Abstract:  In order to solve the problems of exoskeleton robot in bio-mimicry, portability and human-computer interaction, based on the analysis of the ulnar-radius movement mechanism of the human forearm during internal and external rotation, a wearable flexible exoskeleton device of the human forearm driven by shape memory alloy (SMA) spring was proposed. Firstly, according to the movement mechanism of the pronator teres, pronator and supinator muscles in the forearm muscles when the human body static tremor occurred, an exoskeleton device conforming to human biomechanics was designed by using the software SolidWorks. Secondly, according to the relationship between the contraction force of the SMA spring and the axial tensile length, the SMA spring was energized and heated, and the contraction force generated by the spring drove the exoskeleton device to complete the passive suppression of stationary tremor. Finally, the motor was used to drive the vibration of the wooden prosthetic hand to simulate the patient's onset state, and the motion data of the fluorescent sphere attached to the surface of the forearm was recorded with the help of the Vicon dynamic capture system. The research results show that the angle of internal and external rotation of the forearm decreases significantly, and when the SMA spring is stretched to 100 mm and 120 mm, the absolute average value of the angle of internal and external rotation decreases by respectively 45.07% and 61.39%, and the exoskeleton device can effectively control the patient's symptoms during the tremor process. The bio-mimetic and flexible properties of the exoskeleton are in line with the movement characteristics of the human forearm, and its lightweight and portability can improve the auxiliary effect in daily life activities, providing new perspectives and methods for the field of upper limb rehabilitation medicine.
Key words:  wearable medical equipment; wearable flexible exoskeleton device; spring drive device; tremor suppression characteristic; shape memory alloy(SMA); SolidWorks; bio-mimicry; motion capture