Hip joint exoskeleton motion assisting system and multi-redundant degree of freedom joint assembly

Abstract

The application discloses a hip joint exoskeleton motion assisting system and a multi-redundant degree of freedom joint assembly. The hip joint exoskeleton motion assisting system comprises a leg assembly; the leg assembly comprises a driving device, a force transmission assembly, a multi-redundant degree of freedom joint assembly and a non-soft leg accommodating device; the input end of the force transmission assembly is connected with the driving device; the input end of the joint assembly is connected with the output end of the force transmission assembly; the driving device is used for providing driving force for the force transmission assembly, so that the force transmission assembly drives the joint assembly to move, and the multi-redundant degree of freedom joint assembly drives the leg accommodating device to move; the multi-redundant degree of freedom joint assembly can make the non-soft leg accommodating device have three degrees of freedom required by hip joint movement during movement. The application is provided with the multi-redundant degree of freedom joint assembly, and the multi-redundant degree of freedom joint assembly can make the non-soft leg accommodating device have three degrees of freedom required by hip joint movement during movement.

Description

Technical Field

[0001] This application relates to the field of exoskeleton technology, and in particular to a hip joint exoskeleton motion assistance system and a multi-redundant degree-of-freedom joint component. Background Technology

[0002] Hip-assisted exoskeletons are widely used to assist users in exercise or rehabilitation training, enabling them to walk, run, and climb stairs. Traditional hip-assisted exoskeletons use motors or hydraulic motors to drive the legs, but these require a motor at each hip joint. This often results in an overly wide device that is inconvenient to wear. The wide motor drive components also hinder upper limb movement. Furthermore, the weight is distributed on both sides of the body, and the device's center of gravity is far from the user's, increasing the physical burden and causing additional energy expenditure. In addition, there are problems such as limited freedom of hip joint movement and excessive weight.

[0003] In existing hip exoskeletons, soft, flexible materials are usually used as leg connection components. However, flexible materials are prone to deformation and misalignment, resulting in uneven force on the leg. Moreover, due to the limitations of material strength and stiffness, the assistance they can provide to the leg is limited, making it difficult to provide sufficient assistance to the leg.

[0004] The use of rigid leg connection components in hip exoskeleton motion assist systems can lead to poor performance, discomfort for the wearer, and impede the user's hip joint movement in various degrees of freedom. For example, the hip joint typically has extension / flexion, abduction / adduction, and internal / external rotation directions. However, due to the constraints of the hip exoskeleton motion assist system, the user may not be able to effectively perform abduction, adduction, internal rotation, or external rotation movements, or may be hindered by the leg connection components when performing such movements.

[0005] Therefore, it is desirable to have a technical solution to overcome or at least mitigate one of the aforementioned defects of the prior art. Summary of the Invention

[0006] The purpose of this application is to provide a hip exoskeleton motion assistance system to overcome or at least mitigate one of the aforementioned defects of the prior art.

[0007] To achieve the above objectives, this application provides a hip joint exoskeleton motion assistance system, which includes a lumbar component and a leg component; wherein, the leg component includes:

[0008] Drive unit;

[0009] A force transmission component, the force transmission component including a force transmission component input end and a force transmission component output end, the force transmission component input end being connected to the drive device;

[0010] A multi-redundant degree-of-freedom joint assembly, the multi-redundant degree-of-freedom joint assembly including a joint input end and a joint output end, the joint input end being connected to the output end of the force transmission component;

[0011] A non-soft leg receiving device includes a receiving space adapted to receive a user's leg, and a joint output end is connected to the non-soft leg receiving device; wherein,

[0012] The driving device is used to provide driving force to the force transmission component, so that the force transmission component drives the joint component to move, thereby causing the multi-redundant degree-of-freedom joint component to drive the leg receiving device to move.

[0013] The multi-redundant degree-of-freedom joint assembly enables the non-soft leg housing to have the three degrees of freedom required for hip joint movement during motion.

[0014] Optionally, the drive device includes a right leg drive device and / or a left leg drive device;

[0015] The force transmission components include a left leg force transmission group and / or a right leg force transmission group;

[0016] The non-soft leg receiving device includes a left leg receiving device and / or a right leg receiving device;

[0017] The multi-redundant degree-of-freedom joint assembly includes a left leg joint group and / or a right leg joint group. The left leg joint group includes a left leg joint input end and a left leg joint output end; the right leg joint group includes a right leg joint input end and a right leg joint output end.

[0018] The right leg drive device is connected to the right leg force transmission group, and the left leg drive device is connected to the left leg force transmission group;

[0019] The left leg receiving device is connected to the left leg joint output end of the left leg joint assembly, and the left leg force transmission assembly is connected to the left leg joint input end of the left leg joint assembly.

[0020] The right leg receiving device is connected to the right leg joint output end of the right leg joint assembly, and the right leg force transmission assembly is connected to the right leg joint input end of the right leg joint assembly.

[0021] Optionally, the waist assembly includes:

[0022] belt;

[0023] A waist support, wherein the waist belt is connected to the waist support.

[0024] Optionally, the lumbar support includes an inner lumbar fixing plate, an outer lumbar fixing plate, and a support fixing rod;

[0025] The lumbar support further includes a left leg support fixing slider and / or a right leg support fixing slider; wherein...

[0026] The belt is positioned between the inner and outer fixing plates of the waist.

[0027] The bracket fixing rod is fixed to the outer side fixing plate of the waist;

[0028] The left leg support fixing slider and / or the right leg support fixing slider are connected to the support fixing rod through a hole shaft fit.

[0029] Optionally, the left leg force transmission assembly includes:

[0030] A left leg support assembly, wherein the left leg support assembly is connected to a support fixing rod and is clamped along the axial direction by a left leg support fixing slider, and the left leg drive device is connected to the left leg support assembly;

[0031] The left leg spindle is connected to the output end of the left leg drive device;

[0032] A left leg bearing assembly is mounted on the left leg bracket assembly, and the inner ring of the bearing of the left leg bearing assembly is connected to the left leg spindle.

[0033] A left leg assist cable assembly includes a left leg assist cable input end and a left leg assist cable output end. The left leg assist cable input end is connected to the left leg spindle, and the left leg assist cable output end is connected to the left leg joint input end of the left leg joint assembly.

[0034] The left leg drive device is used to provide rotational force to the left leg spindle, and the left leg spindle is used to drive the left leg assist line assembly to move, thereby causing the left leg assist line assembly to drive the left leg joint assembly to move, so that the left leg joint assembly drives the left leg receiving device to move in the direction of hip extension or hip flexion.

[0035] Optionally, the right leg force transmission assembly includes:

[0036] A right leg support assembly, wherein the right leg support assembly is connected to a support fixing rod and is clamped along the axial direction by a right leg support fixing slider, and the right leg drive device is connected to the right leg support assembly;

[0037] The right leg spindle is connected to the output end of the right leg drive device;

[0038] A right leg bearing assembly is mounted on the right leg bracket assembly, and the inner ring of the bearing of the right leg bearing assembly is connected to the right leg spindle.

[0039] A right leg assist cable assembly includes a right leg assist cable input end and a right leg assist cable output end. The right leg assist cable input end is connected to the right leg spindle, and the right leg assist cable output end is connected to the right leg joint input end of the right leg joint assembly.

[0040] The right leg drive device is used to provide rotational force to the right leg spindle, and the right leg spindle is used to drive the right leg assist line assembly to move, thereby causing the right leg assist line assembly to drive the right leg joint assembly to move, so that the right leg joint assembly drives the right leg receiving device to move in the direction of hip extension or hip flexion.

[0041] Optionally, the left leg joint assembly includes:

[0042] A left leg input arm assembly, the left leg input arm assembly including a left leg input arm input end and a left leg input arm output end, the left leg input arm input end being connected to the left leg assist line output end;

[0043] A left leg output arm assembly, the left leg output arm assembly including a left leg output arm input end and a left leg output arm output end, the left leg output arm input end being connected to the left leg input arm assembly;

[0044] A left leg clamping assembly, wherein the left leg clamping assembly clamps the left leg input arm assembly and the left leg input arm assembly;

[0045] The left leg force transmission rod includes a left leg force transmission rod input end and a left leg force transmission rod output end, and the left leg force transmission rod input end is connected to the left leg output arm output end;

[0046] A left leg force transmission rod fixing device, wherein the output end of the left leg force transmission rod is connected to the left leg force transmission rod fixing device;

[0047] The left leg spherical bearing sleeve assembly and the left leg force transmission rod fixing device are connected to the bearing inner ring of the left leg spherical bearing sleeve assembly through a fixed shaft.

[0048] Left leg slide rod sleeve, which is connected to the left leg fisheye bearing sleeve assembly;

[0049] The left leg slide rod is sleeved in the shaft hole of the left leg slide rod sleeve, the left leg slide rod is axially engaged with the shaft hole of the left leg slide rod sleeve, and the left leg slide rod is connected to the left leg receiving device.

[0050] Optionally, the right leg joint assembly includes:

[0051] A right leg input arm assembly, the right leg input arm assembly including a right leg input arm input end and a right leg input arm output end, the right leg input arm input end being connected to the right leg assist line output end;

[0052] A right leg output arm assembly, the right leg output arm assembly including a right leg output arm input end and a right leg output arm output end, the right leg output arm input end being connected to the right leg input arm assembly;

[0053] A right leg clamping assembly, wherein the right leg clamping assembly clamps the right leg input arm assembly and the right leg input arm assembly;

[0054] The right leg force transmission rod includes a right leg force transmission rod input end and a right leg force transmission rod output end, and the right leg force transmission rod input end is connected to the right leg output arm output end;

[0055] A right leg force transmission rod fixing device, wherein the output end of the right leg force transmission rod is connected to the right leg force transmission rod fixing device;

[0056] The right leg spherical bearing sleeve assembly and the right leg force transmission rod fixing device are connected to the bearing inner ring of the right leg spherical bearing sleeve assembly through a fixed shaft.

[0057] The right leg slide rod sleeve is connected to the right leg fisheye bearing sleeve assembly and the right leg receiving device respectively.

[0058] The right leg slide rod is sleeved in the shaft hole of the right leg slide rod sleeve, the right leg slide rod is axially engaged with the shaft hole of the right leg slide rod sleeve, and the right leg slide rod is connected to the right leg receiving device.

[0059] Optionally, the hip joint exoskeleton motion assistance system further includes:

[0060] Controller, the controller being connected to the left leg drive device and / or the right leg drive device;

[0061] An inertial measurement unit, which is connected to the controller;

[0062] The force sensor includes a left leg force sensor and a right leg force sensor. The left leg force sensor is connected to the left leg input arm and is used to acquire the force information of the left leg input arm. The right leg force sensor is connected to the right leg input arm and is used to acquire the force information of the right leg input arm.

[0063] This application also provides a multi-redundant degree-of-freedom joint assembly, which is the multi-redundant degree-of-freedom joint assembly described above.

[0064] The hip exoskeleton motion assist system of this application is equipped with a multi-redundant degree-of-freedom joint assembly. The multi-redundant degree-of-freedom joint assembly enables the non-soft leg housing to have three degrees of freedom in the three directions required for hip joint movement during movement. When the user's thigh is located in the leg housing, the user's leg movement will not be restricted by the non-soft leg housing, regardless of whether flexion, extension or rotation is required. In addition, the various degrees of freedom will not interfere with each other. For example, rotation will not be impossible during flexion and extension. Attached Figure Description

[0065] Figure 1 This is a schematic diagram of a hip joint exoskeleton motion assistance system according to an embodiment of this application;

[0066] Figure 2 This is a rear view of a hip exoskeleton motion assist system according to an embodiment of this application;

[0067] Figure 3 yes Figure 1 A schematic diagram of the lumbar component in the hip exoskeleton motion assistance system shown;

[0068] Figure 4 yes Figure 1 Rear view of the lumbar component in the hip exoskeleton motion assist system shown;

[0069] Figure 5 yes Figure 1 A schematic diagram of the leg component of the right leg in the hip exoskeleton motion assist system shown.

[0070] Figure 6 yes Figure 1 Another structural schematic diagram of the leg component of the right leg in the hip exoskeleton motion assist system shown.

[0071] Figure 7 yes Figure 1 A schematic diagram of the reversing device in the assist line assembly of the hip exoskeleton motion assist system shown in the figure.

[0072] Figure 8 yes Figure 1 The diagram shows the structure of the assist line component in the hip exoskeleton motion assist system.

[0073] Figure 9 yes Figure 1 The diagram shows a partial structural schematic of a multi-redundant degree-of-freedom joint component in a hip exoskeleton motion assistance system.

[0074] Figure 10 yes Figure 1The diagram shows another part of the structure of the multi-redundant degree-of-freedom joint component in the hip exoskeleton motion assistance system.

[0075] Figure 11 yes Figure 1 A schematic diagram of a portion of the force transmission component in the hip exoskeleton motion assist system is shown.

[0076] Figure 12 yes Figure 1 The diagram shows a Bowden-like tube structure in a hip exoskeleton motion assist system.

[0077] Figure 13 yes Figure 1 The diagram shows a partial structural schematic of the left leg fisheye bearing sleeve assembly in the hip joint exoskeleton motion assistance system.

[0078] Figure 14 yes Figure 1 The diagram shows a partial structural diagram of the left leg slide sleeve in the hip joint exoskeleton motion assistance system.

[0079] Figure 15 The diagram shows the coordinated movement of a human body and exoskeleton with degrees of freedom, where (a) represents degrees of freedom without redundancy and (b) represents degrees of freedom with redundancy.

[0080] Figure 16 for Figure 11 Exploded view of the component shown.

[0081] Figure label:

[0082] Detailed Implementation

[0083] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions in the embodiments of this application will be described in more detail below with reference to the accompanying drawings. In the drawings, the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The described embodiments are some, but not all, embodiments of this application. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application. The embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0084] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting the scope of protection of this application.

[0085] like Figures 1 to 11 The hip exoskeleton motion assist system shown includes a lumbar component and a leg component; wherein, the leg component includes a drive device, a force transmission component, a multi-redundant degree-of-freedom joint component, and a non-soft leg housing device; wherein, the force transmission component includes a force transmission component input end and a force transmission component output end, and the force transmission component input end is connected to the drive device.

[0086] The multi-redundant degree-of-freedom joint assembly includes a joint input end and a joint output end, with the joint input end connected to the output end of the force transmission assembly.

[0087] The non-soft leg receiving device includes a receiving space adapted to accommodate a user's leg, and the joint output end is connected to the non-soft leg receiving device; wherein...

[0088] The driving device is used to provide driving force to the force transmission component, so that the force transmission component drives the joint component to move, thereby causing the multi-redundant degree-of-freedom joint component to drive the leg receiving device to move.

[0089] Multi-redundant degree-of-freedom joint components enable non-soft leg housings to have the three degrees of freedom required for hip joint movement during motion.

[0090] The hip exoskeleton motion assist system of this application is equipped with a multi-redundant degree-of-freedom joint assembly. The multi-redundant degree-of-freedom joint assembly enables the non-soft leg housing to have three degrees of freedom in the three directions required for hip joint movement during movement. When the user's thigh is located in the leg housing, the user's leg movement will not be restricted by the non-soft leg housing, regardless of whether flexion, extension or rotation is required. In addition, the various degrees of freedom will not interfere with each other. For example, rotation will not be impossible during flexion and extension.

[0091] The hip joint exoskeleton motion assistance system of this application is used to assist users in using their hip joints. Since users typically have two legs, most structures of this application have two sets, one for the user's left leg and the other for the user's right leg. It is understood that in some cases, if the user only has one leg, only one set of devices may be provided, as follows:

[0092] In this embodiment, the driving device includes a right leg driving device 2 and / or a left leg driving device 202;

[0093] The force transmission components include the left leg force transmission group and / or the right leg force transmission group;

[0094] The non-soft leg receiving device includes a left leg receiving device 71 and / or a right leg receiving device 7;

[0095] The multi-redundant degree-of-freedom joint assembly includes a left leg joint group and / or a right leg joint group. The left leg joint group includes a left leg joint input end and a left leg joint output end; the right leg joint group includes a right leg joint input end and a right leg joint output end.

[0096] The right leg drive device 2 is connected to the right leg force transmission group, and the left leg drive device 202 is connected to the left leg force transmission group.

[0097] The left leg receiving device 71 is connected to the left leg joint output end of the left leg joint assembly, and the left leg force transmission assembly is connected to the left leg joint input end of the left leg joint assembly.

[0098] The right leg receiving device 7 is connected to the right leg joint output end of the right leg joint assembly, and the right leg force transmission assembly is connected to the right leg joint input end of the right leg joint assembly.

[0099] In this embodiment, the waist assembly includes a waist belt 9 and a waist support, with the waist belt 9 connected to the waist support.

[0100] See Figures 1 to 4 The lumbar support includes an inner lumbar fixation plate 11, an outer lumbar fixation plate 12, and a support fixing rod 14; the lumbar support further includes a left leg support fixing slider and / or a right leg support fixing slider 13; wherein,

[0101] The waist belt 9 is positioned between the inner waist fixing plate 11 and the outer waist fixing plate 12;

[0102] The bracket fixing rod 14 is fixed to the outer waist fixing plate 12;

[0103] The left leg support fixing slider and / or the right leg support fixing slider 13 are connected to the support fixing rod 14 through a hole shaft fit.

[0104] More specifically, the waist belt 9 is fixed with screws between the inner waist fixing plate 11 and the outer waist fixing plate 12. The power supply 1 and the controller 10 are fixed with screws to the outer waist fixing plate 12. The bracket fixing rod 14 is fixed in the cylindrical hole of the outer waist fixing plate 12. The left leg bracket fixing slider and / or the right leg bracket fixing slider 13 are connected to the bracket fixing rod 14 through a hole-shaft fit, and can slide axially. They can be fixed with nuts. In this embodiment, the power supply 1 is connected to the left leg drive device and the right leg drive device respectively, and is used to provide power to the left leg drive device and the right leg drive device.

[0105] In this embodiment, the left leg force transmission assembly includes a left leg support assembly, a left leg main shaft, a left leg bearing assembly, and a left leg assist line assembly. The left leg support assembly is connected to the support fixing rod and is clamped axially by the left leg support fixing slider. The left leg drive device is connected to the left leg support assembly. The left leg main shaft is connected to the output end of the left leg drive device. The left leg bearing assembly is mounted on the left leg support assembly, and the inner ring of the bearing in the left leg bearing assembly is connected to the left leg main shaft. The left leg assist line assembly includes a left leg assist line input end and a left leg assist line output end. The left leg assist line input end is connected to the left leg main shaft, and the left leg assist line output end is connected to the left leg joint input end of the left leg joint assembly. The left leg drive device provides rotational force to the left leg main shaft, and the left leg main shaft drives the left leg assist line assembly to move, thereby causing the left leg assist line assembly to move, so that the left leg joint assembly drives the left leg receiving device to perform hip joint extension or hip joint flexion movements.

[0106] See Figures 1 to 3 , Figures 5 to 8 The right leg force transmission assembly includes a right leg support assembly, a right leg main shaft 24, a right leg bearing assembly, and a right leg assist line assembly. The right leg support assembly is connected to the support fixing rod 14 and is clamped axially by the right leg support fixing slider 13. The right leg drive device 202 is connected to the right leg support assembly. The right leg main shaft 24 is connected to the output end of the right leg drive device 202. The right leg bearing assembly is mounted on the right leg support assembly, and the inner ring of the bearing of the right leg bearing assembly is connected to the right leg main shaft 24. The right leg assist line assembly includes a right leg assist line input end and a right leg assist line output end. The right leg assist line input end is connected to the right leg main shaft, and the right leg assist line output end is connected to the right leg joint input end of the right leg joint assembly. The right leg drive device 202 is used to provide rotational force to the right leg main shaft, and the right leg main shaft is used to drive the right leg assist line assembly to move, thereby causing the right leg assist line assembly to drive the right leg joint assembly to move, so that the right leg joint assembly drives the right leg receiving device to move in the hip joint extension direction or the hip joint flexion direction.

[0107] In this embodiment, the left leg power transmission group and the right leg power transmission group are mirror images of each other, that is, the parts included in the left leg power transmission group are the same as those included in the right leg power transmission group, and each part plays the same role. In the following description, only the right leg power transmission group will be used as an example:

[0108] See Figure 4 as well as Figure 5 The right leg support assembly includes an outer support 3 and an inner support 43. The outer support 3 and the inner support 43 are fixed by a hole shaft and a nut, thereby connecting with the support fixing rod 14. They are clamped along the axial direction by the right leg support fixing slider 13 and can slide or be fixed along the axial direction of the right leg support fixing slider 13.

[0109] In this embodiment, both the left and right leg drive devices are motors, with the right leg drive device fixed to the outer bracket 3 by screws. The right leg spindle 24 is fixed to the output end of the right leg drive device 202 by screws.

[0110] The right leg bearing assembly includes a bearing fixing device 16 and a bearing 23. The bearing fixing device 16 is fixed to the inner bracket 43 by screws. The outer ring of the bearing 23 is fixed in the bearing fixing device 16 by an interference fit. The inner ring of the bearing 23 is connected to the main shaft 24.

[0111] See Figures 5 to 8 In this embodiment, the right leg assist cable assembly includes a cable sleeve limiting device 17, a Bowden-style cable tube 18, a reversing device 20, a reversing pulley 27, a pulley fixing device 15, an extension assist cable 25, and a flexion assist cable 26. The cable sleeve limiting device 17 is connected to the outer bracket 3 and the inner bracket 43 by screws. The Bowden-style cable tube 18 is spherically fitted to the cable sleeve limiting device 17 and is composed of multiple cable sleeves 19 connected end-to-end via spherical fit. The reversing device 20 is fixed to the outer bracket 3 and the inner bracket 43 by screws, and the Bowden-style cable tube 18 is connected to the reversing device 20 via a spherical fit. The reversing pulley 27 is fixed to the pulley fixing device 15, forming a cable groove. The pulley fixing device 15 is fixed to the outer bracket 3 and the inner bracket 43 by screws. The force transmission assembly 4 is fixed to the outer bracket 3 and the inner bracket 43 and can rotate around a fixed axis. The ends of the extension assist line 25 and the flexion assist line 26 are fixed to the input arm 21 from both sides.

[0112] In this embodiment, the hip joint exoskeleton motion assist system further includes a force sensor and an encoder. The left leg force transmission group includes a force sensor and an encoder, and the right leg force transmission group includes a force sensor and an encoder.

[0113] The force sensor 22, located in the right leg force transmission assembly, is mounted on the right leg input arm 21 and acquires the tensile force value in real time by measuring the deformation of the right leg input arm 21. The encoder 28 is fixed at the force transmission component 4 axis of the inner bracket 43 and acquires the angle information of the force transmission component in real time.

[0114] See Figures 6 to 8 In this embodiment, the extension assist line 25 and the flexion assist line 26 are fixed on the main shaft. Both are wound multiple times around the right leg main shaft with some slack, and the winding directions are opposite. The extension assist line 25 passes through the hole below the sleeve limiting device 17, changes direction through the Bowden-like cable tube 18, enters the reversing device 20, and then changes direction again through the reversing pulley 27 before being fixed on the input arm 21. The flexion assist line 26 passes through the hole above the sleeve limiting device 17, changes direction through the Bowden-like cable tube 18, enters the reversing device 20, changes direction again, and is then fixed on the input arm 21.

[0115] In this embodiment, the left leg joint assembly includes a left leg input arm assembly, a left leg output arm assembly, a left leg clamping assembly, a left leg force transmission rod, a left leg force transmission rod fixing device, a left leg fisheye bearing sleeve assembly, a left leg slide rod sleeve, and a left leg slide rod. The left leg input arm assembly includes a left leg input arm input end and a left leg input arm output end, and the left leg input arm input end is connected to the left leg assist line output end.

[0116] The left leg output arm assembly includes a left leg output arm input end and a left leg output arm output end, with the left leg output arm input end connected to the left leg input arm assembly.

[0117] The left leg clamping assembly clamps the left leg input arm assembly and the left leg input arm assembly;

[0118] The left leg force transmission rod includes a left leg force transmission rod input end and a left leg force transmission rod output end, and the left leg force transmission rod input end is connected to the left leg output arm output end;

[0119] The output end of the left leg force transmission rod is connected to the left leg force transmission rod fixing device;

[0120] The left leg force transmission rod fixing device is connected to the inner ring of the bearing of the left leg fisheye bearing sleeve assembly through a fixed shaft.

[0121] The left leg slide sleeve is connected to the left leg fisheye bearing sleeve assembly;

[0122] The left leg slide rod is sleeved within the shaft hole of the left leg slide rod sleeve, and the left leg slide rod mates with the shaft of the left leg slide rod sleeve hole. The left leg slide rod is connected to the left leg receiving device. Specifically, in this embodiment, both ends of the left leg slide rod are connected to the left leg receiving device.

[0123] See Figures 9 to 11 , Figure 16In this embodiment, the right leg joint assembly includes a right leg input arm assembly 21, a right leg clamping assembly 9, a right leg output arm assembly 5, a right leg force transmission rod 30, a right leg force transmission rod fixing device 31, a right leg fisheye bearing sleeve assembly 35, a right leg slide rod sleeve 44, and a right leg slide rod 37. The right leg input arm assembly 21 includes a right leg input arm input end and a right leg input arm output end, and the right leg input arm input end is connected to the right leg assist line output end.

[0124] The right leg output arm assembly 5 includes a right leg output arm input end and a right leg output arm output end, wherein the right leg output arm input end is connected to the right leg input arm assembly 21;

[0125] The right leg clamping assembly clamps the right leg input arm assembly and the right leg output arm assembly;

[0126] The right leg force transmission rod 30 includes a right leg force transmission rod input end and a right leg force transmission rod output end, and the right leg force transmission rod input end is connected to the right leg output arm output end;

[0127] The output end of the right leg force transmission rod is connected to the right leg force transmission rod fixing device 34;

[0128] The right leg force transmission rod fixing device 34 and the bearing inner ring of the right leg fisheye bearing sleeve assembly 35 are connected by a fixing shaft 36.

[0129] The right leg slide sleeve 44 is connected to the right leg fisheye bearing sleeve assembly 35 and the right leg slide 37 respectively;

[0130] The right leg slide rod 37 is sleeved in the shaft hole of the right leg slide rod sleeve 44. The right leg slide rod is engaged with the shaft of the right leg slide rod sleeve hole and is connected to the right leg receiving device.

[0131] In this embodiment, the right leg joint assembly and the left leg joint assembly are mirror images of each other, both having the same devices and each device performing the same function. Therefore, the following description uses the right leg joint assembly as an example to illustrate the structural composition of the right leg joint assembly in detail:

[0132] See Figures 9 to 11 , Figure 16 In this embodiment, the right leg input arm 21 includes a right leg input arm input end and a right leg input arm output end, wherein the right leg input arm input end is connected to the right leg assist line output end.

[0133] In this embodiment, the right leg joint assembly further includes an output arm fixing device 29, and the right leg output arm assembly is connected to the right leg force transmission rod 30 by screws through the output arm fixing device 29.

[0134] In this embodiment, the right leg output arm assembly includes a right leg input arm connecting portion 40 and a right leg force transmission rod connecting portion 41, wherein the right leg input arm connecting portion 40 serves as the input end of the right leg output arm, and the right leg force transmission rod connecting portion 41 serves as the output end of the right leg output arm.

[0135] The right leg input arm connecting part 40 is fixedly connected to the right leg input arm assembly 21, and the right leg force transmission rod connecting part 41 is connected to the right leg force transmission rod 30 with screws through the output arm fixing device 29.

[0136] In this embodiment, the right leg input arm connecting part 40 and the right leg force transmission rod connecting part 41 are connected by bolts, and their relative positions can be adjusted before they are connected and fixed.

[0137] See Figure 16 A first rotating disk is provided on the right leg input arm connecting part 40, and a second rotating disk is provided on the right leg force transmission rod connecting part 41. The first rotating disk and the second rotating disk are connected by bolts.

[0138] See Figure 16 In this embodiment, the right leg clamping assembly 9 includes a first clamping group 91 and a second clamping group 92. The first clamping group is bolted to the first rotating disk, and the second clamping group is connected to the second rotating disk, thereby supporting the right leg output arm assembly, which includes the right leg input arm connecting portion 40 and the right leg force transmission rod connecting portion 41. In this embodiment, the first clamping group 91 includes a first clamping group bearing 911 and a first clamping group clamping arm 912. One end of the first clamping group clamping arm 912 is disposed inside the first clamping group bearing 911 and fixed to the inner ring of the bearing, and the other end is connected to the right leg input arm connecting portion 40. The outer ring of the first clamping group bearing 911 is fixed to the fixing member 42.

[0139] The second clamping assembly includes a second clamping assembly bearing 921 and a second clamping assembly clamping arm 922. One end of the second clamping assembly clamping arm 922 is disposed inside the second clamping assembly bearing 921 and fixed to the inner ring of the bearing. The other end is connected to the right leg force transmission rod connecting part 41. The outer ring of the second clamping assembly bearing 921 is fixed on the fixing member 42.

[0140] The right leg input arm connecting part 40 and the right leg force transmission rod connecting part 41 are connected by screws. The relative angle between the two can be changed by changing the screw hole position. After connection, the relative angle is fixed.

[0141] The fixing member 42 is fixedly connected to the outer bracket 3 and the inner bracket 43. The encoder 28 is mounted on the fixing member 42.

[0142] The right leg force transmission rod connecting part 41 is connected to the right leg force transmission rod input end.

[0143] In this embodiment, the right leg joint assembly further includes a right leg force transmission rod fixing device 34. The right leg force transmission rod output end of the right leg force transmission rod 30 is fixedly connected to the force transmission rod fixing device 34. The right leg force transmission rod fixing device 34 and the inner ring of the bearing of the fisheye bearing sleeve assembly 35 are connected through a fixed shaft 36. The right leg force transmission rod fixing device 34 and the fisheye bearing sleeve assembly 35 can rotate relative to each other in three degrees of freedom in space, and they can also slide relative to each other in the axial direction of the fixed shaft 36.

[0144] The right leg spherical bearing sleeve assembly 35 is connected to the right leg slide sleeve 44, and the two can rotate relative to each other within a range of ±45°.

[0145] The right leg slide sleeve 44 and the right leg slide 37 are fitted with a hole shaft at the sleeve, and the two can rotate relative to each other and slide relative to each other along the axial direction of the right leg slide 37. The right leg slide 37 is fixed on the right leg receiving device 7 by the right leg slide fixing device 31.

[0146] The right leg receiving device 7 is divided into two parts, connected at the rear by a hinge 32 and at the front by a strap 38. The right thigh receiving cavity 39 is fixed inside the right leg receiving device 7 and is in direct contact with the user's thigh. The inertial measurement unit 33 (IMU) is fixed at the rear of the right leg receiving device 7 and provides real-time hip joint movement information of the user.

[0147] In this embodiment, the Bowden-like conduit structure is as follows: Figure 14 As shown, each sleeve 19 has a hemispherical boss at its head and a hemispherical recess at its tail, with a through hole running vertically through the inside. When used in a mechanism, multiple sleeves are connected end-to-end, with a soft plastic tube inserted inside each sleeve. The drive wire is located inside the soft plastic tube. The front and rear ends of the sleeves and the soft plastic tube are fixed to the sleeve limiting device 17 and the reversing device 20, respectively. The sleeves can form a mechanism similar to a ball joint, generating relative rotational motion. This relative rotational motion is limited by the length of the internal soft plastic tube and the hemispherical boss of the sleeve, with a maximum offset angle of 20° between the axes of the two sleeves.

[0148] The drive cable can slide within a flexible plastic tubing, and its direction can be altered by the cable sleeve and tubing. When the active end of the drive cable is pulled, it is guided by the Bowden-like tubing to provide the actuator with the required pulling force. The Bowden-like tubing's sleeve unit structure allows its guiding function to be unrestricted by the relative direction and distance between the front and rear ends, making it more flexible and user-friendly than existing wire drive mechanisms. It also ensures that power sources such as motors do not need to be fixed in a certain position due to the limitations of the transmission mechanism, but can be moved to the center of gravity of the user, reducing rotational inertia and additional energy loss.

[0149] See Figure 12In this embodiment, the right leg spherical bearing sleeve assembly 35 has two cylindrical holes with mutually perpendicular axes on its left and right sides. One hole contains a spherical bearing, and the other hole serves as a sleeve. The right leg spherical bearing end of this component is connected to the force transmission rod fixing device 34 via a fixed shaft 36. The spherical bearing provides two rotational degrees of freedom, and the component can also slide along the axis on the fixed shaft 36, providing one translational degree of freedom. The sleeve end of this component can cooperate with the right leg slide rod sleeve 44, providing one rotational degree of freedom.

[0150] See Figure 13 The left half of the right leg slide sleeve 44 has a cylindrical structure that can mate with the sleeve end of the right leg fisheye bearing sleeve assembly 35, and has one rotational degree of freedom. However, the outer shell of this part will limit the relative rotation angle between the two to ±45°. The right half is a ball sleeve that can mate with the right leg slide 37, and has one rotational degree of freedom and one translational degree of freedom along the slide axis.

[0151] See Figure 15 In this embodiment, the human hip joint has a total of three degrees of freedom, enabling movement in six directions: extension / flexion, abduction / adduction, and internal / external rotation. The hip exoskeleton studied in this project can provide assistance to the user in the extension / flexion direction, but to ensure sufficient thigh movement space, passive degrees of freedom are required to prevent obstruction in the abduction / adduction and internal / external rotation directions. Furthermore, due to the distance between the exoskeleton and the human limb, setting only the same number of degrees of freedom as the human joint will cause a shift in the human-machine interface point during movement. As shown in Figure 15a, the exoskeleton has only one degree of freedom, the same as the human limb. When the exoskeleton rotates with the human limb from a vertical position through an angle α, the human-machine interface point experiences a shift dl along the limb axis and a shift dw perpendicular to the limb compared to the vertical position. These shifts can cause shear stress and pressure at the human-machine interface point, potentially leading to abnormal human movement and slippage of the human-machine interface point. As shown in Figure 15b, by setting two redundant degrees of freedom along the limb axis and rotation at the human-machine interaction point, the occurrence of stress anomalies and slippage at the action point can be avoided, thus improving the motion performance of the exoskeleton.

[0152] This application, through the cooperation of the aforementioned multi-redundant degree-of-freedom joint components and force transmission components, can set redundant degrees of freedom in the three directions required by the hip joint, as detailed below:

[0153] Taking the right leg joint assembly as an example, in the extension / flexion degree of freedom direction, two revolute joints (the first revolute joint formed by the right leg input arm, the first rotation axis, and the right leg output arm, and the second revolute joint formed by the right thigh brace connecting assembly 31 and the right leg fisheye bearing sleeve assembly 35) and one sliding joint (the sliding joint formed by the right leg slide rod 37 and the right leg slide rod sleeve 44) are set up. In the abduction / adduction degree of freedom direction, two revolute joints (a revolute joint formed between the right leg force transmission rod connecting part 41 and the output arm 5) are set up. The exoskeleton comprises a second revolute joint (formed by the right leg force transmission rod fixing device 34 and the right leg fisheye bearing sleeve assembly 35) and a sliding joint (formed by the right leg slide rod 37 and the right leg slide rod sleeve 44). Three interconnected revolute joints are arranged in the internal / external rotation direction: the first revolute joint formed between the right leg force transmission rod fixing device 34 and the right leg fisheye bearing sleeve assembly 35; the second revolute joint formed between the right leg fisheye bearing sleeve assembly 35 and the right leg slide rod sleeve 44; and the third revolute joint formed between the right leg slide rod sleeve 44 and the right leg slide rod 37. Some of these revolute joints have angle-limiting structures to prevent deviation in the direction of force assistance while ensuring the degree of freedom of hip joint movement. Calculations show that the redundant degree of freedom design of this exoskeleton ensures an extension / flexion angle range of -15° to 45°, an adduction / abduction angle range of -5° to 90°, and an internal / external rotation angle range of -15° to 15°, completely covering the angle range of the three degrees of freedom of the hip joint during walking.

[0154] In this embodiment, the hip joint exoskeleton motion assistance system further includes a controller, an inertial measurement unit 33, and a force sensor 22. The controller is connected to the left leg drive device and / or the right leg drive device; the inertial measurement unit 33 is connected to the controller; the force sensor 22 includes a left leg force sensor and a right leg force sensor. The left leg force sensor is connected to the left leg input arm and is used to acquire the force information of the left leg input arm; the right leg force sensor is connected to the right leg input arm and is used to acquire the force information of the right leg input arm.

[0155] The following example illustrates how this application is used in practice. It should be understood that this example does not constitute any limitation on this application.

[0156] First, the user's leg movement data is sent to the controller 10 via the IMU 33. After processing, the current gait is determined, and the tension of the line measured by the force sensor 22 and the position data measured by the encoder 28 are sent to the controller 10 as feedback information to further control the motor to execute the correct movements. The hip joint assisted state is mainly divided into two parts: flexion and extension.

[0157] When the hip joint is flexed, taking the right leg as an example, the right leg drive device 202 drives the right leg main shaft 24 to rotate clockwise, tightening the flexion assist line 26. After transmission, this force acts on the right leg input arm 21, causing it to rotate clockwise, which in turn drives the right leg output arm 5 to rotate clockwise. The force ultimately acts on the right leg receiving device 7, providing assistance for the hip joint flexion movement, while the extension assist line 25 relaxes. When the hip joint is extended, the state is reversed compared to flexion. The right leg drive device 202 drives the right leg main shaft 24 to rotate counterclockwise, tightening the extension assist line 25, providing assistance for the hip joint extension movement, while the flexion assist line 26 relaxes.

[0158] Before wearing the exoskeleton robot, the user needs to adjust it to fit their body shape. First, adjust the relative position of the right leg support fixing slider and the right leg support fixing slider on the support fixing rod 14 so that the distance between the two legs of the exoskeleton matches the distance between the user's own legs. Second, adjust the relative angle of the right leg input arm connecting part 40 and the right leg force transmission rod connecting part 41 so that the relative angle between the waist and the leg of the exoskeleton matches the user's body shape. Finally, adjust the relative position between the right leg force transmission rod connecting part 41 and the right leg force transmission rod 30 to adjust the length of the exoskeleton so that it fits the user's waist to leg length.

[0159] When wearing the garment, the user should first open the strap 38 at the front of the right leg receiving device 7, place the thigh inside the right leg receiving device 7, and then tighten the strap 38, ensuring that there is no relative slippage between the right leg receiving device 7 and the user's thigh and no feeling of tightness. Then, fasten the waist belt 9 to the user's waist using the waist belt buckle 8, again ensuring no relative slippage and no feeling of tightness.

[0160] The exoskeleton has reserved redundant degrees of freedom in the right leg joint assembly, which allows the user to obtain hip flexion and extension assistance without being hindered by the exoskeleton robot, thus achieving full freedom of movement of the hip joint.

[0161] When the extension assist line 25 provides hip extension assistance and the flexion assist line 26 provides hip flexion assistance, the mechanical structure of the exoskeleton remains rigid in the direction of assistance to ensure that the assistance can be transmitted to the human body.

[0162] When the hip joint needs to perform abduction or adduction movements, the relative rotation between the right leg output arm and the output arm fixing device 29, as well as the relative sliding between the right leg slide sleeve 44 and the right leg slide 37, can provide motion compensation for hip joint abduction and adduction, ensuring freedom of movement.

[0163] When the hip joint needs to perform internal or external rotation movements, the relative rotation between the right leg slide sleeve 44 and the right leg slide 37, the relative rotation between the right leg fisheye bearing sleeve assembly 35 and the right leg slide sleeve 44, the three-degree-of-freedom relative rotation between the force transmission rod fixing device 34 and the right leg fisheye bearing sleeve assembly 35, and the relative sliding between the two along the fixed axis 36 can provide motion compensation for the internal and external rotation of the hip joint, ensuring the degree of freedom of movement. In summary, this exoskeleton can achieve full degree-of-freedom movement of the hip joint through redundant degrees of freedom.

[0164] This application also provides a multi-redundant degree-of-freedom joint assembly, which is the multi-redundant degree-of-freedom joint assembly as described above.

[0165] This application has the following advantages:

[0166] 1. By using a reasonable structural layout, the main mass is concentrated near the body's center of gravity (the upper edge of the third sacral vertebra), and the mass on both sides of the body is greatly reduced, thereby minimizing the system's additional inertia, reducing energy consumption and minimizing interference with upper limb movement.

[0167] 2. The system adopts a high-efficiency transmission system composed of a special Bowden line-pulley-lever assembly, which maximizes the power of the drive source (motor) installed near the center of gravity of the human body to be transmitted to the end effector. This achieves single-motor control and bidirectional assistance, reduces the complexity of the control system, reduces costs, and lightens weight.

[0168] 3. The range of motion of the mechanical structure of this system covers the maximum range of motion of the hip joint during human walking. The flexion and extension angle range of the system is -15° to 45°, the abduction and adduction angle range is -5° to 90°, and the internal and external rotation angle range is -15° to 15°.

[0169] 4. Motion compatibility design: 1) Users can manually adjust the relative positions of the three structures of the exoskeleton according to their body size and application purpose, expanding the range of people to whom the exoskeleton can be used; 2) Redundant structural design. The mechanism design retains sufficient redundant degrees of freedom, so that the hip joint will not be hindered by mechanical structure locking when moving with the assistance of the exoskeleton, thus realizing full freedom of movement of the hip joint.

[0170] 5. Through optimized structural design and the use of lightweight materials such as carbon fiber plates, the weight of the hip exoskeleton is greatly reduced, thus lowering the user's energy consumption.

[0171] This invention employs structural optimization design and feedback control that simulates the degrees of freedom of hip joint movement, offering the following advantages compared to existing technologies:

[0172] 1. The main weight distribution is close to the body's center of gravity, making it comfortable to wear and improving the effect of exercise.

[0173] 2. The compact structure reduces interference with upper limb movement.

[0174] 3. The range of motion covers the maximum range of motion of the hip joint during walking, reducing movement resistance.

[0175] 4. Optimized structural design, high-efficiency transmission, reduced number of motors, reduced weight, and reduced control difficulty.

[0176] 5. The bidirectional flexion-extension motion assistance, combined with redundant degrees of freedom, improves the flexibility of this exoskeleton robot.

[0177] Although this application discloses preferred embodiments as described above, it is not intended to limit this application. Any person skilled in the art can make possible changes and modifications without departing from the spirit and scope of this application. Therefore, the scope of protection of this application should be determined by the scope defined in the claims of this application.

[0178] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and not to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A hip joint exoskeleton motion assistance system, characterized in that, The hip exoskeleton motion assistance system includes a lumbar component and a leg component; wherein, the leg component includes: Drive unit; A force transmission component, the force transmission component including a force transmission component input end and a force transmission component output end, the force transmission component input end being connected to the drive device; A multi-redundant degree-of-freedom joint assembly, the multi-redundant degree-of-freedom joint assembly including a joint input end and a joint output end, the joint input end being connected to the output end of the force transmission component; A non-soft leg receiving device includes a receiving space adapted to receive a user's leg, and a joint output end is connected to the non-soft leg receiving device; wherein, The driving device is used to provide driving force to the force transmission component, so that the force transmission component drives the multi-redundant degree-of-freedom joint component to move, thereby causing the multi-redundant degree-of-freedom joint component to drive the non-soft leg receiving device to move. The multi-redundant degree-of-freedom joint assembly enables the non-soft leg housing to have the three degrees of freedom required for hip joint movement during motion. The force transmission component includes a left leg force transmission assembly; The left leg force transmission assembly includes: A left leg support assembly, which is connected to a support fixing rod and is clamped axially by a left leg support fixing slider; a left leg drive device is connected to the left leg support assembly. The left leg spindle is connected to the output end of the left leg drive device. A left leg bearing assembly is mounted on the left leg bracket assembly, and the inner ring of the bearing of the left leg bearing assembly is connected to the left leg spindle. A left leg assist cable assembly includes a left leg assist cable input end and a left leg assist cable output end. The left leg assist cable input end is connected to the left leg spindle, and the left leg assist cable output end is connected to the left leg joint input end of the left leg joint assembly. The left leg drive device is used to provide rotational force to the left leg spindle, and the left leg spindle is used to drive the left leg assist line assembly to move, thereby causing the left leg assist line assembly to drive the left leg joint assembly to move, so that the left leg joint assembly drives the left leg receiving device to move in the direction of hip extension or hip flexion.

2. The hip joint exoskeleton motion assistance system as described in claim 1, characterized in that, The drive device includes a right leg drive device (202) and / or a left leg drive device (2); The force transmission component further includes a right leg force transmission assembly; The non-soft leg receiving device includes a left leg receiving device (71) and / or a right leg receiving device (7). The multi-redundant degree-of-freedom joint assembly includes a left leg joint group and / or a right leg joint group. The left leg joint group includes a left leg joint input end and a left leg joint output end; the right leg joint group includes a right leg joint input end and a right leg joint output end. The right leg drive device (202) is connected to the right leg force transmission group, and the left leg drive device (2) is connected to the left leg force transmission group; The left leg receiving device (71) is connected to the left leg joint output end of the left leg joint assembly, and the left leg force transmission assembly is connected to the left leg joint input end of the left leg joint assembly. The right leg receiving device (7) is connected to the right leg joint output end of the right leg joint assembly, and the right leg force transmission assembly is connected to the right leg joint input end of the right leg joint assembly.

3. The hip joint exoskeleton motion assistance system as described in claim 2, characterized in that, The waist assembly includes: Belt (9); Waist support, the waist belt (9) is connected to the waist support.

4. The hip joint exoskeleton motion assistance system as described in claim 3, characterized in that, The lumbar support includes an inner lumbar fixing plate (11), an outer lumbar fixing plate (12), and a support fixing rod (14). The lumbar support further includes a left leg support fixing slider and / or a right leg support fixing slider (13); wherein... The waist belt (9) is positioned between the inner waist fixing plate (11) and the outer waist fixing plate (12); The bracket fixing rod (14) is fixed to the outer waist fixing plate (12); The left leg support fixing slider and / or the right leg support fixing slider (13) are connected to the support fixing rod (14) through a hole shaft fit.

5. The hip joint exoskeleton motion assistance system as described in claim 4, characterized in that, The right leg force transmission assembly includes: The right leg support assembly is connected to the support fixing rod (14) and is clamped along the axial direction by the right leg support fixing slider (13). The right leg drive device (202) is connected to the right leg support assembly. The right leg spindle (24) is connected to the output end of the right leg drive device (202); The right leg bearing assembly is mounted on the right leg bracket assembly, and the inner ring of the bearing of the right leg bearing assembly is connected to the right leg spindle (24). A right leg assist cable assembly includes a right leg assist cable input end and a right leg assist cable output end. The right leg assist cable input end is connected to the right leg spindle, and the right leg assist cable output end is connected to the right leg joint input end of the right leg joint assembly. The right leg drive device (202) is used to provide rotational force to the right leg spindle, which is used to drive the right leg assist line assembly to move, thereby causing the right leg assist line assembly to drive the right leg joint assembly to move, so that the right leg joint assembly drives the right leg receiving device to move in the hip joint extension direction or the hip joint flexion direction.

6. The hip joint exoskeleton motion assistance system as described in claim 5, characterized in that, The left leg joint assembly includes: A left leg input arm assembly, the left leg input arm assembly including a left leg input arm input end and a left leg input arm output end, the left leg input arm input end being connected to the left leg assist line output end; A left leg output arm assembly, the left leg output arm assembly including a left leg output arm input end and a left leg output arm output end, the left leg output arm input end being connected to the left leg input arm assembly; A left leg clamping assembly, which clamps the left leg input arm assembly and the left leg output arm assembly; The left leg force transmission rod includes a left leg force transmission rod input end and a left leg force transmission rod output end, and the left leg force transmission rod input end is connected to the left leg output arm output end; A left leg force transmission rod fixing device, wherein the output end of the left leg force transmission rod is connected to the left leg force transmission rod fixing device; The left leg spherical bearing sleeve assembly and the left leg force transmission rod fixing device are connected to the bearing inner ring of the left leg spherical bearing sleeve assembly through a fixed shaft. Left leg slide rod sleeve, which is connected to the left leg fisheye bearing sleeve assembly; The left leg slide rod is sleeved in the shaft hole of the left leg slide rod sleeve, and the left leg slide rod is axially engaged with the shaft hole of the left leg slide rod sleeve. The left leg slide rod is connected to the left leg receiving device.

7. The hip joint exoskeleton motion assistance system as described in claim 6, characterized in that, The right leg joint assembly includes: The right leg input arm assembly (21) includes a right leg input arm input end and a right leg input arm output end, wherein the right leg input arm input end is connected to the right leg assist line output end; The right leg output arm assembly (5) includes a right leg output arm input end and a right leg output arm output end, and the right leg output arm input end is connected to the right leg input arm assembly (21). A right leg clamping assembly clamps the right leg input arm assembly and the right leg output arm assembly; The right leg force transmission rod (30) includes a right leg force transmission rod input end and a right leg force transmission rod output end, and the right leg force transmission rod input end is connected to the right leg output arm output end; Right leg force transmission rod fixing device (34), the output end of the right leg force transmission rod is connected to the right leg force transmission rod fixing device (34); The right leg fisheye bearing sleeve assembly (35) and the right leg force transmission rod fixing device (34) are connected to the bearing inner ring of the right leg fisheye bearing sleeve assembly (35) through a fixed shaft (36). The right leg slide sleeve (44) is connected to the right leg fisheye bearing sleeve assembly (35) and the right leg receiving device (7) respectively. The right leg slide rod (37) is sleeved in the shaft hole of the right leg slide rod sleeve (44), the right leg slide rod is axially engaged with the shaft hole of the right leg slide rod sleeve, and the right leg slide rod is connected to the right leg receiving device.

8. The hip joint exoskeleton motion assistance system as described in claim 7, characterized in that, The hip joint exoskeleton motion assistance system further includes: A controller, which is connected to the left leg drive device and / or the right leg drive device; An inertial measurement unit (33) is connected to the controller; Force sensor (22), the force sensor (22) includes a left leg force sensor and a right leg force sensor, the left leg force sensor is connected to the left leg input arm assembly and is used to obtain the force information of the left leg input arm assembly; the right leg force sensor is connected to the right leg input arm assembly and is used to obtain the force information of the right leg input arm assembly.

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