Wearable lower limb outdoor walking aid exoskeleton robot and control method thereof

Abstract

The application provides a wearable lower limb outdoor walking aid exoskeleton robot and a control method thereof. The exoskeleton robot comprises a waist supporting mechanism, a waist adjusting mechanism arranged below the waist supporting mechanism, two hip joint exoskeleton mechanisms connected with the waist adjusting mechanism in a position-adjustable manner along the width of the waist adjusting mechanism, and two knee joint exoskeleton mechanisms connected with the power output ends of the corresponding hip joint exoskeleton mechanisms, wherein the knee joint exoskeleton mechanisms have an uphill and downhill mode and a flat ground mode. The application adopts a bionics design, simulates a musculoskeletal model of a mountainous organism, especially a snow leopard forelimb, and is coupled with the human body only at the waist, the thigh and the ankle joint, thereby forming a rigid-flexible coupled exoskeleton with outdoor walking capability, avoiding the human joint dislocation problem caused by the tight coupling of the knee joint, and improving the environmental adaptability of the structure through the assistance effect of the knee joint of the exoskeleton under different terrains.

Description

Technical Field

[0001] This invention relates to the field of assistive exoskeleton technology, and more specifically, to a wearable lower limb outdoor assistive exoskeleton robot and its control method. Background Technology

[0002] In the field of outdoor mobility exoskeletons, the number of exoskeletons on the market is small, the types are limited, and most of them still have some key problems that need to be solved, such as lack of terrain adaptability, simple human-machine joint misalignment compensation mechanism with questionable effectiveness, limited assistive effect, and limited freedom of human movement due to the constraints of traditional humanoid structures. Summary of the Invention

[0003] In view of this, the present invention proposes a wearable lower limb outdoor walking assistance exoskeleton robot and its control method, aiming to solve the problem that existing outdoor walking assistance exoskeleton robots cannot adapt to terrain.

[0004] On one hand, this invention proposes a wearable lower limb outdoor mobility exoskeleton robot, which includes: a lumbar support mechanism for being carried on the back of a human body so that the lumbar support mechanism can conform to the human back; a lumbar adjustment mechanism disposed below the lumbar support mechanism for conforming to the human waist in an adjustable length manner; and two hip joint exoskeleton mechanisms, each of which is connected to the lumbar adjustment mechanism along the width of the lumbar adjustment mechanism in a position-adjustable manner for adjusting the position of the hip joint exoskeleton mechanism. The hip joint exoskeleton mechanism simulates the subscapularis muscle of a snow leopard for gravity compensation. The system includes flexible rotation; two knee exoskeleton mechanisms, each corresponding to one of the hip exoskeleton mechanisms, connected to the power output end of the corresponding hip exoskeleton mechanism; the knee exoskeleton mechanism has uphill / downhill and flatland modes, used to perform leg lifting movements under the action of the hip exoskeleton mechanism, and can simulate the triceps brachii of the snow leopard's forelimb through different elastic elements in both modes to store and release energy at different times in the two different modes; two ankle exoskeleton mechanisms, each corresponding to one of the two knee exoskeleton mechanisms, connected to the corresponding knee exoskeleton mechanism.

[0005] Furthermore, in the aforementioned wearable lower limb outdoor walking exoskeleton robot, the hip joint exoskeleton mechanism includes: a hip joint drive assembly; a thigh bar connected to the power output end of the hip joint drive assembly, used to swing with the rotation of the hip joint drive assembly, so that the thigh bar lifts the leg when the hip joint drive assembly rotates forward, and lowers the leg when the hip joint drive assembly rotates in the reverse direction; and an elastic energy storage assembly connected to the power output end of the hip joint drive assembly, used to reduce the elastic potential energy when the hip joint drive assembly rotates forward, simulating the subscapularis muscle of the snow leopard's forelimb to supplement the increased exoskeleton gravitational potential energy during the thigh bar lifting, thereby compensating for the exoskeleton's gravitational potential energy. It can also absorb energy at the moment the hip joint drive assembly turns and during reverse rotation, and release energy during forward rotation, achieving flexible rotation.

[0006] Furthermore, in the aforementioned wearable lower limb outdoor walking exoskeleton robot, the elastic energy storage component includes: a crank component, the power input end of which is connected to the power output end of the hip joint drive component, for circumferential rotation around a position different from the center of the rotation axis of the hip joint drive component under the drive of the hip joint drive component; a connecting rod rotating block, rotatably mounted on the thigh rod; a guide connecting rod, slidably passing through the connecting rod rotating block, and the connecting end of the guide connecting rod being connected to the power output end of the crank component, for swinging and sliding the guide connecting rod during the circumferential rotation of the crank component to adjust the distance between the connecting end of the guide connecting rod and the connecting rod rotating block; and an energy storage spring, sleeved on the guide connecting rod and positioned between the connecting end of the guide connecting rod and the connecting rod rotating block, for storing energy when the distance between the connecting end of the guide connecting rod and the connecting rod rotating block becomes longer, and for releasing energy when the distance between the connecting end of the guide connecting rod and the connecting rod rotating block becomes shorter.

[0007] Furthermore, in the aforementioned wearable lower limb outdoor walking exoskeleton robot, the crank component includes: an external meshing gear ring; an internal rotating gear, the internal rotating gear being internally meshed with the external meshing gear ring, and the internal rotating gear being eccentrically connected to the power output end of the hip joint drive assembly. A crank connecting block is provided on the outer periphery of the axis of the internal rotating gear, and the crank connecting block is rotatably connected to the internal rotating gear for connecting the end of the guide link. Under the driving action of the hip joint drive assembly, the internal rotating gear can revolve around the axis of the hip joint drive assembly and simultaneously rotate around its own axis. This rotation of the internal rotating gear adjusts the positional relationship of the crank connecting block relative to the thigh rod, thereby driving the guide link to rotate and extend / retract.

[0008] Furthermore, in the aforementioned wearable lower limb outdoor walking exoskeleton robot, the knee joint exoskeleton mechanism includes: a thigh retraction link; an upper knee joint link, one end of which is rotatably connected to the rotating end of the thigh retraction link; a lower knee joint link, rotatably connected to the other end of the upper knee joint link; and a knee joint elastic adjustment component, connected to the upper knee joint link and the lower knee joint link respectively. The knee joint elastic adjustment component has an uphill / downhill mode and a flat ground mode, used to switch to flat ground mode when walking on flat ground. When the leg straightens from a bent position, the angle between the lower knee joint link and the upper knee joint link increases. The knee joint elastic adjustment component stores ground-level elastic potential energy. When the leg changes from straight to bent, the angle between the lower and upper knee joint links decreases, and the knee joint elastic adjustment component releases the ground-level elastic potential energy to provide assistance. When going uphill or downhill, the knee joint elastic adjustment component switches to an uphill / downhill mode. When the leg changes from straight to bent, the angle between the lower and upper knee joint links decreases, the knee joint elastic adjustment component stores uphill / downhill elastic potential energy, and when the leg changes from bent to straight, the angle between the lower and upper knee joint links increases, and the knee joint elastic adjustment component releases uphill / downhill elastic potential energy to provide assistance.

[0009] Furthermore, in the aforementioned wearable lower limb outdoor walking assistive exoskeleton robot, the knee joint elastic adjustment component includes: a length adjustment member; the elastic adjustment member has an uphill / downhill mode and a flat ground mode, the adjustment end of which is hinged to the length adjustment end of the length adjustment member, the extension of the length adjustment member can push the elastic adjustment member to extend and switch to the flat ground mode, and the shortening of the length adjustment member can push the elastic adjustment member to shorten and switch to the uphill / downhill mode.

[0010] Furthermore, in the aforementioned wearable lower limb outdoor walking exoskeleton robot, the elastic adjustment component includes: a module shell; a guide support rod, the sliding end of which is slidably disposed inside the module shell, and the switching end extending from the adjustment end of the module shell to the outside of the module shell and hinged to the length adjustment end of the length adjustment component; a flat compression spring disposed inside the module shell, located between the sliding end of the guide support rod and the adjustment end of the module shell, and sleeved on the guide support rod; and an uphill / downhill compression spring disposed inside the module shell, and positioned between the sliding end of the guide support rod and the fixed end of the module shell. The guide support rod slides along the length direction of the module shell with the length adjustment component, and the guide support rod can retract so that its sliding end can slide to the spring flat. In the equilibrium position, the leg is in the upright state of the uphill / downhill mode. When the leg changes from straight to bent, the angle between the lower and upper knee joint links decreases, compressing the uphill / downhill compression spring and storing elastic potential energy. When the leg changes from bent to straight, the angle between the lower and upper knee joint links increases, and the uphill / downhill compression spring resets and releases elastic potential energy. The guide support rod can extend so that its sliding end can slide to the compression position of the flat ground compression spring. In this upright state of the flat ground mode, when the leg is raised from straight to bent, the angle between the lower and upper knee joint links decreases, and the flat ground compression spring resets and releases elastic potential energy. When the leg changes from bent to straight, the angle between the lower and upper knee joint links increases, compressing the flat ground compression spring and storing elastic potential energy.

[0011] Furthermore, in the aforementioned wearable lower limb outdoor walking assistive exoskeleton robot, the upper link of the knee joint is also connected to a knee joint rotation drive assembly, which is used to drive the upper link of the knee joint to rotate relative to the thigh retraction link.

[0012] Furthermore, in the aforementioned wearable lower limb outdoor walking exoskeleton robot, the ankle joint exoskeleton mechanism includes: a shoe assembly; a shoe connecting post disposed on the shoe assembly; an ankle connecting rod, one end of which is slidably disposed inside the shoe connecting post, and the other end of which is rotatably connected to the ankle connecting end of the knee joint exoskeleton mechanism; and an ankle spring disposed between the shoe connecting post and the end of the ankle connecting rod disposed inside the shoe connecting post, for ankle cushioning.

[0013] On the other hand, this invention also proposes a control method for a wearable lower limb outdoor walking assistive exoskeleton robot, including the following steps: acquiring the current terrain type and slope degree; wherein, the current terrain type is uphill, downhill, and flat ground; controlling the exoskeleton robot to switch its outdoor movement mode according to the current terrain type; wherein, the outdoor movement mode includes: uphill / downhill movement mode and flat ground movement mode; controlling the exoskeleton robot to switch its joint movement trajectory according to the current terrain type and slope degree; establishing a velocity mapping model based on the pressure data at the thigh strap of the exoskeleton robot and the IMU data of the exoskeleton foot; wherein, the IMU data of the exoskeleton foot includes: foot velocity data; obtaining the human body's pre-walking speed based on the velocity mapping model, and controlling and adjusting the exoskeleton robot according to the human body's pre-walking speed to make its assisted walking speed match the human body's pre-walking speed.

[0014] The wearable lower limb outdoor walking assistive exoskeleton robot and its control method provided by this invention simulate the subscapularis muscle of a snow leopard through a hip joint exoskeleton mechanism to perform gravity compensation and flexible rotation, reducing the wearer's own metabolic consumption and improving wearing comfort; the knee joint exoskeleton mechanism can switch between uphill / downhill and flat terrain modes, and simulate the triceps brachii muscle of the snow leopard's forelimb through different elastic elements in the two modes to store and release energy at different times in the two different modes, which can adapt to different terrains, including typical mountainous terrain, forest terrain and gravel terrain, and can adapt to people of different body types. It has flexible hip joint weight compensation and flexible ankle joint gait stability functions. Furthermore, by analyzing the musculoskeletal model of the snow leopard's forelimb, it is found that its most developed muscle groups are the subscapularis muscle and the triceps brachii muscle. The elastic elements simulate its muscles and the rigid rods simulate the skeletal structure, resulting in a novel biomimetic lower limb exoskeleton. This structure only partially conforms to the wearer's body, increasing comfort and freeing up the wearer's freedom of movement. Furthermore, compared to traditional exoskeletons, the knee joint, mimicking the forelimb and hind knee of a snow leopard, moves in the opposite direction to the human knee joint. This gives the exoskeleton advantages such as high energy efficiency, resistance to foot impact, and strong load-bearing capacity, while avoiding the hip joint's compensatory knee retraction defect inherent in traditional humanoid knee joints. The knee joint motor is located close to the hip joint actuator to reduce its power consumption. Because of its heterogeneity from the human knee joint, it avoids human-machine joint misalignment and further frees up the wearer's freedom of movement, improving comfort. This design addresses the current market's limited number and variety of exoskeletons, and the fact that most still suffer from several critical issues, such as lack of terrain adaptability, limited and unreliable human-machine joint misalignment compensation mechanisms, limited assistive effects, and restricted human freedom of movement due to the constraints of traditional humanoid structures. In addition, this exoskeleton robot also possesses the following technical advantages:

[0015] First, the overall structure adopts a biomimetic design. By simulating the musculoskeletal model of mountain animals, especially the snow leopard's forelimbs, it is coupled with the human body only at the waist, thigh, and ankle joints, forming a rigid-flexible coupling exoskeleton with outdoor walking ability, avoiding the problem of human-machine joint misalignment caused by tight coupling of the knee joint.

[0016] Secondly, an elastic element at the knee joint simulates the triceps brachii of a snow leopard for energy recovery, reducing the overall energy consumption of the equipment. To achieve adaptability to different terrains, a switchable elastic element device, namely the knee joint elastic adjustment component, was designed. The terrain recognition results from a depth camera on the chest drive a length adjustment component, i.e., an electric actuator, to switch the elastic adjustment component, thus achieving structural adaptability to different terrains. In other words, a terrain-adaptive structure is provided at the rear of the knee joint. By switching the action of the spring module through an electric actuator, the assist effect can be adjusted under different terrains, such as walking uphill and downhill in typical mountainous terrain versus walking on flat ground, improving the structure's environmental adaptability.

[0017] Third, the binding points are set at the waist, thighs and ankles respectively. The rigid structure stabilizes the ankle joint, the elastic element at the connection point provides terrain cushioning, and the flexible binding improves wearing comfort.

[0018] Fourth, multiple parts are designed with adjustable mechanisms. For example, the distance between the waist adjustment plate and the waist connecting plate can be changed by adjusting the bolts and buckles, that is, the distance between the two waist adjustment plates, to adapt to people with different waist sizes and to facilitate patients to quickly put on the exoskeleton; by adjusting the distance between the thigh retraction link and the thigh bar, the distance from the hip joint to the knee joint can be changed to adapt to people with different heights.

[0019] Fifth, a flexible pressure sensor housing is designed at the thigh binding area. The human body and the exoskeleton act asynchronously on the pressure sensor housing to obtain human-computer interaction characteristics.

[0020] Sixth, the exoskeleton robot's drive unit has two elastic units: an energy-storing spring connected to the thigh rod, which can suppress the impact from the motor during turning, protect the human joints, and achieve a flexible rotation effect. It also simulates the subscapularis muscle of the snow leopard's forelimb, providing gravity compensation. The second elastic element consists of a flat-ground compression spring and an uphill / downhill compression spring, which simulate the triceps brachii muscle of the snow leopard's forelimb. This improves energy utilization, resists foot impact, and reduces the energy consumed by hip joint retraction. During movement, it can store energy during knee joint extension or compression and release it during another knee joint movement, reducing motor power consumption and increasing maximum output torque. Both elastic elements simulate the two most developed muscle groups of the snow leopard's forelimb to achieve speed and flexibility similar to that of a snow leopard walking in typical outdoor mountainous and forested areas. Attached Figure Description

[0021] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings:

[0022] Figure 1 This is a schematic diagram of the wearable lower limb outdoor walking assistive exoskeleton robot provided in an embodiment of the present invention, in a leg-bent state;

[0023] Figure 2 This is a front view of the wearable lower limb outdoor walking assistive exoskeleton robot provided in an embodiment of the present invention, with its legs in a bent state;

[0024] Figure 3 This is a side view of the wearable lower limb outdoor walking assistive exoskeleton robot provided in an embodiment of the present invention, with the legs in a bent position;

[0025] Figure 4 This is a schematic diagram of the wearable lower limb outdoor walking assistive exoskeleton robot provided in an embodiment of the present invention, in a leg-upright position.

[0026] Figure 5 This is a schematic diagram of the lumbar support mechanism provided in an embodiment of the present invention;

[0027] Figure 6 This is a schematic diagram of the waist adjustment mechanism provided in an embodiment of the present invention;

[0028] Figure 7 An exploded view of the waist adjustment mechanism provided in an embodiment of the present invention;

[0029] Figure 8 This is a schematic diagram of the hip joint exoskeleton mechanism provided in an embodiment of the present invention;

[0030] Figure 9 An exploded view of the hip exoskeleton mechanism provided in an embodiment of the present invention;

[0031] Figure 10 A schematic diagram of the crank and guide rod of the hip joint exoskeleton mechanism provided in the embodiment of the present invention when it is in the extended state;

[0032] Figure 11 A schematic diagram of the crank and guide rod of the hip joint exoskeleton mechanism provided in an embodiment of the present invention when it is in a bent state;

[0033] Figure 12 This is a schematic diagram of the knee exoskeleton mechanism provided in an embodiment of the present invention;

[0034] Figure 13This is a schematic diagram of another orientation of the knee exoskeleton mechanism provided in an embodiment of the present invention;

[0035] Figure 14 An exploded view of the knee exoskeleton mechanism provided in an embodiment of the present invention;

[0036] Figure 15 A schematic diagram of the knee exoskeleton mechanism provided in an embodiment of the present invention in an uphill / downhill mode;

[0037] Figure 16 A schematic diagram of the knee exoskeleton mechanism provided in the embodiment of the present invention in flat ground mode;

[0038] Figure 17 This is a schematic diagram of the ankle exoskeleton mechanism provided in an embodiment of the present invention;

[0039] Figure 18 This is a schematic diagram of another orientation of the ankle exoskeleton mechanism provided in an embodiment of the present invention;

[0040] Figure 19 An exploded view of the ankle exoskeleton mechanism provided in an embodiment of the present invention;

[0041] Figure 20 This is a schematic diagram of the structure of a wearable lower limb outdoor walking assistive exoskeleton robot simulation model provided in an embodiment of the present invention;

[0042] Figure 21 This is a flowchart illustrating the control method for a wearable lower limb outdoor mobility exoskeleton robot provided in an embodiment of the present invention. Detailed Implementation

[0043] Exemplary embodiments of the present disclosure will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the disclosure to those skilled in the art. It should be noted that, unless otherwise specified, the embodiments and features described herein can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0044] Example of an exoskeleton robot:

[0045] See Figures 1 to 4 This is a preferred structure of the wearable lower limb outdoor mobility exoskeleton robot provided in this embodiment of the invention. As shown in the figure, the exoskeleton robot includes: a waist support mechanism 1, a waist adjustment mechanism 2, two hip joint exoskeleton mechanisms 3, two knee joint exoskeleton mechanisms 4, and two ankle joint exoskeleton mechanisms 5; wherein,

[0046] The lumbar support mechanism 1 is used to be carried on the back of a human body so that it can fit snugly against the back. Specifically, the lumbar support mechanism 1 can fit snugly against the back of a human body, and by being carried on the back, it can provide top support and limit the other components of the exoskeleton robot, thereby ensuring the fixation of the top height position of the exoskeleton robot.

[0047] The lumbar adjustment mechanism 2 is located below the lumbar support mechanism 1 and is used to fit the human waist in an adjustable manner. Specifically, the lumbar adjustment mechanism 2 can be located below the lumbar support mechanism 1, can fit the human waist, and the lumbar adjustment mechanism 2 is a self-length adjusting component, which can adjust the length based on the length of the human waist (e.g., ...). Figure 2 The horizontal direction (as shown) can be adjusted to adjust the spacing between the two hip exoskeleton mechanisms 3.

[0048] Both hip joint exoskeleton mechanisms 3 are connected to the lumbar adjustment mechanism 2 along the width direction of the lumbar adjustment mechanism 2 in a position-adjustable manner. This allows for adjustment of the position of the hip joint exoskeleton mechanisms 3. The hip joint exoskeleton mechanisms 3 mimic the subscapularis muscle of a snow leopard to perform gravity compensation and flexible rotation, i.e., a gravity compensation mechanism, reducing the wearer's own metabolic consumption and improving wearing comfort. Specifically, the two hip joint exoskeleton mechanisms 3 are connected along the width direction of the lumbar adjustment mechanism 2 (e.g., ... Figure 3 (as shown in the horizontal direction) is connected to both sides of the waist adjustment mechanism 2 in a position-adjustable manner (e.g., in the horizontal direction). Figure 2 The left and right sides (as shown) are used to adjust the width of the hip joint exoskeleton mechanism 3 mounted on the waist adjustment mechanism 2, thereby adapting to the position of the human leg, accommodating people with different waist sizes, and facilitating quick and easy wearing of the exoskeleton by the patient. The hip joint exoskeleton mechanism 3 simulates the subscapularis muscle of a snow leopard, enabling gravity compensation and flexible rotation, i.e., it has a gravity compensation mechanism, reducing the wearer's own metabolic consumption and improving wearing comfort. In this embodiment, the top of the hip joint exoskeleton mechanism 3 is connected to the waist adjustment mechanism 2 along the height direction in a position-adjustable manner, used to adjust the height position of the hip joint exoskeleton mechanism 3 to adapt to people of different heights.

[0049] Two knee exoskeleton mechanisms 4 correspond one-to-one with the hip exoskeleton mechanism 3. The knee exoskeleton mechanism 4 is connected to the power output end of the corresponding hip exoskeleton mechanism 3. Furthermore, the knee exoskeleton mechanism 3 has uphill / downhill and flatland modes, used to perform leg lifting and straightening movements under the action of the hip exoskeleton mechanism 3. In both modes, it can simulate the triceps brachii of the snow leopard's forelimb through different elastic elements to store and release energy at different times in the two different modes. This allows it to adapt to different terrains and provide different forms of compensation, suppressing the impact from the motor during steering, protecting the human joints, and achieving flexible rotation. Furthermore, it mimics the subscapularis muscle of the snow leopard's forelimb, providing gravity compensation. Compared to traditional exoskeletons, the knee joint exoskeleton mechanism 4 mimics the forelimb and hind knee structure of a snow leopard, with its movement direction opposite to that of the human knee joint. This gives the exoskeleton advantages such as high energy utilization, resistance to foot impact, and strong load-bearing capacity, while avoiding the hip joint compensation and knee joint retraction defects of traditional humanoid knee joints. The knee joint motor is located close to the hip joint actuator to reduce the power consumption of the hip joint actuator. Because it is heterogeneous with the human knee joint, it can avoid human-machine joint misalignment and release the wearer's own freedom of movement, improving wearing comfort; it can also perform energy recovery, reducing the overall energy consumption of the device. Specifically, two knee exoskeleton mechanisms 4 correspond one-to-one with the hip exoskeleton mechanism 3. The power output end of the knee exoskeleton mechanism 4 is connected to the corresponding hip exoskeleton mechanism 3. The power output end of the hip exoskeleton mechanism 3 can drive the corresponding knee exoskeleton mechanism 4 to rotate, so as to perform leg flexion and extension movements. Furthermore, the knee exoskeleton mechanism 4 imitates the hind knee structure of the snow leopard's forelimb, simulating the triceps brachii muscle of the snow leopard's forelimb. Its movement direction is opposite to that of the human knee joint, giving the exoskeleton high energy utilization efficiency and resistance to foot impact. It boasts advantages such as strong load-bearing capacity and avoids the hip joint compensation for knee retraction defects inherent in traditional humanoid knee joints. Furthermore, the knee exoskeleton mechanism incorporates four triceps brachii-like structures for energy recovery, reducing overall energy consumption. To adapt to different terrains, it features two switchable modes, allowing for terrain-based mode switching and thus enhancing the structure's environmental adaptability. This means it possesses a terrain-adaptive structure, providing assistance in various terrains, such as walking uphill, downhill, and on flat ground in typical mountainous terrain, improving its environmental versatility. Notably, the knee exoskeleton mechanism 4 can be a posterior knee structure, arranged opposite to the human body's structure.

[0050] In this embodiment, the waist support mechanism 1 may be equipped with an image acquisition device, which may be located on the chest and may be a depth camera, to acquire images to obtain terrain images. Based on machine vision image recognition, the current terrain category is determined, and then the knee joint exoskeleton mechanism 4 is switched according to the current terrain category to achieve the structure's adaptability to the terrain.

[0051] In this embodiment, the top end of the knee exoskeleton mechanism 4 and the bottom end of the hip exoskeleton mechanism 3 can be separated along the length direction of the bottom of the hip exoskeleton mechanism 3 (e.g., Figure 3 The vertical direction shown is connected in a position-adjustable manner to adjust the distance between the waist adjustment mechanism 2 and the ankle exoskeleton mechanism 5, thereby adapting to people of different heights.

[0052] Two ankle exoskeleton mechanisms 5 correspond one-to-one with two knee exoskeleton mechanisms 4, and the knee exoskeleton mechanisms 5 are connected to their respective knee exoskeleton mechanisms 4. Specifically, the two ankle exoskeleton mechanisms 5 and the two knee exoskeleton mechanisms 4 are respectively located below and connected to the two knee exoskeleton mechanisms 4; in this embodiment, the bottom ends of the ankle exoskeleton mechanisms 5 and the knee exoskeleton mechanisms 4 are hinged. The ankle exoskeleton mechanism 5 may be equipped with an inertial measurement unit (IMU) to acquire IMU data of the exoskeleton foot, including foot speed data, etc. Other sensors can also be used, and this embodiment does not impose any limitations on them.

[0053] In this embodiment, the lumbar support mechanism 1, the two knee joint exoskeleton mechanisms 4, and the two ankle joint exoskeleton mechanisms 5 are all equipped with binding mechanisms 6, namely, a lumbar binding mechanism 601, a thigh binding mechanism 602, and an ankle binding mechanism 603, respectively, for binding to the waist, thigh, and ankle of the human body. The binding mechanism 6 can be a flexible binding structure to improve wearing comfort. In this embodiment, a pressure sensor can be provided at the thigh binding mechanism 602. This sensor can be a flexible pressure sensor housing or other flexible pressure sensor components. It can acquire pressure data at the thigh binding point and detect the interaction between the wearer and the exoskeleton in real time. By observing the asynchronous action of the human body and the exoskeleton on the pressure sensor housing, the human-computer interaction characteristics can be obtained. The greater the pressure, the greater the asynchrony. If the exoskeleton rods lag behind or advance ahead of the human lower limbs, it will cause a change in the pressure value at the binding point. By adjusting the movement trajectory of the exoskeleton rods, the interaction force between the wearer and the exoskeleton at the binding point can be reduced, thereby improving the exoskeleton's assistive effect and wearing comfort.

[0054] Therefore, the overall structure of this exoskeleton robot is based on a musculoskeletal model simulating the forelimbs of a snow leopard, forming a rigid-flexible coupled exoskeleton capable of outdoor walking. It can adapt to various outdoor terrains, including typical mountainous terrain, forest terrain, and gravel terrain, and can accommodate people of different body types. It features flexible hip joint weight compensation and flexible ankle joint gait stabilization. Furthermore, by analyzing the musculoskeletal model of the snow leopard's forelimbs, the most developed muscle groups—the subscapularis and triceps brachii—were identified. Elastic elements simulate these muscles, while rigid rods simulate the skeletal structure, resulting in a novel biomimetic lower limb exoskeleton. This structure only partially conforms to the wearer's body, increasing user comfort and freeing up the wearer's freedom of movement.

[0055] See Figure 5 This is a schematic diagram of the lumbar support mechanism provided in an embodiment of the present invention. As shown in the figure, the lumbar support mechanism 1 can be a back strap structure, which can be fixedly installed on the lumbar adjustment mechanism 2 by means of screws or other structures. In this embodiment, the lumbar support mechanism 1 may also be provided with a power supply module 7 and a control module 8, which are respectively connected to the hip joint exoskeleton mechanism 3 and the knee joint exoskeleton mechanism 4 to provide power and control to the hip joint exoskeleton mechanism 3 and the knee joint exoskeleton mechanism 4.

[0056] In this embodiment, the control module 8 can be connected to a pressure sensor, an inertial sensor, an image acquisition device, etc. In this embodiment, the controller is used to acquire terrain images based on image acquisition devices, perform image recognition based on machine vision, determine the current terrain category, and input IMU-based human lower limb kinematic information as a classification model to obtain the slope degree; wherein, the current terrain category is uphill, downhill, and flat ground; the controller is also used to control the exoskeleton robot to switch its outdoor movement mode according to the current terrain category, especially to control the knee joint exoskeleton mechanism 4 to switch modes; wherein, the outdoor movement mode includes: uphill / downhill movement mode and flat ground movement mode; the controller is also used to control the exoskeleton robot to switch its joint movement trajectory according to the current terrain category and slope degree, so as to control the hip joint exoskeleton mechanism 3 and the knee joint exoskeleton mechanism 4 based on the joint movement trajectory; the controller is also used to establish a velocity mapping model based on the pressure data of the exoskeleton robot's thigh binding and the exoskeleton foot IMU data; wherein, the exoskeleton foot IMU data includes: foot velocity data; the controller is also used to obtain the human body's pre-walking speed based on the velocity mapping model, and control and adjust the exoskeleton robot according to the human body's pre-walking speed, so that its assisted walking speed is adapted to the human body's pre-walking speed. The control module 8 includes a host computer 81 and a slave computer 82.

[0057] See also Figure 5The power supply module 7 may include a battery box 71 and a battery module 72. Both the battery module 72 and the control module 8 can be housed inside the battery box 71 for protection. In this embodiment, the battery box 71 may also have a battery tray 73 for supporting and securing the battery module 72. The battery box 71 may include a detachable battery box housing 711 and a battery box cover 712. The battery box housing 711 can be connected to the waist support mechanism 1 (i.e., the shoulder strap) by screws, and the waist connecting piece 21 of the waist adjustment mechanism 2 can be fixedly installed between the battery box housing 711 and the waist support mechanism 1. The battery tray 73, the upper computer 81, and the lower computer 82 are fixed to the battery box housing 711 by screws, and the battery module 72 is fixed to the battery tray 73. The battery box cover 712 houses these components, and the battery box 71 has ventilation holes to prevent overheating of the electrical system.

[0058] See Figure 6 and Figure 7 The figure illustrates a preferred structure of the waist adjustment mechanism provided in an embodiment of the present invention. As shown, the waist adjustment mechanism 2 includes: a waist connecting piece 21 and two waist adjustment plates 22; wherein, the two waist adjustment plates 22 are disposed on both sides of the waist connecting piece 21, and both waist adjustment plates 22 are disposed at both ends of the waist connecting piece 21 in a position-adjustable manner along the length direction of the waist connecting piece 21, for adjusting the distance between the two waist adjustment plates 22 based on the length of the human waist. In this embodiment, the two waist adjustment plates 22 and the waist connecting piece 21 can be connected to each other by a waist fixing member 23.

[0059] Specifically, the lumbar connecting piece 21 can be a straight stainless steel piece, which can be connected to the lumbar support mechanism 1 by screws. The lumbar adjustment plate 22 can be an L-shaped structure, with its adjusting side connected to the lumbar connecting piece 21 along the length of the lumbar connecting piece 21 in a position-adjustable manner, and its fixed side used to connect to the hip joint exoskeleton mechanism 3. The adjusting side of the lumbar adjustment plate 22 has at least two adjusting holes 221 spaced apart along the length of the adjusting side of the lumbar adjustment plate 22, and the two ends of the lumbar connecting piece 21 have two connecting holes 211. The lumbar fixing component 23 can include adjusting bolts 231 and adjusting buckles 232; the adjusting buckles 232 are used to snap onto the lumbar adjustment plate 22 and the lumbar connecting piece 21, and one of the adjusting bolts 231 passes through the adjusting holes 221 and the connecting holes 211 to achieve the connection and fixation of the lumbar adjustment plate 22, the lumbar connecting piece 21, and the adjusting buckles 232. In this embodiment, the waist adjustment plate 22 has nine equally spaced adjustment holes 221 on its adjustment side. The distance between the two waist adjustment plates 22 can be adjusted by adjusting the bolts 231 and adjusting the buckles 232 to achieve waist length adjustment.

[0060] In this embodiment, at least two spaced fixing holes 222 may be provided on the fixed side of the waist adjustment plate 22. The top end of the hip joint exoskeleton mechanism 3 is detachably connected to one of the fixing holes 222 to realize the position adjustment of the hip joint exoskeleton mechanism 3. Specifically, the top end of the hip joint exoskeleton mechanism 3 and one of the fixing holes 222 can be detachably connected through a hip fixation member 24. The hip fixation member 24 can be a snap-fit ​​structure, which can be quickly connected to the hip fixation member 24 and the hip joint exoskeleton mechanism 3, increasing the ease of wearing.

[0061] See Figure 8 and Figure 9 The figure illustrates a preferred structure of the hip joint exoskeleton mechanism provided in an embodiment of the present invention. As shown in the figure, the hip joint exoskeleton mechanism 3 includes: a hip joint drive assembly 31, a thigh bar 32, and an elastic energy storage assembly 33; wherein, the thigh bar 32 is connected to the power output end of the drive assembly 31 and is used to swing with the rotation of the hip joint drive assembly 31, so that when the hip joint drive assembly 31 rotates forward, the thigh bar 32 raises its leg, and when the hip joint drive assembly 31 rotates in the reverse direction, the thigh bar 32 lowers its leg; the elastic energy storage assembly 33 is connected to the power output end of the hip joint drive assembly 31 and is used to reduce the elastic potential energy when the hip joint drive assembly 31 rotates forward, simulating the subscapularis muscle of the snow leopard's forelimb to supplement the increased exoskeleton gravitational potential energy during the thigh bar raising, thereby achieving exoskeleton gravitational potential energy compensation, and can also absorb energy at the moment of the hip joint drive assembly 31 turning and during the reverse rotation process and release energy during the forward rotation process, thereby achieving flexible rotation.

[0062] Specifically, the hip joint drive assembly 31 can be a drive motor transmission assembly that can rotate in both forward and reverse directions to drive and provide power for the thigh bar 32 to lift and lower the leg. The elastic energy storage assembly 33 releases energy during the leg lifting process (i.e., during the forward rotation of the hip joint drive assembly 31), using gravitational potential energy to compensate for elastic potential energy, thus providing assistance for the leg lifting. During the leg lowering process (i.e., during the reverse rotation of the hip joint drive assembly 31), it stores energy, converting gravitational potential energy into elastic potential energy to compensate for the next movement, achieving a flexible rotation effect and improving wearing comfort. By setting the elastic potential energy of the elastic energy storage assembly 33 and the gravitational potential energy of the exoskeleton to constant values, the elastic potential energy of the spring can compensate for the gravitational potential energy of the exoskeleton, simulating the subscapularis muscle of the snow leopard's forelimb supplementing the increased gravitational potential energy of the exoskeleton during the leg lifting, thus achieving compensation for the exoskeleton's gravitational potential energy. In this embodiment, the fixed end of the hip joint drive assembly 31 can be provided with a hip joint drive fixing plate 34 for supporting and fixing the hip joint drive assembly 31, etc. The top of the hip joint drive fixation plate 34 is adjustablely connected to the fixed side of the waist adjustment plate 22 along the height direction. Specifically, the hip joint drive fixation plate 34 is provided with at least two sets of hip joint bolt holes 341 along its length direction. The hip fixation member 24 can be connected to any set of hip joint bolt holes 341. It can be directly connected or connected by bolts or other structures. It can be connected through hip joint bolt holes 341 at different height positions to realize the adjustment of the height position of the hip joint exoskeleton mechanism 3.

[0063] In this embodiment, the thigh bar 32 can be connected to the hip joint drive assembly 31 via the hip joint transition extension connection assembly 35. Specifically, both ends of the hip joint transition extension connection assembly 35 are connected to the top end of the thigh bar 32 and the power output end of the hip joint drive assembly 31, respectively. The hip joint transition extension connection assembly 35 may include a hip joint transition extension plate 351 and a hip joint fixing block 352. The hip joint transition extension plate 351 and the thigh bar 32 are arranged at an angle, and the two can be arranged perpendicularly; one end of the hip joint transition extension plate 351 (e.g., ...) Figure 9 The left end (as shown) is connected to the top of the thigh bar 32, and the other end (as shown) Figure 9 The right end shown is connected to the hip joint fixation block 352; wherein, the hip joint fixation block 352 can be a U-shaped structure, one end (such as the right end shown) is connected to the hip joint fixation block 352; Figure 9 The bottom end (as shown) is connected to the right end of the hip joint transition extension plate 351, and the other end (as shown) Figure 9 The top end shown can be connected to the power output end of the hip joint drive assembly 31.

[0064] See also Figure 8 and Figure 9The hip joint drive assembly 31 includes a hip joint drive motor 311 and a hip joint drive flange 312. The hip joint drive flange 312 is connected to the hip joint drive motor 311 and is used to rotate under the drive of the hip joint drive motor 311, thereby driving the thigh bar 32 and the elastic energy storage assembly 33. Specifically, the hip joint drive motor 311 may be provided with a hip joint motor housing 313, which is fastened to one side of the hip joint drive motor 311 (e.g., ...). Figure 9 (As shown on the left), to protect the hip joint drive motor 311 from interference by foreign objects. The hip joint drive motor 311 and the hip joint drive flange 312 can be arranged coaxially for coaxial rotation; the top of the hip joint fixing block 352 can be fixedly connected to the hip joint drive flange 312 for synchronous rotation with the hip joint drive flange 312.

[0065] See also Figure 8 and Figure 9 The top of the thigh bar 32 is provided with several sets of length adjustment holes 321 arranged at intervals along the length of the thigh bar. The top of the knee joint exoskeleton mechanism 4 can be detachably connected to any set of length adjustment holes 321, for example by bolt connection, to realize the height position adjustment of the knee joint exoskeleton mechanism 4 to adapt to people of different heights. Each set of length adjustment holes 321 can have two holes.

[0066] See also Figure 9 The elastic energy storage component 33 may include: a crank 331, a guide link 332, a connecting rod rotating block 333, and an energy storage spring 334; wherein, the power input end of the crank 331 is hinged to the power output end of the hip joint drive component 31, and is used to rotate circumferentially (i.e., deflect) around a position different from the center of the rotation axis of the hip joint drive component 31 under the drive of the hip joint drive component 31; the connecting rod rotating block 333 is rotatably mounted on the thigh rod 32, the guide link 332 is slidably mounted through the connecting rod rotating block 333, and the connecting end of the guide link 332 is hinged to the power output end of the crank 331, and is used to swing and slide when the crank 331 rotates circumferentially, so as to adjust the distance between the connecting end of the guide link 332 and the connecting rod rotating block 333. The energy storage spring 334 is sleeved on the guide link 332 and positioned between the connecting end of the guide link 332 and the connecting rod rotating block 333. When the distance between the connecting end of the guide link 332 and the connecting rod rotating block 333 becomes longer, the energy storage spring 334 is stretched to store energy, and when the distance between the connecting end of the guide link 332 and the connecting rod rotating block 333 becomes shorter, it resets and releases energy.

[0067] Specifically, the connecting rod rotating block 333 is rotatably mounted on the hip joint fixing block 352. The connecting rod rotating block 333 has a sliding hole, through which the guide connecting rod 332 slidably passes. The crank component 331, the guide connecting rod 332, and the connecting rod rotating block 333 form an approximate crank-slider mechanism. The difference between the crank component 331, the guide connecting rod 332, and the connecting rod rotating block 333 and the crank-slider mechanism in this embodiment is that the connecting rod length of the crank-slider mechanism remains unchanged, while in this embodiment, the guide connecting rod 332 is equivalent to a connecting rod, which can slide through the connecting rod rotating block 333 for sliding and rotation adjustment. This allows for adjustment of the distance between the connecting end of the guide connecting rod 332 and the connecting rod rotating block 333, i.e., adjustment of the connecting rod length. This allows for the stretching and resetting adjustment of the energy storage spring 334 on the connecting rod, achieving energy storage and energy release. In this embodiment, when the hip joint drive assembly 31 rotates forward, the thigh rod 32 rotates forward accordingly, and the power output end of the crank 331 deflects forward relative to the thigh rod 32. During this process, the distance between the connecting end of the guide link 332 and the connecting rod rotating block 333 becomes shorter, and the energy storage spring 334 resets and releases energy. That is to say, when the hip joint drive assembly 31 rotates forward, the thigh rod 32 swings forward to lift the leg, increasing the gravitational potential energy, and the energy storage spring 334 resets and releases energy, reducing the elastic potential energy. Conversely, when the hip joint drive assembly 31 rotates in the opposite direction, the thigh rod 32 rotates in the opposite direction, and the crank 331 deflects in the opposite direction relative to the thigh rod 32. During this process, the distance between the connecting end of the guide link 332 and the connecting rod rotating block 333 becomes longer, and the energy storage spring 334 is stretched and stores energy. The thigh rod 32 swings in the opposite direction to lower the leg, reducing the gravitational potential energy, and the energy storage spring 334 is stretched and stores energy, increasing the elastic potential energy, thus achieving gravitational potential energy compensation. In this embodiment, the two ends of the energy storage spring 334 can be fixed to the connecting end of the guide rod 332 and the connecting rod rotating block 333 respectively, so as to realize stretching and resetting.

[0068] In this embodiment, the initial state of the energy storage spring 334 is set to the stretched state. At this time, the elastic potential energy stored in the energy storage spring 334 will help the thigh rotate around the hip joint, compensate for the energy loss caused by the upward shift of the center of gravity of the lower limb exoskeleton during the wearer's leg raising, realize the flexible rotation effect, and achieve the conversion between the gravitational potential energy of the exoskeleton and the elastic potential energy of the elastic element, thereby improving the wearing comfort.

[0069] See also Figure 9The crank component 331 includes an external meshing gear ring 3311 and an internal rotating gear 3312. The internal rotating gear 3311 is internally meshed with the external meshing gear ring 3312, and the internal rotating gear 3311 is eccentrically connected to the power output end of the hip joint drive assembly 31. A crank connecting block 3313 is provided on the outer periphery of the axis of the internal rotating gear 3312. The crank connecting block 3313 is rotatably connected to the internal rotating gear 3312 and is used to connect the connecting end of the guide link 332. Under the driving action of the hip joint drive assembly 31, the internal rotating gear 3312 can revolve around the axis of the hip joint drive assembly 31, and under the constraint of the external meshing gear ring 3311, it can rotate around the axis of the internal rotating gear 3312. By rotating the internal rotating gear 3312, the positional relationship of the crank connecting block 3313 relative to the thigh rod is adjusted, thereby driving the guide link 332 to rotate and extend.

[0070] Specifically, the bottom end of the hip joint drive fixation plate 34 may be provided with a support fixation ring 342 for supporting the hip joint drive motor 311 and for supporting the external meshing gear ring 3311. In this embodiment, the hip joint drive motor 311 and the hip joint drive flange 312 are respectively placed on both sides of the motor fixation ring 342. The inner circumference of the support fixation ring 342 may also be provided with a motor support ring 343. The outer wall of the motor support ring 343 is connected to the inner wall of the support fixation ring 342. The motor support ring 343 and the support fixation ring 342 are integrally structured to form an integral support ring. This integral support ring and the hip joint drive fixation plate 34 are also integrally structured. The hip joint drive motor 311 and the hip joint drive flange 312 are respectively located on both sides of the motor support ring 343. The fixed end of the hip joint drive motor 311 is fixedly connected to the motor support ring 343. The output shaft of the hip joint drive motor 311 is rotatably inserted through the inner mounting hole of the motor support ring 343 and fixedly connected to the hip joint drive flange 312 on the right side to drive the hip joint drive flange 312 to rotate. The outer diameter of the external meshing gear ring 3311 can be adapted to the outer diameter of the support fixing ring 342. The two are arranged flush and can be fixedly connected. The inner rotating gear 3312 can mesh internally with the outer meshing gear ring 3311, and is eccentrically connected to the hip joint drive flange 312. The inner rotating gear 3312 is fixedly connected to the hip joint drive flange 312. The crank connecting block 3313 can also be located at a non-central position on the inner rotating gear 3312, and can rotate eccentrically relative to the inner rotating gear 3312. The crank connecting block 3313 enables an eccentric hinge connection between the inner rotating gear 3312 and the guide connecting rod 332. In this embodiment, the gear ratio between the external meshing gear ring 3311 and the internal rotating gear 3312 is 2:1. The external meshing gear ring 3311 and the internal rotating gear 3312, combined with the hip joint drive flange 312, can form a planetary gear system structure. The hip joint drive flange 312 can be equivalent to a planet carrier, the internal rotating gear 3312 can be equivalent to a planet gear, and the external meshing gear ring 3311 can be equivalent to a gear ring. In this embodiment, the gear ring, i.e., the external meshing gear ring 3311, is fixed, the planet carrier, i.e., the hip joint drive flange 312, is the driving member, and the planet gear, i.e., the internal rotating gear 3312, is the driven member, so as to drive the guide connecting rod 332 to rotate, realize swing and extension adjustment, and thus realize the stretching and reset of the energy storage spring 334.

[0071] In this embodiment, the hip joint fixing block 352 can be fastened to the external meshing toothed ring 3311, that is, the external meshing toothed ring 3311 is placed in the U-shaped groove of the hip joint fixing block 352.

[0072] The working principle of the crank component 331 is as follows: Figure 8As shown, in the initial position of the knee exoskeleton mechanism, the center of the hip joint drive flange 312 can be placed on the vertical line where the guide rod 332 is located. At this time, the center of the hip joint drive flange 312 and the center of the inner rotating gear 3312 are both on the vertical line where the guide rod 332 is located. That is to say, the centers of the crank connecting block 3313 and the inner rotating gear 3312 are on the vertical line. In this state, the hip joint drive motor 311 drives the hip joint drive flange 312 to rotate coaxially in the forward direction (e.g., Figure 8 (As shown in the counterclockwise rotation), the rotation of the hip joint drive flange 312 can drive the thigh rod 32 and the hip joint transition extension connection assembly 35 to rotate synchronously in the forward direction. Simultaneously, it can drive the inner rotating gear 3312 to rotate synchronously around the axis of the hip joint drive flange 312. Due to the constraint of the external meshing gear ring 3311, the inner rotating gear 3312 also rotates on its own axis while rotating, in the opposite direction to the revolution, i.e., clockwise. Since the inner rotating gear 3312, thigh rod 32, and hip joint transition extension connection assembly 35 all rotate synchronously with the hip joint drive flange 312 during the above rotation process, the relative motion between the inner rotating gear 3312 and the thigh rod 32 is the rotation of the inner rotating gear 3312. Therefore, for the stretching and resetting of the energy storage spring 334, only the rotation can be considered; Figure 10 As shown, in the initial position, the legs are in a straight position, and the center O of the crank connecting block 3313 and the inner rotating gear 3312 is on a vertical line. After clockwise rotation, as... Figure 11 As shown, the position of the crank connecting block 3313 has moved. Since the distance from the crank connecting block 3313 to the center O of the inner rotating gear 3312 and the distance from the center O of the inner rotating gear 3312 to the hip joint fixing block 352 remain unchanged, and considering that the sum of the lengths of two sides in a triangle is greater than the length of the third side, after the inner rotating gear 3312 rotates clockwise from the leg in the straight position, the distance from the crank connecting block 3313 to the hip joint fixing block 352 is shortened, that is, the distance between the connecting end of the guide rod 332 and the connecting rod rotating block 333 is shortened, and the energy storage spring 334 resets and releases energy. Conversely, after the inner rotating gear 3312 rotates counterclockwise from the leg in the bent position, the distance from the crank connecting block 3313 to the hip joint fixing block 352 is lengthened, that is, the distance between the connecting end of the guide rod 332 and the connecting rod rotating block 333 is lengthened, and the energy storage spring 334 is stretched to store energy.

[0073] See Figures 12 to 14The figure illustrates a preferred structure of the knee exoskeleton mechanism provided in an embodiment of the present invention. As shown, the knee exoskeleton mechanism 4 simulates the hind knee structure of a snow leopard's forelimb, i.e., it is a hind knee structure, meaning that the bending direction of the bending part is opposite to the forward movement direction of the human body. The knee exoskeleton mechanism 4 includes: a thigh retraction link 41, an upper knee link 42, a lower knee link 43, and a knee joint elastic adjustment component 44; wherein, one end of the upper knee link 42 (e.g., Figure 12 The upper left end shown is rotatably connected to the rotating end of the thigh retraction linkage 41 (as shown). Figure 12 The lower knee joint link 43 is connected to the other end of the upper knee joint link 42 in a rotatable manner (as shown at the bottom end); Figure 12 The knee joint elastic adjustment component 44 is connected to the upper knee joint link 42 and the lower knee joint link 43, respectively. The knee joint elastic adjustment component 44 has an uphill / downhill mode and a flat ground mode, used to switch to flat ground mode when walking on flat ground. When the leg straightens from a bent position, the angle between the lower knee joint link 43 and the upper knee joint link 42 increases, and the knee joint elastic adjustment component 44 stores flat ground elastic potential energy. When the leg bends from a straight position, the lower knee joint link 43 and the upper knee joint link 42... When the angle between the upper and lower linkages 42 decreases, the knee joint elastic adjustment component 44 releases the elastic potential energy on flat ground to assist. When switching to the uphill / downhill mode, as the leg changes from straight to bent, the angle between the lower knee linkage 43 and the upper knee linkage 42 decreases, and the knee joint elastic adjustment component 44 stores the uphill / downhill elastic potential energy. When the leg changes from bent to straight, the angle between the lower knee linkage 42 and the upper knee linkage 42 increases, and the knee joint elastic adjustment component 44 releases the uphill / downhill elastic potential energy to assist.

[0074] Specifically, when the hip joint drive motor 311 drives the thigh rod 32, energy is transmitted through the thigh retraction link 41. The thigh binding mechanism 602 can be located inside the thigh retraction link 41, and can be equipped with a sponge lining and flexible fabric to improve wearing comfort. The thigh retraction link 41 and the thigh rod 32 are connected in a position-adjustable manner. In this embodiment, the thigh retraction link 41 has several sets of fixing holes 411 along its length direction, and each set of fixing holes 411 can have two holes. The thigh retraction link 41 and the thigh rod 32 can be connected by bolts. The bolts can align and connect any set of fixing holes 411 with any set of length adjustment holes 321, enabling position adjustment between the thigh retraction link 41 and the thigh rod 32. The upper left end of the upper knee joint link 42 is hinged to the bottom end of the thigh retraction link 41. Preferably, to drive the upper knee joint link 42 to swing, it is also connected to a knee joint rotation drive assembly 45, which drives the upper knee joint link 42 to rotate relative to the thigh retraction link 41. The fixed end of the knee joint rotation drive assembly 45 can be fixedly mounted on the rotating end of the thigh retraction link 41, and the power output end can be connected to the upper knee joint link 42 to drive it to swing, thus achieving the leg-lifting action. The bending directions of the lower knee joint link 43 and the upper knee joint link 42 are opposite to the forward direction of the human body, forming a rear knee structure. That is, when the leg is bent, the upper knee joint link 42 tilts backward from top to bottom, and the lower knee joint link 43 tilts forward from top to bottom; here, "forward" and "backward" refer to the front and back of the human body.

[0075] See also Figure 12 and Figure 13 The knee joint connection end of the lower knee joint link 43 (such as...) Figure 12The upper right end (as shown) is hinged to the lower right end of the upper knee joint link 42, and the two can be hinged together through the knee joint hinge joint 46. The two ends of the knee joint elastic adjustment component 44 can be connected to the lower knee joint link 43 and the upper knee joint link 42 respectively, and the three can form a triangular structure. The knee joint elastic adjustment component 44 can have an uphill / downhill mode and a flat ground mode. When walking on flat ground, it switches to flat ground mode. When the leg straightens from a bent position, the angle between the lower and upper knee joint links increases, and the knee joint elastic adjustment component lengthens to store the flat ground elastic potential energy. When the leg bends from a straight position, the angle between the lower and upper knee joint links decreases, and the knee joint elastic adjustment component releases the flat ground elastic potential energy to provide assistance. When walking uphill / downhill, the knee joint elastic adjustment component switches to uphill / downhill mode. When the leg bends from a straight position, the angle between the lower and upper knee joint links decreases, and the knee joint elastic adjustment component lengthens to store the uphill / downhill elastic potential energy. When the leg straightens from a bent position, the angle between the lower and upper knee joint links increases, and the knee joint elastic adjustment component releases the uphill / downhill elastic potential energy to provide assistance.

[0076] See also Figure 12 and Figure 13 The knee joint elastic adjustment assembly 44 may include: a length adjustment member 441 and an elastic adjustment member 442; wherein, the elastic adjustment member 442 has an uphill / downhill mode and a flat ground mode, and the adjustment end of the elastic adjustment member 442 (such as...) Figure 13 The upper end shown) and the length adjustment end of the length adjustment member 441 (as shown) Figure 13 The upper left end (as shown) is hinged together. The extension of the length adjustment member 441 can push the elastic adjustment member 442 to extend and switch to the flat ground mode for corresponding energy storage and release. The shortening of the length adjustment member 441 can push the elastic adjustment member 442 to shorten and switch to the uphill / downhill mode for corresponding energy storage and release.

[0077] Specifically, the length adjusting member 441 can be arranged along the length direction of the upper link 42 of the knee joint, and the fixed end of the length adjusting member 441 (such as...) Figure 13 The lower right end (as shown) can be fixedly installed on the knee joint linkage 42, with the fixed end positioned below the length adjustment end; wherein, the length adjustment component 441 can be an electric push rod, and the switching of the elastic adjustment component 442 mode is achieved through electric control. The control module 8 can be connected to the length adjustment component 441 to control the length adjustment of the length adjustment component 441. In this embodiment, the adjustment end of the elastic adjustment component 442 is hinged to the length adjustment end of the length adjustment component 441, and the fixed end of the elastic adjustment component 442 (such as the lower right end) can be fixedly installed on the knee joint linkage 42, with the fixed end positioned below the length adjustment end; wherein, the length adjustment component 442 can be an electric push rod, and the switching of the elastic adjustment component 442 mode is achieved through electric control. The control module 8 can be connected to the length adjustment component 441 to control the length adjustment of the length adjustment component 441. Figure 13The lower right end (shown) is rotatably mounted on the lower knee joint link 43. Specifically, the connection point can be spaced apart from the connection points of the lower knee joint link 43 and the upper knee joint link 42, so that the elastic adjustment member 442, the upper knee joint link 42, and the lower knee joint link 43 form a triangular structure. The length adjustment member 441 can be arranged along the length direction of the upper knee joint link 42. Therefore, the elastic adjustment member 442, the length adjustment member 441, and the lower knee joint link 43 can also form a triangular structure. The elastic adjustment member 442 has two modes, allowing for energy storage and release at different times in each mode. In this embodiment, the adjusting end of the elastic adjustment member 442 can be provided with a hinged connector 443, which has a connecting post. The connecting post is rotatably inserted through the length adjusting end of the length adjustment member 441 to achieve relative rotation between the elastic adjustment member 442 and the length adjustment member 441.

[0078] See also Figure 14 The elastic adjustment element 442 may include: a module housing 4421, a guide support rod 4422, a flat compression spring 4423, and an uphill / downhill compression spring 4424; wherein, the sliding end of the guide support rod 4422 (e.g., Figure 14 The lower right end (as shown) is slidably disposed inside the module housing 4421, and the switching end (such as...) Figure 14 The upper left end shown) is the adjustment end of the module housing 4421 (as shown). Figure 14The upper left end (as shown) extends to the outside of the module housing 4421 and is hinged to the length adjustment end of the length adjustment member 441; the flat compression spring 4423 is disposed inside the module housing 4421, located between the sliding end of the guide support rod 4422 and the adjustment end of the module housing 4421, and is sleeved on the guide support rod 4422; the uphill and downhill compression spring 4424 is disposed inside the module housing 4421, and is located between the sliding end of the guide support rod 4422 and the fixed end of the module housing 4421. The guide support rod 4422 slides along the length direction of the module housing 4421 with the length adjustment member 441. The guide support rod 4422 can retract so that its sliding end can slide to the spring balance position, that is, both the flat compression spring 4423 and the uphill and downhill compression spring 4424 are in a free state. At this time, the uphill and downhill compression springs are in the module housing 4421. In the upright position, when the legs change from straight to bent, the angle between the lower knee joint link 43 and the upper knee joint link 42 decreases, compressing the uphill and downhill compression springs 4424 and storing elastic potential energy. When the legs straighten from bent, the angle between the lower knee joint link 43 and the upper knee joint link 42 increases, and the uphill and downhill compression springs 4424 reset and release elastic potential energy. The guide support rod 4422 can extend so that its sliding end can slide to the compression position of the flat ground compression spring 4423. At this time, it is in the upright position of the flat ground mode. When the legs are lifted and change from straight to bent, the angle between the lower knee joint link 43 and the upper knee joint link 42 decreases, and the flat ground compression spring 4423 resets and releases elastic potential energy. When the legs straighten from bent, the angle between the lower knee joint link 43 and the upper knee joint link 42 increases, compressing the flat ground compression spring 4423 and storing elastic potential energy.

[0079] Specifically, a connecting cover 4425 may be provided at the middle position of the guide support rod 4422 for connecting the adjustment end of the module housing 4421; wherein, the connecting cover 4425 is slidably connected to the guide support rod 4422 along the length direction of the guide support rod 4422, so that the guide support rod 4422 can slide relative to the module housing 4421 to realize the switching of the flat ground compression spring 4423 and the uphill / downhill compression spring 4424, that is, the switching of the outdoor sports mode. The switching end of the guide support rod 4422 (such as Figure 13 The upper left end (shown) is connected to the hinge connector 443. The sliding end of the guide support rod 4422 is provided with a sliding block. The sliding block is adapted to the inner contour of the module housing 4421 so as to slide inside the module housing 4421, thereby adjusting the state of the flat compression spring 4423 and the uphill and downhill compression spring 4424, realizing the switching of motion mode and the adjustment of the compression state of the flat compression spring 4423 and the uphill and downhill compression spring 4424.

[0080] The following is Figure 15 and Figure 16 The knee joint elastic adjustment component 44 will be explained using an example:

[0081] The working principle of the knee joint elastic adjustment component 44 for incline and descent: The sliding end of the guide support rod 4422 can slide to the equilibrium position of the flat compression spring 4423 and the incline compression spring 4424 under the extension and retraction of the length adjustment component 441. That is, the flat compression spring 4423 and the incline compression spring 4424 are both in a free state, so that the elastic adjustment component 442 is in the incline and descent mode. In other words, the length of the length adjustment component 441 becomes shorter, that is, the electric push rod retracts, so that the length of segment AB is reduced until the green push rod is located at the equilibrium point of the two springs, so as to achieve the self-adjustment. Figure 16 Switch to (d) Figure 15 In (b), the lower limbs are in an upright position. During the process of the leg changing from straight to bent, going uphill involves lifting the leg (swing phase), while going downhill involves the supporting leg bending due to gravity (support phase). Refer to the specific videos for uphill and downhill sections. During the leg's change from straight to bent, the orange and green connecting rods rotate and converge, meaning the angle decreases. At this time, the straight-line distance between points A and C decreases, i.e., from... Figure 15 From Figure (b) to Figure (a), the yellow spring is compressed to store elastic potential energy. This elastic potential energy is released during the process of the supporting leg pushing off the ground to raise the body's center of gravity, causing the supporting leg to return from a bent state to an upright state, i.e., from Figure (a) to Figure (b). While bending the leg uphill to compress the spring does hinder human movement, the energy expended by pushing off the ground to raise the entire body is greater than the energy expended by lifting and bending a single leg to compress the spring. Therefore, transferring the energy from the bent leg to the pushing-off process is worthwhile. The bending of the leg downhill is completed under the influence of body gravity; at this time, the stored energy is the gravitational potential energy from the downward shift of the body's center of gravity, without hindering natural human movement. In this mode, the green push rod moves back and forth between the compressed lower spring and the equilibrium position of the two springs.

[0082] The working principle of the knee joint elastic adjustment component 44 on flat ground is as follows: the electric push rod extends upward, driving the green push rod to compress the red spring, as shown in Figure (d). At this time, the leg is in an upright position. When the leg is lifted, it changes from straight to bent, releasing elastic potential energy, i.e., from Figure (d) to Figure (c). When the leg changes from bent to straight, the lower limb and knee joint rotation drive component 45 drives the orange and green connecting rods to open, the straight line between points A and C becomes longer, and the spring is compressed to store elastic potential energy.

[0083] Among them, Figure 15 and Figure 16 In the diagram, the orange link refers to the upper knee joint link 42, and the green link refers to the lower knee joint link 43; the vertically arranged green push rod refers to the guide support rod 4422, A refers to the connection point between the guide support rod 4422 and the length adjustment component 441, B refers to the connection point between the upper knee joint link 42 and the lower knee joint link 43, and C refers to the connection point between the module housing 4421 and the lower knee joint link 43.

[0084] See also Figure 14 The knee joint rotation drive assembly 45 includes a knee joint motor 451 and a knee joint motor housing 452; wherein the knee joint motor housing 452 is fastened to the knee joint motor 451 to protect the knee joint motor 451 and prevent interference from foreign objects.

[0085] See Figure 17 and Figure 18 The figure illustrates a preferred structure of the ankle exoskeleton mechanism provided in an embodiment of the present invention. As shown, the ankle exoskeleton mechanism 5 may include: a shoe assembly 51, a shoe connecting post 52, an ankle sliding rod 53, and an ankle elastic cushioning assembly 54; wherein, the shoe connecting post 52 is disposed on the shoe assembly 51; the shoe connecting post 52 has a sliding cavity inside, one end of the ankle sliding rod 53 is slidably disposed inside the shoe connecting post 52, and the other end is used to rotatably connect to the ankle connecting end of the knee exoskeleton mechanism 4; the ankle elastic cushioning assembly 54 is disposed inside the shoe connecting post 52, between the end of the ankle sliding rod 53 disposed inside the shoe connecting post 52 and the bottom end of the sliding cavity, for ankle cushioning.

[0086] Specifically, the shoe connecting post 52 is vertically arranged and can be welded or bolted to the shoe assembly 51. The shoe connecting post 52 has a vertically arranged sliding cavity along its length, with an open top to allow the ankle sliding rod 53 to extend into the sliding cavity from the open end. The ankle elastic cushioning component 54 can be placed between the sliding end of the ankle sliding rod 53 within the sliding cavity and the closed end of the sliding cavity. When the sliding end of the ankle sliding rod 53 slides downwards relative to the shoe connecting post 52, the ankle elastic cushioning component 54 is compressed, storing elastic potential energy and reducing the impact on the joints when the foot touches the ground. The stored elastic potential energy is released when the heel leaves the ground. In this embodiment, the top end of the shoe connecting post 52 can be rotatably connected to the bottom end of the knee joint lower connecting rod 43, and can be hinged via a rotating shaft. Figure 17 and Figure 18 As shown, the top end of the ankle sliding rod 53 can be U-shaped and is equipped with a shoe connecting bolt assembly 55, which includes a shoe connecting bolt 551 and a shoe connecting nut 552. The bottom end of the knee joint lower connecting rod 43 is set in the U-shaped groove and rotatably sleeved on the connecting bolt assembly 55. That is, the ankle sliding rod 53 is connected to the knee joint lower connecting rod 43 through the shoe connecting bolt assembly 55, realizing relative rotation between the top end of the ankle sliding rod 53 and the knee joint lower connecting rod 43, thereby allowing the human ankle joint to perform normal internal / external rotation movements. The bottom end of the ankle sliding rod 53 is equipped with a sliding column body, which is adapted to the inner wall of the sliding cavity of the shoe connecting column 52 and can slide within the sliding cavity.

[0087] In this embodiment, the ankle sliding rod 53 can slide up and down within the sliding cavity of the shoe connecting post 52. The ankle sliding rod 53 has a sliding hole along its length, and the shoe connecting post 52 has a connecting limiting rod 56, which can be fixed to the shoe connecting post 52. The connecting limiting rod 56 passes through the sliding cavity and slides through the sliding hole to limit and guide the sliding of the ankle sliding rod 53.

[0088] See also Figure 18 The shoe assembly 51 includes a sole 511 and a shoe cover 512; wherein, the shoe cover 512 is disposed above the sole 511 and is used to secure it to the human foot. Specifically, the shoe cover 512 can be a shoe cover with Velcro, used for quick donning and doffing of the exoskeleton device, and the shoe cover 512 can be connected to the sole 511 and the shoe connecting post 52.

[0089] See also Figure 18 The ankle elastic cushioning assembly 54 may include an ankle guide post 541 and an ankle spring body 542. The ankle guide post 541 is slidably disposed in a sliding cavity and positioned below the ankle sliding rod 53 for sliding up and down with the ankle sliding rod 53. The ankle spring body 542 is sleeved on the ankle guide post 541 and is used to compress and store elastic potential energy when the ankle guide post 541 slides down with the ankle sliding rod 53, and to apply a restoring force to the ankle guide post 541 so that the ankle guide post 541 and the ankle sliding rod 53 can release elastic potential energy when the heel leaves the ground.

[0090] Specifically, the ankle guide post 541 is provided with a limiting block 543 to restrict the upward reset position of the ankle guide post 541, thereby preventing the ankle guide post 541 from disengaging from the shoe connecting post 52, and thus preventing the ankle guide post 541 from disengaging from the ankle spring body 542; wherein, the limiting block 543 is detachably connected to the ankle guide post 541, the ankle guide post 541 can be a bolt structure, and the limiting block 543 can be a nut structure. In this embodiment, as... Figure 19As shown, a limiting plate 521 may be provided inside the shoe connecting post 52. The cavity above the limiting plate 521 serves as a sliding cavity, and the cavity below it can accommodate the sliding of the ankle guide post 541. The limiting plate 521 is used to limit the sliding of the ankle guide post 541. The ankle guide post 541 is slidably inserted through the limiting plate 521, and the limiting block 543 is placed below the limiting plate 521. It can slide up and down with the ankle guide post 541. The limiting block 543 can be pressed against the limiting plate 521 to limit the extreme position of the upward sliding of the ankle guide post 541, thus preventing the ankle guide post 541 from separating from the shoe connecting post 52. In this embodiment, the top of the ankle guide post 541 is provided with a head that can press against the bottom wall of the ankle sliding rod 53 to slide up and down with the ankle sliding rod 53 and limit the top of the ankle spring body 542. That is, the ankle spring body 542 can be placed between the head of the ankle guide post 541 and the limiting plate 521. When the ankle guide post 541 slides downward with the ankle sliding rod 53 relative to the shoe connecting post 52, the ankle spring body 542 is compressed to store elastic potential energy so that the elastic potential energy can be released when the heel leaves the ground, so that the ankle sliding rod 53 and the ankle guide post 541 slide upward and reset relative to the shoe connecting post 52.

[0091] In this embodiment, the control module 8 adopts a hierarchical control framework. The upper layer is the intent recognition layer, which uses a depth camera located on the chest and IMUs distributed on the exoskeleton to obtain motion intent information. This information is then fused with multiple data sources and processed using machine vision-based image semantic recognition to generate a digital elevation model of the current and future motion terrain. This model includes typical outdoor terrain such as mountains, forests, and plains. Mountainous terrain includes upslopes, downslopes, and their gradients. The middle layer is the trajectory control layer, which is mainly divided into two parts: adaptive auxiliary trajectory and adaptive human body characteristics, as well as energy-saving control. First, based on the recognition results from the upper intent recognition layer, the elastic element at the knee joint structure is switched to adapt to the terrain. The auxiliary trajectory is also switched based on the terrain and gradient information; this is adaptive auxiliary trajectory. Second, since the exoskeleton is primarily used for outdoor walking assistance, a speed mapping model is established by collecting pressure data from the flexible pressure sensor at the thigh strap at different speeds and IMU data from the exoskeleton's feet. During actual movement, the walking speed can be modified according to the user's subjective motion intent. The lower layer is the bottom position control, which uses the motion trajectory with human preferences and optimal energy efficiency obtained from the middle layer as the control expectation. It is implemented by using forward dynamics network and impedance control. The human torque observer is used to predict the human body's own motion torque, the higher-order disturbance observer is used to determine the system uncertainty, and the obstacle Lyapunov is used to solve the determined physical motion constraints to ensure tracking error.

[0092] In summary, the wearable lower limb outdoor walking assistive exoskeleton robot provided in this embodiment simulates the subscapularis muscle of a snow leopard through a hip joint exoskeleton mechanism for gravity compensation and flexible rotation, reducing the wearer's own metabolic consumption and improving wearing comfort. The knee joint exoskeleton mechanism allows switching between uphill / downhill and flat terrain modes, simulating the triceps brachii muscle of a snow leopard's forelimbs through different elastic elements in each mode to store and release energy at different times. It can adapt to various terrains, including typical mountainous, woodland, and gravel terrains, and is suitable for people of different body types. It features flexible hip joint weight compensation and flexible ankle joint gait stabilization functions, and... Figure 20 As shown, by analyzing the musculoskeletal model of the snow leopard's forelimb, we can identify its most developed muscle groups, namely the subscapularis and triceps brachii. By using elastic elements to simulate its muscles and rigid rods to simulate its skeletal structure, we can derive a novel bionic lower limb exoskeleton. This structure only partially conforms to the wearer's body, increasing comfort and freeing up the wearer's freedom of movement. Furthermore, compared to traditional exoskeletons, the knee joint, mimicking the forelimb and hind knee of a snow leopard, moves in the opposite direction to the human knee joint. This gives the exoskeleton advantages such as high energy efficiency, resistance to foot impact, and strong load-bearing capacity, while avoiding the hip joint's compensatory knee retraction defect inherent in traditional humanoid knee joints. The knee joint motor is located close to the hip joint actuator to reduce its power consumption. Because of its heterogeneity from the human knee joint, it avoids human-machine joint misalignment and further frees up the wearer's freedom of movement, improving comfort. This design addresses the current market's limited number and variety of exoskeletons, and the fact that most still suffer from several critical issues, such as lack of terrain adaptability, limited and unreliable human-machine joint misalignment compensation mechanisms, limited assistive effects, and restricted human freedom of movement due to the constraints of traditional humanoid structures. In addition, this exoskeleton robot also possesses the following technical advantages:

[0093] First, the overall structure adopts a biomimetic design. By simulating the musculoskeletal model of mountain animals, especially the snow leopard's forelimbs, it is coupled with the human body only at the waist, thigh, and ankle joints, forming a rigid-flexible coupling exoskeleton with outdoor walking ability, avoiding the problem of human-machine joint misalignment caused by tight coupling of the knee joint.

[0094] Secondly, an elastic element at the knee joint simulates the triceps brachii of a snow leopard for energy recovery, reducing the overall energy consumption of the equipment. To achieve adaptability to different terrains, a switchable elastic element device, namely the knee joint elastic adjustment component, is designed. The terrain recognition results from a depth camera on the chest drive the length adjustment component 441 (electric actuator) to switch the elastic adjustment component 442 (elastic element) to achieve terrain adaptability. In other words, a terrain-adaptive structure is provided at the knee joint, and the electric actuator switches the action of the spring module to provide assistance in different terrains, such as walking uphill and downhill in typical mountainous terrain versus walking on flat ground, improving the structure's environmental adaptability.

[0095] Third, the binding points are set at the waist, thighs and ankles respectively. The rigid structure stabilizes the ankle joint, the elastic element at the connection point provides terrain cushioning, and the flexible binding improves wearing comfort.

[0096] Fourth, multiple parts are designed with adjustable mechanisms. For example, the distance between the waist adjustment plate 22 and the waist connecting piece 21 can be changed by adjusting the bolt 231 and the buckle 232, that is, the spacing between the two waist adjustment plates 22, to adapt to people with different waist sizes and to facilitate patients to quickly put on the exoskeleton; by adjusting the distance between the thigh retraction link 41 and the thigh bar 32, the distance from the hip joint to the knee joint can be changed, which can adapt to people with different heights.

[0097] Fifth, a flexible pressure sensor housing is designed at the thigh binding area. The human body and the exoskeleton act asynchronously on the pressure sensor housing to obtain human-computer interaction characteristics.

[0098] Sixth, the drive unit of this exoskeleton robot has two elastic units: an energy storage spring 334 connected to the thigh rod 32, which can suppress the impact from the motor during turning, protect the human joints, achieve a flexible rotation effect, and simulate the subscapularis muscle of the snow leopard's forelimb, providing gravity compensation; a flat ground compression spring 4423 and an uphill / downhill compression spring 4424 form a second elastic element, simulating the triceps brachii muscle of the snow leopard's forelimb, which improves energy utilization, resists foot impact, and reduces the energy consumed by hip joint retraction. During movement, it can store energy during knee joint extension or compression and release it during another knee joint process, reducing motor power consumption and increasing maximum output torque; both elastic elements simulate the two most developed muscle groups of the snow leopard's forelimb to achieve speed and flexibility similar to the snow leopard's forelimb walking in typical outdoor mountainous and forested areas.

[0099] Method Implementation Examples:

[0100] See Figure 21 This is a flowchart illustrating the control method for a wearable lower limb outdoor mobility exoskeleton robot provided in an embodiment of the present invention. As shown in the figure, the control method includes the following steps:

[0101] Step S1: Obtain the current terrain type and slope degree; where the current terrain type is uphill, downhill, or flat.

[0102] Specifically, image semantic recognition based on machine vision is used to determine the current terrain category. Kinematic information of the human lower limbs (joint angles, angular velocity, angular acceleration) based on IMU is used as input to a classification model (such as a neural network or support vector machine) to obtain the slope degree. The current terrain category is categorized as uphill, downhill, or flat. A depth camera located on the chest and IMUs distributed on the exoskeleton can be used to obtain motion intent information. Multi-data fusion and machine vision-based image semantic recognition are then performed to derive a digital elevation model of the current and future motion terrain, including typical outdoor terrain such as mountains, woodlands, and ordinary flat terrain. Mountainous terrain includes uphill and downhill slopes and their gradient information.

[0103] Step S2: Based on the current terrain type, control the exoskeleton robot to switch its outdoor movement mode; the outdoor movement modes include: uphill / downhill movement mode and flat ground movement mode.

[0104] Specifically, the outdoor movement mode of the exoskeleton robot is switched according to the current terrain type; the outdoor movement modes include: uphill and downhill movement mode and flat ground movement mode.

[0105] Step S3: Based on the current terrain type and slope, control the exoskeleton robot to switch its joint movement trajectory.

[0106] Specifically, the joint motion trajectory of the exoskeleton robot is switched according to the current terrain type and slope degree. Trajectory control layer control can be implemented, mainly divided into two parts: auxiliary trajectory adaptation and human characteristic adaptation, and energy-saving control. First, based on the recognition results of the upper-layer intent recognition layer, the elastic element at the knee joint structure is switched to adapt to the terrain. Then, the auxiliary trajectory is switched according to the terrain and slope information; this is auxiliary trajectory adaptation. The joint motion trajectory can be used as the control expectation for position control of the exoskeleton robot. Forward dynamics network and impedance control are used to achieve position control. A human torque observer is used to predict the human body's own motion torque, a higher-order perturbation observer is used to determine system uncertainties, and Lyapunov obstacle avoidance is used to solve the determined physical motion constraints, ensuring tracking error control.

[0107] Step S4: Establish a velocity mapping model based on the pressure data at the thigh binding point of the exoskeleton robot and the IMU data of the exoskeleton foot; wherein, the exoskeleton foot IMU data includes: foot velocity data.

[0108] Specifically, a speed mapping model can be established by collecting pressure data from the flexible pressure sensor at the thigh binding point at different speeds and IMU data from the exoskeleton foot to adapt to different walking speeds.

[0109] Step S5: Based on the velocity mapping model, the pre-walking speed of the human body is obtained, and the exoskeleton robot is controlled and adjusted according to the pre-walking speed of the human body so that its assisted walking speed is adapted to the pre-walking speed of the human body.

[0110] Specifically, walking speed can be modified according to the body's subjective movement intention during actual exercise.

[0111] Since the wearable lower limb outdoor walking assistive exoskeleton robot has the above-mentioned technical effects, the control method of the wearable lower limb outdoor walking assistive exoskeleton robot also has the above-mentioned technical effects.

[0112] It should be noted that in the description of this invention, the terms "upper", "lower", "left", "right", "inner", "outer", etc., which indicate directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings. This is only for the convenience of description and is not intended to indicate or imply that the device or element must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation of this invention.

[0113] Furthermore, it should be noted that, in the description of this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0114] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

Claims

1. A wearable lower limb outdoor walking assistive exoskeleton robot, characterized in that, include: A lumbar support mechanism is used to carry a person on their back so that the lumbar support mechanism can fit snugly against the person's back. A waist adjustment mechanism is located below the waist support mechanism and is used to fit the human waist in an adjustable manner. Two hip joint exoskeleton mechanisms are connected to the waist adjustment mechanism along the width of the waist adjustment mechanism in a position-adjustable manner, for adjusting the position of the hip joint exoskeleton mechanism. The hip joint exoskeleton mechanism simulates the subscapularis muscle of a snow leopard to perform gravity compensation and flexible rotation. Two knee exoskeleton mechanisms correspond one-to-one with the hip exoskeleton mechanism. The knee exoskeleton mechanism is connected to the power output end of the corresponding hip exoskeleton mechanism. Furthermore, the knee exoskeleton mechanism has uphill / downhill and flatland modes, which are used to perform leg lifting movements under the action of the hip exoskeleton mechanism. In both modes, it can simulate the triceps brachii of the snow leopard's forelimb through different elastic elements to store and release energy at different times in the two different modes. Two ankle exoskeleton mechanisms correspond one-to-one with two knee exoskeleton mechanisms, and the ankle exoskeleton mechanism is connected to the corresponding knee exoskeleton mechanism.

2. The wearable lower limb outdoor mobility exoskeleton robot according to claim 1, characterized in that, The hip exoskeleton mechanism includes: Hip joint drive assembly; The thigh bar is connected to the power output end of the hip joint drive assembly and is used to swing with the rotation of the hip joint drive assembly so that the thigh bar raises the leg when the hip joint drive assembly rotates in the forward direction and lowers the leg when the hip joint drive assembly rotates in the reverse direction. An elastic energy storage component, which is connected to the power output end of the hip joint drive component, is used to reduce the elastic potential energy when the hip joint drive component rotates in the forward direction. This simulates the subscapularis muscle of the snow leopard's forelimb supplementing the increased exoskeleton gravitational potential energy during the thigh pole lift, thereby compensating for the exoskeleton's gravitational potential energy. It can also absorb energy at the moment the hip joint drive component turns and during the reverse rotation process, and release energy during the forward rotation process, thereby achieving flexible rotation.

3. The wearable lower limb outdoor walking assistive exoskeleton robot according to claim 2, characterized in that, The elastic energy storage component includes: The crank component, whose power input end is connected to the power output end of the hip joint drive assembly, is used to rotate circumferentially around a position different from the center of the hip joint drive assembly's axis under the drive of the hip joint drive assembly. The connecting rod rotating block is rotatably mounted on the thigh rod; A guide link is slidably disposed on the connecting rod rotating block, and the connecting end of the guide link is connected to the power output end of the crank component. When the crank component rotates in the circumferential direction, the guide link swings and slides to adjust the distance between the connecting end of the guide link and the connecting rod rotating block. An energy storage spring is sleeved on the guide link and positioned between the connecting end of the guide link and the rotating block of the link. When the distance between the connecting end of the guide link and the rotating block of the link increases, the energy storage spring is stretched to store energy, and when the distance between the connecting end of the guide link and the rotating block of the link decreases, the energy is released by resetting.

4. The wearable lower limb outdoor walking assistive exoskeleton robot according to claim 3, characterized in that, The crank component includes: External meshing gear ring; An internal rotating gear engages internally with the external meshing gear ring and is eccentrically connected to the power output end of the hip joint drive assembly. A crank connecting block is provided on the outer periphery of the internal rotating gear's axis, and the crank connecting block is rotatably connected to the internal rotating gear, serving to connect the end of the guide link. Under the driving action of the hip joint drive assembly, the internal rotating gear can revolve around the axis of the hip joint drive assembly and simultaneously rotate on its own axis. This rotation of the internal rotating gear adjusts the positional relationship of the crank connecting block relative to the thigh rod, thereby driving the guide link to rotate and extend / retract.

5. The wearable lower limb outdoor walking assistive exoskeleton robot according to any one of claims 1 to 4, characterized in that, The knee exoskeleton mechanism includes: Thigh contraction linkage; The upper link of the knee joint has one end rotatably connected to the rotating end of the thigh retraction link; The lower knee joint link is rotatably connected to the other end of the upper knee joint link; A knee joint elastic adjustment component is connected to the upper knee joint link and the lower knee joint link, respectively. The knee joint elastic adjustment component has an uphill / downhill mode and a flat ground mode. When walking on flat ground, it switches to flat ground mode. When the leg straightens from a bent position, the angle between the lower and upper knee joint links increases, and the knee joint elastic adjustment component stores flat ground elastic potential energy. When the leg bends from a straight position, the angle between the lower and upper knee joint links decreases, and the knee joint elastic adjustment component releases the flat ground elastic potential energy to provide assistance. When walking uphill / downhill, the knee joint elastic adjustment component switches to uphill / downhill mode. When the leg bends from a straight position, the angle between the lower and upper knee joint links decreases, and the knee joint elastic adjustment component stores uphill / downhill elastic potential energy. When the leg straightens from a bent position, the angle between the lower and upper knee joint links increases, and the knee joint elastic adjustment component releases uphill / downhill elastic potential energy to provide assistance.

6. The wearable lower limb outdoor walking assistive exoskeleton robot according to claim 5, characterized in that, The knee joint elastic adjustment component includes: Length adjustment component; The elastic adjustment member has an uphill / downhill mode and a flat ground mode. The adjustment end is hinged to the length adjustment end of the length adjustment member. When the length adjustment member extends, it can push the elastic adjustment member to extend and switch to the flat ground mode. When the length adjustment member shortens, it can push the elastic adjustment member to shorten and switch to the uphill / downhill mode.

7. The wearable lower limb outdoor walking assistive exoskeleton robot according to claim 6, characterized in that, The elastic adjustment element includes: Module casing; The guide support rod has a sliding end that is slidably disposed inside the module housing, and a switching end that extends from the adjustment end of the module housing to the outside of the module housing and is hinged to the length adjustment end of the length adjustment member. A flat compression spring is disposed inside the module housing, located between the sliding end of the guide support rod and the adjusting end of the module housing, and sleeved on the guide support rod; An uphill / downhill compression spring is disposed inside the module housing and positioned between the sliding end of the guide support rod and the fixed end of the module housing. The guide support rod slides along the length direction of the module housing with the length adjustment member. The guide support rod can retract so that its sliding end can slide to the spring equilibrium position, which is the upright state of the uphill / downhill mode. When the leg changes from straight to bent, the angle between the lower knee joint link and the upper knee joint link decreases, compressing the uphill / downhill compression spring and storing elastic potential energy. When the leg changes from bent to straight, the uphill / downhill compression spring... The angle between the lower knee joint link and the upper knee joint link increases, and the uphill / downhill compression spring resets and releases elastic potential energy. The guide support rod can extend so that its sliding end can slide to the compression position of the flat ground compression spring, which is in the upright state of the flat ground mode. When the leg is raised from straight to bent, the angle between the lower knee joint link and the upper knee joint link decreases, and the flat ground compression spring resets and releases elastic potential energy. When the leg is straightened from bent, the angle between the lower knee joint link and the upper knee joint link increases, compressing the flat ground compression spring and storing elastic potential energy.

8. The wearable lower limb outdoor walking assistive exoskeleton robot according to claim 5, characterized in that, The upper knee joint link is also connected to a knee joint rotation drive assembly, which drives the upper knee joint link to rotate relative to the thigh retraction link.

9. The wearable lower limb outdoor mobility exoskeleton robot according to any one of claims 1 to 4, characterized in that, The ankle exoskeleton mechanism includes: Footwear set; A shoe connecting post is provided on the shoe assembly; An ankle sliding rod, one end of which is slidably disposed inside the shoe connecting post, and the other end of which is rotatably connected to the ankle connecting end of the knee exoskeleton mechanism; An ankle spring is provided between the shoe connecting post and the end of the ankle sliding rod located inside the shoe connecting post for ankle cushioning.

10. A control method for a wearable lower limb outdoor walking assistive exoskeleton robot, characterized in that, Includes the following steps: Obtain the current terrain type and slope degree; where the current terrain type is uphill, downhill, or flat. Based on the current terrain type, control the exoskeleton robot to switch its outdoor movement modes; the outdoor movement modes include: uphill / downhill movement mode and flat ground movement mode; Based on the current terrain type and slope, control the exoskeleton robot to switch its joint movement trajectories; A velocity mapping model is established based on pressure data from the thigh straps of the exoskeleton robot and IMU data from the exoskeleton's feet; the IMU data from the exoskeleton's feet includes foot velocity data. Based on the velocity mapping model, the pre-walking speed of the human body is obtained, and the exoskeleton robot is controlled and adjusted according to the pre-walking speed of the human body so that its assisted walking speed is adapted to the pre-walking speed of the human body.

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