Ankle exoskeleton

Abstract

The application discloses an ankle exoskeleton, which comprises a toe shoe cover, an ankle fixing device, a pull rope and a driving assembly, the toe shoe cover is used for sleeving on a toe, the ankle fixing device is used for fixing on an ankle, the pull rope is connected with the toe shoe cover and the ankle fixing device, and the driving assembly is connected with the pull rope and used for driving the pull rope so as to make the toe shoe cover and the ankle fixing device approach or move away from each other. The ankle exoskeleton in the application is mainly aimed at patients with the phenomenon of "walking with dragging feet" caused by leg and ankle weakness. When the patient needs to walk, the driving assembly retracts or releases the pull rope, so that the toe shoe cover and the ankle fixing device approach or move away from each other, the toe of the patient is lifted or released, the walking burden of the patient is reduced, and the phenomenon of "walking with dragging feet" is avoided. The ankle exoskeleton is light in weight, small in size and comfortable to wear, is beautiful and reliable, and prevents secondary injury to the user.

Description

Technical Field

[0001] This invention relates to the field of exoskeleton technology, and more particularly to an ankle exoskeleton. Background Technology

[0002] Exoskeletons enhance human mobility and reduce weight. They are typically made of materials such as metal or carbon fiber and were originally designed to help people with conditions like multiple sclerosis and severe arthritis overcome mobility difficulties. In the military, exoskeletons help soldiers fight better because they are better protected, can carry more weapons and equipment, and have greater physical strength than able-bodied individuals.

[0003] Stroke, also known as cerebrovascular accident, is a cardiovascular and cerebrovascular disease caused by the blockage or sudden rupture of blood vessels in the brain, preventing normal blood circulation. It is characterized by high incidence, high mortality, and high disability rates. According to the World Health Organization, one in six people worldwide may suffer a stroke, and every six seconds, someone is permanently disabled due to a stroke. 85% of stroke patients experience hemiplegia (lateral limb motor dysfunction), with pathological phenomena including reduced range of motion in the affected limb, decreased muscle strength, decreased muscle endurance, reduced balance, and abnormal movement patterns.

[0004] Patients who have not fully recovered often exhibit severe "dragging gait" when walking. This manifests as an inability to control both legs equally, with one leg exhibiting significantly weaker muscle strength than the other. Consequently, the weaker leg cannot fully lift off the ground and is dragged along. Psychologically, patients dislike being judged; comfort-wise, dragging gait causes significant inconvenience and severe wear and tear on shoe soles; and safety-wise, it greatly increases the risk of tripping and secondary injuries. Therefore, it is crucial and necessary to instruct patients to lift their toes while walking.

[0005] However, at present, conventional walking exoskeleton assistive devices for stroke sequelae can only be used for patients who have completely lost their mobility, and there is no walking exoskeleton assistive device specifically designed for patients who "drag their feet" due to weakness in the legs and ankles. Summary of the Invention

[0006] The purpose of this invention is to provide an ankle exoskeleton to solve the technical problem that current conventional walking exoskeleton assistive devices for stroke sequelae can only be used for patients who have completely lost their mobility, and there is no walking exoskeleton assistive device specifically designed for patients who "drag their feet" due to weakness in the legs and ankles.

[0007] This invention provides an ankle exoskeleton, comprising:

[0008] Toe covers are used to be worn over the toes;

[0009] Ankle immobilization device, used to secure the ankle;

[0010] A pull cord connects the toe cap to the ankle fixation device;

[0011] A drive assembly connected to the pull cord, the drive assembly being used to drive the pull cord so that the toe cap and the ankle fixation device move closer or further apart.

[0012] Furthermore, the toe cap includes a pulley assembly, one end of the pull cord is connected to the drive assembly, and the other end of the pull cord passes through the pulley assembly and is connected to the ankle fixation device.

[0013] Furthermore, the toe cap includes a toe support portion and an adjustment portion;

[0014] The adjustment section includes a linear band and an adjustment member, which adjusts the length of the linear band to adjust the size of the toe cap.

[0015] Furthermore, the adjusting component includes a take-up reel, a rotating reel, and a central shaft. The central shaft passes through the take-up reel and the rotating reel, and the rotating reel drives the take-up reel to rotate in order to adjust the length of the linear belt.

[0016] Furthermore, the toe support includes a foot pad, a connector, and a foot shape adjustment piece, wherein the adjustment piece is detachably connected to the foot shape adjustment piece.

[0017] Furthermore, the foot-shaped adjustment piece has several through holes, through which bolts are used to connect it to the central shaft.

[0018] Furthermore, the central shaft includes a first groove, a second groove, and a third groove, and the inner wall of the rotating wheel is provided with a limiting protrusion, which respectively engages with the first groove, the second groove, or the third groove.

[0019] Furthermore, the annular surface of the central shaft is provided with a first annular protrusion and a second annular protrusion, and a cover plate is provided at the upper end of the central shaft. The cover plate, the first annular protrusion, and the second annular protrusion form the first groove, the second groove, and the third groove.

[0020] Furthermore, the bottom of the spool and the top of the take-up reel are respectively provided with mutually cooperating locking blocks or slots, so that the spool can drive the take-up reel to rotate.

[0021] Furthermore, the adjusting component also includes a base, on which a receiving cavity is provided to accommodate the take-up reel, the reel is sleeved on the outer wall of the receiving cavity, the inner wall of the reel is provided with ratchet teeth, and the outer wall of the receiving cavity is provided with a pawl that cooperates with the ratchet teeth.

[0022] Furthermore, a cover plate is provided at the upper end of the central shaft, and the cover plate is provided with a limiting structure for locking and fixing the rotating wheel, and the inner wall of the rotating wheel is provided with a limiting groove that cooperates with the limiting structure.

[0023] Furthermore, the limiting groove is a polygonal groove structure, and the limiting structure is a polygonal limiting block.

[0024] Furthermore, the base is provided with a pulley fixing part, and the pulley assembly is fixed to the pulley fixing part.

[0025] Furthermore, the toe shoe cover also includes a base, the base having a pulley fixing part, and the pulley assembly being fixed to the pulley fixing part.

[0026] Furthermore, the ankle exoskeleton also includes a pressure sensor and a control board. The pressure sensor is fixed to the pull cord, and both the pressure sensor and the drive assembly are electrically connected to the control board.

[0027] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0028] The ankle exoskeleton of this invention is mainly designed for patients who "drag their feet" due to weakness in the legs and ankles. When the patient needs to walk, the drive component will pull the rope, so that the toe cap and the ankle fixation device move closer or further apart to lift or lower the patient's toes, reduce the burden of walking, and avoid the phenomenon of "drag their feet". The ankle exoskeleton is lightweight and small in size, making it more comfortable to wear. It is both aesthetically pleasing and reliable, while preventing secondary injury to the user.

[0029] When a person's feet are pigeon-toed or splayed out, the adjustment piece can be connected to the corresponding through hole on the foot adjustment piece through bolts. The ankle exoskeleton can quickly straighten the pigeon-toed or splayed feet directly through the pull rope and drive assembly to correct the person's feet and carry out restorative training.

[0030] When the size of the pointe shoe covers needs to be adjusted, the wheel can be turned to rotate the take-up wheel, which can adjust the length of the linear belt, thereby changing the size of the pointe shoe covers to fit different foot sizes without having to replace them, thus saving resources.

[0031] A pressure sensor is installed on the pull cord, and an inertial sensor is installed on the toe cap. When the patient needs to lift their foot, the tension of the pull cord changes, and the pressure sensor transmits this signal to the control board. The control board uses a drive assembly to tighten and loosen the pull cord in accordance with the patient's foot movements. The inertial sensor detects abnormal gait behavior during the patient's walking and uses the pull cord and drive assembly to lift the patient's toes with appropriate force at the necessary time to prevent abnormal and inappropriate gait and avoid the patient falling. Attached Figure Description

[0032] Figure 1 This is a schematic diagram of the ankle exoskeleton provided in an embodiment of the present invention;

[0033] Figure 2 This is a schematic diagram of the ankle fixation device provided in an embodiment of the present invention;

[0034] Figure 3 for Figure 2 Exploded view;

[0035] Figure 4 This is a schematic diagram of the structure of the toe shoe cover provided in an embodiment of the present invention;

[0036] Figure 5 for Figure 4 Exploded view;

[0037] Figure 6 This is a schematic diagram of the structure of the adjustment component provided in an embodiment of the present invention;

[0038] Figure 7 for Figure 6 Exploded view;

[0039] Figure 8 This is a schematic diagram of the combined structure of the reel, take-up reel, and base provided in an embodiment of the present invention;

[0040] Figure 9 for Figure 8 A sectional view along line AA.

[0041] Figure 10 This is a schematic diagram of the structure of the central shaft provided in an embodiment of the present invention;

[0042] Figure 11 This is a schematic diagram of the structure of the rotating wheel provided in an embodiment of the present invention;

[0043] Figure 12 This is a cross-sectional view of the toe shoe cover in use according to an embodiment of the present invention.

[0044] Figure 13 This is a cross-sectional view of the toe shoe cover in use in the second embodiment of the present invention;

[0045] Figure 14 This is a cross-sectional view of the toe shoe cover in use in an embodiment of the present invention, in state three.

[0046] In the picture:

[0047] 10. Toe cap; 11. Toe support; 111. Foot pad; 112. Connector; 113. Foot shape adjustment piece; 1131. Through hole; 12. Adjustment part; 121. Adjustment piece; 122. Linear belt; 123. Take-up reel; 1231. Locking block; 1232. Second perforation; 124. Rotating wheel; 1241. Locking groove; 1242. Limiting protrusion; 1243. Racket; 1244. Limiting groove; 1245. First perforation; 1246. First receiving groove; 125. Central shaft; 1251. First groove; 1252. Second groove; 1253. Third groove; 1254. Cover plate; 1255. Limiting structure; 1256. Limiting post; 1257. Hook; 1258. Threaded hole; 1259. First annular protrusion; 1260. 127. Second annular protrusion; 128. Bolt; 129. Base; 120. Receiving cavity; 121. Pawl; 122. Third through hole; 121. Second receiving groove; 122. Wire hole; 123. Pulley fixing part; 124. Pulley assembly; 125. Pulley; 126. Bearing; 27. Ankle fixing device; 28. Housing; 217. Receiving space; 218. Wire hole; 219. Top cover; 210. Bottom shell; 211. Arc groove; 222. Leg strap; 221. Strap; 222. Buckle; 2221. Lock seat; 2222. Lock strap; 2223. Press switch; 2224. Lock hole; 23. Control board; 24. Battery; 25. Start switch; 30. Pull rope; 40. Drive assembly; 41. Motor; 42. Winding wheel. Detailed Implementation

[0048] The present invention will now be further described in conjunction with the accompanying drawings and specific embodiments. It should be noted that, without conflict, the various embodiments or technical features described below can be arbitrarily combined to form new embodiments.

[0049] Please see Figures 1 to 3 As shown, this embodiment of the invention discloses an ankle exoskeleton, including a toe cap 10, an ankle fixation device 20, a pull rope 30, and a drive assembly 40. The toe cap 10 is used to be worn on the toes, the ankle fixation device 20 is used to fix the ankle, the pull rope 30 connects the toe cap 10 and the ankle fixation device 20, and the drive assembly 40 is connected to the pull rope 30. The drive assembly 40 is used to drive the pull rope 30 so that the toe cap 10 and the ankle fixation device 20 move closer or further apart to raise or lower the patient's toes, reduce the patient's walking burden, and avoid the phenomenon of "dragging feet while walking".

[0050] In a preferred embodiment, one end of the pull cord 30 is connected to the drive assembly 40, and the other end of the pull cord 30 passes through the toe cap 10 and is connected to the ankle fixing device 20. The drive assembly 40 includes a motor 41 and a winding wheel 42 fixed to the output end of the motor 41. The ankle fixing device 20 includes a housing 21, a leg strap 22, a control board 23, and a battery 24. The housing 21 has a receiving space 211 and a threading hole 212 that passes through the housing 21 and communicates with the receiving space 211. The drive assembly 40, the control board 23, and the battery 24 are all located in the receiving space 211. The leg strap 22 is fixed to the outer wall of the housing 21. One end of the pull cord 30 passes through the threading hole 212 and is wound around the winding wheel 42. The other end of the pull cord 30 is connected to the leg strap 22. The battery 24 and the motor 41 are both electrically connected to the control board 23.

[0051] Of course, the drive assembly 40 can also be located outside the receiving space 211, and the drive assembly 40 is independent of the ankle fixation device 20.

[0052] The ankle exoskeleton also includes a pressure sensor electrically connected to the control board 23. The pressure sensor is fixed to the pull rope 30. When the patient needs to lift his foot, the tension of the pull rope 30 will change. The pressure sensor will transmit this signal to the control board 23. The control board 23 drives the motor 41 to tighten and loosen the pull rope 30 to match the patient's foot movements.

[0053] The leg strap 22 includes a strap 221 and a buckle 222. The buckle 222 includes a lock seat 2221, a lock strap 2222, and a push switch 2223. One end of the strap 221 is fixed to the housing 21, and the other end is fitted with the lock strap 2222. The lock seat 2221 and the push switch 2223 are both mounted on the outer wall of the housing 21. The lock seat 2221 and the push switch 2223 form a through-hole 2224. The lock strap 2222 is adjustablely mounted on the lock hole 2224. The push switch 2223 controls the insertion length of the lock strap 2222, so that the ankle exoskeleton of this embodiment is suitable for different users with different ankles.

[0054] Please refer to further information. Figures 4 to 11 In this embodiment, the toe shoe cover 10 includes a toe support part 11 and an adjustment part 12. The adjustment part 12 includes an adjustment member 121 and a linear band 122 mounted on the adjustment member 121. One end of the toe support part 11 is connected to the linear band 122, and the other end of the toe support part 11 is connected to the adjustment member 121. The adjustment member 121 adjusts the length of the linear band 122 to adjust the size of the toe shoe cover 10.

[0055] In a preferred embodiment, the adjusting member 121 includes a take-up reel 123, a rotating reel 124, and a central shaft 125. The central shaft 125 passes through the take-up reel 123 and the rotating reel 124. Both the take-up reel 123 and the rotating reel 124 can rotate relative to the central shaft 125. The linear belt 122 is wound around the take-up reel 123. The rotating reel 124 drives the take-up reel 123 to rotate to adjust the length of the linear belt 122, thereby adjusting the size of the toe cap 10.

[0056] The bottom of the spool 124 and the top of the take-up reel 123 are respectively provided with a locking block 1231 or a locking groove 1241 that cooperates with each other, so that the spool 124 can drive the take-up reel 123 to rotate. Of course, the positions of the locking block 1231 and the locking groove 1241 can also be interchanged, as long as the spool 124 and the take-up reel 123 can be locked together. Moving the spool 124 upward, the spool 124 can quickly disengage from the take-up reel 123.

[0057] The toe support 11 includes a foot pad 111, a connector 112, and a foot shape adjustment piece 113. The foot pad 111, the connector 112, and the foot shape adjustment piece 113 are connected in sequence. The foot pad 111 is movably connected to the linear belt 122, and the adjustment piece 121 is detachably connected to the foot shape adjustment piece 113.

[0058] The foot pad 111 is formed by covering a metal sheet with a rubber film on the surface of the metal sheet. The metal sheet mainly provides basic structural support, and the bottom of the rubber has anti-slip stripes, which can reduce shock and noise and provide basic anti-slip function. The foot pad 111 has a rounded edge in the direction of the shoe toe to achieve efficient use of force, more stress dispersion, larger contact surface, and higher comfort.

[0059] In a preferred embodiment, the adjusting component 121 further includes bolts 127. The foot shape adjusting piece 113 has several spaced through holes 1131 along its length. The bolts 127 are used to pass through the through holes 1131 and connect to the central shaft 125. By using the bolts 127 and the central shaft 125 to be installed in different through holes 1131, the user's needs for adjusting the toe angle can be met. The toe angle switching is convenient and reliable, and it is easy to adjust the direction of the toe shoe cover 10. In this way, no matter whether the patient's foot is in-toe or out-toe, the bolts 127 are connected to the corresponding through holes 1131, and the pull rope 30 and the drive component 40 are used to quickly straighten the person's foot shape, thereby facilitating the correction training of the person's foot shape.

[0060] The central shaft 125 includes a first groove 1251, a second groove 1252, and a third groove 1253. The first groove 1251, the second groove 1252, and the third groove 1253 are all annular structures. The inner wall of the rotating wheel 124 is provided with a limiting protrusion 1242. The limiting protrusion 1242 respectively engages with one of the first groove 1251, the second groove 1252, or the third groove 1253 to realize the conversion of the mutual engagement relationship between the rotating wheel 124 and the central shaft 125.

[0061] The adjusting component 121 also includes a base 128, on which a receiving cavity 1281 is provided to accommodate the take-up reel 123. The rotating wheel 124 is sleeved on the outer wall of the receiving cavity 1281. The inner wall of the rotating wheel 124 is provided with ratchet 1243, and the outer wall of the receiving cavity 1281 is provided with a pawl 1282 that cooperates with the ratchet 1243 to prevent the rotating wheel 124 from reversing.

[0062] The central shaft 125 is T-shaped, and a cover plate 1254 is provided at the upper end of the central shaft 125. The cover plate 1254 has a limiting structure 1255 for locking and fixing the rotating wheel 124. The inner wall of the rotating wheel 124 has a limiting groove 1244 that cooperates with the limiting structure 1255. The limiting groove 1244 is a polygonal groove structure, and the limiting structure 1255 is a polygonal limiting block. For example, in this embodiment, the limiting structure 1255 can be a regular hexagonal limiting block, and the limiting groove 1244 is a regular hexagonal groove structure adapted to the regular hexagonal limiting block.

[0063] Specifically, the central shaft 125 includes, from top to bottom, the cover plate 1254, the limiting post 1256, and a plurality of hooks 1257 connected in sequence. The inner wall of the limiting post 1256 is recessed with a threaded hole 1258 that mates with the bolt 127. Each hook 1257 is arranged around the threaded hole 1258. The rotating wheel 124 is provided with the limiting groove 1244, the first through hole 1245, and the first receiving groove 1246 connected in sequence. The take-up reel 123 is provided with a second through hole 1232. The base 128 is provided with the receiving cavity 1281, the third through hole 1283, and the second receiving groove 1284 connected in sequence. The take-up reel 123 is located in the receiving cavity 1281. The base 128 has a take-up reel 123, one end of which is inserted into the first receiving groove 1246. The ratchet 1243 is provided on the inner wall of the first receiving groove 1246. The central shaft 125 passes through the limiting groove 1244, the first through hole 1245, the second through hole 1232 and the second receiving groove 1284 in sequence. The hook 1257 is locked in the second receiving groove 1284. The reel 124, the take-up reel 123 and the base 128 form an integral part under the constraint of the central shaft 125, which is convenient for later disassembly. The base 128 is also inclinedly provided with a wire passage hole 1285 communicating with the second receiving groove 1284. The linear tape 122 passes through the wire passage hole 1285 and is wound around the take-up reel 123.

[0064] The annular surface of the central shaft 125 is provided with a first annular protrusion 1259 and a second annular protrusion 1260. Both the first annular protrusion 1259 and the second annular protrusion 1260 are located near the cover plate 1254. The first annular protrusion 1259 is located between the second annular protrusion 1260 and the cover plate 1254. The cover plate 1254, the first annular protrusion 1259, and the second annular protrusion 1260 form a first groove 1251, a second groove 1252, and a third groove 1253. The rotating wheel 124 can switch between different positions by engaging with one of the first groove 1251, the second groove 1252, and the third groove 1253.

[0065] Please refer to further information. Figure 12 When the limiting protrusion 1242 engages with the first groove 1251, the rotating wheel 124 is inserted into the take-up wheel 123. The ratchet 1243 on the inner wall of the rotating wheel 124 engages with the pawl 1282 on the base 128. The rotating wheel 124 drives the take-up wheel 123 to rotate. At this time, the rotating wheel 124 cannot reverse. The linear belt 122 is stored in the take-up wheel 123, and the size of the toe shoe cover 10 can be tightened and adjusted.

[0066] Please refer to further information. Figure 13 Pull the wheel 124 up. When the limiting protrusion 1242 of the wheel 124 engages with the second groove 1252, the wheel 124 disengages from the take-up wheel 123. The take-up wheel 123 can rotate in the opposite direction so that the linear belt 122 stored in the take-up wheel 123 is released, and the size of the toe shoe cover 10 can be loosened and adjusted.

[0067] Please refer to further information. Figure 14 Continue pulling the wheel 124 upwards. When the limiting protrusion 1242 of the wheel 124 engages with the third groove 1253, the limiting structure 1255 of the cover plate 1254 and the limiting groove 1244 on the inner wall of the wheel 124 engage with each other, so that the wheel 124 and the central shaft 125 are fixed to each other. That is, the wheel 124 cannot rotate relative to the central shaft 125 at this time. The rotation of the wheel 124 can drive the central shaft 125 to rotate together. The bolt 127 can be loosened or tightened. In this state, the bolt 127 can be replaced on different through holes 1131 and reconnected to the central shaft 125. Then, the direction of force on the toe shoe cover 10 can be adjusted by using the pull rope 30 and the drive component 40 to improve the in-toe or out-toe shape of the foot and adjust and correct the foot shape. The wheel 124 can be pressed down to restore the wheel 124 to its original state.

[0068] In a preferred embodiment, the toe cap 10 includes a pulley assembly 129, one end of a pull rope 30 is connected to a drive assembly 40, the other end of the pull rope 30 passes through the pulley assembly 129 and is connected to an ankle fixation device 20, and the middle part of the pull rope 30 is slidably connected to the pulley assembly 129. The pulley assembly 129 is designed to save effort and energy, and further reduces the requirement for driving force, so that a smaller power motor 41 can be configured, making the overall structure of the ankle exoskeleton lighter and smaller in size.

[0069] See Figure 7 The base 128 also has a pulley fixing part 1286, which is a groove structure inclined relative to the take-up reel 123. The pulley assembly 129 is fixed to the pulley fixing part 1286. The pulley assembly 129 includes a rotatable pulley 1291 and a bearing 1292. The middle part of the pull rope 30 is slidably connected to the pulley 1291. The pulley 1291 can reduce the resistance of the pull rope 30 and reduce power consumption. The pull rope 30 is made of wear-resistant material, which can increase the service life and safety of the ankle exoskeleton. Of course, the bearing 1292 design can also be omitted and replaced with a self-lubricating design, which can reduce the production cost of the ankle exoskeleton and increase the market. One end of the pull rope 30 is fixed to the strap 221, and the other end passes through the pulley 1291, passes through the threading hole 212 on the housing 21, and is connected to the winding reel 42.

[0070] In this embodiment, the ankle exoskeleton also includes an inertial sensor and a temperature sensor electrically connected to the control board 23. The inertial sensor is installed on the toe cap 10 to capture abnormal gait behavior during the patient's walking process. At the required time, it lifts the patient's toes with appropriate force through the pull rope 30 to prevent abnormal and inappropriate gait and avoid the patient falling. The temperature sensor is installed inside the housing 21 to sense the temperature of the motor 41 inside the housing 21, thereby improving the reliability of the device.

[0071] See Figure 2 and Figure 3 The housing 21 includes a top cover 213 and a bottom cover 214 connected to the top cover 213. The housing 21 has a waterproof edge and a shock-absorbing strip to increase the safety and usability of the ankle exoskeleton. The outer side of one end of the housing 21 is designed with an arc groove 215, which allows the ankle fixation device 20 to be hidden inside the user's trouser leg, increasing aesthetics and satisfying the user's psychological needs. The housing 21 is equipped with a start switch 25 and an indicator light. The start switch 25 is used to start the motor 41, and the indicator light indicates whether the ankle exoskeleton is open or not. The housing 21 has a charging port located on the side of the bottom cover 214, which facilitates the placement of the ankle exoskeleton during charging. The start switch 25, the indicator light, and the charging port are all electrically connected to the control board 23.

[0072] The control board 23 is equipped with a communication component, which can use protocols such as Bluetooth, WiFi, and LoRa to enable wireless communication between the control board 23 and the gateway or cloud platform.

[0073] The control board 23 has multiple functions, including but not limited to: 1. Real-time acquisition of motion posture information; 2. Calculation of the rotation angle of the motor 41 based on the acquired motion posture information, and real-time control of the user's foot elevation angle via the control rope 30 to achieve an assisted toe-lifting function and solve the problem of dragging feet while walking; 3. Communication with gateway devices such as mobile phones, including feedback on battery level 24, exercise effect evaluation, data analysis and processing, and uploading necessary information to the cloud platform via the gateway; 4. Alarms for abnormal situations, including temperature alarms and short circuit / open circuit detection; 5. Ensuring information security and preventing malicious attacks; 6. Other functions.

[0074] The ankle exoskeleton of this invention adopts a flexible structure, realizing a flexible exoskeleton structure that is low in power consumption, low in price, lightweight, reliable, comfortable and aesthetically pleasing. It can detect abnormal gait behavior during the user's walking process and lift the user's toes with appropriate force at the required time, preventing secondary injuries that may be caused by abnormal gait and inappropriate gait correction methods.

[0075] The above embodiments are merely preferred embodiments of the present invention and should not be construed as limiting the scope of protection of the present invention. Any non-substantial changes and substitutions made by those skilled in the art based on the present invention shall fall within the scope of protection claimed by the present invention.

Claims

1. An ankle exoskeleton, characterized in that, include: Toe covers are used to be worn over the toes; Ankle immobilization device, used to secure the ankle; A pull cord connects the toe cap to the ankle fixation device; A drive assembly connected to the pull cord, the drive assembly being used to drive the pull cord so that the toe cap and the ankle fixation device move closer or further apart; The toe cap includes a toe support part and an adjustment part; the adjustment part includes a linear belt and an adjustment component, the adjustment component includes a take-up wheel, a rotating wheel and a central axis, the central axis passes through the take-up wheel and the rotating wheel, and the rotating wheel drives the take-up wheel to rotate to adjust the length of the linear belt; The central shaft includes a first groove, a second groove, and a third groove. The inner wall of the wheel is provided with a limiting protrusion. The limiting protrusion is engaged with the first groove, the second groove, or the third groove respectively. A bolt is threaded through the toe support and connected to the central shaft. The toe support includes a foot pad, a connector, and a foot shape adjustment piece. The adjustment piece is detachably connected to the foot shape adjustment piece. The foot shape adjustment piece has several through holes, and bolts are used to pass through the through holes to connect it to the central axis. When the limiting protrusion engages with the first groove, the rotating wheel is inserted into the take-up reel, and the rotating wheel can drive the take-up reel to rotate. When the rotating wheel is pulled up, the limiting protrusion engages with the second groove, the rotating wheel disengages from the take-up reel, and the take-up reel can rotate in the opposite direction. When the rotating wheel is pulled up further, the limiting protrusion engages with the third groove, and the rotation of the rotating wheel can drive the central shaft to rotate together, which can loosen or tighten the bolt. In this state, the bolt can be replaced on different through holes and reconnected to the central shaft. Then, the direction of force on the toe shoe cover can be adjusted using the pull rope and the drive assembly to improve in-toe or out-toe feet, and to adjust and correct foot shape. The rotating wheel can be pressed down to return to its original shape.

2. The ankle exoskeleton according to claim 1, characterized in that, The toe cap includes a pulley assembly, one end of the pull cord is connected to the drive assembly, and the other end of the pull cord passes through the pulley assembly and is connected to the ankle fixation device.

3. The ankle exoskeleton according to claim 1 or 2, characterized in that, The adjustment element adjusts the length of the linear band to adjust the size of the toe cap.

4. The ankle exoskeleton according to claim 1, characterized in that, The annular surface of the central shaft is provided with a first annular protrusion and a second annular protrusion. A cover plate is provided at the upper end of the central shaft. The cover plate, the first annular protrusion, and the second annular protrusion form the first groove, the second groove, and the third groove.

5. The ankle exoskeleton according to claim 1, characterized in that, The bottom of the spool and the top of the take-up reel are respectively provided with mutually cooperating locking blocks or slots, so that the spool can drive the take-up reel to rotate.

6. The ankle exoskeleton according to claim 2, characterized in that, The adjusting component also includes a base, on which is provided a receiving cavity for accommodating the take-up reel. The reel is sleeved on the outer wall of the receiving cavity, and the inner wall of the reel is provided with ratchet teeth. The outer wall of the receiving cavity is provided with pawls that cooperate with the ratchet teeth.

7. The ankle exoskeleton according to claim 1, characterized in that, A cover plate is provided at the upper end of the central shaft. The cover plate has a limiting structure for locking and fixing the rotating wheel. The inner wall of the rotating wheel has a limiting groove that cooperates with the limiting structure.

8. The ankle exoskeleton according to claim 7, characterized in that, The limiting groove is a polygonal groove structure, and the limiting structure is a polygonal limiting block.

9. The ankle exoskeleton according to claim 6, characterized in that, The base is provided with a pulley fixing part, and the pulley assembly is fixed to the pulley fixing part.

10. The ankle exoskeleton according to claim 2, characterized in that, The toe shoe cover also includes a base, the base having a pulley fixing part, and the pulley assembly being fixed to the pulley fixing part.

11. The ankle exoskeleton according to claim 1, characterized in that, The ankle exoskeleton also includes a pressure sensor and a control board. The pressure sensor is fixed to the pull rope, and both the pressure sensor and the drive assembly are electrically connected to the control board.

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