A Passive Single Power Unit to Implement a Bilateral Resistance Exoskeleton Device

Abstract

The present invention proposes a passive single-power unit to realize a bilateral resistance exoskeleton device, including a passive motor, a accommodating component, a first reducer, a second reducer, a first transmission steering component, a second transmission steering component, a first leg component and a second leg component; the first reducer and the second reducer are used to reduce the rotation speed and increase the torque; the present invention does not require battery power supply, relies on the magnetic cutting of the passive motor itself to generate resistance, and realizes the function of providing resistance to the left and right legs. It has a simple structure, lighter weight, and achieves unlimited endurance, which is in line with the concept of health, green and environmental protection. At the same time, in conjunction with the first transmission steering component and the second transmission steering component, it solves the problem of left and right angle coupling of the single-power exoskeleton.

Description

Technical Field

[0001] The present invention relates to the technical field of exoskeletons, and in particular to an exoskeleton device that realizes bilateral resistance using a passive single power unit. Background Art

[0002] An exoskeleton is a wearable, human-machine integrated "mechanical device". Resistance exoskeletons are used in fitness, exercise, or training. Using resistance exoskeletons is beneficial for maintaining people's health and has broad application prospects.

[0003] In the existing technology, resistance exoskeleton devices require batteries to provide energy. Exoskeleton devices with two power units on the left and right require two sets of power units, which are costly, heavy, and have a more complex structure. The battery capacity cannot support long-term battery life, and long-term use of batteries is dangerous and does not conform to the concept of health, green and environmental protection. Currently, single-powered exoskeletons also require batteries to provide power. The left and right sides are highly coupled, and the size and angle of the left and right leg forces are fully coupled. This coupling relationship may cause a burden on the user's knee joints, and in severe cases may cause hyperextension of the knees. At the same time, the left and right structures will rotate relative to each other, and the stability is poor.

[0004] Therefore, there is a need for a solution to solve the above problems. Summary of the Invention

[0005] To address the shortcomings of the existing technology, the present invention proposes a passive single-power unit to realize a bilateral resistance exoskeleton device. This solution does not require battery power and relies on the passive motor's own magnetic cutting to generate resistance, realizing the function of providing resistance to both legs and achieving unlimited endurance. At the same time, it solves the problem of left and right angle coupling of single-power exoskeletons. The specific technical solution is as follows:

[0006] The embodiment of the present invention proposes a passive single power unit to realize a bilateral resistance exoskeleton device, comprising a passive motor, a housing assembly, a first reducer, a second reducer, a first transmission steering member, a second transmission steering member, a first leg assembly, and a second leg assembly;

[0007] The first reducer and the second reducer are used to reduce the rotation speed and increase the torque;

[0008] The passive motor is disposed in the accommodation component, and the passive motor includes a stator and a rotor, and the stator is rotatably connected to the accommodation component;

[0009] The rotor is rotatably connected to one end of the first reducer, and the stator is rotatably connected to one end of the second reducer;

[0010] The other end of the first reducer is rotatably connected to one end of the first transmission steering member, and the other end of the second reducer is rotatably connected to one end of the second transmission steering member;

[0011] The other end of the first transmission steering member is rotatably connected to the first leg assembly, and the other end of the second transmission steering member is rotatably connected to the second leg assembly.

[0012] In a specific embodiment, the accommodating component includes a waist ring frame and a waist belt, the waist ring frame is connected to the waist belt, the waist belt is arranged on the side of the waist ring frame close to the human body, the passive motor is arranged in the waist ring frame, and the stator is rotatably connected to the waist ring frame.

[0013] In a specific embodiment, the stator is rotatably connected to the receiving assembly via a bearing.

[0014] In a specific embodiment, the number of the bearings is one or more.

[0015] In a specific embodiment, a housing space is provided inside the housing component, and the passive motor, the first reducer, the second reducer, the first transmission steering member, and the second transmission steering member are all arranged in the housing space.

[0016] In a specific embodiment, the first reducer and the second reducer have the same structure, and the first reducer includes a multi-stage planetary reduction mechanism.

[0017] In a specific embodiment, the first reducer or the second reducer includes a sun gear, a plurality of primary planetary gears, a primary planetary carrier, a plurality of secondary planetary gears, a secondary planetary carrier and an inner ring gear;

[0018] A plurality of the first-stage planetary gears are mounted on a side of the first-stage planetary carrier facing the sun gear; a plurality of the second-stage planetary gears are mounted on a side of the second-stage planetary carrier facing the sun gear;

[0019] All of the first-stage planetary gears, the first-stage planetary carrier, all of the second-stage planetary gears and the second-stage planetary carrier are disposed in the inner gear ring, and all of the first-stage planetary gears and all of the second-stage planetary gears are meshed and rotationally connected with the inner gear ring;

[0020] One end of the sun gear is coaxially connected to the output end of the passive motor, the output end of the passive motor is the stator or the rotor, and the other end of the sun gear is meshed and transmission-connected with all the first-stage planetary gears;

[0021] A gear is provided on the central axis of the first planet carrier away from the sun gear, and the gear is meshed and transmission-connected with all the secondary planet gears;

[0022] A power end for transmission connection to the first transmission steering member or the second transmission steering member is provided on the central shaft on the side of the secondary planet carrier away from the sun gear.

[0023] In a specific embodiment, the first transmission steering member and the second transmission steering member both include flexible universal joints.

[0024] In a specific embodiment, the first transmission steering member and the second transmission steering member have the same structure, and a first bevel gear is provided on the end of the first transmission steering member away from the multi-stage planetary reduction mechanism;

[0025] A second bevel gear matching the first bevel gear is provided on one end of the first leg assembly close to the first transmission steering member;

[0026] The first transmission steering member is connected to the first leg assembly in a coaxial rotation manner through the meshing of the first bevel gear and the second bevel gear.

[0027] In a specific embodiment, the first leg assembly and the second leg assembly have the same structure and are mirror-symmetrical, and the first leg assembly includes a first connecting member, a second connecting member and a resistance member;

[0028] The second bevel gear is arranged on one end of the first connecting member, one end of the second connecting member is hinged to the other end of the first connecting member, and the other end of the second connecting member is rotationally connected to the resistance member through a rotating shaft.

[0029] The present invention has at least the following beneficial effects:

[0030] This invention relies on the passive power unit's own magnetic cutting to generate resistance, providing resistance to both legs. It does not require battery power, boasts a simple structure, is lighter, and offers unlimited endurance, aligning with the principles of health, environmental protection, and sustainability. Furthermore, through the use of a universal flexible shaft, it solves the problem of left and right angular coupling in a single-powered exoskeleton. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments. It should be understood that the following drawings only illustrate certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying any creative work.

[0032] Figure 1An exploded view of the overall structure of an embodiment of the present invention;

[0033] Figure 2 A cross-sectional view of the overall structure of an embodiment of the present invention;

[0034] Figure 3 An exploded view of a multi-stage planetary reduction mechanism according to an embodiment of the present invention;

[0035] Figure 4 This is a front view of a human body wearing embodiment of the present invention;

[0036] Figure 5 This is a rear view of a human body wearing the embodiment of the present invention;

[0037] Figure 6 This is a side view of a human body wearing the embodiment of the present invention.

[0038] Reference numerals:

[0039] 1-stator; 2-rotor; 3-sun gear; 4-first-stage planetary gear; 5-first-stage planetary carrier; 6-gear 7-second-stage planetary gear; 8-second-stage planetary carrier; 9-inner ring gear; 10-flexible universal joint; 11-first bevel gear; 12-second bevel gear; 13-rotating shaft; 14-waist ring frame; 15-bearing; 16-first connecting member; 17-second connecting member; 18-resistance member; 19-waist belt; 20-power end; 101-passive motor; 201-first reducer; 202-second reducer; 301-first transmission steering member; 302-second transmission steering member; 401-first leg assembly; 402-second leg assembly; 501-accommodating assembly. DETAILED DESCRIPTION

[0040] Hereinafter, various embodiments of the present disclosure will be described more fully. The present disclosure may have various embodiments, and adjustments and changes may be made therein. However, it should be understood that there is no intention to limit the various embodiments of the present disclosure to the specific embodiments disclosed herein, but rather that the present disclosure should be construed to encompass all adjustments, equivalents, and / or alternatives falling within the spirit and scope of the various embodiments of the present disclosure.

[0041] Hereinafter, the terms "include" or "may include" as used in various embodiments of the present disclosure indicate the presence of disclosed functions, operations, or elements, and do not limit the addition of one or more functions, operations, or elements. In addition, as used in various embodiments of the present disclosure, the terms "include," "have," and their cognates are intended only to indicate specific features, numbers, steps, operations, elements, components, or combinations of the foregoing, and should not be understood as excluding the presence of one or more other features, numbers, steps, operations, elements, components, or combinations of the foregoing, or the possibility of adding one or more features, numbers, steps, operations, elements, components, or combinations of the foregoing.

[0042] In various embodiments of the present disclosure, the expression "or" or "at least one of A or / and B" includes any or all combinations of the words listed simultaneously. For example, the expression "A or B" or "at least one of A or / and B" may include A, may include B, or may include both A and B.

[0043] The expressions (such as "first", "second", etc.) used in the various embodiments of the present disclosure may modify the various constituent elements in the various embodiments, but may not limit the corresponding constituent elements. For example, the above expressions do not limit the order and / or importance of the elements. The above expressions are only used to distinguish one element from other elements. For example, a first user device and a second user device indicate different user devices, although both are user devices. For example, without departing from the scope of the various embodiments of the present disclosure, a first element may be referred to as a second element, and similarly, a second element may also be referred to as a first element.

[0044] It should be noted that when a component is described as being “connected” to another component, the first component may be directly connected to the second component, and a third component may be “connected” between the first and second components. Conversely, when a component is described as being “directly connected” to another component, it can be understood that there is no third component between the first and second components.

[0045] The term “user” used in various embodiments of the present disclosure may indicate a person using an electronic device or a device (eg, an artificial intelligence electronic device) using the electronic device.

[0046] The terms used in the various embodiments of the present disclosure are only used to describe the purpose of specific embodiments and are not intended to limit the various embodiments of the present disclosure. As used herein, the singular form is intended to also include the plural form, unless the context clearly indicates otherwise. Unless otherwise specified, all terms used herein (including technical terms and scientific terms) have the same meaning as those generally understood by those skilled in the art to which the various embodiments of the present disclosure belong. The terms (such as those defined in generally used dictionaries) will be interpreted as having the same meaning as the contextual meaning in the relevant technical field and will not be interpreted as having an idealized meaning or an overly formal meaning, unless clearly defined in the various embodiments of the present disclosure.

[0047] As the instruction manual Figure 1 and attached Figure 2 As shown, the present invention provides a passive single power unit to realize bilateral resistance exoskeleton device, including a passive motor 101, a receiving assembly 501, a first reducer 201, a second reducer 202, a first transmission steering member 301, a second transmission steering member 302, a first leg assembly 401 and a second leg assembly 402;

[0048] The first reducer 201 and the second reducer 202 are used to reduce the rotation speed and increase the torque;

[0049] The passive motor 101 is disposed in the housing assembly 501 , and includes a stator 1 and a rotor 2 , wherein the stator 1 is rotatably connected to the housing assembly 501 ;

[0050] Specifically, as shown in the appendix to the manual Figure 4 、 5 As shown in Figure 6, the accommodating component 501 includes a waist ring frame 14 and a waist belt 19. The waist ring frame 14 is connected to the waist belt 19. The waist belt 19 is arranged on the side of the waist ring frame 14 close to the human body and is worn at the waist position of the human body through the waist belt 19. The passive motor 101 is arranged in the waist ring frame 14, and the stator 1 is rotatably connected to the waist ring frame 14.

[0051] In terms of manufacturing materials, specifically, the waist ring frame 14 surrounds the human waist to provide rigid support, and can be made of metal materials such as hard aluminum alloy, titanium alloy, titanium aluminum alloy, etc.; the waist belt 19 fits the physiological curve of the human body, can fit the human waist, and can be fixed to the human waist position by magnetic buckles, etc.

[0052] Furthermore, an annular accommodating space is provided inside the accommodating component 501, and the passive motor, the first reducer 201, the second reducer 202, the first transmission steering member 301, and the second transmission steering member 302 are all arranged in the accommodating space, which can save storage space.

[0053] Furthermore, the stator 1 is rotatably connected to the waist ring frame 14 via one or more bearings 15 .

[0054] Optionally, the stator 1 of the passive motor 101 may be rotatably connected to the waist ring frame 14 via a single-row bearing, or may be rotatably connected to the waist ring frame 14 via a double bearing.

[0055] Preferably, the double bearing has better rigidity than the single bearing and can withstand the overturning moment. In this embodiment, the double bearing is used to rotatably connect the stator 1 and the waist ring frame 14.

[0056] The rotor 2 is rotatably connected to one end of the first reducer 201 , and the stator 1 is rotatably connected to one end of the second reducer 202 ; the rotation speed is reduced while the output torque is increased.

[0057] The other end of the first reducer 201 is coaxially rotatably connected to one end of the first transmission steering member 301, and the other end of the second reducer 202 is coaxially rotatably connected to one end of the second transmission steering member 302;

[0058] The other end of the first transmission steering member 301 is rotatably connected to the first leg assembly 401 , and the other end of the second transmission steering member 302 is rotatably connected to the second leg assembly 402 .

[0059] Furthermore, optionally, the reducer may be an RV reducer, a harmonic reducer, or a vector cycloid reducer.

[0060] Preferably, in this embodiment, the first reducer 201 and the second reducer 202 have the same structure, and the first reducer 201 and the second reducer 202 include a multi-stage planetary reduction mechanism. Compared with other reducers, the multi-stage planetary reduction mechanism has the characteristics of light weight, small size, large transmission ratio range, high efficiency, smooth operation, low noise and strong adaptability.

[0061] Specifically, in this embodiment, the achievable reduction ratio of the multi-stage planetary reduction mechanism is greater than 10:1 and less than or equal to 100:1.

[0062] As the instruction manual Figure 3 As shown, the multi-stage planetary reduction mechanism includes a sun gear 3, a plurality of primary planetary gears 4, a primary planetary carrier 5, a plurality of secondary planetary gears 7, a secondary planetary carrier 8 and an inner ring gear 9;

[0063] Further, as the instructions Figure 1 And attached Figure 3As shown, the plurality of primary planetary gears 4 are mounted on the primary planetary carrier 5 on a side facing the sun gear 3; the plurality of secondary planetary gears 7 are mounted on the secondary planetary carrier 8 on a side facing the sun gear 3;

[0064] All of the primary planetary gears 4, the primary planetary carrier 5, all of the secondary planetary gears 7 and the secondary planetary carrier 8 are disposed in the inner ring gear 9, and all of the primary planetary gears 4 and all of the secondary planetary gears 7 are meshed and rotationally connected with the inner ring gear 9;

[0065] One end of the sun gear 3 is coaxially connected to the output end of the passive motor 101, and the output end of the passive motor 101 is the stator 1 or the rotor 2. The other end of the sun gear 3 is externally meshed and connected to the plurality of primary planetary gears 4.

[0066] A gear 6 is provided on the central axis of the first planet carrier on a side away from the sun gear 3, and the gear 6 is externally meshed and transmission-connected with all the secondary planet gears 7;

[0067] A power end 20 for transmission connection to the first transmission steering member 301 or the second transmission steering member 302 is provided on the central axis of the secondary planet carrier 8 on the side away from the sun gear 3 .

[0068] Furthermore, the first transmission steering member 301 and the second transmission steering member 302 include a flexible universal shaft 10 .

[0069] Preferably, the flexible universal joint 10 used in this embodiment can offset relative motion or prevent wear between two rotating parts, thereby improving the service life and reliability of the equipment. The flexible universal joint 10 has very low rigidity, is elastic, and can be freely bent for transmission. It can connect the transmission output shaft and the main reducer input shaft that are not on the same straight line. Even if the angle and distance between the two shafts change frequently, rotational motion and torque can be reliably transmitted. By using the flexible universal joint 10, this embodiment solves the problem of left and right angular coupling, and the left and right structures do not rotate relative to each other. At the same time, the waist can also assist in bearing force, solving the problem of coupling the left and right leg forces.

[0070] The first transmission steering member 301 and the second transmission steering member 302 have the same structure. A first bevel gear 11 is provided on the end of the first transmission steering member 301 away from the multi-stage planetary reduction mechanism.

[0071] A second bevel gear 12 matching the first bevel gear 11 is provided on one end of the first leg assembly 401 close to the first transmission steering member 301;

[0072] The first transmission steering member 301 is coaxially rotatably connected to the first leg assembly 401 through the engagement of the first bevel gear 11 and the second bevel gear 12 .

[0073] A first bevel gear 11 is provided on the end of the second transmission steering member 302 away from the multi-stage planetary reduction mechanism;

[0074] A second bevel gear 12 matching the first bevel gear 11 is provided on one end of the second leg assembly 402 close to the second transmission steering member 302;

[0075] The second transmission steering member 302 is coaxially rotatably connected to the second leg assembly 402 through the engagement of the first bevel gear 11 and the second bevel gear 12 .

[0076] The first bevel gear 11 is meshed with the second bevel gear 12 to achieve the conversion of transmission direction. Specifically, in this embodiment, 90° bevel gears are used to transmit force from the first bevel gear 11 and the second bevel gear 12 to the first leg assembly 401 or the second leg assembly 402, thereby generating resistance to the legs.

[0077] Specifically, bevel gear transmission can change the transmission direction. Its structure is compact and space-saving. It also offers high efficiency, stable transmission ratios, and improved transmission performance. Bevel gear transmission can achieve a larger transmission ratio, improving its ability to reduce speed and increase output torque. Furthermore, bevel gear transmissions are characterized by smooth and reliable operation, wear resistance, long life, and low noise.

[0078] Further, as the instructions Figure 1 As shown, the first leg assembly 401 and the second leg assembly 402 have the same structure and are mirror-symmetrical. The first leg assembly 401 includes a first connecting member 16, a second connecting member 17 and a resistance member 18;

[0079] Furthermore, the second bevel gear 12 is arranged on one end of the first connecting member 16, one end of the second connecting member 17 is hinged to the other end of the first connecting member 16, and the other end of the second connecting member 17 is rotatably connected to the resistance member 18 through the rotating shaft 13, and can be folded and stored when not in use, which helps to save storage space.

[0080] Furthermore, there is an appropriate degree of freedom between the first connecting member 16, the second connecting member 17 and the resistance member 18, and the first connecting member 16 and the second connecting member 17 do not directly contact the human legs when worn for exercise, and have a certain elastic activity space, which can be fine-tuned relative to the human legs. At the same time, it can adapt to the slight changes in leg length when the human body performs different movements, and solve the problem of conflict of degrees of freedom; thereby, it can better adapt to the different forms of the human legs during exercise, and will not have an adverse effect on the human body's exercise ability, which helps to improve versatility and applicability.

[0081] Furthermore, the first connecting member 16, the second connecting member 17 and the resistance member 18 are all slender structures, which simplifies the structure of the exoskeleton, makes the layout more ergonomic, and forms an effective drive between the whole; the control is simple and precise, the volume is small, and the weight of the leg exoskeleton is reduced; the activity performance of the leg exoskeleton is improved, and it is easy to wear, which enhances the user experience.

[0082] Preferably, in this embodiment, the resistance member 18 fits the horizontal front of the human thigh to increase the contact area. When stopping, it is beneficial to better exert the resistance exerted on the leg assembly and assist the person to stop from a moving state.

[0083] Mechanical exoskeletons need to be wearable, so their mechanical system design and joint freedom should match the structure and freedom of the human body. In addition, the materials must be light and strong, and the structural strength requirements are very high. Once a hard material breaks, it is very likely to cause harm to the human body.

[0084] Optionally, the mechanical exoskeleton can be made of one or more materials such as aviation duralumin, titanium alloy, titanium-aluminum alloy, composite materials, nanomaterials, flexible textile materials, etc.

[0085] Specifically, in this embodiment, the waist component and the leg component are both made of carbon fiber material, which is relatively light and high in strength, meets the structural strength requirements of a mechanical exoskeleton, and is also fatigue-resistant. While ensuring the safety of the user during use, it reduces the weight of the entire exoskeleton device, thereby reducing the burden on the user.

[0086] During use, when the left leg is stationary and the right leg is still moving, the force passes through the first transmission steering member 301 and the first reducer 201, driving the rotor 2 to rotate. The rotation of the rotor 2 cuts the magnetic flux lines in the magnetic field of the stator 1, generating resistance in the direction of hindering the rotation of the rotor 2. The speed is reduced and the torque is increased by the first reducer 201. The force passes through the first transmission steering member 301 to achieve a change in the direction of the force and is transmitted to the first leg component 401 to achieve resistance to the right leg; when the right leg is stationary and the left leg is still moving, the force passes through the second transmission steering member 302 and the second reducer 202 to drive the stator 1 to rotate. The stator 1 and the rotor 2 move relative to each other. The rotor 2 cuts the magnetic flux lines in the magnetic field of the stator 1, generating resistance. The speed is reduced and the torque is increased by the second reducer 202. The force passes through the second transmission steering member 302 to achieve a change in the direction of the force and is transmitted to the second leg component 402 to achieve resistance to the left leg.

[0087] In summary, this embodiment provides a passive single power unit to realize a bilateral resistance exoskeleton device, including a passive motor 101, a housing component 501, a first reducer 201, a second reducer 202, a first transmission steering member 301, a second transmission steering member 302, a first leg component 401, and a second leg component 402.

[0088] The rotor 2 of the passive motor 101 cuts through the magnetic flux lines, generating resistance. Compared to existing technologies, this technology eliminates the need for battery power, resulting in lower costs, lighter weight, and a simpler structure. This technology offers unlimited battery life, avoids the dangers of prolonged battery use, and is highly safe, aligning with the principles of health, environmental protection, and environmental sustainability. Both the first and second transmission steering members 301, 302 include flexible universal joints 10, addressing both angular coupling and left-right resistance coupling.

[0089] Those skilled in the art will understand that the accompanying drawings are merely schematic diagrams of a preferred implementation scenario, and the modules or processes in the accompanying drawings are not necessarily required to implement the present invention.

[0090] Those skilled in the art will appreciate that the modules in the devices in the implementation scenario can be distributed in the devices of the implementation scenario according to the implementation scenario description, or can be modified accordingly and located in one or more devices different from the implementation scenario. The modules in the above implementation scenario can be combined into one module or further split into multiple submodules.

[0091] The above serial numbers of the present invention are for description only and do not represent the advantages or disadvantages of the implementation scenarios.

[0092] The above disclosures are only several specific implementation scenarios of the present invention. However, the present invention is not limited thereto. Any changes that can be conceived by those skilled in the art should fall within the scope of protection of the present invention.

Claims

1. A passive single power unit realizes bilateral resistance exoskeleton device, characterized in that: The vehicle comprises a passive motor, a receiving assembly, a first reducer, a second reducer, a first transmission steering member, a second transmission steering member, a first leg assembly and a second leg assembly; The first reducer and the second reducer are used to reduce the rotation speed and increase the torque; The first reducer includes a multi-stage planetary reduction mechanism; the accommodation assembly includes a waist ring frame and a waist belt, the waist ring frame is connected to the waist belt, and the waist belt is arranged on the side of the waist ring frame close to the human body; The passive motor is disposed in the accommodating assembly, and the passive motor includes a stator and a rotor, and the stator is rotatably connected to the accommodating assembly; The rotor is rotatably connected to one end of the first reducer, and the stator is rotatably connected to one end of the second reducer; The other end of the first reducer is rotatably connected to one end of the first transmission steering member, and the other end of the second reducer is rotatably connected to one end of the second transmission steering member; The other end of the first transmission steering member is rotatably connected to the first leg assembly, and the other end of the second transmission steering member is rotatably connected to the second leg assembly.

2. A passive single power unit bilateral resistance exoskeleton device according to claim 1, characterized in that: The passive motor is arranged in the waist ring frame, and the stator is rotatably connected to the waist ring frame.

3. A passive single power unit bilateral resistance exoskeleton device according to claim 1 or 2, characterized in that: The stator is rotatably connected to the accommodating assembly via a bearing.

4. The passive single power unit bilateral resistance exoskeleton device according to claim 3, characterized in that: The number of the bearings is one or more.

5. A passive single power unit bilateral resistance exoskeleton device according to claim 1 or 2, characterized in that: An accommodating space is provided inside the accommodating component, and the passive motor, the first reducer, the second reducer, the first transmission steering member, and the second transmission steering member are all arranged in the accommodating space.

6. The passive single power unit bilateral resistance exoskeleton device according to claim 1, characterized in that: The first reducer and the second reducer have the same structure.

7. A passive single power unit bilateral resistance exoskeleton device according to claim 1 or 6, characterized in that: The first reducer or the second reducer includes a sun gear, a plurality of primary planetary gears, a primary planetary carrier, a plurality of secondary planetary gears, a secondary planetary carrier and an inner ring gear; A plurality of the first-stage planetary gears are mounted on a side of the first-stage planetary carrier facing the sun gear; A plurality of secondary planetary gears are mounted on a side of the secondary planetary carrier facing the sun gear; All of the first-stage planetary gears, the first-stage planetary carrier, all of the second-stage planetary gears and the second-stage planetary carrier are disposed in the inner gear ring, and all of the first-stage planetary gears and all of the second-stage planetary gears are meshed with the inner gear ring; One end of the sun gear is coaxially connected to the output end of the passive motor, the output end of the passive motor is the stator or the rotor, and the other end of the sun gear is meshed and transmission-connected with all the first-stage planetary gears; A gear is provided on the central axis of the first-stage planet carrier away from the sun gear, and the gear is meshed with all the second-stage planet gears; A power end for transmission connection to the first transmission steering member or the second transmission steering member is provided on the central shaft on the side of the secondary planetary carrier away from the sun gear.

8. The passive single power unit bilateral resistance exoskeleton device according to claim 1, characterized in that: The first transmission steering member and the second transmission steering member each include a flexible universal shaft.

9. A passive single power unit bilateral resistance exoskeleton device according to claim 1 or 8, characterized in that: The first transmission steering member and the second transmission steering member have the same structure, and a first bevel gear is provided on the end of the first transmission steering member away from the multi-stage planetary reduction mechanism; A second bevel gear matching the first bevel gear is provided on one end of the first leg assembly close to the first transmission steering member; The first transmission steering member is connected to the first leg assembly in a coaxial rotation manner through the meshing of the first bevel gear and the second bevel gear.

10. The passive single power unit bilateral resistance exoskeleton device according to claim 9, characterized in that: The first leg assembly and the second leg assembly have the same structure and are mirror-symmetrical. The first leg assembly includes a first connecting member, a second connecting member, and a resistance member. The second bevel gear is arranged on one end of the first connecting member, one end of the second connecting member is hinged to the other end of the first connecting member, and the other end of the second connecting member is rotationally connected to the resistance member through a rotating shaft.

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