A multi-functional flexible exoskeleton device

Abstract

The present application relates to the field of exoskeleton, disclose a kind of multifunctional flexible exoskeleton device, including arm limb frame, upper limb band limb frame, wrist limb frame, hand limb frame, thoracic vertebra limb frame, lumbar vertebra limb frame, cervical vertebra limb frame, lower limb band limb frame, leg limb frame, foot limb frame, each limb frame corresponds to each part of human body respectively, and is connected to form the overall exoskeleton.The exoskeleton device is high in flexibility, can limit the joint action range, fixed joint angle and the exoskeleton system of high body fit degree in movement, realizes each movement of human body by each joint exoskeleton structure, compact structure, easy to disassemble, can provide power to wearer, also can carry out resistance training.

Description

Technical Field

[0001] This invention relates to the field of exoskeleton technology, and more specifically to a multifunctional flexible exoskeleton device. Background Technology

[0002] Exoskeletons are wearable assistive devices designed to enhance human mobility and operational abilities, with broad application prospects in fields such as industrial production, medical rehabilitation, elderly and disabled assistance, and fitness. However, existing passive or active exoskeleton systems suffer from poor joint mechanism responsiveness, joint flexibility, and body fit during movement.

[0003] Patent CN107374907B discloses a wearable upper limb exoskeleton rehabilitation device, comprising: a fixed backplate as a base; a drive module that transmits torque to various joint winches via Bowden cables; an elbow joint exoskeleton module for coupled rehabilitation exercises of the upper arm and exoskeleton, elbow rehabilitation training, and coupled rehabilitation exercises of the forearm and exoskeleton; a joint mechanical rigid limiting device for mechanical rigid limiting protection of the forearm link and upper arm link; a three-way adjustable adaptation module that adjusts the position of the shoulder adduction and abduction joint winches to adapt to patients of different body types; and a shoulder joint module for rehabilitation training of shoulder adduction and abduction degrees of freedom, and shoulder flexion and extension degrees of freedom. However, this wearable upper limb exoskeleton rehabilitation device can only achieve flexion and extension of the shoulder joint and arm joint, resulting in poor flexibility. Summary of the Invention

[0004] The purpose of this invention is to address the shortcomings of existing technologies by providing a multifunctional and flexible exoskeleton device.

[0005] This invention provides a multifunctional flexible exoskeleton device, including a forearm frame, an upper arm frame, an upper limb frame, and a spinal exoskeleton;

[0006] The upper limb brace includes a shoulder brace, a transverse scapula, and a longitudinal scapula;

[0007] The shoulder frame includes a first shoulder fork and a second shoulder fork. The first end of the first shoulder fork is axially rotatably connected to one end of the upper arm frame to achieve internal and external rotation of the arm.

[0008] The second end of the first shoulder joint fork is rotatably connected to the first end of the second shoulder joint fork. The axis of rotation of the second end of the first shoulder joint fork is perpendicular to the axis of rotation of the first end of the second shoulder joint fork. This is used to realize the shoulder joint abduction and adduction along the sagittal axis and horizontal adduction and abduction along the vertical axis.

[0009] The longitudinal scapula is arranged along the sagittal axis, and the second end of the second scapular fork is rotatably connected to the longitudinal scapula along the coronal axis, which is used to realize the flexion, extension and circumduction of the shoulder joint along the coronal axis;

[0010] The transverse scapula is provided with a shoulder slider that can slide along the coronal axis. One end of the transverse scapula is rotatably connected to the longitudinal scapula along the sagittal axis via the shoulder slider, and the other end of the transverse scapula is rotatably connected to the spinal exoskeleton along the sagittal axis. This is used to enable the shoulder girdle joint to be raised and lowered in the sagittal plane and the longitudinal scapula to rotate with the shoulder.

[0011] The forearm frame and the upper arm frame are rotatably connected along the coronal axis.

[0012] Furthermore, the forearm frame is rotatably connected to the upper arm frame via an elbow frame. The forearm frame includes a primary forearm frame and a secondary forearm frame, which are slidably connected to adjust the length of the forearm frame. The upper arm frame includes a primary upper arm frame and a secondary upper arm frame, which are slidably connected to adjust the length of the upper arm frame. The elbow frame includes an elbow joint fork and an elbow connecting plate, which are rotatably connected along the coronal axis. The elbow joint fork is slidably connected to the primary upper arm frame, and the elbow connecting plate is slidably connected to the primary forearm frame.

[0013] Furthermore, a wrist frame is provided at the end of the forearm frame away from the upper arm frame. The wrist frame includes a wrist ring and a wrist slider. The wrist slider is slidably connected to the wrist ring and is used to realize the rotation of the wrist joint. A wrist limiting sleeve is provided at the end of the wrist slider away from the wrist ring. The first end of the wrist limiting sleeve is rotatably connected to the wrist slider and is used to realize the lateral flexion of the wrist joint. The second end of the wrist limiting sleeve is provided with a hand connecting shaft. The hand connecting shaft is rotatably connected to the wrist limiting sleeve and is used to realize the flexion and extension of the wrist joint.

[0014] Furthermore, the hand connecting shaft is provided with five palm limiting bushings. The first end of each palm limiting bushing is rotatably connected to the hand connecting shaft to realize the flexion and extension of the metacarpals. Among the five palm limiting bushings, the second ends of four adjacent palm limiting bushings are rotatably provided with palm rods to realize the abduction and adduction of the metacarpals. The second end of the remaining palm limiting bushing is provided with a thumb limb frame. The end of the palm rod away from the palm limiting bushing is connected to a finger limb frame through a finger limiting bushing. The finger limb frame includes a first finger joint, a second finger joint, and a finger sleeve connected in sequence. The finger limiting bushing is used to realize the abduction, adduction, flexion, and extension of the first finger joint. The first finger joint and the second finger joint are rotatably connected, and the second finger joint and the finger sleeve are rotatably connected to realize the flexion and extension of each finger joint.

[0015] Furthermore, the spinal exoskeleton includes a lumbar limb frame, a thoracic limb frame, and a cervical limb frame. The thoracic limb frame includes two thoracic connecting plates, which are rotatably connected to the lumbar and cervical limb frames respectively along the vertical axis. The two thoracic connecting plates are connected by two symmetrical, retractable thoracic rods. A thoracic vertebral limiting sleeve is provided on the thoracic rod. One end of the thoracic vertebral limiting sleeve is rotatably connected to the transverse scapula along the sagittal axis, and the other end of the thoracic vertebral limiting sleeve is rotatably connected to the thoracic rod, which is used to realize the forward and backward retraction of the shoulder girdle joint along the vertical axis.

[0016] Furthermore, the cervical limb frame includes a cervical vertebral limiting sleeve and cervical vertebral chain plates. At least one cervical vertebral chain plate is provided, and adjacent cervical vertebral chain plates include an inner cervical chain plate and an outer cervical chain plate. A head connecting plate is provided at the upper end of the cervical vertebral limiting sleeve, which connects the cervical limb frame to the head. The head connecting plate is rotatably connected to the first end of the cervical vertebral limiting sleeve along the sagittal axis to achieve lateral tilting of the head. The second end of the cervical vertebral limiting sleeve is rotatably connected to the first end of the inner cervical chain plate along the coronal and vertical axes to achieve flexion and rotation of the head. The inner and outer cervical chain plates are slidably rotatably connected to achieve flexion and extension of the cervical joint. The end of the outer cervical chain plate away from the inner cervical chain plate is rotatably connected to the thoracic vertebral limb frame along the sagittal and vertical axes to achieve lateral flexion and rotation of the cervical joint.

[0017] Furthermore, the inner cervical chain plate is provided with a cervical vertebral pivot, and the outer cervical chain plate is provided with a sliding groove and a thickened part of the chain plate on both sides. The thickness of the thickened part of the chain plate is greater than the thickness of other parts on both sides of the outer cervical chain plate. The two ends of the cervical vertebral pivot extend out of the sliding groove and are slidably and rotatably connected to the sliding groove. The two ends of the cervical vertebral pivot are provided with cervical vertebral limiting discs. The cervical vertebral limiting discs are provided with limiting holes. The cervical vertebral limiting discs only fit with the thickened part of the chain plate. The thickened part of the chain plate is provided with limiting holes along the length direction of the sliding groove. The limiting holes of the cervical vertebral limiting discs are used to limit the rotation range of the cervical vertebral pivot, and the limiting holes of the thickened part of the chain plate are used to limit the sliding range of the cervical vertebral pivot.

[0018] Furthermore, the upper end of the lumbar limb frame is rotatably connected to the thoracic vertebral connecting plate of the thoracic limb frame along the sagittal and vertical axes, for realizing the rotation and sagittal lateral flexion of the thoracic vertebrae. The lower end of the lumbar limb frame is provided with a lower limb belt frame, which is rotatably connected to the lower end of the lumbar limb frame along the sagittal and vertical axes, for realizing the coronal axial rotation and coronal lateral flexion of the lumbar vertebrae. The lumbar limb frame includes an upper lumbar vertebral rotating limb frame, a lower lumbar vertebral rotating limb frame, and multiple intermediate lumbar vertebral limb frames. The intermediate lumbar limb frames are rotatably connected to the upper lumbar vertebral rotating limb frames along the coronal axis, and the intermediate lumbar limb frames are rotatably connected to the lower lumbar vertebral rotating limb frames along the coronal axis. Adjacent intermediate lumbar limb frames are slidably rotatably connected and rotatably connected along the coronal axis, for realizing the flexion and extension of the lumbar vertebrae along the coronal axis and providing a margin for extension and contraction.

[0019] Furthermore, the lower limb brace includes a hip brace, a transverse iliac bone, and a longitudinal iliac bone; the hip brace is connected to a thigh brace and a lower leg brace;

[0020] The hip frame includes a first leg fork and a second leg fork. The first end of the first leg fork is axially rotatably connected to one end of the thigh frame, which is used to realize internal and external rotation of the thigh along the vertical axis.

[0021] The second end of the first leg fork is rotatably connected to the first end of the second leg fork, and the axis of rotation of the second end of the first leg fork is perpendicular to the axis of rotation of the first end of the second leg fork, which is used to realize the abduction and adduction of the hip joint along the sagittal axis and the flexion and extension along the coronal axis.

[0022] The longitudinal iliac bone is arranged along the sagittal axis, and the second end of the second femoral fork is axially rotatably connected to the longitudinal iliac bone, which is used to realize the horizontal abduction and adduction of the hip joint along the sagittal axis, as well as the internal rotation, external rotation, and circumduction along the vertical axis.

[0023] The transverse iliac bone is provided with a hip slider that can slide along the coronal axis. One end of the transverse iliac bone is rotatably connected to the longitudinal iliac bone along the sagittal axis through the hip slider, which is used to realize the lifting and lowering of the hip. The other end of the transverse iliac bone is rotatably connected to the lower end of the lumbar limb frame along the vertical axis.

[0024] The lower leg frame and the upper leg frame are rotatably connected along the coronal axis.

[0025] Furthermore, the lower end of the lower leg frame is connected to a foot frame, which includes an ankle frame and a footplate frame;

[0026] The ankle frame includes an ankle connecting sleeve and an ankle rotating sleeve. The ankle rotating sleeve is slidably connected to the lower leg frame. The upper end of the ankle rotating sleeve is rotatably connected to the ankle connecting sleeve along the vertical axis and the sagittal axis, which is used to realize the internal and external rotation of the lower leg and the inversion and eversion of the ankle joint. The lower end of the ankle connecting sleeve is rotatably connected to the foot frame along the coronal axis, which is used to realize the flexion and extension of the ankle joint along the coronal axis.

[0027] The foot frame includes a forefoot frame, a hindfoot frame, and a toe frame. The hindfoot frame is connected to the ankle frame. The forefoot and hindfoot frames are rotatably connected along the sagittal axis to achieve lateral tilting of the foot. The toe frame is rotatably connected to the forefoot frame along the coronal axis to achieve flexion and extension of the toes.

[0028] The beneficial effects of this invention are as follows:

[0029] 1. By setting up a shoulder girdle frame, a transverse scapula, and a longitudinal scapula, this invention enables the shoulder girdle joint to be lifted and pulled down in the sagittal plane, and the longitudinal scapula can rotate with the shoulder, making the upper limb girdle frame more in line with the human body, and the weight of the forearm frame, upper arm frame, wrist frame, and hand frame will not be completely pressed on the shoulder joint.

[0030] 2. The present invention can realize internal and external rotation of the arm, as well as abduction and adduction of the shoulder joint along the sagittal axis and horizontal adduction and abduction along the vertical axis by setting the first shoulder joint fork and the second shoulder joint fork.

[0031] 3. The wrist brace of the present invention can realize the rotation of the wrist joint as well as the flexion and extension of the wrist joint.

[0032] 4. The hand frame of the present invention can realize the flexion, extension, abduction and adduction of the metacarpals, as well as the flexion and extension of each finger joint.

[0033] 5. The spinal exoskeleton of the present invention includes a lumbar limb frame, a thoracic limb frame, and a cervical limb frame. The thoracic limb frame can realize forward and backward extension of the shoulder girdle joint along the vertical axis, rotation of the thoracic vertebrae, and sagittal lateral flexion of the thoracic vertebrae. The cervical limb frame can realize not only lateral tilting of the head, flexion and extension of the head, but also forward tilting and backward tilting of the head. The lumbar limb frame can realize coronal rotation of the lumbar vertebrae and coronal lateral flexion of the spine, as well as flexion and extension of the lumbar vertebrae along the coronal axis, and provides a range of extension and retraction.

[0034] 6. The lower limb brace of the present invention can realize internal and external rotation of the thigh along the vertical axis, abduction and adduction of the hip joint along the sagittal axis, as well as internal rotation, external rotation, and circumduction along the vertical axis, rotation of the leg along the vertical axis, and lifting and lowering of the hip.

[0035] 7. The ankle frame of the present invention can realize the internal rotation and external rotation of the lower leg, the inversion and eversion of the tarsal tunnel, and the flexion and extension of the ankle joint along the coronal axis.

[0036] 8. This invention can limit the range of motion and fix the angle of motion according to the individual's joint flexibility and usage needs, reducing the occurrence of sprains, strains, fractures and other injuries to joints, muscles, ligaments and bones in various complex usage environments, meeting the wearer's various usage needs, and at the same time achieving the same effect as medical exoskeletons.

[0037] 9. The present invention has a compact structure, is easy to disassemble, and has high mobility. All joints of the human body have corresponding auxiliary structures. It can provide assistance to the wearer by using elastic bands, springs, elastic ropes, etc., and can also be used for resistance training. Attached Figure Description

[0038] Figure 1 This is a schematic diagram of the coronal axis, sagittal axis, and vertical axis of the present invention;

[0039] Figure 2 This is a schematic diagram of the structure of the present invention;

[0040] Figure 3 This is a schematic diagram of the arm frame structure of the present invention;

[0041] Figure 4 for Figure 3 Enlarged view of point A in the middle;

[0042] Figure 5 This is a schematic diagram of the upper limb brace structure of the present invention;

[0043] Figure 6 This is a schematic diagram of the shoulder limb frame of the present invention;

[0044] Figure 7 This is a schematic diagram of the wrist brace of the present invention;

[0045] Figure 8 This is a schematic diagram of the hand frame of the present invention;

[0046] Figure 9 This is a schematic diagram of the structure of the spinal exoskeleton of the present invention;

[0047] Figure 10 This is a schematic diagram of the cervical limb frame of the present invention;

[0048] Figure 11 This is a schematic diagram of the cervical spine limiting bushing of the present invention;

[0049] Figure 12 This is a schematic diagram of the thoracic vertebral frame of the present invention;

[0050] Figure 13This is a schematic diagram of the lumbar limb frame of the present invention;

[0051] Figure 14 This is a schematic diagram of the inner side of the lumbar limb frame of the present invention;

[0052] Figure 15 for Figure 14 Enlarged view of point B in the middle;

[0053] Figure 16 This is a schematic diagram of the lower limb brace structure of the present invention;

[0054] Figure 17 This is a schematic diagram of the hip frame of the present invention;

[0055] Figure 18 This is a schematic diagram of the leg frame of the present invention;

[0056] Figure 19 for Figure 18 Enlarged view of point C in the middle;

[0057] Figure 20 This is a schematic diagram of the foot frame structure of the present invention;

[0058] Figure 21 This is a schematic diagram of the connection structure between the cervical inner chain plate and the cervical outer chain plate of the present invention.

[0059] Figure 22 This is a schematic diagram of the structure of the present invention, showing the connection between the upper arm auxiliary limb frame and the first shoulder joint fork via a shoulder ring.

[0060] Figure label:

[0061] Arm frame 1; Forearm frame 11; Forearm main limb frame 111; Forearm accessory limb frame 112; Upper arm frame 12; Upper arm main limb frame 121; Upper arm accessory limb frame 122; Elbow frame 13; Elbow joint fork 131; Elbow connecting plate 132; Shoulder ring 14;

[0062] Upper limb frame 2; shoulder frame 21; first shoulder fork 211; first shoulder fork bushing 2111; first shoulder fork base plate 2112; first shoulder fork upright plate 2113; second shoulder fork 212; second shoulder fork bushing 2121; second shoulder fork base plate 2122; second shoulder fork upright plate 2123; transverse scapula 22; shoulder slider 221; shoulder slide rail 222; transverse scapula primary limb frame 223; transverse scapula secondary limb frame 224; longitudinal scapula 23; longitudinal scapula primary limb frame 231; longitudinal scapula secondary limb frame 232;

[0063] 3. Wrist support; 31. Wrist slide rail; 32. Wrist slider; 33. Wrist limiting bushing; 34. Hand connecting shaft; 35. Wrist ring;

[0064] 4. Hand limb support; 41. Palm limiting bushing; 42. Palm rod; 43. Thumb limb support; 44. Finger limb support; 45. Finger limiting bushing; 46. Finger sleeve;

[0065] Thoracic vertebral frame 5; Thoracic vertebral connecting plate 51; Thoracic vertebral rod 52; Thoracic vertebral limiting sleeve 53;

[0066] Lumbar limb frame 6; upper lumbar limb frame 61; lower lumbar limb frame 62; middle lumbar limb frame 63; lumbar slide groove 631; lumbar vertebral base plate 632; lumbar vertebral upright plate 633; ​​lumbar vertebral connecting plate 64; lumbar vertebral pivot 641;

[0067] 7. Cervical limb frame; 71. Cervical limiting bushing; 711. Upper groove; 712. Lower groove; 713. Upper support plate; 714. Lower support plate; 72. Cervical inner chain plate; 73. Cervical outer chain plate; 74. Head connecting plate; 75. Cervical shaft; 76. Thickened part of chain plate; 77. Cervical limiting disc.

[0068] Lower limb brace 8; hip brace 81; first femoral fork 811; second femoral fork 812; transverse ilium 82; transverse ilium primary limb brace 821; transverse ilium accessory limb brace 822; hip slider 823; hip slide rail 824; longitudinal ilium 83; longitudinal ilium primary limb brace 831; longitudinal ilium accessory limb brace 832;

[0069] Leg frame 9; lower leg frame 91; lower leg main limb frame 911; lower leg accessory limb frame 912; thigh frame 92; thigh main limb frame 921; thigh accessory limb frame 922; knee frame 93; knee joint fork 931; knee connecting plate 932;

[0070] Foot limb frame 10; ankle limb frame 101; ankle connecting bushing 1011; ankle rotating bushing 1012; ankle connecting plate 1013; foot plate limb frame 102; forefoot limb frame 1021; hindfoot limb frame 1022; toe limb frame 1023; axle auxiliary limb frame 1024. Detailed Implementation

[0071] To make the technical problems, technical solutions, and beneficial effects to be solved by this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and are not intended to limit the scope of this application.

[0072] Example 1

[0073] like Figure 1 As shown, the coronal axis is the axis parallel to the ground along the left-right direction of the human body, the coronal plane is the cross-section that divides the human body into front and back parts along the left-right direction, the sagittal axis is the axis parallel to the ground along the front-back direction of the human body, the sagittal plane is the cross-section that divides the human body into left and right parts along the front-back direction, and the vertical axis is the axis perpendicular to the ground along the up-down direction of the human body.

[0074] like Figure 2 As shown, this embodiment provides a multifunctional flexible exoskeleton device, including an arm frame 1, an upper limb frame 2, a wrist frame 3, a hand frame 4, a thoracic spine frame 5, a lumbar spine frame 6, a cervical spine frame 7, a lower limb frame 8, a leg frame 9, and a foot frame 10, each frame corresponding to a different part of the human body.

[0075] like Figure 3 As shown, the arm frame 1 includes a forearm frame 11, an upper arm frame 12, and an elbow frame 13. The forearm frame 11 and the upper arm frame 12 are rotatably connected along the coronal axis through the elbow frame 13, thereby enabling the human forearm to flex and extend along the coronal axis.

[0076] Forearm brace 11 includes a primary forearm brace 111 and a secondary forearm brace 112. One end of the secondary forearm brace 112 is inserted into and slidably connected to the primary forearm brace 111. Both the primary forearm brace 111 and the secondary forearm brace 112 have multiple mounting holes along their length. Bolts pass through these mounting holes to install the two braces together. The length of the forearm brace 11 can be adjusted using the holes in the primary forearm brace 111 and the secondary forearm brace 112 to meet the needs of different body types. The end of the upper arm brace 122 furthest from the primary upper arm brace 121 has a pivot for rotatably connecting with the upper limb brace 2.

[0077] The upper arm frame 12 includes a main upper arm frame 121 and a secondary upper arm frame 122. One end of the secondary upper arm frame 122 is inserted into the main upper arm frame 121 and slidably connected to it. Both the main upper arm frame 121 and the secondary upper arm frame 122 have multiple mounting holes along their length. Bolts can be passed through the mounting holes of the main upper arm frame 121 and the secondary upper arm frame 122 to install them together. The length of the upper arm frame 12 can be changed through the mounting holes on the main upper arm frame 121 and the secondary upper arm frame 122 to meet the needs of different body types.

[0078] like Figure 4 As shown, the elbow frame 13 is arranged between the forearm frame 11 and the upper arm frame 12. The elbow frame 13 includes an elbow fork 131 and an elbow connecting plate 132. The first end of the elbow fork 131 is plate-shaped and can be inserted into the upper arm frame 121. The first end of the elbow fork 131 is connected to the upper arm frame 121 by bolts. The second end of the elbow fork 131 is U-shaped with an outward opening. The first end of the elbow connecting plate 132 is inserted into the U-shaped structure of the second end of the elbow fork 131 and is rotatably connected to the second end of the elbow fork 131 along the coronal axis. The second end of the elbow connecting plate 132 is inserted into the forearm frame 111 and is connected to the forearm frame 111 by bolts.

[0079] The forearm main limb frame 111, forearm accessory limb frame 112, upper arm main limb frame 121, and upper arm accessory limb frame 122 mentioned above are all plate-shaped.

[0080] like Figure 5 As shown, the upper limb support frame 2 includes a shoulder frame 21, a transverse scapula 22, and a longitudinal scapula 23, as... Figure 6 As shown, the shoulder frame 21 includes a first shoulder fork 211 and a second shoulder fork 212. The first shoulder fork 211 includes a first shoulder fork bushing 2111, a first shoulder fork base plate 2112, and a first shoulder fork upright plate 2113. The first shoulder fork base plate 2112 includes two surfaces and four sides. The first shoulder fork bushing 2111 has a cylindrical structure and is vertically fixed to one surface of the first shoulder fork base plate 2112. Two first shoulder fork upright plates 2113 are symmetrically arranged and are fixed to two sides of the first shoulder fork base plate 2112 and extend away from the first shoulder fork bushing 2111. The first shoulder joint fork bushing 2111 is rotatably connected to the rotating shaft on the main boom auxiliary frame 122 via bearings. The first shoulder joint fork bushing 2111 has multiple limiting holes along the circumference, and limiting pins can be inserted into the limiting holes. Limiting pins can be vertically inserted into the rotating shaft of the main boom auxiliary frame 122. The angle range of rotation of the main boom auxiliary frame 122 can be limited by the limiting pins on the rotating shaft and the limiting pins on the limiting holes.

[0081] The second shoulder fork 212 has the same structure as the first shoulder fork 211. The second shoulder fork 212 includes a second shoulder fork bushing 2121, a second shoulder fork base plate 2122, and a second shoulder fork upright plate 2123. The second shoulder fork upright plate 2123 and the first shoulder fork upright plate 2113 are arranged vertically. The two second shoulder fork upright plates 2123 and the two first shoulder fork upright plates 2113 are rotatably connected by a cross bar. The cross bar includes a horizontal bar and a vertical bar. The upper and lower ends of the vertical bar are rotatably connected to the two second shoulder fork upright plates 2123 respectively, so that the second shoulder fork 212 can rotate along the vertical axis. The left and right ends of the horizontal bar are rotatably connected to the two first shoulder fork upright plates 2113 respectively, so that the first shoulder fork 211 can rotate along the sagittal axis.

[0082] like Figure 5 As shown, the longitudinal scapula 23 includes a longitudinal primary scapular frame 231 and a longitudinal secondary scapular frame 232. Both the longitudinal primary scapular frame 231 and the longitudinal secondary scapular frame 232 are L-shaped and each includes two mutually perpendicular parts. Figure 5The longitudinal scapular accessory limb 232 is parallel to the ground. One end of the longitudinal scapular accessory limb 232 is rotatably connected to the second shoulder joint fork sleeve 2121 via a bearing. The other end of the longitudinal scapular accessory limb 232 is inserted into the longitudinal scapular master limb 231 and slidably connected to the longitudinal scapular master limb 231. Both the longitudinal scapular accessory limb 232 and the longitudinal scapular master limb 231 have multiple mounting holes, through which bolts pass. By connecting the two together, the length of the longitudinal scapula 23 can be changed to adapt to different human bodies through the mounting holes of the longitudinal scapular accessory limb frame 232 and the longitudinal scapular primary limb frame 231; a part of the longitudinal scapular primary limb frame 231 is parallel to the ground, and another part is perpendicular to the ground. The part of the longitudinal scapular primary limb frame 231 parallel to the ground is connected to the longitudinal scapular accessory limb frame 232 by bolts, and the part of the longitudinal scapular primary limb frame 231 perpendicular to the ground is rotatably connected to the transverse scapula 22 along the sagittal axis.

[0083] like Figure 5 As shown, the transverse scapula 22 includes a transverse scapular primary limb frame 223 and a transverse scapular secondary limb frame 224. A shoulder slide rail 222 is provided along the coronal axis on the transverse scapular primary limb frame 223. A shoulder slider 221 is slidably arranged on the shoulder slide rail 222. The shoulder slider 221 is rotatably connected to the part of the longitudinal scapular primary limb frame 231 perpendicular to the ground. The upper end of the shoulder slider 221 is provided with multiple limiting holes around the rotating shaft. Limiting pins can be inserted into the limiting holes and the rotating shaft. Similarly, the angular range of rotation of the longitudinal scapula 23 can be limited by the limiting pins of the rotating shaft and the limiting pins in the limiting holes.

[0084] One end of the transverse scapular accessory limb frame 224 is inserted into the transverse scapular primary limb frame 223 and slidably connected to it. Both the transverse scapular accessory limb frame 224 and the transverse scapular primary limb frame 223 have multiple mounting holes along their length. Bolts pass through these mounting holes to connect the two limbs. The length of the transverse scapula 22 can be adjusted to accommodate different body types by using these mounting holes. The other end of the transverse scapular accessory limb frame 224 is rotatably connected to the thoracic vertebral frame 5 along its sagittal and vertical axes.

[0085] Understandably, the elbow brace 13 of the arm frame 1 enables flexion and extension of the forearm along the coronal axis; the first shoulder joint fork sleeve 2111 enables internal and external rotation of the arm along the vertical axis; by connecting the first shoulder joint fork plate 2113 and the second shoulder joint fork plate 2123 via a cross bar, the first shoulder joint fork 211 can rotate along the sagittal axis and the second shoulder joint fork 212 can rotate along the vertical axis, enabling abduction and adduction of the shoulder joint along the sagittal axis (i.e., the movement of raising and lowering the upper arm to the horizontal plane) and horizontal adduction and abduction along the vertical axis (i.e., the movement of rotating the upper arm in the horizontal plane); the second shoulder joint fork sleeve 2121 enables the shoulder joint to flex, extend, and rotate along the coronal axis (i.e., the movement of raising and lowering the human arm and rotating the shoulder); the transverse scapula 22 and the longitudinal scapula 23 are connected by the shoulder slider 221 through rotation and sliding, and the transverse scapula 22 is connected to the spinal exoskeleton along the sagittal axis, which enables the shoulder girdle joint to lift and pull down in the sagittal plane (i.e., the movement of shrugging and pressing down the shoulder or raising the arm to the top of the head and pressing down). During the lifting and pulling down of the shoulder girdle joint in the sagittal plane, the longitudinal scapula 23 can rotate with the shoulder, which is more in line with the human body and will not generate resistance, making the human body more comfortable.

[0086] like Figure 7 As shown, the wrist limb support 3 includes a wrist ring 35, a wrist slider 32, a wrist limiting sleeve 33, and a hand connecting shaft 34. A wrist slide rail 31 is provided on the inner side of the wrist ring 35, and the wrist slider 32 is slidably mounted on the wrist slide rail 31. Multiple limiting holes are provided circumferentially on the wrist ring 35 to limit the sliding range of the wrist slider 32. The upper end of the wrist ring 35 is bolted to the forearm accessory limb support 112, and the lower end of the wrist slider 32 is rotatably connected to the wrist limiting sleeve 33. The upper end of the wrist limiting sleeve 33 is rotatably connected to the wrist slider 32 along a rotation axis perpendicular to the wrist slider 32. The lower end of the wrist limiting sleeve 33 is rotatably connected to the hand connecting shaft 34 along a rotation axis parallel to the wrist slider 32. The hand connecting shaft 34 is U-shaped and includes two horizontal bars and one vertical bar. One horizontal bar of the hand connecting shaft 34 is rotatably connected to the lower end of the wrist limiting sleeve 33. The other horizontal bar of the hand connecting shaft 34 is used to install the hand frame 4, and the vertical bar is used to connect the two horizontal bars.

[0087] Understandably, the wrist slider 32 enables wrist rotation, the upper end of the wrist limiting sleeve 33 is rotatably connected to the wrist slider 32 along a rotation axis perpendicular to the wrist slider 32, enabling lateral flexion of the wrist joint, and the lower end of the wrist limiting sleeve 33 is rotatably connected to the hand connecting shaft 34 along a rotation axis parallel to the wrist slider 32, enabling flexion and extension of the wrist joint.

[0088] like Figure 8As shown, the hand frame 4 includes a palm limiting bushing 41, a palm rod 42, a thumb frame 43, and a finger frame 44. The upper end of the palm limiting bushing 41 is rotatably connected to the crossbar of the hand connecting shaft 34. There are five palm limiting bushings 41 in total. The lower ends of four of the palm limiting bushings 41 (corresponding to the four fingers other than the thumb) are rotatably connected to the palm rod 42. The rotation axis of the palm rod 42 is perpendicular to the crossbar of the hand connecting shaft 34, which can realize the abduction and adduction of the metacarpal bones. The lower end of the fifth palm limiting bushing 41 (corresponding to the thumb) is rotatably connected to the thumb frame 43. The rotation axis of the thumb frame 43 is perpendicular to the crossbar of the hand connecting shaft 34, which can realize the abduction and adduction of the thumb. The end of the palm rod 42 away from the palm limiting bushing 41 is connected to the finger frame 44 through a finger limiting bushing 45. The upper end of 5 is rotatably connected to the palm rod 42. The upper end of the finger limiting sleeve 45 is parallel to the crossbar of the hand connecting shaft 34 and the rotation axis of the palm rod 42. The lower end of the finger limiting sleeve 45 is rotatably connected to the finger frame 44. The lower end of the finger limiting sleeve 45 is perpendicular to the crossbar of the hand connecting shaft 34 and the rotation axis of the finger frame 44. This allows for abduction and adduction of the fingers, as well as flexion and extension of the fingers. The finger frame 44 has four parts, each corresponding to one of the four fingers excluding the thumb. The finger frame 44 includes a first finger joint, a second finger joint, and a finger sleeve 46 connected in sequence. The finger limiting sleeve 45 is used to realize abduction, adduction, flexion, and extension of the first finger joint. The first finger joint and the second finger joint are rotatably connected. The second finger joint and the finger sleeve 46 are rotatably connected to realize flexion and extension of each finger joint.

[0089] In this embodiment, as Figure 1 As shown, only the right-hand side has a hand support 4.

[0090] like Figure 9 As shown, the spinal exoskeleton includes a lumbar vertebral frame 6, a thoracic vertebral frame 5, and a cervical vertebral frame 7.

[0091] like Figure 10 The cervical limb frame 7 includes a cervical vertebral limiting sleeve 71, a cervical vertebral chain plate, and a head connecting plate 74. In this embodiment, one cervical vertebral chain plate is provided, including an inner cervical vertebral chain plate 72 and an outer cervical vertebral chain plate 73.

[0092] like Figure 11As shown, the upper end of the cervical spine limiting bushing 71 has an upper groove 711, and the lower end of the cervical spine limiting bushing 71 has a lower groove 712. The upper groove 711 and the lower groove 712 are perpendicular to each other. The upper groove 711 divides the upper end of the cervical spine limiting bushing 71 into two upper support plates 713, and the lower groove 712 divides the lower end of the cervical spine limiting bushing 71 into two lower support plates 714. The upper support plate 713 is perpendicular to the lower support plate 714. The center of both the upper support plate 713 and the lower support plate 714 has a shaft hole, in which a rotating shaft is installed. Limiting holes are opened around the shaft holes of both the upper support plate 713 and the lower support plate 714. Limiting pins can be inserted into the limiting holes and the rotating shafts, thereby limiting the rotation angle range of the rotating shafts.

[0093] like Figure 10 As shown, the upper end of the cervical spine limiting bushing 71 is rotatably connected to the head connecting plate 74 through the rotating shaft of the upper support plate 713. The two ends of the head connecting plate 74 are provided with wearing holes, which can be connected to Velcro or helmets with the same holes. The rotating shaft of the upper support plate 713 is parallel to the sagittal axis, which can realize the tilting of the head.

[0094] The lower end of the cervical spine limiting bushing 71 is rotatably connected to the upper end of the cervical spine inner chain plate 72 via the T-shaped pivot of the lower end support plate 714. The two ends of the T-shaped pivot of the lower end of the cervical spine limiting bushing 71 are rotatably connected to the lower end support plate 714 along the coronal axis. The lower end of the T-shaped pivot of the lower end of the cervical spine limiting bushing 71 is rotatably connected to the cervical spine inner chain plate 72 along the vertical axis, so that the cervical spine limiting bushing 71 can rotate along the coronal axis and the vertical axis, thereby realizing the flexion and rotation of the head.

[0095] like Figure 21 As shown, the upper part of the cervical external link plate 73 is U-shaped and has a groove parallel to the vertical axis. The lower part of the cervical internal link plate 72 is inverted U-shaped and has a fixed cervical vertebral pivot 75. The inverted U-shaped structure of the lower part of the cervical internal link plate 72 is inserted into the U-shaped structure of the upper part of the cervical external link plate 73. The two ends of the cervical pivot 75 extend out of the groove and are provided with cervical vertebral limiting discs 77. The cervical pivot 75 and the cervical external link plate 73 are slidably and rotatably connected through the groove, so that the cervical internal link plate 72 and the cervical external link plate 73 provide a range of motion during cervical flexion and extension, thereby realizing cervical flexion and extension. The lower part of the cervical external link plate 73 is rotatably connected to the thoracic vertebral frame 5 along the sagittal axis and the vertical axis through a T-shaped pivot, which can realize lateral flexion and rotation of the cervical joint.

[0096] A thickened portion 76 is provided on the outer side of the upper U-shaped structure of the cervical spine outer chain plate 73. The thickened portion 76 is adjacent to the slide groove. The cervical spine limiting disc 77 is fitted with the thickened portion 76. There is a gap between the cervical spine limiting disc 77 and other parts of the outer side of the upper U-shaped structure of the cervical spine outer chain plate 73. Multiple limiting holes are evenly opened circumferentially on the cervical spine limiting disc 77. Multiple limiting holes are opened along the length of the slide groove on the thickened portion 76. It can be understood that by adding a thickened portion 76 to the chain plate... Inserting a limiting pin into the limiting hole of the thick portion 76 can limit the range of movement of the cervical spine pivot 75, thereby limiting the extension and retraction length of the inner and outer cervical spine chain plates. By inserting a limiting pin into the limiting hole of the cervical spine limiting disc 77, the limiting pin extends out of the cervical spine limiting disc 77. When the cervical spine limiting disc 77 rotates to a certain angle, the limiting pin on the cervical spine limiting disc 77 will be blocked by the thickened portion 76 of the chain plate, thereby limiting the range of rotation of the inner and outer cervical spine chain plates.

[0097] like Figure 12 As shown, the thoracic vertebral frame 5 includes a thoracic vertebral connecting plate 51, a thoracic vertebral rod 52, and a thoracic vertebral limiting sleeve 53. Two thoracic vertebral connecting plates 51 are provided, fixed to the upper and lower ends of the thoracic vertebral rod 52 respectively. The upper thoracic vertebral connecting plate 51 of the thoracic rod 52 is rotatably connected to the lower T-shaped pivot of the cervical vertebral outer link plate 73, and the lower thoracic vertebral connecting plate 51 of the thoracic rod 52 is rotatably connected to the lumbar vertebral frame 6. The thoracic rod 52 is a telescopic rod, and includes a coaxially arranged outer sleeve. The slide rod, outer sleeve rod, and slide rod are all provided with corresponding connecting holes along their length. After the slide rod is inserted into the outer sleeve rod, the two can be connected through the connecting holes. Different connecting holes can change the length of the thoracic vertebra rod 52. The thoracic vertebral limiting sleeve 53 is arranged at the upper end of the thoracic vertebra rod 52. One end of the thoracic vertebral limiting sleeve 53 is rotatably connected to the thoracic vertebra rod 52 along the vertical axis, which can realize the forward and backward retraction of the shoulder girdle joint along the vertical axis. The other end of the thoracic vertebral limiting sleeve 53 is rotatably connected to the transverse scapular accessory limb frame 224 along the sagittal axis.

[0098] like Figure 13 , 14 As shown, the lumbar limb frame 6 includes an upper lumbar limb frame 61, a lower lumbar limb frame 62, and a middle lumbar limb frame 63. The upper end of the upper lumbar limb frame 61 is rotatably connected to the thoracic vertebral connecting plate 51 via a T-shaped axis. The upper end of the T-shaped axis of the upper lumbar limb frame 61 is rotatably connected to the thoracic vertebral connecting plate 51 along the vertical axis. The left and right ends of the T-shaped axis of the upper lumbar limb frame 61 are rotatably connected to the upper end of the upper lumbar limb frame 61 along the sagittal axis, which can realize the rotation of the thoracic vertebra and the sagittal lateral flexion of the thoracic vertebra.

[0099] The lower end of the lumbar spine lower end rotating limb frame 62 is rotatably connected to the lower limb belt frame 8 via a T-shaped axis. The lower end of the T-shaped axis of the lumbar spine lower end rotating limb frame 62 is rotatably connected to the lower limb belt frame 8 along the vertical axis. The left and right ends of the T-shaped axis of the lumbar spine lower end rotating limb frame 62 are rotatably connected to the lower end of the lumbar spine lower end rotating limb frame 62 along the sagittal axis, which can realize the coronal axis rotation of the lumbar spine and the coronal axis lateral flexion of the spine.

[0100] Multiple lumbar intermediate limb supports 63 are connected between the upper lumbar vertebral rotating limb support 61 and the lower lumbar vertebral rotating limb support 62, such as Figure 15 As shown, the lumbar intermediate limb frame 63 includes a lumbar vertebral base plate 632 and lumbar vertebral upright plates 633. The lumbar vertebral base plate 632 is parallel to the coronal plane, and two lumbar vertebral upright plates 633 are vertically arranged on each lumbar vertebral base plate 632. The two lumbar vertebral upright plates 633 are parallel to the sagittal plane. Lumbar vertebral grooves 631 are formed on the lumbar vertebral upright plates 633 along the vertical axis. The lumbar vertebral upright plates 633 on adjacent lumbar vertebral base plates 632 are connected by lumbar vertebral connecting plates 64. The lumbar vertebral connecting plates 64 are parallel to the lumbar vertebral upright plates 633. Lumbar vertebral rotating shafts 641 perpendicular to the lumbar vertebral connecting plates 64 are provided at both ends of the lumbar vertebral connecting plates 64. The lumbar vertebral rotating shafts 641 and the lumbar vertebral upright plates 633 are slidably and rotatably connected through the lumbar vertebral grooves 631, thereby realizing the flexion and extension of the lumbar vertebra along the coronal axis and providing a margin for extension and contraction. The two ends of the lumbar vertebral rotating shaft 641 extend out of the lumbar vertebral sliding groove 631 and are provided with lumbar vertebral limiting discs. The structure of the lumbar vertebral limiting discs is the same as that of the cervical vertebral limiting disc 77. The structure of the lumbar vertebral upright plate 633 is similar to that of the cervical vertebral outer link plate 73. The lumbar vertebral upright plate 633 is provided with a lumbar vertebral thickening part, and a limiting hole is opened on the lumbar vertebral thickening part. Similarly, the rotation range and sliding range of the lumbar vertebral rotating shaft 641 can be limited by the limiting pin.

[0101] like Figure 16 As shown, the lower limb frame 8 includes a hip frame 81, a transverse iliac bone 82, and a longitudinal iliac bone 83.

[0102] The transverse iliac bone 82 includes a transverse iliac bone main limb frame 821 and a transverse iliac bone accessory limb frame 822. The center of the transverse iliac bone main limb frame 821 is rotatably connected to the lower end of the T-shaped shaft of the lower lumbar vertebral rotating limb frame 62 along the vertical axis. There are two transverse iliac bone accessory limb frames 822. The two ends of the transverse iliac bone main limb frame 821 are respectively inserted into the two transverse iliac bone accessory limb frames 822. Both the transverse iliac bone main limb frame 821 and the transverse iliac bone accessory limb frame 822 have multiple mounting holes. Bolts pass through the mounting holes of the transverse iliac bone main limb frame 821 and the transverse iliac bone accessory limb frame 822 to connect the two together. The multiple mounting holes can be used to adjust the length of the transverse iliac bone 82 to adapt to different human bodies.

[0103] A hip slide rail 824 is provided on the transverse iliac bone accessory limb frame 822 along the coronal axis. A hip slider 823 is slidably arranged on the hip slide rail 824. The hip slider 823 is rotatably connected to the longitudinal iliac bone 83 along the sagittal axis, which can realize the lifting and lowering of the hip.

[0104] The longitudinal iliac bone 83 includes a longitudinal iliac bone main limb frame 831 and a longitudinal iliac bone accessory limb frame 832. Both the longitudinal iliac bone main limb frame 831 and the longitudinal iliac bone accessory limb frame 832 are L-shaped and each includes two vertical parts. One end of the longitudinal iliac bone accessory limb frame 832 is rotatably connected to the hip limb frame 81 along the vertical axis, and the other end of the longitudinal iliac bone accessory limb frame 832 is connected to the longitudinal iliac bone main limb frame 831 by bolts. The end of the longitudinal iliac bone main limb frame 831 away from the longitudinal iliac bone accessory limb frame 832 is rotatably connected to the hip slider 823. Both the longitudinal iliac bone main limb frame 831 and the longitudinal iliac bone accessory limb frame 832 are provided with multiple mounting holes. These mounting holes can be used to adjust the length of the transverse iliac bone 82 to accommodate different human bodies.

[0105] like Figure 17 As shown, the hip frame 81 includes a first leg fork 811 and a second leg fork 812. The first leg fork 811 and the second leg fork 812 have the same structure as the first shoulder fork 211 and the second shoulder fork 212, respectively, which can realize the hip joint abduction and adduction along the sagittal axis and flexion and extension along the coronal axis.

[0106] like Figure 18 As shown, the leg frame 9 includes a lower leg frame 91, a thigh frame 92, and a knee frame 93. The lower leg frame 91, thigh frame 92, and knee frame 93 have the same structure as the forearm frame 11, upper arm frame 12, and elbow frame 13, respectively. The lower leg frame 91 includes a primary lower leg frame 911 and a secondary lower leg frame 912. The thigh frame 92 includes a primary thigh frame 921 and a secondary thigh frame 922, as shown. Figure 19 As shown, the knee frame 93 includes a knee fork 931 and a knee connecting plate 932.

[0107] The upper end of the thigh accessory frame 922 is rotatably connected to the lower end of the second leg fork 812 via a bearing, which enables the thigh to rotate internally and externally along the vertical axis.

[0108] The lower end of the lower leg accessory 912 is connected to the foot limb 10 by bolts.

[0109] like Figure 20 As shown, the foot support 10 includes an ankle support 101 and a foot support 102.

[0110] The ankle frame 101 includes an ankle connecting sleeve 1011, an ankle rotating sleeve 1012, and an ankle connecting plate 1013. The upper end of the ankle connecting plate 1013 is bolted to the lower end of the lower leg accessory frame 912. The lower end of the ankle connecting plate 1013 is fixedly connected to the ankle rotating sleeve 1012. The lower end of the ankle rotating sleeve 1012 is rotatably connected to the ankle connecting sleeve 1011 via a T-shaped shaft. The upper end of the T-shaped shaft of the ankle connecting sleeve 1011 is rotatably connected to the ankle rotating sleeve 1012 along the vertical axis. The left and right ends of the T-shaped shaft of the ankle connecting sleeve 1011 are rotatably connected to the ankle connecting sleeve 1011 along the sagittal axis. This allows for internal and external rotation of the lower leg, as well as inversion and eversion of the ankle canal.

[0111] The lower end of the ankle connecting sleeve 1011 is rotatably connected to the footplate frame 102 along the coronal axis, which can realize the flexion and extension of the ankle joint along the coronal axis.

[0112] The foot support 102 includes a rearfoot support 1022, a forefoot support 1021, and a toe support 1023 connected in sequence. The rearfoot support 1022 and the forefoot support 1021 are rotatably connected via a shaft auxiliary support 1024. One end of the shaft auxiliary support 1024 is plate-shaped and inserted into the forefoot support 1021. The other end of the shaft auxiliary support 1024 is rotatably connected to the rearfoot support 1022, allowing for lateral tilting of the foot. A bushing is fixedly installed on the shaft auxiliary support 1024, and multiple... A limiting hole is provided to limit the lateral tilt range of the foot; the rear foot limb frame 1022 is provided with wear plates that are slidably connected to the rear foot limb frame 1022 and can be adjusted according to the size of the foot; the front foot limb frame 1021 is provided with wear plates that are slidably connected to the front foot limb frame 1021 and can be adjusted according to the size of the foot; the front end of the front foot limb frame 1021 is rotatably connected to the toe limb frame 1023 through a rotating shaft parallel to the coronal axis, which can realize the flexion and extension of the toes.

[0113] The aforementioned arm support 1, upper limb support 2, wrist support 3, lower limb support 8, leg support 9, and foot support 10 are all symmetrically arranged in twos.

[0114] The structures of the wrist limiting bushing 33, palm limiting bushing 41, finger limiting bushing 45, and thoracic spine limiting bushing 53 are the same as those of the cervical spine limiting bushing 71, with only differences in size.

[0115] All of the aforementioned rotatable shafts can have their range of motion and angle limited or fixed by limit pins.

[0116] This embodiment of the multifunctional flexible exoskeleton device features a compact structure, flexible joints, and high body conformity during movement. It provides assistance to the body and can also generate resistance for resistance training, achieving fitness, exercise, and rehabilitation effects. This multifunctional flexible exoskeleton device utilizes elastic bands and a threaded ring rod for assisted or resistance training. The threaded ring rod consists of a ring and a threaded rod, one end of which is welded to the outer wall of the ring. By screwing the threaded rod into the mounting holes and limiting holes of the forearm frame, upper arm frame, transverse scapular accessory frame, transverse scapular primary frame, transverse iliac primary frame, and transverse iliac accessory frame, and then binding the elastic band to the ring of the threaded rod, assisted or resistance training can be achieved. For example, by binding a threaded ring rod to each end of the elastic band, and installing the threaded ring rod in the mounting holes of the upper arm frame and forearm frame on the same side, resistance is generated during elbow coronal axis extension, providing assistance for elbow coronal axis flexion. Alternatively, the threaded ring rods can be installed on the mounting holes of two opposing forearm frames, generating resistance to abduction of the shoulder joint's sagittal axis and providing assistance to adduction of the shoulder joint's sagittal axis. This multifunctional and flexible exoskeleton device can achieve resistance and assistance for all movements within its range of motion.

[0117] In addition, motors or hydraulic devices can be installed at various structural rotational connections to provide assistance to the human body.

[0118] Example 2

[0119] Compared to Embodiment 1, Embodiment 2 differs only in the connection method between the upper arm accessory frame 122 and the first shoulder joint fork 211, such as... Figure 22 As shown, a shoulder ring 14 is provided at one end of the upper arm accessory limb 122. The structure of the shoulder ring 14 is the same as that of the wrist ring 35. A slider is rotatably mounted at one end of the first shoulder joint fork 211. The upper part of the slider is cylindrical and has multiple limiting holes. The limiting holes of the slider cooperate with the limiting holes on the first shoulder joint fork bushing 2111 to limit the rotation range. The slider is slidably mounted on the shoulder ring 14. The shoulder ring 14 can realize the internal and external rotation of the upper arm along the vertical axis of the shoulder joint.

[0120] Similarly, the first leg joint fork 811 and the thigh accessory limb frame 922 can also be connected in the above manner to achieve internal and external rotation of the hip joint along the vertical axis.

[0121] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A multifunctional flexible exoskeleton device, characterized in that: Including forearm frame (11), upper arm frame (12), upper limb frame (2), and spinal exoskeleton; The upper limb brace (2) includes a shoulder brace (21), a transverse scapula (22), and a longitudinal scapula (23). The shoulder frame (21) includes a first shoulder fork (211) and a second shoulder fork (212). The first end of the first shoulder fork (211) is axially rotatably connected to one end of the upper arm frame (12) to realize internal and external rotation of the arm. The second end of the first shoulder joint fork (211) is rotatably connected to the first end of the second shoulder joint fork (212). The axis of rotation of the second end of the first shoulder joint fork (211) is perpendicular to the axis of rotation of the first end of the second shoulder joint fork (212), which is used to realize the shoulder joint abduction and adduction along the sagittal axis and horizontal adduction and horizontal abduction along the vertical axis. The longitudinal scapula (23) is arranged along the sagittal axis, and the second end of the second scapular fork (212) is rotatably connected to the longitudinal scapula (23) along the coronal axis to realize the flexion, extension and circumduction of the shoulder joint along the coronal axis; The transverse scapula (22) is provided with a shoulder slider (221) that can slide along the coronal axis. One end of the transverse scapula (22) is rotatably connected to the longitudinal scapula (23) along the sagittal axis through the shoulder slider (221). The other end of the transverse scapula (22) is rotatably connected to the spinal exoskeleton along the sagittal axis. This is used to realize the lifting and lowering of the shoulder girdle joint in the sagittal plane and the rotation of the longitudinal scapula (23) with the shoulder. The forearm frame (11) and the upper arm frame (12) are rotatably connected along the coronal axis; The forearm frame (11) is rotatably connected to the upper arm frame (12) via an elbow frame (13). The forearm frame (11) includes a primary forearm frame (111) and a secondary forearm frame (112), which are slidably connected for adjusting the length of the forearm frame (11). The upper arm frame (12) includes a primary upper arm frame (121) and a secondary upper arm frame (122). The limb frame (121) and the upper arm accessory limb frame (122) are slidably connected to adjust the length of the upper arm limb frame (12). The elbow limb frame (13) includes an elbow joint fork (131) and an elbow connecting plate (132). The elbow joint fork (131) and the elbow connecting plate (132) are rotatably connected along the coronal axis. The elbow joint fork (131) is slidably connected to the upper arm main limb frame (121), and the elbow connecting plate (132) is slidably connected to the forearm main limb frame (111). The forearm frame (11) is provided with a wrist frame (3) at the end away from the upper arm frame (12). The wrist frame (3) includes a wrist ring (35) and a wrist slider (32). The wrist slider (32) is slidably connected to the wrist ring (35). The wrist slider (32) is used to realize the rotation of the wrist joint. The wrist slider (32) is provided with a wrist limiting bushing (33) at the end away from the wrist ring (35). The first end of the wrist limiting bushing (33) is rotatably connected to the wrist slider (32) to realize the lateral flexion of the wrist joint. The second end of the wrist limiting bushing (33) is provided with a hand connecting shaft (34). The hand connecting shaft (34) is rotatably connected to the wrist limiting bushing (33) to realize the flexion and extension of the wrist joint.

2. The multifunctional flexible exoskeleton device according to claim 1, characterized in that: Five palm-limiting bushings (41) are provided on the hand connecting shaft (34). The first end of the palm-limiting bushing (41) is rotatably connected to the hand connecting shaft (34) to realize the flexion and extension of the metacarpal bones. Among the five palm-limiting bushings (41), the second end of four adjacent palm-limiting bushings (41) is rotatably provided with palm rods (42) to realize the abduction and adduction of the metacarpal bones. The second end of the remaining palm-limiting bushing (41) is provided with a thumb limb frame (43). The end of the palm rod (42) away from the palm-limiting bushing (41) is connected to a finger limb frame (44) through a finger-limiting bushing (45). The finger limb frame (44) includes a first finger joint, a second finger joint, and a finger sleeve (46) connected in sequence. The finger-limiting bushing (45) is used to realize the abduction, adduction, flexion, and extension of the first finger joint. The first finger joint and the second finger joint are rotatably connected, and the second finger joint and the finger sleeve (46) are rotatably connected to realize the flexion and extension of each finger joint.

3. The multifunctional flexible exoskeleton device according to claim 1, characterized in that: The spinal exoskeleton includes a lumbar limb frame (6), a thoracic limb frame (5), and a cervical limb frame (7). The thoracic limb frame (5) includes two thoracic vertebral connecting plates (51). The two thoracic vertebral connecting plates (51) are rotatably connected to the lumbar limb frame (6) and the cervical limb frame (7) along the vertical axis, respectively. The two thoracic vertebral connecting plates (51) are connected to each other by two symmetrical retractable thoracic vertebral rods (52). A thoracic vertebral limiting sleeve (53) is provided on the thoracic vertebral rod (52). One end of the thoracic vertebral limiting sleeve (53) is rotatably connected to the transverse scapula (22) along the sagittal axis. The other end of the thoracic vertebral limiting sleeve (53) is rotatably connected to the thoracic vertebral rod (52) to realize the forward and backward retraction of the shoulder girdle joint along the vertical axis.

4. The multifunctional flexible exoskeleton device according to claim 3, characterized in that: The cervical limb frame (7) includes a cervical vertebral limiting sleeve (71) and cervical vertebral chain plates. At least one cervical vertebral chain plate is provided between adjacent cervical vertebral chain plates. The cervical vertebral chain plates include an inner cervical chain plate (72) and an outer cervical chain plate (73). A head connecting plate (74) is provided at the upper end of the cervical vertebral limiting sleeve (71). The head connecting plate (74) is used to connect the cervical vertebral frame (7) to the head. The head connecting plate (74) is rotatably connected to the first end of the cervical vertebral limiting sleeve (71) along the sagittal axis. Used to achieve head tilting; the second end of the cervical vertebra limit sleeve (71) is rotatably connected to the first end of the cervical inner chain plate (72) along the coronal axis and vertical axis, used to achieve head pitching and rotation; the cervical inner chain plate (72) and the cervical outer chain plate (73) are slidably rotatably connected, used to achieve cervical joint flexion and extension; the end of the cervical outer chain plate (73) away from the cervical inner chain plate (72) is rotatably connected to the thoracic vertebral frame (5) along the sagittal axis and vertical axis, used to achieve lateral flexion and rotation of the cervical joint.

5. The multifunctional flexible exoskeleton device according to claim 4, characterized in that: The cervical inner chain plate (72) is provided with a cervical shaft (75). The cervical outer chain plate (73) is provided with a sliding groove and a chain plate thickening part (76) on both sides. The thickness of the chain plate thickening part (76) is greater than the thickness of other parts on both sides of the cervical outer chain plate (73). The two ends of the cervical shaft (75) extend out of the sliding groove and slide and rotate in connection with the sliding groove. The two ends of the cervical shaft (75) are provided with cervical limiting discs (77). The cervical limiting discs (77) are provided with limiting holes. The cervical limiting discs (77) are only in contact with the chain plate thickening part (76). The chain plate thickening part (76) is provided with limiting holes along the length direction of the sliding groove. The limiting holes of the cervical limiting discs (77) are used to limit the rotation range of the cervical shaft (75). The limiting holes of the chain plate thickening part (76) are used to limit the sliding range of the cervical shaft (75).

6. The multifunctional flexible exoskeleton device according to claim 3, characterized in that: The upper end of the lumbar limb frame (6) is rotatably connected to the thoracic vertebral connecting plate (51) of the thoracic vertebral frame (5) along the sagittal and vertical axes, for realizing the rotation of the thoracic vertebrae and the sagittal lateral flexion of the thoracic vertebrae. The lower end of the lumbar limb frame (6) is provided with a lower limb belt frame (8), which is rotatably connected to the lower end of the lumbar limb frame (6) along the sagittal and vertical axes, for realizing the coronal axial rotation of the lumbar vertebrae and the coronal axial lateral flexion of the spine. The lumbar limb frame (6) includes the upper end of the lumbar vertebrae. The lumbar spine includes a rotating limb frame (61), a lower lumbar rotating limb frame (62), and multiple intermediate lumbar limb frames (63). The intermediate lumbar limb frames (63) are rotatably connected to the upper lumbar rotating limb frame (61) along the coronal axis. The intermediate lumbar limb frames (63) are rotatably connected to the lower lumbar rotating limb frame (62) along the coronal axis. Adjacent intermediate lumbar limb frames (63) are slidably rotatably connected and rotatably connected along the coronal axis. This configuration is used to realize the flexion and extension of the lumbar spine along the coronal axis and to provide a range of motion for extension and contraction.

7. The multifunctional flexible exoskeleton device according to claim 6, characterized in that: The lower limb frame (8) includes a hip frame (81), a transverse iliac bone (82), and a longitudinal iliac bone (83); the hip frame (81) is connected to a thigh frame (92) and a lower leg frame (91). The hip frame (81) includes a first leg fork (811) and a second leg fork (812). The first end of the first leg fork (811) is axially rotatably connected to one end of the thigh frame (92) to realize internal and external rotation of the thigh along the vertical axis. The second end of the first leg fork (811) is rotatably connected to the first end of the second leg fork (812), and the axis of rotation of the second end of the first leg fork (811) is perpendicular to the axis of rotation of the first end of the second leg fork (812), which is used to realize the abduction and adduction of the hip joint along the sagittal axis and the flexion and extension along the coronal axis. The longitudinal iliac bone (83) is arranged along the sagittal axis, and the second end of the second femoral fork (812) is axially rotatably connected to the longitudinal iliac bone (83) to realize the horizontal abduction and adduction of the hip joint along the sagittal axis, as well as the internal rotation, external rotation, and circumduction along the vertical axis. The transverse iliac bone (82) is provided with a hip slider (823) that can slide along the coronal axis. One end of the transverse iliac bone (82) is rotatably connected to the longitudinal iliac bone (83) along the sagittal axis through the hip slider (823) to realize the lifting and lowering of the hip. The other end of the transverse iliac bone (82) is rotatably connected to the lower end of the lumbar limb frame (6) along the vertical axis. The lower leg frame (91) and the upper leg frame (92) are rotatably connected along the coronal axis.

8. The multifunctional flexible exoskeleton device according to claim 7, characterized in that: The lower end of the lower leg frame (91) is connected to the foot frame (10), which includes an ankle frame (101) and a foot plate frame (102). The ankle frame (101) includes an ankle connecting sleeve (1011) and an ankle rotating sleeve (1012). The ankle rotating sleeve (1012) is slidably connected to the lower leg frame (91). The upper end of the ankle rotating sleeve (1012) is rotatably connected to the ankle connecting sleeve (1011) along the vertical axis and the sagittal axis, and is used to realize the internal rotation and external rotation of the lower leg and the inversion and eversion of the ankle joint. The lower end of the ankle connecting sleeve (1011) is rotatably connected to the foot plate frame (102) along the coronal axis, and is used to realize the flexion and extension of the ankle joint along the coronal axis. The foot frame (102) includes a forefoot frame (1021), a hindfoot frame (1022), and a toe frame (1023). The hindfoot frame (1022) is connected to the ankle frame (101). The forefoot frame (1021) and the hindfoot frame (1022) are rotatably connected along the sagittal axis to achieve lateral tilting of the foot. The toe frame (1023) is rotatably connected to the forefoot frame (1021) along the coronal axis to achieve flexion and extension of the toes.

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