CN109925160B - A lightweight multi-degree-of-freedom shoulder complex bionic-assisted flexible exoskeleton - Google Patents

Abstract

The invention relates to a lightweight multi-degree-of-freedom shoulder complex bionic power-assisted flexible exoskeleton, wherein an upper arm fixing assembly is connected with a glenohumerus forward extending/backward shrinking joint, a glenohumerus abduction/adduction joint is connected with a shoulder blade belt forward extending/backward shrinking joint, and a shoulder blade belt lifting/falling joint is connected with a base assembly; the glenohumeral anterior/posterior joint, the glenohumeral internal/external rotation joint, the glenohumeral abduction/adduction joint, the scapular band anterior/posterior joint and the scapular band up-lifting/down-falling joint are respectively controlled by a lasso driving unit, and each lasso driving unit is respectively arranged on the base component; the shoulder complex bionic power-assisted flexible exoskeleton is driven by each lasso driving unit to control five degrees of freedom including the forward extension/backward contraction, abduction/adduction, internal rotation/external rotation, lifting/falling of the shoulder blade band and forward extension/backward contraction of the glenohumeral joint. The invention can effectively avoid singular configuration and motion interference of human-machine shoulder motion, improve the shoulder motion range and reproduce the motion function of the human shoulder complex.

Description

A lightweight multi-degree-of-freedom shoulder complex bionic-assisted flexible exoskeleton

technical field

The invention relates to an exoskeleton robot in the fields of human biomechanics and medical rehabilitation, in particular to a lightweight multi-degree-of-freedom shoulder complex bionic-assisted flexible exoskeleton.

Background technique

The incidence rate of stroke in my country is the highest in the world. With the accelerated pace of life and population aging, and the increase in life pressure, the number of patients with stroke and hemiplegia caused by cardiovascular, cerebrovascular and nervous system diseases is increasing year by year, and about 3/4 of the patients have different degrees of nerve damage. and functional movement disorders, seriously affecting the quality of life. Studies have shown that the central nervous system has a high degree of plasticity. Timely and effective rehabilitation training for hemiplegic limbs can help restore the domination and control of the central nervous system to limb movements, enhance muscle strength, reshape the motor function of the affected limbs, and effectively prevent muscle damage. Atrophy, osteoporosis and other complications. Traditional clinical methods mainly rely on doctors' manual rehabilitation training, which has many limitations, such as low recovery efficiency and high labor intensity; the treatment effect is greatly affected by the doctor's experience and level, and training parameters cannot be accurately controlled; and rehabilitation training cannot be objectively evaluated.

The rehabilitation exoskeleton system is a robot system that assists or replaces doctors in completing patient rehabilitation training, which is produced by introducing robot technology into the field of clinical rehabilitation medicine. The upper limb rehabilitation exoskeleton can be worn on the outside of the affected limb to perform accurate, continuous and effective upper limb rehabilitation training and treatment. At the same time, the sensory system can record human-computer interaction force information, human kinematics and physiological data in real time, improving the wearing comfort of patients It can evaluate the effect of rehabilitation training quantitatively in real time, and provide objective basis for improving and optimizing rehabilitation programs.

Rehabilitation exoskeleton is a typical human-machine integration system. The mismatch of human-machine joint motion axis will cause joint pain, limited exercise space, etc., which will affect the effect of rehabilitation training, and even cause secondary injuries to the affected limb. Therefore, when designing rehabilitation exoskeleton It is required to match the man-machine joint motion axes as much as possible. However, the current upper extremity rehabilitation exoskeleton still has major deficiencies in the rehabilitation training of the shoulder complex.

The human shoulder is a shoulder complex composed of the glenohumeral joint and the shoulder girdle, which has the characteristics of flexibility, high stability and poor stability. The glenohumeral joint is a ball-and-socket joint, and the shoulder girdle is a kinematic chain composed of the acromioclavicular joint, sternoclavicular joint, and scapulothoracic joint, and any single joint cannot move independently. When the humerus is lifted, the clavicle rotates around the sternoclavicular joint relative to the sternum, and the scapula rotates around the acromioclavicular joint relative to the clavicle. At the same time, it also slides sideways on the surface of the sternum, thereby driving the glenohumeral joint socket to tilt upward. This complex and coordinated movement process makes the glenohumeral The center of rotation of the joint drifts, enabling a wide range of motion of the humerus. Therefore, during the movement of the shoulder complex, the shoulder girdle can provide two movements of the glenohumeral joint rotation center: extension/retraction in the coronal plane and elevation/decline in the horizontal plane. However, the existing rehabilitation exoskeleton usually uses three rotating joints with vertically intersecting axes to equivalent human shoulder movement. This scheme only considers the glenohumeral joint movement, ignoring the shoulder girdle movement, resulting in human-machine shoulder movement during large-scale movement of the humerus. At the same time, due to nerve damage, stroke patients cannot automatically produce shoulder girdle movement, and can only rely on moving the trunk to compensate for shoulder girdle movement, which greatly reduces the effect of rehabilitation training and is prone to other complications. On the other hand, the drive motors of traditional rehabilitation exoskeletons are integrated at the joints, so that the exoskeleton actuators have a large mass and inertia, which increases the drive performance requirements, reduces control accuracy and stability, and poses a safety hazard for the affected limb to fall when the system fails.

Contents of the invention

In view of the above existing problems, the purpose of the present invention is to provide a lightweight multi-degree-of-freedom shoulder complex bionic assisted flexible exoskeleton, which is suitable for daily movement assistance and rehabilitation training of the shoulder complex for patients with motor dysfunction such as stroke and hemiplegia .

The purpose of the present invention is achieved through the following technical solutions:

The present invention includes a base assembly as an installation basis, the two sides of the upper part of the base assembly have the same structure, and each side includes an upper arm fixation assembly, a glenohumeral joint movement assembly and a shoulder belt movement assembly, wherein the glenohumeral joint movement assembly consists of The glenohumeral extension/retraction joint, the glenohumeral internal rotation/external rotation joint and the glenohumeral abduction/adduction joint. lift/fall joint, the upper arm fixation component is connected with the glenohumeral extension/retraction joint, the glenohumeral abduction/adduction joint is connected with the shoulder blade extension/retraction joint, and the shoulder blade lifts up The glenohumeral extension/retraction joint, the glenohumeral internal rotation/external rotation joint, the glenohumeral abduction/adduction joint, the glenohumeral extension/retraction joint, and the upper shoulder girdle joint are connected to the base assembly; The lifting/falling joints are respectively controlled by a lasso driving unit, and each of the lasso driving units is respectively installed on the base component; Five degrees of freedom of the humeral joint: extension/retraction, abduction/adduction, internal rotation/external rotation, as well as lifting/falling and forward extension/retraction of the shoulder girdle;

Wherein: the upper arm fixing component includes an upper arm cage, a software restraint belt, an upper arm support rod and a multi-dimensional force sensor, the two ends of the upper arm support rod are respectively connected with an upper arm cage, and one side of the upper arm cage at both ends is installed In the guide groove opened on the upper arm support rod, it can move in the guide groove, and after the distance is adjusted, it is positioned and locked with the upper arm support rod. The other side of the upper arm cage at both ends A soft restraint belt is attached inside; a multi-dimensional force sensor for connecting the upper arm support rod and the glenohumeral joint movement assembly is installed on the upper arm support rod;

The glenohumeral extension/retraction joint rotation axis centerline of the glenohumeral extension/retraction joint, the glenohumeral internal rotation/external rotation joint rotation axis centerline of the glenohumeral internal rotation/external rotation joint, and the glenohumeral abduction The centerline of the glenohumeral abduction/adduction axis of rotation of the /adduction joint intersects non-perpendicularly with the center of motion of the glenohumeral joint; an actuator arm and a glenohumeral extension/retraction support arm, the glenohumeral extension/retraction actuator arm is connected to the upper arm fixation assembly, and the glenohumeral internal rotation/external rotation joint includes a glenohumeral rotation connection connected by a rotating device An internal rotation/external rotation actuator arm and a glenohumeral internal rotation/external rotation support arm, the glenohumeral abduction/adduction joint includes a glenohumeral abduction/adduction actuator arm and a glenohumeral abduction/adduction joint rotatably connected by a rotating device adduction support arm, the glenohumeral abduction/adduction support arm is connected with the scapular extension/retraction joint; between the glenohumeral internal rotation/external rotation support arm and the glenohumeral abduction/adduction execution arm; each of the rotating devices is connected with its own lasso drive unit, and the respective lasso drive unit Provide the driving torque of glenohumeral joint extension/retraction, internal rotation/external rotation and abduction/adduction;

The glenohumeral extension/retraction support arm, the glenohumeral internal rotation/external rotation execution arm, the glenohumeral internal rotation/external rotation support arm and the glenohumeral abduction/adduction execution arm are respectively evenly provided with a plurality of bolt holes , the glenohumeral internal rotation/external rotation actuator arm and the glenohumeral abduction/adduction actuator arm are provided with grooves, the glenohumeral extension/retraction support arm, the glenohumeral internal rotation/external rotation support arm through The grooves are respectively inserted into the glenohumeral internal rotation/external rotation actuator arm and the glenohumeral abduction/adduction actuator arm, and can adjust the relationship between the glenohumeral extension/retraction support arm and the glenohumeral internal rotation/external rotation actuator arm. and the distance between the glenohumeral internal rotation/external rotation support arm and the glenohumeral abduction/adduction actuator arm, after adjustment, insert bolts into the bolt holes for fixation;

The rotation center line of the glenohumeral extension/retraction joint is perpendicular to the sagittal plane of the human body, and the angle between the rotation center line of the glenohumeral internal rotation/external rotation joint and the rotation center line of the glenohumeral extension/retraction joint Facing the outside of the human body, the angle between the glenohumeral internal rotation/external rotation joint rotation centerline and the coronal plane of the human body faces the rear side of the human body, and the glenohumeral abduction/adduction rotation centerline and the glenohumeral extension/retraction The angle between the centerlines of joint rotation faces the outside of the human body;

The shoulder strap extension/retraction joint includes a shoulder strap telescopic execution arm, a shoulder strap telescopic support arm, a rotating device, and a shoulder strap telescopic swing arm assembly. The two sets of telescopic swing arm assemblies are connected to form a telescopic parallelogram mechanism; each set of telescopic swing arm assemblies includes a shoulder strap telescopic swing arm A and a shoulder strap telescopic swing arm B that are telescopically connected to each other. One end of any one of the telescopic swing arm A and the shoulder strap telescopic swing arm B is rotationally connected with the shoulder strap telescopic execution arm or the shoulder strap telescopic support arm through the rotating device, and one end of the remaining telescopic swing arms is connected with the shoulder strap telescopic execution arm. The arm or the shoulder strap telescopic support arm is rotationally connected; the shoulder blade lifting/falling joint includes a shoulder blade lifting/falling support arm and a rotation device, and the shoulder blade lifting/falling support arm is telescopic with the shoulder blade through the rotation device The supporting arms are connected; the rotating device is connected with the respective lasso driving unit, and the respective lasso driving unit provides the driving moment for the forward extension/retraction and lifting/falling of the shoulder girdle;

A guide rail is installed on the telescopic actuator arm of the shoulder strap, and a slider is slidably connected to the guide rail, and a connecting plate reciprocatingly sliding along the guide rail is installed on the slider;

The other ends of the shoulder strap telescopic swing arm A and the shoulder strap telescopic swing arm B are uniformly provided with a plurality of bolt holes respectively, and the other ends of the shoulder strap telescopic swing arm A or the shoulder strap telescopic swing arm B are provided with grooves, The other end of the shoulder strap telescopic swing arm A and the shoulder strap telescopic swing arm B are inserted through the groove, and the distance between the shoulder strap telescopic actuator arm and the shoulder strap telescopic support arm can be adjusted. Insert into the bolt hole and fix;

The rotating device includes a lasso driving wheel, a hollow shaft, a pull wire and a lasso installation positioning block A. On the extension/retraction support arm, the telescopic execution arm of the shoulder strap, the telescopic support arm of the shoulder strap or the lifting/falling support arm of the shoulder strap, the lasso driving wheel is rotatably installed on the hollow shaft, and is extended forward with the glenohumerus /retraction actuator arm, glenohumeral internal rotation/external rotation actuator arm, glenohumeral abduction/adduction actuator arm, shoulder strap telescopic swing arm A, shoulder strap telescopic swing arm B or shoulder strap lifting/falling actuator arm connected; The glenohumeral extension/retraction support arm, the glenohumeral internal rotation/external rotation support arm, the glenohumeral abduction/adduction support arm, the shoulder girdle telescopic execution arm, the shoulder girdle telescopic support arm or the shoulder girdle lift/ Drop support arm toward glenohumeral extension/retraction actuator, glenohumeral internal/external rotation actuator, glenohumeral abduction/adduction actuator, shoulder girdle telescoping swing arm A, shoulder girdle telescoping swing arm B or shoulder girdle One side of the lifting/falling actuator arm is located on both sides of the lasso driving wheel, and the lasso installation positioning blocks A are respectively installed. Each of the lasso installation positioning blocks A is penetrated with a pull wire, and the pull wire is provided by the The lasso drive wheel is bypassed, one end is positioned and supported by the lasso installation positioning block A, and the other end is connected to the lasso drive unit; the inner side of the hollow shaft is connected with an angle encoder, and the internal content of the hollow shaft An encoder extension sleeve is installed, and the two ends of the encoder extension sleeve are respectively connected with the rotating shaft of the angle encoder and the lasso driving wheel; arm, glenohumeral abduction/adduction support arm, shoulder girdle telescopic actuator arm, shoulder girdle telescopic support arm or shoulder girdle lift/down support arm towards the glenohumeral extension/retraction actuator arm, glenohumeral internal/external rotation One side of the executive arm, the glenohumeral abduction/adduction actuator arm, the shoulder strap telescopic swing arm A, the shoulder strap telescopic swing arm B or the shoulder strap lifting/falling actuator arm is provided with a limited arc groove, and the lasso driving wheel A limit threaded hole is set on the top, and the limit device is inserted into the limit arc groove and the limit thread hole to limit the position;

The lasso driving unit includes a power source, a driving mounting frame, a lasso driving wheel, a torque sensor, a brake bean, a tensioning adjustment frame, a support plate, a guide plate, an adjusting bolt and a lasso installation positioning block B, and the power source is installed On the driving installation frame, the output end is connected with a lasso driving wheel, and two brake beans are installed on the lasso driving wheel; one end of the tensioning adjustment frame has a tensioning guide hole, and the other end is installed with a support plate , the support plate is provided with an adjusting bolt, and a guide plate is extended on the driving installation frame, and the guide plate is passed through the tension guide hole, and the adjustment bolt is in contact with the guide plate; the tension adjustment frame Two lasso mounting positioning blocks B are installed on the top, and two pull wires are wound on the lasso driving wheel, one end of each pull wire is fixed on one of the brake beans, and the other end is installed and positioned by one of the lasso The block B passes through and connects with the rotating device; the output end of the power source is equipped with a torque sensor; the tensioning adjustment frame is in the shape of an "L", and the tensioning guide hole is set on one side of the "L" shape , and a limit slot for fixing the lasso to install the positioning block B is opened on this side; the support plate is fixed on the end of the other side of the "L" shape, and a slot hole is opened on this side, and by screwing The adjusting bolt makes the guide plate and the tension adjusting frame relatively move, and then adjusts the distance between the tension adjusting frame and the lasso driving wheel; the adjusted guide plate is inserted into the slot hole by the bolt and locked and fixed.

Advantage of the present invention and positive effect are:

1. The present invention innovatively adopts the combination of slewing mechanism and parallelogram mechanism to design the shoulder girdle assembly, and transfers the forward extension/retraction, lifting/falling movement of the exoskeleton shoulder girdle to the forward extension/falling movement centered on the sternoclavicular joint. Retraction, lifting/falling movement reproduces the movement function of the human shoulder girdle, solves the problem of shoulder girdle rehabilitation training for hemiplegic patients, and effectively avoids the singularity of the human-machine shoulder movement and improves the compatibility of the human-machine movement.

2. The present invention innovatively adopts the rotating joint assembly with three axes connected in series and non-perpendicularly intersecting to be equivalent to the glenohumeral joint of the human body, which solves the problem that the existing exoskeleton cannot realize the large-scale movement of the humerus, effectively avoids the interference of the human-machine shoulder movement, and improves Human shoulder rehabilitation range of motion.

3. The present invention can record human-computer interaction force information, human kinematics and physiological data in real time during the rehabilitation training process, quantitatively evaluate the patient's condition, and formulate a variety of rehabilitation methods through the sensing system such as the angle encoder, torque sensor and multi-dimensional force sensor. The training mode can effectively improve the effect of rehabilitation training and reduce complications.

4. The present invention uses the lasso drive unit to provide torque drive for the exoskeleton joints, realizes the separation of the drive and the actuator, effectively reduces the mass and inertia of the actuator, realizes the lightweight design of the exoskeleton, and improves the stability and safety of the system motion and wearing comfort.

5. The present invention is widely applicable to the daily movement assistance and rehabilitation training of the shoulder complex of patients with stroke and hemiplegia.

Description of drawings

Fig. 1 is the three-dimensional structure schematic diagram of the present invention;

Fig. 2 is a schematic diagram of the three-dimensional structure of the upper arm fixing assembly of the present invention;

3 is a schematic diagram of the three-dimensional structure of the glenohumeral joint motion assembly of the present invention;

Fig. 4 is a structural sectional view of the rotating device in Fig. 3;

Fig. 5 is a three-dimensional structural schematic diagram of a structure of the shoulder girdle movement assembly of the present invention;

Fig. 6 is a schematic diagram of the three-dimensional structure of the scapular extension/retraction joint in Fig. 5;

Fig. 7 is a structural cross-sectional view of the shoulder girdle extension/retraction modular rotation device in Fig. 5;

Fig. 8 is a structural cross-sectional view of the lifting/falling joint of the shoulder girdle in Fig. 5;

Fig. 9 is one of the structural schematic diagrams of the lasso drive unit of the present invention;

Fig. 10 is the second structural diagram of the lasso driving unit of the present invention;

Fig. 11 is a schematic structural view of the tensioning adjustment frame in Fig. 9 and Fig. 10;

Fig. 12 is a three-dimensional structural schematic diagram of another structure of the shoulder girdle movement assembly of the present invention;

13 is a schematic perspective view of the three-dimensional structure of the base assembly of the present invention;

Among them: 100 is the upper arm fixation component, 200 is the glenohumeral joint movement component, 300 is the shoulder girdle movement component, 400 is the lasso drive unit, 500 is the base component, and 600 is the seat;

101 is an upper arm cage, 102 is a soft restraint belt, 103 is an upper arm support rod, and 104 is a multidimensional force sensor;

210 is the glenohumeral extension/retraction joint, 220 is the glenohumeral internal rotation/external rotation joint, 230 is the glenohumeral abduction/adduction joint, 240 is the rotation device, 211 is the glenohumeral extension/retraction execution arm, 212 is the glenohumeral extension/retraction support arm, 221 is the glenohumeral internal rotation/external rotation execution arm, 222 is the glenohumeral internal rotation/external rotation support arm, 231 is the glenohumeral abduction/adduction execution arm, 232 is glenohumeral abduction/adduction support arm;

2401 lasso drive wheel, 2402 lubricated bearing, 2403 encoder extension sleeve, 2404 hollow shaft, 2405 limit threaded hole, 2406 pull wire, 2407 lasso installation positioning block A, 2408 limit arc groove , 2409 is an angle encoder;

310 is the extension/retraction joint of the shoulder girdle, 320 is the elevating/falling joint of the shoulder girdle, 311 is the telescopic actuator arm of the shoulder girdle, 312 is the telescopic swing arm A of the shoulder girdle, 313 is the telescopic lubricating bearing of the shoulder girdle, 314 is the shoulder girdle Rotating shaft, 315 is the telescopic swing arm B of the shoulder strap, 316 is the telescopic support arm of the shoulder strap, 317 is a modular rotation device for extending/retracting the shoulder strap, 318 is a connecting plate, 319 is a groove, and 321 is lifting/retracting the shoulder strap Falling execution arm, 322 is the lifting/falling support arm of the shoulder strap, and 323 is a bolt hole;

411 is a drive motor, 412 is a reducer, 413 is a guide rail, 414 is a drive mounting frame, 415 is a lasso driving wheel, 416 is a torque sensor, 417 is a brake bean, 418 is a tension adjustment frame, 419 is a support plate, 420 421 is an adjusting bolt, 422 is a slotted hole, 423 is a lasso installation positioning block B, 424 is a tension guide hole, 425 is a limit groove, and 426 is a slide block;

510 is a wheeled mobile seat, 511 is a roller, 521 is a support rod, 522 is a handle, and 523 is a lifting platform;

O is the motion center of the glenohumeral joint, J1 is the axis of the upper arm cage, J2 is the rotation centerline of the glenohumeral extension/retraction joint, J3 is the rotation centerline of the glenohumeral internal rotation/external rotation joint, and J4 is the glenohumeral abduction/retraction joint rotation centerline. The centerline of the adduction rotation axis, J5 is the centerline of the rotation axis of the shoulder belt extension/retraction modular rotation device, J6 is the centerline of the rotation axis of the shoulder belt lifting/falling joint, and K1 is the equivalent line of the shoulder belt telescopic actuator arm.

Detailed ways

The present invention will be described in further detail below in conjunction with the accompanying drawings.

As shown in FIG. 1 , the present invention includes a base assembly 500 as an installation basis. The two sides of the upper part of the base assembly 500 have the same structure, and each side includes an upper arm fixation assembly 100 , a glenohumeral joint movement assembly 200 and a shoulder girdle movement assembly. 300.

As shown in Figure 2, the upper arm fixing assembly 100 includes an upper arm holder 101, a soft restraint belt 102, an upper arm support rod 103 and a multi-dimensional force sensor 104, and the two ends of the upper arm support rod 103 are connected with an upper arm holder 101 and an upper arm holder respectively. 101 is semicircular, with a soft restraint belt 102 attached to the inner side. The soft restraint belt 102 is in direct contact with the upper arm of the human body, which can improve the wearing comfort of the affected limb. The upper arm cage 101 has the required rigidity, and the radial position of the axis J1 of the upper arm cage can be adjusted to ensure that the axis J1 of the upper arm cage coincides with the movement axis of the glenohumeral internal rotation/external rotation joint of the human body within the range of motion and remains relatively The position is stable. One side of the upper arm holder 101 at both ends is installed in the guide groove provided on the upper arm support rod 103, can move in the guide groove, and after the distance is adjusted, it is positioned and locked with the upper arm support rod 103 to adapt to Arm lengths of different patients. A multi-dimensional force sensor 104 for connecting the upper arm support rod 103 and the glenohumeral joint motion assembly 200 is installed on the upper arm support rod 103, which can record the human-computer interaction force information, human kinematics and physiological data in the rehabilitation training process in real time, Program optimization for quantitative assessment of patient condition and multimodal rehabilitation training.

As shown in FIG. 3 , the glenohumeral joint motion assembly 200 includes a glenohumeral extension/retraction joint 210, a glenohumeral internal rotation/external rotation joint 220, and a glenohumeral abduction/adduction joint 230 in series. The glenohumeral protraction/retraction joint rotation axis centerline J2 of the glenohumeral protraction/retraction joint 210, the glenohumeral internal rotation/external rotation joint rotation axis centerline J3 of the glenohumeral internal rotation/external rotation joint 220, and the glenohumeral abduction/inner The center line J4 of the glenohumeral abduction/adduction rotation axis of the retraction joint 230 intersects non-perpendicularly with the motion center O of the glenohumeral joint, and point O is the placement point of the human shoulder joint. The center line J2 of the rotation axis of the glenohumeral extension/retraction joint passes through the motion center O of the glenohumeral joint of the human body and is perpendicular to the sagittal plane of the human body. The glenohumeral internal rotation/external rotation joint 220 is connected with the glenohumeral protraction/retraction joint 210 through the glenohumeral internal rotation/external rotation actuator arm 221, and the relative distance can be adjusted and locked; the glenohumeral internal rotation/external rotation joint The centerline J3 of the rotation axis passes through the motion center O of the glenohumeral joint of the human body, and forms an adjustable angle of 60° to 80° with the centerline J2 of the glenohumeral extension/retraction joint rotation axis. The center line J3 of the rotation axis of the humeral internal rotation/external rotation joint forms an adjustable angle of 10° to 30° with the coronal plane of the human body, and the angle is toward the back of the human body. The glenohumeral abduction/adduction joint 230 is connected with the glenohumeral internal rotation/external rotation joint 220 through the glenohumeral abduction/adduction actuator arm 231, and the relative distance can be adjusted and locked; the glenohumeral abduction/adduction joint The rotation axis centerline J4 passes through the glenohumeral joint motion center O of the human body, and forms an adjustable angle of 60°-80° with the glenohumeral extension/retraction joint rotation axis centerline J2, and the included angle faces the outside of the human body. Menghumeral abduction/adduction support arm 232 is fixedly connected with shoulder girdle movement assembly 300, glenohumeral extension/retraction execution arm 211 is connected with multidimensional force sensor 104 in upper arm fixing assembly 100; glenohumeral extension/retraction execution The arm 211 is provided with a plurality of mounting holes, the relative distance to the multi-dimensional force sensor 104 can be adjusted, and the arm 211 can be locked after adjustment. The included angles mentioned above can be customized and adjusted according to the body size of different patients.

The glenohumeral extension/retraction joint 210 includes the glenohumeral extension/retraction actuator arm 211 and the glenohumeral extension/retraction support arm 212 which are rotatably connected by the rotating device 240, the glenohumeral internal rotation/external rotation joint 220 includes the glenohumeral extension/retraction support arm 212 through The glenohumeral internal rotation/external rotation actuator arm 221 and the glenohumeral internal rotation/external rotation support arm 222 are rotatably connected by the rotating device 240, and the glenohumeral abduction/adduction joint 230 includes the glenohumeral abduction/external rotation connected by the rotating device 240. The adduction actuator arm 231 and the glenohumeral abduction/adduction support arm 232 are connected with the shoulder girdle extension/retraction joint 310 . The glenohumeral extension/retraction support arm 212 and the glenohumeral internal rotation/external rotation execution arm 221 and the glenohumeral internal rotation/external rotation support arm 222 and the glenohumeral abduction/adduction execution arm 231 are connected to each other, Each rotating device 240 is connected with its own lasso driving unit 400 , and the respective lasso driving unit 400 provides driving torques for protraction/retraction, internal rotation/external rotation and abduction/adduction of the glenohumeral joint.

The glenohumeral extension/retraction support arm 212, the glenohumeral internal rotation/external rotation execution arm 221, the glenohumeral internal rotation/external rotation support arm 222 and the glenohumeral abduction/adduction execution arm 231 are evenly equipped with multiple Bolt holes, one end of the glenohumeral internal rotation/external rotation actuator arm 221 and one end of the glenohumeral abduction/adduction actuator arm 231 are provided with grooves, the other end of the glenohumeral extension/retraction support arm 212 , the other end of the glenohumeral internal rotation/external rotation support arm 222 is respectively plugged with one end of the glenohumeral internal rotation/external rotation actuator arm 221 and one end of the glenohumeral abduction/adduction actuator arm 231 through the groove, and can Adjust the distance between the glenohumeral extension/retraction support arm 212 and the glenohumeral internal rotation/external rotation execution arm 221 and between the glenohumeral internal rotation/external rotation support arm 222 and the glenohumeral abduction/adduction execution arm 231 , after being adjusted, the bolts are inserted into the bolt holes for fixing, so as to meet the size requirements of different human glenohumeral joints.

As shown in Figure 4, the rotating devices 240 in the glenohumeral joint movement assembly 200 have the same structure, and all include a lasso driving wheel 2401, a lubricating bearing 2402, an encoder extension sleeve 2403, a hollow shaft 2404, a pull wire 2406, and a lasso installation and positioning Block A2407 and angle encoder 2409, the hollow shaft 2404 is mounted on the glenohumeral extension/retraction support arm 212, the glenohumeral internal rotation/external rotation support arm 222 or the glenohumeral abduction/adduction support arm 232, the lasso The driving wheel 2401 is rotatably installed on the hollow shaft 2404 through the lubricating bearing 2402, the glenohumeral extension/retraction actuator arm 211, the glenohumeral internal rotation/external rotation actuator arm 221 or the glenohumeral abduction/adduction actuator arm 231 and the lasso The driving wheel 2401 is fixedly connected. When the glenohumeral extension/retraction support arm 212, the glenohumeral internal rotation/external rotation support arm 222 or the glenohumeral abduction/adduction support arm 232 are toward the glenohumeral extension/retraction actuator arm 211, the glenohumeral internal rotation/ One side of the external rotation actuator arm 221 or the glenohumeral abduction/adduction actuator arm 231 is located on the left and right sides above the lasso drive wheel 2401, respectively fixed with a lasso installation positioning block A2407, each lasso installation positioning block A2407 A pull wire 2406 is inserted inside, and the pull wire 2406 is bypassed by the lasso driving wheel 2401 , one end is positioned, supported and locked by the lasso mounting positioning block A2407 , and the other end is connected with the lasso driving unit 400 . An angle encoder 2409 is connected to the inner side of the hollow shaft 2404, and an encoder extension sleeve 2403 is accommodated inside the hollow shaft 2404. The angle encoder 2409 can detect in real time that the glenohumeral extension/retraction actuator arm 211 is relative to the glenohumeral extension/retraction support arm 212, and the glenohumeral internal rotation/external rotation actuator arm 221 is relative to the glenohumeral internal rotation/external rotation support The rotation angles of the arm 222 and the glenohumeral abduction/adduction actuator arm 231 relative to the glenohumeral abduction/adduction support arm 232 ensure that the affected limb is in the correct posture in real time. Glenoid humeral extension/retraction support arm 212, glenohumeral internal rotation/external rotation support arm 222 or glenohumeral abduction/adduction support arm 232 towards the glenohumeral extension/retraction actuator arm 211, glenohumeral internal/external rotation One side of the rotating actuator arm 221 or the glenohumeral abduction/adduction actuator arm 231 is provided with a limiting arc-shaped groove 2408, and the lasso driving wheel 2401 is provided with a limiting threaded hole 2405, and the limiting device is inserted into the limiting arc-shaped groove 2408 And limit in the limit threaded hole 2405.

As shown in FIG. 5 , the shoulder girdle movement assembly 300 includes a shoulder girdle extension/retraction joint 310 and a shoulder girdle lifting/falling joint 320 connected in series, and the shoulder girdle extension/retraction joint 310 includes a shoulder girdle telescopic actuator arm 311 , the shoulder strap telescopic support arm 316, the rotating device 240 and the shoulder strap telescopic swing arm assembly, the shoulder strap telescopic execution arm 311 is set opposite to the shoulder strap telescopic support arm 316, and is connected by two sets of telescopic swing arm assemblies to form a flexible Telescopic parallelogram mechanism; each group of telescopic swing arm components includes the shoulder strap telescopic swing arm A312 and the shoulder strap telescopic swing arm B315 that are telescopically connected to each other, the shoulder strap telescopic swing arm A312 and the shoulder strap telescopic swing arm B315 in the two groups One end of any one is rotationally connected with the shoulder strap telescopic execution arm 311 or the shoulder strap telescopic support arm 316 through the rotating device 240, and one end of the remaining telescopic swing arms is rotationally connected with the shoulder strap telescopic execution arm 311 or the shoulder strap telescopic support arm 316 . The shoulder girdle lift/fall joint 320 includes a shoulder girdle lift/fall support arm 322 and a rotating device 240 , the shoulder girdle lift/fall support arm 322 is connected to the shoulder girdle telescopic support arm 316 through the swivel device 240 . In the shoulder strap movement assembly 300, one end of any one of the shoulder strap telescopic swing arm A312 and the shoulder strap telescopic swing arm B315 is rotationally connected with the shoulder strap telescopic execution arm 311 or the shoulder strap telescopic support arm 316 through the rotating device 240. 240 is the shoulder blade extension/retraction modular rotation device 317; the shoulder blade lifting/falling support arm 322 is connected with the shoulder blade telescopic support arm 316 through the rotation device 240, and the rotation device 240 is the shoulder blade lifting/falling modularization rotating device. The centerline J5 of the rotation axis of the modular rotation device for the extension/retraction joint of the shoulder girdle perpendicularly intersects the centerline J6 of the rotation axis of the lifting/falling joint.

The shoulder girdle extension/retraction modular rotation device 7 and the shoulder girdle lifting/falling modular rotation device in the shoulder girdle movement assembly 300 are respectively connected with the respective lasso drive unit 400, provided by the respective lasso drive unit 400. The driving moments for extension/retraction and uplift/down of the shoulder girdle.

As shown in Fig. 5 and Fig. 6, one end of the shoulder strap telescopic swing arm A312 and the shoulder strap telescopic swing arm B315 are in the shape of a ring, and the other end is a cuboid. The other ends of the shoulder strap telescopic swing arm A312 and the shoulder strap telescopic swing arm B315 are evenly provided with a plurality of bolt holes 323 respectively, and the other ends of the shoulder strap telescopic swing arm A312 or the shoulder strap telescopic swing arm B315 are provided with grooves 319, The other end of the shoulder strap telescopic swing arm A312 and the shoulder strap telescopic swing arm B315 is inserted through the groove 319, and the distance between the shoulder strap telescopic actuator arm 311 and the shoulder strap telescopic support arm 316 can be adjusted. Bolts are inserted into the bolt holes 323 to be fixed, so as to adapt to the size requirements of different human shoulder girdles. In this embodiment, the other end of the shoulder strap telescopic swing arm B315 is provided with a groove 319 along the length direction, the other end of the shoulder strap telescopic swing arm A312 is inserted into the groove 319, and the shoulder strap telescopic swing arm A312 and the shoulder strap telescopic swing The arms B315 can be stretched relatively, and after the distance is adjusted, bolts are inserted into the bolt holes 323 to be locked and fixed. The shoulder strap telescopic actuator arm 311 is used for fixed connection with the glenohumeral joint movement assembly 200 .

The equivalent line K1 of the telescopic executive arm of the scapula passes through the motion center O of the glenohumeral joint of the human body, and the centerline J5 of the rotation axis of the scapular extension/retraction modular rotation device is located directly behind the sternoclavicular joint of the human body, and the parallelogram mechanism is used for equivalent translational movement Features, the extension/retraction movement of the exoskeleton shoulder girdle is transferred to the extension/retraction movement centered on the sternoclavicular joint, and the functional movement of the human glenohumeral joint around the sternoclavicular joint is reproduced. The center line J6 of the rotation axis of the lifting/falling joint of the shoulder girdle passes through the motion center of the human sternoclavicular joint. The line J5 intersects vertically, and the shoulder girdle assembly is designed by a combination of a slewing mechanism and a parallelogram mechanism, which transfers the forward extension/retraction, lifting/falling movement of the exoskeleton shoulder girdle to the forward extension/retraction centered on the sternoclavicular joint. , Lifting/falling movement.

As shown in Figure 6 and Figure 7, one end of the two shoulder strap telescopic swing arms A31 is rotationally connected to the two shoulder strap rotating shafts 314 provided on the shoulder strap telescopic actuator arm 311 through the shoulder strap telescopic lubricating bearing 313, one of the shoulder strap One end of the telescopic swing arm B315 is rotatably connected to the shoulder belt rotating shaft 314 provided on the shoulder strap telescopic support arm 316 through the shoulder strap telescopic lubricating bearing 313; The rotating device 317 is rotationally connected with the telescopic support arm 316 of the shoulder strap. The structure of the shoulder belt extension/retraction modular rotation device 317 is the same as that of the rotation device 240, including the lasso drive wheel 2401, the lubricating bearing 2402, the encoder extension sleeve 2403, the hollow shaft 2404, the pull wire 2406, the lasso installation positioning block A2407 and Angle encoder 2409, the hollow shaft 2404 is installed on the shoulder strap telescopic support arm 316 or the shoulder strap telescopic execution arm 311 (in this embodiment, it is installed on the shoulder strap telescopic support arm 316), and the lasso drive wheel 2401 passes through the lubricating bearing 2402 Rotatingly installed on the hollow shaft 2404, the shoulder strap telescopic swing arm B315 or the shoulder strap telescopic swing arm A312 (this embodiment is the shoulder strap telescopic swing arm B315) is fixedly connected with the noose drive wheel 2401. On the side of the shoulder strap telescopic support arm 316 facing the shoulder strap telescopic swing arm B315, on the left and right sides above the lasso drive wheel 2401, there are fixedly installed lasso positioning blocks A2407, each lasso mounting positioning block A2407. A pull wire 2406 is threaded through, and the pull wire 2406 is bypassed by the lasso driving wheel 2401 , one end of which is positioned, supported and locked by the lasso installation positioning block A2407 , and the other end is connected with the lasso driving unit 400 . An angle encoder 2409 is connected to the inner side of the hollow shaft 2404, and an encoder extension sleeve 2403 is housed inside the hollow shaft 2404. The shoulder belt telescopic support arm 316 is provided with a limited arc groove 2408 towards the side of the shoulder blade telescopic swing arm B315, and the noose drive wheel 2401 is provided with a limited threaded hole 2405, which is inserted into the limited arc groove 2408 and the limited screw hole 2405 by a limit device. Limit in the threaded hole 2405.

As shown in Figure 5 and Figure 8, the shoulder strap telescopic support arm 316 is in the shape of an "L", one side of the "L" shape is used to connect with the shoulder strap telescopic swing arm B315, and the other side is the lifting/falling actuator arm of the shoulder strap 321, the shoulder belt lifting/falling execution arm 321 is rotationally connected with the shoulder belt lifting/falling support arm 322 through the shoulder belt lifting/falling modular rotation device. The shoulder belt lifting/falling modular rotating device has the same structure as the rotating device 240, including lasso driving wheel 2401, lubricating bearing 2402, encoder extension sleeve 2403, hollow shaft 2404, pull wire 2406, lasso installation positioning block A2407 and angle coding device 2409, the hollow shaft 2404 is installed on the shoulder belt lifting/falling support arm 322, the noose drive wheel 2401 is installed on the hollow shaft 2404 through the lubricating bearing 2402 rotation, the shoulder belt lifting/falling execution arm 321 and the noose drive Wheel 2401 is fixedly connected. On the side of the lifting/falling support arm 322 facing the lifting/falling execution arm 321 of the shoulder belt, and on the left and right sides above the lasso drive wheel 2401, there are respectively fixedly installed lasso installation positioning blocks A2407, each lasso A backguy 2406 is penetrated into the installation positioning block A2407, and the backguy 2406 is bypassed by the lasso driving wheel 2401, and one end is positioned, supported and locked by the lasso installation positioning block A2407, and the other end is connected with the lasso driving unit 400. An angle encoder 2409 is connected to the inner side of the hollow shaft 2404, and an encoder extension sleeve 2403 is housed inside the hollow shaft 2404. The shoulder belt lifting/falling support arm 322 is provided with a limit arc groove 2408 on the side facing the shoulder belt lifting/falling execution arm 321, and the lasso driving wheel 2401 is provided with a limit threaded hole 2405, which is inserted through the limit device. Limiting is performed in the arc groove 2408 and the limiting threaded hole 2405 .

As shown in Figure 12, the present invention can also fixedly install two mutually parallel guide rails 413 on the telescopic actuator arm 311 of the shoulder blade. The guide rails 413 are slidably connected with a slider 426, and the slider 426 is equipped with a Sliding web 318 . The connecting plate 318 can be fixedly connected with the glenohumeral abduction/adduction joint 230 in the glenohumeral joint movement assembly 200, which increases a degree of freedom in translation.

Each lasso driving unit 400 connected to each rotating device 240 of the present invention is fixedly installed on the base assembly 500 respectively. A rotating device 240 is connected with the shoulder girdle extension/retraction modular rotation device 7 and the shoulder girdle lifting/falling modular rotation device, respectively glenohumeral extension/retraction joint 210, glenohumeral internal rotation/external rotation joint 220, the glenohumeral abduction/adduction joint 230, the scapula extension/retraction joint 310, and the scapula lift/fall joint 320 provide long-distance driving torque. As shown in Figures 9 to 11, the lasso driving unit includes a power source, a drive mounting frame 414, a lasso driving wheel 415, a torque sensor 416, a brake bean 417, a tensioning adjustment frame 418, a support plate 419, a guide plate 420, an adjustment The bolt 421 and the lasso install the positioning block B423. The power source includes a drive motor 411 and a reducer 412. The drive motor 411 and the reducer 412 are preferably lightweight and high-torque servo motors to reduce system energy density and improve portability. Drive mounting frame 414 can be fixed on the base assembly 500, drive motor 411 is fixed on the side of driving mounting frame 414 after being connected with speed reducer 412, lasso driving wheel 415 is positioned at the other side of driving mounting frame 414, and with deceleration The output end of the motor 412 is connected to each other, and is driven to rotate by the driving motor 411 and the speed reducer 412. Two brake beans 417 are installed on the lasso driving wheel 415 for the fixed connection between the lasso driving wheel 415 and the stay wire 2406 . Tension adjustment frame 418 is "L" shape, and one side of this "L" shape has tension guide hole 424, and the end of the other side is fixedly installed with support plate 419, and this support plate 419 is provided with adjusting bolt 421. A guide plate 420 extends from the driving installation frame 414 , and the guide plate 420 passes through the tightening guide hole 424 , and the adjusting bolt 421 abuts against the guide plate 420 . On one side of the "L"-shaped tensioning adjustment frame 418, there are also two limiting grooves 425, and a lasso installation positioning block B423 is installed in each limiting groove 425; Pull wires 2406, one end of each pull wire 2406 is fixed on a brake bean 417, and the other end is passed through by a lasso-mounted positioning block B423, respectively connected to the glenohumeral protraction/retraction support arm 212, glenohumeral internal rotation/external rotation The support arm 222, the glenohumeral abduction/adduction support arm 232, the telescoping support arm 316 of the shoulder blade or the lasso on the lifting/falling support arm 322 of the shoulder blade are connected with the positioning block A2407. On the other side of the "L"-shaped tensioning adjustment frame 418, a slot 422 is provided, and the slot 422 is in the shape of a long strip; a bolt hole is provided on the guide plate 420, and the bolt is passed through the slot 422 and then tightened in the bolt hole. Inside. Screw the adjustment bolt 421 to make the guide plate 420 and the tension adjustment frame 418 relatively move, and then adjust the distance between the tension adjustment frame 418 and the lasso driving wheel 415 . During the adjustment process, the bolts on the guide plate 420 always move in the slot 422 to play a guiding role, ensuring that the tension adjustment frame 418 is adjusted along a straight line; after the adjustment, tighten the bolts to fix the guide plate 420 . A torque sensor 416 is mounted on the output shaft of the speed reducer 412 .

The lasso driving wheel 2401 and the lasso driving wheel 415 respectively have two grooves along the circumferential direction for accommodating the two stay wires 2406 wound.

As shown in Figure 13, the base assembly 500 includes a wheeled mobile base 510 and a lifting assembly. Each lasso drive unit 400 is installed on the wheeled mobile base 510, and the four corners of the bottom are respectively equipped with rollers 511 to facilitate the movement of the whole machine. And it will be locked after moving in place, which is convenient for users to move and carry the exoskeleton for rehabilitation training. The lifting assembly is fixedly connected with the wheeled mobile base 510, including a support rod 521, a handle 522 and a lifting platform 523. One end of the support rod 521 is fixed on the wheeled mobile base 510, and the other end is provided with a lifting platform 523 that can move up and down. After the height of the lifting platform 523 is adjusted, it is locked and fixed by the handle 522. It is used to install the bionic-assisted flexible exoskeleton of the entire shoulder complex. It can be adjusted by manual lifting or electric lifting. The shoulder complex bionic assists the flexible exoskeleton to adjust the lifting to adapt to different patient heights. The shoulder strap lifting/falling support arms 322 in the shoulder strap lifting/falling joint 320 on each side are all installed on one side of the lifting platform 523, and each side of the lifting platform 523 is provided with slotted holes and guide keyways for installation. The entire shoulder complex bionics assists the flexible exoskeleton, and adjusts its elevation and left-right spacing to adapt to the width of the sternoclavicular joint of different patients. The support rod 521 supports the lifting platform 523 and the lifting adjustment guide. The base assembly 500 of the present invention can be combined with the seat 600 to form a wheelchair, the lasso driving unit 400 is integrated at the bottom of the wheelchair, and the lifting assembly is integrated at the back of the wheelchair.

The bionic assisted flexible exoskeleton of the shoulder complex of the present invention has the functions of protraction/retraction, abduction/adduction, internal rotation/external rotation and lifting of the shoulder blade through the driving control of the lasso driving units 400. There are five degrees of freedom for /falling and forward extension/retraction, and a translational degree of freedom can be added on this basis.

Working principle of the present invention is:

The glenohumeral joint movement component 200 has three degrees of freedom of extension/retraction, internal rotation/external rotation and abduction/adduction.

In the lasso drive unit 400 in the control glenohumeral extension/retraction joint 210, the drive motor 411 and the reducer 412 drive the lasso driving wheel 415 to rotate forward or reverse, through two pull wires 2406 and the glenohumeral extension/rearward The two lassoes on the retractable support arm 212 are connected with the positioning block A2407, and the two pull wires 2406 drive the lasso drive wheel 2401 to rotate relative to the hollow shaft 2404, thereby driving the glenohumeral extension/retraction actuator arm 211 to extend relative to the glenohumeral The supporting arm 212 swings to realize the freedom of extension/retraction of the glenohumeral extension/retraction joint 210 . By screwing the adjusting bolt 421 , the tension adjusting frame 418 is moved relative to the guide plate 420 , and then the distance between the tension adjusting frame 418 and the lasso driving wheel 415 is adjusted to tighten the two pull wires 2406 .

Controlling the lasso drive unit 400 in the glenohumeral internal rotation/external rotation joint 220, the drive motor 411 and the reducer 412 drive the lasso driving wheel 415 to rotate forward or reverse, through two pull wires 2406 and the glenohumeral internal/external rotation The two lariats on the rotation support arm 222 are connected with the positioning block A2407, and the two pull wires 2406 drive the lasso driving wheel 2401 to rotate relative to the hollow shaft 2404, and then drive the glenohumeral internal rotation/external rotation actuator arm 221 to internally rotate the glenohumeral The /external rotation support arm 222 swings to realize the internal rotation/external rotation degree of freedom of the glenohumeral internal rotation/external rotation joint 220 . By screwing the adjusting bolt 421 , the tension adjusting frame 418 is moved relative to the guide plate 420 , and then the distance between the tension adjusting frame 418 and the lasso driving wheel 415 is adjusted to tighten the two pull wires 2406 .

Controlling the lasso drive unit 400 in the glenohumeral abduction/adduction joint 230, the driving motor 411 and the reducer 412 drive the lasso driving wheel 415 to rotate forward or reverse, through two pull wires 2406 and the glenohumeral abduction/inner The two lassoes on the support arm 232 are connected with the positioning block A2407, and the two pull wires 2406 drive the lasso drive wheel 2401 to rotate relative to the hollow shaft 2404, and then drive the glenohumeral abduction/adduction actuator arm 231 to abduct the glenohumeral relative The swing/adduction support arm 232 realizes the abduction/adduction degree of freedom of the glenohumeral abduction/adduction joint 230 . By screwing the adjusting bolt 421 , the tension adjusting frame 418 is moved relative to the guide plate 420 , and then the distance between the tension adjusting frame 418 and the lasso driving wheel 415 is adjusted to tighten the two pull wires 2406 .

The shoulder girdle movement assembly 300 has two degrees of freedom of extension/retraction and lifting/falling.

In the lasso drive unit 400 that controls the forward extension/retraction joint 310 of the shoulder girdle, the driving motor 411 and the reducer 412 drive the lasso driving wheel 415 to rotate forward or reverse, and connect with the telescopic support arm 316 of the shoulder girdle through two pull wires 2406 The two lasso installation positioning blocks A2407 are connected, and the two pull wires 2406 drive the lasso driving wheel 2401 to rotate relative to the hollow shaft 2404, and then drive the shoulder strap telescopic swing arm B315 to swing relative to the shoulder strap telescopic support arm 316, realizing the forward extension of the shoulder strap Extension/retraction degrees of freedom of the joint 310 . By screwing the adjusting bolt 421 , the tension adjusting frame 418 is moved relative to the guide plate 420 , and then the distance between the tension adjusting frame 418 and the lasso driving wheel 415 is adjusted to tighten the two pull wires 2406 .

In the lasso drive unit 400 that controls the lifting/falling joint 320 of the shoulder girdle, the drive motor 411 and the reducer 412 drive the lasso driving wheel 415 to rotate forward or reverse, and the two pull wires 2406 are connected with the lifting/falling support arm of the shoulder girdle. The two nooses on the 322 are connected with the positioning block A2407, and the two pull wires 2406 drive the noose drive wheel 2401 to rotate relative to the hollow shaft 2404, and then drive the lifting/falling actuator arm 321 to support the lifting/falling of the shoulder belt relative to the shoulder belt The arm 322 swings to realize the degree of freedom of lifting/falling the shoulder girdle lifting/falling joint 320 . By screwing the adjusting bolt 421 , the tension adjusting frame 418 is moved relative to the guide plate 420 , and then the distance between the tension adjusting frame 418 and the lasso driving wheel 415 is adjusted to tighten the two pull wires 2406 .

The invention can be used for patients with upper limb motor dysfunction such as upper limb hemiplegia to perform shoulder complex assisting/rehabilitation training.

Claims (7)

1. A lightweight multi-degree-of-freedom shoulder complex bionic power-assisted flexible exoskeleton, characterized in that: comprising a base assembly (500) as an installation base, the two sides of the base assembly (500) have the same structure, Each side includes an upper arm fixation component (100), a glenohumeral joint movement component (200) and a shoulder girdle movement component (300), wherein the glenohumeral joint movement component (200) includes glenohumeral extension/retraction joints in series in sequence ( 210), the glenohumeral internal rotation/external rotation joint (220) and the glenohumeral abduction/adduction joint (230), the shoulder girdle movement assembly (300) includes the scapular girdle protraction/retraction joints (310 ) and shoulder girdle lift/fall joint (320), the upper arm fixation component (100) is connected with the glenohumeral extension/retraction joint (210), and the glenohumeral abduction/adduction joint (230) is connected with the The shoulder girdle protraction/retraction joint (310) is connected, and the scapular girdle lifting/falling joint (320) is connected with the base assembly (500); the glenohumeral protraction/retraction joint (210), glenohumeral Humeral internal rotation/external rotation joint (220), glenohumeral abduction/adduction joint (230), shoulder girdle extension/retraction joint (310) and shoulder girdle lifting/falling joint (320) pass through a lasso respectively The drive unit (400) is controlled, and each of the lasso drive units (400) is installed on the base assembly (500) respectively; the bionic power-assisted flexible exoskeleton of the shoulder complex is driven by each lasso drive unit (400). Control five degrees of freedom of glenohumeral joint extension/retraction, abduction/adduction, internal rotation/external rotation, as well as lifting/falling and forward extension/retraction of the shoulder girdle; The glenohumeral extension/retraction joint rotation axis center line (J2) of the glenohumeral extension/retraction joint (210), the glenohumeral internal rotation/external rotation joint of the glenohumeral internal rotation/external rotation joint (220) The centerline of the rotation axis (J3) and the centerline of the glenohumeral abduction/adduction rotation axis (J4) of the glenohumeral abduction/adduction joint (230) intersect non-perpendicularly at the center of motion of the glenohumeral joint (O); The humeral extension/retraction joint (210) includes the glenohumeral extension/retraction execution arm (211) and the glenohumeral extension/retraction support arm (212) which are rotatably connected by the rotating device (240). The extension/retraction actuator arm (211) is connected with the upper arm fixing assembly (100), and the glenohumeral internal rotation/external rotation joint (220) includes a glenohumeral internal rotation/external rotation connected by a rotating device (240). An actuator arm (221) and a glenohumeral internal/external rotation support arm (222), the glenohumeral abduction/adduction joint (230) includes a glenohumeral abduction/adduction actuation joint (230) rotatably connected by a rotation device (240) arm (231) and a glenohumeral abduction/adduction support arm (232), the glenohumeral abduction/adduction support arm (232) is connected to the scapular extension/retraction joint (310); Between the humeral extension/retraction support arm (212) and the glenohumeral internal rotation/external rotation execution arm (221), as well as the glenohumeral internal rotation/external rotation support arm (222) and the glenohumeral abduction/adduction execution arm ( 231) are connected with each other; each of the rotating devices (240) is connected with its respective lasso driving unit (400), and the protraction/retraction of the glenohumeral joint is provided by the respective lasso driving unit (400) , Drive torque of internal rotation/external rotation and abduction/adduction; The rotating device (240) includes a lasso driving wheel (2401), a hollow shaft (2404), a pull wire (2406) and a lasso installation positioning block A (2407). Retraction support arm (212), glenohumeral internal rotation/external rotation support arm (222), glenohumeral abduction/adduction support arm (232), shoulder girdle telescopic execution arm (311), shoulder girdle telescopic support arm (316 ) or the lifting/falling support arm (322) of the shoulder belt, the lasso driving wheel (2401) is rotatably mounted on the hollow shaft (2404), and is connected with the glenohumeral extension/retraction actuator arm (211) , the glenohumeral internal rotation/external rotation actuator arm (221), the glenohumeral abduction/adduction actuator arm (231), the shoulder girdle telescopic swing arm A (312), the shoulder girdle telescopic swing arm B (315) or the shoulder girdle The lifting/falling execution arm (321) is connected; the glenohumeral extension/retraction support arm (212), the glenohumeral internal rotation/external rotation support arm (222), the glenohumeral abduction/adduction support arm (232 ), shoulder girdle telescopic actuator arm (311), shoulder girdle telescopic support arm (316) or shoulder girdle lift/fall support arm (322) toward the glenohumeral extension/retraction actuator arm (211), glenohumeral internal rotation/ The external rotation actuator arm (221), the glenohumeral abduction/adduction actuator arm (231), the shoulder blade telescopic swing arm A (312), the shoulder blade telescopic swing arm B (315) or the shoulder blade lift/fall actuator arm ( 321), on both sides of the lasso driving wheel (2401), a lasso installation positioning block A (2407) is respectively installed, and a backguy ( 2406), the pull wire (2406) is bypassed by the lasso drive wheel (2401), one end is positioned and supported by the lasso installation positioning block A (2407), and the other end is connected with the lasso drive unit ( 400) connected; the inner side of the hollow shaft (2404) is connected with an angle encoder (2409), and the hollow shaft (2404) houses an encoder extension sleeve (2403), and the two encoder extension sleeves (2403) The ends are respectively connected with the rotating shaft of the angle encoder (2409) and the lasso driving wheel (2401); Brachial Abduction/Adduction Support Arm (232), Shoulder Girdle Telescopic Actuator Arm (311), Shoulder Girdle Telescopic Support Arm (316) or Shoulder Girdle Elevation/Drop Support Arm (322) is performed towards glenohumeral protraction/retraction Arm (211), glenohumeral internal rotation/external rotation actuator arm (221), glenohumeral abduction/adduction actuator arm (231), shoulder girdle telescopic swing arm A (312), shoulder girdle telescopic swing arm B (315) Or one side of the lifting/falling actuator arm (321) of the shoulder strap is provided with a limited arc groove (2408), and a limited threaded hole (2405) is provided on the lasso driving wheel (2401), and the limited screw hole (2405) is inserted through the limited device. Positioning is performed in the arc-shaped groove (2408) and the limiting threaded hole (2405); The lasso driving unit (400) includes a power source, a drive mounting frame (414), a lasso driving wheel (415), a torque sensor (416), a brake bean (417), a tensioning adjustment frame (418), a support plate (419), guide plate (420), adjusting bolt (421) and lasso installation positioning block B (423), the power source is installed on the drive mounting frame (414), and the output end is connected with lasso driving wheel (415) , two brake beans (417) are installed on the lasso driving wheel (415); one end of the tension adjustment frame (418) has a tension guide hole (424), and the other end is equipped with a support plate (419 ), the support plate (419) is provided with an adjusting bolt (421), and a guide plate (420) is extended on the drive installation frame (414), and the guide plate (420) is formed by the tension guide hole (424) Pass through, the adjusting bolt (421) abuts against the guide plate (420); two lasso mounting positioning blocks B (423) are installed on the tensioning adjustment frame (418), and the lasso driving wheel ( 415) is wound with two stay wires (2406), one end of each stay wire (2406) is fixed on one of the brake beans (417), and the other end is passed through by a lasso installation positioning block B (423). It is connected with the rotating device (240); the output end of the power source is equipped with a torque sensor (416); the tension adjustment frame (418) is in the shape of "L", and the tension guide hole (424) is set On one side of the "L" shape, there is a limit groove (425) for fixing the lasso installation positioning block B (423); the support plate (419) is fixed on the other side of the "L" shape. The end of one side has a slotted hole (422) on the side, and the guide plate (420) and the tension adjustment frame (418) are relatively moved by screwing the adjusting bolt (421), thereby adjusting the tension adjustment frame (418). Adjust the distance between the frame (418) and the lasso driving wheel (415); the adjusted guide plate (420) is inserted into the slotted hole (422) by a bolt and locked and fixed. 2. The lightweight multi-degree-of-freedom shoulder complex biomimetic power-assisted flexible exoskeleton according to claim 1, characterized in that: the upper arm fixation component (100) includes an upper arm cage (101), a soft body restraint belt (102 ), an upper arm support rod (103) and a multidimensional force sensor (104), the two ends of the upper arm support rod (103) are respectively connected with an upper arm cage (101), and one side of the upper arm cage (101) at both ends is Installed in the guide groove opened on the upper arm support rod (103), it can move in the guide groove, and after the distance is adjusted, it is positioned and locked with the upper arm support rod (103). The other side of the upper arm cage (101) is attached with a soft restraint belt (102); on the upper arm support rod (103) is installed a device for connecting the upper arm support rod (103) and the glenohumeral joint movement assembly (200). A multidimensional force sensor (104). 3. The lightweight multi-degree-of-freedom shoulder complex bionic assisted flexible exoskeleton according to claim 1, characterized in that: the glenohumeral extension/retraction support arm (212), the glenohumeral internal rotation/external rotation A plurality of bolt holes are evenly opened on the glenohumeral internal rotation/external rotation support arm (222) and the glenohumeral abduction/adduction execution arm (231). The execution arm (221) and the glenohumeral abduction/adduction execution arm (231) are provided with grooves, the glenohumeral extension/retraction support arm (212), the glenohumeral internal rotation/external rotation support arm ( 222) are respectively plugged with the glenohumeral internal rotation/external rotation actuator arm (221) and the glenohumeral abduction/adduction actuator arm (231) through the groove, and the glenohumeral extension/retraction support arm (212) can be adjusted ) and the glenohumeral internal rotation/external rotation actuator arm (221) and the distance between the glenohumeral internal rotation/external rotation support arm (222) and the glenohumeral abduction/adduction actuator arm (231), after adjusting Finally, insert the bolt into the bolt hole and fix it. 4. The lightweight multi-degree-of-freedom shoulder complex bionic-assisted flexible exoskeleton according to claim 1, characterized in that: the glenohumeral extension/retraction joint rotation centerline (J2) is in line with the sagittal plane of the human body Vertical, the angle between the glenohumeral internal rotation/external rotation joint rotation centerline (J3) and the glenohumeral extension/retraction joint rotation centerline (J2) faces the outside of the human body, the glenohumeral internal rotation/external rotation joint The included angle between the rotation centerline (J3) and the coronal plane of the human body is toward the rear side of the human body, and the glenohumeral abduction/adduction rotation centerline (J4) and the glenohumeral extension/retraction joint rotation centerline (J2 ) to the outside of the human body. 5. The lightweight multi-degree-of-freedom shoulder complex bionic-assisted flexible exoskeleton according to claim 1, characterized in that: the scapular extension/retraction joint (310) includes a scapula telescopic actuator arm (311 ), the shoulder strap telescopic support arm (316), the rotating device (240) and the shoulder strap telescopic swing arm assembly, the shoulder strap telescopic execution arm (311) is set opposite to the shoulder strap telescopic support arm (316), and is passed through two groups of The above telescopic swing arm assembly is connected to form a telescopic parallelogram mechanism; each set of telescopic swing arm assembly includes a shoulder strap telescopic swing arm A (312) and a shoulder strap telescopic swing arm B (315) that are telescopically connected to each other, two groups One end of any one of the shoulder strap telescopic swing arm A (312) and the shoulder strap telescopic swing arm B (315) is connected with the shoulder strap telescopic execution arm (311) or the shoulder strap telescopic support arm through the rotating device (240) (316) is rotatably connected, and one end of the remaining telescopic swing arm is rotatably connected with the shoulder strap telescopic execution arm (311) or the shoulder strap telescopic support arm (316); Lifting/falling support arm (322) and rotation device (240), the lifting/falling support arm (322) of the shoulder strap is connected with the telescopic support arm (316) of the shoulder blade through the rotation device (240); the rotation device (240) are connected with respective lasso driving units (400), and the respective lasso driving units (400) provide driving torques for protraction/retraction and lifting/falling of the shoulder girdle. 6. The light-weight multi-degree-of-freedom shoulder complex bionic power-assisted flexible exoskeleton according to claim 5, characterized in that: a guide rail (413) is installed on the shoulder strap telescopic actuator arm (311), and the guide rail ( 413) is slidably connected with a slide block (426), and a connecting plate (318) reciprocally sliding along the guide rail (413) is installed on the slide block (426). 7. The lightweight multi-degree-of-freedom shoulder complex bionic power-assisted flexible exoskeleton according to claim 5 or 6, characterized in that: the shoulder strap telescopic swing arm A (312) and the shoulder strap telescopic swing arm B ( The other end of 315) is provided with a plurality of bolt holes (323) uniformly respectively, and the other end of the shoulder strap telescopic swing arm A (312) or the shoulder strap telescopic swing arm B (315) is provided with a groove (319), so The other ends of the shoulder strap telescopic swing arm A (312) and the shoulder strap telescopic swing arm B (315) are inserted through the groove (319), and the shoulder strap telescopic actuator arm (311) and the shoulder strap telescopic support arm can be adjusted. The spacing between (316) is fixed in the bolt hole (323) by bolt insertion after being adjusted.

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