Design of a convenient upper limb exoskeleton robot based on spring energy storage

The development of upper limb exoskeleton robots is an important stage in the high-quality development of robotics technology. The existing upper limb exoskeleton robots have a single function and complex structure, and their wearability needs to be improved. This paper designs a convenient upper limb exoskeleton robot based on spring energy storage, analyzes the degree of freedom of muscle joints when the human arm moves from the perspective of human bionics, solves the convenience and comfort of users' wearing from the mechanical structure, improves man-machine cooperation, analyzes the calculation principle of joint torque when the human arm moves, optimizes the spring energy storage module, and innovatively adopts the extension spring scheme, Increasing the interchangeability of parts is conducive to the convenient replacement of mechanical structures, and the combination of forearm assistance and boom assistance is used to effectively improve the assistance effect. The effectiveness of the prototype movement is verified by calculating the assistance ratio.