CN109925160B - Light-weight multi-degree-of-freedom shoulder complex bionic power-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

Light-weight multi-degree-of-freedom shoulder complex bionic power-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 power-assisted flexible exoskeleton.

Background

The world of stroke incidence rate in China is first, with the acceleration of life rhythm and population aging, the increase of life pressure and the year by year increase of stroke hemiplegia patients caused by cardiovascular and cerebrovascular diseases and nervous system diseases, wherein about 3/4 of the patients have nerve injury and functional dyskinesia with different degrees, and the life quality is seriously influenced. Research shows that the central nervous system has high plasticity, can be used for developing and timely and effectively rehabilitation training of hemiplegic affected limbs, is beneficial to restoring the control and the control of central nerves on limb movements, enhancing muscle strength, remodelling the affected limb movement functions, and effectively preventing complications such as muscle atrophy, osteoporosis and the like. The traditional clinical method mainly takes the bare-handed rehabilitation training of doctors as the main part, and has a plurality of limitations, such as low rehabilitation efficiency and high labor intensity; the treatment effect is greatly influenced by the experience and level of doctors, and training parameters cannot be accurately controlled; objective evaluation of rehabilitation training cannot be performed.

The rehabilitation exoskeleton system is a robot system which is used for assisting or replacing doctors to finish rehabilitation training of patients and is generated by introducing robot technology into the field of clinical rehabilitation medicine. The upper limb rehabilitation exoskeleton can be worn on the outer side of a patient limb, accurate, continuous and effective upper limb rehabilitation training treatment is carried out on the patient limb, man-machine interaction force information, human body kinematics and physiological data can be recorded in real time through the perception system, wearing comfort of a patient is improved, rehabilitation training effect is quantitatively assessed in real time, and objective basis is provided for improvement and optimization of a rehabilitation scheme.

The rehabilitation exoskeleton is a typical man-machine integrated system, and the mismatching of the movement axes of the human-machine joints can cause joint pain, limited movement space and the like to influence the rehabilitation training effect, and even cause secondary injury of affected limbs, so that the matching of the movement axes of the human-machine joints is required to be realized as far as possible during the design of the rehabilitation exoskeleton. However, the existing upper limb rehabilitation exoskeleton still has a great defect in the shoulder complex rehabilitation training.

The shoulder of the human body is a shoulder complex formed by a glenohumeral joint and a shoulder blade belt, and has the characteristics of flexibility and poor high stability. The glenohumeral joint is a ball joint, the scapular belt is a movement chain consisting of a acromioclavicular joint, a sternoclavicular joint and a scapular chest wall joint, and any single joint cannot move independently. When the humerus is lifted, the clavicle rotates around the sternoclavicular joint relative to the sternum, the scapula rotates around the acromioclavicular joint relative to the clavicle and can sideslip on the surface of the sternum, so that the glenohumeral fossa is driven to incline upwards, the complex coordination movement process enables the rotation center of the glenohumeral joint to drift, and the large-range movement of the humerus is realized. Thus, in shoulder complex motion, the scapular band may provide both anterior/posterior extension/retraction of the coronal plane and lifting/lowering of the level plane for the glenohumeral joint center of rotation. The existing rehabilitation exoskeleton usually adopts the equivalent human shoulder movement of a rotary joint with three axes which are vertically intersected, the scheme only considers the glenohumeral joint movement, ignores the movement of the scapular band, and causes singular configuration and interference of the human-machine shoulder movement when the humerus moves in a large range; meanwhile, stroke patients cannot autonomously generate movement of the shoulder blade band due to nerve damage, and only the movement of the shoulder blade band is compensated by moving the trunk, so that the rehabilitation training effect is greatly reduced, and other complications are extremely easy to generate. On the other hand, the traditional rehabilitation exoskeleton driving motor is integrated at the joint, so that the exoskeleton actuating mechanism has larger mass and inertia, the driving performance requirement is increased, the control precision and stability are reduced, and the potential safety hazard of falling of the affected limb during system failure exists.

Disclosure of Invention

Aiming at the problems, the invention aims to provide a lightweight multi-degree-of-freedom shoulder complex bionic power-assisted flexible exoskeleton which is suitable for daily action power assistance and rehabilitation training of shoulder complexes of patients with dyskinesia such as apoplexy and hemiplegia.

The aim of the invention is realized by the following technical scheme:

the invention comprises a base component used as a mounting base, wherein the two sides of the upper part of the base component are the same in structure, each side comprises an upper arm fixing component, a glenohumeral joint movement component and a shoulder blade band movement component, the glenohumeral joint movement component comprises a glenohumeral anterior/posterior joint, a glenohumeral internal/external rotation joint and a glenohumeral external/internal contraction joint which are sequentially connected in series, the shoulder blade band movement component comprises a shoulder blade band anterior/posterior joint and a shoulder blade band lifting/dropping joint which are mutually connected in series, the upper arm fixing component is connected with the glenohumeral anterior/posterior joint, the glenohumeral external/internal contraction joint is connected with the shoulder blade band anterior/posterior joint, and the shoulder blade band lifting/dropping joint is connected with the base component; the glenohumeral anterior/posterior joint, the glenohumeral internal/external rotation joint, the glenohumeral external/internal contraction 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 and forward extension/backward contraction of the glenohumeral joint;

Wherein: the upper arm fixing assembly comprises an upper arm retainer, a soft constraint belt, an upper arm supporting rod and a multidimensional force sensor, wherein two ends of the upper arm supporting rod are respectively connected with the upper arm retainer, one sides of the upper arm retainers at two ends are respectively arranged in guide grooves formed in the upper arm supporting rod and can move in the guide grooves, and after the distance is adjusted, the upper arm retainer is positioned and locked with the upper arm supporting rod, and the soft constraint belt is attached to the inner parts of the other sides of the upper arm retainers at two ends; a multidimensional force sensor for connecting the upper arm support rod and the glenohumeral joint movement assembly is arranged on the upper arm support rod;

the glenohumeral anterior/posterior joint rotation axis centerline of the glenohumeral anterior/posterior joint, the glenohumeral internal/external rotation joint rotation axis centerline of the glenohumeral internal/external rotation joint, and the glenohumeral external/internal rotation axis centerline of the glenohumeral external/internal joint intersect at the glenohumeral joint center of motion non-perpendicularly; the glenohumeral anterior/posterior joint comprises a glenohumeral anterior/posterior actuating arm and a glenohumeral anterior/posterior support arm rotationally coupled by a rotation device, the glenohumeral anterior/posterior actuating arm being coupled with the upper arm fixation assembly, the glenohumeral internal/external rotation joint comprises a glenohumeral internal/external rotation actuating arm and a glenohumeral internal/external rotation support arm rotationally coupled by a rotation device, the glenohumeral external/internal joint comprises a glenohumeral external/internal expansion actuating arm and a glenohumeral external/internal expansion support arm rotationally coupled by a rotation device, the glenohumeral external/internal expansion support arm being coupled with the scapular band anterior/posterior joint; the glenohumeral anteriorly/posteriorly support arm is interconnected with the glenohumeral supination/supination actuator arm and the glenohumeral supination/supination actuator arm; each rotating device is connected with a respective lasso driving unit, and the respective lasso driving unit provides driving moment of the anterior extension/posterior contraction, the internal rotation/external rotation and the abduction/adduction of the glenohumeral joint;

The spittoon arm extending/retracting support arm, the spittoon arm extending/retracting execution arm, the spittoon arm extending/retracting support arm and the spittoon arm extending/retracting execution arm are respectively and uniformly provided with a plurality of bolt holes, grooves are respectively arranged on the spittoon arm extending/retracting execution arm and the spittoon arm extending/retracting execution arm, the spittoon arm extending/retracting support arm and the spittoon arm extending/retracting execution arm are respectively inserted into the spittoon arm extending/retracting execution arm and the spittoon arm extending/retracting execution arm through the grooves, the space between the spittoon arm extending/retracting support arm and the spittoon arm extending/retracting execution arm and the space between the spittoon arm extending/retracting support arm and the spittoon arm extending/retracting execution arm are adjustable, and the spittoon arm extending/retracting execution arm is fixed in the bolt holes through the bolts after the adjustment.

The rotation center line of the extending/retracting joint of the glenohumerus is vertical to the sagittal plane of the human body, the included angle between the rotation center line of the extending/retracting joint of the glenohumerus and the rotation center line of the extending/retracting joint of the glenohumerus faces the outer side of the human body, the included angle between the rotation center line of the extending/retracting joint of the glenohumerus and the coronal plane of the human body faces the rear side of the human body, and the included angle between the rotation center line of the extending/retracting joint of the glenohumerus and the rotation center line of the extending/retracting joint of the glenohumerus faces the outer side of the human body;

The shoulder blade belt extending/retracting joint comprises a shoulder blade belt extending executing arm, a shoulder blade belt extending supporting arm, a rotating device and a shoulder blade belt extending swing arm assembly, wherein the shoulder blade belt extending executing arm and the shoulder blade belt extending supporting arm are oppositely arranged and are connected through two groups of extending swing arm assemblies to form an extending parallelogram mechanism; each group of telescopic swing arm assemblies comprises a telescopic swing arm A with a shoulder blade and a telescopic swing arm B with a shoulder blade which are in telescopic connection with each other, one end of any one of the telescopic swing arm A with a shoulder blade and the telescopic swing arm B with a shoulder blade is rotatably connected with a telescopic actuating arm with a shoulder blade or a telescopic support arm with a shoulder blade through the rotating device, and one end of the other telescopic swing arms is rotatably connected with the telescopic actuating arm with a shoulder blade or the telescopic support arm with a shoulder blade; the shoulder blade belt lifting/dropping joint comprises a shoulder blade belt lifting/dropping support arm and a rotating device, wherein the shoulder blade belt lifting/dropping support arm is connected with a shoulder blade belt telescopic support arm through the rotating device; the rotating device is connected with the respective lasso driving units, and the respective lasso driving units provide forward extension/backward contraction of the shoulder blade belt and upward lifting/downward falling driving moment;

The shoulder blade belt telescopic actuating arm is provided with a guide rail, a sliding block is connected to the guide rail in a sliding manner, and a connecting plate which slides back and forth along the guide rail is arranged on the sliding block;

the other ends of the telescopic swing arm A with the shoulder blade and the telescopic swing arm B with the shoulder blade are respectively and uniformly provided with a plurality of bolt holes, the other ends of the telescopic swing arm A with the shoulder blade or the telescopic swing arm B with the shoulder blade are provided with grooves, the other ends of the telescopic swing arm A with the shoulder blade and the telescopic swing arm B with the shoulder blade are spliced through the grooves, the distance between the telescopic actuating arm with the shoulder blade and the telescopic support arm with the shoulder blade can be adjusted, and the telescopic swing arm with the shoulder blade are inserted into the bolt holes through bolts after being adjusted;

the rotating device comprises a lasso driving wheel, a hollow shaft, a stay wire and a lasso mounting positioning block A, wherein the hollow shaft is mounted on a glenohumerus forward/backward extending support arm, a glenohumerus inward rotating/outward rotating support arm, a glenohumerus outward extending/inward rotating support arm, a scapular belt telescopic actuating arm, a scapular belt telescopic support arm or a scapular belt lifting/falling support arm, and the lasso driving wheel is rotatably mounted on the hollow shaft and is connected with the glenohumerus forward/backward extending support arm, the glenohumerus inward rotating/outward rotating support arm, the glenohumerus outward extending/inward rotating support arm, the glenohumerus telescopic swinging arm A, the scapular belt telescopic swinging arm B or the scapular belt lifting/falling support arm; a lasso installation positioning block A is respectively installed on one surface of the glenohumeral extending/retracting support arm, the glenohumeral internal rotating/external rotating support arm, the glenohumeral abduction/adduction support arm, the scapular belt telescopic actuating arm, the scapular belt telescopic support arm or the on-blade lifting/dropping support arm, which faces the glenohumeral extending/retracting actuating arm, the glenohumeral internal rotating/external rotating actuating arm, the glenohumeral external extending/adduction actuating arm, the scapular belt telescopic swinging arm A, the scapular belt telescopic swinging arm B or the on-blade lifting/dropping actuating arm and is positioned on two sides of a lasso driving wheel, a stay wire is penetrated into each lasso installation positioning block A, one end of the stay wire is wound on the lasso driving wheel, and one end of the stay wire is locked through the lasso installation positioning block A positioning and the other end of the stay wire is connected with the lasso driving unit; the inner side of the hollow shaft is connected with an angle encoder, an encoder extension sleeve is accommodated in the hollow shaft, and two ends of the encoder extension sleeve are respectively connected with a rotating shaft of the angle encoder and a lasso driving wheel; the device comprises a glenohumerus extending/retracting support arm, a glenohumerus internal rotation/external rotation support arm, a glenohumerus abduction/adduction support arm, a scapular belt telescopic actuating arm, a scapular belt telescopic support arm or a scapular belt lifting/dropping support arm, wherein one side of the glenohumerus extending/retracting support arm, the glenohumerus internal rotation/external rotation support arm, the glenohumerus abduction/adduction actuating arm, the scapular belt telescopic swing arm A, the scapular belt telescopic swing arm B or the scapular belt lifting/dropping actuating arm is provided with a limiting arc-shaped groove, and a lasso driving wheel is provided with a limiting threaded hole, and the limiting arc-shaped groove and the limiting threaded hole are inserted through a limiting device to limit;

The lasso driving unit comprises a power source, a driving mounting frame, a lasso driving wheel, a torque sensor, brake beans, a tensioning adjusting frame, a supporting plate, a guide plate, an adjusting bolt and a lasso mounting positioning block B, wherein the power source is mounted on the driving mounting frame, the output end of the power source is connected with the lasso driving wheel, and two brake beans are mounted on the lasso driving wheel; one end of the tensioning adjusting frame is provided with a tensioning guide hole, the other end of the tensioning adjusting frame is provided with a supporting plate, the supporting plate is provided with an adjusting bolt, the driving installation frame is extended with a guide plate, the guide plate passes through the tensioning guide hole, and the adjusting bolt is abutted with the guide plate; two lasso mounting positioning blocks B are arranged on the tensioning adjusting frame, two stay wires are wound on the lasso driving wheel, one end of each stay wire is fixed on one brake bean, and the other end of each stay wire is connected with the rotating device after being penetrated by one lasso mounting positioning block B; the output end of the power source is provided with a torque sensor; the tensioning adjusting frame is L-shaped, the tensioning guide hole is formed in one side of the L-shaped, and a limiting groove for fixing the lasso installation positioning block B is formed in the side; the support plate is fixed at the end part of the L-shaped other side, a slotted hole is formed in the side, and the guide plate and the tensioning adjusting frame are relatively moved by screwing the adjusting bolt, so that the distance between the tensioning adjusting frame and the lasso driving wheel is adjusted; the guide plate after being adjusted is inserted into the slotted hole through a bolt to be locked and fixed.

The invention has the advantages and positive effects that:

1. the invention creatively adopts a combination mode of a rotation mechanism and a parallelogram mechanism to design the shoulder blade belt assembly, and transmits the forward extending/backward shrinking and upward lifting/falling movement of the exoskeleton shoulder blade belt to the forward extending/backward shrinking and upward lifting/falling movement taking the chest lock joint as the center, so as to reproduce the movement function of the shoulder blade belt of a human body, solve the problem of rehabilitation training of the shoulder blade belt of a hemiplegic patient, effectively avoid the singular configuration of the shoulder movement of a human body and improve the compatibility of the human-machine movement.

2. The invention innovatively adopts the serial three-axis non-perpendicular intersecting rotary joint assembly to be equivalent to the human glenohumeral joint, solves the problem that the prior exoskeleton can not realize the large-range motion of the humerus, effectively avoids the interference of the motion of the man-machine shoulder and improves the rehabilitation motion range of the shoulder of the human body.

3. According to the invention, through the sensing systems such as the angle encoder, the torque sensor, the multidimensional force sensor and the like, man-machine interaction force information, human body kinematics and physiological data in the rehabilitation training process can be recorded in real time, the illness state of a patient can be quantitatively evaluated, various rehabilitation training modes are formulated, the rehabilitation training effect is effectively improved, and the generation of complications is reduced.

4. The invention adopts the lasso driving unit to provide torque driving for the exoskeleton movement joint, realizes the separation of driving and executing mechanisms, effectively reduces the mass and inertia of the executing mechanisms, realizes the lightweight design of the exoskeleton, and improves the movement stability, safety and wearing comfort of the system.

5. The invention is widely applicable to daily action assistance and rehabilitation training of shoulder complexes of patients with apoplexy, hemiplegia and the like.

Drawings

FIG. 1 is a schematic perspective view of the present invention;

FIG. 2 is a schematic perspective view of an upper arm fixing assembly according to the present invention;

FIG. 3 is a schematic perspective view of a glenohumeral articulation assembly of the present invention;

FIG. 4 is a cross-sectional view of the rotary device of FIG. 3;

FIG. 5 is a perspective view of one construction of the scapular belt motion assembly of the present invention;

fig. 6 is a schematic perspective view of the scapular joint of fig. 5 with the joint extended/retracted;

FIG. 7 is a cross-sectional view of the modular rotation device of FIG. 5 with the scapular strap extending/retracting;

FIG. 8 is a cross-sectional view of the suprascapular/drop joint of FIG. 5;

FIG. 9 is a schematic illustration of one of the configurations of the lasso drive unit of the present invention;

FIG. 10 is a second schematic diagram of the lasso drive 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 perspective view showing another structure of the scapular belt moving assembly of the present invention;

FIG. 13 is a schematic perspective view of a base assembly of the present invention;

wherein: 100 is an upper arm fixing assembly, 200 is a glenohumeral joint movement assembly, 300 is a scapular belt movement assembly, 400 is a lasso driving unit, 500 is a base assembly, 600 is a seat;

101 is an upper arm retainer, 102 is a soft binding belt, 103 is an upper arm supporting rod, and 104 is a multidimensional force sensor;

210 is a glenohumeral anterior/posterior joint, 220 is a glenohumeral internal/external joint, 230 is a glenohumeral abduction/adduction joint, 240 is a rotation device, 211 is a glenohumeral anterior/posterior actuator arm, 212 is a glenohumeral anterior/posterior support arm, 221 is a glenohumeral internal/external actuator arm, 222 is a glenohumeral internal/external support arm, 231 is a glenohumeral abduction/adduction actuator arm, 232 is a glenohumeral abduction/adduction support arm;

2401 lasso driving wheel, 2402 is a lubrication bearing, 2403 is an encoder extension sleeve, 2404 is a hollow shaft, 2405 is a limit threaded hole, 2406 is a stay wire, 2407 is lasso mounting positioning block A,2408 is a limit arc groove, 2409 is an angle encoder;

310 is a shoulder blade band forward/backward telescopic joint, 320 is a shoulder blade band upward lifting/downward telescopic actuating arm, 311 is a shoulder blade band telescopic swinging arm A,313 is a shoulder blade band telescopic lubrication bearing, 314 is a shoulder blade band rotating shaft, 315 is a shoulder blade band telescopic swinging arm B,316 is a shoulder blade band telescopic supporting arm, 317 is a shoulder blade band forward/backward telescopic modularized rotating device, 318 is a connecting plate, 319 is a groove, 321 is a shoulder blade band upward lifting/downward telescopic actuating arm, 322 is a shoulder blade band upward lifting/downward supporting arm, 323 is a bolt hole;

411 is a driving motor, 412 is a speed reducer, 413 is a guide rail, 414 is a driving mounting rack, 415 is a lasso driving wheel, 416 is a torque sensor, 417 is a braking bean, 418 is a tensioning adjusting rack, 419 is a supporting plate, 420 is a guide plate, 421 is an adjusting bolt, 422 is a slot hole, 423 is a lasso mounting positioning block B,424 is a tensioning guiding hole, 425 is a limiting groove, and 426 is a sliding block;

510 is a wheel type movable seat, 511 is a roller, 521 is a supporting rod, 522 is a handle, and 523 is a lifting platform;

o is a glenohumeral joint movement center, J1 is an upper arm retainer axis, J2 is a glenohumeral anterior/posterior joint rotation center line, J3 is a glenohumeral internal/external rotation joint rotation center line, J4 is a glenohumeral abduction/adduction rotation axis center line, J5 is a scapular anteriorly/posteriorly modular rotation device rotation axis center line, J6 is a scapular superior/inferior joint rotation axis center line, and K1 is a scapular telescopic actuator arm equivalent line.

Detailed Description

The invention is described in further detail below with reference to the accompanying drawings.

As shown in fig. 1, the present invention includes a base assembly 500 as a mounting base, and both sides of an upper portion of the base assembly 500 are identical in structure, and each side includes an upper arm fixing assembly 100, a glenohumeral articulation assembly 200, and a scapular belt movement assembly 300.

As shown in fig. 2, the upper arm fixing assembly 100 includes an upper arm holder 101, a soft binding band 102, an upper arm support bar 103 and a multidimensional sensor 104, wherein two ends of the upper arm support bar 103 are respectively connected with the upper arm holder 101, the upper arm holder 101 is in a semicircular shape, the soft binding band 102 is attached to the inner side of the upper arm holder 101, and the soft binding band 102 is in direct contact with the upper arm of a human body, so that wearing comfort of a patient can be improved. The upper arm retainer 101 has required rigidity, and the radial position of the upper arm retainer axis J1 is adjustable, so that the upper arm retainer axis J1 coincides with the internal rotation/external rotation joint movement axis of the human glenohumerus in the movable range, and the relative position is kept stable. One side of the upper arm retainer 101 at both ends is installed in a guide groove formed on the upper arm support rod 103, can move in the guide groove, and is positioned and locked with the upper arm support rod 103 after the distance is adjusted so as to adapt to the arm lengths of different patients. The multi-dimensional force sensor 104 used for connecting the upper arm supporting rod 103 and the glenohumeral joint movement assembly 200 is arranged on the upper arm supporting rod 103, so that man-machine interaction force information, human body kinematics and physiological data in the rehabilitation training process can be recorded in real time, and the multi-mode rehabilitation training system is used for quantitative evaluation of patient conditions and scheme optimization of multi-mode rehabilitation training.

As shown in fig. 3, the glenohumeral joint movement assembly 200 includes a glenohumeral anterior/posterior joint 210, a glenohumeral internal/external joint 220, and a glenohumeral external/internal joint 230, which are connected in series, in that a glenohumeral anterior/posterior joint rotation axis line J2 of the glenohumeral anterior/posterior joint 210, a glenohumeral internal/external joint rotation axis line J3 of the glenohumeral internal/external joint 220, and a glenohumeral external/internal rotation axis line J4 of the glenohumeral external/internal joint 230 are non-perpendicularly intersected with a glenohumeral joint movement center O, which is a human shoulder joint placement point. The rotation axis center line J2 of the glenohumeral anterior/posterior 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/external rotation joint 220 is connected to the glenohumeral anterior/posterior joint 210 by a glenohumeral internal/external rotation actuator arm 221, and the relative distance can be adjusted and locked; the rotation axis center line J3 of the internal rotation/external rotation joint of the glenohumerus passes through the motion center O of the glenohumerus of the human body, forms an adjustable included angle of 60-80 degrees with the rotation axis center line J2 of the anterior extension/posterior contraction joint of the glenohumerus, the included angle faces the outer side of the human body, and the rotation axis center line J3 of the internal rotation/external rotation joint of the glenohumerus forms an adjustable included angle of 10-30 degrees with the coronal plane of the human body, and the included angle faces the rear side of the human body. The glenohumeral abduction/adduction joint 230 is connected with the glenohumeral internal/external rotation joint 220 by a glenohumeral abduction/adduction actuator arm 231, and the relative distance can be adjusted and locked; the rotation axis center line J4 of the abduction/adduction joint of the glenohumerus passes through the motion center O of the glenohumerus of the human body and forms an adjustable included angle of 60-80 degrees with the rotation axis center line J2 of the anterior extension/retraction joint of the glenohumerus, and the included angle faces the outer side of the human body. Meng Gong abduction/adduction support arm 232 is fixedly connected with the scapular belt motion assembly 300, and glenohumeral anterior/posterior extension actuator arm 211 is connected with multi-dimensional force sensor 104 in upper arm fixation assembly 100; the glenohumeral reach/retract actuator arm 211 is provided with a plurality of mounting holes for adjusting the relative distance between the glenohumeral reach/retract actuator arm and the multidimensional sensor 104, and is locked after adjustment. The included angles can be customized and adjusted according to different body sizes of patients.

The glenohumeral anterior/posterior joint 210 includes a glenohumeral anterior/posterior actuator arm 211 and a glenohumeral anterior/posterior support arm 212 rotatably coupled by a rotation device 240, the glenohumeral internal/external rotation joint 220 includes a glenohumeral internal/external rotation actuator arm 221 and a glenohumeral internal/external rotation support arm 222 rotatably coupled by a rotation device 240, and the glenohumeral abduction/adduction joint 230 includes a glenohumeral abduction/adduction actuator arm 231 and a glenohumeral abduction/adduction support arm 232 rotatably coupled by a rotation device 240, the glenohumeral abduction/adduction support arm 232 being coupled with the scapular band anterior/posterior joint 310. The interconnection between the glenohumeral reach/retract support arm 212 and the glenohumeral internal/external rotation actuator arm 221 and between the glenohumeral internal/external rotation support arm 222 and the glenohumeral external/internal retraction actuator arm 231, each rotation device 240 is connected to a respective lasso drive unit 400, with the respective lasso drive units 400 providing the drive moments of the reach/retract, internal/external rotation and external/internal retraction of the glenohumeral joint.

The glenohumeral anterior/posterior extension arm 212, the glenohumeral internal/external rotation arm 221, the glenohumeral internal/external rotation arm 222 and the glenohumeral internal/external rotation arm 231 are respectively and uniformly provided with a plurality of bolt holes, one end of the glenohumeral internal/external rotation arm 221 and one end of the glenohumeral external/internal rotation arm 231 are respectively provided with grooves, the other end of the glenohumeral anterior/posterior extension arm 212 and the other end of the glenohumeral internal/external rotation arm 222 are respectively inserted into one end of the glenohumeral internal/external rotation arm 221 and one end of the glenohumeral external/internal rotation arm 231 through the grooves, and the intervals between the glenohumeral anterior/external rotation arm 212 and the glenohumeral internal/external rotation arm 231 and the glenohumeral external rotation arm 231 are respectively and fixed in the bolt holes after being adjusted so as to adapt to different glenohumeral joint size requirements.

As shown in fig. 4, each of the rotating devices 240 in the glenohumeral articulation assembly 200 is identical in structure and includes a lasso drive wheel 2401, a lubricated bearing 2402, an encoder extension sleeve 2403, a hollow shaft 2404, a drawstring 2406, a lasso mounting block a2407, and an angular encoder 2409, the hollow shaft 2404 being mounted on the glenohumeral anterior/posterior support arm 212, the glenohumeral internal/external rotation support arm 222, or the glenohumeral external/internal retraction support arm 232, the lasso drive wheel 2401 being rotatably mounted on the hollow shaft 2404 via the lubricated bearing 2402, the glenohumeral anterior/posterior rotation execution arm 211, the glenohumeral internal/external rotation execution arm 221, or the glenohumeral external/internal retraction execution arm 231 being fixedly connected to the lasso drive wheel 2401. Lasso mounting blocks a2407 are fixedly mounted on the left and right sides above the lasso driving wheel 2401 on one side of the glenohumeral extension/retraction support arm 212, the glenohumeral internal rotation/external rotation support arm 222 or the glenohumeral extension/internal rotation support arm 232 facing the glenohumeral extension/retraction actuator arm 211, the glenohumeral internal rotation/external rotation actuator arm 221 or the glenohumeral extension/internal rotation actuator arm 231, respectively, a pull wire 2406 is threaded into each lasso mounting block a2407, one end of the pull wire 2406 is wound around the lasso driving wheel 2401, is fixedly supported and locked by the lasso mounting block a2407, and the other end is connected with the lasso driving unit 400. The inner side of the hollow shaft 2404 is connected with an angle encoder 2409, an encoder extension sleeve 2403 is accommodated in the hollow shaft 2404, and two ends of the encoder extension sleeve 2403 are respectively connected with a rotating shaft of the angle encoder 2409 and a lasso driving wheel 2401, so that the angle encoder 2409 can detect the rotation angle of the glenohumeral anterior/posterior actuating arm 211 relative to the glenohumeral anterior/posterior supporting arm 212, the glenohumeral internal/external rotation actuating arm 221 relative to the glenohumeral internal/external rotation supporting arm 222 and the glenohumeral external/internal rotation actuating arm 231 relative to the glenohumeral external/internal rotation supporting arm 232 in real time, and ensure that the affected limb is in a correct position in real time. A limiting arc groove 2408 is formed on one surface of the glenohumeral extending/retracting support arm 212, the glenohumeral internal/external rotation support arm 222 or the glenohumeral external/internal retraction support arm 232, which faces the glenohumeral extending/retracting actuator arm 211, the glenohumeral internal/external rotation actuator arm 221 or the glenohumeral external/internal retraction actuator arm 231, a limiting threaded hole 2405 is formed on the lasso driving wheel 2401, and the limiting arc groove 2408 and the limiting threaded hole 2405 are inserted through a limiting device to limit.

As shown in fig. 5, the scapular movement assembly 300 includes a scapular extension/retraction joint 310 and a scapular lifting/lowering joint 320 connected in series with each other, the scapular extension/retraction joint 310 includes a scapular extension/retraction actuator arm 311, a scapular extension/retraction support arm 316, a rotating device 240, and a scapular extension/retraction swing arm assembly, and the scapular extension/retraction actuator arm 311 is disposed opposite to the scapular extension/retraction support arm 316 and is connected by two sets of the extension/retraction swing arm assemblies to form a telescopic parallelogram mechanism; each group of telescopic swing arm assemblies comprises a telescopic swing arm A312 with a shoulder blade and a telescopic swing arm B315 with a shoulder blade, one end of any one of the telescopic swing arm A312 with a shoulder blade and the telescopic swing arm B315 with a shoulder blade is rotatably connected with a telescopic actuating arm 311 with a shoulder blade or a telescopic support arm 316 with a shoulder blade through a rotating device 240, and one end of the rest of telescopic swing arms is rotatably connected with the telescopic actuating arm 311 with a shoulder blade or the telescopic support arm 316 with a shoulder blade. The scapular belt lifting/lowering joint 320 includes a scapular belt lifting/lowering support arm 322 and a rotating device 240, and the scapular belt lifting/lowering support arm 322 is connected to the scapular belt telescopic support arm 316 by the rotating device 240. In the scapular movement assembly 300, one end of either one of the scapular telescopic swing arm a312 and the scapular telescopic swing arm B315 is rotatably connected to the scapular telescopic actuator arm 311 or the scapular telescopic support arm 316 by a rotating device 240, and the rotating device 240 is a scapular forward/backward extension modular rotating device 317; the scapular band up/down support arm 322 is connected to the scapular band telescoping support arm 316 by a rotating device 240, which rotating device 240 is a scapular band up/down modular rotating device. The rotation axis center line J5 of the modularized rotation device for the shoulder blade band extending forwards/backwards joint is perpendicularly intersected with the rotation axis center line J6 of the lifting/dropping joint.

The modular rotation device 7 for the forward extension/backward extension of the scapula band and the modular rotation device for the upward lifting/falling of the scapula band in the scapula band movement assembly 300 are respectively connected with respective lasso driving units 400, and the forward extension/backward extension of the scapula band and the upward lifting/falling driving moment are provided by the respective lasso driving units 400.

As shown in fig. 5 and 6, one end of the scapular extension/retraction swing arm a312 and one end of the scapular extension/retraction swing arm B315 are annular, and the other end is rectangular. The other ends of the telescopic swing arm A312 and the telescopic swing arm B315 are respectively and uniformly provided with a plurality of bolt holes 323, the other ends of the telescopic swing arm A312 or the telescopic swing arm B315 are provided with grooves 319, the other ends of the telescopic swing arm A312 and the telescopic swing arm B315 are inserted through the grooves 319, the distance between the telescopic actuating arm 311 and the telescopic support arm 316 is adjustable, and the telescopic swing arm is fixed in the bolt holes 323 through bolts after the adjustment, so that the telescopic swing arm is suitable for different human body shoulder blade size requirements. In this embodiment, a groove 319 is formed at the other end of the telescopic swing arm B315 along the length direction, the other end of the telescopic swing arm a312 is inserted into the groove 319, the telescopic swing arm a312 and the telescopic swing arm B315 can be relatively telescopic, and after the distance is adjusted, the telescopic swing arm B315 is inserted into the bolt hole 323 by a bolt for locking and fixing. The scapular strap extension and retraction actuator arm 311 is used for secure connection with the glenohumeral articulation assembly 200.

The equivalent line K1 of the telescopic actuating arm of the shoulder blade belt passes through the motion center O of the human glenohumeral joint, the rotation axis center J5 of the modularized rotating device for the forward extension/backward extension of the shoulder blade belt is positioned right behind the human chest lock joint, and the forward extension/backward extension motion of the exoskeleton shoulder blade belt is transferred to the forward extension/backward extension motion taking the chest lock joint as the center by utilizing the equivalent translational motion characteristic of the parallelogram mechanism, so that the functional motion of the human glenohumeral joint extending forward/backward around the chest lock joint is reproduced. The rotation axis center line J6 of the lifting/dropping joint of the shoulder blade belt passes through the center of motion of the chest lock joint of a human body, the rotation axis center line J6 of the lifting/dropping joint of the shoulder blade belt is vertically intersected with the rotation axis center line J5 of the rotation axis of the front-stretching/back-shrinking modular rotation device of the shoulder blade belt, and the shoulder blade belt assembly is designed in a combined mode of a slewing mechanism and a parallelogram mechanism, so that the front-stretching/back-shrinking, lifting/dropping motion of the exoskeleton shoulder blade belt is transmitted to the front-stretching/back-shrinking, lifting/dropping motion taking the chest lock joint as the center.

As shown in fig. 6 and 7, one end of each of the two telescopic swing arms a31 is rotatably connected to two rotary shafts 314 provided on the telescopic arm 311 via a telescopic lubrication bearing 313, and one end of one of the telescopic swing arms B315 is rotatably connected to the rotary shaft 314 provided on the telescopic arm 316 via a telescopic lubrication bearing 313; one end of the other telescopic swing arm B315 is rotatably connected with the telescopic support arm 316 through a modular rotation device 317 for forward extension/backward extension of the scapular band. The scapular extension/retraction modular rotation device 317 has the same structure as the rotation device 240, and comprises a lasso driving wheel 2401, a lubrication bearing 2402, an encoder extension sleeve 2403, a hollow shaft 2404, a guy 2406, a lasso mounting positioning block a2407 and an angle encoder 2409, wherein the hollow shaft 2404 is mounted on a scapular extension support arm 316 or a scapular extension actuator arm 311 (in this embodiment, mounted on the scapular extension support arm 316), the lasso driving wheel 2401 is rotatably mounted on the hollow shaft 2404 through the lubrication bearing 2402, and the scapular extension swing arm B315 or the scapular extension swing arm a312 (in this embodiment, the scapular extension swing arm B315) is fixedly connected with the lasso driving wheel 2401. A lasso mounting positioning block a2407 is fixedly mounted on one surface of the scapular belt telescopic support arm 316 facing the scapular belt telescopic swing arm B315 and positioned on the left side and the right side above the lasso driving block 2401, a stay wire 2406 is penetrated into each lasso mounting positioning block a2407, the stay wire 2406 is wound on the lasso driving block 2401, one end is positioned, supported and locked through 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, an encoder extension sleeve 2403 is accommodated in the hollow shaft 2404, and two ends of the encoder extension sleeve 2403 are respectively connected with a rotating shaft of the angle encoder 2409 and a lasso driving wheel 2401. A limiting arc groove 2408 is formed in one surface, facing the scapular belt telescopic swing arm B315, of the scapular belt telescopic support arm 316, a limiting threaded hole 2405 is formed in the lasso driving wheel 2401, and the limiting arc groove 2408 and the limiting threaded hole 2405 are inserted through a limiting device to limit.

As shown in fig. 5 and 8, the telescopic support arm 316 is L-shaped, one side of the L-shape is used for connecting with the telescopic swing arm B315, and the other side is a telescopic lifting/dropping actuator arm 321, and the telescopic lifting/dropping actuator arm 321 is rotatably connected with the telescopic lifting/dropping support arm 322 by a telescopic lifting/dropping modular rotating device. The scapular belt lifting/falling modularized rotating device has the same structure as the rotating device 240, and comprises a lasso driving wheel 2401, a lubrication bearing 2402, an encoder extension sleeve 2403, a hollow shaft 2404, a guy 2406, a lasso mounting positioning block A2407 and an angle encoder 2409, wherein the hollow shaft 2404 is mounted on a scapular belt lifting/falling supporting arm 322, the lasso driving wheel 2401 is rotatably mounted on the hollow shaft 2404 through the lubrication bearing 2402, and the scapular belt lifting/falling actuating arm 321 is fixedly connected with the lasso driving wheel 2401. A lasso mounting block a2407 is fixedly mounted on the left and right sides of the side of the scapular belt lifting/falling support arm 322 facing the scapular belt lifting/falling execution arm 321 above the lasso driving wheel 2401, a pull wire 2406 is inserted into each lasso mounting block a2407, the pull wire 2406 is wound around the lasso driving wheel 2401, one end is fixedly supported and locked by the lasso mounting 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, an encoder extension sleeve 2403 is accommodated in the hollow shaft 2404, and two ends of the encoder extension sleeve 2403 are respectively connected with a rotating shaft of the angle encoder 2409 and a lasso driving wheel 2401. A limiting arc groove 2408 is formed in one surface of the shoulder blade belt lifting/falling support arm 322, which faces the shoulder blade belt lifting/falling execution arm 321, a limiting threaded hole 2405 is formed in the lasso driving wheel 2401, and the limiting arc groove 2408 and the limiting threaded hole 2405 are inserted through a limiting device to limit.

As shown in fig. 12, the present invention may further have two parallel guide rails 413 fixedly mounted on the scapular belt extension/retraction arm 311, a slider 426 is slidably connected to the guide rails 413, and a connection plate 318 is mounted on the slider 426 to reciprocate along the guide rails 413. The connection plate 318 may be fixedly connected to the glenohumeral abduction/adduction joint 230 in the glenohumeral articulation assembly 200, adding one degree of translational freedom.

The lasso driving units 400 connected with the rotating devices 240 of the present invention are respectively and fixedly installed on the base assembly 500, and the three rotating devices 240 and the scapular band extending/retracting modularized rotating device 7 and the scapular band lifting/falling modularized rotating device in the glenohumeral joint movement assembly 200 are respectively connected with the five lasso driving units of the present invention through the stay wires 2406 to respectively provide remote driving torque for the glenohumeral extending/retracting joint 210, the glenohumeral internal rotating/external rotating joint 220, the glenohumeral external extending/internal folding joint 230, the scapular band extending/retracting joint 310 and the scapular band lifting/falling joint 320. As shown in fig. 9 to 11, the lasso driving unit includes a power source, a driving mount 414, a lasso driving wheel 415, a torque sensor 416, a braking beam 417, a tension adjusting frame 418, a supporting plate 419, a guide plate 420, an adjusting bolt 421 and a lasso mounting block B423, and the power source includes a driving motor 411 and a speed reducer 412, and the driving motor 411 and the speed reducer 412 are preferably lightweight high torque servo motors to reduce the energy density of the system and improve portability. The driving installation frame 414 can be fixed on the base assembly 500, the driving motor 411 is connected with the speed reducer 412 and then fixed on one side of the driving installation frame 414, the lasso driving wheel 415 is positioned on the other side of the driving installation frame 414 and connected with the output end of the speed reducer 412, and the driving motor 411 and the speed reducer 412 are driven to rotate. Two braking beans 417 are mounted on the lasso driving wheel 415 for the fixed connection of the lasso driving wheel 415 and the wire 2406. The tensioning adjusting frame 418 is in an L shape, one side of the L shape is provided with a tensioning guiding hole 424, the end of the other side is fixedly provided with a supporting plate 419, and the supporting plate 419 is provided with an adjusting bolt 421. The driving mounting frame 414 is extended with a guide plate 420, the guide plate 420 is penetrated by a tensioning guide hole 424, and an adjusting bolt 421 is abutted against the guide plate 420. Two limiting grooves 425 are also formed in one side of the L-shaped tensioning adjusting frame 418, and a lasso mounting positioning block B423 is arranged in each limiting groove 425; two stay wires 2406 are wound on the lasso driving wheel 415, one end of each stay wire 2406 is fixed on one brake bean 417, and the other end is connected with a lasso mounting positioning block A2407 on a glenohumeral anterior extension/retraction supporting arm 212, a glenohumeral internal rotation/external rotation supporting arm 222, a glenohumeral abduction/adduction supporting arm 232, a scapular extension supporting arm 316 or a scapular lifting/dropping supporting arm 322 respectively after passing through by a lasso mounting positioning block B423. A slotted hole 422 is formed on the other side of the L-shaped tensioning adjusting frame 418, and the slotted hole 422 is in a strip shape; the guide plate 420 is provided with bolt holes, and bolts pass through the slotted holes 422 and are screwed into the bolt holes. The adjusting bolt 421 is screwed to move the guide plate 420 and the tension adjusting frame 418 relatively, thereby adjusting the distance between the tension adjusting frame 418 and the lasso driving wheel 415. In the adjustment process, the bolts on the guide plate 420 always move in the slotted holes 422 to play a guiding role, so that the tensioning adjustment frame 418 is ensured to be adjusted along a straight line; after the adjustment, the bolt fixing guide plate 420 is screwed. A torque sensor 416 is mounted on the output shaft of the speed reducer 412.

Two grooves are formed on the lasso driving wheel 2401 and the lasso driving wheel 415 along the circumferential direction respectively for accommodating the two winding wires 2406.

As shown in fig. 13, the base assembly 500 includes a wheel type moving seat 510 and a lifting assembly, wherein each lasso driving unit 400 is installed on the wheel type moving seat 510, and rollers 511 are respectively installed at four corners of the bottom, so that the whole machine is convenient to move, and the locking is performed after the whole machine is moved in place, so that the user can conveniently move and carry the rehabilitation training exoskeleton. The lifting assembly is fixedly connected with the wheel type movable seat 510 and comprises a supporting rod 521, a handle 522 and a lifting platform 523, one end of the supporting rod 521 is fixed on the wheel type movable seat 510, the other end of the supporting rod 521 is provided with the lifting platform 523 capable of moving up and down, the lifting platform 523 is locked and fixed through the handle 522 after being well adjusted in height and used for installing the whole shoulder complex bionic assisting flexible exoskeleton, the manual lifting mode or the electric lifting mode can be adopted for adjusting, and the electric self-adaptive adjusting mode is preferred for lifting and adjusting the whole shoulder complex bionic assisting flexible exoskeleton so as to adapt to different heights of patients. The shoulder blade belt lifting/falling support arms 322 in the shoulder blade belt lifting/falling joints 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 a slotted hole and a guide key slot for installing the whole shoulder complex bionic assisting flexible exoskeleton and carrying out lifting adjustment and left-right interval adjustment on the whole shoulder complex bionic assisting flexible exoskeleton so as to adapt to the width of chest lock joints of different patients. The supporting rod 521 supports the elevating platform 523 and the elevating adjustment guide. The base assembly 500 of the present invention may be incorporated with a seat 600 into a wheelchair, integrating the lasso drive unit 400 at the bottom of the wheelchair and the lift assembly at the back of the wheelchair.

The shoulder complex bionic assisting flexible exoskeleton of the present invention has five degrees of freedom of anterior extension/posterior contraction, abduction/adduction, internal rotation/external rotation, and lifting/dropping and anterior extension/posterior contraction of the glenohumeral joint through driving control of each lasso driving unit 400, and a translational degree of freedom can be added on the basis.

The working principle of the invention is as follows:

the three degrees of freedom of the glenohumeral articulation assembly 200 are anterior/posterior, internal/external rotation and abduction/adduction.

In the lasso driving unit 400 in the control glenohumeral anterior/posterior joint 210, a driving motor 411 and a speed reducer 412 drive a lasso driving wheel 415 to rotate forward or reverse, and are connected with two lasso mounting positioning blocks a2407 on the glenohumeral anterior/posterior support arm 212 through two lasso wires 2406, the two lasso driving wheels 2401 are driven to rotate relative to a hollow shaft 2404 by the two lasso wires 2406, so that the glenohumeral anterior/posterior execution arm 211 is driven to swing relative to the glenohumeral anterior/posterior support arm 212, and the degree of freedom of anterior/posterior glenohumeral anterior/posterior joint 210 is realized. By screwing the adjusting bolt 421, the tension adjusting frame 418 is moved relative to the guide plate 420, and the distance between the tension adjusting frame 418 and the lasso driving wheel 415 is adjusted, so that the two wires 2406 are tensioned.

In the lasso driving unit 400 in the glenohumeral internal/external rotation joint 220, a driving motor 411 and a speed reducer 412 drive a lasso driving wheel 415 to rotate forward or backward, and are connected with two lasso mounting positioning blocks A2407 on the glenohumeral internal/external rotation supporting arm 222 through two pulling wires 2406, and the two pulling wires 2406 drive the lasso driving wheel 2401 to rotate relative to the hollow shaft 2404, so as to drive the glenohumeral internal/external rotation executing arm 221 to swing relative to the glenohumeral internal/external rotation supporting arm 222, thereby realizing the internal/external rotation freedom degree of the glenohumeral internal/external rotation joint 220. By screwing the adjusting bolt 421, the tension adjusting frame 418 is moved relative to the guide plate 420, and the distance between the tension adjusting frame 418 and the lasso driving wheel 415 is adjusted, so that the two wires 2406 are tensioned.

In the lasso driving unit 400 in the glenohumeral abduction/adduction joint 230, the driving motor 411 and the speed reducer 412 drive the lasso driving wheel 415 to rotate forward or reverse, and are connected with two lasso mounting positioning blocks A2407 on the glenohumeral abduction/adduction supporting arm 232 through two stay wires 2406, and the two stay wires 2406 drive the lasso driving wheel 2401 to rotate relative to the hollow shaft 2404, so as to drive the glenohumeral abduction/adduction executing arm 231 to swing relative to the glenohumeral abduction/adduction supporting arm 232, thereby realizing 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 the distance between the tension adjusting frame 418 and the lasso driving wheel 415 is adjusted, so that the two wires 2406 are tensioned.

The scapular movement assembly 300 has two degrees of freedom, i.e., forward/backward extension and upward/downward extension.

In the lasso driving unit 400 for controlling the scapular extension/retraction joint 310, a driving motor 411 and a speed reducer 412 drive a lasso driving wheel 415 to rotate forward or backward, and are connected with two lasso mounting positioning blocks A2407 on a scapular extension/retraction support arm 316 through two stay wires 2406, the two stay wires 2406 drive a lasso driving wheel 2401 to rotate relative to a hollow shaft 2404, and further drive a scapular extension/retraction swing arm B315 to swing relative to the scapular extension/retraction support arm 316, so as to realize the extension/retraction degree of freedom of the scapular extension/retraction joint 310. By screwing the adjusting bolt 421, the tension adjusting frame 418 is moved relative to the guide plate 420, and the distance between the tension adjusting frame 418 and the lasso driving wheel 415 is adjusted, so that the two wires 2406 are tensioned.

In the lasso driving unit 400 for controlling the lifting/dropping joint 320 of the scapula band, the driving motor 411 and the speed reducer 412 drive the lasso driving wheel 415 to rotate forward or backward, and are connected with two lasso mounting positioning blocks a2407 on the lifting/dropping support arm 322 of the scapula band through two stay wires 2406, the two stay wires 2406 drive the lasso driving wheel 2401 to rotate relative to the hollow shaft 2404, so as to drive the lifting/dropping execution arm 321 on the scapula band to swing relative to the lifting/dropping support arm 322 of the scapula band, thereby realizing the lifting/dropping degree of freedom of the lifting/dropping joint 320 of the scapula band. By screwing the adjusting bolt 421, the tension adjusting frame 418 is moved relative to the guide plate 420, and the distance between the tension adjusting frame 418 and the lasso driving wheel 415 is adjusted, so that the two wires 2406 are tensioned.

The invention can be used for shoulder complex power assisting/rehabilitation training of patients with upper limb movement dysfunction such as upper limb hemiplegia and the like.

Claims (7)

1. A flexible exoskeleton of bionical helping hand of lightweight multi freedom shoulder complex, its characterized in that: comprises a base component (500) used as a mounting base, wherein two sides of the upper part of the base component (500) are the same in structure, each side comprises an upper arm fixing component (100), a glenohumeral joint component (200) and a shoulder strap moving component (300), the glenohumeral joint component (200) comprises a glenohumeral anterior/posterior joint (210), a glenohumeral internal/external rotation joint (220) and a glenohumeral abduction/adduction joint (230) which are sequentially connected in series, the shoulder strap moving component (300) comprises a shoulder strap anterior/posterior joint (310) and a shoulder strap up/down joint (320) which are mutually connected in series, the upper arm fixing component (100) is connected with the glenohumeral anterior/posterior joint (210), the glenohumeral adduction joint (230) is connected with the shoulder strap anterior/posterior joint (310), and the shoulder strap up/down joint (320) is connected with the base component (500); the glenohumeral anterior/posterior joint (210), the glenohumeral internal/external rotation joint (220), the glenohumeral external/internal contraction joint (230), the scapular band anterior/posterior joint (310) and the scapular band up/down joint (320) are respectively controlled by a lasso driving unit (400), and each lasso driving unit (400) is respectively mounted on the base component (500); the shoulder complex bionic assisting flexible exoskeleton is driven by each lasso driving unit (400) to control five degrees of freedom of the anterior extension/posterior contraction, abduction/adduction, internal rotation/external rotation, the lifting/dropping and the anterior extension/posterior contraction of the glenohumeral joint;

A glenohumeral anterior/posterior joint rotation axis centerline (J2) of the glenohumeral anterior/posterior joint (210), a glenohumeral internal/external rotation joint rotation axis centerline (J3) of the glenohumeral internal/external rotation joint (220), and a glenohumeral abduction/adduction rotation axis centerline (J4) of the glenohumeral abduction/adduction joint (230) non-perpendicularly intersect the glenohumeral joint center of motion (O); the glenohumeral anterior/posterior joint (210) comprises a glenohumeral anterior/posterior actuator arm (211) and a glenohumeral anterior/posterior support arm (212) rotationally coupled by a rotation device (240), the glenohumeral anterior/posterior actuator arm (211) being coupled to the upper arm fixation assembly (100), the glenohumeral internal/external rotation joint (220) comprising a glenohumeral internal/external actuator arm (221) and a glenohumeral internal/external rotation support arm (222) rotationally coupled by a rotation device (240), the glenohumeral external/internal rotation joint (230) comprising a glenohumeral external/internal expansion actuator arm (231) and a glenohumeral external/internal expansion support arm (232) rotationally coupled by a rotation device (240), the glenohumeral external/internal expansion support arm (232) being coupled to the scapular anterior/posterior joint (310); the glenohumeral reach/retract support arm (212) and glenohumeral internal/external rotation actuator arm (221) and the glenohumeral internal/external rotation support arm (222) and glenohumeral external/internal retraction actuator arm (231) are interconnected; each rotation device (240) is connected with a respective lasso driving unit (400), and the respective lasso driving unit (400) provides the driving moment of the anterior extension/posterior contraction, the internal rotation/external rotation and the external expansion/internal contraction of the glenohumeral joint;

The rotating device (240) comprises a lasso driving wheel (2401), a hollow shaft (2404), a pull wire (2406) and a lasso mounting positioning block A (2407), wherein the hollow shaft (2404) is mounted on a glenohumeral anterior/posterior support arm (212), a glenohumeral internal/external rotation support arm (222), a glenohumeral abduction/adduction support arm (232), a scapular telescopic actuator arm (311), a scapular telescopic support arm (316) or a scapular lifting/dropping support arm (322), the lasso driving wheel (2401) is rotatably mounted on the hollow shaft (2404) and is connected with the glenohumeral anterior/posterior actuator arm (211), the glenohumeral internal/external rotation actuator arm (221), the glenohumeral external/adduction actuator arm (231), the scapular telescopic actuator arm A (312), the scapular telescopic actuator arm B (315) or the scapular lifting/dropping actuator arm (321); a lasso installation positioning block A (2407) is respectively arranged on one surface of the glenohumeral anteriorly/posteriorly-extending support arm (212), the glenohumeral supinator/supinator support arm (222), the glenohumeral supinator/adduction support arm (232), the lasso installation positioning block A (2407) is respectively arranged on two sides of a lasso driving wheel (2401), a pulling wire (2406) is penetrated into each lasso installation positioning block A (2407), one end of the pulling wire (2406) is wound on the lasso driving wheel (2401) through the lasso installation positioning block A (2407) and the other end of the pulling wire is connected with the lasso driving unit (400) in a positioning and locking manner; an angle encoder (2409) is connected to the inner side of the hollow shaft (2404), an encoder extension sleeve (2403) is accommodated in the hollow shaft (2404), and two ends of the encoder extension sleeve (2403) are respectively connected with a rotating shaft of the angle encoder (2409) and a lasso driving wheel (2401); a limit arc groove (2408) is formed in one surface of the glenohumeral anteriorly/posteriorly-stretching support arm (212), the glenohumeral supination support arm (222), the glenohumeral abduction/adduction support arm (232), the scapular belt telescopic execution arm (311), the scapular belt telescopic support arm (316) or the scapular belt ascending/descending support arm (322) faces the glenohumeral anteriorly/posteriorly-stretching execution arm (211), the glenohumeral adduction/adduction execution arm (221), the glenohumeral abduction/adduction execution arm (231), the scapular belt telescopic swing arm A (312), the scapular belt telescopic swing arm B (315) or the scapular belt ascending/descending execution arm (321), a limit threaded hole (2405) is formed in the lasso driving wheel (2401), and the limit arc groove (2408) and the limit threaded hole (2405) are inserted through a limit device to limit;

The lasso driving unit (400) comprises a power source, a driving mounting frame (414), a lasso driving wheel (415), a torque sensor (416), braking beans (417), a tensioning adjusting frame (418), a supporting plate (419), a guide plate (420), an adjusting bolt (421) and a lasso mounting positioning block B (423), wherein the power source is mounted on the driving mounting frame (414), the output end of the power source is connected with the lasso driving wheel (415), and the lasso driving wheel (415) is provided with two braking beans (417); one end of the tensioning adjusting frame (418) is provided with a tensioning guide hole (424), the other end of the tensioning adjusting frame is provided with a supporting plate (419), the supporting plate (419) is provided with an adjusting bolt (421), the driving mounting frame (414) is extended with a guide plate (420), the guide plate (420) passes through the tensioning guide hole (424), and the adjusting bolt (421) is abutted with the guide plate (420); two lasso mounting positioning blocks B (423) are mounted on the tensioning adjusting frame (418), two stay wires (2406) are wound on the lasso driving wheel (415), one end of each stay wire (2406) is fixed on one brake bean (417), and the other end of each stay wire is connected with the rotating device (240) after being penetrated by one lasso mounting positioning block B (423); a torque sensor (416) is arranged at the output end of the power source; the tensioning adjusting frame (418) is L-shaped, the tensioning guide hole (424) is formed in one side of the L-shape, and a limiting groove (425) for fixing the lasso mounting positioning block B (423) is formed in the side; the supporting plate (419) is fixed at the end part of the other side of the L shape, a slotted hole (422) is formed on the side, and the guide plate (420) and the tensioning adjusting frame (418) are relatively moved by screwing the adjusting bolt (421), so that the distance between the tensioning adjusting frame (418) and the lasso driving wheel (415) is adjusted; the guide plate (420) after being adjusted is inserted into the slotted hole (422) through bolts for locking and fixing.

2. The lightweight multi-degree of freedom shoulder complex bionic power assisted flexible exoskeleton of claim 1, wherein: the upper arm fixing assembly (100) comprises an upper arm retainer (101), a soft constraint belt (102), an upper arm supporting rod (103) and a multi-dimensional force sensor (104), wherein the two ends of the upper arm supporting rod (103) are respectively connected with the upper arm retainer (101), one sides of the upper arm retainers (101) at the two ends are respectively installed in guide grooves formed in the upper arm supporting rod (103), can move in the guide grooves, are positioned and locked with the upper arm supporting rod (103) after the distance is adjusted, and the soft constraint belt (102) is attached to the inner parts of the other sides of the upper arm retainers (101) at the two ends; a multidimensional force sensor (104) for connecting the upper arm support rod (103) and the glenohumeral joint movement assembly (200) is mounted on the upper arm support rod (103).

3. The lightweight multi-degree of freedom shoulder complex bionic power assisted flexible exoskeleton of claim 1, wherein: the glenohumeral anterior/posterior support arm (212), the glenohumeral internal/external support arm (221), the glenohumeral internal/external support arm (222) and the glenohumeral external/internal support arm (231) are respectively and uniformly provided with a plurality of bolt holes, grooves are respectively arranged on the glenohumeral internal/external support arm (221) and the glenohumeral external/internal support arm (231), the glenohumeral anterior/posterior support arm (212) and the glenohumeral internal/external support arm (222) are respectively inserted into the glenohumeral internal/external support arm (221) and the glenohumeral external/internal support arm (231) through the grooves, and the intervals between the glenohumeral anterior/external support arm (212) and the glenohumeral internal/external support arm (221) and the glenohumeral external/internal support arm (231) and the intervals between the glenohumeral internal/external support arm (231) can be adjusted and fixed in the bolt holes after adjustment.

4. The lightweight multi-degree of freedom shoulder complex bionic power assisted flexible exoskeleton of claim 1, wherein: the rotation center line (J2) of the glenohumeral protrusion/retraction joint is perpendicular to the sagittal plane of the human body, the included angle between the rotation center line (J3) of the glenohumerus protrusion/retraction joint and the rotation center line (J2) of the glenohumerus protrusion/retraction joint faces the outer side of the human body, the included angle between the rotation center line (J3) of the glenohumerus protrusion/retraction joint and the coronal plane of the human body faces the rear side of the human body, and the included angle between the rotation center line (J4) of the glenohumerus protrusion/retraction joint and the rotation center line (J2) of the glenohumerus protrusion/retraction joint faces the outer side of the human body.

5. The lightweight multi-degree of freedom shoulder complex bionic power assisted flexible exoskeleton of claim 1, wherein: the shoulder blade band forward/backward telescopic joint (310) comprises a shoulder blade band telescopic actuating arm (311), a shoulder blade band telescopic supporting arm (316), a rotating device (240) and a shoulder blade band telescopic swinging arm assembly, wherein the shoulder blade band telescopic actuating arm (311) is arranged opposite to the shoulder blade band telescopic supporting arm (316) and is connected through two groups of telescopic swinging arm assemblies to form a telescopic parallelogram mechanism; each group of telescopic swing arm assemblies comprises a telescopic swing arm A (312) with a shoulder blade and a telescopic swing arm B (315) with a shoulder blade, one end of any one of the telescopic swing arm A (312) with a shoulder blade and the telescopic swing arm B (315) with a shoulder blade is rotatably connected with a telescopic actuating arm (311) with a shoulder blade or a telescopic support arm (316) with a shoulder blade through the rotating device (240), and one end of the other telescopic swing arms is rotatably connected with the telescopic actuating arm (311) with a shoulder blade or the telescopic support arm (316) with a shoulder blade; the shoulder blade belt lifting/dropping joint (320) comprises a shoulder blade belt lifting/dropping support arm (322) and a rotating device (240), wherein the shoulder blade belt lifting/dropping support arm (322) is connected with a shoulder blade belt telescopic support arm (316) through the rotating device (240); the rotation means (240) are connected to respective lasso driving units (400), and the respective lasso driving units (400) provide driving moments of the extension/retraction and lifting/lowering of the scapula band.

6. The lightweight multi-degree of freedom shoulder complex bionic power assisted flexible exoskeleton of claim 5, wherein: the shoulder blade belt telescopic actuating arm (311) is provided with a guide rail (413), the guide rail (413) is connected with a sliding block (426) in a sliding manner, and the sliding block (426) is provided with a connecting plate (318) which slides back and forth along the guide rail (413).

7. The lightweight multi-degree of freedom shoulder complex bionic power assisted flexible exoskeleton of claim 5 or 6, wherein: the other ends of the telescopic swing arm A (312) with the shoulder blade and the telescopic swing arm B (315) with the shoulder blade are respectively and uniformly provided with a plurality of bolt holes (323), the other ends of the telescopic swing arm A (312) with the shoulder blade or the telescopic swing arm B (315) with the shoulder blade are provided with grooves (319), the other ends of the telescopic swing arm A (312) with the shoulder blade and the telescopic swing arm B (315) with the shoulder blade are inserted through the grooves (319), the distance between the telescopic execution arm (311) with the shoulder blade and the telescopic support arm (316) with the shoulder blade can be adjusted, and the telescopic swing arm is fixed in the bolt holes (323) through bolts after the adjustment.

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