limb rehabilitation exoskeleton device to solve the technical problems mentioned in the background section above.

[0008] This utility model discloses an upper limb rehabilitation exoskeleton device, comprising a main body connected in sequence and an arm exoskeleton composed of a shoulder assembly, an elbow assembly, and a wrist floating assembly connected in sequence.

[0009] The main body of the device is equipped with a first motor and a second motor. The second motor is connected to the shoulder assembly, and the drive shaft of the first motor is connected to the housing of the second motor. The axis of the first motor is perpendicular to the axis of the second motor. The first motor is used to drive the arm exoskeleton to rotate around the axis of the first motor. The second motor is used to drive the arm exoskeleton to rotate around the axis of the second motor.

[0010] The shoulder assembly includes a first boom connecting plate and a shoulder motor for driving the first boom connecting plate to rotate and connected to the main body of the equipment.

[0011] The elbow assembly includes a first forearm connecting plate and an elbow motor for driving the first forearm connecting plate to rotate and connected to the first upper arm connecting plate.

[0012] The wrist floating assembly includes a grip bar, a fixing plate, and a wrist connecting plate that is horizontally swingable to the first forearm connecting plate. The upper end of the fixing plate is slidably connected to the wrist connecting plate, and the lower end of the fixing plate is rotatably connected to the grip bar.

[0013] Optionally, the shoulder assembly further includes a shoulder connecting plate, which is fixedly connected to the housing of the shoulder motor.

[0014] Optionally, the elbow assembly further includes a second upper arm connecting plate, which is fixedly connected to the housing of the elbow motor.

[0015] Optionally, the second upper arm connecting plate is provided with a plurality of first threaded holes, and a locking knob passes through the first upper arm connecting plate and engages with the corresponding first threaded holes to adapt to the user's upper arm length and lock.

[0016] Optionally, the wrist floating assembly further includes a second forearm connecting plate, which is horizontally swaying connected to the wrist connecting plate via a wrist rotation axis.

[0017] Optionally, the second forearm connecting plate is provided with multiple second threaded holes, and a locking knob passes through the first forearm connecting plate and engages with the corresponding second threaded holes to adapt to the user's forearm length and lock.

[0018] Optionally, the wrist floating assembly further includes a wrist joint rod, the gripping rod is connected to the first end of the wrist joint rod, the second end of the wrist joint rod is fixed with a rotating shaft, the lower end of the fixing plate is embedded in a retaining sleeve, a bearing is provided inside the retaining sleeve, and the rotating shaft is fitted into the bearing.

[0019] Optionally, the wrist connecting plate has a strip-shaped opening at the end opposite to the grip bar, and two guide shafts are provided in the strip-shaped opening. The upper end of the fixing plate is slidably fitted onto the two guide shafts.

[0020] Optionally, both ends of each guide shaft are fixedly connected to the strip opening via fixing blocks.

[0021] Optionally, each of the guide shafts is slidably fitted with a sliding sleeve, and springs are connected between the two ends of the sliding sleeve and the corresponding fixing block. The upper end of the fixing plate is fixedly connected to the sliding sleeve.

[0022] The above embodiments of this utility model have the following beneficial effects: By driving the arm exoskeleton mechanism to rotate via the first motor, the device can switch between left and right arm rehabilitation training. Driving the arm exoskeleton mechanism to rotate via the second motor enables switching between different training modes, thus improving the device's versatility.

[0023] The shoulder motor can drive the first upper arm connecting plate to rotate, thereby guiding and assisting the user's upper arm in rehabilitation movements.

[0024] The elbow motor can drive the first forearm connecting plate to rotate, thereby guiding and assisting the user's forearm to perform flexion and extension movements.

[0025] The wrist connection plate can swing relative to the elbow assembly, the grip bar can rotate relative to the fixed plate, and the fixed plate and the wrist connection plate can slide together, thus realizing the three-dimensional movements of the grip bar: swinging, rotating, and sliding, which is more in line with the movement characteristics of the human body.

[0026] Even if the shoulder and shoulder motor are not concentric when the user performs abduction movements, resulting in a distance difference between the grip bar and the user's hand and causing a pulling sensation, the fixing plate can slide relative to the wrist connecting plate to adjust the position of the grip bar, compensate for the distance difference, reduce the user's arm pulling sensation, better facilitate rehabilitation training, and improve the reliability of the device. Attached Figure Description

[0027] To more clearly illustrate the specific embodiments of this utility model or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0028] Figure 1 This is a front view of one embodiment of the upper limb rehabilitation exoskeleton device of this utility model;

[0029] Figure 2 This is a schematic diagram of the structure of one embodiment of the upper limb rehabilitation exoskeleton device of this utility model;

[0030] Figure 3 This is a schematic diagram of another embodiment of the upper limb rehabilitation exoskeleton device of this utility model;

[0031] Figure 4 This is a schematic diagram of the structure of one embodiment of the wrist floating component of this utility model;

[0032] Figure 5 This is a cross-sectional view of one embodiment of the wrist floating component of this utility model;

[0033] Figure 6 for Figure 5 Enlarged view of point A in the middle.

[0034] Explanation of reference numerals in the attached figures:

[0035] 1. Main body of the equipment; 11. Base; 12. Casters; 13. Foot; 14. First motor; 15. Second motor; 16. Display;

[0036] 2. Shoulder assembly; 21. Shoulder connecting plate; 22. Shoulder motor; 23. First boom connecting plate;

[0037] 3. Elbow assembly; 31. Second upper arm connecting plate; 32. Locking knob; 33. Elbow motor; 34. First forearm connecting plate;

[0038] 4. Wrist floating assembly; 41. Second forearm connecting plate; 42. Wrist connecting plate; 421. Strip opening; 43. Fixing plate; 431. Stop sleeve; 432. Bearing; 44. Grip bar; 441. Sponge sleeve; 45. Wrist joint bar; 451. Wrist rotation axis; 46. Rotation axis; 47. Guide shaft; 471. Fixing block; 48. Spring; 49. Sliding sleeve. Detailed Implementation

[0039] The technical solution of this utility model will be clearly and completely described below with reference to the embodiments. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0040] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.

[0041] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the stated features. In the description of this utility model, "a plurality of" means two or more, unless otherwise explicitly specified. Furthermore, the terms "installed," "connected," and "linked" should be interpreted broadly; for example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0042] This disclosure will now be described in detail with reference to the accompanying drawings and embodiments.

[0043] Please refer to the following first. Figure 1 and Figure 2 , Figure 1 This is a front view of one embodiment of the upper limb rehabilitation exoskeleton device of this utility model; Figure 2 This is a schematic diagram of one embodiment of the upper limb rehabilitation exoskeleton device of this utility model. Figure 1 and Figure 2 As shown, the upper limb rehabilitation exoskeleton device includes a main body 1 and an arm exoskeleton mechanism connected in sequence. The arm exoskeleton mechanism consists of a shoulder component 2, an elbow component 3, and a wrist floating component 4 connected in sequence. The shoulder component 2 is connected to the main body 1.

[0044] The main body 1 of the aforementioned device may include a base 11, and four casters 12 may be provided at the bottom of the base 11 to enable the device to move. Furthermore, a height-adjustable foot 13 may also be provided at the bottom of the base 11, for example, an electric push rod or an electromagnetic push rod may be provided on the foot 13, so that the foot 13 can extend and engage with the ground to fix the device.

[0045] A display 16 can also be installed on the base 11. The display 16 can serve as an interactive interface with the user, who can set relevant parameters as needed and display the current training screen, etc.

[0046] Please see Figure 3 And continue to refer to Figure 2 , Figure 3 This is a schematic diagram of another embodiment of the upper limb rehabilitation exoskeleton device of this utility model. Figure 2As shown, a first motor 14 and a second motor 15 can also be mounted on the base 11. The drive shaft of the first motor 14 protrudes horizontally from the base 11 and is connected to the housing of the second motor 15 via a connecting plate. The drive shaft of the second motor 15 is connected to the shoulder assembly 2, and the axis of the first motor is perpendicular to the axis of the second motor.

[0047] The first motor 14 can drive the second motor 15 and the arm exoskeleton mechanism to rotate around the axis of the transmission shaft of the first motor 14, so that the arm exoskeleton mechanism rotates from the right side of the base 11 ( Figure 2 Rotate the center direction to the left side of base 11. Figure 2 (The direction in the middle). This allows for switching between rehabilitation training for the user's left and right arms.

[0048] Specifically, during use, the upper limb rehabilitation exoskeleton device is placed to one side of the bed, and the user lies on the bed to perform rehabilitation training. If the user's head is facing to the left ( Figure 2 The device can be positioned in the direction indicated on the bed to perform rehabilitation training on the user's left arm. When rehabilitation training is needed on the user's right arm, the upper limb rehabilitation exoskeleton device can be placed on the opposite side of the bed, and the arm exoskeleton mechanism can be rotated 180° by the first motor 14. In this way, even if the user cannot move, rehabilitation training on both the left and right arms can be achieved by switching the first motor 14.

[0049] like Figure 2 As shown, during rehabilitation training, the user's left arm can be strapped to the arm exoskeleton mechanism, with the shoulder located below shoulder component 2. When shoulder component 2 rotates, it enables the user's left arm to perform an abduction movement around shoulder component 2. When elbow component 3 rotates, it enables the user's left arm to perform a flexion movement in the horizontal direction, thereby assisting the user in rehabilitation.

[0050] The aforementioned second motor 15 can drive the arm exoskeleton mechanism to rotate counterclockwise around the axis of the drive shaft of the second motor 15. Figure 2 Rotate the viewpoint observed from the left side of the center by 90° to obtain the following... Figure 3 The state shown. At this time, you can raise your arm or bend your elbow vertically.

[0051] Specifically, the user's left arm can be strapped to the arm exoskeleton mechanism, with the shoulder located on the left side of shoulder component 2. Figure 3 (In the direction of rotation). When the shoulder component 2 rotates, it enables the user's left arm to rotate around the shoulder component 2 and perform an arm-raising motion. When the elbow component 3 rotates, it enables the user's left arm to perform an elbow-flexing motion in the vertical direction, thereby assisting the user in rehabilitation.

[0052] In other words, by driving the exoskeleton mechanism to rotate via the first motor 14, the device can switch between left and right arm rehabilitation training. The second motor 15, driving the exoskeleton mechanism to rotate, enables switching between different training modes, thus improving the device's versatility.

[0053] The aforementioned shoulder assembly 2 may include a shoulder connecting plate 21, a shoulder motor 22, and a first upper arm connecting plate 23. The left end of the aforementioned shoulder connecting plate 21 ( Figure 1 The right end of the shoulder connecting plate 21 (in the direction of the middle) is connected to the second motor 15. Figure 1 The shoulder motor 22 is fixedly connected to the housing of the shoulder motor 22 (in the direction of the center). The drive shaft of the shoulder motor 22 is connected to the left end of the first upper arm connecting plate 23, and the right end of the first upper arm connecting plate 23 is connected to the elbow assembly 3. Figure 2 Taking the abduction movement as an example, when the shoulder motor 22 is started, it can drive the first upper arm connecting plate 23, elbow component 3 and wrist floating component 4 to rotate, simulating the abduction movement of the upper arm and shoulder, thereby guiding and assisting the user.

[0054] The aforementioned elbow assembly 3 may include a second upper arm connecting plate 31, an elbow motor 33, and a first forearm connecting plate 34. The left end of the second upper arm connecting plate 31 is adjustablely connected to the right end of the first upper arm connecting plate 33. The right end of the second upper arm connecting plate 31 is fixedly connected to the elbow motor 33. The drive shaft of the elbow motor 33 is connected to the left end of the first forearm connecting plate 34, and the right end of the first forearm connecting plate 34 is connected to the wrist floating assembly 4. Figure 2 Taking the abduction action as an example, when the elbow motor 33 is started, it can drive the first forearm connecting plate 34 and the wrist floating component 4 to rotate, simulating the elbow flexion action during the abduction action, thereby guiding and assisting the user.

[0055] A through hole can be made in the first upper arm connecting plate 23, and multiple first threaded holes can be made in the second upper arm connecting plate 31. The right end of the first upper arm connecting plate 23 is stacked with the left end of the second upper arm connecting plate 31. By passing the locking knob 32 through the through hole and engaging with the corresponding first threaded hole, the overall length of the first upper arm connecting plate 23 and the second upper arm connecting plate 31 can be adjusted and locked to fit the user's upper arm length. Optionally, straps can be provided on the first upper arm connecting plate 23 and the second upper arm connecting plate 31 to secure the user's upper arm.

[0056] The aforementioned wrist floating assembly 4 may include a second forearm connecting plate 41, the left end of which is adjustablely connected to the right end of the first forearm connecting plate 34. A through hole can be formed in the first forearm connecting plate 34, and multiple second threaded holes can be formed in the second forearm connecting plate 41. The right end of the first forearm connecting plate 34 and the left end of the second forearm connecting plate 41 are stacked. By passing a locking knob 32 through the through hole and engaging with the corresponding second threaded holes, the overall length of the first forearm connecting plate 34 and the second forearm connecting plate 41 can be adjusted and locked to fit the user's forearm length. Optionally, straps can be provided on the first forearm connecting plate 34 and the second forearm connecting plate 41 to secure the user's forearm.

[0057] Please see Figures 4 to 6 And continue to refer to Figure 2 , Figure 4 This is a schematic diagram of the structure of one embodiment of the wrist floating component of this utility model; Figure 5 This is a cross-sectional view of one embodiment of the wrist floating component of this utility model; Figure 6 for Figure 5 A magnified view of point A in the middle. (See image below.) Figure 2 as well as Figures 4 to 6 As shown, the wrist floating assembly 4 also includes a wrist connecting plate 42, the left end of which is connected to the right end of the second forearm connecting plate 41. Figure 2 (The direction in the middle) can be connected to the wrist rotation axis 451, which is set vertically, and can swing back and forth in the horizontal direction.

[0058] The wrist floating assembly 4 also includes a grip lever 44, a wrist joint lever 45, and a fixing plate 43. The grip lever 44 is used for hand gripping, and a sponge sleeve 441 can be fitted onto it. The upper end of the wrist joint lever 45, facing the grip lever 44, is fixedly connected to the upper end of the grip lever 44. The wrist joint lever 45 can be L-shaped, with its second end extending to the lower end of the fixing plate 43. A rotating shaft 46 is provided at the second end of the wrist joint lever 45, and the axis of the rotating shaft 46 coincides with the horizontal direction. A retaining sleeve 431 is embedded in the lower end of the fixing plate 43, and a bearing 432 is installed within the retaining sleeve 431. In the assembled state, the rotating shaft 46 engages with the inner ring of the bearing 432. In this way, the grip lever 44 can rotate around the axis of the rotating shaft 46. Therefore, the user can rotate their arm during rehabilitation training.

[0059] The upper end of the aforementioned fixing plate 43 is slidably connected to the right end of the wrist connecting plate 42, allowing the fixing plate 43 to drive the grip lever 44 to reciprocate relative to the wrist connecting plate 42. In this way, even if the shoulder and the drive shaft of the shoulder motor 22 are not concentric during abduction movements, creating a distance difference between the right end of the wrist connecting plate 42 and the user's hand, the fixing plate 43 can slide relative to the wrist connecting plate 42 to adjust the position of the grip lever 44, compensate for the distance difference, reduce the pulling sensation in the user's arm, and facilitate better rehabilitation training.

[0060] A strip-shaped opening 421 can be made at the right end of the wrist connecting plate 42. Two guide shafts 47 parallel to the length of the opening 421 can be installed within this opening. Fixing blocks 471 can be connected to both ends of each guide shaft 47, and each fixing block 471 is fixedly connected to the strip-shaped opening 421. The upper end of the fixing plate 43 can be slidably fitted onto the two guide shafts 47. In this way, the fixing plate 43 can drive the grip lever 44 to slide back and forth relative to the wrist connecting plate 42, thereby compensating for the aforementioned distance difference.

[0061] Furthermore, to limit the sliding distance and speed of the fixed plate 43, the wrist floating assembly 4 may also include two sliding sleeves 49 and four springs 48. The two sliding sleeves 49 are slidably fitted onto two guide shafts 47. The length of the sliding sleeves 49 may be shorter than that of the guide shafts 47. Springs 48 can be connected between the two ends of each sliding sleeve 49 and the corresponding fixed block 471, and the upper end of the fixed plate 43 is fixedly fitted onto the sliding sleeve 49. In this way, when a distance difference occurs, the fixed plate 43 drives the sliding sleeves 49 to slide relative to the guide shafts 47, while the springs 48 at both ends provide damping force for the sliding, thereby limiting the sliding distance and speed of the fixed plate 43 and improving the reliability of the device.

[0062] The shoulder motor 22 of this invention can drive the first upper arm connecting plate 23 to rotate, thereby guiding and assisting the user's upper arm to extend inward or outward. The elbow motor 33 can drive the first forearm connecting plate 34 to rotate, thereby guiding and assisting the user's forearm to extend inward or outward.

[0063] By setting the wrist rotation axis 451, the wrist connecting plate 42 can swing relative to the second forearm connecting plate 41. The rotation axis 46 allows the grip lever 44 to rotate relative to the fixed plate 43. The fixed plate 43 and the wrist connecting plate 42 are slidably connected, allowing the fixed plate 43 to drive the grip lever 44 to slide within the strip opening 421, compensating for the distance difference. This achieves the swinging, rotating, and sliding movements of the grip lever 44, better adapting to the human body's movement characteristics. Compensating for the distance difference also reduces the user's pulling sensation in the arm, facilitating better rehabilitation training and improving the reliability of the device.

[0064] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this utility model.

Claims

1. An upper limb rehabilitation exoskeleton apparatus, characterized by, The device body and the arm exoskeleton mechanism are sequentially connected, and the arm exoskeleton mechanism comprises a shoulder assembly, an elbow assembly and a wrist floating assembly which are sequentially connected. The device body is provided with a first motor and a second motor, the second motor is connected with the shoulder assembly, a transmission shaft of the first motor is connected with a shell of the second motor, an axis of the first motor is perpendicular to an axis of the second motor, the first motor is used to drive the arm exoskeleton mechanism to rotate around the axis of the first motor, and the second motor is used to drive the arm exoskeleton mechanism to rotate around the axis of the second motor. The shoulder assembly comprises a first large-arm connecting plate and a shoulder motor which is used to drive the first large-arm connecting plate to rotate and is connected with the device body. The elbow assembly comprises a first small-arm connecting plate and an elbow motor which is used to drive the first small-arm connecting plate to rotate and is connected with the first large-arm connecting plate. The wrist floating assembly comprises a grip lever, a fixed plate and a wrist connecting plate which is horizontally swingably connected with the first small-arm connecting plate, an upper end of the fixed plate is slidably connected with the wrist connecting plate, and a lower end of the fixed plate is rotatably connected with the grip lever.

2. The upper limb rehabilitation exoskeleton device according to claim 1, characterized in that, The shoulder assembly further comprises a shoulder connecting plate which is fixedly connected with the shell of the shoulder motor.

3. The upper limb rehabilitation exoskeleton device according to claim 1, characterized in that, The elbow assembly further comprises a second large-arm connecting plate which is fixedly connected with the shell of the elbow motor.

4. The upper limb rehabilitation exoskeleton device according to claim 3, characterized in that, The second large-arm connecting plate is provided with a plurality of first threaded holes, and a locking knob is passed through the first large-arm connecting plate to cooperate with corresponding first threaded holes to adapt to the length of the user's large arm and to be locked.

5. The upper limb rehabilitation exoskeleton apparatus according to claim 1, characterized in that, The wrist floating assembly further comprises a second small-arm connecting plate which is horizontally swingably connected with the wrist connecting plate through a wrist rotating shaft.

6. The upper limb rehabilitation exoskeleton device according to claim 5, characterized in that, The second small-arm connecting plate is provided with a plurality of second threaded holes, and a locking knob is passed through the first small-arm connecting plate to cooperate with corresponding second threaded holes to adapt to the length of the user's small arm and to be locked.

7. The upper limb rehabilitation exoskeleton device according to claim 5, characterized in that, The wrist floating assembly further comprises a wrist joint lever, the grip lever is connected with a first end of the wrist joint lever, a rotating shaft is fixedly arranged at a second end of the wrist joint lever, a lower end of the fixed plate is embedded into a baffle, a bearing is arranged in the baffle, and the rotating shaft is fitted into the bearing.

8. The upper limb rehabilitation exoskeleton device according to claim 7, characterized in that, An end of the wrist connecting plate away from the grip lever is provided with a strip-shaped opening, two guide shafts are arranged in the strip-shaped opening, and an upper end of the fixed plate is slidably sleeved on the two guide shafts.

9. The upper limb rehabilitation exoskeleton device according to claim 8, characterized in that, Both ends of each guide shaft are fixedly connected with the strip-shaped opening through a fixed block.

10. The upper limb rehabilitation exoskeleton device according to claim 9, characterized in that, A sliding sleeve is slidably sleeved on each guide shaft, springs are arranged between both ends of the sliding sleeve and corresponding fixed blocks, and an upper end of the fixed plate is fixedly connected with the sliding sleeve.

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