Quasi-passive exoskeleton system for upper limbs with shoulder and back support

Abstract

This invention provides a quasi-passive exoskeleton system for the upper limbs with shoulder and back support, comprising: a back support unit including two shoulder straps, a lumbar device, and a variable stiffness bionic spine, the upper end of which is connected to the two shoulder straps and the lower end of which is disposed on the lumbar device; at least one shoulder support unit including a shoulder connector, one end of which is connected to an armrest and the other end of which is connected to a micro-power locking module; and a lumbar joint bearing connection module including a lumbar joint bearing and a lumbar connecting rod, the lumbar joint bearing being disposed on the lumbar device and the lumbar connecting rod being connected to the micro-power locking module and the lumbar joint bearing respectively. This provides a quasi-passive exoskeleton system for the upper limbs that simulates human spinal movement and incorporates voice control, improving ease of operation.

Claims

1. A quasi-passive exoskeleton system for the upper limbs with shoulder and back support function, comprising: a back support unit, the back support unit including: The device comprises two shoulder straps, a waist support device, and a variable stiffness bionic spine. The upper end of the variable stiffness bionic spine is connected to the two shoulder straps, and the lower end is disposed on the waist support device. It also includes at least one shoulder support unit, comprising: a shoulder connector, one end of which is connected to an armrest, and the other end of which is connected to a micro-power locking module; and a waist joint bearing connection module, comprising a waist joint bearing and a waist connecting rod. The waist joint bearing is disposed on the waist device, and the waist connecting rod is connected to the micro-power locking module and the waist joint bearing, respectively.

2. The upper limb quasi-passive exoskeleton system with shoulder and back support function as described in claim 1, wherein, The variable stiffness bionic spine includes a spring, an elastic rope, and multiple spinal blocks.

3. The upper limb quasi-passive exoskeleton system with shoulder and back support function as described in claim 2, wherein, The spine blocks are made of polyetheretherketone (PEEK) material, and the spine blocks are connected by springs and have holes for the elastic rope to pass through.

4. The upper limb quasi-passive exoskeleton system with shoulder and back support function as described in claim 1, wherein, The micro-powered locking module includes a ratchet, a cantilever connecting block, an RC motor, and a voice recognition device.

5. The upper limb quasi-passive exoskeleton system with shoulder and back support function as described in claim 4, wherein, The cantilever connecting block is connected to the ratchet and the RC motor respectively, and the voice recognition device is electrically connected to the RC motor.

6. The upper limb quasi-passive exoskeleton system with shoulder and back support function as described in claim 5, wherein, The voice recognition device uses the RC motor to control the cantilever connecting block and the ratchet.

7. The upper limb quasi-passive exoskeleton system with shoulder and back support function as described in claim 6, wherein the micro-powered locking module further includes a tension spring, a spring slider, and a steel cable, wherein, The steel rope is connected to the shoulder connector and the spring slider, and the spring slider is connected to the tension spring.

8. The upper limb quasi-passive exoskeleton system with shoulder and back support function as described in claim 7, wherein, The spring slider has a corresponding ratchet structure, which locks the spring slider by engaging with the ratchet-corresponding structure.

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