Lower limb exoskeleton

Abstract

This invention belongs to the field of exoskeleton technology, specifically a lower limb exoskeleton, including a drive system for controlling leg bone movement. This drive system comprises a composite drive component, a thigh linkage, and a lower leg linkage. The composite drive component is mounted on a waist assembly via a central axis, and a fifth hinge axis parallel to the central axis is positioned away from the central axis. The ends of both the thigh and lower leg linkages are movably connected to the fifth hinge axis, forming a parallelogram mechanism with the thigh and lower leg. Driven by a drive motor assembly, the composite drive component rotates, at which point the thigh and lower leg linkages respectively pull the thigh and lower leg to simulate human leg movement. By adding two additional connecting rods to construct the leg bone into a parallelogram mechanism, and driving the two additional connecting rods synchronously via a single drive motor assembly, the leg bone is controlled to simulate human leg movement.

Description

Technical Field

[0001] This invention belongs to the field of exoskeleton technology, specifically a lower limb exoskeleton. Background Technology

[0002] Lower limb exoskeletons are devices designed to assist human walking or exercise. Their basic function is to simulate the stepping and walking movements of the human leg. There are many existing solutions for lower limb joint drive systems, the most common being the installation of an independent drive motor at each joint. For example, patent application CN115634126A discloses a rehabilitation-type four-wheel drive lower limb exoskeleton for assisted walking, with a drive device at each of the hip and knee joints. The advantages of this drive method are obvious; it can help users perform actions such as walking, half-squatting, sitting upright, and squatting. However, its disadvantages are also significant. For instance, this drive method makes the lower limb exoskeleton complex to operate, increases costs, and has a high failure rate at the joints. Furthermore, this joint-driven approach requires a large torque from the motor, resulting in a large moving part, and the weight of the end-effector consumes a significant amount of power from the power source.

[0003] Some exoskeletons employ a rotating mechanism. For example, patent application CN115816428A discloses a cable-driven power exoskeleton. This device has at least one geared motor with a drive wheel at the waist assembly, and rotating wheels that contact each leg joint. The geared motor drives the rotating wheels to rotate via a transmission steel cable that passes over the drive wheel and rotating wheels, thereby controlling the leg joint movement. While this method removes the drive motor from the joint, it doesn't reduce the number of motors and actually increases the overall weight of the exoskeleton. Furthermore, using transmission steel cables presents challenges in operational stability and transmission accuracy, and can lead to premature component wear, increasing the exoskeleton's failure rate. Summary of the Invention

[0004] The purpose of this invention is to provide a lower limb exoskeleton that constructs the leg bones into a parallelogram structure by adding two additional connecting rods, and drives the two additional connecting rods to move synchronously through a drive motor assembly, thereby controlling the leg bones to simulate the movement of the human leg.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a lower limb exoskeleton, comprising a leg bone composed of a thigh, a lower leg, and a foot, wherein the upper end of the thigh is connected to a waist assembly via a first hinge shaft, the upper end of the lower leg is connected to the lower end of the thigh via a third hinge shaft, and the foot is mounted on the lower end of the lower leg via a foot mounting component. The lower limb exoskeleton also includes a drive system for controlling leg bone movement. This drive system comprises a composite drive component, a thigh linkage, and a lower leg linkage. The composite drive component is mounted on the waist assembly via a central axis and can rotate around the central axis. A fifth hinge axis parallel to the central axis is positioned on the composite drive component away from the central axis. The ends of the thigh linkage and the lower leg linkage are movably connected to the fifth hinge axis. The front end of the thigh linkage is hinged to the upper middle part of the thigh via a second hinge axis, and the lower end of the lower leg linkage is hinged to the lower leg via a fourth hinge axis. The second, third, fourth, and fifth hinge axes are located at the four vertices of the same parallelogram. The drive system also includes a drive motor assembly that drives the composite drive component to rotate around the central axis. When the composite drive component rotates, the thigh linkage and the lower leg linkage respectively pull the thigh and lower leg to simulate human leg movement.

[0006] In the above technical solution, a thigh linkage part and a lower leg linkage part are set up independently, with the ends of the thigh linkage part and the lower leg linkage part movably mounted on the same fifth hinge axis. The connection points of the four parts are located at the four vertices of a parallelogram, that is, the thigh linkage part and the lower leg linkage part and the leg bone form a parallelogram mechanism. Since the fifth hinge axis is set on the composite drive component mounted through the central axis, when the drive motor assembly drives the composite drive component to rotate, the thigh linkage part and the lower leg linkage part simultaneously drive the thigh and the lower leg to move. Therefore, under the linkage action of the thigh, the lower leg, the thigh linkage part and the lower leg linkage part, the purpose of one power source driving the entire leg bone is achieved. Therefore, this technical solution only requires one drive motor assembly to drive the leg bone to simulate lower limb movements. After being worn on the lower limb through the strap structure, it can assist lower limb movement. Therefore, this solution can be applied to assistive walking exoskeletons and lower limb assistive training devices. Compared with existing technical solutions, the two joint drive structures that independently drive the thigh and calf are eliminated. This not only simplifies the mechanical structure of the leg bones but also effectively reduces their weight. In addition, a single drive motor assembly drives the leg bones through a parallelogram mechanism, which can ensure that the thigh and calf have a stable and smooth movement state, with a low failure rate and easy maintenance.

[0007] Furthermore, the lower limb exoskeleton has two sets of leg bones that are symmetrically arranged on both sides. Each set of leg bones is controlled by an independent drive system, and the overall top-view shape of the waist assembly is [missing information]. The exoskeleton has a central space for the user to wear it. When the user is in the space, the two sets of leg bones fit against the outer sides of the user's left and right legs, respectively. The user can wear this lower limb exoskeleton and, with its assistance, perform walking or stepping movements. Because the two sets of leg bones are controlled by independent drive systems, the user can operate the movement of one leg bone or coordinate the movement of both legs. Therefore, this lower limb exoskeleton can support the user to perform more and more precise leg movements.

[0008] For a lower limb exoskeleton with two sets of leg bones, two adjustment mechanisms are symmetrically arranged on either side of the waist assembly, located above the drive system. These mechanisms have movable connecting parts that can reciprocate under the control of the adjustment mechanisms, with their movement trajectory tilted downwards and backwards towards the waist assembly. The upper end of the thigh is connected to these movable connecting parts via a second hinge axis. Under the control of the adjustment mechanisms, the upper end of the thigh has multiple adjustable positions. Since the composite drive component is mounted on the waist assembly via a fixed central axis, and the fifth hinge axis in the parallelogram mechanism is located on the composite drive component, when the position of the upper end of the thigh changes, the entire leg skeleton will move under the constraint of the parallelogram mechanism. According to the structure of this technical solution, after the adjustment mechanism controls the upper part of the thigh to move backward, the entire leg skeleton can be in a sitting posture. At this time, the parallelogram mechanism composed of the thigh, lower leg, lower leg linkage, and thigh linkage still exists. Therefore, when the composite drive component rotates, the thigh and lower leg can still move under the linkage of the thigh linkage and lower leg linkage. Therefore, this solution can meet the needs of walking and sitting when only one leg skeleton has a power source. Moreover, it can maintain the mobility of the leg skeleton in the sitting posture. For example, the user can use this lower limb exoskeleton to complete complex movements including walking, single leg lifting, half squatting, sitting, and leg movements in a sitting position.

[0009] Preferably, the adjustment mechanism is a lead screw assembly, including a lead screw installed at a downward angle at its rear end, and a first drive motor assembly for controlling the rotation of the lead screw. The movable connecting part is a lead screw slider that is installed in conjunction with the lead screw. The lead screw in the lead screw assembly is used to adjust the position of the upper part of the thigh and also provides good fixation for the thigh. The adjustment process of the lead screw is smooth and can be precisely controlled, ensuring both the structural stability of the lower limb exoskeleton during different movements and the smooth transition of leg bone movements.

[0010] For lower limb exoskeletons with two sets of leg bones, furthermore, The opening side of the waist component faces forward, meaning the front of the wearing space is open. The waist component is located in the middle of the back of the user and rises upward to form a clearance space that is open below. The user enters and exits the exoskeleton from the front side. The clearance space avoids devices such as the seat of the transfer machine and stool, making it convenient for the user to wear the exoskeleton in a seated position. At the same time, it also makes it convenient for the user to sit on the seat of the transfer machine or stool while wearing the exoskeleton.

[0011] As a preferred embodiment, the composite drive component of the drive system is a circular geared disc with teeth arranged around its circumference. The drive motor assembly includes a second drive motor assembly and a gear set driven by the second drive motor assembly, and the gear set meshes with the teeth on the circumference of the drive geared disc. Using a circular geared disc as the composite drive component, with the drive motor assembly positioned on one side of the circular geared disc and driving its rotation through meshing with the teeth on its circumference, allows for flexible mounting of the drive motor assembly on the outer circumference of the composite drive component, facilitating a rational arrangement of the entire exoskeleton structure. Furthermore, this composite drive component structure acts as a force-saving lever; compared to a drive method where the drive motor is directly coaxially mounted with the central shaft, this solution reduces the requirement for the maximum torque of the motor, allowing for the selection of a smaller motor as the drive motor.

[0012] For a lower limb exoskeleton with two sets of leg bones, the exoskeleton further includes two handrails symmetrically arranged at the front of the waist assembly. Each handrail has a forward-extending cantilever with a handle positioned at the front of the cantilever, closer to the user. The cantilever supports the user's forearm, ensuring a comfortable upper limb position. The handle, located in front of the waist assembly, allows the user to better control the degree of forward lean of the upper body and adjust their center of gravity according to walking posture to maintain balance. This provides safety for the user to perform more movements with the assistance of the exoskeleton.

[0013] Preferably, the handle is tilted forward as a whole, its length is greater than the width of the palm, and the angle between it and the front cantilever is 60°-90°. When the user's forearm is extended forward and pressed on the cantilever, the hand is in a relatively relaxed posture and the grip force is relatively large when gripping the handle with the above-mentioned forward tilt angle. This can avoid hand discomfort and allow the user to maintain a good state of response.

[0014] For lower limb exoskeletons with armrests, the preferred cantilever includes a rear fixed arm connected to the waist assembly and a front movable arm connected to the movable sleeve of the rear fixed arm. The front movable arm can only translate forward and backward relative to the rear fixed arm, and the armrest also has a screw mechanism capable of adjusting the forward or backward movement of the front movable arm. The handle is located at the front of the front movable arm and on the side closest to the wearing space. The user adjusts the length of the entire cantilever by adjusting the end caps. During this process, the user's arm is in contact with the cantilever in a normal use posture, thus allowing for more precise perception of whether the adjusted cantilever length is appropriate.

[0015] Furthermore, the lower limb exoskeleton also includes a control system component that controls the drive system and adjustment mechanism, and a control joystick is provided at the top of the handle. The user sends motion commands to the control system component through the control joystick so as to control the lower limb exoskeleton to perform corresponding actions according to their own needs. Attached Figure Description

[0016] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0017] Figure 1 A side view of the lower limb exoskeleton provided in an embodiment of the present invention;

[0018] Figure 2 for Figure 1 A schematic diagram of the posterior structure of the lower limb exoskeleton;

[0019] Figure 3 for Figure 1 A schematic diagram of the anterior structure of the lower limb exoskeleton is shown.

[0020] Figure 4 for Figure 1 The diagram shows the structure of the thigh in the lower limb exoskeleton.

[0021] Figure 5 for Figure 1 A schematic diagram of the lower leg and foot structure in the lower limb exoskeleton shown;

[0022] Figure 6 This is a schematic diagram of the composite drive component that forms a linkage mechanism with the thigh and calf in this embodiment;

[0023] Figure 7 This is a schematic diagram of the planar structure connecting the composite drive component to the leg bone.

[0024] Figure 8 To observe from the wearable space side Figure 7 A partial structural diagram of the structure shown;

[0025] Figure 9 for Figure 2 The diagram shows the structure of the waist component in its disassembled state.

[0026] Figure 10 This is a schematic diagram of the installation structure of the drive motor assembly;

[0027] Figure 11 This is a schematic diagram showing the distribution structure of the drive motor assemblies on both sides on the waist assembly;

[0028] Figure 12 for Figure 9 Schematic diagram of the structure of the middle and rear cap;

[0029] Figure 13 This is a schematic diagram of the leg bones in a standing position.

[0030] Figure 14 This is a schematic diagram of the leg bones in a seated position.

[0031] Figure 15 This is a schematic diagram of the planar structure of the lower limb exoskeleton for a single leg lift.

[0032] Figure 16 This is a structural diagram of the lower limb exoskeleton in a seated position;

[0033] Figure 17 This is a structural diagram of the right armrest in this embodiment;

[0034] Figure 18 for Figure 17 A schematic diagram showing the tilt orientation of the handle in the armrest section;

[0035] Figure 19 for Figure 17 The diagram shows the internal structure of the telescopic cantilever in the handrail section.

[0036] In the diagram, the components are: 1. Thigh; 2. Lower leg; 3. Foot; 4. Waist assembly; 5. Lower leg linkage; 6. Armrest; 7. Outer cover; 8. Rear cover; 9. Upper cover; 10. Clearance space; 11. Thigh linkage; 12. Drive gear; 13. Fifth hinge shaft; 14. Inner frame; 15. Inner side plate; 16. Lead screw; 61. Rear fixed arm; 62. Front movable arm; 63. Handle; 64. Control rocker; 65. Screw; 66. Threaded sleeve; 67. Bushing; 68. Adjustment end cap; 101. First hinge shaft hole; 102. Second hinge shaft; 103. Mounting slot; 104. Lead screw slider; 111. Third hinge shaft hole; 151. Gear hole; 181. First drive motor assembly; 182. Second drive motor assembly; 183. Gear set; 183. Third hinge shaft; 201. Fourth hinge shaft; 202. Foot mounting part; 203. Second hinge shaft hole; 501. Heat dissipation hole; 801. Mounting hole; 802. Detailed Implementation

[0037] The following will describe in detail the implementation of this application with reference to the accompanying drawings and embodiments, so that the implementation process of how this application uses technical means to solve technical problems and achieve technical effects can be fully understood and implemented accordingly.

[0038] This invention provides an embodiment of a lower limb exoskeleton. The lower limb exoskeleton includes a waist assembly 4 and two sets of leg bones symmetrically arranged on the left and right sides of the waist assembly 4. The top view of the waist assembly 4 is as follows: The design features a central opening that faces forward, allowing the user to enter the wearing space from the front. Alternatively, the lower limb exoskeleton can be moved from behind the user to allow entry into the wearing space, as shown in the figure. A strap structure for securing the lower limbs is provided on the leg bones. After the user is ready to wear the exoskeleton, it is put on the body using the strap structure. Additionally, two handrails 6 are symmetrically arranged at the front of the waist component 4, allowing the user to hold onto the handrails 6 after wearing the exoskeleton.

[0039] like Figure 1-3 As shown, the leg skeleton consists of the thigh (1), the lower leg (2), and the foot (3). Figure 4 As shown, the lower end of the thigh portion 1 has a mounting opening and a first hinge shaft hole 101 that extends laterally through the mounting opening; the upper end of the thigh portion 1 has a mounting opening, and a lead screw slider 104 with a threaded hole in the middle is movably mounted in the mounting opening via the first hinge shaft 102; a mounting groove 103 is provided in the upper middle part of the thigh portion, and a second hinge shaft 102 that extends laterally through the mounting groove 103 is provided; as shown Figure 5 As shown, the lower part of the calf 2 is mounted to the foot 3 via the foot mounting part 203. The upper part of the foot 3 has a forward third hinge shaft 201 and a rearward fourth hinge shaft 202. The outer side of the mounting opening at the lower end of the thigh 1 passes through the first hinge shaft hole 101 via the third hinge shaft 20, allowing the calf 2 to swing back and forth relative to the thigh 1. Two lead screw assemblies are symmetrically arranged on the waist assembly 4 on both sides of the user. The lead screw slider 104 is mounted on the lead screw 16, and a first drive motor assembly 181 for driving the lead screw 16 to rotate is located at the rear of the waist assembly 4. The lead screw assemblies can control the reciprocating movement of the lead screw slider 104, and its movement trajectory is inclined towards the lower rear of the waist assembly 4.

[0040] The lower limb exoskeleton also includes a drive system for controlling the movement of the leg bones. The drive system is located below the lead screw assembly and includes a composite drive component, a thigh linkage 11, and a lower leg linkage 5, such as... Figure 6As shown, the composite drive component is a circular drive gear disk 12 with teeth on its circumference. It is mounted on the waist assembly 4 via a coaxial central shaft and is located on the left and right sides of the wearing space. The drive gear disk 12 can rotate around the central shaft. In addition, a fifth hinge shaft 13 parallel to the central shaft is provided on the drive gear disk 12 at a position away from the central shaft. The ends of the thigh linkage part 11 and the calf linkage part 5 are movably connected to the fifth hinge shaft 13, and the front end of the thigh linkage part 11 is provided with a third hinge shaft hole 1. 11. After the front end is inserted into the mounting slot 103 on the thigh 1, the second hinge shaft 102 passes through the third hinge shaft hole 111, thereby hingedly connecting the thigh linkage 11 to the thigh 1; the lower end of the calf linkage 5 is provided with a mounting port, and a second hinge shaft hole 501 is provided that passes through the mounting port laterally. When the mounting port at the lower end of the calf linkage 5 is engaged with the calf 2, the fourth hinge shaft 202 is inserted into the second hinge shaft hole 501, thereby hingedly connecting the calf linkage 5 to the calf 2. Based on the above connection structure, as follows... Figure 7 As shown, the thigh 1, lower leg 2, lower leg linkage 5, and thigh linkage 11 together form a quadrilateral structure. Furthermore, the second hinge axis 102, third hinge axis 201, fourth hinge axis 202, and fifth hinge axis 13 are located at the four vertices of the same parallelogram. Therefore, the thigh 1, lower leg 2, lower leg linkage 5, and thigh linkage 11 actually constitute a parallelogram linkage mechanism. Figure 7 This diagram shows a planar view of the right leg skeleton as seen from the right side of the lower limb exoskeleton. Figure 8 This diagram shows a planar view of the right leg bones as seen from the wearer's perspective. Figure 7 In the indicated state, when the drive gear 12 rotates clockwise around the central axis, the thigh linkage 11 pushes the thigh 1 to lift to the right around the first hinge axis 105, that is, the thigh 1 swings forward.

[0041] The above structure illustrates the driving method of the leg bones in this embodiment. Compared with existing lower limb exoskeletons, this lower limb exoskeleton does not have a drive motor at the joints, but uses a four-sided linkage mechanism to control the movement of the thigh 1 and the lower leg 2. Therefore, each leg bone only needs one drive motor assembly to control the rotation of the drive gear 12 to achieve the purpose of controlling the leg bones to walk, and greatly simplifies the complex structure of the lower limb exoskeleton.

[0042] Figure 9 This is a schematic diagram showing the disassembled structure of the waist component 4 in the lower limb exoskeleton provided in this embodiment. As can be seen from the diagram, the waist component 4 has an internal inner skeleton 14 and a mask with a matching shape disposed on the outer periphery of the inner skeleton 14. Figure 10 As shown, the drive motor assembly consists of a second drive motor assembly 182 and a gear set 183, as follows: Figure 11As shown, the first drive motor assembly 181, which controls the rotation of the screw 16, is located behind the inner frame 14. The motors in the entire lower limb exoskeleton are installed symmetrically from left to right. The thigh 1, lower leg 2, lower leg linkage 5, and thigh linkage 11 are located on the side of the inner frame 14 closest to the wearing area. The main function of the cover is to isolate the drive structure within. Specifically, a rear cover 8 matching the rear shape of the inner frame 14 is installed at the rear of the inner frame 14, such as... Figure 12 As shown, a mounting hole 802 is provided on one side edge of the rear cover 8 that fits against the inner frame 14, and an installation space is formed between the rear cover 8 and the inner frame 14. The first drive motor assembly 181, the drive motor assembly, and the control system assembly that controls the first drive motor assembly 181 and the drive motor assembly are all installed in the installation space. In addition, a heat dissipation hole 801 is provided on the rear cover 8, which can prevent the temperature in the installation space from being too high, thereby providing a good working environment for the internal components.

[0043] In addition to the rear cover 8, outer covers 7 are also provided on the outer sides of the left and right sides of the inner frame 14. Meanwhile, inner side panels 15 are provided on the left and right sides of the wearing area. As described above... Figure 3 and Figure 10 The thigh section 1, calf section 2, calf linkage section 5, and thigh linkage section 11 are located on the outer side of the inner side plate 15 (exposed to the wearing area). The drive gear 12 is located between the outer cover 7 and the inner side plate 15. Therefore, a gear hole 151 concentric with the drive gear 12 is provided on the inner side plate 15. The fifth hinge shaft 13 on the drive gear 12 passes through the gear hole 151 and connects the calf linkage section 5 and the thigh linkage section 11. In addition, a cover screw 16 is also provided on the upper part of the inner frame 14. The upper cover 9 has a horizontal portion at the top that completely covers the lead screw 16, and its vertical edge extends downward to cover the upper part of the thigh 1, so that the user will not come into contact with the lead screw 16 during exercise.

[0044] The above describes the structure of the lower limb exoskeleton provided in this embodiment. This lower limb exoskeleton can achieve various postures such as walking, sitting, and semi-squatting; Figure 13 As shown, when the drive gear 12 rotates clockwise, the thigh 1 and lower leg 2 simulate the walking motion of a human leg. When the upper end of the thigh 1 slides backward along the lead screw 16, under the constraint of the lower leg linkage 5 and the thigh linkage 11, the entire leg skeleton will exhibit the movement characteristics of bending the knee and squatting. At this time, if it is combined with the rotation of the drive gear 12, the leg skeleton can present... Figure 14 The seated posture shown; for Figure 14As shown, if the drive gear 12 continues to rotate (clockwise or counterclockwise), the user can still perform leg movements while seated. Since the two leg bones of the lower limb exoskeleton provided in this embodiment are independently controlled by two sets of drive structures, the user can adjust the right leg bone to raise it appropriately and perform movements according to their own sensations. Figure 15 The leg-raising movement shown can also be manipulated to move the bones of both legs simultaneously and produce a certain effect. Figure 16 The sitting posture shown Figure 15 The state shown is only to illustrate the movement state of this lower limb exoskeleton. If the user needs to sit on a stool or transfer machine while wearing this lower limb exoskeleton, the lead screw mechanism and drive system need to coordinate the movement to make the leg bones more realistically simulate leg movements.

[0045] In this embodiment, the drive structure is located at the rear of the waist assembly 4. Therefore, in a standing posture, the center of gravity of the entire lower limb exoskeleton will shift backward. To help the user maintain better balance, the two armrests 6 have forward-extending cantilever arms (e.g., Figure 17 As shown), a handle 63 is provided at the front of the cantilever, and the handle 63 is located on the side closest to the human body. When both hands are extended forward and grip the handle 63, the user can better control the degree of forward lean of the upper body and adjust the body's center of gravity according to the walking state to maintain body balance. This provides a safety guarantee for the user to perform more movements with the assistance of this exoskeleton. Specifically, the user's forearm can be pressed flat on the cantilever, so that the upper limb is in a comfortable position. The handle 63 is located in front of the waist component 4 and is tilted forward as a whole. Its length is greater than the width of the palm, and the angle α between it and the front cantilever is 75° (as shown). Figure 18 As shown, when the user's forearm is extended forward and resting on the cantilever, and the hand grips the handle 63 with the aforementioned forward tilt angle, the hand is in a relatively relaxed posture with a relatively strong grip. This avoids hand discomfort and allows the user to maintain a good state of responsiveness. Simultaneously, a control joystick 64 is provided at the top of the handle 63. This joystick is electrically connected to the control system component and is used to send commands to the control system component, allowing the user to control the movement of the entire lower limb exoskeleton as needed.

[0046] Furthermore, considering the varying arm lengths of users, the cantilever is designed as a telescopic structure. Specifically, the cantilever includes a hollow rear fixed arm 61 and a hollow front movable arm 62, as shown below. Figure 17 As shown, the rear fixed arm 61 is connected to the inner frame 14, and the front movable arm 62 is movably fitted onto the front of the rear fixed arm 61, allowing the front movable arm 62 to move only back and forth relative to the rear fixed arm 61. Regarding the telescopic design of the cantilever, this embodiment uses a screw 65 for adjustment, as shown... Figure 19As shown, a threaded sleeve 66 is provided at the front end of the rear fixed arm 61. A screw 65 is inserted from the front end of the front movable arm 62 and installed inside the front movable arm 62 through a bushing 67 that allows the screw 65 to rotate only in its original position. After passing through the threaded sleeve 66, the screw 65 extends into the interior of the rear fixed arm 61. With the forearm resting on the front movable arm 62, the user can manually turn the adjustment cap 68 provided at the front end of the screw 65 to more accurately perceive whether the adjusted cantilever length is suitable for their needs. In actual use, to facilitate easy rotation of the adjustment cap 68 by the user, evenly distributed protrusions can be provided on the adjustment cap 68.

[0047] The specification and claims use certain terms to refer to specific components. Those skilled in the art will understand that hardware manufacturers may use different names to refer to the same component. This specification and claims do not distinguish components based on differences in name, but rather on differences in function. The term "comprising" throughout the specification and claims is an open-ended term and should be interpreted as "comprising but not limited to." "Approximately" means that within an acceptable margin of error, those skilled in the art can solve the technical problem and substantially achieve the technical effect within a certain margin of error.

[0048] It should be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a product or system comprising a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a product or system. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the product or system that includes said element.

[0049] The foregoing description illustrates and describes several preferred embodiments of the present invention. However, as previously stated, it should be understood that the present invention is not limited to the forms disclosed herein and should not be construed as excluding other embodiments. It can be used in various other combinations, modifications, and environments, and can be altered within the scope of the inventive concept described herein through the foregoing teachings or techniques or knowledge in related fields. Any modifications and variations made by those skilled in the art that do not depart from the spirit and scope of the present invention should be within the protection scope of the appended claims.

Claims

1. A lower extremity exoskeleton comprising a leg skeleton consisting of a thigh section, a lower leg section and a foot section, wherein the upper end of the thigh section is connected to a waist assembly by a first articulation axis, the upper end of the lower leg section is connected to the lower end of the thigh section by a third articulation axis, and the foot section is mounted to the lower end of the lower leg section by a foot mount, characterized in that: The lower limb exoskeleton further comprises a driving system for controlling the leg bone movement, the driving system comprising a composite driving member, a thigh linkage and a shank linkage, wherein the composite driving member is installed on the waist assembly through a central shaft and can rotate around the central shaft, a fifth hinge shaft parallel to the central shaft is arranged on the composite driving member away from the central shaft; the ends of the thigh linkage and the shank linkage are movably connected to the fifth hinge shaft, the front end of the thigh linkage is hingedly connected to the upper middle part of the thigh through a second hinge shaft, and the lower end of the shank linkage is hingedly connected to the shank through a fourth hinge shaft, so that the second hinge shaft, the third hinge shaft, the fourth hinge shaft and the fifth hinge shaft are located at four vertices of a parallelogram respectively; the driving system further comprises a driving motor assembly for driving the composite driving member to rotate around the central shaft, and when the composite driving member rotates, the thigh linkage and the shank linkage respectively pull the thigh and the shank to simulate the human leg movement; the lower limb exoskeleton has two sets of left-right symmetrical leg bones, the two sets of leg bones are respectively controlled by independent driving systems, and the waist assembly has an overall "Fang" shape in plan view, has a wearing space for accommodating a user in the middle part, and when the user is located in the wearing space, the two sets of leg bones respectively fit the left leg outside and the right leg outside of the user; two adjusting mechanisms are symmetrically arranged at positions of the waist assembly located on both sides of the user, the adjusting mechanisms are located above the driving systems, and have a movable connecting part which can reciprocatingly move under the control of the adjusting mechanisms and has a moving track inclined toward the lower rear of the waist assembly; the upper end of the thigh is connected to the movable connecting part through the second hinge shaft; the adjusting mechanism is a lead screw assembly comprising a lead screw installed downwardly and obliquely at the rear end, and a first driving motor assembly for controlling the rotation of the lead screw; and the movable connecting part is a lead screw slider matched with the lead screw.

2. The lower extremity exoskeleton of claim 1, wherein: The opening side of the "Fang" shaped waist assembly points to the front of the user, i.e. the front side of the wearing space is open; the waist assembly is lifted upwardly at the middle part behind the back of the user and forms an avoidance space open downwardly.

3. The lower extremity exoskeleton of claim 1, wherein: The composite driving member of the driving system is a circular gear disc, and the gear teeth are arranged on the circumference of the gear disc; the driving motor assembly comprises a second driving motor assembly and a gear set driven by the second driving motor assembly, and the gear set is engaged with the gear teeth on the circumference of the driving gear disc.

4. The lower extremity exoskeleton of any one of claims 1-3, wherein: The lower limb exoskeleton further comprises two handrail parts symmetrically arranged at the front of the waist assembly, the handrail part has a cantilever extending forwardly, and a handle is arranged at the front of the cantilever and located close to the human body.

5. The lower extremity exoskeleton of claim 4, wherein: The handle is inclined forwardly as a whole, has a length greater than the palm width, and has an included angle of 60°-90° with the cantilever.

6. The lower extremity exoskeleton of claim 4, wherein: The cantilever comprises a rear fixed arm connected to the waist assembly and a front movable arm movably sleeved with the rear fixed arm, wherein the front movable arm can only move forwardly and rearwardly relative to the rear fixed arm, and the handrail part further has a screw rod mechanism capable of adjusting the forward or rearward movement of the front movable arm; the handle is arranged at the front of the front movable arm and located close to the wearing space.

7. The lower extremity exoskeleton of claim 6, wherein: The lower extremity exoskeleton further comprises a control system assembly which controls the driving system and the adjusting mechanism, and a control rocker is arranged at the top end of the handle, and the user sends action instructions to the control system assembly through the control rocker.

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