Exoskeleton device for assisting elderly caregivers and human-robot collaboration method thereof

Abstract

The application discloses an exoskeleton device for assisting old caretakers and a man-machine cooperation method thereof, which comprises a U-shaped back plate, a waist fixing structure is fixedly connected to the front end of the control box, two fixed rods are fixedly installed at the lower ends of the thigh assisting mechanisms, the lower ends of the two thigh assisting mechanisms are fixedly installed with the calf assisting mechanisms, the left end and the right end of the U-shaped back plate are movably installed with the large-arm assisting mechanisms through bearings, and the front ends of the two large-arm assisting mechanisms are fixedly installed with the small-arm assisting mechanisms. The exoskeleton device for assisting old caretakers and the man-machine cooperation method thereof can reduce the muscle burden of the legs, the large-arm assisting mechanism and the small-arm assisting mechanism can reduce the shoulder pressure when the arms are supported, so that the caretakers can more easily complete the work, the professional injuries are reduced, meanwhile, the stable assistance can avoid the action failure and guarantee the safety of the old people.

Description

Technical Field

[0001] This invention relates to the field of exoskeleton technology, and in particular to an exoskeleton device for assisting elderly caregivers and its human-machine collaboration method. Background Technology

[0002] With the accelerating pace of global population aging and the continuous increase in the number of elderly people, the demand for professional elderly care services is growing rapidly. Elderly caregivers, as the core force in providing these services, have daily tasks that include assisting the elderly with a range of daily activities, such as helping them get out of bed, supporting them as they walk, assisting them in and out of wheelchairs, and facilitating daily relocation. They also need to undertake physically demanding tasks such as changing clothes for the elderly and moving elderly people with limited mobility.

[0003] During these tasks, caregivers frequently need to bend over, kneel, raise their arms, and carry heavy loads, often directly supporting the weight of the elderly. However, the market currently lacks assistive devices designed for elderly caregivers, leading to immense physical stress on them during long hours of high-intensity work. Without support, caregivers must continuously exert force on their waist, leg, and shoulder muscles and joints when performing tasks such as lifting and assisting, easily causing muscle strains, lumbar muscle strain, and joint wear and tear—occupational injuries that not only affect their health and working lifespan but also reduce work efficiency due to fatigue. Furthermore, insufficient strength or loss of control can create safety hazards such as falls and collisions for the elderly being cared for. Therefore, we propose an exoskeleton device and its human-machine collaborative method to assist elderly caregivers. Summary of the Invention

[0004] The main objective of this invention is to provide an exoskeleton device and its human-machine collaboration method for assisting elderly caregivers, which can effectively solve the problems in the background art.

[0005] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0006] An exoskeleton device for assisting elderly caregivers includes a U-shaped backplate. A control box is fixedly installed at the rear end of the U-shaped backplate. A waist fixation structure is fixedly connected to the front end of the control box. Fixing rods are fixedly connected to the left and right outer surfaces of the waist fixation structure. Thigh assist mechanisms are fixedly installed at the lower ends of the two fixing rods. Lower leg assist mechanisms are fixedly installed at the lower ends of the two thigh assist mechanisms. Upper arm assist mechanisms are movably installed at the left and right ends of the U-shaped backplate through bearings. Forearm assist mechanisms are fixedly installed at the front ends of the two upper arm assist mechanisms.

[0007] As a further improvement to the above solution, the thigh assist mechanism includes a joint mounting bracket, a motor base is fixedly connected to the outer surface of the joint mounting bracket, a motor is fixedly mounted on the upper end of the motor base, a drive gear is fixedly mounted on the output end of the motor, a transmission gear is meshed with the outer surface of the drive gear, and a sector gear is meshed with the outer surface of the transmission gear.

[0008] As a further improvement to the above solution, a transmission plate is fixedly connected to the lower part of the outer surface of the sector gear, a fixing strap is fixedly connected to the left end of the transmission plate on the right side, a third adjusting buckle is movably installed on the fixing strap, the lower end of the transmission plate is fixedly connected to the upper end of the corresponding lower leg assist mechanism, and the upper end of the joint mounting bracket is fixedly connected to the lower end of the corresponding fixing rod.

[0009] As a further improvement to the above solution, the left end of the motor base on the right and the left end of the motor on the right are both fixedly connected to the right end of the mounting bracket at the right joint, and the output end of the motor on the right passes through the right end of the mounting bracket at the right joint and extends into the mounting bracket at the right joint.

[0010] As a further improvement to the above solution, the drive gear, transmission gear and sector gear are all installed in the joint mounting bracket, and there is a gap between each of them and the inner wall of the joint mounting bracket.

[0011] As a further improvement to the above scheme, the left end of the right-side drive gear, the left end of the right-side transmission gear, and the left end of the right-side sector gear are all movably connected to the left inner wall of the right-side joint mounting bracket via a rotating shaft, and the right end of the right-side transmission gear and the right end of the right-side sector gear are all movably connected to the right inner wall of the right-side joint mounting bracket via a rotating shaft.

[0012] As a further improvement to the above solution, the outer surface of the mounting bracket at the joint has a through-groove, and the upper part of the transmission plate is movably sleeved in the through-groove, with a gap between it and the inner wall of the through-groove.

[0013] As a further improvement to the above solution, the two thigh assist mechanisms, the two calf assist mechanisms, the two upper arm assist mechanisms, and the two forearm assist mechanisms all have the same structure and are all distributed in pairs in a left-right mirror image.

[0014] As a further improvement to the above solution, the waist fixing structure includes a waist canvas adjusting belt, the inner circle of which is fixedly connected to a silicone rubber pad, a first adjusting buckle is movably installed on the waist canvas adjusting belt, two shoulder straps are fixedly connected to the front of the outer surface of the waist canvas adjusting belt, a chest strap is fixedly connected between the two shoulder straps, a second adjusting buckle is movably installed on the chest strap, and the outer surface of the waist canvas adjusting belt is fixedly connected to the front end of the control box.

[0015] As a further improvement to the above solution, the upper parts of both shoulder straps are fixedly connected to the rear inner wall of the U-shaped back panel.

[0016] A human-machine collaboration method for exoskeleton devices used to assist elderly caregivers includes the following steps:

[0017] Step 1: The caregiver stands on a flat surface and unfolds the waist fixation structure of the exoskeleton device. Adjust the waist strap using the first adjustment buckle to ensure a tight fit. At this point, the silicone rubber pads are in full contact with the waist, improving comfort and stability. Next, sling the two shoulder straps over the shoulders and adjust the second adjustment buckle on the chest strap to tighten it appropriately, ensuring the U-shaped backplate fits snugly against the back. Then, place both legs into the corresponding thigh and calf assist mechanisms, securing them firmly with the third adjustment buckle on the fixing straps. Ensure the transmission plate matches the leg movement trajectory. The fixing straps should fit snugly against the legs without affecting blood circulation. Next, place both arms into the upper arm and forearm assist mechanisms, securing them with the corresponding fixing straps to ensure a stable connection between the arms and the assist mechanisms. After completing the donning, press the start button on the control box. The exoskeleton device enters the initialization state. The system automatically checks whether the connections of each mechanism are normal. If there is an abnormality, an alarm will be sounded; otherwise, it enters standby mode.

[0018] Step 2: When caregivers perform nursing procedures, such as bending over, raising their legs, or extending their arms, the movements are directly transmitted to the various assistive mechanisms of the exoskeleton because the various parts of the body are tightly connected to the exoskeleton device through the fixing straps. When bending over, the movement of the waist is transmitted to the fixing rod through the waist fixing structure. At the same time, the movement of the legs causes the joint mounting bracket in the thigh assistive mechanism to change angle through the fixing straps. During the leg raising process, the movement of the legs causes the lower leg assistive mechanism and the thigh assistive mechanism to move relative to each other through the fixing straps. The information transmitted by these movements is transmitted to the processor in the control box. The processor performs preliminary processing on this information to provide a basis for subsequent assistive control.

[0019] Step 3: The processor in the control box calculates the required amount and direction of assistance based on the acquired action intention information and the preset assistance algorithm. Taking the leg-lifting action when carrying an elderly person as an example, the processor calculates the torque that the motor needs to output based on the current meshing state of the active gear, transmission gear and sector gear in the thigh assistance mechanism, as well as the leg action information transmitted through the fixed strap. Then, the processor sends a control command to the corresponding motor, the motor starts and drives the active gear to rotate. The active gear drives the transmission gear through meshing transmission, which in turn drives the sector gear to rotate. The sector gear drives the transmission plate to move. The transmission plate transmits assistance to the leg through the fixed strap, assisting the caregiver in completing the leg-lifting action. When the arm supports the elderly person, the upper arm assistance mechanism and the lower arm assistance mechanism provide coordinated assistance based on the action signals transmitted by their fixed straps, using the same principle.

[0020] Step 4: Throughout the nursing procedure, the exoskeleton device continuously senses changes in human movement and the influence of the external environment through the fixation straps 58. Based on this real-time information, the processor continuously adjusts the assistance strategy. When the caregiver encounters instability while moving the elderly, the body tilt will cause uneven tension changes through the fixation straps. The processor will immediately adjust the assistance level of the thigh and calf assistance mechanisms on both sides. By changing the output torque of the motors, the adjusted assistance is transmitted to the legs through the fixation straps to help the caregiver maintain balance. At the same time, the system records the tension changes of the fixation straps and assistance data for each movement. Through machine learning algorithms, the assistance parameters are continuously optimized to make the exoskeleton device and the caregiver's movements more coordinated, improving the smoothness and safety of human-machine collaboration.

[0021] Compared with the prior art, the present invention has the following beneficial effects:

[0022] 1. In this invention, the caregiver unfolds the waist fixation structure and adjusts the waist straps using the first adjustment buckle on the waist canvas adjustment strap to ensure a tight fit. The silicone rubber pad then makes full contact with the waist. The shoulder straps are then draped over the shoulders, and the second adjustment buckle on the chest strap is adjusted to tighten it appropriately, ensuring a stable fit between the U-shaped back panel and the back. The legs are then placed into the thigh and calf assist mechanisms and secured with the third adjustment buckle on the fixing strap. The arms are then placed into the upper arm and forearm assist mechanisms and secured with the corresponding fixing straps. After completing the donning process, the start button on the control box is pressed to enter standby mode. During use, when the caregiver bends over, the movement is transmitted through the waist fixation structure. The leg movement, via the fixed straps, causes the joint mounting bracket of the thigh assist mechanism to change angle. This information is transmitted to the processor in the control box. The processor, combined with a preset algorithm, calculates the magnitude and direction of the assistance, controls the motor to start, and transmits the assistance to the corresponding parts of the body through the meshing of the drive gear, transmission gear, and sector gear, via the transmission plate and fixed straps. When moving the elderly, the leg assistance can reduce the burden on the leg muscles, and the assistance provided by the upper arm assist mechanism and forearm assist mechanism can reduce shoulder pressure when supporting the arms, thus making it easier for caregivers to complete their work, reducing occupational injuries. At the same time, stable assistance can avoid movement errors and ensure the safety of the elderly.

[0023] 2. In this invention, the silicone rubber pad of the waist fixation structure enhances fit and comfort, while the adjustment of the shoulder straps and chest straps ensures overall stability. The adjustment of the fixing straps allows the transmission plate to adapt to the limb movement trajectory. During use, the exoskeleton device continuously senses changes in human movement and external influences through the fixing straps. The processor adjusts the assistance strategy accordingly. When the elderly person's center of gravity is unstable during transport, the body tilts, causing uneven tension in the fixing straps. The processor adjusts the assistance magnitude of the thigh and calf assistance mechanisms on both sides, changing the motor output torque. The adjusted assistance is transmitted through the fixing straps to maintain balance. At the same time, the system records the tension changes and assistance data of the fixing straps. The assistance parameters are optimized through machine learning algorithms, making the device and the caregiver's movements more coordinated. This avoids interference caused by poor fit or improper assistance, making the caregiving operation smoother and more stable, effectively shortening the time to complete various care tasks, and improving work efficiency. Attached Figure Description

[0024] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0025] Figure 1This is a schematic diagram of the overall structure of the exoskeleton device for assisting elderly caregivers according to the present invention;

[0026] Figure 2 This is a cross-sectional view of the exoskeleton device for assisting elderly caregivers according to the present invention (in which the thigh assist mechanism, lower leg assist mechanism, upper arm assist mechanism and forearm assist mechanism are cut out).

[0027] Figure 3 This is a schematic diagram of the lumbar fixation structure of the exoskeleton device for assisting elderly caregivers according to the present invention;

[0028] Figure 4 This is an exploded view of the lumbar fixation structure of the exoskeleton device for assisting elderly caregivers according to the present invention;

[0029] Figure 5 This is a schematic diagram of the thigh assist mechanism of the exoskeleton device for assisting elderly caregivers according to the present invention;

[0030] Figure 6 This is an exploded view of the thigh assist mechanism of the exoskeleton device for assisting elderly caregivers according to the present invention;

[0031] Figure 7 This is a cross-sectional view of the thigh assist mechanism of the exoskeleton device for assisting elderly caregivers according to the present invention (the mounting frame at the joint is shown in the cross-section).

[0032] Figure 8 This is a schematic diagram of the combined connection structure of the motor, drive gear, transmission gear and sector gear of the exoskeleton device for assisting elderly caregivers according to the present invention.

[0033] In the diagram: 1. U-shaped back panel; 2. Control box; 3. Waist support structure; 4. Fixing rod; 5. Thigh assist mechanism; 6. Lower leg assist mechanism; 7. Upper arm assist mechanism; 8. Forearm assist mechanism; 31. Waist canvas adjustment strap; 32. Silicone rubber pad; 33. First adjustment buckle; 34. Shoulder strap; 35. Chest strap; 36. Second adjustment buckle; 51. Joint mounting bracket; 52. Motor base; 53. Motor; 54. Drive gear; 55. Transmission gear; 56. Sector gear; 57. Transmission plate; 58. Fixing strap; 59. Third adjustment buckle. Detailed Implementation

[0034] To make the technical means, creative features, objectives and effects of this invention easier to understand, the invention will be further described below in conjunction with specific embodiments.

[0035] In the description of this invention, it should be noted that the terms "upper," "lower," "inner," "outer," "front end," "rear end," "both ends," "one end," and "the other end," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0036] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installed," "equipped with," "connected," etc., should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be a connection within two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0037] The technical solution of the present invention will be further described below with reference to the accompanying drawings.

[0038] Example

[0039] Exoskeleton devices used to assist caregivers of the elderly, such as Figure 1-2 As shown, it includes a U-shaped backplate 1, a control box 2 fixedly installed at the rear end of the U-shaped backplate 1, a waist fixing structure 3 fixedly connected to the front end of the control box 2, a fixing rod 4 fixedly connected to the left and right sides of the outer surface of the waist fixing structure 3, a thigh assist mechanism 5 fixedly installed at the lower end of each of the two fixing rods 4, a calf assist mechanism 6 fixedly installed at the lower end of each of the two thigh assist mechanisms 5, an upper arm assist mechanism 7 movably installed at the left and right ends of the U-shaped backplate 1 through bearings, and a calf assist mechanism 8 fixedly installed at the front end of each of the two upper arm assist mechanisms 7.

[0040] In this embodiment, please refer to Figure 5-8The thigh assist mechanism 5 includes a joint mounting bracket 51. A motor base 52 is fixedly connected to the outer surface of the joint mounting bracket 51. A motor 53 is fixedly mounted on the upper end of the motor base 52. A drive gear 54 is fixedly mounted on the output end of the motor 53. A transmission gear 55 is meshed with the outer surface of the drive gear 54. A sector gear 56 is meshed with the outer surface of the transmission gear 55. A transmission plate 57 is fixedly connected to the lower part of the outer surface of the sector gear 56. A fixing strap 58 is fixedly connected to the left end of the right transmission plate 57. A third adjusting buckle 59 is movably mounted on the fixing strap 58. The lower end of the transmission plate 57 is fixedly connected to the upper end of the corresponding lower leg assist mechanism 6. The upper end of the joint mounting bracket 51 is fixedly connected to the lower end of the corresponding fixing rod 4. The left ends of the right motor base 52 and the right motor 53 are both fixedly connected to the right end of the right joint mounting bracket 51. The output end of the right motor 53 passes through the right joint mounting bracket 51. The right end of the mounting bracket 51 extends into the right joint mounting bracket 51; the drive gear 54, transmission gear 55, and sector gear 56 are all located within the joint mounting bracket 51, and all have gaps with the inner wall of the joint mounting bracket 51; the left ends of the right drive gear 54, the right transmission gear 55, and the right sector gear 56 are all movably connected to the left inner wall of the right joint mounting bracket 51 via rotating shafts, and the right ends of the right transmission gear 55 and the right sector gear 56 are movably connected to the right inner wall of the right joint mounting bracket 51 via rotating shafts; the outer surface of the joint mounting bracket 51 has an inwardly and outwardly penetrating movable groove, and the upper part of the transmission plate 57 is movably fitted into the movable groove, with a gap between it and the inner wall of the movable groove; the two thigh assist mechanisms 5, the two calf assist mechanisms 6, the two upper arm assist mechanisms 7, and the two forearm assist mechanisms 8 all have the same structure and are all distributed in pairs, left and right mirror images.

[0041] In this embodiment, please refer to Figure 3-4 The waist fixing structure 3 includes a waist canvas adjustment strap 31. A silicone rubber pad 32 is fixedly connected to the inner ring of the waist canvas adjustment strap 31. A first adjustment buckle 33 is movably installed on the waist canvas adjustment strap 31. Two shoulder straps 34 are fixedly connected to the front of the outer surface of the waist canvas adjustment strap 31. A chest strap 35 is fixedly connected between the two shoulder straps 34. A second adjustment buckle 36 is movably installed on the chest strap 35. The outer surface of the waist canvas adjustment strap 31 is fixedly connected to the front end of the control box 2. The upper parts of the two shoulder straps 34 are fixedly connected to the rear inner wall of the U-shaped back plate 1.

[0042] In this embodiment, the caregiver stands on a flat surface, unfolds the waist fixation structure 3, and operates the first adjustment buckle 33 on the waist canvas adjustment strap 31 to make the strap fit the waist. At this time, the silicone rubber pad 32 contacts the waist. The shoulder strap 34 is then draped over the shoulder, and the second adjustment buckle 36 of the chest strap 35 is adjusted to tighten the chest strap 35 appropriately, ensuring that the U-shaped back panel 1 fits the back. The legs are then placed into the corresponding thigh assist mechanism 5 and calf assist mechanism 6, and the legs are secured by the third adjustment buckle 59 on the fixing strap 58, ensuring that the transmission plate 57 matches the leg movement trajectory. The fixing strap 58 fits the legs without affecting blood circulation. The arm is placed into the upper arm assist mechanism 7 and the lower arm assist mechanism 8, and secured with the corresponding fixing straps 58 to ensure a stable connection between the arm and the assist mechanism. Pressing the start button on the control box 2 initiates the exoskeleton device into initialization mode. After normal operation, it enters standby mode. During nursing operations, bending motion is transmitted to the fixing rod 4 via the lumbar fixing structure 3. Leg movements are transmitted via the fixing straps 58, causing an angle change at the joint mounting bracket 51 of the thigh assist mechanism 5. When raising the leg, leg movement causes relative movement between the lower leg assist mechanism 6 and the thigh assist mechanism 5 via the fixing straps 58. This motion information is transmitted to the processor inside the control box 2. After initial processing, the processor in control box 2 calculates the magnitude and direction of the assistance based on a preset assist algorithm. Taking leg lifting during transport as an example, based on the meshing state of the drive gear 54, transmission gear 55, and sector gear 56 in the thigh assist mechanism 5, and the leg movement information transmitted by the fixing strap 58, the required torque output of motor 53 is calculated. Then, a command is sent to motor 53, which drives drive gear 54 to rotate. Drive gear 54 drives transmission gear 55, which in turn causes sector gear 56 to rotate. Sector gear 56 drives transmission plate 57 to move. Transmission plate 57 transmits the assistance to the leg through fixing strap 58. When the arm provides support... The upper arm assist mechanism 7 and the lower arm assist mechanism 8 provide assistance based on the signals transmitted by their fixed straps 58, using the same principle. During operation, the exoskeleton device senses changes in human movement and external influences through the fixed straps 58. The processor adjusts the assistance strategy accordingly. When the center of gravity is unstable during lifting, the body tilts, causing uneven tension in the fixed straps 58. The processor adjusts the assistance magnitude of the thigh assist mechanism 5 and the lower leg assist mechanism 6 on both sides, changes the output torque of the motor 53, and transmits the adjusted assistance through the fixed straps 58 to maintain balance. The system records the tension changes of the fixed straps 58 and the assistance data, and optimizes the assistance parameters through machine learning algorithms.

[0043] A human-machine collaboration method for exoskeleton devices used to assist elderly caregivers includes the following steps:

[0044] Step 1: The caregiver stands on a flat surface and unfolds the lumbar fixation structure 3 of the exoskeleton device. Adjusting the waist strap 31 using the first adjustment buckle 33 ensures a tight fit. At this point, the silicone rubber pad 32 is in full contact with the waist, enhancing comfort and stability. Next, the two shoulder straps 34 are draped over the shoulders, and the second adjustment buckle 36 of the chest strap 35 is adjusted to tighten it appropriately, ensuring the U-shaped backplate 1 fits snugly against the back. Then, the legs are placed into the corresponding thigh assist mechanism 5 and calf assist mechanism 6, respectively, utilizing… The third adjustment buckle 59 on the fixing strap 58 firmly fixes the legs, ensuring that the transmission plate 57 matches the movement trajectory of the legs. The fixing strap 58 must fit the legs tightly but not affect blood circulation. Then, put the arms into the upper arm assist mechanism 7 and the lower arm assist mechanism 8, and fix them with the corresponding fixing straps 58 to make the arms stably connected to the assist mechanism. After completing the wearing, press the start button on the control box 2. The exoskeleton device enters the initialization state. The system automatically detects whether the connection of each mechanism is normal. If there is an abnormality, an alarm will be issued. If it is normal, it will enter the standby mode.

[0045] Step 2: When caregivers perform nursing operations, such as bending over, raising legs, and extending arms, the movements are directly transmitted to the various assistive mechanisms of the exoskeleton because the various parts of the body are tightly connected to the exoskeleton device through the fixing straps 58. When bending over, the movement of the waist is transmitted to the fixing rod 4 through the waist fixing structure 3. At the same time, the movement of the legs causes the joint mounting bracket 51 in the thigh assistive mechanism 5 to change angle through the fixing straps 58. During the leg raising process, the movement of the legs causes the lower leg assistive mechanism 6 and the thigh assistive mechanism 5 to move relative to each other through the fixing straps 58. The information transmitted by these movements is transmitted to the processor in the control box 2. The processor performs preliminary processing on this information to provide a basis for subsequent assistive control.

[0046] Step 3: The processor in control box 2 calculates the required amount and direction of assistance based on the acquired action intention information and the preset assistance algorithm. Taking the leg-lifting action when carrying an elderly person as an example, the processor calculates the torque that motor 53 needs to output based on the current meshing state of the active gear 54, transmission gear 55 and sector gear 56 in the thigh assist mechanism 5, as well as the leg action information transmitted through the fixed strap 58. Then, the processor sends a control command to the corresponding motor 53. The motor 53 starts and drives the active gear 54 to rotate. The active gear 54 drives the transmission gear 55 through meshing transmission, which in turn causes the sector gear 56 to rotate. The sector gear 56 drives the transmission plate 57 to move. The transmission plate 57 transmits assistance to the leg through the fixed strap 58 to assist the caregiver in completing the leg-lifting action. When the arm is supporting the elderly person, the upper arm assist mechanism 7 and the lower arm assist mechanism 8 provide coordinated assistance based on the action signal transmitted by their fixed strap 58, using the same principle.

[0047] Step 4: Throughout the nursing procedure, the exoskeleton device continuously senses changes in human movement and the influence of the external environment through the fixation straps 58. Based on this real-time information, the processor continuously adjusts the assistance strategy. When the caregiver encounters instability while moving the elderly, the body tilt will cause uneven tension changes through the fixation straps 58. The processor will immediately adjust the assistance level of the thigh assistance mechanism 5 and the calf assistance mechanism 6 on both sides. By changing the output torque of the motor 53, the adjusted assistance is transmitted to the legs through the fixation straps 58 to help the caregiver maintain body balance. At the same time, the system records the tension changes of the fixation straps 58 and assistance data for each movement. Through machine learning algorithms, the assistance parameters are continuously optimized to make the exoskeleton device and the caregiver's movements more coordinated, improving the smoothness and safety of human-machine collaboration.

[0048] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of this invention is defined by the appended claims and their equivalents.

Claims

1. A human-machine collaboration method for an exoskeleton device for assisting elderly caregivers, the exoskeleton device comprising a U-shaped backplate (1), a control box (2) fixedly mounted at the rear end of the U-shaped backplate (1), a waist fixation structure (3) fixedly connected at the front end of the control box (2), a fixing rod (4) fixedly connected to the left and right sides of the outer surface of the waist fixation structure (3), a thigh assist mechanism (5) fixedly mounted at the lower end of each of the two fixing rods (4), a calf assist mechanism (6) fixedly mounted at the lower end of each of the two thigh assist mechanisms (5), an upper arm assist mechanism (7) movably mounted at the left and right ends of the U-shaped backplate (1) via bearings, and a forearm assist mechanism (8) fixedly mounted at the front end of each of the two upper arm assist mechanisms (7); the thigh assist mechanism (5) includes a joint mounting bracket (51), the joint... A motor mount (52) is fixedly connected to the outer surface of the mounting bracket (51). A motor (53) is fixedly mounted on the upper end of the motor mount (52). A drive gear (54) is fixedly mounted on the output end of the motor (53). A transmission gear (55) is meshed with the outer surface of the drive gear (54). A sector gear (56) is meshed with the outer surface of the transmission gear (55). A transmission plate (57) is fixedly connected to the lower part of the outer surface of the sector gear (56). A fixing strap (58) is fixedly connected to the left end of the right side of the transmission plate (57). A third adjusting buckle (59) is movably mounted on the fixing strap (58). The lower end of the transmission plate (57) is fixedly connected to the upper end of the corresponding lower leg assist mechanism (6). The upper end of the mounting bracket (51) at the joint is fixedly connected to the lower end of the corresponding fixing rod (4). This human-machine collaboration method includes the following steps: Step 1: The caregiver stands on a flat surface and unfolds the waist fixation structure (3) of the exoskeleton device. The first adjustment buckle (33) on the waist canvas adjustment strap (31) is used to adjust the strap to fit snugly against the waist. At this time, the silicone rubber pad (32) is in full contact with the waist, improving the comfort and stability of wearing the device. Then, the two shoulder straps (34) are draped over the shoulders, and the second adjustment buckle (36) of the chest strap (35) is adjusted to tighten the chest strap (35) appropriately, ensuring that the U-shaped back panel (1) fits snugly against the back. Then, the legs are placed into the corresponding thigh assist mechanism (5) and calf assist mechanism (6) respectively. Use the third adjustment buckle (59) on the fixed strap (58) to firmly fix the legs, ensuring that the transmission plate (57) matches the leg movement trajectory. The fixed strap (58) should fit the legs tightly but not affect blood circulation. Then put the arms into the upper arm assist mechanism (7) and the lower arm assist mechanism (8), and fix them with the corresponding fixed strap (58) to make the arms stably connected to the assist mechanism. After completing the wearing, press the start button on the control box (2). The exoskeleton device enters the initialization state. The system automatically detects whether the connection of each mechanism is normal. If there is an abnormality, an alarm will be issued. If it is normal, it will enter the standby mode. Step 2: When caregivers perform nursing operations, such as bending over, raising legs, and extending arms, the movements are directly transmitted to the various assistive mechanisms of the exoskeleton because the various parts of the body are tightly connected to the exoskeleton device through the fixed straps (58). When bending over, the movement of the waist is transmitted to the fixed rod (4) through the waist fixed structure (3). At the same time, the movement of the legs is driven by the fixed straps (58) to cause the joint mounting bracket (51) in the thigh assistive mechanism (5) to change angle. During the leg raising process, the movement of the legs causes the lower leg assistive mechanism (6) and the thigh assistive mechanism (5) to move relative to each other through the fixed straps (58). The information transmitted by these movements is transmitted to the processor in the control box (2). The processor performs preliminary processing on this information to provide a basis for subsequent assistive control. Step 3: The processor in the control box (2) calculates the required amount and direction of assistance based on the acquired intention information and the preset assist algorithm. When the elderly person is lifting their leg, the processor calculates the torque required by the motor (53) based on the current meshing state of the drive gear (54), transmission gear (55), and sector gear (56) in the thigh assist mechanism (5) and the leg movement information transmitted through the fixing strap (58). Then, the processor sends a control command to the corresponding motor (53). (53) Start and drive the drive gear (54) to rotate. The drive gear (54) drives the transmission gear (55) through meshing transmission, which in turn causes the sector gear (56) to rotate. The sector gear (56) drives the transmission plate (57) to move. The transmission plate (57) transmits the assistance to the legs through the fixed strap (58) to assist the caregiver in completing the leg lifting action. When the arm is supporting the elderly, the upper arm assist mechanism (7) and the lower arm assist mechanism (8) provide coordinated assistance based on the action signal transmitted by their fixed strap (58) in the same way. Step 4: Throughout the nursing operation, the exoskeleton device continuously senses changes in human movement and the influence of the external environment through the fixation straps (58). Based on this real-time sensed information, the processor continuously adjusts the assistance strategy. When the caregiver encounters an unstable center of gravity while moving the elderly, the body tilt will cause uneven tension changes through the fixation straps (58). The processor will immediately adjust the assistance level of the thigh assistance mechanism (5) and the calf assistance mechanism (6) on both sides. By changing the output torque of the motor (53), the adjusted assistance is transmitted to the legs through the fixation straps (58) to help the caregiver maintain body balance. At the same time, the system records the tension changes of the fixation straps (58) and assistance data information in each movement. Through machine learning algorithms, the assistance parameters are continuously optimized to make the exoskeleton device and the caregiver's movements more coordinated, improving the smoothness and safety of human-machine collaboration.

2. The human-machine collaboration method for the exoskeleton device used to assist elderly caregivers according to claim 1, characterized in that, The left end of the motor mount (52) on the right side and the left end of the motor (53) on the right side are fixedly connected to the right end of the mounting bracket (51) at the right joint. The output end of the motor (53) on the right side passes through the right end of the mounting bracket (51) at the right joint and extends into the mounting bracket (51) at the right joint.

3. The human-machine collaboration method for the exoskeleton device for assisting elderly caregivers according to claim 1, characterized in that, The drive gear (54), transmission gear (55) and sector gear (56) are all located in the joint mounting bracket (51), and all have gaps with the inner wall of the joint mounting bracket (51).

4. The human-machine collaboration method for the exoskeleton device for assisting elderly caregivers according to claim 1, characterized in that, The left end of the right-side drive gear (54), the left end of the right-side transmission gear (55), and the left end of the right-side sector gear (56) are all movably connected to the left inner wall of the right-side joint mounting bracket (51) via a rotating shaft. The right end of the right-side transmission gear (55) and the right end of the right-side sector gear (56) are also movably connected to the right inner wall of the right-side joint mounting bracket (51) via a rotating shaft.

5. The human-machine collaboration method for the exoskeleton device for assisting elderly caregivers according to claim 1, characterized in that, The outer surface of the mounting bracket (51) at the joint has an inward and outward through movable groove. The upper part of the transmission plate (57) is movably sleeved in the movable groove, and there is a gap between it and the inner wall of the movable groove.

6. The human-machine collaboration method for an exoskeleton device for assisting elderly caregivers according to claim 1, characterized in that, The two thigh assist mechanisms (5), the two calf assist mechanisms (6), the two upper arm assist mechanisms (7) and the two forearm assist mechanisms (8) have the same structure and are all distributed in pairs in a mirror image.

7. The human-machine collaboration method for the exoskeleton device for assisting elderly caregivers according to claim 1, characterized in that, The waist fixing structure (3) includes a waist canvas adjusting belt (31), the inner ring of which is fixedly connected to a silicone rubber pad (32), a first adjusting buckle (33) is movably installed on the waist canvas adjusting belt (31), two shoulder straps (34) are fixedly connected to the front of the outer surface of the waist canvas adjusting belt (31), a chest strap (35) is fixedly connected between the two shoulder straps (34), a second adjusting buckle (36) is movably installed on the chest strap (35), and the outer surface of the waist canvas adjusting belt (31) is fixedly connected to the front end of the control box (2).

8. The human-machine collaboration method for the exoskeleton device for assisting elderly caregivers according to claim 7, characterized in that, The upper parts of both shoulder straps (34) are fixedly connected to the rear inner wall of the U-shaped back plate (1).

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