Resistance exoskeleton mechanism and control method thereof

Abstract

The invention is suitable for the technical field of walking resistance training devices, and provides a resistance exoskeleton mechanism and a control method thereof.The resistance exoskeleton mechanism comprises a wearing part and a driving part, the wearing part comprises a first wearing assembly and a second wearing assembly, the first wearing assembly is worn on the waist of the human body, and the second wearing assembly is worn on the waist of the human body; the second wearing assembly is worn on the heel of the human body; the driving part comprises a driving assembly and a flexible traction assembly, the driving assembly is installed on the first wearing assembly, the output end of the driving assembly is in driving connection with the first end of the flexible traction assembly, and the second end of the flexible traction assembly is in driving connection with the second wearing assembly. The size of the walking resistance applied by the resistance exoskeleton mechanism can be matched with the gait of a user, and the training effect of resistance training is good.

Description

Technical Field

[0001] The present application belongs to the technical field of walking resistance training devices, and more specifically, to a resistance exoskeleton mechanism and a control method thereof. Background Art

[0002] Walking resistance training is an effective physical training method that can help improve the body's strength, endurance and stability. Existing walking resistance training can generally be divided into weighted walking and resistance band walking. Weighted walking provides walking resistance by tying sandbags on the calves, while resistance band walking fixes one end of the resistance band to a stable object and ties the other end to the trainee's waist or leg, so that the trainee can provide walking resistance by stretching the resistance band while walking.

[0003] However, when sandbags or resistance bands are used for walking resistance training, the sandbags or resistance bands cannot adjust the walking resistance in real time according to the gait of the trainee, and the training effect is poor. Summary of the invention

[0004] The purpose of the embodiments of the present application is to provide a resistance exoskeleton mechanism and a control method thereof, aiming to solve the technical problem in the prior art that the training effect is poor when sandbags or resistance bands are used for walking resistance training.

[0005] To achieve the above-mentioned purpose, according to one aspect of the present application, a resistance exoskeleton mechanism is provided for applying walking resistance to a human body, the resistance exoskeleton mechanism comprising: a wearing part and a driving part, wherein the wearing part comprises a first wearing component and a second wearing component, the first wearing component is worn on the waist of the human body, and the second wearing component is worn on the heel of the human body; the driving part comprises a driving component and a flexible traction component, the driving component is installed on the first wearing component, the output end of the driving component is drivingly connected to the first end of the flexible traction component, and the second end of the flexible traction component is drivingly connected to the second wearing component; when the human body wears the resistance exoskeleton mechanism to walk, the driving component can pull the second wearing component through the flexible traction component, so that the second wearing component applies resistance away from the walking direction to the heel of the human body.

[0006] Optionally, the driving unit also includes a winding wheel assembly, which is rotatably mounted on the first wearable component, the winding wheel assembly is drivingly connected to the first end of the flexible traction component, and the output end of the driving component is drivingly connected to the winding wheel assembly, and the driving component can retract and pull the flexible traction component through the winding wheel assembly.

[0007] Optionally, the driving component includes a driving motor component and a transmission wheel component. The driving motor component is installed on the first wearable component, and the transmission wheel component is installed on the output end of the driving motor component. The transmission wheel component can rotate under the drive of the driving motor component, and the transmission wheel component forms the output end of the driving component.

[0008] Optionally, the transmission wheel assembly is movably installed on the output end of the driving motor assembly, and the transmission wheel assembly has a driving state connected to the driving state of the winding wheel assembly, and an avoidance state for avoiding the winding wheel assembly; the driving part also includes an elastic pre-tensioning assembly, which is installed on the first wearing component and is connected to the driving state of the winding wheel assembly, and is used to apply elastic force to the winding wheel assembly. When the driving component is in the avoidance state, the winding wheel assembly can rotate in the direction of pulling the flexible traction component under the drive of the elastic force.

[0009] Optionally, the transmission wheel assembly is movably installed at the output end of the driving motor assembly along the axial direction of the output end of the driving motor assembly; the driving part also includes a clutch assembly, which is installed on the first wearable component and is used to drive the transmission wheel assembly when the rotation direction of the transmission wheel assembly changes, so that the transmission wheel assembly can switch between a driving state and an avoidance state.

[0010] Optionally, a first transmission structure is provided on the transmission wheel assembly, and a second transmission structure is provided on the winding wheel assembly. When the transmission wheel assembly is in an avoidance state, the first transmission structure avoids the second transmission structure. When the transmission wheel assembly is in a driving state, the first transmission structure cooperates with the second transmission structure to drive the transmission wheel assembly and the winding wheel assembly.

[0011] Optionally, the clutch assembly is provided with a first clutch structure and a second clutch structure, and the transmission wheel assembly is provided with a third clutch structure and a fourth clutch structure, the first clutch structure is used to cooperate with the third clutch structure, and the second clutch structure is used to cooperate with the fourth clutch structure; when the rotation direction of the transmission wheel assembly is switched from the first direction to the second direction, the transmission wheel assembly in the driving state is switched from the driving state to the avoidance state through the cooperation of the first clutch structure and the third clutch structure; when the rotation direction of the transmission wheel assembly is switched from the second direction to the first direction, the transmission wheel assembly in the avoidance state is switched from the avoidance state to the driving state through the cooperation of the second clutch structure and the fourth clutch structure.

[0012] Optionally, the resistance exoskeleton mechanism also includes a control unit, which is installed on the first wearable component and electrically connected to the driving unit for controlling the operation of the driving unit.

[0013] Optionally, the resistance exoskeleton mechanism also includes a tension detection unit, which is installed on the second wearable component and electrically connected to the control unit. The detection end of the tension detection unit is connected to the second end of the flexible traction component for detecting the tension applied by the flexible traction component to the second wearable component.

[0014] According to another aspect of the present application, a resistance exoskeleton mechanism control method is provided, which is applied to the above-mentioned resistance exoskeleton mechanism, and the resistance exoskeleton mechanism control method includes: a control unit obtains gait information of a human body wearing the resistance exoskeleton mechanism for normal walking through a tension detection unit, the gait information being the tension data applied to the heel of the human body by the resistance exoskeleton mechanism during multiple gait cycles when the drive motor assembly is turned off; during the process of the human body wearing the resistance exoskeleton mechanism for walking resistance training, the control unit obtains the tension data applied to the heel of the human body by the resistance exoskeleton mechanism in real time through the tension detection unit; the control unit identifies the gait phase of the human body based on the gait information of the human body when performing normal walking and the tension data of the human body when performing resistance training, and controls the drive unit to apply a preset resistance to the heel of the human body under the preset gait phase.

[0015] The beneficial effect of the resistance exoskeleton mechanism provided by the present application is that: compared with the prior art, the resistance exoskeleton mechanism provided by the present application is achieved by wearing the first wearable component and the second wearable component on the waist and heel of the human body respectively, and making the output end of the driving component drive-connected to the first end of the flexible traction component, and the second end of the flexible traction component drive-connected to the second wearable component, so that the driving component provided by the present application can pull the second wearable component through the flexible traction component, and then the second wearable component can apply resistance away from the walking direction to the heel of the human body, so that the user can perform resistance training through the resistance applied to the heel of the human body by the second wearable component during walking. At the same time, adjusting the output power of the driving component provided by the present application can change the walking resistance applied to the heel of the human body by the resistance exoskeleton mechanism. Therefore, the resistance exoskeleton mechanism provided by the present application can adjust the walking resistance applied to the heel of the human body by the resistance exoskeleton mechanism in real time by adjusting the output power of the driving component in real time, so that the size of the walking resistance matches the gait of the user, thereby improving the training effect of the resistance training. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0017] Figure 1A schematic diagram of the structure of a resistance exoskeleton mechanism worn on a human body provided in an embodiment of the present application;

[0018] Figure 2 A schematic diagram of the structure of a resistance exoskeleton mechanism with some components removed provided in an embodiment of the present application;

[0019] Figure 3 A schematic diagram of the structure of a resistance exoskeleton mechanism with some components removed from another perspective provided by an embodiment of the present application;

[0020] Figure 4 A schematic diagram of the structure of a first wearable component provided in an embodiment of the present application;

[0021] Figure 5 A schematic structural diagram of a first wearable component provided in an embodiment of the present application with some parts removed and a part of a driving unit installed;

[0022] Figure 6 A schematic diagram of the structure of a second wearable component equipped with a tension detection unit provided in an embodiment of the present application;

[0023] Figure 7 An exploded schematic diagram of a driving unit with some components removed provided in an embodiment of the present application;

[0024] Figure 8 An exploded schematic diagram of a driving unit with some components removed from another perspective provided by an embodiment of the present application;

[0025] Fig. 9 A cross-sectional schematic diagram of a resistance exoskeleton mechanism with some components removed, when the transmission wheel assembly provided in an embodiment of the present application is in a driving state;

[0026] Fig.10 for Fig. 9 A partial enlarged view of the middle A area;

[0027] Fig.11 A cross-sectional schematic diagram of a resistance exoskeleton mechanism with some components removed, when the transmission wheel assembly provided in an embodiment of the present application is in an avoidance state;

[0028] Fig.12 for Fig.11 A partial enlarged view of the middle B area;

[0029] Fig.13 A schematic diagram of a control system of a resistance exoskeleton mechanism provided in an embodiment of the present application;

[0030] Fig.14 A schematic diagram of the control flow of the resistance exoskeleton mechanism provided in an embodiment of the present application;

[0031] The reference numerals in the above drawings are as follows:

[0032] 10. Wearing part; 11. First wearing component; 111. Belt body; 112. Control box body; 113. Shell component; 114. First wearing space; 115. First sleeve; 116. Second sleeve; 12. Second wearing component; 121. Heel fixing component; 122. Second wearing space;

[0033] 21. Driving assembly; 211. Driving motor assembly; 212. Transmission wheel assembly; 2121. First ratchet teeth; 2122. Second ratchet teeth; 2123. Third ratchet; 22. Flexible traction assembly; 23. Winding wheel assembly; 231. Winding wheel body; 232. First support bearing; 233. Third ratchet teeth; 24. Elastic preload assembly; 25. Clutch assembly; 251. First ratchet assembly; 2511. First ratchet; 2512. First one-way bearing; 252. Second ratchet assembly; 2521. Second ratchet; 2522. Second one-way bearing;

[0034] 30. Tensile force testing unit. DETAILED DESCRIPTION

[0035] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0036] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it may be directly connected to the other element or indirectly connected to the other element. In the absence of conflict, the embodiments in this application and the features in the embodiments may be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0037] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0038] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0039] As described in the background technology, walking resistance training is an effective physical training method that can help improve the body's strength, endurance and stability. Existing walking resistance training can generally be divided into weighted walking and resistance band walking. Weighted walking provides walking resistance by tying sandbags on the calves, while resistance band walking fixes one end of the resistance band to a stable object and ties the other end to the trainee's waist or leg, so that the trainee can provide walking resistance by stretching the resistance band while walking. However, when using sandbags or resistance bands for walking resistance training, the sandbags or resistance bands cannot adjust the walking resistance in real time according to the trainee's gait, and the training effect is poor.

[0040] See also Figures 1 to 13As shown, in order to solve the above problems, according to one aspect of the present application, an embodiment of the present application provides a resistance exoskeleton mechanism for applying walking resistance to a human body, the resistance exoskeleton mechanism comprising: a wearing portion 10 and a driving portion, wherein the wearing portion 10 comprises a first wearing component 11 and a second wearing component 12, the first wearing component 11 is worn on the waist of the human body, and the second wearing component 12 is worn on the heel of the human body; the driving portion comprises a driving component 21 and a flexible traction component 22, the driving component 21 is installed on the first wearing component 11, the output end of the driving component 21 is drivingly connected to the first end of the flexible traction component 22, and the second end of the flexible traction component 22 is drivingly connected to the second wearing component 12; in the process of walking when the human body wears the resistance exoskeleton mechanism, the driving component 21 can pull the second wearing component 12 through the flexible traction component 22, so that the second wearing component 12 applies resistance away from the walking direction to the heel of the human body. The resistance exoskeleton mechanism provided in the present embodiment is configured such that the first wearable component 11 and the second wearable component 12 are respectively worn on the waist and the heel of the human body, and the output end of the driving component 21 is driven and connected to the first end of the flexible traction component 22, and the second end of the flexible traction component 22 is driven and connected to the second wearable component 12, so that the driving component 21 provided in the present embodiment can pull the second wearable component 12 through the flexible traction component 22, and then the second wearable component 12 can apply resistance away from the walking direction to the heel of the human body, so that the user can perform resistance training through the resistance applied to the heel of the human body by the second wearable component 12 during walking. At the same time, adjusting the output power of the driving component 21 provided in the present embodiment can change the walking resistance applied to the heel of the human body by the resistance exoskeleton mechanism. Therefore, the resistance exoskeleton mechanism provided in the present embodiment can adjust the walking resistance applied to the heel of the human body by the resistance exoskeleton mechanism in real time by adjusting the output power of the driving component 21 in real time, so that the size of the walking resistance matches the gait of the user, thereby improving the training effect of the resistance training.

[0041] In a specific embodiment, the heel portion of the human body provided in this embodiment refers to the heel portion of the human body.

[0042] In a specific embodiment, while keeping the center of mass as stable as possible, the lower limbs of the human body can increase metabolic consumption when walking in a more bent posture, and the distance from the heel to the waist and the bending angles of the hip, knee and ankle joints can be used as standards for measuring the degree of bending of the lower limbs. Therefore, the resistance exoskeleton mechanism provided in this embodiment is worn on the waist and heel of the human body through the first wearable component 11 and the second wearable component 12 respectively, so that the resistance exoskeleton mechanism provided in this embodiment can exert effective walking resistance on the human body when the human body walks.

[0043] In an optional embodiment, the first wearing component 11 provided in this embodiment includes a belt body 111. The belt body 111 provided in this embodiment can be enclosed to form a first wearing space 114 for accommodating the waist of a human body, and the belt body 111 can be worn on the waist of a human body through the first wearing space 114.

[0044] In an optional embodiment, the first wearable component 11 provided in this embodiment also includes a control box body 112. The control box body 112 provided in this embodiment is installed on the belt body 111. When the belt body 111 provided in this embodiment is worn on the waist of a human body, the control box body 112 is located on the back of the human body.

[0045] In an optional embodiment, the driving component 21 provided in this embodiment is installed on the control box body 112, and the output end of the driving component 21 is located on a side of the control box body 112 away from the first wearing space 114.

[0046] In an optional embodiment, the second wearing component 12 provided in this embodiment includes a heel fixing component 121, and a second wearing space 122 is formed on the heel fixing component 121 provided in this embodiment. The heel fixing component 121 provided in this embodiment can be worn on the heel of a human body through the second wearing space 122, or can be worn on a position of the shoe corresponding to the heel of a human body through the second wearing space 122.

[0047] In an optional embodiment, the heel fixing assembly 121 provided in this embodiment is a U-shaped structure.

[0048] See also Figures 7 to 12 As shown, in a specific embodiment, the driving part in this embodiment also includes a winding wheel assembly 23, which is rotatably mounted on the first wearable component 11, and the winding wheel assembly 23 is drivingly connected to the first end of the flexible traction component 22, and the output end of the driving component 21 is drivingly connected to the winding wheel assembly 23, and the driving component 21 can retract the flexible traction component 22 through the winding wheel assembly 23. By rotatably mounting the winding wheel assembly 23 on the first wearable component 11, and drivingly connecting the output end of the driving component 21 to the winding wheel assembly 23, the winding wheel assembly 23 provided in this embodiment can be rotated under the drive of the driving component 21, and since the winding wheel assembly 23 provided in this embodiment is drivingly connected to the first end of the flexible traction component 22, the rotating winding wheel assembly 23 can retract the flexible traction component 22, thereby realizing the traction of the second wearable component 12.

[0049] In an optional embodiment, the flexible traction assembly 22 provided in this embodiment includes a tension wire, the first end of the tension wire provided in this embodiment is fixedly connected to the outer wall of the winding wheel assembly 23, and the second end of the tension wire provided in this embodiment is drivingly connected to the second wearable assembly 12.

[0050] In an optional embodiment, the tension wire provided in this embodiment is a steel wire. Of course, in other embodiments, the tension wire provided in this embodiment may also be a nylon wire, a polyester wire, etc.

[0051] In an optional embodiment, the first wearable component 11 provided in this embodiment further includes a shell component 113 , which is mounted on the control box body 112 and is located on a side of the control box body 112 away from the first wearing space 114 .

[0052] In an optional embodiment, a receiving cavity is provided in the housing assembly 113 provided in this embodiment, and the winding wheel assembly 23 provided in this embodiment is rotatably installed in the receiving cavity.

[0053] In an optional embodiment, the housing component 113 provided in this embodiment is provided with a clearance opening connected to the accommodating cavity, and the flexible traction component 22 can pass through the clearance opening into the accommodating cavity and be driven and connected to the winding wheel component 23.

[0054] In an optional embodiment, a first mounting hole is provided in the accommodating cavity provided in the present embodiment, and the reel assembly 23 provided in the present embodiment includes a reel body 231 and a first support bearing 232. A first support shaft is provided on one side of the reel body 231 provided in the present embodiment close to the first mounting hole, and the first support shaft is coaxially arranged with the reel body 231. The first support shaft provided in the present embodiment is rotatably arranged in the first mounting hole, and the first support bearing 232 is located between the first mounting hole and the first support shaft. The outer ring of the first support bearing 232 abuts against the inner side wall of the first mounting hole, and the inner ring of the first support bearing 232 abuts against the inner ring of the first support shaft. By arranging the first support bearing 232 between the first mounting hole and the first support shaft, the friction between the first mounting hole and the first support shaft can be effectively reduced.

[0055] In an optional embodiment, the resistance exoskeleton mechanism provided in this embodiment includes two driving parts and two second wearable components 12, the two driving parts are arranged corresponding to the two second wearable components 12, and the two second wearable components 12 are respectively worn on the heels of the two feet of the human body.

[0056] See also Figure 7 and Figure 8As shown, in a specific embodiment, the driving component 21 in this embodiment includes a driving motor component 211 and a transmission wheel component 212. The driving motor component 211 is installed on the first wearable component 11, and the transmission wheel component 212 is installed on the output end of the driving motor component 211. The transmission wheel component 212 can rotate under the drive of the driving motor component 211, and the transmission wheel component 212 forms the output end of the driving component 21. By installing the transmission wheel component 212 provided in this embodiment on the output end of the driving motor component 211, the transmission wheel component 212 provided in this embodiment can rotate under the drive of the output end of the driving motor component 211. Since the transmission wheel component 212 provided in this embodiment forms the output end of the driving component 21, the winding wheel component 23 is drivingly connected to the transmission wheel component 212, and the rotating transmission wheel component 212 can drive the winding wheel component 23 to rotate.

[0057] See also Figures 7 to 12 As shown, in a specific embodiment, the transmission wheel assembly 212 in this embodiment is movably installed on the output end of the driving motor assembly 211, and the transmission wheel assembly 212 has a driving state connected to the winding wheel assembly 23, and an avoidance state for avoiding the winding wheel assembly 23; the driving part also includes an elastic pre-tensioning assembly 24, the elastic pre-tensioning assembly 24 is installed on the first wearing assembly 11, and is connected to the winding wheel assembly 23 for applying elastic force to the winding wheel assembly 23. When the driving assembly 21 is in the avoidance state, the winding wheel assembly 23 can rotate in the direction of pulling the flexible traction assembly 22 under the drive of the elastic force. By movably installing the transmission wheel assembly 212 provided in this embodiment on the output end of the driving motor assembly 211, the driving assembly 21 provided in this embodiment can make the transmission wheel assembly 212 avoid the winding wheel assembly 23 by adjusting the position of the transmission wheel assembly 212 relative to the winding wheel assembly 23, thereby interrupting the transmission between the driving motor assembly 211 and the winding wheel assembly 23. At the same time, by installing the elastic pre-tensioning assembly 24 on the first wearing assembly 11 and drivingly connecting the elastic pre-tensioning assembly 24 to the winding wheel assembly 23, the winding wheel assembly 23 provided in this embodiment can rotate in the direction of retracting the flexible traction assembly 22 through the elastic force applied by the elastic pre-tensioning assembly 24 when the driving assembly 21 is in the avoiding state.

[0058] See also Figures 9 to 12As shown, in a specific embodiment, the transmission wheel assembly 212 in this embodiment is movably installed on the output end of the driving motor assembly 211 along the axial direction of the output end of the driving motor assembly 211; the driving part also includes a clutch assembly 25, which is installed on the first wearable component 11, and is used to drive the transmission wheel assembly 212 when the rotation direction of the transmission wheel assembly 212 changes, so that the transmission wheel assembly 212 switches between the driving state and the avoidance state. By installing the clutch assembly 25 on the first wearable component 11, the transmission wheel assembly 212 can switch between the driving state and the avoidance state through the drive of the clutch assembly 25 when the rotation direction changes.

[0059] See also Figure 7 and Figure 8 As shown, in a specific embodiment, the transmission wheel assembly 212 in this embodiment is provided with a first transmission structure, and the winding wheel assembly 23 is provided with a second transmission structure. When the transmission wheel assembly 212 is in an avoidance state, the first transmission structure avoids the second transmission structure. When the transmission wheel assembly 212 is in a driving state, the first transmission structure cooperates with the second transmission structure to drive the transmission wheel assembly 212 and the winding wheel assembly 23. By providing the first transmission structure on the transmission wheel assembly 212 and the second transmission structure on the winding wheel assembly 23, the transmission wheel assembly 212 and the winding wheel assembly 23 provided in this embodiment can be driven and connected through the cooperation of the first transmission structure and the second transmission structure.

[0060] See also Figure 7 and Figure 8As shown, in a specific embodiment, the clutch assembly 25 in this embodiment is provided with a first clutch structure and a second clutch structure, and the transmission wheel assembly 212 is provided with a third clutch structure and a fourth clutch structure, the first clutch structure is used to cooperate with the third clutch structure, and the second clutch structure is used to cooperate with the fourth clutch structure; when the rotation direction of the transmission wheel assembly 212 is switched from the first direction to the second direction, the transmission wheel assembly 212 in the driving state is switched from the driving state to the avoidance state through the cooperation of the first clutch structure and the third clutch structure; when the rotation direction of the transmission wheel assembly 212 is switched from the second direction to the first direction, the transmission wheel assembly 212 in the avoidance state is switched from the avoidance state to the driving state through the cooperation of the second clutch structure and the fourth clutch structure. By providing the first clutch structure and the second clutch structure on the clutch assembly 25, and providing the third clutch structure and the fourth clutch structure on the transmission wheel assembly 212, when the rotation direction of the transmission wheel assembly 212 provided in this embodiment is switched from the first direction to the second direction, the transmission wheel assembly 212 in the driving state can be switched from the driving state to the avoidance state through the cooperation of the first clutch structure and the third clutch structure; when the rotation direction of the transmission wheel assembly 212 is switched from the second direction to the first direction, the transmission wheel assembly 212 in the avoidance state can be switched from the avoidance state to the driving state through the cooperation of the second clutch structure and the fourth clutch structure.

[0061] In an optional embodiment, the second direction provided in this embodiment is the direction in which the winding wheel assembly 23 retracts the flexible traction assembly 22, and the first direction is the opposite direction to the second direction.

[0062] In an optional embodiment, the clutch assembly 25 provided in this embodiment includes a first ratchet assembly 251 and a second ratchet assembly 252. The first ratchet assembly 251 and the second ratchet assembly 252 can be installed in the accommodating chamber for unidirectional rotation. The rotatable direction of the first ratchet assembly 251 is a first direction, and the rotatable direction of the second ratchet assembly 252 is a second direction. The first ratchet assembly 251 and the second ratchet assembly 252 are coaxially arranged, and the second ratchet assembly 252 is coaxially arranged with the winding wheel assembly 23. The first ratchet assembly 251 and the second ratchet assembly 252 are coaxially arranged. The components 252 are respectively located on both sides of the transmission wheel component 212. The ratchet teeth on the first ratchet component 251 provided in this embodiment form a first clutch structure, and the ratchet teeth on the second ratchet component 252 form a second clutch structure. The side of the transmission wheel component 212 close to the first ratchet component 251 is provided with a first ratchet tooth 2121, and the first ratchet tooth 2121 forms a third clutch structure. The side of the transmission wheel component 212 close to the second ratchet component 252 is provided with a second ratchet tooth 2122, and the second ratchet teeth 2122 form a fourth clutch structure.

[0063] In an optional embodiment, the first ratchet assembly 251 provided in this embodiment is located on the side of the transmission wheel assembly 212 away from the drive motor assembly 211, the second ratchet assembly 252 is located on the side of the transmission wheel assembly 212 close to the drive motor assembly 211, and the winding wheel assembly 23 is located on the side of the transmission wheel assembly 212 away from the drive motor assembly 211.

[0064] In a specific embodiment, when the transmission wheel assembly 212 provided in this embodiment is in a driving state and rotates in a first direction, the ratchet teeth on the first ratchet assembly 251 are meshed with the first ratchet teeth 2121, and the first ratchet assembly 251 can rotate in the first direction together with the transmission wheel assembly 212 under the drive of the first ratchet teeth 2121. When the rotation direction of the transmission wheel assembly 212 in the driving state is switched from the first direction to the second direction, since the rotatable direction of the first ratchet assembly 251 is the first direction, when the transmission wheel assembly 212 rotates in the second direction, the first ratchet assembly 251 is self-locking, and the position of the ratchet teeth on the first ratchet assembly 251 is fixed. The first ratchet teeth 2121 cooperate with the ratchet teeth on the first ratchet assembly 251 to push the transmission wheel assembly 212 to move away from the first ratchet assembly 251, thereby switching the transmission wheel assembly 212 from the driving state to the avoidance state, at which time the second ratchet teeth 2122 are meshed with the ratchet teeth on the second ratchet assembly 252.

[0065] In a specific embodiment, when the transmission wheel assembly 212 provided in this embodiment is in an avoidance state and rotates along the second direction, the ratchet teeth on the second ratchet assembly 252 are meshed with the second ratchet teeth 2122, and the second ratchet assembly 252 can rotate along the second direction together with the transmission wheel assembly 212 under the drive of the second ratchet teeth 2122. When the rotation direction of the transmission wheel assembly 212 in the avoidance state is switched from the second direction to the first direction, since the rotatable direction of the second ratchet assembly 252 is the second direction, when the transmission wheel assembly 212 rotates along the first direction, the second ratchet assembly 252 is self-locking, and the position of the ratchet teeth on the second ratchet assembly 252 is fixed. The second ratchet teeth 2122 push the transmission wheel assembly 212 to move away from the second ratchet assembly 252 by cooperating with the ratchet teeth on the second ratchet assembly 252, thereby switching the transmission wheel assembly 212 from the avoidance state to the driving state, at which time the first ratchet teeth 2121 are meshed with the ratchet teeth on the first ratchet assembly 251.

[0066] In a specific embodiment, when the transmission wheel assembly 212 provided in this embodiment is in a driving state, the second ratchet teeth 2122 give way to the second ratchet assembly 252, and when the transmission wheel assembly 212 is in an evasive state, the first ratchet teeth 2121 give way to the first ratchet assembly 251.

[0067] In an optional embodiment, the first ratchet assembly 251 provided in this embodiment includes a first ratchet 2511 and a first one-way bearing 2512, and a first sleeve 115 is arranged in the accommodating cavity. The first sleeve 115 is located on the side of the transmission wheel assembly 212 away from the drive motor assembly 211, and is coaxially arranged with the transmission wheel assembly 212. A second mounting hole is arranged on the first ratchet 2511 provided in this embodiment. The first ratchet 2511 provided in this embodiment is rotatably sleeved on the first sleeve 115 through the second mounting hole, and the first one-way bearing 2512 is located between the first ratchet 2511 and the first sleeve 115, the outer ring of the first one-way bearing 2512 abuts against the inner wall of the second mounting hole, and the inner ring of the first one-way bearing 2512 abuts against the outer wall of the first sleeve 115, and the rotatable direction of the first one-way bearing 2512 is the first direction.

[0068] In an optional embodiment, the second ratchet assembly 252 provided in this embodiment includes a second ratchet 2521 and a second one-way bearing 2522, and a second sleeve 116 is arranged in the accommodating cavity. The second sleeve 116 is located on the side of the transmission wheel assembly 212 close to the drive motor assembly 211, and is coaxially arranged with the transmission wheel assembly 212. A third mounting hole is arranged on the second ratchet 2521 provided in this embodiment. The second ratchet 2521 provided in this embodiment is rotatably sleeved on the second sleeve 116 through the third mounting hole. The second one-way bearing 2522 is located between the second ratchet 2521 and the second sleeve 116, the outer ring of the second one-way bearing 2522 abuts against the inner wall of the third mounting hole, and the inner ring of the second one-way bearing 2522 abuts against the outer wall of the second sleeve 116, and the rotatable direction of the second one-way bearing 2522 is the second direction.

[0069] In an optional embodiment, the transmission wheel assembly 212 provided in this embodiment includes a third ratchet 2123, and the ratchet teeth of the third ratchet 2123 provided in this embodiment form a first transmission structure, and the second transmission structure includes third ratchet teeth 233. When the transmission wheel assembly 212 provided in this embodiment is in a driving state and rotates along a first direction, the ratchet teeth on the third ratchet 2123 engage with the third ratchet teeth 233, and the winding wheel assembly 23 can rotate along the first direction with the transmission wheel assembly 212 under the drive of the third ratchet 2123. When the rotation direction of the transmission wheel assembly 212 in the driving state is switched from the first direction to the second direction, the transmission wheel assembly 212 moves in a direction away from the first ratchet assembly 251, so that the third ratchet 2123 avoids the third ratchet teeth 233, so that the transmission wheel assembly 212 switches from a driving state to an avoidance state.

[0070] In an optional embodiment, the second transmission structure provided in this embodiment includes a plurality of third ratchet teeth 233 , and the plurality of third ratchet teeth 233 are sequentially arranged along the circumference of the winding wheel assembly 23 .

[0071] In a specific embodiment, the resistance exoskeleton mechanism in this embodiment further includes a control unit, which is installed on the first wearable component 11 and electrically connected to the drive unit for controlling the operation of the drive unit. By arranging the control unit on the first wearable component 11 and electrically connecting the control unit to the drive unit, the resistance exoskeleton mechanism provided in this embodiment can control the operation of the drive unit through the control unit.

[0072] In an optional embodiment, the control unit provided in this embodiment includes a control panel and a central control module. The control panel provided in this embodiment is electrically connected to the driving unit, and the central control module is electrically connected to the control panel. The resistance exoskeleton mechanism provided in this embodiment can control the operation of the driving unit through the control panel, and the control panel can interact with external devices through the central control module.

[0073] In an optional embodiment, the control board provided in this embodiment is electrically connected to the driving motor assembly 211, and the control unit can control the operation of the driving motor assembly 211 through the control board.

[0074] See also Figure 6 As shown, in a specific embodiment, the resistance exoskeleton mechanism in this embodiment further includes a tension detection unit 30, which is installed on the second wearable component 12 and electrically connected to the control unit. The detection end of the tension detection unit 30 is connected to the second end of the flexible traction component 22, and is used to detect the tension applied by the flexible traction component 22 to the second wearable component 12. By providing the tension detection unit 30 electrically connected to the control unit on the second wearable component 12, and connecting the detection end of the tension detection unit 30 to the second end of the flexible traction component 22, the resistance exoskeleton mechanism provided in this embodiment can detect the tension applied by the flexible traction component 22 to the second wearable component 12 through the tension detection unit 30 when the flexible traction component 22 pulls the second wearable component 12, so that the control unit can obtain the tension data applied by the resistance exoskeleton mechanism to the heel of the human body.

[0075] In an optional embodiment, the tension detection unit 30 provided in this embodiment includes a tension sensor, and the tension sensor provided in this embodiment is fixedly mounted on the heel fixing component 121 and is located on a side of the heel fixing component 121 close to the first wearing component 11.

[0076] In an optional embodiment, the tension sensor provided in this embodiment is fixedly connected to the heel fixing assembly 121 via a threaded fastener.

[0077] In an optional embodiment, the tension detection unit 30 provided in this embodiment also includes a data line, both ends of the data line are electrically connected to the tension sensor and the control unit respectively, and the tension sensor provided in this embodiment and the control unit transmit electrical energy and signals through the data line.

[0078] In an optional embodiment, the detection end of the tension sensor provided in this embodiment is located on a side of the heel fixing component 121 close to the first wearing component 11, and the second end of the tension line is fixedly connected to the upper end of the tension sensor.

[0079] In an optional embodiment, the elastic pre-tightening component 24 provided in this embodiment includes a coil spring, the first end of the coil spring is fixedly connected to the first wearable component 11, and the second end of the coil spring is fixedly connected to the winding wheel component 23. When the winding wheel component 23 rotates in the first direction, the coil spring can be elastically deformed with the rotation of the winding wheel, and exert an elastic force on the winding wheel component 23 to rotate the winding wheel component 23 in the second direction. When the heel of the human body moves toward the waist, the tension line will relax. At this time, the winding wheel component 23 can be driven by the coil spring to rotate in the second direction, thereby pulling the tension line, thereby achieving pre-tightening of the tension line.

[0080] See also Fig.13 As shown, in a specific embodiment, the resistance exoskeleton mechanism worn on the human body provided in this embodiment and the human body together form a human body & exoskeleton system, the drive motor assembly 211 forms an actuator system of the resistance exoskeleton mechanism, and the control unit forms an admittance controller. When the user wears the resistance exoskeleton mechanism provided in this embodiment for resistance training, the human body & exoskeleton system starts to work. The resistance exoskeleton mechanism provided in this embodiment can detect the tension actually applied by the resistance exoskeleton mechanism to the user's heel through the tension sensor, and transmit the detected tension data to the admittance controller. The admittance controller judges the user's gait based on the tension data and the user's gait information, and controls the drive unit to apply a preset resistance to the user's heel when the user is in a preset gait. At this time, the admittance controller compares the actual resistance on the user's heel with the preset resistance to be applied, and obtains the difference between the preset resistance and the actual resistance, and then controls the drive unit according to the difference between the preset resistance and the actual resistance, so that the preset resistance is the same as the actual resistance.

[0081] In a specific embodiment, when a user wears the resistance exoskeleton mechanism provided in this embodiment to perform resistance training, since the human body needs to overcome the resistance applied by the resistance exoskeleton mechanism to walk, when the heel of the human body moves away from the waist, the flexible traction component 22 will pull the winding wheel assembly 23 to rotate in a first direction. At this time, the drive motor assembly 211 can apply a torque in a second direction to the winding wheel assembly 23, so that the flexible traction component 22 is retracted to apply walking resistance to the heel of the human body.

[0082] See also Fig.14 As shown, according to another aspect of the present application, a resistance exoskeleton mechanism control method is provided, which is applied to the above-mentioned resistance exoskeleton mechanism, and the resistance exoskeleton mechanism control method includes: S101, the control unit obtains gait information of a human body wearing the resistance exoskeleton mechanism for normal walking through the tension detection unit, and the gait information is the tension data applied to the heel of the human body by the resistance exoskeleton mechanism in multiple gait cycles when the drive motor assembly is turned off; S103, during the process of the human body wearing the resistance exoskeleton mechanism for walking resistance training, the control unit obtains the tension data applied to the heel of the human body by the resistance exoskeleton mechanism in real time through the tension detection unit; S105, the control unit identifies the gait phase of the human body according to the gait information of the human body when performing normal walking and the tension data of the human body when performing resistance training, and controls the drive unit to apply a preset resistance to the heel of the human body under the preset gait phase.

[0083] In a specific embodiment, in step S101, the tension data applied to the heel of the human body by the resistance exoskeleton mechanism during multiple gait cycles provided in this embodiment refers to the actual tension applied by the second wearable component 12 to the flexible traction component 22 during multiple gait cycles.

[0084] In a specific embodiment, in step S103 , the tension data applied to the heel of the human body by the resistance exoskeleton mechanism provided in this embodiment refers to the actual tension applied by the flexible traction component 22 to the second wearable component 12 .

[0085] In a specific embodiment, the normal walking provided in this embodiment refers to the walking activities performed by the human body on flat ground with a stable and coordinated pace. Of course, in other embodiments, the normal walking provided in this embodiment may also refer to the walking activities performed by the human body in other regular ways.

[0086] In a specific embodiment, the walking resistance training provided in this embodiment refers to artificially adding a certain amount of resistance during the walking process of a human body to increase the difficulty of walking, thereby achieving a specific training purpose.

[0087] In a specific embodiment, when a human body wears the resistance exoskeleton mechanism provided by this embodiment to perform walking resistance training, the resistance exoskeleton mechanism applies resistance away from the walking direction to the heel of the human body through the working drive motor assembly to increase the difficulty of walking.

[0088] In an optional embodiment, in step S101, the gait information provided by this embodiment is the tension data applied by the resistance exoskeleton mechanism to the heel of the human body within ten gait cycles when the drive motor assembly is turned off.

[0089] In a specific embodiment, when a user uses the resistance exoskeleton mechanism provided in this embodiment to perform walking resistance training, the resistance exoskeleton mechanism is first worn on the user's body through the first wearable component 11 and the second wearable component 12, and then the user can start walking. At this time, the control unit obtains the tension data of the heel in real time through the tension detection unit 30, and identifies the user's current gait through the tension data. When the control unit identifies that the user is in a preset gait, it will control the driving unit to work and apply walking resistance to the user's heel, thereby realizing resistance training.

[0090] In a specific embodiment, when the resistance exoskeleton mechanism provided in this embodiment obtains gait information of a human body wearing the resistance exoskeleton mechanism for normal walking through a control unit, the resistance exoskeleton mechanism is first worn on the user's body through the first wearable component 11 and the second wearable component 12, and then the drive motor component 211 is turned off through the control unit. At this time, the user can start to walk normally. During the user's normal walking, the control unit obtains the tension data of the user's heel in multiple gait cycles through the tension detection unit 30, and then obtains the gait information of the user wearing the resistance exoskeleton mechanism for normal walking.

[0091] In a specific embodiment, when the drive motor assembly 211 provided in this embodiment is turned off, the resistance exoskeleton mechanism will not apply resistance to the user's walking alone.

[0092] In an optional embodiment, the tension data provided by this embodiment is a tension-time curve of the heel of the user in a complete gait cycle when walking normally. The gait phases of human walking are divided into a support phase and a swing phase. The control unit records the starting time of the support phase and the swing phase in the tension-time curve as the force state time of the heel, and calibrates the support phase and the swing phase of the user when walking by recording the tension values ​​corresponding to the starting time of the support phase and the swing phase in the tension-time curve.

[0093] In an optional embodiment, the gait cycle provided in this embodiment uses the point at which the supporting foot leaves the ground at the end of the support phase as a dividing point of the gait cycle, and divides the gait cycle into a support phase and a swing phase, wherein the swing phase accounts for approximately 40% of the gait cycle and the support phase accounts for approximately 60% of the gait cycle.

[0094] In an optional embodiment, the preset gait provided in this embodiment is a support phase or a swing phase.

[0095] In an optional embodiment, in step S105, when the control unit provided in this embodiment detects that the tension data is greater than a preset value, gait cycle timing is started and a preset tension program is run.

[0096] In an optional embodiment, the preset value provided in this embodiment is a threshold value set according to the tension value and error corresponding to the starting moment of the support phase or the swing phase in the tension-time curve.

[0097] In an optional embodiment, the preset tension program provided in this embodiment includes applying a first preset resistance to the user's heel within a first preset time and applying a second preset resistance to the user's heel within a second preset time.

[0098] In an optional embodiment, in step S105, the control unit provided in this embodiment detects the actual resistance exerted on the heel of the user through the tension detection unit 30, and controls the operation of the driving unit according to the difference between the actual resistance and the preset resistance, so that the preset resistance is the same as the actual resistance.

[0099] In an optional embodiment, the preset value provided in this embodiment is a threshold value set based on the tension value and error corresponding to the tension-time curve at the starting time of the support phase. The first preset time provided in this embodiment is the duration of the support phase, and the second preset time is the duration of the swing phase.

[0100] In another embodiment, the preset value provided in this embodiment is a threshold value set based on the tension value and error corresponding to the tension-time curve at the starting moment of the swing phase. The first preset time provided in this embodiment is the duration of the swing phase, and the second preset time is the duration of the support phase.

[0101] In an optional embodiment, the first preset resistance provided in this embodiment is a resistance that changes according to a preset rule. Of course, in other embodiments, the first preset resistance provided in this embodiment may also be a fixed size.

[0102] In an optional embodiment, the second preset component provided in this embodiment is a resistance that changes according to a preset rule. Of course, in other embodiments, the second preset resistance provided in this embodiment may also be a fixed size.

[0103] In a specific embodiment, the complete gait cycle provided by this embodiment is the time between two feet landing on the ground.

[0104] In a specific embodiment, the current constant of the drive motor assembly in this embodiment is K I , the current is I, the torque applied by the drive motor assembly on the flexible traction assembly is τ, τ = K I I.

[0105] In a specific embodiment, the torsion radius of the driving motor assembly in this embodiment is R, and the pulling force applied by the driving motor assembly provided in this embodiment on the flexible traction assembly is F.

[0106] In an optional embodiment, the resistance exoskeleton mechanism provided in this embodiment applies different pulling forces to the flexible traction component in the swing phase and the support phase respectively through the driving motor component, wherein the pulling force applied by the driving motor component to the flexible traction component in the swing phase is F sw The pulling force applied by the driving motor assembly to the flexible traction assembly in the supporting phase is F st The zero phase point of the gait cycle is the moment when the tension data detected by the tension sensor is greater than the preset value when the drive motor assembly is turned off, that is, the moment when the distance between the heel and waist of the human body increases relatively. The gait cycle is T and the gait phase is t gait , the tension function applied by the driving motor assembly to the flexible traction assembly is defined as: where F des The tension required to drive the motor assembly in the corresponding gait is applied to the flexible traction assembly. After applying the tension according to the tension function, the tension sensor is used to detect the tension in the two stages of 0≤φ<40%T and 40%T≤φ≤T, and the F meas , that is, the actual pulling force applied to the heel of the human body by the resistance exoskeleton mechanism. The pulling force sensor feeds back the detected pulling force data to the control unit, and the control unit controls the driving motor assembly to compensate for the difference between the pulling force actually applied to the heel of the human body and the pulling force applied by the motor. f , e f =|F meas -F des |.

[0107] In summary, the implementation of the resistance exoskeleton mechanism and the control method thereof provided in the present embodiment has at least the following beneficial technical effects: the resistance exoskeleton mechanism provided in the present embodiment is implemented by wearing the first wearable component 11 and the second wearable component 12 on the waist and heel of the human body respectively, and making the output end of the driving component 21 drive-connected to the first end of the flexible traction component 22, and the second end of the flexible traction component 22 drive-connected to the second wearable component 12, so that the driving component 21 provided in the present embodiment can pull the second wearable component 12 through the flexible traction component 22, and then the second wearable component 12 can apply resistance away from the walking direction to the heel of the human body, so that the user can perform resistance training through the resistance applied to the heel of the human body by the second wearable component 12 during walking. At the same time, adjusting the output power of the driving component 21 provided in the present embodiment can change the walking resistance applied to the heel of the human body by the resistance exoskeleton mechanism. Therefore, the resistance exoskeleton mechanism provided in the present embodiment can adjust the walking resistance applied to the heel of the human body by the resistance exoskeleton mechanism in real time by adjusting the output power of the driving component 21 in real time, so that the size of the walking resistance matches the gait of the user, thereby improving the training effect of the resistance training.

[0108] The above are only preferred embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A resistance exoskeleton mechanism for applying walking resistance to a human body, characterized in that: The resistance exoskeleton mechanism comprises: A wearable portion (10), the wearable portion (10) comprising a first wearable component (11) and a second wearable component (12), the first wearable component (11) being worn on the waist of the human body, and the second wearable component (12) being worn on the heel of the human body; A driving unit, the driving unit comprising a driving component (21) and a flexible traction component (22), the driving component (21) being mounted on the first wearable component (11), the output end of the driving component (21) being drivingly connected to the first end of the flexible traction component (22), and the second end of the flexible traction component (22) being drivingly connected to the second wearable component (12); When the human body wears the resistance exoskeleton mechanism and walks, the driving component (21) can pull the second wearable component (12) through the flexible traction component (22), so that the second wearable component (12) applies resistance away from the walking direction to the heel of the human body.

2. The resistance exoskeleton mechanism according to claim 1, characterized in that: The driving unit also includes a winding wheel assembly (23), which is rotatably mounted on the first wearable assembly (11), the winding wheel assembly (23) is drivingly connected to the first end, the output end of the driving assembly (21) is drivingly connected to the winding wheel assembly (23), and the driving assembly (21) can retract and pull the flexible traction assembly (22) through the winding wheel assembly (23).

3. The resistance exoskeleton mechanism according to claim 2, characterized in that: The driving component (21) comprises a driving motor component (211) and a transmission wheel component (212); the driving motor component (211) is installed on the first wearable component (11); the transmission wheel component (212) is installed on the output end of the driving motor component (211); the transmission wheel component (212) can rotate under the drive of the driving motor component (211); and the transmission wheel component (212) forms the output end of the driving component (21).

4. The resistance exoskeleton mechanism according to claim 3, characterized in that: The transmission wheel assembly (212) is movably mounted on the output end of the driving motor assembly (211), and the transmission wheel assembly (212) has a driving state in which it is drivingly connected to the winding wheel assembly (23), and a avoiding state in which it avoids the winding wheel assembly (23); The driving unit also includes an elastic pre-tightening component (24), which is installed on the first wearing component (11) and is drivingly connected to the winding wheel component (23) for applying an elastic force to the winding wheel component (23). When the driving component (21) is in the avoidance state, the winding wheel component (23) can be driven by the elastic force to rotate in the direction of pulling the flexible traction component (22).

5. The resistance exoskeleton mechanism according to claim 4, characterized in that: The transmission wheel assembly (212) is movably mounted on the output end of the driving motor assembly (211) along the axial direction of the output end of the driving motor assembly (211); The driving unit also includes a clutch assembly (25), which is installed on the first wearable assembly (11) and is used to drive the transmission wheel assembly (212) when the rotation direction of the transmission wheel assembly (212) changes, so that the transmission wheel assembly (212) switches between the driving state and the avoidance state.

6. The resistance exoskeleton mechanism according to claim 4, characterized in that: The transmission wheel assembly (212) is provided with a first transmission structure, and the winding wheel assembly (23) is provided with a second transmission structure. When the transmission wheel assembly (212) is in the avoidance state, the first transmission structure avoids the second transmission structure. When the transmission wheel assembly (212) is in the driving state, the first transmission structure cooperates with the second transmission structure to achieve driving connection between the transmission wheel assembly (212) and the winding wheel assembly (23).

7. The resistance exoskeleton mechanism according to claim 5, characterized in that: The clutch assembly (25) is provided with a first clutch structure and a second clutch structure, and the transmission wheel assembly (212) is provided with a third clutch structure and a fourth clutch structure, wherein the first clutch structure is used to cooperate with the third clutch structure, and the second clutch structure is used to cooperate with the fourth clutch structure; When the rotation direction of the transmission wheel assembly (212) is switched from the first direction to the second direction, the transmission wheel assembly (212) in the driving state switches from the driving state to the avoidance state through the cooperation of the first clutch structure and the third clutch structure; When the rotation direction of the transmission wheel assembly (212) is switched from the second direction to the first direction, the transmission wheel assembly (212) in the avoidance state is switched from the avoidance state to the driving state through the cooperation of the second clutch structure and the fourth clutch structure.

8. The resistance exoskeleton mechanism according to any one of claims 3 to 7, characterized in that: The resistance exoskeleton mechanism also includes a control unit, which is installed on the first wearable component (11) and is electrically connected to the drive unit for controlling the operation of the drive unit.

9. The resistance exoskeleton mechanism according to claim 8, characterized in that: The resistance exoskeleton mechanism also includes a tension detection unit (30), which is installed on the second wearable component (12) and is electrically connected to the control unit. The detection end of the tension detection unit (30) is connected to the second end of the flexible traction component (22) for detecting the tension applied by the flexible traction component (22) to the second wearable component (12).

10. A control method for a resistance exoskeleton mechanism, applied to the resistance exoskeleton mechanism of claim 9, characterized in that: The resistance exoskeleton mechanism control method comprises: The control unit obtains gait information of the human body wearing the resistance exoskeleton mechanism and performing normal walking through the tension detection unit (30), wherein the gait information is the tension data applied by the resistance exoskeleton mechanism to the heel of the human body in multiple gait cycles when the drive motor assembly (211) is turned off; When the human body wears the resistance exoskeleton mechanism to perform walking resistance training, the control unit obtains in real time the tension data applied by the resistance exoskeleton mechanism to the heel of the human body through the tension detection unit (30); The control unit identifies the gait phase of the human body according to the gait information when the human body performs normal walking and the tension data when the human body performs resistance training, and controls the driving unit to apply a preset resistance to the heel of the human body at a preset gait phase.

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