Exoskeleton device and hip joint structure thereof

Abstract

The present application mainly relates to an exoskeleton device and a hip joint structure thereof, the hip joint structure comprising a first hip joint assembly and a correction structure, the first hip joint assembly being arranged to assist the hip joint of a user to perform internal / external rotation movement in a wearing state, and comprising a hip internal / external rotation seat and a hip internal / external rotation shaft, the hip internal / external rotation shaft being arranged to rotate relative to the hip internal / external rotation seat, and the correction structure being arranged to provide a reverse force during rotation of the hip internal / external rotation shaft relative to the hip internal / external rotation seat. The hip joint structure provided by the present application can assist the hip joint of a user to perform internal / external rotation movement in a wearing state through the first hip joint assembly, so as to meet the requirements of walking and other movements, and can provide a reverse force during internal / external rotation movement of the first hip joint assembly through the correction structure, so as to restore the first hip joint assembly to zero position, thereby assisting the user to correct the gait of walking and avoiding the user from falling down due to unstable center of gravity.

Description

Technical Field

[0001] This application relates to the technical field of rehabilitation equipment, specifically to exoskeleton devices and their hip joint structures. Background Technology

[0002] Exoskeleton devices, as medical devices, can be worn by users to assist them in enhancing corresponding motor functions, such as helping people with weak legs or general frailty to walk, or assisting patients in rehabilitation training. However, for patients undergoing rehabilitation training, existing exoskeleton devices either do not allow patients to perform internal / external rotation movements, which can easily lead to discomfort and hinder rehabilitation training, or they cannot correct patients when they perform large-amplitude internal / external rotation movements, which can easily lead to instability in the user's center of gravity and hinder patients from performing rehabilitation training with the correct gait. Summary of the Invention

[0003] This application provides a hip joint structure for use in an exoskeleton device. The hip joint structure includes a first hip joint component and a correction structure. The first hip joint component is configured to assist the user's hip joint in internal / external rotation movements when worn, and includes a hip internal / external rotation seat and a hip internal / external rotation axis. The hip internal / external rotation axis is configured to rotate relative to the hip internal / external rotation seat. The correction structure is configured to provide a counterforce during the rotation of the hip internal / external rotation axis relative to the hip internal / external rotation seat, so that the hip internal / external rotation axis returns to zero position relative to the hip internal / external rotation seat.

[0004] This application also provides an exoskeleton device, which includes a back assembly, a leg assembly, and the hip joint structure described in the above embodiments. The leg assembly is connected to the back assembly through the hip joint structure.

[0005] The beneficial effects of this application are: the hip joint structure provided by this application can assist the user's hip joint in internal / external rotation movements in the wearing state through its first hip joint component to meet the needs of walking and other sports, and can also provide a counterforce through the corrective structure during the internal / external rotation movements of the first hip joint component to restore it to zero position, thereby assisting the user in correcting the walking gait and preventing the user from falling due to instability. Attached Figure Description

[0006] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0007] Figure 1This is a schematic diagram of the structure of an embodiment of the exoskeleton device provided in this application;

[0008] Figure 2 This is an exploded structural diagram of an embodiment of the back assembly provided in this application;

[0009] Figure 3 This is an exploded structural diagram of an embodiment of the hip joint structure provided in this application;

[0010] Figure 4 yes Figure 3 An exploded structural diagram of an embodiment of the first hip joint component;

[0011] Figure 5 yes Figure 3 An exploded structural diagram of another embodiment of the first hip joint component;

[0012] Figure 6 yes Figure 3 An exploded structural diagram of an embodiment of the second hip joint component;

[0013] Figure 7 yes Figure 3 An exploded structural diagram of an embodiment of the mid-hip width adjustment assembly;

[0014] Figure 8 yes Figure 7 Schematic diagram of the various states of the mid-hip width adjustment component;

[0015] Figure 9 This is an exploded structural diagram of an embodiment of the thigh component provided in this application;

[0016] Figure 10 This is an exploded structural diagram of an embodiment of the lower leg assembly provided in this application;

[0017] Figure 11 This is an exploded structural diagram of an embodiment of the ankle joint structure provided in this application;

[0018] Figure 12 This is an exploded structural diagram of an embodiment of the foot component provided in this application. Detailed Implementation

[0019] The present application will now be described in further detail with reference to the accompanying drawings and embodiments. It should be noted that the following embodiments are for illustrative purposes only and do not limit the scope of the application. Similarly, the following embodiments are only some, not all, embodiments of the present application, and all other embodiments obtained by those skilled in the art without inventive effort are within the scope of protection of the present application.

[0020] The reference to "embodiment" in this application means that a specific feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described in this application can be combined with other embodiments.

[0021] Combination Figure 1 The exoskeleton device 10 may include a back assembly 11, a leg assembly 12, and a foot assembly 13. One end of the leg assembly 12 may be hinged to the back assembly 11 to allow the user's legs to move relative to the upper body when worn. The other end of the leg assembly 12 may be hinged to the foot assembly 13 to allow the user's feet to move relative to the legs when worn. To achieve complex limb movements, one end of the leg assembly 12 may be further connected to the back assembly 11 via a hip joint structure 14, and the other end of the leg assembly 12 may be further connected to the foot assembly 13 via an ankle joint structure 15. For example, the hip joint structure 14 is configured to assist the user's hip joint in at least one of flexion / extension, adduction / abduction, and internal / external rotation movements when worn, and the ankle joint structure 15 is configured to assist the user's ankle joint in at least one of plantar flexion / dorsiflexion and internal / external rotation movements when worn.

[0022] Furthermore, the leg component 12 is detachably connected to the back component 11, for example, via a pin; and / or, the leg component 12 is detachably connected to the foot component 13, for example, via another pin. The connection is maintained when the pin is inserted and released when it is removed. In other words, the exoskeleton device 10 can be modularly designed, allowing the user to wear individual modules of the exoskeleton device 10 first, such as the back component 11, leg component 12, and foot component 13 separately, and then connect the modules together, instead of wearing the entire exoskeleton device 10 directly. This eliminates the need for the user to move the entire exoskeleton device 10 during wear, significantly reducing manpower and wear time, especially beneficial for users undergoing rehabilitation training. In addition, it increases the portability of the exoskeleton device 10.

[0023] It should be noted that users can wear the various modules of the exoskeleton device 10 according to their actual needs to reduce the burden while meeting their requirements. For example, if the user only needs hip joint assistance, they can wear only the back component 11, leg component 12, and hip joint structure 14; if the user only needs ankle joint assistance, they can wear only the foot component 13, leg component 12, and ankle joint structure 15. Of course, if the user only needs knee joint assistance, they can wear only the leg component 12; correspondingly, the leg component 12 may include a thigh component 121, a calf component 122, and a knee joint structure 123 connecting the thigh component 121 and the calf component 122. The knee joint structure 123 can be configured to assist the user's knee joint in flexion / extension movements when worn. Among these, when the user only assists the hip joint, the leg component 12 may refer to the thigh component 121; and when the user only assists the ankle joint, the leg component 12 may refer to the calf component 122. Furthermore, for ease of description, this application does not distinguish between wearing the exoskeleton device 10 on a single left or right limb, or wearing the exoskeleton device 10 on both left and right limbs, for the lower limbs where the hip, ankle, and knee joints are located. Users can make the appropriate choice according to their actual needs, and no restrictions are imposed here.

[0024] Based on the above description, this application will provide an exemplary description by taking the example of the hip joint structure 14 being detachable and the foot component 13 being detachably connected to the ankle joint structure 15.

[0025] Combination Figure 2 The back assembly 11 may include a back panel 111, a backpack body 112, a battery pack 113, and a control panel 114. The back panel 111 may be curved to ensure good contact with the user's back during wear, thereby increasing comfort. The backpack body 112 may be connected to the back panel 111, and the two may further cooperate to form a storage compartment for the battery pack 113. The battery pack 113 primarily powers the exoskeleton device 10, for example, to drive the electrodes mentioned later. The control panel 114 may be a tablet computer, primarily for user / medical personnel to control the exoskeleton device 10, for example, to select appropriate training courses for users undergoing rehabilitation training.

[0026] It should be noted that the back assembly 11 may also include handles 115 connected to the backpack body 112. The handles 115 may be located on opposite sides of the backpack body 112 to facilitate the user to apply force to the back assembly 11, thereby facilitating the transport of the exoskeleton device 10. Of course, the handles 115 may also be located on the back panel 111.

[0027] Furthermore, the back assembly 11 may also include a locking assembly 116, which can be disposed on the backpack body 112 to lock the battery pack 113 after it is inserted into the aforementioned compartment, thereby preventing the battery pack 113 from falling out. The locking / unlocking direction of the locking assembly 116 (e.g.) Figure 2 The direction indicated by the middle arrow A) and the insertion / removal direction of the battery pack 113 (e.g.) Figure 2 The directions indicated by the middle arrow B can be perpendicular to each other.

[0028] Furthermore, combined Figure 2 The back assembly 11 may further include a back binding structure 117, which is configured to allow the back panel 111 to fit snugly against the user's back when worn. As an example, the back binding structure 117 may include shoulder straps 1171 and a waist belt 1172, respectively connected to the back panel 111. The shoulder straps 1171 may be configured to wrap around the user's shoulders when worn, and the waist belt 1172 may be configured to wrap around the user's abdomen when worn. Each of the shoulder straps 1171 and waist belt 1172 may have an adjustment buckle for length adjustment. Furthermore, two sets of shoulder straps 1171 may be provided to wrap around the user's left and right shoulders respectively when worn; correspondingly, the two sets of shoulder straps 1171 may be connected by a chest strap 1173 to restrain the two sets of shoulder straps 1171, thereby increasing the binding effect of the back binding structure 117. Each of the chest strap 1173 and waist belt 1172 may have a pair of buckles for easy wearing.

[0029] As is well known, in medicine, anatomy, and other fields, the human body can be defined by three basic planes: the sagittal plane, the coronal plane, and the horizontal plane; and three basic axes: the sagittal axis, the coronal axis, and the vertical axis. The sagittal plane is a section perpendicular to the ground along the anteroposterior direction of the body, dividing the body into left and right parts. The coronal plane is a section perpendicular to the ground along the left-right direction of the body, dividing the body into anterior and posterior parts. The horizontal plane is a section parallel to the ground along the vertical direction of the body, dividing the body into superior and inferior parts. Correspondingly, the sagittal axis is the axis perpendicular to the coronal plane along the anteroposterior direction of the body; the coronal axis is the axis perpendicular to the sagittal plane along the left-right direction of the body; and the vertical axis is the axis perpendicular to the horizontal plane along the vertical direction of the body.

[0030] Combination Figure 3 and Figure 1The hip joint structure 14 may include a first hip joint assembly 141 and a second hip joint assembly 142 connected to the first hip joint assembly 141. The two may also be configured to be movably connected to assist the user's hip joint. The first hip joint assembly 141 may be connected to the leg assembly 12 and extend along the vertical axis of the human body when worn. The second hip joint assembly 142 may be connected to the back assembly 11 and extend around the vertical axis of the human body when worn.

[0031] In some embodiments, the first hip joint assembly 141 may be configured to assist the user's hip joint in either internal / external rotation or flexion / extension movements when worn, and the second hip joint assembly 142 may be configured to assist the user's hip joint in adduction / abduction movements when worn. Of course, in other embodiments, the second hip joint assembly 142 may only be used to connect the first hip joint assembly 141 to the back assembly 11 (e.g., backplate 111), and not to assist the user's hip joint in adduction / abduction movements. Similarly, the first hip joint assembly 141 may only be configured to assist the user's hip joint in internal / external rotation movements when worn, and a third hip joint assembly 143 movably connected thereto may assist the user's hip joint in flexion / extension movements. This application exemplifies three hip joint components: a first hip joint component 141 configured to assist the user's hip joint in internal / external rotation movements when worn; a second hip joint component 142 configured to assist the user's hip joint in adduction / abduction movements when worn; and a third hip joint component 143 configured to assist the user's hip joint in flexion / extension movements when worn. By using these three interconnected hip joint components, the aim is to maximize the simulation of the user's hip joint, thereby allowing the exoskeleton device 10 to better assist the user's hip joint in performing corresponding limb movements.

[0032] Furthermore, in the wearing state, the first hip joint assembly 141 and the third hip joint assembly 143 can be primarily located on the side of the user's body, such as the left and / or right side; while the second hip joint assembly 142 can extend from the side of the user's body to the rear side. Similarly, in the wearing state, the leg assembly 12 can also be primarily located on the side of the user's body, such as the left and / or right side; while the back assembly 11 can be primarily located on the rear side of the user's body. Based on this, the second hip joint assembly 142 is detachably connected to the first hip joint assembly 141, for example, the hip swivel 1421 is detachably connected to the hip internal and external rotation seat 1411, that is, the hip joint structure 14 itself is set to be detachable. At this time, the first hip joint assembly 141 and the third hip joint assembly 143 can form a structural unit with the leg assembly 12, and the second hip joint assembly 142 and the hip width adjustment assembly 144 mentioned later can form a structural unit with the back assembly 11, that is, the above-mentioned modularity.

[0033] In some embodiments, the exoskeleton device 10 may further include a first locking structure 16, which is configured to switch between a locked state and an unlocked state. When the first locking structure 16 is switched to the locked state, it maintains the connection between the second hip joint assembly 142 and the first hip joint assembly 141 to ensure the reliability of the exoskeleton device 10; when the first locking structure 16 is switched to the unlocked state, it allows the second hip joint assembly 142 to be separated from the first hip joint assembly 141 for easy disassembly of the exoskeleton device 10. For example, the first locking structure 16 may be configured as a pair of latches, with one of the male and female latches connected to the first hip joint assembly 141 and the other connected to the second hip joint assembly 142. Of course, in other embodiments, the first locking structure 16 may also be a separate structural component, such as a pin, independent of the first hip joint assembly 141 and the second hip joint assembly 142.

[0034] Combination Figure 4 or Figure 5 The first hip joint assembly 141 may include a hip internal / external rotation seat 1411 and a hip internal / external rotation axis 1412. The hip internal / external rotation axis 1412 is configured to rotate relative to the hip internal / external rotation seat 1411 to allow the user's hip joint to perform internal / external rotation movements in the worn state. The axis of the hip internal / external rotation axis 1412 may be parallel to the vertical axis of the human body. Further, one of the hip internal / external rotation seat 1411 and the hip internal / external rotation axis 1412 may be connected to the second hip joint assembly 142, and the other may be connected to the third hip joint assembly 143. This application uses the connection of the hip internal / external rotation seat 1411 to the second hip joint assembly 142 and the connection of the hip internal / external rotation axis 1412 to the third hip joint assembly 143 as an example for illustrative purposes.

[0035] Furthermore, the first hip joint assembly 141 may also include a correction structure 1413, which may be configured to provide a counterforce during the rotation of the hip internal and external rotation axis 1412 relative to the hip internal and external rotation seat 1411, so that the hip internal and external rotation axis 1412 returns to its zero position relative to the hip internal and external rotation seat 1411, thereby assisting the user in correcting their gait. The magnitude of the counterforce required to be provided by the correction structure 1413 can be reasonably designed according to actual needs and is not limited here.

[0036] It should be noted that the aforementioned "zero position" refers to the position of the hip internal and external rotation axis 1412 relative to the hip internal and external rotation seat 1411 when the user is walking directly in front of the exoskeleton device 10 (which can be defined as "normal walking"). Clearly, during normal walking, if the hip internal and external rotation axis 1412 deviates significantly from the zero position relative to the hip internal and external rotation seat 1411, it may not only lead to gait errors but also instability in the user's center of gravity. Therefore, the correction structure 1413 provides a counterforce during this process, which can both make the user aware of gait errors and assist the user in correcting them, thereby better assisting the user's hip joint.

[0037] In some embodiments, combined with Figure 4 The corrective structure 1413 may include a torsion spring 14131, which may be sleeved on the hip internal and external rotation axis 1412. One end of the torsion spring 14131 is connected to the hip internal and external rotation axis 1412, and the other end is connected to the hip internal and external rotation seat 1411. This allows the torsion spring 14131 to provide a counterforce during the rotation of the hip internal and external rotation axis 1412 relative to the hip internal and external rotation seat 1411, thereby forcing the hip internal and external rotation axis 1412 to return to its zero position relative to the hip internal and external rotation seat 1411. Therefore, when the torsion spring 14131 is in its natural state, the hip internal and external rotation axis 1412 can be exactly at its zero position relative to the hip internal and external rotation seat 1411.

[0038] Furthermore, the hip internal and external rotation seat 1411 may be provided with a limiting groove 14111 along its circumferential direction; correspondingly, the correction structure 1413 may also include a limiting pin 14132, one end of which is connected to the hip internal and external rotation shaft 1412, and the other end extends into the limiting groove 14111. In this way, through the cooperation between the limiting pin 14132 and the limiting groove 14111, the rotation of the hip internal and external rotation shaft 1412 relative to the hip internal and external rotation seat 1411 is limited to a certain angular range. This can prevent the user from falling due to the hip internal and external rotation shaft 1412 deviating too far from the zero position relative to the hip internal and external rotation seat 1411, and can also prevent the torsion spring 14131 from failing as a result.

[0039] Combination Figure 4The hip internal and external rotation axis 1412 can be divided axially into a first rotation axis segment 14121, a second rotation axis segment 14122, and a third rotation axis segment 14123. The diameter of the first rotation axis segment 14121 is larger than the larger of the second and third rotation axis segments 14122 and 14123. The first rotation axis segment 14121 can be connected to the third hip joint assembly 143, and the hip internal and external rotation axis 1412 can rotate relative to the hip internal and external rotation seat 1411 via the second rotation axis segment 14122. The third rotation axis segment 14123 can be connected to the limiting pin 14132. Correspondingly, a torsion spring 14131 can also be sleeved on and connected to the third rotation axis segment 14123. Furthermore, a bearing end cap can also be provided on the third rotation axis segment 14123.

[0040] Furthermore, a bearing 1414, such as a sliding bearing, rolling bearing, or angular contact ball bearing, can be provided between the second rotating shaft section 14122 and the hip internal and external rotation seat 1411 to reduce wear. Correspondingly, a bearing 1414, such as a sliding bearing, rolling bearing, or angular contact ball bearing, can also be provided between the third rotating shaft section 14123 and the hip internal and external rotation seat 1411 to prevent the hip internal and external rotation shaft 1412 from deviating from its axis during rotation due to excessive length. In this case, the torsion spring 14131 and the limiting pin 14132 can be located between the two bearings 1414 to maximize the distance between them.

[0041] In some other embodiments, combined Figure 5 The correction structure 1413 may include a motor 14133 and a detection element 14134. The housing of the motor 14133 can be connected to the hip internal and external rotation seat 1411, and the output shaft of the motor 14133 can be connected to the hip internal and external rotation axis 1412. Of course, a speed reducer can also be provided between the output shaft of the motor 14133 and the hip internal and external rotation axis 1412 to adjust the rotational speed of the hip internal and external rotation axis 1412 relative to the hip internal and external rotation seat 1411. The detection element 14134 can be configured to detect the offset of the hip internal and external rotation axis 1412 relative to the hip internal and external rotation seat 1411 based on the aforementioned zero position. The motor 14133 can then drive the hip internal and external rotation axis 1412 to rotate in the opposite direction relative to the hip internal and external rotation seat 1411 according to the aforementioned offset to return to the zero position. Compared to the torsion spring 14131, the magnitude of the counterforce provided by the motor 14133 is easier to control, and the detection element 14134 has higher sensitivity and stronger initiative, which helps the exoskeleton device 10 meet the different needs of different users. Furthermore, compared to the torsion spring 14131, the motor 14133 can also provide assistance during the user's internal / external rotation movements. Further, the detection element 14134 can be a torque sensor to detect the torque of the hip internal / external rotation axis 1412 rotating relative to the hip internal / external rotation seat 1411; it can also be other sensors such as acceleration sensors or angular displacement sensors.

[0042] Similarly, combined Figure 5 The hip internal and external rotation shaft 1412 can be divided along its axial direction into a first shaft segment 14121, a second shaft segment 14122, and a third shaft segment 14123. The diameter of the first shaft segment 14121 is larger than the larger of the second shaft segment 14122 and the third shaft segment 14123. In this case, the first shaft segment 14121 can be connected to the output shaft of the motor 14133, the hip internal and external rotation shaft 1412 can rotate relative to the hip internal and external rotation seat 1411 via the second shaft segment 14122, and the third shaft segment 14123 can be connected to the third hip joint assembly 143. Clearly, regarding the assembly direction of the hip internal and external rotation shaft 1412 and the hip internal and external rotation seat 1411... Figure 5 The assembly direction in the illustrated embodiment is exactly the same as Figure 4 The assembly directions in the illustrated embodiment are opposite. Furthermore, a bearing 1414, such as a sliding bearing, rolling bearing, or angular contact ball bearing, can be provided between the second rotating shaft section 14122 and the hip inner and outer rotating seat 1411 to reduce wear.

[0043] and Figure 4 The main difference in the illustrated embodiment is that: in this embodiment, combined with Figure 5 The first hip joint assembly 141 may further include an adapter 1415, with a third rotating shaft segment 14123 embedded within the adapter 1415, so that the hip internal and external rotation shaft 1412 is connected to the third hip joint assembly 143 via the adapter 1415. This not only increases the connection area between the hip internal and external rotation shaft 1412 and the third hip joint assembly 143 to ensure reliable connection, but also increases the versatility of the third hip joint assembly 143, meaning the third hip joint assembly 143 can be adapted to... Figure 4 and Figure 5 The two different first hip joint components 141 shown do not require structural modifications. The adapter 1415 can be a locking ring.

[0044] Based on the above descriptions, and in conjunction with Figure 9The third hip joint assembly 143 may include a motor mount 1431, a hip motor 1432, and an electrical mounting plate 1433. The housing of the hip motor 1432 can be connected to the motor mount 1431, and the output shaft of the hip motor 1432 can be connected to the leg assembly 12 (specifically, the thigh assembly 121) to drive the leg assembly 12 to swing, thereby assisting the user's hip joint in flexion / extension movements when worn. The electrical mounting plate 1433 can be connected to the thigh assembly 121 to facilitate the mounting of the control board of the hip motor 1432. A speed reducer and a torque sensor may also be installed between the output shaft of the hip motor 1432 and the thigh assembly 121. The former can be used to regulate the swing speed of the leg assembly 12, and the latter can be used to detect the rotational speed of the hip motor 1432. Figure 4 The motor mounting bracket 1431 can be connected to the hip internal and external rotation shaft 1412; and combined with Figure 5 The motor mounting bracket 1431 can also be connected to the adapter 1415, thus enabling the connection between the third hip joint assembly 143 and the first hip joint assembly 141.

[0045] Combination Figure 6 and Figure 3 The second hip joint assembly 142 can be connected to the hip internal and external rotation seat 1411 and may include a hip swivel member 1421. The hip swivel member 1421 may be configured to extend from the side of the user's body to the back of the body in the wearing state, that is, to extend around the vertical axis of the human body. Based on this, the hip swivel member 1421 may include a lateral portion 14211 corresponding to the side of the body and a rear portion 14212 corresponding to the back of the body, with the rear portion 14212 bent relative to the lateral portion 14211. The lateral portion 14211 is closer to the first hip joint assembly 141 and can therefore be connected to it; the rear portion 14212 is closer to the back assembly 11 and can therefore be connected to it.

[0046] The second hip joint assembly 142 may further include a hip abduction pivot 1422 and a hip abduction bearing seat 1423. The hip abduction pivot 1422 is configured to rotate relative to the hip abduction bearing seat 1423 to allow the user's hip joint to perform adduction / abduction movements in the wearing state. The axial direction of the hip abduction pivot 1422 may be parallel to the sagittal axis of the human body. Further, one of the hip abduction pivot 1422 and the hip abduction bearing seat 1423 may be connected to the rear portion 14212, and the other may be connected to the back assembly 11 (e.g., back plate 111). This application provides an exemplary example where the hip abduction pivot 1422 is connected to the rear portion 14212, and the hip abduction bearing seat 1423 is connected to the back assembly 11. In this case, a bearing 1424, such as a sliding bearing, rolling bearing, or angular contact ball bearing, may also be provided between the hip abduction pivot 1422 and the hip abduction bearing seat 1423 to reduce wear. Of course, in some other embodiments, the hip rotator 1421 and the back assembly 11 can also be connected by a linkage mechanism, which can also achieve the purpose of the second hip joint assembly 142 assisting the user's hip joint in adduction / abduction movements.

[0047] The second hip joint assembly 142 may further include a torsion spring 1425, which can be sleeved on the hip abduction pivot 1422. One end of the torsion spring 1425 is connected to the hip rotator 1421, and the other end is connected to the hip abduction bearing seat 1423. This allows the torsion spring 1425 to provide a counterforce during the rotation of the hip abduction pivot 1422 relative to the hip abduction bearing seat 1423, thereby forcing the hip abduction pivot 1422 to return to its zero position relative to the hip abduction bearing seat 1423, thus assisting the user in correcting their gait. Therefore, when the torsion spring 1425 is in its natural state, the hip abduction pivot 1422 can be exactly at its zero position relative to the hip abduction bearing seat 1423. Furthermore, a limiting pin 1426 can be provided on the hip abduction bearing housing 1423. The limiting pin 1426 extends into the limiting groove of the hip swivel member 1421 to limit the rotation of the hip abduction shaft 1422 relative to the hip abduction bearing housing 1423 within a certain angular range. This can prevent the user from falling due to excessive deviation of the hip abduction shaft 1422 from the zero position relative to the hip abduction bearing housing 1423, and can also prevent the torsion spring 1425 from failing as a result. Of course, in some other embodiments, similar to the first hip joint assembly 141, the torsion spring 1425 can also be replaced by a motor, which can also provide the required counterforce for the second hip joint assembly 142.

[0048] It should be noted that the aforementioned "zero position" refers to the position of the hip abduction pivot 1422 relative to the hip abduction bearing seat 1423 when the user is walking directly in front of the exoskeleton device 10 (which can be defined as "normal walking"). Clearly, during normal walking, if the hip abduction pivot 1422 deviates significantly from the zero position relative to the hip abduction bearing seat 1423, it may not only lead to gait errors but also instability in the user's center of gravity. Therefore, the torsion spring 1425 provides a counterforce during this process, which can both alert the user to gait errors and assist the user in correcting them, thereby better supporting the user's hip joint.

[0049] Based on the above descriptions, and in conjunction with Figures 3 to 6 The first locking structure 16 may include a first connector 161 and a first locking member 162. The first connector 161 can be connected to the hip internal and external rotation seat 1411, and both can be integrally formed structural components. Specifically, the first connector 161 is connected to the hip rotation member 1421 along a first insertion direction (e.g., parallel to the human sagittal axis), and the first locking member 162 locks the first connector 161 and the hip rotation member 1421 in the opposite direction of the first insertion direction. In this case, either the first connector 161 can be inserted into the slot of the hip rotation member 1421, or the hip rotation member 1421 can be inserted into the slot of the first connector 161; this application uses the former as an example. Correspondingly, the first locking member 162 can be a separate structural component, such as a pin, which can be inserted to lock and pulled out to unlock.

[0050] As an example, and in combination Figure 6 and Figure 3The lateral portion 14211 may have a first connector slot 14213 at one end opposite to the rear portion 14212, and the first connector 161 is inserted into the first connector slot 14213 along a first insertion direction. The lateral portion 14211 may include a first lateral portion 14214 and a second lateral portion 14215 spaced apart in a direction perpendicular to the first insertion direction, at least one of which is connected to the rear portion 14212. In this case, the first lateral portion 14214 and the second lateral portion 14215 can surround and form the first connector slot 14213. This application exemplifies this by having the first lateral portion 14214 and the second lateral portion 14215 arranged opposite each other along the coronal axis of the human body, and in the wearing state, the second lateral portion 14215 being further away from the user than the first lateral portion 14214. Furthermore, the first locking member 162 may be inserted through the first lateral portion 14214 and the second lateral portion 14215. At this time, when the first locking member 162 switches to the unlocked state, it allows the first connector 161 to be inserted into the first connector slot 14213. When the first locking member 162 switches to the locked state, it clamps the first connector 161 together through the first lateral part 14214 and the second lateral part 14215.

[0051] In some embodiments, the first locking member 162 may include a screw 1621, a cam handle 1622, and a nut 1623. The screw 1621 passes through the first lateral portion 14214 and the second lateral portion 14215. The cam handle 1622 is located on the side of the second lateral portion 14215 opposite to the first lateral portion 14214 and is hinged to one end of the screw 1621. The nut 1623 is located on the side of the first lateral portion 14214 opposite to the second lateral portion 14215 and is connected to the other end of the screw 1621. At this time, after the first connector 161 is inserted into the first connector slot 14213 along the first insertion direction, the free end of the cam handle 1622 away from the screw 1621 can approach the second lateral portion 14215 under external force, so that the first lateral portion 14214 and the second lateral portion 14215 move closer to each other, thereby clamping the first connector 161, i.e., locking. Correspondingly, the free end of the cam handle 1622 away from the screw 1621 can also be separated from the second lateral portion 14215 under the action of the opposite external force, so that the first lateral portion 14214 and the second lateral portion 14215 are separated from each other, that is, in the unlocked state, thereby allowing the first connector 161 to be pulled out from the first connector slot 14213.

[0052] Furthermore, the first locking member 162 may also include a cam pad 1624, which is sleeved on the screw 1621 and located between the cam handle 1622 and the second lateral portion 14215, so as to reduce the wear of the cam handle 1622 and extend its service life.

[0053] In some other embodiments, the cam handle 1622 can be replaced with a hand-tightening nut, which can be located on the side of the second lateral portion 14215 opposite to the first lateral portion 14214 and connected to the screw 1621. In this case, the user can also move the first lateral portion 14214 and the second lateral portion 14215 closer to each other or further apart by hand-tightening the nut, thereby switching between the locked and unlocked states.

[0054] It should be noted that the screw 1621 may not protrude from the first lateral portion 14214, and the nut 1623 may be concealed within the first lateral portion 14214 to avoid scratching the user. Furthermore, the end of the screw 1621 away from the cam handle 1622 may be directly connected to the first lateral portion 14214 without the need for the nut 1623.

[0055] Combination Figure 4 or Figure 5 The first connector 161 may include two first connector arms 1611 extending in the same direction along the first connector direction. The two first connector arms 1611 are spaced apart in a direction perpendicular to the first connector direction (e.g., parallel to the vertical axis of the human body) and are located on both sides of the first locking member 162 (e.g., screw 1621) during the insertion of the first connector 161 into the first connector slot 14213. This helps to increase the uniformity of force distribution when the first lateral portion 14214 and the second lateral portion 14215 clamp the first connector 161 together, thereby increasing the reliability of the connection between the first hip joint assembly 141 and the second hip joint assembly 142.

[0056] Based on the above detailed description, and in conjunction with Figure 3 and Figure 1 The exoskeleton device 10 may include two sets of hip joint structures 14, which correspond to the user's left and right hip joints respectively when worn. Obviously, the distance between the left and right hip joints varies among different users. Therefore, the hip joint structures 14 may also include a hip width adjustment component 144 to adjust the distance (which can be defined as "hip width") between the two sets of hip joint structures 14 on the coronal axis of the human body, so as to better fit the user. As an example, and in conjunction with... Figure 6 The hip width adjustment component 144 can connect two sets of second hip joint components 142, allowing them to move closer to or further apart along the coronal axis of the human body. In this case, the second hip joint components 142 can be connected to the back component 11 via the hip width adjustment component 144.

[0057] Combination Figure 7The hip width adjustment assembly 144 may include a fixed base 1441, a guide rail base 1442, and a guide slider 1443. The fixed base 1441 can be connected to the back assembly 11 (e.g., backplate 111); the guide rail base 1442 can be connected to the fixed base 1441 and is provided with a guide groove; the guide slider 1443 can be connected to the hip abduction bearing seat 1423 and is configured to slide within the guide groove of the guide rail base 1442, allowing the hip abduction bearing seats 1423 of the two sets of second hip joint assemblies 142 to move closer or further apart, thereby adjusting the hip width. Furthermore, the number of guide sliders 1443 on each hip abduction bearing seat 1423 can be multiple, and they can be divided into two groups. The two groups of guide sliders 1443 can be respectively arranged on opposite sides of the hip abduction bearing seat 1423 to increase the reliability of the sliding of the hip abduction bearing seat 1423 relative to the guide rail base 1442.

[0058] The hip width adjustment assembly 144 may further include a rack 1444, a gear 1445, a ratchet structure 1446, and a knob structure 1447. The rack 1444 is connected to the hip abduction bearing seat 1423, and the gear 1445 meshes with the rack 1444. The ratchet structure 1446 connects the gear 1445 and the knob structure 1447, and is configured to allow the user to apply torque through the knob structure 1447. This torque can further drive the gear 1445 to rotate via the ratchet structure 1446, which in turn drives the hip abduction bearing seat 1423 to slide relative to the guide rail base 1442 via the rack 1444. Accordingly, there can be two sets of racks 1444, each connected to the hip abduction bearing seat 1423, so that the gears 1445 synchronously drive the two sets of guide sliders 1443 to move closer or further apart. With the human body's vertical axis as a reference, the two sets of racks 1444 can be arranged radially opposite to each other on the gear 1445. Furthermore, a bearing 1448, such as a sliding bearing, rolling bearing, or angular contact ball bearing, can also be provided between one end of the gear 1445 and the fixed base 1441, and between the other end and the knob structure 1447, to increase reliability and reduce wear.

[0059] As an example, the ratchet structure 1446 may include a ratchet mounting plate 14461, a ratchet internal gear ring 14462, ratchet teeth 14463, a locating pin 14464, a toggle pin 14465, and a torsion spring 14466; the knob structure 1447 may include a rotating disk 14471 and an adjusting knob 14462. The ratchet mounting plate 14461 is sleeved on and connected to the gear 1445; the ratchet internal gear ring 14462 is connected to the guide rail base 1442; the ratchet teeth 14463 are connected to the ratchet mounting plate 14461 via the locating pin 14464, allowing the ratchet teeth 14463 to rotate relative to the ratchet mounting plate 14461; one end of the toggle pin 14465 is connected to the ratchet teeth 14463, and the other end extends into the guide groove of the rotating disk 14471, allowing the knob structure 14477 to rotate relative to the ratchet mounting plate 14461. The actuating pin 14465 actuates the ratchet tooth 14463, thereby disengaging the ratchet tooth 14463 from the ratchet inner gear ring 14462; the torsion spring 14466 is sleeved on the positioning pin 14464, with one end connected to the ratchet mounting plate 14461 and the other end connected to the ratchet tooth 14463 to maintain the engagement between the ratchet tooth 14463 and the ratchet inner gear ring 14462; the adjusting knob 14472 and the rotating disk 14471 allow the user to apply torque to the hip width adjustment assembly 144.

[0060] Furthermore, two sets of guide grooves can be correspondingly provided for the ratchet teeth 14463, locating pin 14464, actuating pin 14465, torsion spring 14466, and rotating disk 14471 to increase the reliability of the ratchet structure 1446. Specifically, the guide groove of the rotating disk 14471 can be V-shaped to allow the rotating disk 14471 to disengage between the ratchet teeth 14463 and the ratchet internal gear ring 14462 when rotating clockwise or counterclockwise. Correspondingly, when the actuating pin 14465 is located at the lowest point of the guide groove of the rotating disk 14471, the torsion spring 14466 can be in its natural state.

[0061] The following is combined Figure 8 Here is a brief explanation of the working principle and process of the ratchet structure 1446:

[0062] State (a): When the user does not apply torque to the ratchet mechanism 1446 via the knob mechanism 1447, the combination... Figure 8 In (a) and (c), the actuating pin 14465 can be located at the lowest point of the guide groove (e.g., in a V-shape) of the rotating disk 14471, and the torsion spring 14466 can also be in a natural state, maintaining the engagement between the ratchet tooth 14463 and the ratchet inner gear ring 14462, thereby locking the ratchet mounting disk 14461 in the clockwise and counterclockwise directions, making it difficult for the gear 1445 to rotate, so as to maintain the hip width and facilitate the user's use of the exoskeleton device 10;

[0063] State (b): When the user applies torque to the ratchet structure 1446 in one direction via the knob structure 1447, the ratchet structure 1446 is engaged. Figure 8 In (b) and (d), the actuating pin 14465 can move along the guide groove of the rotating disk 14471 to one end of the guide groove, and force the torsion spring 14466 to undergo elastic deformation to disengage the ratchet tooth 14463 from the ratchet inner gear ring 14462; if the user continues to apply torque to the ratchet structure 1446 in the same direction through the knob structure 1447, the torque can further drive the gear 1445 to rotate through the ratchet mounting disk 14461, and then drive the hip abduction bearing seat 1423 to slide relative to the guide rail base 1442 through the rack 1444 to adjust the hip width.

[0064] Accordingly, when the user finishes adjusting the hip width, the user can release the aforementioned torque, and the torsion spring 14466 will then elastically recover, causing the actuating pin 14465 to return to the lowest point of the guide groove of the rotating disk 14471, and maintaining the meshing between the ratchet tooth 14463 and the ratchet inner gear ring 14462, thereby locking the ratchet mounting disk 14461 in the clockwise and counterclockwise directions, making it difficult for the gear 1445 to rotate, so as to maintain the hip width.

[0065] It should be noted that: if rotating the knob structure 1447 clockwise can increase the hip width, then rotating the knob structure 1447 counterclockwise can decrease the hip width; conversely, if rotating the knob structure 1447 counterclockwise can increase the hip width, then rotating the knob structure 1447 clockwise can decrease the hip width.

[0066] Based on the above detailed description, and in conjunction with Figure 3 and Figure 1The exoskeleton device 10 may include two sets of hip joint structures 14, which correspond to the user's left and right hip joints respectively when worn; correspondingly, the hip flexor 1421 is mainly located at the rear and side of the user's body. Based on this, the exoskeleton device 10 may also include a hip binding structure 145, which is connected to the first hip joint assembly 141 and / or the third hip joint assembly 143, and then connected to the leg assembly 12, and extends around the vertical axis of the human body when worn, thereby binding from the front of the user's body. At this time, the hip binding structure 145 can form a structural whole with the first hip joint assembly 141 and the third hip joint assembly 143 to facilitate the above-mentioned detachability. Specifically, when the hip joint structure 14 does not have the third hip joint component 143, the hip binding structure 145 can be connected to the hip internal / external rotation seat 1411; when the hip joint structure 14 does not have the first hip joint component 141, the hip binding structure 145 can be connected to the fixed base 1441; and when the hip joint structure 14 has both the first hip joint component 141 and the third hip joint component 143, the hip binding structure 145 can preferably be connected to the fixed base 1441. Thus, the hip binding structure 145 and the hip rotation member 1421 bind from the front and rear sides of the user when worn, which helps to resist the tendency of the hip joint structure 14 to move relative to the user's body when assisting the user's hip joint in internal / external rotation, flexion / extension movements, thereby increasing the binding effect of the exoskeleton device 10. As an example, the hip binding structure 145 may include a hip strap 1451 and snap fasteners 1452, with the male and female snap fasteners of the snap fasteners 1452 connected to the hip strap 1451 for quick binding. Of course, an adjustment buckle may also be provided on the hip strap 1451 to make its length adjustable.

[0067] Combination Figure 9 The thigh assembly 121 may include a thigh fixation rod 1211, a thigh adjustment rod 1212, and a thigh adjustment structure 1213. The thigh fixation rod 1211 can be connected to the output shaft of the hip joint motor 1432. The thigh adjustment rod 1212 at least partially overlaps with the thigh fixation rod 1211. The thigh adjustment structure 1213 can be configured to switch between a tensioned state and a relaxed state. When the thigh adjustment structure 1213 is in the tensioned state, it maintains the relative fixation between the thigh adjustment rod 1212 and the thigh fixation rod 1211. When the thigh adjustment structure 1213 is in the relaxed state, it allows the thigh adjustment rod 1212 to move relative to the thigh fixation rod 1211 to adjust the length of the thigh assembly 121, thereby enabling the exoskeleton device 10 to accommodate more users. Further, this application provides an exemplary description using an example where the thigh fixation rod 1211 and the thigh adjustment rod 1212 are arranged opposite each other along the coronal axis of the human body, and in the wearing state, the thigh adjustment rod 1212 is further away from the user than the thigh fixation rod 1211.

[0068] It should be noted that the motor mounting base 1431 may be provided with a limiting protrusion on the side facing the thigh fixing rod 1211, and the thigh fixing rod 1211 may be provided with a limiting groove on the side facing the motor mounting base 1431. The limiting protrusion extends into the limiting groove to limit the swing of the leg assembly 12 within a certain angle range, so as to prevent the user from falling due to the excessive swing angle of the leg assembly 12.

[0069] As an example, the thigh adjustment structure 1213 may include a locking cover 12131, a screw 12132, a cam handle 12133, and a nut 12134. The screw 12132 passes through the locking cover 12131 and the thigh fixing rod 1211. The thigh adjustment rod 1212 is clamped between the locking cover 12131 and the thigh fixing rod 1211. The cam handle 12133 is located on the side of the locking cover 12131 away from the thigh fixing rod 1211 and is hinged to one end of the screw 12132. The nut 12134 is located on the side of the thigh fixing rod 1211 away from the thigh adjustment rod 1212 and is connected to the other end of the screw 12132. At this time, the free end of the cam handle 12133 away from the screw 12132 can approach the locking cover 12131 under the action of external force, so that the locking cover 12131 and the thigh fixing rod 1211 are close to each other, thereby clamping the thigh adjusting rod 1212 together, which is the tensioned state. Correspondingly, the free end of the cam handle 12133 away from the screw 12132 can also move away from the locking cover 12131 under the action of reverse external force, so that the locking cover 12131 and the thigh fixing rod 1211 are separated from each other, which is the relaxed state, thereby allowing the thigh adjusting rod 1212 to move relative to the thigh fixing rod 1211.

[0070] Furthermore, the thigh adjustment structure 1213 may also include a cam pad 12135, which is sleeved on the screw 12132 and located between the cam handle 12133 and the locking cover 12131, in order to reduce the wear of the cam handle 12133 and extend its service life.

[0071] Furthermore, the thigh adjustment structure 1213 may also include an elastic element 12136, such as a spring, which elastically holds the locking cover 12131 between the locking cover 12131 and the thigh fixing rod 1211 to spring open the locking cover 12131 during the process of the thigh adjustment structure 1213 switching to the relaxed state. Two sets of elastic elements 12136 may be provided, and they may be located on opposite sides of the locking cover 12131 to increase the uniformity of force distribution.

[0072] It should be noted that the screw 12132 may not protrude from the thigh fixing rod 1211, and the nut 12134 may be concealed within the thigh fixing rod 1211 to avoid scratching the user. Furthermore, the end of the screw 12132 away from the cam handle 12133 may be directly connected to the thigh fixing rod 1211 without the need for the nut 12134. Of course, in some other embodiments, the cam handle 12133 may be replaced with a hand-tightening nut, which also allows the locking cover 12131 and the thigh fixing rod 1211 to be close to or away from each other.

[0073] Furthermore, the thigh assembly 121 may also include a thigh housing 1214 connected to the thigh fixing rod 1211. The thigh housing 1214 may be configured to cover the electrical mounting plate 1433 and the thigh adjustment rod 1212, which is beneficial to improving the appearance quality of the exoskeleton device 10.

[0074] Combination Figure 9 The thigh assembly 121 may also include a thigh arc-shaped baffle 1215 and a thigh binding structure 1216. The thigh arc-shaped baffle 1215 is connected to the thigh fixing rod 1211 and is configured to cover part of the user's leg (specifically the thigh) when worn. The thigh binding structure 1216 is connected to the thigh arc-shaped baffle 1215 and is configured to cover the other part of the user's leg (specifically the thigh) when worn, thereby realizing the binding of the exoskeleton device 10.

[0075] As an example, the thigh binding structure 1216 may include a binding strap 12161, a tie 12162, and a lacing structure 12163. One end of the binding strap 12161 is connected to one end of the thigh arc-shaped baffle 1215, and the other end of the binding strap 12161 is detachably connected to the other end of the thigh arc-shaped baffle 1215 for quick binding. For example, the thigh binding structure 1216 may also include a first magnetic buckle 12164 and a second magnetic buckle 12165 that are magnetically attracted to each other. The first magnetic buckle 12164 is connected to the thigh arc-shaped baffle 1215, and the second magnetic buckle 12165 is connected to the binding strap 12161. Of course, in some other embodiments, the first magnetic buckle 12164 and the second magnetic buckle 12165 may also be replaced by a male and female snap fastener, respectively. Furthermore, the tether 12162 can extend from one end of the strap 12161 to the other end of the strap 12161 and can be wrapped around the tie structure 12163. The tie structure 12163 is used to tighten the tether 12162 to allow the thigh binding structure 1216 to bind the exoskeleton device 10. The tie structure 12163 can be a standard part based on the BOA tether system, and its related structure is well known to those skilled in the art and will not be described in detail here. Thus, compared to related technologies that use Velcro for thigh binding, the thigh binding structure 1216 provided in this application can achieve a better binding effect on the thigh, such as stronger coverage, more uniform coverage force, and self-adjusting binding tightness.

[0076] Combination Figure 10 The calf assembly 122 may include a calf fixation rod 1221, a calf adjustment rod 1222, and a calf adjustment structure 1223. The calf fixation rod 1221 may be connected to the calf adjustment rod 1222, and the calf adjustment rod 1222 and the calf fixation rod 1221 at least partially overlap. The calf adjustment structure 1223 may be configured to switch between a tensioned state and a relaxed state. When the calf adjustment structure 1223 is switched to the tensioned state, it maintains the relative fixation between the calf adjustment rod 1222 and the calf fixation rod 1221. When the calf adjustment structure 1223 is switched to the relaxed state, it allows the calf adjustment rod 1222 to move relative to the calf fixation rod 1221 to adjust the length of the calf assembly 122, thereby enabling the exoskeleton device 10 to accommodate more users. Furthermore, this application provides an exemplary description using the example of the lower leg fixing rod 1221 and the lower leg adjusting rod 1222 being arranged opposite each other along the coronal axis of the human body, and the lower leg adjusting rod 1222 being further away from the user than the lower leg fixing rod 1221 when worn.

[0077] As an example, the calf adjustment structure 1223 may include a locking cover 12231, a screw 12232, a cam handle 12233, and a nut 12234. The screw 12232 passes through the locking cover 12231 and the calf fixing rod 1221. The calf adjustment rod 1222 is clamped between the locking cover 12231 and the calf fixing rod 1221. The cam handle 12233 is located on the side of the locking cover 12231 away from the calf fixing rod 1221 and is hinged to one end of the screw 12232. The nut 12234 is located on the side of the calf fixing rod 1221 away from the calf adjustment rod 1222 and is connected to the other end of the screw 12232. At this time, the free end of the cam handle 12233 away from the screw 12232 can approach the locking cover 12231 under the action of external force, so that the locking cover 12231 and the lower leg fixing rod 1221 are close to each other, thereby clamping the lower leg adjusting rod 1222 together, which is the tensioned state. Correspondingly, the free end of the cam handle 12233 away from the screw 12232 can also move away from the locking cover 12231 under the action of reverse external force, so that the locking cover 12231 and the lower leg fixing rod 1221 are separated from each other, which is the relaxed state, thereby allowing the lower leg adjusting rod 1222 to move relative to the lower leg fixing rod 1221.

[0078] Furthermore, the calf adjustment structure 1223 may also include a cam pad 12235, which is sleeved on the screw 12232 and located between the cam handle 12233 and the locking cover 12231, in order to reduce the wear of the cam handle 12233 and extend its service life.

[0079] Furthermore, the calf adjustment structure 1223 may also include an elastic element 12236, such as a spring, which elastically holds the locking cover 12231 between the locking cover 12231 and the calf fixing rod 1221, so as to spring open the locking cover 12231 during the process of the calf adjustment structure 1223 switching to the relaxed state. Two sets of elastic elements 12236 may be provided, and they may be located on opposite sides of the locking cover 12231 to increase the uniformity of force distribution.

[0080] It should be noted that the screw 12232 may not protrude from the lower leg fixing rod 1221, and the nut 12234 may be concealed within the lower leg fixing rod 1221 to avoid scratching the user. Furthermore, the end of the screw 12232 away from the cam handle 12233 may be directly connected to the lower leg fixing rod 1221 without the need for the nut 12234. Of course, in some other embodiments, the cam handle 12233 may be replaced with a hand-tightening nut, which also allows the locking cover 12231 and the lower leg fixing rod 1221 to be close to or away from each other.

[0081] Furthermore, the lower leg assembly 122 may also include a lower leg housing 1224 connected to the lower leg fixing rod 1221. The lower leg housing 1224 may be configured to cover the lower leg adjusting rod 1222 and the electrical mounting plate 1232 mentioned later, which is beneficial to improving the appearance quality of the exoskeleton device 10.

[0082] Combination Figure 10 The lower leg assembly 122 may also include a lower leg arc-shaped baffle 1225 and a lower leg binding structure 1226. The lower leg arc-shaped baffle 1225 is connected to the lower leg fixing rod 1221 and is configured to cover part of the user's leg (specifically the lower leg) when worn. The lower leg binding structure 1226 is connected to the lower leg arc-shaped baffle 1225 and is configured to cover the other part of the user's leg (specifically the lower leg) when worn, thereby realizing the binding of the exoskeleton device 10.

[0083] As an example, the calf binding structure 1226 may include a binding strap 12261, a tie 12262, and a lacing structure 12263. One end of the binding strap 12261 is connected to one end of the calf arc-shaped baffle 1225, and the other end of the binding strap 12261 is detachably connected to the other end of the calf arc-shaped baffle 1225 for quick binding. For example, the calf binding structure 1226 may also include a first magnetic buckle 12264 and a second magnetic buckle 12265 that are magnetically attracted to each other. The first magnetic buckle 12264 is connected to the calf arc-shaped baffle 1225, and the second magnetic buckle 12265 is connected to the binding strap 12261. Of course, in some other embodiments, the first magnetic buckle 12264 and the second magnetic buckle 12265 may also be replaced by a male and female snap fastener, respectively. Furthermore, the tether 12262 can extend from one end of the strap 12261 to the other end of the strap 12261 and can be wrapped around the tie structure 12263. The tie structure 12263 is used to tighten the tether 12262 to allow the lower leg binding structure 1226 to bind the exoskeleton device 10. The tie structure 12263 can be a standard part based on the BOA tether system, and its related structure is well known to those skilled in the art and will not be described in detail here. Thus, compared to related technologies that use Velcro for lower leg binding, the lower leg binding structure 1226 provided in this application can achieve a better binding effect on the lower leg, such as stronger coverage, more uniform coverage force, and self-adjusting binding tightness.

[0084] Based on the above descriptions, and in conjunction with Figure 9 and Figure 10 The thigh adjustment structure 1213 and the calf adjustment structure 1223 can be the same or similar, and the thigh binding structure 1216 and the calf binding structure 1226 can also be the same or similar, in order to reduce the types of materials and facilitate the assembly of the exoskeleton device 10.

[0085] Combination Figure 10The knee joint structure 123 may include a knee joint motor 1231 and an electrical mounting plate 1232. The housing of the knee joint motor 1231 can be connected to the thigh adjustment rod 1212, and the output shaft of the knee joint motor 1231 can be connected to the lower leg fixing rod 1221 to drive the lower leg assembly 122 to swing relative to the thigh assembly 121, thereby assisting the user's knee joint in flexion / extension movements when worn. The electrical mounting plate 1232 can be connected to the lower leg fixing rod 1221 to facilitate the installation of the control board of the knee joint motor 1231. A speed reducer and a torque sensor may also be installed between the output shaft of the knee joint motor 1231 and the lower leg fixing rod 1221. The former can be used to regulate the swing speed of the lower leg assembly 122, and the latter can be used to detect the rotational speed of the knee joint motor 1231. Furthermore, a limiting protrusion may be provided on the side of the thigh adjusting rod 1212 facing the calf fixing rod 1221, and a limiting groove may be provided on the side of the calf fixing rod 1221 facing the thigh adjusting rod 1212. The limiting protrusion extends into the limiting groove to limit the swing of the calf assembly 122 relative to the thigh assembly 121 within a certain angle range, thereby preventing the user from falling due to excessive swing angle of the calf assembly 122.

[0086] Combination Figure 11 The ankle joint structure 15 may include an ankle bearing seat 151 and an ankle pivot 152. The ankle pivot 152 may be configured to rotate relative to the ankle bearing seat 151 to allow the user's hip joint to perform at least plantar flexion / dorsiflexion movements when worn. The axial direction of the ankle pivot 152 may be parallel to the coronal axis of the human body. Further, one of the ankle bearing seat 151 and the ankle pivot 152 may be connected to the leg assembly 12 (e.g., the calf adjustment rod 1222), and the other may be connected to the foot assembly 13. This application uses the connection of the ankle bearing seat 151 to the foot assembly 13 and the connection of the ankle pivot 152 to the calf adjustment rod 1222 as an example for illustrative purposes. In this case, a bearing 153, such as a sliding bearing, rolling bearing, or angular contact ball bearing, may also be provided between the ankle pivot 152 and the ankle bearing seat 151 to reduce wear.

[0087] The ankle joint structure 15 may also include a torsion spring 154, which can be sleeved on the ankle pivot 152. One end of the torsion spring 154 is connected to the ankle bearing seat 151, and the other end is connected to the leg assembly 12 (e.g., the calf adjustment rod 1222), allowing the torsion spring 154 to provide a counterforce during the rotation of the ankle pivot 152 relative to the ankle bearing seat 151, thereby forcing the ankle pivot 152 to return to its zero position relative to the ankle bearing seat 151 to assist the user in walking. Based on this, when the torsion spring 154 is in its natural state, the ankle pivot 152 can be exactly at its zero position relative to the ankle bearing seat 151. Furthermore, a limiting pin 155 can be provided on the calf adjustment rod 1222. The limiting pin 155 extends into the limiting groove of the ankle bearing seat 151 to limit the rotation of the ankle bearing seat 151 relative to the ankle pivot 152 within a certain angle range. This can prevent the user from falling due to the ankle bearing seat 151 deviating too much from the zero position relative to the ankle pivot 152, and can also prevent the torsion spring 154 from failing as a result.

[0088] It should be noted that the above-mentioned "zero position" can refer to the position of the ankle pivot 152 relative to the ankle bearing seat 151 when the user stands after wearing the exoskeleton device 10.

[0089] Furthermore, the ankle joint structure 15 may also include an ankle bearing end cap 156 and an ankle shell 157. The ankle bearing end cap 156 is connected to the end of the ankle pivot 152 away from the lower leg adjustment rod 1222. The ankle shell 157 is placed on the ankle bearing end cap 156 and connected to the ankle bearing seat 151 to cover the internal structure of the ankle joint structure 15, which helps to improve the appearance quality of the exoskeleton device 10.

[0090] Combination Figure 12 The foot assembly 13 may include a sole 131, a force-bearing plate 132, and a sole rod 133. The sole 131 is configured to support the user's foot when worn. The force-bearing plate 132 and sole 131 are integrally formed and partially exposed. The sole rod 133 is connected to the force-bearing plate 132 and bends relative to it to connect with the ankle bearing seat 151, thereby connecting the foot assembly 13 to the ankle joint structure 15. Furthermore, the sole rod 133 may abut against the force-bearing plate 132 along a second insertion direction (e.g., parallel to the vertical axis of the human body) to bear the user's weight; and may simultaneously abut against the force-bearing plate 132 along a direction perpendicular to the second insertion direction (e.g., parallel to the coronal axis of the human body) for positioning during assembly. In other words, the end of the sole rod 133 facing away from the ankle bearing seat 151 and towards the force-bearing plate 132 can be configured as a stepped structure. Of course, in some other embodiments, the sole rod 133 and the force-bearing plate 132 can also be integrally formed structural components.

[0091] Furthermore, the foot assembly 13 may also include an abrasion-resistant pad 134 connected to the force plate 132, the abrasion-resistant pad 134 being located on the side of the force plate 132 away from the ankle bearing seat 151, to prevent wear on the force plate 132 and the sole bar 133.

[0092] Combination Figure 12 The foot component 13 may also include a foot binding structure 135, which is connected to the sole 131 and is configured to cover the user's feet when worn, thereby achieving the binding of the exoskeleton device 10.

[0093] As an example, the foot binding structure 135 may include a strap 1351, a cord 1352, and a lacing structure 1353. One end of the strap 1351 is connected to one side of the sole 131, and the other end of the strap 1351 is connected to the other side of the sole 131. The cord 1352 extends from one end of the strap 1351 to the other end and is wrapped around the lacing structure 1353. The lacing structure 1353 is used to tighten the cord 1352 to allow the foot binding structure 135 to bind the exoskeleton device 10. The lacing structure 1353 can be a standard component based on the BOA lacing system, and its related structure is well known to those skilled in the art and will not be described in detail here. Thus, compared to related technologies that use Velcro for foot binding, the foot binding structure 135 provided in this application can achieve a better binding effect, such as a better fit, stronger coverage, more even coverage force, and self-adjusting binding tightness.

[0094] Based on the above descriptions, and in conjunction with Figure 9 , Figure 10 and Figure 12 At least one of the leg assembly 12 and foot assembly 13 may be provided with a binding structure. The binding structure may include straps, ropes, and tie structures. The ropes extend from one end of the straps to the other end and are wrapped around the tie structures. The tie structures are used to tighten the ropes to allow the binding structure to bind the exoskeleton device 10. Thus, compared to the related technology that uses Velcro for binding, the exoskeleton device 10 provided in this application can achieve a better binding effect, such as a stronger sense of coverage, more uniform coverage force, and self-adjusting binding tightness.

[0095] Based on the above description, the exoskeleton device 10 may further include a second locking structure 17, which can be configured to switch between a locked state and an unlocked state. When the second locking structure 17 is switched to the locked state, it maintains the connection between the foot component 13 and the ankle joint structure 15 to ensure the reliability of the exoskeleton device 10; when the second locking structure 17 is switched to the unlocked state, it allows the foot component 13 to be separated from the ankle joint structure 15 for easy disassembly of the exoskeleton device 10. For example, the second locking structure 17 may be configured as a pair of buckles, with one of the male and female buckles connected to the foot component 13 and the other connected to the ankle joint structure 15. Of course, in other embodiments, the second locking structure 17 may also be a separate structural component, such as a pin, independent of the foot component 13 and the ankle joint structure 15. Furthermore, it allows users to easily change the foot component 13 to different shoe sizes according to their actual needs, thereby enabling the exoskeleton device 10 to adapt to more users and improving wearing comfort.

[0096] Combination Figure 11 and Figure 12 The second locking structure 17 may include a second connector 171 and a second locking member 172. The second connector 171 can be connected to the ankle bearing seat 151, and both can be integrally formed structural components. Specifically, the second connector 171 is connected to the sole rod 133 along the second insertion direction, and the second locking member 172 locks the second connector 171 and the sole rod 133 in the opposite direction of the second insertion direction. In this case, either the second connector 171 can be inserted into the slot of the sole rod 133, or the sole rod 133 can be inserted into the slot of the second connector 171; the former is used as an example for illustration. Correspondingly, the second locking member 172 can be a separate structural component, such as a pin, which can be inserted to lock and pulled out to unlock.

[0097] As an example, the sole bar 133 is provided with a second slot 1331, and the second connector 171 is inserted into the second slot 1331 along the second insertion direction. Further, the second locking member 172 can be connected to the ankle bearing seat 151 and can extend in the same direction as the second connector 171 along the second insertion direction. The second locking member 172 may include a cantilever portion 1721 connected to the ankle bearing seat 151 and a protrusion 1722 located at the end of the cantilever portion 1721 away from the ankle bearing seat 151. Based on this, the protrusion 1722 can contact the inner wall of the sole bar 133 during the insertion of the second locking member 172 and the second connector 171 into the second slot 1331, forcing the second locking member 172 to elastically deform relative to the ankle bearing seat 151; subsequently, when the second locking member 172 switches to the locked state, it elastically recovers, causing the protrusion 1722 to abut against the sole bar 133 in the opposite direction of the second insertion direction.

[0098] Furthermore, the second connector 171 may include two second connector arms 1711 extending in the same direction along the second connector direction. The two second connector arms 1711 are spaced apart in a direction perpendicular to the second connector direction (e.g., parallel to the sagittal axis of the human body). The protrusion 1722 is at least partially located between the two second connector arms 1711 during the elastic deformation of the second locking member 172 relative to the ankle bearing seat 151. The two second connector arms 1711 facing away from the ankle bearing seat 151 can be connected by a crossbeam, meaning the second connector 171 can be U-shaped. This increases the reliability of the connection between the second connector 171 and the sole bar 133.

[0099] It should be noted that the second locking structure 17 can adopt a locking principle and related structure similar to the first locking structure 16, and the first locking structure 16 can also adopt a locking principle and related structure similar to the second locking structure 17.

[0100] The above description is only a part of the embodiments of this application and does not limit the scope of protection of this application. Any equivalent device or equivalent process transformation made based on the content of this application specification and drawings, or direct or indirect application in other related technical fields, are similarly included in the patent protection scope of this application.

Claims

1. A hip joint structure applied to an exoskeleton device, characterized in that, The hip joint structure includes a first hip joint component and a correction structure. The first hip joint component is configured to assist the user's hip joint in internal / external rotation movements when worn, and includes a hip internal / external rotation seat and a hip internal / external rotation axis. The hip internal / external rotation axis is configured to rotate relative to the hip internal / external rotation seat. The correction structure is configured to provide a counterforce during the rotation of the hip internal / external rotation axis relative to the hip internal / external rotation seat, so that the hip internal / external rotation axis returns to zero position relative to the hip internal / external rotation seat. The corrective structure includes a torsion spring, which is sleeved on the hip internal and external rotation axis. One end of the torsion spring is connected to the hip internal and external rotation axis, and the other end is connected to the hip internal and external rotation seat, so as to allow the torsion spring to provide a counterforce during the rotation of the hip internal and external rotation axis relative to the hip internal and external rotation seat. The hip internal and external rotation seat is provided with a limiting groove along its circumferential direction. The correction structure also includes a limiting pin, one end of which is connected to the hip internal and external rotation axis, and the other end extends into the limiting groove.

2. The hip joint structure according to claim 1, characterized in that, The correction structure includes a motor and a detection element. The motor housing is connected to the hip internal and external rotation seat, and the motor output shaft is connected to the hip internal and external rotation axis. The detection element is configured to detect the offset of the hip internal and external rotation axis relative to the hip internal and external rotation seat with the zero position as a reference. The motor drives the hip internal and external rotation axis to rotate in the opposite direction relative to the hip internal and external rotation seat according to the offset to restore it to the zero position.

3. The hip joint structure according to claim 2, characterized in that, The detection device is a torque sensor, used to detect the torque of the rotation of the hip internal and external rotation axes relative to the hip internal and external rotation seats.

4. The hip joint structure according to claim 2, characterized in that, The hip internal and external rotation shaft is divided into a first rotation shaft segment, a second rotation shaft segment, and a third rotation shaft segment along its axial direction. The diameter of the first rotation shaft segment is larger than the larger of the second rotation shaft segment and the third rotation shaft segment. The first rotation shaft segment is connected to the output shaft of the motor. The hip internal and external rotation shaft rotates relative to the hip internal and external rotating seat through the second rotation shaft segment.

5. The hip joint structure according to claim 4, characterized in that, The first hip joint assembly also includes an adapter, and the third pivot segment is embedded in the adapter.

6. The hip joint structure according to claim 1, characterized in that, The hip joint structure also includes a second hip joint assembly connected to the hip internal and external rotation seats, the second hip joint assembly being configured to assist the user's hip joint in adduction / abduction movements when worn.

7. The hip joint structure according to claim 6, characterized in that, The second hip joint assembly includes a hip swivel member configured to extend from the side of the user's body to the rear of the body when worn, and the hip swivel member is detachably connected to the hip internal and external rotation seats.

8. An exoskeleton device, characterized in that, The exoskeleton device includes a back assembly, a leg assembly, and a hip joint structure as described in any one of claims 1-7, wherein the leg assembly is connected to the back assembly via the hip joint structure.

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