Non-externally powered flexible exoskeleton walker

Abstract

The application discloses a non-external force driving flexible exoskeleton walking aid, which comprises a flexible binding unit and a power assisting unit connected with the flexible binding unit; the flexible binding unit comprises a waist binding belt fixed on the waist and abdomen of a human body, a first binding belt fixed on a healthy limb and a second binding belt fixed on an affected limb; the power assisting unit comprises a driving power assisting line and a driven power assisting line; the driving power assisting line is connected with the waist binding belt, the first binding belt and the second binding belt respectively, and the driven power assisting line is connected with the waist binding belt and the second binding belt respectively; the healthy limb provides driving power to the affected limb through the driving power assisting line to make the affected limb relatively move, and the affected limb relatively moves through the driven power assisting line along with the movement of the affected limb itself. Through the structural arrangement of the application, the healthy limb is used as a power source, and the potential energy generated by the movement of the healthy limb and the waist muscle strength are used to realize the flexion of the hip joint of the affected limb, the bidirectional movement assistance of the knee joint and the ankle joint.

Description

Technical Field

[0001] This invention relates to the field of wearable medical rehabilitation training devices, specifically to a non-externally driven flexible exoskeleton walking aid. Background Technology

[0002] Walking ability is a basic human need for survival and an important training component in the rehabilitation of patients with leg defects. In the current rehabilitation field, mechanically assisted exoskeletons developed to assist patients in walking and rehabilitation training have been widely adopted. However, due to limitations in medical resources and rehabilitation costs, most patients choose to use assistive devices such as walkers and canes at home for rehabilitation training and assisted walking during the golden rehabilitation period. Because these devices lack the function of assisting with lower limb joint flexion and knee joint support (the knee joint cannot be locked), they cannot support and drive the affected limb to walk with a natural gait (toe dragging, circular gait). Although they can walk, they cannot walk well.

[0003] Meanwhile, in the current medical field, most patients use externally powered (active) exoskeleton walking aids. However, active exoskeleton walking aids have poor human-computer interaction and are prone to human-computer collisions due to their own system errors, which can cause injury to the human body. At the same time, active exoskeleton walking aids are heavy, which increases the burden on the patient and affects the patient's rehabilitation. The external devices are also very inconvenient, and the manufacturing cost is high, making the purchase or rental cost expensive and not universal. On the other hand, passive exoskeleton walking aids are mainly designed to provide swinging power (single joint) for patients with muscle weakness, and are not practical for rehabilitation training of stroke patients with hemiplegia or unilateral lower limb motor dysfunction.

[0004] Therefore, it is necessary to provide an exoskeleton walking aid that can help patients with hemiplegia due to stroke and those with unilateral lower limb motor dysfunction in their rehabilitation training and independent living. Summary of the Invention

[0005] The purpose of this invention is to overcome one or more of the above-mentioned existing technical problems and provide a non-externally driven flexible exoskeleton walking aid.

[0006] To achieve the above objectives, the present invention provides the following technical solution:

[0007] Non-force-driven flexible exoskeleton walking aids, including:

[0008] A flexible binding unit, and an assist unit connected to the flexible binding unit;

[0009] The flexible binding unit includes a waist binding strap fixed to the waist and abdomen of the human body, a first binding strap fixed to the healthy limb, and a second binding strap fixed to the affected limb.

[0010] The assist unit includes an active assist line and a driven assist line;

[0011] The active assist line is connected to the waist binding strap, the first binding strap, and the second binding strap, respectively; the driven assist line is connected to the waist binding strap and the second binding strap, respectively.

[0012] The healthy limb provides driving power to the affected limb through the active assist line, causing the affected limb to move relative to the healthy limb. The affected limb moves relative to the healthy limb through the driven assist line, following the movement of the affected limb itself.

[0013] Preferably, the first binding strap includes a first thigh binding strap worn and bound to the thigh of the healthy limb, and the second binding strap includes a second thigh binding strap worn and bound to the thigh of the affected limb, a calf binding strap worn and bound to the lower leg of the affected limb, and a foot cover worn and bound to the foot of the affected limb.

[0014] Preferably, the active assist line includes a first Bowden line for supporting the affected limb, a second Bowden line for pulling the foot-wearing shoe cover to cause relative movement, and a third Bowden line for pulling the second thigh binding strap to cause relative movement; the driven assist line includes a fourth Bowden line for pulling the foot-wearing shoe cover to cause relative movement, and a fifth and sixth Bowden line for pulling the calf binding strap to cause relative movement.

[0015] Preferably, the starting end of the first Bowden line is connected to the front side of the first binding strap, and is sequentially fixed to the rear side of the first binding strap and the rear side of the waist binding strap, and the end is connected between the second thigh binding strap and the calf binding strap.

[0016] Preferably, the starting end of the second Bowden line is connected to the front side of the first binding strap, and is sequentially fixed to the rear side of the first binding strap, the rear side of the waist binding strap, and the rear side of the calf binding strap, with the end connected to the rear end of the foot shoe cover.

[0017] Preferably, the starting end of the third Bowden line is connected to the side of the waist binding belt near the first binding belt, and is sequentially fixed to the first binding belt, the side of the waist binding belt near the first binding belt, and the side of the waist binding belt near the second binding belt, with the end connected to the front side of the second thigh binding belt.

[0018] Preferably, the starting end of the fourth Bowden line is connected to the side of the waist binding strap near the second binding strap, and passes sequentially through the back of the waist binding strap and the front of the calf binding strap, with the end connected to the front of the foot shoe cover.

[0019] Preferably, the starting end of the fifth Bowden line is connected to the side of the waist binding belt near the second binding belt, and passes sequentially behind the waist binding belt and behind the second thigh binding belt, with the end connected to the outside of the calf binding belt.

[0020] Preferably, the starting end of the sixth Bowden line is connected to the side of the waist binding strap near the second binding strap, and the ending end is connected to the calf binding strap.

[0021] Preferably, it further includes a fixing unit disposed on the flexible binding unit for fixing the assist unit, a limiting unit for limiting the length of the assist unit, and an adjustment unit disposed on the second binding strap for maintaining the stability of the human body's gait during walking.

[0022] Preferably, the adjustment unit includes a knee joint flexion limiter, a magnetic clutch, and an elastic band;

[0023] The knee flexion limiter is located on the outer side of the knee joint between the second thigh binding strap and the calf binding strap. One end of the magnetic clutch is connected to the calf binding strap and the other end is connected to the fifth Bowden line. One end of the elastic band is connected to the knee flexion limiter and the other end is connected to the sixth Bowden line.

[0024] Based on this, the beneficial effects of the present invention are as follows:

[0025] 1. The non-externally driven flexible exoskeleton walking aid of the present invention, through a special connection method of the first, second, third, fourth, fifth, and sixth Bowden lines, uses the healthy limb as the power source and replaces human-computer interaction with gait interaction. When the patient's healthy limb steps forward, the first Bowden line can provide support and assistance to the affected limb so that the affected limb can support the weight of the human body. The second Bowden line can provide assistance for the ankle flexion and extension movements of the affected limb. The third Bowden line can provide assistance for the hip flexion movements of the affected limb. The fourth Bowden line can provide assistance for the ankle dorsiflexion movements of the affected limb. The fifth Bowden line can provide assistance for the knee flexion movements of the affected limb. The sixth Bowden line can provide assistance for the knee extension movements of the affected limb.

[0026] 2. The non-externally driven flexible exoskeleton walking aid of the present invention has low manufacturing cost and light weight, and is highly safe and practical during use, making it suitable for widespread use in the personal consumer market;

[0027] 3. The non-externally driven flexible exoskeleton walking aid of the present invention, through the limiting unit, not only enables the patient to achieve gait walking, but also allows for rapid adjustment of the limiting unit during walking, thereby adjusting the amount of active degree of freedom assistance of each joint, which can meet the needs of patients with different conditions and different usage requirements.

[0028] 4. The non-externally driven flexible exoskeleton walking aid of the present invention uses the movement of the healthy limb as the power source for the whole device, without the need for an external power source. This can avoid the human body being injured by human-machine collisions caused by system errors in active exoskeleton walking aids. At the same time, it is easy to use, and patients can put it on and take it off independently. Furthermore, the device of the present invention is more suitable for rehabilitation training of stroke hemiplegic patients and patients with unilateral lower limb motor dysfunction. Attached Figure Description

[0029] Figure 1 This is a schematic diagram of a non-externally driven flexible exoskeleton walking aid according to one embodiment of the present invention;

[0030] Figure 2 This is a front view of a non-externally driven flexible exoskeleton walking aid according to an embodiment of the present invention;

[0031] Figure 3 This is a partially enlarged view of a first thigh binding strap according to an embodiment of the present invention;

[0032] Figure 4 This is a partial enlarged view of a waist binding belt near the affected limb according to one embodiment of the present invention;

[0033] Figure 5 This is a side view of a non-externally driven flexible exoskeleton walking aid according to an embodiment of the present invention;

[0034] Figure 6 This is a rear view of a non-force-driven flexible exoskeleton walking aid according to one embodiment of the present invention. Detailed Implementation

[0035] The invention will now be discussed with reference to exemplary embodiments. It should be understood that the described embodiments are merely intended to enable those skilled in the art to better understand and thus implement the invention, and are not intended to imply any limitation on the scope of the invention.

[0036] As used herein, the term “comprising” and its variations are to be interpreted as open-ended terms meaning “including but not limited to”. The term “based on” is to be interpreted as “at least partially based on”, and the terms “one embodiment” and “an embodiment” are to be interpreted as “at least one embodiment”.

[0037] Figure 1 A schematic diagram showing an embodiment of the non-externally driven flexible exoskeleton walking aid of the present invention is shown below. Figure 1 As shown, the non-externally driven flexible exoskeleton walking aid of the present invention includes: a flexible binding unit 1, an assist unit 2, a fixing unit 3, a limiting unit 4, and an adjustment unit 5.

[0038] Specifically, the flexible binding unit 1 is fixed to the human torso, and the assist unit 2 is connected to each flexible binding unit 1. At the same time, considering the aesthetics of wearing the device and the convenience of actual use, the assist unit 2 is fixed to each flexible binding unit 1 along a prescribed route through the fixing unit 3. At the same time, a limiting unit 4 is set at the initial end of each assist unit 2, which can limit the length of each assist unit 2.

[0039] When a patient is training their gait, their healthy limb enters the swing phase first, while the affected limb is in the support phase. At this time, the healthy limb performs hip flexion movements, and the assist unit 2 connects the healthy limb and the affected limb. The length of the assist unit 2 is fixed, and the assist unit 2 is stretched to provide assistance for the movement of the affected limb. Meanwhile, the adjustment unit 5 can provide support and balance assistance during the patient's gait. The entire device does not require an external power source and uses the healthy limb as the power source. Walking can be completed through the movement of the healthy limb. At the same time, the device is smooth to use and conforms to the walking posture of a normal human body.

[0040] Figure 2 This is a front view of a non-force-driven flexible exoskeleton walking aid according to an embodiment of the present invention, as shown below. Figure 2 As shown, the flexible binding unit 1 includes a waist binding strap 101, a first binding strap 102, and a second binding strap 103;

[0041] Specifically, the waist binding strap 101 is fixed to the waist and abdomen of the human body. It consists of left and right pelvic supports that fit the waist and distribute the pulling force, and a back plate whose width can be adjusted according to the waist circumference. The waist binding strap 101 can provide assistance for the connection of the assist unit 2 to each flexible binding unit 1, making it convenient for patients to use. At the same time, all assist units 2 pass through the waist binding strap 101, making the overall device more aesthetically pleasing.

[0042] The first binding strap 102 is specifically a first thigh binding strap, which is fixed to the thigh of the patient's healthy limb, and it can also be adjusted according to the actual size of use.

[0043] The second binding strap 103 includes a second thigh binding strap 1031, a calf binding strap 1032, and a foot shoe cover 1033. The second binding strap 103 is fixed to the patient's affected limb and can also be adjusted according to the actual size. The second thigh binding strap 1031 is fixed to the thigh of the affected limb, the calf binding strap 1032 is fixed to the calf of the affected limb, and the foot shoe cover 1033 is fixed to the foot of the affected limb.

[0044] With the first binding strap 102 and the second binding strap 103 in place, when the patient is undergoing gait training, he / she can achieve different movements of different parts of the affected limb through the movement of the healthy limb, thereby achieving gait walking.

[0045] The assist unit 2 includes an active assist line 201 and a driven assist line 202. The active assist line 201 is connected to the waist binding belt 101, the first binding belt 102, and the second binding belt 103, respectively. The driven assist line 202 is connected to the waist binding belt 101 and the second binding belt 103, respectively. In the overall device of the present invention, the healthy limb is used as the power source. The active assist line 201 connected to the healthy limb can provide direct assistance for the walking of the affected limb, such as hip flexion and ankle extension. The driven assist line 202 connected to the affected limb provides auxiliary assistance during the movement of the affected limb, such as ankle dorsiflexion, knee extension, or support for the affected limb.

[0046] The active assist line 201 includes the first Bowden line 2011, the second Bowden line 2012 and the third Bowden line 2013, while the passive assist line 202 includes the fourth Bowden line 2021, the fifth Bowden line 2022 and the sixth Bowden line 2023.

[0047] Figure 3 This is a partially enlarged view of a first thigh binding strap according to an embodiment of the present invention;

[0048] Figure 4 This is a partial enlarged view of a waist binding belt near the affected limb according to one embodiment of the present invention; Figure 5 This is a side view of a non-externally driven flexible exoskeleton walking aid according to an embodiment of the present invention; Figure 6 This is a rear view of a non-force-driven flexible exoskeleton walking aid according to an embodiment of the present invention. Figure 2-6 As shown, the adjustment unit 5 in the non-externally driven flexible exoskeleton walking aid of the present invention includes a knee joint flexion limiter 501, a magnetic clutch 502, and an elastic band 503.

[0049] Specifically, the initial end of the first Bowden line 2011 is fixed by a limiting structure 4 on the front side of the first binding strap 102, which is the first limiting member 401. A fixing unit 3 is provided below the first limiting member 401, which is the first fixing member 301. The first Bowden line 2011 passes through the first fixing member 301 and wraps around to the second fixing member 302 on the rear side of the first binding strap 102. After passing through the third fixing member 303 provided on the rear side of the waist binding strap 101, the first Bowden line 2011 wraps around to the outside of the affected limb, and its end is connected to the knee joint flexion limiter 501 between the second thigh binding strap 1031 and the calf binding strap 1032. In one embodiment of the present invention, the first limiting member 401 is a cord adjuster, and the first fixing member 301 and the second fixing member 302 are fixed. Fixed component 302 and third fixed component 303 serve as fixed anchor points. When the patient is undergoing gait training, the length of the first Bowden line 2011 is pre-set via the first limiting component 401. When the patient's healthy limb is in the mid-swing phase to the first ground contact phase, the healthy limb lifts up and stretches the first Bowden line 2011, the end of which connects to the knee flexion limiter 501, providing upward pulling force to the knee flexion limiter 501, so that the affected limb is straightened and cannot be bent, and can support the weight of the human body. At the same time, the knee flexion limiter 501 is located on the outside of the affected limb. While satisfying the requirement of straightening the affected limb to support the human body, it can also give the patient inward pressure, so that when the healthy limb steps off the ground, the patient will not lose his / her center of gravity and will not tilt to the outside, thus ensuring the patient's health.

[0050] And such Figure 5 As shown, the knee flexion limiter 501 includes a first controller (not shown) integrally connected to the second thigh binding strap 1031 and a second controller (not shown) integrally connected to the lower leg binding strap 1032. The first controller and the second controller are interconnected, and the second controller can rotate relative to the first controller at the connection point between the two. During the patient's wearing process, the angle range that the second controller can rotate is preset on the knee flexion limiter 501. This setting ensures that when the affected limb is bent, the knee will not bend excessively during the step, and the patient's body will not lean backward, thus ensuring the patient's health.

[0051] The initial end of the second Bowden line 2012 is fixed by the limiting structure 4 on the front side of the first binding strap 102. At this time, it is fixed by the second limiting member 402 next to the first limiting member 401. It merges with the first Bowden line 2011 through the first fixing member 301, and then wraps together around the second fixing member 302 on the back side of the first binding strap 102. After passing through the third fixing member 303, they separate. The second Bowden line 2012 wraps around the back side of the calf binding strap 1032 and is fixed by the fourth fixing member 304, extending again to the rear end of the foot shoe cover 1033. It is fixedly connected to the foot cover 1033. In one embodiment of the present invention, the second limiting member 402 is also a rope length adjuster, and the fourth fixing member 304 is also a fixed anchor point. When the patient is training his gait, the length of the second Bowden line 2012 is set in advance by the second limiting member 402. When the patient's healthy limb is in the first contact phase, the healthy limb is still lifted and stretched by the second Bowden line 2012. Its end is connected to the back of the foot of the affected limb, providing an upward pull to the back of the foot of the affected limb, so that it can perform ankle flexion and extension movements and push the trunk forward.

[0052] The initial end of the third Bowden cable 2013 is fixed by the limiting unit 4 to the side of the waist binding strap 101 near the first binding strap 102. This limiting unit 4 is the third limiting member 403. At the same time, a fixing unit 3 is set below the third limiting member 403. Here, the fixing unit 3 is the fifth fixing member 305. The third Bowden cable 2013 passes through the fifth fixing member 305 to reach the top of the first binding strap 102, passes through another sixth fixing member 306 set on the first binding strap 102, goes around half a circle and returns to the fifth fixing member 305, then passes behind the waist binding strap 101, goes around to the side of the waist binding strap 101 near the second binding strap 103, and extends through the seventh fixing member 307 set on the waist binding strap 101. The cord extends to the front of the second thigh binding strap 1031 and is fixedly connected by the eighth fixing member 308 on the second thigh binding strap 1031. In one embodiment of the present invention, the fifth fixing member 305, the seventh fixing member 307 and the eighth fixing member 308 are fixed anchor points, the sixth fixing member 306 is a fixed pulley, and the third limiting member 403 is a cord length adjuster. When the patient is training his gait, the length of the third Bowden line 2013 is preset by the third limiting member 403. When the patient's healthy limb is in the weight-bearing reaction phase to the end of the support phase, the healthy limb stretches the third Bowden line 2013, thereby pulling the thigh of the affected limb. This can provide an upward pulling force to the thigh of the affected limb, enabling it to perform hip flexion movements and providing assistance for the affected limb to lift its leg.

[0053] The initial end of the fourth Bowden line 2021 is fixed by the limiting unit 4 to the side of the waist binding belt 101 near the second binding belt 103, which is the fourth limiting member 404. It then passes through the seventh fixing member 307 to the ninth fixing member 309 located behind the waist binding belt 101, and extends downwards to the tenth fixing member 310 located behind the second thigh binding belt 1031. It then passes through the eleventh fixing member 311 located in front of the calf binding belt 1032, and its end is connected to the front end of the footwear shoe cover 1033. In one embodiment of the invention, the fourth limiting member 404 is a cord length adjuster, and the ninth fixing member 309 is a cord length adjuster. Fixed component 309, tenth fixed component 310, and eleventh fixed component 311 serve as fixed anchor points. When the patient is training their gait, as the healthy limb steps (from mid-swing phase to end-stance phase), the affected limb performs hip flexion and ankle dorsiflexion. At this time, the fourth Bowden line 2021, whose length is limited by the fourth limiting component 404, is stretched on the affected limb, giving the front end of the foot-wearing shoe cover 1033 an upward pulling force, causing it to perform ankle dorsiflexion, so that the affected limb is in the mid-swing phase to the first ground contact phase. The setting of the fourth Bowden line 2021 enables the affected limb to lift its toes during the movement, preventing the patient from falling due to dragging their toes on the ground.

[0054] The initial end of the fifth Bowden line 2022 is fixed by the limiting unit 4 to the side of the waist binding belt 101 near the second binding belt 103, which is the fifth limiting member 405. It then merges with the fourth Bowden line 2021 via the seventh fixing member 307, and together they wrap around to the ninth fixing member 309 on the back side of the waist binding belt 101. They then separate, with one end of the fifth Bowden line 2022 connected to one end of the magnetic clutch 502, and the other end of the magnetic clutch 502 connected to the calf binding belt 1032. In one embodiment of the invention, the fifth limiting member 405 is also a rope length adjuster. During gait training, the magnetic clutch 502 on the affected limb is initially in an engaged state, and as the affected limb... During the movement (early to middle of the swing phase), the distance between the two ends of the fifth Bouden line 2022 increases, and the fifth Bouden line 2022 is straightened, giving the lower leg of the affected limb an upward pulling force, causing the affected limb to perform knee flexion movement. At this time, the affected limb has already lifted and stepped forward. At the same time, due to the preset bending angle of the knee flexion limiter 501, when the affected limb is bent to the maximum angle, it cannot perform knee flexion movement. However, the fifth Bouden line 2022 is still pulling the magnetic clutch 502 upward. At this time, the pulling force is greater than the magnetic force of the magnetic clutch 502, and the magnetic clutch 502 is pulled open. The affected limb stops performing knee flexion movement, and through the cooperation with the elastic band 503, the affected limb is straightened again. At this time, the stepping movement of the affected limb has also been completed.

[0055] The initial end of the sixth Bowden line 2023 is fixed by the limiting unit 4 to the side of the waist binding belt 101 near the second binding belt 103, which is the sixth limiting member 406. The end of the sixth Bowden line 2023 is connected to the same position of the knee flexion limiter 501 as the end of the third Bowden line 2013. In the middle part of the sixth Bowden line 2023, an elastic band 503 is used for connection. In one embodiment of the present invention, the sixth limiting member 406 is also a rope length adjuster. With this configuration, when the affected limb performs knee flexion movement, the elastic band 503 is stretched. When the magnetic clutch 502 is pulled open, the affected limb is straightened in the opposite direction by the elastic force of the elastic band 503, so that the affected limb is straightened. At this time, the affected limb is in the mid-swing phase to the first ground contact phase. At this time, the affected limb has also completed the stepping action.

[0056] In the non-externally driven flexible exoskeleton walking aid of the present invention, a shoulder strap is also provided on the waist binding belt 101 to facilitate wearing the device and relieve local stress on the waist.

[0057] In one embodiment of the present invention, a number of waist loops are provided on the waist binding strap 101, which allows the assist unit 2 to pass through, maintaining the overall aesthetics of the device, while also preventing the numerous Bowden wires from getting tangled up and affecting the normal use of the device.

[0058] In one embodiment of the present invention, a Bowden wire sleeve (excluding the sixth Bowden wire 2023) is also provided around the assist unit 2, which can cover the assist unit 2, making the overall device aesthetically pleasing, and at the same time preventing the Bowden wires with different functions from getting tangled together and affecting the normal use of the device.

[0059] The working principle of the non-externally driven flexible exoskeleton walking aid of the present invention is as follows:

[0060] When the patient stands, the sixth Bowden line 2023 tightens the knee flexion limiter 501, providing support and assistance for the affected limb to stand.

[0061] When the patient walks, the unaffected limb steps forward. The first Bowden line 2011 and the sixth Bowden line 2023 work together to tighten the knee flexion limiter 501, providing support and assistance to the affected limb, enabling it to support the entire body weight. As the body leans forward and the unaffected limb moves, the second Bowden line 2012 lifts the rear end of the foot-wearing shoe cover 1033, causing the affected foot to perform ankle flexion and extension movements, generating a forward thrust on the sole of the foot, thus assisting the step. When the unaffected limb lands and is straightened, the third Bowden line 2013 pulls up the second thigh binding strap 1031, causing the affected limb to perform hip flexion movements. The fourth Bowden line 2021 lifts the front end of the foot-wearing shoe cover 1033, allowing... The affected limb performs ankle dorsiflexion movements, and the fifth Bowden line 2022 pulls the lower leg binding strap 1032 backward, causing the affected limb to perform knee flexion movements and step forward. As the knee flexes, when the knee reaches the preset flexion angle of the knee flexion limiter 501, the knee stops flexing. At this time, the fifth Bowden line 2022 is still pulling the magnetic clutch 502. The pulling force is greater than the magnetic force, and the magnetic clutch 502 is pulled open. The elastic band 503 on the sixth Bowden line 2023 provides assistance to the lower leg of the affected limb, causing the affected limb to perform knee extension movements. The affected limb straightens and then touches the ground, completing one cycle of movement. Since there is no pulling force, the magnetic clutch 502 falls naturally and re-engages.

[0062] When a patient goes up stairs, the healthy limb first moves up the step, which then moves the affected limb. The affected limb lands on the same step, and the movement is repeated to complete the upstairs movement. When going down stairs, the healthy limb bends at the knee, and the affected limb moves forward to step onto the next step. After the affected limb straightens to support the body, the healthy limb then goes down to the same step. The movement is repeated to complete the downstairs movement.

[0063] The non-force-driven flexible exoskeleton walking aid of the present invention, based on the interactivity of human gait, utilizes the potential energy of the lowered center of gravity of the healthy limb, the kinetic energy of hip extension movement, and the strength of the lower back muscles to provide power to the hip and knee flexion and ankle dorsiflexion movements of the affected limb through the Bowden lines. Simultaneously, it directly provides power to the knee extension and ankle flexion movements of the affected limb through the Bowden lines, achieving bidirectional movement assistance for hip flexion, knee, and ankle joints of the affected limb. Furthermore, the non-force-driven flexible exoskeleton walking aid of the present invention possesses a passive flexible exoskeleton... The skeleton is lightweight, inexpensive, simple in structure, and comfortable and flexible to wear, while possessing the rigidity of an active exoskeleton, providing support and assistance. It also avoids the human-machine collision injury caused by systematic errors in active exoskeletons. Furthermore, the non-force-driven flexible exoskeleton walking aid of this invention can be put on and taken off independently by the patient, adapting to the needs of patients of different heights and weights. It allows patients to control walking, sudden stops, and turns independently by swinging their own bodies, and can quickly and independently adjust the active degrees of freedom of each joint during walking to meet the needs of patients with different conditions and requirements.

[0064] The above embodiments are only used to help understand the manufacturing method and core idea of ​​the present invention. The specific implementation is not limited to the specific implementation methods described above. Any changes made by those skilled in the art based on the above concept without creative labor fall within the protection scope of the present invention.

Claims

1. A non-externally driven flexible exoskeleton walking aid, characterized in that, include: Flexible binding unit (1), and assist unit (2) connected to the flexible binding unit (1); The flexible binding unit (1) includes a waist binding belt (101) fixed to the waist and abdomen of the human body, a first binding belt (102) fixed to the healthy limb, and a second binding belt (103) fixed to the affected limb. The assist unit (2) includes an active assist line (201) and a driven assist line (202). The active assist line (201) is connected to the waist binding belt (101), the first binding belt (102) and the second binding belt (103) respectively, and the passive assist line (202) is connected to the waist binding belt (101) and the second binding belt (103) respectively. The active assist line (201) connected to the healthy limb can provide direct assistance for walking with the affected limb, while the passive assist line (202) connected to the affected limb provides auxiliary assistance during the movement of the affected limb. The first binding band (102) includes a first thigh binding band worn and bound to the thigh of the healthy limb, and the second binding band (103) includes a second thigh binding band (1031) worn and bound to the thigh of the affected limb, a lower leg binding band (1032) worn and bound to the lower leg of the affected limb, and a foot shoe cover (1033) worn and bound to the foot of the affected limb. The active assist line (201) includes a first Bouden line (2011) for supporting the affected limb, a second Bouden line (2012) for pulling the foot cover (1033) to cause relative movement, and a third Bouden line (2013) for pulling the second thigh binding band (1031) to cause relative movement; the passive assist line (202) includes a fourth Bouden line (2021) for pulling the foot cover (1033) to cause relative movement, a fifth Bouden line (2022) for pulling the lower leg binding band (1032) to cause relative movement, and a sixth Bouden line (2023). The starting end of the first Bowden line (2011) is connected to the front side of the first binding strap (102), and is sequentially fixed to the back side of the first binding strap (102) and the back side of the waist binding strap (101), and the end is connected between the second thigh binding strap (1031) and the calf binding strap (1032); The starting end of the second Bowden line (2012) is connected to the front side of the first binding strap (102), and is sequentially fixed to the rear side of the first binding strap (102), the rear side of the waist binding strap (101), and the rear side of the calf binding strap (1032), and the end is connected to the rear end of the foot shoe cover (1033); The starting end of the third Bowden line (2013) is connected to the side of the waist binding belt (101) near the first binding belt (102), and is sequentially fixed to the first binding belt (102), the side of the waist binding belt (101) near the first binding belt (102), and the side of the waist binding belt (101) near the second binding belt (103), and the end is connected to the front side of the second thigh binding belt (1031); The starting end of the fourth Bowden line (2021) is connected to the side of the waist binding belt (101) near the second binding belt (103), and passes in sequence through the back of the waist binding belt (101) and the front of the calf binding belt (1032), and the end is connected to the front of the foot shoe cover (1033). The starting end of the fifth Bowden line (2022) is connected to the side of the waist binding belt (101) near the second binding belt (103), and passes in sequence behind the waist binding belt (101) and behind the second thigh binding belt (1031), and the end is connected to the outside of the calf binding belt (1032). It also includes a fixing unit (3) disposed on the flexible binding unit (1) for fixing the assist unit (2), a limiting unit (4) for limiting the length of the assist unit (2), and an adjustment unit (5) disposed on the second binding strap (103) for maintaining the stability of the human body during gait walking. The adjustment unit (5) includes a knee flexion limiter (501), a magnetic clutch (502), and an elastic band (503). The knee joint flexion limiter (501) is located on the outside of the knee joint between the second thigh binding band (1031) and the calf binding band (1032). One end of the magnetic clutch (502) is connected to the calf binding band (1032), and the other end is connected to the fifth Bowden line (2022). The elastic band (503) is located in the middle part of the sixth Bowden line (2023). The starting end of the sixth Bowden line (2023) is connected to the side of the waist binding belt (101) near the second binding belt (103), and the end is connected to the knee flexion limiter (501).

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