A connector and its application of jointed exoskeleton and knee jointed exoskeleton

Abstract

This application discloses a connector and its application in an articular exoskeleton and knee joint exoskeleton, including an upper base, a lower base, an elastic component, and a sliding limiting device. The elastic component is located between the upper and lower bases and is detachably fixedly connected to the upper and lower bases, providing flexibility for the connector's movement while improving the overall rigidity of the connector. The upper and lower bases are each provided with a connecting end that can be adapted to the component to be connected, for connecting to different components. The sliding limiting device is used to limit the bending range of the elastic component and is movably connected to the upper and lower bases. The sliding limiting device includes a limiting support, a limiting slide rod, a limiting stop rod, and a limiting sliding unit. The connector described in this application has a simple structure and a limiting function with a rotatable center, which can not only arbitrarily limit the range of motion of the joint of the applied connector but also fix the joint of the applied connector at a required angle as needed.

Description

Technical Field

[0001] This application relates to the field of rehabilitation devices, and in particular to an articular exoskeleton and a knee exoskeleton with a connector and its application. Background Technology

[0002] Joint diseases and injuries are common health problems worldwide, particularly affecting certain populations such as the elderly, athletes, and those with hemiplegia. Some patients require a period of rehabilitation and adaptation after joint surgery. With the assistance of exoskeletons, patients can receive stable support, maintain an appropriate range of motion, reduce joint stress, and promote recovery. Currently, some exoskeletons employ a single rotation center structure. However, because human joints frequently require flexible rotation, the position of this rotation center can shift, causing the single rotation center structure to misalign with the body's natural biomechanical properties, potentially disrupting the body's natural rotational movement. For example, Chinese patent CN205905014U discloses a thigh and calf connection device for an exoskeleton robot, including a calf drive motor and a leg connector. The lower end of the thigh and the upper end of the calf are connected by the calf drive motor shaft and the leg connector. The leg connector is provided with a limiting mechanism to prevent the calf from continuing to rotate forward when the calf and thigh are at a 180-degree angle. However, this structure is still not aligned with the rotation center of the human knee joint and requires a power motor to control and limit the extension movement of the calf. The structure is complex and cannot limit the range of motion of the joint, such as flexion and extension movements, according to the user's needs. It is also inconvenient to wear and use. Summary of the Invention

[0003] The purpose of this application is to provide a connector and its application in an articular exoskeleton and a knee exoskeleton, which can restrict the flexion movement, extension movement and range of motion of the joint of the applied connector in multiple dimensions, adapt to the joint restriction needs of different groups of people, and is convenient to use and comfortable to wear.

[0004] To achieve the above objectives, the technical solution provided in this application is as follows:

[0005] On one hand, this application provides a connector, which includes an upper base, a lower base, an elastic member, and a limiting device. The elastic member is located between the upper base and the lower base and is detachably fixedly connected to the upper base and the lower base. The limiting device is used to limit the range of bending and stretching of the elastic member and is movably connected to the upper base and the lower base.

[0006] Preferably, the limiting device is a sliding limiting device, which includes a limiting support body, a limiting slide rod, a limiting stop rod, and a limiting sliding unit; one end of the limiting support body is rotatably connected to an upper base or a lower base, and the other end is slidably connected to one end of the limiting slide rod; the limiting slide rod is slidably mounted on the limiting support body, with one end slidably mounted on the limiting support body and the other end rotatably connected to the lower base or the upper base; the limiting stop rod and the limiting sliding unit are used to limit the sliding range of the limiting slide rod on the limiting support body.

[0007] Preferably, the other end of the limiting support body has an opening for the insertion of the limiting slide rod and its sliding on the limiting support body; the limiting stop rod is used to limit the limiting slide rod, and it is fixed to one end of the limiting slide rod located in the limiting support body and slides with the limiting slide rod; the limiting sliding unit is movably installed on the limiting support body to block the limiting stop rod.

[0008] Preferably, the limiting support is a cuboid with a hollow interior and a groove in the middle parallel to the long side. The limiting support has multiple symmetrical toothed protrusions on both sides of the long side, and a toothed groove is provided between two adjacent toothed protrusions to adjust the range of the limiting angle of the sliding limiting device. The limiting slide rod is nested inside the limiting support from one end and can slide inside the limiting support. When the limiting slide rod slides inside the limiting support, the groove in the middle of the limiting support moves accordingly.

[0009] Preferably, the limiting sliding unit includes a limiting fixing block, a spring fixing post, a spring, and a limiting sliding block. The outer contour of the limiting fixing block is adapted to the toothed groove on the limiting support body, so that it can be precisely inserted into the toothed groove. The limiting fixing block is hollow inside, and its surface has an opening. The top of the limiting sliding block is nested inside the limiting fixing block from one end of the limiting fixing block. The surface of the limiting sliding block has an opening of the same size as the opening on the limiting fixing block. When the limiting sliding block is nested inside the limiting fixing block, the opening on the limiting sliding block partially or completely overlaps with the opening on the limiting fixing block. The top of the limiting sliding block has a mounting hole, through which the spring fixing post is fixedly installed on the limiting sliding block. The spring is nested on the spring fixing post, with one end connected to the limiting sliding block and the other end connected to the inside of the limiting fixing block.

[0010] Preferably, the spring is elastic enough that the limiting sliding unit can slide on the limiting support when the spring is pressed, and is fixed in the tooth groove of the limiting support after being released; the number of the limiting sliding units is set to two, so that the limiting stop can move between the two limiting sliding units.

[0011] Preferably, it also includes a limiting shell, which is fixed to the outside of the limiting support body, and the outer surface of the limiting shell is provided with markings or scales that correspond one-to-one with the number and position of the toothed protrusions on the limiting support body.

[0012] Preferably, it further includes a continuous limiting device, which includes the elastic component and a plurality of continuous body modules. The plurality of continuous body modules are disconnected from each other and arranged continuously on one side of the elastic component to limit the angular range of the elastic component extending along the side where the plurality of continuous body modules are arranged.

[0013] On the other hand, this application provides an articular exoskeleton, which includes the connector described above. The upper base and the lower base are respectively provided with connecting ends that can be adapted to connect to external components, for connecting to different external components. In use, the connector is located on the side of the human joint.

[0014] On another aspect, this application provides a knee joint exoskeleton, which includes the connector described above. The upper base and the lower base are respectively provided with connecting ends that can be adapted to connect to external components, for connecting to different external components. In use, the connector is located on the side of the human knee joint.

[0015] The connector and its application in the exoskeleton and knee exoskeleton provided in this application have variable bending and rotation centers due to the flexibility and rigidity of the elastic bending and stretching of the elastic component. At the same time, by setting a sliding limiting device, it has a limiting function, which can provide on-demand restriction on the range of motion of the user's joints, such as the angle of flexion and extension movements, and can adjust the range of motion of the joints according to the user's needs. When necessary, it can also accurately limit the user's joints to the required angle, so that the connector of this application has a variable rotation center and effective limiting function.

[0016] In addition, the connectors provided in this application and their applications in exoskeletons and knee exoskeletons can limit the connected devices to different angle ranges by adjusting the position of the limiting sliding unit on the limiting support body, which can meet the precise control and limitation requirements of rotation and bending angles of different types of joints.

[0017] On the other hand, the connector and its application in the exoskeleton and knee joint exoskeleton provided in the embodiments of this application, by setting two sliding limiting devices, enable the connector to have a bidirectional limiting function, making it more convenient and precise to adjust the flexion movement, extension movement and range of motion of the joint used with it, and can be adjusted and fixed to the angle required by the user; it can provide accurate limitation on the joint and knee joint movement angle of the wearer, and the limitation range can be changed by the limiting sliding structure on the limiting system, thereby adapting to the knee joint limiting needs of different groups of people;

[0018] On the other hand, the connectors and exoskeletons and knee exoskeletons provided in the embodiments of this application, through the cooperation of the elastic components and continuous module structure on their continuous limiting devices, enable the joint exoskeleton using the connectors to change its rotation center with the rotational movement of the human joint, which is more in line with the ergonomic structural design, can adapt to the natural movement of the human joint, and improve the user's comfort.

[0019] In addition, the connectors and exoskeletons and knee exoskeletons provided in the embodiments of this application can provide further safety assurance for the extension of the joint by setting a continuous limiting device, and prevent the joint from hyperextension due to improper adjustment by the user.

[0020] In addition, the exoskeleton and knee exoskeleton provided in this application embodiment can limit the overall torsional movement of the connecting parts by setting limiting plates on both sides of the continuum module, preventing users from falling due to weak knee joint control when wearing it, and further improving the overall stability of the knee exoskeleton.

[0021] In addition, in the joint exoskeleton and knee exoskeleton provided in this application, the connector is located on the side of the human knee, which can support large-angle flexion of the knee joint and does not affect the natural movement of the joint when the wearer walks naturally. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1a This is a partial exploded view of the connector in the embodiment of this application, seen from one angle.

[0024] Figure 1b This is a partial exploded view of the connector in the embodiment of this application, seen from another angle.

[0025] Figure 2 This is a schematic diagram of the sliding limit device in the embodiments of this application;

[0026] Figure 3 This is an exploded view of the sliding limit device in the embodiments of this application;

[0027] Figure 4 This is a schematic diagram of a single limiting sliding unit structure in an embodiment of this application;

[0028] Figure 5 This is a schematic diagram showing the structural decomposition of a single limiting sliding unit.

[0029] Figure 6 This is an exploded view of the continuous limiting device in the embodiments of this application;

[0030] Figure 7 This is a partial exploded diagram of multiple continuum modules in the embodiments of this application;

[0031] Figure 8 This is a schematic diagram of the continuous limiting device structure in the embodiments of this application;

[0032] Figure 9 This is a schematic diagram of the knee exoskeleton structure using connectors in the embodiments of this application;

[0033] Figure 10 This is an exploded view of the knee exoskeleton structure using the connector in the embodiments of this application. Detailed Implementation

[0034] To make the technical means, creative features, objectives and effects of this application easier to understand, the following description, in conjunction with specific illustrations, further elaborates on this application.

[0035] In the description of this application, it should be understood that the terms "upper," "lower," "front," "rear," "left," "right," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on this application. In the description of this application, unless otherwise stated, "a plurality of" means two or more.

[0036] On one hand, the connector provided in this application includes an upper base, a lower base, an elastic component, and a limiting device. The elastic component is located between the upper base and the lower base and is detachably fixedly connected to the upper base and the lower base. The limiting device is used to limit the bending and stretching range of the elastic component and is movably connected to the upper base and the lower base. The limiting device is a sliding limiting device, which includes a limiting support, a limiting slide rod, a limiting stop rod, and a limiting sliding unit. One end of the limiting support is rotatably connected to the upper base or the lower base, and the other end is slidably connected to one end of the limiting slide rod. The limiting slide rod is slidably mounted on the limiting support, with one end slidably mounted on the limiting support and the other end rotatably connected to the lower base or the upper base. The limiting stop rod and the limiting sliding unit are used to limit the sliding range of the limiting slide rod on the limiting support. In a further embodiment, the other end of the limiting support body has an opening for the insertion of the limiting slide rod and its sliding on the limiting support body; the limiting stop rod is used to limit the limiting slide rod, and it is fixed to one end of the limiting slide rod located in the limiting support body and slides with the limiting slide rod; the limiting sliding unit is movably installed on the limiting support body to block the limiting stop rod.

[0037] On the other hand, this application provides an articular exoskeleton, which includes the connector described above. The upper base and the lower base are respectively provided with connecting ends that can be adapted to connect to external components, for connecting to different external components. In use, the connector is located on the side of the human joint.

[0038] On another aspect, this application provides a knee joint exoskeleton, which includes the connector described above. The upper base and the lower base are respectively provided with connecting ends that can be adapted to connect to external components, for connecting to different external components. In use, the connector is located on the side of the human knee joint.

[0039] The detailed description is as follows:

[0040] like Figure 1a , 1bAs shown, this application provides a connector including an upper base 210, a lower base 220, an elastic component 231, and a sliding limiting device 240. The elastic component 231 is located between the upper base 210 and the lower base 220 and is detachably fixedly connected to the upper base 210 and the lower base 220. It provides flexibility for the connector's movement while improving the overall rigidity of the connector. The overall rigidity of the connector can be changed by altering the shape parameters and combination method of the elastic component 231. In this application embodiment, the elastic component 231 is a leaf spring with a certain thickness of 0.2mm to 1.0mm. By changing the thickness of the leaf spring, the rigidity of the connector can be changed. The greater the thickness of the leaf spring, the stronger the rigidity of the connector. Alternatively, the rigidity of the connector can be enhanced by stacking multiple leaf springs, thereby improving the stability of the exoskeleton used by the user with the connector. The upper base 210 and lower base 220 are detachably fixedly connected to both ends of the leaf spring. The outer ends of the upper base 210 and lower base 220 are respectively provided with connecting ends adapted to connect to external components, for use with different external components. The sliding limiting device 240 is used to limit the bending range of the elastic component. The sliding limiting device 240 is located on the side of the elastic component and is rotatably connected to the upper base 210 and lower base 220.

[0041] like Figure 2 and Figure 3 As shown, the sliding limiting device 240 includes a limiting slide bar 241, a limiting support body 242, a limiting stop bar 243, a limiting shell 244, and a limiting sliding unit 250.

[0042] The limiting support 242 is used to support the sliding limiting device 240 and connect other components. In this embodiment, the limiting support 242 is a cuboid with a hollow interior and a groove in the middle parallel to its long side. Multiple symmetrical toothed protrusions are arranged along both sides of the long side of the limiting support 242, with a toothed groove formed between adjacent toothed protrusions. This groove is used to adjust the range of the limiting angle of the sliding limiting device 240. The more toothed protrusions there are and the denser their arrangement, the more precise the limiting angle can be adjusted. In this embodiment, the limiting angle of the joint between the connecting parts corresponding to two toothed grooves is 3-5°. The limiting slide rod 241 is nested inside the limiting support 242 from one end and can slide inside the limiting support 242; furthermore, the limiting slide rod 241 slides along the long side of the limiting support 242 inside the limiting support 242. The limiting slide rod 241 has a mounting hole at its first and last ends. The limiting stop rod 243 passes through the mounting hole at the first end of the limiting slide rod 241 and is fixed to the first end of the limiting slide rod 241. When the limiting slide rod 241 slides inside the limiting support body 242, the sliding groove of the limiting stop rod 243 in the middle of the limiting support body 242 moves accordingly. The length of the limiting slide rod 241 affects the range within which the limiting stop rod 243 can slide inside the limiting support body 242, thereby affecting the maximum range of joint movement angles of the articular exoskeleton using the connecting member that the sliding limiting device 240 restricts. In this embodiment, the length of the limiting slide rod 241 is slightly greater than the length of the limiting support body 242, so that the limiting stop rod 243 can move within the entire sliding groove range in the middle of the limiting support body 242.

[0043] The limiting support 242 has a mounting hole at one end away from the limiting slide rod 241. The limiting support 242 can be rotatably and detachably mounted on the side of the upper base 210 or the side of the lower base 220 through the mounting hole. The mounting hole at the tail end of the limiting slide rod 241 can be rotatably and detachably mounted on the side of the lower base 220 or the side of the upper base 210. In this embodiment, the upper base 210 and the lower base 220 are provided with protruding mounting grooves on their sides for rotatably mounting the limiting support 242 and the limiting slide rod 241. Further, the limiting support 242 is rotatably and detachably mounted in the mounting groove on the side of the lower base 220 through a screw passing through a mounting hole, and the tail end of the limiting slide rod 241 is rotatably and detachably mounted in the mounting groove on the side of the upper base 210 through a screw passing through a mounting hole, so that the sliding limiting device 240 can rotate relative to the upper base 210 and the lower base 220 around the screw.

[0044] The limiting outer shell 244 is used to protect the sliding limiting device 240 and is fixed to the outside of the limiting support body 242 through the mounting hole at the end of the limiting support body 242 away from the limiting slide rod 241. The limiting outer shell 244 is adapted to the outer surface contour of the limiting support body 242, and its outer surface is provided with markings or scales that correspond one-to-one with the number and position of the toothed protrusions on the limiting support body 242, so that the user can move the limiting sliding unit 250 through the markings or scales to achieve precise limiting of the joint restricted by the joint exoskeleton using this connector.

[0045] Please see Figure 4 and Figure 5 The limiting sliding unit 250 is movably mounted on the limiting support body 242. The limiting sliding unit 250 includes a limiting fixing block 251, a spring fixing post 252, a spring 253, and a limiting sliding block 254. The limiting fixing block 251 includes a top end and a pressing end; the pressing end has an inwardly concave arc surface for convenient pressing operation by the human body; a sliding groove is opened inside and extends through its top end for the limiting sliding block 254 to be inserted and slid. The outer contour of the limiting fixing block 251 is adapted to the toothed groove on the limiting support body 242, so that it can be precisely inserted into the toothed groove. The limiting fixing block 251 is hollow inside, and its surface has an opening through it. The width of the opening is slightly greater than the thickness of the limiting support body 242, and the length of the opening is slightly greater than the distance from the apex of the toothed protrusion on one side of the limiting support body 242 to the apex of the toothed protrusion on the symmetrical side. The limiting sliding block 254 includes a top end and a pressing end. The pressing end has a concave arc surface for convenient pressing operation by the human body. The top end of the limiting sliding block 254 is nested inside the limiting fixing block 251 from the top end of the limiting fixing block 251 and can slide inside the limiting fixing block 251. The surface of the limiting sliding block 254 has an opening of the same size as the opening on the limiting fixing block 251. When the limiting sliding block 254 is nested inside the limiting fixing block 251, the opening on the limiting sliding block 254 partially or completely overlaps with the opening on the limiting fixing block 251.

[0046] The top of the limiting sliding block 254 has an installation hole, and the spring fixing post 252 is fixedly installed on the limiting sliding block through the installation hole. The spring 253 is nested on the spring fixing post 252, with one end connected to the limiting sliding block 254 and the other end connected to the inside of the limiting fixing block 251.

[0047] When the spring is in its initial elastic state, the spring 253 supports the limiting sliding block 254 and the limiting fixing block 251, so that the length of the overlapping opening is the distance from the bottom edge of the tooth groove on one side of the limiting support 242 to the bottom edge of the tooth groove on the symmetrical side. By pressing the limiting fixing block 251 and the limiting sliding block 254 with the pressing end, the spring 253 is compressed, so that the length of the overlapping opening is slightly greater than the distance from the apex of the tooth-shaped protrusion on one side of the limiting support 242 to the apex of the tooth-shaped protrusion on the symmetrical side, that is, the openings of the two are completely overlapping, so that the limiting sliding unit 250 can slide on the limiting support 242 when the spring is pressed, and is fixed in the tooth groove of the limiting support 242 after being released. Furthermore, the opening on the limiting sliding block 254 is provided with a protruding ridge on the side near the top of the limiting sliding block 254 that matches the tooth groove of the limiting support 242, and the limiting fixing block 251 is provided with a protruding ridge at its top near the opening that matches the tooth groove of the limiting support 242, so that the limiting sliding unit 250 can be more firmly fixed in the tooth groove of the limiting support 242.

[0048] The number of limiting sliding units is set to two, which are used to block the limiting stop 243, so that the limiting stop 243 can only move between the two limiting sliding units 250. When the human body wears the joint exoskeleton with the connector described in this application and performs flexion or extension movements, since the limiting stop 243 can only slide between the two limiting sliding units 250, the limiting stop 243 cannot continue to slide when the joint flexes or extends to the boundary of the angle range limited by the limiting sliding unit 250. This causes the limiting slide rod 241 connected to it to be unable to continue to slide, so that the upper base and lower base connected to the limiting slide rod 241 and the limiting support 242 cannot drive the joint exoskeleton to continue to bend inward or extend outward, thereby achieving the effect of limiting the angle range of the user's joint flexion or extension movements.

[0049] In another embodiment of this application, the limiting sliding unit 250 is a pluggable pin structure that adapts to the toothed groove of the limiting support 242. The user can manually plug and unplug the limiting sliding unit 250 to fix it in the toothed groove of the limiting support 242, so that the limiting stop 243 can only move between the two limiting sliding units 250, thereby achieving the effect of limiting the range of angle of the user's joint flexion or extension movement.

[0050] The sliding limiting device 240 described in this application has a bidirectional limiting function, which can accurately limit the joint movement angle of the wearer of the articular exoskeleton using the connector of this application, and the limiting range can be changed by the limiting sliding unit 250, thereby adapting to the limiting needs of different groups of people for different joints; when the distance between the two limiting sliding units 250 is the largest, that is, the limiting sliding units 250 are respectively located in the topmost and bottommost toothed grooves of the limiting support 242, the limiting slide rod 241 and the limiting stop 243 can move the largest range, and at this time the limiting device 240 restricts the joint movement range the least; when the two limiting sliding units 250 fix the limiting slide rod 241 between the two adjacent toothed grooves at the outermost end, the limiting device 240 fixes the joint at the maximum value of the flexion movement angle or the minimum value of the extension movement angle. In this embodiment, since the limiting slide rod 241 is installed on the upper base 210 and the end of the limiting support body 242 away from the limiting slide rod 241 is installed on the lower base 220, when the two limiting sliding units 250 fix the limiting slide rod 241 between the two uppermost adjacent tooth grooves, the sliding limiting device 240 fixes the joint at the minimum extension movement value of 0°; when the two limiting sliding units 250 fix the limiting slide rod 241 between the two lowermost adjacent tooth grooves, the bottom of the upper base connected to the tail end of the limiting slide rod 241 contacts the top of the limiting support body 242, and the sliding limiting device 240 fixes the joint at the maximum flexion movement value of 100°.

[0051] In this embodiment, the sliding range of the limiting slide rod 241 is adjusted by adjusting the two limiting sliding units 250, thereby adjusting the bending angle range and extension range of the elastic component 231, thus adjusting and limiting the range of flexion and extension movements of the corresponding joint; at the same time, in this embodiment, the two limiting sliding units 250 can also be fixed at two adjacent tooth groove positions to adjust the limiting and positioning of the joint at a specific flexion angle and extension angle, so as to meet the needs of different users.

[0052] Furthermore, such as Figure 6As shown, the connector further includes a continuous limiting device 230, which includes the elastic component 231 and multiple continuous modules 232. The multiple continuous modules 232 are disconnected from each other and continuously arranged on one side of the elastic component 231. The multiple continuous modules 232 limit the bending angle range of the elastic component 231 along the side where the multiple continuous modules are arranged, providing a safe limit for the applied joint extension movement. The continuous limiting device 230 can bend or elastically bend along one side of the elastic component. When returning to the other side, it is limited by the mutual interference of the multiple continuous modules, and its return angle is limited. In this embodiment, the continuous limiting device 230 gives the connector a variable rotation center characteristic, supporting large-angle flexion of the joint without affecting the wearer's joint movement during natural walking; at the same time, the mutual restraint of the continuous modules achieves the limitation of the joint extension angle, ensuring user safety.

[0053] In this embodiment, the elastic component 231 is a leaf spring with multiple mounting holes. The multiple continuous modules 232 are sequentially fixed to the leaf spring through the mounting holes. The elastic component 231, like the leaf spring, has a certain curvature after the multiple continuous modules 232 are installed. The multiple continuous modules 232 are fixedly installed on the outer side of the curved surface of the elastic component 231. Furthermore, in the joint exoskeleton using the connector described in this application, the multiple continuous modules 232 face outwards from the human body.

[0054] Please see Figure 7 In a further embodiment, the continuous module 232 also includes symmetrically structured limiting plates 233 on both sides. The limiting plates 233 are fixed to both sides of the continuous module 232 in a wing-like structure and are partially higher than the upper and / or lower surfaces of the continuous module 232, used to restrict the overall torsional movement of the connector. The upper and lower sections of the limiting plates 233 are respectively provided with corresponding protrusions and grooves, so that when multiple continuous modules 232 are in close contact, the limiting plates on them can interlock from top to bottom or from bottom to top. Furthermore, the limiting plates of the continuous modules located at the ends of the continuous limiting device 230 are also interlocked with the outer side of the upper or lower base. This allows the continuous modules 232 to be stacked sequentially from top to bottom or from bottom to top, restricting the overall torsional movement of the connector in other directions, thereby improving the motion stability of the exoskeleton using the connector.

[0055] like Figure 8As shown, when using the joint exoskeleton with the connecting member described in this application, the connecting member can change its rotation center as the human joint rotates. The rotation center of the connecting member is the intersection point Q of the extension line of the upper base 100 and the lower base 300 along the direction of the elastic member 231. As the angle of the human joint changes, the shape of the elastic member 231 on the continuous limiting device 230 also changes, thereby causing the rotation center to change, so that the rotation center is located inside or outside the connecting member.

[0056] The connector described in this application can be applied to various joint exoskeletons with limited positioning requirements, such as those for the waist, elbow, and knee. The following is a detailed description of a knee exoskeleton using the connector described in this application.

[0057] like Figure 9 and Figure 10 As shown, this application provides a knee exoskeleton using the connector described in this application, including a thigh support 100, a knee joint rotation limiting device 200, and a lower leg support 300. The knee joint rotation limiting device 200 is the connector described in this application. The thigh support 100 is used to position and support the human thigh near the knee, the lower leg support 300 is used to position and support the human lower leg near the knee, and the knee joint rotation limiting device 200 is used to limit the range of motion of the human knee and the range of flexion and extension movements of the lower and upper legs. The knee joint rotation limiting device 200 is disposed between the thigh support 100 and the lower leg support 300, and is fixedly connected to both. In use, the knee joint rotation limiting device 200 is located on the left or right side of the human knee. Furthermore, there are two knee joint rotation limiting devices 200, located on the left and right sides of the human knee respectively. The thigh support 100 includes a structurally symmetrical left thigh support and a right thigh support, and the calf support 300 includes a structurally symmetrical left calf support and a right calf support.

[0058] In this embodiment of the knee exoskeleton using the above-described connector, the description of the knee joint rotation limiting device 200 having the same structure and function as the connector in the above-described embodiment will not be repeated here.

[0059] The knee joint rotation limiting device 200 includes an upper base 210, a lower base 220, a continuous limiting device 230, and a sliding limiting device 240. The upper base 210 is movably and adjustablely fixedly connected to the thigh support 100, and the lower base 220 is movably and adjustablely fixedly connected to the lower leg support 300. The two ends of the continuous limiting device 230 are fixedly or detachably fixedly connected to the upper base 210 and the lower base 220, respectively. The two ends of the sliding limiting device 240 are rotatably connected to the upper base 210 and the lower base 220, respectively.

[0060] In this embodiment of the application, the knee joint rotation limiting device corresponding to the two toothed grooves on the limiting support 242 limits the knee joint at a limiting angle of 3°. The length of the limiting slide rod 241 is slightly greater than the length of the limiting support 242.

[0061] The number of limiting sliding units is set to two, which are used to block the limiting stop 243, so that the limiting stop 243 can only move between the two limiting sliding units 250. When the human body wears the knee joint exoskeleton described in this application and performs flexion or extension movements, since the limiting stop 243 can only slide between the two limiting sliding units 250, the limiting stop 243 cannot continue to slide when the knee joint flexes or extends to the boundary of the angle range limited by the limiting sliding unit 250. This causes the limiting slide rod 241 connected to it to be unable to continue to slide, so that the upper base and lower base connected to the limiting slide rod 241 and the limiting support 242 cannot drive the knee joint exoskeleton to continue to bend inward or extend outward, thereby achieving the effect of limiting the angle range of the user's flexion or extension movements.

[0062] The sliding limiting device 240 described in this application has a bidirectional limiting function, which can accurately limit the knee joint movement angle of the wearer, and the limiting range can be changed by the limiting sliding unit 250, thereby adapting to the knee joint limiting needs of different groups of people; when the distance between the two limiting sliding units 250 is the largest, that is, the limiting sliding units 250 are respectively located in the topmost and bottommost toothed grooves of the limiting support body 242, the range of movement of the limiting slide rod 241 and the limiting stop rod 243 is the largest, and the limitation of the knee joint movement range by the sliding limiting device 240 is the smallest; when the two limiting sliding units 250 fix the limiting slide rod 241 between the two adjacent toothed grooves at the far end, the sliding limiting device 240 fixes the knee joint at the maximum value of the angle between the extension line of the thigh towards the origin and the lower leg when the knee joint is the origin, or at the minimum value of the angle between the extension line of the thigh towards the origin and the lower leg when the knee joint is the origin. In this embodiment, since the limiting slide rod 241 is installed on the upper base 210 and the end of the limiting support body 242 away from the limiting slide rod 241 is installed on the lower base 220, when the two limiting sliding units 250 fix the limiting slide rod 241 between the two adjacent toothed slots at the top, the sliding limiting device 240 fixes the knee joint in the extension movement with the knee joint as the origin, and the minimum angle between the extension line of the thigh towards the origin and the lower leg is 0°; when the two limiting sliding units 250 fix the limiting slide rod 241 between the two adjacent toothed slots at the bottom, the bottom of the upper base connected to the tail end of the limiting slide rod 241 contacts the top of the limiting support body 242, and the sliding limiting device 240 fixes the knee joint in the flexion movement with the knee joint as the origin, and the maximum angle between the extension line of the thigh towards the origin and the lower leg is 100°.

[0063] In this embodiment, the continuous limiting device 230 enables the knee exoskeleton in this embodiment to have a variable rotation center characteristic, supporting large-angle flexion of the joint without affecting the knee joint activity when the wearer walks naturally; at the same time, the mutual restraint of the continuous modules achieves the limitation of the knee joint extension angle, ensuring the safety of the user.

[0064] In this embodiment of the application, the upper base 210 is provided with a U-shaped groove of a certain length on the side away from the continuous limiting device 230, and its side wall has a plurality of mounting holes. The thigh support part 100 is provided with an n-shaped groove of a certain length on the side near the upper base 210, and its side wall has limiting holes corresponding to the number and position of the mounting holes on the side wall of the U-shaped groove. The length of the limiting hole of the n-shaped groove at the end of the thigh support part 100 is greater than the length of the mounting hole of the U-shaped groove of the upper base. The U-shaped groove of the upper base 210 and the n-shaped groove of the thigh support 100 are interlocked and can move relative to each other within the groove. The upper base 210 and the thigh support 100 are fixedly connected by a bolt. The bolt passes through the mounting hole on the side wall of the U-shaped groove of the upper base and the limiting hole on the side wall of the n-shaped groove of the thigh support to fix the upper base 210 to the end of the thigh support 100. The fixed position of the upper base 210 is adjusted by adjusting the fixed position of the bolt within the length range of the limiting hole, thereby adjusting the overall position of the knee joint rotation limiting device 200.

[0065] The lower base 220 has an n-shaped groove of a certain length on the side away from the continuous limiting device 230, and its side wall has a number of mounting holes. The lower leg support 300 has a U-shaped groove of a certain length on the side near the lower base 220, and its side wall has limiting holes corresponding to the number and position of the mounting holes on the side wall of the n-shaped groove. The length of the limiting hole of the U-shaped groove at the end of the lower leg support 300 is greater than the length of the mounting hole of the n-shaped groove of the lower base. The n-shaped groove of the lower base 220 and the U-shaped groove of the lower leg support 300 are interlocked and can move relative to each other within the groove. The lower base 220 and the lower leg support 300 are adjustablely fixedly connected by a bolt. The bolt passes through the mounting hole on the side wall of the n-shaped groove of the lower base and the limiting hole on the side wall of the U-shaped groove of the lower leg support 300 to fix the lower base 220 to the end of the lower leg support 300. The fixed position of the lower base 220 can be adjusted by adjusting the fixed position of the bolt within the length range of the limiting hole, thereby adjusting the overall installation position of the knee joint rotation limiting device 200 on the human lower limb.

[0066] As described in the previous embodiments, the continuous limiting device 230 includes an elastic component 231 and multiple continuous modules 232. The elastic component 231 is used to connect other components and provides a certain rigidity for the entire connecting device with the variable rotation center. The specific structure and function of the continuous limiting device 230 will not be repeated here.

[0067] The elastic component 231 is used to connect components on the knee joint rotation limiting device 200. While providing flexibility in knee flexion and extension, it also improves the stiffness of the knee joint rotation limiting device 200. The stiffness of the knee joint rotation limiting device 200 can be changed by altering the shape parameters and combination method of the elastic component 231. In this embodiment, the elastic component 231 is a leaf spring with a certain thickness, ranging from 0.2mm to 1.0mm. Changing the thickness of the leaf spring alters the stiffness of the knee joint rotation limiting device 200; a greater thickness results in stronger stiffness. Alternatively, the use of multiple leaf springs in combination can also enhance the stiffness of the knee joint rotation limiting device 200, thereby improving the stability of the user's knee joint. The leaf spring has multiple mounting holes, and the multiple continuous modules 232 are sequentially fixed to the leaf spring through these mounting holes. Both ends of the leaf spring are detachably fixed to the upper base 210 and the lower base 220 through the mounting holes, respectively. In this embodiment, bolts are used for the fixed connection. In one embodiment, the elastic component 231, such as the leaf spring, has a certain curvature after the multiple continuous modules 232 are installed. The multiple continuous modules 232 are fixedly installed on the outer side of the curved surface of the elastic component 231, and furthermore, the multiple continuous modules 232 face outwards towards the human body. The multiple continuous modules 232 are sequentially fixed on the leaf spring along the longitudinal direction of the leaf spring, and are used to unidirectionally limit the bending angle range of one side of the elastic component 231. When the bending angle range of the elastic component 231 along the side where the multiple continuous modules 232 are set reaches the maximum limit, the multiple continuous modules 232 are in close contact with each other. At this time, one of the limiting sliding units 250 of the sliding limiting device 240 is located in the tooth groove at the top of the limiting support body 242, and the limiting stop bar 243 slides to the top of the limiting support body 242.

[0068] When a person stands upright, with the knee joint as the origin, the angle between the extension line of the thigh towards the origin and the lower leg is approximately 0°. The multiple continuous modules 232 are used to unidirectionally limit the range of motion of the human knee joint, ensuring that the angle between the extension line of the thigh towards the origin and the lower leg is at least 0°. The sliding limiting device can bidirectionally limit the range of motion of the human knee joint, allowing the angle between the extension line of the thigh towards the origin and the lower leg to be within the range of 0° to 100°. The material of the continuous module 232 has a certain strength, preventing deformation under pressure. The continuous module 232 is a hexahedron with mounting holes on its mounting end for fixed installation on the elastic component 231. Furthermore, concave planes or chamfered grooves are provided on the upper and lower sides of the mounting end of the continuum module 232, so that the height or thickness of the upper and lower surfaces of the mounting end is less than the height or thickness of the body of the continuum module 232. This allows the continuum module 232 to fit more closely to the connection point with the elastic component 231, and also minimizes interference between the continuum modules when the elastic component 231 bends, without restricting the bending range of the elastic component. In the embodiments of this application, the continuum module 232 and the elastic component are fixedly connected by bolts. The multiple continuous modules 232 are sequentially fixed to the leaf spring along its longitudinal direction. Since the mounting end of each continuous module 232 is fixed to the leaf spring, when the user's knee flexes, the leaf spring bends inward, increasing the distance between each continuous module 232 fixed to it, thus not restricting the user's knee flexion angle. When the user's knee extends, the leaf spring bends in the extension direction. When the knee extends to a certain angle, each continuous module 232 on the leaf spring will come into close contact. Since its material does not deform when compressed, the leaf spring cannot continue to bend in the extension direction, thereby limiting the range of knee extension angle. The angle α between the top and bottom sides of each continuum module 232 toward the mounting end of the continuum module 232 is 0°, meaning the top and bottom sides of the continuum module are parallel. There are 10 continuum modules. The knee joint rotation limiting device 200 restricts the range of angles for the extension of the human knee joint by taking the knee joint as the origin, and the angle between the extension line of the thigh toward the origin and the lower leg is greater than or equal to 0°.

[0069] In a further embodiment, the limiting plate 233 on the continuous module 232 and the protrusions and grooves corresponding to the upper and lower cross sections of the limiting plate 233 enable the limiting plates on multiple continuous modules 232 to engage with each other from top to bottom or from bottom to top when they are in close contact. Furthermore, the limiting plate of the continuous module located at the end of the continuous limiting device 230 is also engaged with the outer side of the upper or lower base. This allows the continuous modules 232 to be stacked sequentially from top to bottom or from bottom to top to restrict the overall torsional movement of the knee joint rotation limiting device in other directions, thereby improving the movement stability of the knee joint rotation limiting device.

[0070] When using the knee joint exoskeleton described in this application, the knee joint rotation limiting device 200 can change its rotation center as the human knee joint rotates. The rotation center of the knee joint rotation limiting device 200 is the intersection point Q of the extension line of the upper base 100 and the lower base 300 along the direction of the elastic member 231. As the angle of the human knee joint changes, the shape of the elastic member 231 on the continuous limiting device 230 also changes, thereby causing the rotation center to change, so that the rotation center is located inside or outside the knee joint rotation limiting device.

[0071] In a further embodiment, the thigh support 100 and the calf support 300 are respectively provided with a plurality of mounting holes. The thigh support 100 includes a thigh bracket 101 and a thigh strap 102. The thigh bracket 101 extends from the thigh support 100 toward the front or back of the thigh to form a support plate, with its left and right sides extending out from the left thigh support and the right thigh support, respectively. The two ends of the thigh strap 102 are fixed to the thigh support 100 through the mounting holes on the thigh support 100 and are located behind or in front of the thigh. In use, the thigh bracket 101 is located in front of or behind the human thigh to provide a support point for the human thigh, and the thigh strap 102 is located behind or in front of the human thigh to fix the knee exoskeleton to the thigh part. The lower leg support 300 includes a lower leg bracket 301 and a lower leg strap 302. The lower leg bracket 301 extends from the lower leg support 300 toward the front or back of the lower leg to form a support plate. Its left and right sides extend out from the left and right lower leg support, respectively. The two ends of the lower leg strap 302 are fixed to the lower leg support 300 through mounting holes and are located behind or in front of the lower leg. In use, the lower leg bracket 301 is located in front of or behind the lower leg to provide a support point for the lower leg, and the lower leg strap 302 is located behind or in front of the lower leg to fix the knee exoskeleton to the lower leg. Furthermore, the thigh strap 102 and calf strap 302 are adjustable-length restraints. In this embodiment, the thigh strap 102 and calf strap 302 are adjustable-length elastic bands. In use, the thigh support 101 is located behind the human thigh, the thigh strap 102 is located in front of the human thigh, the calf support 301 is located behind the human calf, and the calf strap 302 is located in front of the human calf.

[0072] Furthermore, the thigh support 101 and the calf support 301 are each provided with a plurality of weight-reducing holes to reduce the weight of the thigh support 101 and the calf support 301, so that the thigh support 101 and the calf support 301 have the rigidity to support the thigh and the calf while reducing the overall weight of the knee joint exoskeleton. The thigh support 101 has a certain degree of curvature, which is defined as follows: the thigh support 101 is adapted to the thigh contour and bends outward of the thigh; the upper edge of the thigh support 101 forms a gradually downward arc from the two ends to the midpoint; and the lower edge of the thigh support 101 forms a gradually upward arc from the two ends to the midpoint. The calf support 301 has a certain degree of curvature, which is defined as follows: the calf support 301 is adapted to the calf contour and bends outward of the calf; the upper edge of the calf support 301 forms a gradually downward arc from the two ends to the midpoint; and the lower edge of the calf support 301 forms a gradually upward arc from the two ends to the midpoint. In use, the thigh support 101 and the calf support 301 fit the thigh and calf of the human body respectively. The curvature setting is more in line with the ergonomic structure design, which makes bending movements such as squatting and standing more smooth and improves the overall wearing comfort of the knee exoskeleton.

[0073] In another embodiment of this application, the thigh support 100 includes a thigh strap, the two ends of which are fixed to the thigh support 100 through mounting holes. In use, the thigh strap is wrapped around the thigh to fix the knee exoskeleton to the thigh. The calf support 300 includes a calf strap, the two ends of which are fixed to the calf support 300 through mounting holes. In use, the calf strap is wrapped around the calf to fix the knee exoskeleton to the calf.

[0074] The knee exoskeleton described in this application can be adapted to the appropriate size according to the user. When wearing the knee exoskeleton described in this application, the user binds the thigh strap to the thigh and the calf strap to the calf, thus completing the wearing process. At this time, the thigh support is located behind the thigh to support the thigh, and the calf support is located behind the calf to support the calf. The knee joint rotation limiting device is located on the side of the knee. The wearer can easily put on and take off the exoskeleton in sitting or standing positions. It supports large-angle flexion of the knee joint without affecting the joint movement when the wearer walks naturally. It can limit the flexion, extension and range of motion of the user's knee joint in both directions. It can also adjust the range of motion of the knee joint according to the user's needs. When necessary, it can also accurately limit the user's knee joint to the required angle.

[0075] The connector provided in this application has a bidirectional limiting function by setting a sliding limiting device, which can limit the range of motion of the joints of the user of the joint exoskeleton device using the connector, such as the angle of flexion and extension movements. It can also adjust the range of motion of the joints according to the user's needs, and when necessary, it can also accurately limit the user's joints to the required angle.

[0076] The connector provided in this application can limit the connected device to different angle ranges by adjusting the position of the limiting sliding unit 250 on the limiting support 242, which can meet the precise control and limitation requirements of rotation and bending angles of different types of joints.

[0077] On the other hand, through the cooperation of the elastic component 231 and the continuous body module 232 structure on the continuous limiting device of the connector, the joint exoskeleton using the connector can change its rotation center with the rotational movement of the human joint, which is more in line with the ergonomic structural design, can adapt to the natural movement of the human joint, and improve the user's comfort.

[0078] In addition, by setting a continuous limit device, further safety can be provided for the extension of the joint, preventing hyperextension of the joint due to improper adjustment by the user.

[0079] In addition, by changing the shape parameters and combination method of the elastic component 231, the overall stiffness of the connector can be changed, which improves the stability of the joint when the user uses the joint exoskeleton with the connector and can be applied to different types of users, thus increasing the applicable scenarios.

[0080] In addition, by setting the limiting plates 233 on both sides of the continuum module 232, the torsional movement of the connector as a whole can be restricted, preventing accidents caused by weak joint control when the user wears the joint exoskeleton using the connector, and further improving the overall stability of the joint exoskeleton using the connector.

[0081] On the other hand, the knee exoskeleton using the connector provided in this application is fixed to the back of the human leg by the thigh strap 102 and the calf strap 302, allowing the user to put on and take off the exoskeleton in sitting, standing or other positions, making it more convenient and quick to put on and take off.

[0082] In addition, the knee joint rotation limiting device 200 in the knee exoskeleton using the aforementioned connector is located on the side of the human knee, which can support large-angle flexion of the knee joint and does not affect the natural movement of the joint when the wearer walks naturally.

[0083] In addition, the knee joint rotation limiting device 200 in the knee exoskeleton using the aforementioned connector is movably and adjustablely fixed between the thigh support and the lower leg support, allowing the user to adjust the overall position of the knee joint rotation limiting device, thereby changing the fixed position of the knee joint rotation limiting device near the human knee joint, thus adapting to different groups of people and patients at different stages of disease.

[0084] The connectors and their applications in this application, including the joint exoskeleton and knee exoskeleton, have a variable center of rotation and adjustable limit function. They can adapt to the natural movement of the human knee joint, restrict the flexion, extension and range of motion of the knee joint, enhance the stiffness and stability of the knee joint, and greatly meet the rehabilitation needs of hemiplegic patients, patients after knee replacement surgery and the elderly.

[0085] The above provides a detailed description of a connector and its application in joint exoskeleton and knee exoskeleton provided in this application. For those skilled in the art, based on the ideas of the embodiments of this application, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A connector, characterized in that, It includes an upper base, a lower base, an elastic component, and a limiting device. The elastic component is located between the upper base and the lower base and is detachably fixedly connected to the upper base and the lower base. The limiting device is used to limit the bending and stretching range of the elastic component and is movably connected to the upper base and the lower base. The limiting device is a sliding limiting device, which includes a limiting support body, a limiting slide rod, a limiting stop rod, and a limiting sliding unit. One end of the limiting support body is rotatably connected to an upper or lower base, and the other end has an opening for the limiting slide rod to be inserted and slide on the limiting support body. The limiting support body is a cuboid with a hollow interior and a groove in the middle parallel to the long side. Multiple symmetrical toothed protrusions are provided along both sides of the long side of the limiting support body, and grooves are provided between adjacent toothed protrusions to adjust the range of the limiting angle of the sliding limiting device. The limiting sliding unit includes a limiting fixing block, a spring fixing post, a spring, and a limiting sliding block. The outer contour of the limiting fixing block is flush with the upper part of the limiting support body. The toothed grooves are matched so that the limiting and fixing block can fit into the toothed grooves. The limiting and fixing block is hollow inside, and its surface has an opening. The top of the limiting sliding block is nested inside the limiting and fixing block from one end. The surface of the limiting sliding block has an opening of the same size as the opening on the limiting and fixing block. When the limiting sliding block is nested inside the limiting and fixing block, the opening on the limiting sliding block and the opening on the limiting and fixing block partially or completely overlap. The top of the limiting sliding block has a mounting hole, and the spring fixing post is fixedly installed on the limiting sliding block through the mounting hole. The spring is nested on the spring fixing post, with one end connected to the limiting sliding block and the other end connected to the inside of the limiting and fixing block. The limiting slide rod is slidably mounted on the limiting support body, with one end slidably mounted on the limiting support body and the other end rotatably connected to the lower base or the upper base; the limiting stop rod and the limiting sliding unit are used to limit the sliding range of the limiting slide rod on the limiting support body; The limiting stop is used to limit the limiting slide rod. It is fixed to one end of the limiting slide rod located in the limiting support body and slides with the limiting slide rod. The limiting sliding unit is movably installed on the limiting support body to block the limiting stop.

2. The connector as described in claim 1, characterized in that, The limiting slide rod is nested inside the limiting support body from one end and can slide inside the limiting support body. When the limiting slide rod slides inside the limiting support body, the limiting stop rod moves in the groove in the middle of the limiting support body.

3. The connector as described in claim 2, characterized in that, The elasticity of the spring is such that the limiting sliding unit can slide on the limiting support when the spring is pressed, and is fixed in the tooth groove of the limiting support when it is released; the number of the limiting sliding units is set to two, so that the limiting stop bar can move between the two limiting sliding units.

4. The connector as described in claim 3, characterized in that, It also includes a limiting shell, which is fixed to the outside of the limiting support body. The outer surface of the limiting shell is provided with markings or scales that correspond one-to-one with the number and position of the toothed protrusions on the limiting support body.

5. The connector as described in claim 1, characterized in that, It also includes a continuous limiting device, which includes the elastic component and multiple continuous modules. The multiple continuous modules are disconnected from each other and arranged continuously on one side of the elastic component to limit the angular range of the elastic component extending along the side where the multiple continuous modules are arranged.

6. An articular exoskeleton, characterized in that, The connector includes the connector as described in any one of claims 1-5, wherein the upper base and the lower base are respectively provided with connecting ends that can be adapted to connect to external components, for connecting to different external components; in use, the connector is located on the side of the human joint.

7. A knee joint exoskeleton, characterized in that, The connector includes any one of claims 1-5, wherein the upper base and the lower base are respectively provided with connecting ends that can be adapted to connect to external components, for connecting to different external components; in use, the connector is located on the side of the human knee joint.

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