A heterogeneous exoskeleton robot

Abstract

The application discloses a heterogeneous exoskeleton robot which comprises a back and two leg parts, the back is rotatably connected with the two leg parts; further comprising an adjustable cross part belt and an adjustable upper limb structure for underarm support; each leg part comprises a power driving structure, a telescopic leg, a touch ground detection structure and a flexible pressure detection structure; the flexible pressure detection structure comprises a hydraulic detection module and a hydraulic sensor module; the power driving structure is rotatably connected with the back; the upper end of the telescopic leg is connected with the output part of the power driving structure; the touch ground detection structure is arranged at the lower end of the telescopic leg; the hydraulic detection module is arranged on the touch ground detection structure and connected with the hydraulic sensor module arranged on the telescopic leg. The application has the advantages of compact structure, reduction of human body weight, overcoming of the influence of gravity on human body walking, realization of gait detection through a hydraulic mode and high reliability.

Description

Technical Field

[0001] This invention relates to an exoskeleton robot, specifically a heterogeneous exoskeleton robot. Background Technology

[0002] Currently, exoskeleton robot technology is a hot topic in the field of robotics. However, most current exoskeleton robots are isomorphic, meaning the exoskeleton and the human body are rigidly connected via multiple straps. Due to the structural differences between the human body and the exoskeleton, isomorphism often leads to deviations in the force applied by the exoskeleton joints compared to the human joints. Furthermore, under heavy loads, exoskeleton robots cannot operate at an optimal load-bearing state. Current exoskeleton robots often use motors to directly drive the joints, resulting in significant joint weight and preventing the motors from achieving maximum output efficiency. Many heavy-duty exoskeletons also require electronic foot detection, which restricts movement, and these foot detection devices are prone to damage and have poor adaptability. More importantly, existing exoskeleton robots do not consider the impact of human body weight on energy consumption. During walking, the human body needs to overcome ground reaction forces and gravity to maintain stability and move forward, a process that consumes energy, with approximately 60% of the energy used to overcome gravity. Summary of the Invention

[0003] To overcome the shortcomings of existing technologies, this invention provides a heterogeneous exoskeleton robot. This exoskeleton robot overcomes the problems of the influence of human body weight on walking, the complexity of isomorphic structures, misalignment of human and robot joints, and the inability of motor torque to be applied to human joints.

[0004] A heterogeneous exoskeleton robot includes a back and two legs, with the back rotatably connected to the two legs;

[0005] Its features include: an adjustable hip strap and an adjustable upper limb structure for underarm support;

[0006] Each leg includes a power drive structure, a retractable leg, a ground contact detection structure, and a flexible pressure detection structure;

[0007] The flexible pressure detection structure includes a hydraulic detection module and a hydraulic sensor module;

[0008] The back is equipped with an adjustable upper limb structure, two adjustable hip straps, and two legs on each side.

[0009] The power drive structure is rotatably connected to the back to enable the retractable leg to swing back and forth.

[0010] The upper end of the retractable leg is connected to the output of the power drive structure, which is used to drive the vertical extension and retraction translational movement of the retractable leg to adapt to the gait cycle.

[0011] The ground contact detection structure is arranged at the lower end of the retractable leg to assist in determining the gait cycle of the leg;

[0012] The hydraulic detection module is arranged on the ground contact detection structure and connected to the hydraulic sensor module arranged on the retractable leg. The flexible pressure detection structure is used to detect human gait data.

[0013] Furthermore, the power drive structure includes a leg base, a motor, a leg housing, a guide rail assembly, a slider assembly, a first pulley, and a second pulley;

[0014] The guide rail assembly is fixed to the leg base, which is rotatably mounted on the side of the back. The motor is fixed to the leg base, pulley one is fixed to the output shaft of the motor, and pulley two is rotatably mounted on the pre-tensioning slider. The pre-tensioning slider is slidably mounted on the lower part of the leg base and is threadedly connected to screws arranged on the leg base. Pulley one is connected to pulley two via a belt. The leg housing covers pulley one and pulley two. The slider assembly is slidably mounted on the guide rail assembly and fixed to the belt. The upper end of the telescopic leg is fixed to the slider assembly.

[0015] Furthermore, each foldable upper limb structure includes a slide rail slider assembly, an upper limb rotating seat, a lower sensor base, a telescopic rod, a vertical rod, and an upper limb support component; the lower sensor base is installed on the back and is rotatably connected to the upper limb rotating seat; the two ends of the telescopic rod are respectively connected to the upper limb rotating seat and the vertical rod; the upper limb support component is fixed at the upper end of the vertical rod; the slide rail of the slide rail slider assembly is installed on the back; and the lower sensor base is connected to the slider of the slide rail slider assembly.

[0016] Furthermore, the hydraulic detection module includes a flexible hose and two layers of insoles. A fixed flexible hose is arranged between the two layers of insoles. One end of the flexible hose is closed and the other end is open. The other end is led out and connected to the hydraulic sensor module. The flexible hose is filled with non-conductive silicone oil.

[0017] The advantages of this invention compared to the prior art are:

[0018] I. This invention utilizes a linkage telescopic method based on the principle of a two-force bar to enable the exoskeleton to bear weight while reducing the weight of the human body. The reduction in body weight is achieved through adjustable flexible straps at the hips and a foldable upper limb structure, significantly minimizing the energy consumed by the body to overcome gravity during movement, resulting in an effortless experience akin to walking in space.

[0019] II. The designed flexible foot detection device can detect human gait information and the pressure value on the sole surface in real time. Compared with electronic detection, it has the advantages of compact structure, light weight, high reliability, low cost, high accuracy, and easy wearability. It has a strong adaptability to the complex requirements of the exoskeleton working environment.

[0020] Third, compared with homogeneous exoskeleton robots, heterogeneous exoskeleton robots reduce the problem of joint misalignment caused by exoskeleton binding, greatly improve the comfort of human movement, reduce the extra energy consumption of the human body, and the telescopic rod exoskeleton is more adaptable to people of different heights. Through force feedback control strategy, it can achieve adaptive leg length and is more intelligent.

[0021] The technical solution of the present invention will be further described below with reference to the accompanying drawings and embodiments: Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the heterogeneous exoskeleton robot of the present invention, viewed from the front.

[0023] Figure 2 This is a schematic diagram of the heterogeneous exoskeleton robot of the present invention, viewed from the rear.

[0024] Figure 3 This is a diagram of the legs;

[0025] Figure 4 A schematic diagram of the back and foldable upper limb structure;

[0026] Figure 5 This is a schematic diagram of a foldable upper limb structure;

[0027] Figure 6 This is a schematic diagram of the ground contact detection structure;

[0028] Figure 7 This is a diagram illustrating the connection between the back and legs.

[0029] Figure 8 A schematic diagram showing the arrangement of sensors and controllers;

[0030] Figure 9 This is a schematic diagram of a rigid foot arrangement;

[0031] Figure 10 A schematic diagram of one arrangement of a hydraulic detection module;

[0032] Figure 11 This is a schematic diagram of another arrangement of the hydraulic detection module. Detailed Implementation

[0033] The embodiments of the technical solution of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that, unless otherwise stated, the technical or scientific terms used in this application should have the ordinary meaning understood by those skilled in the art.

[0034] Combination Figure 1 , Figure 2 and Figure 10 The description states that a heterogeneous exoskeleton robot includes a back A and two legs B, with the back A rotatably connected to the two legs B; it also includes an adjustable hip strap 27 and a foldable upper limb structure 3 for underarm support.

[0035] Each leg B includes a power drive structure B1, a retractable leg B2, a ground contact detection structure B3, and a flexible pressure detection structure B4.

[0036] The flexible pressure detection structure B4 includes a hydraulic detection module 47 and a hydraulic sensor module 57.

[0037] An adjustable upper limb structure 3, two adjustable hip straps 27, and two leg sections B are respectively installed on both sides of the back A.

[0038] The power drive structure B1 is rotatably connected to the back A so that the retractable leg B2 can swing back and forth.

[0039] The upper end of the retractable leg B2 is connected to the output of the power drive structure B1. The power drive structure B1 receives instructions from the main controller arranged on the back A to drive the vertical extension and translation of the retractable leg B2 to adapt to the gait cycle.

[0040] The ground contact detection structure B3 is arranged at the lower end of the retractable leg B2 to assist in determining the gait cycle of the leg B.

[0041] The hydraulic detection module 47 is arranged on the ground contact detection structure B3 and connected to the hydraulic sensor module 57 arranged on the retractable leg B2. The flexible pressure detection structure B4 is used to detect human gait data and transmit the gait data to the main controller.

[0042] This embodiment not only reduces the load weight but also reduces the body's own weight through the adjustable hip strap 27 and the adjustable upper limb structure 3 that supports the body under the armpits, overcoming the effects of gravity on walking, much like walking in space, thus reducing energy consumption. Furthermore, there is a flexible pressure detection structure B4 that uses hydraulic pressure to achieve gait detection, ensuring high reliability. The power drive structure B1 adapts to the length of the legs, eliminating the need for manual adjustment.

[0043] This invention presents a heterogeneous exoskeleton robot based on a synchronous belt-driven telescopic rod mechanism. Compared to homogeneous exoskeletons, it reduces the straps on the lower legs and thighs, significantly improving wearing comfort. The heterogeneous exoskeleton robot is based on the principle of a two-force bar, directly transferring the load and human body mass to the ground, achieving static load relief. Adjustable hip straps 27 and adjustable upper limb structures 3 for underarm support, via retractable legs B2, lift the human body, reducing the weight exerted on the ground and achieving a spacewalk-like effect, thus reducing energy consumption.

[0044] Usually, such as Figure 3 As shown, the telescopic leg B2 includes a first telescopic rod 34 and a second telescopic rod 36; the upper end of the first telescopic rod 34 is fixedly connected to the output part of the drive structure B1, the lower end of the first telescopic rod 34 is fixedly connected to the upper end of the second telescopic rod 36, and the lower end of the second telescopic rod 36 is connected to the ground contact detection structure B3.

[0045] Furthermore, such as Figure 2 and Figure 3 As shown, the power drive structure B1 includes a leg base 30, a motor 38, a leg shell 31, a guide rail assembly 32, a slider assembly 33, a first pulley 39, and a second pulley 41;

[0046] The guide rail assembly 32 and the leg housing 31 are respectively fixed on the leg base 30. The leg base 30 is rotatably mounted on the side of the back A. The motor 38 is fixed on the leg base 30. The first pulley 39 is fixed on the output shaft of the motor 38. The second pulley 41 is rotatably mounted on the pre-tensioning slider 40-2. The pre-tensioning slider 40-2 is slidably mounted on the lower part of the leg base 30. The pre-tensioning slider 40-2 is threadedly connected to the screws arranged on the leg base 30. The first pulley 39 is connected to the second pulley 41 via a belt. The leg housing 31 is fixed on the leg base 30 and covers the first pulley 39 and the second pulley 41. The slider assembly 33 is slidably mounted on the guide rail assembly 32 and fixed on the belt. The upper end of the telescopic leg B2 is fixed on the slider assembly 33.

[0047] In this embodiment, pulley 41 is an adjustable component, which is mounted on the pre-tension slider 40-2. The pre-tension slider 40-2 is slidably disposed at the lower part of the leg base 30 along the leg length direction. The pre-tension slider 40-2 is threadedly connected to a screw arranged on the leg base 30. By rotating the screw, the pre-tension slider 40-2 and pulley 41 move up and down, thereby realizing the tension change of the belt.

[0048] Optionally, the slider assembly 33 secures the telescopic rod 34 to the slider on the guide rail assembly 32 via screws. Driven by the motor 38, the telescopic rod 34 rotates the pulley 39, thereby causing the telescopic rod 34 to perform a vertical translational movement. Only the soles of the feet are connected to the exoskeleton robot, greatly reducing the number of straps and improving the comfort of wearing the exoskeleton robot.

[0049] The motor 38 is fixed to the leg base 30 by screws. The leg base 30 forms a rotary joint with the hip joint connector 26 through the hip joint axis, and the leg base 30 can rotate around the hip joint connector 26.

[0050] As one possible implementation, such as Figure 4 As shown, each foldable upper limb structure 3 includes a slide rail slider assembly 14, an upper limb rotating seat 16, a lower sensor base 17, a telescopic rod 18, a vertical rod 20, and an upper limb support 21. The lower sensor base 17 is mounted on the back A and is rotatably connected to the upper limb rotating seat 16. The two ends of the telescopic rod 18 are respectively connected to the upper limb rotating seat 16 and the vertical rod 20. The upper limb support 21 is fixed to the upper end of the vertical rod 20. The slide rail of the slide rail slider assembly 14 is mounted on the back A, and the lower sensor base 17 is connected to the slider of the slide rail slider assembly 14.

[0051] like Figure 5 As shown, the telescopic rod 18 in this embodiment includes a hollow connecting rod 18-1 and a hollow connecting rod 18-2. The connecting rod 18-2 is inserted into the connecting rod 18-1, and the length of the two is adjusted by bolts through the through holes provided on their respective parts.

[0052] In this embodiment, the upper limb rotating seat 16 is connected to the lower sensor base 17 via a pin, forming a rotating joint to achieve rotational movement. Simultaneously, a tension / compression sensor is installed on the lower sensor base 17. When the lower sensor base 17, mounted on the back A, is subjected to the weight of the person supported on the upper limb support 21, the tension / compression sensor can detect the force acting on the upper limb support 21. This arrangement helps reduce the weight of the human body and overcome the impact of gravity on walking. The foldable upper limb structure primarily provides support for the armpits, and it can be quickly folded and unfolded according to the user's habits and needs.

[0053] Based on the above implementation plan, such as Figure 4 As shown, the back panel A includes a back plate 12, two shoulder straps 4, and two back detection devices; one end of each shoulder strap 4 is fixed to the front and back of the back plate 12, each shoulder strap 4 crosses the back plate 12, and the other end of each shoulder strap 4 is slidably disposed on the rear back of the back plate 12, and the other end of each shoulder strap 4 is connected to the back detection device fixed to the rear back of the back plate 12.

[0054] Furthermore, each of the back detection devices includes an upper sensor base 11 and a tension / compression sensor; the upper sensor base 11 is mounted on the back of the back panel 12, the tension / compression sensor is mounted on the upper sensor base 11, and the other end of the shoulder strap 4 is connected to the tension / compression sensor via a flexible cord.

[0055] The shoulder strap 4 is adjustable and passes through the shoulder strap constraint 1 to ensure it does not slip. One end of the shoulder strap 4 is fixed to the tension / compression sensor on the upper sensor base 11, and the other end is fixed to the back plate 12. To ensure that the force exerted by the shoulder strap 4 on the sensor is only tension, two symmetrical slider rail assemblies 2 are added to the back plate 12. The shoulder strap 4 is fixed to the sliders with screws. Under the constraint of the sliders, the force exerted by the shoulder strap 4 on the tension / compression sensor will be only tension. A flexible back pad is installed in the front of the back plate 12 to ensure the comfort of the wearer.

[0056] Based on the above implementation scheme, the back panel 12, hollow connecting rod 18-1, hollow connecting rod 28-2, and vertical rod 20 are all made of carbon fiber. Hollow connecting rod 28-2 can extend and retract within hollow connecting rod 18-1, adjusting its length according to the relationship between the armpit and the back panel 12, and is fixedly connected via a spring pin. The upper limb rotation seat 16 is connected to hollow connecting rod 18-1 by screws, and hollow connecting rod 28-2 is connected to the vertical rod 20 via upper limb connector 19 and screws.

[0057] Furthermore, such as Figure 7 As shown, a hip joint outward swing connector 23 is installed on the lower part of the back plate 12. One end of the hip joint outward swing connector 23 is rotatably connected to the back plate 12, and the rotation axis is perpendicular to the back plate 12. A hip connecting rod 28 is installed on the other end of the hip joint outward swing connector 23. An adjustable crotch strap 27 is installed on the hip connecting rod 28. A hip joint connector 26 is installed at the end of the hip connecting rod 28. The leg base 30 is rotatably connected to the hip joint connector 26 through the hip joint rotation axis 37. An encoder 62 is installed on the rotating end of the hip joint outward swing connector 23.

[0058] The lower end of the backplate 12 is equipped with a hip joint external swing connector 23, and an oil-free bushing is mounted on the hip joint external swing shaft 61. The hip joint external swing connector 23 and the oil-free bushing are connected by a retaining spring through a shaft at the end of the hip joint external swing shaft 61, thereby realizing the rotational movement of the hip joint external swing connector 23. Figure 7As shown. A magnet is mounted on the hip joint external swing shaft 61, and an encoder 62 is mounted on the hip joint external swing connector 23. An encoder housing 22 is mounted on the outside of the encoder 62. The encoder 62 uses the Hall effect to detect the rotation angle. A hip connecting rod 28 is mounted on the outside of the hip joint external swing connector 23. A crotch strap fixing component 25 and a cable protection component 24 are mounted on the hip connecting rod 28. A hip joint connector 26 is mounted at the end of the hip connecting rod 28. The crotch strap fixing component 25 is fixed to the adjustable crotch strap 27 by screws. The support plate base 6 and the support plate 7 are connected by a pin. The support plate 7 rotates around the pin. The load can be placed on the support plate for support. When the support plate 7 is not in use, it can be rotated and stored in a vertical position. The waist belt 5 is fixed to the lower part of the back plate 12.

[0059] Furthermore, such as Figure 6 As shown, the ground contact detection structure B3 includes a photoelectric switch 48, a leg end cap 51, a spring 52, a rigid foot 55, a support rod 60, and a foot support member 63;

[0060] The leg end cap 51 is fixed to the lower end of the telescopic leg B2. The support rod 60 is slidably disposed in the hollow cavity of the telescopic rod 36 and is radially limited by at least a pair of pins 50 disposed in the telescopic rod 36. The photoelectric switch 48 is positioned in the telescopic rod 36 and disposed on the top of the support rod 60. The lower end of the support rod 60 is fixedly connected to the foot support member 63. The foot support member 63 is hinged to the rigid foot 55. A spring 52 is sleeved on the support rod 60. The two ends of the spring 52 abut against the lower surface of the leg end cap 51 and the upper surface of the foot support member 63.

[0061] The telescopic rod 34 has a telescopic support rod 60 at its end. A shock-absorbing spring 52 is installed on the outside of the support rod 60 to reduce the impact force from the ground on the main body. When the foot touches the ground, the support rod 60 triggers a photoelectric switch 48 to detect the ground contact status. A limit pin 50 ensures that the support rod 60 can only move vertically. Figure 6 As shown. The rigid footstock 55 is fixed to the ball joint 54 by screws, allowing for rotational range of ±360 degrees and tilt angle of ±15 degrees along the axial direction, satisfying the normal range of motion of the human foot. Figure 10 As shown, the hydraulic detection module 47 is placed inside the shoe 46. The front strap 45 and the rear strap 49 restrain the shoe and can be adjusted according to the size of the shoe 46.

[0062] like Figure 8 and 10As shown. The hydraulic detection module 47 includes a flexible hose 47-1 and two layers of insoles. The flexible hose 47-1 is arranged and fixed between the two layers of insoles. One end of the flexible hose 47-1 is closed and the other end is open. The other end is led out and connected to the hydraulic sensor module 57. The flexible hose 47-1 is filled with non-conductive silicone oil.

[0063] The end portion of the flexible hose 47-1 is constrained and fixed to the hydraulic sensor module 57 by the hose fixing member 43. The hydraulic sensor module 57 is placed inside the hydraulic sensor protective shell 56. The hydraulic sensor protective shell 56 is fixed to the carbon fiber rod connecting base 58 by screws. The telescopic rod 1 34 and the telescopic rod 2 36 are fixed to the carbon fiber rod connecting base 58.

[0064] In one embodiment, the hydraulic detection module 47 is designed such that a flexible hose 47-1 is positioned between two layers of insoles, which are secured with mesh-like single-sided tape. Optionally, the flexible hose 47-1 has an inner diameter of 2mm and an outer diameter of 3mm. The flexible hose 47-1 is filled with non-conductive silicone oil. There are two types of flexible pressure detection arrangements: one is a simple detection method using only one flexible hose 47-1, such as... Figure 10 As shown; another type is a multi-point detection arrangement, where multi-point detection is as follows: Figure 11 As shown, one flexible tube is positioned at the heel, one at the forefoot, and two in the middle. The end of the flexible tube 47-1 extends from the heel and is wrapped with a thicker tube. Figure 8 As shown, the heel of the shoe has a hose protector 59 to prevent hose damage from causing pressure change detection errors.

[0065] Based on the above scheme, a control box 10 and a battery box 9 are also installed on the back of the back plate 12. An IMU sensor 42 and a controller 35 are installed at the lower end of the telescopic rod 36. The battery box 9 supplies power to the power drive structure B1, the ground contact detection structure B3, and the hydraulic sensor module 57. The controller 35 transmits the data from the IMU sensor 42 and the hydraulic sensor module 57 to the control box 10. The control box 10 sends the motor torque data to the controller 35, and the controller controls the start and stop of the motor 38. The control box contains the IMU sensor, the main controller, the transformer module, etc. The overall structure (legs and back plate) is made of carbon fiber, which has good strength and light weight. Key components (shafts, support components, etc.) are made of aluminum alloy and have undergone lightweight treatment, so that the overall weight of the exoskeleton, including the electrical system, does not exceed 7kg. The main body is made of carbon fiber, and key complex parts are made of aluminum alloy. The heterogeneous exoskeleton robot is fixed to the human body through adjustable shoulder straps, waist belts, hip straps, and foot straps. Compared to isomorphic exoskeletons, the reduction of straps on the lower legs and thighs greatly improves the comfort of wearing exoskeletons.

[0066] Specific principles and operating process:

[0067] Motor 38 (e.g., a disc motor) rotates, driving the pulley and belt to rotate, which in turn drives the retractable leg B2 to move up and down, thereby moving the human leg. A flexible pressure detection structure B4 on the sole of the foot detects the human gait state. A photoelectric switch assists in determining the support and swing phases of the leg. When the detected force of the flexible pressure detection structure B4 on the sole of the foot exceeds a set threshold of 1, the exoskeleton will be in the support phase, at which point the disc motor operates in the torque loop. The total support force provided by the two legs of the exoskeleton robot is set to 20 kg (this setting can be modified), and the 20 kg support force is distributed proportionally between the two feet. The formula is as follows:

[0068]

[0069] Where F1 is the force exerted by the exoskeleton on the left foot, and F2 is the force exerted by the exoskeleton on the right foot. It is a flexible pressure

[0070] The force detection structure detects the force on the left foot. This indicates that the flexible pressure detection structure detects the force on the right foot.

[0071] The effect is that the retractable leg B2 moves downward, which in turn drives the backplate 12 and hip connecting rod 28 upward. The adjustable hip straps 27 and adjustable upper limb structure 3 then lift the body upward, reducing the body's weight. In working mode one, for example, when climbing, as the swing phase switches to the support phase, the retractable leg B2 extends, lifting the body upward and assisting in climbing. When descending, the support leg bends while still supporting the body's weight; the exoskeleton provides auxiliary support, reducing knee joint damage. In working mode two, for example, when the body squats, the adjustable hip straps 27 and foldable upper limb structure 3 of the exoskeleton robot support the weight, acting like a chair and reducing knee damage. Because the motor is in torque loop mode, the load on the body can still be unloaded. The lower limb assist device (exoskeleton robot) is equivalent to a two-force bar, effectively transferring the load to the ground, achieving static unloading.

[0072] When the force detected by the flexible foot pressure detection structure B4 is less than the set threshold 2, the exoskeleton robot is in the swing phase, and motor 38 remains in the torque loop. At this time, motor 38 uses the motor encoder to determine the direction of the human leg movement to assist the human in lifting and landing. There is a certain gap between threshold 1 and threshold 2 to prevent the exoskeleton state from switching too quickly and causing program errors.

[0073] The present invention has been disclosed above with reference to preferred embodiments, but it is not intended to limit the present invention. Any person skilled in the art can make some modifications or alterations to the above-disclosed structure and technical content to create equivalent embodiments without departing from the scope of the present invention, and all such modifications or alterations shall still fall within the scope of the present invention.

Claims

1. A heterogeneous exoskeleton robot, comprising a back (A) and two legs (B), wherein the back (A) and the two legs (B) are rotatably connected; characterized in that: It also includes adjustable hip straps (27) and an adjustable upper limb structure (3) for underarm support; each leg (B) includes a power drive structure (B1), a retractable leg (B2), a ground contact detection structure (B3), and a flexible pressure detection structure (B4); the flexible pressure detection structure (B4) includes a hydraulic detection module (47) and a hydraulic sensor module (57); the back (A) is equipped with an adjustable upper limb structure (3), two adjustable hip straps (27), and two legs (B) on both sides respectively; the power drive structure (B1) is rotatably connected to the back (A) to enable the retractable leg (B2) to swing back and forth; the upper end of the retractable leg (B2) is connected to the output of the power drive structure (B1) to drive the vertical extension and translational movement of the retractable leg (B2) to adapt to The gait cycle is determined by the ground contact detection structure (B3) arranged at the lower end of the retractable leg (B2) to assist in determining the gait cycle of the leg (B); each adjustable upper limb structure (3) includes a slide rail slider assembly (14), an upper limb rotating seat (16), a lower sensor base (17), a telescopic rod (18), a vertical rod (20), and an upper limb support (21); the lower sensor base (17) is mounted on the back (A), the lower sensor base (17) is rotatably connected to the upper limb rotating seat (16), the two ends of the telescopic rod (18) are respectively connected to the upper limb rotating seat (16) and the vertical rod (20), the upper end of the vertical rod (20) is fixed with the upper limb support (21), the slide rail of the slide rail slider assembly (14) is mounted on the back (A), and the lower sensor base (17) is connected to the slider of the slide rail slider assembly (14); The hydraulic detection module (47) is arranged on the ground contact detection structure (B3) and connected to the hydraulic sensor module (57) arranged on the retractable leg (B2). The flexible pressure detection structure (B4) is used to detect human gait data. The retractable leg (B2) includes a first telescopic rod (34) and a second telescopic rod (36). The upper end of the first telescopic rod (34) is fixed to the output part of the drive structure (B1), and the lower end of the first telescopic rod (34) is fixed to the upper end of the second telescopic rod (36). The lower end of the second telescopic rod (36) is connected to the ground contact detection structure (B3). The hydraulic detection module (47) includes a flexible hose (47-1) and two layers of insoles. A fixed flexible hose (47-1) is arranged between the upper and lower layers of insoles. One end of the flexible hose (47-1) is closed, and the other end is open. The other end is led out and connected to the hydraulic sensor module (57). The tube (47-1) is filled with non-conductive silicone oil; the ground contact detection structure (B3) includes a photoelectric switch (48), a leg end cap (51), a spring (52), a rigid foot (55), a support rod (60), and a foot support (63); the leg end cap (51) is fixed to the lower end of the telescopic leg (B2), and the support rod (60) is slidably disposed in the hollow cavity of the telescopic rod two (36) and is disposed on the telescopic rod two (36). At least one pair of pins (50) are radially limited inside, photoelectric switch (48) is positioned inside telescopic rod two (36) and set on top of support rod (60), the lower end of support rod (60) is fixed to foot support member (63), foot support member (63) is hinged to rigid foot (55), spring (52) is sleeved on support rod (60), and the two ends of spring (52) abut against the lower surface of leg end cap (51) and the upper surface of foot support member (63); The power drive structure (B1) includes a motor (38), and the back (A) includes a back plate (12). A control box (10) and a battery box (9) are also installed on the back of the back plate (12). An IMU sensor (42) and a controller (35) are installed at the lower end of the telescopic rod (36). The battery box (9) supplies power to the power drive structure (B1), the ground contact detection structure (B3), and the hydraulic sensor module (57). The controller (35) transmits the data of the IMU sensor (42) and the hydraulic sensor module (57) to the control box (10). The control box (10) sends the data to the controller (35). The controller controls the motor (38) to start and stop.

2. The heterogeneous exoskeleton robot according to claim 1, characterized in that: The power drive structure (B1) also includes a leg base (30), a leg shell (31), a guide rail assembly (32), a slider assembly (33), a pulley one (39), a pulley two (41), and a preloaded slider (40-2). The guide rail assembly (32) is fixed on the leg base (30), which is rotatably mounted on the side of the back (A). The motor (38) is fixed on the leg base (30), pulley one (39) is fixed on the output shaft of the motor (38), and pulley two (41) is rotatably mounted on the preload slider (40-2). The preload slider (40-2) is slidably mounted on the lower part of the leg base (30). 2) The screw (40-1) arranged on the leg base (30) is threadedly connected. The pulley one (39) is connected to the pulley two (41) via a belt. The leg shell (31) is fixed on the leg base (30) and covers the pulley one (39) and the pulley two (41). The slider assembly (33) is slidably arranged on the guide rail assembly (32) and fixed on the belt. The upper end of the telescopic leg (B2) is fixed on the slider assembly (33).

3. The heterogeneous exoskeleton robot according to claim 2, characterized in that: The back (A) also includes two shoulder straps (4) and two back detection devices; one end of each shoulder strap (4) is fixed to the front back of the back plate (12), each shoulder strap (4) crosses the back plate (12), the other end of each shoulder strap (4) is slidably disposed on the rear back of the back plate (12), and the other end of each shoulder strap (4) is connected to the back detection device fixed on the rear back of the back plate (12).

4. The heterogeneous exoskeleton robot according to claim 3, characterized in that: Each of the back detection devices includes an upper sensor base (11) and a tension / compression sensor; the upper sensor base (11) is mounted on the back of the back panel (12), the tension / compression sensor is mounted on the upper sensor base (11), and the other end of the shoulder strap (4) is connected to the tension / compression sensor via a flexible cord.

5. The heterogeneous exoskeleton robot according to claim 3, characterized in that: A hip joint external swing connector (23) is installed on the lower part of the back plate (12). One end of the hip joint external swing connector (23) is rotatably connected to the back plate (12), and the rotation axis is perpendicular to the back plate (12). A hip connecting rod (28) is installed on the other end of the hip joint external swing connector (23). An adjustable crotch strap (27) is installed on the hip connecting rod (28). A hip joint connector (26) is installed at the end of the hip connecting rod (28). The leg base (30) is rotatably connected to the hip joint connector (26) through the hip joint rotation axis (37). An encoder (62) is installed on the rotating end of the hip joint external swing connector (23).

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