Lower limb exoskeleton connecting assembly and exoskeleton device

Abstract

The invention provides a lower limb exoskeleton connecting assembly and an exoskeleton device, relates to an exoskeleton device, and aims to solve the double defects of the lower limb exoskeleton in adaptability and training flexibility, a distance adjusting driving element drives a transmission assembly to synchronously drive supporting arms on the two sides to be separated from or close to each other on a base. Due to the fact that the supporting arm is connected with the lower limb exoskeleton through the connecting piece, electric, synchronous and accurate adjustment of the width of the hip joint of the exoskeleton is directly achieved, and rapid adaptation to the thighbone distances of different users is achieved. When a user needs independent training, the longitudinal lifting mechanism is started to enable the whole support to descend, in the descending process, due to the fact that connection is detachable, the transmission block and the supporting arm are automatically separated, and the exoskeleton and the walking assisting support are separated, the user can conduct independent walking training without assistance, and different rehabilitation training requirements are met.

Description

TECHNICAL FIELD

[0001] The present application relates to an exoskeleton device, in particular to a lower limb exoskeleton connecting assembly and an exoskeleton device. BACKGROUND

[0002] As an important equipment for rehabilitation training and action assistance, the lower limb exoskeleton needs to meet the needs of the adaptability of different user body types and the diversity of training modes. On the one hand, it needs to adapt to different body types. The width of the traditional exoskeleton hip joint is mostly adjusted by the operating personnel during use (such as bolt locking and bolt fixing), which is complicated and has low adjustment accuracy, and it is difficult to adapt to the femoral spacing difference of users with different body types, which may cause discomfort or motion interference. On the other hand, it needs to adapt to the user's body state. Some users with poor lower limb strength need to use the walking aid in the form of lifting, while some users with good lower limb strength but poor mobility need to exercise by walking independently. However, the existing connecting structure is mostly fixed and rigid, and cannot realize the quick switching of the "walking aid" and "independent walking" modes, which limits the progressive training of rehabilitation training, such as the transition from dependence to autonomous walking.

[0003] The lower limb exoskeleton width adjustment mechanism disclosed in the prior art can achieve adjustment to adapt, but its flexibility is still low. The exoskeleton and the walking aid connecting structure use fixed buckles, which cannot move synchronously with the exoskeleton width adjustment, and have no independent lifting function, making it difficult to realize the mode switching of walking aid and independent walking. Therefore, the flexibility of the existing lower limb exoskeleton rehabilitation training is low, and the adaptability cannot meet the needs. SUMMARY

[0004] Therefore, the present application provides a lower limb exoskeleton connecting assembly and an exoskeleton device, which can conveniently adjust the width of the lower limb exoskeleton and realize the switching of different modes.

[0005] The first object of the present application is to provide a lower limb exoskeleton connecting assembly, which adopts the following scheme: It comprises: The distance adjusting assembly comprises a base, a support arm and a connecting piece. The support arm is slidably connected to the two sides of the base, and the connecting piece is installed on the support arm to connect the lower limb exoskeleton. The two support arms are connected to the distance adjusting driving element through the transmission assembly to synchronously control the movement of the support arms relative to the base, thereby adjusting the distance between the two support arms and the lower limb exoskeleton connected thereto. The walking aid connecting assembly comprises a support, a transmission block and a longitudinal lifting mechanism. The support is provided with a horizontal optical axis, and the two transmission blocks are slidably connected to the horizontal optical axis. The transmission block is detachably connected to the support arm through the support mechanism and moves with the support arm in the connected state. The longitudinal lifting mechanism is connected to the support at the output end.

[0006] Further, the transmission assembly comprises a screw and slider mechanism, one end of a screw of the screw and slider mechanism is connected to the distance adjustment driving element, two synchronous output ends of the distance adjustment driving element are connected to screws corresponding to two arms respectively, a nut slider of the screw and slider mechanism is fixedly connected to the arm, and the screw axis direction is parallel to the moving direction of the arm corresponding to the screw axis direction.

[0007] Further, the transmission assembly further comprises a guide mechanism, the guide mechanism comprises a guide rod fixed on the base, a through hole is pre-set on the nut slider to slide fit the guide rod, and the guide rod is distributed parallel to the screw axis.

[0008] Further, the arms on both sides of the base are distributed symmetrically relative to the vertical bisector of the connecting line, and the two arms are synchronously away from or close to each other under the driving of the distance adjustment driving element.

[0009] Further, the support mechanism comprises a support column and a socket block mounted on the arm, the support column is connected to the transmission block through a support rod, and the socket block is provided with a socket hole for inserting the support column.

[0010] Further, the support rod is located below the support column, the support column is slidably inserted into the socket hole, and the top surface of the support rod supports the socket block to lift the distance adjustment assembly and the lower limb exoskeleton connected thereto.

[0011] Further, the arm is an L-shaped curved structure, and the connector and the socket block mounted on the same arm are located on different sides of the arm.

[0012] Further, the support frame is provided with at least two parallel distributed horizontal optical axes, at least two light holes are respectively formed in each transmission block, and the light holes on each transmission block are in one-to-one correspondence with the horizontal optical axes and are slidably fitted.

[0013] Further, the vertical lifting mechanism is connected to the middle part of the support frame to support the distance adjustment assembly through the support frame and the support mechanism.

[0014] The second object of the application is to provide an exoskeleton device using the lower limb exoskeleton connecting assembly as in the first object.

[0015] Compared with the prior art, the application has the advantages and positive effects that: In view of the dual defects of lower limb exoskeleton in adaptability and training flexibility, the adjusting distance driving element drives the transmission assembly to synchronously drive the two side arms to separate or approach on the base. Since the arms are connected with the lower limb exoskeleton through the connecting piece, the process directly converts into the electric, synchronous and accurate adjustment of the width of the exoskeleton hip joint, and the rapid adaptation to the femoral spacing of different users is realized. The "detachable connection" between the transmission block and the arm and the "sliding fit" with the horizontal optical axis are realized. When the user is in the "walking aid" mode, the transmission block is in the connected state with the arm. If the width adjustment is started by the adjusting distance assembly, the horizontal movement of the arm will directly drive the transmission block. Since the transmission block is in sliding fit with the horizontal optical axis, it will smoothly move along the optical axis. This ensures that the walking support can follow the width change of the exoskeleton in real time and move synchronously, and fundamentally solves the problem of structural jamming or support failure. When the user needs independent training, the vertical lifting mechanism is started to make the support body drop. During the dropping process, since the connection is detachable, the transmission block and the arm are automatically separated, the exoskeleton and the walking support are separated, and the user can perform independent walking training without assistance, thereby meeting the needs of different rehabilitation training.

[0016] The two synchronous output ends of the adjusting distance driving element are connected with the lead screws on the two sides, the synchronous movement of the two arms is realized, the symmetry of the exoskeleton during width adjustment is ensured, the user is located in the center position, the balance and correct gait can be better maintained, the rotary motion of the adjusting distance driving element is efficiently converted into the linear motion of the nut block by the lead screw, the advantages of high precision, stable transmission and self-locking are realized, and the accuracy of adjustment and the stability of position are ensured. BRIEF DESCRIPTION OF DRAWINGS

[0017] The drawings constituting a part of the specification of the present application are used to provide a further understanding of the present application, the schematic embodiments of the present application and the description thereof are used to explain the present application, and do not constitute an improper limitation on the present application.

[0018] Figure 1 It is a structural schematic view of the lower limb exoskeleton connecting assembly in one or more embodiments of the present application.

[0019] Figure 2 It is a schematic view of the adjusting distance assembly in one or more embodiments of the present application.

[0020] Figure 3 It is a schematic view of the walking connecting assembly in one or more embodiments of the present application.

[0021] Figure 4 It is a schematic view of the support connecting vertical lifting mechanism in one or more embodiments of the present application.

[0022] Wherein, 1, distance adjusting assembly; 2, walking aid connecting assembly; 11, base; 12, double-output shaft motor; 13, shaft coupling; 14, left orthodontic screw; 15, right reverse toothed screw; 16, nut block; 17, guide rail; 18, support arm; 19, connecting piece; 110, control assembly; 111, socket block; 21, support column; 22, transmission block; 23, transverse optical axis; 24, bracket; 25, longitudinal lifting mechanism. DETAILED DESCRIPTION

[0023] Embodiment 1 In a typical embodiment of the present application, as shown in Figures 1-4 A lower limb exoskeleton connecting assembly is given.

[0024] The existing lower limb exoskeleton is double-lacking in adaptability and training flexibility, and there is a contradiction caused by the inability to effectively integrate the width adjustment function suitable for different user body types and the training mode switching function suitable for different user body states. The existing device is inconvenient to adjust the width, or cannot flexibly switch between walking aid and independent walking mode, especially when adjusting the width, the walking aid device cannot coordinate movement, resulting in low rehabilitation training flexibility and poor comprehensive adaptability of the device as a whole. Based on this, the present embodiment provides a lower limb exoskeleton connecting assembly, which can drive the transmission assembly to synchronously drive the two support arms 18 on the base 11 to separate or approach, and since the support arms 18 are connected to the lower limb exoskeleton through the connecting pieces 19, this process directly translates into electric, synchronous and precise adjustment of the width of the exoskeleton hip joint; through the detachable connection of the walking aid connecting assembly 2 and the distance adjusting assembly 1, different rehabilitation training needs are matched by using the connected state and the separated state.

[0025] As shown in Figures 1-4 A lower limb exoskeleton connecting assembly comprising a distance adjusting assembly 1 and a walking aid connecting assembly 2, the distance adjusting assembly 1 and the walking aid connecting assembly 2 can realize linkage and separation.

[0026] The distance adjusting assembly 1 is the basis of body adaptation, which is composed of a base 11, two support arms 18 which can slide on the base 11, and a distance adjusting driving element and a transmission assembly. The support arms 18 are slidably connected to the two sides of the base 11, and the connecting pieces 19 are installed on the support arms 18 to connect the lower limb exoskeleton. The two support arms 18 on the two sides are connected to the distance adjusting driving element through the transmission assembly to synchronously control the movement of the support arms 18 relative to the base 11, so as to adjust the distance between the two support arms 18 and the lower limb exoskeleton connected thereto. In this embodiment, the distance adjusting driving element can adopt a double-output shaft motor 12. When the distance adjusting driving element is started, the two output ends drive the support arms 18 on the two sides to separate or approach on the base 11 synchronously through the transmission assembly. Since the support arms 18 are connected to the lower limb exoskeleton through the connecting pieces 19, this process directly translates into the electric, synchronous and accurate adjustment of the width of the exoskeleton hip joint, solves the problems of complicated adjustment and low precision in the traditional way, and realizes the rapid adaptation to the femoral distance of different users.

[0027] The walking aid connecting assembly 2 realizes body state adaptation and cooperative movement. The walking aid connecting assembly 2 includes a support 24, a transverse optical axis 23 installed on the support 24, a transmission block 22 which can slide on the optical axis, and a longitudinal lifting mechanism 25 which controls the overall lifting of the support 24. The transverse optical axis 23 is installed on the support 24, and the two transmission blocks 22 are slidably connected to the transverse optical axis 23. The transmission block 22 is detachably connected to the support arm 18 through the support mechanism and moves with the support arm 18 in the connected state. The output end of the longitudinal lifting mechanism 25 is connected to the support 24.

[0028] When the user is in the walking aid assisted mode, the transmission block 22 is in the connected state with the support arm 18. At this time, if the distance adjusting assembly 1 is started to adjust the width, the transverse movement of the support arm 18 will directly drive the transmission block 22. Since the transmission block 22 is slidably connected to the transverse optical axis 23, the transmission block 22 moves along the optical axis. This ensures that the walking aid support 24 can move synchronously in real time with the change in the width of the exoskeleton, thereby solving the problem of structural jamming or support failure.

[0029] The switching of modes is realized through the longitudinal lifting mechanism 25 and the detachable connection linkage.

[0030] When switching to the walking aid assisted mode, for users who need assistance, the longitudinal lifting mechanism 25 is started to make the support 24 rise as a whole. During the rising process, the transmission block 22 is connected to the support mechanism on the support arm 18, and at this time the exoskeleton obtains the stable support of the support 24.

[0031] When the user needs to train independently, the longitudinal lifting mechanism 25 is started to lower the support 24 as a whole. During the lowering process, the transmission block 22 is automatically separated from the support arm 18 due to the detachable connection, and the exoskeleton is separated from the walking aid support 24, so that the user can perform independent walking training without assistance.

[0032] The embodiment is not a single width adjustment or mode switching, but an organic combination of the two, achieving synchronous linkage of width adjustment and walking aid support, solving the structural interference problem between functions. The user can quickly and seamlessly switch between walking aid assistance and independent walking modes through simple electric operation, adapting to the transition needs from dependence to autonomy in rehabilitation training. The electric width adjustment and lifting function simplifies the operation and can quickly and accurately adapt to the body types and physical conditions of different users, significantly improving the wearing comfort and use convenience of the device.

[0033] As shown in Figure 1 , Figure 2 , the transmission assembly includes a screw block mechanism, one end of the screw of the screw block mechanism is connected to the pitch adjustment driving element, the two synchronous output ends of the pitch adjustment driving element are respectively connected to the screws corresponding to the two support arms 18, the nut block 16 of the screw block mechanism is fixedly connected to the support arm 18, and the screw axis direction is parallel to the moving direction of the support arm 18 corresponding to the screw. The screw block mechanism is used as the core of power transmission, and a guide mechanism is used to ensure the stability of movement.

[0034] The transmission assembly further includes a guide mechanism, the guide mechanism includes guide rods fixed on the base 11, and the nut block 16 is provided with a through hole for sliding fit with the guide rods, and the guide rods are distributed in parallel with the screw axis.

[0035] The two synchronous output ends of the pitch adjustment driving element are connected to the screws on both sides through the shaft couplings 13, realizing synchronous movement of the two support arms 18, ensuring that the exoskeleton always remains symmetrical when adjusting the width, so that the user is in the central position, facilitating the maintenance of balance and correct gait. The screw efficiently converts the rotary motion of the motor into the linear motion of the nut block 16 fixed on the support arm 18, and the screw block mechanism has the advantages of high precision, stable transmission and self-locking, ensuring the accuracy of adjustment and the stability of position.

[0036] Pure screw transmission may produce shaking or jamming when bearing lateral force or torque. Therefore, in the embodiment, parallel guide rods are added. The nut block 16 slides on the guide rods while moving along the screw. The guide rods do not transmit power, and their function is to provide a high-rigidity guide to constrain the block to purely linear motion, thereby improving the smoothness and stability of the support arm 18 during movement and effectively avoiding the jamming phenomenon.

[0037] Through the combination of the screw block mechanism and the guide mechanism, not only the electric, accurate and synchronous width adjustment is realized, but also the high stability and high reliability of the adjustment process are ensured, thereby providing a reliable engineering implementation scheme for solving the problems of complicated adjustment and low precision.

[0038] In the embodiment, the pitch adjustment driving unit adopts a double-output-shaft motor 12, such as a double-output-shaft servo motor, the screw rods corresponding to the screw block mechanisms connected at the two ends of the double-output-shaft motor 12 are a left-side right-threaded screw rod 14 and a right-side left-threaded screw rod 15, the output shafts at the two ends are connected to the left-side right-threaded screw rod 14 and the right-side left-threaded screw rod 15 through elastic couplings 13 respectively, the double-output-shaft motor 12 is fixed to a base 11 and provides bidirectional rotary power. The double-output-shaft motor 12 has a rated power of 200 W, a rotating speed of 3000 rpm, an output torque of 0.64 N·m, and an incremental encoder (resolution 1000 ppr). The left-side right-threaded screw rod 14 and the right-side left-threaded screw rod 15 are made of 45# steel and are quenched and tempered, and have a precision of C7 level; the guide rods are chrome-plated light shafts and have a straightness of ≤0.1 mm / m.

[0039] In the embodiment, the two support arms 18 on the two sides of the base 11 are symmetrically distributed relative to the vertical bisector of the line connecting the two support arms 18, and the two support arms 18 are synchronously away from or close to each other under the driving of the pitch adjustment driving element. The support arm 18 is an L-shaped curved structure, specifically, the support arm 18 is an L-shaped aluminum alloy component with a thickness of 5 mm, one end of which is rigidly fixed to the nut block 16 through a bolt and a nut, and the other end is detachably connected to the exoskeleton hip joint module through a lower-limb exoskeleton connecting piece 19. The connecting piece 19 adopts a flange disc with a waist-shaped hole, and the connecting piece 19 and the support arm 18 and the connecting piece 19 and the lower-limb exoskeleton are fastened through bolts, with a reserved adjustment allowance of ±3 mm.

[0040] In the embodiment, a control assembly 110 is further configured, the control assembly 110 includes a wireless handle (with forward / reverse rotation buttons) and a key panel (integrated into an exoskeleton control panel), and receives instructions through an STM32F103 microcontroller to control the forward / reverse rotation of the double-output-shaft motor 12 and drive the nut block 16 to synchronously close or separate.

[0041] As Figure 3 and Figure 4As shown, the support mechanism includes a support column 21 and a socket block 111 mounted on the support arm 18, the support column 21 is connected to the transmission block 22 through a support rod, and the socket block 111 is provided with a socket for inserting the support column 21. The support rod is located below the support column 21, the support column 21 is in sliding insertion fit with the socket, and the top surface of the support rod supports the socket block 111 to lift the distance adjusting assembly 1 and the lower limb exoskeleton connected thereto. The inside of the socket block 111 is provided with a semicircular arc groove with a radius matching the support column 21, the support column 21 of the walking aid support 24 is cylindrical with a diameter of 25 mm, and the top end of the support column 21 is provided with a hemispherical guide head. The support column 21 and the socket block 111 are concentrically matched through the groove and the vertical column to realize radial positioning, and support the lateral load of the exoskeleton (bearing capacity ≥1000N).

[0042] The socket block 111 mounted on the support arm 18 of the distance adjusting assembly 1 serves as a female head, and the support column 21 connected to the transmission block 22 of the walking aid connecting assembly 2 serves as a male head. When the mode is switched, the support column 21 is vertically inserted into or pulled out of the socket on the socket block 111. The fit of the support column 21 and the socket mainly provides lateral (radial) positioning and stability to prevent shaking. The vertical lifting force is borne by the top surface of the support rod located below the support column 21 directly supporting the bottom surface of the socket block 111. The support arm 18 and the socket block 111 can both be made of 6061 aluminum alloy with surface anodizing treatment; the support column 21 is made of 304 stainless steel with a diameter of 25 mm and a length of 300 mm.

[0043] The insertion fit is responsible for precise positioning, and the flat support is responsible for stable bearing. The structure is clear in force, avoiding the side wall of the socket bearing huge shear force and friction force at the same time, greatly improving the reliability and service life of the connection.

[0044] The docking process is simplified, the vertical insertion docking method has a certain self-alignment effect, reduces the harsh requirements on the positioning accuracy of the lifting mechanism during mode switching, and makes the automatic switching process smoother and more reliable.

[0045] When the vertical lifting mechanism 25 lifts the support 24, the support column 21 will be inserted into the socket of the socket block 111 from bottom to top. This insertion method is simple in structure, easy to align, and can provide good radial (lateral) rigidity, effectively supporting the user. When separation is needed, the lifting mechanism is lowered, and the support column 21 is withdrawn from the socket, completing the separation.

[0046] The top surface of the support rod located below the support column 21 directly supports the socket block 111. The vertical support force transmission path in the walking aid mode is the user's weight → exoskeleton → support arm 18 → socket block 111 → support rod → support column 21 → transmission block 22 → support bracket 24 → longitudinal lifting mechanism 25. This design allows the lifting force to act directly on the bottom of the socket block 111, making the force clear and the structure stable. The socket design provides a specific implementation for the quick and reliable switching between walking aid assistance and independent walking modes. It not only ensures the support stiffness in the connected state, but also realizes the convenience and smoothness of the separation process.

[0047] The connecting member 19 connected to the exoskeleton and the socket block 111 for support are arranged on the opposite sides of the L-shaped support arm 18, avoiding the spatial conflict of the two key functional components. This allows the support mechanism to connect with the support arm 18 from below smoothly without interfering with the hip joint module of the exoskeleton.

[0048] The transmission block 22 is slidably connected with two parallel horizontal light shafts 23 through two light holes. At least two light holes are provided on each transmission block 22, and the light holes on each transmission block 22 are slidably connected with the horizontal light shafts 23 one by one. Compared with a single light shaft, the double light shaft structure can effectively resist the torsional moment of the transmission block 22 during movement, preventing it from rotating or being stuck on the light shaft, and enhancing the smoothness and stability of the walking aid bracket 24 when following the exoskeleton to adjust the width.

[0049] The longitudinal lifting mechanism 25 is placed in the middle of the support bracket 24, which can ensure that the lifting force is evenly applied to the entire support bracket 24. This avoids the inclination of the support bracket 24 caused by uneven force, ensuring that the support bracket 24 remains horizontal during lifting, so that the two support columns 21 can be inserted or separated from the socket block 111 simultaneously and accurately, ensuring the success rate and safety of the mode switching process.

[0050] The walking aid connection assembly 2 is fixed to the longitudinal lifting mechanism 25 by the L-shaped structure of the support bracket 24. The longitudinal lifting mechanism 25 can use a linear drive formed by a stepper motor driving a ball screw, with a positioning accuracy of ±0.05mm, a repeat positioning accuracy of ±0.02mm, and a maximum load of 50kg. The support bracket 24 is lifted as a whole, and the lifting is controlled by independent buttons. The double output shaft motor 12 drives the positive and negative toothed screw to realize electric adjustment of the hip joint width. The operation is labor-saving, and the adjustment accuracy is ±0.1mm. It is suitable for users of different body types (femoral distance 350-500mm), and solves the problem of complicated manual adjustment. The width adjustment limit position is set, and the overtravel protection is realized by the motor limit switch. The longitudinal module lifting position is calibrated to ensure that the concentricity error between the support column 21 and the socket block 111 is ≤0.5mm.

[0051] Based on the concentric matching design of the socket block 111 and the support column 21, the "walking aid" and "independent walking" mode switching can be realized without tools, meeting the progressive needs from dependence to autonomy in rehabilitation training. The support column 21 moves synchronously with the adjustment of the exoskeleton width through the transmission block 22, avoiding structural jamming; the walking support 24 is independently electrically lifted and lowered, adapting to different training scenes and improving the safety and adaptability of use. The lower limb exoskeleton connecting piece 19 adopts a standardized flange design, which can adapt to various brand exoskeleton hip joint modules, reducing the modification cost.

[0052] Embodiment 2 In another typical embodiment of the present application, as shown in Figures 1-4 An exoskeleton device is given, which utilizes the lower limb exoskeleton connecting assembly as in embodiment 1.

[0053] The lower limb exoskeleton of the exoskeleton device is assembled with the connecting piece 19, so as to adjust the distance under the drive of the distance adjusting assembly 1.

[0054] The above only describes the preferred embodiments of the present application and is not used to limit the present application. For those skilled in the art, the present application can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A lower extremity exoskeleton connection assembly, comprising: The application relates to a lower limb exoskeleton connecting assembly. The transmission assembly comprises a screw sliding block mechanism, one end of a screw of the screw sliding block mechanism is connected with a distance adjusting driving element, two synchronous output ends of the distance adjusting driving element are connected with screws corresponding to two arms respectively, a nut sliding block of the screw sliding block mechanism is fixedly connected with the arms, and the screw axis direction is parallel to the moving direction of the corresponding arm. The transmission assembly further comprises a guide mechanism, the guide mechanism comprises guide rods fixed on the base, and the nut sliding block is provided with a preset through hole for slidingly matching the guide rods, and the guide rods are parallel to the screw axis.

2. The lower extremity exoskeleton connection assembly of claim 1, wherein, The arms on the two sides of the base are symmetrically distributed relative to the vertical bisector of the connecting line, and the two arms are synchronously away from or close to each other under the driving of the distance adjusting driving element.

3. The lower extremity exoskeleton connection assembly of claim 2, wherein, The support mechanism comprises a support column and a socket block mounted on the arm, the support column is connected to the transmission block through a support rod, and the socket block is provided with a socket hole for inserting the support column.

4. The lower extremity exoskeleton connection assembly of claim 1 or 2 or 3, wherein, The support rod is located below the support column, the support column is slidingly inserted into the socket hole, and the support rod top surface supports the socket block to lift the distance adjusting assembly and the connected lower limb exoskeleton.

5. The lower extremity exoskeleton connection assembly of claim 1, wherein, The arm is an L-shaped curved structure, and the connecting element and the socket block mounted on the same arm are located on the opposite sides of the arm.

6. The lower extremity exoskeleton connection assembly of claim 5, wherein, The support mechanism comprises a support column and a socket block mounted on the arm, the support column is connected to the transmission block through a support rod, and the socket block is provided with a socket hole for inserting the support column.

7. The lower extremity exoskeleton connection assembly of claim 5 or 6, wherein, 10. An exoskeleton device using the lower limb exoskeleton connecting assembly according to any one of claims 1-9.

8. The lower extremity exoskeleton connection assembly of claim 1 or 5 or 6, wherein, ​ 9. The lower extremity exoskeleton connection assembly of claim 1, wherein, ​ ​

Images