A high-degree-of-freedom multi-directional exoskeleton assistive device

Abstract

The present invention discloses a high-degree-of-freedom multi-directional exoskeleton assistive device, comprising: a housing, including a back backplate, a waist backplate, and a hip backplate that are sequentially hinged in the up-and-down direction; two shoulder extension units, symmetrically distributed on the back backplate and used for adaptively extending the human shoulders; two upper limb lifting units, respectively connected to the shoulder extension units in one-to-one correspondence and used for driving the movement of the upper limbs; a back assist unit, including two symmetrically distributed wire drive units, a second fixing seat, a fixing rod, a force measuring plate, and a tension and compression sensor; and two lower limb assist units, symmetrically distributed on the hip backplate and used for driving the lower limbs to walk. This device is more compact, lightweight, low-cost, has a better assistive effect, and is convenient to wear.

Description

Technical Field

[0001] The present invention belongs to the technical field of powered exoskeletons, and particularly relates to a high-degree-of-freedom multi-directional exoskeleton assistance device. Background Art

[0002] For some disabled people or patients whose limb functions are damaged and need to be guided to recover, the use of mechanical exoskeleton brackets to assist movement is very helpful. It can not only help patients stand and walk with the help of rehabilitation equipment, enabling them to take care of themselves and greatly improving the quality of life of the patients themselves, but also be used to guide patients to carry out functional recovery training, helping to reduce the burden on families and society, and having a wide application prospect in the field of rehabilitation medicine. Therefore, exoskeleton robots are crucial for disabled people and patients.

[0003] Existing mechanical exoskeletons are designed by imitating the bones and joints of the human body. Due to the variability and complexity of limb movement actions, a large number of degrees of freedom are required to fully imitate and achieve them. However, there are usually the following problems: 1) A large number of driving mechanisms are used to achieve the corresponding degrees of freedom, resulting in a complex structure, a relatively large overall weight, poor flexibility, and high costs; 2) The human joints have three degrees of freedom, while the current walking exoskeletons basically have two degrees of freedom, and the design does not fit well with the human joints, resulting in a certain limitation of the human activity range. For example, the lower limb joints can only control forward and backward steps and cannot control other direction movements; 3) The functions are single, lacking multi-directional assistance and being inconvenient to adjust. Therefore, in view of the problems of large weight and poor flexibility of existing exoskeletons, a high-degree-of-freedom multi-directional exoskeleton assistance device is proposed. Summary of the Invention

[0004] The purpose of the present invention is to propose a high-degree-of-freedom multi-directional exoskeleton assistance device for the above problems, which is more compact, lightweight, low-cost, has better assistance effects, and is convenient to wear.

[0005] To achieve the above purpose, the technical solutions adopted by the present invention are as follows:

[0006] A high-degree-of-freedom multi-directional exoskeleton assistance device proposed by the present invention includes:

[0007] A housing, including a back backplate, a waist backplate, and a hip backplate that are sequentially hinged in the up-down direction;

[0008] Two shoulder extension units, symmetrically distributed on the back backplate and used for adaptively extending the human shoulders;

[0009] Two upper limb lifting units, respectively connected to the shoulder extension units one-to-one and used for driving the movement of the upper limbs;

[0010] The back assistance unit includes two symmetrically distributed wire drive units, a second fixing seat, a fixing rod, a force measuring plate, and a tensile and compressive force sensor. The wire drive unit includes a motor sheave, a back assistance drive motor, a drive wire, and a pulley. The second fixing seat is connected to the hip back plate, and the pulley is installed on the second fixing seat. One end of the drive wire is connected to the motor sheave, and the other end passes around the pulley and then through the back plate to be connected to the fixing rod. The back assistance drive motor is connected to the hip back plate and is used to drive the motor sheave to rotate, thereby driving the drive wire to tighten or loosen. The fixing rod is located on the side of the back plate close to the human body. The force measuring plate contacts the human back, and the tensile and compressive force sensor is connected to the force measuring plate and fixed on the back plate.

[0011] Two lower limb assistance units are symmetrically distributed on the hip back plate and are used to drive the lower limbs to walk.

[0012] Preferably, the waist back plate includes an outer waist back plate and an inner waist back plate. The back plate is hinged to the outer waist back plate, and the hip back plate is hinged to the inner waist back plate. The outer waist back plate and the inner waist back plate are detachably connected.

[0013] Preferably, the back plate and the outer waist back plate, as well as the inner waist back plate and the hip back plate, are hinged by hinges. Moreover, a plurality of third mounting holes and a plurality of fourth mounting holes are provided on the outer waist back plate, and a plurality of fifth mounting holes and a plurality of sixth mounting holes are provided on the inner waist back plate. The outer waist back plate and the inner waist back plate achieve height adjustment through the cooperation of the third mounting holes and the fifth mounting holes, as well as the cooperation of the fourth mounting holes and the sixth mounting holes.

[0014] Preferably, the shoulder extension unit includes a first motor connecting plate, a first H-shaped hinge, a special-shaped hinge, a first connecting seat, an adjusting rod, and a first fixing seat. The first fixing seat is connected to the back plate. One end of the adjusting rod is connected to the first fixing seat, and the other end is slidably connected to the first connecting seat. The special-shaped hinge is respectively hinged to the first connecting seat and the first H-shaped hinge. The first H-shaped hinge is also hinged to the first motor connecting plate. The sliding direction of the first connecting seat is horizontal, and the rotation direction of the first H-shaped hinge or the special-shaped hinge is perpendicular to the sliding direction of the first connecting seat.

[0015] Preferably, the special-shaped hinge is in a B shape, and a limiting block for rotational limiting is provided on the outer side of the end close to the upper limb lifting unit. An avoidance groove for avoiding the first H-shaped hinge is provided between the two hinge shafts.

[0016] Preferably, the upper limb lifting unit includes an upper limb power-assisting drive motor, a drive connecting plate, a linear slide and an arm support. The upper limb power-assisting drive motor is connected to the first motor connecting plate and is used to drive the drive connecting plate to rotate. The fixed part of the linear slide is connected to the drive connecting plate, and the sliding part of the linear slide is connected to the arm support. The arm support is also fixed to the human body's upper arm by a strap, and the sliding direction of the arm support is the length direction of the human body's upper arm. The rotation direction of the drive connecting plate is perpendicular to the sliding direction of the arm support.

[0017] Preferably, the drive connecting plate is Z-shaped, and has several first mounting holes at one end for connecting the upper limb power-assisting drive motor, and several second mounting holes at the other end for connecting the linear slide.

[0018] Preferably, the lower limb power-assisting unit includes a leg support, a leg support connecting rod, a second H-shaped hinge, a second motor connecting plate, a leg power-assisting drive motor and a motor fixing plate. The leg support and the leg support connecting rod are detachably connected. The second H-shaped hinge is hinged to the leg support connecting rod and the second motor connecting plate respectively. The leg power-assisting drive motor is connected to the hip back plate and is used to drive the second motor connecting plate to rotate around the front and back directions of the human body. The motor fixing plate is connected to the hip back plate and is used to seal the leg power-assisting drive motor. The leg support is also provided with a plurality of connecting holes, an adjustment slot and a plurality of adjustment holes. The leg support is fixed to the human thigh by a strap passing through the connecting holes. The leg support connecting rod is slidably passed through the adjustment slot and is fixed by a screw passing through the adjustment hole.

[0019] The hip backboard is a symmetrical structure with two first motor mounting holes, two second motor mounting holes, and a mounting slot. The leg power-assisted drive motors are built into the first motor mounting holes in a one-to-one correspondence, and the back power-assisted drive motors are built into the second motor mounting holes in a one-to-one correspondence. The second fixing base is fixed to the mounting slot. The second fixing base is also symmetrically provided with two reinforcing ribs and two receiving slots, and the pulleys are built into the receiving slots in a one-to-one correspondence.

[0020] An annular groove is provided on the outer edge of the motor sheave, a wire hole is provided on the side wall, and a fifth groove is provided on the end close to the hip back plate. The driving wire is wrapped around the annular groove and one end is passed through the wire hole for fixation. The fifth groove cooperates with the second motor mounting hole to fix the back power assist drive motor.

[0021] Preferably, a first groove, a second groove and a third groove are provided on the back plate. The first groove is used to install a force plate. The second groove is provided on the first groove and is used to install a tensile and pressure sensor. The tensile and pressure sensor protrudes from the second groove. Multiple third grooves are provided side by side in the up and down directions and a fixing rod is installed in one of the third grooves. A limiting ring for fixing the drive line is also provided on the fixing rod.

[0022] Preferably, the housing, the upper limb lifting unit and the lower limb power-assisting unit are also provided with a plurality of myoelectric sensors in contact with the human body.

[0023] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0024] The high-degree-of-freedom multi-directional exoskeleton assist device can complete the assistance for the upper limbs, lower limbs and the back when bending. Specifically, through the cooperation of the shoulder extension unit and the upper limb lifting unit, compared with the prior art, the assistance for the upper limbs is simplified, that is, it adopts an underactuated form around the Z-axis (up and down direction), follows the human body for free adjustment, and through multiple hinge connections and adaptive sliding, the movement range of the upper limbs is increased, enabling the robot and the human body to better fit and adaptively adjust. The upper limbs can complete the lifting assistance in various postures, and better assistance can be obtained in all directions, enabling the human body to easily complete actions such as shrugging the shoulders, increasing the wearing comfort and movement freedom; through the cooperation of the housing and the back assistance unit, it can assist the human body to straighten the back and can be accurately adjusted to the appropriate position through the tension and pressure sensors; moreover, the lower limb assistance unit also increases the movement range of the lower limbs, enabling it to have the freedom of front-back and left-right movement, increasing its movement robustness, and can assist the human body in actions such as squatting and walking, and each component can be adjusted to adapt to different human bodies, with a wide range of applications. Description of the Drawings

[0025] Figure 1 It is a schematic structural diagram of the high-degree-of-freedom multi-directional exoskeleton assist device of the present invention from the first perspective;

[0026] Figure 2 It is a schematic structural diagram of the upper limb lifting unit of the present invention;

[0027] Figure 3 It is a schematic structural diagram of the driving connecting plate of the present invention;

[0028] Figure 4 It is a partial cross-sectional view of the shoulder extension unit of the present invention;

[0029] Figure 5 It is an assembly schematic diagram of the first H-shaped hinge and the special-shaped hinge of the present invention;

[0030] Figure 6 It is an assembly schematic diagram of the housing and the back assistance unit of the present invention;

[0031] Figure 7 It is a schematic structural diagram of the high-degree-of-freedom multi-directional exoskeleton assist device of the present invention from the second perspective;

[0032] Figure 8 It is a schematic structural diagram of the hip back plate of the present invention;

[0033] Figure 9 It is a schematic structural diagram of the back assistance unit of the present invention;

[0034] Figure 10Schematic diagram of the second fixing seat of the present invention;

[0035] Figure 11 Schematic diagram of the motor grooved pulley of the present invention;

[0036] Figure 12 Schematic diagram of the assembly of the fixing rod, the force measuring plate, the tensile and compressive force sensor and the back backplate of the present invention;

[0037] Figure 13 Schematic diagram of the waist backplate of the present invention;

[0038] Figure 14 Schematic diagram of the outer waist backplate of the present invention;

[0039] Figure 15 Schematic diagram of the assembly of the hip backplate and the lower limb assistance unit of the present invention;

[0040] Figure 16 Schematic diagram of the leg rest of the present invention;

[0041] Figure 17 Schematic diagram of the human body wearing the high-degree-of-freedom multi-directional exoskeleton assistance device of the present invention.

[0042] Description of reference numerals: 10, high-degree-of-freedom multi-directional exoskeleton assistance device; 20, human body; 1, shoulder extension unit; 2, upper limb lifting unit; 3, housing; 4, back assistance unit; 5, lower limb assistance unit; 11, first motor connection plate; 12, first H-shaped hinge; 13, bearing; 14, shaft pin; 15, special-shaped hinge; 16, first connection seat; 17, adjusting rod; 18, first fixed seat; 21, upper limb assistance drive motor; 22, drive connection plate; 23, linear slide; 24, arm rest; 25, electromyographic sensor; 151, limit block; 152, avoidance groove; 221, first mounting hole; 222, second mounting hole; 31, back back plate; 32, outer waist back plate; 33, inner waist back plate; 34, hinge; 35, hip back plate; 311, first groove; 312, second groove; 313, third groove; 321, third mounting hole; 322, fourth mounting hole; 331, fifth mounting hole; 332, sixth mounting hole; 351, first motor mounting hole; 352, second motor mounting hole; 353, mounting groove; 41, motor grooved pulley; 42, back assistance drive motor; 43, drive wire; 44, second fixed seat; 45, drive wire cover plate; 46, pulley; 47, fixed rod; 48, force measuring plate; 49, tension and compression sensor; 411, annular groove; 412, fifth groove; 413, wire passing hole; 441, reinforcing rib; 442, accommodating groove; 51, leg rest; 52, leg rest link; 53, second H-shaped hinge; 54, second motor connection plate; 55, leg assistance drive motor; 56, motor fixing plate; 511, connection hole; 512, adjusting groove; 513, adjusting hole. Detailed implementation manners

[0043] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

[0044] It should be noted that when a component is referred to as being "connected" to another component, it can be directly connected to the other component or there may also be an intermediate component. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the technical field of the present application. The terms used in the description of the present application in this specification are only for the purpose of describing specific embodiments and are not intended to limit the present application.

[0045] As Figures 1 - 17 shown, a high-degree-of-freedom multi-directional exoskeleton assistance device includes:

[0046] The housing 3 includes a back backplate 31, a waist backplate, and a hip backplate 35 that are sequentially hinged in the up-down direction;

[0047] Two shoulder extension units 1 are symmetrically distributed on the back backplate 31 and are used to adaptively extend the human shoulders;

[0048] Two upper limb lifting units 2 are correspondingly connected to the shoulder extension units 1 one by one and are used to drive the movement of the upper limbs;

[0049] The back assist unit 4 includes two symmetrically distributed wire drive units, a second fixed seat 44, a fixed rod 47, a force measuring plate 48, and a tensile and compressive force sensor 49. The wire drive unit includes a motor sheave 41, a back assist drive motor 42, a drive wire 43, and a pulley 46. The second fixed seat 44 is connected to the hip backplate 35. The pulley 46 is installed on the second fixed seat 44. One end of the drive wire 43 is connected to the motor sheave 41, and the other end passes around the pulley 46 and then passes through the back backplate 31 to be connected to the fixed rod 47. The back assist drive motor 42 is connected to the hip backplate 35 and is used to drive the motor sheave 41 to rotate, thereby driving the drive wire 43 to tighten or loosen. The fixed rod 47 is located on the side of the back backplate 31 close to the human body. The force measuring plate 48 contacts the human back. The tensile and compressive force sensor 49 is connected to the force measuring plate 48 and is fixed on the back backplate 31;

[0050] Two lower limb assist units 5 are symmetrically distributed on the hip backplate 35 and are used to drive the lower limbs to walk.

[0051] For ease of understanding, the directions involved in the text are described based on the orientation of the human wearable, that is, when the human body stands, the visual orientation of the human body is the front, the opposite side is the back, the up-down direction is the height direction, and the left and right are the orientations of the left and right hands of the human body.

[0052] Among them, as Figure 1 shown, this high-degree-of-freedom multi-directional exoskeleton assist device (i.e., robot) can complete the back assistance for the upper limbs, lower limbs, and when bending down. It mainly consists of five major parts: a housing 3, a shoulder extension unit 1, an upper limb lifting unit 2, a back assist unit 4, and a lower limb assist unit 5. There are two shoulder extension units 1, upper limb lifting units 2, and lower limb assist units 5, and they are symmetrically arranged on the housing 3 to match the human body structure. As Figure 17 shown, 10 is this high-degree-of-freedom multi-directional exoskeleton assist device, and 20 is the structural schematic diagram of the human body.

[0053] As Figure 2As shown, to reduce the robot's size, the upper limb assistance has been simplified compared to existing technologies. The Z-axis (vertical direction) is underactuated, allowing it to freely adjust with the body, with the assistance focused on lifting. Because Z-axis movement requires no force, it assists the body in lifting. This significantly reduces the robot's size and weight while ensuring effective assistance.

[0054] Figure 6 、 Figure 9 The back assist is described, wherein the torque of the back assist driving motor 42 is M, the radius of the motor sheave 41 is R, and the tension of the driving line 43 is F=M / R, F N It is the pressure exerted on the force plate 48 when the human body stands up backwards, L is the distance between the back pulling point and the back rotation point, the back pulling point is the midpoint of the line connecting the contact points of the two driving lines 43 and the back plate 31, and the back rotation point is the hinge point of the waist inner plate and the hip plate 35 on the symmetry plane. After the driving line 43 passes around the pulley 46 along the second fixed seat 44, it passes through the back plate 31 and is wrapped around the fixed rod 47, thereby pulling the back plate 31. The pulling force of the driving line 43 is F, and the pulling force generated by the two back power-assisting drive motors 42 is 2F. The pulling torque 2*M1 generated by the two back power-assisting drive motors 42 on the human body is approximately equal to 2F*L. Among them, M=F*R, M1 is approximately equal to F*L, and M1 is much larger than M. That is, compared with directly using a motor for torque assistance, the torque of the motor is greatly amplified by the wire drive transmission method. Therefore, a small-volume, low-torque motor can be used to generate a large torque on the human body to help straighten the back, which helps to reduce size and weight, reduce costs, and improve user comfort.

[0055] like Figure 9 As shown, the driving wire 43 is arranged along the second fixing seat 44, and the back power-assisting unit 4 further includes a driving wire cover 45 connected to the second fixing seat 44, and the driving wire cover 45 covers the driving wire 43 to ensure that the driving wire is not interfered with.

[0056] The force plate 48 is connected to the back of the human body. When the human body bends downward, the force plate 48 pulls the tension pressure sensor 49, causing the robot to bend with it. When the human body straightens up, the force plate 48 presses against the tension pressure sensor 49. The tension pressure sensor 49 detects the pressure and rotates the back assist drive motor 42 to push the back plate 31 backward, helping the human body straighten its back.

[0057] In one embodiment, the lumbar back panel includes a lumbar outer back panel 32 and a lumbar inner back panel 33, the back back panel 31 is hinged to the lumbar outer back panel 32, the hip back panel 35 is hinged to the lumbar inner back panel 33, and the lumbar outer back panel 32 and the lumbar inner back panel 33 are detachably connected.

[0058] In one embodiment, the back back panel 31 and the lumbar outer back panel 32, as well as the lumbar inner back panel 33 and the hip back panel 35 are hinged by hinges 34, and the lumbar outer back panel 32 is further provided with a plurality of third mounting holes 321 and a plurality of fourth mounting holes 322, and the lumbar inner back panel 33 is further provided with a plurality of fifth mounting holes 331 and a plurality of sixth mounting holes 332. The lumbar outer back panel 32 and the lumbar inner back panel 33 are height-adjustable through the cooperation of the third mounting holes 321 and the fifth mounting holes 331, as well as the cooperation of the fourth mounting holes 322 and the sixth mounting holes 332.

[0059] The height of the waist outer back plate 32 and the waist inner back plate 33 can be adjusted to suit different human bodies through the detachable connection, and the application range is wide.

[0060] In one embodiment, the shoulder extension unit 1 includes a first motor connecting plate 11, a first H-shaped hinge 12, a special-shaped hinge 15, a first connecting seat 16, an adjusting rod 17 and a first fixed seat 18. The first fixed seat 18 is connected to the back plate 31. One end of the adjusting rod 17 is connected to the first fixed seat 18, and the other end is slidably connected to the first connecting seat 16. The special-shaped hinge 15 is hinged to the first connecting seat 16 and the first H-shaped hinge 12 respectively. The first H-shaped hinge 12 is also hinged to the first motor connecting plate 11. The sliding direction of the first connecting seat 16 is horizontal, and the rotation direction of the first H-shaped hinge 12 or the special-shaped hinge 15 is perpendicular to the sliding direction of the first connecting seat 16.

[0061] Among them, such as Figure 4 、 Figure 5 As shown, the shoulder extension unit 1 is connected by multiple hinges, such as a first H-shaped hinge 12 and a special-shaped hinge 15. These two hinges work together to increase the range of motion of the upper limb, allowing for better adaptation and adaptive adjustment between the robot and the human body, allowing the upper limb to be lifted in various postures. The special-shaped hinge 15 is hinged to the first connecting seat 16 and the first H-shaped hinge 12 via an axle pin 14 with an axle hole. The first H-shaped hinge 12 is hinged to the first motor connecting plate 11 via an axle pin 14 with an axle hole. Figure 4 The first motor connecting plate 11 and the special-shaped hinge 15 are shown in cross section along the rotation axis of the shaft pin 14. In order to make the hinge movement smoother, a bearing 13 is provided on the shaft pin 14 at the connection.

[0062] In one embodiment, the special-shaped hinge 15 is B-shaped, and a limit block 151 for rotation limiting is provided on the outer side of one end close to the upper limb lifting unit 2, and an avoidance groove 152 for avoiding the first H-shaped hinge 12 is opened between the two hinge shafts.

[0063] Among them, such as Figure 5As shown, the avoidance groove 152 of the special-shaped hinge 15 can reduce the interference with the first H-shaped hinge 12, enabling a smaller angle between the two during movement, making the movement more flexible. At the same time, the design of the limit block 151 is used to limit the rotation of the special-shaped hinge 15 to prevent excessive rotation. It is easy to understand that the special-shaped hinge 15 can also be of any shape.

[0064] In one embodiment, the upper limb lifting unit 2 includes an upper limb assisting drive motor 21, a drive connection plate 22, a linear slide 23, and an armrest 24. The upper limb assisting drive motor 21 is connected to the first motor connection plate 11 and is used to drive the drive connection plate 22 to rotate. The fixed part of the linear slide 23 is connected to the drive connection plate 22, and the sliding part of the linear slide 23 is connected to the armrest 24. The armrest 24 is also fixed to the human upper arm through a strap, and the sliding direction of the armrest 24 is the length direction of the human upper arm. The rotation direction of the drive connection plate 22 is perpendicular to the sliding direction of the armrest 24.

[0065] Among them, as Figure 2 shown, the upper limb lifting unit 2 is connected to the human upper arm through the armrest 24. Two pairs of transverse holes are opened on the armrest 24 and fixed to the human upper arm by passing straps through the transverse holes. To ensure the freedom of movement after wearing by the human body, a linear slide 23 is provided in the upper limb lifting unit 2, which enables the human body to easily complete actions such as shrugging the shoulders, increasing the wearing comfort and freedom of movement.

[0066] In one embodiment, the drive connection plate 22 is Z-shaped, and a plurality of first mounting holes 221 for connecting the upper limb assisting drive motor 21 are opened at one end, and a plurality of second mounting holes 222 for connecting the linear slide 23 are opened at the other end.

[0067] Among them, Figure 3 shows the structure of the drive connection plate 22. It is connected to the linear slide 23 through the second mounting holes 222 and connected to the upper limb assisting drive motor 21 through the first mounting holes 221. The Z-shaped drive connection plate 22 makes the structure more compact and helps with miniaturization and lightweight.

[0068] In one embodiment, the lower limb assistance unit 5 includes a leg support 51, a leg support link 52, a second H-shaped hinge 53, a second motor connection plate 54, a leg assistance driving motor 55, and a motor fixing plate 56. The leg support 51 and the leg support link 52 are detachably connected. The second H-shaped hinge 53 is respectively hinged to the leg support link 52 and the second motor connection plate 54. The leg assistance driving motor 55 is connected to the hip back plate 35 and is used to drive the second motor connection plate 54 to rotate about the front-back direction of the human body. The motor fixing plate 56 is connected to the hip back plate 35 and is used to seal the leg assistance driving motor 55. A plurality of connection holes 511, adjustment slots 512, and a plurality of adjustment holes 513 are further provided on the leg support 51. The leg support 51 is fixed to the human thigh through a strap passing through the connection holes 511. The leg support link 52 is slidably inserted into the adjustment slot 512 and is fixed by a screw passing through the adjustment hole 513;

[0069] The hip back plate 35 is a symmetric structure, and is provided with two first motor mounting holes 351, two second motor mounting holes 352, and a mounting groove 353. The leg assistance driving motors 55 are respectively built in the first motor mounting holes 351. The back assistance driving motors 42 are respectively built in the second motor mounting holes 352. The second fixing seat 44 is fixed on the mounting groove 353. Two reinforcing ribs 441 and two receiving grooves 442 are symmetrically provided on the second fixing seat 44. The pulleys 46 are respectively built in the receiving grooves 442;

[0070] An annular groove 411 is provided on the outer edge of the motor grooved wheel 41, a wire passing hole 413 is provided on the side wall, and a fifth groove 412 is further provided at one end close to the hip back plate 35. The driving wire 43 is wound on the annular groove 411 and one end thereof is fixed by passing through the wire passing hole 413. The fifth groove 412 is matched with the second motor mounting hole 352 for fixing the back assistance driving motor 42.

[0071] Among them, as Figure 15 shown, the leg support link 52 and the second motor connection plate 54 are connected by the second H-shaped hinge 53, which greatly increases the movement range of the lower limbs, enables it to have front-back and left-right movement freedoms, and increases its movement robustness. This design can assist in actions such as squatting and walking that require assistance for the human body. As Figure 16 shown, by adjusting the depth of the leg support link 52 inserted into the adjustment slot 512 (i.e., inserted into the leg support 51), it is applicable to human bodies of different heights.

[0072] Figure 8 is a schematic structure of the hip back plate 35. The first motor mounting holes 351 are located on both sides of the hip back plate 35, which are the mounting positions for the leg assistance driving motors 55; the second motor mounting holes 352 are located at the rear side of the hip back plate 35, which are the mounting positions for the back assistance driving motors 42. The lower end of the second fixing seat 44 is matched with the mounting groove 353 and fixed on the hip back plate 35.

[0073] Figure 10 The second fixing base 44 is shown. To ensure the strength of the second fixing base 44, reinforcing ribs are designed at its edges to enhance its anti-bending characteristics. The pulleys 46 are correspondingly built into the accommodation grooves 442, where thickening treatment is carried out, and at the same time, grooves for avoiding the driving wire 43 are provided.

[0074] Figure 11 It is a structural schematic diagram of the motor sheave 41. The annular groove 411 is used for winding the driving wire 43, and the driving wire 43 is fixed to the motor sheave 41 through the wire passing hole 413. The middle part of the motor sheave 41 is hollowed out to reduce its weight and enable it to be fitted and embedded with the back assist driving motor 42, reducing its convex volume.

[0075] In one embodiment, a first groove 311, a second groove 312, and a third groove 313 are provided on the back backboard 31. The first groove 311 is used for installing the force measuring plate 48, the second groove 312 is provided on the first groove 311 and is used for installing the tensile and compressive force sensor 49, the tensile and compressive force sensor 49 protrudes from the second groove 312, and a plurality of the third grooves 313 are arranged side by side in the up and down direction, and a fixing rod 47 is installed in one of the third grooves 313. A limiting ring for fixing the driving wire 43 is also provided on the fixing rod 47.

[0076] Among them, as Figure 12 shown, there are three third grooves 313 provided on the back backboard 31, corresponding to three different heights of the robot. As Figure 13 shown, the height adjustment of the robot is demonstrated. That is, the outer waist backboard 32 and the inner waist backboard 33 achieve height adjustment through the cooperation of the third mounting holes 321 and the fifth mounting holes 331, and the cooperation of the fourth mounting holes 322 and the sixth mounting holes 332. For example, a row of fifth mounting holes 331 and three rows of sixth mounting holes 332 are provided on the inner waist backboard 33. As Figure 14 , three rows of third mounting holes 321 and a row of fourth mounting holes 322 are provided on the outer waist backboard 32. The outer waist backboard 32 and the inner waist backboard 33 cooperate with each other to achieve three-level adjustment of the robot height. At the same time, a plurality of hinges 34 are installed at the upper end of the outer waist backboard 32 and the lower end of the inner waist backboard 33, enabling it to be bent to increase the bending freedom of the back. And the three-level adjustment of the height also corresponds to the three third grooves 313 respectively to achieve the optimal pulling force effect.

[0077] In one embodiment, a number of electromyographic sensors 25 in contact with the human body are also provided on the housing 3, the upper limb lifting unit 2, and the lower limb assisting unit 5. By providing a number of electromyographic sensors 25, the electromyographic sensors 25 are preferably attached to the human body's force-generating muscle groups to facilitate the acquisition of electromyographic signals. '

[0078] Working principle:

[0079] When in use, the high-freedom multi-directional exoskeleton power-assisting device is worn on the human body and the straps are tied, and then the back power-assisting drive motor is adjusted to adjust the tightness to straighten the back and complete the wearing. Each drive motor is preferably a servo motor, which has a built-in torque sensor and encoder, which can obtain the torque and posture of the robot, thereby obtaining the mechanical signal and position signal of the robot. The high-freedom multi-directional exoskeleton power-assisting device is adjusted by the collected electromyographic signals, mechanical signals and position signals, so that the robot's power assistance is more intelligent, more in line with the human body, and the power assistance effect is better. For example, when normal wear does not require power assistance, each drive motor is in zero torque mode. Since the robot has a high degree of freedom, the human body can move freely under the wearing condition. When the human body needs power assistance to move heavy objects, the electromyographic sensor 25 will first collect the electromyographic signal. At this time, each drive motor enters the power assistance mode, that is, when the electromyographic signal is collected, it is considered that the human body needs power assistance. The tension and pressure sensors 49 and the torque sensors of each drive motor detect the interaction forces between the robot and the human body in real time, generating mechanical signals. The encoders of each drive motor detect the robot's position information in real time, generating position signals. The position signals include motion velocity and acceleration. Based on the collected electromyographic, mechanical, and position signals, the robot can directly follow and assist using preset drive motor adjustment parameters. Alternatively, the human body's motion parameters (electromyographic and position signals) under different load conditions can be collected and input into a neural network model (such as a CNN-BiLSTM-Attention model) for training. By using the currently input motion parameters from the trained neural network model, the current human body load and motion state can be determined. The neural network model's predictions (electromyographic and position signals) combined with the collected mechanical signals (interaction forces between the robot and the human body) can sense human motion in real time, thereby issuing corresponding drive motor adjustment parameters to the robot for precise following and assistance.

[0080] The technical features of the above-mentioned embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above-mentioned embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0081] The above-described embodiments merely represent specific and detailed examples of the present application and should not be construed as limiting the scope of the present application. It should be noted that a person skilled in the art may make various modifications and improvements without departing from the spirit of the present application, and such modifications and improvements fall within the scope of protection of the present application. Therefore, the scope of protection of the present application shall be determined by the appended claims.

Claims

1. A high-degree-of-freedom multi-directional exoskeleton assistive device, characterized in that: Comprising: A housing (3), including a back backplate (31), a waist backplate, and a hip backplate (35) hinged in sequence along the up-down direction; Two shoulder extension units (1), symmetrically distributed on the back backplate (31) and used for adaptively extending the human shoulders; Two upper limb lifting units (2), respectively connected to the shoulder extension units (1) in one-to-one correspondence and used for driving the movement of the upper limbs; A back assisting unit (4), including two symmetrically distributed wire driving units, a second fixing seat (44), a fixing rod (47), a force measuring plate (48), and a tensile and compressive force sensor (49). The wire driving unit includes a motor sheave (41), a back assisting driving motor (42), a driving wire (43), and a pulley (46). The second fixing seat (44) is connected to the hip backplate (35). The pulley (46) is installed on the second fixing seat (44). One end of the driving wire (43) is connected to the motor sheave (41), and the other end bypasses the pulley (46) and then passes through the back backplate (31) to be connected to the fixing rod (47). The back assisting driving motor (42) is connected to the hip backplate (35) and used for driving the motor sheave (41) to rotate, thereby driving the driving wire (43) to tighten or loosen. The fixing rod (47) is located on the side of the back backplate (31) close to the human body. The force measuring plate (48) contacts the human back. The tensile and compressive force sensor (49) is connected to the force measuring plate (48) and fixed on the back backplate (31); Two lower limb assisting units (5), symmetrically distributed on the hip backplate (35) and used for driving the lower limbs to walk; The waist backplate includes a waist outer backplate (32) and a waist inner backplate (33). The back backplate (31) is hinged to the waist outer backplate (32), and the hip backplate (35) is hinged to the waist inner backplate (33). The waist outer backplate (32) and the waist inner backplate (33) are detachably connected; The back backplate (31) is provided with a first groove (311), a second groove (312), and a third groove (313). The first groove (311) is used for installing the force measuring plate (48). The second groove (312) is opened on the first groove (311) and used for installing the tensile and compressive force sensor (49). The tensile and compressive force sensor (49) protrudes from the second groove (312). The third groove (313) is provided with a plurality of grooves arranged side by side along the up-down direction, and the fixing rod (47) is installed in one of the third grooves (313). The fixing rod (47) is also provided with a limiting ring for fixing the driving wire (43).

2. The high-degree-of-freedom multi-directional exoskeleton assistive device according to claim 1, wherein: Between the back backplate (31) and the outer lumbar backplate (32), and between the inner lumbar backplate (33) and the hip backplate (35), hinges (34) are provided for hinged connection. Moreover, a plurality of third mounting holes (321) and a plurality of fourth mounting holes (322) are formed in the outer lumbar backplate (32), and a plurality of fifth mounting holes (331) and a plurality of sixth mounting holes (332) are formed in the inner lumbar backplate (33). The outer lumbar backplate (32) and the inner lumbar backplate (33) achieve height adjustment through the cooperation of the third mounting holes (321) and the fifth mounting holes (331), and the cooperation of the fourth mounting holes (322) and the sixth mounting holes (332).

3. The high-degree-of-freedom multi-directional exoskeleton assistive device according to claim 1, characterized in that: The shoulder extension unit (1) includes a first motor connecting plate (11), a first H-shaped hinge (12), a special-shaped hinge (15), a first connecting seat (16), an adjusting rod (17) and a first fixing seat (18). The first fixing seat (18) is connected to the back backplate (31). One end of the adjusting rod (17) is connected to the first fixing seat (18), and the other end is slidably connected to the first connecting seat (16). The special-shaped hinge (15) is respectively hinged to the first connecting seat (16) and the first H-shaped hinge (12). The first H-shaped hinge (12) is also hinged to the first motor connecting plate (11). The sliding direction of the first connecting seat (16) is horizontal, and the rotation direction of the first H-shaped hinge (12) or the special-shaped hinge (15) is perpendicular to the sliding direction of the first connecting seat (16).

4. The high-degree-of-freedom multi-directional exoskeleton assistive device according to claim 3, wherein: The special-shaped hinge (15) is in a B shape, and a limit block (151) for rotational limit is provided on the outer side of one end close to the upper limb lifting unit (2). An avoidance groove (152) for avoiding the first H-shaped hinge (12) is formed between the two hinge shafts.

5. The high-degree-of-freedom multi-directional exoskeleton assistive device according to claim 1, wherein: The upper limb lifting unit (2) includes an upper limb assisting driving motor (21), a driving connecting plate (22), a linear slide (23) and an armrest (24). The upper limb assisting driving motor (21) is connected to the first motor connecting plate (11) and is used to drive the driving connecting plate (22) to rotate. The fixed part of the linear slide (23) is connected to the driving connecting plate (22), and the sliding part of the linear slide (23) is connected to the armrest (24). The armrest (24) is also fixed to the human upper arm through a strap. The sliding direction of the armrest (24) is the length direction of the human upper arm, and the rotation direction of the driving connecting plate (22) is perpendicular to the sliding direction of the armrest (24).

6. The high-degree-of-freedom multi-directional exoskeleton assistive device according to claim 5, wherein: The driving connecting plate (22) is in a Z shape, and a plurality of first mounting holes (221) for connecting the upper limb assisting driving motor (21) are formed at one end, and a plurality of second mounting holes (222) for connecting the linear slide (23) are formed at the other end.

7. The highly flexible multi-directional exoskeleton assistive device according to claim 1, characterized in that: The lower limb power-assisting unit (5) comprises a leg support (51), a leg support connecting rod (52), a second H-shaped hinge (53), a second motor connecting plate (54), a leg power-assisting driving motor (55) and a motor fixing plate (56); the leg support (51) and the leg support connecting rod (52) are detachably connected; the second H-shaped hinge (53) is hinged to the leg support connecting rod (52) and the second motor connecting plate (54) respectively; the leg power-assisting driving motor (55) is connected to the hip back plate (35) and is used to drive the second motor connecting plate (54) ) rotates around the front and rear directions of the human body, the motor fixing plate (56) is connected to the hip back plate (35) and is used to seal the leg power driving motor (55), the leg support (51) is also provided with a plurality of connecting holes (511), an adjusting slot (512) and a plurality of adjusting holes (513), the leg support (51) is fixed to the human thigh by a strap passing through the connecting hole (511), the leg support connecting rod (52) is slidably passed through the adjusting slot (512) and is fixed by a screw passing through the adjusting hole (513); The hip backboard (35) is a symmetrical structure, and is provided with two first motor mounting holes (351), two second motor mounting holes (352) and a mounting slot (353); the leg power-assisted drive motors (55) are built into the first motor mounting holes (351) in a one-to-one correspondence; the back power-assisted drive motors (42) are built into the second motor mounting holes (352) in a one-to-one correspondence; the second fixing seat (44) is fixed on the mounting slot (353); the second fixing seat (44) is also symmetrically provided with two reinforcing ribs (441) and two accommodating slots (442); the pulleys (46) are built into the accommodating slots (442) in a one-to-one correspondence; An annular groove (411) is provided on the outer edge of the motor sheave (41), a wire hole (413) is provided on the side wall, and a fifth groove (412) is provided at one end close to the hip back plate (35). The driving wire (43) is wound around the annular groove (411) and one end passes through the wire hole (413) for fixation. The fifth groove (412) cooperates with the second motor mounting hole (352) to fix the back power-assist driving motor (42).

8. The high-degree-of-freedom multi-directional exoskeleton assist device according to claim 1, characterized in that: The housing (3), the upper limb lifting unit (2) and the lower limb power-assisting unit (5) are also provided with a plurality of myoelectric sensors (25) in contact with the human body.

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