A rigid-flexible coupled exoskeleton robot

Abstract

The application provides a rigid-flexible coupled exoskeleton robot, which comprises an exoskeleton leg unit and an exoskeleton hip unit connected with each other; the exoskeleton leg unit can rotate relative to the exoskeleton hip unit around a first axis, the first axis is perpendicular to a sagittal plane of a human body and parallel to a horizontal plane of the human body; the exoskeleton hip unit has a first degree of freedom adjusting part located at one side of a hip of the human body, the first degree of freedom adjusting part deforms around a second axis when a leg of the human body rotates around the second axis, the second axis is perpendicular to a coronal plane and parallel to the sagittal plane; the exoskeleton hip unit also has a second degree of freedom adjusting part parallel to the horizontal plane, the second degree of freedom adjusting part deforms around a third axis when the leg of the human body rotates around the third axis, the third axis is perpendicular to the horizontal plane and parallel to the sagittal plane. The first degree of freedom adjusting part and the second degree of freedom adjusting part provide passive degrees of freedom on the coronal plane and the horizontal plane, and increase the degrees of freedom of the exoskeleton hip unit.

Description

Technical Field

[0001] This application relates to the field of exoskeleton robot technology, specifically to a rigid-flexible coupled exoskeleton robot. Background Technology

[0002] Lower limb rehabilitation exoskeleton devices can help stroke patients, patients with lower limb muscle damage, or patients whose lower limb motor function has declined due to accidents to restore their standing and walking abilities. They can also guide the patient's lower limbs to perform pre-programmed trajectory movements, assist with gait training, and provide more personalized, immediate, and convenient rehabilitation training.

[0003] Although there are many types of lower limb exoskeletons available, most have only two or three active degrees of freedom. The three degrees of freedom for the hip joint often neglect rotation in the coronal and horizontal planes, which reduces ergonomics and restricts the patient's range of motion. Furthermore, some exoskeletons use axial design for the passive degrees of freedom of the hip joint in the coronal and horizontal planes, but this results in a complex hip joint structure, excessive flexibility, poor ergonomics, and reduced reliability of the exoskeleton system. Summary of the Invention

[0004] In view of the above-mentioned defects or deficiencies in the prior art, it is desirable to provide a rigid-flexible coupled exoskeleton robot, comprising:

[0005] An exoskeleton leg unit for connecting to a human leg;

[0006] The exoskeleton hip unit has one end connected to the exoskeleton leg unit and the other end connected to the back of the human body; the exoskeleton leg unit can rotate relative to the exoskeleton hip unit about a first axis, which is perpendicular to the sagittal plane of the human body and parallel to the horizontal plane of the human body.

[0007] The exoskeleton hip unit has a first degree of freedom adjustment part located on one side of the human hip, and its shape matches the human hip. When the human leg rotates around the second axis, the first degree of freedom adjustment part can deform with the human leg around the second axis. The second axis is perpendicular to the coronal plane and parallel to the sagittal plane.

[0008] The exoskeleton hip unit also has a second degree of freedom adjustment part, which is parallel to the horizontal plane. When the human leg rotates around the third axis, the second degree of freedom adjustment part can deform with the human leg around the third axis. The third axis is perpendicular to the horizontal plane and parallel to the sagittal plane.

[0009] According to the technical solution provided in the embodiments of this application, the exoskeleton hip unit includes:

[0010] A degree-of-freedom connector that matches the curvature of the side of the human body. The degree-of-freedom connector has a first connecting part and a second connecting part. The first connecting part extends along the curvature of the side of the human body toward the back of the human body, and the second connecting part is located on one side of the hip of the human body. The second connecting part is parallel to the horizontal plane.

[0011] A back connector, which is connected to the first connecting part via a flexible component to form the first degree-of-freedom adjustment part;

[0012] A leg connector, which is connected to the second connecting part via a flexible component to form the second degree of freedom adjustment part.

[0013] According to the technical solution provided in the embodiments of this application, the flexible component includes a plurality of elastic sheets arranged at equal intervals.

[0014] According to the technical solution provided in the embodiments of this application, the back connector is connected to an exoskeleton backpack at one end away from the second connector, and the exoskeleton backpack is used to connect to the back of the human body; the leg connector is connected to the exoskeleton leg unit at one side away from the first connector through a joint assembly.

[0015] According to the technical solution provided in the embodiments of this application, the exoskeleton leg unit includes:

[0016] Telescopic assembly, two sets of said telescopic assemblies are rotatably connected via said joint assembly;

[0017] A locking assembly is connected to the telescopic assembly. The locking assembly has a first state and a second state. In the first state, the telescopic assembly can extend or retract. In the second state, the telescopic assembly is locked.

[0018] A leg binding assembly, which is connected to the telescopic assembly and is used to bind the telescopic assembly to the human leg.

[0019] According to the technical solution provided in the embodiments of this application, the telescopic component includes:

[0020] The first telescopic rod is hollow inside; a groove is formed on the inner wall of the first telescopic rod along a direction parallel to the axis of the first telescopic rod.

[0021] The second telescopic rod has a slide bar on its outer wall that matches the slide groove, and the slide bar and the slide groove are slidably connected.

[0022] The first telescopic rod has multiple rectangular openings at equal intervals on one end face near the second telescopic rod, and the multiple rectangular openings form a locking part;

[0023] According to the technical solution provided in the embodiments of this application, the locking component includes:

[0024] A first locking member surrounds the locking portion;

[0025] The second locking member extends through and connects both ends of the first locking member;

[0026] The third locking member has a first end that is rotatably connected to one end of the second locking member, and the first end has a first abutting portion for abutting against the side wall of the second locking member. When the first abutting portion abuts against the first locking member, the locking assembly is in the second state. When the first abutting portion moves away from the second locking member, the locking assembly is in the first state.

[0027] According to the technical solution provided in the embodiments of this application, the end of the exoskeleton leg unit away from the exoskeleton hip unit is rotatably connected to the exoskeleton foot unit through the joint assembly, and the exoskeleton foot unit is worn on the human foot.

[0028] According to the technical solution provided in the embodiments of this application, the exoskeleton foot unit includes:

[0029] The first elastic part is used to conform to the forefoot of the human body;

[0030] The second elastic part is used to fit the heel of the human body;

[0031] A third elastic portion is located between the first elastic portion and the second elastic portion;

[0032] Two force sensors are respectively installed in the first elastic part and the second elastic part.

[0033] According to the technical solution provided in the embodiments of this application, the joint assembly includes:

[0034] A first fastener has a first mounting portion and a second mounting portion that are perpendicular to each other.

[0035] A drive motor is connected to the first fixing member, and the output shaft of the drive motor is parallel to the first axis.

[0036] The second fixing member has a third mounting portion and a fourth mounting portion that are perpendicular to each other, and the third mounting portion is fixedly connected to the output shaft.

[0037] The beneficial effects are:

[0038] Since one end of the exoskeleton hip unit is connected to the exoskeleton leg unit, the exoskeleton leg unit can rotate relative to the exoskeleton hip unit around the first axis. Since the exoskeleton leg unit is connected to the human leg, the exoskeleton leg unit can drive the human leg to rotate around the first axis, helping the patient to perform gait training and providing assistance.

[0039] Because the exoskeleton hip unit has a first degree-of-freedom adjustment part located on one side of the human hip, and its shape matches the shape of the human hip, when the human leg rotates around the second axis, the first degree-of-freedom adjustment part can deform with the human leg around the second axis. At the same time, the exoskeleton hip unit also has a second degree-of-freedom adjustment part, which is parallel to the horizontal plane. When the human leg rotates around the third axis, the second degree-of-freedom adjustment part can deform with the human leg around the third axis. The first degree-of-freedom adjustment part and the second degree-of-freedom adjustment part provide the exoskeleton hip unit with passive degrees of freedom in the coronal plane and the horizontal plane, increasing the degrees of freedom of the exoskeleton hip unit. At the same time, it fits the human body, has a simplified structure, and is easy to wear, making it more comfortable for patients to use this rigid-flexible coupling exoskeleton robot for gait training and assistance. Attached Figure Description

[0040] Other features, objects, and advantages of this application will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0041] Figure 1 A schematic diagram of the overall structure of a rigid-flexible coupled exoskeleton robot provided in this application;

[0042] Figure 2 for Figure 1 A schematic diagram of the connection structure between the leg unit and the hip unit of the exoskeleton;

[0043] Figure 3 for Figure 2 Schematic diagram of the hip unit of a mid-exoskeleton;

[0044] Figure 4 for Figure 3 Top view;

[0045] Figure 5 for Figure 2 Schematic diagram of the connection structure between the hip unit and joint components of the exoskeleton;

[0046] Figure 6 for Figure 2 Schematic diagram of the telescopic component;

[0047] Figure 7 for Figure 3 A partial connection structure diagram of the middle back connector and the first connecting part;

[0048] Figure 8 for Figure 6 A schematic diagram of the locking assembly in the middle;

[0049] Figure 9 for Figure 2 Schematic diagram of the foot unit of the exoskeleton;

[0050] Figure 10 for Figure 9 A schematic diagram of the exploded structure;

[0051] Figure 11 for Figure 2 A schematic diagram of the middle leg binding component.

[0052] In the diagram: 1. Exoskeleton leg unit; 11. Telescopic assembly; 111. First telescopic rod; 112. Second telescopic rod; 12. Locking assembly; 121. First locking element; 122. Second locking element; 123. Third locking element; 13. Leg strap assembly; 131. Third fixing element; 132. First protective mechanism; 133. Second force sensor; 134. First elastic element; 135. Connecting mechanism; 136. First connecting assembly; 137. Fourth fixing element; 111. First telescopic rod; 112. Second telescopic rod; 121. First locking element; 122. Second locking element; 123. Third locking element; 2. Exoskeleton hip unit; 21. First degree of freedom adjustment part; 22. Second degree of freedom adjustment part; 211. Degree of freedom connector; 2111. First connecting part; 2112. 1. Second connecting part; 212. Back connector; 2121. First slider; 213. Leg connector; 214. Elastic sheet; 3. Exoskeleton backpack; 4. Joint assembly; 41. First fixing part; 412. Second mounting part; 413. Arc-shaped limiting block; 42. Drive motor; 43. Second fixing part; 431. Third mounting part; 432. Fourth mounting part; 5. Exoskeleton foot unit; 51. First elastic part; 511. Forefoot lower plate; 512. Forefoot upper plate; 52. Second elastic part; 521. Heel lower plate; 522. Heel upper plate; 523. Insole fixing part; 53. Third elastic part; 54. First force sensor; 6. First mounting groove; 61. First parting block; 62. Second parting block; 63. First positioning hole; 64. First through hole. Detailed Implementation

[0053] The present application will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, only the parts relevant to the invention are shown in the accompanying drawings.

[0054] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0055] Please refer to Figures 1 to 11 A rigid-flexible coupled exoskeleton robot, comprising:

[0056] Exoskeleton leg unit 1, which is used to connect to the human leg;

[0057] The exoskeleton hip unit 2 has one end connected to the exoskeleton leg unit 1 and the other end connected to the back of the human body; the exoskeleton leg unit 1 can rotate relative to the exoskeleton hip unit 2 about a first axis, which is perpendicular to the sagittal plane of the human body and parallel to the horizontal plane of the human body.

[0058] The exoskeleton hip unit 2 has a first degree of freedom adjustment part 21, which is located on one side of the human hip and its shape matches the human hip. When the human leg rotates around the second axis, the first degree of freedom adjustment part 21 can deform with the human leg around the second axis. The second axis is perpendicular to the coronal plane and parallel to the sagittal plane.

[0059] The exoskeleton hip unit 2 also has a second degree of freedom adjustment part 22, which is parallel to the horizontal plane. When the human leg rotates around the third axis, the second degree of freedom adjustment part 22 can deform with the human leg around the third axis. The third axis is perpendicular to the horizontal plane and parallel to the sagittal plane.

[0060] Specifically, the exoskeleton leg unit 1 includes a left exoskeleton leg unit 1 adapted to the left leg of the human body, and a right exoskeleton leg unit 1 adapted to the right leg of the human body.

[0061] Furthermore, the exoskeleton hip unit 2 includes a left exoskeleton hip unit 2 adapted to the left hip joint of the human body, and a right exoskeleton hip unit 2 adapted to the right hip joint of the human body.

[0062] Furthermore, the exoskeleton hip units 2 on the left and right sides form a space that can accommodate the human hip and buttocks, so that there is no interference from the exoskeleton components at the patient's buttocks, and it does not prevent the patient from using the rigid-flexible coupled exoskeleton robot when sitting, lying down or standing.

[0063] Specifically, when a human wears the rigid-flexible coupled exoskeleton robot, the exoskeleton leg unit 1 can actively drive the human leg to rotate around the first axis.

[0064] Furthermore, when the human leg moves, the exoskeleton hip unit 2 will be subjected to the external force applied by the human leg, and the human body will be subjected to the reaction force from the exoskeleton hip unit 2. Through the first degree of freedom adjustment unit 21 and the second degree of freedom adjustment unit 22, the rigid reaction force applied by the exoskeleton hip unit 2 to the human body can be adjusted, thereby improving the comfort of the patient wearing it.

[0065] Specifically, the first axis, the second axis, and the third axis intersect at a point that coincides with the center of the human hip joint. This reduces the torque required for the patient to rotate the exoskeleton hip unit 2 on the horizontal plane, making it comfortable for the patient to wear and allowing for normal activities. It also facilitates walking and turning. Furthermore, when the rigid-flexible coupled exoskeleton robot is started from a stationary state, the patient does not need to apply additional motion torque generated by the offset of the exoskeleton hip unit 2.

[0066] Working principle:

[0067] Since one end of the exoskeleton hip unit 2 is connected to the exoskeleton leg unit 1, the exoskeleton leg unit 1 can rotate relative to the exoskeleton hip unit 2 around the first axis. The exoskeleton leg unit 1 is connected to the human leg, so the exoskeleton leg unit 1 can drive the human leg to rotate around the first axis, helping the patient to perform gait training and providing assistance.

[0068] Because the exoskeleton hip unit 2 has a first degree-of-freedom adjustment part 21, which is located on one side of the human hip and whose shape matches the human hip, the first degree-of-freedom adjustment part 21 can deform with the human leg around the second axis when the human leg rotates around the second axis. At the same time, the exoskeleton hip unit 2 also has a second degree-of-freedom adjustment part 22, which is parallel to the horizontal plane. When the human leg rotates around the third axis, the second degree-of-freedom adjustment part 22 can deform with the human leg around the third axis. The first degree-of-freedom adjustment part 21 and the second degree-of-freedom adjustment part 22 provide the exoskeleton hip unit 2 with passive degrees of freedom in the coronal and horizontal planes, while also conforming to the human body. The structure is simple and easy to wear, making it more comfortable for patients to use this rigid-flexible coupling exoskeleton robot for gait training and assistance.

[0069] In a preferred embodiment, the exoskeleton hip unit 2 includes:

[0070] A degree-of-freedom connector 211 is provided, which matches the curvature of the side profile of the human body. The connector 211 has a first connecting portion 2111 and a second connecting portion 2112. The first connecting portion 2111 extends along the curvature of the side profile of the human body towards the back, and the second connecting portion 2112 is located on one side of the hip area of ​​the human body and is parallel to the horizontal plane.

[0071] The back connector 212 is connected to the first connecting part 2111 via a flexible component to form the first degree of freedom adjustment part 21.

[0072] The leg connector 213 is connected to the second connecting part 2112 via a flexible component to form the second degree of freedom adjustment part 22.

[0073] In a preferred embodiment, the flexible component includes a plurality of elastic sheets 214 arranged at equal intervals.

[0074] Specifically, an arc-shaped mounting space is formed between the first connecting part 2111 and the back connecting member 212, and a plurality of elastic pieces 214 are installed in the arc-shaped mounting space.

[0075] Furthermore, both the first connecting part 2111 and the back connecting member 212 are provided with corresponding first mounting grooves 6, which are used to install the elastic sheet 214.

[0076] Furthermore, the first mounting groove 6 is provided with a fixing component for fixing the elastic sheet 214.

[0077] Specifically, the fixing component includes a first parting block 61 and a second parting block 62.

[0078] Furthermore, the elastic sheet 214 has a clamping part located in the first mounting groove 6 and clamped by the first parting block 61 and the second parting block 62.

[0079] Furthermore, the first parting block 61 has a blind hole on the side near the clamping part, and the second parting block 62 has a boss on the side near the clamping part that matches the blind hole. The boss passes through the clamping part and engages with the blind hole.

[0080] Specifically, the first parting block 61 has a first rectangular slot, and the second parting block 62 has a second rectangular slot. A limiting space is formed between the first rectangular slot and the second rectangular slot, and the limiting space is perpendicular to the elastic sheet 214.

[0081] Furthermore, a rectangular limiting block is provided within the limiting space, and a first positioning hole is provided on the rectangular limiting block. A first threaded hole 63 corresponding to the first positioning hole is provided on the bottom wall of the first mounting groove 6.

[0082] Furthermore, the first threaded hole 63 is internally threaded with a first screw.

[0083] Specifically, when the clamping parts of the first parting block 61, the second parting block 62, the rectangular limiting block, and the elastic sheet 214 are fully embedded in the first mounting groove 6, the first screw is screwed into the first threaded hole 63 until one end of the first screw is positioned in the first positioning hole, thus completing the clamping and positioning of the first parting block 61 and the second parting block 62, preventing the first parting block 61 and the second parting block 62 from separating from the first mounting groove 6. This structure facilitates installation and disassembly. The thickness of the elastic sheet 214 can be flexibly changed according to the processing size of the first mounting groove 6 and the parting block to meet the needs of different patients.

[0084] Furthermore, the elastic sheet 214 is provided with first through holes 64 at equal intervals near the first mounting groove 6 to avoid and reduce stress concentration and extend the service life of the elastic sheet 214.

[0085] It should be noted that the connection method between the second connecting part 2112 and the leg connecting member 213 via the flexible component is the same as the connection method between the first connecting part 2111 and the back connecting member 212 via the flexible component, and will not be described in detail here.

[0086] In a preferred embodiment, the back connector 212 is connected to an exoskeleton backpack 3 at one end away from the second connector 2112, and the exoskeleton backpack 3 is used to connect to the back of the human body; the leg connector 213 is connected to the exoskeleton leg unit 1 via a joint assembly 4 on the side away from the first connector 2111.

[0087] Specifically, a first slider 2121 is provided at one end of the back connector 212 away from the second connecting part 2112, and a first sliding groove is provided in the first slider 2121;

[0088] Furthermore, a second slider is provided on the side of the exoskeleton backpack 3 near the back connector 212. The second slider is parallel to the horizontal plane and perpendicular to the sagittal plane, and the second slider is slidably connected to the first groove.

[0089] Specifically, by sliding the first slider 2121 along the second slider, the distance between the exoskeleton hip units 2 on the left and right sides can be adjusted to accommodate patients with different body shapes.

[0090] Specifically, the first slider 2121 is provided with a locking mechanism, which is used to prevent the first slider 2121 from sliding along the second slider without manual adjustment.

[0091] Specifically, the first slide is a dovetail groove, and the second slider is a dovetail block that matches the dovetail groove.

[0092] In a preferred embodiment, the side wall of the dovetail groove has an installation opening, and the locking mechanism includes:

[0093] Mounting block, the mounting block being fixed inside the mounting opening;

[0094] A locking bolt is threadedly connected to the mounting block; the locking bolt has an adjusting end located outside the dovetail groove and an abutting end located inside the dovetail groove;

[0095] A clamping block is slidably disposed within the dovetail groove. The clamping block has a first abutting surface and a second abutting surface. The first abutting surface is an inclined surface that matches the inclined surface of the dovetail block and is used to abut against the dovetail block. The second abutting surface is perpendicular to the axis of the locking bolt and is used to abut against the abutting end of the locking bolt. The clamping block also has a sliding part perpendicular to the axis of the locking bolt, and the sliding part slides in contact with the side wall of the mounting port.

[0096] The handle has a hinged end that is hinged to the adjusting end of the locking bolt. The hinged end has a protrusion that abuts against the mounting block.

[0097] Specifically, rotating the locking bolt causes it to move the clamping block closer to the dovetail block, so that the first contact surface abuts against the inclined surface of the dovetail block, locking the first slider 2121 and preventing it from sliding along the dovetail block without manual adjustment. Rotating the handle causes the protrusion to abut against the mounting block for secondary locking. When it is necessary to adjust the distance between the left and right exoskeleton hip units 2, rotating the handle causes the protrusion to move away from the mounting block. Rotating the locking bolt causes it to move the clamping block away from the dovetail block, releasing the lock on the first slider 2121 and allowing it to slide along the dovetail block.

[0098] Specifically, an installation port is provided on the side wall of the dovetail groove to facilitate the installation of the clamping block in the dovetail groove. After the clamping block is installed in the dovetail groove, the installation block is fixed in the installation port. The installation block is made of steel. When the first slider 2121 is locked, the steel installation block can withstand greater stress.

[0099] In a preferred embodiment, the exoskeleton leg unit 1 includes:

[0100] Telescopic assembly 11, two sets of the telescopic assembly 11 are rotatably connected by the joint assembly 4;

[0101] A locking assembly 12 is connected to the telescopic assembly 11. The locking assembly 12 has a first state and a second state. When it is in the first state, the telescopic assembly 11 can extend or shorten. When it is in the second state, the telescopic assembly 11 is locked.

[0102] Leg binding assembly 13, which is connected to the telescopic assembly 11, is used to bind the telescopic assembly 11 to the human leg.

[0103] Specifically, one set of telescopic components 11 serves as the thigh of the exoskeleton leg unit 1, and the other set of telescopic components 11 serves as the lower leg of the exoskeleton leg unit 1.

[0104] Furthermore, the length of the telescopic component 11 can be adjusted to accommodate patients of different heights.

[0105] Furthermore, both the thigh telescopic component 11 and the calf telescopic component 11 are connected to the leg binding component 13.

[0106] Specifically, the leg-binding assembly 13 includes:

[0107] The third fastener 131 is used to connect with the human leg;

[0108] A first protective mechanism 132 is fixedly connected to one side of the third fixing member 131; the first protective mechanism 132 has a first installation space, a second force sensor 133 is provided in the first installation space, a first gap is provided between the side of the second force sensor 133 away from the third fixing member 131 and the inner wall of the first protective mechanism 132, and a first elastic member 134 is provided in the first gap;

[0109] A connecting mechanism 135 is located on the side of the first protective mechanism 132 away from the third fixing member 131. The connecting mechanism 135 is connected to the first protective mechanism 132 through a first connecting component 136. The first connecting component 136 has a locked state and an unlocked state. When the first connecting component 136 is in the unlocked state, the connecting mechanism 135 can slide horizontally relative to the first protective mechanism 132. When the first connecting component 136 is in the locked state, the connecting mechanism 135 and the first protective mechanism 132 are fixedly connected.

[0110] The fourth fixing member 137 is connected to one end of the connecting mechanism 135, and the end of the fourth fixing member 137 away from the connecting mechanism 135 is used to connect to the exoskeleton leg unit 1.

[0111] Specifically, by providing a first installation space within the first protective mechanism 132, the second force sensor 133 is installed in the first installation space. A first gap is left between the second force sensor 133 and the inner wall of the first protective mechanism 132. A first elastic element 134 is provided within the first gap. The first elastic element 134 and the first protective mechanism 132 cooperate with each other to ensure that the torque measured by the second force sensor 133 does not exceed the working range, protecting the second force sensor 133 from damage and ensuring that it accurately measures force and provides a correct output signal within the normal working range.

[0112] Furthermore, since the connecting mechanism 135 is connected to the first protective mechanism 132 via the first connecting component 136, and the first connecting component 136 has a locked state and an unlocked state, when the first connecting component 136 is in the unlocked state, the connecting mechanism 135 can slide relative to the first protective mechanism 132 along a first direction; when the first connecting component 136 is in the locked state, the connecting mechanism 135 and the first protective mechanism 132 are fixedly connected. Therefore, when a patient needs to wear the exoskeleton leg unit 1, the first connecting component 136 can be in the unlocked state, allowing the connecting mechanism 135 to move horizontally to adjust the distance between the exoskeleton leg unit 1 and the human leg, so that the exoskeleton and the human leg are compatible, making it easier for the patient to wear the exoskeleton and improving the patient's comfort when wearing the exoskeleton.

[0113] In a preferred embodiment, the telescopic component 11 includes:

[0114] The first telescopic rod 111 is hollow inside; a groove is formed on the inner wall of the first telescopic rod 111 along a direction parallel to the axis of the first telescopic rod 111.

[0115] The second telescopic rod 112 has a slide bar on its outer wall that matches the slide groove, and the slide bar and the slide groove are slidably connected.

[0116] The first telescopic rod 111 has a plurality of rectangular openings at equal intervals on one end face near the second telescopic rod 112, and the plurality of rectangular openings form a locking part;

[0117] Specifically, the second telescopic rod 112 is provided with a scale, which allows patients or doctors to adjust the length of the telescopic component 11 by referring to the scale.

[0118] Specifically, the first telescopic rod 111 has a second through hole corresponding to each of the rectangular openings. The second through hole is connected to the rectangular opening. The second through hole is used to reduce stress concentration, prevent the rigidity of the first telescopic rod 111 from weakening, and facilitate the locking part to be pressed and deformed by the locking assembly 12.

[0119] In a preferred embodiment, the locking assembly 12 includes:

[0120] A first locking member 121 surrounds the locking portion;

[0121] The second locking member 122 extends through and connects both ends of the first locking member 121;

[0122] The third locking member 123 has a first end rotatably connected to one end of the second locking member 122, and the first end has a first abutting portion for abutting against the side wall of the first locking member 121. When the first abutting portion abuts against the first locking member 121, the locking assembly 12 is in the second state. When the first abutting portion moves away from the first locking member 121, the locking assembly 12 is in the first state.

[0123] Specifically, the first locking member 121 is made of flexible metal.

[0124] Specifically, the axis of the second locking member 122 is perpendicular to the axis of the first locking member 121.

[0125] Specifically, the first end of the third locking member 123 is cam-shaped.

[0126] Furthermore, by rotating the third locking member 123, when the first abutting part and the first locking member 121 abut against each other, the inner diameter of the first locking member 121 decreases, causing the locking part to be compressed and deformed. This allows the clamping part to clamp and limit the second telescopic rod 112, preventing relative sliding between the first telescopic rod 111 and the second telescopic rod 112. By rotating the third locking member 123, when the first abutting part and the first locking member 121 move away from each other, the first locking member 121 enlarges, thereby contacting the clamping part to clamp and limit the second telescopic rod 112. This allows relative sliding between the first telescopic rod 111 and the second telescopic rod 112, facilitating adjustment of the length of the telescopic assembly 11 by the patient or doctor.

[0127] In a preferred embodiment, the end of the exoskeleton leg unit 1 away from the exoskeleton hip unit 2 is rotatably connected to the exoskeleton foot unit 5 via the joint assembly 4, and the exoskeleton foot unit 5 is worn on the human foot.

[0128] Specifically, the exoskeleton foot unit 5 can rotate relative to the exoskeleton leg unit 1 around the first axis to drive the human foot to perform flexion or extension movements.

[0129] In a preferred embodiment, the exoskeleton foot unit 5 includes:

[0130] The first elastic part 51 is used to fit the forefoot of the human body.

[0131] The second elastic part 52 is used to fit the heel of the human body;

[0132] The third elastic portion 53 is located between the first elastic portion 51 and the second elastic portion 52;

[0133] Two force sensors 54 are respectively installed in the first elastic part 51 and the second elastic part 52.

[0134] Specifically, the third elastic part 53 is an elastic shoe piece.

[0135] Specifically, the first elastic part 51 includes:

[0136] Forefoot underfoot plate 511, the forefoot underfoot plate 511 and one end of the elastic shoe piece are fixedly connected;

[0137] The forefoot upper plate 512 and the forefoot lower plate 511 are connected by screws;

[0138] Furthermore, the first force sensor 54 is disposed between the upper forefoot plate 512 and the lower forefoot plate 511.

[0139] Furthermore, the forefoot underfoot plate 511 and the forefoot upper foot plate 512 are made of elastic material.

[0140] Specifically, the second elastic part 52 includes:

[0141] The insole fixing component 523 has an elongated groove on one side wall near the third elastic part that matches the third elastic part. The elastic shoe piece has an embedding part that is embedded into the elongated groove. The embedding part is fixed into the elongated groove by screws.

[0142] The heel underfoot plate 521 is connected to the top surface of the elastic shoe piece by screws;

[0143] The heel plate 522 is connected to the bottom surface of the elastic shoe piece by screws.

[0144] Furthermore, the top surface of the insole fixing member 523 is provided with a second mounting groove, and a first force sensor 54 is installed in the second mounting groove.

[0145] Furthermore, the sidewall of the insole fixing member 523 is connected to the exoskeleton leg unit 1 via the joint assembly 4.

[0146] Specifically, the lower heel plate 521 and the upper heel plate 522 are made of elastic material, while the insole fixing member 523 is made of rigid material.

[0147] Specifically, through the cooperation of the first force sensor 54 of the first elastic part 51 and the first force sensor 54 of the second elastic part 52, the torque and force of the human foot's flexion, dorsiflexion, and stepping can be measured. Simultaneously, the first elastic part 51 and the second elastic part 52 have a large degree of freedom of movement, allowing the patient to wear their own shoes without adding significant rigidity, enabling the exoskeleton foot unit 5 to cooperate with the human foot in performing flexion and extension movements of the foot.

[0148] In a preferred embodiment, the joint assembly 4 includes:

[0149] The first fastener 41 has a first mounting portion 411 and a second mounting portion 412 that are perpendicular to each other.

[0150] A drive motor 42 is connected to the first fixing member 41, and the output shaft of the drive motor 42 is parallel to the first axis.

[0151] The second fixing member 43 has a third mounting portion 431 and a fourth mounting portion 432 that are perpendicular to each other, and the third mounting portion 431 is fixedly connected to the output shaft.

[0152] This embodiment is described in detail with the leg connector 213 connected to the joint assembly 4 and the first telescopic rod 111 of the thigh telescopic assembly 11.

[0153] Specifically, the first mounting part 411 and the leg connector 213 are fixedly connected.

[0154] Specifically, the drive motor 42 is located on one side of the second mounting part 412, and its output shaft moves through the second mounting part 412 to the other side.

[0155] Specifically, both the third mounting part 431 and the fourth mounting part 432 are annular.

[0156] Furthermore, the third mounting part 431 is fixedly sleeved on the output shaft of the drive motor 42.

[0157] Furthermore, the fourth mounting part 432 is fixedly sleeved on the end of the first telescopic rod 111 away from the second telescopic rod 112.

[0158] Specifically, two arc-shaped limiting blocks 413 are provided on the side wall of the second mounting part 412 away from the drive motor 42. The two arc-shaped limiting blocks 413 are distributed circumferentially along the third mounting part 431 and slide in contact with the outer side wall of the third mounting part 431 to limit the rotation angle of the third mounting part 431.

[0159] Furthermore, the third mounting part 431 and the fourth mounting part 432 are connected by an arc-shaped transition part. When the arc-shaped transition part and the arc-shaped limiting block 413 abut against each other, the third mounting part 431 can be restricted from continuing to rotate around its axis.

[0160] It should be noted that the way the thigh telescopic component 11 is rotatably connected to the lower leg telescopic component 11 through the joint component 4, and the way the lower leg telescopic component 11 is rotatably connected to the exoskeleton foot unit 5 through the joint component 4, are similar to the way the leg connector 213 is rotatably connected to the thigh telescopic component 11 through the joint component 4, and will not be described in detail here.

[0161] The above description is merely a preferred embodiment of this application and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of the invention involved in this application is not limited to technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the inventive concept. For example, technical solutions formed by substituting the above features with (but not limited to) technical features with similar functions disclosed in this application.

Claims

1. A rigid-flexible coupled exoskeleton robot, characterized in that, include: An exoskeleton leg unit (1) is used to connect to a human leg; The exoskeleton hip unit (2) has one end connected to the exoskeleton leg unit (1) and the other end connected to the back of the human body; the exoskeleton leg unit (1) can rotate relative to the exoskeleton hip unit (2) about a first axis, which is perpendicular to the sagittal plane of the human body and parallel to the horizontal plane of the human body. The exoskeleton hip unit (2) has a first degree of freedom adjustment part (21), which is located on one side of the human hip and its shape matches the human hip. When the human leg rotates around the second axis, the first degree of freedom adjustment part (21) can deform with the human leg around the second axis. The second axis is perpendicular to the coronal plane and parallel to the sagittal plane. The exoskeleton hip unit (2) also has a second degree of freedom adjustment part (22), which is parallel to the horizontal plane. When the human leg rotates around the third axis, the second degree of freedom adjustment part (22) can deform with the human leg around the third axis. The third axis is perpendicular to the horizontal plane and parallel to the sagittal plane. The exoskeleton hip unit (2) includes: A degree-of-freedom connector (211) is provided, which matches the curvature of the side of the human body. The degree-of-freedom connector (211) has a first connecting part (2111) and a second connecting part (2112). The first connecting part (2111) extends along the curvature of the side of the human body toward the back of the human body, and the second connecting part (2112) is located on one side of the hip of the human body and is parallel to the horizontal plane. The back connector (212) is connected to the first connecting part (2111) via a flexible component to form the first degree of freedom adjustment part (21). A leg connector (213) is connected to the second connecting part (2112) via a flexible component to form the second degree of freedom adjustment part (22). The flexible component includes multiple elastic sheets (214) arranged at equal intervals.

2. The rigid-flexible coupled exoskeleton robot according to claim 1, characterized in that, The back connector (212) is connected to an exoskeleton backpack (3) at the end away from the second connector (2112), and the exoskeleton backpack (3) is used to connect to the back of the human body; the leg connector (213) is connected to the exoskeleton leg unit (1) via a joint assembly (4) on the side away from the first connector (2111).

3. The rigid-flexible coupled exoskeleton robot according to claim 2, characterized in that, The exoskeleton leg unit (1) includes: Telescopic assembly (11), two sets of the telescopic assembly (11) are rotatably connected by the joint assembly (4); A locking assembly (12) is connected to the telescopic assembly (11). The locking assembly (12) has a first state and a second state. When it is in the first state, the telescopic assembly (11) can be extended or shortened. When it is in the second state, the telescopic assembly (11) is locked. Leg binding assembly (13), which is connected to the telescopic assembly (11) for binding the telescopic assembly (11) and the human leg.

4. The rigid-flexible coupled exoskeleton robot according to claim 3, characterized in that, The telescopic component (11) includes: The first telescopic rod (111) is hollow inside; a groove is provided on the inner wall of the first telescopic rod (111) along the direction parallel to the axis of the first telescopic rod (111); The second telescopic rod (112) has a slide bar on its outer wall that matches the slide groove, and the slide bar and the slide groove are slidably connected. The first telescopic rod (111) has multiple rectangular openings at equal intervals on one end face near the second telescopic rod (112), and the multiple rectangular openings form a locking part.

5. A rigid-flexible coupled exoskeleton robot according to claim 4, characterized in that, The locking assembly (12) includes: A first locking member (121) surrounds the locking portion; The second locking member (122) passes through and connects both ends of the first locking member (121); The third locking member (123) has a first end rotatably connected to one end of the second locking member (122), and the first end has a first abutting portion for abutting against the side wall of the first locking member (121). When the first abutting portion abuts against the first locking member (121), the locking assembly (12) is in the second state. When the first abutting portion moves away from the first locking member (121), the locking assembly (12) is in the first state.

6. The rigid-flexible coupled exoskeleton robot according to claim 3, characterized in that, The exoskeleton leg unit (1) is rotatably connected to the exoskeleton foot unit (5) at one end away from the exoskeleton hip unit (2) via the joint assembly (4), and the exoskeleton foot unit (5) is worn on the human foot.

7. A rigid-flexible coupled exoskeleton robot according to claim 5, characterized in that, The exoskeleton foot unit (5) includes: The first elastic part (51) is used to fit against the forefoot of the human body; The second elastic part (52) is used to fit against the heel of the human body; The third elastic part (53) is located between the first elastic part (51) and the second elastic part (52); The first force sensor (54) is installed in the first elastic part (51) and the second elastic part (52) respectively.

8. A rigid-flexible coupled exoskeleton robot according to any one of claims 2-7, characterized in that, The joint assembly (4) includes: The first fastener (41) has a first mounting portion and a second mounting portion that are perpendicular to each other; A drive motor (42) is connected to the first fixing member (41), and the output shaft of the drive motor (42) is parallel to the first axis. The second fixing member (43) has a third mounting part (431) and a fourth mounting part (432) that are perpendicular to each other, and the third mounting part (431) is fixedly connected to the output shaft.

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