Novel modularized knee joint gait assisting system

Abstract

The invention discloses a novel modularized knee joint gait assisting system, which is characterized in that a waist belt is used for being connected with the waist and providing support for other modules, hip joint function modules are used for being connected with thigh parts, and knee joint function modules are used for being connected with knee joint parts; the auxiliary torque of the knee joint is controlled according to the motion angle of the hip joint function module, and the foot function module is connected with the foot. According to the scheme, the hip joint function module, the knee joint function module and the foot function module are designed in modules and are combined in a specific connection mode, the modules are independent in function and cooperate with one another, the overall structure is flexible and changeable, and meanwhile the knee joint angle under the corresponding gait can be derived through calculation; the knee joint function model executes the corresponding angle position to achieve real-time correction assistance of the gait of the user, natural movement of the knee joint and the ankle joint of the human body can be better simulated, the wearing comfort is improved, the joints can be effectively protected, and injuries caused by excessive movement are prevented.

Description

Technical Field

[0001] The present invention belongs to the field of lower limb exoskeletons, and particularly relates to a novel modular knee gait assistance system. Background Art

[0002] In the field of lower limb walking aids, the prior art such as the underactuated lower limb powered exoskeleton robot based on a rope-pulley mechanism disclosed in CN201710533387.0 includes a harness device, a drive control power supply system, two thigh rod devices, two calf rod devices, two ankle joint devices, two drive devices, and two wire ropes; each drive device includes a motor housing bracket, a first motor housing, a waist skeleton, a planetary reducer, a second motor housing, a servo motor, a third motor housing, a hip joint spline shaft, a drive pulley, an elastic driver, a first bushing, a small bevel gear, a large bevel gear, a second bushing, a fourth motor housing, a fifth motor housing, a sixth motor housing, a fixing plate, and two first bearing end caps with bearings, as Figure 1 shown.

[0003] However, this solution has a complex structure, a large self-mass inertia, low flexibility in wearing and movement, a great impact on gait, and also lacks intelligent perception and adaptive control, making it unsuitable for dynamic lower limb joint posture correction and motion compensation. Summary of the Invention

[0004] In view of the above problems, the purpose of the present invention is to provide a novel modular lower limb walking assistance system.

[0005] The specific technical solution for achieving the purpose of the present invention is as follows: A novel modular knee gait assistance system includes a lumbar belt, a hip joint function module, a knee joint function module, and a foot function module; The lumbar belt, the hip joint function module, the knee joint function module, and the foot function module are connected in sequence; Among them, the lumbar belt is used to connect to the waist and provide support for the remaining modules; The hip joint function module is used to connect to the thigh part; The knee joint function module is used to connect to the knee joint part and control the assist torque of the knee joint according to the movement angle of the hip joint function module; The foot function module is connected to the foot.

[0006] Further, the lumbar belt includes a lumbar chain group and a lining; The lumbar chain group is composed of a series of lumbar chain segments with the same multi-stage type; The lining is arranged inside the lumbar chain group.

[0007] Further, the hip joint function module includes a quick-release component, a limit block, a limit swivel base, a first adjustment insert, a thigh guard, a spring, a rotary pin base, a pressing component, a limiting component, a torsion spring, and a sensor; One end of the quick-release component is connected to the lumbar support, the other end of the quick-release component is connected to the spring, and the other end of the spring is connected to the limit swivel base; A plurality of limit blocks are arranged on the spring; The limit swivel base is connected to the rotary pin base by a pin and passes through a hole provided on the first adjustment insert to form a rotating pair; A torsion spring is arranged between the limit swivel base and the first adjustment insert to provide a restoring force; The thigh guard is connected to the first adjustment insert; A pressing component is arranged on the thigh guard for adjusting the tightness of the thigh guard; A limiting component is arranged on the thigh guard for limiting the thigh guard; A sensor is also arranged on the thigh guard for detecting the height of the thigh part lifted.

[0008] Further, the quick-release component includes a quick-release buckle, a quick-release base, and a pressing block; The quick-release buckle is arranged on the quick-release base, and the pressing block is arranged below the quick-release base and is correspondingly arranged with the quick-release buckle.

[0009] Further, the pressing component includes a pressing buckle and a pressing piece; The pressing piece is arranged on the thigh guard. One end of the pressing buckle is connected to the thigh guard through a pin shaft. The pressing buckle abuts against the pressing piece. After pressing the pressing buckle, the thigh guard is tightened through the pressing piece.

[0010] Further, the limiting component includes a plug pin, a spring, and a snap button; The plug pin is arranged on the thigh guard. The plug pin is connected to the snap button. The plug pin also passes through a positioning hole on the first adjustment insert; the spring and the snap button are fixed through the same pin shaft; By adjusting the snap button, the spring pushes the snap button to insert into the corresponding positioning hole in the first adjustment insert to realize the limitation of the thigh guard.

[0011] Further, the knee joint function module includes a drive and control integrated motor, a thigh connection module, and a calf connection module; The thigh connection module is connected to the hip joint function module. A drive and control integrated motor is arranged on the thigh connection module. The lower end of the thigh connection module is connected to the calf connection module; The output end of the drive and control integrated motor is connected to the calf connection module; A limit top block is arranged between the thigh connection module and the calf connection module to prevent excessive movement.

[0012] The output torque of the integrated drive and control motor is adjusted according to the thigh lift angle detected by the sensor provided on the thigh brace:

[0013] Wherein, is the motor torque, is the maximum auxiliary torque, is the maximum thigh angle, is the real-time thigh angle, is the preset joint angle difference.

[0014] Furthermore, the foot function module includes a calf brace, a flexion and extension rotating shaft seat, an abduction shaft seat, a shoe cover, a foot support, a two-way connecting block and a second adjusting insert; The calf brace is connected to the knee joint function module; The lower end of the calf brace is connected to the second adjusting insert, and the abduction shaft seat is arranged on the second adjusting insert; The abduction shaft seat is provided with a two-way connecting block, and the other end of the two-way connecting block is connected to a preset hole on the foot support through a flexion and extension rotating shaft seat; The abduction shaft seat, the two-way connecting block, the flexion and extension rotating shaft seat and the foot support are combined into a sagittal axis and a coronal axis two-direction rotation mechanism through a pin shaft and a bolt, and springs are arranged in each rotation direction to provide a return force.

[0015] Furthermore, adjusting pressing mechanisms and adjusting limiting mechanisms are respectively arranged at the connection between the second adjusting insert and the calf brace to realize the pressing and limiting of the calf brace.

[0016] Compared with the prior art, the beneficial effects of the present invention are as follows: (1) In the present invention, the sensor installed on the thigh brace reads the movement trend of the human thigh, calculates and deduces the knee joint angle corresponding to the gait, and then the knee joint function module executes the corresponding angle position to realize the real-time correction assistance of the user's gait; (2) In the solution of the present invention, the hip joint function module, the knee joint function module and the foot function module adopt a modular design and are combined through a specific connection method. The functions of each module are independent and cooperate with each other. For example, the hip joint function module can adjust the length to adapt to different thigh sizes, and the foot function module can be adjusted and fixed to the foot shoe, realizing the flexible and changeable overall structure; Each module is convenient for assembly, disassembly and maintenance, improving the maintainability of the device. It can also be customized and combined according to the needs of different users, enhancing the applicability; (3) In the solution of the present invention, the knee joint function module and the foot function module are respectively designed with three-dimensional degree-of-freedom release corresponding to the knee joint and the ankle joint, and at the same time, there is a limit design. For example, the limit top block designed between the thigh connection module and the calf connection module in the knee joint function module can ensure that the joint moves within a safe range. It better simulates the natural movement of the human knee joint and ankle joint, improves the wearing comfort, and can also effectively protect the joints and prevent injuries caused by excessive movement.

[0017] The following further describes the present invention in conjunction with specific embodiments. Brief Description of the Drawings

[0018] Figure 1 It is a schematic structural diagram of the existing gait assistance system in the background art of the present invention.

[0019] Figure 2 It is a schematic structural diagram of the novel modular knee joint gait assistance system of the present invention.

[0020] Figure 3 It is a schematic structural diagram of the lumbar support of the present invention.

[0021] Figure 4 It is a schematic structural diagram of the hip joint function module of the present invention.

[0022] Figure 5 It is a schematic structural diagram of the knee joint function module of the present invention.

[0023] Figure 6 It is a schematic structural diagram of the foot function module of the present invention.

[0024] Figure 7 It is a schematic diagram of the detailed structure of the foot function module of the present invention.

[0025] Figure 8 It is a schematic diagram of the connection between the knee joint of the present invention and the thigh and calf connection modules. Specific Embodiments

[0026] Embodiment In order to clearly describe the technical solution of the present invention and the achieved effects, the following combines the drawings of the present invention and specific embodiments to clearly explain the technical solution of the present invention, so that those skilled in the art can implement the invention without creative labor. The structures shown in the drawings are not all of the actual structures but only a part of the actual structures. It should be noted that all other embodiments made by those skilled in the art on the basis of the embodiments of the present invention without creative labor shall fall within the protection scope of the present invention.

[0027] The following listed partial embodiments are only for better illustrating the present invention, but the content of the present invention is not limited to the applied embodiments. Therefore, those skilled in the art who make non-essential modifications to the implementation solutions based on the above-mentioned invention content and apply them to other embodiments are still within the protection scope of the present invention. In addition, for the experimental methods without specific conditions marked in the following embodiments, they should be carried out according to the conventional or the conditions recommended by the manufacturer. In the text expressions, if not specifically stated, they are only used for distinction and have no other meanings.

[0028] Combined with Figure 2 , a novel modular knee joint gait assistance system, comprising a lumbar belt 1, a hip joint function module 2, a knee joint function module 3, and a foot function module 4; The lumbar belt 1, the hip joint function module 2, the knee joint function module 3, and the foot function module 4 are connected in sequence; Specifically in this embodiment, among them, the lower end of the hip joint function module 2 and the upper end of the knee joint function module 3 are connected by bolts interlocking with slots. The hip joint function module 2 is provided with a length adjustment mechanism. The lower end of the hip joint function module 2 is fixed to the human calf through specifically designed binding straps, magic tapes, buckles, etc.; the hip joint function module 2 and the lumbar belt 1 are fixedly connected through a quick-release mechanism at its upper end; the lower end of the knee joint function module 3 and the upper end of the foot function module 4 are connected by bolts interlocking with slots. The knee joint function module 3 is designed with three-dimensional degree of freedom release and motion limit corresponding to the human knee joint; the upper end of the foot function module 4 is fixed to the human calf through specifically designed binding straps, magic tapes, buckles, etc. The foot function module 4 is provided with a length adjustment mechanism. The lower end of the foot function module 4 is fixed to the human foot shoe through a specifically designed binding structure. The foot function module 4 is designed with three-dimensional degree of freedom release and motion limit corresponding to the human ankle joint.

[0029] Among them, the lumbar belt 1 is used to connect with the waist and provide support for the remaining modules; The hip joint function module 2 is used to connect with the thigh part; The knee joint function module 3 is used to connect with the knee joint part and control the auxiliary torque of the knee joint according to the movement angle of the hip joint function module 2; The foot function module 4 is connected with the foot.

[0030] Combined with Figure 3 , the lumbar belt 1 includes a waist chain group 101 and a lining 102; The waist chain group 101 is composed of waist chain segments with the same multi-stage type connected in series through pins and slots; The lining 102 is arranged inside the waist chain group 101. The lining 102 is made of a soft material and can better fit the human waist.

[0031] Combined withFigure 4 , the hip joint function module 2 includes a quick-release component, a limit block 203, a limit swivel base 204, a first adjustment insert 205, a thigh protector 206, a spring 207, a rotary pin base 209, a pressing component, a limiting component, a torsion spring 212, and a sensor 216; One end of the quick-release component is connected to the lumbar support 1, the other end of the quick-release component is connected to the spring 207, and the other end of the spring 207 is connected to the limit swivel base 204; In this solution, the quick-release component includes a quick-release buckle 201, a quick-release base 202, and a pressing block 208; The quick-release buckle 201 is arranged on the quick-release base 202, and the pressing block 208 is arranged below the quick-release base 202 and is correspondingly arranged with the quick-release buckle 201.

[0032] A plurality of limit blocks 203 are arranged on the spring 207. Specifically, through the plurality of limit blocks 203 arranged on the spring 207 and the limit swivel base 204 at the bottom, the external coating of the spring 207 and the deformation in all directions are restricted, so that the spring 207 can achieve different deformation sizes and limit protection in different directions, including torsion, forward bending, backward bending, and left and right bending; The limit swivel base 204 is connected to the rotary pin base 209 by a pin and passes through a hole arranged on the first adjustment insert 205 to form a rotating pair; A torsion spring 212 is arranged between the limit swivel base 204 and the first adjustment insert 205 to provide a restoring force; The thigh protector 206 is connected to the first adjustment insert 205. The thigh protector 206 is arranged on the front outer side of the human thigh and is connected to the lower knee joint by bolts. The position of the thigh protector 206 can be adjusted by the first adjustment insert 205; A pressing component is arranged on the thigh protector 206 for adjusting the tightness of the thigh protector 206. Specifically, the pressing component includes a pressing buckle 210 and a pressing piece 211; The pressing piece 211 is arranged on the thigh protector 206. One end of the pressing buckle 210 is connected to the thigh protector 206 by a pin shaft. The pressing buckle 210 abuts against the pressing piece 211. After pressing the pressing buckle 210, the thigh protector 206 is pressed tightly by the pressing piece 211; Specifically in this embodiment, in combination with Figure 4It can be seen that the tablet 211 is placed in a specially designed groove preset in the thigh guard 206, with a through interior and can contact the 205; the buckle 210 is placed outside this groove and is connected to the thigh guard 206 through a pin to achieve rotation; the groove on the buckle 210 through the pin is a runway circle, so in addition to being able to rotate, it can also move linearly to a certain extent. The buckle 210 itself is designed in a cam configuration. Therefore, when the buckle 210 rotates around a specific rotating shaft on the thigh guard 206, the contact distance between the fixed rotation center of the buckle 210 and the tablet 211 will increase, pressing the tablet 211 inward to squeeze the first adjustment insert 205 to achieve tight fixation.

[0033] A limiting component is arranged on the thigh guard 206 for limiting the thigh guard 206. The limiting component includes a plug pin 213, a spring 214 and a snap button 215. The plug pin 213 is arranged on the thigh guard 206. The plug pin 213 is connected to the snap button 215 and also passes through the positioning hole on the first adjustment insert 205; the spring 214 and the snap button 215 are fixed through the same pin. By adjusting the snap button 215, the spring 214 pushes the snap button 215 to insert into the corresponding positioning hole in the first adjustment insert 205 to achieve the limitation of the thigh guard 206.

[0034] More specifically, the plug pin 213 is fixed to one end of the snap button 215 through a movable pin. At the same time, the plug pin 213 also passes through a specially designed hole on the thigh guard 206 and corresponds to the positioning hole on the first adjustment insert 205. The spring 214, the snap button 215 and the snap button 215 and the thigh guard 206 share a cylindrical pin for fixation. Therefore, a lever fulcrum will be formed through this cylindrical pin, and the spring 214 will push the end of the snap button 215 without the plug pin 213 to lift, causing the plug pin 213 at the other end to insert into the corresponding hole of the first adjustment insert 205 to achieve limit positioning.

[0035] In addition, in this solution, a sensor 216 is also arranged on the thigh guard 206 to detect the height of the thigh part being lifted. This detected height is used for the subsequent knee joint function module 3 to adjust its output torque to plan the auxiliary torque of the knee joint and achieve gait correction assistance. Combined Figure 5 , the knee joint function module 3 includes a drive and control integrated motor 301, a thigh connection module 302 and a calf connection module 303. The thigh connection module 302 is connected to the hip joint function module 2. A drive and control integrated motor 301 is arranged on the thigh connection module 302. The lower end of the thigh connection module 302 is connected to the calf connection module 303. The output end of the drive and control integrated motor 301 is connected to the calf connection module 303. A limit top block is provided between the thigh connection module 302 and the calf connection module 303 to prevent excessive movement.

[0036] The output torque of the integrated drive and control motor 301 is adjusted according to the thigh lift angle detected by the sensor 216 provided on the thigh brace 206:

[0037] wherein, is the motor torque, is the maximum auxiliary torque, is the maximum thigh angle, is the real-time thigh angle, is the preset joint angle difference.

[0038] Combined with Figure 6 , the foot function module 4 includes a calf brace 401, a flexion and extension rotating shaft seat 404, an abduction shaft seat 405, a shoe cover 406, a footrest 407, a two-way connection block 408 and a second adjustment insert 409; The calf brace 401 is connected to the knee joint function module 3; The lower end of the calf brace 401 is connected to the second adjustment insert 409, and the abduction shaft seat 405 is provided on the second adjustment insert 409; The abduction shaft seat 405 is provided with a two-way connection block 408, and the other end of the two-way connection block 408 is connected to a preset hole on the footrest 407 through the flexion and extension rotating shaft seat 404; The abduction shaft seat 405, the two-way connection block 408, the flexion and extension rotating shaft seat 404 and the footrest 407 are combined into a sagittal axis and a coronal axis two-direction rotation mechanism through a pin shaft and a bolt, and springs are arranged in each rotation direction to provide a return force; Combined with Figure 7 it can be known that one end of the abduction shaft seat 405 in this solution is provided with a square empty groove and a circular hole on the side. One end of the two-way connection block 408 is inserted into this square empty groove and the circular holes on the abduction shaft seat 405 and the two-way connection block 408 are made concentric and a pin is inserted, thus realizing the rotation movement of the sagittal axis; similarly, there are corresponding slots on the footrest 407 and corresponding cylinders on the flexion and extension rotating shaft seat 404. We insert one end of the two-way connection block 408 into the corresponding slot on the footrest 407 as shown in the figure, and at the same time insert the corresponding cylinder of the flexion and extension rotating shaft seat 404 into the corresponding circular hole on the two-way connection block 408 and firmly fix it to the footrest 407, then we obtain a degree of freedom that can rotate on the coronal axis.

[0039] In addition, adjusting pressing mechanisms 402 and adjusting limiting mechanisms 403 are respectively arranged at the joints of the second adjusting insert 409 and the lower leg brace 401 to achieve the pressing and limiting of the lower leg brace 401. The adjusting pressing mechanisms 402 and adjusting limiting mechanisms 403 here are similar to the pressing components and limiting components arranged on the thigh brace 206, and other types of pressing and limiting methods can also be used to achieve this function.

[0040] As Figure 8 shown, in this solution, the corresponding limiting grooves on the knee joint, thigh, and lower leg are fixedly connected by a fixing pin. However, this corresponding limiting groove is not completely tightly connected but has a certain angular gap. Therefore, the knee joint can rotate and deform with limitations around its respective fixing pin with the thigh and the knee joint can rotate and deform with limitations around its respective fixing pin with the lower leg. Therefore, compared with the traditional design, there are two more degrees of freedom, realizing the release of three-dimensional degrees of freedom.

[0041] In this solution, the hip joint function module, knee joint function module, and foot function module adopt a modular design and are combined through specific connection methods. The functions of each module are independent and cooperate with each other, realizing the flexible and variable overall structure. At the same time, the knee joint angle corresponding to the gait can be deduced through calculation, and the knee joint function module executes the corresponding angular position to realize the real-time correction and assistance of the user's gait, which can better simulate the natural movements of the human knee joint and ankle joint, improve the wearing comfort, and can also effectively protect the joints and prevent injuries caused by excessive movement.

[0042] The above-described embodiments only represent several implementation manners of the present application, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the invention patent. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present application, several deformations and improvements can still be made, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the appended claims.

Claims

1. A novel modular knee joint gait assistance system, characterized in that, It includes a lumbar support (1), a hip joint function module (2), a knee joint function module (3), and a foot function module (4); The lumbar support (1), the hip joint function module (2), the knee joint function module (3), and the foot function module (4) are connected in sequence; Among them, the lumbar support (1) is used to connect with the waist and provide support for the remaining modules; The hip joint function module (2) is used to connect with the thigh part; The knee joint function module (3) is used to connect with the knee joint part and control the auxiliary torque of the knee joint according to the movement angle of the hip joint function module (2); The foot function module (4) is connected to the foot.

2. The novel modular knee joint gait assistance system according to claim 1, wherein The lumbar support (1) includes a lumbar chain group (101) and a lining (102); The lumbar chain group (101) is composed of a series of lumbar chain segments with the same multi-step type; The lining (102) is arranged inside the lumbar chain group (101).

3. The novel modular knee joint gait assistance system according to claim 1, characterized in that, The hip joint function module (2) includes a quick-release component, a limit block (203), a limit swivel base (204), a first adjustment insert (205), a thigh protector (206), a spring (207), a rotary pin seat (209), a pressing component, a limiting component, a torsion spring (212), and a sensor (216); One end of the quick-release component is connected to the lumbar support (1), the other end of the quick-release component is connected to the spring (207), and the other end of the spring (207) is connected to the limit swivel base (204); A plurality of limit blocks (203) are arranged on the spring (207); The limit swivel base (204) is pin-connected to the rotary pin seat (209) and passes through the hole arranged on the first adjustment insert (205) to form a rotating pair; A torsion spring (212) is arranged between the limit swivel base (204) and the first adjustment insert (205) to provide a restoring force; The thigh protector (206) is connected to the first adjustment insert (205); A pressing component is arranged on the thigh protector (206) for adjusting the tightness of the thigh protector (206); A limiting component is arranged on the thigh protector (206) for limiting the thigh protector (206); A sensor (216) is also arranged on the thigh protector (206) for detecting the height of the thigh part lifted.

4. The novel modular knee joint gait assistance system according to claim 3, wherein The quick-release component includes a quick-release buckle (201), a quick-release seat (202), and a pressing block (208); The quick-release buckle (201) is arranged on the quick-release seat (202), and the pressing block (208) is arranged below the quick-release seat (202) and is correspondingly arranged with the quick-release buckle (201).

5. The novel modular knee joint gait assistance system according to claim 3, characterized in that, The pressing component includes a pressing buckle (210) and a pressing piece (211); The pressing piece (211) is arranged on the thigh protector (206), one end of the pressing buckle (210) is connected to the thigh protector (206) through a pin shaft, the pressing buckle (210) abuts against the pressing piece (211), and after pressing the pressing buckle (210), the thigh protector (206) is pressed through the pressing piece (211).

6. The novel modular knee joint gait assistance system according to claim 3, wherein, The limiting component includes a plug pin (213), a spring (214), and a snap button (215); The bolt (213) is arranged on the thigh guard (206). The bolt (213) is connected to the snap fastener (215), and the bolt (213) also passes through the positioning hole on the first adjustment strip (205); the spring (214) and the snap fastener (215) are fixed by the same pin shaft; By adjusting the snap fastener (215), the spring (214) pushes the snap fastener (215) into the corresponding positioning hole in the first adjustment strip (205), realizing the limit of the thigh guard (206).

7. The novel modular knee joint gait assistance system according to claim 3, characterized in that, The knee joint function module (3) includes a drive and control integrated motor (301), a thigh connection module (302) and a calf connection module (303); The thigh connection module (302) is connected to the hip joint function module (2). The drive and control integrated motor (301) is arranged on the thigh connection module (302), and the lower end of the thigh connection module (302) is connected to the calf connection module (303); The output end of the drive and control integrated motor (301) is connected to the calf connection module (303); A limit top block is arranged between the thigh connection module (302) and the calf connection module (303) to prevent excessive movement.

8. The novel modular knee joint gait assistance system according to claim 7, characterized in that, The output torque of the drive and control integrated motor (301) is adjusted according to the thigh lift angle detected by the sensor (216) arranged on the thigh guard (206): ； Among them, is the motor torque, is the maximum auxiliary torque, is the maximum thigh angle, is the real-time thigh angle, is the preset joint angle difference.

9. The novel modular knee joint gait assistance system according to claim 1, characterized in that, The foot function module (4) includes a calf guard (401), a flexion and extension rotating shaft seat (404), an abduction shaft seat (405), a shoe cover (406), a foot support (407), a two-way connection block (408) and a second adjustment strip (409); The calf guard (401) is connected to the knee joint function module (3); The lower end of the calf guard (401) is connected to the second adjustment strip (409), and the abduction shaft seat (405) is arranged on the second adjustment strip (409); The two-way connection block (408) is arranged on the abduction shaft seat (405), and the other end of the two-way connection block (408) is connected to the preset hole on the foot support (407) through the flexion and extension rotating shaft seat (404); The abduction shaft seat (405), the two-way connection block (408), the flexion and extension rotating shaft seat (404) and the foot support (407) are combined into a sagittal axis and a coronal axis two-direction rotation mechanism by a pin shaft and a bolt, and springs are arranged in each rotation direction to provide a return force.

10. The novel modular knee joint gait assistance system according to claim 9, characterized in that, Adjusting pressing mechanisms (402) and adjusting limiting mechanisms (403) are respectively arranged at the connection between the second adjustment strip (409) and the calf guard (401) to realize the pressing and limiting of the calf guard (401).

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