Passive transport exoskeleton based on variable stiffness gravity compensator and its application method

The passive transport exoskeleton using a variable stiffness gravity compensator, utilizing a cam structure and a spring-lever variable stiffness mechanism, solves the problem that existing devices cannot adapt to individual differences and gait characteristics, achieving efficient energy recovery and precise assistance, and reducing muscle fatigue and joint load.

CN122125659APending Publication Date: 2026-06-02HEFEI UNIV OF TECH
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
HEFEI UNIV OF TECH
Filing Date
2026-03-11
Publication Date
2026-06-02

AI Technical Summary

Technical Problem

Existing passive hip-assist exoskeleton devices cannot adapt to the individual differences of different users, have poor energy recovery, insufficient assist accuracy, and poor gait adaptability, leading to problems such as muscle fatigue and excessive joint load.

Method used

The passive transport exoskeleton based on variable stiffness gravity compensator uses a cam structure to match the biomechanics of the human hip joint, combined with a spring-lever variable stiffness mechanism and ratchet pawl clutch to achieve precise energy recovery and release, adapting to different body types and gait characteristics, and reducing muscle load.

Benefits of technology

It improves the accuracy of energy recovery, reduces the risk of muscle strain, enhances the efficiency and safety of handling operations, adapts to diverse user needs, and reduces energy waste and muscle burden.

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Abstract

This invention discloses a passive transport exoskeleton based on a variable stiffness gravity compensator and its usage method. The passive transport exoskeleton includes a back strap assembly, a hip fixation assembly, a back linkage assembly, and a thigh actuator assembly. An energy recovery assist device is fixedly connected to the bottom end of the back linkage assembly, located to the side of the hip fixation assembly. The energy recovery assist device includes a bending assist device fixedly connected to the back linkage assembly, a walking assist device driven by the top end of the thigh actuator assembly, a clutch device coaxially mounted on the power transmission shaft of the walking assist device, a pulley system driven by the bending assist device, and a Bowden rope device connecting the clutch devices on both sides. This device requires no external energy supply, relying on its mechanical structure to achieve energy storage, release, and recovery and reuse of negative energy. It can precisely adapt to human gait, match appropriate assist timing, effectively assist hip joint movement, and reduce joint load and human energy consumption.
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