Single motor flexible walking aid exoskeleton
By designing a single-motor flexible walking exoskeleton, the gait of both legs is controlled by the cooperation of a waist drive device and a knee clamp, solving the problems of high cost and complex structure in existing technologies, and achieving improved stability and flexibility.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- NORTHEASTERN UNIV FOSHAN GRADUATE SCHOOL OF INNOVATION
- Filing Date
- 2023-09-04
- Publication Date
- 2026-05-19
AI Technical Summary
Existing flexible exoskeletons use a single motor to control one leg, which increases manufacturing and maintenance costs, and also results in a complex structure and a large overall weight.
The device uses a single-motor flexible walking exoskeleton. The drive unit is fixed to the waist by a binding component. The forward and reverse rotation of the single motor, together with the left and right knee clamps, drives the forward and reverse winding wheel sets to rotate, thereby achieving the rotation and retraction of the drive lines of the left and right legs and controlling the gait cycle of the two legs.
The mechanical structure of the exoskeleton has been simplified, reducing manufacturing and maintenance costs, and improving walking stability and coordination, as well as enhancing adaptability and operational flexibility in different terrains and environments.
Smart Images
Figure CN117124298B_ABST
Abstract
Description
[Technical Field]
[0001] This application belongs to the field of exoskeleton robot technology, specifically relating to a single-motor flexible walking exoskeleton. [Background Technology]
[0002] In modern society, with the continuous development of technology, exoskeleton robot technology has been widely used in daily life, industrial production, medical care, and other fields. Exoskeletons can be divided into rigid and flexible exoskeletons based on the materials used. Rigid exoskeletons are convenient to design, easy to control, and have strong assistive effects, but they also suffer from being bulky, uncomfortable, and prone to causing secondary injuries to the human body. Flexible exoskeletons, on the other hand, are lightweight, offer a better wearing experience, and have relatively lower manufacturing costs. They are not constrained by rigid materials, providing the wearer with great flexibility. Flexible exoskeletons typically use one motor to control one leg for gait control. This method increases the manufacturing and maintenance costs of the exoskeleton, and the use of multiple motors in such robots results in a complex structure and a large overall weight. [Summary of the Invention]
[0003] To address the issue that existing flexible exoskeletons, which use a single motor to control one leg, increase the manufacturing and maintenance costs of the robot, this application provides a single-motor flexible walking aid exoskeleton.
[0004] This application is achieved through the following technical solution:
[0005] A single-motor flexible walking exoskeleton, comprising:
[0006] The binding assembly includes a waist binding for binding around the waist of a human body, a left thigh binding for binding around the left thigh of a human body, and a right thigh binding for binding around the right thigh of a human body.
[0007] The driving device is mounted on the waist binding and includes a motor that can rotate in both directions, a forward winding wheel set and a reverse winding wheel set stacked on the output end of the motor, a right leg driving line with its first end wound on the forward winding wheel set, and a left leg driving line with its first end wound on the reverse winding wheel set.
[0008] The linkage device includes a left knee clamp on the left thigh binding, a right knee clamp on the right thigh binding, and two take-up devices respectively connected to the ends of the left and right leg drive lines. The left knee clamp allows the left leg drive line to pass through, and the right knee clamp allows the right leg drive line to pass through.
[0009] As described above, in a single-motor flexible walking exoskeleton, the binding assembly further includes a left lower leg binding for binding to the left lower leg of the human body, and a right lower leg binding for binding to the right lower leg of the human body. The linkage device further includes a left ankle clamp disposed on the left lower leg binding and a right ankle clamp disposed on the right lower leg binding. The left ankle clamp allows the left leg drive line to pass through, and the right ankle clamp allows the right leg drive line to pass through.
[0010] As described above, in a single-motor flexible walking exoskeleton, when the motor rotates forward and the right knee clamp is released and the right ankle clamp is tightened, the right leg drive line applies traction to the right ankle clamp; when the motor rotates forward and the right knee clamp is tightened and the right ankle clamp is released, the right leg drive line applies traction to the right knee clamp; when the motor rotates in reverse and the left knee clamp is released and the left ankle clamp is tightened, the left leg drive line applies traction to the left ankle clamp; when the motor rotates in reverse and the left knee clamp is tightened and the left ankle clamp is released, the left leg drive line applies traction to the left knee clamp.
[0011] As described above, a single-motor flexible walking exoskeleton includes a left knee clamp, a right knee clamp, a left ankle clamp, and a right ankle clamp, each comprising a servo motor, a fixing member, a clamping member slidably connected to the fixing member, a gear connected to the output end of the servo motor, and a rack disposed on the clamping member and meshing with the gear. The left leg drive line or the right leg drive line is located between the fixing member and the clamping member. The gear rotates forward, thereby driving the clamping member to move closer to the fixing member to clamp the left leg drive line or the right leg drive line. The gear rotates in the opposite direction, thereby driving the clamping member to move away from the fixing member to release the left leg drive line or the right leg drive line.
[0012] As described above, in a single-motor flexible walking exoskeleton, the clamping member has a protrusion, the fixing member has a groove corresponding to the protrusion, and the left leg drive line or the right leg drive line is located between the protrusion and the groove.
[0013] As described above, in a single-motor flexible walking exoskeleton, the take-up device includes a take-up bearing, a winding wheel disposed on the take-up bearing, and an elastic element disposed between the take-up bearing and the winding wheel. The winding wheel is used for winding the left leg drive line or the right leg drive line.
[0014] As described above, in a single-motor flexible walking exoskeleton, when the drive device drives the left leg drive line or the right leg drive line to pull the winding wheel to rotate in the opposite direction, the elastic element is compressed and stores energy. After the drive device stops working, the winding wheel rotates in the forward direction and returns to its original position under the elastic action of the elastic element, so as to tighten the left leg drive line or the right leg drive line.
[0015] As described above, in a single-motor flexible walking exoskeleton, two one-way bearings that are opposite to each other are respectively provided at the connection between the motor output end and the forward winding wheel assembly and the reverse winding wheel assembly.
[0016] The single-motor flexible walking exoskeleton described above further includes a control unit. The control unit includes a control board electrically connected to the drive device and the linkage device, a sensor assembly electrically connected to the control board, and a power supply unit electrically connected to the control board. The control board causes the motor to rotate in both directions, causes the left knee clamp to clamp or release the left leg drive cable, causes the right knee clamp to clamp or release the right leg drive cable, causes the left ankle clamp to clamp or release the left leg drive cable, and causes the right ankle clamp to clamp or release the right leg drive cable. The power supply unit provides power to the drive device, the linkage device, the control board, and the sensor assembly.
[0017] As described above, in a single-motor flexible walking exoskeleton, the sensor assembly includes one or more torque sensors and / or angle sensors.
[0018] Compared with the prior art, this application has the following advantages:
[0019] This application discloses a single-motor flexible walking exoskeleton. The drive unit is fixed to the waist of the user via a binding assembly, while left and right knee clamps are fixed to the left and right legs, respectively. A control unit controls the forward and reverse rotation of the single motor and the coordination between the left and right knee clamps based on the user's joint movement. This drives the forward and reverse winding wheel sets to rotate, retracting the drive cables corresponding to the left and right legs, respectively. This, in turn, pulls the left and right knee clamps, enabling the exoskeleton to drive both legs to complete the entire gait cycle. This method allows for simultaneous control of both legs using only a single motor, simplifies the exoskeleton's mechanical structure, and reduces manufacturing and maintenance costs. [Attached Image Description]
[0020] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0021] Figure 1 This is the three-dimensional object of this application. Figure 1 ;
[0022] Figure 2 This is the three-dimensional object of this application. Figure 2 ;
[0023] Figure 3 It is a three-dimensional view of the drive unit;
[0024] Figure 4 yes Figure 3 Exploded view;
[0025] Figure 5 It is a 3D model of the left thigh binding and the left knee clamp;
[0026] Figure 6 yes Figure 5 Exploded view;
[0027] Figure 7 This is a three-dimensional view of the take-up device;
[0028] Figure 8 yes Figure 7 Exploded view.
Detailed Implementation Methods
[0029] To make the technical problems solved by this application, the technical solutions, and the beneficial effects clearer, this application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of this application and are not intended to limit this application.
[0030] Please see Figures 1 to 8 A single-motor flexible walking exoskeleton, comprising:
[0031] The binding assembly 1 includes a waist binding piece 11 for binding the waist of a human body, a left thigh binding piece 12 for binding the left thigh of a human body, and a right thigh binding piece 13 for binding the right thigh of a human body.
[0032] The driving device 2 is mounted on the waist binding member 11. The driving device 2 includes a motor 21 that can rotate in both directions, a forward winding wheel assembly 22 and a reverse winding wheel assembly 23 stacked on the output end of the motor 21, a right leg driving line 24 with its first end wound on the forward winding wheel assembly 22, and a left leg driving line 25 with its first end wound on the reverse winding wheel assembly 23.
[0033] Linkage device 3 includes a left knee clamp 31 on the left thigh binding 12, a right knee clamp 32 on the right thigh binding 13, and two take-up devices 33 connected to the ends of the left leg drive line 25 and the right leg drive line 24, respectively. The left knee clamp 31 allows the left leg drive line 25 to pass through, and the right knee clamp 32 allows the right leg drive line 24 to pass through.
[0034] This application discloses a single-motor flexible walking exoskeleton. The drive unit is fixed to the waist of the user via a binding assembly. Left and right knee clamps are fixed to the left and right legs, respectively. The forward and reverse rotation of the single motor, along with the coordination between the left and right knee clamps, drives the forward and reverse winding wheel sets to rotate. This retracts the drive cables corresponding to the left and right legs, respectively, thereby pulling the left and right knee clamps and enabling the exoskeleton to drive both legs to complete the entire gait cycle. This method allows for simultaneous control of both legs using only a single motor, simplifies the exoskeleton's mechanical structure, and reduces manufacturing and maintenance costs.
[0035] Furthermore, as a preferred embodiment of this solution and not a limitation thereof, the binding assembly 1 further includes a left lower leg binding member 14 for binding to the left lower leg of the human body, and a right lower leg binding member 15 for binding to the right lower leg of the human body. The linkage device 3 further includes a left ankle clamp 34 disposed on the left lower leg binding member 14, and a right ankle clamp 35 disposed on the right lower leg binding member 15. The left ankle clamp 34 is through which the left leg drive line 25 passes, and the right ankle clamp 35 is through which the right leg drive line 24 passes.
[0036] In this embodiment, since the human leg moves forward in two gait phases—lifting and stepping—the lifting phase is the stage where the leg is raised from behind to parallel with the other supporting leg, and the stepping phase is the stage where the leg steps from parallel with the other supporting leg to landing. The thigh and lower leg are divided into two gait phases in the lifting and stepping phases. In the lifting phase, the thigh and lower leg are raised simultaneously, while in the stepping phase, the thigh continues to be raised, but the lower leg needs to kick forward. Therefore, by adding left and right ankle clamps to the drive lines of the two legs, separate control of the thigh and lower leg in different gait phases is achieved. This more precise gait control improves the stability and coordination of walking, better conforms to the range of human leg movement, and thus enhances walking efficiency and balance.
[0037] Furthermore, as a preferred embodiment of this solution and not a limitation thereof, when the motor 21 rotates forward, and the right knee clamp 32 is released and the right ankle clamp 35 is clamped, the right leg drive line 24 applies a traction force to the right ankle clamp 35; when the motor 21 rotates forward, and the right knee clamp 32 is clamped and the right ankle clamp 35 is released, the right leg drive line 24 applies a traction force to the right knee clamp 32; when the motor 21 rotates in reverse, and the left knee clamp 31 is released and the left ankle clamp 34 is clamped, the left leg drive line 25 applies a traction force to the left ankle clamp 34; when the motor 21 rotates in reverse, and the left knee clamp 31 is clamped and the left ankle clamp 34 is released, the left leg drive line 25 applies a traction force to the left knee clamp 31.
[0038] In this embodiment, by controlling the grippers in different gait states, coordinated movement of the knee and ankle joints is achieved, improving the naturalness and stability of the robot's walking. Secondly, by clamping and releasing different grippers, the tension of the drive line is regulated, enabling the robot to maintain good balance and smooth movement during walking. Finally, this refined gait control mechanism enhances the robot's adaptability to different terrains and environments, improving the robot's operational flexibility and practicality.
[0039] Furthermore, as a preferred embodiment of this solution and not a limitation thereof, the left knee clamp 31, the right knee clamp 32, the left ankle clamp 34, and the right ankle clamp 35 each include a servo motor 5, a fixing member 6, a clamping member 7 slidably connected to the fixing member 6, a gear 51 connected to the output end of the servo motor 5, and a rack 71 disposed on the clamping member 7 and meshing with the gear 51. The left leg drive line 25 or the right leg drive line 24 is located between the fixing member 6 and the clamping member 7. The gear 51 rotates forward, thereby driving the clamping member 7 to move closer to the fixing member 6 to clamp the left leg drive line 25 or the right leg drive line 24. The gear 51 rotates in the opposite direction, thereby driving the clamping member 7 to move away from the fixing member 6 to release the left leg drive line 25 or the right leg drive line 24.
[0040] In this embodiment, the clamping component can move precisely in the direction of approaching and moving away from the fixed component through the coordinated movement of the servo-driven gear and rack, thereby achieving the clamping and releasing of the right leg drive line, enabling the exoskeleton to maintain balance and stability in different states and movements; secondly, the consistency of this mechanism design makes the entire system easier to maintain and upgrade, while reducing manufacturing costs.
[0041] Furthermore, as a preferred embodiment of this solution and not a limitation, the clamping member 7 is provided with a protrusion 72, the fixing member 6 is provided with a groove 61 corresponding to the protrusion 72, and the left leg drive line 25 or the right leg drive line 24 is located between the protrusion 72 and the groove 61.
[0042] In this embodiment, the cooperation of the protrusion and the groove ensures that the drive cable maintains a stable position between the clamping and fixing parts, effectively preventing the drive cable from detaching and loosening during movement, thereby improving the accuracy and stability of gait control. Secondly, the structure of the protrusion and the groove is simple and compact, which not only reduces the complexity of the system but also enhances the reliability and durability of the system. It also provides convenience for the replacement and maintenance of the drive cable, thereby reducing maintenance costs and time.
[0043] Furthermore, as a preferred embodiment of this solution and not a limitation thereof, the take-up device 33 includes a take-up bearing 331, a winding wheel 332 disposed on the take-up bearing 331, and an elastic member 333 disposed between the take-up bearing 331 and the winding wheel 332, wherein the winding wheel 332 is for winding the left leg drive line 25 or the right leg drive line 24.
[0044] In this embodiment, the cooperation between the take-up bearing and the winding wheel allows the drive line to be wound smoothly on the winding wheel, effectively avoiding the tangling and messiness of the drive line, thereby improving the stability and reliability of gait control; secondly, the presence of the elastic element ensures that the drive line remains moderately tight on the winding wheel, avoiding slack and detachment, and improving the stability during gait control.
[0045] Furthermore, as a preferred embodiment of this solution and not a limitation, when the driving device 2 drives the left leg drive line 25 or the right leg drive line 24 to pull the winding wheel 332 to rotate in the opposite direction, the elastic element 333 is compressed and stores energy. After the driving device 2 stops working, the winding wheel 332 rotates in the forward direction and returns to its original position under the elastic action of the elastic element 333, so as to tighten the left leg drive line 25 or the right leg drive line 24.
[0046] Furthermore, as a preferred embodiment of this solution and not a limitation, two one-way bearings that are opposite to each other are respectively provided at the connection between the output end of the motor 21 and the forward winding wheel set 22 and the reverse winding wheel set 23.
[0047] In this embodiment, the use of a one-way bearing allows the mechanical component to rotate freely in one direction while being unable to rotate in the other, thus ensuring the separation of the motion of the forward and reverse winding wheels and avoiding the confusion and instability caused by the rotation of the mechanical component. Secondly, this design increases the stability and controllability of the system, enabling the motor to more precisely control the motion of the forward and reverse winding wheels. The application of the one-way bearing can reduce the friction and wear of the system, extend the service life of the mechanical component, and also reduce maintenance costs.
[0048] Furthermore, as a preferred embodiment of this solution and not a limitation, it also includes a control unit 4. The control unit 4 includes a control board 41 electrically connected to the drive device 2 and the linkage device 3, a sensor assembly 42 electrically connected to the control board 41, and a power supply unit 43 electrically connected to the control board 41. The control board 41 causes the motor 21 to rotate in both directions, causes the left knee clamp 31 to clamp or release the left leg drive cable 25, causes the right knee clamp 32 to clamp or release the right leg drive cable 24, causes the left ankle clamp 34 to clamp or release the left leg drive cable 25, and causes the right ankle clamp 35 to clamp or release the right leg drive cable 24. The power supply unit 43 is used to provide power to the drive device 2, the linkage device 3, the control board 41, and the sensor assembly 42.
[0049] In this embodiment, the sensor components can detect the human body's motion status information in real time, thereby providing real-time feedback data for control. This allows the exoskeleton to adjust its gait and movements more accurately, increasing walking stability and balance, and making it more suitable for the wearer. Secondly, the control board analyzes the sensor data to achieve precise control of the motors, left knee clamp, and right knee clamp to adapt to different gait requirements and movement directions, improving the robot's walking efficiency and smoothness. The power supply unit provides stable power to all components of the system, ensuring continuous operation and stability, while also improving the robot's working time and reliability.
[0050] Furthermore, as a preferred embodiment of this solution and not a limitation thereof, the sensor assembly 42 includes one or more torque sensors and / or angle sensors.
[0051] In this embodiment, the torque sensor and / or angle sensor are respectively positioned near the wearer's knee and ankle joints. The torque sensor can detect changes in the torque of joint drive in real time, providing precise force feedback, which enables the exoskeleton to adjust leg movements and gait more accurately, enhancing the stability and balance of gait control. Secondly, the angle sensor can monitor changes in the posture of the leg joints, providing real-time joint angle information to the control board, enabling the robot to adjust gait and movements more finely, improving the smoothness and efficiency of walking. The combination of the torque sensor and the angle sensor can comprehensively capture the human body's motion state, providing multi-dimensional feedback data to the control unit, thereby achieving more precise gait control and a more natural walking experience.
[0052] The working principle of this embodiment is as follows:
[0053] When the human body stands with the exoskeleton on, the right knee clamp tightens, the right ankle clamp tightens, the motor rotates forward to retract the right leg drive cable, and the right leg is pre-tightened; then the left knee clamp tightens, the left ankle clamp tightens, the motor rotates in reverse to retract the left leg drive cable, and the left leg is pre-tightened.
[0054] When the right leg begins to step, the right knee clamp tightens, the other clamps release, and the motor rotates forward to lift the right thigh. At this time, the right lower leg is not under traction.
[0055] When the left leg begins to lift, the left ankle clamp tightens, the other clamps loosen, and the motor reverses to lift the left thigh and left lower leg; when the left leg begins to step, the left knee clamp tightens, the other clamps loosen, and the motor reverses to continue lifting the left thigh, at which point the left lower leg is not under traction.
[0056] When the right leg begins to lift, the right ankle clamp tightens, the other clamps loosen, and the motor rotates forward to lift the right thigh and the right lower leg. When the right leg begins to step, the right knee clamp tightens, the other clamps loosen, and the motor rotates forward to continue lifting the right thigh. At this time, the right lower leg is not under traction.
[0057] The above are implementation methods provided in conjunction with specific content, and it is not intended that the specific implementation of this application is limited to these descriptions. Any methods or structures that are similar to those of this application, or any technical deductions or substitutions made based on the concept of this application, should be considered within the scope of protection of this application.
Claims
1. A single-motor flexible walking exoskeleton, characterized in that, include: The binding assembly (1) includes a waist binding piece (11) for binding the waist of a human body, a left thigh binding piece (12) for binding the left thigh of a human body, and a right thigh binding piece (13) for binding the right thigh of a human body. The drive device (2) is mounted on the waist binding (11). The drive device (2) includes a motor (21) that can rotate in both directions, a forward winding wheel assembly (22) and a reverse winding wheel assembly (23) stacked on the output end of the motor (21), a right leg drive line (24) with its first end wound on the forward winding wheel assembly (22), and a left leg drive line (25) with its first end wound on the reverse winding wheel assembly (23). Linkage device (3), the linkage device (3) includes a left knee clamp (31) provided on the left thigh binding (12), a right knee clamp (32) provided on the right thigh binding (13), and two take-up devices (33) respectively connected to the end of the left leg drive line (25) and the end of the right leg drive line (24). The left knee clamp (31) is for the left leg drive line (25) to pass through, and the right knee clamp (32) is for the right leg drive line (24) to pass through. The binding assembly (1) further includes a left lower leg binding piece (14) for binding the left lower leg of the human body, and a right lower leg binding piece (15) for binding the right lower leg of the human body. The linkage device (3) further includes a left ankle clamp (34) provided on the left lower leg binding piece (14), and a right ankle clamp (35) provided on the right lower leg binding piece (15). The left ankle clamp (34) is for the left leg drive line (25) to pass through, and the right ankle clamp (35) is for the right leg drive line (24) to pass through. When the motor (21) rotates forward, and the right knee clamp (32) is released and the right ankle clamp (35) is clamped, the right leg drive line (24) applies traction to the right ankle clamp (35); when the motor (21) rotates forward, and the right knee clamp (32) is clamped and the right ankle clamp (35) is released, the right leg drive line (24) applies traction to the right knee clamp (32); when the motor (21) rotates in reverse, and the left knee clamp (31) is released and the left ankle clamp (34) is clamped, the left leg drive line (25) applies traction to the left ankle clamp (34); when the motor (21) rotates in reverse, and the left knee clamp (31) is clamped and the left ankle clamp (34) is released, the left leg drive line (25) applies traction to the left knee clamp (31).
2. The single-motor flexible walking exoskeleton according to claim 1, characterized in that, The left knee clamp (31), the right knee clamp (32), the left ankle clamp (34), and the right ankle clamp (35) each include a servo motor (5), a fixing member (6), a clamping member (7) slidably connected to the fixing member (6), a gear (51) connected to the output end of the servo motor (5), and a rack (71) disposed on the clamping member (7) and meshing with the gear (51). The left leg drive line (25) or the right leg drive line (24) is located between the fixing member (6) and the clamping member (7). The gear (51) rotates in the forward direction, thereby driving the clamping member (7) to move closer to the fixing member (6) to clamp the left leg drive line (25) or the right leg drive line (24). The gear (51) rotates in the reverse direction, thereby driving the clamping member (7) to move away from the fixing member (6) to release the left leg drive line (25) or the right leg drive line (24).
3. The single-motor flexible walking exoskeleton according to claim 2, characterized in that, The clamping member (7) is provided with a protrusion (72), and the fixing member (6) is provided with a groove (61) corresponding to the protrusion (72). The left leg drive line (25) or the right leg drive line (24) is located between the protrusion (72) and the groove (61).
4. The single-motor flexible walking exoskeleton according to claim 1, characterized in that, The take-up device (33) includes a take-up bearing (331), a winding wheel (332) disposed on the take-up bearing (331), and an elastic element (333) disposed between the take-up bearing (331) and the winding wheel (332). The winding wheel (332) is for the left leg drive line (25) or the right leg drive line (24) to be wound.
5. The single-motor flexible walking exoskeleton according to claim 4, characterized in that, When the drive device (2) drives the left leg drive line (25) or the right leg drive line (24) to pull the winding wheel (332) to rotate in the opposite direction, the elastic element (333) is compressed and stores energy. After the drive device (2) stops working, the winding wheel (332) rotates in the forward direction and returns to its original position under the elastic action of the elastic element (333) to tighten the left leg drive line (25) or the right leg drive line (24).
6. The single-motor flexible walking exoskeleton according to claim 1, characterized in that, The output end of the motor (21) is connected to the forward winding wheel assembly (22) and the reverse winding wheel assembly (23) with two one-way bearings that are opposite to each other.
7. The single-motor flexible walking exoskeleton according to claim 1, characterized in that, It also includes a control unit (4), which includes a control board (41) electrically connected to the drive device (2) and the linkage device (3), a sensor assembly (42) electrically connected to the control board (41), and a power supply unit (43) electrically connected to the control board (41). The control board (41) causes the motor (21) to rotate in both directions, causes the left knee clamp (31) to clamp or release the left leg drive line (25), causes the right knee clamp (32) to clamp or release the right leg drive line (24), causes the left ankle clamp (34) to clamp or release the left leg drive line (25), and causes the right ankle clamp (35) to clamp or release the right leg drive line (24). The power supply unit (43) is used to provide power to the drive device (2), the linkage device (3), the control board (41), and the sensor assembly (42).
8. The single-motor flexible walking exoskeleton according to claim 7, characterized in that, The sensor assembly (42) includes one or more torque sensors and / or angle sensors.