Exoskeleton walking aid device based on gait and joint motion compensation and working method

Abstract

The invention relates to an exoskeleton walking aid device based on gait and joint motion compensation and a working method, a bearing module is used for bearing a load, the bearing module transmits the load to an energy storage assistance module and a ground interaction module, and the ground interaction module transmits the load to the ground and provides gait support; the energy storage assistance module absorbs energy generated by the load according to the gait cycle change of the wearer to provide torque assistance; the energy storage assisting module comprises a knee joint shell connected with the bearing module, the inner side of the knee joint shell is rotationally connected with a shank rotating rod to form a knee joint, the shank rotating rod is slidably connected with a shank fixing rod through a sliding rail structure, and the shank fixing rod is detachably connected to a shank adjusting rod; the knee joint shell is movably connected with the knee joint boss, the knee joint boss faces the rear side area of the shank of the wearer and forms a set angle range with the shank adjusting rod, an energy storage element is arranged between the knee joint boss and the shank adjusting rod, and the action line of the energy storage element deviates from the rotation center of the knee joint.

Description

Technical Field

[0001] The present invention relates to the technical field of exoskeletons, and in particular to an exoskeleton walking aid device and a working method based on gait and joint motion compensation. Background Art

[0002] The statements in this section merely provide background information related to the present invention and do not necessarily constitute prior art.

[0003] Passive exoskeletons mostly rely on springs or similar passive components to provide power to the wearer. These designs store and release energy by capturing the load state and mechanical changes in the gait cycle. Through reasonable spring design, this type of exoskeleton can reduce the burden on the joints to a certain extent and improve the wearer's movement efficiency. Especially when the wearer is carrying heavy objects, the passive exoskeleton can effectively provide assistance, relieve physical exertion, and reduce fatigue from long-term walking.

[0004] The design of existing passive exoskeletons still has limited adaptability under different gaits and joint movements. During weight-bearing walking, the wearer's gait and joint movements will cause fluctuations in the exoskeleton's power-assistance effect. For example, the flexion and extension of the knee joint will affect the compression and release process of the spring, causing the power-assistance system to be unstable at certain stages, which in turn affects the wearer's walking efficiency and comfort. Summary of the invention

[0005] In order to solve the technical problems existing in the above-mentioned background technology, the present invention provides an exoskeleton walking aid device and working method based on gait and joint movement compensation. Unlike the traditional passive exoskeleton, it fully considers the interaction between weight, gait and joint movement, and coordinates the movement changes of the knee joint with the exoskeleton power-assisting system to ensure that the stability of the power-assisting effect is improved during the flexion and extension of the knee joint. In addition, with the help of the load-bearing trigger mechanism, the exoskeleton can automatically store energy when the wearer carries a heavy object, and release the stored energy when the knee joint is extended, helping the wearer to improve the efficiency of movement and reduce the burden on the joints.

[0006] In order to achieve the above object, the present invention adopts the following technical solution:

[0007] The first aspect of the present invention provides an exoskeleton walking aid device based on gait and joint motion compensation, comprising a backpack module, a load-bearing module, an energy storage assisting module and a ground interaction module connected in sequence; the backpack module is used to bear and distribute the load, the load-bearing module is used to bear the load and transfer the load to the energy storage assisting module and the ground interaction module, and the ground interaction module is used to transfer the load to the ground and provide gait support; the energy storage assisting module absorbs the energy generated by the load using an energy storage element according to the wearer's gait cycle changes, and provides torque assistance for the wearer;

[0008] Among them, the energy storage assist module includes a knee joint shell connected to the bearing module, the inner side of the knee joint shell is rotatably connected to the calf rotating rod to form a knee joint, the calf rotating rod is slidably connected to the calf fixing rod through a slide rail structure, and the calf fixing rod is detachably connected to the calf adjusting rod; the knee joint shell is movably connected to the knee joint boss, the knee joint boss faces the rear area of ​​the wearer's calf and forms a set angle range with the calf adjusting rod, an energy storage element is provided between the knee joint boss and the calf adjusting rod, and the action line of the energy storage element deviates from the rotation center of the knee joint.

[0009] As a further implementation method, the carrying module includes a back frame that fits the wearer through a shoulder strap assembly. The back frame is detachably connected to the waist belt through back frame quick latches. Symmetrical waist tube connecting holes are provided on both sides of the waist belt for connecting to the waist tube.

[0010] As a further implementation method, the load-bearing module includes a hip abduction and internal rotation component connected to the waist tube of the carrying module, the hip abduction and internal rotation component is hinged to the bottom end and the hip flexion and extension component and the hip internal and external rotation component in sequence, and the bottom end of the hip internal and external rotation component is rotatably connected to the thigh adjustment rod.

[0011] As a further implementation method, the thigh adjustment rod has an adjustment hole, which is connected to the thigh fixing rod by a thigh quick-release pin inserted into the adjustment hole. By changing the total length of the thigh adjustment rod and the thigh fixing rod, it can adapt to wearers of different heights.

[0012] As a further implementation method, the top end of the energy storage element is fixedly connected to the knee joint boss, and the bottom end is connected to the calf adjustment rod through an adjustment component, and the adjustment component is used to adjust the initial state of the energy storage element and its release path.

[0013] As a further implementation method, the slide rail structure includes a slide rail guide rod connected to the calf rotating rod, the slide rail guide rod is sleeved in the slide rail sleeve, the slide rail sleeve is connected to the calf fixing rod, and a slide rail guide ring is provided between the slide rail guide rod and the slide rail sleeve.

[0014] As a further implementation, the ground interaction module includes an exoskeleton ankle joint connected to the calf adjustment rod, and the exoskeleton ankle joint is hinged to the exoskeleton sole.

[0015] As a further implementation method, it also has a binding and adjustment module, including a thigh binding and a calf binding, one side of the thigh binding is connected to the thigh fixing rod, and the other side is fitted with the wearer's thigh surface; one side of the calf binding is connected to the thigh fixing rod, and the other side is fitted with the wearer's calf surface.

[0016] As a further implementation method, the binding and adjustment module also includes a calf adjustment mechanism, including an adjustment hole set on the calf adjustment rod, and the connection between the calf adjustment rod and the calf fixing rod is achieved by inserting a quick release pin into the adjustment hole. By changing the total length of the calf adjustment rod and the calf fixing rod, it can adapt to wearers of different heights.

[0017] A second aspect of the present invention provides a working method of an exoskeleton walking aid device based on gait and joint motion compensation, comprising the following steps:

[0018] The back module is fixed to the wearer's upper body, the load-bearing module is fixed to the wearer's thigh, the energy storage and assisting module is fixed to the wearer's calf, and the ground interaction module is fixed to the wearer's foot. The energy storage element is adjusted to a preset state, and the slide rail structure slides freely.

[0019] In the standing state, the load carried by the wearer is transferred to the ground through the exoskeleton walking aid;

[0020] During walking, during the support period of the gait cycle, the sole of the wearer's foot remains in contact with the ground, and the load is transmitted to the knee joint shell through the back-bearing module and the load-bearing module. Part of the load force is transmitted through the slide rail structure, and the other part is transmitted through the energy storage element; at this time, the energy storage element is compressed to store the energy generated by the load;

[0021] In the initial state, the slide rail structure has not been completely closed, and the energy storage element is gradually compressed to drive the slide rail structure to move. When it is compressed to a certain extent, the slide rail structure is closed to form a stable force transmission path to further disperse the load.

[0022] At the end of the stance phase and the beginning of the swing phase, the foot gradually leaves the ground, and the energy stored in the energy storage element begins to be released, which generates a torque on the knee joint boss and provides rotational assistance to the wearer's knee joint;

[0023] During the swing phase, the sole of the foot is completely off the ground, the load is no longer transferred to the ground, the flexion movement of the knee joint is converted into the sliding movement of the slide rail structure, and the energy storage element does not suffer invalid compression;

[0024] As the gait cycle repeats, the energy storage element cycles between compressing stored energy during the support phase and releasing assistance during the end of the support phase, while the slide rail structure compensates.

[0025] Compared with the prior art, one or more of the above technical solutions have the following beneficial effects:

[0026] 1. Through the coordinated design of the carrying module and the load-bearing module, efficient transmission of weight is achieved. In the standing stage, the weight is directly transferred to the ground through the exoskeleton structure; in the walking stage, the gait cycle and the optimized structure of the exoskeleton are used to disperse the weight transfer path and reduce the energy consumption of the user.

[0027] 2. The energy storage and assistance module in the device adopts an offset energy storage element design, combined with a slide rail mechanism, to achieve an efficient combination of energy storage and assistance. During the gait support period, the energy storage element can store the energy generated by the load; during the swing period, the energy storage element releases energy, provides torque assistance to the knee joint, and improves walking efficiency.

[0028] 3. By adding a slide rail structure at the knee joint, the sliding characteristics of the slide rail can convert the effect of the knee flexion movement on the energy storage element into the sliding action of the slide rail structure, eliminating unnecessary compression of the energy storage element, avoiding invalid energy storage, and improving system stability.

[0029] 4. The sole of the exoskeleton in the ground interaction module is a single-layer sole design, which significantly reduces the weight of the exoskeleton, optimizes the force transmission path, enhances stability during walking, and makes the user walk more smoothly and naturally.

[0030] 5. The differences between the support phase and the swing phase in the gait cycle are fully considered, and combined with the binding and adjustment modules, the adaptability to users of different heights and body shapes is achieved, improving the universality and comfort of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The accompanying drawings in the specification, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0032] Figure 1 is a schematic diagram of a human body wearing an exoskeleton walking aid device provided by one or more embodiments of the present invention;

[0033] Figure 2 is a schematic diagram of the overall structure of an exoskeleton walking aid device provided by one or more embodiments of the present invention;

[0034] Figure 3 is a schematic diagram of a carrying module of an exoskeleton walking aid device provided by one or more embodiments of the present invention;

[0035] Figure 4 is a schematic diagram of a carrying module of an exoskeleton walking aid device provided by one or more embodiments of the present invention;

[0036] Figure 5 is a schematic diagram of an energy storage and assisting module of an exoskeleton walking aid device provided by one or more embodiments of the present invention;

[0037] Figure 6 It is a schematic diagram of the slide rail structure of the energy storage and assisting module of the exoskeleton walking aid device provided by one or more embodiments of the present invention;

[0038] Figure 7is a schematic diagram of the structure of a ground interaction module of an exoskeleton walking aid device provided by one or more embodiments of the present invention;

[0039] Figure 8 is a schematic diagram of the thigh portion of a binding and adjustment module of an exoskeleton walking aid device provided by one or more embodiments of the present invention;

[0040] Fig. 9 Schematic diagram of the calf portion of the binding and adjustment module of the exoskeleton walking aid device provided by one or more embodiments of the present invention.

[0041] In the figure: 1. Carrying module, 101. Back frame, 102. Back frame quick latch, 103. Waist seal, 104. Waist tube, 2. Carrying module, 201. Hip abduction and adduction parts, 202. Hip flexion and extension parts, 203. Hip internal rotation and external rotation parts, 204. Thigh adjustment rod, 205. Thigh fixing rod, 3. Energy storage and assisting module, 301. Knee joint shell, 302. Knee joint boss, 303. Calf rotation rod, 304. Thigh adjustment rod, 305. Thigh fixing rod, 306. Thigh adjustment rod, 307. Thigh adjustment rod, 308. Thigh adjustment rod, 309. Thigh adjustment rod, 310. Thigh adjustment rod, 311. Thigh adjustment rod, 312. Thigh adjustment rod, 313. Thigh adjustment rod, 314. Thigh adjustment rod, 315. Thigh adjustment rod, 316. Thigh adjustment rod, 317. Thigh adjustment rod, 318. Thigh adjustment rod, 319. Thigh adjustment rod, 320. Thigh adjustment rod, 321. Thigh adjustment rod, 322. Thigh adjustment rod, 323. Thigh adjustment rod, 324. Thigh adjustment rod, 325. Thigh adjustment rod, 326. Thigh adjustment rod, 327. Thigh adjustment rod, 328. Thigh adjustment rod, 329. Thigh adjustment rod, 330. Thigh adjustment rod, 331. Thigh adjustment rod, 332. Thigh adjustment rod, 333. Thigh adjustment rod, 334. Thigh adjustment rod, 335. Thigh adjustment rod, 336. Thigh adjustment rod, 337. Thigh adjustment rod, 338. Thigh adjustment rod, 04. Slide rail structure, 305. Calf fixing rod, 306. Calf adjustment rod, 307. Energy storage element, 3041. Slide rail guide rod, 3042. Slide rail guide ring, 3043. Slide rail sleeve, 4. Ground interaction module, 401. Exoskeleton ankle joint, 402. Exoskeleton sole, 5. Binding and adjustment module, 501. Thigh quick latch, 502. Thigh binding, 503. Calf binding, 504. Calf adjustment mechanism. DETAILED DESCRIPTION

[0042] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0043] It should be noted that the following detailed descriptions are exemplary and intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present invention belongs.

[0044] It should be noted that the terms herein are only intended to describe specific embodiments and are not intended to limit exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0045] An exoskeleton is a wearable device designed to enhance or restore the body's ability to move. It integrates with the human body through mechanical structures, sensors, actuators, and control systems to help users complete various movements.

[0046] The working principle of exoskeletons is usually divided into active, quasi-passive and passive exoskeletons. Active exoskeletons provide additional power through electric drive or hydraulic system, which can provide greater assistance to the wearer; quasi-passive exoskeletons cooperate with human power through battery-driven electric system to provide auxiliary power to the wearer; while passive exoskeletons rely on passive components such as springs and levers for mechanical assistance. Compared with active and quasi-passive exoskeletons, passive exoskeletons have the advantages of simple structure, low energy consumption, and no need for external power source. Therefore, they have broad application prospects in military and long-term use scenarios.

[0047] Although traditional passive exoskeletons do not require power source support, their assistance effect is limited due to the complex energy transfer path and redundant component design. In addition, some structural designs can easily hinder human activities and are difficult to meet the needs of long-term use.

[0048] During human walking, the force transmission of carrying heavy objects and the movement of the knee joint have significant periodicity. In traditional exoskeleton design, partial energy storage and power-assisting functions are often achieved through a double-layer structure on the sole or a simple spring assembly, but these methods often ignore the impact of knee joint movement on the spring compression and release process, resulting in low energy utilization efficiency and obvious limitations in stability and adaptability.

[0049] Therefore, the following embodiments provide an exoskeleton walking aid device and working method based on gait and joint motion compensation. Starting from the gait and joint motion rules of the human body, the passive exoskeleton is combined with ergonomic design, and an efficient power-assisting device is provided through an innovative mechanical structure and energy storage release mechanism. The device utilizes the energy transfer when the human body is loaded, the gait cycle changes, and the joint motion compensation to store the energy generated during walking and release it in time to reduce the muscle burden and improve walking efficiency.

[0050] Embodiment 1:

[0051] This embodiment uses modular design to divide the exoskeleton into a carrying module, a load-bearing module, an energy storage and assistance module, a ground interaction module, and a binding and adjustment module, and proposes a walking assistance method based on gait and joint motion compensation.

[0052] The designed energy storage assist module utilizes the offset structure of the knee joint shell and combines with the calf guide system to enable the energy storage element to compress and store energy during the stance period and release energy during the swing period to provide torque assistance for the knee joint.

[0053] In addition, the slide rail structure effectively dilutes the impact of knee flexion movement on the energy storage element, ensuring that the energy storage and release of the spring is highly matched with the periodic transfer of the carried weight, thereby improving the power-assisting effect and naturalness of use.

[0054] At the same time, the lightweight design and modular adjustment function significantly improve the stability, adaptability and comfort of the exoskeleton for long-term use.

[0055] like Figure 1-Figure 2 As shown, the exoskeleton walking aid device based on gait and joint movement compensation includes a carrying module 1, a bearing module 2, an energy storage and assisting module 3, a ground interaction module 4 and a binding and adjustment module 5.

[0056] like Figure 3 As shown, the backpack module 1 includes a backpack frame 101, a backpack frame quick latch 102, a waist seal 103 and a waist tube 104. The backpack module is used to provide a stable and reliable load support structure, connect the exoskeleton device to the upper body of the wearer, and achieve uniform distribution of the load pressure, thereby effectively reducing the pressure on the shoulders and back of the wearer.

[0057] As a further embodiment, the back frame 101 is a frame structure, and the top end thereof fits against the human body through a shoulder strap assembly.

[0058] As a further embodiment, the shoulder strap assembly is equipped with a wide shoulder pad to reduce local pressure during wearing and enhance wearing comfort.

[0059] As a further implementation, the bottom end of the back frame 101 is connected to the waist belt 103 through the back frame quick latch 102. The back frame quick latch 102 can realize the rapid disassembly and installation of the back frame to adapt to different heights and load requirements, thereby improving the convenience of operation and the flexibility of the module.

[0060] As a further embodiment, the waist seal 103 is an arc-shaped structure, which fits the waist of the wearer, and is filled with flexible material on the inside to improve the wearing comfort and enhance the fixing effect on the waist.

[0061] As a further embodiment, symmetrical waist tube connection holes are provided on both sides of the waist seal 103 for connecting with the waist tube 104. The waist tube 104 is a hollow tubular structure for transferring loads and connecting the back module and the load-bearing module.

[0062] As a further implementation method, the waist tube is fixed to the waist seal by bolts and is made of lightweight materials with high strength and durability, and can maintain reliable performance in long-term load transfer.

[0063] Through the coordinated action of the back frame, back frame quick pins, waist seal and waist tube, the back module achieves stable load support, rapid assembly and disassembly, uniform pressure distribution, and wearing comfort and flexibility, providing technical guarantee for the overall performance and adaptability of the exoskeleton device.

[0064] like Figure 4As shown, the bearing module 2 includes a hip joint abduction and adduction component 201 , a hip joint flexion and extension component 202 , a hip joint internal and external rotation component 203 , a thigh adjustment rod 204 and a thigh fixing rod 205 .

[0065] The function of the load-bearing module 2 is to evenly distribute the load gravity transmitted by the carrying module 1 to the lower limb part of the exoskeleton and further transmit it to the ground, thereby reducing the burden on the wearer's lower limbs, enhancing the load-bearing capacity and improving the overall performance of the exoskeleton.

[0066] In this embodiment, the hip joint abduction and adduction component 201, the hip joint flexion and extension component 202, and the hip joint internal and external rotation component 203 together constitute a three-degree-of-freedom hip joint bionic mechanism that can simulate the complex movement characteristics of the human hip joint.

[0067] As a further embodiment, the hip abduction and adduction component 201 is used to provide the hip joint with the movement freedom to perform abduction and adduction; the hip flexion and extension component 202 is used to provide the hip joint with the movement freedom to perform flexion and extension; the hip internal and external rotation component 203 is used to provide the hip joint with the movement freedom to perform internal rotation and external rotation.

[0068] In view of the diverse movement patterns of the human hip joint, the traditional single ball joint structure can achieve a large range of motion, but it has shortcomings in load-bearing performance and structural controllability. Therefore, the three-degree-of-freedom mechanism adopts a separate design to optimize the combination of load-bearing capacity and movement flexibility.

[0069] In this embodiment, the top of the hip joint abduction and adduction member 201 is fixedly connected to the waist tube 104 by bolts, and the bottom end is hinged to the hip joint flexion and extension member 202; the top of the hip joint flexion and extension member 202 is hinged to the hip joint abduction and adduction member 201, and the bottom end is hinged to the hip joint internal rotation and external rotation member 203; the top of the hip joint internal rotation and external rotation member 203 is hinged to the hip joint flexion and extension member 202, and the bottom end is connected to the thigh adjustment rod 204 through a rotating assembly. The three work together to achieve three-degree-of-freedom movement of the hip joint, meet complex movement requirements, and ensure load stability.

[0070] As a further implementation, the thigh adjustment rod 204 is connected to the thigh fixing rod 205 through an adjustment hole and a thigh quick-release pin. The adjustment hole is used to adapt to wearers of different heights, and the thigh quick-release pin realizes rapid adjustment. The combination of the two effectively ensures the reliability and stability of the load transfer path.

[0071] As a further embodiment, the thigh fixing rod 205 is a rigid structure, which supports and transmits the load from the hip joint part of the exoskeleton by cooperating with the thigh adjusting rod 204 .

[0072] Through the design and coordinated cooperation of the above-mentioned module components, the load-bearing module 2 realizes efficient load-bearing and transfer functions, while meeting the movement characteristics of the human hip joint, providing a reliable basic support for the dynamic assistance and energy storage functions of the exoskeleton device, and ensuring its stability and flexibility under complex terrain and dynamic loads.

[0073] like Figure 5 As shown, the energy storage assist module 3 includes a knee joint housing 301, a knee joint boss 302, a calf rotation rod 303, a slide rail structure 304, a calf fixing rod 305, a calf adjustment rod 306 and an energy storage element 307. Its function is to efficiently store energy in the energy storage element 307 based on the energy transfer characteristics of the human body under load and the movement law of the knee joint, and release the energy in time during the gait cycle to provide assist torque for the knee joint, thereby improving the performance and adaptability of the exoskeleton in complex task environments.

[0074] As a further implementation, the top of the knee joint shell 301 is firmly connected to the thigh fixing rod 205 through a connecting structure, and the inner side is connected to the calf rotating rod 303 through a rotating assembly, so that the calf rotating rod 303 can rotate freely with the natural movement of the human calf, thereby realizing the simulation of the knee joint rotation movement.

[0075] As a further implementation, the calf rotating rod 303 is connected to the calf fixing rod 305 via a slide rail structure 304. The slide rail structure 304 maintains the smoothness of movement during the rotation of the knee joint and effectively reduces the friction resistance, thereby improving the service life of the device and the comfort of movement.

[0076] As a further embodiment, an adjustment hole is provided on one side of the knee joint housing 301 for connecting with the knee joint boss 302. The angle between the knee joint boss 302 and the calf axis can be flexibly adjusted through the adjustment hole. The calf axis in this embodiment refers to the axis of the assembly formed by the calf rotating rod 303, the slide rail structure 304, the calf fixing rod 305 and the calf adjusting rod 306, which is parallel to the wearer's calf. The adjustment hole can be arranged in the arc section of the knee joint boss 302.

[0077] The knee joint boss extends toward the rear area of ​​the wearer's calf to form an arc-shaped convex section, and forms a set angle range with the calf adjustment rod. In this embodiment, the design of the knee joint boss 302 makes the line of action of the energy storage element 307 deviate from the rotation center of the knee joint and tilt at a set angle, so that an assist torque is generated under the force applied by the energy storage element 307, effectively providing auxiliary power for the knee joint movement.

[0078] The length of the extended part can be 60 mm, which is affected by the assist torque of the knee joint, the stiffness of the spring, the load and the length of the slide rail.

[0079] The angle of the extended portion is 60°, and the angle range may be 30-120°. In this embodiment, 60° is selected considering the power-assisting principle.

[0080] The extension angle must be towards the back area of ​​the calf to comply with the gait rules and achieve knee joint assistance. During normal walking, before the pre-swing stage, that is, the stage where the exoskeleton needs to work, the angle of the knee joint is about 60°, and the boss is set to 60°, which just covers this range. In other words, it is ensured that during the working stage of the exoskeleton, the boss always remains in the back area of ​​the calf even if it rotates.

[0081] The extension length and angle will affect the compression of the energy storage element. Too long a length will cause the energy storage element to change too much, which is not good for the stiffness of the energy storage element and the selection of the guide rail. The extension angle of 60° can just ensure that the compression of the energy storage element is relatively minimal. The greater the compression of the energy storage element, the lower the matching of the exoskeleton knee joint with the human knee joint, and the more uncomfortable it is to wear.

[0082] The reasons for the deviation from the design mainly include two aspects. One is the generation of torque. The generation of torque requires the simultaneous action of force and lever arm. Torque = force × lever arm. The second is the force form of the energy storage element. The hinged form of the two ends of the energy storage element makes the energy storage element can be regarded as a two-force rod, and the direction of the force will be along the line connecting the two constraint points. If there is no bias, the line of action of the force of the energy storage element will pass through the rotation center of the knee joint along the calf, and the effective lever arm will be 0, which will result in no torque. If there is a bias, the line of action of the energy storage element will deviate from the rotation center of the knee joint along the direction of the line connecting the two constraint points, and a lever arm will be generated (the deviation distance of 60mm is not an effective lever arm, it needs to be derived through geometric relationships, and it will be slightly less than this value in the end). In this way, the force and lever arm of the energy storage element act simultaneously, which will generate torque on the knee joint.

[0083] The direction of the torque is related to the direction of the deviation. When the boss is toward the back of the calf, the torque will help the knee flex (because the exoskeleton's power-assisting principle is to help the knee flex at a specific stage), and when the boss is toward the front of the calf, the effect of this torque will help the knee extend. Therefore, the boss is toward the back of the calf and deviates from the rotation center of the knee joint.

[0084] As a further embodiment, the top of the energy storage element 307 is connected to the knee joint boss 302 through a mechanical fixing structure, and the bottom is connected to the calf adjustment rod 306 through an adjustment component, and is fixed to the calf fixing rod 305 through the calf adjustment rod 306. The adjustment component is used to adjust the initial state of the energy storage element 307 and its release path, so that the energy storage element 307 can be adapted according to specific application requirements, thereby further optimizing the power-assisting effect.

[0085] The energy storage element 307 can be a spring or an elastic rod with deformation capability. In theory, the elastic element is an elastic rod that meets the rigidity requirement and deformation condition. In this embodiment, a spring is selected for easy processing.

[0086] Through the coordinated design of the above-mentioned structural components, the energy storage and assistance module 3 can accurately capture and release energy changes in the gait cycle, effectively reduce the wearer's physical burden, and provide a stable and reliable knee joint assistance function, providing important technical support for the performance of the exoskeleton under dynamic load conditions.

[0087] like Figure 6 As shown, the slide rail structure 304 is composed of a slide rail guide rod 3041, a slide rail guide ring 3042 and a slide rail sleeve 3043. The slide rail guide rod 3041 is fixedly connected to the calf rotation rod 303, and the slide rail sleeve 3043 is fixedly connected to the calf fixing rod 305, and its main function is to effectively transmit the force of the knee joint rotation to the slide rail structure 304.

[0088] As a further implementation, the slide rail guide rod 3041 and the slide rail guide ring 3042 are slidably connected, and the slide rail guide ring 3042 and the slide rail sleeve 3043 are also slidably connected. Through the synergistic effect of the three, efficient motion transmission and stable mechanical support are ensured.

[0089] As a further implementation method, the slide rail guide ring 3042 has the following functions: guiding and lubrication (through high-precision sliding fit design, the friction resistance between the slide rail guide rod 3041 and the slide rail sleeve 3043 is reduced to ensure smooth movement and improve the durability of the device), load-bearing function (the slide rail guide ring 3042 can withstand forces in multiple directions, especially under complex movement conditions, to ensure the stability and reliability of force transmission), and transmission ratio guarantee (the optimized structural design of the slide rail guide ring 3042 can maintain a constant transmission ratio during movement, thereby ensuring uniform distribution and effective utilization of force when the energy storage element 307 releases energy).

[0090] As a further embodiment, the calf fixing rod 305 is connected to the calf adjusting rod 306 via an adjusting mechanism. The design of the adjusting mechanism can flexibly adjust the overall length of the calf part according to the height of different wearers, thereby achieving the adaptability of the exoskeleton device to wearers of various body shapes and enhancing the comfort and flexibility of human-computer interaction.

[0091] Through the close combination and synergy of the slide rail structure 304 and the adjustment mechanism, the energy storage assist module 3 can efficiently store and release energy under complex gait and load conditions, which not only significantly improves the knee joint assist performance, but also enhances the operational flexibility and overall adaptability of the exoskeleton device, providing technical support for its application in various task environments.

[0092] like Figure 7 As shown, the ground interaction module 4 includes an exoskeleton ankle joint 401 and an exoskeleton sole 402, and its main function is to effectively transfer the weight-bearing force from other modules to the ground, while bearing the reaction force between the human body and the exoskeleton system during movement, providing stable ground support, and ensuring the smoothness and naturalness of gait.

[0093] As a further embodiment, the top of the exoskeleton ankle joint 401 is fixedly connected to the calf adjustment rod 306 by a bolt, and the bottom is hinged to the exoskeleton sole 402 by a hinge assembly. Through the design of the hinge assembly, the exoskeleton ankle joint 401 can flexibly adapt to the natural movement trajectory of the human ankle joint, effectively ensuring the comfort of gait and the accuracy of load transfer.

[0094] As a further implementation, the exoskeleton sole 402 is tightly fixed to the wearer's foot using a binding assembly. The binding assembly has a highly reliable connection effect and can avoid relative displacement between the exoskeleton sole 402 and the wearer's foot during exercise, thereby ensuring efficient transmission and stability of the load force.

[0095] As a further implementation, in order to reduce the extra burden of the exoskeleton device on the wearer, the exoskeleton sole 402 adopts a lightweight design, a single-layer sole structure, and uses high-strength lightweight materials. This design not only meets the strength requirements of the sole load, but also greatly reduces the overall weight of the exoskeleton device. The lightweight single-layer structure reduces interference with the natural gait during walking, significantly improving the comfort and durability of wearing.

[0096] Through the above design, the ground interaction module 4 realizes efficient load transfer and ground support functions, taking into account ergonomics and mechanical requirements, providing a solid technical guarantee for the overall performance improvement of the exoskeleton device, and significantly enhancing the adaptability and use effect of the exoskeleton in complex task environments.

[0097] like Figure 8-Figure 9 As shown, the binding and adjustment module 5 includes a thigh quick latch 501, a thigh binding 502, a calf binding 503 and a calf adjustment mechanism 504. The binding and adjustment module 5 is used to achieve a close connection between the exoskeleton and different parts of the human body, and to adapt to the body proportions and body shape characteristics of different wearers through precise and flexible adjustment functions, thereby ensuring the dynamic consistency and motion stability between the exoskeleton and the wearer.

[0098] As a further embodiment, one side of the thigh binding 502 is connected to the thigh fixing rod 205, and the other side thereof is closely fitted to the surface of the wearer's thigh through flexible material and fitting design, thereby effectively preventing relative sliding between the exoskeleton and the thigh during exercise.

[0099] As a further embodiment, the calf binding 503 is connected to the calf fixing rod 305 in the same manner and is fixed to the surface of the wearer's calf through one side thereof, thereby ensuring the stability of the calf area.

[0100] As a further implementation, the thigh quick latch 501 is used to connect the thigh adjustment rod 204 and the thigh fixing rod 205. Its quick installation and disassembly function makes the thigh length adjustment more convenient and can achieve precise adjustment according to the leg length of different wearers, ensuring the modular adaptation of the exoskeleton.

[0101] As a further embodiment, the calf adjustment mechanism 504 functions similarly to the thigh quick latch 501 and is used to connect the calf adjustment rod 306 with the calf fixing rod 305, providing rapid adjustment capability in the calf area, thereby further enhancing the adaptability of the exoskeleton to different wearer body shapes.

[0102] Through the above design, the binding and adjustment module can not only achieve a close integration of the exoskeleton and the human body, but also provide efficient adjustment functions, thereby ensuring the stability and comfort of the exoskeleton system, while improving the versatility and ease of use of the exoskeleton device.

[0103] The exoskeleton walking aid device of the above structure realizes efficient transmission of weight through the coordinated design of the carrying module 1 and the load-bearing module 2. In the standing stage, the weight is directly transferred to the ground through the exoskeleton structure; in the walking stage, the gait cycle and the optimized structure of the exoskeleton are used to disperse the weight transfer path and reduce the energy consumption of the user.

[0104] The energy storage and assistance module 3 in the device adopts an offset energy storage element design, combined with the slide rail mechanism 304, to achieve an efficient combination of energy storage and assistance. During the gait support period, the energy storage element 307 can store the energy generated by the load; during the swing period, the energy storage element 307 releases energy to provide torque assistance to the knee joint, thereby improving walking efficiency.

[0105] By adding a slide rail structure 304 at the knee joint, the influence of the knee joint flexion movement on the energy storage element 307 is converted into the sliding action of the slide rail structure 304 through the sliding characteristics of the slide rail, eliminating unnecessary compression of the energy storage element 307, avoiding invalid energy storage, and improving system stability.

[0106] By changing the traditional double-layer sole structure to a single-layer sole design, the weight of the exoskeleton is significantly reduced. At the same time, the force transmission path is optimized, the stability during walking is enhanced, and the user can walk more smoothly and naturally.

[0107] By fully considering the differences between the support phase and the swing phase in the gait cycle and combining the binding and adjustment modules, it achieves adaptability to users of different heights and body shapes, improving the universality and comfort of the system.

[0108] Working principle:

[0109] The exoskeleton carrying module 1 is fixedly connected to the upper body of the wearer through the back frame 101 and the waist belt 103 to ensure that the load is evenly distributed; the thighs and calves are tightly fixed to the corresponding structures of the exoskeleton through the binding and adjustment module 5, and the length is adjusted to adapt to the body shapes of different wearers; ensure that the energy storage element 307 in the energy storage assist module 3 is in a preset state, and the slide rail structure 304 can slide freely.

[0110] In the standing state, the weight carried by the wearer is transferred to the ground through the exoskeleton; the overall structure of the exoskeleton provides a stable load support path, reducing the additional burden on the energy storage element 307 and the slide rail structure 304.

[0111] During walking, from the perspective of the gait cycle, during the support period, the sole of the wearer's foot remains in contact with the ground, and the weight carried is transmitted downward through the carrying module 1 and the load-bearing module 2. When it reaches the knee joint shell 301, the force transmission path of the weight is divided into two parts. One part is transmitted downward through the slide rail structure 304 to maintain a direct mechanical transmission path, and the other part is transmitted downward through the energy storage element 307. At this time, the energy storage element 307 is compressed to store the energy generated by the weight. In the initial state, the slide rail structure 304 has not yet been completely closed, and the gradual compression of the energy storage element 307 drives the slide rail structure 304 to move. When compressed to a certain extent, the slide rail structure 304 is closed to form another stable force transmission path, thereby further dispersing the load. The compression of the energy storage element 307 is closely related to the gait of the human body. Only when the sole of the foot is in contact with the ground during the support period, the weight will be transmitted downward through the exoskeleton, thereby compressing the energy storage element 307 and storing energy.

[0112] At the end of the support phase and the beginning of the swing phase, as the foot gradually leaves the ground, the energy stored in the energy storage element 307 begins to be released. Due to the offset design of the knee joint boss 302, the force of the energy storage element 307 on the boss when released generates torque, thereby providing rotation assistance to the knee joint. This assistance optimizes the extension movement of the knee joint and reduces the energy consumption of the human body.

[0113] During the swing phase, the sole of the foot is completely off the ground, and the weight carried is no longer transferred downward through the exoskeleton. At this time, the energy storage element 307 is only affected by the flexion movement of the knee joint. In order to eliminate the interference of the flexion movement on the energy storage element 307, the knee joint housing 301 is connected to the slide rail guide rod 3041 through the calf rotation rod 303, so that the flexion movement of the knee joint is converted into the sliding movement of the slide rail structure 304, avoiding the energy storage element 307 from being ineffectively compressed. This feature of the slide rail structure 304 also plays a role during the support phase, thereby reducing the influence of the flexion movement of the knee joint on the change of the spring displacement.

[0114] As the gait cycle is repeated, the energy storage element 307 achieves coordination with the gait rhythm in the cycle of compressing energy storage during the support period and releasing assistance during the end of the support period. At the same time, through the compensation effect of the slide rail structure 304, the interference of knee flexion on the energy storage process of the energy storage element 307 is reduced, ensuring the stability and comfort of the exoskeleton assistance.

[0115] Embodiment 2:

[0116] The working method of the exoskeleton walking aid device based on gait and joint motion compensation includes the following steps:

[0117] The carrying module 1 is fixed to the upper body of the wearer through the back frame 101 and the waist belt 103, and the thigh and calf are fixed to the corresponding structure of the exoskeleton by the binding and adjustment module 5, and the length is adjusted to adapt to the body shape of different wearers; ensure that the energy storage element 307 in the energy storage assisting module 3 is in a preset state, and the slide rail structure 304 can slide freely;

[0118] In the standing state, the load carried by the wearer is transferred to the ground through the exoskeleton walking aid;

[0119] While walking:

[0120] During the support period of the gait cycle, the sole of the wearer's foot remains in contact with the ground, and the weight carried is transmitted downward through the carrying module 1 and the load-bearing module 2. When it reaches the knee joint shell 301, part of the force of the weight is transmitted downward through the slide rail structure 304 to maintain a direct mechanical transmission path, and the other part is transmitted downward through the energy storage element 307. At this time, the energy storage element 307 is compressed to store the energy generated by the weight;

[0121] In the initial state, the slide rail structure 304 is not completely closed, and the gradual compression of the energy storage element 307 drives the slide rail structure 304 to move. When the compression reaches a certain degree, the slide rail structure 304 closes to form a stable force transmission path to further disperse the load.

[0122] At the end of the support phase and the beginning of the swing phase, as the foot gradually leaves the ground, the energy stored in the energy storage element 307 begins to be released; the force acting on the knee joint boss 302 generates torque, thereby providing rotation assistance to the knee joint;

[0123] During the swing phase, the sole of the foot is completely off the ground, and the weight carried is no longer transmitted downward through the exoskeleton. The energy storage element 307 is only affected by the flexion movement of the knee joint. The knee joint housing 301 is connected to the slide rail guide rod 3041 through the calf rotation rod 303, so that the flexion movement of the knee joint is converted into the sliding movement of the slide rail structure 304, thereby preventing the energy storage element 307 from being subjected to invalid compression.

[0124] As the gait cycle is repeated, the energy storage element 307 cycles between compressing and storing energy during the support period and releasing assistance during the end of the support period. At the same time, the compensatory effect of the slide rail structure 304 reduces the interference of knee flexion on the energy storage process of the energy storage element 307.

[0125] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An exoskeleton walking aid device based on gait and joint motion compensation, characterized in that: It includes a backpack module, a load-bearing module, an energy storage assisting module and a ground interaction module connected in sequence; the backpack module is used to bear and distribute the load, the load-bearing module is used to bear the load and transfer the load to the energy storage assisting module and the ground interaction module, and the ground interaction module is used to transfer the load to the ground and provide gait support; the energy storage assisting module uses energy storage elements to absorb the energy generated by the load according to the wearer's gait cycle changes, and provides torque assistance for the wearer; Among them, the energy storage assist module includes a knee joint shell connected to the bearing module, the inner side of the knee joint shell is rotatably connected to the calf rotating rod to form a knee joint, the calf rotating rod is slidably connected to the calf fixing rod through a slide rail structure, and the calf fixing rod is detachably connected to the calf adjusting rod; the knee joint shell is movably connected to the knee joint boss, the knee joint boss faces the rear area of ​​the wearer's calf and forms a set angle range with the calf adjusting rod, an energy storage element is provided between the knee joint boss and the calf adjusting rod, and the action line of the energy storage element deviates from the rotation center of the knee joint.

2. The exoskeleton walking aid device based on gait and joint motion compensation as claimed in claim 1, characterized in that: The carrying module includes a back frame that fits the wearer through a shoulder strap assembly. The back frame is detachably connected to a waist seal through a back frame quick latch. Symmetrical waist tube connecting holes are provided on both sides of the waist seal for connecting to the waist tube.

3. The exoskeleton walking aid device based on gait and joint motion compensation as claimed in claim 1, characterized in that: The load-bearing module includes a hip abduction and internal absorption component connected to the waist tube of the carrying module. The hip abduction and internal absorption component is hinged to the bottom end with the hip flexion and extension component and the hip internal and external rotation component in sequence. The bottom end of the hip internal and external rotation component is rotatably connected to the thigh adjustment rod.

4. The exoskeleton walking aid device based on gait and joint motion compensation as claimed in claim 3, characterized in that: The thigh adjustment rod has an adjustment hole and is connected to the thigh fixing rod through a thigh quick-release pin inserted into the adjustment hole. The total length of the thigh adjustment rod and the thigh fixing rod can be changed to adapt to wearers of different heights.

5. The exoskeleton walking aid device based on gait and joint motion compensation as claimed in claim 1, characterized in that: The top end of the energy storage element is fixedly connected to the knee joint boss, and the bottom end is connected to the calf adjustment rod through an adjustment component, and the adjustment component is used to adjust the initial state of the energy storage element and its release path.

6. The exoskeleton walking aid device based on gait and joint motion compensation as claimed in claim 1, characterized in that: The slide rail structure comprises a slide rail guide rod connected to the calf rotating rod, the slide rail guide rod is sleeved in a slide rail sleeve, the slide rail sleeve is connected to the calf fixing rod, and a slide rail guide ring is arranged between the slide rail guide rod and the slide rail sleeve.

7. The exoskeleton walking aid device based on gait and joint motion compensation as claimed in claim 1, characterized in that: The ground interaction module comprises an exoskeleton ankle joint connected to a calf adjustment rod, and the exoskeleton ankle joint is hinged to the exoskeleton sole.

8. The exoskeleton walking aid device based on gait and joint motion compensation as claimed in claim 1, characterized in that: The device also has a binding and adjustment module, including a thigh binding and a calf binding, wherein one side of the thigh binding is connected to the thigh fixing rod and the other side fits the surface of the wearer's thigh; one side of the calf binding is connected to the thigh fixing rod and the other side fits the surface of the wearer's calf.

9. The exoskeleton walking aid device based on gait and joint motion compensation as claimed in claim 8, characterized in that: The binding and adjustment module also includes a calf adjustment mechanism, including an adjustment hole set on the calf adjustment rod, and the connection between the calf adjustment rod and the calf fixing rod is achieved by inserting a quick-release pin into the adjustment hole. By changing the total length of the calf adjustment rod and the calf fixing rod, it can adapt to wearers of different heights.

10. A working method of an exoskeleton walking aid device based on the gait and joint motion compensation according to any one of claims 1 to 9, characterized in that: The following steps are involved: The back module is fixed to the wearer's upper body, the load-bearing module is fixed to the wearer's thigh, the energy storage and assisting module is fixed to the wearer's calf, and the ground interaction module is fixed to the wearer's foot. The energy storage element is adjusted to a preset state, and the slide rail structure slides freely. In the standing state, the load carried by the wearer is transferred to the ground through the exoskeleton walking aid; During walking, during the support period of the gait cycle, the sole of the wearer's foot remains in contact with the ground, and the load is transmitted to the knee joint shell through the back-bearing module and the load-bearing module. Part of the load force is transmitted through the slide rail structure, and the other part is transmitted through the energy storage element; At this point, the energy storage element compresses, storing the energy generated by the load; In the initial state, the slide rail structure has not been completely closed, and the energy storage element is gradually compressed to drive the slide rail structure to move. When it is compressed to a certain extent, the slide rail structure is closed to form a stable force transmission path to further disperse the load. At the end of the stance phase and the beginning of the swing phase, the foot gradually leaves the ground, and the energy stored in the energy storage element begins to be released, which generates a torque on the knee joint boss and provides rotational assistance to the wearer's knee joint; During the swing phase, the sole of the foot is completely off the ground, the load is no longer transferred to the ground, the flexion movement of the knee joint is converted into the sliding movement of the slide rail structure, and the energy storage element does not suffer invalid compression; As the gait cycle repeats, the energy storage element cycles between compressing stored energy during the support phase and releasing assistance during the end of the support phase, while the slide rail structure compensates.

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