Hip-knee linkage rope drive mechanism for cerebral palsy children flexible exoskeleton

Abstract

The application discloses a hip-knee linkage rope drive mechanism for a flexible exoskeleton for a cerebral palsy child, which comprises a driving system and a hip-knee linkage rope drive mechanism; a hip-knee driving motor generates pressure on a thigh wearing assembly and tension on a lower leg wearing assembly through a transmission assembly and a rear side driving path assembly, thereby generating assisting torque of a hip joint and a knee joint respectively; the hip-knee driving motor generates pressure on the lower leg wearing assembly and tension on the thigh wearing assembly through another transmission assembly and a front side driving path assembly in sequence, thereby generating assisting torque of the hip joint and the knee joint respectively. The flexible linkage transmission structure is adopted, the volume and weight of the whole exoskeleton are reduced, and the main structure and weight are located on the waist and back of the patient, close to the center of mass, and the burden on the patient is smaller.

Description

Technical Field

[0001] This invention relates to a hip-knee linkage rope drive mechanism for a flexible exoskeleton for children with cerebral palsy. Background Technology

[0002] Cerebral palsy (CLP) is a motor disorder caused by non-progressive damage to the central nervous system during the perinatal period. Individuals with CLP exhibit characteristics including spasticity, rigidity, and weakened coordination and motor control. While therapeutic training aims to restore and improve patients' functional walking ability, external assistance is also needed to enhance their lower limb walking ability in daily life. Commonly used aids like crutches limit the patient's range of motion, and their use can lead to discomfort and a lack of respect from patients.

[0003] Currently, research and design of flexible exoskeletons for children with cerebral palsy are lacking, especially exoskeletons with multi-joint lower limb assistance, which require further in-depth study. Due to the limited lower limb motor abilities of children with cerebral palsy and the varying individual circumstances, exoskeletons are needed to assist patients in multiple joint and gait phases. Existing exoskeletons for children with cerebral palsy are mainly rigid, possessing certain load-bearing capacity and gait correction capabilities, and providing multi-joint, multi-degree-of-freedom assistance. However, their rigid structure results in a safety deficiency compared to flexible exoskeletons. Furthermore, children with cerebral palsy generally exhibit different squatting gait characteristics, making adjustable, coordinated assistance to the hip and knee joints while ensuring lightweight operation a primary need. Existing flexible exoskeletons typically offer assistance to a single leg with only a single motor corresponding to a single joint, or a single-degree-of-freedom drive path for coordinated assistance to the hip and ankle joints, which cannot fully meet the basic needs of children with cerebral palsy for wearable exoskeletons. Summary of the Invention

[0004] In view of this, the present invention provides a hip-knee linkage rope drive mechanism for a flexible exoskeleton for children with cerebral palsy, which solves the problem that when a flexible exoskeleton for children with cerebral palsy provides hip-knee linkage assistance through a single drive path, it is difficult to adjust and control the magnitude of the assist torque on the hip and knee joints during the standing extension phase or the swinging extension gait phase.

[0005] To address the aforementioned problems, embodiments of the present invention provide a hip-knee linkage rope-driven mechanism for a flexible exoskeleton for children with cerebral palsy, comprising:

[0006] The device includes a drive system and a hip-knee linkage cable drive mechanism. The drive system includes a backpack frame assembly and a hip-knee drive module mounted on the backpack frame assembly. The hip-knee drive module includes two symmetrical drive units. Each drive unit of the hip-knee drive module includes a hip-knee drive motor and two transmission components. The hip-knee linkage cable drive mechanism includes two symmetrical units, each of which includes a thigh wear assembly, a calf wear assembly, a rear drive path assembly, and a front drive path assembly.

[0007] The hip and knee drive motor generates pressure on the thigh wear assembly and tension on the calf wear assembly through a transmission component and a rear drive path component, thereby generating assist torques for the hip and knee joints respectively; the hip and knee drive motor sequentially generates pressure on the calf wear assembly and tension on the thigh wear assembly through another transmission component and a front drive path component, thereby generating assist torques for the hip and knee joints respectively.

[0008] In some embodiments, the transmission components of the drive unit of the hip and knee drive module include a hip and knee drive sprocket assembly and a hip and knee chain assembly; the hip and knee drive sprocket assembly includes a hip and knee drive coupling, a one-way clutch, a hip and knee drive sprocket, and a shaft end baffle; wherein the hip and knee drive coupling is mounted on the output flange of the hip and knee drive motor, two hip and knee drive sprockets are sequentially fitted onto the shaft diameter of the hip and knee drive coupling through one-way clutches, the two one-way clutches are installed in opposite directions, and the shaft end baffle is installed on the shaft end of the hip and knee drive coupling by screws, axially fixing the components of the hip and knee drive sprocket assembly.

[0009] The hip and knee chain assembly includes a hip and knee forward drive chain, a chain connecting block, a hip and knee forward drive rope, a hip and knee reverse drive chain, and a hip and knee reverse drive rope. The hip and knee forward drive chain and the hip and knee reverse drive chain are respectively engaged with two hip and knee drive sprockets via chain drive, and one end of the two chains is fixed to the fixing hole of the hip and knee drive sprocket by a pin. The hip and knee forward drive rope and the hip and knee reverse drive rope are respectively connected to the other end of the hip and knee forward drive chain and the hip and knee reverse drive chain by the chain connecting block.

[0010] In some embodiments, the thigh wearable assembly includes a thigh structure, an adjustable pressure block, a thigh strap, and a thigh gyroscope sensor; the thigh structure and the thigh strap are connected, the adjustable pressure block is adjustable to a row of mounting holes on the thigh structure, and the thigh gyroscope sensor is mounted in a slot on the front side of the thigh structure.

[0011] In some embodiments, the calf wearable assembly includes a calf structural member, a calf pulley assembly, a calf strap, a calf Bowden cable anchor point, and a calf gyroscope sensor; wherein the calf structural member and the calf strap are connected, the calf pulley assembly is mounted on the upper cantilever of the calf structural member, the calf Bowden cable anchor point is fixed to the outside of the calf structural member, and the calf gyroscope sensor is mounted in a slot on the front side of the calf structural member.

[0012] The lower leg pulley assembly includes a lower leg pulley, a positioning shaft, a swing groove plate, a pressure wheel, a friction block, and a positioning stud. The positioning shaft passes through the shaft hole at the end of the lower leg structural member's cantilever and can rotate freely. The lower leg pulley is placed inside the cantilever of the lower leg structural member and forms a shaft hole clearance fit with the positioning shaft, allowing it to rotate freely. The two side slots of the swing groove plate are fitted onto the two sides of the lower leg pulley and can swing freely. The pressure wheel is installed in the elongated hole below the lower leg pulley by a shaft screw and nut. At the same time, the friction block and the positioning stud are positioned in the hole of the support plate below the elongated hole by a nut.

[0013] In some embodiments, the rear drive path assembly includes a forward drive Bowden cable, a rear tension sensor, a rear splitter, and a rear execution Bowden cable; wherein the forward drive Bowden cable is connected to the hip and knee forward drive rope of the exoskeleton drive system, and the other end is fixed to a mounting hole on one side of the rear tension sensor, the mounting hole on the other side of the rear tension sensor is fixed to the central shaft of the rear splitter, the steel wire of the rear execution Bowden cable passes through the arc-shaped tube of the rear splitter and can slide freely, the steel wire of the rear execution Bowden cable extends its sheath on both sides of the thigh, passes through the groove hole of the adjustable pressure block on the thigh wear assembly, and passes through the radial holes on both sides of the positioning shaft in the calf wear assembly at its end, and is locked by a set screw.

[0014] In some embodiments, the front drive path assembly includes a reverse drive Bowden line, a front tension sensor, a braided rope, a front splitter, and a front actuation line; wherein the reverse drive Bowden line is connected to the hip and knee reverse drive rope of the exoskeleton's drive system, and the other end is fixed to a mounting hole on one side of the front tension sensor, and the other end of the front tension sensor is tied to the braided rope. The path of the braided rope needs to pass through the limiting groove of the swing plate in the lower leg wear assembly, wind into the lower leg pulley, wind out of the lower leg pulley, and connect to the front splitter. The front actuation line should pass through the arc-shaped tube of the front splitter and tie both ends to the sides of the thigh structure in the thigh wear assembly.

[0015] In some embodiments, the drive system further includes a system electronic control component and a backpack auxiliary component; the backpack frame component includes a backpack frame, a front backpack cover, and a rear backpack cover; the system electronic control component and the backpack auxiliary component are mounted on the backpack frame component; the front backpack cover is mounted on the front side of the backpack frame, and the rear backpack cover is mounted on the rear side of the backpack frame.

[0016] In some embodiments, the system electronic control components include a main control board, a Bluetooth module, a control screen, and a battery pack. The main control board, Bluetooth module, and battery pack are all fixedly installed inside the backpack frame, and the control screen is fixedly installed on the front side of the front panel of the backpack frame.

[0017] In some embodiments, the backpack auxiliary components include a heat dissipation module, a Bowden cable clip, and a waist support block; wherein two heat dissipation modules are respectively installed on the front surface of the front backpack cover and the upper surface of the rear backpack cover, the Bowden cable clip is respectively installed on the front plate of the frame and the rear plate of the frame for fixing the sheath of the Bowden cable, and the waist support block is adjusted and installed on the rear backpack cover.

[0018] In some embodiments, the hip and knee drive module includes a hip and knee drive tensioning assembly, which includes a chain clamping block I, a chain clamping block II, a tensioning connecting block, a constant force spring, a tensioning assembly pin, and a sliding positioning plate. The chain clamping block I and the chain clamping block II are installed in pairs on the front plate of the backpack frame to adjust and position the hip and knee forward drive chain and the hip and knee reverse drive chain. The fixing hole ends of the two tensioning connecting blocks are respectively fixed to the two chain connecting blocks by set screws. The auxiliary plate of the constant force spring is fixed to the other end of the tensioning connecting block by screws. The two constant force springs are sequentially rotatably installed on the tensioning assembly pin, and the tensioning assembly pin is fixed to the front plate of the backpack frame.

[0019] Compared with the prior art, the hip-knee linkage rope drive mechanism of the flexible exoskeleton for children with cerebral palsy of the present invention has at least the following beneficial effects:

[0020] 1) This invention employs a highly flexible wearable structure and a flexible transmission structure based on Bowden wires, which effectively improves the safety and portability of the exoskeleton;

[0021] 2) This invention uses a single drive motor in conjunction with a flexible transmission mechanism based on Bowden lines to provide coordinated assistance to the hip and knee joints during the two gait phases of standing extension and swing extension. It is designed to meet the main needs of children with cerebral palsy for walking assistance and has the advantages of being lightweight and compact.

[0022] 3) The torque that provides linkage assistance to the hip and knee joints in this invention can be adjusted by changing the distribution of assistance through the adjustable structure on the exoskeleton, so as to better adapt to the different squatting gait characteristics of children with cerebral palsy and improve the walking assistance effect.

[0023] 4) The present invention is an exoskeleton robot that can actively assist the hip and knee joints of the patient's lower limbs, with a smaller weight and volume, and less burden on the patient.

[0024] The above description is merely an overview of the technical solution of the present invention. In order to better understand the technical means of the present invention and to implement it in accordance with the contents of the specification, the preferred embodiments of the present invention are described in detail below with reference to the accompanying drawings. Attached Figure Description

[0025] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the following description of the embodiments will be briefly introduced. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0026] Figure 1 This is a human wearing diagram of the hip-knee linkage rope-driven mechanism for a flexible exoskeleton for children with cerebral palsy proposed in this invention.

[0027] Figure 2 This is an overall view of the hip-knee linkage cable drive mechanism proposed in this invention;

[0028] Figure 3 This is a schematic diagram of the main structure of the drive system of the hip-knee linkage rope drive mechanism for a flexible exoskeleton for children with cerebral palsy proposed in this invention.

[0029] Figure 4 Overall view of the hip and knee drive module;

[0030] Figure 5 A view of the specific structure of the hip and knee drive module;

[0031] Figure 6 An overall view and component structure diagram of the hip-knee linkage cable drive mechanism;

[0032] Figure 7 A detailed structural view of the hip-knee linkage cable drive mechanism;

[0033] Figure 8 A side sectional view of the specific structure of the hip-knee linkage cable drive mechanism;

[0034] Figure 9 This is a front sectional view of the specific structure of the hip-knee linkage cable drive mechanism.

[0035] The attached figures are labeled as follows:

[0036] Backpack rack assembly 1100,

[0037] Backpack frame 1101, front backpack cover 1102, rear backpack cover 1103,

[0038] Hip-knee drive module 1200, hip-knee drive motor 1201, hip-knee drive sprocket assembly 1220, hip-knee drive coupling 1221, one-way clutch 1222, hip-knee drive sprocket 1223, shaft end baffle 1224.

[0039] Hip-knee chain assembly 1230, hip-knee forward drive chain 1231, chain connector 1232, hip-knee forward drive rope 1233, hip-knee reverse drive chain 1234, hip-knee reverse drive rope 1235.

[0040] Hip-knee drive tensioning assembly 1240, chain clamping block I 1241, chain clamping block II 1242, tensioning connecting block 1243, constant force spring 1244, tensioning assembly pin 1245, sliding positioning plate 1246.

[0041] The system includes an electronic control component 1400, a main control board 1401, a Bluetooth module 1402, a control screen 1403, and a battery pack 1404.

[0042] Heat dissipation module 1501, Bowden cable clamp 1502, waist support block 1503,

[0043] Hip-knee linkage cable drive mechanism

[0044] Thigh wearable component 2100, thigh structural component 2101, adjustable pressure block 2102, thigh strap 2103, thigh gyroscope sensor 2104.

[0045] Lower leg wearable component 2200, lower leg structural component 2201, lower leg pulley assembly 2220, lower leg pulley 2221, positioning shaft 2222, swing groove plate 2223, pressure wheel 2224, friction block 2225, positioning stud 2226, lower leg strap 2203, lower leg Bowden line anchor point 2204, lower leg gyroscope sensor 2205.

[0046] Rear drive path assembly 2300, forward drive Bowden cable 2301, rear tension sensor 2302, rear splitter 2303, rear actuator Bowden cable 2304,

[0047] Front drive path assembly 2400, reverse drive Bowden line 2401, front tension sensor 2402, braided rope 2403, front splitter 2404, front actuator line 2305. Detailed Implementation

[0048] To further illustrate the technical means and effects adopted by the present invention to achieve the intended purpose, the specific embodiments, structures, features, and effects according to the present invention will be described in detail below with reference to the accompanying drawings and preferred embodiments. In the following description, different "an embodiment" or "an embodiment" do not necessarily refer to the same embodiment. Furthermore, specific features, structures, or characteristics in one or more embodiments can be combined in any suitable form.

[0049] In the description of this invention, it should be clearly stated that the terms "first," "second," etc., in the specification, claims, and accompanying drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence; the terms "vertical," "lateral," "longitudinal," "front," "rear," "left," "right," "up," "down," "horizontal," etc., indicate orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, and are merely for the convenience of describing this invention, and do not mean that the device or element referred to must have a specific orientation or position, and therefore should not be construed as a limitation of this invention.

[0050] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0051] Example 1

[0052] This embodiment provides a hip-knee linkage rope-driven mechanism for a flexible exoskeleton for children with cerebral palsy. See [link / reference]. Figure 1 and Figure 2 It mainly includes a drive system and a hip-knee linkage cable drive mechanism. The drive system is worn on the patient's lower back and waist, and is connected to the hip-knee linkage cable drive mechanism via drive paths. The hip-knee linkage cable drive mechanism is worn on the patient's thighs and calves.

[0053] Specifically, the drive system mainly includes a backpack frame assembly 1100, a hip and knee drive module 1200, a system electronic control assembly 1400, and a backpack auxiliary assembly. The hip and knee drive module 1200 includes two symmetrical drive units, each providing a drive path for the corresponding leg on one side of the exoskeleton. (See [link to documentation]). Figure 3 Taking the right side as an example, the hip and knee drive module 1200 is mounted on the backpack frame 1101. The backpack frame assembly 1100 includes the backpack frame 1101, a front backpack cover 1102, and a rear backpack cover 1103. The front backpack cover 1102 is mounted on the front side of the backpack frame 1101, and the rear backpack cover 1103 is mounted on the rear side of the backpack frame 1101. The system electronic control assembly 1400 and the backpack auxiliary assembly are mounted on the backpack frame assembly 1100.

[0054] As a preferred embodiment of the present invention, such as Figure 4 , Figure 5As shown, the hip and knee drive module 1200 mainly includes a hip and knee drive motor 1201, a hip and knee drive sprocket assembly 1220, a hip and knee chain rope assembly 1230, and a hip and knee drive tensioning assembly 1240.

[0055] Specifically, see Figure 4 The hip and knee drive motor 1201 is fixedly mounted on the inner side of the front plate of the backpack frame 1101, the hip and knee drive sprocket assembly 1220 is mounted on the output flange of the hip and knee drive motor 1201, and the hip and knee chain rope assembly 1230 and the hip and knee drive sprocket assembly 1220 are installed in a chain drive manner.

[0056] See Figure 5 The hip and knee drive sprocket assembly 1220 mainly includes a hip and knee drive coupling 1221, a one-way clutch 1222, a hip and knee drive sprocket 1223, and a shaft end baffle 1224. The hip and knee drive coupling 1221 is mounted on the output flange of the hip and knee drive motor 1201. Two hip and knee drive sprockets 1223 are sequentially fitted onto the shaft diameter of the hip and knee drive coupling 1221 via one-way clutches 1222. The two one-way clutches 1222 are installed in opposite directions. The shaft end baffle 1224 is screwed onto the shaft end of the hip and knee drive coupling 1221, axially fixing the components of the hip and knee drive sprocket assembly 1220.

[0057] See Figure 4 , Figure 5 The hip and knee chain assembly 1230 mainly includes a hip and knee forward drive chain 1231, a chain connecting block 1232, a hip and knee forward drive rope 1233, a hip and knee reverse drive chain 1234, and a hip and knee reverse drive rope 1235. The hip and knee forward drive chain 1231 and the hip and knee reverse drive chain 1234 are respectively engaged with two hip and knee drive sprockets 1223 via chain drive, and one end is fixed to the fixing hole of the hip and knee drive sprocket 1223 by a pin. The hip and knee forward drive rope 1233 and the hip and knee reverse drive rope 1235 are respectively connected to the other end of the hip and knee forward drive chain 1231 and the hip and knee reverse drive chain 1234 via the chain connecting block 1232.

[0058] See Figure 4The hip and knee drive tensioning assembly 1240 mainly includes chain clamping block I 1241, chain clamping block II 1242, tensioning connecting block 1243, constant force spring 1244, tensioning assembly pin 1245, and sliding positioning plate 1246. Chain clamping block I 1241 and chain clamping block II 1242 are installed in pairs on the front plate of the backpack frame 1101 to adjust and position the hip and knee forward drive chain 1231 and the hip and knee reverse drive chain 1234. The fixing hole ends of the two tensioning connecting blocks 1243 are respectively fixed to the two chain connecting blocks 1232 by set screws. The sub-plate of the constant force spring 1244 is fixed to the other end of the tensioning connecting block 1243 by screws. The two constant force springs 1244 are rotatably installed on the tensioning assembly pin 1245 in sequence. The tensioning assembly pin 1245 is fixed to the front plate of the backpack frame 1101.

[0059] As a preferred embodiment of the present invention, see [link to previous document]. Figure 3 The system's electronic control components 1400 mainly include a main control board 1401, a Bluetooth module 1402, a control screen 1403, and a battery pack 1404. The main control board 1401, Bluetooth module 1402, and battery pack 1404 are all fixedly installed inside the backpack frame 1101, while the control screen 1403 is fixedly installed on the front side of the backpack frame 1101's front panel. The battery pack 1404 provides electrical power. The Bluetooth module 1402 receives signals from the thigh gyroscope sensor 2104 and the calf gyroscope sensor 2205 and transmits them to the main control board 1401. The main control board 1401 receives and processes the signals from each sensor and controls the hip and knee drive motors 1201 according to a preset program to drive the exoskeleton system and provide assistance to the patient. The control panel 1403 displays the patient's current lower limb joint movement angle and estimated assist value, and provides an operation bar to correct the assist torque of the hip and knee drive motor 1201 at different assist stages, updating the program settings in the main control board 1401 to help the exoskeleton system better assist. Specifically, the backpack assist components mainly include a heat dissipation module 1501, Bowden cable clips 1502, and a lumbar support block 1503. Two heat dissipation modules 1501 are respectively installed on the front surface of the front backpack cover 1102 and the upper surface of the rear backpack cover 1103 for heat dissipation. Eight Bowden cable clips 1502 are respectively installed on the front plate and rear plate of the frame 1101 for fixing the Bowden cable sheaths. The lumbar support block 1503 is adjusted and installed on the rear backpack cover 1103, with the specific installation position on the rear backpack cover 1103 determined according to the patient's body shape.

[0060] As a preferred embodiment of the present invention, such as Figure 2 and Figure 6 As shown, the hip-knee linkage cable drive mechanism mainly includes a thigh wearing assembly 2100, a calf wearing assembly 2200, a rear drive path assembly 2300, and a front drive path assembly 2400. Figure 2As shown, the thigh wearing component 2100 and the calf wearing component 2200 in the hip-knee linkage rope drive mechanism are worn on the patient's thigh and calf, respectively. In addition, the binding structure that partially conforms to the patient's skin can be customized according to the patient's body shape. The drive end of the rear drive path component 2300 is connected to the hip-knee forward drive rope 1233 of the exoskeleton drive system. The Bowden thread sheath is positioned on the patient's lower limb through anchor points A1, A2, A3, and A4, and the end is fixed and locked at point O1 on the calf wearing component 2200. The drive end of the front drive path component 2400 is connected to the hip-knee reverse drive rope 1235 of the exoskeleton drive system. The Bowden thread sheath is positioned on the patient's lower limb through anchor point B1, and the end is fixed and locked at point O2 on the thigh wearing component 2100.

[0061] As a preferred embodiment of the present invention, such as Figure 6 , Figure 7 , Figure 8 and Figure 9 As shown, the thigh wearable assembly 2100 includes a thigh structural member 2101, an adjustable pressure block 2102, a thigh strap 2103, and a thigh gyroscope sensor 2104. The thigh structural member 2101 and the thigh strap 2103 are worn together at an appropriate position on the patient's thigh and are fixed vertically by a wearable structure (not shown). The adjustable pressure block 2102 is adjustable and mounted on a row of mounting holes on the thigh structural member 2101. The thigh gyroscope sensor 2104 is mounted in a slot on the front side of the thigh structural member 2101.

[0062] Specifically, see Figure 7 and Figure 8 The lower leg wearable assembly 2200 includes a lower leg structural component 2201, a lower leg pulley assembly 2220, a lower leg strap 2203, a lower leg Bowden line anchor point 2204, and a lower leg gyroscope sensor 2205. The lower leg structural component 2201 and the lower leg strap 2203 are worn together at an appropriate position on the patient's lower leg. The lower leg pulley assembly 2220 is mounted on the upper cantilever of the lower leg structural component 2201. The lower leg Bowden line anchor point 2204 is fixed to the outer side of the lower leg structural component 2201. The lower leg gyroscope sensor 2205 is installed in a slot on the front side of the lower leg structural component 2201.

[0063] The lower leg pulley assembly 2220 is as follows Figure 8 and Figure 9As shown, it mainly includes a calf pulley 2221, a positioning shaft 2222, a swing groove plate 2223, a pressure wheel 2224, a friction block 2225, and a positioning stud 2226. The positioning shaft 2222 passes through the shaft hole at the cantilever end of the calf structure 2201 and can rotate freely. Both ends are positioned by shaft shoulders and elastic retaining rings, respectively. The calf pulley 2221 is placed inside the cantilever of the calf structure 2201 and forms a shaft hole clearance fit with the positioning shaft 2222, allowing it to rotate freely. The two side slots of the swing groove plate 2223 are fitted onto the two sides of the calf pulley 2221 and can swing freely. The pressure wheel 2224 is installed in the elongated hole below the calf pulley 2221 by shaft screws and nuts. At the same time, the friction block 2225 and the positioning stud 2226 are positioned in the hole of the support plate below the elongated hole by nuts.

[0064] As a preferred embodiment of the present invention, see [link to previous document]. Figure 6 and Figure 7 The rear drive path assembly 2300 mainly includes a forward drive Bowden line 2301, a rear tension sensor 2302, a rear splitter 2303, and a rear execution Bowden line 2304. The forward drive Bowden line 2301 is connected to the hip and knee forward drive rope 1233 of the exoskeleton drive system. The other end is fixed to the mounting hole on one side of the rear tension sensor 2302. The mounting hole on the other side of the rear tension sensor 2302 is fixed to the central axis of the rear splitter 2303. The steel wire rope of the rear execution Bowden line 2304 passes through the arc tube of the rear splitter 2303 and can slide freely. The two ends of the Bowden line 2304 are symmetrically fixed to anchor points A1, A2, A3, and A4 on the patient's buttocks and legs. The steel wire rope of the rear execution Bowden line 2304 extending from its sheath on both sides of the thigh passes through the sliding groove hole of the adjustable pressure block 2102 on the thigh wear assembly 2100 and passes through the radial holes on both sides of the positioning shaft 2222 in the calf wear assembly 2200 at the end. It is locked by a set screw at the pull point O1 of the rear drive path assembly 2300.

[0065] As a preferred embodiment of the present invention, see [link to previous document]. Figure 6 and Figure 7The front drive path assembly 2400 mainly includes a reverse drive Bowden cable 2401, a front tension sensor 2402, a braided rope 2403, a front splitter 2404, and a front actuation cable 2305. The reverse drive Bowden cable 2401 is connected to the hip and knee reverse drive cable 1235 of the exoskeleton's drive system, with its other end fixed to a mounting hole on one side of the front tension sensor 2402. The other end of the front tension sensor 2402 is fastened to the braided rope 2403. The path of the braided rope 2403 must sequentially pass through the limiting groove of the swing plate 2223 in the lower leg wear assembly 2200, wind into the lower leg pulley 2221, wind out of the lower leg pulley 2221, and connect to the front splitter 2404. The front actuation cable 2305 should pass through the arc-shaped tube of the front splitter 2404 and have both ends fastened to the pulling points O2 on both sides of the thigh structure 2101 in the thigh wear assembly 2100.

[0066] In a preferred embodiment of the present invention, the thigh structural member 2101 and the calf structural member 2201 are preferably made of PA12 or carbon fiber, the Bowden wire is preferably made of 1.2mm steel wire rope as the inner wire, the outer sheath is preferably a combination of a PVC-lined high-carbon steel inner layer, the calf pulley 2221 is preferably made of an organic material with certain hardness and lubricity such as polyethylene, and the pressure roller 2224 and friction block 2225 are preferably made of rubber. In particular, the braided rope 2403 and the front actuating line 2305 are preferably braided ropes with good flexibility and a certain coefficient of friction.

[0067] In use, this embodiment should be worn on the patient's lower back and lower back. Each drive path is connected to each transmission structure and controlled via the operation panel 1403 or a pre-set program. This invention mainly provides three types of assistance to the patient's forward gait cycle: assisting in hip and knee joint extension during the standing extension gait phase, and assisting in hip joint flexion and knee joint extension during the swing extension gait phase.

[0068] When assisting the patient's hip and knee joints during the standing extension gait phase, the main control board 1401 receives and processes data from the thigh gyroscope sensor 2104 and the calf gyroscope sensor 2205 to determine that the patient's current movement state is in the standing extension gait phase. Based on the preset program and the input signals from the control screen 1403, it controls the hip and knee drive motor 1201 to rotate forward. The hip and knee drive sprocket 1223, which cooperates with the hip and knee forward drive chain 1231, is engaged due to its corresponding one-way clutch 1222, thus pulling the hip and knee joints. The hip and knee drive sprocket 1223, which is engaged with the hip and knee reverse drive chain 1234, is in an overtravel state due to the corresponding one-way clutch 1222. Therefore, the hip and knee reverse drive rope 1235 has no additional driving force, thereby pulling the forward drive Bowden line 2301 of the rear drive path assembly 2300, causing the inner line of the rear splitter 2303 and the rear execution Bowden line 2304 to be displaced. At the same time, the rear tension sensor 2302 measures the magnitude of the internal pulling force of the rear drive path assembly 2300 in real time. At this time, the inner portion of the Bowden cable 2304 extending from its outer sheath simultaneously passes through the groove hole of the adjustable pressure block 2102 on the thigh wear assembly 2100 and is locked at the end of the cable into the radial holes on both sides of the positioning shaft 2222 in the calf wear assembly 2200. The internal tension component of the steel wire rope generates pressure on the thigh wear assembly 2100 and tension on the calf wear assembly 2200, thereby generating assist torques on the patient's hip and knee joints, respectively. The assist distribution of the exoskeleton to the patient's thigh can be adjusted by changing the positioning of the adjustable pressure block 2102 on the thigh wear assembly 2100, thereby changing the angular variation of the Bowden cable 2304 as it passes through the adjustable pressure block 2102, and thus altering the magnitude of the thigh assist.

[0069] When assisting the patient's hip and knee joints during the swing-extension gait phase, the main control board 1401 receives and processes the thigh gyroscope sensor 2104 and the calf gyroscope sensor 2205 to determine that the current patient's movement state is in the swing-extension gait phase. Based on the preset program and the input signals from the control screen 1403, it controls the hip and knee drive motor 1201 to reverse. The hip and knee drive sprocket 1223, which cooperates with the hip and knee reverse drive chain 1234, is engaged due to its corresponding one-way clutch 1222, pulling the hip and knee reverse drive rope 1235. The hip and knee drive sprocket 1223, which cooperates with the hip and knee forward drive chain 1231, is in an overtravel state due to its corresponding one-way clutch 1222. The hip and knee forward drive rope 1233 has no additional driving force, pulling the reverse drive Bowden line 2401 of the front drive path assembly 2400, causing the braided rope 2403 to displace. At the same time, the front tension sensor 2402 measures the magnitude of the internal pulling force of the front drive path assembly 2400 in real time. At this time, the braided rope 2403, under tension, simultaneously winds around the calf pulley 2221 in the calf wearing component 2200 and pulls the front execution line 2305 through the front splitter 2404, thereby generating pressure on the calf pulley 2221 and tension on the thigh structure 2101, and thus generating assist torques on the patient's hip and knee joints respectively.

[0070] The exoskeleton's assist distribution to the patient's thigh can be adjusted by changing the friction block 2225 and positioning stud 2226 on the calf wearing component 2200 to tighten the braided rope 2403 within the groove on the calf pulley 2221, thereby significantly reducing the assist torque exerted by the exoskeleton on the patient's hip joint. It is particularly important to ensure that the portion of the braided rope and the front actuation line 2305 are slack when adjusting the positioning stud 2226 to prevent the exoskeleton from affecting the patient's knee joint's range of motion.

[0071] In summary, it is readily understood by those skilled in the art that, without conflict, the aforementioned advantageous technical features can be freely combined and superimposed.

[0072] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention in any way. Any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present invention shall still fall within the scope of the technical solution of the present invention.

Claims

1. A hip-knee linkage rope-driven mechanism for a flexible exoskeleton for children with cerebral palsy, characterized in that: Including the drive system and the hip-knee linkage cable drive mechanism; The drive system includes a backpack frame assembly (1100) and a hip and knee drive module (1200) disposed on the backpack frame assembly (1100). The hip and knee drive module (1200) includes two symmetrical drive units on the left and right sides; The drive unit of the hip and knee drive module (1200) includes a hip and knee drive motor (1201) and two transmission components; The hip-knee linkage cable drive mechanism includes two symmetrical units, each unit including a thigh wearing component (2100), a calf wearing component (2200), a rear drive path component (2300), and a front drive path component (2400). The hip and knee drive motor (1201) generates pressure on the thigh wear assembly (2100) and tension on the calf wear assembly (2200) through a transmission component and a rear drive path assembly (2300), thereby generating assist torques for the hip and knee joints respectively; the hip and knee drive motor (1201) generates pressure on the calf wear assembly (2200) and tension on the thigh wear assembly (2100) through another transmission component and a front drive path assembly (2400), thereby generating assist torques for the hip and knee joints respectively; The transmission components of the drive unit of the hip and knee drive module (1200) include a hip and knee drive sprocket assembly (1220) and a hip and knee chain rope assembly (1230). The hip and knee drive sprocket assembly (1220) includes a hip and knee drive coupling (1221), a one-way clutch (1222), a hip and knee drive sprocket (1223), and a shaft end plate (1224); wherein the hip and knee drive coupling (1221) is mounted on the output flange of the hip and knee drive motor (1201), the two hip and knee drive sprockets (1223) are sequentially fitted onto the shaft diameter of the hip and knee drive coupling (1221) through the one-way clutch (1222), the two one-way clutches (1222) are installed in opposite directions, and the shaft end plate (1224) is mounted on the shaft end of the hip and knee drive coupling (1221) by screws, axially fixing the components of the hip and knee drive sprocket assembly (1220); The hip-knee chain assembly (1230) includes a hip-knee forward drive chain (1231), a chain connection block (1232), a hip-knee forward drive rope (1233), a hip-knee reverse drive chain (1234), and a hip-knee reverse drive rope (1235). The hip-knee forward drive chain (1231) and the hip-knee reverse drive chain (1234) are respectively engaged with two hip-knee drive sprockets (1223) by chain drive. One end of the two chains is fixed to the fixing hole of the hip-knee drive sprocket (1223) by a pin. The hip-knee forward drive rope (1233) and the hip-knee reverse drive rope (1235) are respectively connected to the other end of the hip-knee forward drive chain (1231) and the hip-knee reverse drive chain (1234) by the chain connection block (1232).

2. The hip-knee linkage rope drive mechanism for a flexible exoskeleton for children with cerebral palsy according to claim 1, characterized in that: The thigh wearable assembly (2100) includes a thigh structure (2101), an adjustable pressure block (2102), a thigh strap (2103), and a thigh gyroscope sensor (2104); the thigh structure (2101) and the thigh strap (2103) are connected, the adjustable pressure block (2102) is adjustable on the mounting hole array on the thigh structure (2101), and the thigh gyroscope sensor (2104) is installed in the front slot of the thigh structure (2101).

3. The hip-knee linkage rope drive mechanism for a flexible exoskeleton for children with cerebral palsy according to claim 2, characterized in that: The lower leg wearable component (2200) includes a lower leg structure (2201), a lower leg pulley assembly (2220), a lower leg strap (2203), a lower leg Bowden cable anchor point (2204), and a lower leg gyroscope sensor (2205); wherein the lower leg structure (2201) and the lower leg strap (2203) are connected, the lower leg pulley assembly (2220) is installed on the upper cantilever of the lower leg structure (2201), the lower leg Bowden cable anchor point (2204) is fixed to the outside of the lower leg structure (2201), and the lower leg gyroscope sensor (2205) is installed in the front slot of the lower leg structure (2201); The lower leg pulley assembly (2220) includes a lower leg pulley (2221), a positioning shaft (2222), a swing groove plate (2223), a pressure wheel (2224), a friction block (2225), and a positioning stud (2226). The positioning shaft (2222) passes through the shaft hole at the cantilever end of the lower leg structure (2201) and can rotate freely. The lower leg pulley (2221) is placed inside the cantilever of the lower leg structure (2201) and forms a shaft hole clearance fit with the positioning shaft (2222) and can rotate freely. The two side slots of the swing groove plate (2223) are fitted onto the two sides of the lower leg pulley (2221) and can swing freely. The pressure wheel (2224) is installed in the elongated hole below the lower leg pulley (2221) by a shaft screw and a nut. At the same time, the friction block (2225) and the positioning stud (2226) are positioned and installed in the hole of the support plate below the elongated hole by a nut.

4. The hip-knee linkage rope drive mechanism for a flexible exoskeleton for children with cerebral palsy according to claim 3, characterized in that: The rear drive path assembly (2300) includes a forward drive Bowden cable (2301), a rear tension sensor (2302), a rear splitter (2303), and a rear execution Bowden cable (2304); wherein the forward drive Bowden cable (2301) is connected to the hip and knee forward drive rope (1233) of the exoskeleton drive system, and the other end is fixed to a mounting hole on one side of the rear tension sensor (2302), and the mounting hole on the other side of the rear tension sensor (2302) is connected to the rear splitter. The device (2303) is fixed to the central shaft. The steel wire rope of the rear-side executing Bowden line (2304) passes through the arc tube of the rear-side splitter (2303) and can slide freely. The steel wire rope of the rear-side executing Bowden line (2304) extends out of its sheath on both sides of the thigh, passes through the groove hole of the adjustable pressure block (2102) on the thigh wearing assembly (2100), and passes through the radial holes on both sides of the positioning shaft (2222) in the calf wearing assembly (2200) at the end, and is locked by the set screw.

5. The hip-knee linkage rope drive mechanism for a flexible exoskeleton for children with cerebral palsy according to claim 4, characterized in that: The front drive path assembly (2400) includes a reverse drive Bowden cable (2401), a front tension sensor (2402), a braided rope (2403), a front splitter (2404), and a front actuation cable (2305); wherein the reverse drive Bowden cable (2401) is connected to the hip-knee reverse drive cable (1235) of the exoskeleton's drive system, and the other end is fixed to a mounting hole on one side of the front tension sensor (2402), and the other end of the front tension sensor (2402) is mounted on... The hole is tied to the braided rope (2403). The path of the braided rope (2403) needs to pass through the limiting groove of the swing groove plate (2223) in the lower leg wear assembly (2200), go around the lower leg pulley (2221), go out of the lower leg pulley (2221) and connect to the front splitter (2404). The front execution line (2305) should pass through the arc tube of the front splitter (2404) and tie both ends to the thigh structure (2101) in the thigh wear assembly (2100).

6. The hip-knee linkage rope drive mechanism for a flexible exoskeleton for children with cerebral palsy according to claim 5, characterized in that: The drive system also includes system electronic control components (1400) and backpack auxiliary components; The backpack frame assembly (1100) includes a backpack frame (1101), a front backpack cover (1102), and a rear backpack cover (1103). The system electronic control component (1400) and backpack auxiliary component are mounted on the backpack frame component (1100); the front backpack cover (1102) is mounted on the front side of the backpack frame (1101), and the rear backpack cover (1103) is mounted on the rear side of the backpack frame (1101).

7. The hip-knee linkage rope drive mechanism for a flexible exoskeleton for children with cerebral palsy according to claim 6, characterized in that: The system electronic control component (1400) includes a main control board (1401), a Bluetooth module (1402), a control screen (1403), and a battery pack (1404). The main control board (1401), Bluetooth module (1402), and battery pack (1404) are all fixedly installed inside the backpack frame (1101), and the control screen (1403) is fixedly installed on the front side of the front panel of the backpack frame (1101).

8. The hip-knee linkage rope drive mechanism for a flexible exoskeleton for children with cerebral palsy according to claim 7, characterized in that: The backpack auxiliary components include a heat dissipation module (1501), a Bowden cable clip (1502), and a waist support block (1503); wherein the two heat dissipation modules (1501) are respectively installed on the front surface of the front backpack cover (1102) and the upper surface of the rear backpack cover (1103), the Bowden cable clip (1502) is respectively installed on the front plate of the frame (1101) and the rear plate of the frame (1101) for fixing the sheath of the Bowden cable, and the waist support block (1503) is adjusted and installed on the rear backpack cover (1103).

9. The hip-knee linkage rope drive mechanism for a flexible exoskeleton for children with cerebral palsy according to claim 8, characterized in that: The hip and knee drive module (1200) includes a hip and knee drive tensioning assembly (1240). The hip and knee drive tensioning assembly (1240) includes chain clamping block I (1241), chain clamping block II (1242), tensioning connecting block (1243), constant force spring (1244), tensioning assembly pin (1245), and sliding positioning plate (1246). Chain clamping block I (1241) and chain clamping block II (1242) are installed in pairs on the front plate of the backpack frame (1101) to adjust and position the hip and knee forward drive chain (1231) and hip... The knee-reverse drive chain (1234) has two tensioning connecting blocks (1243) whose fixing holes are fixed to two chain connecting blocks (1232) by set screws. The sub-plate of the constant force spring (1244) is fixed to the other end of the tensioning connecting block (1243) by screws. The two constant force springs (1244) are rotatably mounted on the tensioning component pin (1245) in sequence. The tensioning component pin (1245) is fixed to the front plate of the backpack frame (1101).

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