74 results about "Upper limb exoskeleton" patented technology

The invention discloses an upper limb exoskeleton rehabilitation robot control system and method, and relates to the technical field of rehabilitation robot upper limb control, and the method comprises the steps: collecting multi-modal data such as multi-channel myoelectricity, joint angles, angular velocity and interactive torque; constructing a sliding window feature vector, predicting a next joint angle increment through TCN and Bi-LSTM deep networks, and outputting intention confidence; and based on the confidence coefficient and the muscle fatigue factor, dynamically adjusting an impedance parameter, and combining an impedance control model to generate a power-assisted torque in real time so as to realize power-assisted torque output. By introducing an impedance adjustment mechanism of multi-modal perception, deep time sequence learning and myoelectricity driving, the bottleneck of a traditional upper limb rehabilitation robot in the aspects of intention prediction, parameter adjustment and training individuation is broken through, and the accuracy, safety and active participation degree in the rehabilitation training process are remarkably improved; wide clinical application prospects and industrial transformation values are realized.

The invention belongs to the technical field of insulator replacement, and discloses a power-assisted upper limb exoskeleton robot for power transmission line tower insulator replacement, which comprises a support frame, a first servo motor is fixed at the top end of the support frame, an air injection mechanism is fixed outside the support frame, and an air pressure adjusting mechanism is arranged at one end of the air injection mechanism. Through cooperation of a gas conveying box, a corrugated conveying pipe, a fourth servo motor and other structures, the device can convey gas flow by starting the fourth servo motor and a fifth servo motor, gas is sprayed out through a gas conveying opening through the corrugated conveying pipe, and the clamping state of the cutting device is kept after a user cuts off a core rod; the angle of the air conveying opening is adjusted, glass fiber chippings and dust generated in the insulator core rod cutting process are vertically blown and swept on the cutting face, the situation that residues affect the follow-up installation sealing performance is avoided, and therefore the purpose that the device conveniently guarantees the insulator replacement accuracy and maintenance in an air blowing mode is achieved.

The invention discloses an upper limb exoskeleton on-demand auxiliary intelligent control method based on multi-index optimization and multi-mode, and the method employs an inner and outer ring force position mixed control structure based on an admittance model, an outer ring combines the three indexes of a task tracking error, patient muscle force and a rehabilitation training task period, the exercise ability of a patient is evaluated on the basis of a multi-index energy function, dynamic switching among a passive mode, an auxiliary mode and an anti-resistance mode of the upper limb exoskeleton co-fusion system is achieved, online self-adaptive adjustment of the auxiliary force level and the rehabilitation training track is achieved on the basis of fuzzy logic, and the method can adapt to rehabilitation patients with different exercise abilities. And the inner ring carries out trajectory tracking control on the ideal tracking trajectory position of the upper limb exoskeleton system obtained by the admittance model through a model-barrier-free Lyapunov control method based on quasi-time delay estimation. A simulation result verifies that the method can effectively improve the active participation degree of the patient in the rehabilitation training process, and shows good on-demand auxiliary ability and application prospects.

The invention relates to the technical field of electrical equipment maintenance, and discloses an upper limb exoskeleton control method, system and equipment for assisting replacement of an insulator. The method comprises the following steps: acquiring image data of an insulator and a field environment, and acquiring motion vector information according to 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; based on a dynamic fusion algorithm, according to the motion state information of the insulator and the position information of the upper limb exoskeleton, obtaining adjustment motion parameters of the upper limb exoskeleton; and issuing a control instruction to the upper limb exoskeleton according to the adjusted motion parameters. Dynamic changes of the insulator and the surrounding environment are monitored through the optical flow method, the insulator in motion is accurately recognized and analyzed in combination with deep learning analysis, the motion trail of the upper limb exoskeleton can be adjusted in time, it is ensured that the upper limb exoskeleton stably and accurately tracks and operates the insulator, the physical burden of operators is relieved, and the working efficiency is improved. And the operation safety and efficiency are improved.

The present invention discloses an active upper limb exoskeleton robot, belonging to the field of exoskeleton robot technology, comprising: a back exoskeleton, a left arm exoskeleton, and a right arm exoskeleton. The back exoskeleton is a flexible structure, the front surface of which contacts the human back, and can bend and deform along with the human spine when the human body bends. The left arm exoskeleton and the right arm exoskeleton are symmetrically arranged on either side of the back exoskeleton and are respectively rotatably mounted on the top of the back exoskeleton via shoulder joints. The shoulder joints have three degrees of freedom: flexion / extension, internal rotation / external rotation, and adduction / abduction, and the rotation axes of the three degrees of freedom are respectively consistent with the rotation axes of the corresponding degrees of freedom of the human shoulder joint. The robot realizes flexion / extension, internal rotation / external rotation, and adduction / abduction movements, and the robot's degrees of freedom of movement are consistent with the human joint's degrees of freedom. The elbow joint has one degree of freedom. The elastic lumbar vertebra can adapt to the bending and deformation of the human lumbar vertebra, increase the bending range, and improve wearer comfort.

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 discloses an upper limb exoskeleton control method which comprises the steps that a monocular vision sensor is fixed to the wrist of a user, a lens faces the trunk of the user, and spatial position information of the wrist is collected; reversely calculating the pose of the sensor according to the feature points at the wrist by using an EPnP algorithm to obtain a rotation matrix and a translation vector; synchronously collecting surface electromyogram signals, and predicting intention through feature extraction and a classification model; performing time alignment on the visual data and the myoelectricity data, performing multi-modal fusion, and predicting the tail end position and speed at a future moment; mapping the three-dimensional motion to a two-dimensional plane, simplifying the three-dimensional motion into a two-link inverse kinematics problem, and analyzing to obtain a joint angle and an angular velocity; and the torque of the exoskeleton motor is adjusted in real time according to the joint angle, the angular speed and the electromyographic activation intensity. According to the upper limb exoskeleton control method, the vision sensor is reversely installed to the wrist and faces the body, and the problem that the monocular vision scale is uncertain is solved in the mode that monocular vision is added with kinematics constraint.

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.

An integral power-assisting exoskeleton device and power-assisting method, wherein the shoulder fixing frame of the shoulder joint assembly realizes free movement of the upper limb exoskeleton through a ball head connector; the forearm support of the upper limb exoskeleton is hinged to the upper arm support, and the upper limb cylinder for driving the forearm support to swing relative to the upper arm support is fixed to the upper arm support; the lower end of the thigh plate is rotatably installed with the knee joint rotation axis, and one end of the piston cylinder assembly for assisting in increasing the angle between the thigh plate and the calf plate is hinged to the large push plate, and the other end is hinged to the cantilever rocker on the outer periphery of the knee joint rotation axis; one end of the connecting plate of the foot exoskeleton is fixedly connected to the calf plate of the lower limb exoskeleton, and the other end is connected to the sole sleeve assembly, and energy is stored through the passive power-assisting component when the human foot structure performs plantar flexion movement for power-assisting walking, and the power-assisting function of the exoskeleton is realized on the basis of reducing system cost by adopting the minimum active power-assisting method, so that the power-assisting effect is better.

The utility model is applicable to the technical field of rehabilitation equipment, and provides upper limb exoskeleton rehabilitation training equipment which comprises a movable support, a bearing is arranged on a bearing support frame, a gear ring is fixedly mounted on the front side of an inner ring of the bearing, a mounting seat is arranged on the gear ring, a manipulator extending forwards is arranged on the mounting seat, and the upper limb exoskeleton rehabilitation training equipment is arranged on the manipulator. And the manipulator is used for driving finger joints to move. According to the upper limb exoskeleton rehabilitation training equipment, the palm of a patient is fixed to the mechanical arm, the mechanical arm drives the hand to conduct grabbing, bending and stretching exercise, the gear ring rotates to drive the wrist to conduct internal and external rotation exercise, the moving plate drives the whole to slide front and back, bending and stretching actions of the whole arm are simulated, and different action exercises are conducted on the palm, the wrist and multiple parts of the arm; rehabilitation exercise actions of the whole upper limbs can be achieved on one device, one or two exercise functions can be selected to be used, different devices do not need to be replaced for exercise and training, the functions are more complete, and use is more convenient.

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 invention discloses a hot-line work waist protection device, and relates to the technical field of power equipment, the hot-line work waist protection device comprises a shell, an inner plate and an outer plate, a cavity is formed between the inner plate and the outer plate, vertical slots are formed in the two sides of the cavity, and horizontal chutes are formed in the outer sides of the vertical slots; inserting rods are arranged on the two sides of the bottom of the back rod waist connecting piece, a plurality of adjusting holes are formed in each inserting rod, and the inserting rods on the two sides are adjustably inserted into the vertical inserting grooves; the two ends of the height adjusting inserting plate are connected to the horizontal sliding grooves in a sliding mode, limiting columns corresponding to the adjusting holes in the two sides are arranged at the two ends of the height adjusting inserting plate, and a height adjusting button is arranged on the outer plate in a penetrating mode and abuts against the middle position of the height adjusting inserting plate. The height of the upper limb exoskeleton can be flexibly adjusted according to the height of an operator, the back rod waist connecting piece is divided into the left side and the right side, pressure from the waist of a wearer can be better shared, and it is guaranteed that the waists of people with different figures are evenly stressed.

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.

1. The name of this design product: Heavy-duty upper limb exoskeleton robot. 2. Purpose of this product design: This product design provides support to the wearer's upper limbs, enhances athletic ability, and reduces the burden on the upper limbs. 3. The key point of the design of this product lies in its shape. 4. The picture or photo that best illustrates the design points: Stereoscopic drawing 1.

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 present invention provides a nine-degree-of-freedom upper limb rehabilitation robot, which adds two active degrees of freedom of the sternoclavicular joint to simulate the movement of the shoulder girdle, so that the rehabilitation robot can better match the movement of the human upper limb. The redundant control algorithm classifies tasks based on the null space projection of the Jacobian matrix. Low-priority tasks do not affect the execution of high-priority tasks. The redundant degrees of freedom of the upper limb exoskeleton can be fully utilized to ensure coordinated movement between the joints of the robotic arm, thereby improving the treatment effect.

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.