Cross-joint rigid powered lower limb exoskeleton

Abstract

The present invention discloses a cross-double-joint rigid powered lower limb exoskeleton, comprising a waist support and two groups of lower limb supports respectively arranged on both lateral sides of the waist support for assisting the lower limbs on the corresponding sides of the human body; the lower limb support comprises a hip joint connection component, a thigh protector, a plantar support and an electric push rod used as an actuator module, wherein: the thigh protector is connected to the waist support through the hip joint connection component to adapt to the multi-degree-of-freedom movement of the human hip joint; the telescopic direction of the electric push rod is arranged along the length direction of the human calf, and the telescopic end of the electric push rod extends upward and then crosses the human knee joint and is hinged to the rear of the thigh protector, and the fixed end of the electric push rod extends downward and then crosses the human ankle joint and is hinged to the rear of the plantar support; the exoskeleton has the advantages of better ensuring the comfort of the wearer and enhancing the gain effect of the exoskeleton on the human body, and can achieve a better effect of both lightweight and performance.

Description

Technical Field

[0001] The invention relates to the field of lower limb exoskeleton robots, and in particular to a cross-double-joint rigid powered lower limb exoskeleton. Background Art

[0002] As a wearable device, lower limb exoskeleton robots have attracted much attention in recent years. Whether it is used as a rehabilitation training device, auxiliary equipment or human enhancement equipment, it has a high application value. At present, most exoskeleton robots place the drive unit directly at the position corresponding to the joint, that is, a single-joint driven exoskeleton. In this type of exoskeleton, each motor controls the torque output of a single joint. This arrangement makes the torque correspondence between the motor and the human joint concise and clear, and is widely used in scenarios where accuracy and comfort are not required. It is suitable for rapid construction and produces considerable assistance or rehabilitation effects. However, due to the complex physiological structure of human joints, it is difficult for a single-joint exoskeleton to make the driving motor torque application point completely correspond to the joint rotation center at all times and conform to the wearer's physiological structure. This will lead to a waste of torque output and affect the gait characteristics of the human body, change the user's gait behavior habits, increase the wearer's energy consumption and discomfort, and weaken the exoskeleton's gain ability; in addition, the movement patterns of the human lower limbs mean that not every joint requires a large amount of torque output at all times. Therefore, the solution of configuring a motor for each joint will inevitably increase the weight of the exoskeleton and waste resources, thereby increasing the overall energy consumption of the human-exoskeleton system.

[0003] To this end, in the related art, exoskeletons driven by passive or quasi-passive dual-joints have been developed. Since most of these exoskeletons do not contain high-torque motors, large-capacity batteries and other high-weight components, users can wear them easily and feel less foreign body. However, since passive exoskeletons mostly use fixed-cycle energy storage and release, energy loss will occur during energy conversion, so their power-assisting effects are mostly very small, and the gain capacity for the human body is relatively limited. On this basis, in the related art, a power unit is added to the passive dual-joint lower limb exoskeleton, and a dual-joint flexible power lower limb exoskeleton is developed. This exoskeleton has sufficient power output and the ability to drive across dual joints, which is one of the more popular research directions in the field of exoskeletons in recent years. However, limited by the current technical level and power density of motors, it is still difficult to achieve a balance between lightweight and performance under high loads. When carrying the weight of the human body or even additional loads, it is necessary to make a choice between large-scale power assistance and the use of small motors. In addition, flexible mechanisms are often more complex, and the high-dynamic realization of multi-scenario assistance is a test for both design and control.

[0004] Therefore, it is necessary to develop and design a new lower limb exoskeleton in order to better ensure the comfort of the wearer and enhance the benefit effect of the exoskeleton on the human body; at the same time, it can provide sufficient assistance ratio when carrying the weight of the human body or even additional loads, and avoid performance limitations caused by problems such as motor selection, so as to achieve a better balance between lightweight and performance; it can facilitate high-dynamic multi-scenario assistance, so that the exoskeleton can function stably and efficiently in different application scenarios, thereby improving the overall practicality and operability. Summary of the invention

[0005] In view of this, the purpose of the present invention is to provide a cross-double-joint rigid powered lower limb exoskeleton, which can better ensure the comfort of the wearer and enhance the benefit effect of the exoskeleton on the human body; at the same time, when carrying the weight of the human body or even additional loads, it can not only provide a sufficient power assistance ratio, but also avoid performance limitations caused by problems such as motor selection, thereby achieving a better balance between lightweight and performance; it can facilitate high-dynamic multi-scenario power assistance, so that the exoskeleton can function stably and efficiently in different application scenarios, thereby improving the overall practicality and operability.

[0006] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a cross-double-joint rigid powered lower limb exoskeleton, comprising a waist support and two groups of lower limb supports respectively arranged on both sides of the waist support for assisting the corresponding lower limbs of the human body; the lower limb support comprises a hip joint connection assembly, a thigh protector, a plantar support and an electric push rod used as an actuator module, wherein: the thigh protector is connected to the waist support through the hip joint connection assembly to adapt to the multi-degree-of-freedom movement of the human hip joint; the telescopic direction of the electric push rod is arranged along the length direction of the human calf, and the telescopic end of the electric push rod extends upward, crosses the human knee joint and is hinged to the rear of the thigh protector, and the fixed end of the electric push rod extends downward, crosses the human ankle joint and is hinged to the rear of the plantar support; the thigh protector is used to support the thigh.

[0007] Furthermore, the hip joint connection assembly includes an upper connection member, a middle connection member and a lower connection member, the upper connection member is fixedly arranged on the outer side surface of the corresponding side in the lateral direction of the lumbar support, the middle connection member is connected to the lower part of the upper connection member in a manner that it can swing around the left and right directions of the human body, the upper part of the lower connection member is rotatably connected to the middle connection member through a ball joint structure, and the lower part of the lower connection member is fixedly connected to the lateral outer side surface of the thigh protector.

[0008] Furthermore, the length of the lower connecting member is adjustable.

[0009] Furthermore, the lower connecting member includes a first lower connecting rod and a second lower connecting rod which is slidably and lockably arranged on the first lower connecting rod.

[0010] Furthermore, the upper connecting member and the middle connecting member are both connecting plate structures.

[0011] Furthermore, the height position of the upper connecting member is adjustable.

[0012] Furthermore, the hinge axis of the hinged portion between the sole support and the electric push rod is arranged transversely along the human body, and the hinge axis of the hinged portion between the thigh protector and the electric push rod is arranged transversely along the human body.

[0013] Furthermore, the driving motor of the electric push rod is a high-torque micro DC motor.

[0014] Furthermore, the thigh protector is a U-shaped protector with an opening direction.

[0015] Furthermore, the sole support is a U-shaped guard plate with an open surface.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] The cross-double-joint rigid powered lower limb exoskeleton provided by the present invention can better ensure the comfort of the wearer and enhance the benefit effect of the exoskeleton on the human body; at the same time, when carrying the weight of the human body or even additional loads, it can not only provide a sufficient power assistance ratio, but also avoid the performance limitation caused by problems such as motor selection, thereby achieving a better balance between lightweight and performance; it can facilitate high-dynamic multi-scenario power assistance, so that the exoskeleton can play a role stably and efficiently in different application scenarios, thereby improving the overall practicality and operability; specifically, in this exoskeleton, an electric push rod that crosses the knee and ankle joints of the human body is used as a rigid single-power power assist The actuator module forms a rigid connection between the thigh protector and the plantar support, which is suitable for the selection of the drive motor, thereby overcoming the performance limitations caused by problems such as motor selection, achieving a better balance between lightweight and performance, and meeting the power performance requirements when carrying the weight of the human body or even additional loads; the lower limb support across double joints (knee joints and ankle joints) cooperates with the waist support to achieve active assistance to the lower limbs across the knee and ankle joints, and adapt to the multi-degree-of-freedom movement posture of the lower limbs of the human body, so as to facilitate high-dynamic multi-scenario assistance, so that the exoskeleton can function stably and efficiently in different application scenarios, thereby improving the overall practicality and operability.

[0018] Other advantages, objectives and features of the present invention will be described in the following description to some extent, and to some extent, will be obvious to those skilled in the art based on the following examination and study, or can be taught from the practice of the present invention. The objectives and other advantages of the present invention can be realized and obtained through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1Axonometric diagram of the overall structure of the present invention from the first viewing angle

[0020] Figure 2 Axonometric diagram of the second viewing angle of the overall structure of the present invention

[0021] Figure 3 This is a simplified structural diagram of the present invention

[0022] Figure numerals: 1-lumbar support; 2-hip joint connection assembly; 201-upper connection member; 202-middle connection member; 203-lower connection member; 203a-first lower connection rod; 203b-second lower connection rod; 204-ball joint structure; 3-thigh protector; 4-plantar support; 5-electric push rod. DETAILED DESCRIPTION

[0023] The following describes the embodiments of the present invention by specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the illustrations provided in the following embodiments are only used to illustrate the basic concept of the present invention, and the following embodiments and the features in the embodiments can be combined with each other without conflict.

[0024] See also Figure 1-3In the present embodiment, a cross-double-joint rigid powered lower limb exoskeleton is disclosed, comprising a waist support 1 and two sets of lower limb supports respectively arranged on both sides of the waist support 1 in the lateral direction (left and right direction of the human body) for assisting the lower limbs on the corresponding sides of the human body; the lower limb support comprises a hip joint connection component 2, a thigh protector 3, a plantar support 4 and an electric push rod 5 used as an actuator module, wherein: the thigh protector 3 is connected to the waist support 1 through the hip joint connection component 2 to adapt to the multi-degree-of-freedom movement of the human hip joint; the telescopic direction of the electric push rod 5 is arranged along the length direction of the human calf, and the telescopic end of the electric push rod 5 extends upward and then crosses the human knee joint and is hinged with the rear part of the thigh protector 3, and the fixed end of the electric push rod 5 extends downward and then crosses the human The ankle joint of the human body is hinged to the rear of the plantar support 4; the thigh protector 3 is used to support the thigh; specifically, the waist support 1 here is a U-shaped waist protector with an opening facing forward, which is worn on the human waist when in use. The thigh protector 3 is connected to the waist support 1 through the hip joint connection component 2 to prevent the thigh protector 3 from slipping and form an integral exoskeleton hip auxiliary support structure; the structural form of the hinged ends of the electric push rod 5 can enable the foot and knee to have a certain degree of rotation freedom without affecting the normal walking gait of the human body; it can be understood that when in use, the electric push rod 5 is located on the back side of the human leg to form a supporting effect on the thigh; the horizontal direction mentioned above refers to the left and right direction of the human body when in use, and the front and back direction also refers to the front and back direction of the human body when in use.

[0025] Of course, it can be understood that, like the traditional powered lower limb exoskeleton, the present cross-double joint rigid powered lower limb exoskeleton also includes a power supply and a control module, etc., wherein the power supply is used to supply power to the control module and the actuator module, etc., and the control module includes a host computer and an information acquisition module, etc. The power supply and the control module can be integrated and loaded on the rear of the lumbar support 1 or carried in an additional backpack. The information acquisition module uses an inertial measurement unit, a pressure sensor, etc. to detect and obtain the gait information of the lower limbs of the human body and feed it back to the host computer. After analysis and processing by the host computer, it is connected to the motor driver of the actuator module through CAN communication to control the electric push rod 5 to perform the corresponding extension or shortening action to match the gait of the human body. In simple terms, the host computer determines which gait stage is currently in, and the corresponding torque size and direction of that stage are output; the algorithm control logic of this part does not belong to the key content of the present invention, and can be implemented with reference to the logic of the existing powered lower limb exoskeleton, which will not be repeated here.

[0026] The cross-double-joint rigid powered lower limb exoskeleton in the above structure can better ensure the comfort of the wearer and enhance the benefit effect of the exoskeleton on the human body; at the same time, when carrying the weight of the human body or even additional loads, it can not only provide a sufficient power assistance ratio, but also avoid the performance limitation caused by problems such as motor selection, so as to achieve a better balance between lightweight and performance; it can facilitate high-dynamic multi-scenario power assistance, so that the exoskeleton can play a role stably and efficiently in different application scenarios, and improve the overall practicality and operability; specifically, in this exoskeleton, by using the electric push rod 5 that crosses the human knee joint and ankle joint as a rigid single-power power assist The actuator module forms a rigid connection between the thigh protector 3 and the plantar support 4, which is suitable for the selection of the drive motor, thereby overcoming the performance limitation caused by the motor selection and other issues, achieving a better balance between lightweight and performance, and meeting the power performance requirements when carrying the weight of the human body or even additional loads; the lower limb support across double joints (knee joints and ankle joints) cooperates with the waist support to achieve active assistance to the knee and ankle joints of the lower limbs of the human body, and adapt to the multi-degree-of-freedom movement posture of the lower limbs of the human body, so as to facilitate high-dynamic multi-scenario assistance, so that the exoskeleton can function stably and efficiently in different application scenarios, thereby improving the overall practicality and operability.

[0027] Further analysis of the effects of this exoskeleton is as follows: Figure 3 In the present exoskeleton, the two ends of the electric push rod 5 cross the human knee joint and ankle joint, and a rigid connection is formed between the thigh protector 3 and the sole support 4. The electric push rod 5 serves as the active torque output end, and the extension or shortening of the electric push rod 5 is controlled to form a motion-assisting effect on the lower limbs of the human body, effectively reducing the muscle burden on the lower limbs of the human body; the form of crossing two joints is similar to the effect of the muscles of the two joints, which enables the human body to achieve energy transfer across the joints (between joints), and can also achieve effective control of the direction of the output force and the ability to drive two joints at the same time, so that the energy loss generated during the energy conversion is reduced, and the proportion of its effective assistance effect is effectively increased; that is: the present exoskeleton improves the assistance effect through reasonable design and driving mode, can better meet the assistance needs, better conform to the wearer's physiological structure, is conducive to the realization of precise torque action, avoids torque output waste, ensures that there is no adverse effect on the gait characteristics of the human body, and maintains normal user gait behavior habits; improves the comfort of the wearer, and enhances the gain effect of the exoskeleton on the human body; is conducive to achieving more reasonable resource allocation and weight control, and improving energy utilization efficiency.

[0028] The present exoskeleton also has the following beneficial effects compared with the prior art: there is no problem that the torque application point of a single-joint driven exoskeleton is difficult to match with the joint rotation center and is inconsistent with the physiological structure; the wearer's increased energy consumption, discomfort and weakened exoskeleton gain capability caused by the mismatch of the torque application point are improved; the weight increase, resource waste and system energy consumption increase problems caused by the separate distribution motors for each joint of the single-joint driven exoskeleton are overcome; the poor assistance effect and insufficient gain capability caused by the energy conversion loss of passive or quasi-passive dual-joint driven exoskeletons are overcome; the limitation of the dual-joint flexible powered lower limb exoskeleton that it is difficult to balance lightweight and performance under high load is overcome, and there is no design and control difficulty of the dual-joint flexible powered lower limb exoskeleton due to the complexity of the flexible mechanism (that is, the structure is simpler than the dual-joint flexible powered lower limb exoskeleton).

[0029] To better understand the principle of use and related effects of this device: This exoskeleton can be understood as an exoskeleton device that mimics the gastrocnemius muscle. During the human gait cycle, the contribution of muscles to support and forward propulsion can be defined by their impact on the vertical and horizontal acceleration of the trunk. The lower limb support structure that mimics the gastrocnemius muscle in this structure helps support when the muscle accelerates the vertical movement of the trunk; it helps to initiate the swing when the muscle directly applies the main power to the leg segment before the swing.

[0030] Early stage of single-leg support: When the support of other muscles weakens, the gastrocnemius (GAS) gradually assumes the support role of the trunk, although this support is accompanied by a certain degree of horizontal deceleration of the trunk, mainly due to the posterior reaction force exerted on the hip joint. The gastrocnemius-like exoskeleton structure also has the ability to support the trunk, and optimizes the support direction by adjusting the force transmission angle (due to the existence of the gastrocnemius-like exoskeleton parameters), achieving greater vertical support force and reducing the impact of horizontal deceleration. This not only inherits the support contribution of the gastrocnemius, but also further enhances the energy utilization efficiency and stability of the gait.

[0031] Mid-stage of single-leg support: At this point, the main role of the gastrocnemius muscle changes to maintaining slight support and starting to assist forward movement. The gastrocnemius exoskeleton also has this function, which can achieve a balance between support and propulsion, and achieve continuous support and stable forward propulsion of the trunk and legs through near-isometric control. It continues the support and propulsion contribution of the gastrocnemius muscle in this stage, and optimizes the accuracy of mechanical control and output stability.

[0032] Late stage of single-leg support: In the pre-swing stage, the gastrocnemius continues to generate force and transmit it to the supporting leg through the residual excited state, so as to start the swing and propel it forward. The gastrocnemius-mimicking exoskeleton inherits this function and can provide stable forward propulsion throughout the pre-swing stage. Due to its motor-driven characteristics, the gastrocnemius-mimicking exoskeleton can overcome the energy and continuity problems caused by the muscle inactivation time, provide more efficient force output and propulsion capabilities for the supporting leg, and improve the economy and continuity of the overall gait. Although the gastrocnemius-mimicking design eliminates the mismatch problem of muscle inactivation, it still maintains the effective support and propulsion characteristics of the supporting leg, further improving force transmission and energy utilization.

[0033] The gastrocnemius-mimicking exoskeleton can effectively maintain the support of the body and the forward movement of the trunk and legs through the synergistic effect with the soleus muscle (SOL) in the middle stage of single-leg support. Similar to the gastrocnemius muscle, the gastrocnemius-mimicking exoskeleton works nearly isometrically in this stage, enabling it to generate reaction force transmission with the SOL to form a stable support. Specifically, the gastrocnemius-mimicking exoskeleton simulates the power transmission direction of the gastrocnemius muscle, transferring external power from the trunk to the legs, balancing the effect of the SOL transferring power from the legs to the trunk. This coordination ensures the balance of force transmission between the legs and the trunk, provides effective support for the trunk and legs, and drives the body forward as a whole.

[0034] In addition, the gastrocnemius exoskeleton can adapt to the needs of different gait stages by flexibly adjusting the driving force output to ensure coordination with other muscle groups (such as SOL). Its rapid response and precise control capabilities enable it to not only replicate the support and propulsion functions of the gastrocnemius, but also optimize the coordination of support and power under different load and gait conditions, further improving the human body's sports performance and energy utilization efficiency.

[0035] In the late stage of single-leg support, the gastrocnemius-mimicking exoskeleton can reproduce the antagonism between the gastrocnemius and the rectus femoris (RF). At this time, the RF accelerates the extension of the knee and hip joints by increasing their range of motion to prevent the knee from flexing too quickly. The design and control strategy of the gastrocnemius-mimicking exoskeleton is intended to provide a counterforce similar to that of the gastrocnemius to maintain the balance and stability of the movement. This antagonism ensures the coordination of leg movements, avoids excessive flexion and unnecessary energy consumption, and maintains the continuity and stability of gait.

[0036] In addition, if the control target of the gastrocnemius-mimicking exoskeleton is expanded to include the soleus (SOL) or rectus femoris (RF), it is also expected to reduce the activation of these muscles. By precisely adjusting the force output and antagonistic strategy of the gastrocnemius-mimicking exoskeleton, the excessive involvement of the SOL or RF can be reduced, the distribution of muscle load can be further optimized, and the gait economy and overall sports efficiency can be improved. This flexibility of the gastrocnemius-mimicking exoskeleton enables it to form a reasonable antagonistic and synergistic relationship with other muscle groups in different gait stages, thereby improving overall sports performance.

[0037] In the early stage of single-leg support (10% to 25% of the gait cycle), the gastrocnemius exoskeleton significantly reduces the absorption of horizontal energy of the trunk by reducing the reverse horizontal force component. At the same time, by optimizing the force output angle and enhancing the support force in the vertical direction, the gastrocnemius exoskeleton increases the output of vertical energy to the trunk, thereby effectively improving the support and stability of the trunk. This mechanical optimization enables the gastrocnemius exoskeleton to not only imitate the original function of the gastrocnemius muscle, but also better improve the energy utilization efficiency of gait.

[0038] In the middle of single-leg support (close to 30% of the gait cycle), the gastrocnemius-mimicking exoskeleton is able to maintain an energy state similar to that of the gastrocnemius muscle in a nearly isometric situation. This means that even under additional loads, it can still achieve effective energy transfer through precise control strategies. The reaction force formed in conjunction with the soleus muscle (SOL) ensures the balance of potential energy and kinetic energy exchange in the trunk and legs, maintaining the stability of the energy state. This characteristic of the gastrocnemius-mimicking exoskeleton enables it to demonstrate excellent energy management capabilities under different load and gait conditions, which helps to improve overall motion economy and gait stability.

[0039] In the late stage of single-leg support, the gastrocnemius-mimicking exoskeleton effectively transfers almost all the energy to the legs through pre-swing movements, becoming the key power source for the legs to propel forward. At the same time, the gastrocnemius-mimicking exoskeleton can accurately control the output of force to avoid excessive inhibition of the downward movement of the trunk. This redistribution of force and energy optimizes the energy balance in the horizontal and vertical directions, ensuring minimal impact on the energy state of the trunk. Similar to the gastrocnemius muscle, the mechanical action of the gastrocnemius-mimicking exoskeleton at this stage achieves a reasonable distribution and conversion of energy, making the gait smoother and more economical. This design not only inherits the energy contribution characteristics of the gastrocnemius muscle in the later stages, but also can further optimize energy utilization and gait stability through flexible control strategies, thereby improving the overall efficiency of the movement.

[0040] The gastrocnemius exoskeleton achieves effective energy distribution and utilization through synergy with other muscle groups throughout the gait cycle to support and drive the forward movement of each body segment. Similar to the gastrocnemius muscle, the gastrocnemius exoskeleton does not directly accelerate the energy it generates to the trunk, but prefers to transfer the energy to the legs and transmit it to the trunk through the joint action of the rectus femoris (RF) and soleus (SOL), thus forming a unique energy flow pattern in the gait cycle. In this way, the gastrocnemius exoskeleton can effectively reduce the burden on other muscle groups and make energy redistribution more flexible and efficient.

[0041] The greatest compensatory effect of the gastrocnemius-like muscle should be the compensatory function it undertakes when the gastrocnemius muscle activity decreases, which can be fully reflected in its contribution to support and forward propulsion. In addition, the gastrocnemius-like muscle will also produce compensation from other related muscles in the activities it participates in. When the activity of the soleus muscle (SOL) decreases, the gastrocnemius muscle (GAS) and the rectus femoris (RF) need to compensate synergistically to maintain stability. However, due to the low efficiency of RF in eccentric contraction, energy consumption will increase. The gastrocnemius-like exoskeleton compensates for the loss of RF efficiency through higher energy output, reduces over-reliance on it, and reduces compensation costs. Its precise energy control ensures the efficient operation of the compensatory mechanism, which not only continues the function of the gastrocnemius muscle, but also optimizes energy utilization and coordination in gait.

[0042] In this embodiment, the hip joint connection component 2 includes an upper connection member 201, a middle connection member 202 and a lower connection member 203. The upper connection member 201 is fixedly arranged on the outer side of the corresponding side of the lumbar support 1 in the transverse direction. The middle connection member 202 is connected to the lower part of the upper connection member 201 in a manner that it can swing around the left and right directions (i.e., transversely) of the human body. The upper part of the lower connection member 203 is rotatably connected to the middle connection member 202 through a ball joint structure 204, and the lower part of the lower connection member 203 is fixedly connected to the transverse outer side of the thigh protector 3. In this structural design, the hip joint connection component 201 is fixedly arranged on the outer side of the corresponding side of the lumbar support 1 in the transverse direction. The middle connection member 202 is connected to the lower part of the upper connection member 201 in a manner that it can swing around the left and right directions (i.e., transversely) of the human body. The upper part of the lower connection member 203 is rotatably connected to the middle connection member 202 through a ball joint structure 204, and the lower part of the lower connection member 203 is fixedly connected to the transverse outer side of the thigh protector 3. The structure of the joint connection component 2 and the arrangement with the thigh protector 3 make the whole better adapt to the movement posture of the lower limbs of the human body, and the overall structure is simple; specifically, the middle connection component 202 is connected to the lower part of the upper connection component 201 in a manner that can swing around the left and right directions (i.e., horizontally) of the human body, thereby satisfying the adduction / abduction (generally -45° to 45°) movement of the human hip; the upper part of the lower connection component 203 is rotatably connected to the middle connection component 202 through the ball joint structure 204, thereby realizing the flexion and extension (generally 0°-90°) and internal and external rotation movements of the hip joint.

[0043] In this embodiment, the length of the lower connecting member 203 is adjustable. By setting the length of the lower connecting member 203 to be adjustable, it is helpful to meet the usage needs of users of different heights and leg lengths, and it is helpful to improve the practicality and economy of the device.

[0044] In this embodiment, the lower connecting member 203 includes a first lower connecting rod 203a and a second lower connecting rod 203b which is slidable and lockable on the first lower connecting rod 203a; specifically, a vertical slide groove is provided on the second lower connecting rod 203b, and the first lower connecting rod 203a is slidably provided in the slide groove. A plurality of locking holes are provided at intervals on the side wall of the second lower connecting rod 203b, and the first lower connecting rod 203a can be locked by bolts after being moved into place; the length adjustment structure of the lower connecting member 203 is simple and reliable.

[0045] In this embodiment, the upper connecting member and the middle connecting member are both connecting plate structures; the connecting plate structure has good strength and is conducive to lightweight design.

[0046] In this embodiment, the height position of the upper connecting member 201 is adjustable. Specifically, a plurality of height adjustment holes are provided on the upper connecting member 201, which is detachably fixedly connected to the lumbar support 1 by bolts. By setting the upper connecting member 201 to be adjustable in height, it is convenient to better adapt to users of different heights and ensure the installation reliability of the lumbar support 1.

[0047] In this embodiment, the hinge axis of the hinged part of the plantar support 4 and the electric push rod 5 is arranged transversely along the human body, and the hinge axis of the hinged part of the thigh protector 3 and the electric push rod 5 is arranged transversely along the human body; this arrangement structure design is conducive to realizing the flexion and extension of the knee joint (generally 0°-90°) and the dorsiflexion / plantar flexion of the ankle joint (generally -45°-45°); combined with the structural form of the above-mentioned hip joint connection component 2, a lower limb support structure with a simple structure is formed, ensuring that the non-anthropomorphic exoskeleton can be compatible with the natural movement of the legs.

[0048] In this embodiment, the driving motor of the electric push rod 5 is a high-torque micro DC motor. Specifically, the high-torque micro DC motor in the electric push rod 5 is connected to the ball screw through a 1:2 synchronous belt transmission to realize the telescopic control of the push rod; the high-torque micro DC motor has high precision and accuracy, which is beneficial to ensure the overall accuracy of the system. The high-torque micro DC motor is more integrated in size and can provide greater torque output in a limited installation space, which is beneficial to lightweight design. At the same time, it performs well in applications that require large torque output, such as being able to withstand higher human body loads.

[0049] In this embodiment, the thigh protector 3 is a U-shaped protector with an opening direction, has a simple structure, and is easy to install. When used, a medical pad can be provided at the part where the thigh protector 3 fits the back of the thigh. Of course, it can be understood that the thigh protector 3 has a certain elasticity to ensure a better fit with the user's legs.

[0050] In this embodiment, the sole support 4 is a U-shaped protective plate with an open surface, which has a simple structure and is convenient for the user to put on quickly.

[0051] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solution of the present invention can be modified or replaced by equivalents without departing from the purpose and scope of the technical solution of the present invention, which should be included in the scope of the claims of the present invention.

Claims

1. A cross-double joint rigid powered lower limb exoskeleton, characterized in that: The invention comprises a waist support (1) and two groups of lower limb supports respectively arranged on the two lateral sides of the waist support (1) for assisting the lower limbs on the corresponding sides of the human body; the lower limb support comprises a hip joint connection component (2), a thigh protector (3), a sole support (4) and an electric push rod (5) used as an actuator module, wherein: the thigh protector (3) is connected to the waist support (1) through the hip joint connection component (2) to adapt to the multi-degree-of-freedom movement of the human hip joint; the telescopic direction of the electric push rod (5) is arranged along the length direction of the human calf, and the telescopic end of the electric push rod (5) extends upward, crosses the human knee joint and is hinged to the rear of the thigh protector (3), and the fixed end of the electric push rod (5) extends downward, crosses the human ankle joint and is hinged to the rear of the sole support (4), and the thigh protector (3) is used to support the thigh.

2. The cross-double joint rigid powered lower limb exoskeleton according to claim 1, characterized in that: The hip joint connection assembly (2) comprises an upper connection member (201), a middle connection member (202) and a lower connection member (203); the upper connection member (201) is fixedly arranged on the outer side of the corresponding side of the lumbar support (1) in a lateral direction; the middle connection member (202) is connected to the lower part of the upper connection member (201) in a manner that it can swing around the left and right directions of the human body; the upper part of the lower connection member (203) is rotatably connected to the middle connection member (202) via a ball joint structure (204); and the lower part of the lower connection member (203) is fixedly connected to the lateral outer side of the thigh protector (3).

3. The cross-double joint rigid powered lower limb exoskeleton according to claim 2, characterized in that: The length of the lower connecting member (203) is adjustable.

4. The cross-double joint rigid powered lower limb exoskeleton according to claim 3, characterized in that: The lower connecting member (203) comprises a first lower connecting rod (203a) and a second lower connecting rod (203b) which is slidably and lockably arranged on the first lower connecting rod (203a).

5. The cross-double joint rigid powered lower limb exoskeleton according to claim 2, characterized in that: The upper connecting piece and the middle connecting piece are both connecting plate structures.

6. The cross-double joint rigid powered lower limb exoskeleton according to claim 2, characterized in that: The height position of the upper connecting member (201) is adjustable.

7. The cross-double joint rigid powered lower limb exoskeleton according to claim 1, characterized in that: The hinge axis of the hinged part between the sole support (4) and the electric push rod (5) is arranged transversely along the human body, and the hinge axis of the hinged part between the thigh protector (3) and the electric push rod (5) is arranged transversely along the human body.

8. The cross-double joint rigid powered lower limb exoskeleton according to claim 1, characterized in that: The driving motor of the electric push rod (5) is a high-torque micro DC motor.

9. The cross-double joint rigid powered lower limb exoskeleton according to claim 1, characterized in that: The thigh protector (3) is a U-shaped protector with an opening facing in the direction.

10. The cross-double joint rigid powered lower limb exoskeleton according to claim 1, characterized in that: The sole support (4) is a U-shaped guard plate with an opening facing upward.

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