A multi-joint flexible lower limb exoskeleton for children with cerebral palsy

Abstract

The present invention discloses a multi-joint flexible lower limb exoskeleton for children with cerebral palsy, comprising a drive system, a hip-knee linkage rope drive mechanism, and an ankle power-assist mechanism; the hip-knee drive motor generates pressure on the thigh wear component and tension on the calf wear component through a transmission assembly and a rear drive path assembly, thereby generating power-assist torques for the hip and knee joints, respectively; the hip-knee drive motor generates pressure on the calf wear component and tension on the thigh wear component through another transmission assembly, a front drive path assembly, thereby generating power-assist torques for the hip and knee joints, respectively; the ankle drive module drives the foot Bowden cable to drive the ankle cable reel to rotate, thereby generating power-assist torques for the foot structural components. The present invention adopts a flexible linkage transmission structure to reduce the overall volume and weight of the exoskeleton, and the main structure and weight are located on the patient's waist and back, close to the center of mass, which puts less burden on the patient.

Description

Technical Field

[0001] The present invention relates to a multi-joint flexible lower limb exoskeleton for children with cerebral palsy. Background Art

[0002] Cerebral palsy (CP) in children is a movement disorder caused by non-progressive damage to the central nervous system during the perinatal period. People with CP exhibit characteristics including spasticity, stiffness, and decreased coordination and motor control. While therapeutic training is used to restore and improve the patient's functional walking ability, external assistance is also needed to improve the patient's lower limb walking ability in daily life. The common assistance of crutches limits the patient's range of motion, and the user experience and psychological respect also need to be improved. The safer wearable dynamic flexible exoskeleton provides a new way for children with cerebral palsy to assist in walking in daily life.

[0003] During the forward gait of children with cerebral palsy, different lower limb joints have different assistance requirements at different gait stages. Among them, the assistance requirements for hip and knee extension during the stance and extension phase are the most important. Next is the coordinated assistance of the hip and knee joints during the swing and extension phase, and the assistance of the ankle joints at multiple gait stages.

[0004] Among the existing rehabilitation-assisting exoskeleton robots, the rigid-structured exoskeleton has strong multi-degree-of-freedom and multi-gait-stage assistance functions, but the overall weight and volume are large. The flexible exoskeleton's ability to assist in multiple degrees of freedom, especially in multiple gait stages, needs to be improved. In addition, most of the existing flexible exoskeleton multi-joint linkage assistance structures are hip-ankle joint linkage, which is somewhat different from the needs of children with cerebral palsy. Summary of the Invention

[0005] In view of this, the present invention provides a multi-joint flexible lower limb exoskeleton for children with cerebral palsy, which respectively assists the patient's hip and knee joints in multiple gait stages and the patient's ankle joints in multiple gait stages, effectively assisting the patient in walking. At the same time, due to the use of a flexible linkage transmission structure, the overall volume and weight of the exoskeleton are reduced, and the main structure and weight are located at the patient's waist and back, close to the center of mass, which puts less burden on the patient.

[0006] In order to solve the above problems, an embodiment of the present invention provides a multi-joint flexible lower limb exoskeleton for children with cerebral palsy, comprising:

[0007] It includes a drive system, a hip-knee linkage rope drive mechanism, and an ankle power-assist mechanism; the drive system includes a backpack frame assembly, and a hip-knee drive module and an ankle drive module arranged on the backpack frame assembly; the hip-knee drive module and the ankle drive module respectively include two symmetrical drive units on the left and right; the drive unit of the hip-knee drive module includes a hip-knee drive motor and two transmission assemblies; the hip-knee linkage rope drive mechanism includes two symmetrical units on the left and right, each unit includes a thigh wear assembly, a calf wear assembly, a rear drive path assembly and a front drive path assembly.

[0008] The hip-knee drive motor generates pressure on the thigh wear component and tension on the calf wear component through a transmission component and a rear drive path component, thereby generating power-assisting torques for the hip joint and knee joint respectively; the hip-knee drive motor generates pressure on the calf wear component and tension on the thigh wear component through another transmission component and a front drive path component, thereby generating power-assisting torques for the hip joint and knee joint respectively.

[0009] The ankle power-assist mechanism includes a foot structure, an ankle cable drum and an ankle Bowden cable; the foot structure is rotatably connected to the ankle axis hole of the calf wear component through a pin shaft, one end of the inner line of the foot Bowden cable is connected to the drive unit of the ankle drive module, and the other end is fixed on the ankle cable drum; the ankle drive module drives the foot Bowden cable to drive the ankle cable drum to rotate, thereby causing the foot structure to generate a power-assist torque.

[0010] In some embodiments, the transmission assembly of the drive unit of the hip-knee drive module includes a hip-knee drive sprocket assembly and a hip-knee chain rope assembly; the hip-knee drive sprocket assembly includes a hip-knee drive coupling, a one-way clutch, a hip-knee drive sprocket and an axis end baffle; wherein the hip-knee drive coupling is installed on the output flange of the hip-knee drive motor, and the two hip-knee drive sprockets are sequentially mounted on the shaft diameter of the hip-knee drive coupling through a one-way clutch, the two one-way clutches are installed in reverse, and the axis end baffle is installed on the shaft end of the hip-knee drive coupling through screws to axially fix the various components of the hip-knee drive sprocket assembly.

[0011] The hip-knee chain rope assembly includes a hip-knee forward drive chain, a chain rope connecting block, a hip-knee forward drive rope, a hip-knee reverse drive chain, and a hip-knee reverse drive rope; the hip-knee forward drive chain and the hip-knee reverse drive chain are respectively cooperated with the two hip-knee drive sprockets by chain transmission, and one end of the two chains is fixed to the fixing hole of the hip-knee drive sprocket by a pin, and the hip-knee forward drive rope and the hip-knee reverse drive rope are respectively connected to the other end of the hip-knee forward drive chain and the hip-knee reverse drive chain through the chain rope connecting block.

[0012] In some embodiments, the thigh wearable component 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 can be adjusted and assembled on the mounting hole column on the thigh structure, and the thigh gyroscope sensor is installed in the front slot of the thigh structure.

[0013] In some embodiments, the calf wearable component includes a calf structure, a calf pulley assembly, a calf strap, a calf Bowden cable anchor point and a calf gyroscope sensor; wherein the calf structure and the calf strap are connected, the calf pulley assembly is installed on the upper cantilever of the calf structure, the calf Bowden cable anchor point is fixed to the outside of the calf structure, and the calf gyroscope sensor is installed in the front slot of the calf structure.

[0014] The calf pulley assembly includes a calf pulley, a positioning shaft, a swing slot plate, a press wheel, a friction block and a positioning stud; the positioning shaft passes through the axial hole at the end of the calf structural cantilever and can rotate freely, the calf pulley is placed on the inner side of the calf structural cantilever, and forms an axial hole clearance with the positioning shaft and can rotate freely, the slot holes on both sides of the swing slot plate are sleeved and installed on both sides of the calf pulley and can swing freely, the press wheel is installed in the long hole below the calf pulley through the axial screw and nut, and the friction block and the positioning stud are positioned and installed in the hole of the support plate below the long hole through the nut.

[0015] In some embodiments, the rear drive path component 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 the mounting hole on one side of the rear tension sensor, and the mounting hole on the other side of the rear tension sensor is fixed to the median axis of the rear splitter, the steel wire rope of the rear execution Bowden cable passes through the arc tube of the rear splitter and can slide freely, and the steel wire rope of the rear execution Bowden cable extending from its sheath on both sides of the thigh passes through the slide slot hole of the adjustable pressure block located on the thigh wear component, and at the end passes through the radial holes on both sides of the positioning axis in the calf wear component and is locked by a set screw.

[0016] In some embodiments, the front drive path component includes a reverse drive Bowden cable, a front tension sensor, a braided rope, a front splitter and a front execution cable; wherein the reverse drive Bowden cable is connected to the hip and knee reverse drive rope of the exoskeleton drive system, and the other end is fixed to the mounting hole on one side of the front tension sensor, and the mounting hole on 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 slot plate in the calf wear component in turn, wrap around the calf pulley, wrap out of the calf pulley and connect to the front splitter. The front execution cable should pass through the arc tube of the front splitter and tie both ends to both sides of the thigh structure in the thigh wear component.

[0017] In some embodiments, the driving unit of the ankle driving module includes an ankle driving motor, an ankle driving sprocket assembly, an ankle chain assembly, and an ankle driving tensioning assembly; wherein the ankle driving sprocket assembly is mounted on the output flange of the ankle driving motor, and the ankle chain assembly and the ankle driving sprocket assembly are mounted in a chain drive manner;

[0018] The ankle drive sprocket assembly includes an ankle drive coupling and an ankle drive sprocket. The ankle drive sprocket is fixedly connected to the output flange of the ankle drive motor through the ankle drive coupling.

[0019] The ankle chain rope assembly includes an ankle drive chain, a chain rope connecting block, an ankle drive rope I and an ankle drive rope II. The ankle drive chain and the ankle drive sprocket are coordinated with a chain drive. The ankle drive rope I and the ankle drive rope II are respectively connected to the two ends of the ankle drive chain through the chain rope connecting block.

[0020] In some embodiments, the ankle power-assisting mechanism also includes an ankle encoder and a foot strap; the positioning holes on the upper ends of the vertical plates on both sides of the foot structure are rotatably connected to the ankle axis holes of the calf structure in the calf wearing assembly through pins, the ankle reel is fixed on the foot structure, the ankle encoder housing is coaxially fixed to the outside of the ankle reel, and at the same time, the rotating shaft of the ankle encoder is fixed to the calf structure through a set screw; the sheath of the foot Bowden cable is fixed to the calf Bowden cable anchor point, one end of the inner cable is connected to the ankle drive rope I and ankle drive rope II in the ankle drive module, and the other end is fixed to the ankle reel.

[0021] In some embodiments, the backpack frame assembly includes a backpack frame, a front backpack shield and a rear backpack shield; the front backpack shield is mounted on the front side of the backpack frame, and the rear backpack shield is mounted on the rear side of the backpack frame.

[0022] In some embodiments, the drive system further comprises a backpack auxiliary assembly;

[0023] The backpack auxiliary component includes a Bowden cable clamp and a waist support block; the Bowden cable clamp is respectively installed on the front plate and the rear plate of the frame to fix the sheath of the Bowden cable, and the waist support block is adjusted and installed on the rear backpack shield.

[0024] In some embodiments, the hip-knee drive module includes a hip-knee drive tensioning assembly, which includes a chain compression block I, a chain compression block II, a tensioning connecting block, a constant force spring, a tensioning assembly pin and a sliding positioning plate. The chain compression block I and the chain compression block II are installed in pairs on the front plate of the backpack frame to adjust and position the hip-knee forward drive chain and the hip-knee reverse drive chain. The fixed hole ends of the two tensioning connecting blocks are respectively fixed to the two chain rope connecting blocks by set screws, and the sub-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 rotated and installed on the tensioning assembly pin in turn, and the tensioning assembly pin is fixed to the front plate of the backpack frame.

[0025] Compared with the prior art, the multi-joint flexible lower limb exoskeleton for children with cerebral palsy of the present invention has at least the following beneficial effects:

[0026] 1) The present invention adopts a highly flexible wearable structure and a flexible transmission structure based on Bowden cables, effectively improving the safety and portability of the exoskeleton;

[0027] 2) The present invention utilizes a single drive motor in conjunction with a flexible transmission mechanism based on a Bowden cable to provide coordinated assistance to the hip and knee joints during both the stance-stretch and swing-stretch gait phases, meeting the primary need for walking assistance for children with cerebral palsy while offering the advantages of light weight and compact size.

[0028] 3) The torque of the present invention for the coordinated assistance of the hip and knee joints can be adjusted by adjusting the adjustable structure of the exoskeleton to change the distribution of assistance, better adapting to the different crouching gait characteristics of children with cerebral palsy and improving the walking assistance effect;

[0029] 4) The exoskeleton robot of the present invention, which can actively assist the patient's lower limb hip, knee and ankle joints, has a smaller weight and volume, and puts less burden on the patient.

[0030] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention and implement it according to the contents of the specification, the following is a detailed description of the preferred embodiments of the present invention with reference to the accompanying drawings. 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 description of the embodiments. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0032] Figure 1 This is a diagram of a human body wearing the flexible lower limb exoskeleton for children with cerebral palsy proposed by the present invention;

[0033] Figure 2 This is an overall view of the flexible lower limb exoskeleton for children with cerebral palsy proposed by the present invention;

[0034] Figure 3 This is a main structural diagram of the drive system of the flexible lower limb exoskeleton for children with cerebral palsy proposed by the present invention;

[0035] Figure 4 This is the overall view of the hip-knee drive module;

[0036] Figure 5 This is the specific structure of the hip-knee drive module;

[0037] Figure 6 This is the overall view of the ankle drive module;

[0038] Figure 7 The overall view and component structure diagram of the hip-knee linkage rope drive mechanism;

[0039] Figure 8 This is a detailed structural diagram of the hip-knee linkage rope drive mechanism;

[0040] Figure 9 It is a side sectional view of the specific structure of the hip-knee linkage rope drive mechanism;

[0041] Figure 10 It is a front cross-sectional view of the specific structure of the hip-knee linkage rope drive mechanism;

[0042] Figure 11 This is the main structural diagram of the ankle power assist mechanism.

[0043] The reference numerals in the figures are as follows:

[0044] Backpack frame assembly 1100,

[0045] Backpack frame 1101, front backpack cover 1102, rear backpack cover 1103,

[0046] 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,

[0047] Hip-knee chain assembly 1230, hip-knee forward drive chain 1231, chain connection block 1232, hip-knee forward drive rope 1233, hip-knee reverse drive chain 1234, hip-knee reverse drive rope 1235,

[0048] Hip-knee drive tensioning assembly 1240, chain pressing block I 1241, chain pressing block II 1242, tensioning connecting block 1243, constant force spring 1244, tensioning assembly pin 1245, sliding positioning plate 1246,

[0049] Ankle drive module 1300, ankle drive motor 1301, ankle drive sprocket assembly 1320, ankle drive coupling 1321, ankle drive sprocket 1322, ankle chain assembly 1330, ankle drive chain 1331, ankle drive rope I 1332, ankle drive rope II 1333, ankle drive tensioning assembly 1340, chain pressing block III 1341, chain pressing block IV 1342,

[0050] Bowden cable clamp 1502, waist support block 1503,

[0051] Hip-knee linkage rope drive mechanism 2000,

[0052] Thigh wearable component 2100, thigh structure 2101, adjustable pressure block 2102, thigh strap 2103, thigh gyroscope sensor 2104,

[0053] Calf wear assembly 2200, calf structure 2201, calf pulley assembly 2220, calf pulley 2221, positioning shaft 2222, swing slot plate 2223, line pressing wheel 2224, friction block 2225, positioning stud 2226, calf strap 2203, calf Bowden cable anchor point 2204, calf gyroscope sensor 2205,

[0054] Rear drive path component 2300, forward drive Bowden cable 2301, rear tension sensor 2302, rear splitter 2303, rear execution Bowden cable 2304,

[0055] Front drive path assembly 2400, reverse drive Bowden cable 2401, front tension sensor 2402, braided rope 2403, front splitter 2404, front execution line 2305,

[0056] Ankle assist mechanism 3000 , foot structure 3001 , ankle cable drum 3002 , ankle encoder 3003 , ankle torque sensor 3004 , foot strap 3005 , ankle Bowden cable 3006 . DETAILED DESCRIPTION

[0057] To further illustrate the technical means and effects employed by the present invention to achieve its intended objectives, the following detailed description of the specific implementation methods, structures, features, and effects of the present invention is provided in conjunction with the accompanying drawings and preferred embodiments. In the following description, different references to "one embodiment" or "embodiment" do not necessarily refer to the same embodiment. Furthermore, specific features, structures, or characteristics of one or more embodiments may be combined in any suitable manner.

[0058] In the description of the present invention, it should be clarified that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence; the terms "vertical", "transverse", "longitudinal", "front", "back", "left", "right", "up", "down", "horizontal", etc. indicating directions or positional relationships are based on the directions or positional relationships shown in the drawings, and are only for the convenience of describing the present invention, and do not mean that the devices or elements referred to must have a specific direction or position, and therefore cannot be understood as limiting the present invention.

[0059] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood broadly. For example, they may refer to fixed, detachable, or integral connections; mechanical or electrical connections; and direct or indirect connections through an intermediary. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0060] Example 1

[0061] This embodiment provides a multi-joint flexible lower limb exoskeleton for children with cerebral palsy. Figure 1 and Figure 2 The device mainly comprises a drive system 1000, a hip-knee linkage cable drive mechanism 2000, and an ankle power-assist mechanism 3000. The drive system 1000 is worn on the patient's lower back and waist. The drive system 1000 is connected to the hip-knee linkage cable drive mechanism 2000 and the ankle power-assist mechanism 3000 through drive paths. The hip-knee linkage cable drive mechanism 2000 is worn on the patient's thigh and calf. The ankle power-assist mechanism 3000 is worn on the patient's foot and connected to the hip-knee linkage cable drive mechanism 2000 at the ankle joint.

[0062] Specifically, the drive system 1000 mainly includes a backpack frame assembly 1100, a hip-knee drive module 1200, an ankle drive module 1300, and a backpack auxiliary assembly. The hip-knee drive module 1200 and the ankle drive module 1300 each include two symmetrical drive units on the left and right, respectively providing a drive path for one leg of the exoskeleton. Figure 3 Taking the right side as an example, the hip-knee driver module 1200 and the ankle driver module 1300 are mounted on the backpack frame 1101 facing each other. The backpack frame assembly 1100 includes the backpack frame 1101, a front backpack shield 1102, and a rear backpack shield 1103. The front backpack shield 1102 is mounted on the front side of the backpack frame 1101, and the rear backpack shield 1103 is mounted on the rear side of the backpack frame 1101. The backpack auxiliary components are mounted on the backpack frame assembly 1101.

[0063] As a preferred embodiment of the present invention, Figure 4 、 Figure 5 and Figure 6 As shown, the hip-knee drive module 1200 mainly includes a hip-knee drive motor 1201, a hip-knee drive sprocket assembly 1220, a hip-knee chain assembly 1230 and a hip-knee drive tensioning assembly 1240.

[0064] Specifically, see Figure 4 The hip-knee drive motor 1201 is fixedly mounted on the inner side of the front plate of the backpack frame 1101, the hip-knee drive sprocket assembly 1220 is installed on the output flange of the hip-knee drive motor 1201, and the hip-knee chain rope assembly 1230 and the hip-knee drive sprocket assembly 1220 are installed in conjunction with chain drive.

[0065] See also Figure 5 The hip-knee drive sprocket assembly 1220 mainly includes a hip-knee drive coupling 1221, a one-way clutch 1222, a hip-knee drive sprocket 1223, and an end-shaft stopper 1224. The hip-knee drive coupling 1221 is mounted on the output flange of the hip-knee drive motor 1201. The two hip-knee drive sprockets 1223 are sequentially sleeved on the shaft diameter of the hip-knee drive coupling 1221 through the one-way clutch 1222. The two one-way clutches 1222 are installed in reverse. The end-shaft stopper 1224 is installed on the shaft end of the hip-knee drive coupling 1221 by screws, axially fixing the various components of the hip-knee drive sprocket assembly 1220.

[0066] See also Figure 4 、 Figure 5 The hip-knee chain assembly 1230 mainly includes a hip-knee forward drive chain 1231, a chain connecting 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 coupled to the two hip-knee drive sprockets 1223 in a chain drive manner, and one end of each 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 ends of the hip-knee forward drive chain 1231 and the hip-knee reverse drive chain 1234 via the chain connecting block 1232.

[0067] See also Figure 4The hip-knee drive tensioning assembly 1240 mainly includes a chain compression block I 1241, a chain compression block II 1242, a tensioning connection block 1243, a constant force spring 1244, a tensioning assembly pin 1245 and a sliding positioning plate 1246. The chain compression block I 1241 and the chain compression block II 1242 are installed in pairs on the front plate of the backpack frame 1101 to adjust and position the hip-knee forward drive chain 1231 and the hip-knee reverse drive chain 1234. The fixed hole ends of the two tensioning connection blocks 1243 are respectively fixed to the two chain rope connection blocks 1232 by set screws, and the sub-plate of the constant force spring 1244 is fixed to the other end of the tensioning connection block 1243 by screws. The two constant force springs 1244 are rotated and installed on the tensioning assembly pin 1245 in turn, and the tensioning assembly pin 1245 is fixed to the front plate of the backpack frame 1101.

[0068] As a preferred embodiment of the present invention, see Figure 6 The ankle drive module 1300 mainly includes an ankle drive motor 1301, an ankle drive sprocket assembly 1320, an ankle chain assembly 1330, and an ankle drive tensioning assembly 1340. The ankle drive motor 1301 is fixed to the inner side of the back plate of the backpack frame 1101, the ankle drive sprocket assembly 1320 is mounted on the output flange of the ankle drive motor 1301, and the ankle chain assembly 1330 and the ankle drive sprocket assembly 1320 are installed in a chain drive.

[0069] Specifically, if Figure 6 As shown, the ankle drive sprocket assembly 1320 mainly includes an ankle drive coupling 1321 and an ankle drive sprocket 1322. The ankle drive sprocket 1322 is fixedly connected to the output flange of the ankle drive motor 1301 through the ankle drive coupling 1321. The ankle chain assembly 1330 mainly includes an ankle drive chain 1331, a chain connecting block 1232, an ankle drive rope I 1332, and an ankle drive rope II 1333. The ankle drive chain 1331 and the ankle drive sprocket 1322 cooperate in a chain drive. The ankle drive rope I 1332 and the ankle drive rope II 1333 are respectively connected to the two ends of the ankle drive chain 1331 through the chain connecting block 1232. The ankle drive tensioning assembly 1340 mainly includes a chain pressing block III 1341 and a chain pressing block IV 1342 . The chain pressing block III 1341 and the chain pressing block IV 1342 are installed in pairs on the rear plate of the backpack frame 1101 to adjust and position the ankle drive chain 1331 .

[0070] As a preferred embodiment of the present invention, the backpack auxiliary assembly specifically includes Bowden cable clips 1502 and a lumbar support block 1503. Eight Bowden cable clips 1502 are mounted on the front and rear panels of the frame 1101, respectively, to secure the sheaths of the Bowden cables. The lumbar support block 1503 is adjustable and mounted on the rear backpack shield 1103, with the specific mounting position on the rear backpack shield 1103 determined based on the patient's body shape.

[0071] As a preferred embodiment of the present invention, Figure 2 and Figure 7 As shown, the hip-knee linkage cable drive mechanism 2000 mainly includes a thigh wear component 2100, a calf wear component 2200, a rear drive path component 2300 and a front drive path component 2400. Figure 2 As shown, the thigh wear component 2100 and the calf wear 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 fits the patient's skin can be customized according to the patient's body shape. The driving end of the rear drive path component 2300 is connected to the hip-knee forward drive rope 1233 of the exoskeleton drive system 1000, and the Bowden cable sheath is positioned on the patient's lower limb through anchor points A1, A2, A3, and A4, and the end is fixed and locked to O1 on the calf wear component 2200. The driving end of the front drive path component 2400 is connected to the hip-knee reverse drive rope 1235 of the exoskeleton drive system 1000, and the Bowden cable sheath is positioned on the patient's lower limb through anchor point B1, and the end is fixed and locked to O2 on the thigh wear component 2100.

[0072] As a preferred embodiment of the present invention, Figure 7 、 Figure 8 、 Figure 9 and Figure 10 As shown, 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 thigh strap 2103 are worn in an appropriate position on the patient's thigh and secured vertically by a wearing structure (not shown). The adjustable pressure block 2102 can be adjusted and assembled into the mounting holes on the thigh structure 2101. The thigh gyroscope sensor 2104 is installed in a slot on the front side of the thigh structure 2101.

[0073] Specifically, see Figure 8 and Figure 9The calf wearable assembly 2200 includes a calf structure 2201, a calf pulley assembly 2220, a calf strap 2203, a calf Bowden cable anchor 2204, and a calf gyroscope sensor 2205. The calf structure 2201 and the calf strap 2203 are worn in an appropriate position on the patient's calf. The calf pulley assembly 2220 is mounted on the upper cantilever of the calf structure 2201. The calf Bowden cable anchor 2204 is fixed to the outside of the calf structure 2201. The calf gyroscope sensor 2205 is installed in a slot on the front side of the calf structure 2201.

[0074] The calf pulley assembly 2220 is as follows Figure 9 and Figure 10 As shown, it mainly includes a calf pulley 2221, a positioning shaft 2222, a swing slot plate 2223, a line pressing wheel 2224, a friction block 2225 and a positioning stud 2226. The positioning shaft 2222 passes through the axial hole at the end of the cantilever of the calf structure 2201 and can rotate freely. The two ends are respectively positioned by a shaft shoulder and an elastic retaining ring. The calf pulley 2221 is placed on the inner side of the cantilever of the calf structure 2201 and forms an axial hole clearance with the positioning shaft 2222 and can rotate freely. The slots on both sides of the swing slot plate 2223 are sleeved and installed on both sides of the calf pulley 2221 and can swing freely. The line pressing wheel 2224 is installed in the long hole below the calf pulley 2221 by an axial 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 long hole by nuts.

[0075] As a preferred embodiment of the present invention, see Figure 7 and Figure 8 The rear-side driving path component 2300 mainly includes a forward driving Bowden cable 2301 , a rear-side tension sensor 2302 , a rear-side splitter 2303 , and a rear-side execution Bowden cable 2304 . The forward drive Bowden cable 2301 is connected to the hip and knee forward drive rope 1233 of the exoskeleton drive system 1000, and 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 median axis of the rear distributor 2303. The steel wire rope of the rear execution Bowden cable 2304 passes through the arc tube of the rear distributor 2303 and can slide freely. The two ends of the Bowden cable 2304 are symmetrically fixed at the anchor points A1, A2, A3, and A4 on the patient's hips and legs. The steel wire rope of the rear execution Bowden cable 2304 extending from its sheath on both sides of the thigh passes through the slide hole of the adjustable pressure block 2102 on the thigh wear component 2100, and at the end passes through the radial holes on both sides of the positioning shaft 2222 in the calf wear component 2200, and is locked by a set screw, that is, at the pulling point O1 of the rear drive path component 2300.

[0076] As a preferred embodiment of the present invention, see Figure 7 and Figure 8 The front side driving path component 2400 mainly includes a reverse driving Bowden cable 2401, a front side tension sensor 2402, a braided rope 2403, a front side splitter 2404 and a front side execution line 2305. The reverse drive Bowden cable 2401 is connected to the hip and knee reverse drive rope 1235 of the exoskeleton drive system 1000, and the other end is fixed to the mounting hole on one side of the front tension sensor 2402. The mounting hole at the other end of the front tension sensor 2402 is fastened to the braided rope 2403. The path of the braided rope 2403 needs to pass through the limiting groove of the swing slot plate 2223 in the calf wear component 2200 in turn, wrap around the calf pulley 2221, wrap out of the calf 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 fasten both ends to the pulling point O2 on both sides of the thigh structure 2101 in the thigh wear component 2100.

[0077] As a preferred embodiment of the present invention, Figure 11 As shown, the ankle assist mechanism 3000 mainly includes a foot structure 3001 , an ankle cable drum 3002 , an ankle encoder 3003 , an ankle torque sensor 3004 , a foot strap 3005 and an ankle Bowden cable 3006 .

[0078] Specifically, the foot structure 3001 is worn on the patient's foot in conjunction with the foot strap 3005. The positioning holes on the upper ends of the vertical plates on both sides of the foot structure 3001 are rotatably connected to the ankle axis holes of the calf structure 2201 in the calf wearing assembly 2200 through pins, allowing a small amount of axial clearance. The ankle reel 3002 and the foot structure 3001 are fixedly connected with screws through the flange holes on the ankle encoder 3003. In particular, if it is not necessary to measure the ankle torque, it can be fixed through the positioning holes on the vertical plates of the foot structure 3001. The ankle encoder 3003 shell is coaxially fixed to the outside of the ankle reel 3002, and the rotating shaft of the ankle encoder 3003 is fixed to the calf structure 2201 through a set screw. The sheath of the foot Bowden cable 3006 is fixed to the calf Bowden cable anchor point 2204 , one end of the inner cable is connected to the ankle drive rope I 1332 and the ankle drive rope II 1333 in the ankle drive module 1300 , and one end is fixed to the drive point of the ankle cable drum 3002 .

[0079] As 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 cable is preferably a 1.2mm steel wire with an outer sheath preferably having a PVC inner layer and a high-carbon steel inner layer. The calf pulley 2221 is preferably made of an organic material with a certain hardness and lubricity, such as polyethylene. The pressing wheel 2224 and the friction block 2225 are preferably made of rubber. In particular, the braided rope 2403 and the front actuating wire 2305 are preferably braided ropes with good flexibility and a certain friction coefficient.

[0080] This embodiment should be worn on the patient's lower back and lower back, with each drive path connected to each transmission structure. The present invention primarily provides three types of assistive force during the patient's forward gait cycle: assisting hip and knee extension during the stance-stretch gait phase; assisting hip flexion and knee extension during the swing-stretch gait phase; and assisting ankle dorsiflexion or plantar flexion based on the patient's gait characteristics.

[0081] When assisting the patient's hip and knee joints in the standing and stretching gait phase, the patient's current motion state is judged to be the standing and stretching gait phase based on the signals of the thigh gyroscope sensor 2104, the calf gyroscope sensor 2205 and the ankle encoder 3003, and the hip and knee drive motor 1201 is controlled to rotate forward. The hip and knee drive sprocket 1223 that cooperates with the hip and knee forward drive chain 1231 is in a meshing state because its corresponding one-way clutch 1222 is in an engaged state, thereby pulling the hip and knee forward drive rope 1233. Because its corresponding one-way clutch 1222 is in the overrun state, the hip-knee reverse drive sprocket 1223, which is coupled to the hip-knee reverse drive chain 1234, has no additional driving force on the hip-knee reverse drive cable 1235. This pulls the forward drive Bowden cable 2301 of the rear drive path assembly 2300, causing the rear cable splitter 2303 and the inner cable of the rear actuating Bowden cable 2304 to displace. Simultaneously, the rear tension sensor 2302 measures the magnitude of the internal pulling force within the rear drive path assembly 2300 in real time. At this point, the portion of the inner cable of the rear actuating Bowden cable 2304 extending out of the outer sheath simultaneously passes through the slotted hole of the adjustable pressure block 2102 on the thigh wear assembly 2100 and is locked at its ends into the radial holes on either side of the positioning shaft 2222 in the calf wear assembly 2200. The internal tension of the steel cable generates pressure on the thigh wear assembly 2100 and tension on the calf wear assembly 2200, respectively, generating assist torques on the patient's hip and knee joints. The exoskeleton can distribute the power assistance to the patient's thigh by changing the positioning of the adjustable pressure block 2102 on the thigh wearable component 2100, thereby changing the angle change of the rear-side Bowden cable 2304 when it passes through the adjustable pressure block 2102, thereby changing the size of the thigh power assistance.

[0082] When assisting the patient's hip and knee joints in the swing-extension gait stage, the signals from the thigh gyroscope sensor 2104, the calf gyroscope sensor 2205 and the ankle encoder 3003 are used to determine that the patient's current motion state is the swing-extension gait stage, and the hip and knee drive motor 1201 is controlled to reverse. The hip and knee drive sprocket 1223 coordinated with the hip and knee reverse drive chain 1234 is in an engaged state because its corresponding one-way clutch 1222 is in an overtravel state, and the hip and knee forward drive rope 1233 has no additional driving force because its corresponding one-way clutch 1222 is in an overtravel state. The reverse drive Bowden cable 2401 of the front drive path assembly 2400 is pulled, causing the braided rope 2403 to move. At the same time, the front tension sensor 2402 measures the magnitude of the pulling force in the front drive path assembly 2400 in real time. At this time, the braided rope 2403 is in a tensioned state and simultaneously wraps around the calf pulley 2221 in the calf wearing component 2200 and pulls the front execution line 2305 through the front splitter 2404, respectively generating pressure on the calf pulley 2221 and tension on the thigh structure 2101, thereby generating assist torque on the patient's hip joint and knee joint respectively.

[0083] The exoskeleton's distribution of power to the patient's thigh can be adjusted by tightening the braided rope 2403 against the upper cable groove of the calf pulley 2221 using the friction block 2225 and positioning stud 2226 on the calf wear assembly 2200, significantly reducing the exoskeleton's power torque on the patient's hip joint. When adjusting the positioning stud 2226, it's important to ensure that the unwound portion of the braided rope and the front actuator cable 2305 are relaxed to prevent the exoskeleton from affecting the patient's knee's range of motion.

[0084] When the ankle joint is assisted in dorsiflexion or plantar flexion according to the patient's gait characteristics, the ankle drive motor 1301 rotates, driving the ankle chain rope assembly 1330 through the ankle drive sprocket 1322, so that the driving paths of the ankle drive rope I 1332 and the ankle drive rope II 1333 move relative to each other, driving the ankle Bowden cable 3006 to drive the ankle cable drum 3002 to rotate, so that the foot structure 3001 generates an assist torque on the patient's ankle.

[0085] In summary, it is easy for those skilled in the art to understand that, under the premise of no conflict, the above-mentioned advantageous technical features can be freely combined and superimposed.

[0086] The above are merely preferred embodiments of the present invention and do not constitute any form of limitation to the present invention. Any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention still fall within the scope of the technical solution of the present invention.

Claims

1. A multi-joint flexible lower limb exoskeleton for children with cerebral palsy, characterized by: It includes a drive system (1000), a hip-knee linkage rope drive mechanism (2000), and an ankle power-assisting mechanism (3000); The driving system (1000) comprises a backpack frame assembly (1100), and a hip and knee driving module (1200) and an ankle driving module (1300) arranged on the backpack frame assembly (1100); The hip-knee driving module (1200) and the ankle driving module (1300) respectively include two symmetrical driving units on the left and right; The driving unit of the hip-knee driving module (1200) comprises a hip-knee driving motor (1201) and two transmission assemblies; The hip-knee linkage rope drive mechanism (2000) comprises two left-right symmetrical units, each unit comprising a thigh wear component (2100), a calf wear component (2200), a rear drive path component (2300) and a front drive path component (2400); The hip-knee drive motor (1201) generates pressure on the thigh wear component (2100) and tension on the calf wear component (2200) through a transmission component and a rear drive path component (2300), thereby generating power-assist torques for the hip joint and the knee joint respectively; the hip-knee drive motor (1201) generates pressure on the calf wear component (2200) and tension on the thigh wear component (2100) through another transmission component, a front drive path component (2400), thereby generating power-assist torques for the hip joint and the knee joint respectively; The ankle power-assisting mechanism (3000) comprises a foot structure (3001), an ankle cable drum (3002) and an ankle Bowden cable (3006); the foot structure (3001) is rotatably connected to the ankle axis hole of the calf wear component (2200) via a pin shaft; one end of the inner line of the ankle Bowden cable (3006) is connected to the drive unit of the ankle drive module (1300), and the other end is fixed to the ankle cable drum (3002); The ankle driving module (1300) drives the ankle Bowden cable (3006) to drive the ankle cable drum (3002) to rotate, thereby causing the foot structure (3001) to generate a power-assisting torque.

2. The multi-joint flexible lower limb exoskeleton for children with cerebral palsy according to claim 1, characterized in that: The transmission assembly of the driving unit of the hip-knee driving module (1200) comprises a hip-knee driving sprocket assembly (1220) and a hip-knee chain rope assembly (1230); The hip-knee drive sprocket assembly (1220) comprises a hip-knee drive coupling (1221), a one-way clutch (1222), a hip-knee drive sprocket (1223) and an axis end baffle (1224); wherein the hip-knee drive coupling (1221) is mounted on the output flange of the hip-knee drive motor (1201); the two hip-knee drive sprockets (1223) are sequentially sleeved on the axis diameter of the hip-knee drive coupling (1221) through the one-way clutch (1222); the two one-way clutches (1222) are mounted in opposite directions; the axis end baffle (1224) is mounted on the axis end of the hip-knee drive coupling (1221) by screws, thereby axially fixing the various components of the hip-knee drive sprocket assembly (1220); The hip-knee chain rope assembly (1230) includes a hip-knee forward drive chain (1231), a chain rope connecting 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 matched with two hip-knee drive sprockets (1223) in a chain drive, and one end of the two chains is fixed to the fixing hole of the hip-knee drive sprocket (1223) by a pin, and 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 rope connecting block (1232).

3. The multi-joint flexible lower limb exoskeleton for children with cerebral palsy according to claim 2, characterized in that: The thigh wearable component (2100) comprises a thigh structural component (2101), an adjustable pressure block (2102), a thigh strap (2103) and a thigh gyroscope sensor (2104); the thigh structural component (2101) and the thigh strap (2103) are connected, the adjustable pressure block (2102) can be adjusted and assembled on the mounting hole array on the thigh structural component (2101), and the thigh gyroscope sensor (2104) is installed in the front slot of the thigh structural component (2101).

4. The multi-joint flexible lower limb exoskeleton for children with cerebral palsy according to claim 3, characterized in that: The calf wearable assembly (2200) comprises a calf structure (2201), a calf pulley assembly (2220), a calf strap (2203), a calf Bowden cable anchor point (2204) and a calf gyroscope sensor (2205); wherein the calf structure (2201) and the calf strap (2203) are connected, the calf pulley assembly (2220) is mounted on the upper cantilever of the calf structure (2201), the calf Bowden cable anchor point (2204) is fixed to the outside of the calf structure (2201), and the calf gyroscope sensor (2205) is mounted in a front slot of the calf structure (2201); The calf pulley assembly (2220) comprises a calf pulley (2221), a positioning shaft (2222), a swinging slot plate (2223), a line pressing wheel (2224), a friction block (2225) and a positioning stud (2226); the positioning shaft (2222) passes through the axial hole at the end of the cantilever of the calf structure (2201) and can rotate freely; the calf pulley (2221) is placed on the inner side of the cantilever of the calf structure (2201) and forms an axial hole clearance with the positioning shaft (2222) and can rotate freely; the slot holes on both sides of the swinging slot plate (2223) are sleeved and installed on both sides of the calf pulley (2221) and can swing freely; the line pressing wheel (2224) is installed in the long hole below the calf pulley (2221) by means of an axial screw and a nut; and the friction block (2225) and the positioning stud (2226) are positioned and installed in the hole of the support plate below the long hole by means of a nut.

5. The multi-joint flexible lower limb exoskeleton for children with cerebral palsy according to claim 4, characterized in that: The rear drive path component (2300) comprises 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 (1000), 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 execution Bowden cable (2304). The side wire splitter (2303) is fixed to the median axis, and the steel wire rope of the rear side Bowden cable (2304) passes through the arc tube of the rear side wire splitter (2303) and can slide freely. The steel wire rope of the rear side Bowden cable (2304) extending from its sheath on both sides of the thigh passes through the slide hole of the adjustable pressure block (2102) on the thigh wear component (2100), and at the end passes through the radial holes on both sides of the positioning shaft (2222) in the calf wear component (2200), and is locked by a set screw.

6. The multi-joint flexible lower limb exoskeleton for children with cerebral palsy according to claim 5, 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 execution line (2305); wherein the reverse drive Bowden cable (2401) is connected to the hip and knee reverse drive rope (1235) of the exoskeleton drive system (1000), 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 fixed to a mounting hole on one side of the front tension sensor (2402). The end mounting hole is fastened with the braided rope (2403), and the path of the braided rope (2403) needs to pass through the limit groove of the swing groove plate (2223) in the calf wearing component (2200) in sequence, go around the calf pulley (2221), go out of the calf pulley (2221) and be connected to the front side splitter (2404), and the front side execution line (2305) should pass through the arc tube of the front side splitter (2404) and fasten both ends to both sides of the thigh structure (2101) in the thigh wearing component (2100).

7. The multi-joint flexible lower limb exoskeleton for children with cerebral palsy according to claim 6, characterized in that: The driving unit of the ankle driving module (1300) comprises an ankle driving motor (1301), an ankle driving sprocket assembly (1320), an ankle chain assembly (1330) and an ankle driving tensioning assembly (1340); wherein the ankle driving sprocket assembly (1320) is mounted on the output flange of the ankle driving motor (1301), and the ankle chain assembly (1330) and the ankle driving sprocket assembly (1320) are mounted in a chain drive manner; The ankle drive sprocket assembly (1320) comprises an ankle drive coupling (1321) and an ankle drive sprocket (1322), and the ankle drive sprocket (1322) is fixedly connected to the output flange of the ankle drive motor (1301) via the ankle drive coupling (1321); The ankle chain rope assembly (1330) includes an ankle drive chain (1331), a chain rope connecting block (1232), an ankle drive rope I (1332) and an ankle drive rope II (1333). The ankle drive chain (1331) cooperates with the ankle drive sprocket (1322) in a chain drive manner. The ankle drive rope I (1332) and the ankle drive rope II (1333) are respectively connected to the two ends of the ankle drive chain (1331) through the chain rope connecting block (1232).

8. The multi-joint flexible lower limb exoskeleton for children with cerebral palsy according to claim 7, characterized in that: The ankle power-assisting mechanism (3000) further comprises an ankle encoder (3003) and a foot strap (3005); The positioning holes on the upper ends of the vertical plates on both sides of the foot structure (3001) are rotatably connected to the ankle axis holes of the calf structure (2201) in the calf wearing assembly (2200) through pins, the ankle cable drum (3002) is fixed to the foot structure (3001), the ankle encoder (3003) shell is coaxially fixed to the outside of the ankle cable drum (3002), and the rotating shaft of the ankle encoder (3003) is fixed to the calf structure (2201) through a set screw; the cable sheath of the ankle Bowden cable (3006) is fixed to the calf Bowden cable anchor point (2204), one end of the inner cable is connected to the ankle drive rope I (1332) and the ankle drive rope II (1333) in the ankle drive module (1300), and the other end is fixed to the ankle cable drum (3002).

9. The multi-joint flexible lower limb exoskeleton for children with cerebral palsy according to claim 8, characterized in that: The backpack frame assembly (1100) comprises a backpack frame (1101), a front backpack shield (1102) and a rear backpack shield (1103); The front backpack shield (1102) is mounted on the front side of the backpack frame (1101), and the rear backpack shield (1103) is mounted on the rear side of the backpack frame (1101); The drive system (1000) further includes a backpack auxiliary assembly; The backpack auxiliary component comprises a Bowden cable clamp (1502) and a waist support block (1503); the Bowden cable clamp (1502) is respectively mounted 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 mounted on the rear backpack shield (1103).

10. The multi-joint flexible lower limb exoskeleton for children with cerebral palsy according to claim 9, characterized in that: The hip-knee drive module (1200) comprises a hip-knee drive tensioning assembly (1240), The hip-knee drive tensioning assembly (1240) comprises a chain pressing block I (1241), a chain pressing block II (1242), a tensioning connection block (1243), a constant force spring (1244), a tensioning assembly pin (1245) and a sliding positioning plate (1246). The chain pressing block I (1241) and the chain pressing block II (1242) are mounted in pairs on the front plate of the backpack frame (1101) to adjust and position the hip-knee forward drive chain (1231) and the hip The knee reverse drive chain (1234), the fixed hole ends of the two tensioning connecting blocks (1243) are respectively fixed to the two chain rope 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, and the two constant force springs (1244) are rotated and installed on the tensioning assembly pin (1245) in sequence, and the tensioning assembly pin (1245) is fixed to the front plate of the backpack frame (1101).

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