Load distribution device for improving the mobility of the user's center of gravity during complex movements

Abstract

A load distribution device for transferring musculoskeletal stress from a user's joints to the lower limb body segments. The device includes hip and knee actuation that follows and assists the user's motion in a supplemental manner. The supplemental assistance and load distribution device combine to reduce the load on the user's joints and increase the user's strength. By assisting the user's hip and / or knee as needed, the device enables the user to achieve strength improvements, reduce metabolic demand for motion, and increase comfort during physical activity. The load distribution device follows the user's extremities throughout the range of joint motion and can be used in passive and active modes.

Description

[0001] Cross-reference to related applications

[0002] This application claims the benefit of U.S. Provisional Patent Application No. 63 / 127,806, filed December 18, 2020, which is incorporated herein by reference. Technical Field

[0003] This disclosure relates to a load distribution device for improving the mobility of a user's center of gravity during complex movements. Background Technology

[0004] Lower-body exoskeletons and orthotics provide varying degrees of structural and mechanical assistance for specific activities, but at the cost of reduced joint mobility. Passive devices provide static structural support to the wearer, transferring musculoskeletal stress away from the joints, but lack the ability to provide dynamic assistance. Active solutions can provide dynamic assistance in limited situations (e.g., walking gait, sitting) but do not support complex movement tasks (e.g., multiplanar movements involving the upper and lower body, such as swinging a bat, shooting a hockey ball, throwing a ball, or rapid changes of direction and explosive movements of the lower body). The limitations of dynamic assistive devices, due to deficiencies in their control (i.e., their inability to follow the user) or the range of motion of the supporting structure, restrict the user's ability to optimally control their center of gravity in these 3D movements.

[0005] Therefore, there is a need for a device that can provide dynamic support to transfer musculoskeletal stress away from the wearer’s joints without restricting their complex motor functions, in order to improve the mobility of their center of gravity during these movements. Summary of the Invention

[0006] This disclosure provides a load distribution device for improving the mobility of a user's center of gravity during complex movements, comprising:

[0007] A pelvic support belt is configured to position itself around the user's lower torso;

[0008] At least one thigh support element comprising two or more contact areas configured to be positioned in an active-antagonistic configuration on the back and front of a user's thigh, the at least one thigh support element being rotatably connected to a pelvic support belt;

[0009] At least one hip joint actuator that provides rotational movement of the at least one thigh support element relative to the pelvic support belt;

[0010] At least one calf support element comprising two or more contact areas, the two or more contact areas of the at least one calf support element being configured to be positioned in an active-antagonistic configuration on the posterior and anterior portions of a user's calf, the at least one calf support element being rotatably connected to the at least one thigh support element;

[0011] At least one knee joint actuator provides rotational movement of the at least one lower leg support element relative to the at least one thigh support element;

[0012] Multiple sensors and at least one foot sensor, the multiple sensors being positioned on a pelvic support belt, the at least one thigh support element, a hip joint actuator, and a knee joint actuator, the at least one foot sensor being configured to be positioned on the user's foot, the multiple sensors providing mechanical and biomechanical signals;

[0013] A control unit, operatively connected to the plurality of sensors and at least one foot sensor, for receiving mechanical and biomechanical signals, and storing executable instructions for processing and analyzing the mechanical and biomechanical signals and generating motion setpoints for the user's movements; and

[0014] A power supply unit operatively connected to the at least one knee joint actuator, the at least one hip joint actuator, and the control unit;

[0015] Specifically, by generating or dissipating biomechanical energy according to the calculated energy level corresponding to the reduction in musculoskeletal stress necessary for compensating for user movement at the user's lower limb joints under the instruction of the control unit, the at least one knee joint actuator and the at least one hip joint actuator transfer musculoskeletal stress from the user's joints to the body segments of the lower limbs, thereby improving joint stability and range of motion of the body segments. The generated or dissipated biomechanical energy is redistributed to the user's lower torso, thigh, and calf through a pelvic support belt, at least one thigh support element, and at least one calf support element, respectively.

[0016] This disclosure also provides a load distribution device as described above, which includes two thigh support elements, two calf support elements, two hip joint actuators, two knee joint actuators, and two foot sensors.

[0017] This disclosure also provides a load distribution device in which each of the thigh support elements is rotatably connected to an associated calf support element via a knee pivot aligned with the rotation center of the user's knee joint, and wherein each of the knee joint actuators is positioned away from the rotation center of the user's knee joint, and each of the knee joint actuators transmits rotational motion to the corresponding knee pivot via an extension cable and a bending cable.

[0018] This disclosure also provides a load distribution device in which each of the thigh support elements is rotatably connected to a pelvic support belt via a hip pivot aligned with the rotation center of the user's hip joint, and wherein each of the hip joint actuators is positioned away from the user's hip joint rotation center, and each of the hip joint actuators transmits rotational motion to the corresponding hip pivot via an extension cable and a bending cable.

[0019] This disclosure also provides a load distribution device in which each of the knee or hip joint actuators can be positioned, for example, centrally on a corresponding side of the pelvic support belt, on the lower rear portion of the pelvic support belt, on a corresponding front portion of the user's thigh, on a corresponding rear portion of the user's thigh, or on a corresponding portion of the thigh support element between the user's hip and knee pivots.

[0020] This disclosure also provides a load distribution device, further comprising a delocalization mechanism including a deportation structural link having an actuator support element at a first end configured to support a knee actuator or a hip actuator, and a pivot connection element at a second end for connection to a knee pivot or a hip pivot. The actuator support element can be configured to detachably support the knee actuator or the hip actuator.

[0021] This disclosure also provides an orthopedic device comprising:

[0022] The proximal support element and the distal support element, the proximal support element including at least one contact area configured to be fixed to the proximal body part of the user, the distal support element including at least one contact area configured to be fixed to the distal body part of the user, the proximal support element and the distal support element being rotatably connected by a pivot aligned with the rotation center of the user's respective joint.

[0023] At least one actuator provides rotational movement of a distal support element relative to a proximal support element by rotation, the at least one actuator being positioned away from the rotation center of the user's corresponding joint, the actuator transmitting the rotational movement to the pivot via an extension cable and a bending cable.

[0024] The prosthetic device may also include a delocalization mechanism comprising a delocalization link having an actuator support element at a first end configured to support an actuator, and a pivot connection element at a second end for connection to a pivot. The actuator support element may be configured to detachably support the actuator. Attached Figure Description

[0025] The embodiments of this disclosure will now be described by way of example only with reference to the accompanying drawings, wherein:

[0026] Figure 1A , Figure 1B and Figure 1C These are, respectively, a front view, a side view, and a rear view of a load distribution device for improving the mobility of a user's center of gravity during complex movements, according to an illustrative embodiment of the present disclosure;

[0027] Figure 2A and Figure 2B This is a schematic diagram of a knee actuator positioned above a hip actuator according to a first alternative embodiment and a second alternative embodiment of the present disclosure;

[0028] Figure 3 This is a schematic diagram of a knee actuator positioned above the hip actuator and below the user's lower back, according to a third alternative embodiment of this disclosure;

[0029] Figure 4A , Figure 4B and Figure 4C This is a schematic diagram of a knee actuator positioned above a hip actuator according to a fourth alternative embodiment of the present disclosure, and shows a cable attachment in a shortened state.

[0030] Figure 5A , Figure 5B and Figure 5C According to Figure 4A , Figure 4B and Figure 4C The diagram shows a knee actuator positioned above a hip actuator according to a fourth alternative embodiment of the present disclosure, and illustrates the cable attachment in an extended state.

[0031] Figure 6 This is a schematic diagram of a knee actuator positioned between a hip actuator and a knee joint according to a fifth alternative embodiment of this disclosure;

[0032] Figure 7A , Figure 7B , Figure 4C and Figure 7D This is a schematic diagram of various cable attachments according to alternative embodiments of the present disclosure;

[0033] Figure 8A , Figure 8B and Figure 8C These are perspective top, side, and rear views of an actuator delocalization mechanism according to an illustrative embodiment of the present disclosure;

[0034] Figure 9 This is a schematic diagram of a load distribution device control system according to an illustrative embodiment of the present disclosure;

[0035] Figure 10 This is a flowchart of the load distribution device control process according to a first illustrative embodiment of the present disclosure;

[0036] Figure 11 This is a flowchart of the load distribution device control process according to a second illustrative embodiment, wherein the user's hips and knees are assisted;

[0037] Figure 12 This is a flowchart of the load distribution device control process according to a third illustrative embodiment, wherein the user's hip and knee are subjected to resistance.

[0038] Similar reference numerals used in different figures denote similar components. Detailed Implementation

[0039] In general, the non-limiting illustrative embodiments of this disclosure provide a load-distribution device for improving the mobility of a user's center of gravity during complex movements. The load-distribution device functions to provide biomechanical support to the user's pelvic structure during complex movements to dynamically improve the mobility of the user's center of gravity in real time. This improves the efficiency of 3D displacement of the user's center of gravity, the stability of related joints, and the range of motion of related body segments. Therefore, the load-distribution device improves the user's overall mobility, resulting in benefits such as enhanced ability to perform desired movements (regardless of their complexity), metabolic gains during movement, and increased stability in the sacrum, lumbar spine, hip, and knees, which in turn reduces stress on the user's dorsal and upper body segments. To this end, the load-distribution device maintains proper alignment with the user's joints throughout their movement, such as walking, jogging, running, carrying weights, squatting, jumping, kneeling, using stairs, participating in sports activities, and work-related activities. The device includes actuation of the hip and knee, which follows and complementarily assists the user's movement. This complementary assistance, combined with the load-distribution device, reduces the load on the user's joints and increases the user's strength. By assisting the user's hips and / or knees as needed, this device can improve the user's strength, reduce metabolic demands during exercise, and increase comfort during physical activity. The load distribution device follows the user's limbs throughout the entire range of motion and can be used in both passive and active modes.

[0040] Referring to Figure 1, the load distribution device for transferring musculoskeletal stress from the joints of the user 10 to the lower limb body segments includes a pelvic support belt 11, one or two thigh support elements 12, and one or two calf support elements 14. Advantageously, the pelvic support belt 11 is typically rigid, allowing for some dimensional adjustments via expandable sections and / or sizing adjustment mechanisms.

[0041] The pelvic support assembly 11 is configured to be positioned around the user's lower torso in an active-antagonistic configuration and includes a hip actuator 22 that rotatably connects the pelvic support band 11 to the thigh support element 12 and is positioned aligned with the rotation center of the user's hip joint. The hip actuator 22 provides active rotational motion at the user's hip joint. The hip actuator 22 may be, for example, an actively directly driven rotational actuation mechanism.

[0042] The thigh support element 12 includes two or more contact areas 16, which are configured to be positioned in an active-antagonistic configuration on the back and front of the user's thigh.

[0043] The knee actuator 23 rotatably connects each of the one or two thigh support elements 12 to the one or two lower leg support elements 14. The knee actuator 23 may be, for example, an actively directly driven rotary actuator.

[0044] The calf support element 14 includes two or more contact areas 18, which are configured to be positioned in an active-antagonistic configuration on the back and front of the user's calf.

[0045] Multiple sensors 40 are positioned on the pelvic support belt 11 (which may be located on individual sides or in the center), the thigh support element 12, the hip actuator 22, and the knee actuator 23. Sensors 45 are located on each of the user's feet. Each of the sensors 40, 45 observes the associated user body segment movement to provide mechanical and biomechanical information. The sensors 40, 45 may be, for example, inertial and angle sensors.

[0046] In alternative embodiments, such as Figure 2A As shown, the knee actuator 23 can be positioned on the pelvic support band 11 above the hip actuator 22 and is operatively connected to the knee pivot 13, aligned with the rotation center of the user's knee joint. The knee pivot 13 rotatably connects the thigh support element 12 to the calf support element 14. This displaces the weight of the knee actuator 23 from the user's knee joint to the pelvic support band 11. Rotational motion is transmitted from the knee actuator 23 to the knee pivot 13 by extending and bending Bowden cables 331a and 331b, respectively. The loops 15 of the Bowden cables 331a and 331b are positioned facing the back of the pelvic support band 11 to accommodate different user heights.

[0047] In another alternative embodiment, such as Figure 2BAs shown, Bowden cables 331a and 331b form loops on the knee actuator 23. This configuration requires a tensioning mechanism 335 between the knee actuator 23 and the knee pivot 13 to manage the tension in the Bowden cables 331a and 331b. This allows for adaptation to different user heights without the need for managing additional cables and avoids slack, resulting in a good force bandwidth. The tensioning mechanism 335 can be, for example, a Bowden cable tensioner. The tensioner is tightened by stretching the tensioner housing (sheath) to increase the tension in the respective Bowden cables 331a and 331b.

[0048] It should be understood that Figure 2A and Figure 2B Both alternative embodiments are equipped with a thigh support element 12 having a length adjustment mechanism 122, such as a slider or screw mechanism for quick and fine length adjustment.

[0049] Now for reference Figure 3 This illustrates another alternative embodiment of positioning the knee actuator 23, which is positioned on the pelvic support belt 11 above the hip actuator 22 and on the user's lower back. Power is transmitted from the knee actuator 23 to the knee pivot 13 using extended and bent Bowden cables 331a and 331b, respectively. The loops 15 of the Bowden cables 331a and 331b are positioned toward the back of the pelvic support belt 11 to accommodate different user heights.

[0050] Figure 4A , Figure 4B and Figure 4C Another alternative embodiment of the structure in a shortened state is shown, wherein the knee actuator 23 is positioned above the hip actuator 22. In this state, the extended Bowden cable 331a and the bent Bowden cable 331b are connected to the extended proximal cable attachments 333a and 333b located around the knee actuator 23, such that the extended Bowden cable 331a and the bent Bowden cable 331b surround a large portion of the knee actuator 23.

[0051] Figure 5A , Figure 5B and Figure 5C It shows the state in elongation. Figure 4A , Figure 4B and Figure 4C An alternative embodiment. In this configuration, the extended Bowden cable 331a and the bent Bowden cable 331b are connected to the extended proximal cable attachment 333a and the bent proximal cable attachment 333b located around the knee actuator 23, such that the extended Bowden cable 331a and the bent Bowden cable 331b surround a small portion of the knee actuator 23.

[0052] The positioning of the extended proximal cable attachment 333a and the bent proximal cable attachment 333b can be varied, for example, by using the adjusting pulley 233 to accommodate various thigh support lengths provided by the length adjustment mechanism 122.

[0053] Figure 5 shows another alternative embodiment of the knee joint actuator 23, which is positioned between the hip joint actuator 22 and the knee pivot 13.

[0054] Now refer to Figure 7A , Figure 7B , Figure 7C and Figure 7D It shows an alternative embodiment of the configuration of extended Bowden cable 331a and bent Bowden cable 331b.

[0055] exist Figure 7A In one embodiment, the extended Bowden cable is actually part of a single continuous loop that makes stator frictional contact with the knee actuator 23 and the knee pivot 13.

[0056] exist Figure 7B In one embodiment, the extended Bowden cable 331a and the bent Bowden cable 331b are part of a single cable that makes frictional contact with the stator of the knee actuator 23 and whose ends are respectively connected to the extended distal cable attachment 334a and the bent distal cable attachment 334b ​​on the knee pivot 13.

[0057] exist Figure 7C In one embodiment, the extended Bowden cable 331a and the bent Bowden cable 331b are part of a single cable that is in frictional contact with the knee pivot 13 and whose ends are respectively connected to the extended proximal cable attachment 333a and the bent proximal cable attachment 334b ​​on the knee actuator 23.

[0058] exist Figure 7D In one embodiment, the extended Bowden cable 331a and the bent Bowden cable 331b are two separate cables whose ends are attached to corresponding extended proximal cable attachments 333a and bent proximal cable attachments 333b on the knee actuator 23 and corresponding extended distal cable attachments 334a and bent distal cable attachments 334b ​​on the knee pivot 13.

[0059] It should be understood that the positioning of the near-end cable attachments 333a, 333b and the far-end cable attachments 334a, 334b ​​can be varied, for example, by using adjusting pulleys 233, 234.

[0060] It should also be understood that, in another alternative embodiment, the hip actuator 22 may be displaced and the hip joint may be equipped with a hip pivot similar to the knee pivot 13, having an alternative embodiment with a similar arrangement of the hip actuator and the configuration of the extended Bowden cable 331a and the bent Bowden cable 331b, but for the hip actuator and joint rather than for the knee actuator and joint.

[0061] exist Figure 8A , Figure 8B and Figure 8C In another alternative embodiment shown, the hip actuator 22 may be positioned in a delocalized position relative to the user's hip joint using a delocalization mechanism 50. The delocalization mechanism 50 operatively connects the hip actuator 22 to a hip pivot 53 aligned with the center of rotation of the user's hip joint via a delocalization link 56. The delocalization link 56 has an actuator support element 58 at one end for supporting the hip actuator 22 and a hip pivot connection element 55 at the other end for connection to the hip pivot 53. The hip pivot 53 rotatably connects the pelvic support band 11 to the thigh support element 12 via corresponding fixed sections 54a and 54b. It should be understood that, in the alternative embodiment, the hip actuator 22 may be detachably fixed to the actuator support element 58 to facilitate removal and replacement of the hip actuator 22.

[0062] The actuator delocalization mechanism 50 is used to move the center of gravity of the hip actuator 22 to a more suitable location or simply to relocate its volume to a more suitable location, depending on the desired use of the load distribution device 10. This can relocate the weight and volume of the hip actuator 22 from the user's hip joint to another location, such as to the front or back of the thigh, or to the pelvic support belt 11. Rotational motion is transmitted from the hip actuator 22 to the hip pivot 53 using an extended Bowden cable 331a and a bent Bowden cable 331b, respectively.

[0063] Although hip actuator 22 is disclosed, it should be understood that delocalization mechanism 50 provides the ability to easily delocalize any actuator (e.g., knee actuator 23) from the target joint while maintaining direct alignment of the power with the joint. This can be used to improve the aesthetics of load distribution device 10 or other orthotics, enhance its functionality, and / or adjust its impact on the user's metabolic costs. In another embodiment, delocalization mechanism 50 can be used to delocalize ankle, elbow, or shoulder actuators.

[0064] refer to Figure 9The control unit 200, including the load distribution device control processes 300, 400, and 500, analyzes mechanical and biomechanical information from multiple sensors 40 and 45 and provides adaptive tracking and assistance to the user through the load distribution device 10. The load distribution device control system 200 includes one or more processors 212, associated memory 214, and input / output (I / O) interfaces 216. The memory 214 contains instructions stored thereon that, when executed by the one or more processors 212, implement any step of the load distribution device control processes 300, 400, and 500, which will be further described below. The I / O interfaces 216 communicate via communication links 218 with the knee actuator 23, hip actuator 22, pelvic, thigh, hip, and knee sensors 40, and foot sensors 45. The communication links 218 can be wired, wireless, or a combination of wired and wireless.

[0065] A power supply unit (not shown) supplies power to the knee joint actuator 23, the hip joint actuator 22, and the control unit 200.

[0066] During use, the knee actuator 23 and hip actuator 22, under the instruction of the control unit 200, generate and / or dissipate biomechanical energy according to user-customized and / or operating modes (e.g., tracking, exercise, etc.) based on the calculated energy levels corresponding to the reduction in musculoskeletal stress necessary to compensate for user movement at the user's lower limb joints. The generated or dissipated biomechanical energy is then redistributed to the user's lower torso, thigh, and calf via the pelvic support belt 11, thigh support element 12, and calf support element 14, respectively.

[0067] Now for reference Figure 10 A flowchart of a load sharing device control process 300 executed by one or more processors 212 according to a first illustrative embodiment of the present disclosure is shown (see [link to flowchart illustration]). Figure 9 The steps of process 300 are represented by boxes 302 to 312.

[0068] Process 300 begins at block 302, wherein process 300 collects mechanical and biomechanical information of the user from the plurality of sensors 40, 45.

[0069] At box 304, a motion profiler and mechanical and biomechanical information collected from box 302 are used to determine the motion of the user's body segments.

[0070] At box 306, the type of tracking, assistance, and / or resistance provided to the user's limbs is selected based on the application type chosen for the system and the user's customization of the system settings.

[0071] Then, at box 308, process 200 sets an actuation or tracking mode based on the motion detected by the motion profilometer in box 306 and the user customization in box 306, and at box 310, process 300 instructs hip actuator 22 and knee actuator 23 to apply joint actuation to assist or resist the user's motion or provide tracking in passive mode, thereby tracking and capturing the user's limb motion data.

[0072] Finally, at box 312, process 300 controls the load distribution device 10 to adapt to the user's natural body movements, allowing free movement unless assistance / resistance is required for the user's limbs.

[0073] refer to Figure 11 It shows a flowchart of a load sharing device control process 400 executed by one or more processors 212 according to a second illustrative embodiment of the present disclosure (see...). Figure 9 The steps of process 400 are indicated by boxes 402 to 412.

[0074] Process 400 begins at block 402, wherein process 400 collects mechanical and biomechanical information of the user from the plurality of sensors 40, 45.

[0075] At box 404, a gait profiler and mechanical and biomechanical information collected from box 402 are used to determine the movement of the user's body segments. The gait profiler may be, for example, disclosed in international patent application WO 2018 / 137016 A1 entitled "GaitProfiler System and Method" filed January 25, 2017.

[0076] Then, at box 406, the user-customized size and type of assistance provided by the load distribution device 10 are applied, and at box 408, process 400 is configured via hip actuator 22 and knee actuator 23 to determine the level and timing of assistance provided by the wearer's hip and knee joints.

[0077] This allows the load distribution device 10 at box 410 to use the detection of user movement patterns and intentions provided by the gait profiler to follow the user's limbs.

[0078] Finally, at box 412, process 400 instructs the hip actuator 22 and knee actuator 23 to provide supplemental force to the user to reduce the physiological demands of performing lower body activities. The load distribution device 10 also provides mechanical assistance to reduce the weight-bearing load on the user's joints.

[0079] refer to Figure 12A flowchart of a load distribution device control process 500 executed by one or more processors 212 according to a third illustrative embodiment of the present disclosure is shown (see [link to flowchart document]). Figure 9 The steps of process 500 are represented by boxes 502 to 512.

[0080] Process 500 begins at block 502, in which process 500 collects mechanical and biomechanical information of the user from multiple sensors 40, 45.

[0081] At box 504, a gait profiler and mechanical and biomechanical information collected from box 502 are used to determine the movement of the user's body segments. The gait profiler may be, for example, disclosed in international patent application WO 2018 / 137016 A1 entitled "GaitProfiler System and Method" filed January 25, 2017.

[0082] Then, at block 506, the motion tracking and interaction type (e.g., tracking and signal rest time or repetition) provided by the load distribution device 10, as well as the magnitude and type of resistance, are applied user-customized, and at block 508, process 500 is set by hip actuator 22 and knee actuator 23 to the level and timing of resistance provided by the wearer's hip and knee.

[0083] This allows the load distribution device 10 at box 508 to follow the user's limbs while providing set levels and types of resistance.

[0084] Finally, at box 512, process 500 instructs hip actuator 22 and knee actuator 23 to provide resistance against the user's movement, allowing the user to train strength in target range of motion and type of motion (e.g., constant joint speed, constant resistance, target power, target pace, etc.).

[0085] The type of tracking, assistance and / or resistance provided to the user's limbs, the size and type of assistance provided, and the type of motion tracking and interaction can be selected using mechanical inputs (e.g., buttons) and / or digital inputs located on the load distribution device 10 and / or via software applications on peripheral devices (e.g., remote controls or smartphones).

[0086] It should be understood that various embodiments of the load distribution device disclosed herein may or may not have length adjustment capability and may be designed for specific user physiology.

[0087] It should also be understood that load distribution devices used to transfer musculoskeletal stress from the user's joints to the lower limb body segments can be provided to one or both of the user's lower limbs.

[0088] Although this disclosure has been described by way of specific, non-limiting illustrative embodiments and examples thereof, it should be noted that it will be apparent to those skilled in the art that modifications can be made to the specific embodiments without departing from the scope of this disclosure.

Claims

1. A load-sharing device for improving the mobility of a user's center of gravity during complex movements, the load-sharing device comprising: A pelvic support belt is configured to position itself around the user's lower torso; At least one thigh support element comprising two or more contact areas configured to be positioned in an active-antagonistic configuration on the back and front of the user's thigh, the at least one thigh support element being rotatably connected to the pelvic support band; At least one hip joint actuator provides rotational movement of the at least one thigh support element relative to the pelvic support belt; At least one calf support element comprising two or more contact areas, the two or more contact areas of the at least one calf support element being configured to be positioned in an active-antagonistic configuration on the posterior and anterior portions of a user's calf, the at least one calf support element being rotatably connected to the at least one thigh support element; At least one knee joint actuator provides rotational movement of the at least one lower leg support element relative to the at least one thigh support element; Multiple sensors and at least one foot sensor, the multiple sensors being positioned on the pelvic support belt, the at least one thigh support element, the hip joint actuator, and the knee joint actuator, the at least one foot sensor being configured to be positioned on the user's foot, the multiple sensors providing mechanical and biomechanical signals; A control unit, operably connected to the plurality of sensors and at least one foot sensor, is used to receive the mechanical and biomechanical signals. Executable instructions are stored on the control unit for processing and analyzing the mechanical and biomechanical signals and generating motion setpoints for the user's movements. and A power supply unit operatively connected to the at least one knee joint actuator, the at least one hip joint actuator, and the control unit; Specifically, under the instruction of the control unit, biomechanical energy is generated or dissipated according to the calculated energy level corresponding to the reduction in musculoskeletal stress necessary to compensate for user movement at the user's lower limb joints. The at least one knee joint actuator and the at least one hip joint actuator transfer musculoskeletal stress from the user's joints to the body segments of the lower limbs, thereby improving joint stability and range of motion of the body segments. The generated or dissipated biomechanical energy is redistributed to the user's lower torso, thigh, and calf through the pelvic support belt, the at least one thigh support element, and the at least one calf support element, respectively. It also includes two thigh support elements, two calf support elements, two hip joint actuators, two knee joint actuators, and two foot sensors; Each of the thigh support elements is rotatably connected to an associated lower leg support element via a knee pivot aligned with the rotation center of the user's knee joint, and wherein each of the knee joint actuators is positioned away from the rotation center of the user's knee joint, and each of the knee joint actuators transmits rotational motion to the corresponding knee pivot via an extension cable and a bending cable. It also includes a delocalization mechanism comprising a delocalization structure link having an actuator support element at a first end configured to support the knee joint actuator, and a pivot connection element at a second end for connection to the knee pivot.

2. The load distribution device as described in claim 1, wherein, Each of the knee joint actuators is located in a position selected from the following: centrally on a corresponding side of the pelvic support band, on the lower rear portion of the pelvic support band, on a corresponding front portion of the user's thigh, on a corresponding rear portion of the user's thigh, and on a corresponding portion of the thigh support element between the user's hip and knee pivots.

3. The load distribution device as described in claim 1, wherein, The thigh support element includes a corresponding length adjustment mechanism.

4. The load distribution device as described in claim 3, wherein, The length adjustment mechanism is selected from slider mechanism and screw mechanism.

5. The load distribution device as claimed in claim 1, wherein, Both the extension cable and the bending cable include a tensioning mechanism.

6. The load distribution device as claimed in claim 1, wherein, The actuator support element is configured to detachably support the knee joint actuator.

7. The load distribution device as claimed in claim 1, wherein, The extension cable and the curved cable form a single continuous loop that frictionally contacts the stator and the knee pivot of the knee joint actuator.

8. The load distribution device as claimed in claim 1, wherein, The extended cable and the curved cable form a single cable that makes frictional contact with the stator of the knee joint actuator, and the two ends of the single cable are attached to corresponding distal extended cable attachments and distal curved cable attachments located on the knee pivot.

9. The load distribution device as claimed in claim 1, wherein, The extended cable and the curved cable form a single cable that makes frictional contact with the stator of the knee joint actuator, and the two ends of the single cable are attached to corresponding distal extended cable attachments and distal curved cable attachments located on the knee pivot.

10. The load distribution device as claimed in claim 1, wherein, The extended cable and the curved cable form a single cable that is in frictional contact with the knee pivot, and the two ends of the single cable are attached to corresponding proximal extended cable attachments and proximal curved cable attachments located on the stator of the knee joint actuator.

11. The load distribution device as claimed in claim 1, wherein, The extension cable and the bending cable are two separate cables, with their respective ends attached to corresponding proximal extension cable attachments and proximal bending cable attachments on the stator of the knee joint actuator, and corresponding distal extension cable attachments and distal bending cable attachments on the knee pivot.

12. The load distribution device as claimed in claim 10, wherein, The proximal extension cable attachment and the proximal bending cable attachment are located on corresponding adjusting pulleys, which are rotatably connected to the stator of the knee actuator to change the operating length of the extension cable and the bending cable.

13. The load distribution device as claimed in claim 9, wherein, The distal extension cable attachment and the distal bending cable attachment are located on corresponding adjusting pulleys, which are rotatably connected to the knee pivot to change the operating length of the extension cable and the bending cable.

14. The load distribution device as claimed in claim 1, wherein, The extended cable and the curved cable are Bowden cables.

15. The load distribution device as claimed in claim 1, wherein, The knee joint actuator and the hip joint actuator are active, directly driven rotary actuators.

16. A load-sharing device for improving the mobility of a user's center of gravity during complex movements, the load-sharing device comprising: A pelvic support belt is configured to position itself around the user's lower torso; At least one thigh support element comprising two or more contact areas configured to be positioned in an active-antagonistic configuration on the back and front of the user's thigh, the at least one thigh support element being rotatably connected to the pelvic support band; At least one hip joint actuator provides rotational movement of the at least one thigh support element relative to the pelvic support belt; At least one calf support element comprising two or more contact areas, the two or more contact areas of the at least one calf support element being configured to be positioned in an active-antagonistic configuration on the posterior and anterior portions of a user's calf, the at least one calf support element being rotatably connected to the at least one thigh support element; At least one knee joint actuator provides rotational movement of the at least one lower leg support element relative to the at least one thigh support element; Multiple sensors and at least one foot sensor, the multiple sensors being positioned on the pelvic support belt, the at least one thigh support element, the hip joint actuator, and the knee joint actuator, the at least one foot sensor being configured to be positioned on the user's foot, the multiple sensors providing mechanical and biomechanical signals; A control unit, operably connected to the plurality of sensors and at least one foot sensor, is used to receive the mechanical and biomechanical signals. Executable instructions are stored on the control unit for processing and analyzing the mechanical and biomechanical signals and generating motion setpoints for the user's movements. and A power supply unit operatively connected to the at least one knee joint actuator, the at least one hip joint actuator, and the control unit; Specifically, under the instruction of the control unit, biomechanical energy is generated or dissipated according to the calculated energy level corresponding to the reduction in musculoskeletal stress necessary to compensate for user movement at the user's lower limb joints. The at least one knee joint actuator and the at least one hip joint actuator transfer musculoskeletal stress from the user's joints to the body segments of the lower limbs, thereby improving joint stability and range of motion of the body segments. The generated or dissipated biomechanical energy is redistributed to the user's lower torso, thigh, and calf through the pelvic support belt, the at least one thigh support element, and the at least one calf support element, respectively. It includes two thigh support elements, two calf support elements, two hip joint actuators, two knee joint actuators, and two foot sensors; Each of the thigh support elements is rotatably connected to the pelvic support belt via a hip pivot aligned with the rotation center of the user's hip joint, and each of the hip joint actuators is positioned away from the rotation center of the user's hip joint, and each of the hip joint actuators transmits rotational motion to the corresponding hip pivot via an extension cable and a bending cable. It also includes a delocalization mechanism comprising a delocalization structure link having an actuator support element at a first end configured to support the hip joint actuator, and a pivot connection element at a second end for connecting the hip pivot.

17. The load distribution device as claimed in claim 16, wherein, Each of the hip joint actuators is located in a position selected from the following: centrally on a corresponding side of the pelvic support belt, on the lower rear portion of the pelvic support belt, on a corresponding front portion of the user's thigh, on a corresponding rear portion of the user's thigh, and on a corresponding portion of the thigh support element between the user's hip and knee.

18. The load distribution device as claimed in claim 16, wherein, The actuator support element is configured to detachably support the hip joint actuator.

19. The load distribution device as claimed in claim 16, wherein, The extended cable and the curved cable form a single continuous loop that frictionally contacts the stator and the hip pivot of the hip joint actuator.

20. The load distribution device as claimed in claim 16, wherein, The extension cable and the curved cable form a single cable that makes frictional contact with the stator of the hip joint actuator, and the two ends of the single cable are attached to corresponding distal extension cable attachments and distal curved cable attachments located on the hip pivot.

21. The load distribution device as claimed in claim 16, wherein, The extension cable and the curved cable form a single cable that makes frictional contact with the stator of the hip joint actuator, and the two ends of the single cable are attached to corresponding distal extension cable attachments and distal curved cable attachments located on the hip pivot.

22. The load distribution device as claimed in claim 16, wherein, The extended cable and the curved cable form a single cable that is in frictional contact with the hip pivot, and the two ends of the single cable are attached to corresponding proximal extended cable attachments and proximal curved cable attachments located on the stator of the hip joint actuator.

23. The load distribution device as claimed in claim 16, wherein, The extension cable and the bending cable are two separate cables, with their respective ends attached to corresponding proximal extension cable attachments and proximal bending cable attachments on the stator of the hip joint actuator, and corresponding distal extension cable attachments and distal bending cable attachments on the hip pivot.

24. The load distribution device as claimed in claim 22, wherein, The proximal extension cable attachment and the proximal bending cable attachment are located on corresponding adjusting pulleys, which are rotatably connected to the stator of the hip joint actuator to change the operating length of the extension cable and the bending cable.

25. The load distribution device as claimed in claim 23, wherein, The distal extension cable attachment and the distal bending cable attachment are located on corresponding adjusting pulleys, which are rotatably connected to the hip pivot to change the operating length of the extension cable and the bending cable.

26. A prosthetic device comprising: A proximal support element and a distal support element, the proximal support element including at least one contact area configured to be fixed to a proximal body part of a user, the distal support element including at least one contact area configured to be fixed to a distal body part of a user, the proximal support element and the distal support element being rotatably connected by a pivot aligned with the rotation center of the user's corresponding joint. At least one actuator provides rotational movement of the distal support element relative to the proximal support element by rotation, the at least one actuator being positioned away from the rotation center of the corresponding joint of the user, the actuator transmitting the rotational movement to the pivot via an extension cable and a bending cable; It also includes a delocalization mechanism comprising a delocalization structure link having an actuator support element configured to support an actuator at a first end and a pivot connection element for connection to the pivot at a second end.

27. The prosthetic device of claim 26, wherein, The actuator support element is configured to detachably support the actuator.

28. The prosthetic device as claimed in any one of claims 26 to 27, wherein, The pivot is selected from the knee pivot, hip pivot, ankle pivot, elbow pivot, or shoulder pivot.

29. The prosthetic device of claim 26, wherein, The extended cable and the curved cable are Bowden cables.

30. The prosthetic device of claim 26, wherein, The extended cable and the curved cable are formed from a single cable.

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