Wearable knee exoskeleton

Abstract

The application discloses a wearable knee joint exoskeleton, which comprises a thigh supporting part, a knee joint rotation limiting device and a shank supporting part, the thigh supporting part is used for positioning and supporting a position of a human thigh close to a knee joint, the shank supporting part is used for positioning and supporting a position of a human shank close to the knee joint, the knee joint rotation limiting device is used for limiting an angle range of human knee joint movement, the knee joint rotation limiting device is arranged between the thigh supporting part and the shank supporting part and is fixedly connected with the thigh supporting part and the shank supporting part respectively. The wearable knee joint exoskeleton provided by the application has simple structure and variable rotation center, can adapt to natural movement of a human knee joint, provides certain limitation for extension movement of the knee joint and prevents overextension of the knee joint.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of rehabilitation equipment, in particular to a wearable knee exoskeleton. BACKGROUND

[0002] The symptoms of lower extremity hyperextension of the knee, weak control ability of the knee joint, and joint degenerative changes of knee arthritis caused by stroke greatly affect the movement ability of these patients, especially the elderly, and reduce the quality of life of these people. In recent years, various research groups at home and abroad have successively carried out research work on knee exoskeletons, and important progress has been made in the design of exoskeleton mechanisms and human-computer interaction interfaces. Some knee exoskeletons adopt a single rotation center structure, but due to the change in the position of the rotation center of the human knee joint rotation movement, the single rotation center structure is not aligned with the rotation center of the human knee joint, which easily destroys the natural biomechanical characteristics of the human knee joint during walking. Other knee exoskeletons also use structures such as multiple rotation centers and rotating slide rails to adapt to the natural movement of the human knee joint, but there are still problems such as misalignment with the rotation center of the human knee joint, complex structure, difficulty in wearing, and difficulty in achieving knee extension limiting. For example, the Chinese patent with the patent number CN216603447U provides a "power-assisted knee exoskeleton", which simulates the flexion movement of the human body through a thigh harness, a lower leg harness, and multiple connecting rods, but the structure has high requirements for the installation position, and a large installation position deviation will affect the natural movement of the lower joint of the human body, and the structure is complex and not easy to wear, and cannot limit the range of knee extension movement. SUMMARY

[0003] The purpose of the present application is to provide a wearable knee exoskeleton with a simple structure and a variable rotation center, which can adapt to the natural movement of the human knee joint, provide certain limitation for the knee extension movement, and prevent the occurrence of knee hyperextension.

[0004] To achieve the above-mentioned purpose, the technical scheme provided by the present application is as follows:

[0005] A wearable knee exoskeleton, comprising a thigh support part, a knee joint rotation limiting device, and a lower leg support part, the thigh support part is used to position and support the position of the human thigh close to the knee, the lower leg support part is used to position and support the position of the human lower leg close to the knee, the knee joint rotation limiting device is used to limit the angle range of the human knee movement, the knee joint rotation limiting device is arranged between the thigh support part and the lower leg support part, and is fixedly connected with the thigh support part and the lower leg support part respectively; the knee joint rotation limiting device comprises an elastic component and a plurality of continuous body modules arranged on the same side of the elastic component and mutually disconnected and continuously arranged; the plurality of continuous body modules are directed towards the outside of the human body.

[0006] Preferably, the knee joint rotation limiting device further comprises an upper base, a lower base and a continuous limiting device, the upper base is movably and adjustably fixedly connected with the thigh support part, the lower base is movably and adjustably fixedly connected with the shank support part, and the two ends of the continuous limiting device are fixedly connected with the upper base and the lower base respectively.

[0007] The continuous limiting device comprises the elastic part and a plurality of continuum modules, the elastic part is used for connecting components on the knee joint rotation limiting device and improving the rigidity of the knee joint rotation limiting device, and the plurality of continuum modules are used for unidirectionally limiting the angle range of the human knee joint extension, and the plurality of continuum modules are fixedly connected on the same side of the elastic part.

[0008] Preferably, the elastic part is a sheet-shaped plate spring with a certain thickness, and the material of the continuum module has a certain strength so that the continuum module does not deform when being pressed.

[0009] Preferably, the plurality of continuum modules are fixed on the sheet-shaped plate spring in sequence along the longitudinal direction of the sheet-shaped plate spring, and when the angle range of the human knee joint extension reaches the maximum limit, the plurality of continuum modules are in close contact.

[0010] Preferably, the continuum module further comprises a structure-symmetrical limiting plate, the limiting plate is fixed on both sides of the continuum module in a wing-shaped structure and is partially higher than the upper surface and / or the lower surface of the continuum module, and is used for limiting the torsional movement of the continuous limiting device.

[0011] Preferably, the rotation center of the knee joint rotation limiting device is the intersection of the upper base and the lower base along the extension line of the elastic part.

[0012] Preferably, the upper cross section and the lower cross section of the limiting plate are respectively provided with corresponding protrusions and recesses, so that when the plurality of continuum modules are in close contact, the limiting plates thereon can be clamped with each other from top to bottom or from bottom to top.

[0013] Preferably, the thigh support part comprises a thigh support and a thigh bandage, and the shank support part comprises a shank support and a shank bandage; in use, the thigh support is located in front of or behind the human thigh to provide a support point for the human thigh, the thigh bandage is located behind or in front of the human thigh to fix the knee joint exoskeleton on the thigh part, the shank support is located in front of or behind the human shank to provide a support point for the human shank, and the shank bandage is located behind or in front of the human shank to fix the knee joint exoskeleton on the shank part.

[0014] Preferably, the limiting plate of the continuum module at the end of the continuous limiting device is further clamped with the outer side of the upper base or the lower base.

[0015] Preferably, when the wearable knee exoskeleton is used, the knee rotation limiting device is located on the left side or the right side or both sides of the knee of the human body.

[0016] The wearable knee exoskeleton provided in the application can unidirectionally limit the angle range of the extension of the knee of the human body by the knee rotation limiting device, so as to prevent the phenomenon of hyperextension of the knee of the user; and the knee rotation limiting device can change its rotation center along with the rotation movement of the knee of the human body by the cooperation of the elastic component and the continuum module structure, so as to be more in line with the ergonomic structure design and to be able to adapt to the natural movement of the knee of the human body and improve the comfort degree of the user when using.

[0017] In addition, the torsional movement of the knee rotation limiting device as a whole can be limited by the limiting plates on both sides of the continuum module, so as to prevent the user from falling down and causing accidents due to the weak control ability of the knee when wearing, and further improve the stability of the wearable knee exoskeleton as a whole.

[0018] On the other hand, the wearable knee exoskeleton provided in the application is fixed to the back of the leg of the human body by the thigh strap and the calf strap, so that the user can complete the wearing and taking off in the sitting posture, standing posture and the like, and the wearing and taking off are more convenient and fast.

[0019] In addition, the knee rotation limiting device is located on the side of the knee of the human body, so as to support the large-angle flexion of the knee and not to affect the natural movement of the lower joint when the wearer walks naturally.

[0020] In addition, the knee rotation limiting device is movably adjusted and fixed between the thigh support part and the calf support part, so that the user can adjust the position of the knee rotation limiting device as a whole, so as to change the fixed position of the knee rotation limiting device near the knee of the human body, so as to be able to adapt to different groups of people and patients in different stages of the disease. BRIEF DESCRIPTION OF DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are some embodiments of the application, and other drawings can also be obtained by those skilled in the art without any creative labor.

[0022] Figure 1 It is a structure schematic diagram of the wearable knee exoskeleton in the embodiment of the application.

[0023] Figure 2 It is a partial exploded schematic diagram of the wearable knee exoskeleton in the embodiment of the application.

[0024] Figure 3A continuous limiting device part structure exploded view in the embodiment of the present application;

[0025] Figure 4 A single continuum module schematic view in the embodiment of the present application;

[0026] Figure 5 A plurality of continuum module part exploded view in the embodiment of the present application;

[0027] Figure 6 A plurality of continuum module part exploded view in another embodiment of the present application;

[0028] Figure 7 A knee joint rotation limiting device structure schematic view in the embodiment of the present application. DETAILED DESCRIPTION

[0029] In order to make the technical means, creative features, purposes and effects realized by the present application easy to understand, the following will further describe the present application with specific drawings.

[0030] In the description of the present application, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. In the description of the present application, unless otherwise stated, the meaning of "a plurality of" is two or more.

[0031] As shown in Figure 1 The embodiment of the present application provides a wearable knee joint exoskeleton, which comprises a thigh support part 100, a knee joint rotation limiting device 200 and a calf support part 300. The thigh support part 100 is used to position and support the position of the human thigh close to the knee, the calf support part 300 is used to position and support the position of the human calf close to the knee, and the knee joint rotation limiting device 200 is used to limit the angle range of the human knee movement. The knee joint rotation limiting device 200 is arranged between the thigh support part 100 and the calf support part 300, and is fixedly connected with the thigh support part 100 and the calf support part 300 respectively. When in use, the knee joint rotation limiting device 200 is located on the left side or the right side of the human knee part, and further, the number of the knee joint rotation limiting device 200 is two, which is respectively located on the left side and the right side of the human knee part. The thigh support part 100 comprises a left thigh support part and a right thigh support part which are structurally symmetrical, and the calf support part 300 comprises a left calf support part and a right calf support part which are structurally symmetrical.

[0032] Please further refer toFigure 2 The knee joint rotation limiting device 200 comprises an upper base 210, a lower base 220 and a continuous limiting device 230, the upper base 210 is movably and adjustably fixedly connected with the thigh supporting part 100, the lower base 220 is movably and adjustably fixedly connected with the calf supporting part 300, and the two ends of the continuous limiting device 230 are fixedly connected or detachably fixedly connected with the upper base 210 and the lower base 220.

[0033] In the embodiment, the upper base 210 is provided with a U-shaped sliding groove of a certain length on the side away from the continuous limiting device 230, the side wall of the U-shaped sliding groove is provided with a plurality of mounting holes, the n-shaped sliding groove of a certain length is correspondingly provided on the side of the end of the thigh supporting part 100 close to the upper base 210, the side wall of the n-shaped sliding groove is provided with limiting holes corresponding in number and position to the mounting holes of the side wall of the U-shaped sliding groove, and the length of the limiting holes of the n-shaped sliding groove of the end of the thigh supporting part 100 is greater than the length of the mounting holes of the U-shaped groove of the upper base. The U-shaped sliding groove of the upper base 210 and the n-shaped sliding groove of the thigh supporting part 100 are inserted into each other and can relatively move in the grooves, the upper base 210 and the thigh supporting part 100 are adjustably fixedly connected through a bolt, the bolt passes through the mounting holes of the side wall of the U-shaped sliding groove of the upper base and the limiting holes of the side wall of the n-shaped sliding groove of the thigh supporting part to fix the upper base 210 at the end of the thigh supporting part 100, the fixed position of the upper base 210 is adjusted by adjusting the fixed position of the bolt in the length range of the limiting holes, so as to adjust the position of the whole knee joint rotation limiting device 200.

[0034] The lower base 220 is provided with an n-shaped sliding groove of a certain length on the side away from the continuous limiting device 230, the side wall of the n-shaped sliding groove is provided with a plurality of mounting holes, the U-shaped sliding groove of a certain length is correspondingly provided on the side of the end of the calf supporting part 300 close to the lower base 220, the side wall of the U-shaped sliding groove is provided with limiting holes corresponding in number and position to the mounting holes of the side wall of the n-shaped sliding groove, and the length of the limiting holes of the U-shaped sliding groove of the end of the calf supporting part 300 is greater than the length of the mounting holes of the n-shaped groove of the lower base. The n-shaped sliding groove of the lower base 220 and the U-shaped sliding groove of the calf supporting part 300 are inserted into each other and can relatively move in the grooves, the lower base 220 and the calf supporting part 300 are adjustably fixedly connected through a bolt, the bolt passes through the mounting holes of the side wall of the n-shaped sliding groove of the lower base and the limiting holes of the side wall of the U-shaped sliding groove of the calf supporting part 300 to fix the lower base 220 at the end of the calf supporting part 300, the fixed position of the lower base 220 is adjusted by adjusting the fixed position of the bolt in the length range of the limiting holes, so as to adjust the mounting position of the whole knee joint rotation limiting device 200 on the lower limb of the human body.

[0035] As Figure 3As shown, the continuous limiting device 230 includes an elastic component 231 for connecting other components and providing a certain rigidity for the whole connecting device of the variable rotation center, and a plurality of continuum modules 232 arranged in series on one side of the elastic component 231, which are used to limit the bending angle range of the elastic component on the side where the plurality of continuum modules are arranged.

[0036] The elastic component 231 is used to connect the components on the knee joint rotation limiting device 200, and to improve the rigidity of the knee joint rotation limiting device 200 while providing flexibility of the knee joint extension and flexion. By changing the shape parameters of the elastic component 231, the rigidity of the knee joint rotation limiting device 200 can be changed. In the embodiment of the application, the elastic component 231 is a sheet-shaped leaf spring with a certain thickness, and the thickness of the sheet-shaped leaf spring is 0.2mm-1.0mm. By changing the thickness of the sheet-shaped leaf spring, the rigidity of the knee joint rotation limiting device 200 can be changed. The greater the thickness of the sheet-shaped leaf spring, the stronger the rigidity of the knee joint rotation limiting device 200, thereby improving the stability of the user's knee joint. A plurality of mounting holes are provided on the sheet-shaped leaf spring, and the plurality of continuum modules 232 are fixed on the sheet-shaped leaf spring in sequence through the mounting holes of the sheet-shaped leaf spring. The two ends of the sheet-shaped leaf spring are detachably fixed and connected to the upper base 210 and the lower base 220 through the mounting holes, and in the embodiment of the application, bolts are used for fixed connection. In an embodiment of the application, the elastic component 231 such as the sheet-shaped leaf spring has a certain bending curvature after the plurality of continuum modules 232 are arranged. The plurality of continuum modules 232 are fixed and installed on the outer side of the curved surface of the elastic component 231, and further, the plurality of continuum modules 232 are directed towards the outside of the human body. The plurality of continuum modules 232 are fixed on the sheet-shaped leaf spring in sequence along the longitudinal direction of the sheet-shaped leaf spring, and are used to limit the bending angle range of one side of the elastic component 231. When the bending angle range of the elastic component 231 on the side where the plurality of continuum modules 232 are arranged reaches the maximum limit, the plurality of continuum modules 232 are in close contact.

[0037] When a person stands upright, with the knee joint as the origin, the angle between the extension line of the thigh towards the origin and the lower leg is approximately 0°. The multiple continuous modules 232 are used to unidirectionally limit the range of knee joint extension, ensuring that the angle between the extension line of the thigh towards the origin and the lower leg is at least 0°. The material of the continuous module 232 has a certain strength, preventing deformation under pressure. The continuous module 232 is a hexahedron with mounting holes on its mounting end for fixed installation on the elastic component 231. Furthermore, concave planes or chamfered grooves are provided on the upper and lower sides of the mounting end of the continuous module 232, making the height or thickness of the upper and lower surfaces of the mounting end less than the height or thickness of the continuous module 232 itself. This allows the continuous module 232 to fit more closely to the connection point with the elastic component 231, and also minimizes interference between the continuous modules when the elastic component 231 bends, thus not restricting the bending range of the elastic component. In this embodiment, the continuous module 232 and the elastic component are fixedly connected by bolts. The multiple continuous modules 232 are sequentially fixed to the leaf spring along its longitudinal direction. Since the mounting end of each continuous module 232 is fixed to the leaf spring, when the user's knee flexes, the leaf spring bends inward, increasing the distance between each continuous module 232 fixed to it, thus not restricting the user's knee flexion angle. When the user's knee extends, the leaf spring bends in the extension direction. When the knee extends to a certain angle, each continuous module 232 on the leaf spring will come into close contact. Because its material does not deform under pressure, the leaf spring cannot continue to bend in the extension direction, thereby limiting the range of knee extension angle. Figure 4As shown, the angle a between the upper edge and the lower edge of each continuum module 232 on the side thereof towards the installation end of the continuum module 232 can change the angle range of the human knee joint extension, and the greater the angle a and the greater the number of continuum modules 232, the stronger the limiting ability of the knee joint rotation limiting device 200, and the smaller the angle range of the human knee joint extension. For example, when the angle a is 0°-5°, the number of continuum modules is 1-10, and the angle range of the human knee joint extension is 0°-50°, which is the minimum angle between the extension line of the thigh towards the origin and the calf with the knee joint as the origin. In the embodiment of the present application, the angle a is 0°, i.e. the upper edge and the lower edge of the continuum module on the side thereof are parallel, the number of continuum modules is 10, and the angle range of the human knee joint extension limited by the knee joint rotation limiting device 200 is greater than or equal to 0°, which is the angle between the extension line of the thigh towards the origin and the calf with the knee joint as the origin. In another embodiment of the present application, the angle a is 1°, the number of continuum modules is 5, and the angle range of the human knee joint extension limited by the knee joint rotation limiting device 200 is greater than or equal to 5°, which is the angle between the extension line of the thigh towards the origin and the calf with the knee joint as the origin. In yet another embodiment of the present application, the angle a is 1°, the number of continuum modules is 10, and the angle range of the human knee joint extension limited by the knee joint rotation limiting device 200 is greater than or equal to 10°, which is the angle between the extension line of the thigh towards the origin and the calf with the knee joint as the origin. In yet another embodiment of the present application, the angle a is 5°, the number of continuum modules is 3, and the angle range of the human knee joint extension limited by the knee joint rotation limiting device 200 is greater than or equal to 15°, which is the angle between the extension line of the thigh towards the origin and the calf with the knee joint as the origin.

[0038] Please refer to Figure 5 and Figure 6 In a further embodiment, the two sides of the continuum module 232 further comprise a structure-symmetrical limiting plate 233. The limiting plate 233 is fixed in a wing-like structure on the two sides of the continuum module 232 and partially higher than the upper surface and / or the lower surface of the continuum module 232, for limiting the torsional movement of the continuum limiting device 230. The upper cross section and the lower cross section of the limiting plate 233 are respectively provided with corresponding protrusions and recesses, so that when a plurality of continuum modules 232 are in close contact, the limiting plates thereon can be clamped to each other from top to bottom or from bottom to top, and the limiting plate of the continuum module at the end of the continuum limiting device 230 can also be clamped to the outside of the upper base or the lower base, so that the continuum modules 232 can be stacked one by one from top to bottom or from bottom to top, thereby limiting the torsional movement of the knee joint rotation limiting device in other directions, and improving the movement stability of the knee joint rotation limiting device.

[0039] As Figure 7As shown, when the wearable knee exoskeleton is used, the knee rotation limiting device 200 can change its rotation center with the rotation movement of the human knee, and the rotation center of the knee rotation limiting device 200 is the intersection Q of the upper base 100 and the lower base 300 along the direction of the elastic member 231. With the change of the angle of the human knee, the shape of the elastic member 231 on the continuous limiting device 230 also changes, thereby driving the change of the rotation center, so that the rotation center is located inside or outside the knee rotation limiting device.

[0040] In further embodiments, a plurality of mounting holes are provided on the thigh support part 100 and the calf support part 300, respectively. The thigh support part 100 includes a thigh support 101 and a thigh strap 102. The thigh support 101 extends forward or backward from the thigh support part 100 to form a support plate, and the left and right sides of the support plate extend from the left and right thigh support parts, respectively. The two ends of the thigh strap 102 are fixed on the thigh support part 100 through the mounting holes on the thigh support part 100 and are located at the back or front of the thigh. In use, the thigh support 101 is located at the front or back of the thigh to provide a support point for the thigh, and the thigh strap 102 is located at the back or front of the thigh to fix the knee exoskeleton on the thigh part. The calf support part 300 includes a calf support 301 and a calf strap 302. The calf support 301 extends forward or backward from the calf support part 300 to form a support plate, and the left and right sides of the support plate extend from the left and right calf support parts, respectively. The two ends of the calf strap 302 are fixed on the calf support part 300 through the mounting holes on the calf support part 300 and are located at the back or front of the calf. In use, the calf support 301 is located at the front or back of the calf to provide a support point for the calf, and the calf strap 302 is located at the back or front of the calf to fix the knee exoskeleton on the calf part. Further, the thigh strap 102 and the calf strap 302 are adjustable length straps. In the embodiments of the present application, the thigh strap 102 and the calf strap 302 are elastic straps. In use, the thigh support 101 is located at the back of the thigh, the thigh strap 102 is located at the front of the thigh, the calf support 301 is located at the back of the calf, and the calf strap 302 is located at the front of the calf.

[0041] Further, the thigh support 101 and the calf support 301 are respectively provided with a plurality of lightening holes for reducing the weight of the thigh support 101 and the calf support 301, so that the thigh support 101 and the calf support 301 can reduce the weight of the whole knee exoskeleton while having the rigidity capable of supporting the thigh and the calf. The thigh support 101 has a certain degree of curvature, which is defined as follows: the whole thigh support 101 is curved to the outside of the thigh to adapt to the contour of the thigh, the upper edge of the thigh support 101 forms a gradually downward circular arc from the two end points to the midpoint, and the lower edge of the thigh support 101 forms a gradually upward circular arc from the two end points to the midpoint. The calf support 301 has a certain degree of curvature, which is defined as follows: the whole calf support 301 is curved to the outside of the calf to adapt to the contour of the calf, the upper edge of the calf support 301 forms a gradually downward circular arc from the two end points to the midpoint, and the lower edge of the calf support 301 forms a gradually upward circular arc from the two end points to the midpoint. In use, the thigh support 101 and the calf support 301 respectively fit the thigh and the calf of the human body, and the degree of curvature is more in line with the ergonomic structure design, so that the wearer can move more smoothly during the bending action such as squatting, and the overall wearing comfort of the knee exoskeleton is improved.

[0042] In another embodiment of the present application, the thigh support part 100 comprises a thigh strap, the two ends of the thigh strap are fixed on the thigh support part 100 through the mounting holes on the thigh support part 100, and in use, the thigh strap is wound around the thigh part to fix the knee exoskeleton on the thigh part; the calf support part 300 comprises a calf strap, the two ends of the calf strap are fixed on the calf support part 300 through the mounting holes on the calf support part 300, and in use, the calf strap is wound around the calf part to fix the knee exoskeleton on the calf part.

[0043] The wearable knee exoskeleton described in the present application can be adapted to the size of the user, and the user can easily put on and take off the wearable knee exoskeleton described in the present application by binding the thigh strap to the thigh and the calf strap to the calf when wearing the wearable knee exoskeleton. At this time, the thigh support is located behind the thigh to support the thigh, the calf support is located behind the calf to support the calf, and the knee joint rotation limiting device is located on the side of the human knee. The wearer can easily put on and take off in the sitting and standing positions, support the knee joint to flex at a large angle, do not affect the joint movement of the wearer when walking naturally, and can be unidirectionally limited to prevent the user from overextending the knee joint.

[0044] The wearable knee exoskeleton provided by the application can unidirectionally limit the angle range of the human knee extension through the knee joint rotation limiting device 200, and prevent the user from appearing knee hyperextension; and the knee joint rotation limiting device 200 can change the rotation center thereof along with the rotation movement of the human knee joint through the cooperation of the elastic component 231 and the continuum module 232 structure, and is more in line with the ergonomic structure design, can adapt to the natural movement of the human knee joint, and improve the comfort degree of the user during use.

[0045] In addition, by changing the angle and number of the continuum module 232 in the knee joint rotation limiting device 200, the angle range of the human knee extension can be changed, thereby adapting to different people and patients at different disease stages.

[0046] In addition, by changing the shape parameters of the elastic component 231, the rigidity of the knee joint rotation limiting device can be changed, the stability of the knee joint of the user is improved, and the device can be applied to different types of users, thereby increasing the applicable scenarios.

[0047] In addition, by setting the limiting plates 233 on both sides of the continuum module 232, the torsional movement of the knee joint rotation limiting device 200 as a whole can be limited, and the user can be prevented from falling down and causing accidents due to weak knee joint control ability during wearing, thereby further improving the stability of the wearable knee exoskeleton as a whole.

[0048] On the other hand, the wearable knee exoskeleton provided by the application is fixed to the back of the human leg through the thigh strap 102 and the calf strap 302, so that the user can complete the wearing and taking off in a sitting posture, a standing posture and the like, and the wearing and taking off are more convenient and fast.

[0049] In addition, the knee joint rotation limiting device 200 is located on the side of the human knee, can support large-angle flexion of the knee joint, and does not affect the natural movement of the lower joint during natural walking of the wearer.

[0050] In addition, the knee joint rotation limiting device 200 is movably adjusted and fixed between the thigh support part and the calf support part, so that the user can adjust the position of the knee joint rotation limiting device as a whole, thereby changing the fixed position of the knee joint rotation limiting device near the human knee joint, and thereby adapting to different people and patients at different disease stages.

[0051] The knee joint rotation limiting device provided by the application can limit the angle range of the connected equipment through different settings such as the number of the plurality of continuum modules, the distance between the continuum modules, the included angle between the upper and lower surfaces of each continuum module, and the like, and can be applied to the precise control and limitation requirements of the rotation and bending angles of different types of joints.

[0052] The wearable knee exoskeleton provided by the application is described in detail above, and for the general technical personnel in the art, the specific implementation manners and application ranges can be changed according to the idea of the embodiment of the application, and the content of the specification should not be understood as the limitation of the application.

Claims

1. A wearable knee exoskeleton, characterized in that, The device includes a thigh support, a knee joint rotation limiting device, and a lower leg support. The thigh support is used to position and support the human thigh near the knee, and the lower leg support is used to position and support the human lower leg near the knee. The knee joint rotation limiting device is used to limit the range of motion of the human knee. The knee joint rotation limiting device is disposed between the thigh support and the lower leg support and is fixedly connected to the thigh support and the lower leg support, respectively. The knee joint rotation limiting device includes an elastic component and multiple continuous modules that are disconnected from each other and arranged continuously on the same side of the elastic component. The multiple continuous modules face outwards from the human body. The knee joint rotation limiting device further includes an upper base, a lower base, and a continuous limiting device. The upper base is movably and adjustablely fixedly connected to the thigh support, and the lower base is movably and adjustablely fixedly connected to the lower leg support. The continuous limiting device is fixedly connected at both ends to the upper base and the lower base, respectively. The continuous limiting device includes the elastic component and multiple continuous modules. The elastic component is used to connect components on the knee joint rotation limiting device and improve the rigidity of the knee joint rotation limiting device. The multiple continuous modules are used to unidirectionally limit the range of knee joint extension angle. The multiple continuous modules are fixedly connected to the same side of the elastic component. The elastic component is a leaf spring. The multiple continuous modules are sequentially fixed on the leaf spring along its longitudinal direction, and when the range of motion of the human knee joint reaches its maximum limit, the multiple continuous modules are in close contact with each other.

2. The wearable knee exoskeleton as described in claim 1, characterized in that, The elastic component is a leaf spring with a thickness of 0.2mm to 1.0mm, and the material of the continuous module has a certain strength so that it will not deform when compressed.

3. The wearable knee exoskeleton as described in claim 2, characterized in that, The continuum module also includes a symmetrical limiting plate, which is fixed to both sides of the continuum module in a wing-like structure and is partially higher than the upper and / or lower surface of the continuum module, for limiting the torsional movement of the continuous limiting device.

4. The wearable knee exoskeleton as described in claim 3, characterized in that, The rotation center of the knee joint rotation limiting device is the intersection of the upper base and the lower base along the extension line of the elastic component.

5. The wearable knee exoskeleton as described in claim 3, characterized in that, The upper and lower sections of the limiting plate are respectively provided with corresponding protrusions and grooves, so that when multiple continuous modules are in close contact, the limiting plates on them can be interlocked from top to bottom or from bottom to top.

6. The wearable knee exoskeleton as described in claim 4 or 5, characterized in that, The thigh support includes a thigh bracket and a thigh strap, and the calf support includes a calf bracket and a calf strap. In use, the thigh bracket is located in front of or behind the human thigh to provide a support point for the thigh, and the thigh strap is located in front of or behind the human thigh to fix the knee exoskeleton to the thigh. The calf bracket is located in front of or behind the human calf to provide a support point for the calf, and the calf strap is located in front of or behind the human calf to fix the knee exoskeleton to the calf.

7. The wearable knee exoskeleton as described in claim 5, characterized in that, The limiting plate of the continuous body module located at the end of the continuous limiting device is also snapped onto the outside of the upper or lower base.

8. The wearable knee exoskeleton as described in claim 6, characterized in that, When in use, the knee joint rotation limiting device is located on the left or right side or both sides of the human knee.

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