A knee assisting exoskeleton and a knee and ankle assisting exoskeleton thereof

Abstract

This invention discloses a knee-assisted exoskeleton and its knee and ankle-assisted exoskeletons. The knee-assisted exoskeleton features a four-bar linkage with left and right bars hinged to the upper and lower bars respectively. The upper bar connects to a thigh support bar, and the lower bar connects to a calf support bar. A rotating shaft is fixedly connected to the hinge point of the lower bar and the left bar, and the rotating shaft is fixedly connected to a rotating frame of an energy storage mechanism. The other end of the rotating frame is fixedly connected to the power output structure of an active power mechanism. The lower end of the calf support bar is movably connected to the footwear. This invention solves the problem of significant differences in the instantaneous center of gravity of the exoskeleton and the wearer's knee joint in existing technologies, resulting in poor wearer comfort. This knee-assisted exoskeleton and its knee and ankle-assisted exoskeletons offer flexible movement, high adaptability, and convenience; they ensure that the instantaneous center of gravity of the exoskeleton matches the wearer's knee joint instantaneous center of gravity during walking, thus improving wearer comfort.

Description

Technical Field

[0001] This invention relates to the field of human exoskeleton structure design technology, and in particular to a knee joint assistive exoskeleton and its knee and ankle joint assistive exoskeletons. Background Technology

[0002] Currently, the design of most lower limb exoskeletons at the knee joint is not coordinated with human movement patterns. For example, during knee flexion, the femur and tibia slide and roll together, with the instantaneous center of motion forming a "J" curve. However, existing knee joint designs mostly use hinge structures, which leads to movement errors when a person wears a lower limb exoskeleton, thus reducing comfort.

[0003] Furthermore, since most existing exoskeleton assistive designs use either non-powered or powered exoskeletons for energy storage, while both can significantly reduce metabolism during human walking, they each have some drawbacks:

[0004] Non-powered exoskeletons cannot adapt to the human gait cycle as well as powered exoskeletons, while the motors of powered exoskeletons are heavy and bulky.

[0005] It is evident that in existing technologies, there is a significant difference in the instantaneous changes of the knee joint between the exoskeleton and the wearer, resulting in poor wearer comfort and making it inconvenient for the exoskeleton to store and release energy to drive its movement. Summary of the Invention

[0006] In view of this, the main objective of the present invention is to provide a knee joint assistive exoskeleton that is flexible in movement, highly adaptable, convenient and quick to use, and easy to wear, as well as knee and ankle joint assistive exoskeletons.

[0007] To achieve the above objectives, the technical solution of the present invention is implemented as follows:

[0008] A knee-assisted exoskeleton includes: a four-bar linkage, an energy storage mechanism, a powered mechanism, a thigh support bar, and a calf support bar;

[0009] The four-bar linkage includes an upper bar, a lower bar, a left bar, and a right bar, with the upper bar and lower bar hinged to the left and right bars respectively on their left and right sides;

[0010] The upper rod is connected to the thigh support rod, and the lower rod is connected to the calf support rod;

[0011] At the hinge point between the lower rod and the left rod, the left rod is fixedly connected to a rotating shaft, and the rotating shaft is fixedly connected to the rotating frame of the energy storage mechanism;

[0012] The other end of the rotating frame is fixedly connected to the power output structure of the active power mechanism.

[0013] In a preferred embodiment, the length ratio of the upper rod, lower rod, left rod, and right rod is 51:33:41:38.

[0014] In a preferred embodiment, the lengths of the upper rod, lower rod, left rod, and right rod are 51.74 mm, 33.45 mm, 41 mm, and 38.3 mm, respectively.

[0015] In a preferred embodiment, an angle sensor is connected to the hinge joint between the lower rod and the left rod.

[0016] In a preferred embodiment, the energy storage mechanism further includes: a back plate and a spring assembly; the rotating frame extends out of the pressure arm, the other end of the pressure arm is pressed and connected to one end of the spring assembly, and the edge of the back plate is fixedly connected to a support arm, which supports the other end of the spring assembly;

[0017] In a preferred embodiment, the other side of the back plate is fixedly connected to the lower leg support rod.

[0018] In a preferred embodiment, three compression spring groups are provided, and the included angle between adjacent compression spring groups is 120°.

[0019] In a preferred embodiment, the active power mechanism includes: a first output tooth, a second output tooth, a first input tooth, a second input tooth, a clutch, and a motor. The lower leg support rod is hinged to the first input tooth. The lower leg support rod is coaxially and fixedly connected to the motor with the first input tooth. The motor outputs and drives the first input tooth. The first input tooth meshes and drives the second input tooth. The second input tooth and the first output tooth are connected by a clutch. The first output tooth meshes and drives the second output tooth. The second output tooth is coaxially and fixedly connected to the rotating frame.

[0020] In a preferred embodiment, the lower leg support rod is coaxially hinged to the second input tooth and the first output tooth, and the lower leg support rod is fixedly connected to the clutch.

[0021] In a preferred embodiment, the number of teeth of the first output tooth is less than the number of teeth of the second output tooth.

[0022] In a preferred embodiment, the device further includes a thigh brace and a calf brace, wherein the upper side of the thigh support rod is adjustablely connected to the thigh brace, and the lower side of the calf support rod is adjustablely connected to the calf brace.

[0023] A knee and ankle joint assistive exoskeleton, comprising the above-mentioned knee joint assistive exoskeleton, further comprising: footwear, wherein the lower end of the calf support rod is movably connected to the footwear;

[0024] The footwear includes: a footwear body, a fisheye bearing, a ball bearing, a support, an ankle strap, and a side insole; the support is fixedly connected to one side of the footwear body, the support is movably connected to the fisheye bearing via the ball bearing, the upper end of the fisheye bearing is fixedly connected to the lower end of the calf support rod, and the ankle strap is fixedly connected to the footwear body via the side insole.

[0025] The knee joint assistive exoskeleton and its knee and ankle joint assistive exoskeletons of the present invention have the following characteristics:

[0026] Beneficial effects:

[0027] This knee-assisted exoskeleton includes a four-bar linkage comprising an upper bar, a lower bar, a left bar, and a right bar. The upper and lower bars are hinged to the left and right sides of the left and right bars, respectively. The upper bar connects to a thigh support bar, and the lower bar connects to a calf support bar. At the hinge point between the lower bar and the left bar, the left bar is fixedly connected to a rotating shaft, which is fixedly connected to the rotating frame of the energy storage mechanism. The other end of the rotating frame is fixedly connected to the power output structure of an active power mechanism. This knee and ankle-assisted exoskeleton, including the aforementioned knee-assisted exoskeleton, also includes footwear, with the lower end of the calf support bar movably connected to the footwear.

[0028] This technology addresses the significant difference in instantaneous heart rate changes between the exoskeleton and the wearer's knee joint in existing technologies, which leads to poor wearer comfort and makes it inconvenient for the exoskeleton to store and release energy to drive its movement.

[0029] This knee-assisted exoskeleton, along with its knee and ankle-assisted exoskeletons, offers flexible movement, high adaptability, convenience, and ease of wear. The four-bar linkage design ensures that the exoskeleton's knee joint instantaneous center of gravity aligns with the wearer's movement trajectory during walking, enhancing comfort. The motor features clutch control, allowing the exoskeleton to switch on and off according to the wearer's gait cycle, providing high adaptability. Attached Figure Description

[0030] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0031] Figure 1 A schematic diagram of the structure of a knee and ankle joint assistive exoskeleton according to one embodiment of the present disclosure;

[0032] Figure 2 This is a schematic diagram of a four-bar linkage of a knee and ankle joint assistive exoskeleton according to one embodiment of the present disclosure.

[0033] Figure 3 An exploded view of a four-bar linkage of a knee and ankle joint assistive exoskeleton according to one embodiment of the present disclosure;

[0034] Figure 4 This is a schematic diagram of the energy storage mechanism of a knee and ankle joint assistive exoskeleton according to one embodiment of the present disclosure.

[0035] Figure 5 This is a schematic diagram showing the relative positional relationship between the energy storage mechanism and the active power mechanism of a knee and ankle joint assistive exoskeleton according to one embodiment of the present disclosure.

[0036] Figure 6 This is a structural schematic diagram of a footwear device for a knee and ankle joint assistive exoskeleton according to one embodiment of the present disclosure;

[0037] Figure 7 A simplified model of the knee joint kinematics of the exoskeleton according to an embodiment of the present disclosure is provided.

[0038] Figure 8 Importing a Solidworks model of a four-bar linkage exoskeleton for knee and ankle joints according to one embodiment of the present disclosure into ADAMS for simulation.

[0039] Figure 9 The instantaneous center trajectory diagram of a four-bar linkage of a knee and ankle joint assistive exoskeleton according to one embodiment of the present disclosure;

[0040] Figure 10 This is a diagram showing the instantaneous center of gravity trajectory of a four-bar linkage of a knee and ankle joint assistive exoskeleton according to an embodiment of this disclosure, and a comparison diagram of the instantaneous center of gravity trajectory of the human knee joint and the fitted coordinate trajectory.

[0041] [Explanation of Key Component Symbols]

[0042] 1. Thigh brace;

[0043] 2. Lower leg protectors;

[0044] 3. Footwear;

[0045] 31. Shoe body; 32. Fisheye bearing; 33. Ball bearing; 34. Support column;

[0046] 35. Ankle brace; 36. Side insole;

[0047] 5. Thigh support bar;

[0048] 6. Energy storage mechanisms;

[0049] 61. Rotating frame; 62. Back plate; 63. Compression spring assembly; 64. Compression arm; 65. Support arm;

[0050] 7. Four-bar linkage;

[0051] 71. Backswing; 72. Downswing; 73. Left swing; 74. Right swing;

[0052] 75. Rotating shaft; 76. Angle sensor;

[0053] 8. Active power mechanism;

[0054] 81. First output tooth; 82. Second output tooth; 83. First input tooth; 84. Second input tooth;

[0055] 85. Clutch; 86. Motor;

[0056] 9. Lower leg support bar. Detailed Implementation

[0057] The following description, in conjunction with the accompanying drawings and embodiments of the invention, provides a more detailed account of the knee joint assistive exoskeleton and its knee and ankle joint assistive exoskeletons.

[0058] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0059] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0060] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented, for example, in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0061] For ease of description, spatial relative terms such as "above," "on top of," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation beyond the orientation of the device as described in the figures. For example, if the device in the figures were inverted, a device described as "above" or "on top of" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0062] like Figures 1-6 As shown, the knee joint assist exoskeleton includes: a four-bar linkage 7 that simulates the instantaneous changes in the center of gravity of human knee joint movement; an energy storage mechanism 6 that stores energy during movement and the energy output of the motor; an active power mechanism 8 with an external power source; a thigh support rod 5 that connects to the wearer's thigh; and a lower leg support rod 9 that connects to the wearer's lower leg.

[0063] To facilitate the connection between the four-bar structure 7 and the wearer, the four-bar mechanism 7 includes: an upper bar 71, a lower bar 72, a left bar 73, and a right bar 74. The left bar 73 and the right bar 74 are respectively hinged to the left and right sides of the upper bar 71 and the lower bar 72.

[0064] The upper bar 71 is connected to the thigh support bar 5, and the lower bar 72 is connected to the calf support bar 9;

[0065] To ensure that the energy storage mechanism 6 can act synchronously on the four-bar linkage 7, the lower bar 72 and the left bar 73 are hinged together. The left bar 73 is fixedly connected to the rotating shaft 75, and the rotating shaft 75 is fixedly connected to the rotating frame 61 of the energy storage mechanism 6.

[0066] In order to enable the active power mechanism 8 to act on the four-bar linkage 7 at the same instantaneous center, the other end of the rotating frame 61 is fixedly connected to the power output structure of the active power mechanism 8.

[0067] The length ratio of the upper rod 71, lower rod 72, left rod 73, and right rod 74 is 51:33:41:38.

[0068] The lengths of the upper rod 71, lower rod 72, left rod 73, and right rod 74 are 51.74mm, 33.45mm, 41mm, and 38.3mm, respectively.

[0069] To effectively control the motor input, an angle sensor 76 is connected at the hinge point of the lower rod 72 and the left rod 73. The angle sensor 76 can collect the angle between the left rod 73 and the lower rod 72, which is the knee joint angle during human walking. This angle controls whether the clutch 85 in the active power mechanism 8 is engaged or disengaged, allowing the exoskeleton to determine whether to provide assistance based on the human gait cycle, thus achieving a comfortable fit and high adaptability.

[0070] The angle formed by the mutual movement of the thigh support rod 5 and the lower leg support rod 9 is the angle between the thigh and the lower leg during knee joint movement. Using the human four-bar model and formulas (1) and (2), the angle between the thigh support rod 5 and the lower leg support rod 9 is transformed into the angle between the left rod 73 and the lower rod 72.

[0071] like Figure 7 As shown, the angles collected by the angle sensor are: when the ∠DAB angle is 0°-25.62°, the clutch 85 is in the disengaged state;

[0072] When the angle ∠DAB is 25.62°-73.38°, clutch 85 is in the closed state;

[0073] When the angle ∠DAB is 73.38°-120°, clutch 85 is in the disengaged state.

[0074] l1cosθ1+l2cosθ2=l4cosθ4+l3cosθ3 (1)

[0075] l1sinθ1-l2sinθ2=l4sinθ4-l3sinθ3 (2)

[0076] Figure 7 In the diagram, S represents the instantaneous center of gravity of the knee joint in a four-bar model. The formula for expressing the coordinates of point S is...

[0077]

[0078]

[0079] A is the origin of the coordinate system, with the horizontal direction to the right as the x-axis and the vertical direction downward as the y-axis. "1" refers to the lower rod 72, which serves as the frame and is fixedly connected to the lower leg support rod 9. "3" refers to the upper rod 71, which is fixedly connected to the thigh support rod 5. "2" refers to the right rod 74, and "4" refers to the left rod 73.

[0080] Import the four-bar linkage Solidworks model into ADAMS for simulation, such as... Figure 8 .

[0081] Output the instantaneous center trajectory of the four rods, such as Figure 9 .

[0082] Compared with the instantaneous cardiac trajectory of the human knee joint, such as Figure 10 .

[0083] The instantaneous center of gravity trajectory of the four-bar linkage output by ADAMS is the simulated coordinate trajectory; the fitted coordinate trajectory is the instantaneous center of gravity fitted coordinate trajectory calculated in the theoretical model, and the error between the two is 1.84%; the theoretical coordinate trajectory is the trajectory fitted by the theoretical coordinate data of the human knee joint, and the error between the simulated coordinate trajectory and the theoretical coordinate trajectory is 3.46%. Therefore, the instantaneous center of gravity trajectory simulated by the optimized four-bar linkage dimensions matches the instantaneous center of gravity of the knee joint when the human body is walking.

[0084] The theoretical instantaneous center coordinates are shown in Table 1. (Cao Qing. Research and Synthesis of Lower Limb Prosthetic Joint Mechanisms [D]. Shanghai: Tongji University, 1992.)

[0085] Table 1 Theoretical instantaneous center coordinates of the human knee joint

[0086]

[0087] To facilitate the storage of energy generated by knee joint movement, the energy storage mechanism 6 also includes: a back plate 62 for fixed connection and a compression spring assembly 63 for storage capacity; a rotating frame 61 extends out of a pressure arm 64, the other end of the pressure arm 64 is pressed against one end of the compression spring assembly 63, a support arm 65 is fixedly connected to the edge of the back plate 62, and the support arm 65 supports the other end of the compression spring assembly 63; the other side of the back plate 62 is fixedly connected to the lower leg support rod 9.

[0088] Preferably, three compression spring groups 63 are provided, and the included angle between adjacent compression spring groups 63 is 120°. The energy storage mechanism composed of three compression spring groups can store more energy than a single compression spring group, which is equivalent to three compression spring groups connected in series, and the energy storage of the three compression spring groups 63 is more balanced.

[0089] To ensure a compact structure while still providing power output and accommodating the clutch mechanism, the active power mechanism 8 includes: a first output gear 81, a second output gear 82, a first input gear 83, a second input gear 84, a clutch 85, and a motor 86. A lower leg support rod 9 is hinged to the first input gear 83. The lower leg support rod 9 is coaxially and fixedly connected to the motor 86 with the first input gear 83. The motor 86 outputs a drive to the first input gear 83, which in turn drives the second input gear 84. The second input gear 84 and the first output gear 81 are connected via the clutch 85. The first output gear 81 in turn drives the second output gear 82. The second output gear 82 is coaxially and fixedly fixed to the rotating frame 61.

[0090] The lower leg support rod 9 is coaxially hinged to the second input tooth 84 and the first output tooth 81, and the lower leg support rod 9 is fixedly connected to the clutch 85.

[0091] The first output tooth 81, the second output tooth 82, the first input tooth 83, the second input tooth 84, the clutch 85, and the motor 86 are arranged in the same vertical plane. The first input tooth 83 and the motor 86 are located at the bottom. The second input tooth and the first output tooth 81 are located in the middle, leaving sufficient installation space for the clutch 85.

[0092] To facilitate energy storage, the number of teeth on the first output tooth 81 is less than the number of teeth on the second output tooth 82. The second output tooth 82 amplifies the motor torque transmitted by the first output tooth 81 through the difference in the tooth ratio. The first output tooth 81 drives the rotating frame 61 to rotate, which can compress the three sets of compression springs 63 to achieve the purpose of energy storage.

[0093] The selected motor and clutch can provide a torque of 10 Nm. Therefore, a gear mechanism is used to amplify the torque, requiring the amplified peak torque to be greater than 20 Nm in order to meet the exoskeleton's assistance requirements.

[0094] Formula for calculating transmission ratio i:

[0095]

[0096] Select appropriate diameters for the drive and driven shaft gears, and determine the module, number of teeth, thickness, and other parameters of the large and small gears (the large gear is the second output tooth 82; the small gear is the first output tooth 81, the first input tooth 83, and the second input tooth 84) based on spatial dimensions and transmission ratio. Finally, perform design calculations, and the obtained data are shown in Table 2.

[0097] Table 2 Gear Dimensions

[0098]

[0099] During the walking process:

[0100] During the energy storage phase, the human leg flexes, the angle sensor 11 collects the knee joint angle, the clutch 85 controls the switch of the motor 86 according to the angle, the motor 86 rotates and drives the first input tooth 83 to rotate and transmit torque to the second input tooth 84, the second input tooth 84 coaxially transmits torque to the first output tooth 81, the first output tooth 81 transmits torque to the second output tooth 82, the second output tooth 82 drives the rotating frame 61 to rotate counterclockwise, the compression spring group 63 in the energy storage mechanism 6 is subjected to pressure and generates elastic potential energy;

[0101] During the energy release phase, the angle sensor 11 controls the clutch 85 to disengage, the motor 86 does not rotate at this time, the human body's legs extend, the compression spring group in the energy storage mechanism 6 rebounds, the elastic potential energy is released, the rotating frame 61 rotates in the opposite direction, and the rotating frame 61 drives the second output tooth 82 to rotate in the opposite direction, providing assistance to the human body.

[0102] To facilitate easy connection with the wearer and improve wearing comfort, the exoskeleton also includes: a thigh brace 1 and a calf brace 2. The upper side of the thigh support rod 5 is adjustablely connected to the thigh brace 1, and the lower side of the calf support rod 9 is adjustablely connected to the calf brace 2.

[0103] This invention also discloses a knee and ankle joint assistive exoskeleton, including the aforementioned knee joint assistive exoskeleton, and further comprising: a shoe 3, with the lower end of the calf support rod 9 movably connected to the shoe 3; the shoe 3 includes: a shoe body 31, a fisheye bearing 32, a ball bearing 33, a support column 34, an ankle binding member 35, and a side insole 36; the support column 34 is fixedly connected to one side of the shoe body 31, the support column 34 is movably connected to the fisheye bearing 32 via the ball bearing 33, the upper end of the fisheye bearing 32 is fixedly connected to the lower end of the calf support rod 9, and the ankle binding member 35 is fixedly connected to the shoe body 31 via the side insole 36, achieving plantar flexion and dorsiflexion of the foot. A flexible abdominal binder can be connected to the upper side of the shoe body 31 to ensure connection with the wearer's foot.

[0104] The above description is merely a preferred embodiment of the present invention and is not intended to limit the scope of protection of the present invention.

Claims

1. A knee joint assistive exoskeleton, characterized in that, include: Four-bar linkage (7), energy storage mechanism (6), active power mechanism (8), thigh support rod (5) and calf support rod (9); The four-bar linkage (7) includes: an upper bar (71), a lower bar (72), a left bar (73) and a right bar (74), with the upper bar (71) and the lower bar (72) hinged to the left bar (73) and the right bar (74) on their left and right sides respectively. The upper rod (71) is connected to the thigh support rod (5), and the lower rod (72) is connected to the calf support rod (9). The left rod (73) is fixedly connected to the pivot (75) at the hinge point of the lower rod (72) and the left rod (73), and the pivot (75) is fixedly connected to the rotating frame (61) of the energy storage mechanism (6). The other end of the rotating frame (61) is fixedly connected to the power output structure of the active power mechanism (8); The length ratio of the upper rod (71), lower rod (72), left rod (73), and right rod (74) is 51:33:41:

38.

2. The knee joint assistive exoskeleton according to claim 1, characterized in that, The lengths of the upper rod (71), lower rod (72), left rod (73), and right rod (74) are 51.74 mm, 33.45 mm, 41 mm, and 38.3 mm, respectively.

3. The knee joint assistive exoskeleton according to claim 1 or 2, characterized in that, An angle sensor (76) is connected at the hinge of the lower rod (72) and the left rod (73).

4. The knee joint assistive exoskeleton according to claim 3, characterized in that, The energy storage mechanism (6) further includes: a back plate (62) and a spring assembly (63); the rotating frame (61) extends out of the pressure arm (64), the other end of the pressure arm (64) is pressed and connected to one end of the spring assembly (63), the edge of the back plate (62) is fixedly connected to the support arm (65), and the support arm (65) supports the other end of the spring assembly (63); The back plate (62) is fixedly connected to the lower leg support rod (9) on the other side.

5. The knee joint assistive exoskeleton according to claim 4, characterized in that, There are three compression spring groups (63), and the included angle between adjacent compression spring groups (63) is 120°.

6. The knee joint assistive exoskeleton according to claim 3, characterized in that, The active power mechanism (8) includes: a first output tooth (81), a second output tooth (82), a first input tooth (83), a second input tooth (84), a clutch (85), and a motor (86). The lower leg support rod (9) is hinged to the first input tooth (83). The lower leg support rod (9) is coaxially fixedly connected to the motor (86) with the first input tooth (83). The motor (86) outputs a drive to the first input tooth (83). The first input tooth (83) engages to drive the second input tooth (84). The second input tooth (84) and the first output tooth (81) are connected by a clutch (85). The first output tooth (81) engages to drive the second output tooth (82). The second output tooth (82) and the rotating frame (61) are coaxially fixed. The lower leg support rod (9) is coaxially hinged to the second input tooth (84) and the first output tooth (81), and the lower leg support rod (9) is fixedly connected to the clutch (85).

7. The knee joint assistive exoskeleton according to claim 6, characterized in that, The number of teeth of the first output tooth (81) is less than the number of teeth of the second output tooth (82).

8. The knee joint assistive exoskeleton according to claim 3, characterized in that, Also includes: Thigh brace (1) and calf brace (2), the upper side of the thigh support rod (5) is adjustable to the thigh brace (1), and the lower side of the calf support rod (9) is adjustable to the calf brace (2).

9. A knee and ankle joint assistive exoskeleton, characterized in that, The knee joint assist exoskeleton according to any one of claims 1-8 further includes: footwear (3), wherein the lower end of the lower leg support rod (9) is movably connected to the footwear (3); The footwear (3) includes: footwear body (31), eyelet bearing (32), ball bearing (33), support column (34), ankle binding (35), and side pad (36); the support column (34) is fixedly connected to one side of the footwear body (31), the support column (34) is movably connected to the eyelet bearing (32) through the ball bearing (33), the upper end of the eyelet bearing (32) is fixedly connected to the lower end of the calf support rod (9), and the ankle binding (35) is fixedly connected to the footwear body (31) through the side pad (36).

Images