Portable flexible ankle joint exoskeleton walking aid system

Abstract

The invention discloses a portable flexible ankle joint exoskeleton walking aid system which comprises a man-machine interaction control unit, a flexible exoskeleton actuator, a first Bowden cable, a Bowden cable shell fixing piece, a Bowden cable fixing piece, a power supply, a backpack, a second Bowden cable and a Bowden cable shell. The flexible exoskeleton actuator comprises a mounting plate, a driving unit and a tensioning mechanism. The tensioning mechanism comprises a tensioning connecting piece, a sliding block, a sliding rail, a sliding rail upper end check block upper cover, a sliding rail upper end check block, a sliding rail lower end check block upper cover, a sliding rail lower end check block, a coil spring, a coil spring shaft upper cover and a coil spring shaft seat. The wearable exoskeleton garment is composed of the wearable exoskeleton garment in modular design, a Bowden cable flexible driving method is used, ankle joint dorsiflexion assistance of the affected side of a patient with lower limb dyskinesia during rehabilitation walking movement or daily life movement is achieved, the gait mode of a user is improved, the walking speed and other movement behavior capacities of the user are improved, and the user experience is improved. Higher comfort, wearable performance and stability are realized.

Description

Technical Field

[0001] The invention relates to the field of rehabilitation assistive robots, in particular to a portable flexible ankle joint exoskeleton walking-assisting system. Background Art

[0002] As the incidence of hemiplegia caused by stroke and spinal cord injury increases year by year, despite receiving a lot of physical therapy and drug treatment during the rehabilitation process, there are still problems such as reduced walking speed on the affected side (i.e. reduced stride or endurance), increased energy consumption and increased risk of falling. More and more people choose to use medical rehabilitation assistive robots to assist patients in rehabilitation exercises.

[0003] Exoskeletons are a type of wearable mechanical device that assists the wearer in completing joint movements based on the relationship between human limb movement and physiological structure. In the field of rehabilitation-assisted robots, existing research shows that traditional rigid exoskeleton robots usually have the disadvantages of being heavy and noisy, resulting in poor user experience and high abandonment rates. As a wearable device, the exoskeleton has a direct physical coupling with the human body, so safety and comfort are crucial. Current exoskeletons mostly use rigid motor direct drive, which has problems of poor safety and low comfort. Due to the direct physical contact between the human body and the exoskeleton, the rigid linkage mechanism will reduce the comfort and convenience of the device, making it unsuitable for daily rehabilitation exercises and even causing personal injury accidents.

[0004] As a common type of exoskeleton, flexible exoskeletons are often used in rehabilitation exercises to help patients restore motor function, provide support and assist movement, especially after stroke, spinal cord injury or other neuromuscular diseases. Flexible exoskeletons can assist patients in rehabilitation training by simulating and enhancing muscle strength. At the same time, flexible exoskeletons can better adapt to the wearer's body shape and movement patterns, provide better fit during rehabilitation exercises, and have lower costs and lower energy consumption. At the same time, existing flexible exoskeletons have poor wearability and low comfort due to their low fit in structural design and cannot be adapted to users of different body shapes. In addition, existing exoskeletons rely on elastic materials or flexible mechanisms to achieve support and movement assistance, and usually have poor stability. These shortcomings hinder the widespread application of flexible exoskeletons. Summary of the invention

[0005] In view of the deficiencies in the prior art, the technical problem that the present invention intends to solve is to provide a portable flexible ankle exoskeleton walking aid system.

[0006] The technical solution of the present invention to solve the technical problem is to provide a portable flexible ankle joint exoskeleton walking aid system, characterized in that the system includes a human-computer interaction control unit, a flexible exoskeleton actuator, a first Bowden cable, a Bowden cable housing fixing part, a Bowden cable fixing part, a power supply, a backpack, a second Bowden cable and a Bowden cable housing;

[0007] The human-machine interaction control unit, the flexible exoskeleton actuator and the power supply are arranged on the backpack; the power supply is electrically connected to the human-machine interaction control unit and the flexible exoskeleton actuator to supply power to the two; the human-machine interaction control unit is communicatively connected to the flexible exoskeleton actuator;

[0008] The flexible exoskeleton actuator comprises a mounting plate, a drive unit and a tensioning mechanism; the tensioning mechanism comprises a tensioning connector, a slider, a slide rail, a slide rail upper end block upper cover, a slide rail upper end block, a slide rail lower end block upper cover, a slide rail lower end block, a coil spring, a coil spring shaft upper cover and a coil spring shaft seat;

[0009] The mounting plate is fixed in the backpack; the slide rail is fixed on the mounting plate; the slider is slidably mounted on the slide rail; the tension connector is fixed on the slider; the coil spring shaft seat is fixed on the mounting plate; one end of the coil spring fixed shaft is fixed on the coil spring shaft seat, and the other end is fixed with a coil spring shaft upper cover; the coil spring is nested on the outer side of the coil spring fixed shaft, one end is fixed on the coil spring fixed shaft, and the other end is fixed on the tension connector;

[0010] The upper end stopper of the slide rail is fixed on the mounting plate, located at the upper end of the slide rail, and plays a limiting role on the slide block; the end faces of the upper end stopper of the slide rail and the upper cover of the upper end stopper of the slide rail are both provided with through grooves, the upper cover of the upper end stopper of the slide rail is fixed on the upper end stopper of the slide rail, and the through grooves of the two are spliced ​​to form a through hole; the lower end stopper of the slide rail is fixed on the mounting plate, located at the lower end of the slide rail, and plays a limiting role on the slide block; the end faces of the lower end stopper of the slide rail and the upper cover of the lower end stopper of the slide rail are both provided with through grooves, the upper cover of the lower end stopper of the slide rail is fixed on the lower end stopper of the slide rail, and the through grooves of the two are spliced ​​to form a through hole;

[0011] The housing of the driving unit is fixed on the mounting plate; one end of the first Bowden cable is fixed on the output end of the driving unit; the other end of the first Bowden cable passes through a through hole formed by an upper end stopper of the slide rail and an upper cover of the upper end stopper of the slide rail, and is fixed to the upper end of the tensioning connector; one end of the Bowden cable housing is fixed in a through hole formed by an upper cover of a lower end stopper of the slide rail and a lower end stopper of the slide rail; one end of the second Bowden cable is fixed to the lower end of the tensioning connector, and the middle part is slidably arranged in the Bowden cable housing and can move along the Bowden cable housing;

[0012] The Bowden cable housing fixing piece is fixed on the back of the calf of a human body and is located in the sagittal plane of the human body facing the back; the other end of the Bowden cable housing extends out of the backpack and is fixed on the Bowden cable housing fixing piece; the Bowden cable fixing piece is fixed to the rear end of the heel of the human body; the other end of the second Bowden cable extends out of the backpack and is fixed on the Bowden cable fixing piece; the central axes of the Bowden cable housing fixing piece and the Bowden cable fixing piece are located on the same sagittal plane, so that the extension direction of the second Bowden cable is parallel to the axis direction of the calf.

[0013] Compared with the prior art, the present invention has the following beneficial effects:

[0014] (1) The present invention is composed of a wearable exoskeleton garment with a modular design, and uses a Bowden cable flexible drive method to achieve ankle dorsiflexion assistance for the affected side of patients with lower limb movement disorders during rehabilitation walking exercises or daily life exercises, so as to improve the user's gait pattern and improve the user's walking speed and other motor behavior abilities. Compared with traditional ankle exoskeletons, the flexible ankle exoskeleton system designed by the present invention has higher comfort and wearability, meets the needs of daily rehabilitation assistance, and designs the ankle exoskeleton wearable module based on the human joint movement relationship and physiological structure, so that it has the characteristics of light weight, high portability, high comfort, strong wearability, good stability, high movement efficiency, and strong safety. The motor pulling the Bowden cable can achieve stable and smooth ankle plantar flexion control, ensuring stability and comfort during driving.

[0015] (2) The tensioning mechanism of the present invention uses a coil spring to provide pre-tensioning force for the Bowden cable, and keeps the tension of the Bowden cable during swing dynamic dorsiflexion, so that the Bowden cable can provide timely auxiliary force in the support state. Compared with traditional springs or elastic ropes, the use of coil springs can save space, is easy to install and replace, and has higher stability.

[0016] (3) The present invention designs a human-machine interaction panel, which can adjust the exoskeleton control parameters (peak position, peak value, calf inclination angle threshold, auxiliary time) in real time on the touch screen, and generates auxiliary trajectories based on user preferences in real time. It is equipped with parameter threshold control and active emergency stop device to ensure the safety of user use, and optimizes the material of the binding part and the binding structure to ensure comfortable wearing characteristics. At the same time, the mounting plate is made of carbon fiber material, and four strip-shaped strap holes are arranged on the periphery to meet different assembly and fixing requirements, providing a more comfortable use experience.

[0017] (4) The main body of the transmission mechanism is made of carbon fiber and aluminum materials, which ensures that the structural strength meets the use requirements while further reducing the weight of the equipment.

[0018] (5) The binding portion of the wearable unit of the present invention has an adjustment function, and can flexibly adjust the tightness of wearing according to the user's leg circumference and shoe size to adapt to wearers of different body shapes and physical conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a schematic diagram of the overall wearing of the present invention;

[0020] Figure 2 An internal view of the backpack of the present invention;

[0021] Figure 3 It is a schematic diagram of the structure of the flexible exoskeleton actuator of the present invention;

[0022] Figure 4 is a three-dimensional schematic diagram of a driving unit of the present invention;

[0023] Figure 5 It is a schematic diagram of the installation of the tensioning mechanism of the present invention;

[0024] Figure 6 An exploded schematic diagram of the tensioning mechanism of the present invention;

[0025] Figure 7 It is a schematic structural diagram of a Bowden cable housing fixing member of the present invention;

[0026] Figure 8 A schematic structural diagram of a Bowden cable fixing member of the present invention from one viewing angle;

[0027] Fig. 9 It is a schematic structural diagram of the Bowden cable fixing member of the present invention from another perspective.

[0028] In the figure, a human-machine interaction control unit 1, a flexible exoskeleton actuator 2, an emergency stop device 3, a first Bowden cable 4, a calf flexible binding 5, a foot flexible binding 6, a Bowden cable housing fixing 7, a Bowden cable fixing 8, a power supply 9, a backpack 10, a second Bowden cable 11, and a Bowden cable housing 12;

[0029] Mounting plate 201, drive unit 202, tensioning mechanism 203; anchor point through hole 701, strap through hole 702, sewing hole 703; strap through hole 801, Bowden wire track groove 802;

[0030] Motor 202-1, motor seat 202-2, winding disk cover 202-3, Bowden wire winding disk 202-4, winding disk end fixing block 202-5;

[0031] Tensioning connector 203-1, slider 203-2, slide rail 203-3, slide rail upper end block upper cover 203-4, slide rail upper end block 203-5, slide rail lower end block upper cover 203-6, slide rail lower end block 203-7, coil spring 203-8, coil spring shaft upper cover 203-9, coil spring shaft seat 203-10, coil spring fixed shaft 203-11, tensioning mechanism housing 203-12. DETAILED DESCRIPTION

[0032] The specific embodiments of the present invention are given below. The specific embodiments are only used to further illustrate the present invention in detail and do not limit the protection scope of the present invention.

[0033] The present invention provides a portable flexible ankle joint exoskeleton walking aid system (referred to as the system), characterized in that the system comprises a human-machine interaction control unit 1, a flexible exoskeleton actuator 2, a first Bowden cable 4, a Bowden cable housing fixing part 7, a Bowden cable fixing part 8, a power supply 9, a backpack 10, a second Bowden cable 11 and a Bowden cable housing 12;

[0034] The flexible exoskeleton actuator 2 and the power supply 9 are arranged in the backpack 10; the human-machine interaction control unit 1 is placed in the surface storage bag of the backpack 10; the power supply 9 is electrically connected to the human-machine interaction control unit 1 and the flexible exoskeleton actuator 2 to supply power to both; the human-machine interaction control unit 1 is communicatively connected to the flexible exoskeleton actuator 2;

[0035] The flexible exoskeleton actuator 2 includes a mounting plate 201, a driving unit 202 and a tensioning mechanism 203; the tensioning mechanism 203 includes a tensioning connector 203-1, a slider 203-2, a slide rail 203-3, a slide rail upper end block upper cover 203-4, a slide rail upper end block 203-5, a slide rail lower end block upper cover 203-6, a slide rail lower end block 203-7, a coil spring 203-8, a coil spring shaft upper cover 203-9 and a coil spring shaft seat 203-10;

[0036] The mounting plate 201 is fixed in the backpack 10; the slide rail 203-3 is fixed on the mounting plate 201; the slider 203-2 is slidably mounted on the slide rail 203-3; the tensioning connector 203-1 is fixed on the slider 203-2 and moves with the slider 203-2; the coil spring shaft seat 203-10 is fixed on the mounting plate 201; one end of the coil spring fixed shaft 203-11 is fixed on the coil spring shaft seat 203-10, and the other end is fixed with the coil spring shaft cover 203-9; the coil spring 203-8 is nested on the outer side of the coil spring fixed shaft 203-11, one end is fixed on the coil spring fixed shaft 203-11, and the other end is fixed on the tensioning connector 203-1;

[0037] The upper end block 203-5 of the slide rail is fixed on the mounting plate 201, located at the upper end of the slide rail 203-3, and limits the slider 203-2; the end faces of the upper end block 203-5 of the slide rail and the upper cover 203-4 of the slide rail upper end block are both provided with through grooves, the upper cover 203-4 of the slide rail upper end block is fixed on the upper end block 203-5 of the slide rail, and the through grooves of the two are spliced ​​to form a through hole; the lower end block 203-7 of the slide rail is fixed on the mounting plate 201, located at the lower end of the slide rail 203-3, and limits the slider 203-2; the end faces of the lower end block 203-7 of the slide rail and the upper cover 203-6 of the slide rail lower end block are both provided with through grooves, the upper cover 203-6 of the slide rail lower end block is fixed on the lower end block 203-7 of the slide rail, and the through grooves of the two are spliced ​​to form a through hole;

[0038] The housing of the driving unit 202 is fixed on the mounting plate 201; one end of the first Bowden wire 4 is fixed on the output end of the driving unit 202; the other end of the first Bowden wire 4 passes through the through hole formed by the upper end block 203-5 of the slide rail and the upper end block cover 203-4 of the slide rail, and is fixed to the upper end of the tensioning connector 203-1 using a tightening sleeve; one end of the Bowden wire housing 12 is fixed to the through hole formed by the upper end block cover 203-6 of the slide rail and the lower end block 203-7 of the slide rail; one end of the second Bowden wire 11 is fixed to the lower end of the tensioning connector 203-1 using a tightening sleeve, and the middle part is slidably arranged in the Bowden wire housing 12, and can move along the direction of the Bowden wire housing 12;

[0039] The Bowden cable housing fixing part 7 is fixed to the upper rear part of the calf of the human body and is located in the sagittal plane of the human body facing the back; the other end of the Bowden cable housing 12 extends out of the backpack 10 and is fixed to the Bowden cable housing fixing part 7; the Bowden cable fixing part 8 is fixed to the rear end of the heel of the human body; the other end of the second Bowden cable 11 extends out of the backpack 10 and is fixed to the Bowden cable fixing part 8; the central axes of the Bowden cable housing fixing part 7 and the Bowden cable fixing part 8 are located on the same sagittal plane, so as to prevent the second Bowden cable 11 from affecting the wearing comfort when moving in the Bowden cable housing 12, and at the same time restrict the stretching direction of the second Bowden cable 11, so that the extension direction of the second Bowden cable 11 is parallel to the calf axis direction.

[0040] Preferably, the human-machine interaction panel of the human-machine interaction control unit 1 is located on the surface of the backpack 10 for human-machine interaction operation. The user modifies and updates the control parameters through the human-machine interaction panel. The main control unit of the human-machine interaction control unit 1 obtains the control signal and transmits it to the flexible exoskeleton actuator 2. The feedback signal of the flexible exoskeleton actuator 2 is sent to the human-machine interaction control unit 1, and the current state of the system is presented through the human-machine interaction panel. The main control unit program is LabVIEW.

[0041] Preferably, the system also includes an emergency stop device 3; the power supply 9 is electrically connected to the human-computer interaction control unit 1 and the flexible exoskeleton actuator 2 through the emergency stop device 3; the emergency stop device 3 is used to control the opening and closing of the power supply 9 circuit, and disconnect the power supply 9 in an emergency; the signal line of the emergency stop device 3 extends from the backpack 10, so that the emergency stop device 3 is placed in the user's hand, and the signal line is suitable for the user's arm swing range when walking.

[0042] Preferably, the mounting plate 201 is made of carbon fiber material, is detachably and adjustably fixed to the inside of the backpack 10 by straps, and is provided with weight-reducing through holes.

[0043] Preferably, the driving unit 202 includes a motor 202-1, a motor seat 202-2 and a Bowden cable winding disk 202-4;

[0044] The motor base 202-2 is fixed on the mounting plate 201; the housing of the motor 202-1 is fixed on the motor base 202-2, and a Bowden cable winding disk 202-4 is fixed on the output shaft; the side wall of the Bowden cable winding disk 202-4 is provided with an annular groove for winding the first Bowden cable 4; one end of the first Bowden cable 4 is fixed on the Bowden cable winding disk 202-4.

[0045] Preferably, the driving unit 202 also includes a winding disk cover 202-3 and a winding disk end fixing block 202-5; a side wall of the Bowden cable winding disk 202-4 is provided with a square slot, one end of the first Bowden cable 4 is installed in the square slot and fixed to the Bowden cable winding disk 202-4 through the winding disk end fixing block 202-5; the winding disk cover 202-3 is fixed to the mounting plate 201, located on the outer ring of the Bowden cable winding disk 202-4, and is used to prevent the first Bowden cable 4 from slipping out of the annular groove of the Bowden cable winding disk 202-4 in the event of an accident.

[0046] Preferably, the winding disk cover 202 - 3 is in the shape of a 3 / 4 ring.

[0047] Preferably, the upper surface of the upper end stopper 203-5 of the slide rail and the lower surface of the upper cover 203-4 of the upper end stopper of the slide rail are both provided with semicircular grooves, and the apertures of the two are the same.

[0048] Preferably, the upper surface of the lower end stopper 203-7 of the slide rail and the lower surface of the upper cover 203-6 of the lower end stopper of the slide rail are both provided with semicircular grooves, and the apertures of the two are the same; the outer diameter of the Bowden wire housing 12 is the same as the inner diameter of the circular through hole formed by the lower end stopper 203-7 of the slide rail and the upper cover 203-6 of the lower end stopper of the slide rail.

[0049] Preferably, the upper end stopper 203 - 5 of the slide rail and the lower end stopper 203 - 7 of the slide rail are both arranged perpendicular to the slide rail 203 - 3 .

[0050] Preferably, the tensioning mechanism 203 further includes a tensioning mechanism housing 203 - 12 ; the tensioning mechanism housing 203 - 12 is fixed on the mounting plate 201 , and other components of the tensioning mechanism 203 are placed inside the tensioning mechanism housing 203 - 12 for protection.

[0051] Preferably, the system further comprises a calf flexible binding 5 and a foot flexible binding 6; the Bowden cable housing fixing 7 is fixed to the rear end of the calf of the human body through the calf flexible binding 5; the Bowden cable fixing 8 is fixed to the rear end of the heel of the human body through the foot flexible binding 6.

[0052] Preferably, the calf flexible binding 5 and the foot flexible binding 6 are both made of fabric, and Velcro is provided on the binding straps, which respectively realize detachable and adjustable binding and fixation around the human calf and the human foot.

[0053] Preferably, the Bowden wire housing fixing piece 7 is provided with an anchor through-hole piece 701, a strap through-hole piece 702 and a sewing hole 703; the Bowden wire housing fixing piece 7 is sewn and fixed to the surface of the calf flexible binding 5 by a thread sewing method through the sewing hole 703; the Bowden wire housing fixing piece 7 is tightened and fixed to the calf flexible binding 5 by passing the strap through-hole piece 702 of the calf flexible binding 5; the other end of the Bowden wire housing 12 is fixed in the through-hole of the anchor through-hole piece 701 by a nut.

[0054] Preferably, the Bowden cable fixing member 8 is provided with a strap through hole 801 and a Bowden cable track groove 802; the Bowden cable fixing member 8 is fixedly connected to the foot flexible binding 6 through a strap passing through the strap through hole 801; the other end of the second Bowden cable 11 is fixed in the Bowden cable track groove 802. The Bowden cable track groove 802 is arc-shaped, and the arc-shaped track increases the arm length of the ankle joint auxiliary force, can provide greater auxiliary torque, and improve the efficiency of the auxiliary system.

[0055] The working principle and workflow of the present invention are:

[0056] The subject wears a backpack 10, and places the human-machine interaction control unit 1, power supply 9 and flexible exoskeleton actuator 2 in the backpack; the calf and foot wear flexible calf bindings 5 ​​and flexible foot bindings 6 respectively, and adjust the tightness position according to the user's own situation; the subject holds the emergency stop device 3 and enters the ready state; the device is turned on and initialized through the human-machine interaction control unit 1, including motor initialization and control parameter initialization. During walking assistance, the human-machine interaction control unit 1 provides a control signal, and after receiving the control signal, the flexible exoskeleton actuator 2 provides auxiliary force for traction of plantar flexion of the foot through the Bowden cable 4 in the support state to perform rehabilitation exercises.

[0057] Specifically, a gait cycle when walking on flat ground includes a support phase and a swing phase;

[0058] In the support state, the motor 202-1 rotates from the initial state to the target position, providing power, and tightening the first Bowden cable 4 through the Bowden cable winding disk 202-4. At this time, the power is transmitted to the tensioning mechanism 203, and the first Bowden cable 4 pulls the tensioning connector 203-1 to move along the slide rail 203-3 toward the direction of the motor 202-1. At this time, the coil spring 203-8 is stretched, and the elastic potential energy increases, and at the same time, the second Bowden cable 11 is pulled to move, and then the power is transmitted to the Bowden cable fixing member 8, which pulls the heel to provide auxiliary force for plantar flexion of the foot in the support state, thereby assisting plantar flexion;

[0059] In the swinging state, the motor 202-1 reverses and returns to the initial state. At this time, the coil spring 203-8 contracts and its elastic potential energy is released, pulling the first Bowden cable 4 to stretch and tighten along the slide rail 203-3 in the direction away from the motor 202-1, so that the first Bowden cable 4 is kept in a tensioned state through the tensioning mechanism 203. At this time, the second Bowden cable 11 extends downward, and the user is able to complete the dorsiflexion of the foot at this time, thereby achieving rehabilitation exercise assistance for the user.

[0060] Any matters not described in the present invention are applicable to the prior art.

Claims

1. A portable flexible ankle exoskeleton walking aid system, characterized in that: The system comprises a human-machine interaction control unit (1), a flexible exoskeleton actuator (2), a first Bowden cable (4), a Bowden cable housing fixing member (7), a Bowden cable fixing member (8), a power supply (9), a backpack (10), a second Bowden cable (11) and a Bowden cable housing (12); The human-machine interaction control unit (1), the flexible exoskeleton actuator (2) and the power supply (9) are arranged on a backpack (10); the power supply (9) is electrically connected to the human-machine interaction control unit (1) and the flexible exoskeleton actuator (2) to supply power to both; the human-machine interaction control unit (1) is communicatively connected to the flexible exoskeleton actuator (2); The flexible exoskeleton actuator (2) comprises a mounting plate (201), a drive unit (202) and a tensioning mechanism (203); the tensioning mechanism (203) comprises a tensioning connector (203-1), a slider (203-2), a slide rail (203-3), a slide rail upper end block upper cover (203-4), a slide rail upper end block (203-5), a slide rail lower end block upper cover (203-6), a slide rail lower end block (203-7), a coil spring (203-8), a coil spring shaft upper cover (203-9) and a coil spring shaft seat (203-10); The mounting plate (201) is fixed in the backpack (10); the slide rail (203-3) is fixed on the mounting plate (201); the slider (203-2) is slidably mounted on the slide rail (203-3); the tensioning connector (203-1) is fixed on the slider (203-2); the coil spring shaft seat (203-10) is fixed on the mounting plate (201); one end of the coil spring fixed shaft (203-11) is fixed on the coil spring shaft seat (203-10), and the other end is fixed with a coil spring shaft upper cover (203-9); the coil spring (203-8) is nested on the outside of the coil spring fixed shaft (203-11), one end is fixed on the coil spring fixed shaft (203-11), and the other end is fixed on the tensioning connector (203-1); The upper end stopper (203-5) of the slide rail is fixed on the mounting plate (201), is located at the upper end of the slide rail (203-3), and has a limiting effect on the slider (203-2); the end surfaces of the upper end stopper (203-5) of the slide rail and the upper end stopper cover (203-4) of the slide rail are both provided with through grooves, the upper end stopper cover (203-4) of the slide rail is fixed on the upper end stopper (203-5), and the through grooves of the two are spliced ​​to form a through hole; The lower end stopper (203-7) of the slide rail is fixed on the mounting plate (201), is located at the lower end of the slide rail (203-3), and has a limiting effect on the slider (203-2); the end surfaces of the lower end stopper (203-7) of the slide rail and the upper cover (203-6) of the lower end stopper of the slide rail are both provided with through grooves, the upper cover (203-6) of the lower end stopper of the slide rail is fixed on the lower end stopper (203-7) of the slide rail, and the through grooves of the two are spliced ​​to form a through hole; The housing of the driving unit (202) is fixed on the mounting plate (201); one end of the first Bowden wire (4) is fixed on the output end of the driving unit (202); the other end of the first Bowden wire (4) passes through a through hole formed by a slide rail upper end block (203-5) and a slide rail upper end block upper cover 203-4, and is fixed to the upper end of the tensioning connector (203-1); one end of the Bowden wire housing (12) is fixed in a through hole formed by a slide rail lower end block upper cover (203-6) and a slide rail lower end block (203-7); one end of the second Bowden wire (11) is fixed to the lower end of the tensioning connector (203-1), and the middle part is slidably arranged in the Bowden wire housing (12) and can move along the Bowden wire housing (12); The Bowden cable housing fixing part (7) is fixed on the back of the calf of a human body and is located in the sagittal plane of the human body facing the back; the other end of the Bowden cable housing (12) extends out of the backpack (10) and is fixed on the Bowden cable housing fixing part (7); the Bowden cable fixing part (8) is fixed to the back end of the heel of the human body; the other end of the second Bowden cable (11) extends out of the backpack (10) and is fixed on the Bowden cable fixing part (8); the central axes of the Bowden cable housing fixing part (7) and the Bowden cable fixing part (8) are located on the same sagittal plane, so that the extension direction of the second Bowden cable (11) is parallel to the calf axis direction.

2. The portable flexible ankle exoskeleton walking aid system according to claim 1, characterized in that: The system also includes an emergency stop device (3); a power supply (9) is electrically connected to a human-machine interaction control unit (1) and a flexible exoskeleton actuator (2) through the emergency stop device (3); the emergency stop device (3) is used to control the opening and closing of the power supply (9) circuit; a signal line of the emergency stop device (3) extends out of a backpack (10), so that the emergency stop device (3) is placed in the hand of a user, and the signal line is suitable for the swing range of the user's arm when walking.

3. The portable flexible ankle exoskeleton walking aid system according to claim 1, characterized in that: The driving unit (202) comprises a motor (202-1), a motor seat (202-2) and a Bowden cable winding disk (202-4); The motor base (202-2) is fixed on the mounting plate (201); the housing of the motor (202-1) is fixed on the motor base (202-2); a Bowden wire winding disk (202-4) is fixed on the output shaft; a side wall of the Bowden wire winding disk (202-4) is provided with an annular groove for winding a first Bowden wire (4); one end of the first Bowden wire (4) is fixed on the Bowden wire winding disk (202-4).

4. The portable flexible ankle exoskeleton walking aid system according to claim 3, characterized in that: The driving unit (202) further comprises a winding disk cover (202-3) and a winding disk end fixing block (202-5); a square slot is formed on one side wall of the Bowden wire winding disk (202-4); one end of the first Bowden wire (4) is installed in the square slot and fixed to the Bowden wire winding disk (202-4) through the winding disk end fixing block (202-5); the winding disk cover (202-3) is fixed to the mounting plate (201) and is located on the outer ring of the Bowden wire winding disk (202-4) to prevent the first Bowden wire (4) from slipping out of the annular groove of the Bowden wire winding disk (202-4); The winding disk outer cover (202-3) is in the shape of a 3 / 4 ring.

5. The portable flexible ankle exoskeleton walking aid system according to claim 1, characterized in that: The mounting plate (201) is made of carbon fiber material, is fixed to the inside of the backpack (10) by means of detachable and adjustable straps, and is provided with weight-reducing through holes; The upper end surface of the upper end stopper (203-5) of the slide rail and the lower end surface of the upper end stopper cover (203-4) of the slide rail are both provided with semicircular through grooves, and the apertures of the two are the same; The upper end surface of the slide rail lower end stopper (203-7) and the lower end surface of the slide rail lower end stopper upper cover (203-6) are both provided with semicircular through grooves, and the two have the same aperture; the outer diameter of the Bowden wire housing (12) is the same as the inner diameter of the circular through hole formed by the slide rail lower end stopper (203-7) and the slide rail lower end stopper upper cover (203-6); The upper end stopper (203-5) of the slide rail and the lower end stopper (203-7) of the slide rail are both arranged perpendicular to the slide rail (203-3).

6. The portable flexible ankle exoskeleton walking aid system according to claim 1, characterized in that: The tensioning mechanism (203) further comprises a tensioning mechanism housing (203-12); the tensioning mechanism housing (203-12) is fixed on the mounting plate (201), and other components of the tensioning mechanism (203) are placed inside the tensioning mechanism housing (203-12) to play a protective role.

7. The portable flexible ankle exoskeleton walking aid system according to claim 1, characterized in that: The system also includes a calf flexible binding (5) and a foot flexible binding (6); the Bowden wire housing fixing piece (7) is fixed to the rear end of the calf of a human body through the calf flexible binding (5); and the Bowden wire fixing piece (8) is fixed to the rear end of the heel of a human body through the foot flexible binding (6).

8. The portable flexible ankle exoskeleton walking aid system according to claim 7, characterized in that: The calf flexible binding (5) and the foot flexible binding (6) are both made of fabric, and Velcro is provided on the binding straps, which respectively realize detachable and adjustable binding and fixing around the calf and foot of the human body.

9. The portable flexible ankle exoskeleton walking aid system according to claim 7, characterized in that: The Bowden wire housing fixing piece (7) is provided with an anchor point through-hole piece (701), a binding belt through-hole piece (702) and a sewing hole (703); the Bowden wire housing fixing piece (7) is sewn and fixed to the surface of the calf flexible binding (5) by using a thread sewing method through the sewing hole (703); the Bowden wire housing fixing piece (7) is tightened and fixed to the calf flexible binding (5) by passing the binding belt through-hole piece (702) of the calf flexible binding (5); and the other end of the Bowden wire housing (12) is fixed in the through-hole of the anchor point through-hole piece (701).

10. The portable flexible ankle exoskeleton walking aid system according to claim 7, characterized in that: The Bowden wire fixing member (8) is provided with a binding strap through hole (801) and a Bowden wire track groove (802); the Bowden wire fixing member (8) is fixedly connected to the foot flexible binding (6) via a binding strap passing through the binding strap through hole (801); and the other end of the second Bowden wire (11) is fixed in the Bowden wire track groove (802).

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