Ankle joint assist device

Abstract

The present application discloses an ankle joint assisting device, which includes: a shoe assembly, including a connected sole and an assisting control mechanism; a calf assembly, including a binding assembly and an elastic connecting assembly, wherein the binding assembly is used to be worn on the user's calf, one end of the elastic connecting assembly is connected to the binding assembly, and the other end thereof is connected to the assisting control mechanism; wherein, when the assisting control mechanism drives the elastic connecting assembly to move closer to or away from the shoe assembly, the elastic connecting assembly drives the binding assembly to move closer to or away from the shoe assembly, so as to assist the user in walking. In the above manner, the ankle joint assisting device in the present application can effectively assist the user's ankle joint during walking or running through the energy storage and release of the elastic connecting assembly, and by arranging the energy storage and assisting mechanism, i.e., the elastic connecting assembly and the binding assembly, on the outside of the shoe assembly, the weight of the shoe assembly can be effectively reduced, and the assisting effect can be better.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical exoskeletons, and in particular to an ankle joint power-assisting device. Background Art

[0002] In recent years, with the aging population and the increasing burden of life, people have begun to pay more attention to walking farther, more easily, more labor-saving, faster and cooler. In terms of walking assistance, providing walking assistance through exoskeletons is one of the more common ways. The walking assistance exoskeletons are generally divided into passive assistance exoskeletons and active assistance exoskeletons.

[0003] However, the passive exoskeleton cannot accurately identify human gait and can generally only be used on flat ground. As for the exoskeleton as a whole, it is usually necessary to add rigid fixings to the outside of the shoe or the calf, which increases the weight and cannot be integrated with the shoe. The flexibility is poor, and elastic devices are also needed to provide assistance in the shoe, which greatly increases the weight and volume of the shoe, affecting the practicality of the shoe. The increase in weight and volume also interferes with the normal walking of the human body and increases the overall walking metabolism. Active exoskeleton devices require active drive devices, which are generally motors, hydraulics or pneumatics. These drive methods also increase the load on the human body, and the volume is generally large, which is not conducive to normal life walking and is constrained by the power supply. Summary of the invention

[0004] The ankle joint assist device provided in the present application can solve the problem that the exoskeleton device in the prior art is heavy and bulky and interferes with human walking.

[0005] In order to solve the above technical problems, a technical solution adopted in the present application is: to provide an ankle joint assisting device, wherein the ankle joint assisting device includes: a shoe assembly, including a connected sole and an assisting control mechanism; a calf assembly, including a binding assembly and an elastic connection assembly, the binding assembly is used to be worn on the user's calf, one end of the elastic connection assembly is connected to the binding assembly, and the other end thereof is connected to the assisting control mechanism; wherein, when the assisting control mechanism drives the elastic connection assembly to move closer to or away from the shoe assembly, the elastic connection assembly drives the binding assembly to move closer to or away from the shoe assembly to assist the user in walking.

[0006] Among them, the power-assisting control mechanism includes a magnetic control component and an armature that are spaced apart from each other. The other end of the elastic connection component is connected to the armature. When the magnetic control component adsorbs the armature, the armature drives the elastic connection component to move closer to the shoe component.

[0007] Among them, the power-assisting control mechanism also includes an elastic sleeve, one end of the elastic sleeve is connected to the armature, and the other end of the elastic sleeve is sleeved on the outer wall of the elastic connecting component, so that when the magnetic control component adsorbs the armature, the armature stretches the elastic sleeve, and when the magnetic control component disconnects the adsorption of the armature, the elastic sleeve rebounds and resets to drive the armature and the elastic connecting component to move away from the shoe component.

[0008] A groove is also provided on one side of the sole facing the calf component, and the magnetic control component, the armature and the elastic sleeve are arranged in the groove.

[0009] Among them, the magnetic control component also includes a controller, an electromagnet and a pressure insole. The controller is connected to the electromagnet and the pressure insole. The electromagnet is separated from the armature. The pressure insole is arranged on the sole and is used to detect the pressure applied by the user to the pressure insole and send a feedback signal to the controller so that the controller controls the electromagnet to adsorb the armature or disconnect the adsorption of the armature according to the feedback signal.

[0010] Among them, the binding component includes an internal flexible binding part, an upper fixed binding part and a lower fixed binding part. The upper fixed binding part and the lower fixed binding part are attached to the opposite ends of the outer side wall of the internal flexible binding part, and the lower fixed binding part is arranged close to the shoe component. A first wire groove is provided on the outer side wall of the lower fixed binding part, and one end of the elastic connection component is embedded in the first wire groove.

[0011] Among them, the calf component also includes a tightening mechanism, which includes a tightening base and a Bowden cable. The elastic connection component includes a hose and an elastic cable at least partially inserted into the hose. An installation groove is provided on the outer wall of the upper fixed binding component, and the tightening base is embedded in the installation groove. A first through hole is provided on a side surface of the tightening base perpendicular to the upper fixed binding component. The Bowden cable is inserted into the first through hole, and the elastic cable is embedded in the first wire groove and connected to the opposite ends of the Bowden cable.

[0012] Among them, the tensioning mechanism also includes a tensioning knob, and a mounting hole connected to the first through hole is provided on the side surface of the tensioning base facing away from the upper fixed binding piece. A second through hole is provided at one end of the tensioning knob, and one end of the tensioning knob is embedded in the mounting hole so that the second through hole at least partially overlaps with the first through hole, and the Bowden wire is passed through the first through hole and the second through hole.

[0013] Among them, the tightening mechanism also includes a fixing screw, and at least two spaced first screw holes are provided at the bottom of the mounting hole near its side wall, and a second screw hole is provided on a side surface of the other end of the tightening knob corresponding to the first screw hole. The fixing screw is inserted into any one of the first screw hole and the second screw hole to fix the tightening knob to the tightening base.

[0014] Among them, the binding assembly also includes a wire tube, the upper fixed binding part is separated from the lower fixed binding part, the wire tube is arranged between the upper fixed binding part and the lower fixed binding part, and a second wire groove is arranged on the outer wall of the upper fixed binding part. The elastic connection assembly also includes a connecting wire connected to the elastic wire, the connecting wire passes through the wire tube and is embedded in the second wire groove to be connected to the opposite ends of the Bowden wire.

[0015] The beneficial effect of the present application is as follows: different from the prior art, the shoe assembly in the ankle joint assist device provided by the present application includes a connected sole and an assist control mechanism, and the calf assembly includes a binding assembly and an elastic connection assembly, the binding assembly is used to be worn on the user's calf, one end of the elastic connection assembly is connected to the binding assembly, and the other end thereof is connected to the assist control mechanism, so that when the assist control mechanism drives the elastic connection assembly to move closer to or away from the shoe assembly, the elastic connection assembly can drive the binding assembly to move closer to or away from the shoe assembly to assist the user in walking, and through the energy storage and release of the elastic connection assembly, the user's ankle joint can be effectively assisted during walking or running, and by arranging the energy storage and assist mechanism, that is, the elastic connection assembly and the binding assembly, on the outside of the shoe assembly, the weight of the shoe assembly can be effectively reduced, and the assist effect can be better. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the exploded structure of an embodiment of the ankle joint assist device of the present application;

[0017] Figure 2 yes Figure 1 Schematic diagram of the exploded structure of the shoe assembly in the mid-ankle joint assist device;

[0018] Figure 3 yes Figure 2 An exploded structural diagram of the sole and power-assistance control mechanism in the mid-shoe assembly;

[0019] Figure 4 It is a schematic diagram of the changes in ankle joint angle and plantar pressure during the user's walking process;

[0020] Figure 5 yes Figure 1 A detailed structural diagram of the calf component in the mid-ankle joint assist device;

[0021] Figure 6 yes Figure 5 Schematic diagram of the exploded structure of the tensioning mechanism in the mid-calf assembly. DETAILED DESCRIPTION

[0022] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0023] The terms "first", "second", "third" in this application are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Thus, the features defined as "first", "second", "third" can expressly or implicitly include at least one of the features. In the description of this application, the meaning of "multiple" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined. In the embodiments of this application, all directional indications (such as up, down, left, right, front, back...) are only used to explain the relative position relationship, movement, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication also changes accordingly. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device comprising a series of steps or units is not limited to the steps or units listed, but optionally also includes steps or units that are not listed, or optionally also includes other steps or units inherent to these processes, methods, products or devices.

[0024] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0025] The present application is described in detail below with reference to the accompanying drawings and embodiments.

[0026] See also Figure 1 , Figure 1 1 is an exploded structural diagram of an embodiment of an ankle joint assisting device of the present application. In this embodiment, the ankle joint assisting device 1 comprises: a shoe component 10 and a calf component 20.

[0027] Among them, an ankle joint assisting device 1 provided in the present application can be specifically used to assist the human body in walking and running. For example, by wearing the ankle joint assisting device 1, the user can walk farther, more easily, more labor-savingly, run faster, and more coolly, so as to enrich their life experience. And the ankle joint assisting device 1 can also be used for elderly people with weak legs and feet who have difficulty walking, people with walking difficulties caused by accidental injuries, or sports enthusiasts who need to hike for a long time, mountaineering, etc., to enhance their mobility. Of course, in other embodiments, the ankle joint assisting device 1 can also be specifically used on the ankle joint component of an intelligent robot or in any other reasonable mechanical device, and this embodiment does not limit this.

[0028] Specifically, the shoe assembly 10 in the ankle joint assist device 1 , that is, a specially customized shoe, is specifically used to be worn on the user's foot, and further includes a connected sole 11 and an assist control mechanism 12 .

[0029] The calf component 20 in the ankle joint assist device 1 further includes a binding component 21 and an elastic connection component 22. The binding component 21 is specifically used to be worn on the user's calf so as to be spaced apart from the shoe component 10. The binding component 21 is connected to one end of the elastic connection component 22, and the other end is connected to the assist control mechanism 12, so that the calf component 20 is connected to the shoe component 10.

[0030] Among them, the power-assisting control mechanism 12 can specifically correspond to a specific gait stage of the user, such as the user's ankle flexion and foot support stage, to apply a force to the elastic connection component 22 to drive the elastic connection component 22 to move close to the shoe component 10, and then drive the binding component 21 to move close to the shoe component 10 through the elastic connection component 22, so that the binding component 21 and the elastic connection component 22 can store energy, and in another gait stage of the user, such as the user's ankle extension and foot lifting stage, the force applied to the elastic connection component 22 is disconnected, so that the elastic connection component 22 rebounds and resets in the direction away from the shoe component 10, and releases the stored energy, thereby driving the binding component 21 to move away from the shoe component 10, and providing power to lift the user's feet and calves through the binding component 21 to complete the walking assistance for the user.

[0031] The above scheme can effectively assist the user's ankle joint during walking or running through the energy storage and release of the elastic connection component 22, and by arranging the energy storage and assisting mechanism, that is, the elastic connection component 22 and the binding component 21 on the outside of the shoe component 10, it can also effectively reduce the weight of the shoe component 10 and make the assisting effect better.

[0032] Please continue reading Figure 2 and Figure 3 ,in, Figure 2 yes Figure 1 Schematic diagram of the exploded structure of the shoe component in the mid-ankle joint assist device. Figure 3 yes Figure 2 Schematic diagram of the exploded structure of the sole and power-assist control mechanism in the mid-shoe assembly.

[0033] In one embodiment, the power-assist control mechanism 12 in the shoe assembly 10 further includes a magnetic control assembly 121 and an armature 122, and the other end of the elastic connection assembly 22 is specifically connected to the armature 122, and the magnetic control assembly 121 is spaced apart from the armature 122, and can adsorb the armature 122, or disconnect the adsorption of the armature 122 to reset it.

[0034] It can be seen from this that when the magnetic control component 121 adsorbs the armature 122 so that the armature 122 is close to the magnetic control component 121, the armature 122 can drive the elastic connection component 22 to move towards the direction close to the shoe component 10, and then drive the binding component 21 to move close to the shoe component 10 through the elastic connection component 22; and when the magnetic control component 121 disconnects the adsorption of the armature 122, the armature 122 can be reset under the drive of the elastic connection component 22 or other components, or the magnetic control component 121 provides a repulsive force to reset it, and then the armature 122 drives the elastic connection component 22 to move away from the shoe component 10, and drives the binding component 21 to move away from the shoe component 10 through the elastic connection component 22, so as to assist the user in walking.

[0035] Furthermore, in one embodiment, the power-assist control mechanism 12 in the shoe assembly 10 specifically also includes an elastic sleeve 123, one end of the elastic sleeve 123 is connected to the armature 122, and the other end thereof is sleeved on the outer wall of the elastic connection assembly 22, so that when the magnetic control assembly 121 adsorbs the armature 122, the armature 122 can stretch the elastic sleeve 123, and when the magnetic control assembly 121 disconnects the adsorption of the armature 122, the elastic sleeve 123 rebounds and resets accordingly, so as to drive the armature 122 and the elastic connection assembly 22 to move away from the shoe assembly 10, and then drive the binding assembly 21 to move away from the shoe assembly 10 through the elastic connection assembly 22.

[0036] Among them, a through hole is specifically formed on the side surface of the sole 11 in the shoe component 10 facing the elastic connection component 22, and the other end of the elastic connection component 22 specifically passes through the through hole, and then passes through the internal space of the elastic sleeve 123 to be connected to the armature 122, and the other end of the armature 122 is also connected to the side surface of the sole 11 facing the elastic connection component 22 corresponding to the edge of the through hole, so that it can automatically rebound and reset after being stretched.

[0037] Optionally, the elastic sleeve 123 may be any reasonable elastic tubular component such as a coil spring or a rubber elastic tube, and the present application does not limit this.

[0038] In one embodiment, a groove 111 is further provided on the side surface of the sole 11 in the shoe assembly 10 facing the calf assembly 20, and the magnetic control assembly 121, the armature 122 and the elastic sleeve 123 are specifically arranged in the groove 111, so as to reasonably utilize the internal space of the sole 11, avoid the protrusion causing discomfort to the user's foot, and reduce the thickness of the sole 11 as much as possible to avoid increasing the weight of the shoe assembly 10.

[0039] It is understandable that the shape and style of the internal accommodation space of the groove 111 specifically matches the outer shapes of the magnetic control component 121, the armature 122 and the elastic sleeve 123 accommodated therein, and a channel space is reserved for the armature 122 and the magnetic control component 121 to be spaced apart and move towards and away from each other, which is specifically determined by the actual shapes of each component and is not limited in this application.

[0040] In one embodiment, the magnetic control component 121 further includes a controller 1211, an electromagnet 1212 and a pressure insole 1213. The controller 1211 is specifically electrically connected to the electromagnet 1212 and the pressure insole 1213, and the electromagnet 1212 is specifically spaced apart from the armature 122. The pressure insole 1213 is disposed on the sole 11 for real-time detection of the pressure applied by the user to the pressure insole 1213, and sending a corresponding feedback signal to the controller 1211, so that the controller 1211 can periodically control the electromagnet 1212 to adsorb the armature 122, or disconnect the adsorption of the armature 122 according to the feedback signal.

[0041] It is understandable that the pressure applied to the pressure insole 1213 is usually different in different walking stages and phases of the user, and different plantar pressures on the pressure insole 1213 usually correspond to different ankle joint angles. Figure 4 , Figure 4 It is a schematic diagram of the changes in ankle joint angle and plantar pressure during the user's walking process.

[0042] When assisting a person to walk or run, the time of the heel touching the bottom twice before and after the same foot is a gait cycle, and the movement of the ankle joint toward the body is called flexion, and the movement away from the body is called extension. For example, it can be known that the time from the single foot touching the ground to leaving the ground can be called the support phase, and when the ankle joint is in the early stage of the support phase, that is, the flexion movement, the controller 1211 can detect the current plantar pressure value through the pressure insole 1213, and judge that the current walking is at time 1, so as to control the electromagnet 1212 and the armature 122 to be energized and attracted, so that the elastic connection component 22 is stretched with the movement of the armature 122, and energy is stored. When the ankle joint is in the late stage of the support phase, that is, the extension movement, the controller 1211 can also detect the current plantar pressure value through the pressure insole 1213, and judge that the current walking is at time 2, and then control the electromagnet 1212 and the armature 122 to be de-energized and separated, and the elastic connection component 22 is rebounded and contracted, so as to release energy to complete the assistance to the user's walking or running.

[0043] It can be seen that by integrating the power-assisting control mechanism 12 into the shoe assembly 10, it is possible to effectively control the storage and release of energy of the elastic connection assembly 22 according to the walking phase of the human body, thereby providing power to the user in walking or running.

[0044] Furthermore, in one embodiment, the magnetic control component 121 also includes a battery 1214 and a charging interface 1215. The battery 1214 is specifically connected to the charging interface 1215 and the controller 1211 to provide working power for the controller 1211, and the charging interface 1215 is correspondingly embedded in one side surface of the sole 11 so that it can be electrically connected to an external power supply through the charging interface 1215, and then the battery 1214 is charged by the external power supply.

[0045] Optionally, the controller 1211 may specifically be any reasonable processor with program control function, such as a control circuit board, an MCU (Micro Control Unit) circuit, a single-chip microcomputer, etc., and the present application does not limit this.

[0046] Furthermore, in one embodiment, the shoe assembly 10 may further include an insole 13 and an upper 14. The insole 13 is correspondingly arranged on the pressure insole 1213, and may be made of a soft material to provide comfort to the user's foot as much as possible. The upper 14 is further arranged on the insole 13 for protection and is worn on the user's foot.

[0047] Please continue reading Figure 5 , Figure 5 yes Figure 1 A detailed structural diagram of the calf component in the mid-ankle joint assist device.

[0048] In one embodiment, the binding assembly 21 further includes an internal flexible binding member 211, an upper fixed binding member 212 and a lower fixed binding member 213, and the upper fixed binding member 212 and the lower fixed binding member 213 can be specifically attached to the opposite ends of the outer wall of the internal flexible binding member 211 using any reasonable bonding method such as Velcro or glue.

[0049] It should be noted that Velcro, also known as Velcro or hook and loop fastener (it makes a squeaking sound when pulled and has the function of a button), is a commonly used connecting auxiliary material on clothes. It has two sides. One side of Velcro is fine and soft fiber, round hair, and the other side is harder hair with hooks, so that they can be bonded to each other.

[0050] The lower fixing binding member 213 is specifically attached to a position close to the shoe assembly 10 , and a first wire groove 2131 is provided on the outer side wall of the lower fixing binding member 213 , and one end of the elastic connection assembly 22 is embedded in the first wire groove 2131 .

[0051] Optionally, the internal flexible binding member 211 can be specifically made of a high-elastic knitted fabric or any other reasonable fabric with high elasticity, so that it can be worn on the calf of the user to ensure comfort, and the present application does not limit this.

[0052] Optionally, the upper fixed binding member 212 and the lower fixed binding member 213 are respectively made of hard fabrics to facilitate the installation of other components and to shape and support the binding assembly 21 so that it is not easily deformed.

[0053] Optionally, the first wire groove 2131 can be specifically designed to be bionic, for example, it can be designed along the force line of the user's calf muscles, that is, the gastrocnemius and soleus muscles of the human body, and has the same shape as the gastrocnemius muscle force line, approximately V-shaped, so as to simulate muscle force.

[0054] It can be understood that when one end of the elastic connection component 22 is correspondingly embedded in the first wire groove 2131, the end of the elastic connection component 22 close to the binding component 21 can also be shaped and fixed by the extended shape of the first wire groove 2131 to match its appearance, and then when the elastic connection component 22 applies a force to the binding component 21, the corresponding force direction can be made the same as the force direction of the gastrocnemius and soleus muscles of the human body during walking or running, so as to reduce the restraint on the human body and the interference with its movement.

[0055] Please continue reading Figure 6 , Figure 6 yes Figure 5 Schematic diagram of the exploded structure of the tensioning mechanism in the mid-calf assembly.

[0056] In one embodiment, the calf assembly 20 specifically also includes a tensioning mechanism 23, and the tensioning mechanism 23 further includes a tensioning base 231 and a Bowden cable 232, and the elastic connection assembly 22 also further includes a hose (not shown) and an elastic wire (not shown) at least partially passed through the hose.

[0057] It should be noted that the Bowden cable 232 specifically refers to a brake cable similar to a bicycle brake, with a hose on the outside and a steel wire core on the inside.

[0058] Furthermore, a mounting groove is provided on the outer wall of the upper fixed binding member 212, and the tensioning base 231 is correspondingly embedded in the mounting groove, and a first through hole 2311 is also provided on a side surface of the tensioning base 231 perpendicular to the upper fixed binding member 212, and the Bowden wire 232 is specifically passed through the first through hole 2311, and its opposite ends are exposed from the two ends of the first through hole 2311, and the elastic wire is specifically embedded in the first wire groove 2131, and is correspondingly connected to the opposite ends of the Bowden wire 232.

[0059] Optionally, the elastic connection component 22 may be a hose corresponding to the portion between the binding component 21 and the shoe component 10 to prevent injury or strangulation to the user's calf, while the other portion is only the elastic wire exposed outside the hose, so as to be conveniently embedded in the first wire groove 2131 and bifurcated at the position where it enters the first wire groove 2131. In other embodiments, the elastic connection component 22 may also be a hose covering the elastic wire, that is, the elastic wire is completely inserted into the hose for corresponding connection and shaping, which is not limited in the present application.

[0060] In one embodiment, the tensioning mechanism 23 specifically also includes a tensioning knob 233, and a mounting hole 2312 connected to the first through hole 2311 is also provided on the side surface of the tensioning base 231 facing away from the upper fixed binding member 212, and one end of the tensioning knob 233 is also correspondingly provided with a second through hole 2331, and one end of the tensioning knob 233 is specifically embedded in the mounting hole 2312 so that the second through hole 2331 corresponds to at least partially overlap with the first through hole 2311, and the Bowden wire 232 is correspondingly passed through the first through hole 2311 and the second through hole 2331.

[0061] It is understandable that people of different heights and weights usually have different calf muscle characteristics and require different assistance environments and assistance sizes. Therefore, the elastic connection component 22 needs to be tightened to different degrees. After the Bowden cable 232 is passed through the second through hole 2331, the extension length of the Bowden cable 232 can be adjusted by rotating the tightening knob 233 so that the Bowden cable 232 is wrapped around the tightening knob, thereby adjusting the length of the elastic connection component 22. Specifically, the length of the elastic cable can be adjusted to adapt to wearers of different heights and weights and to meet different assistance needs.

[0062] Furthermore, in one embodiment, the tensioning mechanism 23 also includes a fixing screw 234, and at least two spaced first screw holes 2313 are provided at the bottom of the mounting hole 2312 on the tensioning base 231 near its side wall, and a second screw hole 2332 is provided on one side surface of the other end of the tensioning knob 233 corresponding to the first screw hole 2313, and the fixing screw 234 is passed through any one of the first screw hole 2313 and the second screw hole 2332 to fix the tensioning knob 233 to the tensioning base 231.

[0063] Optionally, the number of the first screw holes 2313 can be any reasonable number such as 4, 6 or 8, and can be specifically arranged around the center of the bottom of the mounting hole 2312. The length of the Bowden cable 232 and the elastic connection component 22 can also be adjusted to different degrees by inserting the fixing screw 234 into the second screw hole 2332 and different first screw holes 2313, so that the binding component 21 and the elastic connection component 22 can match the user's physical characteristics and assistance requirements as much as possible.

[0064] In one embodiment, the binding assembly 21 also includes a wire tube 214, and the upper fixed binding member 212 and the lower fixed binding member 213 are specifically spaced apart and attached to the internal flexible binding member 211, and the wire tube 214 is correspondingly arranged between the upper fixed binding member 212 and the lower fixed binding member 213, and a second wire groove 2121 is also correspondingly provided on the outer side wall of the upper fixed binding member 212.

[0065] The elastic connection assembly 22 further includes a connection line (not shown) connected to the elastic line. The connection line is correspondingly passed through the wire tube 214 and then embedded in the second wire groove 2121 to connect to the opposite ends of the Bowden wire 232 .

[0066] Optionally, the connecting line may be a hard line without elasticity, so that the length of the connecting line can be adjusted by adjusting the length of the Bowden line 232 , and the present application does not limit this.

[0067] It is understandable that when the ankle joint assist device 1 is used, the binding assembly 21 is worn on the user's calf, and the shoe assembly 10 is worn on the user's foot. After wearing, the upper fixed binding member 212 and the lower fixed binding member 213 can be bonded to the internal flexible binding member 211 to prevent the binding assembly 21 from slipping. While keeping the user's calf perpendicular to the ground, the length of the Bowden cable 232 can be adjusted by rotating the tightening knob 233, thereby tightening the elastic connection assembly 22, and fixing the tightening knob 233 by the set screw 234.

[0068] Furthermore, when the ankle joint assist device 1 is used to assist the human body in walking or running, the controller 1211 can detect the user's plantar pressure value in real time through the pressure insole 1213, and then determine the user's current walking stage and walking phase, so as to control the magnetic control component 121 to adsorb the armature 122, or disconnect the adsorption of the armature 122, so that the elastic connection component 22 is stretched with the movement of the armature 122 to store energy, or the elastic connection component 22 rebounds and contracts to release energy, thereby assisting the user in walking or running.

[0069] It can be seen that the ankle joint assist device 1 breaks the previous running shoe design that only focuses on the structural material of the sole 11, and innovatively expands the concept of shoes. It can achieve ankle joint assistance through the cooperation between the calf component 20 and the shoe component, solving the problem of assisting the user's walking and running. Compared with similar power-assisted running shoes, the assist effect is significant, and the storage and release of energy of the elastic connection component 22 can be controlled according to the walking phase of the human body; and by making the binding component 21 and the elastic connection component 22 bionic human calf, the elastic connection component 22 and the corresponding wire groove bionic human gastrocnemius muscle force line, it can also minimize interference with the human body; and by adjusting the length of the elastic connection component 22 through the tightening knob 233, it can adapt to wearers of different heights and meet different sports needs.

[0070] The beneficial effect of the present application is as follows: different from the prior art, the shoe assembly in the ankle joint assist device provided by the present application includes a connected sole and an assist control mechanism, and the calf assembly includes a binding assembly and an elastic connection assembly, the binding assembly is used to be worn on the user's calf, one end of the elastic connection assembly is connected to the binding assembly, and the other end thereof is connected to the assist control mechanism, so that when the assist control mechanism drives the elastic connection assembly to move closer to or away from the shoe assembly, the elastic connection assembly can drive the binding assembly to move closer to or away from the shoe assembly to assist the user in walking, and through the energy storage and release of the elastic connection assembly, the user's ankle joint can be effectively assisted during walking or running, and by arranging the energy storage and assist mechanism, that is, the elastic connection assembly and the binding assembly, on the outside of the shoe assembly, the weight of the shoe assembly can be effectively reduced, and the assist effect can be better.

[0071] The above are only implementation methods of the present application, and are not intended to limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly used in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. An ankle joint assist device, characterized in that: The ankle joint assist device comprises: A shoe assembly, comprising a connected sole and a power-assistance control mechanism, wherein the power-assistance control mechanism comprises an elastic sleeve and a spaced-apart magnetic control assembly and an armature, wherein the magnetic control assembly further comprises a controller, an electromagnet and a pressure insole; A calf assembly comprises a binding assembly and an elastic connection assembly, wherein the binding assembly is used to be worn on the calf of a user, one end of the elastic connection assembly is connected to the binding assembly, and the other end of the elastic connection assembly is connected to the armature, one end of the elastic sleeve is connected to the armature, and the other end thereof is sleeved on the outer side wall of the elastic connection assembly, the controller is connected to the electromagnet and the pressure insole, the electromagnet is spaced from the armature, and the pressure insole is arranged on the sole; The pressure insole is used to detect the pressure applied by the user on the pressure insole and send a feedback signal to the controller, so that the controller controls the electromagnet to adsorb the armature or disconnect the adsorption of the armature according to the feedback signal; When the magnetic control component adsorbs the armature, the armature stretches the elastic sleeve to drive the elastic connection component to move closer to the sole, and the elastic connection component drives the binding component to move closer to the sole, and when the magnetic control component disconnects the adsorption of the armature, the elastic sleeve rebounds and resets to drive the armature and the elastic connection component to move away from the sole, and the elastic connection component drives the binding component to move away from the sole to assist the user in walking.

2. The ankle joint assist device according to claim 1, characterized in that: A groove is also provided on one side of the sole facing the calf component, and the magnetic control component, the armature and the elastic sleeve are arranged in the groove.

3. The ankle joint assist device according to claim 1, characterized in that: The binding component includes an internal flexible binding part, an upper fixed binding part and a lower fixed binding part. The upper fixed binding part and the lower fixed binding part are attached to the opposite ends of the outer side wall of the internal flexible binding part, and the lower fixed binding part is arranged close to the shoe component. A first wire groove is provided on the outer side wall of the lower fixed binding part, and one end of the elastic connection component is embedded in the first wire groove.

4. The ankle joint assist device according to claim 3, characterized in that: The calf assembly also includes a tightening mechanism, which includes a tightening base and a Bowden cable. The elastic connection assembly includes a hose and an elastic cable at least partially inserted into the hose. An installation groove is provided on the outer wall of the upper fixed binding component. The tightening base is embedded in the installation groove, and a first through hole is provided on a side surface of the tightening base perpendicular to the upper fixed binding component. The Bowden cable is inserted into the first through hole. The elastic cable is embedded in the first wire groove and connected to the opposite ends of the Bowden cable.

5. The ankle joint assist device according to claim 4, characterized in that: The tightening mechanism also includes a tightening knob, and a mounting hole connected to the first through hole is provided on a side surface of the tightening base facing away from the upper fixed binding member. A second through hole is provided at one end of the tightening knob, and one end of the tightening knob is embedded in the mounting hole so that the second through hole at least partially overlaps with the first through hole, and the Bowden cable passes through the first through hole and the second through hole.

6. The ankle joint assisting device according to claim 5, characterized in that: The tightening mechanism also includes a set screw. At least two first screw holes are provided at intervals at the bottom of the mounting hole near its side wall. A second screw hole is provided on a side surface of the other end of the tightening knob corresponding to the first screw hole. The set screw is inserted into any one of the first screw hole and the second screw hole to fix the tightening knob to the tightening base.

7. The ankle joint assisting device according to claim 5, characterized in that: The binding assembly also includes a wire tube, the upper fixed binding part is spaced apart from the lower fixed binding part, the wire tube is arranged between the upper fixed binding part and the lower fixed binding part, a second wire groove is arranged on the outer side wall of the upper fixed binding part, and the elastic connection assembly also includes a connecting wire connected to the elastic wire, the connecting wire passes through the wire tube and is embedded in the second wire groove to be connected to the opposite ends of the Bowden wire.

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