A flexible exoskeleton device

Abstract

This invention provides a flexible exoskeleton device, comprising: a backplate assembly and a lower limb assembly, and a hip joint assembly movably connecting the backplate assembly and the lower limb assembly. The hip joint assembly includes a first connector, a second connector, and a movable component; the first connector is fixedly connected to the backplate assembly, the second connector is fixedly connected to the lower limb assembly, and the movable component connects the first connector and the second connector, allowing for flexible movement between them and a wider range of relative motion angles. Therefore, when the wearer performs activities, they are no longer restricted by the exoskeleton, enabling a wider range of flexible movements and improving comfort during wear.

Description

Technical Field

[0001] This invention generally relates to the field of exoskeleton technology, and more specifically to an exoskeleton device that can move flexibly. Background Technology

[0002] Since the beginning of the 21st century, my country's population has been aging increasingly, and the number of patients suffering from lower limb motor function impairment due to stroke, lower limb muscle damage, or accidents has been increasing. How to enable patients to stand and walk and restore function has become a key research focus.

[0003] Lower limb rehabilitation exoskeleton technology is a new type of human motion assistive robot technology. By applying exoskeleton technology to patients, it can drive the patient's lower limbs to perform movements along a predetermined trajectory, assist patients in gait training and provide assistance, thereby enhancing the patient's lower limb motor ability and providing patients with more personalized, immediate and convenient rehabilitation training.

[0004] There are many types of lower limb exoskeletons available, but most have a rigid hip joint structure. While these provide support and enhance mobility, they suffer from drawbacks such as heavy components, poor fit and convenience, and complex structures. Furthermore, most hip joints only offer one degree of freedom (flexion / extension), lacking the other two (adduction / abduction and internal / external rotation), resulting in insufficient flexibility to accommodate various human movements. Wearing such exoskeletons may restrict the user's movement, leading to discomfort. Summary of the Invention

[0005] In view of the above-mentioned defects or deficiencies in the prior art, it is desirable to provide an exoskeleton device that allows for flexible movement.

[0006] This invention provides a flexible exoskeleton device, comprising:

[0007] Backplate assembly and lower limb assembly;

[0008] A hip joint assembly for movably connecting the backplate assembly and the lower limb assembly;

[0009] The hip joint assembly includes:

[0010] A first connector is fixedly connected to the backplate assembly;

[0011] The second connector is fixedly connected to the lower limb assembly;

[0012] A movable component, one end of which is connected to the first connector and the other end of which is connected to the second connector, for enabling a movable connection between the first connector and the second connector.

[0013] According to the technical solution provided by the present invention, the active component includes:

[0014] Third connector;

[0015] A first hinge assembly connected between the first connector and the third connector and / or a second hinge assembly connected between the second connector and the third connector;

[0016] The first hinge assembly is used to provide a first degree of freedom between the first connector and the third connector; the second hinge assembly is used to provide a second degree of freedom between the second connector and the third connector.

[0017] According to the technical solution provided by the present invention, the first hinge assembly includes:

[0018] Multiple first hinges, one end of each first hinge is flexibly connected to the first connector, and the other end is flexibly connected to the third connector.

[0019] According to the technical solution provided by the present invention, the first hinge assembly further includes:

[0020] Multiple third hinges and multiple fourth hinges;

[0021] One end of the third hinge is flexibly connected to the first connector, and one end of the fourth hinge is flexibly connected to the third connector; the third hinge and the fourth hinge are flexibly connected.

[0022] According to the technical solution provided by the present invention, the sum of the lengths of the third hinge and the fourth hinge is greater than the length of the first hinge.

[0023] According to the technical solution provided by the present invention, the second hinge assembly includes:

[0024] Multiple second hinges, one end of which is flexibly connected to the second connector and the other end of which is flexibly connected to the third connector.

[0025] According to the technical solution provided by the present invention, the second hinge assembly further includes:

[0026] Multiple fifth hinges and multiple sixth hinges;

[0027] One end of the fifth hinge is flexibly connected to the second connector, and one end of the sixth hinge is flexibly connected to the third connector; the fifth hinge and the sixth hinge are flexibly connected.

[0028] According to the technical solution provided by the present invention, the sum of the lengths of the fifth hinge and the sixth hinge is greater than the length of the second hinge.

[0029] According to the technical solution provided by the present invention, when the movable component includes only the third connector and the first hinge component, the third connector is fixedly connected to the second connector.

[0030] According to the technical solution provided by the present invention, when the movable component includes only the third connector and the second hinge component, the third connector is fixedly connected to the first connector.

[0031] The beneficial effects of this invention are as follows:

[0032] The backplate assembly and lower limb assembly are movably connected via a hip joint assembly. The hip joint assembly includes a first connector, a second connector, and a movable component. The first connector is fixedly connected to the backplate assembly, and the second connector is fixedly connected to the lower limb assembly. The movable component connects both the first and second connectors, allowing for flexible movement between them and a wider range of relative motion angles. Therefore, when the wearer performs activities, they are no longer restricted by the exoskeleton, enabling a greater range of flexible movements and improving comfort during exercise. Attached Figure Description

[0033] Other features, objects, and advantages of the invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0034] Figure 1 This is a schematic diagram of a flexible exoskeleton device.

[0035] Figure 2 for Figure 1 A magnified view of a section at point A in the middle;

[0036] Figure 3 This is a schematic diagram of the hip joint assembly in the first embodiment;

[0037] Figure 4 This is another structural schematic diagram of the hip joint assembly in the first embodiment;

[0038] Figure 5 This is a schematic diagram of the hip joint assembly in the second embodiment;

[0039] Figure 6 This is a schematic diagram of the hip joint assembly in the third embodiment;

[0040] The components are: 1. Backplate assembly; 2. Lower limb assembly; 3. First connector; 4. Second connector; 5. Third connector; 6. First hinge; 7. Third hinge; 8. Fourth hinge; 9. Second hinge; 10. Fifth hinge; 11. Sixth hinge. Detailed Implementation

[0041] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, only the parts relevant to the invention are shown in the accompanying drawings.

[0042] It should be noted that, unless otherwise specified, the embodiments and features described in the present invention can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0043] Please refer to Figure 1-2 The present invention provides a flexible exoskeleton device, comprising:

[0044] Backplate assembly 1 and lower limb assembly 2;

[0045] A hip joint assembly for movably connecting the backplate assembly 1 and the lower limb assembly 2;

[0046] The hip joint assembly includes:

[0047] The first connector 3 is fixedly connected to the back plate assembly 1;

[0048] The second connector 4 is fixedly connected to the lower limb assembly 2;

[0049] A movable component, one end of which is connected to the first connector 3 and the other end of which is connected to the second connector 4, is used to enable a movable connection between the first connector 3 and the second connector 4.

[0050] Specifically, the entire hip joint assembly is manufactured using 3D printing. This avoids complex assembly processes and enables simple connection and assembly.

[0051] The lower limb component is an essential structure of the exoskeleton and is rotatably connected to the second connector 4. It can cooperate with the hip joint component to enable the wearer to perform more movements.

[0052] The movable components are respectively connected to the first connector 3 and the second connector 4, and can be movably connected to the first connector 3 and the second connector 4, so that the first connector 3 and the second connector 4 can move flexibly and the relative motion angle range is larger.

[0053] Therefore, when the human body is wearing it, it is no longer restricted by the exoskeleton, and can make a wider range of more flexible movements, improving the comfort of exercise when wearing it.

[0054] Furthermore, the active component includes:

[0055] Third connector 5;

[0056] A first hinge assembly connected between the first connector 3 and the third connector 5 and / or a second hinge assembly connected between the second connector 4 and the third connector 5;

[0057] The first hinge assembly is used to provide a first degree of freedom between the first connector 3 and the third connector 5; the second hinge assembly is used to provide a second degree of freedom between the second connector 4 and the third connector 5.

[0058] In the first embodiment, refer to Figure 2-4 The active component includes:

[0059] A first hinge assembly, one end of which is flexibly connected to the first connector 3;

[0060] The third connector 5 is flexibly connected to the other end of the first hinge assembly;

[0061] The second hinge assembly has one end flexibly connected to the third connector 5 and the other end flexibly connected to the second connector 4;

[0062] The first hinge assembly is used to allow the first connector 3 and the third connector 5 to move along a first degree of freedom; the second hinge assembly is used to allow the second connector 4 and the third connector 5 to move along a second degree of freedom.

[0063] Specifically, the third connector 5 is movably connected to the first connector 3 via the first hinge assembly, allowing a first degree of relative motion between the first connector 3 and the third connector 5; it is also movably connected to the second connector 4 via the second hinge assembly, allowing a second degree of relative motion between the second connector 4 and the third connector 5.

[0064] Because the first hinge assembly and the second hinge assembly have different directions of movement, the backplate assembly 1 and the lower limb assembly 2 connected by the hip joint assembly can produce two different movement modes with the first degree of freedom and the second degree of freedom; compared with other exoskeletons worn by the human body, the movement mode is more flexible and the range of motion is greater.

[0065] Specifically, the axes of motion for both the first and second degrees of freedom pass through the actual center of motion of the human hip joint, enabling the exoskeleton to better cooperate with the human body and improve comfort.

[0066] Further, the first hinge assembly includes:

[0067] Multiple first hinges 6, one end of the first hinge 6 is flexibly connected to the first connector 3, and the other end is flexibly connected to the third connector 5.

[0068] Specifically, the first hinge 6 is thicker and stiffer in the middle, and thinner and more flexible at both ends. Therefore, the portions connected to the ends can rotate relative to the middle of the first hinge 6.

[0069] Two first hinges 6 connect the first connector 3 and the third connector 5, forming a quadrilateral-like structure between the first connector 3, the third connector 5, and the two first hinges 6, with each of the four vertices capable of bending and rotating relative to the other. Therefore, the first connector 3 and the third connector 5 can move along the first degree of freedom.

[0070] The two first hinges 6 are positioned far apart from each other, which makes the first hinge assembly less susceptible to breakage due to shear or torsional forces, thus improving structural strength.

[0071] Furthermore, the first hinge assembly also includes:

[0072] Multiple third hinges 7 and multiple fourth hinges 8;

[0073] One end of the third hinge 7 is flexibly connected to the first connector 3, and one end of the fourth hinge 8 is flexibly connected to the third connector 5; the third hinge 7 and the fourth hinge 8 are flexibly connected.

[0074] Specifically, the connection between the third hinge 7 and the fourth hinge 8 is thin and flexible. The third hinge 7 and the fourth hinge 8 are respectively connected to the first connector 3 and the third connector 5, which can strengthen the overall structural strength of the first hinge assembly to adapt to the situation when the exoskeleton is loaded with heavy objects.

[0075] In some embodiments, the sum of the lengths of the third hinge 7 and the fourth hinge 8 is greater than the length of the first hinge 6.

[0076] Specifically, all the thinner joints of the first hinge 6, the third hinge 7, and the fourth hinge 8 can be bent, and after bending, they will generate a spring force to return to their natural state; moreover, the greater the degree of bending, the greater the spring force. Therefore, by setting multiple third hinges 7 and fourth hinges 8, the total resultant force of the spring force can be increased.

[0077] The sum of the lengths of the third hinge 7 and the fourth hinge 8 is greater than the length of the first hinge 6, which ensures that the rebound force between the third hinge 7 and the fourth hinge 8 is always at a large value, and further increases the total resultant force of the rebound force.

[0078] When the first connecting member 3 and the third connecting member 5 move along the first degree of freedom and lose power, the rebound force between all the first hinges 6, the third hinges 7 and the fourth hinges 8 can drive the first connecting member 3 and the third connecting member 5 to return to their original state.

[0079] In some embodiments, since the sum of the lengths of the third hinge 7 and the fourth hinge 8 is greater than the length of the first hinge 6, the third hinge 7 and the fourth hinge 8 will inevitably bend. Therefore, the bending directions between the multiple third hinges 7 and fourth hinges 8 can be set to different directions. This way, when the first connecting member 3 and the second connecting member 5 move in both directions of the first degree of freedom, the first hinge assembly can have sufficient restoring force to drive the first connecting member 3 and the third connecting member 5 back to their original state.

[0080] In some embodiments, multiple third hinges 7 and fourth hinges 8 are located between two first hinges 6. The thicker and harder central part of the first hinge 6 can be used to protect the third hinges 7 and fourth hinges 8 and prevent them from being damaged by external impact.

[0081] Further, the second hinge assembly includes:

[0082] Multiple second hinges 9, one end of each second hinge 9 is flexibly connected to the second connector 4, and the other end is flexibly connected to the third connector 5.

[0083] Furthermore, the second hinge assembly also includes:

[0084] Multiple fifth hinges 10 and multiple sixth hinges 11;

[0085] One end of the fifth hinge 10 is flexibly connected to the second connector 4, and one end of the sixth hinge 11 is flexibly connected to the third connector 5; the fifth hinge 10 and the sixth hinge 11 are flexibly connected.

[0086] Furthermore, the sum of the lengths of the fifth hinge 10 and the sixth hinge 11 is greater than the length of the second hinge 9.

[0087] Specifically, the second hinge assembly operates on the same principle as the first hinge assembly:

[0088] Multiple second hinge assemblies 9 connect the second connector 4 and the third connector 5, forming a quadrilateral-like structure between them, and can generate relative motion along the second degree of freedom.

[0089] The combined length of multiple fifth hinges 10 and multiple sixth hinges 11 is greater than that of the second hinge 9, which is used to generate a restoring force to drive the second connector 4 and the third connector 5 to reset; the multiple fifth hinges 10 and multiple sixth hinges 11 bend in different directions, so that the second connector 4 and the third connector 5 can return to their original state when moving in both directions of the second degree of freedom.

[0090] Multiple fifth hinges 10 and multiple sixth hinges 11 are arranged between two second hinges 9 to prevent the fifth hinges 10 and sixth hinges 11 from being damaged by external impacts.

[0091] In some cases, only the hip joint assembly needs to move along one degree of freedom; therefore, the present invention also includes two other implementations:

[0092] In a second embodiment, when the movable component includes only the third connector 5 and the first hinge assembly, the third connector 5 is fixedly connected to the second connector 4.

[0093] refer to Figure 5 In this embodiment, the active component includes:

[0094] A first hinge assembly, one end of which is flexibly connected to the first connector 3;

[0095] The third connector 5 is fixedly connected to the second connector 4 and flexibly connected to the other end of the first hinge assembly;

[0096] The first hinge assembly provides a first degree of freedom between the first connector 3 and the third connector 5. In this case, the moving component has only the first degree of freedom to meet practical requirements.

[0097] In a third embodiment, when the movable component includes only the third connector 5 and the second hinge assembly, the third connector 5 is fixedly connected to the first connector 3.

[0098] refer to Figure 6 In this embodiment, the active component includes:

[0099] The second hinge assembly has one end flexibly connected to the second connector 4;

[0100] The third connector 5 is fixedly connected to the first connector 3 and flexibly connected to the other end of the second hinge assembly;

[0101] The second hinge assembly provides a second degree of freedom between the second connector 4 and the third connector 5. In this case, the moving component has only a second degree of freedom to meet practical requirements.

[0102] The above description is merely a preferred embodiment of the present invention and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of the invention is not limited to the specific combination of the above-described technical features, but also includes other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the inventive concept. For example, technical solutions formed by substituting the above-described features with (but not limited to) technical features with similar functions disclosed in this invention.

Claims

1. A flexible exoskeleton device, characterized in that, include: Backplate assembly (1) and lower limb assembly (2); A hip joint assembly for movably connecting the backplate assembly (1) and the lower limb assembly (2). The hip joint assembly includes: The first connector (3) is fixedly connected to the backplate assembly (1); The second connector (4) is fixedly connected to the lower limb assembly (2); An active component, one end of which is connected to the first connector (3) and the other end of which is connected to the second connector (4), is used to enable a movable connection between the first connector (3) and the second connector (4); The active components include: Third connector (5); A first hinge assembly connected between the first connector (3) and the third connector (5) and / or a second hinge assembly connected between the second connector (4) and the third connector (5); The first hinge assembly is used to provide a first degree of freedom between the first connector (3) and the third connector (5); the second hinge assembly is used to provide a second degree of freedom between the second connector (4) and the third connector (5); The first hinge assembly includes: Multiple first hinges (6), one end of the first hinge (6) is flexibly connected to the first connector (3), and the other end is flexibly connected to the third connector (5); Multiple third hinges (7) and multiple fourth hinges (8); One end of the third hinge (7) is flexibly connected to the first connector (3), and one end of the fourth hinge (8) is flexibly connected to the third connector (5); the third hinge (7) and the fourth hinge (8) are flexibly connected.

2. The flexible exoskeleton device according to claim 1, characterized in that, The sum of the lengths of the third hinge (7) and the fourth hinge (8) is greater than the length of the first hinge (6).

3. The flexible exoskeleton device according to claim 1, characterized in that, The second hinge assembly includes: Multiple second hinges (9), one end of the second hinge (9) is flexibly connected to the second connector (4), and the other end is flexibly connected to the third connector (5).

4. The flexible exoskeleton device according to claim 3, characterized in that, The second hinge assembly also includes: Multiple fifth hinges (10) and multiple sixth hinges (11); One end of the fifth hinge (10) is flexibly connected to the second connector (4), and one end of the sixth hinge (11) is flexibly connected to the third connector (5); the fifth hinge (10) and the sixth hinge (11) are flexibly connected.

5. The flexible exoskeleton device according to claim 4, characterized in that, The sum of the lengths of the fifth hinge (10) and the sixth hinge (11) is greater than the length of the second hinge (9).

6. The flexible exoskeleton device according to claim 1, characterized in that, When the active component includes only the third connector (5) and the first hinge assembly, the third connector (5) is fixedly connected to the second connector (4).

7. The flexible exoskeleton device according to claim 1, characterized in that, When the active component includes only the third connector (5) and the second hinge component, the third connector (5) is fixedly connected to the first connector (3).

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