Novel lightweight metamorphic knee joint exoskeleton

Abstract

The invention discloses a novel lightweight metamorphic knee joint exoskeleton, and relates to the technical field of exoskeleton robots. Comprising a thigh adjustable bandage, a thigh bandage connecting part, a knee joint exoskeleton system, a shank bandage connecting part, a shank bandage and a human body lower limb, and the thigh adjustable bandage is connected with the knee joint exoskeleton system through the thigh bandage connecting part; the shank bandage is connected with the knee joint exoskeleton system through the shank bandage connecting part, and the thigh adjustable bandage and the shank bandage are fixed to the thigh and the shank of the lower limb of the human body respectively. Through a bionic metamorphic rigid-flexible coupling motion bearing mechanism, effective control over the axial impact load of the knee joint soft tissue is achieved; through the construction of a passive compliance bionic containment movement mechanism, the effective containment of exoskeleton wearing uncertainty factors is realized, and then the wearing universality of the exoskeleton is improved. The device has high expandability, various function enhancement modules can be flexibly assembled, and the device has the advantages of being compact in structure, light, easy to carry and the like.

Description

Technical Field

[0001] The present invention relates to the technical field of exoskeleton robots, and particularly to a novel lightweight metamorphic knee joint exoskeleton. Background Art

[0002] The knee joint is one of the largest and most complex joints in the human body. It undertakes important tasks such as buffering, shock absorption, and load transfer in the human motion system. For example, when the movement speed is 1 m / s, the "axial" impact load it bears is 1.7 - 2.3 times the body weight, the pressure borne on its cartilage is 0 - 20 MPa, and 0.7 - 1.3 times the body weight load comes from the "inertial impact" of the human body itself. Due to the increasing obesity rate, the incidence of some chronic knee joint diseases has also been increasing year by year. The most typical one is knee osteoarthritis (KOA). The onset of this disease is closely related to the long-term excessive stress on the knee joint. Its symptoms usually manifest as soreness and discomfort in the knee joint during movement or walking, which easily leads to a serious decline in the quality of life of patients. With the increasing aging of the global population, the number of KOA patients is also increasing, and it has become one of the common causes of the loss of middle-aged and elderly labor force, bringing a heavy burden to families and society.

[0003] In response to the above problems, different forms of knee joint exoskeleton robots have emerged. However, the existing exoskeletons still have the following deficiencies:

[0004] 1. In the current relevant research on lower limb exoskeleton robots, the limb, exoskeleton, or human-machine wearing, etc. are usually regarded as deterministic rational systems. However, the uncertainty factors of wearing objectively exist, and their negative impacts on human-machine motion disturbance cannot be ignored.

[0005] 2. The existing inventions mainly focus on the load-bearing performance after wearing the exoskeleton, and there are no specific evaluation indicators for the inclusiveness and dexterity of human movement after wearing the exoskeleton. Most studies do not involve the specific discussion of the motion dexterity of the human-machine parallel system.

[0006] 3. Most of the existing technologies only design the exoskeleton structure parameters for a single limb size, and the system does not include a passive compensation mechanism, which cannot meet the wearing requirements of multiple population working conditions, and the wearing versatility is poor.

[0007] 4. The existing active and passive exoskeleton robots have obvious deficiencies in terms of appearance, self-weight, and load-bearing mechanism. They are generally bulky, require large batteries to ensure battery life, or occupy a large area, which greatly limits their convenient application in daily life. And the present invention is passive and does not require a motor to occupy extra space. Summary of the Invention

[0008] Based on the rehabilitation prevention of popular KOA, the key technologies, and the biomechanical characteristics of the human lower limb gait cycle, this invention aims at the prevention, treatment, and rehabilitation of knee osteoarthritis. Considering that in reality, exoskeleton robots should accommodate dynamic disturbances and inter-individual limb geometric differences, and taking into account the wearability, a new type of lightweight variable cell knee exoskeleton is proposed. This exoskeleton is a new modular passive knee exoskeleton with bionic variable cell function.

[0009] The technical solution adopted in this invention is as follows:

[0010] A new type of lightweight variable cell knee exoskeleton, including an adjustable thigh strap, a thigh strap connection part, a knee exoskeleton system, a calf strap connection part, a calf strap, and the human lower limb. The adjustable thigh strap is connected to the knee exoskeleton system through the thigh strap connection part, and the calf strap is connected to the knee exoskeleton system through the calf strap connection part. The adjustable thigh strap and the calf strap are respectively fixed on the thigh and calf of the human lower limb, and the movement of the human lower limb is simulated by swinging the calf strap driven by the human lower limb.

[0011] Furthermore, the adjustable thigh strap includes a thigh adjustment sleeve, a sleeve connector, a telescopic buckle, an adjustable knob, and a thigh strap. The adjustable knob passes through the sleeve hole on the surface of the thigh strap for connection and is connected to the pants as a whole. The telescopic buckle behind the thigh adjustment sleeve is connected to the square hole on the thigh strap. After putting a spring in the middle of the telescopic buckle, it can be placed in the sleeve connector, and then these two parts are placed in the thigh adjustment sleeve together. The thigh adjustment sleeve has three gears, and the telescopic buckle is set in the gear of the thigh adjustment sleeve. By pressing the telescopic buckle, the spring in the middle contracts, so that it can move in the three gears of the thigh adjustment sleeve. After reaching the required gear, release the pressure and it will rebound and lock at the required gear. The buckle hole of the sleeve connector matches the thigh buckle in the thigh strap connection part 2, so that the adjustable thigh strap 1 can rotate slightly back and forth with the thigh buckle as the axis.

[0012] Furthermore, the thigh strap connection part includes a thigh buckle connector, a thigh buckle, and a thigh adjustment sleeve connector. The thigh buckle connector and the thigh adjustment sleeve connector are provided with jacks for connection and fixation. The bottom of the thigh adjustment sleeve connector is provided with a hole. Insert the thigh buckle connector into the slot at the bottom of the thigh adjustment sleeve connector, and then use a steel column for connection. The hole positions of the thigh buckle connector and the thigh connector correspond to each other and are connected and fixed. The thigh buckle is directly inserted into the hole from both sides of the thigh adjustment sleeve connector, and a part of it will also be exposed. There is a spring in the thigh buckle. By pressing the spring, the sleeve connector can be directly installed, and the spring rebounds and locks at the same time.

[0013] Further, the knee exoskeleton system includes a passive compensation device, a flexible brake, a thigh connecting piece, a connecting rod, a calf connecting part, a flexible brake baffle, a slideway, and a bearing. The thigh connecting piece is fixed after being connected to the passive compensation device and the connecting rod through the bearing. There is one hole position on each of the front side and the rear side of the calf connecting part, and there are two hole positions on the left side. The hole position on the rear side can be connected to the lower end of the connecting rod, and the hole position on the front side can accommodate the flexible brake. The flexible brake baffle is connected by a tension spring and placed at the rear side of the calf connecting part, so that it can move up and down under the elastic action of the tension spring. There are hole positions on the slideway for connecting to the rear side of the calf connecting part.

[0014] Among them, the passive compensation device includes an upper sleeve connecting piece, a lower sleeve connecting piece, sleeve A, sleeve B, sleeve C, sleeve D, and sleeve E. Sleeve A, sleeve B, sleeve C, sleeve D, and sleeve E are all provided with slideways and bosses, and their assembled mechanical structure of the slideway and the boss enables them to expand and contract after assembly. The two ends after assembly are connected to the thigh connecting piece and the calf connecting part through the upper sleeve connecting piece and the lower sleeve connecting piece. Among them, there is a hole position designed on the rear side of sleeve E for placing an elastic cord. An elastic cord is passed through six hole positions on the rear side of sleeve E and fixed on both sides in the positioning holes provided on the rear side of the upper sleeve connecting piece.

[0015] Among them, the flexible brake includes a brake spring cover, a flexible brake front cover, a bearing, a brake support, a brake rear cover, a flexible brake insertion port, and a brake insertion bolt. After adding a spring to the brake spring cover, it is placed in the flexible brake front cover. The bearing and the brake support are placed in the flexible brake front cover and assembled into one body through the brake rear cover; there is a socket on the side of the flexible brake front cover that matches the front pin of the flexible brake insertion port. The flexible brake insertion port is provided with multiple sockets. The brake insertion bolt can select a socket in the flexible brake insertion port to adjust the movement stroke of the exoskeleton, and is fixed after insertion; a part of the brake insertion bolt is exposed after being inserted into the flexible brake insertion port, and this part will touch the connecting rod during the movement process, thereby restricting the movement stroke of the exoskeleton.

[0016] Further, the calf strap connecting part includes a slide rail, a calf rod front cover, a calf rod rear cover, a positioning buckle, a calf strap connecting piece, a spring assist mechanism gear adjustment connecting rod, a brake plate limiter, and a calf strap. The slide rail is fixed on the calf rod front cover by screws. Two springs are placed in the calf rod front cover and the calf rod rear cover and adjusted by the spring assist mechanism gear adjustment connecting rod. The limit plate brake is stuck on both sides of the calf rod composed of the calf rod front cover and the calf rod rear cover to prevent the calf connecting part from falling. After the positioning buckle and the calf strap connecting piece are connected, they are connected to the calf rod rear cover and can be freely adjusted up and down on the calf rod rear cover, and then fixed by the positioning buckle. The calf strap and the calf strap connecting piece are fixed with screws and nuts.

[0017] Advantages of the present invention: During the swing phase, the number of degrees of freedom of the knee joint exoskeleton matches the degrees of freedom of the knee joint's movement in the sagittal plane. Its passive adaptive system can passively adjust its own posture to accommodate the negative impact of random disturbances caused by wearing uncertainties on human-machine cooperation. During the stance phase, based on the bionic mapping of the mechanism of lower limb movement load-bearing, for effectively controlling and reducing the dynamic impact and steady-state load borne by the knee joint soft tissues during human walking, the flexible braking system and the variable cell compensation system in the knee joint exoskeleton will adaptively cooperate to complete the bionic variable cell movement of the system, enabling the knee joint exoskeleton to transform from a mechanism with degrees of freedom before variable cell transformation to a structure with load-bearing capacity after variable cell transformation. At the same time, during this dynamic process, the flexible braking system will effectively reduce the impact load in the middle phase of gait cushioning. Compared with the traditional five-link mechanism, the present invention adds one more degree of freedom, which will not cause discomfort to the lower limbs when the human body is walking in the swing phase or the stance phase. And due to the passive compensation mechanism of this product, whether the wearing position changes or there are individual differences, it will not affect the auxiliary function of the exoskeleton to the human body in terms of movement. Since this product adopts the modular and lightweight design concept, the exoskeleton allows users to add diverse modules according to their needs, such as voice modules, rehabilitation modules, etc. When used by knee joint osteoarthrosis patients, a rehabilitation module can be installed to enhance the rehabilitation effect. Brief Description of the Drawings

[0018] Figure 1 It is a wearable model diagram of the knee joint exoskeleton of the present invention.

[0019] Figure 2 It is a structural diagram of the adjustable thigh strap of the present invention.

[0020] Figure 3 It is a structural diagram of the connecting part of the thigh strap of the present invention.

[0021] Figure 4 It is an assembly diagram of the knee joint exoskeleton system of the present invention.

[0022] Figure 5 It is an exploded view of the knee joint exoskeleton system of the present invention.

[0023] Figure 6 It is a structural diagram of the passive compensation device of the present invention.

[0024] Figure 7 It is a structural diagram of the flexible brake of the present invention.

[0025] Figure 8 It is a structural diagram inside the exoskeleton of the present invention.

[0026] Figure 9 It is a structural diagram of the connecting part of the calf strap of the present invention.

[0027] In the figure: 1. Adjustable thigh strap; 2. Thigh strap connection part; 3. Knee joint exoskeleton system; 4. Calf strap connection part; 5. Calf strap; 6. Human lower limb;

[0028] 1-1. Thigh adjustment sleeve; 1-2. Sleeve connecting piece; 1-3. Telescopic buckle; 1-4. Adjustable knob; 1-5. Thigh strap;

[0029] 2-1. Thigh buckle connecting piece; 2-2. Thigh buckle; 2-3. Thigh adjustment sleeve connecting piece;

[0030] 3-1. Passive compensation device; 3-2. Flexible brake; 3-3. Thigh connecting piece; 3-4. Connecting rod; 3-5. Calf connecting part; 3-6. Flexible brake baffle; 3-7. Slideway; 3-8. Bearing;

[0031] 3-1-1. Upper sleeve connecting piece; 3-1-2. Lower sleeve connecting piece; 3-1-3. Sleeve A; 3-1-4. Sleeve B; 3-1-5. Sleeve C; 3-1-6. Sleeve D; 3-1-7. Sleeve E;

[0032] 3-2-1. Brake spring cover; 3-2-2. Flexible brake front cover; 3-2-3. Bearing; 3-2-4. Brake support; 3-2-5. Brake rear cover; 3-2-6. Flexible brake insertion port; 3-2-7. Brake insertion bolt;

[0033] 4-1. Slide rail; 4-2. Calf rod front cover; 4-3. Calf rod rear cover; 4-4. Positioning buckle; 4-5. Calf strap connecting piece; 4-6. Spring assist mechanism gear adjustment connecting rod; 4-7. Brake plate limiter. Detailed implementation mode

[0034] The technical solution of the present invention will be further described below with reference to the accompanying drawings.

[0035] Figure 1 Shown is an exoskeleton human-machine wearable model, which consists of: an adjustable thigh strap 1, a thigh strap connection part 2, a knee joint exoskeleton system 3, a calf strap connection part 4, a calf strap 5, and a human lower limb 6. Among them, the adjustable thigh strap 1 is connected to the knee joint exoskeleton system 3 through the thigh strap connection part 2, the calf strap 5 is connected to the knee joint exoskeleton system 3 through the calf strap connection part 4, and the adjustable thigh strap 1 and the calf strap 5 are respectively fixed to the thigh and calf of the human lower limb 6.

[0036] See the appendix Figure 2, the thigh adjustable strap 1 includes a thigh adjustment sleeve 1-1, a sleeve connecting piece 1-2, a telescopic buckle 1-3, an adjustable knob 1-4, and a thigh strap 1-5. Among them, the adjustable knob 1-4 can be inserted into the sleeve hole on the surface of the thigh strap 1-5 for combination, and is integrally connected to the pants. The telescopic buckle 1-3 behind the thigh adjustment sleeve 1-1 is connected to the square hole provided on the thigh strap 1-5. After putting a spring on the middle of the telescopic buckle 1-3, it can be placed into the sleeve connecting piece 1-2, and then these two parts are put into the thigh adjustment sleeve 1-1 together. The thigh adjustment sleeve 1-1 has three gears. The telescopic buckle 1-3 is set within the gears of the thigh adjustment sleeve 1-1, and by pressing the telescopic buckle 1-3, the middle spring can be contracted, so that it can move among the three gears in the thigh adjustment sleeve 1-1. After reaching the required gear, release the pressing and it will bounce back and get stuck at the required gear, and the appropriate gear can be selected according to the needs of different people. The buckle hole position of the sleeve connecting piece 1-2 cooperates with the thigh buckle 2-2 in the thigh strap connecting part 2, so that the thigh adjustable strap 1 can rotate slightly back and forth with the thigh buckle 2-2 as the axis.

[0037] See attached Figure 3 , the thigh strap connecting part 2 includes a thigh buckle connecting piece 2-1, a thigh buckle 2-2, and a thigh adjustment sleeve connecting piece 2-3. The thigh buckle connecting piece 2-1 and the thigh adjustment sleeve connecting piece 2-3 are provided with insertion holes for connection and fixation. The bottom of the thigh adjustment sleeve connecting piece 2-3 is provided with a hole position. Insert the thigh buckle connecting piece 2-1 into the slot at the bottom of the thigh adjustment sleeve connecting piece 2-3, and then use a steel column to connect through the insertion hole. Since the thigh adjustment sleeve connecting piece 2-3 has three insertable hole positions, the user can adjust the hole position to be inserted according to the needs. The thigh buckle connecting piece 2-1 can correspond to the hole position of the thigh connecting piece 3-3 and is connected and fixed with screws and nuts. The thigh buckle 2-2 is directly inserted into the holes from both sides of the thigh adjustment sleeve connecting piece 2-3 and at the same time a part will be exposed. Since there is a spring in the two thigh buckles 2-2, after pressing, the sleeve connecting piece 1-2 can be directly installed and the spring rebounds and gets stuck.

[0038] See attached Figure 4 and attached Figure 5, the knee exoskeleton system 3 includes a passive compensation device 3-1, a flexible brake 3-2, a thigh connecting piece 3-3, a connecting rod 3-4, a calf connecting part 3-5, a flexible brake baffle 3-6, a slideway 3-7, and a bearing 3-8. The thigh connecting piece 3-3, the passive compensation device 3-1, and the connecting rod 3-4 are connected by the bearing 3-8 and fixed with screws and nuts. There is one hole position on each of the front side and the rear side of the calf connecting part 3-5, and two hole positions on the left side. The hole position on the rear side can be connected to the lower end of the connecting rod 3-4, and the hole position on the front side can accommodate the flexible brake 3-2. The flexible brake baffle 3-6 is connected by a tension spring and placed at the rear side of the calf connecting part 3-5, so that it can move up and down under the elastic action of the tension spring. There are hole positions on the slideway 3-7 connected to the rear side of the calf connecting part 3-5. After overall assembly, it is similar to a planar five-bar mechanism.

[0039] See the appendix Figure 6 , the passive compensation device 3-1 includes an upper sleeve connecting piece 3-1-1, a lower sleeve connecting piece 3-1-2, sleeve A 3-1-3, sleeve B 3-1-4, sleeve C 3-1-5, sleeve D 3-1-6, and sleeve E 3-1-7. Sleeves A-E 3-1-3 to 3-1-7 are all provided with slideways and bosses, and through the mechanical structure design of the slideways and bosses, they can be telescopic and movable after assembly. The two ends are connected to the thigh connecting piece 3-1 and the calf connecting part 3-5 through the upper sleeve connecting piece 3-1-1 and the lower sleeve connecting piece 3-1-2. Among them, there is a hole position designed on the rear side of sleeve E 3-1-7 to accommodate an elastic cord. An elastic cord is passed through six hole positions on the rear side of sleeve E 3-1-7 and fixed on both sides in the positioning holes on the rear side of the upper sleeve connecting piece 3-1-1, so as to realize the automatic contraction after the sleeve extends. The passive compliant bionic inclusion motion mechanism is realized through the telescoping of the sleeve.

[0040] See the appendix Figure 5 and the appendix Figure 7, the flexible brake 3-2 includes a brake spring cover 3-2-1, a flexible brake front cover 3-2-2, a bearing 3-2-3, a brake support 3-2-4, a brake rear cover 3-2-5, a flexible brake insertion port 3-2-6, and a brake insertion bolt 3-2-7. After adding a spring to the brake spring cover 3-2-1, it is placed into the flexible brake front cover 3-2-2. Then, the bearing 3-2-3 and the brake support 3-2-4 are placed into the flexible brake front cover 3-2-2. The flexible brake insertion port 3-2-6 is provided with multiple insertion slots, and the brake insertion bolt 3-2-7 can select an insertion slot in the flexible brake insertion port 3-2-6 to adjust the movement stroke of the exoskeleton. It is assembled into one body through the brake rear cover 3-2-5. After installation, the brake spring cover 3-2-1 can be pressed to retract, inserted into the hole position of the calf connection part 3-5, and fixed after loosening. The connection method of the flexible brake insertion port 3-2-6 is as follows: there is an insertion slot on the side of the flexible brake front cover 3-2-2 that matches the front pin of the flexible brake insertion port 3-2-6, and it is fixed after insertion. After the brake insertion bolt 3-2-7 is inserted into the flexible brake insertion port 3-2-6, a part of it protrudes, and this part will touch the connecting rod 3-4 during the movement process, thereby restricting the movement stroke of the exoskeleton.

[0041] See the appendix Figure 9 , the calf strap connection part 4 includes a slide rail 4-1, a calf rod front cover 4-2, a calf rod rear cover 4-3, a positioning buckle 4-4, a calf strap connecting piece 4-5, a spring assist mechanism gear adjustment link 4-6, a brake plate limiter 4-7, and a calf strap 5. The slide rail 4-1 is fixed to the calf rod front cover 4-2 by screws. Two springs are placed in the calf rod front cover 4-2 and the calf rod rear cover 4-3 and adjusted through the spring assist mechanism gear adjustment link 4-6. By adjusting the up and down of the spring assist mechanism gear adjustment link 4-6, the magnitude of the spring force, that is, the amount of assistance, can be controlled. The limit plate brake 4-7 can be stuck on both sides of the calf rod composed of the calf rod front cover 4-2 and the calf rod rear cover 4-3 to prevent the calf connection part 3-5 from falling. After the positioning buckle 4-4 and the calf strap connecting piece 4-5 are connected, they are connected to the calf rod rear cover 4-3 and can be freely adjusted up and down on the calf rod rear cover 4-3, and then fixed by the positioning buckle 4-4. Finally, the calf strap 5 and the calf strap connecting piece 4-5 are fixed with screws and nuts.

[0042] The present invention proposes to adopt a planar five-bar mechanism in the sagittal plane of an exoskeleton knee joint. This five-bar mechanism is directly connected to the thigh connecting piece and the calf connecting piece of the exoskeleton, replacing the rotational pair joint structure in traditional exoskeleton knee joints. The mass, geometric dimensions, volume, etc. of the various components of the lower limb knee joint vary among different individuals, and these variations result in the inability to obtain accurate anatomical data of the wearer. Therefore, in addition to the knee joint's load-bearing function, the dexterous inclusiveness of its movement space is particularly important for a bionic knee joint. The bionic knee joint exoskeleton proposed by the present invention has an adaptive variable cell function.

[0043] The main movement process of the present invention is as follows: When the human body swings the leg, it drives the calf strap 5 and the calf strap connecting part 4 to move. At the same time, the calf connecting part 3-5 slides along the slide rail 4-1 in the calf strap connecting part 4. At the same time, the passive compensation device 3-1 elongates, and the elastic rope provided in the device elongates. When it elongates to a certain extent, the flexible brake baffle 3-6 and the flexible brake front cover 3-2-2 slowly fit together. At the same time, the flexible brake insertion port 3-2-6 contacts the flexible brake baffle 3-6, causing the passive compensation device 3-1 to stop elongating, that is, the bionic variable cell rigid-flexible coupling motion load-bearing mechanism. In this process, the calf strap connecting part 4 can slide up and down along the slide rail 4-1 to reach the most suitable length to adapt to people with different body signs, that is, the passive compliance bionic inclusive motion mechanism. Subsequently, the human lower limb 6 gradually transitions from the swing phase to the support phase. The passive compensation device 3-1 gradually contracts by means of the elastic force of the elastic rope, and the flexible brake 3-2 slowly unlocks. The passive compensation device 3-1 contracts to the shortest length to provide support for the exoskeleton.

[0044] The present invention drives the calf strap 5 by swinging the human lower limb 6 to simulate the movement of the human lower limb. While realizing the function of adapting to the movement of the human knee joint, in order to provide an appropriate longitudinal support force for the user and share the impact load of the knee joint soft tissue, the present invention adds an elastic rope to the passive compensation device 3-1, so as to play a role in buffering, shock absorption and energy storage during the movement process. This exoskeleton mechanism has a certain load-bearing capacity during use under underactuated conditions and can achieve motion adaptability according to the stiffness design of the system. During the walking process of the wearer, the passive compensation device adaptively adjusts the stiffness, so as to endow the knee joint exoskeleton system to meet the requirements of the knee joint exoskeleton for load-bearing and movement flexibility at different stages of the gait cycle according to different bearing stiffnesses, that is, the system shows high stiffness during the "support phase" and low stiffness during the "swing phase". Thus, the variable cell function is reflected, and the sharing of the impact load of the knee joint soft tissue and the dexterous inclusiveness of the movement space are realized.

[0045] It should be further noted that the above embodiments are only used for understanding the technical solution of the present invention, and are not used for limiting the protection scope of the present invention. The orientation names such as up, down, left, right, inside, outside, front, and back involved are only for the convenience and clarity of expression, and do not limit their positions. For those skilled in the art, the connection relationship and interaction mode can also be answered through common knowledge in the art, and are not limited to those described in the embodiments of the present invention. Based on the understanding of those skilled in the art, any obvious adjustments and modifications made to the above embodiments of the present invention should also fall within the protection scope of the present invention.

Claims

1. A novel lightweight metamorphic knee exoskeleton, characterized by: The invention comprises an adjustable thigh strap (1), a thigh strap connection part (2), a knee joint exoskeleton system (3), a calf strap connection part (4), a calf strap (5) and a human lower limb (6), wherein the adjustable thigh strap (1) is connected to the knee joint exoskeleton system (3) via the thigh strap connection part (2), the calf strap (5) is connected to the knee joint exoskeleton system (3) via the calf strap connection part (4), the adjustable thigh strap (1) and the calf strap (5) are respectively fixed to the thigh and the calf of the human lower limb (6), and the calf strap (5) is driven by the swinging of the human lower limb (6) to simulate the movement of the human lower limb.

2. The novel lightweight metamorphic knee exoskeleton according to claim 1 is characterized by: The thigh adjustable strap (1) comprises a thigh adjustment sleeve (1-1), a sleeve connector (1-2), a telescopic buckle (1-3), an adjustable knob (1-4), and a thigh strap (1-5), wherein the adjustable knob (1-4) is inserted into a sleeve hole on the surface of the thigh strap (1-5) to be connected to the trousers as a whole, the telescopic buckle (1-3) behind the thigh adjustment sleeve (1-1) is connected to a square hole provided in the thigh strap (1-5), a spring is put in the middle of the telescopic buckle (1-3) and the buckle can be put into the sleeve connector (1-2), and then the two parts are put into the thigh adjustment sleeve (1-5) together. 1-1), the thigh adjustment sleeve (1-1) is provided with three gears, the telescopic buckle (1-3) is arranged in the gear of the thigh adjustment sleeve (1-1), and the middle spring is contracted by pressing the telescopic buckle (1-3), so that it can move among the three gears in the thigh adjustment sleeve (1-1), and when it reaches the required gear, it can rebound and be stuck at the required gear by releasing the pressing, and the buckle hole of the sleeve connecting member (1-2) cooperates with the thigh buckle (2-2) in the thigh strap connecting part 2, so that the thigh adjustable strap 1 can be slightly rotated forward and backward with the thigh buckle (2-2) as the axis.

3. The novel lightweight metamorphic knee exoskeleton according to claim 1 is characterized by: The thigh strap connection part (2) comprises a thigh buckle connection piece (2-1), a thigh buckle (2-2), and a thigh adjustment sleeve connection piece (2-3). The thigh buckle connection piece (2-1) and the thigh adjustment sleeve connection piece (2-3) are provided with a socket for connection and fixation. The bottom of the thigh adjustment sleeve connection piece (2-3) is provided with a hole. The thigh buckle connection piece (2-1) is inserted into the slot at the bottom of the thigh adjustment sleeve connection piece (2-3), and then connected using a steel column. The thigh buckle connection piece (2-1) corresponds to the hole position of the thigh connection piece (3-3), and is connected and fixed. The thigh buckle (2-2) is directly inserted into the hole from both sides of the thigh adjustment sleeve connection piece (2-3) and a part of it is exposed. A spring is provided in the thigh buckle (2-2). By pressing the spring, the sleeve connection piece (1-2) is directly installed and the spring rebounds and is stuck.

4. The novel lightweight metamorphic knee exoskeleton according to claim 1 is characterized by: The knee joint exoskeleton system (3) comprises a passive compensation device (3-1), a flexible brake (3-2), a thigh connector (3-3), a connecting rod (3-4), a calf connecting part (3-5), a flexible brake baffle (3-6), a slideway (3-7), and a bearing (3-8). The thigh connector (3-3), the passive compensation device (3-1), and the connecting rod (3-4) are connected and fixed via the bearing (3-8). The calf connecting part (3-5) has a hole on the front and rear sides respectively, and two holes on the left side. The rear hole can be connected to the lower end of the connecting rod (3-4), and the front hole can be placed in the flexible brake (3-2). The flexible brake baffle (3-6) is connected via a tension spring and placed in the rear side of the calf connecting part (3-5), so that it can move up and down under the elastic action of the tension spring. The slideway (3-7) has a hole connected to the rear side of the calf connecting part (3-5).

5. The novel lightweight metamorphic knee exoskeleton according to claim 4 is characterized by: The passive compensation device (3-1) includes an upper sleeve connecting member (3-1-1), a lower sleeve connecting member (3-1-2), a sleeve A (3-1-3), a sleeve B (3-1-4), a sleeve C (3-1-5), a sleeve D (3-1-6), and a sleeve E (3-1-7). The sleeve A (3-1-3), the sleeve B (3-1-4), the sleeve C (3-1-5), the sleeve D (3-1-6), and the sleeve E (3-1-7) are all provided with slideways and bosses, and are connected by sliding. The mechanical structure of the channel and the boss enables them to be telescopic after assembly. The two ends after assembly are connected to the thigh connection part (3-1) and the calf connection part (3-5) through the upper sleeve connection part (3-1-1) and the lower sleeve connection part (3-1-2). The rear side of the sleeve E (3-1-7) is designed with holes for inserting elastic ropes. After an elastic rope is passed through the six holes on the rear side of the sleeve E (3-1-7), the two sides are fixed in the positioning holes provided on the rear side of the upper sleeve connection part (3-1-1).

6. The novel lightweight metamorphic knee exoskeleton according to claim 4 is characterized by: The flexible brake (3-2) comprises a brake spring cover (3-2-1), a flexible brake front cover (3-2-2), a bearing (3-2-3), a brake support (3-2-4), a brake rear cover (3-2-5), a flexible brake insertion port (3-2-6), and a brake insertion bolt (3-2-7). The brake spring cover (3-2-1) is inserted into the flexible brake front cover (3-2-2) after adding a spring, and the bearing (3-2-3) and the brake support (3-2-4) are inserted into the flexible brake front cover (3-2-2) and assembled into one piece through the brake rear cover (3-2-5). The side of the flexible brake front cover (3-2-2) is provided with a socket that matches the front pin of the flexible brake insertion port (3-2-6); the flexible brake insertion port (3-2-6) is provided with a plurality of sockets; the brake insertion bolt (3-2-7) can select a socket in the flexible brake insertion port (3-2-6) to adjust the movement stroke of the exoskeleton and is fixed after insertion; after the brake insertion bolt (3-2-7) is inserted into the flexible brake insertion port (3-2-6), a portion is exposed, and this portion will come into contact with the connecting rod (3-4) during the movement process, thereby limiting the movement stroke of the exoskeleton.

7. The novel lightweight metamorphic knee exoskeleton according to claim 1 is characterized by: The calf strap connection part (4) comprises a slide rail (4-1), a calf rod front cover (4-2), a calf rod rear cover (4-3), a positioning buckle (4-4), a calf strap connection piece (4-5), a spring assist mechanism gear adjustment connecting rod (4-6), a brake plate limiter (4-7), and a calf strap (5). The slide rail (4-1) is fixed to the calf rod front cover (4-2) by screws, and two springs are placed in the calf rod front cover (4-2) and the calf rod rear cover (4-3) and are connected to the calf strap by the spring assist mechanism gear adjustment connecting rod. (4-6) is adjusted, the limit plate brake (4-7) is clamped on both sides of the calf rod composed of the calf rod front cover (4-2) and the calf rod rear cover (4-3), and is used to prevent the calf connecting part (3-5) from falling. After the positioning buckle (4-4) and the calf strap connecting piece (4-5) are connected, they are connected to the calf rod rear cover (4-3), and the position of the calf rod rear cover (4-3) can be freely adjusted up and down, and then fixed by the positioning buckle (4-4), and the calf strap (5) and the calf strap connecting piece (4-5) are fixed with screws and nuts.

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