Exoskeleton binding system and rehabilitation exoskeleton structure

Abstract

The present invention discloses an exoskeleton binding system and a rehabilitation exoskeleton structure, which relates to the technical field of rehabilitation equipment. The system includes a waist assembly provided with a waist binding assembly; a hip joint movable mechanism and a hip strap, wherein the hip joint movable mechanism is fixedly connected to the waist assembly; a leg assembly is rotatably connected to the hip joint movable mechanism, and the leg assembly is provided with a leg binding assembly; a foot assembly is rotatably connected to the leg assembly, and the foot assembly is provided with a foot strap; the waist binding assembly and the leg binding assembly are both provided with a quick-disassembly connection assembly to close or unfold the waist binding assembly and the leg binding assembly. By arranging the strap structures at different positions, the exoskeleton and the wearer are effectively fixed, and the rehabilitation exoskeleton structure can be quickly donned by the quick-disassembly connection assembly, thereby improving the donning and disassembly efficiency of the rehabilitation exoskeleton and meeting the wearer's wearing needs.

Description

Technical Field

[0001] The present invention relates to the technical field of rehabilitation equipment, and in particular to an exoskeleton binding system and a rehabilitation exoskeleton structure. Background Art

[0002] In order to reduce the burden on rehabilitation therapists in rehabilitation clinics, various rehabilitation machines and equipment are now used to assist and guide patient rehabilitation. Rehabilitation exoskeletons are a common type of rehabilitation training. During the wearing training process, they provide certain power assistance or resistance to the patient during limb movement to improve the rehabilitation effect.

[0003] The effective fixation of the rehabilitation exoskeleton to the wearer and the wearing time are key indicators for measuring the performance of the exoskeleton. The convenience of wearing or the wearing time are related to issues such as manpower input, the efficiency of the wearer's rehabilitation and the utilization rate of the equipment.

[0004] However, the relative stability between existing rehabilitation exoskeletons and the wearer's limbs is poor. During the patient's rehabilitation exercises, the rehabilitation exoskeleton and the patient's limbs will often gradually shift with the patient's movement, resulting in eccentricity between the mechanical joints of the rehabilitation exoskeleton and the human joints, and even causing the entire rehabilitation exoskeleton to shift from the human body, seriously hindering the movement of the patient's limbs. Not only can it fail to assist the patient in rehabilitation exercises, but there is also a risk of further injury to the patient's limbs. Summary of the Invention

[0005] One of the purposes of the embodiments of the present invention is to provide an exoskeleton binding system that comprehensively considers the waist, hips, thighs, calves, and soles of the feet in the design of a rehabilitation exoskeleton strap system, effectively fixes the exoskeleton and the wearer, reduces the wearing time, and thus solves the above-mentioned problems existing in the prior art.

[0006] A second purpose of the embodiment of the present invention is to provide a rehabilitation exoskeleton structure to improve the wearing efficiency of the exoskeleton and the stability between the exoskeleton and the wearer's limbs, thereby improving the rehabilitation effect of the patient's rehabilitation process.

[0007] To achieve one of the above purposes, the present invention adopts the following technical solutions:

[0008] On the one hand, an exoskeleton binding system is provided, comprising a waist assembly, provided with a waist binding assembly, the waist binding assembly defining a waist wearing space for being bound around the wearer's waist; a hip joint assembly, comprising a hip joint movable mechanism and a hip strap, the hip joint movable mechanism being fixedly connected to the waist assembly and defining a hip wearing space between the hip strap and the wearer's hip; a leg assembly, rotatably connected to the hip joint movable mechanism, the leg assembly being provided with a leg binding assembly, the leg binding assembly defining a leg wearing space, Used to wrap around and bind the wearer's legs; a foot assembly is rotatably connected to the leg assembly, the foot assembly is provided with a foot strap, and a foot wearing space is defined between the foot strap and the foot strap, which is used to wrap around and bind the wearer's feet; the waist binding assembly and the leg binding assembly are both provided with a quick-detachable connection assembly, and the quick-detachable connection assembly has a connection position and a separation position; a movable unlocking member, the movable unlocking member can drive the quick-detachable connection assembly to move between the connection position and the separation position, so as to close or unfold the waist binding assembly and the leg binding assembly;

[0009] The quick disassembly connection assembly further comprises:

[0010] A hook provided with a first magnetic member;

[0011] A fastener, which can be snapped onto the hook and is provided with a second magnetic member, wherein the first magnetic member and the second magnetic member (542) are arranged opposite to each other and the magnetic poles of the opposite sides are opposite;

[0012] The movable unlocking member is detachably connected to the fastener, and the hook and the fastener are respectively connected to two ends of the waist binding component or the leg binding component. The movable unlocking member can drive the fastener to engage or disengage from the hook under the action of an external force, so as to be in a connected state or a disconnected state;

[0013] In the connected state, the first magnetic member and the second magnetic member are magnetically engaged with each other.

[0014] To achieve the second of the above objectives, the present invention adopts the following technical solutions:

[0015] In another aspect, a rehabilitation exoskeleton structure is provided, comprising the exoskeleton binding system as described above.

[0016] The beneficial effects of the present invention are as follows: the exoskeleton binding system binds the wearer's waist, hips, legs and feet respectively through the waist binding assembly, hip straps, leg binding assembly and foot straps. The strap structures at different parts have wearing spaces for binding the corresponding parts of the wearer, thereby achieving effective fixation of the exoskeleton and the wearer. When the waist binding assembly and the hip straps are bound to the wearer's waist and hips, they can limit the movement of the hip joint assembly and the human hip rotation center, avoiding the problem of eccentricity between the joint rotation axis of the hip joint assembly and the human joint rotation axis. The leg binding assembly and the foot straps can keep the wearer's knee joint and ankle joint rotation axis aligned with the rehabilitation exoskeleton, so that the rehabilitation exoskeleton can match the wearer's limb movements, achieve the purpose of supporting the wearer and assisting the wearer in limb movements, and ultimately improve the patient's rehabilitation effect.

[0017] The waist binding component and the leg binding component are connected by quickly disassembling the connection components. On the basis of the above, the wearing and disassembly efficiency of the rehabilitation exoskeleton is improved, the wearing time is reduced, and the wearing needs of the wearer are met. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The present invention will be described in further detail below with reference to the accompanying drawings and examples.

[0019] Figure 1 This is a schematic diagram of the exoskeleton binding system and the rehabilitation exoskeleton structure in wearing state according to an embodiment of the present invention;

[0020] Figure 2 This is the second schematic diagram of the exoskeleton binding system and rehabilitation exoskeleton structure in the wearing state according to an embodiment of the present invention;

[0021] Figure 3 This is one of the overall schematic diagrams of the exoskeleton binding system and rehabilitation exoskeleton structure according to an embodiment of the present invention;

[0022] Figure 4 This is the second overall schematic diagram of the exoskeleton binding system and rehabilitation exoskeleton structure according to an embodiment of the present invention;

[0023] Figure 5 This is a schematic diagram of a quick disassembly and assembly connection assembly structure in use according to an embodiment of the present invention;

[0024] Figure 6 This is a schematic diagram of a quick-disassembly connection assembly structure according to an embodiment of the present invention;

[0025] Figure 7 This is a schematic diagram of a connection position of a quick disassembly and assembly connection assembly structure according to an embodiment of the present invention;

[0026] Figure 8This is a schematic diagram of a quick disassembly connection assembly structure in a separated position according to an embodiment of the present invention;

[0027] Figure 9 This is a schematic diagram of the second structure of the quick disassembly and assembly connection assembly according to an embodiment of the present invention;

[0028] Figure 10 This is a schematic diagram of the second quick-detachable connection assembly structure in use according to an embodiment of the present invention;

[0029] Figure 11 This is an exploded view of the second structure of the quick disassembly and assembly connection assembly according to an embodiment of the present invention;

[0030] Figure 12 for Figure 11 A magnified schematic diagram of part A;

[0031] Figure 13 This is a schematic structural diagram of the waist assembly according to an embodiment of the present invention;

[0032] Figure 14 This is one of the structural diagrams of the hip joint assembly according to an embodiment of the present invention;

[0033] Figure 15 This is the second structural diagram of the hip joint assembly according to an embodiment of the present invention;

[0034] Figure 16 This is a schematic structural diagram of a leg assembly according to an embodiment of the present invention;

[0035] Figure 17 This is a schematic structural diagram of the foot assembly according to an embodiment of the present invention.

[0036] In the figure: 10, waist assembly; 11, waist binding assembly; 111, first waist supporting member; 112, second waist supporting member; 113, waist-shaped hole; 114, waist strap; 12, waist wearing space; 13, waist backpack; 20, hip joint assembly; 21, hip joint movable mechanism; 211, base; 212, hip abduction arm; 2121, first rotation axis; 213, first hip joint movable member; 2131, second rotation axis; 214, second hip joint movable member; 2141, third rotation axis; 22, hip strap; 221, first hip belt; 222, first buckle portion; 223, second hip belt; 224, second buckle portion; 23, hip wearing space; 30, leg assembly; 31, leg binding assembly; 311 , leg guard; 312, leg strap; 32, leg wearing space; 33, thigh rod assembly; 34, calf rod assembly; 35, knee joint assembly; 40, foot assembly; 41, foot strap; 411, first belt body; 412, second belt body; 4121, rope hook; 42, foot wearing space; 43, base plate; 431, tread surface; 44, second adjustment device; 45, second tensioning belt; 50, quick disassembly and assembly connection assembly; 51, movable unlocking part; 511, spring; 52, hook; 53, fastener; 54, magnetic assembly; 541, first magnetic part; 542, second magnetic part; 543, third magnetic part; 55, first adjustment device; 551, unlocking operation part; 56, first tensioning belt; 57, arrival platform; 58, hanging hole. DETAILED DESCRIPTION

[0037] To make the technical problems solved, the technical solutions adopted, and the technical effects achieved by the present invention more clearly understood, the technical solutions of the embodiments of the present invention are described in further detail below. Obviously, the described embodiments are only a portion of the embodiments of the present invention, not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort shall fall within the scope of protection of the present invention.

[0038] In the description of the present invention, unless otherwise expressly specified or limited, the terms "connected," "connected," and "fixed" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integration; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention in specific circumstances.

[0039] In the present invention, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may include the first and second features being in direct contact, or may include the first and second features being in contact not directly but through another feature between them. Furthermore, a first feature being "above," "above," and "above" a second feature may include the first feature being directly above or obliquely above the second feature, or may simply mean that the first feature is higher in level than the second feature. A first feature being "below," "below," and "below" a second feature may include the first feature being directly below or obliquely below the second feature, or may simply mean that the first feature is lower in level than the second feature.

[0040] like Figure 1-Figure 4 As shown, in order to achieve effective fixation of the rehabilitation exoskeleton and the wearer's limbs and meet the wearer's needs for smooth limb movement while wearing the rehabilitation exoskeleton, this embodiment provides an exoskeleton binding system, which aims to improve the matching degree between the rehabilitation exoskeleton and the wearer's lower limb joints. The mechanical joints can maintain a state of alignment with the human joints, ultimately achieving the purpose of improving the wearer's rehabilitation effect.

[0041] The exoskeleton binding system includes a waist component 10. When the rehabilitation exoskeleton is worn, the waist component 10 is located at the wearer's waist. A waist binding component 11 is provided on the waist component 10. The waist binding component 11 defines a waist wearing space 12 for being bound around the wearer's waist. Since the cross-section of the human waist is approximately an ellipse, when the human waist is placed in the waist wearing space 12, the waist binding component 11 is effectively fixed to the human body, thereby reducing the relative movement of the rehabilitation exoskeleton and the center of rotation of the human body during exercise. In addition, by fixing the waist with a relatively small range of motion angles during human exercise through the waist binding component 11, compared with the existing rehabilitation exoskeleton that is only fixed at the wearer's hip, it can further improve the wearing stability between the rehabilitation exoskeleton and the human body, thereby reducing the relative movement of the mechanical joints and the human joints, and reducing the possibility of eccentric joint offset.

[0042] The hip joint assembly 20 located at the hip of the human body in the worn state includes a hip joint movable mechanism 21 that provides abduction / adduction, external rotation / internal rotation and flexion / extension freedom for the hip joint, and a hip strap 22 for maintaining relative stability between the hip joint movable mechanism 21 and the wearer's hip joint. The hip joint movable mechanism 21 is fixedly connected to the waist assembly 10 to stabilize the hip joint on the waist assembly 10. During the wearer's exercise, the hip joint is the joint part with the highest movement frequency, the largest range of motion and the most degrees of freedom. Therefore, the direction of the torque generated by the hip joint on the rehabilitation exoskeleton is also the most and largest, and part of the torque generated by the human hip joint on the hip joint assembly 20 will be transmitted to the waist assembly 10 through the hip joint movable mechanism 21. The waist binding assembly 11 is firmly attached to the wearer's waist, and the wearer's waist It can share a certain amount of the force from the hip joint movable mechanism 21, reduce the relative movement between the hip joint movable mechanism 21 and the wearer's limbs, and define a hip wearing space 23 between the hip joint movable mechanism 21 and the hip strap 22, which is used to surround and bind the wearer's hips. Another part of the force from the hip joint movable mechanism 21 will secure the wearer's hips in the hip wearing space 23 through the hip strap 22. In this way, through the cooperation of the waist binding component 11 and the hip strap 22, the relative shaking of the hip joint movable mechanism 21 during the wearer's movement is greatly reduced, so that the mechanical joint rotation axis of the above three degrees of freedom of the hip joint movable mechanism 21 can be kept matched with the wearer's hip joint rotation axis, thereby achieving the purpose of supporting the wearer's lower limb joints and assisting their movement.

[0043] The hip joint movable mechanism 21 is rotatably connected to the leg assembly 30. The leg assembly 30 follows the movement of the wearer's legs when worn and provides the wearer with freedom of movement for flexion / extension of the knee joint. The leg assembly 30 is provided with a leg binding assembly 31. The leg binding assembly 31 defines a leg wearing space 32 for surrounding and binding the wearer's legs. Specifically, the leg assembly 30 also includes a thigh rod assembly 33 and a calf rod assembly 34, which respectively follow the movement of the wearer's thigh and calf. A knee joint assembly 35 is arranged between the thigh rod assembly 33 and the calf rod assembly 34. The rotation axis of the knee joint assembly 35 is coaxially arranged with the wearer's knee joint rotation axis. In this way, the leg binding assembly 31 can be respectively arranged on the thigh rod assembly 33 and the calf rod assembly 34, and respectively bound to the wearer's thigh and calf, to ensure that the knee joint assembly 35 and the hip joint flexion / extension rotation axis can be maintained in a state of being aligned with the human body joint.

[0044] One end of the leg assembly 30 is pivotally connected to the hip joint mechanism 21, and the other end is pivotally connected to the foot assembly 40. This pivotal connection is achieved through the ankle assembly, providing freedom of movement for the wearer's ankle joint. This adapts to ankle rotation during walking, ensuring that the rehabilitation exoskeleton follows the wearer's lower limb joints throughout their movement. The foot assembly 40 is equipped with a foot strap 41. A foot wear space 42 is defined between the foot assembly 40 and the foot strap 41, which is used to wrap around and bind the wearer's foot, allowing the foot assembly 40 to remain aligned with the wearer's foot and ensuring that the ankle assembly and the wearer's ankle remain aligned.

[0045] like Figure 5-Figure 12 As shown, in order to improve the efficiency of putting on and taking off the rehabilitation exoskeleton and reduce its wearing time, the waist binding component 11 and the leg binding component 31 are both provided with a quick-disassembly connection component 50. The quick-disassembly connection component 50 is used to connect or separate the waist binding component 11 or the leg binding component 31. The quick-disassembly connection component 50 has a connection position and a separation position. The quick-disassembly connection component 50 is used to realize the connection and disconnection between the two ends of the waist binding component 11 or the leg binding component 31.

[0046] When the quick-release connection assembly 50 is in the connected position, the two ends of the waist binding assembly 11 or the leg binding assembly 31 are connected to form a ring-shaped wearing structure, so that the waist wearing space 12 or the leg wearing space 32 is in a circumferentially closed state, so that the wearer's waist or legs cannot be separated from the corresponding binding assembly in the radial direction after wearing;

[0047] When the quick-detachable connection component 50 is in the separation position, the quick-detachable connection component 50 separates, so that the two ends of the waist binding component 11 or the leg binding component 31 are separated, so that the waist wearing space 12 or the leg wearing space 32 is opened, so that the corresponding joint parts of the wearer can be detached therefrom.

[0048] In order to make the rehabilitation exoskeleton quick to put on and take off, the quick-disassembly connection component 50 includes a movable unlocking part 51. The movable unlocking part 51 can drive the quick-disassembly connection component 50 to move between the connection position and the separation position to close or unfold the waist binding component 11 and the leg binding component 31. When putting on or assisting in putting on the exoskeleton, the wearer or the rehabilitation therapist can drive the movable unlocking part 51 to separate and open the corresponding binding components for the wearer's corresponding parts to insert, and drive the movable unlocking part 51 to move the binding components to the connection position to keep the corresponding wearing space closed, so that the rehabilitation exoskeleton can be effectively connected to the wearer's limbs, and quick putting on and taking off can be achieved. The operation process is simpler, the operation time is reduced, and the user experience is better.

[0049] The components of the rehabilitation exoskeleton structure are preferably made of metal, such as aluminum, aluminum alloy, copper, copper alloy, iron, or stainless steel. The structure is preferably a profile structure with high mechanical strength and a certain ability to resist tangential torque to ensure support stability between the two components, thereby improving its practicality, reliability, and durability. Of course, to make the exoskeleton lighter, some components can also be made of other hard materials and / or carbon fiber materials, which is also conducive to improving the stability of the structure. Furthermore, the exoskeleton system also includes soft materials. Soft materials are generally used in the strap structure of the exoskeleton system to enable the patient's limb to be worn in the exoskeleton system through the strap structure. The soft material can specifically be a rubber member (natural rubber or synthetic rubber can be selected). Rubber is a completely amorphous polymer with high elasticity at room temperature. It can produce large deformation under the action of small external forces and return to its original shape after the external force is removed. It can increase the contact area with the limb (the part to be fixed), thereby improving the stability and comfort of the fixation. Alternatively, silicone (organic or inorganic) can be used. Silicone has good chemical stability and flexibility, and can also increase the contact area with the limb (the part to be fixed), thereby improving the stability and comfort of the fixation. Alternatively, leather can be used. Leather is a denatured, non-perishable animal hide obtained through physical and chemical processes such as depilation and tanning. Leather is composed of natural protein fibers tightly woven in three dimensions. Its surface has a special grain layer with a natural grain and luster, a pleasant feel, and good elastic deformation properties. It can also increase the contact area with the limb (the part to be fixed), thereby improving the stability and comfort of the fixation.

[0050] Based on the above, the quick disassembly connection assembly 50 can be realized by two structures;

[0051] like Figure 5-Figure 8 As shown in Structure 1, the quick disassembly connection assembly 50 also includes:

[0052] The hook 52 and the fastener 53 can be connected to the two ends of the waist binding component 11 or the leg binding component 31 respectively; the movable unlocking component 51 is movably connected to the fastener 53; the magnetic component 54 is arranged on the movable unlocking component 51 and the hook 52; the movable unlocking component 51 can move relative to the fastener 53 so that the hook 52 and the fastener 53 are in a connected position or a separated position; when in the connected position, the magnetic component 54 generates a magnetic attraction force so that the fastener 53 can maintain a fit and engagement with the hook 52; when in the separated position, the magnetic component 54 generates a magnetic repulsion force so that the fastener 53 is separated from the hook 52.

[0053] The disassembly and assembly principle of this structure is as follows:

[0054] When the fastener 53 needs to be connected to the hook 52, it is only necessary to buckle the fastener 53 to the hook 52 to make the two be locked. Here, the fastener 53 and the hook 52 are respectively provided with abutments 57 for abutting each other, so that in the connected position, there is a force of abutting each other. The movable unlocking member 51 is automatically or manually adjusted to the connected position, and a stable connection between the fastener 53 and the hook 52 can be achieved. When in the connected position, the wearer's waist or leg presses against the waist binding component 11 or the leg binding component 31, so that the two ends of the waist binding component 11 or the leg binding component 31 have a force pulling in a direction away from each other, thereby pulling the hook 52 and the fastener 53. The abutments 57 on the hook 52 and the fastener 53 press against each other, providing support force between each other and preventing the corresponding binding components from being disengaged. The magnetic component 54 provides magnetic attraction for the connection between the hook 52 and the fastener 53. Under the action of the supporting force and the magnetic attraction, the effective connection between the fastener 53 and the hook 52 can be maintained, the function of connecting the two ends can be achieved, and the connection reliability can be guaranteed.

[0055] In this structure, the magnetic assembly 54 includes a first magnetic member 541 provided on the hook 52, a second magnetic member 542 provided on the movable unlocking member 51, and a third magnetic member 543 provided on the hook 52 or the movable unlocking member 51; when in the connected position, the first magnetic member 541 and the second magnetic member 542 are arranged relative to each other and generate a magnetic attraction force to each other, so that the fastener 53 and the hook 52 are fitted and kept engaged; when in the separated position, the third magnetic member 543 and the second magnetic member 542 or the first magnetic member 541 are arranged relative to each other and generate a magnetic repulsion force. Specifically, the sliding unlocking member is driven to move from the connected position to the separated position. In this way, the third magnetic member 543 and the first magnetic member 541 or the second magnetic member 542 approach each other to generate a magnetic repulsion force. The magnetic repulsion force tends to cause the fastener 53 to move away from the hook 52, thereby disengaging from the hook 52. Here, there are two first magnetic members 541, two second magnetic members 542 and two third magnetic members 543, which can improve the stability between the hook 52 and the fastener 53 and facilitate the separation between the two.

[0056] In this solution, in the connected position, one end of the movable unlocking member 51 protrudes from one side of the quick-disconnect assembly 50. Manually pressing or mechanically actuating the movable unlocking member 51 causes the movable unlocking member 51 to move from the connected position to the disconnected position, achieving the aforementioned unlocking purpose. A spring 511 can be disposed between the other end of the movable unlocking member 51 and the quick-disconnect assembly 50. The spring 511 applies an elastic force to the movable unlocking member 51 in the direction of the quick-disconnect assembly 50, maintaining the movable unlocking member 51 in the connected position in the absence of external force, thereby ensuring that the waist binding assembly 11 and the leg binding assembly 31 are effectively bound to the human body when worn.

[0057] like Figures 9-12 As shown in Structure 2, the quick disassembly connection assembly 50 further includes:

[0058] The hook 52 is provided with a first magnetic component 541; the fastener 53 can be snapped onto the hook 52 and is provided with a second magnetic component 542, the first magnetic component 541 and the second magnetic component 542 are arranged opposite to each other and the magnetic poles on the opposite sides are opposite; the above-mentioned movable unlocking component 51 can be detachably connected to the fastener 53, and the hook 52 and the fastener 53 can be respectively connected to the two ends of the waist binding component 11 or the leg binding component 31, and the movable unlocking component 51 can drive the fastener 53 to snap into or disengage from the hook 52 under the action of external force, so as to be in a connected state or a separated state; in the connected state, the first magnetic component 541 and the second magnetic component 542 are magnetically engaged.

[0059] The assembly and disassembly principles of the connection assembly of the present invention are as follows:

[0060] When the fastener 53 needs to be connected to the hook 52, it is only necessary to buckle the fastener 53 to the hook 52 to connect the two. Here, the fastener 53 and the hook 52 are respectively provided with abutments 57 for abutting against each other, so that in the connected position, there is a force against each other. One side of the hook 52 is supported on the fastener 53, and the two are magnetically matched by the first magnetic part 541 and the second magnetic part 542 to achieve a fitting state. The wearer's waist or legs are pressed against the waist binding component 11 or the leg binding component 31, so that the two ends of the waist binding component 11 or the leg binding component 31 have a force pulling away from each other, thereby pulling the hook 52 and the fastener 53, and the abutments 57 on the hook 52 and the fastener 53 press against each other to provide support force for each other, preventing the two ends of the waist binding component 11 or the leg binding component 31 from detaching, thereby achieving a stable connection between the fastener 53 and the hook 52. When the quick-disassembly connection assembly 50 is in the connected position, the movable unlocking member 51 protrudes relative to the fastener 53 in the direction away from the hook 52, and the protruding part of the movable unlocking member 51 serves as the unlocking operating part 551; when the movable unlocking member 51 is acted upon by an external force in the opposite direction of the supporting force of the hook 52 on the fastener 53, the fastener 53 can rotate around the abutment 57 in the direction away from the hook 52, thereby disengaging from the hook 52 and realizing the dismantling of the fastening structure.

[0061] In this structure, in order to provide a better connection guidance effect and improve installation speed and convenience, the structure also includes a third magnetic member 543. There can be two third magnetic members 543 to further enhance the guidance. The third magnetic member 543 is provided on the hook 52 or the fastener 53. When the third magnetic member 543 is provided on the hook 52, the magnetic poles of the third magnetic member 543 and the second magnetic member 542 are the same; when the third magnetic member 543 is provided on the fastener 53, the magnetic poles of the third magnetic member 543 and the first magnetic member 541 are the same. When the fastener 53 approaches the hook 52, a magnetic repulsion is provided between the first magnetic member 541 or the second magnetic member 542 and the third magnetic member 543. The magnetic repulsion prevents the fastener 53 from being misplaced and guides the fastener 53 to the correct fastening connection position.

[0062] Furthermore, a first adjusting device 55 is provided on the movable unlocking member 51, and a first tensioning belt 56 is extended outward from the first adjusting device 55. One end of the first tensioning belt 56 extending out of the first adjusting device 55 is used to be fixedly connected to one end of the waist binding component 11 or the leg binding component 31, and the hook 52 is used to be fixedly connected to the other end of the waist binding component 11 or the leg binding component 31; the first adjusting device 55 can adjust the extension length of the first tensioning belt 56, thereby stretching the opposite ends of the waist binding component 11 or the leg binding component 31, and adjusting the size of the waist wearing space 12 or the leg wearing space 32.

[0063] In this embodiment, the first adjustment device 55 is a ratchet take-up device, which serves as the above-mentioned unlocking operating part 551 and protrudes from the movable unlocking part 51. The ratchet take-up device is used to reel in, release or fix the first tensioning belt 56 to adjust the length of the first tensioning belt 56 extending out of the ratchet take-up device, thereby adjusting the circumference of the waist binding component 11 or the leg binding component 31.

[0064] The ratchet take-up device is an existing mechanical component, which can prevent the first tensioning belt 56 from being stretched out of the ratchet take-up device after the first tensioning belt 56 is wound up, and has the function of unlocking the first tensioning belt 56, so that it can freely stretch and adjust the length extending out of the ratchet take-up device, so as to allow the first tensioning belt 56 to freely stretch to expand the size of the waist wearing space 12 and the leg wearing space 32 in the separated state, and in the connected state, the first tensioning belt 56 is wound up by the ratchet take-up device to fine-tune and shrink the waist wearing space 12 and the leg wearing space 32.

[0065] In the above two structures, the first magnetic component 541 , the second magnetic component 542 and the third magnetic component 543 are all magnets.

[0066] The above structure uses a clever structural layout and utilizes the magnetic attraction and repulsion generated by the magnet to design a quick alignment connection and disconnection between the fastener 53 and the hook 52. It is simple to operate, has a reliable connection, and is easy to operate. When it is used for binding a rehabilitation exoskeleton, it can achieve quick and convenient donning and removal of the binding system.

[0067] like Figure 13 As shown, the above-mentioned waist binding component 11 includes a first waist supporting member 111 and a second waist supporting member 112. The first waist supporting member 111 and the second waist supporting member 112 are both plate-like structures that are approximately arc-shaped, and the material is preferably a hard material. One end of the first waist supporting member 111 and the second waist supporting member 112 are both connected to the waist component 10, and the other ends of the two components extend in opposite directions. When worn, they are used to support the wearer's waist, so that the waist component 10 can be relatively fixed to the wearer's waist to provide support for the wearer's waist.

[0068] The waist strap 114 is preferably made of a flexible material with a certain elastic reset performance. The two ends of the waist strap 114 are detachably connected to the first waist supporting member 111 and the second waist supporting member 112, and together with the first waist supporting member 111 and the second waist supporting member 112, a circular waist wearing space 12 is defined. In this way, after the first waist supporting member 111 and the second waist supporting member 112 are supported on the back and both sides of the wearer's waist, the front side of the wearer's waist is connected to the two members through the waist strap 114 to achieve effective fixation of the waist.

[0069] Continuing from the above, a quick-detachable connection component 50 is provided between the waist strap 114 and the first waist supporting member 111 and / or the second waist supporting member 112. A rotating shaft is provided on the side where the quick-detachable connection component 50 is connected to the first waist supporting member 111 and / or the second waist supporting member 112, and the hinged connection with the first waist supporting member 111 or the second waist supporting member 112 is achieved through the rotating shaft. A hanging hole 58 is provided on the side where the quick-detachable connection component 50 is connected to the waist strap 114. The inner side surface of the waist strap 114 is a structure that can be pasted to each other, preferably using Velcro. After the end of the waist strap 114 is inserted into the hook, it is bent nearly 180° and pasted to the inner side of the waist strap 114 to complete the connection with the quick-detachable connection component 50. In addition, the length of the waist strap 114 inserted into the hanging hole 58 can be adjusted to achieve the length of the waist strap 114 to meet the needs of wearers with different body shapes.

[0070] Furthermore, the waist assembly 10 includes a waist backpack 13, which contains a power supply and hardware circuits, etc., for driving the joint module of the rehabilitation exoskeleton to move or obtaining the movement angle of the tube structure, thereby providing the wearer with a more suitable exercise posture. An adjustment structure is respectively provided between the waist backpack 13 and the first waist supporting member 111 and the second waist supporting member 112, for adjusting the distance between the first waist supporting member 111 and the second waist supporting member 112. Specifically, the adjustment structure includes a first waist supporting member 111 and a second waist supporting member 112. The waist-shaped holes 113 of the waist-protecting member 111 and the second waist-protecting member 112 and the threaded holes corresponding to the waist-shaped holes 113 are opened on the waist backpack 13. Bolts are screwed and fixed through the waist-shaped holes 113. The diameter of the bolt head is larger than the width of the waist-shaped hole 113 so that the bolt head can press the first waist-protecting member 111 or the second waist-protecting member 112 against the waist backpack 13, so that the first waist-protecting member 111 and the second waist-protecting member 112 are fastened to the waist backpack 13. When the first waist-protecting member 111 is fixed to the waist backpack 13, the first waist-protecting member 111 and the second waist-protecting member 112 are fastened to the waist backpack 13. When the relative spacing of the second waist supporting member 112 needs to be adjusted, the first waist supporting member 111 and the second waist supporting member 112 can be moved along the direction of the waist supporting member 113 by loosening the bolt to press against the waist-shaped hole 113. After the adjustment is completed, the bolt is tightened again. The extending direction of the waist-shaped hole 113 determines the moving direction of the first waist supporting member 111 and the second waist supporting member 112 during the adjustment process. Therefore, the waist-shaped hole 113 is preferably arranged parallel to the extending direction of the first waist supporting member 111 and the second waist supporting member 112. In this embodiment, there are two waist-shaped holes 113 on the first waist supporting member 111 and the second waist supporting member 112. The two waist-shaped holes 113 are parallel to each other and located in the same vertical direction. There are four threaded holes on the waist backpack 13 corresponding to the waist-shaped holes 113. The two waist-shaped holes 113 can prevent the first waist supporting member 111 and the second fox demon member from rotating relative to the bolt during the adjustment process, ensuring that the first waist supporting plate and the second waist supporting plate remain parallel to each other to support the wearer's waist.

[0071] Further, if Figure 14-15 As shown, the hip strap 22 includes a first hip strap 221 and a second hip strap 223. One end of the first hip strap 221 is connected to the hip joint movable mechanism 21 or the leg assembly 30, and the other end is provided with a first buckle portion 222; one end of the second hip strap 223 is connected to the hip joint movable mechanism 21 or the leg assembly 30, and the other end is provided with a second buckle portion 224. The first buckle portion 222 and the second buckle portion 224 are detachably connected.

[0072] When the first hip belt 221 and the second hip belt 223 are connected to the leg members, they are preferably connected to one end of the thigh rod assembly 33 close to the hip assembly, so that the hip strap 22 is kept horizontally on the wearer's hips, stabilizing the wearer's hips on the hip joint movable mechanism 21.

[0073] The first buckle portion 222 and the second buckle portion 224 form a pair of locking buckles, which can also achieve the effect of quick donning and doffing, ensuring that the wearer's hip reduces relative rotation with the hip joint movable mechanism 21 during exercise, and ensuring that the mechanical joints of each degree of freedom of the hip joint movable mechanism 21 can match the various degrees of freedom of the wearer's hip joint.

[0074] The specific structure of the hip joint movable mechanism 21 is not the content of protection required by this solution. This solution is only briefly described here. The hip joint movable mechanism 21 includes a base 211. The base 211 serves as a supporting structure in the hip joint component 20. A guide rail is arranged inside the base 211. The guide rail is used to guide the two hip abduction arms 212 respectively. One end of the hip abduction arm 212 cooperates with the guide rail to achieve reciprocating movement on the base 211 and can be selectively locked at the current position on the guide rail, so as to adjust the distance between the two hip abduction arms 212 to adapt to the waist width of different patients. The base 211 and the two hip abduction arms 212 are both part of the hip joint component 20 in the exoskeleton system. The other end of the hip abduction arm 212 extends in a direction away from each other and is used to be movably connected with other components of the hip joint component 20 in the exoskeleton system.

[0075] Specifically, one end of the hip abduction arm 212 away from the base 211 is used for rotational connection with the first hip joint movable component 213, and the hip abduction arm 212 and the first hip joint movable component 213 are rotationally connected through a movable structure. The movable structure therebetween defines a first rotation axis 2121. When worn, the movable structure between the hip abduction arm 212 and the first hip joint movable component 213 is aligned with the rear of the wearer's hip joint. It is further explained that the first rotation axis 2121 coincides with the abduction / adduction rotation axis of the wearer's hip joint, providing the hip joint with freedom of movement in abduction and adduction.

[0076] The first hip joint movable component 213 is rotatably connected to the second hip joint movable component 214, and a second rotation axis 2131 is defined between the first hip joint movable component 213 and the second hip joint movable component 214. When the wearer is in the wearing state, the movable structure between the first hip joint movable component 213 and the second hip joint movable component 214 is aligned with the side of the wearer's hip joint. It is further explained that the second rotation axis 2131 is set as close as possible to the external rotation / internal rotation axis of the wearer's hip joint, providing the hip joint with external rotation and internal rotation freedom of movement, and the second hip joint movable component 214 is rotatably connected to the thigh rod assembly 33 to form a third rotation axis 2141, providing the wearer with flexion / extension freedom of movement.

[0077] Here, as Figure 16As shown, the leg binding assembly 31 includes a leg guard plate 311, which is a plate-like structure that is approximately arc-shaped. One end of the leg guard plate 311 is connected to the leg assembly 30. The material is preferably a hard material. When worn, it is used to support the outer side and back side of the wearer's thigh or calf, so that the leg assembly 30 can be relatively fixed to the wearer's leg to provide support for the wearer's leg.

[0078] The leg straps 312 are preferably made of a flexible material with certain elastic reset properties. The two ends of the waist strap 114 are detachably connected to the opposite ends of the leg guard 311, and together with the leg guard 311, they define a circular leg wearing space 32. In this way, after the leg guard 311 is supported on the wearer's legs, the front and inner sides of the wearer's legs are connected through the leg straps 312, thereby achieving effective fixation of the legs.

[0079] At least one quick-detachable connection component 50 is provided between the leg strap 312 and the leg guard plate 311. A rotating shaft is provided on the side where the quick-detachable connection component 50 is connected to the leg guard plate 311, and the hinge with the leg guard plate 311 is realized by the rotating shaft. A hanging hole 58 is provided on the side where the quick-detachable connection component 50 is connected to the leg strap 312. The inner side surface of the leg strap 312 is a structure that can be pasted to each other, preferably using Velcro. After the end of the leg strap 312 is inserted into the hook, it is bent nearly 180° and pasted to the inner side of the leg strap 312 to complete the connection with the quick-detachable connection component 50. In addition, the length of the leg strap 312 inserted into the hanging hole 58 can be adjusted to achieve the length of the waist strap 114 to meet the needs of wearers with different leg circumferences.

[0080] In this embodiment, Figure 16 As shown, the leg assembly 30 also includes a thigh rod assembly 33 and a calf rod assembly 34. As mentioned above, one end of the thigh rod assembly 33 is rotatably connected to the hip joint movable mechanism 21, one end of the calf rod assembly 34 is rotatably connected to the thigh rod assembly 33 through the knee joint assembly 35, and the other end is rotatably connected to the foot assembly 40 through the ankle joint assembly.

[0081] During the wearing process of the rehabilitation exoskeleton, the thigh rod assembly 33 and the calf rod assembly 34 are respectively bound to the wearer's thigh and calf. The thigh rod assembly 33 and the calf rod assembly 34 can be adjusted in length individually, so that the exoskeleton leg module can adapt to the wearer's thigh length and calf length respectively.

[0082] The thigh bar assembly 33 and the calf bar assembly 34 are both provided with a leg binding assembly 31, so that the thigh bar assembly 33 and the calf bar assembly 34 can follow the movement trajectory of the wearer's thigh and calf.

[0083] like Figure 17As shown, the foot component 40 includes a base plate 43, which is basically a plate-like structure in this embodiment. In the direction parallel to the horizontal plane, its shape is similar to the shape of the human foot and defines a treading surface 431. The wearer can wear personal shoes and step on the treading surface 431 while wearing the rehabilitation exoskeleton. Compared with the traditional exoskeleton system, the provision of universal rehabilitation shoes on the foot component 40 can avoid the problem of wear on the patient's foot due to the mismatch between the size and structure of the rehabilitation shoes and the patient's feet, improve the patient's comfort, improve the adaptability of the wearing component, and be suitable for different patient foot sizes. The opposite ends of the foot strap 41 are respectively pivotally connected to the two sides of the base plate 43, and enclose the treading surface 431 to define the foot wearing space 42.

[0084] The second adjusting device 44 is provided at one end of the foot strap 41, the first end of the second tensioning belt 45 is inserted into the second adjusting device 44, and the second end of the second tensioning belt 45 extends in a direction away from the second adjusting device 44 and is fixed to the foot strap 41; the second adjusting device 44 is used to adjust the extension length of the second tensioning belt 45, thereby stretching the foot strap 41 and adjusting the size of the foot wearing space 42 to be suitable for the foot structure and size of different wearers. The longer the length of the second tensioning belt 45 extending from the adjusting device, the larger the circumference of the foot wearing space 42, and the larger the circumference of the foot that can be inserted; the shorter the length of the second tensioning belt 45 extending from the adjusting device, the smaller the circumference of the foot wearing space 42, and the smaller the circumference of the foot that can be inserted, thereby achieving the purpose of adjusting the size of the wearing space.

[0085] Specifically, the second adjustment device 44 is a ratchet take-up device, which has a fixed state, a reeling state, and an unreeling state;

[0086] In the fixed state, the second adjusting device 44 and the second tensioning belt 45 are relatively fixed so that the size of the foot wearing space 42 is fixed and the wearer's foot is stabilized; in the reeled state, the second adjusting device 44 reels the second tensioning belt 45 so that the second tensioning belt 45 is stored in the second adjusting device 44 to reduce the foot wearing space 42 and finally compress the wearer's foot; in the unreeled state, the second adjusting device 44 and the second tensioning belt 45 can move relative to each other so that the second tensioning belt 45 can move in a direction away from the second adjusting device 44, thereby expanding the foot wearing space 42, allowing the wearer's foot to be separated from the base plate 43, and can also adapt to the foot size structure of different wearers.

[0087] In this embodiment, the first tensioning belt 56 and the second tensioning belt 45 are both flexible belts, including but not limited to elastic or inelastic belts formed by weaving or ropes formed by twisting. Their cross-sectional shapes can be circular, flat or other irregular shapes, as long as they can be smoothly rolled up and unrolled.

[0088] Furthermore, the foot strap 41 includes a first strap 411 and a second strap 412. One end of the first strap 411 and the second strap 412 are pivotally connected to opposite sides of the base plate 43, and the other ends of the first strap 411 and the second strap 412 extend in a direction approaching each other; the second ends of the second adjustment device 44 and the second tensioning belt 45 are fixed to the first strap 411 and the second strap 412, respectively. When no external force is applied, the other ends of the first belt body 411 and the second belt body 412 are both arc-shaped structures, and cooperate with the tread surface 431 to form a ring-shaped wearing structure. In order to ensure that the wearer's foot can remain stable on the base plate 43 during the wearing process, the first belt body 411 and the second belt body 412 partially overlap at their ends close to each other when no external force is applied. Even if the wearer's foot is large in circumference, there is enough length between the first belt body 411 and the second belt body 412 to wrap around the sides and back of the patient's foot, ensuring a sufficient contact area with the patient's foot.

[0089] The second ends of the second adjustment device 44 and the second tensioning belt 45 are fixed to the first belt body 411 and the second belt body 412 respectively. In this embodiment, one end of the tensioning belt extends out of the adjustment device and is fixed to the second belt body 412 by a rope hook 4121 provided on the second belt body 412. The second adjustment device 44 unwinds and rewinds the second tensioning belt 45, thereby allowing the first belt body 411 and the second belt body 412 to move toward each other, narrowing the foot wearing space 42, or releasing the two and applying external force to expand the foot wearing space 42. In this embodiment, the first belt body 411 can be made of a hard material and the second belt body 412 can be made of a flexible material. By providing a ratchet take-up device on the first belt body 411, the second tensioning belt 45 can pull the second belt body 412 made of flexible material, so that the second belt body 412 can press the wearer's foot, thereby improving the rigidity of the wearing structure and further improving the stability between the foot and the base plate 43.

[0090] This embodiment also provides a rehabilitation exoskeleton structure, including the exoskeleton binding system described above. By applying the above-mentioned exoskeleton binding system to the rehabilitation exoskeleton structure, the rehabilitation exoskeleton structure can be more closely aligned with the wearer's lower limbs. The waist binding component 11 serves as the main structure for support and positioning, so that the hip joint component, leg component 30 and foot component 40 correspond to the wearer's hip joint, knee joint and ankle joint respectively, and follow the movement of the corresponding joints to ensure that the mechanical joints and human joints remain in a state of alignment, ultimately achieving the purpose of improving the rehabilitation effect.

[0091] In the description herein, it should be understood that the terms "upper," "lower," "left," "right," and other positions or relationships are used solely for ease of description and simplified operation, and are not intended to indicate or imply that the devices or components referred to must have a specific orientation, be constructed, or operate in a specific manner. Therefore, they should not be construed as limitations of the present invention. Furthermore, the terms "first" and "second" are used solely for descriptive purposes and have no special meaning.

[0092] In this specification, reference to terms such as "one embodiment" or "example" means that a specific feature, structure, material, or characteristic described in conjunction with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example.

[0093] In addition, it should be understood that although this specification is described in terms of implementation methods, not every implementation method contains only one independent technical solution. This narrative method of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

[0094] The technical principles of the present invention have been described above with reference to specific embodiments. These descriptions are intended solely to illustrate the principles of the present invention and are not to be construed in any way as limiting the scope of protection of the present invention. Based on the explanations herein, those skilled in the art will readily conceive of other specific embodiments of the present invention without inventive effort, and such embodiments will fall within the scope of protection of the present invention.

Claims

1. An exoskeleton binding system, characterized in that: include: The waist component (10) is provided with a waist binding component (11), wherein the waist binding component (11) defines a waist wearing space (12) for being bound around the waist of the wearer; A hip joint assembly (20) includes a hip joint movable mechanism (21) and a hip strap (22), wherein the hip joint movable mechanism (21) is fixedly connected to the waist assembly (10) and defines a hip wearing space (23) with the hip strap (22) for surrounding and binding the wearer's hip. A leg assembly (30) is rotatably connected to the hip joint movable mechanism (21), and the leg assembly (30) is provided with a leg binding assembly (31). The leg binding assembly (31) defines a leg wearing space (32) for surrounding and binding the wearer's legs; A foot assembly (40) is rotatably connected to the leg assembly (30), and the foot assembly (40) is provided with a foot strap (41), and a foot wearing space (42) is defined between the foot strap (41) and the foot assembly (40) for surrounding and binding the wearer's foot. The waist binding assembly (11) and the leg binding assembly (31) are both provided with a quick-detachable connection assembly (50), and the quick-detachable connection assembly (50) has a connection position and a separation position; The quick-detachable connection assembly (50) includes a movable unlocking member (51), and the movable unlocking member (51) can drive the quick-detachable connection assembly (50) to move between a connection position and a separation position, so as to close or unfold the waist binding assembly (11) and the leg binding assembly (31); The quick disassembly connection assembly (50) further comprises: A hook (52) is provided with a first magnetic member (541); A fastener (53) can be snapped onto the hook (52) and is provided with a second magnetic member (542), wherein the first magnetic member (541) and the second magnetic member (542) are arranged opposite to each other and the magnetic poles of the opposite sides are opposite; The movable unlocking member (51) is detachably connected to the fastener (53), and the hook (52) and the fastener (53) can be respectively connected to the two ends of the waist binding component (11) or the leg binding component (31). Under the action of an external force, the movable unlocking member (51) can drive the fastener (53) to engage with or disengage from the hook (52) to be in a connected state or a separated state. In the connected state, the first magnetic member (541) and the second magnetic member (542) are magnetically coupled; a third magnetic member (543), provided on the hook (52) or the fastener (53); When the third magnetic member (543) is provided on the hook (52), the magnetic poles of the third magnetic member (543) and the second magnetic member (542) on the opposite side are the same; when the third magnetic member (543) is provided on the buckle (53), the magnetic poles of the third magnetic member (543) and the first magnetic member (541) on the opposite side are the same; a first adjusting device (55) is provided on the movable unlocking member (51), and a first tensioning belt (56) extends outward from the first adjusting device (55), and one end of the first tensioning belt (56) extending outward from the first adjusting device (55) is used to be fixedly connected to one end of the waist binding component (11) or the leg binding component (31), and the hook (52) is used to be fixedly connected to the other end of the waist binding component (11) or the leg binding component (31); The first adjusting device (55) can adjust the extension length of the first tensioning belt (56), thereby stretching the opposite ends of the waist binding component (11) or the leg binding component (31) to adjust the size of the waist wearing space (12) or the leg wearing space (32).

2. The exoskeleton binding system according to claim 1, characterized in that: The waist binding assembly (11) comprises: A first waist supporting member (111) and a second waist supporting member (112) are both connected to the waist component (10); A waist strap (114) is detachably connected to the first waist supporting member (111) and the second waist supporting member (112), and is enclosed with the first waist supporting member (111) and the second waist supporting member (112) to define the annular waist wearing space (12); The quick-detachable connection assembly (50) is provided between the waist strap (114) and the first waist supporting member (111) and / or the second waist supporting member (112).

3. The exoskeleton binding system according to claim 2, characterized in that: The waist assembly (10) includes a waist backpack (13), and adjustment structures are respectively provided between the waist backpack (13) and the first waist supporting member (111) and the second waist supporting member (112), for adjusting the distance between the first waist supporting member (111) and the second waist supporting member (112).

4. The exoskeleton binding system according to claim 1, characterized in that: The hip strap (22) comprises: A first hip belt (221), one end of which is connected to the hip joint movable mechanism (21) or the leg assembly (30), and the other end of which is provided with a first buckle portion (222); The second hip belt (223) has one end connected to the hip joint movable mechanism (21) or the leg assembly (30), and the other end is provided with a second buckle portion (224), and the first buckle portion (222) and the second buckle portion (224) are detachably connected.

5. The exoskeleton binding system according to claim 1, characterized in that: The leg binding assembly (31) comprises: a leg guard plate (311) connected to the leg assembly (30); The leg straps (312) have two ends detachably connected to the opposite ends of the leg shield (311), and together with the leg shield (311) define the annular leg wearing space (32); At least one quick-detachable connection assembly (50) is provided between the leg strap (312) and the leg shield (311).

6. The exoskeleton binding system according to claim 5, characterized in that: The leg assembly (30) further comprises: A thigh rod assembly (33), one end of which is rotatably connected to the hip joint movable mechanism (21); A calf rod assembly (34), one end of which is rotatably connected to the thigh rod assembly (33) via a knee joint assembly (35), and the other end of which is rotatably connected to the foot assembly (40) via an ankle joint assembly; The thigh rod assembly (33) and the calf rod assembly (34) are both provided with the leg binding assembly (31).

7. The exoskeleton binding system according to claim 1, characterized in that: The foot assembly (40) comprises: A base plate (43) defines a treading surface (431), and opposite ends of the foot strap (41) are respectively pivotally connected to two sides of the base plate (43) and enclosed with the treading surface (431) to define the foot wearing space (42); a second adjusting device (44) provided at one end of the foot strap (41); a second tensioning belt (45), a first end of which passes through the second adjusting device (44), and a second end of which extends away from the second adjusting device (44) and is fixed to the foot strap (41); The second adjusting device (44) is used to adjust the extension length of the second tensioning belt (45), thereby stretching the foot strap (41) and adjusting the size of the foot wearing space (42).

8. The exoskeleton binding system according to claim 7, characterized in that: The foot strap (41) comprises: A first belt body (411) and a second belt body (412), wherein one end of the first belt body (411) and the second belt body (412) are respectively pivotally connected to opposite sides of the base plate (43), and the other ends of the first belt body (411) and the second belt body (412) extend in a direction approaching each other; The second ends of the second adjusting device (44) and the second tensioning belt (45) are fixed to the first belt body (411) and the second belt body (412) respectively.

9. A rehabilitation exoskeleton structure, characterized in that: include: The exoskeleton binding system according to any one of claims 1 to 8.

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