Bionic spinal exoskeleton device

Abstract

The present invention relates to the technical field of bionic bone, and provides a bionic spinal exoskeleton device, comprising: a fixing component, including a waist fixing member and a back fixing member; a spinal mechanism, including a plurality of spinal modules, each spinal module including a rotating component and a linear moving component, the linear moving component being connected to the rotating component, and the rotating component of the next spinal module being connected to the linear moving component of the previous spinal module; wherein, the rotating component of the spinal module at the head end is installed on the waist fixing member, and the linear moving component of the spinal module at the tail end is installed on the back fixing member; a driving mechanism, including a driving component and a rope set, the driving component being installed on the waist fixing member, the rope set being sequentially threaded through the waist fixing member, the spinal mechanism and the back fixing member, and the driving component being in transmission connection with the back fixing member through the rope set to apply an upward pulling force and a left-right swinging pulling force to the human back. Thus, it is applicable to the spinal auxiliary support requirements in various scenarios.

Description

Technical Field

[0001] The invention relates to the technical field of bionic skeletons, and in particular to a bionic spinal exoskeleton device. Background Art

[0002] In the human movement system, the spine occupies a core supporting position. It is not only responsible for protecting the spinal cord, but also plays a key role in maintaining trunk stability and achieving multi-dimensional movement functions. However, in the clinical treatment of spinal injuries and degenerative lesions, current traditional external fixation devices have exposed significant technical limitations. On the one hand, the rigid support system lacks the ability to dynamically perceive the multi-dimensional mechanical state of the spine, which easily leads to stress concentration and even compensatory injuries; on the other hand, the traditional device lacks a biomechanical adaptation mechanism, making it difficult to simultaneously meet the needs of postoperative fixation and rehabilitation training. Summary of the invention

[0003] The present invention provides a bionic spinal exoskeleton device, aiming to solve the problem that the conventional external fixation device in the prior art has insufficient applicability due to the use of a rigid support system.

[0004] The present invention provides a bionic spinal exoskeleton device, comprising:

[0005] A fixing assembly, comprising a waist fixing member and a back fixing member, wherein the waist fixing member is suitable for connecting to the waist, and the back fixing member is suitable for connecting to the back;

[0006] A spinal mechanism, comprising a plurality of spinal modules, each of which comprises a rotating assembly and a linear moving assembly, wherein the linear moving assembly is connected to the rotating assembly, and the rotating assembly of the next spinal module is connected to the linear moving assembly of the previous spinal module; wherein the rotating assembly of the spinal module at the head end is mounted on the waist fixing member, and the linear moving assembly of the spinal module at the end end is mounted on the back fixing member;

[0007] The driving mechanism includes a driving component and a rope group, wherein the driving component is installed on the waist fixing part, and the rope group is sequentially installed on the waist fixing part, the spine mechanism and the back fixing part. The driving component is connected to the back fixing part through the rope group to apply an upward pulling force and a left and right swinging pulling force to the back of the human body.

[0008] According to a bionic spinal exoskeleton device provided by the present invention, the driving assembly includes a first driving assembly and a second driving assembly, the rope group includes a first rope group and a second rope group arranged in parallel, the first driving assembly is connected to the back fixing member through the first rope group to apply an upward pulling force to the back of the human body; the second driving assembly is connected to the back fixing member through the second rope group to apply a left and right swinging pulling force to the back of the human body.

[0009] According to a bionic spinal exoskeleton device provided by the present invention, the first drive assembly and the second drive assembly are respectively located on both sides of the spinal mechanism, and the first drive assembly and the second drive assembly both include a drive motor and a winding wheel, the drive motor is transmission-connected to the winding wheel, and the first rope group and the second rope group are wound around the corresponding winding wheels.

[0010] According to a bionic spinal exoskeleton device provided by the present invention, the first rope group and the second rope group both include a first rope and a second rope, and the first rope and the second rope are arranged side by side.

[0011] According to a bionic spinal exoskeleton device provided by the present invention, the rotating assembly comprises a rotating seat, a rotating shaft and a rotating matching piece, and the rotating shaft is connected to the rotating seat through the rotating matching piece;

[0012] The linear moving assembly includes a housing, an elastic member and a sliding member. The sliding member is slidably disposed in the housing through the elastic member. The sliding member is provided with a guide groove. The rotating shaft is connected to the housing and extends into the guide groove.

[0013] According to a bionic spinal exoskeleton device provided by the present invention, each spinal module also includes a displacement sensor, which includes a moving part and a fixed part. The fixed part is arranged in the shell, and the moving part is connected to the sliding part so that the moving part moves relative to the fixed part.

[0014] According to a bionic spinal exoskeleton device provided by the present invention, the rotating fitting includes a ball seat and a ball head, the ball seat is installed in the rotating seat, the ball seat is provided with a ball groove, the ball head is placed inside the ball groove, and the rotating shaft is connected to the ball head.

[0015] A bionic spinal exoskeleton device provided according to the present invention also includes a first auxiliary rope group and a second auxiliary rope group, the spinal mechanism includes five spinal modules, the rotating assembly of the second spinal module and the rotating assembly of the third spinal module are connected to the rotating assembly of the fourth spinal module through the corresponding first auxiliary rope group, and the rotating assembly of the fourth spinal module and the rotating assembly of the fifth spinal module are connected to the back fixing member through the corresponding second auxiliary rope group.

[0016] According to a bionic spinal exoskeleton device provided by the present invention, the first auxiliary rope group includes a first pull rope and a second pull rope, the rotating assembly of the fourth spinal module is provided with a support plate, one end of the first pull rope is connected to the rotating assembly of the second spinal module, the other end of the first pull rope is connected to the support plate, one end of the second pull rope is connected to the rotating assembly of the third spinal module, the other end of the second pull rope is connected to the support plate;

[0017] The second auxiliary rope group includes a third pull rope and a fourth pull rope, one end of the third pull rope is connected to the support plate, the other end of the third pull rope is connected to the back fixer, one end of the fourth pull rope is connected to the rotating assembly of the fifth spinal module, and the other end of the fourth pull rope is connected to the back fixer.

[0018] According to a bionic spinal exoskeleton device provided by the present invention, the back fixing part includes a back plate, a first connecting plate, a second connecting plate and a pressure sensor, the first connecting plate is connected to the back plate, the linear moving component of the spinal module located at the end is installed on the first connecting plate, the first connecting plate and the second connecting plate are arranged in parallel, the pressure sensor is clamped on the first connecting plate and the second connecting plate, and the rope group is sequentially passed through the waist fixing part, the spinal mechanism, the first connecting plate and the second connecting plate.

[0019] The bionic spinal exoskeleton device provided by the present invention realizes flexible support and assistance to the human spine through the coordinated work of the fixing components, the spinal mechanism and the driving mechanism; it can simulate the movement characteristics of the human spine, provide personalized assistance solutions, effectively reduce the burden on the spine, and improve the human body's movement ability and comfort; at the same time, it also has the advantages of simple structure, easy to wear and adjust, and is suitable for the needs of spinal auxiliary support in a variety of scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] To more clearly illustrate the technical solutions in the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0021] Figure 1 It is a schematic structural diagram of the bionic spinal exoskeleton device provided by the present invention.

[0022] Figure 2 It is a schematic diagram of the wearing structure of the bionic spinal exoskeleton device provided by the present invention.

[0023] Figure 3 It is a schematic structural diagram of the spinal module provided by the present invention.

[0024] Figure 4 It is one of the sectional views of the spinal module provided by the present invention.

[0025] Figure 5 It is the second sectional view of the spinal module provided by the present invention.

[0026] Figure 6 It is a schematic structural diagram of the pressure sensor provided by the present invention.

[0027] Figure 7 It is a schematic structural diagram of the displacement sensor provided by the present invention.

[0028] Reference numerals:

[0029] 1, human body; 2, bionic spinal exoskeleton device; 21, waist fixing member; 22, back fixing member; 221, back plate; 222, first connecting plate; 223, pressure sensor; 224, second connecting plate; 23, spinal module; 231, rotating assembly; 2311, rotating seat; 2312, rotating shaft; 2313, rotating fitting; 23131, ball seat; 23132, ball head; 232, linear moving assembly; 2321, housing; 2322, sliding member; 23221, guiding groove; 2323, elastic member; 233, displacement sensor; 2331, fixing part; 2332, moving part; 24, driving motor; 25, winding wheel; 26, first rope; 27, second rope; 28, first pulling rope; 29, second pulling rope; 30, support plate; 31, third pulling rope; 32, fourth pulling rope. Detailed embodiments

[0030] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0031] like Figure 1 , Figure 2 and Figure 3 As shown, the bionic spinal exoskeleton device 2 (hereinafter referred to as the device) according to the embodiment of the present invention includes: a fixing component, a spinal mechanism and a driving mechanism.

[0032] The fixing component includes a waist fixing part 21 and a back fixing part 22, the waist fixing part 21 is suitable for connecting to the waist, and the back fixing part 22 is suitable for connecting to the back; the spine mechanism includes a plurality of spine modules 23, each spine module 23 includes a rotating component 231 and a linear moving component 232, the linear moving component 232 is connected to the rotating component 231, and the rotating component 231 of the next spine module 23 is connected to the linear moving component 232 of the previous spine module 23; wherein, the rotating component 231 of the spine module 23 located at the head end is installed on the waist fixing part 21, and the linear moving component 232 of the spine module 23 located at the end is installed on the back fixing part 22; the driving mechanism includes a driving component and a rope group, the driving component is installed on the waist fixing part 21, the rope group is sequentially installed on the waist fixing part 21, the spine mechanism and the back fixing part 22, and the driving component is connected to the back fixing part 22 through the rope group to apply an upward pulling force and a left and right swinging pulling force to the back of the human body 1.

[0033] It should be noted that the fixing assembly includes a waist fixing member 21 and a back fixing member 22. The waist fixing member 21 is provided with a connection structure adapted to the waist of the human body 1, such as a waist belt, to ensure that the device can be firmly attached to the waist. The back fixing member 22 is attached to the back of the human body 1 to provide a stable support point for the entire spinal structure. For example, the back fixing member 22 can also be fixed to the back of the human body 1 through a corresponding connecting member structure.

[0034] Wherein, the spinal mechanism is formed by a plurality of spinal modules 23 connected in series, and each spinal module 23 comprises a rotating assembly 231 and a linear moving assembly 232. The linear moving assembly 232 is connected to the rotating assembly 231 to form a movable joint structure. The rotating assembly 231 of the next spinal module 23 is connected to the linear moving assembly 232 of the previous spinal module 23, and so on, to form a "bionic spine" that can be flexibly bent and stretched. The rotating assembly 231 of the spinal module 23 at the head end is installed on the waist fixing member 21 as the starting point of the whole spinal mechanism. The linear moving assembly 232 of the spinal module 23 at the end is installed on the back fixing member 22 as the end point. In this way, the spinal mechanism can simulate the movement of the human spine 1 and provide flexible support and assistance.

[0035] In addition, the driving mechanism includes a driving component and a rope group. The driving component is installed on the waist fixing part 21 to provide power for the entire device. The rope group is sequentially installed on the waist fixing part 21, the spine mechanism and the back fixing part 22 to form a transmission path. The driving component is connected to the back fixing part 22 through the rope group. When the driving component is working, it can apply an upward pulling force and a left and right swinging pulling force to the back fixing part 22 through the rope group. In this way, the device can provide personalized assistance according to the movement needs of the human body 1 and reduce the burden on the spine.

[0036] The bionic spinal exoskeleton device 2 of the embodiment of the present invention realizes flexible support and assistance to the spine of the human body 1 through the coordinated work of the fixing components, the spinal mechanism and the driving mechanism; it can simulate the movement characteristics of the spine of the human body 1, provide personalized assistance solutions, effectively reduce the burden on the spine, and improve the movement ability and comfort of the human body 1; at the same time, it also has the advantages of simple structure, easy to wear and adjust, and is suitable for the needs of spinal auxiliary support in various scenarios.

[0037] like Figure 1 and Figure 2 As shown, the driving assembly includes a first driving assembly and a second driving assembly, and the rope group includes a first rope group and a second rope group arranged in parallel. The first driving assembly is connected to the back fixing member 22 through the first rope group to apply an upward pulling force to the back of the human body 1; the second driving assembly is connected to the back fixing member 22 through the second rope group to apply a left and right swinging pulling force to the back of the human body 1.

[0038] It should be noted that the first drive assembly is mounted on the waist fixing member 21, and a motor or a pneumatic device can be used as a power source. The first rope group can be composed of a plurality of high-strength, low-elongation ropes, which are sequentially installed on the waist fixing member 21, the spine mechanism, and the back fixing member 22. The first drive assembly is connected to the back fixing member 22 through the first rope group. When the first drive assembly is working, it can apply an upward pulling force to the back fixing member 22 through the first rope group, so as to help the human body 1 maintain an upright posture or reduce the load-bearing burden of the spine.

[0039] The second drive assembly is also mounted on the waist fixing member 21, and works independently of the first drive assembly, using a similar power source. The second rope group can also be composed of a plurality of high-strength ropes, arranged in parallel with the first rope group to meet the tension requirements of left and right side swings. For example, the distance between the first rope group and the back is greater than the distance between the second rope group and the back. The second drive assembly is connected to the back fixing member 22 through the second rope group. When the second drive assembly is working, the second rope group can apply tension to the back fixing member 22 for left and right side swings, helping the human body 1 to perform movements such as lateral flexion, thereby improving the flexibility and stability of the movement.

[0040] In actual application, the first drive assembly and the second drive assembly apply upward pulling force and left and right swinging pulling force to the back fixing member 22 through the first rope group and the second rope group respectively, so that the device can provide a personalized assistance plan according to the movement requirements of the human body 1. The device can not only effectively reduce the burden on the spine and improve the movement ability and comfort of the human body 1, but also has the advantages of simple structure, easy to wear and adjust, etc., and is suitable for the needs of spinal auxiliary support in various scenarios.

[0041] like Figure 1 and Figure 2 As shown, the first drive assembly and the second drive assembly are respectively located on both sides of the spinal mechanism, and the first drive assembly and the second drive assembly each include a drive motor 24 and a winding wheel 25, the drive motor 24 is in transmission connection with the winding wheel 25, and the first rope group and the second rope group are wound around the corresponding winding wheel 25. Exemplarily, the drive motor 24 is placed horizontally, and the drive motor 24 can be a servo motor.

[0042] It should be noted that each driving assembly includes a driving motor 24 and a winding wheel 25, and the winding wheel 25 is connected to the driving motor 24 for winding and releasing the rope. In other words, the driving motor 24 winds or releases the rope group through the winding wheel 25, thereby changing the tension of the rope, and then applying pulling forces in different directions to the back fixing member 22.

[0043] Specifically, the first rope group is wound around the winding wheel 25 of the first driving component, and sequentially passes through the waist fixing member 21, the spinal mechanism, and the back fixing member 22. When the driving motor 24 of the first driving component operates, the first rope group is driven by the rotation of the winding wheel 25, thereby applying an upward pulling force to the back fixing member 22 to help the human body 1 maintain an upright posture or reduce the spinal load. The second rope group is wound around the winding wheel 25 of the second driving component, and is arranged in parallel with the first rope group but has an independent transmission path. When the driving motor 24 of the second driving component operates, the second rope group is driven by the rotation of the winding wheel 25 to apply a pulling force for left and right lateral swing to the back fixing member 22 to assist the human body 1 in performing actions such as lateral flexion.

[0044] As Figure 1 and Figure 2 shown, both the first rope group and the second rope group are composed of the first rope 26 and the second rope 27 arranged side by side. As an example, the winding wheel 25 of the first driving component is provided with a first wire groove and a second wire groove. Among them, the first rope 26 of the first rope group is wound around the first wire groove, and the second rope 27 of the first rope group is wound around the second wire groove.

[0045] In practical applications, the device adopts a four-way rope topological layout driven by bilateral servo motors. This layout can achieve a 75° forward flexion, ±20° lateral swing, and free torsion function while maintaining a rigid support effect. Compared with the traditional rigid link structure, the device significantly reduces inertial impact.

[0046] It should be particularly noted that the device has two working modes: in the transparent mode of normal walking or standing, the bionic spinal exoskeleton device 2 will not cause any obstruction to the activities of the human body 1; while in the working mode that requires bending or lateral swing, the servo motor will drive the back fixing member 22 to move, thereby providing upward and left and right lateral swing pulling force assistance for the back of the human body 1.

[0047] As Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 5 shown, the rotating component 231 includes a rotating seat 2311, a rotating shaft 2312, and a rotating fitting 2313. The rotating shaft 2312 is connected to the rotating seat 2311 through the rotating fitting 2313, and a part of the rotating shaft 2312 is located outside the rotating seat 2311; the linear moving component 232 includes a housing 2321, an elastic member 2323, and a sliding member 2322. The sliding member 2322 is slidably arranged in the housing 2321 through the elastic member 2323, and a part of the sliding member 2322 is located outside the housing 2321. The sliding member 2322 is provided with a guide groove 23221, and the rotating shaft 2312 is connected to the housing 2321 and extends into the guide groove 23221.

[0048] It should be noted that the rotating component 231 is a component in the spine module 23 that enables flexible rotation of the joint, including a rotating base 2311, a rotating shaft 2312, and a rotating fitting 2313. The rotating base 2311 serves as the foundation of the rotating component 231, providing a stable support platform. The rotating shaft 2312 is connected to the rotating base 2311 through the rotating fitting 2313 to achieve rotational movement relative to the rotating base 2311. The rotating fitting 2313 is used to connect the rotating shaft 2312 and the rotating base 2311 to ensure the rotational accuracy and stability of the rotating shaft 2312.

[0049] In addition, the linear movement component 232 is responsible for the movement of the spine module 23 in the longitudinal direction, including a housing 2321, an elastic member 2323, and a sliding member 2322. The housing 2321 serves as the outer shell of the linear movement component 232, providing protection and support. The rotating shaft 2312 is connected to the housing 2321 and serves as the guiding reference for the movement of the sliding member 2322. The elastic member 2323, such as a spring or an elastic rubber block, is disposed inside the housing 2321 and is used to provide the elastic force for the sliding member 2322 to return to its original position. The sliding member 2322 is slidably disposed inside the housing 2321 through the elastic member 2323 to achieve linear movement. The sliding member 2322 is provided with a guiding groove 23221, and the rotating shaft 2312 extends into the guiding groove 23221 to ensure stable guiding of the sliding member 2322 during movement. Exemplarily, the inner wall of the housing 2321 is provided with a first stop portion, the sliding member 2322 is provided with a second stop portion at the notch of the guiding groove 23221, and the elastic member 2323 is disposed between the first stop portion and the second stop portion, and the second stop portion can move relative to the first stop portion. Among them, the first stop portion and the second stop portion can be annular.

[0050] It can be understood that the rotating base 2311 of the rotating component 231 of the next spine module 23 is connected to the sliding member 2322 of the linear movement component 232 of the previous spine module 23. An installation groove is provided on the side of the rotating base 2311 facing the sliding member 2322, and the top of the sliding member 2322 is located in the installation groove.

[0051] In practical applications, in the spine module 23, the rotating component 231 and the linear movement component 232 work together to simulate the complex movement of the human spine 1. When the human body 1 performs actions such as bending or swaying, the rotating component 231 realizes the rotational movement of the spine module 23, while the linear movement component 232 is responsible for the telescopic movement of the spine module 23 in the longitudinal direction.

[0052] Such as Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 、 Figure 5 andFigure 7 As shown, each spine module 23 further includes a displacement sensor 233. The displacement sensor 233 includes a moving part 2332 and a fixed part 2331. The fixed part 2331 is disposed within the housing 2321, and the moving part 2332 is connected to the sliding member 2322 so that the moving part 2332 moves relative to the fixed part 2331. Exemplarily, the fixed part 2331 is provided with a groove, the bottom of the moving part 2332 is located within the groove, the top of the moving part 2332 is located outside the housing 2321, and the top of the moving part 2332 is connected to the sliding member 2322 through a connecting member. In this way, the moving part 2332 and the sliding member 2322 can move synchronously.

[0053] In an actual application scenario, each spine module has four degrees of freedom and can achieve rotation in all directions and longitudinal displacement in space, highly conforming to the actual movement conditions of the human spine joints. In addition, by installing the displacement sensor 233, the longitudinal force information borne by each spine module can be obtained in real time, so as to more accurately control the pulling force exerted by the device on the human body 1.

[0054] As Figure 4 and Figure 5 shown, the rotational mating part 2313 includes a ball seat 23131 and a ball head 23132. The ball seat 23131 is installed within the rotating seat 2311. The ball seat 23131 is provided with a ball groove, and the ball head 23132 is placed inside the ball groove. The rotating shaft 2312 is connected to the ball head 23132.

[0055] It should be noted that the rotating seat 2311 serves as the basis of the rotating assembly 231. The rotating seat 2311 provides a stable support platform and houses other components. The inside of the rotating seat 2311 is provided with an installation structure that cooperates with the ball seat 23131 to ensure the stable installation of the ball seat 23131. The ball seat 23131 is installed within the rotating seat 2311. The ball seat 23131 is provided with a ball groove, and the internal shape of the ball groove matches that of the ball head 23132 for placing the ball head 23132. The ball head 23132 is placed within the ball groove of the ball seat 23131, forming a ball hinge connection with the ball groove, and the ball head 23132 is connected to the rotating shaft 2312.

[0056] As Figure 1 and Figure 2 shown, the bionic spine exoskeleton device 2 further includes a first auxiliary rope group and a second auxiliary rope group. The spine mechanism includes five spine modules 23. The rotating assemblies 231 of the second spine module 23 and the third spine module 23 are connected to the rotating assembly 231 of the fourth spine module 23 through corresponding first auxiliary rope groups, and the rotating assemblies 231 of the fourth spine module 23 and the fifth spine module 23 are connected to the back fixing member 22 through corresponding second auxiliary rope groups.

[0057] Specifically, the rotating seat 2311 of the first spinal module 23 is installed on the back fixing member 22. The rotating seat 2311 of the second spinal module 23 is connected to the rotating seat 2311 of the fourth spinal module 23 through the corresponding first auxiliary rope set. The rotating seat 2311 of the third spinal module 23 is connected to the rotating seat 2311 of the fourth spinal module 23 through the corresponding first auxiliary rope set. The rotating seat 2311 of the fourth spinal module 23 is connected to the back plate 221 through the corresponding second auxiliary rope set. The rotating seat 2311 of the fifth spinal module 23 is connected to the back plate 221 through the corresponding second auxiliary rope set.

[0058] To ensure that the device can maintain a stable posture when in a non-working state, as Figure 1 and Figure 2 shown, the first auxiliary rope set includes a first pulling rope 28 and a second pulling rope 29. A support plate 30 is provided on the rotating assembly 231 of the fourth spinal module 23. One end of the first pulling rope 28 is connected to the rotating assembly 231 of the second spinal module 23, and the other end of the first pulling rope 28 is connected to the support plate 30. One end of the second pulling rope 29 is connected to the rotating assembly 231 of the third spinal module 23, and the other end of the second pulling rope 29 is connected to the support plate 30. The second auxiliary rope set includes a third pulling rope 31 and a fourth pulling rope 32. One end of the third pulling rope 31 is connected to the support plate 30, and the other end of the third pulling rope 31 is connected to the back fixing member 22. One end of the fourth pulling rope 32 is connected to the rotating assembly 231 of the fifth spinal module 23, and the other end of the fourth pulling rope 32 is connected to the back fixing member 22.

[0059] Specifically, the rotating seat 2311 of the first spinal module 23 is installed on the back fixing member 22. The rotating seat 2311 of the second spinal module 23 is connected to the support plate 30 on the rotating seat 2311 of the fourth spinal module 23 through the first pulling rope 28. The rotating seat 2311 of the third spinal module 23 is connected to the support plate 30 on the rotating seat 2311 of the fourth spinal module 23 through the second pulling rope 29. The support plate 30 on the rotating seat 2311 of the fourth spinal module 23 is connected to the back plate 221 through the third pulling rope 31. The rotating seat 2311 of the fifth spinal module 23 is connected to the back plate 221 through the fourth pulling rope 32.

[0060] As Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 、 Figure 5 and Figure 6As shown in the figure, the back fixing member 22 includes a back plate 221, a first connecting plate 222, a second connecting plate 224, and a pressure sensor 223. The first connecting plate 222 is connected to the back plate 221 substantially perpendicularly. The linear movement assembly 232 of the spinal module 23 at the end is installed on the first connecting plate 222. The first connecting plate 222 and the second connecting plate 224 are arranged in parallel. The pressure sensor 223 is clamped between the first connecting plate 222 and the second connecting plate 224. The rope group is successively threaded through the waist fixing member 21, the spinal mechanism, the first connecting plate 222, and the second connecting plate 224. Among them, the slider 2322 of the linear movement assembly 232 of the spinal module 23 at the end is installed on the first connecting plate 222. Exemplarily, threading holes can be provided on the outer periphery of the rotating seat 2311 and the housing 2321 for the rope to pass through.

[0061] As can be seen from the above, each spinal module 23 integrates a high-precision displacement sensor 233, and the axial pressure of the vertebral segment is reversely calculated through the compression deformation of the elastic member 2323 to realize the real-time monitoring of the longitudinal mechanical distribution of the spine; the tension of the rope group is dynamically adjusted by the servo motor in cooperation with the pressure sensor 223, and the intelligent switching between the rigid fixation and the flexible assistance mode is realized by combining the impedance adaptive algorithm; the muscle activation mode and the human body 1 movement intention are analyzed through surface electromyography (sEMG) and six-axis inertial measurement unit (IMU).

[0062] Specifically, the movement situation and movement intention of the human body 1 are detected by sensors such as sEMG and IMU installed on the human body 1, and then the movement mode of the bionic spinal exoskeleton device 2 is judged. If in the stages of normal standing and walking, the servo motor will not work, and the multi-degree-of-freedom and multi-joint spinal mechanism will not affect the movement of people. When the human body 1 needs to bend down to lift a heavy object, the spinal exoskeleton will enter the working mode, and the servo motor responsible for lifting the back starts to work, and the other servo motor does not work. Similarly, when the human body 1 needs to swing sideways, it is also the corresponding servo motor that works, and the other servo motor does not work. In order to better control the spinal exoskeleton, an adaptive impedance control algorithm can be adopted to realize the intelligent switching between the rigid fixation and the flexible assistance mode.

[0063] In other words, the myoelectric and pose signals collected by sensors such as sEMG and IMU are input into the industrial computer to judge the working mode of the bionic spinal exoskeleton device 2, and then combined with the force condition at the end of the spinal mechanism and the bending angle of the human body 1, the output torque of the servo motor is obtained from the adaptive impedance model, which integrates the rope flexible drive technology and the biomechanical characteristics of the human body 1 spine, realizing the intelligent switching of the working mode and the precise dynamic control.

[0064] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than limiting them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A bionic spinal exoskeleton device, characterized in that, Comprising: A fixing component, including a waist fixing piece and a back fixing piece, the waist fixing piece being adapted to be connected to the waist, and the back fixing piece being adapted to be connected to the back; A spine mechanism, including a plurality of spine modules, each spine module including a rotating component and a linear moving component, the linear moving component being connected to the rotating component, and the rotating component of the next spine module being connected to the linear moving component of the previous spine module; wherein, the rotating component of the spine module at the head end is installed on the waist fixing piece, and the linear moving component of the spine module at the tail end is installed on the back fixing piece; A driving mechanism, including a driving component and a rope group, the driving component being installed on the waist fixing piece, the rope group being sequentially threaded through the waist fixing piece, the spine mechanism, and the back fixing piece, and the driving component being drivingly connected to the back fixing piece through the rope group to apply an upward pulling force and a left - right swinging pulling force to the human back; The rotating component includes a rotating seat, a rotating shaft, and a rotating fitting, and the rotating shaft is connected to the rotating seat through the rotating fitting; The linear moving component includes a housing, an elastic member, and a sliding member, the sliding member being slidably disposed in the housing through the elastic member, the sliding member being provided with a guiding groove, and the rotating shaft being connected to the housing and extending into the guiding groove; Each spine module further includes a displacement sensor, the displacement sensor including a moving part and a fixed part, the fixed part being disposed in the housing, and the moving part being connected to the sliding member to enable the moving part to move relative to the fixed part; It further includes a first auxiliary rope group and a second auxiliary rope group, the spine mechanism includes five spine modules, the rotating components of the second spine module and the third spine module are connected to the rotating component of the fourth spine module through the corresponding first auxiliary rope group, and the rotating components of the fourth spine module and the fifth spine module are connected to the back fixing piece through the corresponding second auxiliary rope group.

2. The bionic spinal exoskeleton device according to claim 1, wherein The driving component includes a first driving component and a second driving component, the rope group includes a first rope group and a second rope group arranged in parallel, the first driving component is drivingly connected to the back fixing piece through the first rope group to apply an upward pulling force to the human back; the second driving component is drivingly connected to the back fixing piece through the second rope group to apply a left - right swinging pulling force to the human back.

3. The bionic spinal exoskeleton device according to claim 2, characterized in that The first driving component and the second driving component are respectively located on both sides of the spine mechanism, the first driving component and the second driving component both include a driving motor and a wire winding wheel, the driving motor is drivingly connected to the wire winding wheel, and the first rope group and the second rope group are wound around the corresponding wire winding wheel.

4. The bionic spinal exoskeleton device according to claim 2, wherein Both the first rope group and the second rope group include a first rope and a second rope, and the first rope and the second rope are arranged side by side.

5. The bionic spinal exoskeleton device according to claim 1, characterized in that, The rotating fitting comprises a ball seat and a ball head. The ball seat is installed in the rotating seat. The ball seat is provided with a ball groove. The ball head is placed inside the ball groove. The rotating shaft is connected to the ball head.

6. The bionic spinal exoskeleton device according to claim 1, characterized in that, The first auxiliary rope group includes a first pull rope and a second pull rope, the rotating assembly of the fourth spinal module is provided with a support plate, one end of the first pull rope is connected to the rotating assembly of the second spinal module, the other end of the first pull rope is connected to the support plate, one end of the second pull rope is connected to the rotating assembly of the third spinal module, the other end of the second pull rope is connected to the support plate; The second auxiliary rope group includes a third pull rope and a fourth pull rope, one end of the third pull rope is connected to the support plate, the other end of the third pull rope is connected to the back fixer, one end of the fourth pull rope is connected to the rotating assembly of the fifth spinal module, and the other end of the fourth pull rope is connected to the back fixer.

7. The bionic spinal exoskeleton device according to any one of claims 1 to 4, characterized in that, The back fixing device includes a back plate, a first connecting plate, a second connecting plate and a pressure sensor, the first connecting plate is connected to the back plate, the linear moving component of the spine module located at the end is installed on the first connecting plate, the first connecting plate and the second connecting plate are arranged in parallel, the pressure sensor is clamped on the first connecting plate and the second connecting plate, and the rope group is sequentially passed through the waist fixing device, the spine mechanism, the first connecting plate and the second connecting plate.

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