Ankle and Foot Exoskeleton Wearable Device

Abstract

The present invention relates to the technical field of wearable exoskeleton devices, and particularly to an ankle and foot exoskeleton wearable device, comprising: a foot support member, the foot support member including a lateral foot support structure and a sole structure; a forefoot support member, connected to the front end of the sole structure and used for supporting the user's foot sole; an ankle transition member, connected to the upper part of the lateral foot support structure and capable of rotating relative to the lateral foot support structure, and the ankle transition member is used for connecting to a calf support structure upward. This application integrates the ankle connection mechanism, the shoe body structure, the binding structure, and the information acquisition system, and integrates them on the foot system. The overall design structure is compact, with high integration, strong anti-eccentric load capacity, not easily damaged, and the sole structure is set as a three-layer structure, which cooperates with the independently provided forefoot support member to form a linkage mechanism, and both the wearing comfort and gait feature recognition are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of wearable exoskeleton devices, and more particularly to an ankle and foot exoskeleton wearable device. Background Art

[0002] With the development of artificial intelligence, wearable exoskeleton devices that provide auxiliary functions such as load-bearing, support, and power for users have been widely used, and are applicable to multiple industries such as outdoor operations, medical rehabilitation, sports competitions, military training, entertainment performances, and logistics transportation, enhancing the human motor ability and improving work efficiency.

[0003] Flexible exoskeletons have developed rapidly in recent years. As the module that directly transmits the weight of the load to the ground, the movement pattern of the foot is one of the most critical parts for the movement intention recognition of the exoskeleton. Currently, the foot exoskeleton devices on the market are generally bulky, with large volume and weight, and poor comfort. Although the service life and integration level of the ankle and foot exoskeletons have been improved after more than a decade of development, they still appear very bulky, greatly reducing the human-machine matching and wearing comfort. At the same time, due to the disadvantage of being unable to simultaneously balance the sensitivity and accuracy of gait recognition, the gait recognition effect of the exoskeleton is severely restricted. Summary of the Invention

[0004] A first aspect of the present invention provides a technical solution, an ankle and foot exoskeleton wearable device, comprising:

[0005] A foot support member, the foot support member comprising a lateral foot support structure and a sole structure;

[0006] A forefoot support member, connected to the front end of the sole structure and for supporting the user's foot sole;

[0007] An ankle transition member, connected to the upper part of the lateral foot support structure and capable of rotating relative to the lateral foot support structure, the ankle transition member being upwardly connected to the calf support structure;

[0008] Wherein, the sole structure comprises upper, middle, and lower three-layer structures, the upper layer structure comprises a first bottom plate, the first bottom plate is fixedly connected to the bottom of the lateral foot support structure, a space for accommodating the user's foot is formed between the first bottom plate and the lateral foot support structure, a gait sensor is installed on the first bottom plate, the lower layer structure comprises a second bottom plate, and the middle layer structure comprises an elastic support structure, the elastic support structure connecting the first bottom plate and the second bottom plate;

[0009] The forefoot support member is respectively connected to the first bottom plate and the second bottom plate. When a relative angular change occurs between the forefoot support member and the first bottom plate, a relative displacement is generated between the first bottom plate and the second bottom plate, and the elastic support structure is used to store and release the energy generated during the relative movement of the first bottom plate and the second bottom plate.

[0010] Preferably, the forefoot support member is provided with a first connecting portion and a second connecting portion. One end of the first bottom plate close to the forefoot support member is hinged to the first connecting portion through a first rotating structure, and one end of the second bottom plate close to the forefoot support member is connected to the second connecting portion through a second rotating structure.

[0011] Preferably, the second rotating structure is below the first rotating structure and is closer to the center of the foot than the first rotating structure.

[0012] Preferably, the elastic support structure includes a support plate and a pair of elastic rod structures. The first end of the support plate is connected to the first bottom plate through a third rotating structure, and the second end is connected to one end of the second bottom plate far from the forefoot support member through a fourth rotating structure. The first end of the elastic rod structure is connected to the third rotating structure, and the second end is connected to the second rotating structure.

[0013] Preferably, the rigid structures between the first rotating structure, the second rotating structure, the third rotating structure, and the fourth rotating structure form a linkage mechanism. The support plate forms the first link, the second bottom plate forms the second link, the forefoot support member forms the third link, and the first bottom plate forms the fourth link. When a relative angular change occurs between the forefoot support member and the first bottom plate, the angle between the third link and the fourth link changes.

[0014] Preferably, an obtuse triangle is formed between the first link, the second link, and the elastic rod structure. Among them, the included angle between the elastic rod structure and the first link is an obtuse angle; the elastic rod structure is arranged to be compressed when the angle of the obtuse angle becomes larger and released when the angle becomes smaller.

[0015] Preferably, an obtuse triangle is formed between the third link, the fourth link, and the elastic rod structure. Among them, the included angle between the third link and the elastic rod structure is an obtuse angle; the elastic rod structure is arranged to be released when the angle of the obtuse angle becomes smaller and compressed when the angle becomes larger.

[0016] Preferably, the gait sensor is installed at a position on the first bottom plate close to the third rotating structure.

[0017] Preferably, the gait sensor includes a mounting plate and a sensor. The mounting plate is connected to the bottom of the first bottom plate, and the sensor is arranged between the mounting plate and the first bottom plate.

[0018] Preferably, a first strap is provided on the forefoot support member, and a second strap is provided on the foot side support structure.

[0019] Compared with the prior art, the advantages of the present application are as follows:

[0020] In the present application, the ankle joint connection mechanism, the shoe body structure, the binding structure, and the information acquisition system are integrally designed and integrated on the foot system. The overall design structure is compact, with high integration, strong anti-eccentric load capacity, not easily damaged, and the sole structure is set as a three-layer structure, cooperating with the independently provided forefoot support member to form a linkage mechanism, which has been improved in terms of wearing comfort and gait feature recognition. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The drawings are not intended to be drawn to scale. In the drawings, each identical or nearly identical component shown in each figure may be represented by the same reference numeral. For clarity, not every component is labeled in each figure. Now, embodiments of various aspects of the present invention will be described by way of example and with reference to the drawings, wherein:

[0022] Figure 1 is a schematic structural view of the ankle joint and foot exoskeleton wearable device shown in the present application;

[0023] Figure 2 is a top view of the ankle joint and foot exoskeleton wearable device shown in the present application;

[0024] Figure 3 is Figure 2 a schematic cross-sectional structure view taken along the line A-A in

[0025] Figure 4 is a schematic view of an equivalent linkage structure shown in the present application;

[0026] Figure 5 is a schematic structural view of the foot side support structure and the first bottom plate shown in the present application;

[0027] Figure 6 is a schematic view of the sensor installation position shown in the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0028] In order to better understand the technical content of the present invention, specific embodiments are hereby given and described in conjunction with the accompanying drawings as follows.

[0029] With the development of exoskeleton technology, especially the requirements for aspects such as volume, mass, human-machine engineering, gait recognition, and assistance efficiency, there is an urgent need for the flexible exoskeleton foot system to develop in the direction of integration, lightweight, high reliability, and comfort.

[0030] Combined with Figure 1As shown in the figure, a technical solution is proposed in the first aspect of the present invention. An ankle and foot exoskeleton wearable device includes a foot support member 10, a forefoot support member 20, and an ankle joint transition member 40. The foot support member 10 includes a foot side support structure 11 and a sole structure. The foot side support structure 11 is used to wrap the foot side part of the user and provide rotational support for the ankle. The forefoot support member 20 is connected to the front end of the sole structure and is used to support the user's foot sole.

[0031] In this way, since the forefoot support member 20 and the sole structure are independent parts of each other, the rigid sole structure is used to transmit force and load, and the flexible forefoot support member 20 can flexibly adjust the angle according to the movement gait, making the wearer more comfortable.

[0032] The ankle joint transition member 40 is connected to the upper part of the foot side support structure 11 and can rotate relative to the foot side support structure 11. The ankle joint transition member 40 is used to connect upward to the calf support structure, and the calf support structure can be further connected upward to the thigh support and the waist support of the exoskeleton wearable device, etc., to form a complete exoskeleton support structure.

[0033] Specifically, the ankle joint transition member 40 is connected to the outside of the foot side support structure 11 through a rotating shaft 41, and a driving structure is installed on the calf support structure to drive the ankle joint transition member 40 and the foot side support structure 11 to rotate relative to each other.

[0034] In order to accurately detect the sole gait and achieve a good boosting effect, in combination with Figure 2 and Figure 3 As shown in the figure, the sole structure includes upper, middle, and lower three-layer structures. The upper layer structure includes a first bottom plate 12, and the first bottom plate 12 is fixedly connected to the bottom of the foot side support structure 11. A space for accommodating the user's foot is formed between the first bottom plate 12 and the foot side support structure 11. A gait sensor 50 is installed on the first bottom plate 12. The lower layer structure includes a second bottom plate 13, and the middle layer structure includes an elastic support structure. The elastic support structure connects the first bottom plate 12 and the second bottom plate 13.

[0035] In this way, the elastic support structure arranged between the first bottom plate 12 and the second bottom plate 13 can play a role in buffering and releasing force, compress and store energy when the second bottom plate 13 touches the ground, and release energy when the forefoot support member 20 and the sole structure bend, effectively achieving the effects of buffering and boosting.

[0036] Among them, the plantar support structure 11 wraps a support plate made of rust-proof rigid material in the middle through a polymer elastic material. The rotating shaft 41 of the ankle joint transition component 40 is installed in the shaft hole 111 of the support plate. Since the support plate has sufficient strength and rigidity, it can withstand high-frequency load impacts under heavy loads. The upper part of the plantar support structure 11 is provided with a strap connection structure 112 extending forward. The front end of the strap connection structure 112 has a hole for threading the second strap.

[0037] Among them, the area of the first bottom plate 12 that accommodates the heel is the sensor installation area 120.

[0038] Furthermore, the forefoot support component 20 is respectively connected to the first bottom plate 12 and the second bottom plate 13. When the forefoot support component 20 undergoes a relative angular change with the first bottom plate 12, relative displacement occurs between the first bottom plate 12 and the second bottom plate 13. The elastic support structure is used to store and release the energy generated during the relative movement of the first bottom plate 12 and the second bottom plate 13.

[0039] In a specific embodiment, the hinged part of the first bottom plate 12 and the forefoot support component 20 is located at the part of the user's forefoot that bends. The length of the second bottom plate 13 is less than that of the first bottom plate 12, and the hinged part of the second bottom plate 13 and the forefoot support component 20 is more rearward.

[0040] Combined with Figure 3 As shown, the forefoot support component 20 is provided with a first connection part 201 and a second connection part 202. One end of the first bottom plate 12 close to the forefoot support component 20 is hinged to the first connection part 201 through a first rotating structure 21, and one end of the second bottom plate 13 close to the forefoot support component 20 is connected to the second connection part 202 through a second rotating structure 22.

[0041] Among them, the first connection part 201 is a structure extending backward from the upper part of the forefoot support component 20, and the second connection part 202 is a structure extending backward from the lower part of the forefoot support component 20. The length of the second connection part 202 is greater than that of the first connection part 201. A waist-shaped groove is provided on the first connection part 201 for binding the first strap to the position on the instep.

[0042] In this way, the first strap and the second strap can achieve quick fixation and wearing.

[0043] Combined with Figure 5 As shown, a shaft seat 122 is provided at the front end of the first bottom plate 12. The first rotating structure 21 passes through the first connection part 201 and is connected to the inside of the shaft seat 122.

[0044] Furthermore, the second rotating structure 22 is below the first rotating structure 21 and is closer to the center of the foot than the first rotating structure 21.

[0045] In this way, the first rotating structure 21 and the second rotating structure 22 form an inclined angle. When the user's center of gravity shifts to the front sole, it is easy for bending deformation to occur between the front sole support component 20 and the first bottom plate 12, providing a better user experience and being able to sensitively respond to the user's gait movements.

[0046] Furthermore, the elastic support structure includes a support plate and a pair of elastic rod structures 30. The first end of the support plate is connected to the first bottom plate 12 through a third rotating structure 121, and the second end is connected to one end of the second bottom plate 13 away from the front sole support component 20 through a fourth rotating structure 131. The first end of the elastic rod structure 30 is connected to the third rotating structure 121, and the second end is connected to the second rotating structure 22.

[0047] Optionally, the elastic rod structure 30 is a combination of a telescopic rod and a spring, and the telescopic rod has a minimum compression length.

[0048] It should be understood that when the user walks and the center of gravity transfers from the heel to the sole, an angular change occurs between the front sole support component 20 and the first bottom plate 12. At this time, not only a vertical distance change but also a horizontal distance change occur between the first bottom plate 12 and the second bottom plate 13. The combination of the support plate and the pair of elastic rod structures 30 constitutes a triangular elastic support structure between the first bottom plate 12 and the second bottom plate 13, with strong anti-eccentric load capacity and capable of meeting the load impacts of heavy loads at high frequencies.

[0049] Wherein, a swivel base 121 is provided at the bottom of the first bottom plate 12. When the elastic rod structure 30 is at the minimum compression length, the swivel base 121 does not contact the second bottom plate 13.

[0050] Combined Figure 4 As shown, the rigid structures between the first rotating structure 21, the second rotating structure 22, the third rotating structure 121, and the fourth rotating structure 131 form a linkage mechanism. The support plate constitutes the first link 14, the second bottom plate 13 constitutes the second link 15, the front sole support component 20 constitutes the third link 16, and the first bottom plate 12 constitutes the fourth link 17. When a relative angular change occurs between the front sole support component 20 and the first bottom plate 12, the angle between the third link 16 and the fourth link 17 changes.

[0051] It can be seen that an obtuse triangle is formed between the first link 14, the second link 15, and the elastic rod structure 30. Among them, the included angle between the elastic rod structure 30 and the first link 14 is an obtuse angle; the elastic rod structure 30 is arranged to be compressed when the angle of the obtuse angle becomes larger and released when the angle becomes smaller.

[0052] It can be seen that an obtuse triangle is formed among the third link 16, the fourth link 17 and the elastic rod structure 30, wherein the included angle between the third link 16 and the elastic rod structure 30 is an obtuse angle; the elastic rod structure 30 is arranged to be released when the angle of the obtuse angle becomes smaller and compressed when the angle becomes larger.

[0053] In this way, when the user's center of gravity falls on the first bottom plate 12, the elastic rod structure 30 is in a compressed state, and the included angle between the elastic rod structure 30 and the first link 14 is the largest; when the user's center of gravity transfers from the first bottom plate 12 to the forefoot support member 20, the included angle between the third link 16 and the elastic rod structure 30 gradually becomes smaller, the included angle between the elastic rod structure 30 and the first link 14 gradually becomes smaller, and the energy compressed by the elastic rod structure 30 is released. It can be seen that it has a boosting effect when the heel leaves the ground. When the user completely lifts the foot and the toes leave the ground, the energy of the elastic rod structure 30 is completely released. When falling, the heel touches the ground and the center of gravity gradually leans towards the first bottom plate 12. At this time, the elastic rod structure 30 is gradually compressed again, and the included angle between the elastic rod structure 30 and the first link 14 gradually becomes larger until the forefoot support member 20 is flush with the first bottom plate 12, and the included angle between the elastic rod structure 30 and the first link 14 is the largest, and the toes touch the ground.

[0054] In the above process, since the third link 16 formed by the forefoot support member 20 is a part of the link mechanism, there are obvious angle changes in the link mechanism during the process of heel touchdown - toe touchdown - heel lift - toe lift, and the elastic rod structure 30 plays a buffering and boosting role in this change. Preferably, the gait sensor 50 is installed at a position on the first bottom plate 12 close to the third rotating structure 121. In this way, by detecting the change in the spatial position of an angle in the link mechanism, the gait characteristics of the user are reflected, taking into account both the sensitivity and accuracy of gait recognition.

[0055] In an alternative embodiment, in combination with Figure 6 as shown, the gait sensor 50 includes a mounting plate 51 and a sensor 52. The mounting plate 51 is connected to the bottom of the first bottom plate 12, and the sensor 52 is arranged between the mounting plate 51 and the first bottom plate 12.

[0056] Combining the above embodiments, the present application integrates the ankle joint connection mechanism, the shoe body structure, the binding structure, and the information acquisition system into one design and integrates them on the foot system. The overall design structure is compact, with high integration, strong anti-eccentric load capacity, not easily damaged, and the sole structure is set as a three-layer structure, cooperating with the independently arranged forefoot support member to form a link mechanism, which has been improved in terms of wearing comfort and gait feature recognition.

[0057] Although the present invention has been disclosed above in its preferred embodiments, it is not intended to limit the present invention. Those of ordinary skill in the art to which the present invention pertains can make various modifications and refinements without departing from the spirit and scope of the present invention. Therefore, the protection scope of the present invention shall be determined by the scope defined in the claims.

Claims

1. An ankle and foot exoskeleton wearable device, characterized in that Comprising: A foot support member (10), the foot support member (10) comprising a foot side support structure (11) and a sole structure; A forefoot support member (20), connected to the front end of the sole structure and for supporting the user's forefoot; An ankle transition member (40), connected to the upper part of the foot side support structure (11) and capable of rotating relative to the foot side support structure (11), the ankle transition member (40) being upwardly for connection to a calf support structure; Wherein, the sole structure comprises upper, middle and lower three-layer structures, the upper layer structure comprises a first bottom plate (12), the first bottom plate (12) is fixedly connected to the bottom of the foot side support structure (11), a space for accommodating the user's foot is formed between the first bottom plate (12) and the foot side support structure (11), a gait sensor (50) is mounted on the first bottom plate (12), the lower layer structure comprises a second bottom plate (13), and the middle layer structure comprises an elastic support structure, the elastic support structure connecting the first bottom plate (12) and the second bottom plate (13); The forefoot support member (20) is respectively connected to the first bottom plate (12) and the second bottom plate (13), when a relative angular change occurs between the forefoot support member (20) and the first bottom plate (12), a relative displacement is generated between the first bottom plate (12) and the second bottom plate (13), and the elastic support structure is used for storing and releasing the energy generated during the relative movement of the first bottom plate (12) and the second bottom plate (13); The forefoot support member (20) is provided with a first connection portion (201) and a second connection portion (202), one end of the first bottom plate (12) close to the forefoot support member (20) is hinged to the first connection portion (201) through a first rotation structure (21), and one end of the second bottom plate (13) close to the forefoot support member (20) is connected to the second connection portion (202) through a second rotation structure (22); The second rotation structure (22) is below the first rotation structure (21) and is closer to the center of the foot than the first rotation structure (21); The elastic support structure comprises a support plate and a pair of elastic rod structures (30), a first end of the support plate is connected to the first bottom plate (12) through a third rotation structure (121), a second end is connected to one end of the second bottom plate (13) far from the forefoot support member (20) through a fourth rotation structure (131), a first end of the elastic rod structure (30) is connected to the third rotation structure (121), and a second end is connected to the second rotation structure (22); The rigid structures between the first rotating structure (21), the second rotating structure (22), the third rotating structure (121) and the fourth rotating structure (131) form a linkage mechanism. The support plate forms the first link (14), the second bottom plate (13) forms the second link (15), the forefoot support member (20) forms the third link (16), and the first bottom plate (12) forms the fourth link (17). When the relative angle between the forefoot support member (20) and the first bottom plate (12) changes, the angle between the third link (16) and the fourth link (17) changes.

2. The ankle and foot exoskeleton wearable device according to claim 1, wherein An obtuse triangle is formed among the first link (14), the second link (15) and the elastic rod structure (30). Among them, the angle between the elastic rod structure (30) and the first link (14) is an obtuse angle. The elastic rod structure (30) is arranged to be compressed when the obtuse angle becomes larger and released when the angle becomes smaller.

3. The ankle and foot exoskeleton wearable device according to claim 1, wherein An obtuse triangle is formed among the third link (16), the fourth link (17) and the elastic rod structure (30). Among them, the angle between the third link (16) and the elastic rod structure (30) is an obtuse angle. The elastic rod structure (30) is arranged to be released when the obtuse angle becomes smaller and compressed when the angle becomes larger.

4. The ankle and foot exoskeleton wearable device according to claim 1, wherein The gait sensor (50) is installed at a position on the first bottom plate (12) close to the third rotating structure (121).

5. The ankle and foot exoskeleton wearable device according to claim 1, characterized in that The gait sensor (50) includes a mounting plate (51) and a sensor (52). The mounting plate (51) is connected to the bottom of the first bottom plate (12), and the sensor (52) is arranged between the mounting plate (51) and the first bottom plate (12).

6. The ankle and foot exoskeleton wearable device according to claim 1, characterized in that, A first strap is provided on the forefoot support member (20), and a second strap is provided on the foot side support structure (11).

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