A new modular knee joint gait assistance system

Abstract

The present invention discloses a novel modular knee joint gait assistance system, wherein the waist belt is used to connect with the waist to provide support for the other modules, the hip joint function module is used to connect with the thigh part, the knee joint function module is used to connect with the knee joint part, and the auxiliary torque of the knee joint is controlled according to the movement angle of the hip joint function module, and the foot function module is connected with the foot. In this solution, the hip joint function module, the knee joint function module and the foot function module adopt a modular design and are combined through a specific connection method. The functions of each module are independent and coordinated with each other, realizing the flexibility and variability of the overall structure. At the same time, the knee joint angle under the corresponding gait can be derived by calculation, and the knee joint function module executes the corresponding angle position to realize real-time correction assistance of the user's gait, which can better simulate the natural movement of the human knee and ankle joints, improve wearing comfort, and effectively protect the joints to prevent damage caused by excessive movement.

Description

Technical Field

[0001] The present invention belongs to the field of lower limb exoskeletons, and in particular relates to a novel modular knee joint gait assistance system. Background Art

[0002] In the field of lower limb walking aids, the existing technology, such as CN201710533387.0, involves an under-actuated lower limb assist exoskeleton robot based on a rope-pulley mechanism, which includes a harness device, a drive control power supply system, two thigh rod devices, two calf rod devices, two ankle joint devices, two drive devices and two ropes; each drive device includes a motor housing bracket, a first motor housing, a waist frame, a planetary reducer, a second motor housing, a servo motor, a third motor housing, a hip joint spline shaft, a drive pulley, an elastic driver, a first bushing, a small bevel gear, a large bevel gear, a second bushing, a fourth motor housing, a fifth motor housing, a sixth motor housing, a fixing plate and two first bearing end covers with bearings, such as Figure 1 shown.

[0003] However, this solution has a complex structure, large mass inertia, low wearable movement flexibility, and a significant impact on gait. It also lacks intelligent perception and adaptive control and is not suitable for dynamic lower limb joint posture correction and motion compensation. Summary of the Invention

[0004] In view of the above problems, the purpose of the present invention is to provide a new modular lower limb walking aid system.

[0005] The specific technical solutions for achieving the purpose of the present invention are as follows:

[0006] A new modular knee joint gait assistance system, including a waist belt, a hip joint function module, a knee joint function module and a foot function module;

[0007] The waist seal, hip joint function module, knee joint function module and foot function module are connected in sequence;

[0008] The waist seal is used to connect with the waist to provide support for the other modules;

[0009] The hip joint functional module is used to connect with the thigh;

[0010] The knee joint function module is used to connect with the knee joint part and control the auxiliary torque of the knee joint according to the movement angle of the hip joint function module;

[0011] The foot function module is connected to the foot.

[0012] Furthermore, the waist seal includes a waist chain set and an inner lining;

[0013] The waist chain set comprises a plurality of waist chain segments of the same structure connected in series;

[0014] An inner lining is provided inside the waist chain set.

[0015] Furthermore, the hip joint function module includes a quick-release assembly, a limit block, a limit swivel seat, a first adjustment strip, a thigh protector, a spring, a rotating pin seat, a pressing assembly, a limit assembly, a torsion spring and a sensor;

[0016] One end of the quick-release assembly is connected to the waist seal, the other end of the quick-release assembly is connected to the spring, and the other end of the spring is connected to the limit swivel seat;

[0017] A plurality of limit blocks are provided on the spring;

[0018] The pin of the limit rotating seat is connected to the rotating pin seat and passes through the hole provided on the first adjusting strip to form a rotating pair;

[0019] A torsion spring is provided between the limit rotation seat and the first adjustment insert to provide a restoring force;

[0020] The thigh protector is connected to the first adjustment strip;

[0021] The thigh protector is provided with a tightening assembly for adjusting the tightness of the thigh protector;

[0022] The thigh protector is provided with a limiting component for limiting the position of the thigh protector;

[0023] The thigh protector is also provided with a sensor for detecting the height to which the thigh part is raised.

[0024] Furthermore, the quick release assembly includes a quick release buckle, a quick release seat and a pressure block;

[0025] A quick release buckle is provided on the quick release seat, and the pressing block is provided below the quick release seat and corresponds to the quick release buckle.

[0026] Furthermore, the pressing assembly includes a pressing buckle and a pressing sheet;

[0027] The pressing piece is arranged on the thigh protector, one end of the pressing buckle is connected to the thigh protector through a pin shaft, the pressing buckle and the pressing piece are in conflict with each other, and when the pressing buckle is pressed, the thigh protector is pressed tightly by the pressing piece.

[0028] Furthermore, the limiting assembly includes a latch, a spring and a snap;

[0029] The latch is provided on the thigh protector, the latch is connected to the snap button, and the latch also passes through the positioning hole on the first adjustment strip; the spring and the snap button are fixed by the same pin shaft;

[0030] By adjusting the snap button, the spring pushes the snap button to insert into the corresponding positioning hole in the first adjustment strip, thereby achieving the limiting of the thigh protector.

[0031] Furthermore, the knee joint function module includes a drive-control integrated motor, a thigh connection module and a calf connection module;

[0032] The thigh connection module is connected to the hip joint function module, a drive-control integrated motor is provided on the thigh connection module, and the lower end of the thigh connection module is connected to the calf connection module;

[0033] The output end of the drive-control integrated motor is connected to the calf connection module;

[0034] A limiting top block is provided between the thigh connection module and the calf connection module to prevent excessive movement.

[0035] The output torque of the drive-control integrated motor is adjusted according to the thigh lifting angle detected by the sensor provided on the thigh protector:

[0036]

[0037] in, is the motor torque, is the maximum assist torque, The maximum angle of the thigh, is the real-time thigh angle, is the preset joint angle difference.

[0038] Furthermore, the foot function module includes a calf protector, a flexion-extension shaft seat, an abduction shaft seat, a shoe cover, a foot support, a two-way connecting block and a second adjustment strip;

[0039] The calf protector is connected to the knee joint functional module;

[0040] The lower end of the calf protector is connected to a second adjustment strip, and the second adjustment strip is provided with an abduction shaft seat;

[0041] A two-way connecting block is provided on the abduction shaft seat, and the other end of the two-way connecting block is connected to a preset hole on the foot support through a flexion-extension shaft seat;

[0042] The abduction shaft seat, two-way connecting block, flexion and extension shaft seat and foot support are combined into a two-way rotation mechanism of the axial axis and the coronal axis through pins and bolts. At the same time, a spring is provided in each rotation direction installation to provide a return force.

[0043] Furthermore, an adjustment pressing mechanism and an adjustment limiting mechanism are respectively provided at the connection between the second adjustment insert and the calf protector, so as to realize the pressing and limiting of the calf protector.

[0044] Compared with the prior art, the present invention has the following beneficial effects:

[0045] (1) The present invention reads the human thigh movement trend through a sensor installed in the thigh protector, derives the knee joint angle under the corresponding gait by calculation, and then implements the corresponding angle position through the knee joint functional model to achieve real-time correction assistance for the user's gait;

[0046] (2) The hip joint function module, knee joint function module and foot function module of the present invention adopt a modular design and are combined through a specific connection method. The functions of each module are independent and coordinated with each other. For example, the length of the hip joint function module can be adjusted to adapt to different thigh sizes, and the foot function module can be adjusted and fixed with the foot shoe, thus achieving the flexibility and variability of the overall structure.

[0047] Each module is easy to assemble, disassemble and repair, which improves the maintainability of the equipment. It can also be customized and combined according to the needs of different users, enhancing its applicability.

[0048] (3) The knee joint function module and foot function module of the present invention are designed with three-dimensional freedom release corresponding to the knee joint and ankle joint respectively. At the same time, they are designed with limited positions, such as the limited top block designed for the thigh connection module and the calf connection module in the knee joint function module, which can ensure that the joints move within a safe range. This better simulates the natural movement of the human knee and ankle joints, improves wearing comfort, and can also effectively protect the joints and prevent injuries caused by excessive movement.

[0049] The present invention will be further described below with reference to specific embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Figure 1 Schematic diagram of the structure of an existing gait assistance system in the background technology of the present invention.

[0051] Figure 2 This is a schematic structural diagram of the novel modular knee joint gait assistance system of the present invention.

[0052] Figure 3 It is a schematic diagram of the waist seal structure of the present invention.

[0053] Figure 4 This is a schematic structural diagram of the hip joint functional module of the present invention.

[0054] Figure 5 This is a schematic structural diagram of the knee joint functional module of the present invention.

[0055] Figure 6 This is a schematic diagram of the foot function module structure of the present invention.

[0056] Figure 7 Schematic diagram of the detailed structure of the foot function module of the present invention.

[0057] Figure 8 This is a schematic diagram of the connection between the knee joint and the thigh and calf connection modules of the present invention. DETAILED DESCRIPTION

[0058] Example

[0059] In order to clearly describe the technical solution and the effects achieved by the present invention, the technical solution of the present invention is clearly explained below in combination with the drawings and specific embodiments of the present invention, so that technical personnel in this field can implement the invention without performing creative work. The structure shown in the drawings is not the entire actual structure but only a part of the actual structure. It should be noted that all other embodiments made by ordinary technical personnel in this field on the basis of the embodiments of the present invention without performing creative work should fall within the scope of protection of the present invention.

[0060] The following examples are merely intended to better illustrate the present invention, but the present invention is not limited to the examples set forth herein. Therefore, those skilled in the art may make non-essential modifications to the embodiments based on the above disclosure and apply them to other examples, which remain within the scope of the present invention. Furthermore, any experimental procedures in the following examples that do not specify specific conditions should be performed according to conventional or manufacturer-recommended conditions. Unless otherwise specified, expressions in the text are used solely for differentiation and have no other meaning.

[0061] Combine Figure 2 , a new modular knee joint gait assistance system, including a waist belt 1, a hip joint function module 2, a knee joint function module 3 and a foot function module 4;

[0062] The waist seal 1, hip joint function module 2, knee joint function module 3 and foot function module 4 are connected in sequence;

[0063] Specifically in this embodiment, the lower end of the hip joint function module 2 and the upper end of the knee joint function module 3 are connected by bolts interlocking in a slot, the hip joint function module 2 is provided with a length adjustment mechanism, and the lower end of the hip joint function module 2 is fixed to the human calf by a specially designed binding webbing, Velcro, buckle, etc.; the hip joint function module 2 is fixedly connected to the waist belt 1 by a quick-release mechanism at its upper end; the lower end of the knee joint function module 3 and the upper end of the foot function module 4 are connected by bolts interlocking in a slot, and the knee joint function module 3 is designed with three-dimensional freedom release and motion limitation corresponding to the human knee joint; the upper end of the foot function module 4 is fixed to the human calf by a specially designed binding webbing, Velcro, buckle, etc., the foot function module 4 is provided with a length adjustment mechanism, and the lower end of the foot function module 4 is fixed to the human foot shoe by a specially designed binding structure, and the foot function module 4 is designed with three-dimensional freedom release and motion limitation corresponding to the human ankle joint.

[0064] The waist belt 1 is used to connect with the waist and provide support for the other modules;

[0065] The hip joint functional module 2 is used to connect with the thigh;

[0066] The knee joint function module 3 is used to connect with the knee joint and control the auxiliary torque of the knee joint according to the movement angle of the hip joint function module 2;

[0067] The foot function module 4 is connected to the foot.

[0068] Combine Figure 3 , the waist seal 1 includes a waist chain set 101 and an inner lining 102;

[0069] The waist chain set 101 comprises multiple waist chain segments of the same shape connected in series via pins and slots;

[0070] An inner lining 102 is provided inside the waist chain set 101 . The inner lining 102 is made of soft material and can better fit the waist of the human body.

[0071] Combine Figure 4 The hip joint function module 2 includes a quick-release assembly, a limit block 203, a limit rotation seat 204, a first adjustment strip 205, a thigh protector 206, a spring 207, a rotating pin seat 209, a pressing assembly, a limit assembly, a torsion spring 212 and a sensor 216;

[0072] One end of the quick-release assembly is connected to the waist seal 1, the other end of the quick-release assembly is connected to the spring 207, and the other end of the spring 207 is connected to the limit rotation seat 204;

[0073] In this solution, the quick release assembly includes a quick release buckle 201, a quick release seat 202 and a pressure block 208;

[0074] The quick release buckle 201 is provided on the quick release seat 202 , and the pressing block 208 is provided below the quick release seat 202 and corresponds to the quick release buckle 201 .

[0075] The spring 207 is provided with a plurality of limit blocks 203. Specifically, the spring 207 is covered with the plurality of limit blocks 203 and the limit rotating seat 204 at the bottom to limit deformation of the spring 207 in various directions, so that the spring 207 can achieve different deformation capabilities and limit protection in different directions, including twisting, bending forward, bending backward, and bending left and right.

[0076] The pins of the position limiting rotating seat 204 and the rotating pin seat 209 are connected and pass through the holes provided on the first adjusting insert 205 to form a rotating pair;

[0077] A torsion spring 212 is provided between the limiting rotating seat 204 and the first adjusting insert 205 to provide a restoring force;

[0078] The thigh protector 206 is connected to the first adjustment strip 205. The thigh protector 206 is arranged on the front and outer sides of the human thigh and is connected to the lower knee joint by a bolt. The position of the thigh protector 206 can be adjusted by the first adjustment strip 205.

[0079] The thigh protector 206 is provided with a pressing assembly for adjusting the tightness of the thigh protector 206. Specifically, the pressing assembly includes a pressing buckle 210 and a pressing plate 211.

[0080] The pressing piece 211 is provided on the thigh protector 206, and one end of the pressing buckle 210 is connected to the thigh protector 206 via a pin. The pressing buckle 210 and the pressing piece 211 are in conflict with each other. When the pressing buckle 210 is pressed, the thigh protector 206 is pressed by the pressing piece 211.

[0081] Specifically in this embodiment, combined with Figure 4 It can be seen that the pressing piece 211 is placed in a special groove preset in the thigh protector 206, which is connected internally and can contact 205; the pressing buckle 210 is placed on the outside of this groove and is connected to the thigh protector 206 through a pin to achieve rotation; the groove through the pin on the pressing buckle 210 is a runway circle, so in addition to being able to rotate, it can also move linearly to a certain extent. The pressing buckle 210 itself is designed as a cam configuration, so when the pressing buckle 210 rotates according to the specific rotating shaft on the thigh protector 206, the contact distance of the fixed rotation center of the pressing buckle 210 with the pressing piece 211 will increase, pressing the pressing piece 211 to squeeze the first adjustment strip 205 inward to achieve compression and fixation.

[0082] The thigh protector 206 is provided with a limiting assembly for limiting the position of the thigh protector 206 , and the limiting assembly includes a latch 213 , a spring 214 and a snap 215 ;

[0083] The latch 213 is provided on the thigh protector 206 and is connected to the snap button 215. The latch 213 also passes through the positioning hole on the first adjustment strip 205. The spring 214 and the snap button 215 are fixed by the same pin shaft.

[0084] By adjusting the snap button 215 , the spring 214 pushes the snap button 215 to insert into the corresponding positioning hole in the first adjustment strip 205 , thereby achieving the limitation of the thigh protector 206 .

[0085] More specifically, the latch 213 is secured via a movable pin and one end of a snap 215. The latch 213 also passes through a specially designed hole in the thigh brace 206 and aligns with a positioning hole in the first adjustment strip 205. The spring 214 and snap 215, as well as the snap 215 and thigh brace 206, share a cylindrical pin. This pin forms a lever fulcrum, and the spring 214 lifts the end of the snap 215 without the latch 213, causing the latch 213 on the other end to insert into the corresponding hole in the first adjustment strip 205, achieving a limited position.

[0086] In addition, in this solution, a sensor 216 is also provided on the thigh brace 206 for detecting the height of the thigh part. This detected height is used for the subsequent knee joint function module 3 to adjust its output torque to plan the auxiliary torque of the knee joint and achieve gait correction assistance.

[0087] Combine Figure 5 The knee joint function module 3 includes a drive-control integrated motor 301, a thigh connection module 302 and a calf connection module 303;

[0088] The thigh connection module 302 is connected to the hip joint function module 2, and a drive-control integrated motor 301 is provided on the thigh connection module 302. The lower end of the thigh connection module 302 is connected to the calf connection module 303;

[0089] The output end of the drive-control integrated motor 301 is connected to the calf connection module 303;

[0090] A limiting top block is provided between the thigh connection module 302 and the calf connection module 303 to prevent excessive movement.

[0091] The output torque of the drive-control integrated motor 301 is adjusted according to the thigh lifting angle detected by the sensor 216 provided on the thigh protector 206:

[0092]

[0093] in, is the motor torque, is the maximum assist torque, The maximum angle of the thigh, is the real-time thigh angle, is the preset joint angle difference.

[0094] Combine Figure 6 The foot function module 4 includes a calf protector 401, a flexion-extension shaft seat 404, an abduction shaft seat 405, a shoe cover 406, a foot support 407, a two-way connecting block 408 and a second adjustment strip 409;

[0095] The calf protector 401 is connected to the knee joint function module 3;

[0096] The lower end of the calf protector 401 is connected to the second adjustment strip 409, and the second adjustment strip 409 is provided with an abduction shaft seat 405;

[0097] A two-way connecting block 408 is provided on the abduction shaft seat 405, and the other end of the two-way connecting block 408 is connected to a preset hole on the foot support 407 via the flexion and extension shaft seat 404;

[0098] The abduction shaft seat 405, the two-way connecting block 408, the flexion-extension shaft seat 404 and the foot support 407 are assembled into a two-way rotation mechanism of the axial direction and the coronal direction through pins and bolts. At the same time, a spring is provided in each rotation direction to provide a return force.

[0099] Combine Figure 7 It can be seen that one end of the abduction shaft seat 405 in this scheme is provided with a square empty slot, and there is a circular hole on the side. One end of the two-way connecting block 408 is inserted into the square empty slot and the circular hole on the abduction shaft seat 405 is made concentric with the corresponding circular hole on the two-way connecting block 408 and a pin is inserted, thereby realizing the sagittal axis rotation movement; similarly, there are corresponding slots on the foot support 407 and corresponding cylinders on the flexion and extension shaft seat 404. We insert one end of the two-way connecting block 408 into the corresponding slot on the foot support 407 as shown in the figure, and at the same time insert the corresponding cylinder of the flexion and extension shaft seat 404 into the corresponding circular hole on the two-way connecting block 408 and firmly fix it to the foot support 407, then we get a degree of freedom that can rotate about the coronal axis.

[0100] In addition, an adjustment clamping mechanism 402 and an adjustment limiting mechanism 403 are respectively provided at the connection between the second adjustment insert 409 and the calf protector 401, for achieving the compression and limitation of the calf protector 401. The adjustment clamping mechanism 402 and the adjustment limiting mechanism 403 here are similar to the compression components and limiting components provided on the thigh protector 206, and other types of compression and limiting methods can also be used to achieve this function.

[0101] like Figure 8 As shown, the corresponding restriction grooves on the knee joint and the thigh or calf of this solution are fixedly connected by a fixing pin, but this corresponding restriction groove is not completely tightly connected but has a certain angle gap. Therefore, the knee joint and thigh, and the knee joint and calf can perform limited rotational deformation around their respective fixing pins. Therefore, compared with the traditional design, two more degrees of freedom are added to realize three-dimensional freedom release.

[0102] In this solution, the hip joint functional module, knee joint functional module and foot functional module adopt a modular design and are combined through a specific connection method. The functions of each module are independent and coordinated with each other, realizing the flexibility and variability of the overall structure. At the same time, the knee joint angle under the corresponding gait can be derived by calculation, and the knee joint functional module executes the corresponding angle position to achieve real-time correction assistance for the user's gait, which can better simulate the natural movement of the human knee and ankle joints, improve wearing comfort, and effectively protect the joints to prevent injuries caused by excessive exercise.

[0103] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art could make various modifications and improvements without departing from the spirit of the present application, all of which fall within the scope of protection of the present application. Therefore, the scope of protection of the present patent application shall be determined by the appended claims.

Claims

1. A modular knee joint gait assistance system, characterized in that: It includes a waist belt (1), a hip joint function module (2), a knee joint function module (3) and a foot function module (4); The waist seal (1), hip joint function module (2), knee joint function module (3) and foot function module (4) are connected in sequence; The waist seal (1) is used to connect with the waist and provide support for the other modules; The hip joint functional module (2) is used to connect to the thigh; The knee joint function module (3) is used to connect with the knee joint and control the auxiliary torque of the knee joint according to the movement angle of the hip joint function module (2); The foot function module (4) is connected to the foot; The hip joint function module (2) comprises a quick-release assembly, a limit block (203), a limit rotation seat (204), a first adjustment strip (205), a thigh protector (206), a spring (207), a rotating pin seat (209), a pressing assembly, a limit assembly, a torsion spring (212) and a sensor (216); One end of the quick-release assembly is connected to the waist seal (1), the other end of the quick-release assembly is connected to the spring (207), and the other end of the spring (207) is connected to the limiting rotating seat (204); A plurality of limit blocks (203) are provided on the spring (207); The pins of the position limiting rotating seat (204) and the rotating pin seat (209) are connected and pass through the holes provided on the first adjusting insert (205) to form a rotating pair; A torsion spring (212) is provided between the position-limiting rotating seat (204) and the first adjusting insert (205) to provide a restoring force; The thigh protector (206) is connected to the first adjustment strip (205); A compression assembly is provided on the thigh protector (206) for adjusting the tightness of the thigh protector (206); A limiting component is provided on the thigh protector (206) for achieving position limiting of the thigh protector (206); The thigh protector (206) is also provided with a sensor (216) for detecting the height of the raised thigh part.

2. The modular knee joint gait assistance system according to claim 1, characterized in that: The waist seal (1) comprises a waist chain set (101) and an inner lining (102); The waist chain set (101) comprises a plurality of waist chain segments of the same structure connected in series; An inner lining (102) is provided inside the waist chain set (101).

3. The modular knee joint gait assistance system according to claim 1, characterized in that: The quick-release assembly comprises a quick-release buckle (201), a quick-release seat (202) and a pressing block (208); A quick release buckle (201) is provided on the quick release seat (202), and the pressing block (208) is provided below the quick release seat (202) and is provided corresponding to the quick release buckle (201).

4. The modular knee joint gait assistance system according to claim 1, characterized in that: The pressing assembly comprises a pressing buckle (210) and a pressing sheet (211); The pressing piece (211) is arranged on the thigh protector (206), and one end of the pressing buckle (210) is connected to the thigh protector (206) via a pin shaft. The pressing buckle (210) and the pressing piece (211) are in conflict with each other. When the pressing buckle (210) is pressed, the thigh protector (206) is pressed by the pressing piece (211).

5. The modular knee joint gait assistance system according to claim 1, characterized in that: The limiting assembly includes a latch (213), a spring (214) and a snap button (215); The latch (213) is provided on the thigh protector (206), the latch (213) and the snap button (215) are connected, and the latch (213) also passes through the positioning hole on the first adjustment strip (205); the spring (214) and the snap button (215) are fixed by the same pin shaft; By adjusting the snap button (215), the spring (214) pushes the snap button (215) to be inserted into the corresponding positioning hole in the first adjustment strip (205), thereby achieving the limitation of the thigh protector (206).

6. The modular knee joint gait assistance system according to claim 1, characterized in that: The knee joint function module (3) comprises a drive-control integrated motor (301), a thigh connection module (302) and a calf connection module (303); The thigh connection module (302) is connected to the hip joint function module (2), a drive-control integrated motor (301) is provided on the thigh connection module (302), and the lower end of the thigh connection module (302) is connected to the calf connection module (303); The output end of the drive-control integrated motor (301) is connected to the calf connection module (303); A limiting top block is provided between the thigh connection module (302) and the calf connection module (303) to prevent excessive movement.

7. The modular knee joint gait assistance system according to claim 6, characterized in that: The output torque of the drive-control integrated motor (301) is adjusted according to the thigh lifting angle detected by the sensor (216) provided on the thigh protector (206): ； in, is the motor torque, is the maximum assist torque, The maximum angle of the thigh, is the real-time thigh angle, is the preset joint angle difference.

8. The modular knee joint gait assistance system according to claim 1, characterized in that: The foot function module (4) comprises a calf protector (401), a flexion-extension shaft seat (404), an abduction shaft seat (405), a shoe cover (406), a foot support (407), a two-way connecting block (408) and a second adjustment insert (409); The calf protector (401) is connected to the knee joint functional module (3); The lower end of the calf protector (401) is connected to a second adjustment strip (409), and an abduction shaft seat (405) is provided on the second adjustment strip (409); A two-way connecting block (408) is provided on the abduction shaft seat (405), and the other end of the two-way connecting block (408) is connected to a preset hole on the foot support (407) via the flexion-extension shaft seat (404); The abduction shaft seat (405), the two-way connecting block (408), the flexion and extension shaft seat (404) and the foot support (407) are combined into a two-way rotation mechanism of the slant axis and the crown axis through a pin and a bolt, and a spring is provided in each rotation direction installation to provide a return force.

9. The modular knee joint gait assistance system according to claim 8, characterized in that: An adjustment pressing mechanism (402) and an adjustment limiting mechanism (403) are respectively provided at the connection between the second adjustment insert (409) and the calf protector (401), for achieving the pressing and limiting of the calf protector (401).

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