48 results about "Upper limb exoskeleton" patented technology

The application provides a double-arm upper limb exoskeleton rehabilitation training device, a back component can slide on a base stand in a first direction, a scapula component can slide on the back component in a second direction and moves with the back component, the scapula component is used for following the shoulder movement of a patient, a large arm component is rotationally connected with the scapula component and is used for fixing the large arm of the patient, a small arm component is rotationally connected with the large arm component and is used for fixing the small arm of the patient, and a wrist component is rotationally connected with the small arm component and is used for being held by the patient. The scapula component of the double arm is connected with the back component and rotationally connected with the large arm component, can flexibly move following the shoulder joint of the patient, is not limited to abduction / adduction and flexion / extension, can open the arms according to the needs and carry out multi-angle rehabilitation movement in combination with the rotation of the shoulder joint, so that the shoulder joint is fully rehabilitated, the rehabilitation effect is effectively improved, and the application scene of the upper limb exoskeleton is promoted.

The invention discloses a wearable upper limb exoskeleton and a control method thereof. The wearable upper limb exoskeleton comprises a back support and two arm exoskeletons. Each arm exoskeleton comprises a plurality of translational connecting modules and a plurality of rotary connecting modules which are alternately connected, the back support is connected with one translational connecting module, each translational connecting module comprises a first sub-connecting part, a second sub-connecting part and a telescopic connecting rod joint, and the telescopic connecting rod joints are connected with the first sub-connecting parts and the second sub-connecting parts correspondingly; and the length of the translation connecting part is adjusted. According to the exoskeleton, the telescopic connecting rod joints are arranged in the multiple translation connecting modules and the multiple rotary connecting modules, the length of each translation connecting module can be adjusted, and the exoskeleton can adapt to the shoulder breadth and the large and small arm length of different users. The adjusted exoskeleton size can meet diversified body type requirements, the application range of the product is expanded, and the control method for automatically adjusting the exoskeleton model parameters improves the exoskeleton accurate control capacity.

The invention provides a brachial plexus and exoskeleton cooperative control method and system based on a brain-computer interface, and relates to the field of intelligent control. The method comprises the steps that electroencephalogram signals and upper limb electromyographic signals of a target object during motor imagery are collected; predicting the motion intention of the target object through a neural network based on the electroencephalogram signals and the upper limb electromyographic signals; based on the motion intention, determining a target brachial plexus branch according to a preset motion intention and brachial plexus mapping rule; generating a nerve stimulation control instruction and an exoskeleton cooperative control instruction based on the target brachial plexus branch and the motion intention; and according to the nerve stimulation control instruction, performing electrical stimulation on the target brachial plexus branch to drive the corresponding muscle to contract, and meanwhile, according to the exoskeleton cooperative control instruction, controlling the upper limb exoskeleton to apply assistance to the corresponding joint. The method and the device are used in the cooperative control process of the brachial plexus and the exoskeleton, and the technical problem of inaccurate control in the existing limb control process based on neural signals is solved.

The invention relates to the technical field of mechanical exoskeletons, in particular to a shoulder and back integrated upper limb exoskeleton which comprises a shoulder and back integrated supporting module composed of a Y-shaped carbon fiber back plate and two arc-shaped carbon fiber shoulder plates, and a hip joint module composed of a carbon fiber waist plate and two carbon fiber connecting rods. The carbon fiber back plate is connected with the carbon fiber waist plate, the upper end of the carbon fiber connecting rod is connected with the carbon fiber waist plate through a rotating shaft structure in the horizontal direction, and the lower end of the carbon fiber connecting rod is connected with a rotating joint connected with a lower limb exoskeleton. The robot is suitable for tasks such as backpack type load bearing and front lifting type carrying, weight can be better borne, pressure is transmitted to the ground, the robot has front-back and left-right bending freedom degrees, and the use requirement and the comfort requirement of human bowing and left-right swinging are met.

The invention discloses an exoskeleton shoulder joint rotation center position control method oriented to a shoulder-brachial rhythm, and relates to the technical field of upper limb exoskeleton rehabilitation robot control. Inputting the posture information of the big arm of the human body into the shoulder-brachial rhythm mapping model, and calculating the motion angle of the sternoclavicular joint of the human body; inputting the posture information of the big arm of the human body into the exoskeleton kinematics model for inverse kinematics solution by taking the motion angle as a constraint condition of the exoskeleton kinematics model to obtain a joint angle variable of a rotation center of the shoulder joint of the exoskeleton; the joint angle variable serves as a target motion angle, and target control torque is calculated; when the exoskeleton shoulder joint is driven to move and alignment deviation is judged to exist based on the collected second electromyographic signals, the exoskeleton shoulder joint is subjected to compensation adjustment until the alignment deviation is eliminated; the problem of human-machine joint dislocation is solved, the risk of shoulder joint collision is avoided, the human-machine compatibility is enhanced, and the device is suitable for dynamic scenes such as individual difference and sitting posture deviation of patients.

The invention relates to the technical field of human exoskeleton robots, and discloses an upper limb exoskeleton self-adaptive shoulder supporting structure which comprises a supporting assembly, a stacking chain assembly and an elastic reset assembly. The supporting assembly is used for connecting the waist supporting assembly. The stacking chain assembly comprises a plurality of linkage pieces, when the multiple linkage pieces are connected, the linkage shaft of the previous linkage piece is rotatably arranged in the first sleeve of the next linkage piece so that the next linkage piece can rotate around the linkage shaft of the previous linkage piece, and therefore the stacking chain assembly is formed. The first sleeve of the connecting piece located at the bottom end in the stacking chain assembly is rotationally connected with the supporting shaft of the supporting assembly, so that all the connecting pieces in the stacking chain assembly can rotate around the axis of the supporting assembly. The stacking chain assembly has the beneficial effects that the stacking chain assembly is high in flexibility, component force obstruction in the horizontal direction can be completely eliminated in the action process, self-adaptive compensation of the joint offset can be achieved, and the axes of human-machine shoulder joints are highly overlapped.

The invention discloses an upper limb exoskeleton robot for live working of a distribution line. The upper limb exoskeleton robot comprises a supporting framework; the joint movement unit is arranged on the supporting framework and used for providing lifting assistance for the arms of the operating personnel; the wearing fixing unit is arranged on the supporting framework and used for wearing and fixing the upper limb exoskeleton machine for the distribution line hot-line work and the exoskeleton robot system comprising the upper limb exoskeleton machine, the structural design is reasonable, safety is high, an exoskeleton adopts an active assistance mode, the big arms of an operator are lifted, and the working efficiency is improved. The problem that an operator needs to lift for a long time in the live working process and is difficult to work continuously due to the fact that the load is high is solved, a flexible integrated insulation cape and an integrated whole-body safety belt can be worn on the outer portion of the exoskeleton, the protection safety of the operator is further enhanced, and the operator is prevented from being injured by an electrified body in the working process.

The application discloses an upper limb exoskeleton adaptive load balancing device. When the exoskeleton is passively flexed at the hip joint due to the terminal load of the lower arm, the load compensation spring is stretched, and a balance torque is provided. During the flexing process of the hip joint, the increase of the angle drives the feedback adjustment spring to be stretched, the action point of the load compensation spring is changed, the load compensation spring is moved towards the direction in which the force arm of the load compensation spring is increased, so that a greater load compensation torque is generated, the flexing degree of the hip joint is reduced, the working posture is optimized, fatigue is reduced, the exoskeleton can make the human trunk keep in a relatively comfortable vertical state to work under the premise of meeting the external load compensation, and the technical problem that the wearer can only rely on the partial pulling force provided by the back flexor muscles to keep the body balanced when the existing upper limb exoskeleton is used to carry out the hanging rod operation is solved. When the load operation is continuously carried out, the wearer needs to provide the balance pulling force, so that the human muscles are relatively tired after long time work.

The invention discloses an upper limb exoskeleton adaptive control method based on multi-modal data fusion, and relates to the technical field of upper limb exoskeleton control. According to the upper limb exoskeleton self-adaptive control method based on multi-modal data fusion, multi-modal data such as user electromyographic signals, joint movement signals and motor output torque time sequence data are obtained; a human-computer interaction torque observation set is generated through an upper limb exoskeleton reverse power model in combination with joint movement signals and motor output torque time sequence data; based on the observation set, carrying out adaptive fusion on the electromyographic signals and the joint movement signals to obtain a fusion weight set, and predicting a user expectation instruction; performing multi-target collaborative optimization by combining the observation set and the expected instruction to generate a control parameter set; according to the upper limb exoskeleton driving control method and system, the upper limb exoskeleton is subjected to driving control processing through the control instruction, so that the exoskeleton control precision is improved, and the upper limb fine assistance requirement is met.

The utility model provides an abduction angle adjusting device of a light upper limb exoskeleton mechanical arm, which is used for adjusting the abduction angle of the mechanical arm and comprises a rotating part, one end of the rotating part is in threaded connection with a support, the mechanical arm is hung on the rotating part, and the other end of the rotating part is in threaded connection with the support. The bracket is arranged far away from the bracket; and the rotation stopping mechanism is used for limiting rotation of the rotating part through the rotation stopping mechanism after the rotating part rotates to a preset angle. Compared with a motor assembly for adjusting the abduction angle of the mechanical arm, rehabilitation training generally needs a certain period, and the abduction angle is kept fixed and does not need to be adjusted frequently after being adjusted, so that the rehabilitation training device has the cost advantage, is lower in manufacturing cost and use cost, can meet the adjustment requirement of the abduction angle, and is more convenient to use compared with the motor assembly. The weight of the structure is lighter, extra burden cannot be caused to a user wearing the upper limb exoskeleton mechanical arm, and rehabilitation training is facilitated.

The utility model discloses an upper and lower limb linkage exoskeleton rehabilitation training robot which comprises a movable support module, an upper limb exoskeleton module and a lower limb exoskeleton module. The movable support module comprises a movable chassis assembly and a waist adjusting assembly, the waist adjusting assembly comprises a supporting plate and supporting cantilevers, the supporting plate is arranged on the movable chassis assembly in a liftable mode, and the two supporting cantilevers are symmetrically arranged on the supporting plate and can move in the direction close to or away from each other; the upper limb exoskeleton module comprises a back plate, a left arm exoskeleton and a right arm exoskeleton, the back plate is arranged on the supporting plate, the left arm exoskeleton is arranged on the back plate, and the right arm exoskeleton is arranged on the back plate; the lower limb exoskeleton module comprises a left leg exoskeleton and a right leg exoskeleton, and the left leg exoskeleton and the right leg exoskeleton are arranged on the two supporting cantilevers respectively. The rehabilitation training device has the advantage that upper and lower limb rehabilitation training can be performed independently or simultaneously.

The present application relates to the technical field of power equipment maintenance, and discloses a method, system and device for controlling an upper limb exoskeleton for assisting in replacing an insulator. The method comprises collecting image data of the insulator and the on-site environment, and obtaining motion vector information from the image data based on a preset optical flow method; analyzing the motion vector information based on a deep learning algorithm to obtain motion state information of the insulator; obtaining adjustment motion parameters of the upper limb exoskeleton based on a dynamics fusion algorithm according to the motion state information of the insulator in combination with position information of the upper limb exoskeleton; and issuing a control instruction to the upper limb exoskeleton according to the adjustment motion parameters. The present application can monitor the dynamic changes of the insulator and the surrounding environment through the optical flow method, accurately identify and analyze the insulator in motion by combining deep learning analysis, timely adjust the motion trajectory of the upper limb exoskeleton, ensure that the upper limb exoskeleton stably and accurately tracks and operates the insulator, reduce the physical burden of the operator, and improve the operation safety and efficiency.

The utility model discloses an upper limb exoskeleton power assisting device which relates to the technical field of exoskeletons and comprises a waist support, a first rotating rod and a fixing rod, the first rotating rod is rotatably connected to the two ends of the top of the waist support in the length direction of the waist support, and a supporting mechanism is arranged at the top of the first rotating rod and comprises a rotating plate rotatably connected to the top of the first rotating rod. One side wall of the end, away from the first rotating rod, of the rotating plate is rotationally connected with a supporting arm. According to the utility model, through the interaction of the piston cylinder and the telescopic air rod, when the arm of a user is lifted, the piston rod slides in the piston cylinder, so that the telescopic air rod is pushed to extend out, additional supporting force is provided for the arm, and meanwhile, the telescopic degree of the telescopic air rod can be adjusted according to the lifting angle of the arm; therefore, the device can automatically adapt to different lifting heights and forces, and the endurance problem and the motor fault problem when a motor is used for driving assistance are avoided.

This invention discloses a flexible cable-driven upper limb exoskeleton device and its control method for over-the-shoulder harvesting in agriculture. It employs a back-mounted drive and Bowden cable distal transmission architecture, and introduces a bidirectional cable chain mechanism to adaptively compensate for the instantaneous rotational center drift of the shoulder joint, eliminating human-machine kinematic interference. The perception layer uses a dual-node pure IMU scheme for the upper and lower arms, combined with a lightweight LSTM network and a majority-voting smoothing strategy to achieve low-latency, highly robust four-state action intention recognition. The control layer constructs a finite state machine scheduling architecture, mapping intention adaptive gravity compensation, position impedance, and zero-force following modes. Implicit state alignment and torque cross-gradient achieve non-disruptive switching between multiple modes. The underlying servo integrates fuzzy PID online tuning to suppress transmission nonlinearity. This invention significantly reduces the activation load on the deltoid and biceps muscles under lightweight design, making it suitable for long-duration over-the-shoulder harvesting operations in orchards.

The invention discloses an upper limb exoskeleton rehabilitation robot with charging and discharging functions. The upper limb exoskeleton rehabilitation robot comprises a mechanical body module, a plurality of joint driving modules, an energy storage module, a control module and a sensor module, wherein the mechanical body module is fixedly connected with a to-be-recovered upper limb of a patient, the joint driving module has double working modes of a motor and a generator, and in the working mode of the generator, electric energy is generated along with movement of the upper limb of the patient and charges the energy storage module; in the motor working mode, the energy storage module supplies power to drive upper limbs of a patient to move; the energy storage module is electrically connected with the joint driving module, the control module is electrically connected with the joint driving module and the energy storage module, and the sensor module is used for collecting motion information of to-be-recovered upper limbs of a patient and feeding back the motion information to the control module. The rehabilitation system integrating passive training, energy recovery and active power assisting is formed, and the power assisting naturalness, comfort and man-machine cooperation efficiency are improved.

This utility model discloses an upper limb exoskeleton, relating to the field of industrial assistive device structural design technology. The upper limb exoskeleton includes: a shoulder restraint, a waist restraint, an upper arm fixation, a shoulder rotation mechanism, and an assist mechanism. The lower side of the shoulder restraint is connected to the waist restraint, and an assist mechanism is provided below the shoulder restraint. The lower end of the assist mechanism is fixedly connected to the waist restraint, and the upper side of the assist mechanism is fixedly connected to the shoulder rotation mechanism, which is connected to the upper arm fixation. This upper limb exoskeleton provides support and fixation for the user's upper body through the shoulder and waist restraints. To achieve a lightweight design, assist mechanisms are provided on both sides of the shoulder restraint. The rotation of the shoulder rotation mechanism causes the internal tension springs of the assist mechanism to elastically deform and return to their original position, providing mechanical assistance for shoulder movement and ensuring the stability of the assist mechanism. It is adaptable to users of different body types, ensuring flexible movement with multiple degrees of freedom.

The invention discloses a tensegrity upper limb exoskeleton structure, comprising: a first support exoskeleton worn on a palm; the second supporting exoskeleton is connected with one end of the first supporting skeleton through a first elastic part and is used for being worn on a forearm; the first elastic part is rotatably connected with the first supporting exoskeleton, and the first elastic part is rotatably connected with the second supporting exoskeleton; the first elastic part is worn on a wrist; the third supporting exoskeleton is rotatably connected with the other end of the second supporting exoskeleton and is used for being worn on a big arm; the first bending and stretching driving part is used for driving the first supporting exoskeleton to drive the wrist joint to bend or stretch the wrist; the second bending and stretching driving part is used for driving the second supporting exoskeleton to drive the elbow joint to bend or stretch; the ulnar-radioulnar driving part is used for driving the first supporting exoskeleton to drive the wrist joint to do wrist adduction or wrist abduction movement. The problem that in the wearing and using process of an existing upper limb exoskeleton structure, the man-machine motion coincidence degree is poor is solved.

The invention discloses an upper limb exoskeleton device. The upper limb exoskeleton device comprises a power backpack, an arm exoskeleton, rehabilitation gloves and a tendon rope transmission system. A plurality of groups of driving motors are arranged in the power knapsack, and the driving motors comprise shoulder joint driving motors, elbow joint driving motors and hand driving steering engines; the arm exoskeleton is connected with the power knapsack and used for being connected with the arms of the human body; the rehabilitation glove is connected with the arm exoskeleton and used for being connected with the palm of the human body; one end of the tendon rope transmission system is connected with the shoulder joint driving motor, the elbow joint driving motor and the hand driving steering engine, and the other end of the tendon rope transmission system is connected with the arm exoskeleton and the rehabilitation glove. The driving motors are intensively arranged in the power knapsack, so that the space utilization rate is increased, the degree of freedom of the arms is increased, the exoskeleton of the arms is lightened, the response of control signals is quicker and more accurate, and the motion performance is smoother, more coherent and smoother. And user life quality is improved.

The invention provides a tool nested type electric power operation upper limb exoskeleton, the upper limb exoskeleton can be nested in a tool, and the upper limb exoskeleton comprises a back support mechanism, the lower side of which is fixed through a lower limb waistband; the motor driving module is arranged in the back supporting mechanism in an embedded mode; the shoulder connecting assembly is movably connected with the back supporting mechanism through an angle adjusting mechanism and is in driving connection with the motor driving module; the arm assisting mechanism is connected to the side, away from the back supporting mechanism, of the shoulder connecting assembly; two groups of back supporting mechanisms, two groups of shoulder connecting assemblies and two groups of arm assisting mechanisms are symmetrically arranged; during use, the motor driving module transmits driving force to the shoulder connecting assembly, so that the shoulder connecting assembly freely swings along with the natural movement path of a human body, and shoulder joints are assisted in bending and stretching; and safe nesting with an insulation tool, lightweight dynamic assistance and man-machine work efficiency optimization are realized.

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.

This invention discloses a method, system, terminal, and storage medium for collaborative rehabilitation of the healthy and affected sides based on task-driven upper limb exoskeleton. The method includes: having the target patient wear an exoskeleton and a surface-mounted electromyography (EMG) sensor; using the movement characteristics of the healthy arm, providing different task scenarios, and learning the movement trajectory of the affected side with the goal of completing the task; simultaneously performing rehabilitation rating based on the EMG signals; assigning impedance parameters for the interaction between the exoskeleton and the arm based on the rating; and also estimating the movement intention through a muscle model and compensating and correcting the imitated movement trajectory in real time. This allows the patient to achieve collaboration between the healthy and affected sides during task completion, promoting functional recovery of the damaged limb. Through repeated practice of asymmetrical movements, the patient's motor control ability and bilateral limb coordination ability are enhanced during later rehabilitation, restoring basic motor function of the damaged limb, making the rehabilitation training process more consistent with the patient's rehabilitation process, and improving rehabilitation effectiveness.

The invention discloses a stroke patient upper limb rehabilitation exoskeleton structure with modular joint segments, which comprises an upper limb exoskeleton with a shoulder skeleton assembly and an arm skeleton assembly, and the upper limb exoskeleton is provided with a modular joint part. According to the upper limb exoskeleton, a certain part of the upper limb exoskeleton can be flexibly controlled to move actively or passively through the arrangement of the modular joint parts, flexible adjustment and adaptation can be conducted according to different patients, the control part is convenient to mount and dismount, replacement operation is easy, and furthermore, a linkage massage assembly is further arranged, so that the massage effect is good. Through the arrangement of the linkage massage assembly, auxiliary massage can be automatically carried out in the rehabilitation exercise process of a patient, so that blood circulation can be effectively promoted, the more exercise is, the more frequent blood circulation massage is, and limb edema after stroke can be effectively resisted.

The application relates to an elbow joint rehabilitation exoskeleton based on upper limb gravity compensation, which comprises a backpack system, a driving device, a Bowden wire, an upper limb gravity compensation mechanism and an upper limb exoskeleton, wherein the driving device comprises a motor, a support base, a support rod, a winding disc, a support top disc, a bearing, a Bowden wire first joint, a Bowden wire second joint, a first steel wire rope and a second steel wire rope; the upper limb exoskeleton comprises a first forearm support, a second forearm support, a bearing inner disc, a bearing outer disc, a constraint disc, a corrugated sleeve, a nickel-titanium alloy rod and an upper arm binding support; the upper limb gravity compensation mechanism comprises an exoskeleton first fixing plate, an exoskeleton second fixing plate, a first carbon fiber tube, a first connecting piece, a second carbon fiber tube, a rotating pair bearing seat, a rotating pair shaft, a third carbon fiber tube, a second connecting piece, a fourth carbon fiber tube, a first universal hinge, a third steel wire rope, a second universal hinge bearing seat, a second universal hinge outer rotating pair and an elastic potential energy storage device.

The invention relates to the technical field of rehabilitation robots, in particular to a flexible driving upper limb exoskeleton device with bilateral switchable configurations, which comprises a base component, a flexible driving component, a platform supporting component and an upper limb exoskeleton executing mechanism. The executing mechanism sequentially comprises a shoulder joint assembly, an upper arm component, a binding component, an elbow joint component, a front arm component and a wrist joint component. The shoulder joint assembly has three active degrees of freedom of adduction / abduction, inward rotation / outward rotation and flexion / extension, the elbow joint has an active degree of freedom of flexion / extension, and the wrist joint is of a passive rotation structure. According to the upper limb exoskeleton, rapid switching between the left upper limb and the right upper limb is achieved in a turnover installation mode, flexible driving and Bowden cable transmission modes are adopted, a driving unit is arranged away from an upper limb body, and the man-machine interaction safety is improved. Through an upper arm and front arm length adjustable structure, a platform supporting part height adjustable structure and a base part horizontal adjustable structure, the human body adaptability of the exoskeleton is improved.

An upper-limb exoskeleton (100) includes a compensation device (102) and a control system (104). The compensation device (102) has an elastic mechanism (112) configured to generate assistive torque about a joint rotation axis (A1). An active regulation system (116) comprising a servomotor (136), a worm gearbox (142), and a cam (158) modifies a distance between a first bracket assembly (126) and a second bracket assembly (128) to preload assistive torque. A selector system (114) adjusts the compensation device (102) between an unlock mode (167), a lock mode (169), and a transparent mode (171). The control system (104) computes and regulates assistive torque via a microcontroller (202) using open-loop current control and receives commands from a remote controller (118). The method and system provide adaptive control of assistive torque, enabling real-time adjustment, mode switching, and torque computation for ergonomic support during upper-limb exertion.

The invention discloses an upper limb exoskeleton intention recognition method and system based on myoelectricity and a neural network. The method comprises the steps that a sensor is used for synchronously collecting an upper limb original myoelectricity signal sequence and an inertial kinematics sequence; performing action phase coarse segmentation by taking the inertial sequence as a reference, calculating an energy sequence by utilizing a nonlinear energy operator, eliminating invalid resting signals in combination with dual-threshold judgment logic, and generating a time sequence characteristic sample sequence through sliding window processing; calculating a root mean square value and an envelope slope feature of each channel to construct a time sequence feature matrix; a causal convolution layer is utilized to extract transient waveform features which only depend on historical information, a time sequence dependency feature is extracted through an LSTM layer, an envelope slope feature is injected into an attention mechanism to enhance the capture capability of an action boundary, and finally contraction, hovering and extension intentions are identified. The problems of electromechanical delay and hovering misjudgment are effectively solved, and the real-time performance and accuracy of exoskeleton control are improved.

1. The name of the design product: passive upper limb exoskeleton shoulder module. 2. The use of the design product: as a shoulder module of passive upper limb exoskeleton, connecting the back module and the arm module. 3. The design points of the design product: in shape. 4. The picture or photo that best indicates the design points: perspective view.

The application discloses an upper limb exoskeleton, which comprises a waist supporting unit, the waist supporting unit comprises a plurality of supporting modules arranged in a vertical direction, and two adjacent supporting modules are movably connected and matched, so that the waist supporting unit can provide waist support for a user in an upright state, the back muscles of the user are stretched in a bent-over state, and the movably connected and matched allow the two adjacent supporting modules to adjust the spacing and / or angle of each other, so that the length and curvature of the waist supporting unit in the vertical direction are changed to fit the bending and upright of the waist and back of the human body. The supporting module comprises a pair of supporting pieces which are left-right symmetrical in a horizontal direction, the supporting pieces are arranged to be slidable to adjust the spacing of the pair of supporting pieces, and an inclined part is fixedly arranged on the side of the supporting pieces which faces the waist and back of the human body, the inclined surface of the inclined part faces the human body, and the inclined part is used for converting the force of the human body against the inclined part when the human body is bent into a driving force for relatively sliding and opening the pair of supporting pieces, so that the back can be more fitted.

An upper limb exoskeleton rehabilitation assisting robot relates to the technical field of rehabilitation medical instruments and comprises a hand supporting module used for supporting the hand of a user or allowing the user to hold the hand; the forearm supporting module is connected to the hand supporting module and is provided with a wrist movement joint corresponding to the wrist joint of the human body; the upper arm connecting module is connected with the forearm supporting module through an elbow movement joint corresponding to the elbow joint of the human body; the shoulder connecting module is connected with the upper arm connecting module through a shoulder movement joint corresponding to the shoulder joint of the human body; the wrist movement joint, the elbow movement joint and the shoulder movement joint are each provided with an actuating unit, and the actuating units are configured to independently drive the corresponding joints or cooperatively drive the multiple joints to achieve linkage. Through the modularized multi-joint structure and the driving system capable of being independently or cooperatively controlled, effective assistance for movement of shoulders, elbows, wrists and forearms of the human body is achieved, and the adaptability, naturalness and flexibility of rehabilitation training are improved.

The invention provides an upper limb exoskeleton robot with a gravity compensation function and a control method and system. The upper limb exoskeleton robot comprises an upper limb exoskeleton mechanism and a gravity balancing device. The gravity balancing device is integrated in the upper limb exoskeleton mechanism and comprises a multi-connecting-rod mechanism and an elastic piece. The parameters of the rod length and the hinge point position of the multi-connecting rod mechanism of the gravity balancing device, the elastic force coefficient of the elastic piece and the initial length are optimized through an algorithm, so that self-adaptive gravity compensation is provided in the working space of the upper limb exoskeleton mechanism. The gravity balancing device optimized through an algorithm has the advantages of reducing motor energy consumption and improving gravity compensation precision and system flexibility, and the problems that the contact force sensing precision is insufficient, the human-computer interaction process is stiff and the requirement for flexibility of rehabilitation training cannot be met due to the fact that feedback adjustment is conducted only through current loop estimation torque are solved.