阅读说明：本技术 一种用于康复机器人的腕部外骨骼 (Wrist exoskeleton for rehabilitation robot ) 是由 张福海 付宜利 林乐庚 杨磊 于 2020-07-17 设计创作，主要内容包括：一种用于康复机器人的腕部外骨骼,它包括外骨骼执行机构和传动驱动机构,所述外骨骼执行机构包括簧片模块和线轮环模块,传动驱动机构将动力通过鲍登线传递给簧片模块,用于控制腕关节作弯曲/伸展和内收/外展运动,线轮环模块为多线轮环状结构,传动驱动机构将动力通过鲍登线传递给线轮环模块,用于控制腕关节作内旋/外旋运动；簧片模块与线轮环模块插接在一起,线轮环模块与簧片模块通过插接方式实现腕部穿戴的镜像互换。该腕部外骨骼采用插装方式,舒适轻便。(A wrist exoskeleton for a rehabilitation robot comprises an exoskeleton execution mechanism and a transmission driving mechanism, wherein the exoskeleton execution mechanism comprises a reed module and a wire wheel ring module, the transmission driving mechanism transmits power to the reed module through a Bowden cable to control a wrist joint to do bending/stretching and adduction/abduction motions, the wire wheel ring module is of a multi-wire wheel ring structure, and the transmission driving mechanism transmits the power to the wire wheel ring module through the Bowden cable to control the wrist joint to do internal rotation/external rotation motions; the reed module is spliced with the wire wheel ring module together, and the wire wheel ring module and the reed module realize mirror image interchange worn by the wrist in a splicing mode. The wrist exoskeleton adopts a plug-in mounting mode, and is comfortable and light.)

1. A wrist exoskeleton for a rehabilitation robot, characterized by: the wrist exoskeleton comprises an exoskeleton execution mechanism and a transmission driving mechanism 3, the exoskeleton execution mechanism comprises a reed module (1) and a wire wheel ring module (2), the transmission driving mechanism (3) transmits power to the reed module (1) through a Bowden cable and is used for controlling the wrist joint to do bending/stretching and adduction/abduction motions, the wire wheel ring module (2) is of a multi-wire wheel ring structure, and the transmission driving mechanism (3) transmits the power to the wire wheel ring module (2) through the Bowden cable and is used for controlling the wrist joint to do internal rotation/external rotation motions; the reed module (1) and the wire wheel ring module (2) are spliced together, and the wire wheel ring module (2) and the reed module (1) realize mirror image interchange worn by the wrist in a splicing mode.

2. The wrist exoskeleton of a rehabilitation robot of claim 1, wherein: the reed module (1) comprises a fixed cover (1-0), a palm back seat (1-1), two executive wire wheels (1-2), two gears (1-3), two racks (1-4), two reed connecting pieces (1-5), two reeds (1-6) and two forearm shells (1-7);

two reed connecting pieces (1-5) are slidably arranged on the inner wall of one front arm shell (1-7), two racks (1-4) are arranged in parallel and are respectively connected with the two reed connecting pieces (1-5), two gears (1-3) and two executing wire wheels (1-2) are rotatably arranged on the inner wall of the front arm shell (1-2), the two racks (1-4) are respectively meshed with the two gears (1-3), the moving direction of the two reeds (1-6) is parallel to the moving direction of the two racks (1-4), one ends of the two reeds (1-6) are rotatably arranged on the two reed connecting pieces (1-5), the other ends of the two reeds (1-6) are rotatably arranged on the palm back seat (1-1), the fixed cover (1-0) is connected on the inner wall of one of the forearm shells (1-7) to restrain the two executing wire wheels (1-2), the two gears (1-3), the two racks (1-4) and the two reed connectors (1-5).

3. The wrist exoskeleton of a rehabilitation robot of claim 2, wherein: the reed module (1) further comprises linear displacement sensing modules (1-8), and the linear displacement sensing modules (1-8) used for detecting the relative displacement between the two reed connecting pieces (1-5) and the forearm shells (1-7) are arranged between the two reed connecting pieces (1-5).

4. The wrist exoskeleton of a rehabilitation robot of claim 3, wherein: the linear displacement sensing module (1-8) comprises a flexible ultrathin linear position sensor, a sliding rod, a spring and a contact head; the flexible ultrathin linear position sensor is fixed on one forearm shell (1-7), the sliding rod is fixed on the reed connecting piece (1-5), the sliding rod is internally wrapped with a spring, the spring props against the contact at one end, and the contact slides in contact with the flexible conductive resistance layer of the flexible ultrathin linear position sensor.

5. The wrist exoskeleton of a rehabilitation robot of claim 4, wherein: the wire wheel ring module (2) comprises an inner ring (2-1), an outer ring (2-2) and seven guide wire wheels (2-3); an inserting table with a female slot is arranged on the inner side face of the inner ring (2-1), a connecting table with a sub slot is arranged on the front arm shell (1-7), the inserting table is provided with the female slot capable of being inserted into the connecting table, the connecting table is provided with the sub slot capable of being inserted into the inserting table, five guide wire wheels (2-3) are rotatably arranged on the end face of the inner ring (2-1) along the circumferential direction, the other two guide wire wheels (2-3) are rotatably arranged on the end face of the outer ring (2-2), seven guide wire wheels (2-3) can be restricted after the inner ring (2-1) and the outer ring (2-2) are buckled, and the inner ring (2-1) and the outer ring (2-2) rotate relatively.

6. The wrist exoskeleton of a rehabilitation robot of claim 5, wherein: the wire wheel ring module (2) further comprises an arc displacement sensing module (2-4), and the arc displacement sensing module (2-4) used for detecting relative rotary displacement of the inner ring (2-1) and the outer ring (2-2) is arranged between the inner ring and the outer ring.

7. The wrist exoskeleton of claim 6, wherein: the arc displacement sensing module (2-4) comprises a flexible ultrathin arc position sensor, a sliding rod, a spring and a contact head; the flexible ultrathin arc line position sensor is fixed on the outer ring (2-2), the sliding rod is fixed on the inner ring (2-1), the sliding rod is internally wrapped with a spring, the spring abuts against a contact at one end, and the contact slides in contact with a flexible conductive resistance layer of the flexible ultrathin arc line position sensor.

8. The wrist exoskeleton of a rehabilitation robot of claim 7, wherein: the transmission driving mechanism (3) comprises a rack (3-1) and three sets of drivers; each set of driver comprises a winding module (3-2), a motor (3-3), a coupler (3-4) and six Bowden wires;

the winding module (3-2) comprises a source wire wheel (3-21), a wire wheel output shaft (3-22), a wire wheel shell (3-23) and a shell top cover (3-24);

three sets of drivers are arranged on the rack (3-0) in parallel up and down, and in each set of drivers: the motor (3-3) is arranged on the rack (3-1), and the wire wheel shell (3-23) is arranged on the rack (3-1); the output end of a motor (3-3) is connected with a wire wheel output shaft (3-22) through a coupler (3-4), the wire wheel output shaft (3-22) is arranged in a wire wheel shell (3-23), a source wire wheel (3-21) is fixedly sleeved on the wire wheel output shaft (3-22), a shell top cover (3-24) is installed on the wire wheel shell (3-23), two ends of the wire wheel output shaft (3-22) are installed on the wire wheel shell (3-23) and the shell top cover (3-24) through flange bearings (3-25), two adjusting screws (3-26) perpendicular to the wire wheel output shaft (3-22) are installed on the wire wheel shell (3-23), a central through hole is processed on each adjusting screw (3-26) in the length direction, and the source wire wheel (3-21) is respectively connected with an execution wire wheel (1-2) and a guide wire wheel (2) through a boarding wire -3) connecting.

9. The wrist exoskeleton of claim 8, wherein: the two sets of drivers are used for driving the reed module (1), and bowden cable routing for controlling bending/stretching and adduction/abduction motions of the wrist joint is as follows:

for one of the carrying out reels (1-2): one ends of two steel wires of the two Bowden wires are wound on the source wire wheel (3-21), the other ends of the two steel wires are wound on the executive wire wheel (1-2), one ends of the two Bowden wire sheaths, corresponding to one ends of the two steel wires, penetrate into central holes of the two adjusting screws (3-26) and are fixed, and the other ends of the two Bowden wire sheaths are fixed on a forearm shell (1-7);

the remaining set of drives is used as a wire wheel ring module (2), and the Bowden wires that control the wrist joint to perform the internal/external rotation movement are routed as follows:

one ends of two steel wires of the two Bowden wires are wound on the source wire wheel (3-21), the other ends of the two steel wires are wound on the guide wire wheel (2-3) of the wire wheel ring module (2), one ends of the two Bowden wire sheaths, corresponding to one ends of the two steel wires, penetrate through central holes of the two adjusting screws (3-26) corresponding to the wire wheel ring module (2) and are fixed, and the other ends of the two Bowden wire sheaths are fixed on the outer ring (2-2).

Technical Field

The invention relates to an exoskeleton, in particular to a wrist exoskeleton for a rehabilitation robot, and belongs to the field of rehabilitation robots.

Background

The apoplexy patient loses the self-care ability of life because of losing the motor function, the severe patient is completely paralyzed, and the probability of hemiplegia after the apoplexy is more than fifty percent. The wrist is used as an upper limb joint which is used relatively frequently in daily life, so that rehabilitation training of the wrist becomes a content which the stroke patient needs to recover urgently. The rehabilitation training usually adopts a method that a medical staff or a family member of a patient performs artificial rehabilitation training, and the patient is assisted to perform long-time rehabilitation motions such as wrist joint flexion and extension, adduction and abduction, and the like to promote the recovery of a nervous system. However, the artificial auxiliary rehabilitation training has the defects of large manpower consumption, low efficiency, high cost and the like. The rehabilitation robot drives the patient to perform rehabilitation training, so that manpower and cost are saved, and the rehabilitation robot is a mode for making up for the deficiency of manual rehabilitation training.

There are three main types of wrist movements: flexion/extension, adduction/abduction, and internal/external rotation movements. In the rehabilitation training process of the stroke patient, the three motion forms of the wrist are trained, so that the passage of the related nerve of the wrist of the patient can be effectively activated.

Studies have shown that in wrist motion, the wrist is far from the trunk, there are more degrees of freedom, and flexion/extension and adduction/abduction are telecentric motions. How to fully simulate the natural motion of the wrist with three degrees of freedom by using a lightweight structure and improve the rehabilitation effect becomes a research subject at the present stage.

At present, some wrist rehabilitation mechanical driving devices in China have been developed, and the driving devices generally only realize the bending and stretching freedom degree and lack the internal rotation and external rotation freedom degree and the internal and external contraction freedom degree; or the realization mode is that each degree of freedom is respectively provided with one set of driving system, which can cause the wrist mechanism to be overstaffed and heavy, the comfort is poor, the movement of the wrist joint is unnatural, and the rehabilitation treatment effect is not satisfactory.

Most of existing wrist function rehabilitation devices do not have a sensing function, so that a sensor needs to be integrated into a robot for evaluating the rehabilitation condition of a patient conveniently, and angle moment information of the wrist joint of the patient is collected in real time in the rehabilitation training process to be referred by doctors and the patient. At present, most of the existing wrist function rehabilitation devices can only be suitable for one-side wrist rehabilitation and cannot be applied to the opposite side, and two sets of left and right rehabilitation devices are required to be equipped for a rehabilitation center during application.

In conclusion, the existing wrist rehabilitation robot has the defects of lack of freedom degree, bulkiness, poor comfort, unnatural joint movement, unsatisfactory rehabilitation effect and no sensing function or mirror image interchange function.

Disclosure of Invention

The invention provides a wrist exoskeleton for a rehabilitation robot to overcome the defects of the prior art. The wrist exoskeleton is in an insertion mode, comfortable and light, and has a mirror image interchange function.

A wrist exoskeleton for a rehabilitation robot comprises an exoskeleton execution mechanism and a transmission driving mechanism, wherein the exoskeleton execution mechanism comprises a reed module and a wire wheel ring module, the transmission driving mechanism transmits power to the reed module through a Bowden wire to control a wrist joint to do bending/stretching and adduction/abduction motions, the wire wheel ring module is of a multi-wire wheel ring structure, and the transmission driving mechanism transmits the power to the wire wheel ring module through the Bowden wire to control the wrist joint to do internal rotation/external rotation motions; the reed module and the wire wheel ring module are connected together in a plugging mode, and the wire wheel ring module and the reed module realize mirror image interchange worn by the wrist in a plugging mode.

Compared with the prior art, the invention has the beneficial effects that:

according to the wrist joint rotation and rotation device, the reed module is adopted, the wire wheel ring module and the reed module realize mirror image interchange of wearing the wrist part in a plug-in mode, the transmission driving mechanism transmits power to the reed module through the Bowden cable, so that the wrist joint performs bending/stretching and inward-contracting/outward-expanding movement, the transmission driving mechanism transmits power to the wire wheel ring module through the Bowden cable, so that the wrist joint performs inward-rotating/outward-rotating movement, the reed is light, thin and good in toughness, the weight of the mechanism can be greatly reduced, and the mechanism form can be simplified.

The wrist exoskeleton designed by the invention has a mirror image interchange function, can be interchanged left and right, and is suitable for left and right hemiplegic stroke patients, so that one set of equipment meets different hemiplegic stroke patients, the cost is controlled within the acceptable range of the patients, the cost can be reduced as much as possible, and the use convenience and the use ratio can be improved.

The wrist exoskeleton has a modular structural design easy to mount and dismount, and when parts of parts are damaged, the parts can be replaced quickly and conveniently; in addition, the modular structure design is convenient for putting on and taking off and part conversion, so that the mirror image exchange of the mechanism is faster and more convenient.

The wrist power exoskeleton adopts a transmission mode based on a Bowden cable to transmit the torque output by the transmission driving mechanism to the exoskeleton driving joint; the transmission mode mainly has the following characteristics: firstly, the power can be transmitted in a long distance, and the motor is remotely separated from the exoskeleton so as to reduce the burden of the robot on the wrist; and secondly, the patient is allowed to freely move the posture of the wrist when wearing the exoskeleton robot to perform rehabilitation training, and certain tasks and daily life actions can be conveniently completed during training. In addition, the steel wire penetrates through the sheath to transmit the pulling force, and the sheath is used for neutralizing the pulling force of the steel wire on the mechanism, so that the resultant force of the Bowden wire on the exoskeleton equipment is zero, namely the driving mechanism based on the Bowden wire can be regarded as a pure torque source, and the pulling effect on the wrist cannot be generated.

The technical scheme of the invention is further explained by combining the drawings and the embodiment:

drawings

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

FIG. 2 is an assembly view of the present invention with one forearm shell removed;

FIG. 3 is an exploded view of FIG. 2;

FIG. 4 is an overall assembly view of the transmission drive mechanism of the present invention;

FIG. 5 is an exploded view of the wire winding module;

FIG. 6 is a diagram of the Bowden cable routing arrangement on the wire wheel ring module;

fig. 7 is a schematic diagram of the detection principle of the linear displacement sensing module.

Detailed Description

Referring to fig. 1, 2 and 4, a wrist exoskeleton for a rehabilitation robot according to the present embodiment includes an exoskeleton executing mechanism and a transmission driving mechanism 3, the exoskeleton executing mechanism includes a reed module 1 and a wire wheel ring module 2, the transmission driving mechanism 3 transmits power to the reed module 1 through a bowden cable for controlling a wrist joint to perform bending/stretching and adduction/abduction motions, the wire wheel ring module 2 is a multi-wire wheel ring structure, and the transmission driving mechanism 3 transmits power to the wire wheel ring module 2 through the bowden cable for controlling the wrist joint to perform an internal rotation/external rotation motion; the reed module 1 is spliced with the wire wheel ring module 2, and the wire wheel ring module 2 and the reed module 1 realize mirror image interchange worn by the wrist in a splicing mode.

The embodiment further defines a reed module 1, and as shown in fig. 3, the reed module 1 comprises a fixed cover 1-0, a palm back seat 1-1, two actuating wire wheels 1-2, two gears 1-3, two racks 1-4, two reed connectors 1-5, two reeds 1-6 and two forearm shells 1-7;

two reed connecting pieces 1-5 are slidably arranged on the inner wall of one of the front arm shells 1-7, two racks 1-4 are arranged in parallel and are respectively connected with the two reed connecting pieces 1-5, two gears 1-3 and two executing wire wheels 1-2 are rotatably arranged on the inner wall of the front arm shell 1-2, the two racks 1-4 are respectively meshed with the two gears 1-3, the moving direction of the two reeds 1-6 is parallel to the moving direction of the two racks 1-4, one ends of the two reeds 1-6 are rotatably arranged on the two reed connecting pieces 1-5, the other ends of the two reeds 1-6 are rotatably arranged on the palm back seat 1-1, a fixing cover 1-0 is connected on the inner wall of one of the front arm shells 1-7 to restrain the two executing wire wheels 1-2, Two gears 1-3, two racks 1-4 and two reed connectors 1-5. Optionally, the two gears 1-3 rotate around the constraint shafts of the front arm shells 1-7 respectively, the two gears 1-3 respectively comprise D-shaped shafts which are matched with the D-shaped grooves of the executive wire wheels 1-2 respectively, the fixed covers 1-0 cover and constrain the internal components, one ends of the two reeds 1-6 comprise small holes which are constrained and rotatable with the connecting shafts on the two reed connecting pieces 1-5 respectively, and the other ends of the two reeds 1-6 comprise small holes which are constrained and rotatable with the two connecting shafts on the palm back seat 1-1. When in use, the palm back seat 1-1 is fixed on the palm back of the human body through a magic tape.

The design is that the fixed cover 1-0 covers the front arm shell 1-7, wraps the inside and restrains the internal components, the steel wire drives the two line executing wheels 1-2 to rotate, so as to drive the two gears 1-3 matched through the D-shaped shaft to rotate, and then the two engaged racks 1-4 are converted into linear motion, so as to drive the two reed connectors 1-5 to move forwards or backwards in the guide rail inside the front arm shell 1-7, and the two reed connectors 1-5 drive the two reeds 1-6 to move simultaneously when moving in the front arm shell 1-7; when the two reed connecting pieces 1-5 advance simultaneously, the force action for expanding the distance exists between the front arm shell 1-7 and the palm back seat 1-1, and the two reeds 1-6 are bent and stretched under the constraint of the human wrist skeleton and joint, so that the wrist joint is driven to bend, and the bending action of the wrist can be realized; when the bending reaches a certain angle, the reed connecting piece 1-5 reaches the end point of the slide rail, so that the continuous bending is limited and the safety of a wearer is protected; when the two reed connecting pieces 1-5 are retracted, the motion process is just opposite to the motion process, and the bending and stretching motion of the wrist can be realized; when the two reed connecting pieces 1-5 advance and retreat in a staggered mode, the two reeds 1-6 move in opposite directions, and the formed quadrangle is dislocated, so that the adduction/abduction freedom degree of the wrist can be realized.

Furthermore, the reed module 1 further comprises a linear displacement sensing module, and a linear displacement sensing module for detecting the relative displacement between the two reed connectors 1-5 and the forearm casing 1-7 is arranged between the two reed connectors 1-5 and the forearm casing. The linear displacement sensing module comprises a flexible ultrathin linear position sensor, a sliding rod, a spring and a contact head; the flexible ultrathin linear position sensor is fixed on one forearm shell 1-7, the sliding rod is fixed on the reed connecting piece 1-5, the sliding rod is internally wrapped with a spring, the spring props against the contact at one end, and the contact slides in contact with the flexible conductive resistance layer of the flexible ultrathin linear position sensor. The wrist exoskeleton of design can utilize linear displacement sensor to survey wrist bending moment according to hooke's law, has the characteristics that the mechanism integrated level is high, makes the light wearable of mechanism as far as possible. The detection principle is shown in fig. 7. The end of the sliding rod is provided with a contact head.

By the design, the linear displacement sensing module between the reed connecting piece and the outer forearm shell can detect the relative linear displacement distance during movement, and the information of the bending moment of the wrist joint can be obtained by utilizing Hooke's law.

Wrist joint spring moment^wτ_eCan be calculated from the following formula:

^wτ_e＝^wk^wθ

in the formula^wk. -the reed stiffness of the wrist;

^wθ -the rotation angle of the wrist with respect to the joint telecentricity.

Wherein the content of the first and second substances,^wtheta and^wx satisfies the following relationship:

in the formula^wx. -the linear driving displacement of the wrist, acquired by a displacement sensor;

r. -radius of distance of the wrist reed from the distal center of the joint.

Since the above formula has no analytic solution, only numerical solution can be adopted to obtain in the application process^wTheta and^wthe x correspondence is noted as:

^wθ＝F(^wx)

assuming that the moment arm of the reed is about half the length of the reed, the wrist joint can be considered as the linear driving force in a steady state, i.e. in a static or uniform rotation process^wF_aAnd the reed moment balance, namely:

in the formula^wl-length of the wrist leaf.

In the unstable state of the wrist joint, the rotation angle direction of the joint when the wrist is bent is positive according to the above formulas, and the net moment applied to each joint of the wrist during the rotation process^wτ may be calculated as:

based on the above-mentioned embodiments, as shown in fig. 1 and 3, the wire wheel ring module 2 includes an inner ring 2-1, an outer ring 2-2, and seven guide wire wheels 2-3; an inserting table with a female slot is arranged on the inner side surface of the inner ring 2-1, a connecting table with a sub slot is arranged on the front arm shell 1-7, the inserting table is provided with the female slot capable of being inserted into the connecting table, the connecting table is provided with the sub slot capable of being inserted into the inserting table, five guide wire wheels 2-3 are circumferentially and rotatably arranged on the end surface of the inner ring 2-1, the other two guide wire wheels 2-3 are rotatably arranged on the end surface of the outer ring 2-2, seven guide wire wheels 2-3 can be restricted after the inner ring 2-1 is buckled with the outer ring 2-2, and the inner ring 2-1 and the outer ring 2-2 rotate relatively. By the arrangement, the wrist internal rotation and external rotation freedom degree can be realized through the relative rotation of the inner ring 2-1 and the outer ring 2-1. The steel wire of the Bowden cable pulls the tail end guide wire wheel 2-3 clockwise or anticlockwise to enable the inner ring 2-1 and the outer ring 2-2 to rotate clockwise or anticlockwise relatively, and then the degree of freedom of internal rotation and external rotation of the wrist can be achieved.

Further defined is an arc displacement sensing module 2-4, the wire wheel ring module 2 further comprises the arc displacement sensing module 2-4, and the arc displacement sensing module 2-4 for detecting relative rotational displacement between the inner ring 2-1 and the outer ring 2-2 is arranged between the inner ring 2-1 and the outer ring 2-2. The arc displacement sensing module 2-4 comprises a flexible ultrathin arc position sensor, a sliding rod, a spring and a contact head; the flexible ultrathin arc line position sensor is fixed on the outer ring 2-2, the sliding rod is fixed on the inner ring 2-1, the sliding rod is internally wrapped with a spring, the spring props against a contact at one end, and the contact slides in contact with a flexible conductive resistance layer of the flexible ultrathin arc line position sensor. So set up, the relative pitch arc displacement distance can be detected to pitch arc displacement sensing module between inner ring 2-1 and the outer ring 2-2 during the motion, can obtain line wheel ring rotation angle through calculating.

Based on the above embodiment, the transmission driving mechanism 3 comprises a frame 3-1 and three sets of drivers; each set of driver comprises a winding module 3-2, a motor 3-3, a coupler 3-4 and six Bowden wires;

the winding module 3-2 comprises a source wire wheel 3-21, a wire wheel output shaft 3-22, a wire wheel shell 3-23 and a shell top cover 3-24;

three sets of drivers are arranged on the rack 3-0 side by side up and down, and in each set of drivers: the motor 3-3 is arranged on the frame 3-1, and the wire wheel shell 3-23 is arranged on the frame 3-1; the output end of a motor 3-3 is connected with a wire wheel output shaft 3-22 through a coupler 3-4, the wire wheel output shaft 3-22 is arranged in a wire wheel shell 3-23, a source wire wheel 3-21 is fixedly sleeved on the wire wheel output shaft 3-22, a shell top cover 3-24 is installed on the wire wheel shell 3-23, two ends of the wire wheel output shaft 3-22 are installed on the wire wheel shell 3-23 and the shell top cover 3-24 through flange bearings 3-25, two adjusting screws 3-26 vertical to the wire wheel output shaft 3-22 are installed on the wire wheel shell 3-23, a central through hole is processed on each adjusting screw 3-26 along the length direction, and the source wire wheel 3-21 is respectively connected with an execution wire wheel 1-2 and a wire guide wheel 2-3 through a Bowden wire.

According to the arrangement, torque output by the transmission driving mechanism 3 can be transmitted to the wrist exoskeleton joint through the Bowden cable, the winding module 3-2 can adjust tension of the steel wire by rotating the hollow slotted adjusting screw 3-26, the steel wire of the Bowden cable penetrates into the screw from the slotted hole in the side face of the screw, the sheath is inserted into the central hole of the screw head and fixed, when the screw is screwed outwards, pressure on the sheath is increased, and the tension of the steel wire is also increased due to the fact that the pressure on the sheath is equal to the tension of the steel wire, and the winding module can conveniently achieve pre-tightening of the steel wire.

The majority of each component of the exoskeleton can be manufactured by selective sintering technology (SLS) of 3D printing, and the material of the exoskeleton can be selected from nylon; by the method, small and complicated parts can be printed, and each part has the characteristics of high strength and light weight; the 3D printing SLS process can be used for quickly manufacturing parts, and the development time of a prototype model machine is reduced; the key parts can be assembled by polishing in the later stage. Only the gear rack and the wire wheel in the exoskeleton are machined, so that the machining cost is greatly reduced.

Further, with reference to figures 3, 4 and 5, where two sets of actuators are used as the actuators for the reed module 1, the bowden cable routing that controls the flexion/extension and adduction/abduction movements of the wrist is as follows:

for one of the performance reels 1-2: one ends of two steel wires of the two Bowden wires are wound on the source wire wheel 3-21, the other ends of the two steel wires are wound on the executive wire wheel 1-2, one ends of the two Bowden wire sheaths, corresponding to one ends of the two steel wires, penetrate into central holes of the two adjusting screws 3-26 and are fixed, and the other ends of the two Bowden wire sheaths are fixed on the forearm shell 1-7;

as shown in fig. 6, the remaining set of drives is used as the wire-wheel module 2, and the bowden cable that controls the wrist joint for pronation/supination is routed as follows: one ends of two steel wires of the two Bowden wires are wound on the source wire wheel 3-21, the other ends of the two steel wires are wound on the guide wire wheel 2-3 of the wire wheel ring module 2, one ends of the two Bowden wire sheaths, corresponding to one ends of the two steel wires, penetrate through central holes of the two adjusting screws 3-26 corresponding to the wire wheel ring module 2 and are fixed, and the other ends of the two Bowden wire sheaths are fixed on the outer ring 2-2. By the design, power can be transmitted remotely, and the motor is remotely separated from the exoskeleton so as to reduce the burden of the robot on the wrist; secondly, the patient is allowed to freely move the posture of the wrist when wearing the exoskeleton robot to perform rehabilitation training, and certain tasks and daily life actions can be conveniently completed during training. In addition, the steel wire penetrates through the sheath to transmit the pulling force, the sheath is used for neutralizing the pulling force of the steel wire on the mechanism, the resultant force of the Bowden wire on the exoskeleton equipment is zero, namely the driving mechanism based on the Bowden wire can be regarded as a pure torque source, and the pulling effect on the wrist joint cannot be generated.

Two reeds of the reed module 1 are respectively driven by two groups of transmission driving mechanisms 3, when the two groups of transmission driving mechanisms 3 advance and retreat simultaneously, under the constraint of human wrist bones and joints, the reeds 1-6 are bent and extended, so that the wrist joints are driven to move, and the bending and extending freedom degree of the wrist can be realized; when the two transmission driving mechanisms 3 advance and retreat in a staggered mode, the two reeds 1-6 move in opposite directions, and the inward-contraction and outward-expansion freedom degree of the wrist can be achieved; the wrist internal rotation and external rotation freedom degree can be realized through the relative rotation of the inner ring 2-1 and the outer ring 2-2; the reeds 1-6 are light, thin and good in toughness, and can greatly reduce the weight of the mechanism and simplify the mechanism form; the wrist exoskeleton and the wrist joints of the human body form a variable-curvature concentric circular structure, when the driving reeds 1-6 move simultaneously, the equivalent radius is extended or shortened, and the telecentric position changes, so that the telecentric motion matching of the wrist and the exoskeleton of the human body can be realized, the joint motion is more natural, the actual motion form of the wrist joints is met, and the human-computer compatibility is realized.

The movement track of the exoskeleton mechanism on the wrist is closer to the natural movement track of each degree of freedom of the wrist joint, and the wrist action can reach the expected rehabilitation effect more quickly.

The present invention is not limited to the above embodiments, and those skilled in the art can make various changes and modifications without departing from the scope of the invention.