A bionic exoskeleton brace

Abstract

The present invention belongs to the technical field of medical assistive devices, and specifically relates to an exoskeleton bionic brace, comprising: a first support structure, used to connect to the thigh; a second support structure, located at the lower side of the first support structure, used to connect to the calf; a first simulation mechanism, arranged between the first support structure and the second support structure, one end connected to the first support structure, the other end connected to the second support structure, used to simulate the trajectory of the center of motion of the outer side of the human knee joint; a second simulation mechanism, arranged between the first support structure and the second support structure, located on the opposite side of the first simulation mechanism, one end connected to the first support structure, the other end connected to the second support structure, used to simulate the trajectory of the center of motion of the inner side of the human knee joint. The present invention can reduce the slippage of the exoskeleton bionic brace on the surface of human skin after wearing, reduce human-computer interaction force, and eliminate the discomfort caused by kinematic incompatibility when the human body wears the brace. It is highly practical and worthy of promotion.

Description

Technical Field

[0001] The invention belongs to the technical field of medical auxiliary equipment, and in particular relates to an exoskeleton bionic brace. Background Art

[0002] An exoskeleton is a wearable device that is worn on the surface of the human body and provides support to the human body through the ankle, knee or hip joints, etc., to improve the user's mobility and achieve the purpose of sports assistance. Exoskeletons are widely used in the fields of assisting the disabled and post-traumatic rehabilitation training due to their outstanding bionic performance advantages. Most assisted rehabilitation exoskeletons are designed to simulate the user's real limb movement patterns, providing gravity support and movement assistance by imitating the human limb movement patterns. By adding support to the damaged joints, unnecessary additional resistance is reduced to avoid secondary injuries to the patient.

[0003] The knee joint is the largest and most complex joint in the lower limbs of the human body. It is a trochlear joint and is composed of the femoral condyle, tibial plateau, fibula, patella, articular cartilage, meniscus, ligaments, and muscles. The movement of the knee joint is mainly a three-dimensional movement of the femoral condyle rolling and sliding on the tibial plateau. During this period, the movement of the knee joint is also restricted by the meniscus, ligaments, and patella. The movement of the knee joint is mainly flexion movement on the sagittal plane. The knee joint is accompanied by internal and external rotation and internal and external rotation during flexion. During the flexion of the lower limbs and the change of joint angle, the position of the knee joint rotation axis and the center of motion change in space. Due to the special shape and structure of the femoral condyle and tibial plateau of the knee joint, there is a large difference between the medial and lateral centers of motion of the knee joint during movement.

[0004] The mechanical structure design of bionic brace is a branch of exoskeleton design. In the design of the mechanical structure part of the bionic brace, the wearing position between the human and bionic brace joints does not match, resulting in the misalignment of the center of motion between the two during exercise. The present invention focuses on the second problem. If the bionic brace does not coincide with the center of motion of the knee joint of the human lower limb, even if no drive is provided, the brace will slip at the attachment point in contact with the human body, thereby generating undesirable human-computer interaction forces. These interaction forces may bring safety hazards and discomfort to the user. These forces are usually not compensated by the actuators of the device, and the human-computer motion mismatch can also change the natural muscle activation pattern. These negative effects will not achieve the desired effect during physical therapy using the bionic brace, and may also cause secondary damage to the human body.

[0005] At present, the phenomenon of inconsistent movement between the joints of bionic braces with rigid mechanical structures and human joints is common in bionic braces. In addition, the existing bionic knee braces have consistent inner and outer structures, and do not take into account the inconsistent movement trajectories of the inner and outer sides of the knee joint, which also causes the phenomenon of human-machine kinematic mismatch. Summary of the invention

[0006] In view of this, the present invention provides an exoskeleton bionic brace to solve the deficiencies in the prior art.

[0007] The technical solution of the present invention is:

[0008] An exoskeleton bionic brace, comprising:

[0009] A first supporting structure, used for connecting with the thigh;

[0010] A second supporting structure, located at the lower side of the first supporting structure, and used for connecting with the calf;

[0011] A first simulation mechanism is arranged between the first support structure and the second support structure, one end of the mechanism is connected to the first support structure, and the other end of the mechanism is connected to the second support structure, and is used to simulate the movement center trajectory of the outer side of the human knee joint;

[0012] The second simulation mechanism is arranged between the first support structure and the second support structure, located on the opposite side of the first simulation mechanism, with one end connected to the first support structure and the other end connected to the second support structure, and is used to simulate the motion center trajectory of the inner side of the human knee joint.

[0013] Preferably, the first supporting structure comprises:

[0014] a first curved plate;

[0015] A first connecting member, two ends of which are respectively connected to two ends of the first arc-shaped plate;

[0016] There are two first lugs, which are symmetrically arranged at two ends of the first arc-shaped plate, and a first groove is formed at one end of the first lug away from the first arc-shaped plate;

[0017] A sleeve is fixed on one side of the first arc-shaped plate, and a through hole is formed on the first arc-shaped plate, and the through hole is connected to the sleeve;

[0018] A six-dimensional force sensor is arranged in the sleeve;

[0019] A first cover plate is detachably connected to the six-dimensional force sensor and one end of the sleeve respectively;

[0020] The arc-shaped gasket is arranged on a side of the six-dimensional force sensor away from the first cover plate, and the arc-shaped gasket is detachably connected to the six-dimensional force sensor.

[0021] Preferably, it also includes:

[0022] The gasket is located between the arc-shaped gasket and the six-dimensional force sensor and is arranged in the through hole. The gasket is detachably connected to the arc-shaped gasket and the six-dimensional force sensor.

[0023] Preferably, the second supporting structure comprises:

[0024] a second curved plate;

[0025] A second connecting member, two ends of which are respectively connected to two ends of the second arc-shaped plate;

[0026] There are two second lugs, which are symmetrically arranged at two ends of the second arc-shaped plate. A second groove is formed at one end of the second lug away from the second arc-shaped plate.

[0027] Preferably, the first simulation mechanism comprises:

[0028] A third connecting member includes a first plug rod, one end of which is inserted into a first groove on one of the first lugs, the first plug rod and the first lug are detachably connected, a first mounting plate is further provided at the other end of the first plug rod, the first mounting plate is perpendicular to the first plug rod, and a first protrusion and a second protrusion are respectively passed through and fixed at both ends of the first mounting plate;

[0029] A fourth connecting member is located at the lower side of the third connecting member, and includes a second plug rod, one end of the second plug rod is inserted into a second groove on one of the second lugs, the second plug rod and the second lug are detachably connected, and a second mounting plate is further provided at the other end of the second plug rod, the second mounting plate is perpendicular to the second plug rod, and a third protrusion and a fourth protrusion are respectively passed through and fixed at both ends of the second mounting plate;

[0030] A first connecting rod, comprising a first rod body, wherein two ends of the first rod body are respectively provided with third mounting holes;

[0031] A second connecting rod, comprising a second rod body, and fourth mounting holes are respectively formed at both ends of the second rod body;

[0032] A first cover plate, comprising a first plate body, the first plate body being provided with a first straight groove, a second straight groove, a first arc-shaped groove and a second arc-shaped groove penetrating the first plate body, wherein the first straight groove and the second straight groove are symmetrically arranged, the first arc-shaped groove and the second arc-shaped groove are symmetrically arranged, and the first straight groove and the first arc-shaped groove are adjacently arranged;

[0033] A second cover plate, comprising a second plate body, the second plate body being provided with a third straight groove, a fourth straight groove, a third arcuate groove and a fourth arcuate groove penetrating the second plate body, wherein the third straight groove and the fourth straight groove are symmetrically arranged, the third arcuate groove and the fourth arcuate groove are symmetrically arranged, and the third straight groove and the third arcuate groove are adjacently arranged;

[0034] Among them, one end of the first protrusion passes through one of the fourth mounting holes and the third straight groove in sequence, and the other end of the first protrusion passes through the first straight groove; one end of the second protrusion passes through the third arc groove, and the other end of the second protrusion passes through one of the third mounting holes and the first arc groove in sequence; one end of the third protrusion passes through another fourth mounting hole and the fourth arc groove in sequence, and the other end of the third protrusion passes through the second arc groove; one end of the fourth protrusion passes through the fourth straight groove, and the other end of the fourth protrusion passes through another third mounting hole and the second straight groove in sequence.

[0035] Preferably, the second simulation mechanism comprises:

[0036] The first transmission member comprises a third plug rod, one end of the third plug rod is inserted into a first groove on another first lug, the third plug rod and the first lug are detachably connected, the other end of the third plug rod is fixedly connected to the first tooth arc, and the first tooth arc is provided with a fifth arc groove;

[0037] The second transmission member comprises a fourth plug rod, one end of which is inserted into a second groove on another second lug, the fourth plug rod is detachably connected to the second lug, the other end of which is fixedly connected to a second tooth arc, and the second tooth arc is meshed with the first tooth arc;

[0038] The third connecting rod and the fourth connecting rod with the same structure are respectively located on both sides of the second transmission member, one end of the third connecting rod is hinged to the first tooth arc and one end of the fourth connecting rod, the other end of the third connecting rod is hinged to the second tooth arc and the other end of the fourth connecting rod, and a fifth connecting member is passed through the middle of the third connecting rod and the fourth connecting rod, and the fifth connecting member is clamped in the fifth arc groove.

[0039] The present invention provides an exoskeleton bionic brace that can simulate the trajectory of the inner and outer movement centers of the knee joint during flexion of the lower limbs of the human body, thereby achieving the effect of simulating the real knee joint movement of the human body. The six-dimensional force sensor installed on the bionic brace can measure the interaction force between the brace and the human body after the brace is worn, and the magnitude of the interaction force is used as a basis for evaluating the bionic exoskeleton brace to simulate the trajectory of the human knee joint movement center. By reducing the misalignment between the brace joint and the human joint, the slippage of the exoskeleton bionic brace on the human skin surface after wearing is reduced, the human-computer interaction force is reduced, and the discomfort caused by kinematic incompatibility when the human body wears the brace is eliminated.

[0040] Compared with the prior art, the exoskeleton bionic brace provided by the present invention has the following beneficial effects:

[0041] 1. The present invention achieves the effect of simulating the real knee joint movement of the human body by simulating the trajectory of the inner and outer movement centers of the knee joint during the flexion movement of the human lower limbs. By reducing the dislocation between the brace joint and the human joint, the slippage of the exoskeleton bionic brace on the human skin surface after wearing is reduced, the human-computer interaction force is reduced, and the discomfort caused by kinematic incompatibility when the human body wears the brace can be eliminated;

[0042] 2. The present invention uses the different characteristics of the knee joint structures on both sides of the brace to simulate the inner and outer movement centers of the human knee joint respectively, which can maintain the consistency of the trajectory of the brace and the human knee joint movement center, and can play a role in protecting the knee joint and enhancing the function of the knee joint;

[0043] 3. The present invention is designed to imitate the size of human limbs, so that the brace can better fit the human skin when worn, reducing the discomfort of the patient when wearing it;

[0044] 4. The present invention is easy to disassemble, and the length of the brace can be adjusted according to the length of the limbs. It has high applicability, improves wearing comfort, and meets the needs of different groups of people;

[0045] 5. The six-dimensional force sensor installed on the first supporting structure of the present invention can measure the interaction force between the brace and the human body after the brace is worn. The magnitude of the interaction force is used as a basis for evaluating the bionic exoskeleton brace to simulate the trajectory of the human knee joint movement center;

[0046] 6. The present invention can reduce harmful joint forces and contact pressure at the human-machine contact point, ensure the user's comfort, exercise needs and safety, can be promoted and used on a large scale, has strong practicality, and is worthy of promotion. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 It is the overall structure diagram of the present invention;

[0048] Figure 2 is a structural diagram of a first supporting structure of the present invention;

[0049] Figure 3 The explosion of the first supporting structure of the present invention Figure 1 ;

[0050] Figure 4 The explosion of the first supporting structure of the present invention Figure 2 ;

[0051] Figure 5 is a structural diagram of a second supporting structure of the present invention;

[0052] Figure 6 is a structural diagram of a first simulation mechanism of the present invention;

[0053] Figure 7is an exploded view of the first simulation mechanism of the present invention;

[0054] Figure 8 is a structural diagram of a first cover plate of the present invention;

[0055] Fig. 9 is a structural diagram of a second cover plate of the present invention;

[0056] Fig.10 is a structural diagram of a second simulation mechanism of the present invention;

[0057] Fig.11 is an exploded view of a second simulation mechanism of the present invention;

[0058] Fig.12 is a structural diagram of the first transmission member of the present invention;

[0059] Fig.13 is a structural diagram of the third connecting rod of the present invention;

[0060] Fig.14 is a structural diagram of the second transmission member of the present invention;

[0061] Fig.15 It is a structural diagram of the fourth connecting rod of the present invention. DETAILED DESCRIPTION

[0062] The present invention provides an exoskeleton bionic brace, Figures 1 to 15 The present invention is described with reference to the structural schematic diagram of FIG.

[0063] Example 1

[0064] The present invention provides an exoskeleton bionic brace, such as Figure 1 As shown, it includes a first supporting structure 1, a second supporting structure 2, a first simulation mechanism 3 and a second simulation mechanism 4 connected between the first supporting structure 1 and the second supporting structure 2.

[0065] Among them, the first supporting structure 1 is fixed on the thigh, and the second supporting structure 2 is on the lower side of the first supporting structure 1 and fixed on the calf; one end of the first simulation mechanism 3 is connected to the first supporting structure 1, and the other end is connected to the second supporting structure 2, which is used to simulate the motion center trajectory of the outer side of the human knee joint; the second simulation mechanism 4 is on the opposite side of the first simulation mechanism 3, one end is connected to the first supporting structure 1, and the other end is connected to the second supporting structure 2, which is used to simulate the motion center trajectory of the inner side of the human knee joint.

[0066] Specifically, Figure 2 , Figure 3 and Figure 4As shown, the first support structure 1 is composed of a first arc plate 101, a first connector, a first lug 102, a six-dimensional force sensor 110, a sleeve 109, a first cover plate 111 and an arc gasket 106, wherein the first arc plate 101 is designed to fit the shape of the human thigh to ensure the maximum comfort of the bracket and the lower limbs of the human body. Two first lugs 102 are symmetrically arranged at both ends of the first arc plate 101, and first fixing holes 103 are provided at both ends of the first arc plate 101 for facilitating the insertion of the first connector. The two first fixing holes 103 are respectively connected to the two ends of the first connector, and a second fixing hole 104 is provided in the middle of the first lug 102, and the two second fixing holes 104 are respectively connected to the two ends of the first connector. The first connector can be preferably a strap, a snap-on connection belt or a hook-and-loop connection belt, and the first arc plate 101 is fixed to the human thigh by the first connector.

[0067] A first groove 114 is provided on the end surface of the first lug 102 away from the first arc plate 101, and a plurality of third fixing holes 105 arranged in a straight line are provided on the first lug 102 along the vertical direction. The third fixing holes 105 can serve as connecting holes between the first supporting structure 1 and the first simulation mechanism 3 and the second simulation mechanism 4.

[0068] A through hole is provided on one side of the first arc-shaped plate 101, and a sleeve 109 is fixed on the upper side of the through hole. The through hole is connected to the inside of the sleeve 109, and a six-dimensional force sensor 110 is installed in the sleeve 109. The six-dimensional force sensor 110 is cylindrical in shape, and three threaded holes with a circumference of 120° are left on the upper surface. A first cover plate 111 is provided on the six-dimensional force sensor 110, and three first connecting screws 112 pass through the through holes of the first cover plate 111 and are threadedly connected with the threaded holes on the surface of the six-dimensional force sensor 110, so that the six-dimensional force sensor 110 is fixed on the first cover plate 111. Two second connecting screws 113 are also provided on the edge of the first cover plate 111, and the first cover plate 111 and the sleeve 109 are fixed by the second connecting screws 113, so that the position of the six-dimensional force sensor on the bracket is fixed, preparing for the subsequent force measurement of the sensor.

[0069] The second connecting screw 113 may also be replaced by a combination of a bolt and a nut.

[0070] On the side of the six-dimensional force sensor 110 facing away from the first cover plate 111, three threaded holes with a certain depth and a 120° circular distribution are reserved, and the arc-shaped gasket 106 has a through hole with the same size and position as the surface of the six-dimensional force sensor 110. Three third connecting screws 107 pass through the through holes on the arc-shaped gasket 106 and the threaded holes on the six-dimensional force sensor 110 to achieve a fixed connection between the arc-shaped gasket 106 and the six-dimensional force sensor 110.

[0071] To facilitate adjustment, an adjustment gasket 108 is provided between the arc-shaped gasket 106 and the six-dimensional force sensor 110. A through hole with the same size and position as the surface of the six-dimensional force sensor 110 is left on the gasket 108. The gasket 108 is located in the through hole, and the arc-shaped gasket 106, the gasket 108 and the six-dimensional force sensor 110 are connected by multiple third connecting screws 107.

[0072] The size of the arc-shaped gasket 106 is designed according to the shape of the outer side of the human thigh, which can ensure that the arc-shaped gasket 106 fits the human body completely when the brace is worn, avoiding measurement errors caused by direct contact between the sensor and the human body, and ensuring that the force measurement area is in uniform contact with the skin to obtain more objective measurement results. Gaskets 108 of different thicknesses can be determined according to the actual leg circumference of the subject to fill the gap between the brace and the human thigh when worn, ensuring that the sensor always maintains an indirect contact force state during measurement, thereby improving measurement accuracy.

[0073] Specifically, Figure 5 As shown, the second support structure 2 includes a second curved plate 201, a second connecting member and two second lugs 202, wherein the second curved plate 201 is designed according to the actual shape of the human calf to maximize the comfort of the bracket and the human lower limbs. Fourth fixing holes 206 are provided on both sides of the upper end of the second curved plate 201, and the two ends of the second connecting member are respectively connected to a fourth fixing hole 206, and a fifth fixing hole 205 is provided in the middle of the second lug 202, and the two fifth fixing holes 205 are respectively connected to the two ends of the second connecting member. The second connecting member can also be preferably a strap, a snap-on connecting belt or a hook-and-loop connecting belt, and the second curved plate 201 is fixed to the human calf by the second connecting member. The two second lugs 202 are symmetrically fixedly connected to the two ends of the second arc plate 201. The second lugs 202 are provided with a plurality of sixth fixing holes 204 arranged in a straight line along the vertical direction. The sixth fixing holes 204 can be used as connecting holes between the second support structure 2 and the first simulation mechanism 3 and the second simulation mechanism 4. A second groove 203 is provided on the end surface of the second lug 202 facing away from the second arc plate 201.

[0074] like Figure 6 and Figure 7As shown, the structure of the first simulation mechanism 3 includes a third connecting member 306, and the specific structure of the third connecting member 306 includes a first plug rod 3061, and a plurality of seventh mounting holes 3062 are opened on the first plug rod 3061, and the plurality of seventh mounting holes 3062 are arranged along the length direction of the first plug rod 3061. When connection is required, one end of the first plug rod 3061 is inserted into the first groove 114 on one of the first lugs 102, and the first groove 114 and the first plug rod 3061 form a slot connection, and the overlap degree can be adjusted according to the actual length of the human thigh, thereby increasing the adaptability of the brace. After the length is adjusted, when the length needs to be fixed, a connecting screw or bolt structure can be inserted through the third fixing hole 105 and the seventh mounting hole 3062 to relatively fix the freedom between the first lug 102 and the first plug rod 3061, so as to avoid relative movement between the two due to the existence of a gap, and reduce the undesirable interaction force generated by the internal movement of the brace when the brace is worn.

[0075] The other end of the first plug rod 3061 is fixedly connected to the first mounting plate, the first mounting plate and the first plug rod 3061 are perpendicular, and the first protrusion 3063 and the second protrusion 3064 are respectively passed through and fixed at both ends of the first mounting plate. Specifically, the first protrusion 3063 and the second protrusion 3064 are cylindrical structures, and the distances from the two end surfaces of the first protrusion 3063 and the second protrusion 3064 to the surface of the first plug rod 3061 are equal.

[0076] The fourth connecting member 303 is located at the lower side of the third connecting member 306 , and its specific structure includes a second plug rod 3031 , and a plurality of eighth mounting holes 3032 are formed on the second plug rod 3031 . The plurality of eighth mounting holes 3032 are arranged along the length direction of the second plug rod 3031 .

[0077] When connection is required, one end of the second insertion rod 3031 is inserted into the second groove 203 on one of the second lugs 202, and the second groove 203 and the second insertion rod 3031 form a slot connection, and the overlap can be adjusted according to the actual length of the human calf, thereby increasing the adaptability of the brace. After the length is adjusted, when it is necessary to fix the length, a connecting screw or bolt structure can be inserted through the sixth fixing hole 204 and the eighth mounting hole 3032 to relatively fix the freedom between the second lug 202 and the second insertion rod 3031, thereby avoiding relative movement between the two due to the gap, and reducing the undesirable interaction force caused by the internal movement of the brace when the brace is worn.

[0078] A second mounting plate is also provided at the other end of the second insertion rod 3031, and the second mounting plate is perpendicular to the second insertion rod 3031. The third protrusion 3033 and the fourth protrusion 3034 are respectively passed through and fixed at both ends of the second mounting plate. Specifically, the third protrusion 3033 and the fourth protrusion 3034 are cylindrical structures, and the distances from the two end surfaces of the third protrusion 3033 and the fourth protrusion 3034 to the surface of the second insertion rod 3031 are equal.

[0079] A first connecting rod 302 is provided on one side of the fourth connecting member 303. The structure of the first connecting rod 302 includes a first rod body 3021. Two ends of the first rod body 3021 are respectively provided with a third mounting hole 3022.

[0080] A second connecting rod 304 is disposed on the other side of the fourth connecting member 303. The second connecting rod 304 includes a second rod body 3041. A fourth mounting hole 3042 is respectively formed at both ends of the second rod body 3041.

[0081] A first cover plate 301 is provided on the side of the first connecting rod 302 away from the fourth connecting member 303. Figure 8 As shown, the structure of the first cover plate 301 includes an elliptical first disk body 3011, and the first disk body 3011 is provided with a first straight groove 3012, a second straight groove 3016, a first arc groove 3014 and a second arc groove 3015 that penetrate the first disk body 3011, wherein the first straight groove 3012 and the second straight groove 3016 are symmetrically arranged, the first arc groove 3014 and the second arc groove 3015 are symmetrically arranged, the first straight groove 3012 and the first arc groove 3014 are adjacent to each other, and a plurality of ninth mounting holes 3013 are also arranged on the first cover plate 301.

[0082] A second cover plate 305 is provided on the side of the second connecting rod 304 away from the fourth connecting member 303. Fig. 9 As shown, the structure of the second cover plate 305 includes an elliptical second disk body 3051, and the second disk body 3051 is provided with a third straight groove 3052, a fourth straight groove 3056, a third arc groove 3054 and a fourth arc groove 3055 that penetrate the second disk body 3051, wherein the third straight groove 3052 and the fourth straight groove 3056 are symmetrically arranged, the third arc groove 3054 and the fourth arc groove 3055 are symmetrically arranged, the third straight groove 3052 and the third arc groove 3054 are adjacent to each other, and a plurality of tenth mounting holes 3053 are also arranged on the second cover plate 305.

[0083] Among them, one end of the first protrusion 3063 passes through one of the fourth mounting holes 3042 and the third straight groove 3052 in sequence, and the other end of the first protrusion 3063 passes through the first straight groove 3012; one end of the second protrusion 3064 passes through the third arc groove 3054, and the other end of the second protrusion 3064 passes through one of the third mounting holes 3022 and the first arc groove 3014 in sequence; one end of the third protrusion 3033 passes through another fourth mounting hole 3042 and the fourth arc groove 3055 in sequence, and the other end of the third protrusion 3033 passes through the second arc groove 3015; one end of the fourth protrusion 3034 passes through the fourth straight groove 3056, and the other end of the fourth protrusion 3034 passes through another third mounting hole 3022 and the second straight groove 3016 in sequence. The first cover plate 301 and the second cover plate 305 are connected by a sixth connecting member 307, and the sixth connecting member is preferably a rivet.

[0084] Specifically, the size of the first connecting rod 302 and the second connecting rod 304 is optimized according to the real lateral condyle knee joint motion center track, and simulates the biological mechanism of the real human knee joint cruciate ligament, and fits the knee joint anatomical structure. The size and position of the first straight groove 3012, the second straight groove 3016, the first arc groove 3014, the second arc groove 3015, the third straight groove 3052, the fourth straight groove 3056, the third arc groove 3054 and the fourth arc groove 3055 are determined by the real lateral condyle knee joint motion center track. The length of the first connecting rod 302 and the second connecting rod 304, the position and size of the hole thereon, the length between the first convex block 3063, the second convex block 3064, the third convex block 3033 and the fourth convex block 3034 jointly determine the movement of the first simulation mechanism 3, simulating the human body knee joint lateral condyle motion center track. The structure of the above-mentioned slotted hole and the boss coordination can prevent excessive flexion and overextension of the knee joint, and plays a role in protecting the knee joint.

[0085] like Fig.10 and Fig.11 As shown, the structure of the second simulation mechanism 4 includes a first transmission member 401 , a second transmission member 403 , a third connecting rod 402 and a fourth connecting rod 405 .

[0086] Among them, Fig.12 As shown, the structure of the first transmission member 401 includes a third plug rod 4011 , and a plurality of eleventh mounting holes 4012 are opened on the third plug rod 4011 , and the plurality of eleventh mounting holes 4012 are arranged along the length direction of the third plug rod 4011 .

[0087] When connection is required, one end of the third insertion rod 4011 is inserted into the first groove 114 on the other first lug 102, and the first groove 114 and the third insertion rod 4011 form a slot connection, and the overlap degree can be adjusted according to the actual length of the human thigh, thereby increasing the adaptability of the brace. After the length is adjusted, when the length needs to be fixed, a connecting screw or bolt structure can be inserted through the third fixing hole 105 and the eleventh mounting hole 4012 to relatively fix the freedom between the first lug 102 and the third insertion rod 4011, thereby avoiding relative movement between the two due to the gap, and reducing the undesirable interaction force caused by the internal movement of the brace when the brace is worn.

[0088] The other end of the third insertion rod 4011 is fixedly connected to the first tooth arc 4013 . A fifth arc-shaped groove 4014 is formed on the first tooth arc 4013 . A twentieth mounting hole 4015 is formed in the middle of the first tooth arc 4013 .

[0089] like Fig.14 As shown, the structure of the second transmission member 403 includes a fourth plug rod 4031, and a plurality of twelfth mounting holes 4032 are provided on the fourth plug rod 4031, and the plurality of twelfth mounting holes 4032 are arranged along the length direction of the fourth plug rod 4031. When connection is required, one end of the fourth plug rod 4031 is inserted into the second groove 203 on the other second lug 202, and the second groove 203 and the fourth plug rod 4031 form a slot connection, and the overlap degree can be adjusted according to the actual length of the human calf, thereby increasing the adaptability of the brace. After the length is adjusted, when the length needs to be fixed, a connecting screw or bolt structure can be inserted through the sixth fixing hole 204 and the eighth mounting hole 3032 to relatively fix the freedom between the second lug 202 and the fourth plug rod 4031, so as to avoid relative movement between the two due to the existence of a gap, and reduce the undesirable interaction force generated by the internal movement of the brace when the brace is worn. The other end of the fourth insert rod 4031 is fixedly connected to the second tooth arc 4033 , the second tooth arc 4033 is meshed with the first tooth arc 4013 , and a nineteenth mounting hole 4034 is defined in the middle of the second tooth arc 4033 .

[0090] A third connecting rod 402 and a fourth connecting rod 405 are respectively disposed on both sides of the second transmission member 403. The third connecting rod 402 and the fourth connecting rod 405 have the same structure. Fig.13 As shown, the third connecting rod 402 includes a first plate body 4021, a thirteenth mounting hole 4022 and a fourteenth mounting hole 4024 are respectively opened at both ends of the first plate body 4021, and a fifteenth mounting hole 4023 is opened in the middle of the first plate body 4021. Fig.15As shown, the fourth connecting rod 405 includes a second plate body 4051, and the two ends of the second plate body 4051 are respectively provided with a sixteenth mounting hole 4054 and a seventeenth mounting hole 4053, and the middle part of the second plate body 4051 is provided with an eighteenth mounting hole 4052. The seventh connecting member passes through the seventeenth mounting hole 4053, the nineteenth mounting hole 4034 and the fourteenth mounting hole 4024 to realize the hinge connection of the third connecting rod 402, the second tooth arc 4033 and the fourth connecting rod 405. The eighth connecting member passes through the sixteenth mounting hole 4054, the twentieth mounting hole 4015 and the thirteenth mounting hole 4022 to realize the hinge connection of the third connecting rod 402, the first tooth arc 4013 and the fourth connecting rod 405. The fifth connecting member 404 passes through the eighteenth mounting hole 4052, the fifth arc groove 4014 and the fifteenth mounting hole 4023.

[0091] Specifically, the seventh connecting member, the eighth connecting member and the fifth connecting member 404 are preferably screws or rivets.

[0092] Among them, the design parameters of the mutually meshing second tooth arc 4033 and the first tooth arc 4013 are determined by the pitch curve of the non-circular gear, and the pitch curve equation is obtained by fitting the trajectory of the center of motion of the medial condyle of the knee joint. The gear teeth of the non-circular gear mesh with each other, and the transmission is smooth when the second simulation mechanism moves, thereby improving the stability of the brace. The mutual rotation of the second tooth arc 4033 and the first tooth arc 4013 can highly simulate the trajectory of the center of motion of the medial condyle of the knee joint, thereby simulating the movement of the knee joint. The surface of the first tooth arc 4013 is provided with a fifth arc groove 4014 at a certain angle, and the fifth arc groove 4014 serves to limit the flexion angle of the knee brace.

[0093] Working principle of the present invention:

[0094] When the bionic brace is worn, the first support structure 1 and the second support structure 2 are fixed to the lower limbs of the human body through straps at two positions, and the inner and outer sides of the support structures are connected by the second simulation mechanism 4 and the first simulation mechanism 3, respectively. It is easy to disassemble, the length is adjustable, and the applicability is wide. The six-dimensional force sensor 110 installed on the bionic brace can measure the interaction force between the brace and the human body after wearing the brace, and the magnitude of the interaction force is used as a basis for evaluating the bionic exoskeleton brace to simulate the trajectory of the center of motion of the human knee joint. The second simulation mechanism 4 and the first simulation mechanism 3 can simulate the movement of the medial condyle and lateral condyle of the real human knee joint through kinematic design, and reduce the misalignment between the brace joint and the human joint, reduce the slippage of the exoskeleton bionic brace on the human skin surface after wearing, reduce the human-machine interaction force, and eliminate the discomfort caused by kinematic incompatibility when the human body wears the brace.

[0095] An exoskeleton bionic brace provided by the present invention can simulate the trajectory of the inner and outer movement centers of the knee joint during flexion of the lower limbs of the human body, thereby achieving the effect of simulating the real knee joint movement of the human body. The six-dimensional force sensor installed on the bionic brace can measure the interaction force between the brace and the human body after the brace is worn, and the magnitude of the interaction force is used as a basis for evaluating the bionic exoskeleton brace's simulation of the trajectory of the human knee joint movement center. By reducing the misalignment between the brace joint and the human joint, reducing the slippage of the exoskeleton bionic brace on the human skin surface after wearing, reducing the human-computer interaction force, and eliminating the discomfort caused by kinematic incompatibility when the human body wears the brace, it is highly practical and worthy of promotion.

[0096] The above disclosure is only a preferred specific embodiment of the present invention, but the embodiments of the present invention are not limited thereto, and any changes that can be conceived by those skilled in the art should fall within the protection scope of the present invention.

Claims

1. An exoskeleton bionic brace, characterized in that: include: A first supporting structure (1), used for connecting to the thigh; A second supporting structure (2), located on the lower side of the first supporting structure (1) and used for connecting to the lower leg; A first simulation mechanism (3) is arranged between the first support structure (1) and the second support structure (2), one end of the mechanism is connected to the first support structure (1), and the other end of the mechanism is connected to the second support structure (2), and is used to simulate the movement center trajectory of the outer side of the human knee joint; A second simulation mechanism (4) is arranged between the first support structure (1) and the second support structure (2), is located on the opposite side of the first simulation mechanism (3), has one end connected to the first support structure (1), and has the other end connected to the second support structure (2), and is used to simulate the movement center trajectory of the inner side of the human knee joint; The second simulation mechanism (4) comprises: A first transmission member (401), comprising a third plug rod (4011), one end of the third plug rod (4011) being inserted into a first groove (114) on another first lug (102), the third plug rod (4011) and the first lug (102) being detachably connected, the other end of the third plug rod (4011) being fixedly connected to a first tooth arc (4013), and a fifth arc-shaped groove (4014) being provided on the first tooth arc (4013); A second transmission member (403), comprising a fourth plug rod (4031), one end of the fourth plug rod (4031) being inserted into a second groove (203) on another second lug (202), the fourth plug rod (4031) and the second lug (202) being detachably connected, the other end of the fourth plug rod (4031) being fixedly connected to a second tooth arc (4033), and the second tooth arc (4033) being meshed with the first tooth arc (4013); A third connecting rod (402) and a fourth connecting rod (405) having the same structure are respectively located on both sides of the second transmission member (403); one end of the third connecting rod (402) is hinged to the first tooth arc (4013) and one end of the fourth connecting rod (405); the other end of the third connecting rod (402) is hinged to the second tooth arc (4033) and the other end of the fourth connecting rod (405); a fifth connecting member (404) is provided in the middle of the third connecting rod (402) and the fourth connecting rod (405); the fifth connecting member (404) is clamped in the fifth arc groove (4014).

2. The exoskeleton bionic brace according to claim 1, characterized in that: The first supporting structure (1) comprises: A first curved plate (101); A first connecting member, two ends of which are respectively connected to two ends of the first arc-shaped plate (101); Two first lugs (102) are symmetrically arranged at two ends of the first arc-shaped plate (101); a first groove (114) is formed at one end of the first lug (102) away from the first arc-shaped plate (101); A sleeve (109) is fixed on one side of the first arc-shaped plate (101); a through hole is provided on the first arc-shaped plate (101), and the through hole is in communication with the sleeve (109); A six-dimensional force sensor (110) is arranged in the sleeve (109); A first cover plate (111) is detachably connected to one end of the six-dimensional force sensor (110) and the sleeve (109); The arc-shaped gasket (106) is arranged on a side of the six-dimensional force sensor (110) facing away from the first cover plate (111), and the arc-shaped gasket (106) is detachably connected to the six-dimensional force sensor (110).

3. The exoskeleton bionic brace according to claim 2, characterized in that: Also includes: A gasket (108) is located between the arc-shaped gasket (106) and the six-dimensional force sensor (110), and is arranged in the through hole; the gasket (108) is detachably connected to the arc-shaped gasket (106) and the six-dimensional force sensor (110).

4. The exoskeleton bionic brace according to claim 2, characterized in that: The second supporting structure (2) comprises: A second curved plate (201); A second connecting member, two ends of which are respectively connected to two ends of the second arc-shaped plate (201); Two second lugs (202) are symmetrically arranged at two ends of the second arc-shaped plate (201); a second groove (203) is formed at one end of the second lug (202) away from the second arc-shaped plate (201).

5. The exoskeleton bionic brace according to claim 4, characterized in that: The first simulation mechanism (3) comprises: A third connecting member (306), comprising a first plug rod (3061), one end of the first plug rod (3061) being inserted into a first groove (114) on one of the first lugs (102), the first plug rod (3061) and the first lug (102) being detachably connected, a first mounting plate being further provided at the other end of the first plug rod (3061), the first mounting plate being perpendicular to the first plug rod (3061), and a first protrusion (3063) and a second protrusion (3064) being respectively penetrated and fixed at both ends of the first mounting plate; A fourth connecting member (303) is located at the lower side of the third connecting member (306), and comprises a second plug rod (3031), one end of the second plug rod (3031) is inserted into a second groove (203) on one of the second lugs (202), the second plug rod (3031) and the second lug (202) are detachably connected, a second mounting plate is further provided at the other end of the second plug rod (3031), the second mounting plate and the second plug rod (3031) are perpendicular, and a third protrusion (3033) and a fourth protrusion (3034) are respectively penetrated and fixed at both ends of the second mounting plate; A first connecting rod (302), comprising a first rod body (3021), wherein both ends of the first rod body (3021) are respectively provided with third mounting holes (3022); A second connecting rod (304), comprising a second rod body (3041), wherein both ends of the second rod body (3041) are respectively provided with fourth mounting holes (3042); A first cover plate (301), comprising a first disk body (3011), the first disk body (3011) being provided with a first straight groove (3012), a second straight groove (3016), a first arc-shaped groove (3014) and a second arc-shaped groove (3015) penetrating the first disk body (3011), wherein the first straight groove (3012) and the second straight groove (3016) are symmetrically arranged, the first arc-shaped groove (3014) and the second arc-shaped groove (3015) are symmetrically arranged, and the first straight groove (3012) and the first arc-shaped groove (3014) are adjacently arranged; A second cover plate (305), comprising a second disk body (3051), the second disk body (3051) being provided with a third straight groove (3052), a fourth straight groove (3056), a third arc-shaped groove (3054) and a fourth arc-shaped groove (3055) penetrating the second disk body (3051), wherein the third straight groove (3052) and the fourth straight groove (3056) are symmetrically arranged, the third arc-shaped groove (3054) and the fourth arc-shaped groove (3055) are symmetrically arranged, and the third straight groove (3052) and the third arc-shaped groove (3054) are adjacently arranged; One end of the first protrusion (3063) passes through one of the fourth mounting holes (3042) and the third straight groove (3052) in sequence, and the other end of the first protrusion (3063) passes through the first straight groove (3012); one end of the second protrusion (3064) passes through the third arc-shaped groove (3054), and the other end of the second protrusion (3064) passes through one of the third mounting holes (3022) and the first arc-shaped groove (3014) in sequence; one end of the third protrusion (3033) passes through another fourth mounting hole (3042) and the fourth arc-shaped groove (3055) in sequence, and the other end of the third protrusion (3033) passes through the second arc-shaped groove (3015); one end of the fourth protrusion (3034) passes through the fourth straight groove (3056), and the other end of the fourth protrusion (3034) passes through another third mounting hole (3022) and the second straight groove (3016) in sequence.

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