Human body electric power-assisted exoskeleton

Abstract

The invention discloses an invisible adjustable human body electric power-assisted exoskeleton, and belongs to the technical field of bionic machinery and wearable equipment. The device adopts an innovative knee motor-free design, power-assisted output is realized through a waist motor driving unit and a flexible transmission structure, the legs are completely hidden in the trousers during wearing, and high invisibility is realized. The core innovation of the robot includes that the design of the multi-degree-of-freedom movable joints supports complex actions such as lateral movement and going up and down stairs; the lengths of the thighs and the shanks can be adjusted to adapt to users with different heights; the intelligent control system provides an automatic mode, a foot feeling mode, a slow walking mode and a fast walking mode and supports stepless speed regulation. Real-time gait recognition based on a leg sensor ensures natural and smooth man-machine coordination. The problems that a traditional exoskeleton is heavy, conspicuous and stiff in joint are effectively solved, and the exoskeleton has remarkable application value in the fields of medical rehabilitation and military operation and has the advantages of concealment and movement flexibility.

Description

1. Technical Field The present invention relates to the technical field of human-powered exoskeletons, and in particular to an invisible adjustable human electric-powered exoskeleton, which is applicable to daily walking, rehabilitation training or moving scenarios on complex terrains. Through a concealed structure design, a flexible transmission mechanism and an intelligent control module, lightweight and adjustable electric assistance is achieved. 2. Technical Background The existing exoskeletons have the following problems:

[0003] Bulky volume: Traditional exoskeletons adopt rigid mechanical structures or knee motor designs, resulting in increased weight and a conspicuous appearance, making it difficult to wear them inconspicuously.

[0004] Poor adaptability: The length of the bracket is fixed and cannot adapt to users of different heights; the range of joint movement is limited, affecting the naturalness of gait.

[0005] Low transmission efficiency: Some exoskeletons transmit power through gears or linkages, which are prone to generating noise and have relatively large energy losses.

[0006] Control unit: Most products lack a multi-mode intelligent adjustment function and cannot adjust the assistance intensity in real time according to gait.

[0007] In view of the above problems, the present invention proposes a leg-concealed, adjustable and efficient exoskeleton solution, which combines flexible transmission and intelligent sensing technologies to improve the wearing comfort and practicality. 3. Summary of the Invention 3.1 Overall Structure The present invention provides a leg-concealed adjustable human electric-powered exoskeleton, which mainly includes: Core components: a waist control panel and main board (1), a battery pack (2), a thigh assistance motor (31), and a calf assistance motor (21).

[0009] Adjusting mechanism: a front and rear size-adjustable waistband (3) and adjusting buckles (4)(16), nested telescopic thigh brackets (6) and calf brackets (9), which are suitable for thigh lengths of 380 - 550 mm and calf lengths of 350 - 480 mm.

[0010] Concealed design: The leg structure can be blocked by regular trouser legs, and the motors are wrapped in a waist pack, making the overall appearance beautiful, fashionable and generous.

[0011] 3.2 Flexible Transmission and Joint Design Motorless transmission at the knee: Two steel cables (22) are used for closed-loop transmission. One end is connected to the waist motor (21), and the other end is wound around the power transmission rotating disk (23). The disk surface is provided with spiral grooves to enhance adhesion, with high transmission efficiency and quiet operation.

[0012] Ankle and foot hinge: - The ankle joint (10) supports forward and backward swings of ±25 degrees. - The double - foot hinges (5) (8) allow natural opening and closing as well as lateral movement to adapt to complex terrains.

[0013] 3.3 Intelligent Control and Sensing * Multi - mode adjustment: The control module (1) integrates automatic, foot - feeling, slow - walking, and fast - walking modes and supports stepless speed regulation.

[0014] Real - time feedback: The thigh sensor (15) and the calf sensor (13) monitor gait pressure and direction, and the data is fed back to the main board to dynamically adjust the motor speed and steering.

[0015] 3.4 Technical Advantages 1. Concealment: There are no exposed mechanical parts on the legs, and the legs are completely hidden inside the trouser cuffs when worn.

[0016] 2. High adaptability: The length of the bracket and the belt are adjustable, covering a wide range of user groups.

[0017] 3. High - efficiency transmission: The flexible cable design reduces energy loss, and the optimized angle of the rotating disk improves the power transmission efficiency.

[0018] 4. Intelligent response: The foot - feeling mode adapts to the user's gait in real - time, improving the accuracy of assistance. 4. Description of the Drawings

[0020] Figure 1 It is a front - view schematic diagram of the human - powered electric assist exoskeleton; Figure 2 It is a schematic diagram of the waist controller, lithium battery, and motor of the human - powered electric assist exoskeleton; Figure 3 It is a side - view schematic diagram of the human - powered electric assist exoskeleton; Figure 4 It is a schematic diagram of the positions of the thigh and calf motors on the side of the human - powered electric assist exoskeleton; Figure 5 It is a side - view schematic diagram of the knee transmission of the human - powered electric assist exoskeleton; Figure 6 It is a front - view schematic diagram of the knee transmission of the human - powered electric assist exoskeleton; Figure 7 It is a front - view schematic diagram of the ankle of the human - powered electric assist exoskeleton; Figure 8 It is a side - view schematic diagram of the ankle of the human - powered electric assist exoskeleton; Figure 9 It is a schematic diagram of the controller panel of the human - powered electric assist exoskeleton. 5. Specific Implementation Modes

[0022] Through the above design, the present invention is significantly superior to existing exoskeleton products in terms of concealment, comfort, and functionality, and is particularly suitable for daily wear and rehabilitation assistance applications.

Claims

1. An invisible adjustable human-powered electric assistive exoskeleton, characterized in that, Including: Waist control panel and main board (1), battery pack (2), front and rear adjustable waistband (3), waistband adjustment buckle (4)(16), thigh assist motor (31), calf assist motor (21); A flexible transmission mechanism with no motor design at the knee, similar to a bicycle brake cable (22), power transmission rotating disk (23), which transmits power from the waist to the calf; Feet can be naturally opened and closed and laterally moved hinges (5)(8), thigh brackets (6) and calf brackets (9) with adjustable lengths, suitable for users of different heights; thigh fixing straps (7) and calf fixing straps (14), ankle movable joints (10), leather shoe heels (12), long screws (11) fixed to the heels; Intelligent control module (1), integrating automatic, foot feeling, slow walking, and fast walking modes, and having stepless speed regulation function; Leg sensors (15)(13) in the leg feeling mode, which can monitor gait information in real time and feedback it to the control module to control the rotation of the assist motor; The overall exoskeleton adopts a concealed structure design and can be completely covered by ordinary trouser legs when worn.

2. The invisible adjustable human electric assist exoskeleton according to claim 1, characterized in that: The knee flexible transmission mechanism includes two parallel steel cables (22), one end of each cable is fixed to the output shaft of the waist assist motor (21), and the other end is wound around the power transmission rotating disk (23) on the knee side, forming a closed-loop transmission path; The disk surface of the power transmission rotating disk (23) forms an angle of 20-45 degrees with the longitudinal axis of the calf bracket (9), and a spiral groove is provided on the edge of the disk surface to enhance the adhesion of the cable (22); The thigh bracket (6) and the calf bracket (9) adopt a nested telescopic structure, and scale marks are provided on the surface of the bracket. The adjustment range covers a thigh length of 380-550mm and a calf length of 350-480mm; The ankle movable joint (10) allows the foot to move forward and backward by ±25 degrees: Feet can be naturally opened and closed and laterally moved hinges (5)(8), which support natural opening and closing and lateral movement, enhance gait flexibility and stability, and meet the moving requirements on complex terrains; Attached to the thigh fixing strap (7) and calf fixing strap (14); Thigh sensor (15), calf sensor (13) detect the movement direction of the leg, and the pressure is sent to the control main board to drive the rotation direction and speed of the motor.

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