A control system and control method for lower limb assistive device

Abstract

The present invention relates to a control system for a lower limb assistive device, characterized in that it at least includes a sensing unit, a data processing unit, a mobile control terminal and a light control component, and characterized in that the data processing unit is configured to: use the sensing unit preset on the lower limb assistive device to measure the walking posture following data and analyze and obtain the foot motion range information of the user's foot in the moving stage when the user wears the lower limb assistive device; judge whether the user's foot motion in the moving stage is within the pre-stored preset foot motion range data, and control the visual light source through the light control component to project a guiding projection to the front of the user to remind the user of the difference between his action and the preset foot motion, and change the projection parameters when the user follows the projection to adjust his foot motion posture.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a control system and a control method for a lower limb assistive device. Background Art

[0002] The ankle and knee joints are both joints that are prone to sports injuries because in most sports, both joints are under great pressure and are therefore more susceptible to injury. In addition to sports injuries, when the ankle or knee cartilage is diseased, such as osteoarthritis, the articular cartilage will gradually degenerate, necrotize, and wear, and then the bones will begin to rub directly against each other, which will also cause joint pain and affect daily life. In addition, joint aging, heredity, obesity, or excessive exercise can also cause additional loads on the joints. For these joint problems, rehabilitation treatment requires equipment that can avoid or reduce the load on the limbs of the joints, that is, a lower limb walker with a load-free function. The lower limb walker is usually a mechanical device that can be worn on the outside of the operator's body. The lower limb walker can provide support and protection for the knee or ankle joint, reduce the impact on the joint, and help reduce joint pain and help joint recovery.

[0003] Although the use of lower limb walkers can effectively assist in lower limb rehabilitation, currently for the rehabilitation of lower limb injuries, patients usually wear walkers on their own according to doctor's orders to perform appropriate exercises to assist rehabilitation. During the rehabilitation process in the hospital, it relies heavily on the real-time observation and guidance of doctors. The workload of treating doctors is high, and the utilization rate of medical resources is low. After being discharged from the hospital, if patients use lower limb walkers to exercise on their own, they cannot be sure whether the intensity of their exercise is appropriate. Often, the intensity of exercise is insufficient and effective rehabilitation effect cannot be achieved, and the intensity of exercise exceeds the standard, which has a negative impact on the rehabilitation effect and even worsens the condition.

[0004] In this regard, in the prior art, a patent document with publication number CN105326513B proposes a real-time monitoring system for lower limb rehabilitation exercise, which includes: a measuring device, a mobile control terminal and a server. Among them, the measuring device includes a device body and a measuring unit, the measuring unit is wirelessly connected to the mobile control terminal, and is used to send the real-time collected motion data to the mobile control terminal, and the mobile control terminal parses the received motion data; the mobile control terminal is connected to the server for updating and downloading the motion intensity range data; the mobile control terminal determines the relationship between the motion data and the motion intensity range data, and reminds the user whether the current motion state is normal according to the judgment result. Specifically, the motion intensity range data in the server includes strength data range data and speed range data, and the mobile control terminal compares the relationship between the strength data and the strength data range and the relationship between the speed data and the speed data range respectively. If the strength data is lower than the lower limit of the strength data range, the user is reminded that the strength of the exercise is insufficient, and if it exceeds the upper limit of the strength data range, the user is reminded that the strength of the exercise exceeds the standard, otherwise, the user's exercise strength is normal. If the speed data is lower than the lower limit of the speed data range, the user is reminded that the speed of the exercise is insufficient. If it exceeds the upper limit of the speed data range, the user is reminded that the speed of the exercise exceeds the standard. Otherwise, the user's exercise speed is normal. In addition, the mobile control terminal stores the exercise data sent by the measurement unit in real time and uploads the exercise data to the server. The doctor browses the user's exercise data through the server and adjusts the user's exercise intensity range data according to actual conditions. This technical solution can directly remind the user of the exercise state during the exercise process, that is, if it exceeds the upper limit of the exercise intensity range data or is lower than the lower limit of the exercise intensity range data, an alarm will be generated, and the user's exercise data will be displayed in real time on the smart device, so that the user can understand his or her exercise state more intuitively and make it clear whether the exercise state he or she is in is appropriate. At the same time, the user can also download the exercise intensity range data through the server in real time to meet different needs.

[0005] However, the above technical solution only monitors the user's exercise intensity. For patients who have just started to use lower limb assistive devices, they are not familiar with the use of the devices and are prone to tilting or falling. The above technical solution cannot achieve effective rehabilitation effects.

[0006] In addition, on the one hand, there are differences in understanding among those skilled in the art; on the other hand, the applicant studied a large number of documents and patents when making the present invention, but due to space limitations, not all details and contents are listed in detail. However, this does not mean that the present invention does not have the characteristics of these prior arts. On the contrary, the present invention already has all the characteristics of the prior art, and the applicant reserves the right to add relevant prior art to the background technology. Summary of the invention

[0007] In view of the problem that the existing lower limb assistive technology solutions only monitor the user's exercise intensity, for patients who have just started to use lower limb assistive devices, they are not proficient in using the devices, and are prone to tilting or falling, and cannot achieve effective rehabilitation effects, the present application proposes a control system and control method for lower limb assistive devices, which mainly obtains real-time data of the patient in the process of operating the lower limb assistive device by assembling a number of sensor devices on the lower limb assistive device, detects the patient's movements in a single action cycle based on the real-time data, and when it is detected that the difference between the patient's movement and the preset follow-up movement deviates from the preset condition, controls the visible light source through the light control component to project a guiding projection to the front of the user to ensure that the patient can adjust his movement in time, so that the patient can stay in the safe action range during the process of wearing the lower limb assistive device. The system includes at least a sensor unit, a data processing unit, a mobile control terminal and a light control component. The data processing unit is configured to: use the sensor unit preset on the lower limb assistive device to measure the walking posture following data and analyze the foot movement range information of the user's foot in the moving stage when the user wears the lower limb assistive device. It is judged whether the foot movement of the user during the moving stage is within the pre-stored preset foot movement range data. The judgment result is used to control the visible light source to project a guiding projection in front of the user to remind the user of the difference between his action and the preset foot movement. The projection parameters are changed when the user follows the projection to adjust his foot movement posture.

[0008] In the present application, the walking posture following data refers to the foot motion range information of the user's foot in the moving stage or walking stage detected by the sensing unit when the user is wearing the lower limb assistive device. The device body of the lower limb assistive device is worn on the affected leg, and also includes a wearable piece separately arranged from the device body, which is used to be worn on the healthy leg, and the wearable piece and the device body are both provided with a sensing unit. The sensing unit can be a posture sensor, etc., which monitors the changes in walking posture through motion sensors such as gyroscopes and accelerometers. The sensing unit can also include an image processing device, and the image processing device can simultaneously cover the healthy leg and the affected leg. The lower limb assistive device at least includes a thigh support for supporting the thigh, and the image processing device can be arranged on the bottom surface of the thigh support at a certain distance from the ground, so as to obtain a sufficiently large image acquisition field of view. The walking posture following data also includes the left and right foot motion range information. The foot motion range information can be the stride distance, stride speed or leg inclination of the foot.

[0009] In the present application, the data processing unit pre-stores preset foot motion range data, which can be obtained by collecting and analyzing data of the healthy leg of the user when the user uses the lower limb assistive device under the accompaniment of medical staff before the user uses the lower limb assistive device independently. Accompanied by medical staff, the user walks in a standardized posture that is safer and more conducive to rehabilitation, and during this period, data collection and analysis can obtain standardized preset foot motion range data.

[0010] In the present application, the real-time foot motion range information is compared with the preset foot motion range data to determine the real-time foot motion of the user. When the user's real-time foot motion triggers a reminder condition, the light control component controls the visible light source to project a guiding projection in front of the user to remind the user of the difference between his action and the preset foot motion. The preset reminder condition may be the deviation of the real-time foot motion range information relative to the preset foot motion range data. The reminder condition may be preset in advance in the data processing unit, and the data processing unit has a wireless communication function. The user may also update the set reminder condition by operating the mobile control terminal. The data processing unit may transmit the monitored sensor data and the processing and analysis results to the mobile control terminal operated by the user or medical staff. The medical staff may analyze and determine the user's recovery condition, thereby adjusting the preset reminder conditions and / or the preset foot motion range data in stages.

[0011] In the present application, the difference between the user's action and the preset foot movement is fed back to the user by controlling the light control component to project a guiding projection in front of the user. Specifically, the light control component can be arranged on the main support or the leg support component of the lower limb assistive device. The light control component can project regional light different from the ambient light onto the ground. The data processing unit generates a control instruction regarding the corresponding ground area where the user's foot should fall based on the preset foot motion range data. After receiving the control instruction, the light control component projects regional light to the corresponding ground area. The ground area is located in front of the user, and the user can better observe the regional light and observe whether his footsteps fall within the ground area after taking a step, or observe the degree of deviation of his footsteps relative to the ground area, thereby feeding back to the user the difference between his action and the preset foot movement.

[0012] In the present application, the light control component only projects the regional light corresponding to the healthy leg, and the light control component is mainly used to guide the movement of the healthy leg. When wearing and using the lower limb assistive device proposed in the present application, the main support is set as a non-bendable structure to ensure reliable support, so the mobility of the affected leg and the device body is still relatively poor relative to the healthy leg. During rehabilitation walking, the healthy leg is the most affected among the user's lower limbs, and it may even cause problems with the healthy leg walking after the rehabilitation is completed. This is because, when supporting and moving the affected leg with the healthy leg, the user usually controls the movement of the affected leg more carefully to avoid excessive gait or excessive vibration, and the safety is higher in this moving stage; but when supporting and moving the healthy leg with the affected leg, the user usually moves the healthy leg quickly and arbitrarily, and the range of movement is often too large or too small, resulting in difficulty in moving the affected leg. When the moving range of the healthy leg is too large, it means that the inclination of the lower limb assistive device on the affected leg is too large, and the affected leg is difficult to move, and it is easy to slip or lose the center of gravity, so that the healthy leg needs more force or bending to keep the user's body balance; when the moving range of the healthy leg is too small, it means that the moving range of the lower limb assistive device on the affected leg is also small, and the inflexible trunk support can only go straight up and down, and the inclination is too small, which is quite different from the user's daily gait posture, and the affected leg is difficult to move. Therefore, the present application can better adjust the user's gait during the use of the lower limb assistive device by guiding the action of the healthy leg, thereby improving the safety of the user while ensuring an effective rehabilitation effect.

[0013] In the present application, the color of the visible light projected by the light control component is adjusted according to the difference between the action of the affected leg and the preset foot movement. The projection direction of the visible light projected by the light control component is adjusted according to the difference between the action of the healthy leg and the preset foot movement. The difference between the action of the affected leg and the preset foot movement refers to the movement range of the action of the affected leg exceeding, falling below or being within the preset foot movement range data. Preferably, when the movement range of the action of the affected leg exceeds, falls below or is within the preset foot movement range data, the color of the visible light projected by the light control component is different. In this way, the user can determine the difference between the action of his affected leg and the preset foot movement by observing the color of the projected visible light.

[0014] When the user steps out with the affected leg and the lower limb assistive device and lands on the ground, the light control component responds to the control instruction of the data processing unit and projects visible light with corresponding color mapped on the ground in a manner that the projection position can indicate the landing position of the next step of the healthy leg. The color of the visible light corresponds to the action of the affected leg at the previous moment.

[0015] The lower limb assistive device at least includes a trunk support, a thigh support assembly and a calf support assembly. The two are used to contact the affected side from the back of the affected thigh and the back of the affected calf when the lower limb assistive device is worn on the affected side. The calf support assembly is assembled on the trunk support so that the position of the tension on the trunk support that is transmitted to the user's face side by the calf support assembly after the calf support assembly is assembled on the affected calf is located at the same end of the trunk support as the assembly position of the thigh support assembly on the trunk support. And the projection of this end of the trunk support on a virtual horizontal plane perpendicular to the vertical direction is always located in the middle area of ​​the projection of the thigh support assembly on the virtual horizontal plane.

[0016] At present, most of the existing technologies adopt to set the thigh support component and the calf support component at the upper and lower ends of the main support respectively. This is because under the requirement of rehabilitation posture, in order to maintain a more comfortable single-leg suspension and to facilitate movement, the calf after the single-leg suspension needs to bend backward instead of being completely perpendicular to the ground, which makes the horizontal distance between the calf and the main support decrease from top to bottom. In order to better control the overall volume of the device and take into account the angle control at the ankle joint at the same time, the existing technology sets a thigh support component at the upper end of the main support and a calf support component at the lower end. The calf support component is usually provided with a pedal and other structures to limit the ankle joint. Since the distance between the lower end of the rod and the calf is closer, the required length of the calf support component is smaller, which relatively reduces the overall volume of the device.

[0017] Under this setting, although the overall volume of the device is reduced to a certain extent and the ankle joint is restricted, the applicant has also made this type of lower limb support device by simulating this type of design, but it is found that there are at least the following problems in actual use: due to the backward bending of the calf, under the influence of gravity, the calf always forms a certain pulling force on the lower end of the main support toward the side where the user's face is located. When walking, the main driving force for the affected limb is the position of the thigh root, that is, the position of the top of the main support. The pulling force on the main support is located at its bottom, and the user is relatively difficult to move the affected limb. That is, under this setting, the overall center of gravity of the main support and the affected side is more inclined to the bottom of the main support, and the force required to resist the action is greater. And if the main support is designed as a structure that can rotate relatively up and down to imitate the rotation of the knee, the movement of the upper and lower legs will be inconsistent, resulting in a change in the angle between the upper and lower legs, and the rehabilitation effect is poor.

[0018] In this regard, the present application changes the conventional setting method of setting the calf support at the upper and lower ends, and proposes a lower limb assistive device in which the calf support is set at the same end of the main support. Among them, the calf support assembly is assembled on the main support and the position of the tension on the main support that is transmitted to the affected calf through the calf support assembly after the calf support assembly is assembled on the affected calf toward the side where the user's face is located is located at the same end of the main support as the assembly position of the thigh support assembly on the main support. That is, the assembly positions of the thigh support assembly and the calf support assembly on the main support are located at the same end of the main support, that is, the vertical top. The calf support is connected to the position on the calf that is closer to the knee, respectively. Even if the calf is bent backwards, the tension on the main support toward the side where the user's face is located is mainly concentrated on the upper end of the main support. Therefore, when walking, the overall center of gravity of the trunk support and the affected side is more inclined to the top of the trunk support, and the top is relatively closer to the root of the thigh, that is, the position where the user mainly exerts force to drive the affected limb to move when walking. The vertical center of gravity position is at an appropriate height, and the user can move the affected limb more effortlessly.

[0019] In order to reduce the manufacturing cost, the trunk support proposed in the prior art is usually in a vertical rod structure as a whole, and in order to better replace the walking function of the affected limb, the trunk support is usually directly installed on the user's thigh and closer to the buttocks, that is, the main support position is on the user's thigh closer to the buttocks. However, due to the small force area under such a setting and excessive local force, long-term use can easily cause ischemia and numbness in this area. In this regard, many current studies have adopted the method of increasing the thigh support surface to cover more of the posterior thigh area. However, the force of the front of the thigh is directed in the oblique backward direction, and the user's leg force is partially dispersed to the horizontal vector. The user needs to be more cautious when pushing off the ground to avoid slipping on the ground. In addition, the force-generating method is quite different from normal walking and is not conducive to the user's rapid recovery after removing the walking aid.

[0020] In this regard, the present application abandons the traditional setting structure of the trunk support with an overall vertical rod structure, and instead proposes a lower limb assistive device that can provide a better supporting effect by designing the structural deformation of the trunk support. Among them, the projection of the end of the trunk support on the virtual horizontal plane perpendicular to the vertical is always located in the middle area of ​​the projection of the thigh support assembly on the virtual horizontal plane. The virtual horizontal plane perpendicular to the vertical can also be the ground. That is, the vertical top of the trunk support is supported on the middle area of ​​the thigh support assembly, and the force transmitted downward by the thigh on the affected side through the thigh support assembly is gathered inward to the middle area and then transmitted downward to the trunk support, and the concentrated force is more conducive to control. Similarly, the ground reaction force transmitted upward by the ground through the trunk support is dispersed to the thigh on the affected side along the thigh support assembly with a certain coverage area, and the force is dispersed, and because the main support position is located in the middle area, the force can be dispersed more evenly. Since the force after wearing the walking aid is more stable and reliable, the user can adapt faster, which is conducive to its rapid recovery after removing the walking aid.

[0021] According to a preferred embodiment, the frame body of the main support, which is away from the end where the thigh support assembly and the calf support assembly are located, has a second curvature and a third curvature that are bent in opposite directions.

[0022] With regard to one aspect of the prior art, the main support proposed in the prior art is an overall vertical rod structure. If the calf is bent backward at a greater angle, the user's heel will hit the main support. Therefore, the user is not allowed to bend the calf backward at a greater angle. For requirements requiring different knee joint bending angles, its scope of application is limited.

[0023] In this regard, the present application has made structural improvements to the main support, by prefabricating a molding mold with a cavity showing a certain curvature change, injecting the molten / granular molding material into the molding mold, and obtaining a frame / second support plate with a preset curvature change after cooling and opening the mold. Specifically, the second support plate can be assembled as the lower frame of the main support, that is, at a position corresponding to the user's hanging heel. The preset curvature formed on the second support plate can form a space to avoid the user's torso near the heel on the calf, while the second support plate can still play a supporting role and a force transmission role. Under this setting, the lower limb assistive device proposed in the present application allows the user to bend the calf backward at a larger angle, better meeting the different requirements for the knee joint bending angle.

[0024] With regard to another aspect of the prior art, the main support proposed in the prior art is an overall vertical rod structure, and a greater bending angle of the calf backward will cause the user's heel to touch the main support. Therefore, the calf is mostly completely suspended in front of the main support or completely suspended behind the main support, which causes the user's body center of gravity to deviate, and the user's body tends to lean forward or backward slightly. For users who can only walk with the help of lower limb walking devices, this is not conducive to maintaining their body stability and rehabilitation effect while walking.

[0025] In this regard, the present application has made structural improvements to the trunk support as described above. Since the lower limb assistive device proposed in the present application allows the user to bend the calf backward at a greater angle, after wearing the lower limb assistive device, the user's calf is more located directly below the thigh, rather than hanging too much in front of the thigh or behind the body, and the user's body center of gravity is more inclined to the vertical direction where the main trunk is located, and the user can better maintain the stability of the body, which is conducive to achieving a better rehabilitation effect. In addition, the applicant found that when the second support plate formed is combined with the structural deformation design of the trunk support described above, that is, when "the projection of the vertical top of the trunk support on the virtual horizontal plane perpendicular to the vertical is always located in the middle area of ​​the projection of the thigh support component on the virtual horizontal plane" and "the frame / second support plate with a preset curvature change" are simultaneously satisfied, the main support position formed by the lower limb assistive device is located in the middle area of ​​the thigh, which can better maintain the user's body center of gravity in the vertical direction inclined to the main trunk, and promote the beneficial effect of body stability achieved by the second support plate.

[0026] In the present application, the trunk support includes a frame / second support plate away from the end where the thigh support assembly and the calf support assembly are located. The second support plate has at least an end face extending vertically from its third end to the fourth end. The end face has a second curvature and a third curvature that are bent in opposite directions. The end face can be an end face perpendicular to the XZ plane. Based on this, when the lower limb assistive device is observed perpendicular to the XZ plane, the angle between the tangent direction formed by the end face of the trunk support in its extension direction and the Z axis / vertical direction has at least a decreasing trend and an increasing trend at the same time. The angle mentioned in the present application can refer to a single angle or a set of angle data that is immediately continuously changed. More specifically, when the lower limb assistive device is observed perpendicular to the XZ plane, the angle between the tangent direction formed by the end face of the trunk support in its extension direction and the Z axis / vertical direction presents a trend of gradually decreasing first and then gradually increasing. Preferably, the angle between the tangent direction formed by the end face at its third end in its extension direction and the Z axis is a right angle. Preferably, the angle between the tangent direction formed by the fourth end of the end surface in its extension direction and the Z axis is a right angle.

[0027] According to a preferred embodiment, the frame body on the main support near the end where the thigh support component and the calf support component are located has a first curvature that bends toward the affected side when the user wears the device.

[0028] The main support proposed in the prior art is an overall vertical rod structure, and the reverse force formed by its vertical top on the affected thigh is mainly a vertical upward reverse force, and the affected thigh is in a tilted posture most of the time. The pressure effect forms an oblique force component in the tilt direction of the thigh and a vertical force component perpendicular to the thigh. The oblique force component correspondingly increases the friction between the affected thigh and the thigh support assembly, resulting in strong discomfort when walking, and a large part of the ground reaction force is consumed, making walking more strenuous.

[0029] In this regard, the lower limb assistive device proposed in the present application sets the upper end of the main support to be slightly curved, so that the reverse force formed by its vertical top on the affected thigh is no longer completely applied vertically, but is more applied vertically to the affected thigh. Specifically, the plate body of the first support plate of the main support can be perpendicular to the XY plane, and the side surface of the plate body extends vertically from the first end to the second end to form a first arc. Under this arc setting, the angle between the reverse action transmitted by the main support to the rear side of the thigh through the thigh support assembly and the vertical direction perpendicular to the thigh is relatively small, which makes the reverse action in the oblique force component in the oblique direction of the thigh and the vertical force component in the direction perpendicular to the thigh. The vertical force component is larger, and the friction between the affected thigh and the thigh support assembly affected by the oblique force component is smaller, so that the walking comfort is strong, and the ground reaction force is fully utilized, which saves effort when walking.

[0030] In the present application, the trunk support includes a frame / first support plate near the end where the thigh support assembly and the calf support assembly are located. The first support plate has at least an end face extending vertically from its first end to the second end. The end face has a first curvature that is bent toward the side where the affected side is located when the user wears the device. The end face can be an end face perpendicular to the YZ plane. Based on this, when the lower limb assistive device is observed perpendicular to the YZ plane, the angle between the tangent direction formed by the end face of the trunk support in its extension direction and the Z axis / vertical direction has at least a decreasing trend. More specifically, when the lower limb assistive device is observed perpendicular to the YZ plane, the angle between the tangent direction formed by the end face of the trunk support in its extension direction and the Z axis / vertical direction presents a trend of gradually increasing and then gradually decreasing. Preferably, the angle between the tangent direction formed by the end face at its first end in its extension direction and the Z axis is a non-acute angle.

[0031] Preferably, the first curvature makes the upper and lower ends of the frame of the main support both located in the same vertical direction. That is, the first end and the second end of the first support plate are both located in the same vertical direction. Thus, the center of gravity on the first support plate is relatively stable, which is conducive to helping the user maintain stability when walking.

[0032] According to a preferred embodiment, the frame body on the main support near the end where the thigh support component and the calf support component are located has a fourth curvature different from the first curvature and is bent toward the affected side when the user wears the device, so that the end face of the vertical top of the main support is inclined.

[0033] The backbone support proposed in the prior art usually adopts an integral structure of one-piece molding, and has poor adjustability. Related studies have also proposed to separate the thigh support assembly and the calf support assembly from the backbone support to achieve a structure in which each can be adjusted. During the research process, the applicant also tried to simulate such a design to produce such a lower limb support device. However, it was found that such a device had certain problems. If the backbone support is designed as a rod-shaped support according to the structure of the prior art, although it allows the thigh support assembly to rotate to a larger extent, the maximum load-bearing capacity of the backbone support is difficult to guarantee. The rod-shaped support is prone to imbalance problems for patients, and a smaller size is achieved but the structural strength and stability are reduced.

[0034] In this regard, the lower limb assistive device proposed in the present application designs the trunk support / first support plate as a plate-like structure having both the first curvature and the fourth curvature. The plate-like structure is arranged in such a way that its plate body is roughly parallel to the YZ plane. Both end faces of its plate body structure in the Y-axis direction are curved and have different bending angles. At different bending angles, a top end face with a vertical top in an inclined posture is formed. The top end face has two endpoints, one high and one low. The thigh support assembly is connected to the higher endpoint on the top end face. The calf support assembly is connected to the lower endpoint on the top end face. The side / end face on the first support plate close to the thigh support assembly has a first curvature. The side / end face on the first support plate close to the calf support assembly has a fourth curvature. The fourth curvature is larger than the first curvature. That is, the side / end face on the first support plate closer to the calf support assembly has a greater degree of curvature, so that its lower endpoint is closer to the position of the calf than the higher endpoint. Under the above setting, on the one hand, the inclined top end surface forms a space that can avoid the affected thigh, which can avoid affecting the lifting height of the affected thigh by the main support. On the other hand, the plate-like structure with a certain thickness is adopted to reduce the volume of the lower limb auxiliary device as a whole beyond the user's body range, while improving the structural strength and stability of the lower limb auxiliary device as a whole, avoiding the problem of imbalance in use. At the same time, one end of the top end surface in the inclined posture is closer to the calf, and a calf support assembly with a smaller overall length can be used to restrain the calf. Since the stability of the connecting piece gradually decreases with the extension of the connection length, the lower limb auxiliary device is correspondingly enhanced in the case where a calf support assembly with a smaller overall length can be used. The calf is not easily affected by external forces and changes the angle between it and the thigh, which is conducive to ensuring the rehabilitation effect. In addition, under the structural design of the main support / first support plate proposed in this application, most of the lower limb auxiliary device is located directly below the affected thigh, and will not affect the position between the legs or the healthy leg, which is conducive to the user's quick adaptation to use. The first support plate proposed in the present application may also be hollowed out to reduce the weight of the first support plate without significantly affecting the mechanical support.

[0035] According to a preferred embodiment, the thigh support assembly also includes a thigh connecting frame and a thigh support, the thigh connecting frame having a first fulcrum for connecting to the main support and at least three second fulcrums for connecting to the thigh support, wherein the at least three second fulcrums are arranged at intervals along the length direction of the affected thigh supported in the thigh support.

[0036] The lower limb assistive device proposed in the present application supports the affected thigh through at least three fulcrums, which can cover the rear side of the affected thigh near the buttocks, the front side near the knee joint and the middle part, supporting the affected thigh in a larger area and dispersing its force. Furthermore, the angle between the two virtual lines formed by any second fulcrum and any other two second fulcrums is an acute angle. That is, the three second fulcrums are respectively connected to the corresponding positions on the thigh support in a manner of forming a virtual triangular support surface around them. By setting different spatial layouts of the second fulcrums, a more stable support structure is formed, which can more stably control the lower limb assistive device for the user. In the present application, the fulcrum is not a single point support, but a support area formed by multiple points. In the present application, the thigh connecting frame includes a positioning part formed by a first fulcrum and a plurality of supporting parts formed with a second fulcrum. The plurality of supporting parts are all connected to the top area on the positioning part, and the corresponding connection positions of the plurality of supporting parts in the top area are different. The top area can be understood as the first fulcrum in the present application.

[0037] According to a preferred embodiment, the thigh connecting frame includes at least one supporting portion whose two ends are respectively connected to a first fulcrum and a second fulcrum, and a connecting mechanism arranged at at least one first fulcrum, wherein the connecting mechanism is used to provide a limiting effect on one end of the supporting portion on the first fulcrum and can also be triggered to release its limiting effect on the supporting portion.

[0038] Due to the requirement for overall device stiffness during use, conventional lower limb walking aids usually only have standing functions. Although some studies have proposed devices with both standing and sitting functions, such devices mainly use relatively large and complex mechanical structures to achieve the conversion between standing and sitting functions. The overall size of the device is not conducive to patient use, and it is very difficult to use and apply.

[0039] In response to this, the applicant further optimized the structure of the proposed lower limb assistive device, adjusting at least one supporting part to an adjustable structure that can be triggered and released, so that the lower limb assistive device can be converted to a sitting mode while having a standing mode that can provide stable standing support, allowing the user to sit down smoothly without removing the lower limb assistive device, and can return to the standing mode again after sitting down.

[0040] In the present application, at least one support portion may be a strip-shaped plate-like structure, and its plate surface is perpendicular to the YZ plane, that is, multiple support portions provide primary support from the length direction of the affected thigh, and each support portion also has a certain auxiliary support function from the width direction of the affected thigh. Preferably, the support portion in the plate-shaped structure may be a support portion relatively close to the buttocks among the multiple support portions.

[0041] In the present application, one end of the support portion is rotatably connected to its corresponding second fulcrum. Thus, after releasing the limiting effect between the other end of the support portion and the first fulcrum, the support portion can rotate around the second fulcrum under the action of an external force, and it can rotate to a position close to the thigh support. The external force can be the force that the user is sitting down and the seat abuts against the support portion and pushes it to rotate in the direction opposite to its gravity. Conversely, during the process of the user standing up, the external force of the seat on the support portion gradually decreases, so that the support portion rotates downward under the action of its own gravity until the free end of the support portion abuts against the position of the first fulcrum. At this time, the connecting mechanism can be triggered to provide a limiting effect on the free end of the support portion on the first fulcrum.

[0042] In order to enable the support part to rotate smoothly without being affected by other support parts, preferably, in the extension direction of the affected thigh or in the length extension direction of the thigh connecting frame, the second fulcrum corresponding to the support part and another second fulcrum adjacent thereto are arranged to be staggered with each other. The three second fulcrums can be connected to corresponding positions on the thigh support in a manner of forming a virtual triangular support surface around them.

[0043] In the present application, the event that triggers the connection mechanism may be a manual operation or receiving an instruction. The instruction may be issued by the user through the mobile terminal operated by the user. The connection mechanism includes at least a wireless communication module for receiving a control instruction from the mobile terminal. Under the control instruction of the mobile terminal, the connection mechanism is triggered to lock or unlock the end of the support portion. When the mobile terminal receives the instruction information input by the user, the mobile terminal enters the preparation period based on the preset confirmation time and continuously feeds back the information in the preparation period to the user before the end of the preparation period. The feedback may be performed by vibration, flashing signal lights, sound, screen information display, etc. The user may hold his hand on things such as handrails to avoid losing the center of gravity after releasing the support portion. After the preparation period ends, the mobile terminal generates a release instruction and sends it to the connection mechanism. During the preparation period, the mobile terminal may enter the protection mode in response to the user's triggering operation. The preset triggering operation may be the mobile terminal detecting continuous shaking, detecting the user pressing the power off button, detecting that its display is covered, detecting a sound instruction, etc. The continuous shaking may be achieved by the user shaking the wrist that wears / holds the mobile terminal. The display may be covered by the user by covering the position of the distance sensor of the mobile terminal worn or held by the user with the palm. The voice command may be the user controlling the mobile terminal by speaking.

[0044] In order to improve the user's comfort in the sitting mode and reduce the impact of the support part folded at the bottom of the thigh support on the thigh after sitting down, the applicant further optimized the structure of the proposed lower limb assistive device, and provided a groove at the bottom of the thigh support to accommodate the support part after being released by the connecting mechanism. Under this setting, the thigh support is configured to have a certain thickness to ensure that there is enough space to set the groove. As another preferred embodiment, airbag layers are respectively provided on both sides of the bottom of the thigh support in the X-axis direction. The airbag layer is configured to expand or shrink under the control of the mobile terminal, and the expanded airbag layer at least partially surrounds the support part folded at the bottom of the thigh support, thereby reducing the discomfort after sitting down.

[0045] According to a preferred embodiment, the frame body on the main support close to the end where the thigh support assembly and the calf support assembly are located is the first support plate, and the frame body on the main support away from the end where the thigh support assembly and the calf support assembly are located is the second support plate, and the vertical overlap between the second support plate and the first support plate is adjustable.

[0046] The main support in the lower limb walking aid device proposed in the prior art is usually a vertical straight rod structure. By setting the inner and outer outer structures, the main support can be retracted vertically as a whole to adjust the support height of the device. However, for the lower limb assistive device proposed in this application, since the second support plate and the first support plate both have a certain curvature, the conventional vertical rod extension in the prior art cannot be applied to the lower limb assistive device of this application.

[0047] In this regard, in the lower limb assistive device proposed in the present application, the first support plate and the second support plate are further partially hollowed out for structural improvement. Under the premise of ensuring the supporting function, the partial hollowing out of the first support plate provides a guide track for the second support plate to move up and down, and the partial hollowing out of the second support plate provides a favorable space for avoiding the first support plate when the overlap of the plates gradually increases. That is, the adjustable function of the vertical overlap of the two support plates, both of which have a certain curvature, is realized, and the overall weight of the lower limb assistive device is reduced due to the partial hollowing out, which improves the portability and reduces the weight burden on the user when using it.

[0048] The first support plate and the second support plate are respectively provided with partial hollowing out along the extension direction of their respective plate bodies. The partial hollowing out on the first support plate has a first curvature or a fourth curvature. The partial hollowing out on the second support plate has a second curvature and a third curvature.

[0049] The width of at least a portion of the first support plate in the Y-axis direction is smaller than the width of at least a portion of the second support plate that is partially hollowed out in the Y-axis direction.

[0050] At least part of the plate body of the first support plate mainly refers to the plate body on the first support plate near the first end thereof. Since the first support plate has the first curvature and the fourth curvature, the plate body width at the second end in the Y-axis direction is greater than the plate body width at the first end in the Y-axis direction.

[0051] The at least partial hollowing of the second support plate mainly refers to the partial hollowing of the second support plate near the fourth end thereof. In particular, the at least partial hollowing of the second support plate mainly refers to the partial hollowing corresponding to the second arc of the second support plate.

[0052] The first support plate has a certain plate thickness in the X-axis direction. The first support plate is provided with an open slot in a direction parallel to its plate surface. The open slot is continuously connected in the Y-axis direction so that the first end of the first support plate is divided into two sub-plates parallel to each other. When observing the lower limb assistive device in the XZ plane or the thickness direction of the first support plate, the interval between the two sub-plates is the open slot, and the width of the interval between the open slots in the x-axis direction is adapted to the width of the second support plate in the X-axis direction. That is, the second support plate can move upward and penetrate into the open slot. Furthermore, since the width of the local hollowing out at the corresponding position on the second support plate is greater than the width of the first support plate in the Y-axis direction, when the second support plate slides upward along the open slot, the first end of the first support plate penetrates into the local hollowing out at the corresponding position on the second support plate, thereby providing space to avoid the first support plate.

[0053] The lower limb assistive device further comprises a slider. The slider may be a long strip structure. The two ends of the slider may extend through the local hollows on the two sub-plate bodies respectively. The slider is arranged between the two sub-plate bodies. The fourth end of the second support plate is connected to the bottom of the slider. The slider may be used to guide the second support plate to move up and down.

[0054] The slider can be relatively positioned at the first end of the first support plate. The slider can be relatively positioned at a certain height position on the first support plate.

[0055] The slider may be provided with a locking mechanism, and the first support plate may be provided with a corresponding connecting mechanism at least at its first end. The locking mechanism and the mobile terminal may be communicatively connected, and the locking mechanism may be locked or unlocked by the control of the mobile terminal. Preferably, the locking mechanism may also be provided on the first support plate, and the connecting mechanism may be provided on the slider. In-place locking and remote control unlocking or manual unlocking are all existing conventional technologies, and the present application does not limit the specific structure thereof, and those skilled in the art may select according to actual needs.

[0056] Preferably, at least one telescopic rod is provided in the open slot near the second end of the first support plate. The free end of the telescopic rod is connected to the slider. The slider can be moved, locked or unlocked in the open slot by adjusting the telescopic rod. Moreover, under this setting, when the user wants to stand up again after sitting down, the telescopic rod can provide assistance for the user to stand up without the user having to spend too much effort.

[0057] In the present application, the event that triggers the unlocking and locking of the slider may be a manual operation or receiving an instruction. The instruction may be issued by the user through the mobile terminal operated by the user. The slider may include a wireless communication module for receiving a control instruction from the mobile terminal. Under the control instruction of the mobile terminal, the slider is locked or unlocked on the first support plate. When the mobile terminal receives the instruction information input by the user, the mobile terminal enters the preparation period based on the preset confirmation time and continuously feeds back the information in the preparation period to the user before the end of the preparation period. The feedback may be performed by vibration, flashing signal lights, sound, screen information display, etc. The user may hold his hand on things such as handrails to avoid losing the center of gravity after releasing the slider. After the preparation period ends, the mobile terminal generates a release instruction and sends it to the slider. During the preparation period, the mobile terminal may enter the protection mode in response to the user's triggering operation. The preset triggering operation may be the mobile terminal detecting continuous shaking, detecting the user pressing the power off button, detecting that its display is covered, detecting a sound instruction, etc. The continuous shaking may be achieved by the user shaking the wrist that wears / holds the mobile terminal. The display may be covered by the user by covering the position of the distance sensor of the mobile terminal worn or held by the user with the palm. The voice command may be the user controlling the mobile terminal by speaking.

[0058] In the present application, under the control instruction of the mobile terminal, the locking or unlocking of the slider on the first support plate and the locking or unlocking of the end of the support portion by the connecting mechanism can be triggered simultaneously.

[0059] According to a preferred embodiment, the second support plate and the first support plate can be transformed from a first working angle to a second working angle of the lower limb assistive device by changing the relative position relationship between each other without breaking away from the connection relationship with each other.

[0060] According to a preferred embodiment, the lower limb assistive device further comprises a foot support assembly, which is arranged at the vertical bottom end of the main support and comprises a foot connection frame and two elastic members. The two elastic members are arranged side by side along the length direction of the foot when the user wears the device, and the foot connection frame has two ends respectively located above the two elastic members, and a first width between the two ends is smaller than a second width formed by the two elastic members.

[0061] The elastic parts that have been proposed to provide elastic auxiliary force at the bottom of the walking aid are mostly configured as coil springs that can be extended and retracted in a direction perpendicular to the ground. Usually, a single or multiple elastic parts are provided. For the technical solution of a single such elastic part, due to the cylindrical structure of the coil spring, it is impossible to provide sufficient elastic force, and the way of providing the elastic force is quite different from the way the human foot applies force. For the technical solution of multiple elastic parts distributed in the walking aid to work together, it is impossible to ensure that different elastic parts always provide elastic force in the same direction during walking with large changes in force and position, and too strong elastic effect is not conducive to the stability of the walking aid during walking, and the usability is poor.

[0062] Based on this, the lower limb assistive device proposed in the present application proposes a new foot support assembly that simulates the human foot. By designing the first width of the foot connecting frame in the foot support assembly to be smaller than the second width between the elastic members, the force application point of the foot connecting frame is closer to the middle part of the elastic member rather than the edge of the elastic member. Even if the prior art adopts a technical solution similar to that proposed in the present application that two elastic members are arranged in parallel along the length direction of the foot when the user wears the device, under this arrangement, the edge of the elastic member is usually subjected to the main force. If the force application point of the user when walking is focused on the edge of the elastic member, one is that the force on the elastic member is uneven, which may cause the service life of the elastic member to be drastically shortened or even more prone to damage under long-term use. In addition, the elastic member used on the foot itself is not large in size, and the elastic member is compressed on one side, so it is difficult for the elastic member to fully exert its elastic potential energy, and it is easy to cause the elastic member to slip against the ground. Therefore, the existing direct use of elastic parts can provide less walking assistance and may cause extreme slippage. In contrast, the force application point of the foot connecting frame in the present application is concentrated on the middle part of the elastic part, which can fully and effectively exert the walking assistance of the elastic part and avoid the above-mentioned possible slippage.

[0063] According to a preferred embodiment, the elastic member is a multi-layer wave spring structure, and the thickness or stiffness of each layer of the wave spring structure has an increasing trend in the vertical direction.

[0064] The thickness or stiffness of the single-layer wave spring near the ground is relatively greater, which can provide the user with a more stable ground reaction force after pushing off the ground. The thickness or stiffness of the single-layer wave spring near the foot is relatively smaller, which can provide the user with a better landing cushioning effect. The above thickness refers to the thickness of the cross section of the single-layer wave spring, not the wave thickness between the highest and lowest points of the single-layer wave spring in the vertical direction. BRIEF DESCRIPTION OF THE DRAWINGS

[0065] Figure 1 It is a simplified module connection diagram of the control system for the lower limb assistive device proposed by the present invention;

[0066] Figure 2 It is a simplified exploded view of the connection between the thigh support assembly and the trunk support proposed by the present invention;

[0067] Figure 3 is a simplified schematic diagram of the connection relationship between the second support plate and the first support plate proposed by the present invention;

[0068] Figure 4 It is a simplified cross-sectional structural schematic diagram of the regulating mechanism proposed by the present invention;

[0069] Figure 5 is a simplified schematic diagram of the connection relationship between the second support plate and the third support plate proposed by the present invention;

[0070] Figure 6 is a simplified schematic diagram of the bottom of the foot support assembly proposed by the present invention;

[0071] Figure 7 It is a simplified overall structural schematic diagram of the wave spring proposed by the present invention;

[0072] Figure 8 is a simplified partial structural schematic diagram of the thigh support assembly proposed by the present invention;

[0073] Fig. 9 It is a simplified schematic diagram of the lower limb assistive device proposed by the present invention in use state;

[0074] Fig.10 It is a simplified overall structural schematic diagram of the lower limb assistive device proposed by the present invention.

[0075] Reference numerals list

[0076] 1: Trunk support; 2: Thigh support assembly; 3: Calf support assembly; 4: Thigh support; 5: Thigh fixing piece; 6: thigh connector; 7: adjustment and fastening structure; 8: operating screw; 9: screw with pin; 10: convex platform; 11: pin groove; 12: through hole; 13: flexible layer; 14: zipper structure; 15: foot support assembly; 16: foot connector; 17: rebound mechanism; 18: elastic member; 19: wave spring; 20: first U-shaped frame; 21: second U-shaped frame; 22: interval space; 23: anti-slip layer; 24: first support plate; 25: second support plate; 26: third support plate; 27: first bend; 28: second bend; 29: button; 30: central axis; 31: thigh connector; 32: first fulcrum; 33: second fulcrum; 34: sensor unit; 35: data processing unit; 36: mobile control terminal; 37: light control assembly; 38: cloud data processing terminal; 39: central processing unit. DETAILED DESCRIPTION

[0077] The following is a detailed description with reference to the accompanying drawings.

[0078] Example 1

[0079] like Figure 1 As shown, this embodiment provides a control system for a lower limb assistive device. The system at least includes a sensor unit, a data processing unit, a mobile control terminal and a light control component.

[0080] The data processing unit uses the sensor unit preset on the lower limb assistive device to measure the walking posture following data and analyzes the foot motion range information of the user's foot in the moving stage when the user wears the lower limb assistive device. In this embodiment, the walking posture following data refers to the foot motion range information of the user's foot in the moving stage or walking stage detected by the sensor unit when the user wears the lower limb assistive device. The instrument body of the lower limb assistive device is worn on the affected leg, and also includes a wearable piece separated from the instrument body, which is used to be worn on the healthy leg, and the wearable piece and the instrument body are both provided with a sensor unit. The sensor unit can be a posture sensor, etc., which monitors the changes in walking posture through motion sensors such as gyroscopes and accelerometers. The sensor unit can also include an image processing device, and the image processing device can simultaneously cover the healthy leg and the affected leg. The lower limb assistive device at least includes a thigh support for supporting the thigh, and the image processing device can be arranged on the bottom surface of the thigh support at a certain distance from the ground, so that it can obtain a sufficiently large image acquisition field of view. The walking posture tracking data also includes the information of the movement range of the left and right feet. The movement range information of the feet can be the stride distance, stride speed or leg inclination of the foot.

[0081] The data processing unit determines whether the foot movement of the user during the moving phase is within the pre-stored preset foot movement range data.

[0082] In this embodiment, the data processing unit pre-stores preset foot motion range data, which can be obtained by collecting and analyzing data of the healthy leg of the user when the user uses the lower limb assistive device under the accompaniment of medical staff before the user uses the lower limb assistive device independently. Accompanied by medical staff, the user walks in a safer and more standardized posture that is conducive to rehabilitation, and during this period, data collection and analysis can obtain standardized preset foot motion range data.

[0083] In this embodiment, the real-time foot motion range information is compared with the preset foot motion range data to determine the real-time foot motion of the user. When the user's real-time foot motion triggers a reminder condition, the light control component controls the visible light source to project a guiding projection in front of the user to remind the user of the difference between his action and the preset foot motion. The preset reminder condition can be the deviation of the real-time foot motion range information relative to the preset foot motion range data. The reminder condition can be preset in the data processing unit in advance. The data processing unit has a wireless communication function, and the user can also update the reminder condition by operating the mobile control terminal. The data processing unit can transmit the monitored sensor data and the processing and analysis results to the mobile control terminal operated by the user or the medical staff. The medical staff can analyze and determine the user's recovery status, so as to adjust the preset reminder conditions and / or the preset foot motion range data in stages.

[0084] The data processing unit controls the visible light source through the light control component to project a guiding projection in front of the user to remind the user of the difference between his action and the preset foot movement.

[0085] In this embodiment, the difference between the user's action and the preset foot movement is fed back to the user by controlling the visible light source to project a guiding projection in front of the user by the light control component. Specifically, the light control component can be arranged on the main support or the leg support component of the lower limb assistive device. The light control component can project a regional light different from the ambient light onto the ground. The data processing unit generates a control instruction about the corresponding ground area where the user's foot should fall according to the preset foot movement range data. After receiving the control instruction, the light control component projects the regional light to the corresponding ground area. The ground area is located in front of the user, and the user can better observe the regional light and observe whether his footsteps fall within the ground area after taking a step, or observe the degree of deviation of his footsteps relative to the ground area, thereby feeding back to the user the difference between his action and the preset foot movement. Preferably, the projection parameters are changed when the user follows the projection to adjust his foot movement posture.

[0086] In this embodiment, the light control component only projects the regional light corresponding to the healthy leg, and the light control component is mainly used to guide the movement of the healthy leg. When wearing and using the lower limb assistive device proposed in this embodiment, since the trunk support is set as a non-bendable structure to ensure reliable support, the mobility of the affected leg and the device body is still relatively poor relative to the healthy leg. During rehabilitation walking, the healthy leg is the most affected among the user's lower limbs, and it may even cause problems with the healthy leg walking after the rehabilitation is completed. This is because, when using the healthy leg to support and move the affected leg, the user usually controls the movement of the affected leg more carefully to avoid excessive gait or excessive vibration, and the safety is higher in this moving stage; but when using the affected leg to support and move the healthy leg, the user usually moves the healthy leg more quickly and arbitrarily, and the movement range is often too large or too small, resulting in difficulty in moving the affected leg. When the moving range of the healthy leg is too large, it means that the inclination of the lower limb assistive device on the affected leg is too large, and the affected leg is difficult to move, and it is easy to slip or lose the center of gravity, so that the healthy leg needs more force or bending to keep the user's body balance; when the moving range of the healthy leg is too small, it means that the moving range of the lower limb assistive device on the affected leg is also small, and the inflexible trunk support can only go straight up and down, and the inclination is too small, which is quite different from the user's daily gait posture, and the affected leg is difficult to move. Therefore, this embodiment can better adjust the user's gait during the use of the lower limb assistive device by guiding the action of the healthy leg, thereby improving the safety of the user while ensuring an effective rehabilitation effect.

[0087] In this embodiment, the color of the visible light projected by the light control component is adjusted according to the difference between the action of the affected leg and the preset foot movement. The projection direction of the visible light projected by the light control component is adjusted according to the difference between the action of the healthy leg and the preset foot movement. The difference between the action of the affected leg and the preset foot movement refers to the movement range of the action of the affected leg exceeding, falling below or being within the preset foot movement range data. Preferably, when the movement range of the action of the affected leg exceeds, falls below or is within the preset foot movement range data, the color of the visible light projected by the light control component is different. In this way, the user can determine the difference between the action of his affected leg and the preset foot movement by observing the color of the projected visible light.

[0088] When the user steps out with the affected leg and the lower limb assistive device and lands on the ground, the light control component responds to the control instruction of the data processing unit and projects visible light with corresponding color mapped on the ground in a manner that the projection position can indicate the landing position of the next step of the healthy leg. The color of the visible light corresponds to the action of the affected leg at the previous moment.

[0089] Example 2

[0090] This embodiment may be a further improvement and / or supplement to the above-mentioned embodiment, and repeated contents will not be repeated. In the case of no conflict or contradiction, the whole and / or part of the preferred implementation manner of other embodiments may be used as a supplement to this embodiment.

[0091] In this embodiment, the lower limb assistive device at least includes a trunk support 1, a thigh support component 2 and a calf support component 3.

[0092] Preferably, the backbone support 1 mentioned in this embodiment mainly refers to a supporting component for contacting the ground. The backbone support 1 may also refer to a supporting component having a length extending in a vertical direction. The backbone support 1 provides a supporting function at the bottom.

[0093] The thigh support component 2 and the calf support component 3 are used to contact the affected side from the back of the affected thigh and the back of the affected calf respectively when the lower limb assistive device is worn on the affected side.

[0094] Preferably, the thigh support assembly 2 mentioned in this embodiment mainly refers to a supporting component that can at least support a portion of the affected thigh. When using the lower limb assistive device, the wearer places the affected thigh on the thigh support assembly 2 .

[0095] Preferably, the calf support assembly 3 mentioned in this embodiment mainly refers to the component in contact with the affected calf. Usually, both the thigh support assembly 2 and the calf support assembly 3 have auxiliary components that can tie or otherwise fix the affected calf.

[0096] For ease of understanding, a three-dimensional coordinate system is established for the lower limb assistive device as follows: the parallel direction of the user's legs when the user is standing normally is the X-axis, the direction of the user's face and back is the Y-axis, and the direction of the user's height or vertical is the Z-axis.

[0097] The thigh support assembly 2 and the calf support assembly 3 each have a degree of freedom of rotation about the X-axis. The thigh support assembly 2 and the calf support assembly 3 are rotatably mounted on the same end of the trunk support 1 through an adjustment fastening structure 7. The adjustment fastening structure 7 is configured to limit the rotation between the thigh support assembly 2 or the calf support assembly 3 and the trunk support 1 when the user uses the lower limb assistive device so that the affected foot is suspended and / or the affected posture is fixed.

[0098] Preferably, the affected side or the affected leg mentioned in this embodiment refers to the unilateral leg that is inconvenient for the user to use. The affected side posture mainly refers to the relative position relationship between the affected thigh and the affected calf or the angle between the two.

[0099] The lower limb assistive device further includes a foot support assembly 15. The foot support assembly 15 is disposed at the vertical bottom end of the main support 1 and has a foot connection frame 16 and two elastic members 18. The two elastic members 18 are arranged side by side along the length direction of the foot when the user wears the device. The foot connection frame 16 has two ends respectively located above the two elastic members 18. The first width between the two ends is smaller than the second width formed by the two elastic members 18.

[0100] The elastic members 18 that have been proposed to provide elastic auxiliary force at the bottom of the walking aid are mostly configured as coil springs that can be extended and retracted in a direction perpendicular to the ground. Usually, a single or multiple elastic members 18 are provided. For the technical solution of a single such elastic member 18, due to the cylindrical structure of the coil spring, it is unable to provide sufficient elastic force, and the way the elastic force is provided is quite different from the way the human foot applies force. For the technical solution of multiple elastic members 18 distributed in the walking aid to work together, it is impossible to ensure that different elastic members 18 always provide elastic force in the same direction during walking with large changes in force and position, and excessive elastic action is not conducive to the stability of the walking aid during walking, and the usability is poor.

[0101] Based on this, the lower limb assistive device proposed in this embodiment proposes a new foot support assembly 15 that simulates the human foot. By designing the first width of the foot connecting frame 16 in the foot support assembly 15 to be smaller than the second width between the elastic members 18, the force application point of the foot connecting frame 16 is closer to the middle part of the elastic member 18 rather than the edge of the elastic member 18. Even if the prior art adopts a technical solution similar to that proposed in this embodiment to arrange two elastic members 18 in parallel along the length direction of the foot when the user wears the device, under this arrangement, the edge of the elastic member 18 is usually subjected to the main force. If the force application point of the user when walking is focused on the edge of the elastic member 18, one is that the force on the elastic member 18 is uneven, which may cause the service life of the elastic member 18 to be sharply shortened or even more prone to damage under long-term use. In addition, the elastic member 18 used on the foot itself is not large in size, and the elastic member 18 is compressed on one side, so it is difficult for the elastic member 18 to fully exert its elastic potential energy, and it is easy to cause the elastic member 18 to slip between the ground. Therefore, the existing device that directly uses the elastic member 18 can provide less walking assistance and may cause extreme slippage. In contrast, in this embodiment, the force application point of the foot connecting frame 16 is concentrated on the middle part of the elastic member 18, which can fully and effectively exert the walking assistance of the elastic member 18 and avoid the above-mentioned possible slippage.

[0102] The frame body on the main support 1 near the ends where the thigh support component 2 and the calf support component 3 are located has a first curvature that bends toward the affected side when the user wears the device.

[0103] The main support 1 mainly extends vertically, and the frame extending toward the end near the thigh support component 2 and the calf support component 3 gradually bends from the vertical direction toward the rear side of the affected side to form a first arc. The deflection angle formed by the length extension direction of this part of the frame relative to the vertical direction is an acute angle.

[0104] At present, some walking aids have adopted a rotatable assembly method to fix the thigh support assembly 2 and the calf support assembly 3. However, the conventional trunk support 1 adopted by such walking aids is usually in the shape of a vertical rod. When the thigh is supported by the thigh support assembly 2 in a manner that it is nearly parallel to the ground, the thigh is mainly subjected to a supporting force applied perpendicular to the rear side of the thigh, which has a good supporting effect and little discomfort for the user. When the thigh is supported by the thigh support assembly 2 in a manner that it is tilted forward and raised with a certain angle with the ground, since the conventional trunk support 1 is completely in the shape of a vertical rod, the static friction force on the contact surface between the thigh support assembly 2 and the thigh will be very large. In contrast, the present embodiment, by setting the first arc on the trunk support 1, makes the difference angle between the extension directions of the trunk support 1 and the thigh support assembly 2 smaller, so that the static friction force on the contact surface between the thigh support assembly 2 and the thigh is relatively small. The main supporting force on the thigh is mainly applied to the back of the thigh perpendicular to the back of the thigh as the main source of support, or the ratio between the static friction force on the contact surface between the thigh support component 2 and the thigh and other supporting forces not on the contact surface is reduced. In this way, the discomfort of the reaction force on the user during walking can be greatly improved.

[0105] The frame body of the main support 1 away from the ends where the thigh support component 2 and the calf support component 3 are located has a second curvature and a third curvature that are bent in opposite directions to each other, so that the vertical top and vertical bottom of the main support 1 are vertically displaced from each other.

[0106] At present, some walking aids use a rotatable assembly method to fix the thigh support component 2 and the calf support component 3. The conventional trunk support 1 used in such walking aids is usually in the shape of a vertical rod. When in use, the affected leg is bent, and the conventional trunk support 1 is located at the original position of the affected leg, replacing the affected leg to walk and stand. However, since the original position of the affected leg is occupied by the conventional trunk support 1, in order to prevent the affected leg from hitting or colliding with the conventional trunk support 1, the affected leg needs to be lifted to a position far away from the conventional trunk support 1. The degree of deviation of the affected leg from the body is large, which not only makes the user's body center of gravity unstable, but also increases the body's center of gravity, which makes the user spend more effort each time walking, and cannot meet the use needs of a small number of users to lower the affected side as much as possible. In this regard, this embodiment sets a second arc and a third arc on the trunk support 1, so that the trunk support 1 is deviated from the rear side of the affected leg to the side of the affected leg, and the deviated frame retreats part of the space originally located at the bottom of the affected leg. Based on this, when using the lower limb assistive device proposed in this embodiment, the affected leg is bent, and the foot of the raised affected leg can be located in the bottom space left by the deviated frame. Therefore, the affected leg of the user does not need to deviate too much from the body, the user's body center of gravity is stable, and the body center of gravity is avoided from leaning forward or backward too much, walking is convenient, and it can well meet the needs of a small number of users who need a smaller angle between the upper and lower legs on the affected side.

[0107] This embodiment sets the second and third curvatures on the main support 1, so that the vertical bottom end of the frame that actually contacts the ground to provide support is located closer to the outside of the affected leg. The distance between the two fulcrums formed by the main support 1 and the healthy leg to support the user's walking is increased, which is beneficial to improving the stability of the user's center of gravity when walking. In addition, under this setting, the lower part of the main support 1 is closer to the outside of the user's body rather than the area directly below the affected leg. If a component that needs to be manually adjusted is set on the lower part of the main support 1, the user or other assistants can adjust the components thereon more easily, which is convenient to operate and has strong usability.

[0108] The main support 1 has upper and lower side frame parts. The lower side frame part can be switched between a first posture and a second posture corresponding to two sides of the upper side frame part that are respectively arranged opposite to each other. The upper side frame part and the lower side frame part are rotatably connected to each other and are arranged vertically offset from each other.

[0109] The upper frame has a first support plate 24. The lower frame has a second support plate 25 and a third support plate 26. The first support plate 24, the second support plate 25 and the third support plate 26 are connected in sequence. One end of the third support plate 26 is slidably connected to one end of the second support plate 25.

[0110] The third support plate 26 is connected to the second support plate 25 through a first controllable damping mechanism. The first controllable damping mechanism can be used to adjust the relative movement ability between the second support plate 25 and the third support plate 26. The first controllable damping mechanism can be a magnetorheological fluid damper. On the one hand, the controllable damping mechanism can not only achieve stable vertical support by providing controllable elastic damping, but also allow the affected leg to be maintained and converted at any angle; on the other hand, the controllable damping mechanism is different from the wearable structure proposed in the prior art that bends with the bending of the legs. The controllable damping mechanism allows the patient to sit or stand upright by telescoping up and down, so that the patient can go up and down the stairs smoothly without using the knees.

[0111] The lower limb assistive device also includes a foot support assembly 15 disposed at the vertical bottom end of the main support 1. The foot support assembly 15 includes two multi-layer wave springs 19 arranged in parallel along the length direction of the foot when the user wears the device. The foot support assembly 15 also includes a second damping controllable mechanism. The second damping controllable mechanism can be used to adjust the elastic force of the multi-layer wave spring 19. The second damping controllable mechanism can be a magnetorheological fluid damper. Preferably, the second damping controllable mechanism is configured as a rod-shaped structure consistent with the telescopic direction of the elastic member 18. Preferably, the user's own strength can be enhanced by reducing the supporting force of the lower limb assistive device. The reduction of the supporting force of the lower limb assistive device can be achieved by changing the ratio between the elastic force and the buffering effect provided by the elastic member 18 disposed on the vertical bottom end of the lower limb assistive device. Preferably, a second damping controllable mechanism can be arranged in the elastic member 18, and the elastic member 18 can be changed between the elastic force and the buffering effect by adjusting the second damping controllable mechanism. The elastic force effect may refer to providing different walking-assisting powers to the user by adjusting the elastic deformation stroke of the elastic member 18. The buffering effect may refer to providing different walking-assisting powers to the user by adjusting the difficulty of elastic deformation of the elastic member 18. In the process of the user stepping down on the ground, the elastic member 18 is compressed by the external force, and the higher the degree of compression of the elastic member 18, the greater the energy storage. The second damping controllable mechanism can change the damping effect it provides to adjust the difficulty of the elastic member 18 to be compressed, so that the user needs to actively apply different forces when stepping down on the ground, and / or to adjust the elastic deformation stroke size of the elastic member 18 to be compressed. In the process of the user leaving the ground, the elastic member 18 releases elastic potential energy to provide walking-assisting power to the user. The second damping controllable mechanism can change the damping effect it provides to adjust the difficulty of the process of the elastic member 18 releasing the elastic force, and / or to adjust the elastic deformation stroke size of the elastic member 18 to release the elastic force, so that the walking-assisting power is provided in a controllable manner. In the prior art, a spring member is used and arranged at the sole of the foot, and the single spring member provides walking auxiliary power to the user in an uncontrollable manner of compression and release. The transition process of the elastic member 18 between the elastic force effect and the buffering effect is controllable through the second controllable damping mechanism.

[0112] The thigh support assembly 2 also includes a thigh connecting frame 31. The thigh connecting frame 31 has a first fulcrum 32 for connecting to the main support 1, and at least two second fulcrums 33 for connecting to the thigh support 4. One end of the thigh connecting frame 31 located on at least one second fulcrum 33 can move from the second fulcrum 33 corresponding to it toward another second fulcrum 33 adjacent to the second fulcrum 33. Since the thigh connecting frame 31 is located directly below the thigh, it will cause the patient to be unable to sit on the chair. For this purpose, at least one rod body on the thigh connecting frame 31 is designed as a controllable bending mechanism or a controllable telescopic mechanism. The controllable bending mechanism or the controllable telescopic mechanism can provide stable support when the user is standing, and can move when the user is about to sit on the chair, so that the patient can sit on the chair smoothly.

[0113] The thigh support assembly 2 includes a thigh support 4 and a thigh fixing member 5. The thigh support 4 can provide a stable support for the thigh with a large support area. The thigh fixing member 5 is detachably connected to the thigh support 4. The thigh support 4 and the thigh fixing member 5 are relatively fixed and the two surround each other to form a thigh placement space.

[0114] At least one thigh connecting member 6 is arranged at the outer edge of the thigh fixing member 5. The two ends of the thigh connecting member 6 can be respectively connected to the thigh fixing member 5 and the thigh support 4 so that the two are relatively fixed.

[0115] The thigh connector 6 can be an existing buckle or a backpack strap with an adjustable buckle, etc., which is not specifically limited in this embodiment. For example, the thigh connector 6 can be an elastic material with a detachable chuck hook. For example, the thigh connector 6 can be a fixing rope prepared by the user.

[0116] Preferably, at least one thigh connector 6 is disposed on both sides of the thigh fixing member 5. Preferably, only one side of the thigh fixing member 5 is provided with a thigh connector 6, and the other side is rotatably connected to the thigh support 4.

[0117] The thigh support assembly 2 further comprises a thigh connecting frame 31. One end of the thigh connecting frame 31 is fixedly connected to the lower end surface of the thigh support 4. The other end of the thigh connecting frame 31 is movably connected to the trunk support 1. The thigh connecting frame 31 can rotate relative to the trunk support 1.

[0118] When using the auxiliary device proposed by the prior art, the support rod only supports the local posterior thigh near the knee, which not only causes discomfort to the patient due to the local force, but also requires most of the body weight to be borne by the healthy leg when standing, resulting in poor use feeling and excessive force on the healthy leg during the rehabilitation process. In this regard, in the present embodiment, the thigh connecting frame 31 has a first fulcrum 32 for connecting to the trunk support 1, and at least two second fulcrums 33 for connecting to the thigh support 4. The thigh connecting frame 31 is equivalent to a stable triangular structure formed between the thigh support 4 and the trunk support 1. Through the supporting effect of multiple second fulcrums 33, the thigh can be stably supported. The large supporting area is not only conducive to improving the comfort of use, but also avoids excessive force on the healthy leg. At the same time, the device can achieve a lighter weight requirement under this structure. Although the auxiliary device proposed by the prior art can also extend its thigh supporting platform upward to meet the large supporting area, it also increases the weight of the device and cannot achieve the lightweight of the auxiliary device of the present embodiment.

[0119] In the auxiliary device proposed in the above patent, the calf hangs naturally along the support rod, and the support rod can only restrain the calf to prevent the calf from shaking, while the weight of the calf is basically borne by the knee and thigh, which is particularly unsuitable for patients with moderate knee injuries who need to minimize the force on the knee. In this regard, in this embodiment, the calf support assembly 3 is also indirectly fixed to the main support 1 using a connecting frame. The calf connecting frame is used in conjunction with the calf support, and the weight of the calf can be unloaded to the main support 1 via the calf connecting frame, reducing the force on the thigh and knee.

[0120] The connection between the thigh connecting frame 31 and the trunk support 1 is provided with an adjustment fastening structure 7. The adjustment fastening structure 7 includes an operation screw 8 and a pin screw 9 that are connected to each other. The pin screw 9 refers to a screw provided on the convex platform 10 on the rod structure for limiting position. The operation screw 8 refers to a screw used for manual operation by personnel.

[0121] The trunk support 1 is provided with a pin slot 11. The pin slot 11 is matched with the convex platform 10 on the pin screw 9. The pin slot 11 is used to prevent the relative rotation between the pin screw 9 and the trunk support 1.

[0122] The pin screw 9 is provided with a threaded hole, and the rod structure of the operating screw 8 is threaded, and the operating screw 8 is matched with the threaded hole. The operator can rotate the operating screw 8 to position the thigh connecting frame 31 on the trunk support 1.

[0123] The pin screw 9 can be assembled to the trunk support 1 from the left side or the right side of the trunk support 1, and the operating screw 8 can be relatively arranged on the right side or the left side of the trunk support 1. That is, the user can choose to arrange the operating screw 8 on the right side or the left side of the trunk support 1, so that users who are accustomed to using their left or right hands can operate it with their comfortable hand.

[0124] A through hole 12 is provided on the end of the thigh connecting frame 31 that matches the trunk support 1. The diameter of the through hole 12 is slightly larger than the diameter of the pin screw 9. This ensures the mobility of the thigh supporting assembly 2.

[0125] Preferably, the thigh connecting frame 31 and the main support 1 are in non-smooth contact. That is, the end surfaces of the thigh connecting frame 31 and the main support 1 that are in contact with each other are preferably rough surfaces or non-flat surfaces. The relative rotation between the thigh connecting frame 31 and the main support 1 can be achieved by loosening the operating screw 8.

[0126] Preferably, the through hole 12 on the thigh connecting frame 31 can have the same diameter as the through hole 12 with the pin slot 11 on the main support 1, and the through hole 12 is provided with a plurality of pin slots 11 along its inner edge that can match the convex platform 10. That is, the relative rotation between the thigh connecting frame 31 and the main support 1 can be achieved by removing the pin screw 9.

[0127] The structure of the calf support assembly 3 is similar to that of the thigh support assembly 2. The connection structure between the calf support assembly 3 and the trunk support 1 is similar to the connection structure between the thigh support assembly 2 and the trunk support 1. The specific structure of the calf support assembly 3 is not repeated here. The calf connecting frame and the thigh connecting frame 31 are respectively connected to different positions on the vertical top of the trunk support 1.

[0128] The shapes of the calf support and calf fixing member, as well as the thigh support 4 and thigh fixing member 5 included in the calf support assembly 3 can be similar to a parabolic cylinder, so as to better fit the human body and improve the comfort.

[0129] The calf support, the calf fixing part, the thigh support 4 and the thigh fixing part 5 are all covered with a flexible layer 13. The flexible layer 13 is preferably made of soft leather. The flexible layer 13 is often in contact with the user and is easily contaminated with dirt. The use of soft leather material can provide the characteristic of easy cleaning while maintaining comfort.

[0130] The flexible layer 13 is detachably fixed to the calf support, the calf fixing part, the thigh support 4 and the thigh fixing part 5 through the zipper structure 14. The zipper structure 14 is arranged along the outer edge of the calf support, the calf fixing part, the thigh support 4 and the thigh fixing part 5. The zipper has low noise and is more casual to operate and convenient to put on and take off compared to the brace that uses magic buckle as the main fixing method in the prior art. The zipper can be used repeatedly and has a longer and more stable service life than the magic buckle. The magic buckle is prone to adhesion deviation, which causes the magic hook surface to adhere to other objects such as clothes. In contrast, the zipper used in this embodiment is highly reliable and convenient to use.

[0131] Preferably, the flexible layer 13 may be composed of a contact layer, an interlayer, and a bottom layer that overlap in sequence from top to bottom. The contact layer may be a layered composite made of a leather layer, a top textile fabric layer, a top woven fabric layer, a silicone foam, or an elastic layer made of sponge, memory foam, EVA, latex foam, or rubber, or one or more combinations thereof. The bottom layer may be a layered composite made of a porous silicone layer made of silicone or a porous silicone mesh layer made of silicone, a rubber layer, a bottom textile fabric layer, or a bottom woven fabric layer, or one or more combinations thereof. Anti-skid protrusions, anti-skid holes, or anti-skid ridges may be provided on the bottom surface of the bottom layer. The interlayer may be a layered material formed by extrusion or injection molding of raw materials such as mineral powder, plastic, etc. that can release negative ions.

[0132] The lower limb rehabilitation walker also includes a foot support assembly 15. The foot support assembly 15 is arranged at the vertical bottom end of the main support 1 to stably support the ground and provide a major assisting effect for the patient to walk.

[0133] The foot support assembly 15 includes a foot connection frame 16 and a rebound mechanism 17. The foot connection frame 16 is fixedly connected to the rebound mechanism 17 to transmit the force applied thereto upward or downward.

[0134] The rebound mechanism 17 is provided with a deformation-recoverable elastic member 18. The elastic member 18 is particularly a wave spring 19. Under the condition of the same deformation amount, the volume of the wave spring 19 is much smaller than that of an ordinary coil spring, thereby greatly saving the space occupied by the foot support assembly 15.

[0135] The elastic member 18 is a multi-layer wave spring 19. The single-layer wave spring 19 is an elastic element with a plurality of wave crests and troughs on a metal ring, and the multi-layer wave spring 19 is composed of a plurality of single-layer wave springs 19.

[0136] The rebound mechanism 17 includes a first U-shaped frame 20 and a second U-shaped frame 21. The two U-shaped frames are fixedly connected to each other in such a way that the U-shaped openings face away from each other. The elastic member 18 is installed inside the U-shaped frame. The force law of the forefoot and the rear foot of the human foot when walking is simulated to the greatest extent.

[0137] The two ends of the foot connecting frame 16 are respectively fixedly connected to the first and second U-shaped frames 21. The U-shaped frame can be made of a material with a certain hardness that can undergo elastic deformation, such as alloy or rubber.

[0138] The frame of the foot connecting frame 16 is concave toward the side away from the rebound mechanism 17 , so that a spacing space 22 is reserved between the frame of the foot connecting frame 16 and the rebound mechanism 17 , thereby allowing the U-shaped frame to deform toward the spacing space 22 .

[0139] When a person walks, he or she floats up and down in the vertical direction. The foot support assembly 15 provided in this embodiment can better simulate the gait pattern of a person.

[0140] The end surface of the U-shaped frame in contact with the ground is provided with an anti-skid layer 23. The anti-skid layer 23 mentioned in this embodiment can be made of existing anti-skid materials, and is not specifically limited to a certain type of material. For example, the anti-skid layer 23 can preferably be an anti-skid velvet pad or a gecko fin bionic design related structure.

[0141] The trunk support 1 includes a first support plate 24, a second support plate 25 and a third support plate 26 which are connected in sequence. An open cavity is provided at one end of the second support plate 25, one end of the third support plate 26 is slidably connected in the cavity of the second support plate 25, and the other end is connected to the foot connection frame 16. The third support plate 26 and the second support plate 25 can be relatively fixed. When the fixed relationship is released, the third support plate 26 can move up and down relative to the second support plate 25, and the fixed relationship between the two can be restored at a desired position. In this way, the overall height of the product can be flexibly adjusted to better adapt to different wearers.

[0142] The connection structure between the third support plate 26 and the second support plate 25 can be the manually adjustable adjustment fastening structure 7 mentioned above. Or it can also be an existing free telescopic fixing structure. Since the structural design is not the improvement point of this embodiment, this embodiment does not limit its specific structure. For example, the second support plate 25 and the third support plate 26 are both provided with a long strip through hole 12, and the long strip through hole 12 extends vertically and has a plurality of pin grooves 11 corresponding to each other on its two inner wall surfaces extending vertically. The pin screw 9 in the adjustment fastening structure 7 here has two convex platforms 10 opposite to each other, which are used to match the pin grooves 11 on the inner wall surface of the long strip through hole 12 so that the relative positions of the third and second support plates 25 are fixed.

[0143] The second support plate 25 has two bends, and the two bends are bent in opposite directions. The bending angles of the bends on the second support plate 25 are all obtuse angles. The first bend 27 on the second support plate 25 close to the first support plate 24 is bent in a direction away from the first support plate 24. The plane where the plate surface of the third support plate 26 is located is different from the plane where the plate surface of the first support plate 24 is located.

[0144] The second support plate 25 and the first support plate 24 may be connected to each other via a central axis 30. The second support plate 25 may be fixed relative to the first support plate 24 without affecting the walking assistance for the patient. When the fixed relationship is released, the second support plate 25 may rotate relative to the first support plate 24 with the third support plate 26 and the foot support assembly 15.

[0145] When the second support plate 25 is relatively fixed to the first support plate 24, there is a first working angle and a second working angle between the second support plate 25 and the first support plate 24. The two working angles are 0° and 180° respectively.

[0146] An adjustment mechanism or a top and bottom pivot mechanism is provided at one end of the first support plate 24. One end of the top and bottom pivot mechanism passes through the plate body of the first support plate 24, and a button 29 for user operation is provided on the end. The top and bottom pivot mechanism can be an existing top and bottom lock structure, or can be an existing elastic pressing structure similar to a pressing pen. As long as it can be locked and unlocked by repeatedly pressing, it can be used as a top and bottom pivot mechanism. This embodiment does not propose any improvement to it, so its specific structure is not limited.

[0147] The heaven and earth rotating shaft mechanism comprises a button 29 and at least one movable column shaft linked therewith. The number of movable column shafts is preferably two. The shape of the movable column shaft is preferably cylindrical.

[0148] After pressing the button 29, at least one movable column shaft is inserted into the second support plate 25, which can play a role in fixing the angle. After the button 29 is pressed again, all movable column shafts are lifted, and the user can rotate the second support plate 25 from the first working angle to the second working angle. Pressing the button 29 again, the movable column shaft is inserted into the second support plate 25, and the second support plate 25 is limited to the specified working angle.

[0149] The main frame of the walker can be made of light and high-strength materials such as aluminum alloy, which can reduce the weight of the product while ensuring strength.

[0150] When in use, the walker can be adjusted to a posture that is convenient for the affected leg to use by adjusting the working angle of the second support plate 25. The operator can select the installation direction of the fastening structure to facilitate assembly and adjustment operations. After placing the affected leg on the thigh support 4 and the calf support accordingly, the calf support and the calf fixing piece, as well as the thigh support 4 and the thigh fixing piece 5 are respectively connected and fixed accordingly to complete the wearing. The affected leg can achieve stable walking with the help of the rebound mechanism 17 at the bottom of the walker, and the foot of the affected leg does not need to be in direct contact with the ground, thereby avoiding further damage to the affected leg and facilitating the recovery of the affected leg.

[0151] It should be noted that the above-mentioned specific embodiments are exemplary, and those skilled in the art can come up with various solutions inspired by the disclosure of the present invention, and these solutions also belong to the disclosure scope of the present invention and fall within the protection scope of the present invention. Those skilled in the art should understand that the present invention specification and its drawings are illustrative and do not constitute a limitation of the claims. The scope of protection of the present invention is defined by the claims and their equivalents. The present invention specification contains multiple inventive concepts, such as "preferably", "according to a preferred embodiment" or "optionally", all of which indicate that the corresponding paragraph discloses an independent concept, and the applicant reserves the right to file a divisional application based on each inventive concept. Throughout the text, the feature guided by "preferably" is only an optional method and should not be understood as a must-have setting. Therefore, the applicant reserves the right to abandon or delete the relevant preferred features at any time.

Claims

1. A control system for a lower limb assistive device, characterized in that: The lower limb assistive device comprises at least a sensing unit (34), a data processing unit (35), a mobile control terminal (36) and a light control component (37), wherein the lower limb assistive device comprises a device body worn on the affected leg and a wearable device separately provided from the device body and worn on the healthy leg, wherein both the wearable device and the device body are provided with the sensing unit (34). The lower limb assistive device at least comprises: A main support (1) having both a first curvature and a fourth curvature; The thigh support component (2) and the calf support component (3) are used to contact the affected side from the back of the affected thigh and the back of the affected calf respectively when the lower limb assistive device is worn on the affected side. The calf support assembly (3) is mounted on the main support (1) so that the position of the tension on the main support (1) directed toward the user's face side by the calf support assembly (3) after the calf support assembly (3) is mounted on the affected calf is located at the same end of the main support (1) as the position of the thigh support assembly (2) on the main support (1). The frame body on the main support (1) near the ends where the thigh support assembly (2) and the calf support assembly (3) are located has a fourth curvature different from the first curvature and is bent toward the affected side when the user wears the lower limb assistive device. The end surface of the vertical top of the main support (1) is inclined, and the top end surface has two endpoints, one high and one low. The thigh support assembly (2) is connected to the higher endpoint on the top end surface, and the calf support assembly (3) is connected to the lower endpoint on the top end surface. The fourth curvature is larger than the first curvature. The frame body of the trunk support (1) at the end away from the thigh support component (2) and the calf support component (3) has a second curvature and a third curvature that are bent in opposite directions, so that the vertical top end and the vertical bottom end of the trunk support (1) are vertically displaced from each other, and the trunk support (1) is deviated from the rear side of the affected leg to the side of the affected leg, and the deviated frame body retreats part of the space at the bottom where the affected leg was originally located; The data processing unit (35) is configured to: Using a sensor unit (34) preset on the lower limb assistive device to measure walking posture following data and analyze to obtain information on the foot movement range of the user's foot during the moving phase when the user is wearing the lower limb assistive device; It is judged whether the foot movement of the user during the moving stage is within the pre-stored preset foot movement range data, and the judgment result is controlled by a light control component (37) arranged on the main support (1) of the lower limb assistive device or on the leg support component to control the visible light source to project only the area light corresponding to the healthy leg, so as to project a guiding projection in front of the user to remind the user of the difference between his action and the preset foot movement; The data processing unit (35) generates a control instruction regarding the corresponding ground area where the user's foot should land based on the preset foot motion range data, and the light control component (37) projects regional light to the corresponding ground area after receiving the control instruction.

2. The system according to claim 1, characterized in that The walking posture following data refers to the foot movement range information of the user's feet in the moving phase or walking phase detected by the sensor unit (34) when the user is wearing the lower limb assistive device. The projection direction of the visible light projected by the light control component (37) is adjusted according to the difference between the movement of the healthy leg and the preset foot movement, wherein the difference between the movement of the affected leg and the preset foot movement refers to whether the movement range of the affected leg exceeds, is lower than or is within the preset foot movement range data.

3. The system according to claim 2, characterized in that When the movement range of the affected leg exceeds, falls below or is within the preset foot movement range data, the color of the visible light projected by the light control component (37) is different, so that the user can determine the difference between the movement of the affected leg and the preset foot movement by observing the color of the projected visible light. Among them, the color of visible light corresponds to the movement of the affected leg at the previous moment.

4. The system according to claim 1, characterized in that The projection of the end of the trunk support (1) on a virtual horizontal plane perpendicular to the vertical direction is always located in the middle area of ​​the projection of the thigh support component (2) on the virtual horizontal plane.

5. The system according to claim 4, characterized in that The frame body on the trunk support (1) close to the end where the thigh support component (2) and the calf support component (3) are located has a first arc that bends towards the affected side when the user wears the lower limb assistive device.

6. The system according to claim 1, characterized in that The thigh support assembly (2) further comprises a thigh connecting frame (31) and a thigh support (4), wherein the thigh connecting frame (31) has a first fulcrum (32) for connecting to the main support (1) and at least three second fulcrums (33) for connecting to the thigh support (4), wherein the at least three second fulcrums (33) are arranged at intervals along the length direction of the affected thigh supported in the thigh support (4).

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