Deformable exoskeleton device

Abstract

This invention belongs to the field of exoskeleton technology, specifically a deformable exoskeleton device, including a waist-wearing component and two leg bone components. The lower leg can be deflected backward to a deformable position, where it is positioned laterally with the thigh above it, and the angle between the lower leg and the thigh is 60°-90°. A walking wheel set II is positioned on the lower leg near the foot, and a walking wheel set I is positioned on the lower leg near the thigh. When the lower leg is in the deformable position, walking wheel sets II and I are in contact with the ground. This deformable exoskeleton device has two usage modes: one as a lower limb exoskeleton device, and the other as a mobility aid. This device cleverly integrates the functions of two different devices through its structure. Through simple deformation, it can meet the needs of people with lower limb dysfunction for both lower limb exoskeletons and wheelchair-like mobility tools, solving the problem of existing exoskeleton assistive devices having limited functionality and failing to fully realize their value.

Description

Technical Field

[0001] This invention belongs to the field of exoskeleton technology, specifically a deformable exoskeleton device. Background Technology

[0002] For individuals with lower limb dysfunction, daily mobility primarily relies on wheelchairs. However, with technological advancements, various lower limb exoskeletons now exist to assist them in walking. These exoskeletons enable lower limb rehabilitation training, preventing further functional impairment in other parts of the body. Wheelchairs, as the most common mobility aid, are used for longer periods than lower limb exoskeletons. Currently, after completing rehabilitation training with a lower limb exoskeleton, users must remove it and be assisted by a caregiver to transfer to a wheelchair or other mobility aid. When training is needed, the user must then get out of the wheelchair and put the exoskeleton back on. Firstly, this is inconvenient for transferring users. Secondly, users cannot sit down and rest frequently during training. This is mainly because existing lower limb exoskeletons or wheelchairs (mobility aids) have limited functionality and cannot be switched between each other. This not only causes inconvenience for users but also prevents the expensive exoskeleton devices from fully realizing their potential. Summary of the Invention

[0003] The purpose of this invention is to provide a deformable exoskeleton device that utilizes the common characteristics of exoskeleton devices and mobility devices to enable the lower limb exoskeleton device to be deformed into a mobility device capable of supporting the user, and this deformation can be reversed, thereby solving the problems in the prior art.

[0004] To achieve the above objectives, the present invention provides the following technical solution: a deformable exoskeleton device, comprising a waist-wearing component and two leg bone components, wherein the leg bone components include a thigh, a lower leg, and a foot, with leg straps provided on the thigh and lower leg, and foot straps provided on the foot; the upper end of the thigh is connected to the waist-wearing component via an upper joint, and is provided with a joint module I for controlling the swing of the thigh; the upper end of the lower leg is connected to the lower end of the thigh via a middle joint, and is provided with a joint module II for controlling the swing of the lower leg; the foot is connected to the lower end of the lower leg via a lower joint. The lower leg can be deflected backward to a deformable position, in which the lower leg is positioned laterally, with the thigh located above it, and the angle between the lower leg and the thigh is 60°-90°; a walking wheel group II is provided on the lower leg near the foot, and a walking wheel group I is provided on the lower leg near the thigh or on the thigh, and when the lower leg is in the deformable position, the walking wheel group II and the walking wheel group I are in contact with the ground.

[0005] In the aforementioned technical solution, the deformable exoskeleton device has two usage modes: first, as a lower limb exoskeleton device to assist people with lower limb dysfunction in walking; and second, as a mobility aid to support and move a user in a seated position. Specifically, walking wheel set I and walking wheel set II are set on the leg bone components, and the lower leg can be deflected backward to a lateral position at the mid-joint, at which point the entire exoskeleton device is in a deformable position. When the entire device is in the deformable position, walking wheel set I and walking wheel set II are in contact with the ground, becoming a four-wheeled mobility aid. The user uses a waist-wearing component to secure their waist, and their feet step on the footrests, assuming a seated position. At this point, the four-wheeled mobility aid can be used to move the user. Therefore, this device cleverly integrates the functions of two different devices within its own structure. Through simple deformation, it can meet the needs of people with lower limb dysfunction for both lower limb exoskeletons and wheelchair-like mobility aids, solving the problem that existing exoskeleton assistive devices have limited functionality and cannot fully realize their value.

[0006] As a preferred embodiment, the waist-wearing assembly includes a main fixation frame located behind the user, with side fixation plates extending forward to both sides of the user at both ends of the main fixation frame, and the thigh portion connected to the corresponding side fixation plates. The waist-wearing assembly also includes a strap assembly mounted on the main fixation frame, which hugs the user's body from back to front and securely fixes the entire waist-wearing assembly. When the exoskeleton device is used as a lower limb exoskeleton, the strap assembly secures the entire waist-wearing assembly, stably binding the exoskeleton device to the user. When the exoskeleton device is used as a mobility device, the strap assembly serves to hold the user, ensuring that the user maintains a seated posture while riding the mobility device.

[0007] To further ensure that users do not fall while riding the mobility device, the exoskeleton also includes a hip support device. When the exoskeleton is in the deformed position, the hip support device is located between the two thighs, with the strap assembly holding the body from above and the hip support device supporting the body from below. The two work together to ensure the comfort and stability of the user when riding the mobility device.

[0008] As a preferred embodiment, the foot straps are fixedly installed; the leg straps are installed with a detachable structure, allowing the leg straps to separate from the thighs and calves when the user wears the exoskeleton device, and the exoskeleton device to deform to a deformable position after the leg straps are separated. When the user wears the exoskeleton device and remains standing, separating the leg straps from the leg bones allows the legs and leg bones to not interfere with each other. At this time, the waist wearing component and the foot are fixed to the user's waist and feet respectively, while the thighs and calves are in a free state. Through the cooperation of joint module I and joint module II, the exoskeleton device can transform from a lower limb exoskeleton device mode to a mobility device mode when worn. At the same time, through the coordinated work of joint module I and joint module II, the mobility device mode can also be transformed back into a lower limb exoskeleton device mode.

[0009] As a preferred embodiment, the detachable structure includes magnetic plates fixedly mounted on the leg straps, and magnetic bases mounted on the thighs and calves, conforming to the body. The magnetic bases are electromagnets that attract the corresponding magnetic plates when energized. The leg straps automatically detach when the magnetic bases are de-energized, eliminating the need for manual removal by caregivers or family members. Furthermore, when the exoskeleton device transforms from a mobility aid mode to a lower limb exoskeleton mode, the leg straps automatically attach to their corresponding magnetic bases, achieving automatic binding between the leg straps and the leg bones.

[0010] As a preferred embodiment, the hip support device includes a hip support made of soft material. The rear of the hip support is connected to a waist-wearing component, and the front extends to the thigh, with two front straps for binding the thighs. Pull straps are provided on the left and right sides of the hip support, with their upper ends connected to the waist-wearing component. The soft hip support can adapt to the deformation of the exoskeleton device, thus allowing for fixed installation. Under the action of the front straps, the hip support moves with the body. For example, when the exoskeleton device is used as a lower limb exoskeleton, the hip support conforms to the user's buttocks from behind. As the exoskeleton device transforms from a lower limb exoskeleton into a mobility aid, the hip support changes with the user's posture until it lifts the user's buttocks from below. Under the traction of the pull straps on both sides, the entire hip support is suspended in the air, bearing most of the user's weight. This reduces the tightness of the straps on the user's waist.

[0011] As a preferred embodiment, a lower positioning head I is provided on the front-facing side of the thigh, and a lower positioning head II is provided on the front-facing side of the calf. The end of the lower positioning head I is provided with a plug with a socket I, and the end of the lower positioning head II is provided with a slot that mates with the plug, and the side wall of the slot is provided with a socket II. When the calf is in the deformed position, the plug is inserted into the slot, at which time the socket I is directly opposite the socket II. The telescopic shaft of the electromagnetic insertion shaft located on one side of the lower positioning head II passes through the socket I and the socket II, thereby automatically locking the thigh and the calf.

[0012] As a preferred embodiment, the lower leg and thigh are telescopic and have the same telescopic structure. The thigh consists of an upper fixed section I and a lower telescopic section I. The end of the telescopic section I is fixedly connected to a telescopic part, which is movably inserted into the fixed section I. A screw hole is provided in the middle of the telescopic part, and a drive screw assembly that mates with the screw hole is provided inside the fixed section I. During the process of the lower leg deflecting from a vertical position to a deformable position, the thigh extends until the walking wheel set I contacts the ground. At this time, the user is in a semi-squatting position, making it easier to maintain body balance through upper body movement. Then, the lower leg begins to extend and the thigh begins to shorten, which lowers the user's center of gravity and increases the wheel spacing between walking wheel set I and walking wheel set II, thus preventing the device from tipping over due to imbalance.

[0013] As a preferred embodiment, symmetrical locking brackets are provided on the sides of the thighs and calves that conform to the human body. These brackets have insertion slots, and when the exoskeleton device is in a standing position, the insertion slots of the thigh brackets face upwards, and the insertion slots of the calf brackets face forwards. When the calf is in a deformed position, two rigid crossbars are engaged with the thigh and calf brackets respectively through their end connectors. These crossbars can fix the leg bones on both sides, improving the stability of the entire device. Furthermore, the crossbars are installed using an insertion structure, allowing for quick removal when the lower limb exoskeleton mode is required.

[0014] As a preferred embodiment, the exoskeleton device also includes symmetrically arranged handrails, with the ends of the handrails mounted on the main frame and the front ends extending forward. When the exoskeleton device is deformed, the user can better maintain balance by holding onto the handrails, and in the mobility mode, holding onto the handrails is more comfortable and helps maintain balance. Attached Figure Description

[0015] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0016] Figure 1A side view of the deformable exoskeleton device provided in the embodiment of the present invention when it is used as a lower limb exoskeleton.

[0017] Figure 2 for Figure 1 A three-dimensional structural schematic diagram of the deformable exoskeleton device shown.

[0018] Figure 3 for Figure 1 Schematic diagram of the front structure of the mid-waist wearable component;

[0019] Figure 4 for Figure 3 A schematic diagram of the rear structure of the waist-wearing component shown;

[0020] Figure 5 for Figure 3 A schematic diagram of the hip support device;

[0021] Figure 6 for Figure 1 Schematic diagram of the outer side structure of the mid-thigh;

[0022] Figure 7 for Figure 6 The diagram shows the telescopic structure of the thigh.

[0023] Figure 8 for Figure 1 A schematic diagram of the inner side structure of the thigh is shown.

[0024] Figure 9 for Figure 1 A schematic diagram of the structure of the lower leg;

[0025] Figure 10 for Figure 9 Schematic diagram of the structure of the middle travel wheel set II;

[0026] Figure 11 for Figure 9 Schematic diagram of the structure of the middle travel wheel set I;

[0027] Figure 12 for Figure 9 A schematic diagram of the mid-leg strap structure;

[0028] Figure 13 for Figure 1 A schematic diagram of the planar structure of the mobility device after the deformable exoskeleton device has been deformed.

[0029] Figure 14 for Figure 13 A three-dimensional structural schematic diagram of the mobility device shown;

[0030] Figure 15 for Figure 14 A schematic diagram of the disassembled structure of the crossbar and the card holder;

[0031] Figure 16 for Figure 14 A schematic diagram of the positioning device at the mid-knee joint;

[0032] Figure 17 A schematic diagram of the positioning structure between the waist-wearing component and the thigh.

[0033] Figure 18 For users to ride Figure 14 A side view of the personal transportation device shown.

[0034] Figure 19 A schematic diagram of the deformable exoskeleton device with added handrails when used as a lower limb exoskeleton.

[0035] Figure 20 A schematic diagram of a deformable exoskeleton device with added handrails, used as a means of transportation.

[0036] In the diagram, the components are: 1. Waist support assembly; 2. Thigh assembly; 3. Lower leg assembly; 4. Foot assembly; 5. Joint module I; 6. Joint module II; 7. Joint module III; 8. Leg straps; 9. Walking wheel assembly I; 10. Walking wheel assembly II; 11. Hip support; 12. Clip; 13. Main mounting bracket; 14. Side mounting plate; 15. Upper joint head I; 16. Waist belt I; 17. Waist belt II; 18. Power supply and control assembly; 19. Front harness; 20. Pull strap; 21. Side mounting plate; 22. Upper positioning head I; 23. Upper positioning head II; 24. Fixed section I; 25. Telescopic section I; 6. Upper joint head. Joint II26, middle joint I27, magnetic base 28, lower positioning head I30, telescopic part 31, motor assembly 32, screw 33, fixed section II34, telescopic section II35, lower joint I36, middle joint II37, lower positioning head II38, electromagnetic insert shaft 39, mounting base I40, extension arm I41, rear wheel 42, mounting base II43, extension arm II44, front wheel 45, crossbar 46, handrail 47, magnetic plate 81, insertion slot 121, plug 301, slot 381, connector 461. Detailed Implementation

[0037] The following will describe in detail the implementation of this application with reference to the accompanying drawings and embodiments, so that the implementation process of how this application uses technical means to solve technical problems and achieve technical effects can be fully understood and implemented accordingly.

[0038] The embodiments provided by the present invention are deformable exoskeleton devices. Their basic mode of use is as a lower limb exoskeleton to assist people with lower limb dysfunction in walking. After deformation, it becomes a four-wheeled mobility device that can carry and transfer the user.

[0039] Figure 1 and Figure 2A structural diagram of the device as a lower limb exoskeleton is shown. As illustrated, the deformable exoskeleton includes a waist-wearing component 1 and two leg bone components. The leg bone components include a thigh 2, a lower leg 3, and a foot 4. Leg straps 8 are provided on the thigh 2 and lower leg 3, and foot straps are provided on the foot 4. Joint modules I5 for controlling the deflection of the thigh 2, II6 for controlling the deflection of the lower leg 3, and III7 for controlling the deflection of the foot 4 are respectively provided. Additionally, a walking wheel assembly II10 is provided on the lower leg 3 near the foot 4, and a walking wheel assembly I9 is ​​provided on the lower leg 3 near the thigh 2. Figure 2 As can be seen, both the walking wheel assembly II10 and the walking wheel assembly I9 are located on the side of the leg bone assembly that is furthest from the human body.

[0040] The deformable exoskeleton device is fixed to the human body via the upper waist-wearing component 1, such as... Figure 3 As shown, the waist-wearing assembly 1 includes a main fixation frame 13 located behind the user. The main fixation frame 13 has side fixation plates 14 extending forward to both sides of the user at both ends. Articulated heads I15 are provided at the ends of the side fixation plates 14, and the articulated modules I5 are mounted on the side fixation plates 14. The waist-wearing assembly 1 also includes a waist belt I16 and a waist belt II17 mounted in front of the main fixation frame 13, with the waist belt II17 positioned above the waist belt I16. The entire waist-wearing assembly 1 is secured to the human body via the waist belts I16 and II17. Furthermore, a power supply and control assembly 18 is provided on the waist-wearing assembly 1. This power supply and control assembly 18 supplies power to and controls the electrical components such as modules in the deformable exoskeleton device. The user can control the entire device independently via a controller, or a caregiver can operate it via a remote control.

[0041] The aforementioned waist support component 1 is used to secure the waist. This embodiment also includes a hip support device, such as... Figure 3 and Figure 4 As shown, the buttock support device includes a buttock support 11 made of soft material. The rear of the buttock support 11 is connected to a main fixing frame 13, and the front extends to the thigh. Two front straps 19 for binding the thighs are provided at the front. Figure 5 As shown, a strap 20 is provided on each of the left and right sides of the front of the buttock support 11. The upper end of the strap 20 is connected to the side mounting plate 21, and the side mounting plate 21 is installed on the side of the upper joint head I15 that fits against the human body. When the user wears this deformable exoskeleton device to walk, one side of the buttock support 11 is pulled by the front strap 19, and the other side is fixed by the main fixing frame 13. Therefore, the buttock support 11 will fit against the user's buttocks. Since the buttock support 11 is made of soft material, it will not affect the movement of the lower limbs and will not cause discomfort to the user. The buttock support device is designed to change with the changes in human body movement. Therefore, it can directly lift the user from below after the exoskeleton device is transformed into a mobility device.

[0042] In this embodiment, both the thigh section 2 and the calf section 3 are extendable. The thigh section 2 is divided into an upper fixed section I24 and a lower extendable section I25 (e.g., Figure 6 As shown), the lower leg is divided into three parts: the upper fixed section II34 and the lower telescopic section II35 (as shown). Figure 9 (As shown), and the thigh 2 and calf 3 have the same telescopic structure. Taking the thigh 2 as an example, as... Figure 7 As shown, the upper end of the telescopic section I25 is fixedly connected to the telescopic part 31. The telescopic part 31 has a screw hole in the middle and is movably inserted into the hollow fixed section I24. A screw 33 that mates with the screw hole is provided in the upper part of the fixed section I24, and a motor assembly 32 that controls the rotation of the screw 33 is provided. As shown in the figure, since the cross-sectional profile of the telescopic part 31 is not circular, and the shape of the inner cavity of the fixed section I24 matches the telescopic part 31, when the screw 33 rotates, the telescopic part 31 can only translate along the length direction within the fixed section I24, thereby realizing the extension or shortening of the thigh part 2.

[0043] like Figure 6 As shown, the top of the fixed segment I24 is provided with an upper joint head II26 that mates with the upper joint head I15, and the upper joint head II26 rotates relative to the upper joint head I15 under the drive of the joint module I5; the lower end of the telescopic segment I25 is provided with a middle joint head I27, which mates with the middle joint head II37 at the upper end of the fixed segment II34, and the joint module II6 provided on the telescopic segment I25 drives the middle joint head II37 to rotate relative to the middle joint head I27; as Figure 9 As shown, a lower joint head I36 is provided at the lower end of the telescopic section II35. The foot 4 is movably connected to the lower joint head I36, and a joint module III7 for controlling the deflection of the foot 4 is provided on the telescopic section II35. The thigh 2, lower leg 3, foot 4, and joint modules I5, II6, and III7 constitute the main structure of the leg skeleton. Joint module I5 controls the deflection of the thigh 2, joint module II6 controls the deflection of the lower leg 3, and joint module III7 controls the deflection of the foot 4. It should be noted that the knee joint formed by the middle joint head I27 and the middle joint head II37 can flex backward, which is a movement that the human knee cannot make and is a movement feature that does not exist in existing lower limb exoskeletons. This invention achieves the deformation of the deformable exoskeleton device by utilizing this feature of the knee joint.

[0044] exist Figure 9 In the middle, the aforementioned walking wheel set I9 is ​​installed on the upper part of the fixed section II34, such as Figure 10As shown, it includes a mounting base I40 that fits the fixed section II34, and an L-shaped extension arm I41, the end of which extends upward beyond the joint module II6, and a rear wheel 42 is mounted at the end; the walking wheel set II10 is mounted on the lower part of the telescopic section II35, as shown. Figure 11 As shown, it includes a mounting base II43 that fits the telescopic section II35 and an L-shaped extension arm II44, the end of which extends downward and is fitted with a front wheel 45 (the front wheel 45 is a caster wheel). From Figure 1 and Figure 2 As can be seen, when the exoskeleton device is in a standing position, the walking wheel set I9 and the walking wheel set II10 are located on the outside of the leg bones, and the rear wheel 42 and the front wheel 45 are located behind the leg bones. Therefore, it does not affect the use of the exoskeleton device as a lower limb exoskeleton.

[0045] In this embodiment, the leg straps 8 attached to the leg bones can be automatically detached. Specifically, refer to... Figure 8 and Figure 9 Magnetic bases 28 are respectively installed on the side of the fixed section I24, telescopic section I25, fixed section II34, and telescopic section II35 that are in contact with the human body. Figure 12 As shown, the leg strap 8 is equipped with a magnetic plate 81, and the magnetic base 28 is an electromagnet structure. When the magnetic base 28 is de-energized, the magnetic plate 81 automatically detaches. When the magnetic base 28 is close to the magnetic plate 81 and is energized, the magnetic base 28 automatically attracts the magnetic plate 81, thereby realizing the automatic disassembly and installation of the leg strap 8.

[0046] For the aforementioned deformable exoskeleton device, the thigh 2 and lower leg 3 can deflect to Figure 13 The deformation position shown indicates that the exoskeleton device is used as a four-wheeled mobility device. Specifically, for the position... Figure 1 The exoskeleton device shown is in a standing position (worn by the user). After the leg straps 8 automatically detach from the leg bones, the user keeps their foot on foot 4. At this time, joint module III7 rotates clockwise, joint module II6 rotates counterclockwise, and joint module I5 rotates clockwise. The rotation speed and angle of each joint module are preset. Through the coordinated work of each module, the thigh 2 and lower leg 3 slowly move backward. At this time, the user's body leans forward and both knees bend forward until they reach a certain position. Figure 13 In the state shown, the rear wheel 42 and front wheel 45 are on the ground, foot 4 is off the ground and supports the user's feet, and the angle between the lower leg 3 and thigh 2 is 80°. During the transformation process, thigh 2 slowly extends first, allowing the user to gradually bend their knees, which helps adapt to the changes in the exoskeleton and allows for constant adjustment of the body's center of gravity. Front wheel 45 contacts the ground first, and when rear wheel 42 also contacts the ground, the user is in a semi-squatting position. Thigh 2 slowly returns to its original position, and then (or simultaneously) lower leg 3 slowly extends, thus achieving... Figure 13 The shape shown.

[0047] To increase the structural stability of the resulting transportation device, firstly, such as Figure 14 As shown, crossbar 46 connects the leg bones on both sides. Figure 2 As can be seen, card holders 12 are symmetrically fixed on the side of fixed segment I24 and fixed segment II34 that fits against the human body, such as Figure 15 As shown, the card holder 12 is provided with a plug slot 121. When the exoskeleton is in the standing state, the plug slot 121 of the card holder 12 on the fixed section I24 faces upward, and the plug slot 121 of the card holder 12 on the fixed section II34 faces forward. In the deformed state, the plug slot 121 of the card holder 12 on the fixed section II34 faces upward. The two ends of the crossbar 46 are plug connectors 461 that cooperate with the plug slot 121. After the exoskeleton device is deformed into a mobility device, two crossbars 46 are used to connect the card holders 12 on both sides respectively.

[0048] Secondly, such as Figure 16 As shown, a lower positioning head I30 is provided on the telescopic section I25 near the middle joint head I27 (front side), and a lower positioning head II38 is provided on the fixed section II34 near the middle joint head II37 (front side). The lower positioning head I30 has a plug 301 with a socket I at its end, and the lower positioning head II38 has a slot 381 that mates with the plug 301 at its end. The side wall of the slot 381 has a socket II. Figure 14 In this state, the plug 301 is inserted into the slot 381, at which point the socket I is directly opposite the socket II. The telescopic shaft of the electromagnetic shaft 39, located on one side of the lower positioning head II 38, passes through the socket I and the socket II, thereby automatically locking the thigh 2 and the lower leg 3.

[0049] In addition, such as Figure 17 As shown, an upper positioning head II23 is provided on the fixed section I24 (rear side) near the upper joint head II26, and correspondingly, an upper positioning head I22 is provided on the side fixing plate 14. Figure 14 In this state, the upper positioning head I22 touches the upper positioning head II23, which can prevent the waist wearing component 1 from tilting backward.

[0050] After transforming from a lower limb exoskeleton into a four-wheeled mobility device, the user can... Figure 18 The user is shown sitting on the mobility device, and a caregiver can move the user by pushing the device.

[0051] To make it easier for users to control their center of gravity, it can also be like Figure 19As shown, a forward-extending handrail 47 is provided on each of the side fixing plates 14. Users can hold onto the handrails 47 while using the exoskeleton device, especially during deformation, as the handrails help maintain balance. After deformation into a mobility device, such as... Figure 20 As shown, users can place their hands on the armrest 47 for greater comfort; additionally, if users wish to operate the remote control themselves, they can set the remote control on the armrest 47.

[0052] The specification and claims use certain terms to refer to specific components. Those skilled in the art will understand that hardware manufacturers may use different names to refer to the same component. This specification and claims do not distinguish components based on differences in name, but rather on differences in function. The term "comprising" throughout the specification and claims is an open-ended term and should be interpreted as "comprising but not limited to." "Approximately" means that within an acceptable margin of error, those skilled in the art can solve the technical problem and substantially achieve the technical effect within a certain margin of error.

[0053] It should be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a product or system comprising a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a product or system. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the product or system that includes said element.

[0054] The foregoing description illustrates and describes several preferred embodiments of the present invention. However, as previously stated, it should be understood that the present invention is not limited to the forms disclosed herein and should not be construed as excluding other embodiments. It can be used in various other combinations, modifications, and environments, and can be altered within the scope of the inventive concept described herein through the foregoing teachings or techniques or knowledge in related fields. Any modifications and variations made by those skilled in the art that do not depart from the spirit and scope of the present invention should be within the protection scope of the appended claims.

Claims

1. A deformable exoskeleton device, comprising a waist-wearing assembly and two leg bone assemblies, wherein the leg bone assemblies include a thigh, a lower leg, and a foot, with leg straps provided on the thigh and lower leg, and foot straps provided on the foot; the upper end of the thigh is connected to the waist-wearing assembly via an upper joint, and is provided with a joint module I for controlling the swinging of the thigh; the upper end of the lower leg is connected to the lower end of the thigh via a middle joint, and is provided with a joint module II for controlling the swinging of the lower leg; the foot is connected to the lower end of the lower leg via a lower joint, characterized in that: The lower leg can be tilted backward to a deformable position, where it is positioned laterally with the thigh above it, and the angle between the lower leg and thigh is 60°-90°. A second set of walking wheels is positioned on the lower leg near the foot, and a third set of walking wheels is positioned on the lower leg near the thigh or on the thigh. When the lower leg is in the deformable position, both the second and third sets of walking wheels are in contact with the ground. The waist support assembly includes a main support frame located behind the user, with side support plates extending forward to the user's sides at both ends. The thigh is connected to the corresponding side support plates. The waist support assembly also includes a strap assembly mounted on the main support frame, extending from the rear... The exoskeleton device hugs the user's body and secures the entire waist-worn component. It also includes a hip support device, which, when in a deformable position, sits between the thighs and supports the user's buttocks. The foot straps are fixedly installed. The leg straps are detachable, allowing them to separate from the thighs and calves when the user wears the exoskeleton, and the device can deform to its deformable position after separation. The detachable structure includes magnetic plates fixed to the leg straps and magnetic bases on the thighs and calves that conform to the body. These magnetic bases are electromagnets that attract the corresponding magnetic plates when energized.

2. The deformable exoskeleton device as described in claim 1, characterized in that: The hip support device includes a hip support made of soft material, the rear of which is connected to a waist wearing component, the front of which extends to the thigh, and two front straps for binding the thighs are provided at the front; pull straps are provided on the left and right sides of the hip support, and the upper ends of the pull straps are connected to the waist wearing component.

3. The deformable exoskeleton device as described in claim 1, characterized in that: A lower positioning head I is provided on the front side of the thigh, and a lower positioning head II is provided on the front side of the calf. The end of the lower positioning head I is provided with a plug with a socket I, and the end of the lower positioning head II is provided with a slot that mates with the plug, and the side wall of the slot is provided with a socket II. An electromagnetic insertion shaft is provided on one side of the lower positioning head II. When the calf is in the deformed position, the plug is inserted into the slot, and the telescopic shaft of the electromagnetic insertion shaft passes through the socket I and the socket II.

4. The deformable exoskeleton device as described in claim 1, characterized in that: The lower leg and thigh are telescopic and have the same telescopic structure; the thigh part consists of an upper fixed section I and a lower telescopic section I, wherein the end of the telescopic section I is fixedly connected to a telescopic part, which is movably inserted into the fixed section I, and a screw hole is provided in the middle of the fixed section I, and a drive screw assembly that mates with the screw hole is provided inside the fixed section I.

5. The deformable exoskeleton device as described in claim 1, characterized in that: Symmetrical brackets are provided on the sides of the thigh and calf that are in contact with the human body. Each bracket has a slot. When the exoskeleton device is in a standing position, the slot opening of the bracket on the thigh faces upward and the slot opening of the bracket on the calf faces forward. When the calf is in a deformed position, two rigid crossbars engage with the brackets on the thigh and calf respectively through the connectors at both ends.

6. The deformable exoskeleton device as described in any one of claims 1 to 5, characterized in that: The exoskeleton device also includes handrails, the ends of which are mounted on the main frame and the front ends of which extend forward.

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