Human-robot motion compatible waist and hip joint exoskeleton robot

Abstract

The application discloses a waist-hip joint exoskeleton robot compatible with human motion, which comprises a waist passive power-assisted super-redundant hybrid mechanism, a hip joint active power-assisted underactuated series mechanism, a waist-hip connecting mechanism and a wearing part; the waist-hip connecting mechanism connects the waist passive power-assisted super-redundant hybrid mechanism and the hip joint active power-assisted underactuated series mechanism; the upper end of the waist passive power-assisted super-redundant hybrid mechanism, the first joint of the hip joint active power-assisted underactuated series mechanism and the leg spherical hinge are all connected with the wearing part. Compared with the prior art, the robot can adapt to various waist-bending carrying work of the wearer, the working range is coordinated with the normal motion range of the human body, does not hinder the normal motion of the wearer such as forward bending, backward stretching, outward spreading, inward collecting, inward rotating and outward rotating, can provide the waist-bending carrying work of the wearer with a combined active and passive power assistance, reduces the load of the waist and back, reduces the incidence of waist and hip joint diseases and enhances the working capacity.

Description

Technical Field

[0001] This invention belongs to the fields of mechanical engineering, robotics and mechanics research, specifically a hip and waist joint exoskeleton robot for assisting in handling actions and enhancing human function. Background Technology

[0002] The lower back bears a heavy weight in the human body, often carrying loads far exceeding the wearer's body weight. Consequently, many workers in logistics, construction, healthcare, and manufacturing suffer from lower back pain. Currently, treatment and rehabilitation for lower back problems primarily rely on traditional methods such as massage, cupping, and acupuncture, with surgery sometimes required for severe cases. Therefore, prevention of lower back problems is crucial, and reducing the burden on the lower back during work has become a significant challenge. Hip-lumbar exoskeleton robots, as wearable robots, provide support and protection. Their application can effectively prevent and reduce lower back injuries, while also enhancing the wearer's lifting capacity and reducing physical exertion.

[0003] Currently, relatively mature lumbar exoskeleton robots internationally include the EksoEVO exoskeleton developed by Ekso Bionics in the United States, the APO exoskeleton robot developed by the Institute of Biorobotics at the University of Sant'Anna Pisa in Italy, and the Japet lumbar exoskeleton developed by Japet Medical Devices in France. Domestically, there are also the BES-HV electrically driven lumbar exoskeleton developed by Shanghai Aosha Intelligent and the Feiyan series of active lumbar assist exoskeletons developed by Maibao Intelligent. Published patents include a lumbar assist exoskeleton mechanism (CN218856957U) from Wuhan Apailang Technology Co., Ltd., and an integrated weight-bearing exoskeleton and lumbar exoskeleton (CN218138043U) from Chongqing Niudi Innovation Technology Co., Ltd. However, the aforementioned exoskeleton robots all suffer from insufficient human-machine kinematic compatibility in their structure. Regarding the lumbar mechanism, they fail to consider that the human spine is composed of multiple vertebral joints connected together, instead employing a single-joint design, leading to compression of the spinal structure. Regarding the hip joint mechanism, they do not consider the range of motion of the three degrees of freedom of the human hip joint, restricting the wearer's movement when wearing the exoskeleton and hindering normal human movement. From a kinematic perspective, the essence of human-machine kinematic incompatibility lies in the kinematic overdeterminacy or kinematic overconstraint caused by the lack of degrees of freedom in the human-machine closed chain. This causes the rigid exoskeleton mechanism to compress the wearer's limbs, resulting in misalignment errors due to a mismatch between the human's and exoskeleton's range of motion. During use, the exoskeleton generates additional harmful joint forces, restricting the wearer's normal range of motion and also compressing the limbs, reducing comfort, safety, and assistive effects. Summary of the Invention

[0004] This patent proposes a human-machine kinematic compatible lumbar and hip joint exoskeleton robot to solve the above problems. It plans the degree of freedom configuration of the lumbar and hip joint exoskeleton robot based on the anatomical and kinematic characteristics of the human lumbar and hip joint.

[0005] Based on this, this patent designs a human-machine motion-compatible hip joint exoskeleton robot. The robot includes a passive lumbar assist super-redundant hybrid mechanism, an active hip assist underactuated series mechanism, a lumbar-hip connection mechanism, and a wearable component. The lumbar-hip connection mechanism connects the passive lumbar assist super-redundant hybrid mechanism and the active hip assist underactuated series mechanism. The upper end of the passive lumbar assist super-redundant hybrid mechanism, the first joint of the active hip assist underactuated series mechanism, and the leg ball joint are all connected to the wearable component.

[0006] During human transport, the vertebrae that primarily bear force are L1 to S1 (i.e., the first lumbar vertebra to the first sacral vertebra). Therefore, the parallel unit of the lumbar passive assist super-redundancy hybrid mechanism consists of five segments, corresponding to the five vertebrae from L1 to L2 to L5 to S1. Each parallel unit adopts a parallel mechanism design based on 6-SPS.

[0007] The passive waist assist super-redundant hybrid mechanism includes an upper connector, a telescopic rod, a lower connector, and a parallel mechanism; the upper end of the upper connector is connected to the wearable device, and the lower end is fixedly connected to the upper end of the telescopic rod, while the lower end of the telescopic rod is fixedly connected to the upper end of the lower connector; the lower end of the lower connector is fixedly connected to the first parallel unit in the parallel mechanism.

[0008] Each parallel unit includes a wearable connector, a chassis, a connecting plate, a ball joint cover, and a telescopic unit. The wearable connector is fixed to the annular chassis, rotatably connected to the connecting plate, and fixedly connected to the wearable connector. The chassis are arranged in parallel, and the ball joint cover is fixed to the upper and lower surfaces of the chassis. The ball joint head in the telescopic unit is ball-jointed to the chassis through the ball joint cover. The chassis in the last set of parallel units is fixedly connected to an L-shaped plate.

[0009] The telescopic unit includes a ball joint, a telescopic rod, a sleeve end cap, a spring, and a sleeve. The head of the telescopic rod is slidably installed inside the sleeve. The sleeve end cap is fixedly connected to one end of the sleeve. The rod portion of the telescopic rod protrudes through a hole in the sleeve end cap. The tail end of the ball joint is fixedly connected to the tail end of the telescopic rod. The other ball joint is fixedly connected to the other end of the sleeve. Each telescopic unit is equipped with two springs, one of which is installed between the sleeve and the head of the telescopic rod, and the other is installed between the head of the telescopic rod and the sleeve end cap.

[0010] The hip-lumbar connection mechanism III includes a transmission section and an intermediate section; the intermediate section is fixedly connected to the L-shaped plate 9, and the intermediate section has the same number of transmission sections on both sides. The intermediate section is rotatably connected to the transmission section, and the intermediate sections are rotatably connected to each other.

[0011] The hip joint active-assisted underactuated series mechanism includes: two revolute joint mechanisms, one prismatic joint mechanism, and one ball joint mechanism; the first revolute joint mechanism includes: a mounting base and an actuator; the actuator is fixed on the actuator mounting base, which is fixedly connected to the wearable device and rotatably connected to the two outermost transmission joints of the lumbar-hip connection mechanism III; the output shaft of the actuator constitutes the rotation shaft of the first revolute joint; the second revolute joint mechanism includes: a rotor, a revolute joint connector, and a rotating component; one end of the revolute joint connector is fixedly connected to the rotor, and the other end is rotatably connected to the rotating component to form a... The second rotary joint rotating shaft; the sliding joint mechanism includes: a sliding joint shaft and a sliding joint slider; the sliding joint shaft and the sliding joint slider are slidably connected to form a sliding joint; the ball joint mechanism includes: a leg plate, a leg cover, a leg ball joint head, and a leg rod; the leg rod is fixedly connected to the leg ball joint head, the leg ball joint head is connected to the leg plate to form a spherical joint and is limited by the leg cover; the leg plate is fixed to the wearer's thigh by a strap; the output shaft of the actuator is fixedly connected to the rotor, the tail end of the rotating part is fixedly connected to the top end of the sliding joint shaft, one end of the leg rod is fixedly connected to the sliding joint slider, the sliding joint slider moves linearly, driving the entire ball joint mechanism to move.

[0012] The wearable components include an upper wearable component, a lower wearable component, and leg straps; a passive lumbar assist super-redundant hybrid mechanism is fixed to the upper wearable component and acts on the wearer's lower back; an active hip assist underactuated series mechanism is fixed to both sides of the lower wearable component, and the ball joint part is connected to the wearer's thigh via straps, acting on the wearer's hip joint to the thigh; the lumbar-hip connection mechanism serves as the connection between the passive lumbar assist super-redundant hybrid mechanism and the active hip assist underactuated series mechanism, and is connected to the lower wearable component.

[0013] The rotation axis of the second revolute joint is orthogonal to the rotation axis of the first revolute joint; the rotation axis of the first revolute joint is parallel to the coronal axis of the human body; the rotation axis of the second revolute joint is parallel to the sagittal axis of the human body.

[0014] Compared with the prior art, the advantages of the present invention are:

[0015] The human-machine kinematic compatible hip and lumbar exoskeleton robot disclosed in this invention can adapt to the wearer to perform a variety of bending and carrying tasks. The working range is coordinated with the normal range of human movement, and does not hinder the wearer's normal flexion, extension, abduction, adduction, internal rotation, and external rotation movements. It can also provide active and passive assistance for the wearer's bending and carrying movements, reduce the load on the lower back, reduce the incidence of hip and lumbar joint diseases, and enhance work capacity. Attached Figure Description

[0016] Figure 1 Diagram showing the degrees of freedom and joint configuration of a hip joint exoskeleton robot;

[0017] Figure 2 Design drawing of a human-machine motion-compatible hip joint exoskeleton robot;

[0018] Figure 3 Design drawing for the parallel unit in the waist section;

[0019] Figure 4 Design drawing for the telescopic unit;

[0020] Figure 5 Design drawing for the lumbar-hip connection mechanism;

[0021] Figure 6 Design drawing of a passively assisted underactuated series mechanism for the hip joint;

[0022] Figure 7 Design drawing for a ball joint. Detailed Implementation

[0023] The inventive purpose of the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. The embodiments cannot be repeated one by one here, but the implementation of the present invention is not limited to the following embodiments.

[0024] The human-machine motion-compatible lumbar and hip joint exoskeleton robot includes a passive lumbar assist super-redundant hybrid mechanism I, an active hip assist underactuated serial mechanism II, a lumbar and hip connection mechanism III, and wearable components;

[0025] The wearable components include an upper wearable component 1 (vest), a lower wearable component 8 (waist belt), and leg straps. A passive lumbar assist super-redundant hybrid mechanism I is fixed to the upper wearable component 1 and the lower wearable component 8, acting on the wearer's lower back. A hip joint active assist underactuated series mechanism II is fixed to both sides of the lower wearable component 8, with ball joints connected to the wearer's thighs via straps, acting on the wearer's hip joint and thigh. A lumbar-hip connection mechanism III serves as the connection between the passive lumbar assist super-redundant hybrid mechanism I and the hip joint active assist underactuated series mechanism II, and is connected to the lower wearable component 8.

[0026] The passive lumbar support super-redundant hybrid mechanism I includes an upper connector 2, a telescopic rod 5, a lower connector 6, and a parallel mechanism 7.

[0027] The upper end of the upper connector 2 is connected to the upper wearable piece 1, and the lower end is fitted to the rigid telescopic rod 5 through a hole shaft and can be fixed with screws and nuts. The length of the telescopic rod 5 can be varied between 130 and 210 mm depending on the wearer's needs. The upper end of the lower connector 6 is connected to the telescopic rod 5, and the lower end is connected to the first parallel unit in the parallel mechanism 7 via screws. The parallel mechanism 7 has five parallel units, each pair of which is fixed to each other with screws, and each unit is fixed to the wearable piece, forming a closed chain with the corresponding human spinal structure.

[0028] The structure of the parallel unit is as follows: Figure 3 and Figure 4 As shown, each parallel unit includes a wearable connector 7-1, a chassis 7-2, a connecting plate 7-3, a ball joint cover 7-4, and a telescopic unit;

[0029] The wearable connector 7-1 is fixed to the annular base 7-2. The wearable connector 7-1 is rotatably connected to the connecting plate 7-3, which has an arc structure and fits snugly against the wearable component, and is connected by screws and nuts. The bases 7-2 are arranged in parallel, and the ball joint cover 7-4 is fixed to the upper and lower surfaces of the bases 7-2. There are a total of 6 telescopic units between every two bases 7-2. The ball joint head 7-5 in the telescopic unit is connected to the base 7-2 through the ball joint cover 7-4 and can rotate freely within the spherical groove of the base.

[0030] The lower end of the parallel unit, chassis 7-2, is fixedly connected to the L-shaped plate 9;

[0031] Furthermore, the fifth (last) parallel unit can differ from the first four (or earlier) sections. The lower end of the fifth parallel unit's chassis 7-2 is replaced by the upper side plate of an L-shaped plate 9. The surface of the upper side plate of the L-shaped plate is identical to that of the chassis 7-2, featuring spherical grooves and through holes for screw connections. The dimensions of the chassis 7-2 can vary according to the wearer's height and other body dimensions; for example, for a male with a height of 170cm to 190cm, the diameter can vary between 45 and 55mm. The hollow portion of the ring is designed for lightweight construction.

[0032] The internal structure of the telescopic unit is as follows: Figure 4As shown, the telescopic unit includes a ball joint head 7-5, a telescopic rod 7-6, a sleeve end cap 7-7, a spring 7-8, and a sleeve 7-9. The head of the telescopic rod 7-6 is slidably installed inside the sleeve 7-9. The sleeve end cap 7-7 is fixedly connected to one end of the sleeve 7-9. The rod portion of the telescopic rod 7-6 protrudes through a hole in the sleeve end cap 7-7. The tail end of the ball joint head 7-5 is threaded. One ball joint head 7-5 is threadedly connected to the tail end of the telescopic rod 7-6; the other ball joint head 7-5 is threadedly connected to the other end of the sleeve 7-9. Each telescopic unit is equipped with two springs 7-8. One spring 7-8 is installed between the sleeve 7-9 and the head of the telescopic rod 7-6, and the other spring 7-8 is installed between the head of the telescopic rod 7-6 and the sleeve end cap 7-7.

[0033] During assembly, first insert one spring 7-8 into the sleeve 7-9, then install the head of the telescopic rod 7-6 into the sleeve 7-9, followed by the second spring 7-8. Seal the assembly with the sleeve end cap 7-7, and finally connect the ball joints 7-5 at both ends of the telescopic unit. The overall length of the telescopic unit determines the height of each parallel unit, which can vary between 55 and 60 mm depending on the wearer's body size. When the wearer performs a bending and lifting motion in the sagittal plane, the lumbar super-redundancy mechanism deforms to conform to the curve of the human spine. The springs 7-8 closer to the back in each telescopic unit are compressed, while those further away are stretched, thus storing elastic potential energy. When the wearer completes the bending motion and stands up, the elastic potential energy stored in the springs 7-8 is released, providing passive assistance to help the wearer stand up.

[0034] The hip-waist connection mechanism III is as follows Figure 5 As shown, the hip-lumbar connection mechanism III includes an intermediate section 10-1, a transmission section connecting shaft 10-2, and a transmission section 10-3. The intermediate section 10-1 is connected to the L-shaped plate 9 by screws. There are five identical transmission sections 10-3 on each side of the intermediate section 10-1. The intermediate section 10-1 and the two transmission sections 10-3 on both sides are rotatably connected by a retaining ring through the transmission section connecting shaft 10-2. Each pair of adjacent transmission sections 10-3 are also rotatably connected by the transmission section connecting shaft 10-2. The two outermost transmission sections 10-3 are respectively connected to the hip joint active assist underactuated series mechanism II on both sides, receiving the reaction torque from the hip-lumbar connection mechanism III and transmitting it section by section to the intermediate section 10-3, ultimately acting on the lumbar super-redundant hybrid mechanism to assist the lumbar carrying motion.

[0035] The specific connection method between transmission sections 10-3 is as follows: each transmission section 10-3 has a cylindrical structure with one concave end and one convex end on both sides, so that the head of the previous transmission section fits perfectly into the groove at the tail of the next transmission section. Every two transmission sections 10-3 are hinged end-to-end by a transmission section connecting shaft 10-2 and a shaft retaining ring, allowing them to rotate freely. The two outermost transmission sections 10-3 are also rotatably connected to the motor mounting base 12-1 via the transmission section connecting shaft 10-2 and the shaft retaining ring.

[0036] The number and size of transmission sections 10-3 can be adjusted according to the wearer's body size. The waist-hip connection mechanism III is mainly used to transmit torque to the actuator of the hip joint active assist under-driven series mechanism II. The actuator outputs a positive torque, while the actuator bearing mechanism is subjected to a counter torque. Transmission section 10-3 receives this torque and transmits it section by section to the waist passive assist super-redundant hybrid mechanism I, so as to realize the hip joint actuator assists the waist bending and carrying action.

[0037] The hip joint active assist underactuated tandem mechanism II, as described Figure 6 and Figure 7 As shown, its degree of freedom configuration and the design reference of each joint are as follows. Figure 6 The simplified diagram shown depicts the hip joint active assistance underactuated series mechanism II, consisting of two revolute joints, one prismatic joint, and one ball joint mechanism from top to bottom.

[0038] The first rotary joint mechanism includes: a mounting base and an actuator;

[0039] The second rotating joint mechanism includes: rotor 12-3, rotating joint connection 12-4, and rotating component 12-7;

[0040] The sliding joint mechanism includes: sliding joint shaft 13-1 and sliding joint slider 13-3; the sliding joint shaft 13-1 and sliding joint slider 13-3 are slidably connected to form a sliding joint;

[0041] The ball joint mechanism includes: leg plate 14-1, leg cover plate 14-2, leg ball joint head 14-3 and leg rod 14-4;

[0042] In this embodiment, the hip joint active assist underactuated series mechanism II includes: motor base 12-1, servo motor 12-2, rotor 12-3, rotating pair connector 12-4, rotating pair shaft 12-5, shaft end cover 12-6, and rotating component 12-7.

[0043] In this embodiment, the actuator is a servo motor 12-2. The output shaft of the servo motor 12-2 forms the first revolute joint, and the rotation axis (motor output shaft) is parallel to the coronal axis of the human body. The servo motor is fixed on the motor base 12-1, and the motor base 12-1 is fixedly connected to the lower wearable device 8. The output shaft of the servo motor 12-2 is connected to the rotor 12-3 to transmit rotation in the sagittal plane.

[0044] The rotation axis of the second revolute joint is orthogonal to the rotation axis of the first revolute joint and parallel to the sagittal axis of the human body. One end of the revolute joint connector 12-4 is fixedly connected to the rotor 12-3, and the other end is rotatably connected to the rotating component 12-7.

[0045] Specifically, one end of the rotary pair connecting member 12-4 has a groove, which fits against the rotor 12-3 and is fixed by a shaft and a retaining ring; the other end has a cylindrical structure with a through hole in the middle. This through hole should be coaxially installed with the through hole at the upper end of the rotating member 12-7 and embedded in the groove at the upper end of the rotating member 12-7. The rotary pair shaft 12-5 is installed in the aforementioned through hole on the rotary pair connecting member 12-4 and is threadedly engaged with the shaft end cover 12-6, allowing the rotating member 12-7 to rotate freely around the rotary pair shaft 12-5.

[0046] The lower end of the rotating component 12-7 of the hip joint active assist underactuated tandem mechanism II is fixedly connected to the upper end of the sliding secondary shaft 13-1 via a thread. The sliding secondary shaft 13-1 and the sliding secondary slider 13-3 form a sliding pair, and a linear bearing 13-2 is used to assist in movement (i.e., the sliding secondary shaft 13-1 and the sliding secondary slider 13-3 are slidably connected via the linear bearing 13-2). During installation, the linear bearing 13-2 should first be fitted onto the sliding secondary shaft 13-1, and then the slider 13-3 should be fitted onto the outer ring of the sliding bearing 13-2, and fixed to the bearing flange with screws. The end of the sliding secondary shaft 13-1 is designed with a diameter slightly larger than the limiting part of the shaft body to prevent the linear bearing 13-2 from slipping off the slider 13-3. The dimensions of each component of the sliding pair should ensure that the axis of the sliding pair is parallel to the axis of the human thigh when the wearer is standing. At the same time, for lightweight design, the diameter of the sliding secondary shaft should not exceed 15mm.

[0047] The ball joint of the hip joint active-assisted underactuated tandem mechanism II is as follows: Figure 7As shown, one end of the leg rod 14-4 is fixedly connected to the sliding block 13-3 of the sliding joint, allowing its position to change according to the movement of the sliding joint. The other end of the leg rod 14-4 has a threaded hole, connecting to the tail of the leg ball joint head 14-3. The head of the leg ball joint head 14-3 mates with the spherical groove of the leg plate 14-1 to form a ball joint, possessing three degrees of freedom of rotation. The leg cover 14-2 covers the mating area between the leg ball joint head 14-3 and the leg plate 14-1, and is fixed to the leg plate 14-1 with screws to prevent the leg ball joint head 14-3 from slipping off. The dimensions of the leg ball joint head 14-3 should comprehensively consider strength factors and lightweight design; the radius of its spherical part can vary within the range of 8 to 10 mm, and the diameter of its cylindrical part can vary within the range of 8 to 10 mm. The ball joint cover 14-2 should not significantly restrict the rotation range of the leg ball joint head 14-3; therefore, its thickness should not exceed 5 mm. The leg plate 14-1 is secured to the wearer's thigh with straps.

[0048] The Leg Bar 14-4 features a design that combines a straight bar with a curved bar to fit the curve of the human thigh. The length of the straight bar and the radius of the curved bar can be adjusted according to the wearer's body size. The length of the straight bar can vary from 75 to 90 mm, and the radius of the curved bar can vary from 40 to 48 mm.

[0049] The hip joint active assist underactuated tandem mechanism II also includes a controller 3 and a battery 4, which are mounted on the upper wearable device 1. The controller 3 is used to control the torque output of the actuator. The battery 4 is used to power the controller and the actuator.

[0050] The wearable parts are made of flexible textile materials, which have a certain degree of breathability and sufficient toughness and strength to ensure that the wearer does not feel pressure or restraint during use.

[0051] The embodiments described above are merely preferred embodiments of the present invention and are not intended to limit the concept and scope of the present invention. Various modifications and improvements made to the technical solutions of the present invention by those skilled in the art without departing from the inventive concept should fall within the protection scope of the present invention. All technical contents for which protection is sought in this invention are fully described in the claims.

Claims

1. A human-machine motion-compatible hip joint exoskeleton robot, characterized in that: The robot includes a lumbar passive assist super-redundant hybrid mechanism, a hip joint active assist underactuated series mechanism, a lumbar-hip connection mechanism, and a wearable device; the lumbar-hip connection mechanism connects the lumbar passive assist super-redundant hybrid mechanism and the hip joint active assist underactuated series mechanism; the upper end of the lumbar passive assist super-redundant hybrid mechanism, the first joint of the hip joint active assist underactuated series mechanism, and the leg ball joint are all connected to the wearable device. The passive lumbar support super-redundant hybrid mechanism includes an upper connector, a telescopic rod, a lower connector, and a parallel mechanism. The upper end of the upper connector is connected to the wearable device, and the lower end is fixedly connected to the upper end of the telescopic rod. The lower end of the telescopic rod is connected to the upper end of the lower connector. The lower end of the lower connector is fixedly connected to the first parallel unit in the parallel mechanism. The parallel mechanism consists of multiple sets of parallel units, each set of parallel units adopts a parallel mechanism design based on 6-SPS; Each parallel unit includes a wearable connector, a chassis, a connecting plate, a ball joint cover, and a telescopic unit; the wearable connector is fixed on the annular chassis, the wearable connector is rotatably connected to the connecting plate, and the connecting plate is fixedly connected to the wearable connector; the chassis are arranged in parallel, the ball joint cover is fixed on the upper and lower surfaces of the chassis, and the ball joint head in the telescopic unit is ball-connected to the chassis through the ball joint cover; The chassis in the last parallel unit is replaced by the upper side plate of an L-shaped plate; The hip-lumbar connection mechanism includes a transmission section and an intermediate section; the intermediate section is fixedly connected to the L-shaped plate, and the intermediate section has the same number of transmission sections on both sides of the intermediate section. The intermediate section is rotatably connected to the transmission section, and the intermediate sections are rotatably connected to each other. The hip joint active assist underactuated tandem mechanism includes two revolute joint mechanisms. The first revolute joint mechanism includes a mounting base and an actuator. The actuator is fixed on the actuator mounting base, which is fixedly connected to the wearable device and rotatably connected to the two outermost transmission joints of the lumbar-hip connection mechanism. The output shaft of the actuator constitutes the rotation shaft of the first revolute joint. The second revolute joint mechanism includes a rotor, a revolute joint connector, and a rotating component. One end of the revolute joint connector is fixedly connected to the rotor, and the other end is rotatably connected to the rotating component to form the rotation shaft of the second revolute joint.

2. The human-machine kinematic compatible hip joint exoskeleton robot according to claim 1, characterized in that: The telescopic unit includes a ball joint, a telescopic rod, a sleeve end cap, a spring, and a sleeve. The head of the telescopic rod is slidably installed inside the sleeve. The sleeve end cap is fixedly connected to one end of the sleeve. The rod portion of the telescopic rod protrudes through a hole in the sleeve end cap. The tail end of the ball joint is fixedly connected to the tail end of the telescopic rod. The other ball joint is fixedly connected to the other end of the sleeve. Each telescopic unit is equipped with two springs, one of which is installed between the sleeve and the head of the telescopic rod, and the other is installed between the head of the telescopic rod and the sleeve end cap.

3. The human-machine kinematic compatible hip joint exoskeleton robot according to claim 1, further characterized in that: The active-assisted underactuated tandem mechanism for the hip joint also includes: a prismatic joint mechanism and a ball joint mechanism; The sliding joint mechanism includes: a sliding joint shaft and a sliding joint slider; the sliding joint shaft and the sliding joint slider are slidably connected to form a sliding joint; The ball joint mechanism includes: a leg plate, a leg cover, a leg ball joint head, and a leg rod; the leg rod is fixedly connected to the leg ball joint head, the leg ball joint head is connected to the leg plate to form a spherical pair and is limited by the leg cover; the leg plate is fixed to the wearer's thigh by straps; The output shaft of the actuator is fixedly connected to the rotor, the tail end of the rotating part is fixedly connected to the top end of the sliding secondary shaft, one end of the leg is fixedly connected to the sliding secondary slider, the sliding secondary slider moves in a straight line, driving the entire ball joint mechanism to move.

4. The human-machine kinematic compatible hip joint exoskeleton robot according to claim 1, further characterized in that: The wearable components include an upper wearable component, a lower wearable component, and leg straps; a passive lumbar assist super-redundant hybrid mechanism is fixed to the wearable components and acts on the wearer's lower back; an active hip assist underactuated series mechanism is fixed to both sides of the lower wearable component, and the ball joint part is connected to the wearer's thigh via straps, acting on the wearer's hip joint to the thigh; the lumbar-hip connection mechanism serves as the connection between the passive lumbar assist super-redundant hybrid mechanism and the active hip assist underactuated series mechanism, and is connected to the lower wearable component.

5. The human-machine kinematic compatible hip joint exoskeleton robot according to claim 1, further characterized in that: The rotation axis of the second revolute joint is orthogonal to the rotation axis of the first revolute joint; the rotation axis of the first revolute joint is parallel to the coronal axis of the human body; the rotation axis of the second revolute joint is parallel to the sagittal axis of the human body.

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