Multi-terrain ankle-foot collaborative exoskeleton device and application thereof

Abstract

This application relates to the field of human movement equipment, and particularly to a multi-terrain ankle and foot coordinated exoskeleton device. The device includes an ankle joint assist mechanism for providing assistance and balance during ankle walking, and a foot balance mechanism for providing overall balance. The foot balance mechanism achieves dynamic compensation for the foot, ensuring the entire device remains in a balanced state, thus adapting to various complex terrains and significantly expanding its application scenarios. The ankle joint assist mechanism provides dynamic compensation for ankle joint movement, effectively preventing injuries that may result from excessive ankle rotation. Through the coordinated work of these mechanisms, the accuracy of the assist force is significantly improved, enhancing the overall stability and support of the device, ensuring the wearer's foot remains stable at all times, effectively preventing falls or sprains, and greatly improving safety and mobility efficiency. It offers a significant safety advantage, especially in complex outdoor terrain with varying elevations.

Description

Technical Field

[0001] This application relates to the field of human movement equipment, and in particular to a multi-terrain ankle and foot coordinated exoskeleton device. Background Technology

[0002] As a type of wearable smart device, exoskeleton devices have broad application prospects in various fields such as mountaineering and exploration, logistics and transportation, fire rescue, and medical rehabilitation. Exoskeletons primarily enhance or restore the wearer's motor functions through mechanical assistance systems, thereby significantly improving the efficiency of human activities.

[0003] However, existing ankle and foot assistive exoskeletons generally have two significant drawbacks:

[0004] Firstly, most devices lack an independent power system, which limits their assistive effect;

[0005] Secondly, existing devices have stringent environmental requirements and can only operate normally on flat ground, making them difficult to adapt to complex terrain.

[0006] The aforementioned limitations severely restrict the device's practicality and its potential for widespread adoption. More seriously, when used in complex terrain conditions, the device is prone to mechanical failures, which not only affect its assistive effect but may also cause sports injuries to the wearer, posing significant safety hazards.

[0007] Therefore, how to develop an ankle and foot assistive exoskeleton device with an independent power system that can adapt to various terrain conditions is a problem that those skilled in the art are dedicated to solving. Summary of the Invention

[0008] To address the shortcomings of the prior art mentioned in the background section, this application provides a multi-terrain ankle and foot coordinated exoskeleton device to solve the problems of lack of power assistance and inability to use the device in complex terrain, thereby improving the practicality of the exoskeleton device and expanding its application scenarios.

[0009] This application provides a multi-terrain ankle and foot coordinated exoskeleton device, which includes an ankle joint assist mechanism for providing assistance and balance for ankle walking and a foot balance mechanism for providing overall balance. The ankle joint assist mechanism includes a lower leg fixation mechanism for fixing the lower leg and a power mechanism for providing power; the upper part of the power mechanism is connected to the lower leg fixation mechanism; the foot balance mechanism includes an upper base plate for providing foot support, a lower base plate for contacting the ground, and a balance component; the upper base plate and the lower base plate are connected through the balance component so that the relative distance and angle between the upper base plate and the lower base plate can be adjusted; wherein, the power mechanism has an assist disk and a drive component for driving the assist disk to rotate; the lower part of the assist disk is connected to the upper base plate so that the drive component drives the assist disk to rotate, thereby driving the upper base plate to move.

[0010] In one embodiment, the upper part of the power mechanism is rotatably connected to the lower leg fixing mechanism via a movable connector, so that the power mechanism and the lower leg fixing mechanism can rotate relative to each other; the lower part of the assist plate is connected to the upper base plate via a movable connector, so that the lower part of the assist plate and the upper base plate can rotate relative to each other.

[0011] In one embodiment, the power mechanism includes an inner rotating disk and an outer rotating disk that are fitted together to form a housing, an assist disk located within the housing, and a rotating shaft; one end of the driving component is rigidly connected to the inner side of the outer rotating disk, one end of the rotating shaft is connected to the output end of the driving component, and the other end is rotatably connected to the inner side of the inner rotating disk, and the rotating shaft is connected to the assist disk through a transmission component, so that the driving component drives the rotating shaft to rotate, and the transmission component drives the assist disk to rotate; wherein, the upper part of the housing is rotatably connected to the lower leg fixing mechanism, and the lower part of the assist disk is rotatably connected to the upper base plate.

[0012] In one embodiment, the power mechanism further includes two auxiliary side plates; the auxiliary side plates are located on both sides of the power assist plate and are rotatably connected to the rotating shaft, so that both sides of the power assist plate are respectively connected to the two auxiliary side plates;

[0013] In one embodiment, the transmission component is a transmission buffer block; a plurality of buffer grooves are provided at intervals on the central through hole of the booster disk, the rotating shaft passes through the through hole and is rotatably connected to the booster disk, and a plurality of transmission components adapted to the buffer grooves are rigidly connected to the outer periphery of the rotating shaft; one end of the annular spring is connected to the buffer groove, and the other end is connected to the transmission component, so that the rotating shaft drives the booster disk to rotate through the transmission component and the annular spring.

[0014] In one embodiment, the ankle joint assist mechanism further includes a limiting measurement mechanism; the limiting measurement mechanism includes a distance measuring rope box, a pull rope, and a fixing block; wherein, the distance measuring rope box has an opening in the middle, the distance measuring rope box is sleeved on the rotating shaft through the opening, and one side of the distance measuring rope box is fixedly connected to the driving component; the fixed end of the pull rope is connected to the rotating shaft and is wound and stored in the distance measuring rope box, and the free end of the pull rope is connected to the fixing block; the bottom of the fixing block is parallel to the bottom surface of the upper base plate, and one side of the fixing block is rigidly connected to the outer side of the upper base plate.

[0015] In one embodiment, the lower leg fixing mechanism and the power mechanism are rotatably connected via bearings and a rotating rod, so that the lower leg fixing mechanism and the power mechanism can rotate relative to each other;

[0016] In one embodiment, the side of the upper base plate is rotatably connected to the lower part of the booster plate via a left-end connector, so that the lower part of the booster plate and the upper base plate can rotate relative to each other;

[0017] In one embodiment, the lower part of the assist disc is rotatably connected to the upper base plate via a pin connector; the foot balance mechanism further includes a limiting damper; the upper part of the limiting damper is fixedly connected to the lower part of the assist disc, and the pin connector passes through the limiting damper so that the limiting damper can limit the rotation angle between the lower part of the assist disc and the upper base plate.

[0018] In one embodiment, the balancing assembly includes a universal connector and a telescopic rod assembly; a level sensor is respectively provided on the upper base plate and the lower base plate; a first connecting protrusion group is provided on the lower side of the upper base plate; the first connecting protrusion group includes an upper front left protrusion, an upper front right protrusion, and an upper rear protrusion arranged in a triangular pattern; a second connecting protrusion group is provided on the upper side of the lower base plate, the second connecting protrusion group including a lower rear left protrusion, a lower rear right protrusion, and a lower front protrusion arranged in a triangular pattern; the upper rear protrusion is connected to the lower rear left protrusion and the lower rear right protrusion respectively through two telescopic rod assemblies; the lower front protrusion is connected to the upper front left protrusion and the upper front right protrusion respectively through two telescopic rod assemblies; and the upper front left protrusion is connected to the lower rear left protrusion through one telescopic rod assembly, and the upper front right protrusion is connected to the lower rear right protrusion through one telescopic rod assembly; wherein, the ends of the telescopic rod assemblies are rotatably connected to the first connecting protrusion group and the second connecting protrusion group by universal connectors.

[0019] In one embodiment, six telescopic rod assemblies are symmetrically arranged on the left and right sides of the upper base plate and the lower base plate; and adjacent telescopic rod assemblies are distributed in a cross pattern so that adjacent telescopic rod assemblies form a triangular structure with the plane of the upper base plate or the lower base plate.

[0020] In one embodiment, each protrusion of the first connecting protrusion group has two circular protrusions, and each protrusion of the second connecting protrusion group has two circular protrusions; the circular protrusions are used to connect the universal connector;

[0021] In one embodiment, the telescopic rod assembly includes a drive sleeve and a rod outer tube; the drive sleeve is sleeved inside the rod outer tube, and the drive sleeve can slide and extend within the rod outer tube to make the length of the telescopic rod assembly extendable;

[0022] In one embodiment, the upper base plate is provided with straps for securing the feet.

[0023] In one embodiment, the calf fixation mechanism includes an airbag strap, a calf fixation component, a bearing, and a rotating rod; the lower part of one side of the airbag strap is connected to the calf fixation component; the lower end of the calf fixation component is provided with a circular hole, a bearing is provided in the circular hole, the rotating rod is sleeved in the bearing, and the lower end of the rotating rod is rigidly connected to an outer rotating disk.

[0024] Based on the above, compared with the prior art, the multi-terrain ankle and foot coordinated exoskeleton device provided in this application has the following beneficial effects:

[0025] This application utilizes a foot balance mechanism to achieve dynamic compensation for the foot, ensuring the entire exoskeleton device remains in a balanced state. This allows it to adapt to various complex terrains, significantly expanding the application scenarios of the exoskeleton device. Furthermore, an ankle assist mechanism provides dynamic compensation for ankle joint movement. Through the coordinated work of the foot balance mechanism and the ankle assist mechanism, this application provides independent dynamic compensation for ankle joint movement and enhances the overall stability and support of the device. This ensures the wearer's foot remains stable at all times, effectively preventing falls or sprains and significantly improving user safety and mobility, especially in complex outdoor terrain with varying elevations, where its safety advantages are particularly evident.

[0026] Other features and beneficial effects of this application will be set forth in the following description and will be apparent in part from the description or may be learned by practicing the application. The objectives and other beneficial effects of this application may be realized and obtained by means of the structures particularly pointed out in the description, claims and drawings. Attached Figure Description

[0027] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. Unless otherwise specified, the positional relationships in the drawings described below are based on the direction in which the components are drawn in the figures.

[0028] Figure 1 This is a schematic diagram of the structure of a multi-terrain ankle and foot coordinated exoskeleton device provided in an embodiment of this application.

[0029] Figure 2 This is a side view of the foot balance mechanism in a multi-terrain ankle and foot coordinated exoskeleton device provided in an embodiment of this application.

[0030] Figure 3 This is a front structural schematic diagram of the foot balance mechanism in a multi-terrain ankle and foot coordinated exoskeleton device provided in an embodiment of this application.

[0031] Figure 4 This is an exploded structural diagram of the ankle joint assist mechanism in a multi-terrain ankle and foot coordinated exoskeleton device provided in an embodiment of this application.

[0032] Figure label:

[0033] 1. Ankle joint assist mechanism; 2. Foot balance mechanism; 3. Strap; 11. Lower leg fixation mechanism; 12. Power mechanism; 13. Limit measuring mechanism; 1101. Airbag strap; 1102. Lower leg fixation component; 1103. Bearing; 1104. Rotating rod; 1201. Inner rotating disk; 1202. Outer rotating disk; 1203. Auxiliary side disk; 1204. Transmission component; 1205. Drive component; 1206. Rotating shaft; 1207. Assist disk; 1208. Buffer groove; 1209. Ring spring; 1301. Distance measuring rope box; 1302. Pull rope; 1303. Fixing block; 1304. Limiting damper; 201. Upper base plate; 202. Lower base plate; 203. Upper universal joint connector; 204. Upper universal joint internal structure; 205. Lower universal joint connector; 206. Lower universal joint internal structure; 207. Rod outer sleeve; 208. Drive sleeve rod; 210. Upper front left protrusion; 211. Upper front right protrusion; 212. Upper rear protrusion; 214. Lower front protrusion; 215. Lower rear left protrusion; 216. Lower rear right protrusion. Detailed Implementation

[0034] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. The technical features designed in the different implementations of this application described below can be combined with each other as long as they do not conflict with each other. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0035] In the description of this application, it should be noted that all terms used in this application (including technical and scientific terms) have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains, and should not be construed as limiting this application; it should be further understood that the terms used in this application should be understood to have the same meaning as those in the context of this specification and the relevant field, and should not be understood in an idealized or overly formal sense, except as expressly defined in this application.

[0036] This application provides as follows: Figure 1-4 - An embodiment of a multi-terrain ankle and foot coordinated exoskeleton device:

[0037] The multi-terrain ankle and foot synergistic exoskeleton device includes an ankle joint assist mechanism 1 for providing assistance and balance for ankle walking and a foot balance mechanism 2 for providing overall balance. The ankle joint assist mechanism 1 includes a lower leg fixation mechanism 11 for fixing the lower leg and a power mechanism 12 for providing power; the upper part of the power mechanism 12 is connected to the lower leg fixation mechanism 11. The foot balance mechanism 2 includes an upper base plate 201 for providing foot support, a lower base plate 202 for contacting the ground, and a balance component; the upper base plate 201 and the lower base plate 202 are connected through the balance component, allowing the relative distance and angle between the upper base plate 201 and the lower base plate 202 to be adjustable; wherein, the power mechanism 12 internally provides an assist disc 1207 and a drive component 1205 for driving the assist disc 1207 to rotate; the lower part of the assist disc 1207 is connected to the upper base plate 201, so that the drive component 1205 drives the assist disc 1207 to rotate, thereby driving the upper base plate 201 to move.

[0038] like Figure 1-4 As shown, the device includes an ankle assist mechanism 1 for providing assistance and balance for ankle walking, and a foot balance mechanism 2 for providing overall balance.

[0039] In practical use, the foot is placed on the upper base plate 201, and the lower leg fixing mechanism 11 fixes the leg. The drive component 1205 provides a suitable amount of rotation, and the upper base plate 201 is moved by the rotation of the assist plate 1207, thereby driving the foot balance mechanism 2 to move, so that the entire device is assisted.

[0040] The foot balancing mechanism 2 provides dynamic compensation. Its upper base plate 201 provides foot support, and its lower base plate 202 contacts the ground. The relative distance and angle between the upper base plate 201 and the lower base plate 202 are adjustable through the balancing assembly. When the terrain is complex, the lower base plate 202 may tilt on uneven ground. In this case, the relative distance and angle between the upper base plate 201 and the lower base plate 202 are adjusted by the balancing assembly to keep the upper base plate 201 horizontal. Thus, the foot balancing mechanism 2 provides dynamic compensation for the foot, ensuring that the entire exoskeleton device remains in a balanced state. This allows it to adapt to various complex terrains and significantly expands the application scenarios of the exoskeleton device.

[0041] In summary, this device achieves dynamic compensation for the foot through the foot balance mechanism 2, ensuring that the entire device remains in a balanced state, thus adapting to various complex terrains and significantly expanding its application scenarios. The ankle joint assist mechanism 1 provides power compensation for ankle joint movement, effectively preventing injuries that may be caused by excessive ankle rotation. Through the coordinated work of the above mechanisms, the overall stability and support of the device are enhanced, ensuring that the wearer's foot remains stable at all times, effectively preventing accidents such as falls or sprains, and greatly improving safety and mobility.

[0042] Optionally, the upper part of the power mechanism 12 is rotatably connected to the lower leg fixing mechanism 11 via a movable connector, allowing the power mechanism 12 and the lower leg fixing mechanism 11 to rotate relative to each other; the lower part of the assist plate 1207 is connected to the upper base plate 201 via a movable connector, allowing the lower part of the assist plate 1207 and the upper base plate 201 to rotate relative to each other. Optionally, the lower leg fixing mechanism 11 and the power mechanism 12 are rotatably connected via a bearing 1103 and a rotating rod 1104, allowing the lower leg fixing mechanism 11 and the power mechanism 12 to rotate relative to each other.

[0043] like Figure 1 As shown, the connection between the lower leg fixing mechanism 11 and the power mechanism 12 (bearing 1103 and rotating rod 1104) provides one degree of rotational freedom to accommodate the torsion of the lower leg. The power mechanism 12 itself has a power assist disc 1207 that provides one degree of rotation to provide assistance. The connection between the power mechanism 12 and the upper base plate 201 provides one degree of freedom to accommodate the torsion of the ankle. A total of three degrees of freedom are provided, which improves the overall usability and comfort of the device while further enhancing safety during use.

[0044] It should be noted that in this embodiment, the lower leg fixing mechanism 11 and the power mechanism 12 are movably connected via a bearing 1103 and a rotating rod 1104. Based on the above design concept, other types of connection structures can also be used to achieve relative rotation between the two, including but not limited to the connection method of the bearing 1103 and the rotating rod 1104.

[0045] Optimization of the implementation of ankle joint assist mechanism 1:

[0046] Optionally, the power mechanism 12 includes an inner rotating disk 1201 and an outer rotating disk 1202 that are fitted together to form a housing, an assisting disk 1207 located within the housing, and a rotating shaft 1206. One end of the driving component 1205 is rigidly connected to the inner side of the outer rotating disk 1202 (one side of the driving component 1205 is fixed in a circular groove inside the outer rotating disk 1202). One end of the rotating shaft 1206 is connected to the output end of the driving component 1205, and the other end is rotatably connected to the inner side of the inner rotating disk 1201. The rotating shaft 1206 is connected to the assisting disk 1207 through a transmission component 1204, so that the driving component 1205 drives the rotating shaft 1206 to rotate, and the transmission component 1204 drives the assisting disk 1207 to rotate. The upper part of the housing is rotatably connected to the lower leg fixing mechanism 11, and the lower part of the assisting disk 1207 is rotatably connected to the upper base plate 201. Optionally, the power mechanism 12 further includes two auxiliary side discs 1203; the auxiliary side discs 1203 are located on both sides of the power assist disc 1207 and are rotatably connected to the rotating shaft 1206, so that both sides of the power assist disc 1207 are respectively connected to the two auxiliary side discs 1203.

[0047] In use, the power assist disk 1207 and the auxiliary side plates are coaxially rotatably connected to the rotating shaft 1206, and the position of the power assist disk 1207 is fixed by the two auxiliary side plates. The power mechanism 12 includes an inner rotating disk 1201 and an outer rotating disk 1202 that are fitted together to form a housing, the power assist disk 1207, the rotating shaft 1206, and the two auxiliary side plates. By assembling these components together, the power mechanism 12 can provide power assistance while being miniaturized and integrated.

[0048] Optionally, the transmission component 1204 is a transmission buffer block; the central through hole of the booster disk 1207 is provided with a plurality of buffer grooves 1208 at intervals, the rotating shaft 1206 passes through the through hole and is rotatably connected to the booster disk 1207, and a plurality of transmission components 1204 adapted to the buffer grooves 1208 are rigidly connected to the outer periphery of the rotating shaft 1206; one end of the annular spring 1209 is connected to the buffer groove 1208, and the other end is connected to the transmission component 1204, so that the rotating shaft 1206 drives the booster disk 1207 to rotate through the transmission component 1204 and the annular spring 1209.

[0049] The use of a buffer design in this transmission structure helps improve the comfort and safety of the device. In actual use, the rotation of the shaft 1206 drives the transmission component 1204, which in turn compresses the annular spring 1209. The annular spring 1209 transmits the force to the buffer groove 1208, thereby driving the auxiliary disk 1207 to rotate. The annular spring 1209 plays a good buffering role in the transmission process.

[0050] It should be noted that the driving component 1205 used in this embodiment is a motor. According to the above design concept, other driving components 1205 can also be used, including but not limited to motors. In addition, in this embodiment, there are three buffer grooves 1208, ring springs 1209, and transmission components 1204. According to the above design concept, their quantity and orientation can be adjusted for applicability, including but not limited to the embodiment scheme.

[0051] Optionally, the ankle joint assist mechanism 1 further includes a limiting measurement mechanism 13; the limiting measurement mechanism 13 includes a distance measuring rope box 1301, a pull rope 1302, and a fixing block 1303; wherein, the distance measuring rope box 1301 has an opening in the middle, the distance measuring rope box 1301 is sleeved on the rotating shaft 1206 through the opening, and one side of it is fixedly connected to the driving component 1205; the fixed end of the pull rope 1302 is connected to the rotating shaft 1206 and is wound and stored in the distance measuring rope box 1301, and the free end of the pull rope 1302 is connected to the fixing block 1303; the bottom of the fixing block 1303 is parallel to the bottom surface of the upper base plate 201, and one side of the fixing block 1303 is rigidly connected to the outer side of the upper base plate 201.

[0052] Optionally, the distance measuring rope box 1301 is sleeved on the rotating shaft 1206, with a gap between one side of it and the auxiliary side plate 1203, and the other side of it is fixedly connected to the driving component 1205. Optionally, the rope hole of the distance measuring rope box 1301 is concentric and the same size as the rope hole on the outer rotating disk 1202, so that the pull rope 1302 passes through the two rope holes and connects to the fixing block 1303, thereby connecting the power mechanism 12 and the foot balance mechanism 2.

[0053] In use, when the ankle begins to rotate, the pull rope 1302 is stretched. The distance measuring rope box 1301 detects the length and direction of the stretch of the pull rope 1302, calculates the required amount of assistance, and transmits the information to the drive component 1205 through the control unit. The drive component 1205 provides an appropriate amount of rotation to the rotating shaft 1206 according to the signal. After the rotating shaft 1206 rotates, it drives the foot balance mechanism 2 to rotate through the assist disk 1207, thereby providing assistance to the entire device. This coordinated design can improve the accuracy of the assistance force.

[0054] Furthermore, the pull rope 1302 has a limited length; when stretched to its limit, it exerts a pulling effect, restricting the rotational angle at the connection between the foot balance mechanism 2 and the ankle joint assist mechanism 1, thus limiting the inversion and supination of the foot. Therefore, this limiting and measuring mechanism 13 achieves both measurement and limiting functions, further enhancing the comfort, applicability, and practicality of the device.

[0055] Optionally, the lower leg fixation mechanism 11 includes an airbag strap 1101, a lower leg fixation member 1102, a bearing 1103, and a rotating rod 1104; the lower part of one side of the airbag strap 1101 is connected to the lower leg fixation member 1102; the lower end of the lower leg fixation member 1102 is provided with a circular hole, a bearing 1103 is provided in the circular hole, the rotating rod 1104 is sleeved in the bearing 1103, and the lower end of the rotating rod 1104 is rigidly connected to the outer rotating disk 1202.

[0056] The lower leg is restrained by the airbag strap 1101, thus achieving a fixation effect.

[0057] Optimization of the connection structure of the upper base plate 201 between the ankle joint assist mechanism 1 and the foot balance mechanism 2:

[0058] Optionally, the side of the upper base plate 201 is rotatably connected to the lower part of the assist plate 1207 via a left-end connector, so that the lower part of the assist plate 1207 and the upper base plate 201 can rotate relative to each other; further optionally, the lower part of the assist plate 1207 is rotatably connected to the upper base plate 201 via a pin connector; the foot balance mechanism 2 also includes a limiting damper 1304; the upper part of the limiting damper 1304 is fixedly connected to the lower part of the assist plate 1207, and the pin connector passes through the limiting damper 1304, so that the limiting damper 1304 can limit the rotation angle between the lower part of the assist plate 1207 and the upper base plate 201.

[0059] After the foot balance mechanism 2 rotates beyond a certain angle, the limiting damper 1304 locks the connection between the foot balance mechanism 2 and the ankle joint assist mechanism 1, thereby preventing injuries such as sprains caused by excessive inversion and supination of the foot. In conjunction with the length limitation of the pull rope 1302, the two work together to limit the inversion and supination of the foot.

[0060] It should be noted that the upper base plate 201 is connected to the lower part of the booster plate 1207 via a pin connector. Based on the above design concept, other types of rotating connection structures can also be used. By using the limit damper 1304 to limit the rotation angle of other types of rotating connection structures, the same function can be achieved, including but not limited to the pin connector connection method.

[0061] Optimization of the implementation of foot balance mechanism 2:

[0062] Optionally, the balancing assembly includes a universal connector and a telescopic rod assembly; a level sensor is respectively provided on the upper base plate 201 (201) and the lower base plate 202; a first connecting protrusion group is provided on the lower side of the upper base plate 201; the first connecting protrusion group includes an upper front left protrusion 210, an upper front right protrusion 211 and an upper rear protrusion 212 arranged in a triangle; a second connecting protrusion group is provided on the upper side of the lower base plate 202, the second connecting protrusion group includes a lower rear left protrusion 215, a lower rear right protrusion 216 and a lower front protrusion 214 arranged in a triangle; the upper rear protrusion 212 is connected by two... The retractable rod assembly is connected to the lower rear left protrusion 215 and the lower rear right protrusion 216 respectively; the lower front protrusion 214 is connected to the upper front left protrusion 210 and the upper front right protrusion 211 respectively through two retractable rod assemblies; and the upper front left protrusion 210 is connected to the lower rear left protrusion 215 through a retractable rod assembly, and the upper front right protrusion 211 is connected to the lower rear right protrusion 216 through a retractable rod assembly; wherein, the ends of the retractable rod assemblies are rotatably connected to the first connecting protrusion group and the second connecting protrusion group by universal joints. Six retractable rod assemblies are symmetrically arranged on the left and right sides of the upper base plate 201 and the lower base plate 202; and adjacent retractable rod assemblies are distributed in a crisscross pattern so that adjacent retractable rod assemblies form a triangular structure with the plane of the upper base plate 201 or the lower base plate 202.

[0063] like Figure 2-3 As shown, when the lower plate 202 of the foot balance mechanism 2 tilts on uneven ground, the horizontal sensor in the lower plate 202 detects information such as the tilt angle and direction. This information is compared with the data from the horizontal sensor in the upper plate 201 to obtain a signal indicating the required degree of adjustment. Through the combined action of the length adjustment of the six telescopic rod assemblies and the universal connector, six vector forces are provided to the upper plate 201, adjusting the dynamic balance of the six degrees of freedom of the upper plate 201 to keep it in a horizontal state. In the foot balance structure, the six telescopic rod assemblies are arranged in a triangular pattern between adjacent pairs, resulting in high overall support stability and strength.

[0064] Further optionally, the horizontal sensor on the lower base plate 202 is a six-axis inertial measurement unit;

[0065] The six-axis inertial measurement unit is used to acquire terrain tilt angles (X / Y / Z axes), angular velocity, and acceleration in real time. In addition to a horizontal sensor with level sensing capabilities, it can also monitor angular velocity and acceleration.

[0066] For the connection of the universal connector and the telescopic rod assembly, optionally, since two telescopic rod assemblies are connected to each protrusion, each protrusion in the first connecting protrusion group has two circular protrusions, and each protrusion in the second connecting protrusion group has two circular protrusions. These circular protrusions are used to connect the universal connector. Optionally, the telescopic rod assembly includes a drive sleeve 208 and a rod outer sleeve 207; the drive sleeve 208 is sleeved within the rod outer sleeve 207, and the drive sleeve 208 can slide and extend within the rod outer sleeve 207 to allow the length of the telescopic rod assembly to be extendable and retractable. Optionally, the drive sleeve 208 is a motor-driven rod.

[0067] In specific implementation, such as Figure 2-3 As shown, universal joints are divided into upper universal joints and lower universal joints according to their orientation. Each universal joint consists of two universal joint connectors and a universal joint inner structure. The two universal joint connectors are located above and below the universal joint inner structure, respectively, and are connected to the two shafts of the universal joint inner structure. That is, the upper universal joint consists of two upper universal joint connectors 204 and one upper universal joint inner structure 203; the lower universal joint consists of two lower universal joint connectors 205 and one lower universal joint inner structure 206.

[0068] One of the upper universal joint connectors 204 in the upper universal joint connector is connected to the circular protrusion on the first connecting protrusion group, and the other upper universal joint connector 204 is connected to the drive sleeve 208. One of the lower universal joint connectors 205 in the lower universal joint connector is connected to the circular protrusion on the second connecting protrusion group, and the other lower universal joint connector 205 is connected to the rod outer sleeve 207. In use, when the lower base plate 202 of the foot balancing mechanism 2 tilts on uneven ground, the extension and retraction amount output by the drive sleeves 208 in the six telescopic rod assemblies is adjusted according to the signal of the required degree of adjustment. This controls the sliding extension and retraction stroke of the different drive sleeves 208 within the rod outer sleeve 207, thereby adjusting the relative position and angle of the upper base plate 201 and the lower base plate 202.

[0069] It should be noted that, based on the above design concept, other types and structural designs of telescopic rod assemblies can also be used, as long as they can achieve the telescopic rod function, including but not limited to the telescopic rod assembly structure provided in the embodiments.

[0070] Optionally, the upper base plate 201 is provided with straps 3 for securing the feet. Optionally, both sides of the upper base plate 201 are rigidly connected to the straps 3.

[0071] Optimization of the implementation of the synchronous collaboration strategy among various institutions

[0072] I. Optimization of the synchronous assistance between foot balance mechanism 2 and ankle joint assist mechanism 1:

[0073] 1. Hardware foundation for synchronous collaboration: collaborative control mechanism

[0074] (1) Sensing components of foot balance mechanism 2:

[0075] Equipped with a six-axis inertial measurement unit (IMU): integrated at the bottom plate 202, used to collect terrain tilt angle (X / Y / Z axes), angular velocity, and acceleration in real time.

[0076] Matching pressure sensor array (i.e., piezoresistive sensor array): distributed on the contact surface of the lower base plate 202, used to detect the distribution of ground reaction force.

[0077] The upper base plate 201 is equipped with a level sensor: the level sensor is used to detect the horizontal status and tilt angle of the upper base plate 201.

[0078] (2) Sensing components of ankle joint assist mechanism 1:

[0079] The power mechanism 12 is equipped with a drive component 1205 encoder: used to monitor the real-time speed and output torque of the rotating shaft 1206.

[0080] The limit measuring mechanism 13 is equipped with a pull rope 1302 displacement sensor: located inside the distance measuring rope box 1301, used to measure the tensile length of the pull rope 1302.

[0081] (3) Ankle joint assist mechanism 1 and foot balance mechanism 2 motion feedback mechanism:

[0082] The drive component 1205 of the power mechanism 12 is used to drive the rotating shaft 1206 to rotate, thereby driving the booster disk 1207 to rotate.

[0083] Drive sleeve 208 of the telescopic rod assembly in the balancing assembly: used to extend and retract the telescopic rod assembly to change its length.

[0084] 2. Coordinated control strategy for each component:

[0085] The aforementioned six-axis inertial measurement unit, pressure sensor array, encoder drive component 1205, displacement sensor (pull rope 1302), level sensor, drive component 1205, and drive sleeve 208 of the telescopic rod assembly are electrically connected to a control unit, forming a system control strategy of signal transmission, signal reception, signal information processing, and feedback to the drive unit (drive component 1205, drive sleeve 208 of the telescopic rod assembly, etc.) to drive the power mechanism 12 and the balancing component. The specific control strategy is as follows:

[0086] (1) Based on the signal information of the six-axis inertial measurement unit components, the terrain is divided into three categories based on the IMU data using a terrain classification algorithm, and different action feedbacks are performed:

[0087] Flat terrain (inclination angle ≤ 5°): only ankle assistance is activated (i.e., drive component 1205 is activated), and the power distribution of drive component 1205 is 50%-70% of the gait cycle.

[0088] Moderately complex terrain (5° < tilt angle ≤ 15°): The drive sleeve 208 of the foot balancing mechanism 2 extends and retracts at a rate of 5 mm / s, synchronously adjusting the power of the drive component 1205 to 50%.

[0089] Extreme terrain (tilt angle > 15°): Drive lever 208 is fully adjustable (10mm / s), drive component 1205 power is increased to 100%, and airbag strap 1101 pressure is increased.

[0090] (2) Dynamic priority allocation:

[0091] When a risk of foot imbalance is detected (IMU angular velocity > 100° / s), the drive sleeve 208 of the foot balance mechanism 2 is activated first, with a response time of < 50ms. Simultaneously, the torque compensation mechanism of the ankle joint assist mechanism 1 is triggered. In a stable state, the ankle joint assist mechanism 1 provides dominant gait assistance, and the torque of the drive component 1205 is dynamically distributed according to the wearer's weight (50-100kg) (0.5-1.0Nm / kg).

[0092] (3) Gait phase synchronization:

[0093] During the gait swing phase (ankle flexion), the foot balance mechanism 2 locks the universal joint to reduce energy consumption.

[0094] During the support phase (ankle extension), the drive sleeve 208 dynamically adjusts the level of the upper base plate 201, and the synchronous drive component 1205 outputs peak torque.

[0095] (4) Synchronization ratio design:

[0096] The extension and retraction rate of the drive sleeve 208 is synchronized with the rotational speed of the rotating shaft 1206 in a ratio of 1:2 to 1:4, and the ratio value is dynamically adjusted according to the terrain tilt angle.

[0097] II. Adaptive adjustment of the airbag strap 1101 in the lower leg fixation mechanism 11:

[0098] 1. Hardware Basics:

[0099] The airbag strap 1101 is equipped with a miniature air pump, a solenoid valve, and a pressure sensor: the miniature air pump and the solenoid valve are used to control the amount of airflow entering and exiting the air chamber of the airbag strap 1101, and the pressure sensor is used to sense the air pressure inside the airbag strap 1101.

[0100] The power mechanism 12 is equipped with a drive component 1205 encoder: used to monitor the real-time speed and output torque of the rotating shaft 1206.

[0101] The limit measuring mechanism 13 is equipped with a pull rope 1302 displacement sensor: located inside the distance measuring rope box 1301, used to measure the tensile length of the pull rope 1302.

[0102] 2. Control strategy:

[0103] The aforementioned miniature air pump, solenoid valve, pressure sensor, encoder 1205 drive component, and displacement sensor 1302 pull rope are electrically connected to a control unit, forming a system control strategy that follows a signal transmission-signal reception-signal information processing-feedback action flow. The specific control strategy is as follows:

[0104] (1) Closed-loop air pressure control:

[0105] The closed-loop control process is as follows: the pressure sensor senses the air pressure inside the airbag strap 1101 and feeds it back to the microcontroller unit (MCU) in real time to process the signal. The micro air pump and solenoid valve adjust their status or actions (such as flow rate or valve opening and closing) according to the processed signal information, thereby adjusting the air pressure inside the airbag strap 1101. The air pressure closed-loop control is achieved through the above process.

[0106] In practice, a miniature air pump (flow rate 0.5 L / s) is used in conjunction with a solenoid valve. The action of the miniature air pump (flow rate 0.5 L / s) and the solenoid valve is adjusted through a PID algorithm to regulate the airbag pressure. The pressure sensor senses the air pressure inside the airbag strap 1101 and feeds it back to the microcontroller unit (MCU) in real time, with a response time of <20 ms.

[0107] The airbag strap 1101 features dynamically adjusted internal pressure via a PID algorithm and graded air pump flow control, reducing the response time to 0.5 seconds. When abnormal terrain is detected (e.g., instantaneous tilt angle change > 5° / s), an emergency locking mode is triggered. This involves a micro air pump and a solenoid valve working together to instantly raise the pressure of the airbag strap 1101 to its maximum.

[0108] (2) User Adaptive Mechanism:

[0109] Wearers can customize a comfort mode (prioritizing pressure reduction) or a safety mode (prioritizing pressure increase), and the system automatically optimizes parameters through the microcontroller unit (MCU).

[0110] (3) Mechanical linkage triggering conditions:

[0111] The mechanical linkage trigger control process is as follows: the encoder of the limit measuring mechanism 13 or the drive component 1205 feeds back the signal to the micro control unit MCU for signal processing. The micro air pump and the solenoid valve adjust their state or action (such as flow rate, valve opening and closing) according to the processed signal information, thereby adjusting the air pressure in the airbag strap 1101. The mechanical linkage trigger control is realized through the above process.

[0112] When the tension of the pull cord 1302 or the torque signal transmitted by the drive component 1205 indicates that it exceeds a certain threshold, the micro air pump and electric valve work together to start inflation, causing the airbag strap 1101 to expand and more firmly fix the lower leg. When the tension of the pull cord 1302 or the torque signal transmitted by the drive component 1205 indicates that it is below a certain threshold, the airbag strap 1101 is controlled to contract, reducing the feeling of tightness and improving comfort.

[0113] In practice, when the tilt angle is restored to ≤5° and lasts for 3 seconds, the airbag strap 1101 is set to automatically deflate to the reference pressure.

[0114] It can be seen that the foot balance mechanism 2 and the ankle joint assist mechanism 1 are coordinated. When the lower plate 202 is tilted at a large angle and the power mechanism 12 provides greater assistance, the airbag strap 1101 of the lower leg fixation mechanism 11 will expand to make the lower leg more secure. When the lower plate 202 is tilted at a small angle and the power mechanism 12 provides less assistance, the airbag strap 1101 of the lower leg fixation mechanism 11 will contract to reduce the feeling of restraint and improve comfort.

[0115] Based on the above, the multi-terrain ankle and foot coordinated exoskeleton device provided in this application has the following advantages:

[0116] Compared with existing technologies, the performance and application advantages of this application are as follows:

[0117] This application significantly improves the accuracy of the assist force and enhances the stability and support of the overall device through the coordinated work of the ankle joint assist mechanism 1 and the foot balance mechanism 2. It can ensure that the wearer's feet remain stable and balanced in complex outdoor terrain, effectively preventing accidents such as falls or sprains, and significantly improving the user's safety and mobility. It can be well adapted to use in specific scenarios such as outdoor exploration, mountaineering, and logistics transportation in complex terrain environments, and has significant advantages in safety.

[0118] In summary, this application solves the problem of exoskeleton's inability to maintain balance in complex terrain by utilizing the coordinated operation of the ankle joint power mechanism 12 and the foot balance mechanism 2. The foot balance mechanism 2 provides dynamic compensation to the foot, ensuring the entire exoskeleton device remains in a balanced state, thus enabling it to adapt to various complex terrains and significantly expanding the application scenarios of the exoskeleton device. Furthermore, the ankle joint assist mechanism 1 provides power compensation for ankle joint movement, offering assistance and cushioning during walking, and also has a certain limiting function, effectively preventing injuries that may result from excessive ankle rotation. Through the coordinated operation of the foot balance mechanism 2 and the ankle joint assist mechanism 1, this application significantly improves the accuracy of the assist force, enhances the overall stability and support of the device, effectively prevents falls or sprains, and greatly improves user safety and mobility efficiency.

[0119] Furthermore, those skilled in the art should understand that although many problems exist in the prior art, each embodiment or technical solution of this application can be improved in only one or a few aspects, without necessarily solving all the technical problems listed in the prior art or background art simultaneously. Those skilled in the art should understand that any content not mentioned in a claim should not be construed as a limitation on that claim.

[0120] Although this document frequently uses terms such as ankle assist mechanism, foot balance mechanism, strap, lower leg fixation mechanism, power mechanism, distance measuring mechanism, and airbag strap, the possibility of using other terms is not excluded. These terms are used merely for the convenience of describing and explaining the essence of this application; interpreting them as any additional limitation would contradict the spirit of this application. The terms "first," "second," etc. (if present) in the description, claims, and accompanying drawings of the embodiments of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

[0121] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A multi-terrain ankle and foot coordinated exoskeleton device, characterized in that... : Including an ankle assist mechanism (1) for providing assistance and balance for ankle walking and a foot balance mechanism (2) for providing overall balance. The ankle joint assist mechanism (1) includes a lower leg fixation mechanism (11) for fixing the lower leg and a power mechanism (12) for providing power; the upper part of the power mechanism (12) is connected to the lower leg fixation mechanism (11); The foot balance mechanism (2) includes an upper plate (201) for providing foot support, a lower plate (202) for contacting the ground, and a balance assembly; the upper plate (201) and the lower plate (202) are connected by the balance assembly so that the relative distance and angle between the upper plate (201) and the lower plate (202) can be adjusted. The power mechanism (12) is equipped with an assist disk (1207) and a drive component (1205) for driving the assist disk (1207) to rotate. The lower part of the assist disk (1207) is connected to the upper base plate (201) so that the drive component (1205) drives the assist disk (1207) to rotate, thereby driving the upper base plate (201) to move. The upper part of the power mechanism (12) is rotatably connected to the lower leg fixing mechanism (11) through a movable connector, so that the power mechanism (12) and the lower leg fixing mechanism (11) can rotate relative to each other; The lower part of the assist plate (1207) is connected to the upper base plate (201) by a movable connector, so that the lower part of the assist plate (1207) and the upper base plate (201) can rotate relative to each other; The power mechanism (12) includes an inner rotating disk (1201) and an outer rotating disk (1202) that are fitted together to form a housing, an auxiliary disk (1207) and a rotating shaft (1206) located inside the housing. One end of the driving component (1205) is rigidly connected to the inner side of the outer rotating disk (1202). One end of the rotating shaft (1206) is connected to the output end of the driving component (1205), and the other end is rotatably connected to the inner side of the inner rotating disk (1201). The rotating shaft (1206) is connected to the assist disk (1207) through the transmission component (1204), so that the driving component (1205) drives the rotating shaft (1206) to rotate, and the transmission component (1204) drives the assist disk (1207) to rotate. The upper part of the housing is rotatably connected to the lower leg fixing mechanism (11), and the lower part of the assist plate (1207) is rotatably connected to the upper base plate (201). The transmission component (1204) is a transmission buffer block; the central through hole of the booster disk (1207) is provided with several buffer grooves (1208) at intervals; the rotating shaft (1206) passes through the through hole and is rotatably connected to the booster disk (1207); several transmission components (1204) adapted to the buffer grooves (1208) are rigidly connected to the outer periphery of the rotating shaft (1206); one end of the ring spring (1209) is connected to the buffer groove (1208), and the other end is connected to the transmission component (1204), so that the rotating shaft (1206) drives the booster disk (1207) to rotate through the transmission component (1204) and the ring spring (1209); The power mechanism (12) also includes two auxiliary side plates (1203); the auxiliary side plates (1203) are located on both sides of the power assist plate (1207) and are rotatably connected to the rotating shaft (1206) so that the two sides of the power assist plate (1207) are respectively connected to the two auxiliary side plates (1203); The ankle joint assist mechanism (1) further includes a limiting measurement mechanism (13); the limiting measurement mechanism (13) includes a distance measuring rope box (1301), a pull rope (1302), and a fixing block (1303); wherein, the distance measuring rope box (1301) has an opening in the middle, the distance measuring rope box (1301) is sleeved on the rotating shaft (1206) through the opening, and one side of it is fixedly connected to the driving component (1205); the fixed end of the pull rope (1302) is connected to the rotating shaft (1206) and is wound and stored in the distance measuring rope box (1301), and the free end of the pull rope (1302) is connected to the fixing block (1303); the bottom of the fixing block (1303) is parallel to the bottom surface of the upper base plate (201), and one side of the fixing block (1303) is rigidly connected to the outer side of the upper base plate (201); The balancing assembly includes a universal connector and a telescopic rod assembly; a level sensor is provided on the upper base plate (201) and the lower base plate (202); The upper base plate (201) is provided with a first connecting protrusion group on its lower side; the first connecting protrusion group includes an upper front left protrusion (210), an upper front right protrusion (211), and an upper rear protrusion (212) arranged in a triangular pattern; the lower base plate (202) is provided with a second connecting protrusion group on its upper side, the second connecting protrusion group includes a lower rear left protrusion (215), a lower rear right protrusion (216), and a lower front protrusion (214) arranged in a triangular pattern. The upper rear protrusion (212) is connected to the lower rear left protrusion (215) and the lower rear right protrusion (216) respectively via two telescopic rod assemblies; the lower front protrusion (214) is connected to the upper front left protrusion (210) and the upper front right protrusion (211) respectively via two telescopic rod assemblies; and the upper front left protrusion (210) is connected to the lower rear left protrusion (215) via one telescopic rod assembly, and the upper front right protrusion (211) is connected to the lower rear right protrusion (216) via one telescopic rod assembly; Wherein, the end of the telescopic rod assembly is rotatably connected to the first connecting protrusion group and the second connecting protrusion group by a universal connector; The lower leg fixation mechanism (11) includes an airbag strap (1101), a lower leg fixation component (1102), a bearing (1103), and a rotating rod (1104). The lower part of one side of the airbag strap (1101) is connected to the lower leg fixation member (1102); the lower end of the lower leg fixation member (1102) is provided with a round hole, and a bearing (1103) is provided in the round hole. The rotating rod (1104) is sleeved in the bearing (1103), and the lower end of the rotating rod (1104) is rigidly connected to the outer rotating disk (1202); On the left and right sides of the upper base plate (201) and the lower base plate (202), six telescopic rod assemblies are symmetrical; and adjacent telescopic rod assemblies are distributed in a cross pattern so that adjacent telescopic rod assemblies form a triangular structure with the plane of the upper base plate (201) or the lower base plate (202).

2. The multi-terrain ankle and foot coordinated exoskeleton device according to claim 1, characterized in that: The lower leg fixing mechanism (11) and the power mechanism (12) are rotatably connected by a bearing (1103) and a rotating rod (1104) so ​​that the lower leg fixing mechanism (11) and the power mechanism (12) can rotate relative to each other; And / or, The side of the upper base plate (201) is rotatably connected to the lower part of the booster plate (1207) via a left end connector, so that the lower part of the booster plate (1207) and the upper base plate (201) can rotate relative to each other; And / or, The lower part of the assist plate (1207) is rotatably connected to the upper base plate (201) via a pin connector; the foot balance mechanism (2) also includes a limiting damper (1304); the upper part of the limiting damper (1304) is fixedly connected to the lower part of the assist plate (1207), and the pin connector passes through the limiting damper (1304) so ​​that the limiting damper (1304) can limit the rotation angle between the lower part of the assist plate (1207) and the upper base plate (201).

3. The multi-terrain ankle and foot coordinated exoskeleton device according to claim 1, characterized in that: Each protrusion in the first connecting protrusion group has two circular protrusions, and each protrusion in the second connecting protrusion group has two circular protrusions; the circular protrusions are used to connect the universal connector; And / or, The telescopic rod assembly includes a drive sleeve (208) and a rod outer tube (207); the drive sleeve (208) is sleeved inside the rod outer tube (207), and the drive sleeve (208) can slide and extend within the rod outer tube (207) so that the length of the telescopic rod assembly can be extended or retracted; And / or, The upper base plate (201) is provided with straps (3) for fixing the feet.

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