155 results about "Upper limb exoskeleton" patented technology

The invention discloses an upper limb exoskeleton rehabilitation robot control method based on a radial basis neural network. The method includes the steps that a human body upper limb musculoskeletal model is established; upper limb muscle myoelectric signals and upper limb movement data are collected, the movement data are imported into the upper limb musculoskeletal model, upper limb joint torque is obtained, the radial basis neural network is established and a neural network model is given out; the patient movement intention is recognized, the joint angular speed is subjected to fusion analysis, the result is used for recognizing the training object joint stretching state, and the limb movement intention is determined; and myoelectric signals and joint angles in affected side rehabilitation training are collected in real time, affected side joint torque is obtained through the neural network, joint torque needing to be compensated by an exoskeleton mechanical arm is calculated, myoelectric signal fatigue characteristics are analyzed, the compensation torque magnitude can be adjusted by classifying the degree of fatigue, and a torque controller can be controlled to achieve the effect that an upper limb rehabilitation robot assists patients in rehabilitation training by combining the movement intention. By means of the upper limb exoskeleton rehabilitation robot control method, the rehabilitation training process is made to be more suitable for the patients, man-machine interaction is strengthened, and the rehabilitation effect is improved.

The invention provides a wearable upper limb exoskeleton rehabilitation device, which includes a fixed backboard served as a base; a driver module can make torque force transfer to each joint by Bowden cable; an exoskeleton module of elbow join is used for coupled rehabilitation movement. rehabilitative training of the elbow, coupled rehabilitation of forearm and exoskeleton of the upper arm and the exoskeleton; a mechanical hard limit device for joint, can achieve mechanical hard limit protection for a forearm connecting rod and a upper arm connecting rod; a three direction adjustable adaptive module, the position of joint winch in the shoulder adduction is adjusted to adopt different somatotype of the patients; a shoulder joint module, the shoulder joint module can achieve rehabilitation training for abduction degree of freedom in the shoulder and rehabilitation training of shoulder flexion and extension degree. The Wearable upper limb exoskeleton rehabilitation device makes use of the wearable structure to realize the free movement of patients during rehabilitation training.

The invention provides an exoskeleton-wearable rehabilitation robot in the technical field of medical rehabilitation machinery. The robot comprises a lower limb exoskeleton, a shoulder exoskeleton and an upper limb exoskeleton, wherein the lower limb exoskeleton is worn on the lower limbs and waist of a patient; the shoulder exoskeleton is worn on the shoulder of the patient and positioned above the lower limb exoskeleton; and the upper limb exoskeleton is divided into a left upper limb exoskeleton and a right upper limb exoskeleton which are worn on the upper limes of the patient and positioned under the forelimbs of the shoulder exoskeleton respectively. The exoskeleton-wearable rehabilitation robot ensures that the patient can perform rehabilitation training of upper and lower limbs atthe same time, is driven by batteries on the back of the patient, and can be used for solving the problem that the moving range of the patient is limited when carrying out rehabilitation by utilizingthe traditional rehabilitation device.

The invention discloses a heavy material handling power-assisting bionic exoskeleton which can be worn on limbs of a human body. The heavy material handling power-assisting bionic exoskeleton can assist the human body in rapidly completing the task of carrying large-heavy materials under the harsh working condition and comprises an upper limb exoskeleton and a lower limb exoskeleton. The upper limb exoskeleton is a 7-degree-of-freedom system and consists of 3-degree-of-freedom shoulder joints, 1-degree-of-freedom elbow joints, 2-degree-of-freedom wrist joints, 1-degree-of-freedom hands and a motor driving system box of the back; and the 7 degrees of freedom are all driven by a motor. The lower limb exoskeleton is a 6-degree-of-freedom system and consists of a 3-degree-of-freedom hip joint, 1-degree-of-freedom knee joints, 2-degree-of-freedom ankle joints and an electrohydraulic driving system box of the back; and the 6 degrees of freedom are all driven by the hydraulic pressure. After the human body wears the complete set of exoskeleton equipment, when the materials are moved, the efficiency and the flexibility can be greatly improved by mechanical power such as the motor or the hydraulic pressure and the like so as to fulfill the aim of saving time and labor.

The invention discloses an upper limb exoskeleton steering mechanism driven by pneumatic muscles. The upper limb exoskeleton steering mechanism driven by the pneumatic muscles comprises two single arm components and a back support; the two single arm components have the same structure; shoulder joints of the two single arm components are arranged on the bilateral sides of a back support top plate respectively; two elbow joint shafts are connected with the respective pneumatic muscles which are arranged in the back support through respective elbow steel wire traction lines; two shoulder joint shafts are connected with the respective pneumatic muscles which are arranged in the back support through respective shoulder steel wire traction lines; each single arm component has four degrees of freedom; the four degrees of freedom comprise elbow flexion and extension, flexion and extension of the shoulder joints, outreach and adduction of the shoulder joints and internal rotation and external rotation rotating pairs of the shoulder joints. After the upper limb exoskeleton steering mechanism driven by the pneumatic muscles is worn, the lift strength can be greatly improved when a wearer lifts heavy objects with the aid of tension caused by contraction of the pneumatic muscles and accordingly the purpose of improving the function strength of the wearer can be achieved. The upper limb exoskeleton steering mechanism driven by the pneumatic muscles is of great significance when the strength of people is not enough to support required loads in occasions of military operations, disaster relief and rescue and the like.

The invention relates to an exoskeletal rehabilitation mechanical arm for an upper limb, which comprises a shoulder C-shaped outer track support, a track slider, a shoulder connecting rod, an upper arm connecting rod, a forearm connecting rod, a wrist annular outer track support, a wrist oscillation connecting rod and a handle, wherein one end of the track slider is arranged inside the shoulder C-shaped outer track support, and the other end is hinged with the upper part of the shoulder connecting rod; the shoulder connecting rod is hinged with the upper arm connecting rod; the lower end of the upper arm connecting rod is hinged with the back end of the forearm connecting rod; the wrist annular outer track support is arranged at the front end of the forearm connecting rod; a wrist annularslider is arranged inside the wrist annular outer track support; and the back end of the wrist oscillation connecting rod is connected with the wrist annular slider, and the front end is provided with the handle. By using the exoskeletal rehabilitation mechanical arm, various motions of shoulder joints, elbow joints and wrist joints and combined motions thereof required by arm rehabilitation training of patients can be conveniently implemented.

The invention discloses a portable and wearable upper limb exoskeleton rehabilitation training device. The portable and wearable upper limb exoskeleton rehabilitation training device is characterized by comprising a back module, two shoulder modules, two elbow modules and a bearing mechanism, wherein the back module is used for bearing a control system and a battery power component and used for achieving the bearing function; the two shoulder modules are arranged on the left side and the right side of the back module; the two elbow modules are connected with the two shoulder modules; the bearing mechanism is arranged on the back module and used for achieving the bearing function. By means of the portable and wearable upper limb exoskeleton rehabilitation training device, the structure can be effectively simplified, the weight can be reduced, the size can be reduced, the battery life can be prolonged, portability of the device is enhanced, and the effect of assisting a patient with a damaged upper limb movement function in accepting rehabilitation training is guaranteed; meanwhile, due to the modular design, the patient can choose to wear the device with the shoulders or the whole arm module for certain life assisting, and the device has wider practicality.

An exoskeleton apparatus driven by a pneumatic artificial muscle with functions of upper limb assist and rehabilitation training includes an upper limb frame, a shoulder joint mechanism, and an elbow joint mechanism which are driven by utilizing a processing unit, a first angle sensing unit, a second angle sensing unit, a first proportional pressure valve, a pressure sensing unit and a pneumatic muscle device. The exoskeleton apparatus can be independently used as an upper limb exoskeleton assistive device or can be combined to form an upper limb exoskeleton rehabilitation training system to simulate the upper limb movements in daily life through the upper limb frame to assist with the movements of the wearer's upper limbs, accomplishing the rehabilitation training of each upper and lower arm joint and neurological function.

The invention discloses a flexible-rope-driven upper limb exoskeleton robot. The flexible-rope-driven upper limb exoskeleton robot comprises a backpack, a back width adjusting device, a shoulder jointmechanism, an upper limb length adjusting device, an elbow joint mechanism, a forearm length adjusting device and a wrist joint mechanism. A drive control system is arranged in the backpack, the backwidth adjusting device is connected with a shell of the backpack, the shoulder joint mechanism is connected with the back width adjusting device, the upper limb length adjusting device makes the shoulder joint mechanism connected with the elbow joint mechanism, and the forearm length adjusting device makes the elbow joint connected with the wrist joint. A flexible driver is in drive combination with a rope, so that the robot is smooth in motion, concise and compact in structure, and convenient in joint; the flexible-rope-driven upper limb exoskeleton robot totally includes 4 active degrees offreedom, 2 passive degrees of freedom, and the upper limb physiological structure of the human body can be well fitted; length adjusting mechanisms are arranged at the back, the upper arms, and the forearms so that the robot can be adapted to users of different sizes, and the flexible-rope-driven upper limb exoskeleton robot has higher wearing performance. The flexible-rope-driven upper limb exoskeleton robot can be applied and popularized in the aspects of rehabilitation training, power assisting and the like.

The invention discloses a supple rehabilitation upper-limb exoskeleton. The exoskeleton comprises a big arm, a small arm and a hand which are sequentially connected; the big arm comprises a rotating driving device for driving the small arm to rotate; according to the small arm, the positions of the hand and the small arm are adjusted through a driven joint mechanism; the rotating driving device further comprises an elbow joint actuator and a damping module, wherein the elbow joint actuator is provided with an inner ring, an outer ring and an elastic structure, and the elbow joint actuator and the damping module are connected in parallel; during the movement, the rotating driving device of the big arm drives the inner ring of the elbow joint actuator to rotate, the inner ring drives the outer ring to rotate through the elastic structure, the outer ring drives the small arm to rotate, and the damping module is used for restraining mechanical vibration of the small arm driven by the elastic structure of the elbow actuator during the movement. The supple rehabilitation upper-limb exoskeleton is light in overall mechanism, the rigid impacts during the movement can be avoided, the safety of the mechanism and the human bodies is ensured, it is ensured that the mechanism is adaptive to people in different body shapes through the adoption of an extensible mechanism of the big and small arms, and the applicability of the mechanism is ensured.

The invention discloses a flexible transmission upper-limb exoskeleton robot for wearing, relates to a robot for wearing, and aims to solve such problems as low rigidity and weak loading capacity due to an upper-limb exoskeleton robot belonging to a serial connecting structure and caused incapability of safe and reliable life assistance for weak people. A wrist joint mechanism comprises a wrist joint driving fixed wheel, a human body palm fixed piece, a wrist joint moving wheel connecting piece, a wrist joint planet gear, a wrist joint driving rod, a wrist joint driving rod power input wheel, an exoskeleton front arm, an L-shaped connecting piece and a wrist joint steel wire rope; an elbow joint mechanism comprises an elbow joint planet gear, an elbow joint planet gear support frame, a first elbow joint driving fixed wheel, a second elbow joint driving fixed wheel, an elbow joint connecting upper arm frame, a U-shaped frame body and an elbow joint steel wire rope; and a shoulder joint mechanism comprises a shoulder joint planet gear, a shoulder joint driving fixed wheel, an exoskeleton support piece, a jack component, a shoulder joint driving fixed wheel connecting plate, a shoulder joint driving piece, an exoskeleton upper arm, a shoulder joint steel wire rope and an exoskeleton upper arm connecting shaft. The flexible transmission upper-limb exoskeleton robot for wearing is applied to the field of robot operation.

The invention discloses an upper limb rehabilitation robot. The upper limb rehabilitation robot comprises an exoskeleton bracket and an upper limb exoskeleton, wherein the exoskeleton is worn on the upper limbs of a patient and is connected with the exoskeleton bracket, and roller wheels, which move along with the walking of the patient, are arranged on a base of the exoskeleton bracket. The movable wearable upper limb rehabilitation robot disclosed by the invention is used for overcoming deficiencies in the prior art and can be used for carrying out rehabilitation training on the upper limbs of the patient. By virtue of the characteristic of mobility of the upper limb rehabilitation robot, the exoskeleton can move along with the walking of the patient so as to provide protection, the patient can carry out daily exercises such as grabbing, touching and button pressing, and meanwhile, the upper limbs of the patient are driven to be subjected to rehabilitation training.

The invention belongs to the field of an upper limb exoskeleton rehabilitation robot, and discloses a flexible exoskeleton glove system for hand rehabilitation training. The flexible exoskeleton glove system comprises a finger data collecting glove, a decision driving module and a flexible exoskeleton glove; the finger data collecting glove comprises a first glove main body, a flexible sensor and a wireless sending module; the decision driving module comprises a decision module and a driving module; the decision module comprises a microcontroller and a wireless receiving module connected with the microcontroller; the driving module comprises a module supporting bracket, an air pump and an electrical proportional valve installed on the module supporting bracket commonly; the flexible exoskeleton glove comprises a second glove main body and a flexible bending driver; the flexible bending driver comprises a Kevlar fiber wire, a silicone tube, a glass fiber cloth and a pneumatic sealing joint. In the invention, fingers can be independently moved or coordinately moved, thus the hand rehabilitation training effect and wearing comfort of patients are improved.

The invention provides an upper limb exoskeleton control method based on motor imagery. The method comprises following steps: 1), according to left arrow prompt or down arrow prompt in a display screen, a subject performs corresponding motor imagery, namely, left hand motor imagery and foot motor imagery, and produced original electroencephalogram signals are pre-processed; 2), the pre-processed original electroencephalogram signals are input into a CNN structure and subjected to feature extraction and classification, and an identification result is output; 3), a driver control signal is acquired according to the output identification result, upper limb exoskeleton is driven and front arms are driven to correspondingly move; if the classification result indicates the left hand motor imagery, the upper limb exoskeleton performs a stretching action, and if the classification result indicates the foot motor imagery, the upper limb exoskeleton performs a bending action. When the CNN structure is designed, a convolution kernel is set as a vector according to the characteristic of time and space feature combination of the electroencephalogram signals. The invention further provides an upper limb exoskeleton control system based on the motor imagery. The classification and identification rate is higher, and experience effect is good.

The invention belongs to the technical field of upper limb exoskeletons and particularly relates to an auxiliary power upper limb exoskeleton, comprising: a back connection module that allows carrying on the back through a strap; two big arm extension modules arranged on the left and right of the back connection module respectively and movably connected with the back connection module; two big arm back-forth motion modules movably connected to the big arm extension modules; two elbow rotation modules movably connected to the big arm back-forth motion modules; two forearm rotation modules movably connected to the elbow rotation modules and which limit forearm rotation angle ranges of the forearm rotation modules by using incomplete gear structure; two wrist motion modules movably connected to the forearm rotation modules. The auxiliary power upper limb exoskeleton disclosed herein can assist a patient in living by driving his or her big arms, forearms and palms, is applicable to upper limb rehabilitation training for patients, and is novel in structure and comfortable to wear.

The invention discloses a somatic sensory controlled upper limb exoskeleton mirrored rehabilitation robot. The robot comprises a Kinect sensor, a main control computer, a three degree-of-freedom exoskeleton wearable mechanical arm and a somatic sensory controlled system for the mechanical arm. The Kinect sensor is used for collecting information about a joint angle of the upper limb on the uninjured side of the human body; the exoskeleton wearable mechanical arm comprises an elbow bend and stretch structure, a shoulder flexion and extension structure and a shoulder abduction and adduction structure. The robot has the characteristic of being directly controlled by the somatic sensory, no signal collection device needs to be worn, and the robot is convenient to operate; the injured limb of a patient can be driven by the movement of the health limb of the patient to carry on novel bilateral mirrored synchronous rehabilitation training with the assistance of the robot, and in addition, master-slave type rehabilitation training can be carried out through the movement of the limb, on the same side of the injured limb of the patient, of a physical therapist.

The invention discloses a lightweight bionic upper-limb exoskeleton rehabilitation robot system. The system is a device for robot-assisted rehabilitation training. The system comprises a shoulder joint exoskeleton module, an elbow joint exoskeleton module, a wrist joint exoskeleton module and a hand handle module, and all the modules are connected through screws to form the whole system. The robotsystem totally has seven degrees of freedom, wherein the shoulder joints include three degrees of freedom, the elbow joints include two degrees of freedom, and the wrist joints include two degrees offreedom. The shoulder joint module is connected with a back size adjusting module; the elbow joint module is connected with the shoulder joint module and the wrist joint module separately; the wristjoint module is connected with the hand handle module. According to the system, all the joints are driven by a small-sized motor and a speed reducer to move separately, and through the adjustable design, it is guaranteed that the exoskeleton is kept coaxial to the degree of freedom of the human body; through bionic design, the comfort of the system is improved; through the wearable design of the exoskeleton, the problem that the using position of traditional rehabilitation equipment is limited is solved, and the system has the advantage of being light.

The invention discloses a six-degree-of-freedom exoskeleton type upper limb rehabilitation robot, which belongs to the field of rehabilitation robots. The robot comprises a seat mechanism, a shouldermechanism, an elbow mechanism and a wrist mechanism, and the seat mechanism is used for lifting the posture of a user, is connected with an upper limb exoskeleton mechanical arm and provides support for the mechanical arm. Through driving of a motor, rehabilitation training of six degrees of freedom including shoulder joint flexion / extension, abduction / adduction, big arm inward rotation / outward rotation, elbow joint flexion / extension, forearm inward rotation / outward rotation and wrist joint flexion / extension can be achieved, each degree of freedom can achieve independent or combined action, and the training efficiency can be improved. The upper limbs of the human body are fixed through the hook-and-loop fasteners and the mechanical arms, the mechanical arms have the mechanical limiting function, secondary injuries caused by a mechanical structure to the human body are avoided, and the use comfort is improved. The mechanical arm is designed in a modular mode, the structure is simple andcompact, rehabilitation movement of single-side or double-side limbs can be achieved, higher practicability is achieved, and popularization is facilitated.

The invention relates to a semi-automatic cooperative skeleton machine which is designed for solving the technical problem that existing similar products are seldom used for handling, and are high in production cost and complicated in structure. The skeleton machine comprises a lower extremity exoskeleton walking-aid machine, an upper extremity exoskeleton walking-aid machine, and corresponding wrapping boards and straps. The lower extremity exoskeleton walking-aid machine is connected with the upper extremity exoskeleton walking-aid machine through a biomimetic spine. The semi-automatic cooperative skeleton machine is characterized by being provided with a programmable logic controller, a man-machine display, a mounting controller, an air compressor and a mounter, a boom extends out the front of the upper machine in a bent manner, the boom is provided with a boom cylinder, the air compressor is connected with the boom cylinder and the mounter through an air tube, the upper machine lifts and hoists heavies through the boom cylinder of the boom and the mounter, the boom is adjustable in angle, the mounter is adjustable in height, the man-machine display controls the boom cylinder, and the mounting controller controls the mounter.

The invention discloses an upper limb exoskeleton based on a parallel driving joint, relates to an assist robot, and aims to solve the problems of poor motion accuracy, large size and small motion range of an upper limb exoskeleton robot. The upper limb exoskeleton comprises a shoulder joint, an elbow joint and a wrist joint, wherein the shoulder joint, the elbow joint and the wrist joint are arranged in sequence; an elbow connecting plate on the elbow joint and a shoulder fixing frame on the shoulder joint are arranged one above the other; a wrist connecting plate on the wrist joint and an elbow fixing frame on the elbow joint are arranged one above the other; a second long connecting slot in the elbow connecting plate is in sliding connection with a first long connecting slot in the shoulder fixing frame; a fourth long connecting slot in the elbow connecting plate is in sliding connection with a third connecting long slot in the elbow fixing frame. The upper limb exoskeleton is applied to assistance of the aged and disabled, medical rehabilitation and the like.

The invention relates to an upper limb external skeleton robot based on a wheelchair. The upper limb external-skeleton-type rehabilitation robot is fixed to the back of a seat of the movable intelligent wheelchair through a back support and a lifting platform, mechanical arms of the upper limb external-skeleton-type rehabilitation robot can rotate through rotation of the back support, interchangeof rehabilitation training of the left and right hands is achieved, and the heights of the mechanical arms of the upper limb external-skeleton-type rehabilitation robot can be adjusted by adjusting the lifting platform; the degree of freedom of the mechanical arms of the upper limb external-skeleton-type rehabilitation robot is achieved by the shoulder joints, the elbow joints and the wrist joints, the shoulder joints, the elbow joints and the wrist joints are connected through connection rods, and bandages for fixing the affected limbs are arranged on the mechanical arms. According to the robot, the mechanical arms of the upper limb rehabilitation robot are innovatively arranged on the intelligent wheelchair, and the constraints are removed that a traditional large-size rehabilitation robot is too large in size and too heavy, and patients need to go to a designated plate to receive rehabilitation training.

The invention discloses an embedded type control system based on upper limb exoskeleton assisting robots. Each upper limb exoskeleton assisting robot is mainly composed of two single-arm components same in structure and a back support, and the single-arm components are formed by elbow joints and shoulder joints in sequence from bottom to top. The embedded type control system further comprises an ARM microprocessor module, a DSP microcontroller module, an ARM signal conditioning module, a DSP signal conditioning module, a power module, two operator movement intention detection sensors, four angular displacement sensors and four driving units same in structure. The ARM microprocessor module is connected with the DSP microcontroller module through a CAN bus, and the four driving units are connected with exoskeleton mechanisms and drive the exoskeleton mechanisms to move. The embedded type control system based on the upper limb exoskeleton assisting robots is an exoskeleton assisting robot embedded type control platform which is complete in function and easy to develop and maintain, and has the advantages of being high in real-time response speed, high in real-time multi-task performance, high in driving capacity, low in power dissipation, good in universal expandability, small and the like.

The invention discloses an upper-limb exoskeleton robot four-degree-of-freedom forearm. The upper-limb exoskeleton robot four-degree-of-freedom forearm comprises a palm cover, a forearm base plate, asliding plate, an elbow inward-outward rotating module, a wrist flexion and extension module and a wrist radioulnar flexion module; regarding the first degree of freedom of the forearm, the forearm rotates around a wrist flexion and extension rotary shaft; regarding the second degree of freedom, the whole forearm conducts inward and outward rotating motion around a forearm center shaft in the armlength direction; regarding the third degree of freedom, the palm conducts flexion and extension motion around the dorsi-flexion and dorsi-extension of the wrist joint, and regarding the fourth degreeof freedom, the palm conducts radial flexion and ulnar flexion motion around a rotary shaft which is perpendicular to the hand back and passes through the midpoint of the rotary shaft. According to the upper-limb exoskeleton robot four-degree-of-freedom forearm, four degrees of freedom are provided, namely the flexion and extension, inward rotation, and outward rotation of the elbow joint, and the flexion and extension, radial flexion and ulnar flexion of the wrist joint; meanwhile, all degree-of-freedom rotary shafts coincide with the degree-of-freedom rotary shafts of the human body, and itis guaranteed that the upper-limb exoskeleton is more flexible in the process of driving the arm to move and various kinds of rehabilitation motion can be guaranteed, so that the upper-limb rehabilitation treatment is more comprehensive.

The invention provides a wearable upper lamb exoskeleton rehabilitative training machine. The machine is used for upper lamb rehabilitative training of a hemiplegic patient and characterized by including a hand function training mechanism used for hand function training movement of the patient, a wrist joint function training mechanism used for wrist joint function training movement of the patient, an elbow joint function training mechanism used for elbow joint function training movement of the patient and a control mechanism used for controlling a gear motor, wherein the hand function training mechanism comprises a thumb plate, a palm plate, a corrugated pipe, a thumb portion, an index finger portion and a middle finger portion; the wrist joint function training mechanism comprises a ball-headed rod, a forearm support bracket and a threaded sleeve; the elbow joint training mechanism comprises a forearm support, a forearm rotating block, a coil spring, a power transmission portion, thegear motor, an upper arm support bracket and an upper arm support; the control mechanism comprises a signal generating portion used for generating and the outputting PWM signals, a driving portion used for processing the PWM signals and driving the gear motor according to the PWM signals and a feedback potentiometer used for feeding back the rotating position of a forearm rotating portion.

The invention discloses a robust iterative learning control strategy for a five-degree-of-freedom upper limb exoskeleton system. The control strategy employs a multivariable iterative learning item toestimate time-varying parameters in an upper limb exoskeleton model, and does not need to build an accurate mathematic model; besides, in order to improve tracking precision and obtain high robustness, sliding mode control is introduced into an iterative learning scheme; and a sliding mode controller is used for processing non-periodic lumped disturbance, and a self-adaptive law is designed in the control strategy and used for compensating uncertainty in the controller, so that a buffeting phenomenon caused by a switching item is weakened, tracking errors between human and machines are reduced, and tracking errors of all joints can be converged to be close to zero within limited iteration times. According to the control strategy, the tracking control problem of the five-degree-of-freedomupper limb exoskeleton system robot under unknown model parameters and aperiodic disturbance is solved, and the control strategy is high in algorithm robustness, small in control buffeting and good intracking performance.

The invention relates to a load-variable upper limb assistance outer skeleton, in particular to a load-variable upper limb assistance outer skeleton based on the ditetragon gravity balancing principle. The problems that an existing upper limb outer skeleton is directly driven by a motor to achieve assistance, the volume and mass are large, a circuit is complex, reliability is reduced, and energy consumption is large are solved. The outer skeleton comprises two spring energy storage mechanisms, a back part, straps, two arms, two wrists, two rotating discs and a plurality of magnetic sensors. One end of each arm is connected with the upper portion of the corresponding side of the back part through the corresponding rotating disc. The other end of each arm is connected with the corresponding wrist. The straps are arranged on the front face of the back part. The magnetic sensors are sequentially arranged on the back face of the back part from top to bottom. The two spring energy storage mechanisms are arranged on the back part. Each spring energy storage mechanism is connected with the corresponding arm. The invention belongs to the field of medical apparatuses and instruments.

The invention relates to a wearable high-precision data acquisition upper limb exoskeleton, comprising an adjustable base, a shoulder rotation pair mechanism, a shoulder slide ring mechanism, an upper arm connecting rod length sliding adjusting mechanism, an elbow parallel rotation pair mechanism, an elbow slide ring mechanism, a lower arm connecting rod length sliding adjusting mechanism, a wrist rotation pair mechanism, a tail end operation handle and a tool clamping device. A high-precision photoelectric encoder is mounted on each joint, the position and the posture of a tail end can be accurately acquired via forward kinematics, and a manipulator can be accurately controlled. The wearable high-precision data acquisition upper limb exoskeleton is compact in structure, light in weight and high in rigidity, is applicable to different operation heights and arm lengths, two control buttons are arranged on the handle to control procedures of an upper computer, and the exoskeleton further can be used as a guiding hand to be used for realizing upper limb exercise rehabilitation training of hemiplegia patients.

The invention relates to an upper limb exoskeleton with a five-degree-of-freedom shoulder structure. The upper limb exoskeleton relates to the field of upper limb exoskeletons, and comprises a back support frame, a clavicle back-and-forth swinging support, a parallelogram clavicle up-and-down swinging mechanism, a shoulder joint right-and-left swinging support, a shoulder blade support frame, a shoulder joint back-and-forth swinging support, a shoulder joint horizontal rotating mechanism, a big arm structure and a small arm structure, which are sequentially and fixedly connected; and all mechanisms rotate around rotary shafts J1 to J7. Compared with a traditional two-degree-of-freedom or three-degree-of-freedom upper limb shoulder structure, the upper limb exoskeleton with the five-degree-of-freedom shoulder structure provided by the invention has better cooperativity of human skeleton movement, consistency of multi-degree-of-freedom movement, wear comfort of a human body, and integration of shoulder complex actions.

The invention provides an upper-limb exoskeleton robot left and right hand interchanging device. The upper-limb exoskeleton robot left and right hand interchanging device is characterizing by comprising a robot base frame, a central rotation joint, a width adjusting arm, an outer-side rotation joint, a front-back adjusting arm, shoulder vertical-rotation joints and exoskeleton mechanical arms which are sequentially connected, wherein the width adjusting arm and the robot base frame are rotatably connected through the central rotation joint, the width adjusting arm and the front-back adjustingarm are movably connected through the outer-side rotation joint, the front-back adjusting arm and the exoskeleton mechanical arms are rotatably connected through the shoulder vertical-rotation joints,and the robot base frame is installed in the back of a wheelchair. In the upper-limb exoskeleton robot left and right hand interchanging device, left-hand and right hand modes are provided, the exoskeleton mechanical arms are rotatably changed from one side to the other side of the wheelchair through rotary adjustment and control of the central rotation joint, the outer-side rotation joint and the shoulder vertical-rotation joints so as to achieve the switching of the left-hand and right hand modes, and convenience is brought to different patients for rehabilitation training of different arms. In addition, a robot system is simple and compact in structure and good in operability.

The invention provides an upper limb external skeleton device. The upper limb external skeleton device is installed on a wheelchair and used for assisting a patient suffering from upper and lower limb dysfunction in upper limb movement and active exercise. The upper limb external skeleton device is characterized by comprising a connecting and supporting mechanism, a shoulder joint motion mechanism, an elbow joint motion mechanism and a wrist joint motion mechanism, wherein the connecting and supporting mechanism is used for being connected with the wheelchair and supporting the external skeleton of the upper limb of the patient, and comprises a wheelchair fixing rod, a first wheelchair locking clamp, a supporting frame, a pulling rod and a single-end locking clamp; the shoulder joint motion mechanism is used for enabling the patient to do shoulder joint exercise and comprises a supporting disc, a rotating piece, an upper arm supporting piece and an upper arm rotating shaft piece, and when rotating, the rotating piece and the upper arm supporting piece drive the shoulder joints of the patient to stretch and retract; the elbow joint motion mechanism is used for enabling the patient to do elbow joint exercise and comprises an upper arm fixing piece, an upper elbow joint connecting piece, a lower elbow joint connecting piece and a forearm fixing piece; the wrist joint motion mechanism is used for enabling the patient to do wrist joint exercise and comprises a grip, flexural springs, a forearm adjusting rod and a forearm supporting piece which are connected in sequence.