Device for assisting the human torso

Abstract

The application relates to an apparatus for assisting a human torso, comprising a torso link (1) connected to the upper back of a user by a back strap (2), two thigh links (3) each coupled to the left and right thigh of the user by a leg strap (4), two hip joint hinges (5) each placed in alignment with the left and right hip joints of the user and configured to rotatably connect the torso link (1) and the two thigh links (3), and a torque generator (6) coupled to the two hip joint hinges (5) by Bowden cables (7) and configured to generate an assisting torque to reduce the moment load of the user.

Description

TECHNICAL FIELD

[0001] The present application relates to an apparatus for assisting human torso, and more particularly, to a portable apparatus worn by a user and reducing the moment load of the lumbar joint and the compression load of the back in lifting work. The apparatus can be applied in various scenarios such as factory, warehouse, hospital, airport, construction, delivery, and life assistance. BACKGROUND

[0002] It is reported that the work-related musculoskeletal disorders (WMSD) reach 250 billion dollars per year in the United States alone. Back injury is the most common WMSD, and it takes a long time to recover from back injury. Many jobs can cause back injury, such as luggage carrying, patient care, house building, car assembly, etc. In these jobs, workers need to frequently bend the torso, lift or hold, and put down, which generates a large moment load on the L5 / S1 region of the spine, causing muscle fatigue and back injury. Therefore, there is a great need for a torso assisting device that can provide assistance to the lumbar joint and relieve muscle fatigue. SUMMARY

[0003] The present application provides an apparatus for assisting human torso, which provides a restorative torque between the torso and the thigh, reducing muscle fatigue of the back in bending and lifting work.

[0004] Generally, the present application provides an apparatus for assisting human torso, the apparatus comprising:

[0005] a torso link connected to the upper back of a user through a back strap;

[0006] two thigh links respectively coupled with the left and right thighs of the user through leg straps;

[0007] two hip joint hinges respectively aligned with the left and right hip joints of the user and used to rotatably connect the torso link and the two thigh links; and

[0008] a torque generator coupled to the two hip joint hinges through Bowden cables and used to generate an assisting torque to reduce the moment load of the user.

[0009] According to an embodiment of the present application, the torso link comprises:

[0010] two hip links respectively rotatably coupled with the two hip joint hinges;

[0011] two cable connectors respectively fixed on the two hip joints and used to connect Bowden cables;

[0012] two upper hip links rotatably coupled to the two hip links via upper hip joints, respectively.

[0013] two waist links coupled to the two upper hip links, respectively, and fixed to a waist connector; and

[0014] a back link having one end fixed to the waist connector and the other end rotatably coupled to an upper back plate configured to follow a position change of an upper back of the user.

[0015] According to an embodiment of the present application, each of the hip joint includes:

[0016] a pulley fixed to the thigh link and rotatably coupled to the hip link;

[0017] a hinge bracket rotatably coupled to the pulley and connected to the harness; and

[0018] two end caps for locking an axial position of the pulley.

[0019] According to an embodiment of the present application, one end of the Bowden cable is caught in the pulley and the other end is connected to the torque generator.

[0020] According to an embodiment of the present application, the torque generator is attached to a waist position and drives the two hip joints via the Bowden cable.

[0021] According to an embodiment of the present application, the torque generator includes:

[0022] a support plate,

[0023] two shaft seats fixed to both ends of the support plate, respectively;

[0024] two outer slides movable between the two shaft seats;

[0025] two inner slides movable between the two outer slides; and

[0026] a compression spring connected between the inner slides and the outer slides;

[0027] one end of the Bowden cable is fixed to the outer slide and the other end is connected to one of the hip joints, and one end of the Bowden cable is fixed to the outer slide and the other end is connected to the other hip joint.

[0028] According to an embodiment of the present application, the torque generator further includes:

[0029] two shafts placed parallel to each other and supported by the shaft seats and the support plate;

[0030] The two outer sliding plates and the two inner sliding plates are connected to the shaft and can move smoothly along the shaft.

[0031] According to one embodiment of the present application, the torque generator further comprises:

[0032] A spring sleeve is fixed in the middle of the support plate and is also used to guide the compression spring.

[0033] According to one embodiment of the present application, the torque generator further comprises:

[0034] An elastic rope is connected between the outer sliding plate and the fixed point of the device, and is used to tension the Bowden cable.

[0035] According to one embodiment of the present application, when the user stands upright, the outer sliding plates and are in a preset initial position, and the distance between the outer sliding plates and is greater than the initial length of the compression spring.

[0036] According to one embodiment of the present application, when the user lifts one leg to a predetermined angle A, the compression spring is not compressed, at the predetermined angle A, one of the outer sliding plates is pulled by the Bowden cable to contact the corresponding inner sliding plate.

[0037] According to one embodiment of the present application, when the user bends over or squats, the angle between the torso and the thigh is less than or equal to A / 2, the compression spring is not compressed, when the user bends over or squats, the angle between the torso and the thigh decreases by more than A / 2, the compression spring is compressed, and an auxiliary torque is generated at the hip joint hinge to reduce the torque load of the user's waist joint.

[0038] According to one embodiment of the present application, the torque generator is installed on the torso link and drives two hip joint hinges through the Bowden cable, and the device further comprises a sensing control box, which is also installed on the torso link to provide control signals and energy for the torque generator.

[0039] According to one embodiment of the present application, the torque generator comprises:

[0040] A prime mover comprising a motor and a ball screw fixed on a bottom plate, the bottom plate being provided with a sliding rail; and

[0041] A sliding block connected with the ball screw and movable along the sliding rail by the prime mover;

[0042] The Bowden cable is connected between the sliding block and the hip joint hinge to provide a resistance torque between the torso link and the thigh link.

[0043] According to an embodiment of the present application, the Bowden cable includes an outgoing Bowden cable and a return Bowden cable, and the torque generator further includes two rollers, one of which is used for the outgoing Bowden cable and the other of which is used for the return Bowden cable, both of which are mounted on the slider; the outgoing Bowden cable is wound around the roller, and both ends thereof are connected to the two hip joint hinges respectively, and the return Bowden cable is wound around the other roller, and both ends thereof are also connected to the two hip joint hinges respectively.

[0044] According to an embodiment of the present application, the Bowden cable includes an outgoing Bowden cable, and the torque generator further includes a roller for the outgoing Bowden cable, which is mounted on a slider; the outgoing Bowden cable is wound around the roller, and both ends thereof are connected to the two hip joint hinges respectively, and the slider is moved backward to pull the outgoing Bowden cable by the motor.

[0045] According to an embodiment of the present application, the torque generator includes:

[0046] a base plate;

[0047] a prime mover including a motor fixed on the base plate

[0048] a slide rail fixed on the base plate;

[0049] a slider movable along the slide rail by the motor; and

[0050] a main pulley coupled with the motor;

[0051] wherein the motor drives the main pulley to pull the Bowden cable and move the slider backward.

[0052] According to an embodiment of the present application, the main pulley includes an inner ring and an outer ring, and a plurality of elastic elements are arranged between the inner ring and the outer ring, and the plurality of elastic elements are configured to measure the angular offset between the inner ring and the outer ring.

[0053] According to an embodiment of the present application, the prime mover includes a hydraulic cylinder or a pneumatic cylinder.

[0054] According to an embodiment of the present application, the sensing and control box is configured to monitor the motion state of the user and the force on the Bowden cable to send a control signal to the torque generator to tension the Bowden cable in a working state and ensure that the force on the Bowden cable is zero in a non-working state. BRIEF DESCRIPTION OF DRAWINGS

[0055] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments of the present application or the prior art description. Obviously, the drawings in the following description only some of the embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor on the basis of these drawings.

[0056] Figure 1 A side view of the device for assisting the human torso of a user during a lifting operation is shown;

[0057] Figure 2 A side view of the device for assisting the human torso is shown;

[0058] Figure 3 A back view of the torso link is shown, with the torque generator, harness and Bowden cable hidden;

[0059] Figure 4 A side view of the torso link is shown, with the torque generator, harness and Bowden cable hidden;

[0060] Figure 5 A close-up view of the upper end of the torso link is shown;

[0061] Figure 6 A device for accommodating tilting movements of the torso is shown schematically, with the torque generator, harness and Bowden cable hidden;

[0062] Figure 7 A device for accommodating rotation of the torso is shown schematically, with the torque generator, harness and Bowden cable hidden;

[0063] Figure 8 A close-up view of the hip joint hinge is shown, with the hip joint hinge housing hidden;

[0064] Figure 9 A top view of the torque generator is shown, with the protective housing hidden;

[0065] Figure 10 A side view of the torque generator is shown, with the protective housing hidden;

[0066] Figure 11 A schematic view of the state of the torque generator when the user is standing upright is shown;

[0067] Figure 12Fig. 1 shows a schematic view of the state of the torque generator when the user lifts one leg (e.g. the right leg) to a predetermined angle A according to the first embodiment of the present application;

[0068] Figure 13 Fig. 2 shows a schematic view of the state of the torque generator when the user steps according to the first embodiment of the present application, e.g. the left leg is stepped back by a predetermined angle B and the right leg is stepped forward by an angle (A+B);

[0069] Figure 14 Fig. 3 shows a schematic view of the state of the torque generator when the user bends or squats, the angle between the torso and the thigh is reduced by A / 2 according to the first embodiment of the present application;

[0070] Figure 15 Fig. 4 shows a schematic view of the state of the torque generator when the user bends or squats, the angle between the torso and the thigh is reduced by more than A / 2 according to the first embodiment of the present application;

[0071] Figure 16 Fig. 5 shows a side view of a device for assisting the human torso worn by a user during lifting work according to the second embodiment of the present application;

[0072] Figure 17 Fig. 6 shows a side view of a device for assisting the human torso according to the second embodiment of the present application;

[0073] Figure 18 Fig. 7 shows a back view of the torso link according to the second embodiment of the present application, with the torque generator, the harness and the Bowden cable hidden;

[0074] Figure 19 Fig. 8 shows a side view of the torso link according to the second embodiment of the present application, with the torque generator, the harness and the Bowden cable hidden;

[0075] Figure 20 Fig. 9 shows a close-up view of the upper end of the torso link;

[0076] Figure 21 Fig. 10 shows a schematic view of the device for adapting to the tilting motion of the torso according to the second embodiment of the present application, with the torque generator, the harness and the Bowden cable hidden;

[0077] Figure 22 Fig. 11 shows a schematic view of the device for adapting to the rotating motion of the torso according to the second embodiment of the present application, with the torque generator, the harness and the Bowden cable hidden;

[0078] Figure 23 Fig. 12 shows a close-up view of the hip joint hinge according to the second embodiment of the present application, with the hip joint hinge housing hidden;

[0079] Figure 24A close-up view of a simplified embodiment of the torque generator is shown, with the protective shell hidden;

[0080] Figure 25 A close-up view of a simplified embodiment of the torque generator is shown, with the protective shell hidden; Figure 24 A close-up view of a simplified embodiment of the torque generator is shown, with the protective shell hidden;

[0081] Figure 26 A close-up view of a simplified embodiment of the torque generator is shown, with the protective shell hidden; Figure 24 A close-up view of a simplified embodiment of the torque generator is shown, with the protective shell hidden;

[0082] Figure 27 A close-up view of a simplified embodiment of the torque generator is shown, with the protective shell hidden;

[0083] Figure 28 A close-up view of a simplified embodiment of the torque generator is shown, with the protective shell hidden; Figure 27 A close-up view of a simplified embodiment of the torque generator is shown, with the protective shell hidden;

[0084] Figure 29 A close-up view of a simplified embodiment of the torque generator is shown, with the protective shell hidden; Figure 27 A close-up view of a simplified embodiment of the torque generator is shown, with the protective shell hidden;

[0085] Figure 30 A close-up view of a simplified embodiment of the torque generator is shown, with the protective shell hidden;

[0086] Figure 31 A close-up view of a simplified embodiment of the torque generator is shown, with the protective shell hidden;

[0087] Figure 32 A close-up view of a simplified embodiment of the torque generator is shown, with the protective shell hidden; Figure 31 A close-up view of a simplified embodiment of the torque generator is shown, with the protective shell hidden;

[0088] Figure 33 A close-up view of a simplified embodiment of the torque generator is shown, with the protective shell hidden; Figure 31 A close-up view of a simplified embodiment of the torque generator is shown, with the protective shell hidden; and

[0089] Figure 34 A close-up view of a simplified embodiment of the torque generator is shown, with the protective shell hidden; DETAILED DESCRIPTION

[0090] In order to make the objects, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and cannot be used to limit the present application.

[0091] Embodiments of the present application are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference signs represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by reference to the drawings are exemplary and are intended to explain the present application, and cannot be understood as a limitation of the present application.

[0092] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected or indirectly connected to the other element.

[0093] In the description of the present application, it should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the purpose of facilitating the description of the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation of the present application.

[0094] In the first embodiment of the present application:

[0095] Figure 1 A side view of a device for assisting the human torso worn by a user in a lifting operation is shown. The device comprises a torso link 1, a harness 2, two thigh links 3, leg straps 4, two hip joint hinges 5, a torque generator 6 and Bowden cables 7. The torso link 1 is connected to the upper back of the user by the harness 2 and the two thigh links 3 are connected to the left and right thighs of the user by the leg straps 4 respectively. The two hip joint hinges 5 are placed in alignment with the left and right hip joints of the user respectively, and rotatably connect the torso link 1 and the thigh links 3. The torque generator 6 is connected to the waist position and drives the hip joint hinges 5 through the Bowden cables 7. Figure 2 is a side view of a device for assisting the human torso.

[0096] Figure 3 and Figure 4 respectively show a rear view and a side view of the torso link, with the torque generator, harness and Bowden cables hidden. Figure 5A close-up view of the upper end of the trunk linkage is shown. The trunk linkage 1 comprises two hip linkages 101 rotatably coupled with the left and right hip joint hinges 5 respectively. Two cable connectors 102 are fixed on the left and right hip linkages 101 respectively to connect the Bowden cable 7. Two upper hip linkages 104 are rotatably coupled with the left and right hip linkages 101 through upper hip hinges 103 respectively. This can allow abduction and adduction movement of the legs. Two waist linkages 105 are connected with the left and right upper hip linkages 104 respectively and then fixed on a waist connector 106. Two lower back linkages 107 are fixed on the waist connector 106 and connect an upper back linkage 109 through a middle connector 108. By adjusting the relative positions of the linkages, the size of the device can be changed to accommodate different body types. A linear bearing 110 is supported by the upper back linkage 109 and linearly coupled with a back shaft 111. One end of a connecting rod 112 is locked with the back shaft 111 and the other end is connected with a universal bearing 113. The universal bearing 113 is rotatably connected with an upper back plate 115 through an upper back hinge 114. When the user moves the trunk, the back shaft 111 slides and rotates relative to the linear bearing 110, and the universal bearing 113 rotates relative to the upper back plate 115, so that the upper back plate 115 can follow the position change of the upper back. As shown in Figure 6 and Figure 7 The device not only accommodates bending movement of the trunk, but also accommodates tilting and rotating movement of the trunk.

[0097] A close-up view of the hip joint hinge is shown, with the hinge shell hidden. The hip joint hinge 5 comprises a pulley 501 fixed with the thigh linkage 3 and rotatably coupled with the hip linkage 101 through a shaft and a bearing. A hinge support 502 is also rotatably connected with the pulley 501 and connects the harness 2 through a bandage 504. Two end caps 503 are used to lock the axial position of the bearing. One end of the Bowden cable 7 is clamped in a small hole on the pulley 501, and the other end is connected with the torque generator 6.

[0098] Figure 9 and Figure 10Fig. 1 is a top view of the torque generator with the protective shell hidden. The torque generator 6 comprises a support plate 601 on which a first axle seat 602A and a second axle seat 602B are fixed. A first axle 603A and a second axle 603B are placed parallel to each other and are supported by the first axle seat 602A and the second axle seat 602B. A first outer slide plate 604A and a second outer slide plate 604B and a first inner slide plate 605A and a second inner slide plate 605B are integrally formed with linear bearings and can move smoothly along the first axle 603A and the second axle 603B. A compression spring 606 is attached to the first inner slide plate 605A and the second inner slide plate 605B and is guided by the cylindrical structure of the first inner slide plate 605A and the second inner slide plate 605B. The middle part of the support plate 601 is fixed with a spring sleeve 607, which is also used to guide the spring 606. One end of the first Bowden cable 608A is fixed on the second outer slide plate 604B, and the other end is connected to the pulley of the left hip joint through the first cable connector 609A. One end of the second Bowden cable 608B is fixed on the first outer slide plate 604A, and the other end is connected to the pulley of the right hip joint through the second cable connector 609B. In some embodiments, a flexible rope 610 is added to the first outer slide plate 604A and the second outer slide plate 604B and is connected to some fixed point of the device. The flexible rope 610 is used to tension the first Bowden cable 608A and the second Bowden cable 608B, and for the sake of simplicity, it is not shown in the following figures.

[0099] Figure 11 Fig. 2 shows the state of the torque generator when the user is standing up. When the user is standing up, the first outer slide plate 604A and the second outer slide plate 604B are in the preset initial position. The distance between the first outer slide plate 604A and the second outer slide plate 604B is greater than the initial length of the compression spring 606 plus the thickness of the first inner slide plate 605A and the second inner slide plate 605B. The compression spring 606 is not compressed and the force on the Bowden cable 7 is very small (only the pre-tightening force). Therefore, the device does not exert torque on the user.

[0100] Figure 12 Fig. 3 shows the state of the torque generator when the user lifts one leg (for example, the right leg) to a predetermined angle A. The first outer slide plate 604A is pulled to the right by the second Bowden cable 608B and comes into contact with the first inner slide plate 605A, so that the slide plates 604A, 605A, 605B and the spring 606 all move to the right until the first inner slide plate 605B and the second outer slide plate 604B come into contact with each other. At this time, the distance between the first outer slide plate 604A and the second outer slide plate 604B is equal to the initial length of the compression spring 606 plus the thickness of the first inner slide plate 605A and the second inner slide plate 605B. The compression spring 606 is not compressed and the force on the Bowden cable 7 is very small (the pre-tightening force). Therefore, the device does not exert torque on the user.

[0101] Figure 13The state of the torque generator is shown when the user steps forward, for example, the left leg is stepped back to a predetermined angle B and the right leg is stepped forward to angle (A+B). When the left leg is stepped back to the predetermined angle B, the second outer slide plate 604B is pulled to the right side contact shaft seat 602B by the elastic cord. Therefore, the right leg can be freely stepped forward to angle (A+B). At this time, the distance between the first outer slide plate 604A and the second outer slide plate 604B is equal to the initial length of the compression spring 606 plus the thickness of the first inner slide plate 605A and the second inner slide plate 605B. The compression spring 606 is not compressed and the force on the Bowden wire 7 is very small (pre-tightening force). Therefore, the device does not apply torque to the user.

[0102] Figure 14 The state of the torque generator is shown when the user bends or squats and the angle between the torso and the thigh is reduced by an angle of A / 2. The first outer slide plate 604A and the second outer slide plate 604B are pulled towards the middle by the second Bowden wire 608B and the first Bowden wire 608A respectively, until the first outer slide plate 604A contacts the first inner slide plate 605A and the second outer slide plate 604B contacts the second inner slide plate 605B. At this time, the distance between the first outer slide plate 604A and the second outer slide plate 604B is equal to the initial length of the compression spring 606 plus the thickness of the first inner slide plate 605A and the second inner slide plate 6605B. The compression spring 606 is not compressed and the force on the Bowden wire 7 is very small (pre-tightening force). Therefore, the device does not apply torque to the user.

[0103] Figure 15 The state of the torque generator is shown when the user bends or squats and the angle between the torso and the thigh is reduced by an angle greater than A / 2. The first outer slide plate 604A and the second outer slide plate 604B are pulled to the middle by the second Bowden wire 608B and the first Bowden wire 608A respectively. The distance between the first outer slide plate 604A and the second outer slide plate 604B will be less than the initial length of the compression spring 606 plus the thickness of the first inner slide plate 605A and the second inner slide plate 6605B. The compression spring 606 is compressed and generates an assistive torque at the hip joint hinge 5 to reduce the moment load of the lumbar joint.

[0104] In the second embodiment of the present application:

[0105] Figure 16is a side view of an assisted human torso device worn by a user in a lifting task. The device comprises a torso link 1, a back strap 2, two thigh links 3, two leg straps 4, two hip joint hinges 5, a torque generator 6, Bowden cables 7 and a sensing and control box 8. The torso link 1 is connected to the upper back of the user through the back strap 2, and the two thigh links 3 are connected to the left and right thighs of the user through the leg straps 4 respectively. The two hip joint hinges 5 are placed in alignment with the left and right hip joints of the user respectively, and rotatably connect the torso link 1 and the thigh links 3. The torque generator 6 is installed on the torso link 1 and drives the two hip joint hinges 5 through the Bowden cables 7, and the sensing and control box (with battery) 8 is also installed on the torso link 1 to provide control signals and energy for the torque generator 6. Figure 17 is a side view of an assisted human torso device.

[0106] Fig. 18 and Fig. 19 show the back view and side view of the torso link respectively, with the torque generator, back strap, Bowden cables and sensing and control box hidden. Fig. 20 shows a close-up view of the upper end of the torso link. The torso link 1 comprises two hip links 101 rotatably coupled with the left and right hip joint hinges 5 respectively. Four cable connectors 102 are fixed on the left and right hip links 101 respectively to connect the Bowden cables 7. Two upper hip links 104 are rotatably connected with the left and right hip links 101 through upper hip joint hinges 103 respectively. This can allow abduction and adduction movement of the legs. Two waist links 105 are connected with the left and right upper hip links 104 respectively, and then fixed on a waist connector 106. Two lower back links 107 are fixed on the waist connector 106, and connect an upper back link 109 through a middle connector 108. By adjusting the relative positions of the links, the size of the device can be changed to adapt to different body types. A linear bearing 110 is supported by the upper back link 109 and linearly coupled with a back shaft 111. A link 112 is locked with the back shaft 111 at one end and connected with a universal bearing 113 at the other end. The universal bearing 113 is rotatably connected with an upper back plate 115 through an upper back hinge 114. When the user moves the torso, the back shaft 111 slides and rotates relative to the linear bearing 110, and the universal bearing 113 rotates relative to the upper back plate 115, so that the upper back plate 115 can follow the change of the position of the upper back. As shown in Fig. 18 and Fig. 19, the device not only adapts to the bending movement of the torso, but also adapts to the tilting and rotating movement of the torso. Figure 21 and Figure 22 As shown in Fig. 18 and Fig. 19, the device not only adapts to the bending movement of the torso, but also adapts to the tilting and rotating movement of the torso.

[0107] Figure 23 shows a close-up view of the hip joint hinge with the hinge shell hidden. The hip joint hinge 5 comprises a pulley 501 which is fixed with the thigh link 3 and rotatably coupled with the hip link 101 through a shaft and a bearing. A hinge support 502 is also rotatably connected with the pulley 501 and connects the harness 2 through a strap 504. Two end caps 503 are used to lock the axial position of the bearing. The outgoing Bowden cable 701 and the return Bowden cable 702 are clamped in small holes on the pulley 501 at one end and connected with the torque generator 6 at the other end.

[0108] Figure 24 A close-up view of one embodiment of the torque generator with the protective shell hidden is shown. The torque generator 6 comprises a motor 601 and a ball screw 602 fixed on a base plate 603 as a prime mover to drive a slider 604 to move along a slide rail 605. A first pulley 606A and a second pulley 606B, one for the outgoing Bowden cable 701 and the other for the return Bowden cable 702, are both mounted on the slider 604. The outgoing Bowden cable 701 is wound on the pulley 606A and its two ends are connected with the pulleys 501 in the left and right hip joint hinges 5 respectively to provide a resisting torque between the torso link 1 and the thigh link 3. The return Bowden cable 702 is wound on the other pulley 606B and its two ends are also connected with the pulleys 501 in the left and right hip joint hinges 5 respectively to ensure that the outgoing Bowden cable 701 does not slack. Two other pulleys 607A and 607B are fixed on a pulley base 608 to guide the direction of the return Bowden cable 702. Four cable connectors 609 are fixed on an L-shaped base 610 for cable connection. This embodiment can also be simplified to one-way actuation as shown in Figure 25 The motor 601 only drives the slider 604 to move backward and pull the outgoing Bowden cable 701.

[0109] In the above embodiment, two springs 611 and 612 can be added between the sliding part 613 of the ball screw 602 and the slider 604 as shown in Figure 26 The force acting on the Bowden cable can be guaranteed by controlling the deformation of the springs 611 and 612.

[0110] Figure 27 A close-up view of another embodiment of the torque generator with the protective shell hidden is shown. Figure 28A top view of the torque generator is shown with the protective shell hidden. The torque generator 6 includes an electric motor 601 as the prime mover and a slide rail 605 fixed on a base plate 603. A first pulley 606A and a second pulley 606B are fixed on a slider 604 that is movable along the slide rail 605. An outgoing Bowden cable 701 is wound around the first pulley 606A and an incoming Bowden cable 702 is wound around the second pulley 606B. Two more pulleys 607A and 607B are fixed on the base plate 603 to guide the direction of the incoming Bowden cable 702. Four cable connectors 609 are fixed on the base plate 603 for cable connection. A main pulley 614 is coupled to the electric motor 601. One end of a forward cable 615A and a backward cable 615B are fixed on the main pulley 614. The forward cable 615A is guided by two lower pulleys 616A and 616B and connected to the slider 604. The backward cable 615B is guided by a lower pulley 616C and connected to the slider 604. In operation, the electric motor 601 drives the main pulley 614 to pull the backward cable 615B, the slider 604 moves backward, and then the outgoing Bowden cable 701 will be pulled. If the electric motor 601 rotates in the opposite direction, the forward cable 615A will be pulled and the slider 604 will move forward, and then the incoming Bowden cable 702 will be pulled. This embodiment can also be simplified as a one-way actuation as shown in Figure 29 The electric motor 601 only drives the slider 604 to move backward and pull the outgoing Bowden cable 701.

[0111] In the above embodiments, a resilient element (e.g. a torsion spring) can be added between the electric motor 601 and the main pulley 614. The main pulley 614 can also be designed as a resilient element, such as the embodiment shown in Figure 30 The main pulley 614 includes an inner ring 614-1 and an outer ring 614-2. The inner ring 614-1 is coupled to the electric motor, and the outer ring 614-2 is connected to the first cable 615A and the second cable 615B. A plurality of springs 614-3 are installed between the inner ring 614-1 and the outer ring 614-2. In operation, the electric motor 601 drives the inner ring 614-1 and generates an angular displacement between the inner ring 614-1 and the outer ring 614-2, thereby changing the length of the plurality of springs 614-3. The torque between the inner ring 614-1 and the outer ring 614-2 is a function of the angular displacement that can be measured by a sensor.

[0112] Figure 31 A close-up view of another embodiment of the torque generator is shown with the protective shell hidden. Figure 32A top view of the torque generator is shown, with the protective shell hidden. The torque generator 6 includes an electric motor 601 as the prime mover and a slide rail 605 fixed on a base plate 603. Two first and second rollers 606A and 606B are fixed on a slider 604 which can move along the slide rail 605. An outgoing Bowden cable 701 is wound around the first roller 606A and a return Bowden cable 702 is wound around the second roller 606B. In addition, a fifth and sixth rollers 607A and 607B are fixed on the base plate 603 to guide the direction of the return Bowden cable 702. Four cable connectors 609 are fixed on the base plate 603 for cable connection. A main pulley 614 is connected to the electric motor 601. One end of a forward cable 615A and a backward cable 615B are fixed on two layers of the main pulley 614 respectively. The winding directions of the cables 615A and 615B are opposite. The forward cable 615A is guided by three lower rollers 616A, 616B and 616C and then connected to the slider 604. The backward cable 615B is connected to the slider 604. In operation, the electric motor 601 drives the main pulley 614 to pull the backward cable 615B, and the slider 604 will move backward, then the outgoing Bowden cable 701 will be pulled. If the electric motor 601 rotates in the opposite direction, the forward cable 615A will be pulled and the slider 604 will move forward, then the return Bowden cable 702 will be pulled. In this embodiment, a resilient element (such as a torsion spring) can be added between the electric motor 601 and the main pulley 614. This embodiment can also be simplified as a one-way drive as shown in Figure 33 The electric motor 601 only drives the slider 604 to move backward and pull the outgoing Bowden cable 701.

[0113] In all embodiments, the differential drive is achieved by the following ways: 1) the auxiliary torque on the left and right hip joint hinges 5 will be the same because the force on one Bowden cable is always equal; 2) when there is a differential between the two legs, the first and second rollers 606A and 606B will automatically rotate to compensate for the difference in cable length on the left and right sides.

[0114] In all embodiments, the prime mover 601 can also be a hydraulic cylinder, a pneumatic cylinder, etc.

[0115] Figure 34 The working principle of the device is schematically shown. In operation, the sensor control box 8 will monitor the user's motion state and the force on the Bowden cable 7. If the user is in the working state, i.e. the user bends down to lift a load and needs trunk support, the sensor control box 8 will send a control signal to the torque generator 6 to tension the outgoing Bowden cable 701 and provide appropriate auxiliary torque between the trunk link 1 and the thigh link 3. If the user is in the non-working state, the torque generator 6 will ensure that the force on the Bowden cable 7 is almost zero, making the user feel comfortable (no resistance) in daily activities.

[0116] The device of the second embodiment can be lighter and ensure synchronization of the left and right sides of the user.

[0117] The above merely describes the preferred embodiments of the present application, and is not used to limit the present application. Any modification, equivalent replacement and improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. An apparatus for assisting human torso, comprising: a torso link (1) connected to the upper back of a user through a back strap (2); two thigh links (3) respectively coupled to the left and right thighs of the user through leg straps (4); two hip joint hinges (5) respectively aligned with the left and right hip joints of the user and used to rotatably connect the torso link (1) and the two thigh links (3); and a torque generator (6) coupled to the two hip joint hinges (5) through Bowden cables (7) and used to generate an assisting torque to reduce the torque burden of the user; the torque generator (6) is attached to the waist position and drives the two hip joint hinges (5) through the Bowden cables (7); the torque generator (6) comprises: a support plate, a first shaft seat (602A) and a second shaft seat (602B) respectively fixed at both ends of the support plate; a first outer sliding plate (604A) and a second outer sliding plate (604B) movable between the first shaft seat (602A) and the second shaft seat (602B); a first inner sliding plate (605A) and a second inner sliding plate (605B) movable between the first outer sliding plate (604A) and the second outer sliding plate (604B); and a compression spring (606) connected between the first inner sliding plate (605A) and the second inner sliding plate (605B); wherein one end of a first Bowden cable (608A) is fixed on the second outer sliding plate (604B) and the other end is connected to one of the hip joint hinges (5), and one end of a second Bowden cable (608B) is fixed on the first outer sliding plate (604A) and the other end is connected to the other hip joint hinge (5).

2. The apparatus of claim 1, wherein, the torso link (1) comprises: two hip links (101) rotatably coupled to the two hip joint hinges (5) respectively; two cable connectors (102) fixed on the two hip links (101) respectively and used to connect the Bowden cables (7); two upper hip links (104) rotatably coupled to the two hip links (101) through upper hip hinges (103) respectively; two waist links (105) coupled to the two upper hip links (104) respectively and then fixed on a waist connector (106); and a back link having one end fixed on the waist connector (106) and the other end rotatably coupled to an upper back plate used to follow the position change of the upper back of the user.

3. The apparatus of claim 2, wherein, each of the hip joint hinges (5) comprises: a pulley (501) fixed with the thigh link (3) and rotatably coupled to the hip link (101); a hinge bracket (502) rotatably coupled to the pulley (501) and connected to the back strap (2); and two end caps (503) used to lock the axial position of the pulley (501).

4. The apparatus of claim 3, wherein, one end of the Bowden cable (7) is clamped in the pulley (501) and the other end is connected to the torque generator (6).

5. The apparatus of claim 1, wherein, the torque generator (6) further comprises: a first shaft (603A) and a second shaft (603B) arranged in parallel to each other and supported by the first shaft seat (602A) and the second shaft seat (602B); the first outer slide plate (604A) and the second outer slide plate (604B) and the first inner slide plate (605A) and the second inner slide plate (605B) are connected to the first shaft (603A) and the second shaft (603B) and can move smoothly along the first shaft (603A) and the second shaft (603B).

6. The apparatus of claim 1, wherein, The torque generator (6) further comprises: a spring sleeve (607) fixed in the middle of the support plate and also used for guiding the compression spring (606).

7. The apparatus of claim 1, wherein, The torque generator (6) further comprises: a flexible rope (610) connected between the first outer slide plate (604A) and the second outer slide plate (604B) and the fixed point of the device, used for tensioning the first Bowden cable (608A) and the second Bowden cable (608B).

8. The apparatus of claim 1, wherein, When the user stands upright, the first outer slide plate (604A) and the second outer slide plate (604B) are in a preset initial position, and the distance between the first outer slide plate (604A) and the second outer slide plate (604B) is greater than the initial length of the compression spring (606).

9. The apparatus of claim 1, wherein, When the user lifts one leg to a predetermined angle A, the compression spring (606) is not compressed, at the predetermined angle A, one of the outer slide plates is pulled by the Bowden cable to contact the corresponding inner slide plate.

10. The apparatus of claim 9, wherein, When the user bends over or squats, the angle between the torso and the thigh is less than or equal to A / 2, the compression spring (606) is not compressed, when the user bends over or squats, the angle between the torso and the thigh decreases by more than A / 2, the compression spring (606) is compressed, and an auxiliary torque is generated at the hip joint hinge (5) to reduce the torque load of the user's waist joint.

11. The apparatus of any one of claims 1-4, wherein, The torque generator (6) is installed on the torso link (1) and drives two hip joint hinges (5) through the Bowden cable (7), and the device further comprises a sensing control box (8) also installed on the torso link (1) to provide control signals and energy for the torque generator (6).

12. The apparatus of claim 11, wherein, The torque generator (6) comprises: a prime mover comprising a motor and a ball screw (602) fixed on a bottom plate (603), the bottom plate (603) being provided with a slide rail (605); and a sliding block (604) connected with the ball screw (602) and movable along the slide rail (605) by the prime mover; wherein the Bowden cable (7) is connected between the sliding block (604) and the hip joint hinge (5) to provide a resistance torque between the torso link (1) and the thigh link (3).

13. The apparatus of claim 12, wherein, The Bowden cable (7) comprises an outgoing Bowden cable (701) and a return Bowden cable (702), and the torque generator (6) further comprises a first roller (606A) and a second roller (606B), one of which is used for the outgoing Bowden cable (701) and the other of which is used for the return Bowden cable (702), and the first roller (606A) and the second roller (606B) are both mounted on the sliding block (604); the outgoing Bowden cable (701) is wound around the first roller (606A), and its two ends are respectively connected to the two hip joint hinges (5); the return Bowden cable (702) is wound around the second roller (606B), and its two ends are also respectively connected to the two hip joint hinges (5).

14. The apparatus of claim 12, wherein, The Bowden cable (7) comprises an outgoing Bowden cable (701), and the torque generator (6) further comprises a first roller (606A) for the outgoing Bowden cable (701), and the first roller (606A) is mounted on the sliding block (604); the outgoing Bowden cable (701) is wound around the first roller (606A), and its two ends are respectively connected to the two hip joint hinges (5); the sliding block (604) is moved backward to pull the outgoing Bowden cable (701) by the motor.

15. The apparatus of claim 11, wherein, The torque generator (6) comprises: a base plate (603); a prime mover comprising a motor fixed on the base plate (603); a slide rail (605) fixed on the base plate (603); a sliding block (604) movable along the slide rail (605) by the motor; and a main pulley (614) coupled with the motor; wherein the motor drives the main pulley (614) to pull the Bowden cable (7) and move the sliding block (604) backward.

16. The apparatus of claim 15, wherein, The main pulley (614) comprises an inner ring (614-1) and an outer ring (614-2), and a plurality of elastic elements are arranged between the inner ring (614-1) and the outer ring (614-2), and the plurality of elastic elements are configured to measure the angular displacement between the inner ring (614-1) and the outer ring (614-2).

17. The apparatus of claim 12 or 15, wherein, The prime mover comprises a hydraulic cylinder or a pneumatic cylinder.

18. The apparatus of claim 11, wherein, The sensing and control box (8) is configured to monitor the motion state of the user and the force on the Bowden cable (7) to send a control signal to the torque generator (6) to tension the Bowden cable (7) in a working state and ensure that the force on the Bowden cable (7) is zero in a non-working state.

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