Wearable flexible lower limb assisting exoskeleton

Abstract

The invention discloses a wearable flexible lower limb power-assisted exoskeleton which comprises an upper body flexible garment, a driving control module, a variable stiffness elastic energy storage module, a lower body flexible garment, a knee joint transmission module and a Bowden cable transmission system, the upper body flexible garment is worn on the trunk of a human body, and the lower body flexible garment is worn on the lower limbs of the human body; the driving control module is arranged on the waist of the upper body flexible clothes, the variable stiffness elastic energy storage module is arranged on the front side of the thigh, the knee joint transmission modules are arranged on the inner side and the outer side of the knee joint of the lower body flexible clothes, and the Bowden cable transmission system is connected with the driving control module, the knee joint transmission modules and the variable stiffness elastic energy storage module. In the walking process, gravitational potential energy consumed in the walking process is stored through the synergistic effect of the system and released when the hip joint bends, then the bending capacity of the hip joint is enhanced, the walking capacity of the person with the lower limb dysfunction can be remarkably enhanced, and energy consumption of the person in the walking process can be reduced.

Description

Technical Field

[0001] The invention relates to an exoskeleton robot device, and in particular to a wearable flexible lower limb power-assisting exoskeleton. Background Art

[0002] In the current rehabilitation field, lower limb exoskeleton rehabilitation robots have become a hot topic of research. Lower limb exoskeleton rehabilitation robots are mainly used to assist injured people, people with congenital / acquired disabilities, and the aging population in rehabilitation, to promote patients to restore normal functions, thereby reducing social burdens and enhancing social development. Among the current lower limb exoskeleton rehabilitation robots, the vast majority are rigid exoskeletons. Rigid exoskeletons are generally heavy, and as an additional burden, they will increase the energy consumption of the wearer. At the same time, the rigid mechanism will impose certain restrictions on the freedom of movement of the joints, thereby changing the wearer's natural gait pattern. Compared with rigid exoskeleton robots, flexible exoskeleton robots have the advantages of light weight, small inertia of the end of the limbs, high flexibility, and more natural assistance. Flexible exoskeleton robots have received more and more attention.

[0003] Therefore, technical personnel in this field are committed to providing a wearable flexible lower limb assist exoskeleton for the rehabilitation of lower limb movement disorders of the human body, which can meet the auxiliary function of daily walking for people with lower limb dysfunction, while meeting the requirements of light weight, high flexibility, small terminal motion inertia, and natural assistance; the flexible exoskeleton can also provide assistance for normal users to walk in complex environments (mountains, ramps, etc.), reducing their energy consumption during walking. Summary of the invention

[0004] Purpose of the invention: The purpose of the present invention is to provide a wearable flexible lower limb power-assisting exoskeleton.

[0005] Technical solution: The wearable flexible lower limb power-assisted exoskeleton described in the present invention includes an upper body flexible suit, a drive control module, a variable stiffness elastic energy storage module, a lower body flexible suit, a knee joint transmission module, and a Bowden cable transmission system. The upper body flexible suit is worn on the human torso, the drive control module is arranged at the waist of the upper body flexible suit, the variable stiffness elastic energy storage module is arranged on the front of the thigh, the lower body flexible suit is worn on the lower limbs of the human body, the knee joint transmission module is arranged on the inner and outer sides of the knee joint of the lower body flexible suit, and the Bowden cable transmission system respectively connects the drive control module, the knee joint transmission module and the variable stiffness elastic energy storage module.

[0006] During walking, the present invention stores the gravitational potential energy consumed during walking through system synergy and releases it when the hip joint is flexed, thereby enhancing the flexion ability of the hip joint, which can significantly enhance the walking ability of people with lower limb dysfunction and reduce their energy consumption during walking.

[0007] Furthermore, the upper body flexible suit includes double shoulder straps, a chest connection strap, upper and lower connection straps, a waist belt, and a back carrying module; the double shoulder straps are sewn with the chest connection strap and the upper and lower connection straps, the upper and lower connection straps are sewn with the waist belt, and the back carrying module is sewn with the waist belt and the double shoulder straps to ensure that the upper body flexible suit fits closely to the human body without slippage. A fixing plate is sewn on the back of the waist belt to fix the drive module.

[0008] Furthermore, the drive control module includes a drive module, a mobile power supply, a main control panel, and a sensor system. The drive module includes a drive mechanism housing, a reel device, a motor, a motor back plate, and a housing back plate. The motor back plate is connected to the housing back plate by countersunk screws; the two motors are fixedly connected to the motor back plate by countersunk screws; the reel device and the motor center have 6 threaded holes, which are fixedly connected by countersunk screws. The wire locker is used in the reel device, and the wire locker and the reel have an interference fit to prevent the Bowden wire from loosening from the reel; the drive mechanism housing is fixedly connected to the motor back plate and the housing back plate by countersunk screws. The drive module is placed at the back belt of the upper body flexible suit, and is connected and fixed to the back fixing plate by bolts passing through the belt, the mobile power supply is placed at the right belt of the upper body flexible suit, and is connected and fixed to the belt by buckles, and the main control panel is placed at the left belt of the upper body flexible suit, and is connected and fixed to the belt by buckles. A sensor system is set at the intersection of the front side of the belt and the sagittal plane of the human body to collect angle and angular velocity data and feed it back to the main control board.

[0009] Furthermore, the variable stiffness elastic energy storage module includes a buckle, an upper hook, an elastic energy storage element, a lower hook and a wire wheel. A cover is provided at the upper track of the wire wheel to prevent the Bowden cable from escaping from the wire wheel and ensure that the Bowden cable moves on a specified path. The buckle is fixed on both sides of the front end of the belt, the upper hook is connected to the buckle hook, the elastic energy storage element is bound and connected to the upper hook and the lower hook, and the wire wheel is connected to the lower hook hook.

[0010] Furthermore, the lower body flexible suit includes a flexible suit made of inelastic fabric, Velcro, and a line clip; the Velcro is sewn to the inner and outer sides of the knee joint of the lower body flexible suit to fix the knee joint transmission module, and the line clip is sewn to the outer side of the hip joint of the lower body flexible suit to fix the routing of the Bowden cable.

[0011] Furthermore, the knee joint transmission module includes a lower limit plate, a lower fixed plate, a ball bearing, an upper fixed plate, an upper limit plate, a knee joint wire pulley 1, a wire locker, a knee joint shaft, a flat key, a knee joint wire pulley 2, an outer shell and a front fixed pulley. The lower limit plate is connected to the upper limit plate by a countersunk screw, and the two flat keys are mounted on the knee joint shaft, respectively cooperating with the knee joint wire pulley 1 and the knee joint wire pulley 2, the two ends of the knee joint shaft cooperate with the ball bearing, and the upper limit plate is connected to the outer shell by a countersunk screw. Considering the width of the upper fixed plate and the lower fixed plate, the movable angle of the upper limit plate is set to 60°, and the movable angle of the upper limit plate is set to 150°, which meets the movable angle of the human knee joint and ensures the comfort of the human body during walking.

[0012] Furthermore, the Bowden cable transmission system includes Bowden cable 1, Bowden cable 2, and Bowden cable 3. The upper end of Bowden cable 1 is connected to the drive module, and the lower end is connected to the knee joint transmission module; Bowden cable 2 connects the knee joint transmission module and the variable stiffness elastic energy storage module; Bowden cable 3 connects the knee joint transmission modules on the inner and outer sides of the same knee joint.

[0013] Furthermore, the sensing system includes a sensor and a data line, one end of the data line is connected to the main control board, and the other end is connected to the sensor, the sensor is placed at the intersection of the human body's sagittal plane and the front side of the waist belt, collects angle and angular velocity data, which correspond to the amplitude and speed of the change of the human body's center of gravity, and is fed back to the main control board through the data line. The walking speed is detected according to the amplitude and speed of the center of gravity change, and the stiffness of the variable stiffness elastic energy storage module is adjusted to adapt to the wearer's walking speed, and the human body movement is predicted to achieve real-time monitoring and adjustment of gait. The sensing system reduces the number of sensors to one, reduces the complexity of the control system, and improves the system reliability.

[0014] Furthermore, the variable stiffness elastic energy storage module can adjust the overall stiffness of the exoskeleton mechanism through quickly replaceable modular elastic energy storage elements in order to meet the personalized stiffness requirements of users due to the inconsistency of physical parameters of different users (height, weight, etc.).

[0015] Compared with the prior art, the present invention has the following beneficial technical effects:

[0016] 1. The wearable flexible lower limb assist exoskeleton provided by the present invention has the following energy conversion forms during operation: when the hip joint is extended, the gravitational potential energy of the human lower limbs and the mechanical energy of the motor are converted into elastic potential energy and stored in the elastic energy storage element; when the hip joint is flexed, the elastic energy storage element releases the stored potential energy and converts it into kinetic energy of the user's lower limbs, assisting the flexion of the hip joint, meeting the auxiliary function of daily walking for people with lower limb dysfunction, and can also provide assistance for normal users to walk in complex environments (mountains, ramps, etc.), reducing their energy consumption during walking.

[0017] 2. The wearable flexible lower limb power-assisting exoskeleton provided by the present invention starts working through sensor feedback when the walking speed changes. The sensor monitors the angle and angular velocity, which correspond to the amplitude and speed of the change of the center of gravity of the human body in turn. The walking speed can be detected according to the amplitude and speed of the change of the center of gravity, and the stiffness of the variable stiffness elastic energy storage module can be adjusted to adapt to the wearer's walking speed. The specific implementation is as follows: when the walking speed increases, the stiffness increases, and the elastic energy storage energy increases, thereby providing greater assistance to the wearer when the energy is released to adapt to the walking speed; when the walking speed decreases, the stiffness decreases, and the elastic energy storage energy decreases, thereby providing appropriate assistance to the wearer when the energy is released to adapt to the walking speed.

[0018] 3. The wearable flexible lower limb power-assisting exoskeleton provided by the present invention adopts a bionic driving method. The force lines of hip joint flexion and extension assistance imitate the main muscle force lines of the hip flexors and hip extensors of the human lower limbs. The connection points of the driving mechanism are bionic of the attachment points of the main flexors and main extensors of the human hip joint. The size and direction of the adduction and abduction force are adjusted by changing the angle of the force line, imitating the force generation mode of the leg adductor and abductor muscles. It has a good bionic muscle movement effect, and makes the device light in weight, highly flexible, and with a small terminal motion inertia, making the assistance more natural. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 is a schematic diagram of the back side of the wearing effect provided by an embodiment of the present invention;

[0020] Figure 2 is a front view schematic diagram of the wearing effect provided by an embodiment of the present invention;

[0021] Figure 3 is a side view schematic diagram of the wearing effect provided by an embodiment of the present invention;

[0022] Figure 4 is a front schematic diagram of an upper body flexible suit provided by an embodiment of the present invention;

[0023] Figure 5 is a schematic diagram of the back of the upper body flexible suit provided by an embodiment of the present invention;

[0024] Figure 6 is a schematic diagram of the back side of a drive control module provided by an embodiment of the present invention;

[0025] Figure 7 is a front schematic diagram of a drive control module provided by an embodiment of the present invention;

[0026] Figure 8 is a schematic diagram of an exploded view of a drive module provided by an embodiment of the present invention;

[0027] Fig. 9 is a schematic diagram of a motor provided by an embodiment of the present invention;

[0028] Fig.10 is a schematic diagram of a drive module wire wheel device provided by an embodiment of the present invention;

[0029] Fig.11 Schematic diagram of a variable stiffness elastic energy storage module pulley provided in an embodiment of the present invention;

[0030] Fig.12 is a front schematic diagram of a variable stiffness elastic energy storage module provided by an embodiment of the present invention;

[0031] Fig.13 is a front schematic diagram of a Bowden cable transmission system provided by an embodiment of the present invention;

[0032] Fig.14 It is a side schematic diagram of a Bowden cable transmission system and a knee joint transmission module provided by an embodiment of the present invention;

[0033] Fig.15 is a schematic diagram of an exploded view of a knee joint transmission module provided by an embodiment of the present invention;

[0034] in,

[0035] 1-upper body flexible suit, 11-double shoulder straps, 12-chest connecting straps, 13-upper and lower connecting straps, 14-waist belt, 15-back carrying module,

[0036] 2-drive control module, 21-drive module, 22-mobile power supply, 23-general air control board, 24-sensing system, 211-drive mechanism housing, 212-drive wire wheel device, 213-motor, 214-motor back plate, 215-housing back plate, 2121-wire locker, 2122-wire wheel,

[0037] 3-variable stiffness elastic energy storage module, 31-clip, 32-upper end hook, 33-elastic energy storage element, 34-lower end hook, 35-reel, 351-cover,

[0038] 4-lower body flexible clothing, 41-line card, 42-velcro,

[0039] 5-knee joint transmission module, 501-lower side limit plate, 502-lower side fixing plate, 503-ball bearing, 504-upper side fixing plate, 505-upper side limit plate, 5061-knee joint wire wheel 1, 5062-wire locker, 5071-knee joint shaft, 5072-flat key, 5073-flat key, 5081-knee joint wire wheel 2, 5082-wire locker, 509-ball bearing, 510-outer shell, 511-front fixed pulley,

[0040] 6-Bowden cable transmission system, 61-Bowden cable one, 62-Bowden cable two, 63-Bowden cable three. DETAILED DESCRIPTION

[0041] The following describes several preferred embodiments of the present invention with reference to the drawings in the specification, so that the technical content is clearer and easier to understand. The present invention can be embodied in many different forms of embodiments, and the protection scope of the present invention is not limited to the embodiments mentioned in the text.

[0042] In the drawings, components with the same structure are indicated by the same numerical reference numerals, and components with similar structures or functions are indicated by similar numerical reference numerals. The size and thickness of each component shown in the drawings are arbitrarily shown, and the present invention does not limit the size and thickness of each component. In order to make the illustration clearer, the thickness of the components is appropriately exaggerated in some places in the drawings.

[0043] The wearable flexible lower limb assist exoskeleton described in this embodiment includes an upper body flexible suit 1, a drive control module 2, a variable stiffness elastic energy storage module 3, a lower body flexible suit 4, a knee joint transmission module 5, and a Bowden cable transmission system 6. The wearing effect is as follows: Figure 1 , Figure 2 , Figure 3 shown.

[0044] In this embodiment, the upper body flexible suit 1 is worn on the human body trunk to provide a stable force anchor point for the drive control module 2 and the variable stiffness elastic energy storage module 3 and to ensure the stability of the connection and the comfort of wearing. The drive control module 2 is arranged at the waist of the upper body flexible suit 1; the variable stiffness elastic energy storage module 3 is arranged on the front of the thigh. The module can adjust the overall stiffness of the exoskeleton mechanism through the modular elastic energy storage element that can be quickly replaced, and realize hip joint assistance through the energy storage of the elastic element; the Bowden line transmission system 6 connects the drive control module 2, the knee joint transmission module 5 and the variable stiffness elastic energy storage module 3, and can convert the elastic potential energy stored in the variable stiffness elastic energy storage module 3 into the kinetic energy of the lower limbs to assist the hip joint.

[0045] The wearable flexible lower limb power-assisting exoskeleton of this embodiment is arranged symmetrically with respect to the left and right of the human body. Unless otherwise specified below, only the arrangement on one side is described.

[0046] like Figure 4 , Figure 5 As shown, the upper body flexible suit 1 includes a pair of shoulder straps 11, a chest connecting strap 12, an upper and lower connecting strap 13, a waist belt 14, and a back carrying module 15. The shoulder straps 11 are sewn together with the chest connecting strap 12 and the upper and lower connecting straps 13, and the upper and lower connecting straps 13 are sewn together with the waist belt 14 to ensure that the upper body flexible suit 1 fits tightly with the human body without slipping. A fixing plate is sewn on the back of the waist belt 14 to fix the driving module 21.

[0047] like Figure 6 As shown, the drive control module 2 includes a drive module 21, a mobile power source 22, a main control board 23 and a sensor system 24. The drive module 21 is placed at the back belt 14 of the upper body flexible suit 1, and is connected and fixed to the back fixing plate by bolts passing through the belt 14. The mobile power source 22 is placed at the right belt 14 of the upper body flexible suit 1, and is connected and fixed to the belt 14 by a buckle. The main control board 23 is placed at the left belt 14 of the upper body flexible suit 1, and is connected and fixed to the belt 14 by a buckle. Figure 7 As shown, a sensor system 24 is provided at the intersection of the front side of the waist belt 14 and the sagittal plane of the human body, which can monitor the angle and angular velocity, which correspond to the amplitude and speed of the change of the center of gravity of the human body in turn, and are fed back to the main control board 23 through the data line. The walking speed can be detected according to the amplitude and speed of the change of the center of gravity, and the stiffness of the variable stiffness elastic energy storage module 3 can be adjusted to adapt to the walking speed of the wearer, and the human body movement can be predicted to achieve real-time monitoring and adjustment of gait. Under normal working conditions, the sensor can realize long-term high-precision real-time data acquisition, and the dynamic X-axis and Y-axis errors are 0.1°, and the Z-axis error is 0.5°. The sensor system reduces the number of sensors to one, reduces the complexity of the control system, and improves the system reliability.

[0048] like Figure 8 , Fig. 9 As shown, the drive module 21 includes a drive mechanism housing 211, a drive wire wheel device 212, a motor 213, a motor back plate 214, and a housing back plate 215. A lead through hole is set on the left and right sides of the upper part of the drive mechanism housing 211 near the motor back plate 214, which is used for connecting the mobile power supply 22 and the main control board 23 respectively. A lead through hole is also set on the left and right sides of the lower part of the drive mechanism housing 211 near the motor back plate 214, which is used for routing the Bowden cable transmission system 6. The motor back plate 214 is connected to the housing back plate 215 by countersunk screws; the two motors 213 are fixedly connected to the motor back plate 214 by countersunk screws; there are 6 threaded holes at the center of the wire wheel device 212 and the motor 213, which are fixedly connected by countersunk screws; the housing 211 is fixedly connected to the motor back plate 214 and the housing back plate 215 by countersunk screws. The maximum torque of the motor is 12N·m, and the working voltage is 24VDC.

[0049] like Fig.10As shown, the wire wheel device 212 includes a wire locker 2121 and a wire wheel 2122. The wire locker 2121 and the through hole of the wire wheel 2122 are interference fit, the Bowden cable 24 is bound and connected to the wire locker 2121, and the motor 213 drives the wire wheel device 212 to rotate, thereby driving the Bowden cable 24 to be retracted and released on the wire wheel 212. In order to prevent the wire locker 2121 from loosening from the wire wheel 2122, the wire locker 2121 is connected to the wire wheel 2122 by interference fit, and the Bowden cable is passed through the wire locker 2121 and fixed by screws.

[0050] like Fig.12 As shown, the variable stiffness elastic energy storage module 3 is arranged on the front side of the thigh, and includes a buckle 31, an upper hook 32, an elastic energy storage element 33, a lower hook 34, and a wire wheel 35. Fig.11 As shown, a cover is provided at the upper track of the wire wheel 35 to prevent the Bowden cable from escaping from the wire wheel 35 and ensure that the Bowden cable moves on the prescribed path. The closed slot design of the wire wheel avoids possible wire damage and confusion during operation. The buckle 31 is fixed to both sides of the front end of the belt 14, the upper hook 32 is hooked with the buckle 31, the elastic energy storage element 33 is bound and connected with the upper hook 32 and the lower hook 34, and the wire wheel 35 is hooked with the lower hook 34. Due to the inconsistency of physical parameters of different users (height, weight, etc.), in order to meet the personalized stiffness requirements of users, the overall stiffness of the exoskeleton mechanism can be adjusted by quickly replacing modular elastic energy storage elements.

[0051] like Fig.13 , Fig.14 As shown, the lower body flexible suit 4 is worn on the lower limbs of the human body to provide a stable force anchor point for the knee joint transmission module 5, and can also determine the routing direction for the Bowden cable transmission system 6 to ensure the stability of the connection and the comfort of wearing. The lower body flexible suit 4 is made of inelastic fabric as a whole, and Velcro 42 is sewn on both sides of each knee joint of the lower body flexible suit 4 to fix the knee joint transmission module 5. A wire clip 41 is set on the outer side of the thigh of the lower body flexible suit to fix the routing of the Bowden cable, which can prevent the Bowden cable from shaking and avoid wire damage, confusion and interference with human movement during the process.

[0052] The knee joint transmission module 5 is arranged on the lower body flexible suit 4, on both sides of the human knee joint. Figure 1 As shown, the knee joint transmission modules 5 are symmetrically arranged on the inner and outer sides of each leg knee joint. Fig.15As shown, the knee joint transmission module 5 includes a lower limiting plate 501, a lower fixing plate 502, a ball bearing 503, an upper fixing plate 504, an upper limiting plate 505, a knee joint line wheel 1 5061, a wire lock 5062, a knee joint shaft 5071, a flat key 5072, a flat key 5073, a knee joint line wheel 2 5081, a wire lock 5082, a ball bearing 509, an outer shell 510, and a front fixed pulley 511. The lower limiting plate 501 is connected to the upper limiting plate 505 by countersunk screws, and two flat keys 5072 and 5073 are installed on the knee joint shaft 5071, and respectively cooperate with the knee joint line wheel 1 5061 and the knee joint line wheel 2 5081. The knee joint shaft 5071 cooperates with the ball bearing 503 at one end close to the knee joint line wheel 1 5061, and cooperates with the ball bearing 509 at the other end. The upper limiting plate 505 is connected to the outer shell 510 by countersunk screws. The upper side and front side of the outer shell 510 are provided with lead through holes and a front fixed pulley 511 for Bowden cable routing.

[0053] In the knee joint transmission module 5, the upper limit plate 505 limits the movable angle of the human hip joint, and the lower limit plate 501 limits the movable angle of the human knee joint. Considering the width of the upper fixing plate 504 and the lower fixing plate 502, the movable angle of the upper limit plate 505 is set to 60°, and the movable angle of the lower limit plate 501 is set to 150°, so as to ensure the comfort of the human body during walking.

[0054] The wiring method of the Bowden cable transmission system 6 is as follows Fig.13 , Fig.14 As shown, the present invention adopts a driving bionic design to imitate the force line direction of the human hip joint extension muscle. The direction of the Bowden cable in the Bowden cable transmission system 6 imitates the muscles on the back of the human thigh. One end of the Bowden cable 1 61 is bound and connected to the wire locker 2121 of the driving module 21, and one end is bound and connected to the wire locker 5062 of the outer knee joint transmission module 5; one end of the Bowden cable 2 62 is bound and connected to the wire locker 5062 of the outer knee joint transmission module 5, and one end is bound and connected to the wire locker 5062 of the inner knee joint transmission module 5; one end of the Bowden cable 3 63 is bound and connected to the wire locker 5082 of the outer knee joint transmission module 5, and one end is bound and connected to the wire locker 5082 of the inner knee joint transmission module 5. The Bowden cable transmission system 6 has the advantages of small size, long-distance transmission, and high motor position control accuracy.

[0055] The Bowden cable 61 is driven by the driving module 21. One end of the Bowden cable 61 is fixed on the cable lock 2121. The Bowden cable 61 is led to the outer line clip 41 of the lower body flexible suit 4 of the thigh and hip joint through the lead through hole on the lower side of the housing 211. The Bowden cable 61 is fixed to the lower body flexible suit 4 through the line clip 41 through the thigh and hip joint to prevent the Bowden cable 61 from shaking. The Bowden cable 61 is led to the knee joint transmission module 5 along the outer side of the lower limb of the human body. Fig.15 As shown, the Bowden cable 61 passes through the lead through hole set on the upper side of the knee joint outer shell 510, enters the knee joint transmission module 5, and the Bowden cable 61 is bound to the connection lock wire device 5062, thereby connecting with the knee joint wire wheel 1 5061. Through the connection of the Bowden cable 61, the Bowden cable 61 is extended and retracted to drive the knee joint wire wheel 1 5061 to rotate. The knee joint wire wheel 1 5061 is connected to the knee joint shaft 5071 through a flat key 5072, and the knee joint wire wheel 2 5081 is connected to the knee joint shaft 5071 through a flat key 5073. Therefore, the rotation of the knee joint wire wheel 1 5061 will drive the knee joint wire wheel 2 5081 to rotate in the same direction.

[0056] One side of the Bowden cable 63 is bound to the wire locker 5082, and is passed through the lead wire through hole on the front side of the outer knee joint shell 510, through the track of the fixed pulley 511 on the front side of the knee joint, and enters the lead wire through hole of the inner knee joint shell 510, and is connected to the wire locker 5082 of the inner knee joint transmission module 5. Since the length of the Bowden cable 63 is fixed, when the outer knee joint wire wheel 2 5081 is wound up, the inner knee joint wire wheel 2 5081 is unwound. One side of the Bowden cable 62 is connected to the wire locker 5062 of the outer knee joint transmission module 5, and is passed through the lead wire through hole on the upper side of the outer knee joint shell 510, through the track of the wire wheel 35, and enters the lead wire through hole on the upper side of the inner knee joint shell 510, and is connected to the wire locker 5062 of the inner knee joint transmission module 5. The inner knee joint drives the second knee joint wire wheel 5081 to rotate through the Bowden wire 63, and then drives the first knee joint wire wheel 5061 to rotate, thereby controlling the extension and retraction of the Bowden wire 62.

[0057] The working principle of the flexible lower limb power-assisted exoskeleton of the present invention is as follows:

[0058] The gait process of human walking is divided into a support phase and a swing phase. During the support phase, the gravitational potential energy of the lower limbs of the human body and the mechanical energy of the motor 213 are converted into elastic potential energy and stored in the elastic energy storage element 33. During the swing phase, the motor 213 stops working, and the elastic energy storage element 33 releases the potential energy stored in the support phase and converts it into kinetic energy of the user's lower limbs, assisting hip flexion and helping the user reduce energy consumption during walking.

[0059] The process is specifically as follows: in the support phase, the human hip joint extends backward, the motor 213 rotates forward, driving the wire wheel device 212 fixed to the motor 213 by the countersunk screw to rotate forward, one end of the Bowden wire 1 61 is bound and linked to the wire locker 2121, and the other end is bound and connected to the outer knee joint wire locker 5062, the Bowden wire 1 61 produces a contraction movement, and the knee joint wire wheel 1 5061 rotates clockwise. The knee joint wire wheel 1 5061 is connected to the knee joint central axis 5071 through the flat key 5072, and the knee joint wire wheel 2 5081 is connected to the knee joint central axis 5071 through the flat key 5073. The rotation of the knee joint wire wheel 1 5061 drives the knee joint wire wheel 2 5081 to rotate in the same direction. One end of the Bowden cable 3 63 is bound and connected to the outer knee joint wire locker 5082, and the other end is bound and connected to the inner knee joint wire locker 5082. The outer knee joint wire wheel 2 5081 rotates clockwise, driving the inner knee joint wire wheel 2 5081 to rotate counterclockwise, and the inner knee joint wire wheel 1 5061 rotates counterclockwise, and the wire wheels on both sides rotate at the same angular velocity. One end of the Bowden cable 2 62 is bound and connected to the outer knee joint wire locker 5062, and the other end is bound and connected to the inner knee joint wire locker 5062 through the wire wheel 35. The outer knee joint wire wheel 1 5061 rotates clockwise, and the inner knee joint wire wheel 1 5061 rotates counterclockwise at equal angular velocities. The Bowden cables on both sides of the wire wheel 35 contract symmetrically, and the elastic energy storage element 33 stretches to store elastic potential energy. In the swing phase, the hip joint flexes, the Bowden cable 1 61 stretches, and the elastic potential energy of the elastic energy storage element 33 is released to assist the hip joint flexion.

[0060] When the walking speed changes, the motor 213 starts working through sensor feedback. The sensor monitors the angle and angular velocity, which correspond to the amplitude and speed of the change of the center of gravity of the human body in turn. The walking speed can be detected according to the amplitude and speed of the change of the center of gravity, and the stiffness of the variable stiffness elastic energy storage module can be adjusted to adapt to the wearer's walking speed. The specific implementation is as follows: when the walking speed increases, the stiffness increases, and the elastic energy storage energy increases, thereby providing greater assistance to the wearer when the energy is released to adapt to the walking speed; when the walking speed decreases, the stiffness decreases, and the elastic energy storage energy decreases, providing appropriate assistance to the wearer when the energy is released to adapt to the walking speed.

[0061] The preferred specific embodiments of the present invention are described in detail above. It should be understood that ordinary technicians in the field can make many modifications and changes based on the concept of the present invention without creative work. Therefore, all technical solutions that can be obtained by technicians in the technical field based on the concept of the present invention through logical analysis, reasoning or limited experiments on the basis of the prior art should be within the scope of protection determined by the claims.

Claims

1. A wearable flexible lower limb assist exoskeleton, characterized in that: The invention comprises an upper body flexible suit (1), a drive control module (2), a variable stiffness elastic energy storage module (3), a lower body flexible suit (4), a knee joint transmission module (5), and a Bowden cable transmission system (6); the upper body flexible suit (1) is worn on a human body trunk, the lower body flexible suit (4) is worn on a human body lower limb, the drive control module (2) is arranged at the waist of the upper body flexible suit (1), the variable stiffness elastic energy storage module (3) is arranged on the front side of the thigh, the knee joint transmission module (5) is arranged on both sides of the inner and outer sides of the knee joint of the lower body flexible suit (4), and the Bowden cable transmission system (6) is respectively connected to the drive control module (2), the knee joint transmission module (5), and the variable stiffness elastic energy storage module (3).

2. The wearable flexible lower limb assist exoskeleton according to claim 1, characterized in that: The upper body flexible suit (1) comprises a pair of shoulder straps (11), a chest connecting strap (12), an upper and lower connecting straps (13), a waist belt (14), and a back carrying module (15); the pair of shoulder straps (11) are sewn with the chest connecting strap (12) and the upper and lower connecting straps (13); the upper and lower connecting straps (13) are sewn with the waist belt (14); the back carrying module (15) is sewn with the waist belt (14) and the pair of shoulder straps (11); and a fixing plate is installed on the back side of the waist belt (14).

3. The wearable flexible lower limb assist exoskeleton according to claim 1, characterized in that: The driving control module (2) comprises a driving module (21), a mobile power source (22), a main control panel (23), and a sensor system (24). The driving module (21) is placed at the back belt (14) of the upper body flexible suit (1), and is connected and fixed to the back fixing plate by passing a bolt through the belt (14). The mobile power source (22) is placed at the right side belt (14) of the upper body flexible suit (1), and is connected and fixed to the belt (14) by a buckle. The main control panel (23) is placed at the left side belt (14) of the upper body flexible suit (1), and is connected and fixed to the belt (14) by a buckle. The sensor system (24) is arranged at the intersection of the front side of the belt (14) and the sagittal plane of the human body, and collects angle and angular velocity data and feeds them back to the main control panel (23).

4. The wearable flexible lower limb assist exoskeleton according to claim 3, characterized in that: The sensing system (24) comprises a sensor and a data line, one end of the data line is connected to the main control board (23), and the other end is connected to the sensor, and the sensor is placed at the intersection of the sagittal plane of the human body and the front side of the waist belt.

5. The wearable flexible lower limb assist exoskeleton according to claim 3, characterized in that: The driving module (21) comprises a driving mechanism housing (211), a wire wheel device (212), a motor (213), a motor back plate (214), and a housing back plate (215); the motor back plate (214) is connected to the housing back plate (215); the two motors (213) are fixedly connected to the motor back plate (214); the wire wheel device (212) is fixedly connected to the motor (213); the driving mechanism housing (211) is fixedly connected to the motor back plate (214) and the housing back plate (215); the wire locker (2121) is used in the wire wheel device (212); and the wire locker (2121) and the wire wheel (2122) are interference-fitted.

6. The wearable flexible lower limb assist exoskeleton according to claim 1, characterized in that: The variable stiffness elastic energy storage module (3) comprises a buckle (31), an upper hook (32), an elastic energy storage element (33), a lower hook (34) and a wire wheel (35); the buckle (31) is fixed to both sides of the front end of the waist belt (14); the upper hook (32) is hooked with the buckle (31); the elastic energy storage element (33) is bound with the upper hook (32) and the lower hook (34); the wire wheel (35) is hooked with the lower hook (34); a cover (351) is provided at the upper end track of the wire wheel (35) to prevent the Bowden cable from escaping from the wire wheel (35) and ensure that the Bowden cable moves on a specified path.

7. The wearable flexible lower limb assist exoskeleton according to claim 1, characterized in that: The lower body flexible suit (4) comprises a flexible suit made of inelastic fabric, a Velcro (42), and a line clip (41); the Velcro (42) is sewn to the inner and outer sides of the knee joint of the lower body flexible suit to fix the knee joint transmission module (5); the line clip (41) is sewn to the outer side of the hip joint of the lower body flexible suit to fix the routing of the Bowden cable.

8. The wearable flexible lower limb assist exoskeleton as claimed in claim 1, characterized in that: The knee joint transmission module (5) comprises a lower limiting plate (501), a lower fixing plate (502), a ball bearing (503), an upper fixing plate (504), an upper limiting plate (505), a knee joint line wheel 1 (5061), a wire lock (5062), a knee joint shaft (5071), a flat key (5072), a flat key (5073), a knee joint line wheel 2 (5081), a wire lock (5082), a ball bearing (509), an outer shell (510) and a front fixed pulley (511); the lower limiting plate (501) is connected to the upper limiting plate (505) by countersunk screws; the flat key (50 72), a flat key (5073), is installed on the knee joint shaft (5071), and cooperates with the knee joint line wheel one (5061) and the knee joint line wheel two (5081) respectively. The two ends of the knee joint shaft (5071) cooperate with the ball bearing (503) and the ball bearing (509). The upper limit plate (505) is connected to the outer shell (510) by countersunk screws. The upper side and front side of the outer shell (510) are provided with a lead through hole and a front fixed pulley (511). The upper limit plate (505) has an active angle of 60°, and the lower limit plate 501 has an active angle of 150°.

9. The wearable flexible lower limb assist exoskeleton according to claim 1, characterized in that: The Bowden cable transmission system (6) comprises Bowden cable 1 (61), Bowden cable 2 (62), and Bowden cable 3 (63); the upper end of the Bowden cable 1 (61) is connected to the cable locker (2121) of the drive module (21), and the lower end is connected to the knee joint transmission module (5); the Bowden cable 2 (62) is connected to the knee joint transmission module (5) and the variable stiffness elastic energy storage module (3); and the Bowden cable 3 (63) is connected to the knee joint transmission modules (5) on the inner and outer sides of the same knee joint.

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