A portable knee joint assisting exoskeleton robot device

Abstract

The application discloses a portable knee joint assisting exoskeleton robot device, which comprises a human-computer interaction mechanism for human wearing, the human-computer interaction mechanism comprises a thigh assembly and a shank assembly, the thigh assembly and the shank assembly are movably connected through a driving joint, a torque adjusting mechanism for adjusting torque of the thigh assembly and the shank assembly is arranged between the thigh assembly and the shank assembly, and an assisting mechanism for generating a driving torque at the driving joint to realize assisting driving is arranged. The application releases harmful force generated by misalignment of man and machine; light-weight material and optimized structure design reduce the weight of the device, improve wearing comfort and motion flexibility; precise joint transmission and high-efficiency assisting mechanism ensure that the exoskeleton and the human motion are synchronous and coordinated, and natural assisting force is provided; the structure has large rigidity but low energy consumption, meets the requirement of long-time wearing in daily life, can effectively assist different patients with knee osteoarthritis to carry out rehabilitation training, relieve pain and promote recovery of the joint motion range and muscle strength.

Description

Technical Field

[0001] This invention belongs to the field of exoskeleton technology, specifically relating to a portable knee-assisted exoskeleton robot device. Background Technology

[0002] Knee osteoarthritis is a common chronic degenerative joint disease, and its prevalence continues to rise due to global population aging, increasing obesity rates, and heavy physical labor. A study published in the prestigious international medical research journal *The Lancet* shows that the number of people suffering from knee osteoarthritis worldwide reached 340 million in 2020, and is projected to increase to 640 million by 2050.

[0003] Traditional treatments for knee osteoarthritis include medication, physical therapy, and surgery. However, these methods have many limitations. Medication only relieves symptoms and has strong side effects; physical therapies such as acupuncture and heat therapy have limited efficacy; and in advanced stages, surgery often fails due to a lack of effective rehabilitation methods. In recent years, with the development of exoskeleton technology, lower limb exoskeletons have gained traction in the medical field. Knee exoskeletons provide support and assistance to the knee joint, helping users reduce the burden on the knee joint during exercise, thereby alleviating joint pain and significantly delaying the onset and progression of knee osteoarthritis.

[0004] Existing knee exoskeletons suffer from problems such as high structural rigidity, high energy consumption, inconvenience in wearing, poor mobility, and human-machine joint misalignment. These issues severely impact the rehabilitation outcomes for patients with knee osteoarthritis. Some products, while having high load-bearing capacity, suffer from high rigidity, high energy consumption, and discomfort; others, while lightweight and wearable, still exhibit human-machine joint misalignment. Furthermore, if the human-machine joints are not fully aligned when wearing a traditional single-degree-of-freedom powered exoskeleton, residual forces and torques may be transmitted to the patient's limbs, placing additional load on the knee joint, exacerbating pain, and reducing the exoskeleton's assistive effect.

[0005] Therefore, there is an urgent need to design a rehabilitation assistive knee exoskeleton that is rigid, energy-efficient, easy to wear, flexible, and can eliminate the side effects of human-machine joint misalignment. Summary of the Invention

[0006] This invention is proposed to solve the problems existing in the prior art, and its purpose is to provide a portable knee joint assistive exoskeleton robot device.

[0007] The technical solution of the present invention is: a portable knee joint assistive exoskeleton robot device, including a human-computer interaction mechanism for wearing on the human body, the human-computer interaction mechanism including a thigh component and a lower leg component, the thigh component and the lower leg component being movably connected through an active joint, and a torque adjustment mechanism for adjusting the torque of the thigh component and the lower leg component and an assist mechanism for generating driving torque at the active joint for assist driving are provided between the thigh component and the lower leg component.

[0008] Furthermore, the lower leg assembly is also equipped with an adaptive adjustment mechanism, which includes a passive joint. When the knee joint is flexed or extended, the passive joint adapts to the misalignment of the active joint and eliminates the harmful force of the exoskeleton on the human body through passive stroke.

[0009] Furthermore, the active joint includes a thigh joint link in the thigh assembly and a lower leg joint link in the lower leg assembly, and the thigh joint link and the lower leg joint link are combined to form a revolute joint.

[0010] Furthermore, the thigh assembly includes a thigh sleeve, and a thigh strap is provided at the opening of the thigh sleeve. The thigh sleeve and the thigh strap form a wearing cavity for wearing on the thigh. The thigh sleeve is fixed to a spring fixing plate, and the spring fixing plate forms an anti-torsional connection with the thigh joint connecting rod.

[0011] Furthermore, the calf assembly includes a calf bushing, and a calf strap is provided at the opening of the calf bushing. The calf bushing and the calf strap form a wearing cavity for wearing on the calf. The calf bushing is movably connected to the calf rotating connector via bolts and bearings.

[0012] Furthermore, the adaptive adjustment mechanism includes a sliding joint disposed at the lower leg joint link, the movable end of which is connected to the lower leg rotating connector.

[0013] Furthermore, the assist mechanism is installed at the spring fixing plate of the thigh assembly. The assist mechanism includes a spring disposed in the central positioning groove of the spring fixing plate, and a spring compression plug is disposed on the top of the spring.

[0014] Furthermore, the lower end of the spring compression top plug is connected to a steel wire rope, which passes through the spring and is connected to the rope groove fixed end of the lower leg joint connecting rod.

[0015] Furthermore, the torque adjustment mechanism is installed at the lower leg joint connecting rod of the lower leg assembly. The torque adjustment mechanism includes a first slide rail set on the lower leg joint connecting rod. A first slider forms a sliding pair with the first slide rail through a T-slot structure. The telescopic end of the servo electric cylinder is provided with an arc-shaped push plate that is simultaneously connected to the first slider. The arc-shaped push plate is in contact with the wire rope.

[0016] Furthermore, the arc-shaped push plate is provided with a corresponding slot for accommodating the steel wire rope.

[0017] The beneficial effects of this invention are as follows: This invention eliminates the harmful forces caused by human-machine misalignment, adapting to the needs of users of different body types and rehabilitation stages; lightweight materials and optimized structural design reduce the weight of the device, improving wearing comfort and movement flexibility; precise joint transmission and efficient assist mechanism ensure synchronous and coordinated movement between the exoskeleton and the human body, providing natural assistance; the structure has high rigidity but low energy consumption, meeting the requirements for long-term daily wear.

[0018] This invention is applicable to various activities in daily life and can effectively assist different patients with knee osteoarthritis in rehabilitation training, reduce pain, and promote the recovery of joint range of motion and muscle strength. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the overall structure of the present invention. Figure 1 ; Figure 2 This is a schematic diagram of the overall structure of the present invention. Figure 2 ; Figure 3 This is a schematic diagram of the structure of the present invention with the outer shell removed; Figure 4 This is a schematic diagram of the structure of the Wi-Fi module connection part of the present invention; Figure 5 This is a schematic diagram of the torque adjustment mechanism of the present invention; Figure 6 This is a schematic diagram of the joint connection portion of the present invention; Figure 7 This is a schematic diagram of the adaptive adjustment mechanism of the present invention; Figure 8 This is a schematic diagram of the structure of the adaptive adjustment mechanism and the lower leg bushing connection part of the present invention. Figure 1 ; Figure 9 This is a schematic diagram of the structure of the adaptive adjustment mechanism and the lower leg bushing connection part of the present invention. Figure 2 ; The components include: 1. 12V battery pack; 2. Thigh shell; 3. Wi-Fi module; 4. Lower leg shell; 5. Lower leg bushing; 6. Thigh bushing; 7. Thigh strap; 8. Spring fixing plate; 9. Thigh joint connecting rod; 10. Lower leg joint connecting rod; 11. Slide rail fixing plate; 12. Lower leg strap; 13. Spring compression top plug; 14. Spring; 15. Nut; 16. Socket head cap screw; 17. Steel wire rope; 18. Phillips head pan screw; 19. First motor fixing component; 20. Second motor fixing component; 21. Arc-shaped push plate; 22. First slider; 23. First slide rail; 24. Spring top cover; 25. Push rod; 26. Servo cylinder; 27. Joint fixing plate; 28. Second slide rail; 29. ​​Second slider; 30. Lower leg connecting slider component; 31. Lower leg rotating connecting component; 32. Bolt bearing. Detailed Implementation

[0020] The present invention will now be described in detail with reference to the accompanying drawings and embodiments: like Figures 1 to 9 As shown, a portable knee-assisted exoskeleton robot device includes a human-computer interaction mechanism for wearing on a human body. The human-computer interaction mechanism includes a thigh component and a lower leg component, which are connected by an active joint. A torque adjustment mechanism for adjusting the torque of the thigh component and the lower leg component and an assist mechanism for generating driving torque at the active joint for assist driving are provided between the thigh component and the lower leg component.

[0021] The lower leg assembly is also equipped with an adaptive adjustment mechanism, which includes a passive joint. When the knee joint is flexed or extended, the passive joint adapts to the misalignment of the active joint and eliminates the harmful force of the exoskeleton on the human body through passive stroke.

[0022] The active joint includes a thigh joint link 9 in the thigh assembly and a lower leg joint link 10 in the lower leg assembly. The thigh joint link 9 and the lower leg joint link 10 are combined to form a rotating pair.

[0023] The thigh assembly includes a thigh sleeve 6, and a thigh strap 7 is provided at the opening of the thigh sleeve 6. The thigh sleeve 6 and the thigh strap 7 form a wearing cavity for wearing on the thigh. The thigh sleeve 6 is fixed to a spring fixing plate 8, and the spring fixing plate 8 forms an anti-torsional connection with the thigh joint connecting rod 9.

[0024] The calf assembly includes a calf sleeve 5, and a calf strap 12 is provided at the opening of the calf sleeve 5. The calf sleeve 5 and the calf strap 12 form a wearing cavity for wearing on the calf. The calf sleeve 5 is movably connected to the calf rotating connector 31 through a bolt bearing 32.

[0025] The adaptive adjustment mechanism includes a sliding joint disposed at the lower leg joint link 10, and the movable end of the sliding joint is connected to the lower leg rotating connector 31.

[0026] The assist mechanism is installed on the spring fixing plate 8 of the thigh assembly. The assist mechanism includes a spring 14 located in the central positioning groove of the spring fixing plate 8, and a spring compression plug 13 is provided on the top of the spring 14.

[0027] The lower end of the spring compression top plug 13 is connected to a steel wire rope 17. The steel wire rope 17 passes through the spring 14 and is connected to the rope groove fixed end of the lower leg joint connecting rod 10.

[0028] The torque adjustment mechanism is installed at the lower leg joint connecting rod 10 of the lower leg assembly. The torque adjustment mechanism includes a first slide rail 23 set on the lower leg joint connecting rod 10. The first slider 22 forms a sliding pair with the first slide rail 23 through a T-slot structure. The telescopic end of the servo electric cylinder 26 is provided with an arc-shaped push plate 21 that is simultaneously connected to the first slider 22. The arc-shaped push plate 21 is in contact with the wire rope 17.

[0029] The arc-shaped push plate 21 is provided with a slot to accommodate the steel wire rope 17.

[0030] Specifically, the servo electric cylinder 26 in the torque adjustment mechanism pulls the steel wire rope 17 to move, thereby causing the spring top cover 24 to move downward, thereby compressing the spring 14 in the assist mechanism, generating a driving torque at the active joint, driving the patient's knee joint to move, and realizing the knee joint exoskeleton driving the human knee joint to flex and extend.

[0031] Specifically, the thigh assembly includes a thigh shell 2, a thigh bushing 6, a thigh strap 7, a spring fixing plate 8 with a positioning groove, a spring top cover 24, a Wi-Fi module 3, and a thigh joint connecting rod 9. The thigh bushing 6 and thigh strap 7 are worn on the human thigh and have been described in detail. The thigh shell 2 adopts a split design. The thigh shell 2 is rigidly connected to the spring fixing plate 8 by threaded fasteners, forming a torque-limited connection. The Wi-Fi module 3 is rigidly connected to the spring top cover 24 by threaded fasteners. The spring top cover 24 is fixed on the spring fixing plate 8 and covers the spring 14. The thigh joint connecting rod 9 is made of aluminum alloy and is torsionally connected to the spring fixing plate 8 by hexagonal head screws.

[0032] More specifically, the thigh joint link 9 is provided with three rows of equidistant adjustment holes to achieve multi-level position adjustment with the spring fixing plate 8.

[0033] More specifically, the thigh strap 7 is connected to the interfaces at both ends of the thigh liner 6 by high-strength nylon stitching.

[0034] More specifically, the thigh bushing 6 has a battery support structure with anti-slip texture on its surface for fixing the 12V battery pack 1.

[0035] Specifically, the calf assembly includes a calf joint link 10, a slide rail fixing plate 11, a calf strap 12, a calf shell 4, and a calf bushing 5. The calf shell 4 is connected to the calf joint link 9 via threaded fasteners. The calf strap 12 is connected to the interfaces at both ends of the calf bushing 5 via high-strength nylon stitching.

[0036] Specifically, at the active joint, the lower leg joint link 10 is provided with a boss so that the round hole on the thigh joint link 9 can be precisely fitted in, and a stable connection is achieved through the joint fixing plate 27 and three sets of internal hexagonal head screws to form a rotating pair.

[0037] Specifically, the slide rail fixing plate 11 in the adaptive adjustment mechanism is assembled with the lower leg joint connecting rod 10 without clearance using hexagon socket head cap screws, and a second slide rail 28 is precisely mounted on it. The second slider 29 forms a sliding pair with the second slide rail 28 through a T-slot structure. The lower leg connecting slider 30 is connected to the second slider 29 through a cross-slot pan head screw. One end of the lower leg rotating connector 31 is connected to the lower leg connecting slider 30 through a threaded fastener, and the other end is provided with a boss. The boss mates with the cylinder of the lower leg bushing 5, and a bolt bearing 32 is used to ensure a stable yet flexible rotary connection between the two.

[0038] Specifically, the servo electric cylinder 26 in the torque adjustment mechanism is fixed by the first motor fixing part 19 and the second motor fixing part 20. The first motor fixing part 19 and the second motor fixing part 20 are connected to the lower leg joint connecting rod 10 by threaded fasteners.

[0039] The working process of this invention is as follows: Before using this invention, the patient first wraps the thigh sleeve 6 around the middle of the patient's femur and fixes it proximally with the thigh strap 7. Then, the second slider 29 is moved axially along the second slide rail 28 to the middle position of the second slide rail 28. The angle of the lower leg sleeve 5 is adjusted by the coronal axis rotation mechanism to complete the lower limb size adaptation.

[0040] After the device is fully donned, system initialization is performed. First, press the start button on the host computer; the control module will automatically execute sensor calibration and mechanism position reset procedures. After initialization, the flexible pressure sensor array integrated inside the bushing acquires real-time data on limb contact force distribution, and simultaneously collects three-dimensional kinematic parameters of the knee joint via an IMU sensor. Based on a human biomechanical model, the control module uses a fuzzy PID algorithm to dynamically calculate the joint assist torque requirement. According to the calculation results, the control module drives the servo cylinder 26 to control the stroke of the steel cable 17, changing the lever arm and force, thereby altering the magnitude of the knee joint rotational torque provided by the assist mechanism, thus achieving knee joint assistance.

[0041] After use, first loosen the straps of the calf bushing 5, then loosen the straps of the thigh bushing 6, and slide the lower limb fixation components axially to remove them.

[0042] This invention employs an adaptive adjustment mechanism to release harmful forces caused by misalignment of human-machine joints.

[0043] The invention is made of aluminum alloy and medical-grade composite materials. Through topology optimization design, the weight of the device is reduced to less than 1kg. Its symmetrical transmission mechanism is compatible with the mirror installation requirements of the left and right lower limbs.

[0044] In the description of this invention, it should be noted that the terms "upper" and "lower" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting this invention.

[0045] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linkage" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the connection within two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0046] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A portable knee-assisted exoskeleton robot device, characterized in that: The invention includes a human-computer interaction mechanism for wearing on the human body. The human-computer interaction mechanism includes a thigh component and a calf component, which are connected by an active joint. A torque adjustment mechanism for adjusting the torque of the thigh component and the calf component and an assist mechanism for generating driving torque at the active joint for assist driving are provided between the thigh component and the calf component. The calf assembly includes a calf sleeve (5), and a calf strap (12) is provided at the opening of the calf sleeve (5). The calf sleeve (5) and the calf strap (12) form a wearing cavity for wearing on the calf. The calf sleeve (5) is movably connected to the calf rotating connector (31) through a bolt bearing (32). The adaptive adjustment mechanism includes a sliding pair disposed at the lower leg joint link (10), the movable end of which is connected to the lower leg rotating connector (31); The assist mechanism is installed at the spring fixing plate (8) of the thigh assembly. The assist mechanism includes a spring (14) located in the central positioning groove of the spring fixing plate (8). A spring compression plug (13) is provided on the top of the spring (14). The lower end of the spring compression top plug (13) is connected to a steel wire rope (17), which passes through the spring (14) and is connected to the fixed end of the rope groove of the lower leg joint connecting rod (10). At the active joint, the lower leg joint link (10) is provided with a boss so that the round hole on the thigh joint link (9) can be precisely fitted in, and a stable connection is achieved through the joint fixing plate (27) and three sets of internal hexagonal head screws to form a rotating pair; The slide rail fixing plate (11) in the adaptive adjustment mechanism is assembled with the lower leg joint connecting rod (10) without gap by using an internal hexagonal head screw. The second slide rail (28) is precisely assembled on it. The second slider (29) forms a sliding pair with the second slide rail (28) through a T-slot structure. The lower leg connecting slider (30) is connected to the second slider (29) by a cross-slot pan head screw. One end of the lower leg rotating connector (31) is connected to the lower leg connecting slider (30) by a threaded fastener. The other end is provided with a boss. The boss is engaged with the cylinder of the lower leg bushing (5) and a bolt bearing (32) is used to ensure a stable and flexible rotary connection between the two.

2. The portable knee-assisted exoskeleton robot device according to claim 1, characterized in that: The lower leg assembly is also equipped with an adaptive adjustment mechanism, which includes a passive joint. When the knee joint is flexed or extended, the passive joint adapts to the misalignment of the active joint and eliminates the harmful force of the exoskeleton on the human body through passive stroke.

3. The portable knee-joint assistive exoskeleton robot device according to claim 2, characterized in that: The active joint includes a thigh joint link (9) in the thigh assembly and a lower leg joint link (10) in the lower leg assembly. The thigh joint link (9) and the lower leg joint link (10) are combined to form a rotating pair.

4. The portable knee-joint-assisted exoskeleton robot device according to claim 3, characterized in that: The thigh assembly includes a thigh sleeve (6), and a thigh strap (7) is provided at the opening of the thigh sleeve (6). The thigh sleeve (6) and the thigh strap (7) form a wearing cavity for wearing on the thigh. The thigh sleeve (6) is fixed to a spring fixing plate (8), and the spring fixing plate (8) forms an anti-torsion connection with the thigh joint link (9).

5. The portable knee-joint-assisted exoskeleton robot device according to claim 1, characterized in that: The torque adjustment mechanism is installed at the lower leg joint link (10) of the lower leg assembly. The torque adjustment mechanism includes a first slide rail (23) set on the lower leg joint link (10). The first slider (22) forms a sliding pair with the first slide rail (23) through a T-slot structure. The telescopic end of the servo cylinder (26) is provided with an arc-shaped push plate (21) that is simultaneously connected to the first slider (22). The arc-shaped push plate (21) is in contact with the wire rope (17).

6. The portable knee-assisted exoskeleton robot device according to claim 5, characterized in that: The arc-shaped push plate (21) is provided with a slot to accommodate the wire rope (17).

Images