Wearable knee joint exoskeleton

Abstract

The wearable knee joint exoskeleton comprises a thigh supporting part, a knee joint rotation limiting device and a shank supporting part, the knee joint rotation limiting device is used for limiting the angle range of human knee movement, and the knee joint rotation limiting device is arranged between the thigh supporting part and the shank supporting part; the leg support part is fixedly connected with the thigh support part and the shank support part; the knee joint rotation limiting device is provided with a variable rotation center and supports motion angle limiting of the knee joint in a large range, the knee joint rotation limiting device comprises a continuum rotation mechanism located on the side face of the knee joint of the human body, the continuum rotation mechanism comprises a plurality of continuum rotation modules, and a rotation freedom degree exists between every two adjacent continuum rotation modules. The size of the front-back rotation angle of each rotation freedom degree is related to the shape of the continuum rotation module. The exoskeleton has a variable rotation center, can adapt to natural movement of the knee joint of the human body, and is high in safety, good in stability and easy to wear.

Description

Technical Field

[0001] The present application relates to the field of rehabilitation equipment, and in particular to a wearable knee exoskeleton. Background Art

[0002] Knee diseases and injuries are common health problems worldwide, especially for certain groups such as the elderly, hemiplegic patients after stroke, and patients with spinal cord injuries. Knee diseases such as knee arthritis often cause joint pain, swelling, and limited function, while hemiplegic patients with knee hyperextension symptoms may cause overextension and injury of the knee soft tissue. At the same time, knee replacement surgery plays an important role in the treatment of knee diseases and injuries, but patients still need some time to recover and adapt after surgery.

[0003] In order to help these patients better restore knee function, relieve pain and improve quality of life, knee exoskeletons have become a research field that has attracted much attention. With the assistance of knee exoskeletons, patients can get stable support, maintain an appropriate range of motion, reduce joint burden, and promote rehabilitation and functional recovery. Some knee exoskeletons use a single rotation center structure, but because the position of the rotation center of the human knee rotation movement will change, the single rotation center structure is not aligned with the human knee rotation center, which can easily destroy the natural biomechanical properties of the knee joint when the human body walks. Other knee exoskeletons also use multi-rotation center structures, rotating slide rail structures, etc. to adapt to the natural movement of the human knee joint, but there are still problems such as misalignment with the human knee rotation center, complex structure that is not easy to wear, and difficulty in achieving knee extension limit. For example, the Chinese patent with the patent authorization announcement number CN216603447U provides "a assisted knee exoskeleton" that imitates the flexion movement of the human body through thigh straps, calf straps and multiple connecting rods. However, the structure has high requirements for the accuracy of its installation position. When the installation position deviation is large, it will affect the natural movement of the lower joint of the human body, causing the center of rotation of the human knee joint to deviate from the center of the knee exoskeleton. The stability is poor, and the structure is complex and not easy to wear. At the same time, it is impossible to limit the position and range of the knee extension movement. Summary of the invention

[0004] The purpose of the present application is to provide a wearable knee exoskeleton with a variable rotation center, which can adapt to the natural movement of the human knee joint, provide restrictions on knee flexion, extension movement and range of motion, enhance the stability of the knee joint, prevent hyperextension of the knee, and is easy to wear.

[0005] In order to achieve the above objectives, the technical solutions provided by this application are as follows:

[0006] The wearable knee exoskeleton provided by the present application, through a plurality of continuum rotation modules, constitutes a knee rotation limit device in variable rotation, which can adapt to the natural movement of the human knee joint and reduce the interference of the knee exoskeleton on the natural movement of the human knee joint during natural walking. By setting the rotational freedom between two adjacent continuum rotation modules, the knee rotation limit device has a two-way limit function, which can provide accurate limit to the wearer's knee joint movement angle, and the limit adjustment mechanism on the knee rotation limit device can change the limit range, so as to adapt to the limit requirements of different groups of people for the knee joint; the wearable knee exoskeleton has the functions of knee flexion limit, extension limit, and range of motion limit, which can effectively solve the unsafe problem of knee hyperextension of different types of users and enhance the stability of the knee joint.

[0007] On the other hand, the wearable knee exoskeleton provided by the present application adopts a modular structure design, and can adapt to a series of wearers with different lower limb sizes by replacing corresponding parts. Users can adjust the limit range or range of motion of the knee joint according to their needs, thereby improving the rehabilitation effect of the knee joint function and the wearing comfort of the device.

[0008] On the other hand, the present application fixes the exoskeleton of the present application to the human body through the thigh support part and the calf support part. It is very convenient to wear and use. The design conforms to the ergonomic structure design. It can be worn in sitting or standing positions, and it is more convenient to put on and take off. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, 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 some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0010] Figure 1 This is a schematic diagram of the structure of a wearable knee exoskeleton in an embodiment of the present application;

[0011] Figure 2A This is a schematic diagram of a limit adjustment mechanism in an embodiment of the present application;

[0012] Figure 2B for Figure 2A A schematic cross-sectional view of the limit adjustment mechanism in the figure from the AA direction;

[0013] Figure 3 This is a schematic diagram of the structure of the position limiting adjustment bracket in the implementation manner of the present application;

[0014] Figure 4 This is a schematic diagram of the adjusting belt fixing mechanism in the embodiment of the present application;

[0015] Figure 5 It is a schematic diagram of the continuum rotating mechanism in the implementation manner of the present application. DETAILED DESCRIPTION

[0016] In order to make the technical means, creative features, objectives and effects achieved by this application easy to understand, the application is further explained below with reference to specific diagrams.

[0017] In the description of the present application, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "inside", "outside", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. In the description of the present application, unless otherwise specified, "plurality" means two or more.

[0018] The wearable knee exoskeleton provided by the present application includes a thigh support part, a knee joint rotation limiter and a calf support part, wherein the thigh support part is used to position and support the position of the human thigh near the knee, the calf support part is used to position and support the position of the human calf near the knee, the knee joint rotation limiter is used to limit the angle range of human knee movement, and the knee joint rotation limiter is arranged between the thigh support part and the calf support part, and is fixedly connected to the thigh support part and the calf support part respectively; the knee joint rotation limiter has a variable rotation center and supports the movement angle limit of the knee joint in a wide range, and includes a continuum rotation mechanism located on the side of the human knee joint, the continuum rotation mechanism includes a plurality of continuum rotation modules, and there is a rotational degree of freedom between two adjacent continuum rotation modules, and the front and rear rotation angle of each rotational degree of freedom is related to the shape of the continuum rotation module. The present application can control the extension angle or flexion angle of the continuum rotation mechanism by changing or changing the rotation angle between the continuum modules, that is, the angle between the adjacent surfaces of the two adjacent modules during use, thereby controlling the range of human knee movement. When the included angles of the rotation angles between two adjacent continuum rotation modules on the same side of the plurality of continuum rotation modules are both 0, that is, the maximum extension angle or the maximum flexion angle of the continuum rotation mechanism.

[0019] like Figure 1As shown, the embodiment of the present application provides a wearable knee joint exoskeleton, including a thigh support part 100, a knee joint rotation limiting device 200 and a calf support part 300. The thigh support part 100 is used to position and support the position of the human thigh close to the knee, the calf support part 300 is used to position and support the position of the human calf close to the knee, the knee joint rotation limiting device 200 is used to limit the angle range of movement of the human knee, the knee joint rotation limiting device 200 is arranged between the thigh support part 100 and the calf support part 300, and is fixedly connected to the thigh support part 100 and the calf support part 300 respectively. When in use, the knee joint rotation limiting device 200 is located on the left or right side of the human knee. Further, the number of the knee joint rotation limiting devices 200 is two, which are respectively located on the left and right sides of the human knee when in use.

[0020] like Figure 2A-Figure 5 As shown, they are schematic diagrams or schematic diagrams of the structure of the limit adjustment bracket, the limit adjustment mechanism, the adjustment belt fixing mechanism 204 and the continuum rotating mechanism 202 in the embodiment of the application. In the embodiment of the present application, further specific descriptions are as follows:

[0021] See also Figure 1 As shown, the knee joint rotation limit device 200 includes a limit adjustment unit 201, a continuum rotation mechanism 202, an adjustment belt 203, and an adjustment belt fixing mechanism 204; wherein the limit adjustment unit 201 is connected to the thigh support part 100 and the upper end of the continuum rotation mechanism 202; the adjustment belt fixing mechanism 204 is connected to the calf support part 300 and the lower end of the continuum rotation mechanism 202; one end of the adjustment belt 203 is fixed on the adjustment belt fixing mechanism 204, and the other end is fixed on the limit adjustment unit 201, and the adjustment belt 203 can slide through the continuum rotation mechanism 202.

[0022] See also Figure 2A , Figure 2B , Figure 3 As shown, in another embodiment, the position adjustment unit 201 includes a position adjustment bracket 2011 and a position adjustment mechanism 2012. The position adjustment bracket 2011 is installed on the thigh support part 100, and the position adjustment mechanism 2012 is installed on the position adjustment bracket 2011.

[0023] In another embodiment, the limit adjustment mechanism 2012 includes a limit adjustment block 20121, a fixed rod rotating frame 20122, and an adjustment belt fixed rod 20123; the limit adjustment bracket 2011 is provided with a limit groove 20111 and a limit identification window 20112 for placing the limit adjustment mechanism 2012; the limit adjustment mechanism 2012 can adjust the length of the adjustment belt 203 in the limit groove 20111 of the limit adjustment bracket 2011 by rotating the limit adjustment block 20121, and the specific method is: the limit of the limit adjustment mechanism 2012 There is a "slot" at the top of the limit adjustment block 20121, and the limit adjustment block 20121 is connected to the limit groove 20111 of the limit adjustment bracket 2011 by a threaded pair. Since one end of the adjustment belt 203 is connected to the adjustment belt fixing rod 20123 of the limit adjustment mechanism 2012, the user can use a slotted screwdriver to rotate the limit adjustment block 20121 of the limit adjustment mechanism 2012 to move up and down in the limit groove 20111 of the limit adjustment bracket 2011 to adjust the length of the adjustment belt 203, and display the current limit degree through the limit mark window 20112. The user can adjust the position of the limit adjustment block 20121 of the limit adjustment mechanism 2012 in the limit groove 20111 of the limit adjustment bracket 2011 according to the needs of the flexion and extension range of the knee joint, and adjust the length of the adjustment belt 203 to meet the needs of setting the flexion and extension range of the knee joint. The adjusting belt fixing rod 20123 fixes one end of the adjusting belt 203 through the opening at its lower end, and the adjusting belt 203 can be fixed on the adjusting belt fixing rod 202123 by means of a set screw, an aluminum sleeve, a lock buckle, etc. The adjusting belt fixing rod 202123 can rotate freely around the fixing rod rotating frame 20122.

[0024] See also Figure 4 As shown, in another embodiment, the adjustment belt fixing mechanism 204 includes an adjustment belt end fixer 2041 for fixing one end of the adjustment belt 203, a fixer baffle 2042, and an adjustment belt fixing frame 2043; wherein the adjustment belt fixing frame 204 is provided with a fixer movable groove 2044; the adjustment belt end fixer 2041 is arranged in the fixer movable groove 2044, and has a certain degree of positional freedom and can move; when the user's knee joint is extended, the front adjustment belt end fixer moves downward in the fixer movable groove, and the rear adjustment belt end fixer moves upward in the fixer movable groove; when the user's knee joint is flexed, the front adjustment belt end fixer moves upward in the fixer movable groove, and the rear adjustment belt end fixer moves downward in the fixer movable groove. The fixer baffle 2042 is fixed to the side of the adjustment belt fixing frame 2043 to prevent the adjustment belt 203 from falling out. Furthermore, the fixing baffle 2042 is fixed to the side of the adjusting belt fixing frame 2043 by screws to prevent the adjusting belt from falling out.

[0025] See also Figure 5 As shown, there is a rotational degree of freedom between two adjacent continuum rotation modules in the present application. Through the rotation angle of the rotational degree of freedom, the angle between the two adjacent continuum rotation modules can change along with the extension or flexion of the continuum rotation mechanism, so that when the human body wears it, it can be naturally extended and flexed. At the same time, according to the size of the rotation angle of the set rotational freedom, the size of the rotation angle can be adjusted according to the condition of the human body's knee, that is, the maximum extension angle or the maximum flexion angle of the continuum rotation mechanism can be adjusted and controlled.

[0026] In another embodiment, when the included angles of the rotation angles between two adjacent continuum rotation modules on the same side of the plurality of continuum rotation modules are both 0, that is the maximum extension angle or maximum flexion angle of the continuum rotation mechanism.

[0027] In a further solution of the embodiment of the present application, when the angles α1, α2, α3, and α4 of the front rotation angles between two adjacent continuum rotation modules of the plurality of continuum rotation modules are all 0, it is the maximum extension angle of the continuum rotation mechanism; when the angles β1, β2, β3, and β4 of the rear rotation angles between two adjacent continuum rotation modules of the plurality of continuum rotation modules are all 0, it is the maximum flexion angle of the continuum rotation mechanism. The so-called "front and rear" means that after the user puts on the knee exoskeleton, the direction the user faces is the front side, and the direction the user's back faces is the rear side.

[0028] In a further scheme of the embodiment of the present application, the adjacent contact surfaces of the plurality of continuum rotation modules are V-shaped or arc-shaped, and the angles of the V-shaped or arc-shaped openings of the contact surfaces of adjacent modules are different, so that when two adjacent V-shaped surfaces or arc-shaped surfaces are in contact, it is ensured that there is one degree of rotational freedom between the two adjacent continuum rotation modules, and at the same time, the V-shaped surface or arc-shaped surface design has at least two degrees of rotational freedom at two angles or directions, achieving two-way or multi-directional adjustment limits. In this embodiment, the adjacent contact surfaces of the plurality of continuum rotation modules are V-shaped.

[0029] The multiple continuum rotation modules are 2, 3, 4 or 5. In a further embodiment of the present application, the multiple continuum rotation modules are 5. The top of the continuum rotation module located at the upper end of the continuum rotation mechanism 202 is fixedly connected to the limit adjustment bracket 2011. In a further implementation scheme, the lower end of the limit adjustment bracket 2011 is provided with a connecting portion 20113 of the continuum rotation module, and the first continuum rotation module at the upper end of the continuum rotation mechanism 202 is fixedly connected by screws; the bottom of the continuum rotation module located at the lower end of the continuum rotation mechanism 202 is fixedly connected to the adjusting belt fixing frame 2043 of the adjusting belt fixing mechanism 204. In a further implementation scheme, the top of the adjusting belt fixing frame 2043 is provided with a connecting portion 2045 of the continuum rotation module, and the last continuum rotation module at the lower end of the continuum rotation mechanism 202 is fixedly connected by screws.

[0030] In the present application, the multiple continuum rotation modules of the continuum rotation mechanism 202 limit the torsional movement of the knee joint rotation limit device through the free rotation angle range between each other, thereby improving the movement stability of the knee joint continuum rotation mechanism 202.

[0031] In another embodiment, the adjustment belt 203 is a cable; wherein, at least two cables are included, and the limit adjustment mechanism 2012 is provided with a number corresponding to the cables so as to adjust each cable. In this embodiment, two cables are provided. A groove is provided on the front and rear sides of the continuum rotation module respectively for fixing the cables, and the cables can move freely in the groove of the continuum rotation module without falling out, and a limit groove is provided on the front and rear sides of the limit adjustment bracket 2011 respectively; the limit adjustment mechanism 2012 is provided in two sets; a movable groove of a fixer is provided on the front and rear sides of the adjustment belt fixing bracket 204 respectively; the limit adjustment bracket 2011 is provided with two limit identification windows accordingly, and the limit identification windows display the current limit degree of each limit adjustment mechanism. In a further embodiment, the cables can move freely in the groove of the continuum rotation module without falling out by screw fixing, and the installation and replacement of the cables are convenient. It can be understood that the number of the limit adjustment mechanism, the grooves provided on the continuum rotation module, the limit grooves provided on the limit adjustment bracket, the movable grooves of the fixer on the adjustment belt fixing frame and the limit identification windows is consistent with the number of cables.

[0032] In another embodiment of the present application, the thigh support part 100 includes a thigh strap 101 and a thigh support 102, and the calf support part 300 includes a calf strap 301 and a calf support 302; the limit adjustment support 2011 of the limit adjustment unit 201 is installed and fixed on the thigh support 102; further, one or more mounting parts 20114 are set on both sides of the limit adjustment support 2011, and the thigh support 102 is correspondingly provided with mounting parts that are compatible with the mounting parts 20114, and the two can be fixed by means of slot buckles and / or screws. In a further embodiment, the thigh support 102 includes left and right thigh supports that are symmetrical on both sides, and a mounting part is set on one side of each thigh support and is respectively fixedly connected to the mounting part 20114 of the limit adjustment support 2011; and the other side is fixedly connected to the thigh strap. In a further embodiment, one or more strap mounting holes 1021 are provided on each of the left and right thigh supports for mounting and fixing the thigh strap 101. At the same time, by installing it at different mounting holes 1021 positions, the size of the thigh strap 101 can be adjusted to meet the needs of different users. The adjustment strap fixing mechanism 204 is fixed to the calf support 302; further, one or more mounting parts (not numbered) are provided on both sides of the adjustment strap fixing mechanism 204, and the calf support 302 is correspondingly provided with mounting parts adapted to the mounting parts, and the two can be fixed by means of a card slot buckle and / or screws. In a further embodiment, the calf support 302 includes a left and right symmetrical calf support, and a mounting part is provided on one side of each calf support, which is respectively fixedly connected to the mounting part of the adjustment strap mechanism 204; and the other side is fixedly connected to the calf strap 301. In a further embodiment, one or more calf strap mounting holes 3011 are provided on each of the left and right calf supports for installing and fixing the calf strap 301. At the same time, by installing it at different positions of the calf strap mounting holes 3011, the size of the calf strap 301 can be adjusted to meet the needs of different users.

[0033] The thigh strap 101 and the calf strap 301 are in the form of Velcro, and the wearing size can be freely adjusted. In another solution, the thigh strap 101 and the calf strap 301 can be replaced with a rotating, buckle-type adjustable strap.

[0034] In another embodiment of the present application, one or more openings are provided on the thigh support 102, the limit adjustment support 2011, the calf support 302, and the adjustment strap fixing mechanism 204, so as to facilitate disassembly and installation while reducing the weight of the entire exoskeleton.

[0035] The thigh support 102, limit adjustment support 2011, calf support 302, adjustment belt fixing mechanism 204 and multiple continuum rotation modules described in the present application are made of light and rigid materials, such as carbon fiber or aluminum alloy, so that the exoskeleton of the present application is stable and safe while being light in weight and will not cause gravity burden during use.

[0036] When using the wearable knee exoskeleton described in the present application, the knee rotation limit device 200 can change its rotation center as the human knee rotates. As the angle of the human knee changes, the multiple continuum rotation modules of the continuum rotation mechanism 202 rotate. At the same time, they are limited by the shapes of the multiple continuum rotation modules and the angles between adjacent surfaces, as well as the limitations of the cables and the limit adjustment unit 201, so that the movement of the knee joint is natural and there will be no center misalignment, poor stability, overextension or overflexion.

[0037] The continuum rotation mechanism in the present application is located on the side of the human knee joint (unilateral or bilateral), has a variable rotation center characteristic, supports the movement angle limitation of the knee joint within a large range, and does not affect the joint movement of the wearer during natural walking.

[0038] The wearable knee exoskeleton of the present application is fixed to the side of the human thigh through a thigh strap and a thigh bracket, and is fixed to the side of the human calf through a calf strap and a calf bracket. The wearable knee exoskeleton of the present application can be applied to one side or both sides of the human knee joint.

[0039] The wearable knee exoskeleton provided by the present application, through a plurality of continuum rotation modules to form a knee rotation limit device with a variable rotation center, can adapt to the natural movement of the human knee joint and reduce the interference of existing knee exoskeleton products on the natural movement of the human knee joint during natural walking. By setting the rotational freedom between two adjacent continuum rotation modules, the knee rotation limit device has a two-way limit function, which can provide accurate limit to the wearer's knee movement angle, and the limit range can be changed through the limit adjustment structure on the knee rotation limit device, so as to adapt to the limit requirements of different groups of people for the knee joint; the wearable knee exoskeleton has the functions of knee flexion limit, extension limit, and range of motion limit, which can effectively solve the knee hyperextension of different types of users and enhance the stability of the knee joint. The wearable knee exoskeleton of the present application reduces the interference with the natural movement of the human knee joint during natural walking.

[0040] On the other hand, the wearable knee joint exoskeleton provided by the present application adopts a modular structural design, and can adapt to a series of wearers with different lower limb sizes by replacing corresponding parts. The user can adjust the limit amplitude or range of motion of the knee joint according to the needs. The user can use a flat screwdriver to rotate the limit adjustment block 20121 of the limit adjustment mechanism 2012 to move up and down in the limit groove 20111 of the limit adjustment bracket 2011 to adjust the length of the adjustment belt 203, and display the current limit degree through the limit identification window 20112. Thereby improving the rehabilitation effect of the knee joint function and the wearing comfort of the device.

[0041] On the other hand, the present application fixes the exoskeleton of the present application to the human body through the thigh support part and the calf support part. It is very convenient to wear and use. The design conforms to the ergonomic structure design. It can be worn in sitting or standing positions, and it is more convenient to put on and take off.

[0042] The above is a detailed introduction to a wearable knee exoskeleton provided by the present application. For a person skilled in the art, according to the idea of ​​the embodiments of the present application, there may be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A wearable knee exoskeleton, characterized in that: The invention comprises a thigh support part, a knee joint rotation limit device and a calf support part, wherein the thigh support part is used for positioning and supporting the position of the human thigh near the knee, the calf support part is used for positioning and supporting the position of the human calf near the knee, the knee joint rotation limit device is used for limiting the angle range of movement of the human knee, the knee joint rotation limit device is arranged between the thigh support part and the calf support part, and is fixedly connected to the thigh support part and the calf support part respectively; the knee joint rotation limit device has a variable rotation center and supports the movement angle limit of the knee joint in a wide range, and comprises a continuum rotation mechanism located on the side of the human knee joint, the continuum rotation mechanism comprises a plurality of continuum rotation modules, and there is a rotation degree of freedom between two adjacent continuum rotation modules, and the rotation angle of the front and rear sides of each rotation degree of freedom is related to the shape of the continuum rotation module.

2. The wearable knee exoskeleton according to claim 1, characterized in that: When the included angles of the rotation angles between two adjacent continuum rotation modules on the same side of the plurality of continuum rotation modules are both 0, it is the maximum extension angle or the maximum flexion angle of the continuum rotation mechanism.

3. The wearable knee exoskeleton according to claim 2, characterized in that: When the included angle of the front rotation angle between two adjacent continuum rotation modules of multiple continuum rotation modules is 0, it is the maximum extension angle of the continuum rotation mechanism; when the included angle of the rear rotation angle between two adjacent continuum rotation modules of multiple continuum rotation modules is 0, it is the maximum flexion angle of the continuum rotation mechanism.

4. The wearable knee exoskeleton according to claim 3, characterized in that: The adjacent contact surfaces of the plurality of continuous body rotating modules are V-shaped, and the angles of the V-shaped openings of the contact surfaces of adjacent modules are different.

5. The wearable knee exoskeleton according to claim 4, characterized in that: The number of the plurality of continuum rotation modules is 2, 3, 4 or 5.

6. The wearable knee exoskeleton according to claim 1, characterized in that: The knee joint rotation limit device also includes a limit adjustment unit, an adjustment belt, and an adjustment belt fixing mechanism; wherein the limit adjustment unit is connected to the thigh support part and the upper end of the continuum rotation mechanism; the adjustment belt fixing mechanism is connected to the calf support part and the lower end of the continuum rotation mechanism; one end of the adjustment belt is fixed to the adjustment belt fixing mechanism, and the other end is fixed to the limit adjustment unit, and the adjustment belt can slide through the continuum rotation mechanism.

7. The wearable knee exoskeleton according to claim 6, characterized in that: The position-limiting adjustment unit comprises a position-limiting adjustment bracket and a position-limiting adjustment mechanism. The position-limiting adjustment bracket is mounted on the thigh supporting part, and the position-limiting adjustment mechanism is mounted on the position-limiting adjustment bracket.

8. The wearable knee exoskeleton according to claim 7, characterized in that: The limit adjustment mechanism includes a limit adjustment block, a fixed rod rotating frame, and an adjustment belt fixed rod; the limit adjustment bracket includes a limit groove for accommodating the limit adjustment mechanism; the limit adjustment mechanism can adjust the length of the adjustment belt in the limit groove of the limit adjustment bracket by rotating the limit adjustment block.

9. The wearable knee exoskeleton according to claim 8, characterized in that: The adjusting belt fixing mechanism includes an adjusting belt end fixer for fixing one end of the adjusting belt, a fixer baffle, and an adjusting belt fixing frame; wherein the adjusting belt fixing frame is provided with a fixer movable groove; the adjusting belt end fixer is arranged in the fixer movable groove and has a certain positional freedom and can be movable; the fixer baffle is fixed to the side of the adjusting belt fixing frame to prevent the adjusting belt from falling out.

10. The wearable knee exoskeleton according to claim 9, characterized in that: The adjusting belt fixing rod can rotate freely around the fixing rod rotating frame; the adjusting belt is a cable; wherein, at least two cables are included, and at least one groove is respectively provided on the front and rear sides of the continuum rotating module for fixing the cables, and the cables can move freely in the groove without falling out, and at least one limit groove is respectively provided on the front and rear sides of the limit adjustment bracket; the limit adjustment mechanism is provided with a number corresponding to the cables; at least one fixer movable groove is respectively provided on the front and rear sides of the adjusting belt fixing bracket; the limit adjustment bracket also includes a limit identification window, and the current limit degree is displayed through the limit identification window.

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