Torsion spring boosting type multifunctional knee joint heating exoskeleton

Abstract

The invention provides a torsion spring boosting type multifunctional knee joint heating exoskeleton, and belongs to the technical field of wearable knee joint auxiliary instruments. Comprising a thigh supporting part, a shank supporting part, a knee joint rotation limiting power assisting device, a composite heat preservation fabric layer and a detachable heating device. The knee joint rotation limiting power assisting device is arranged between the thigh supporting part and the shank supporting part and connected with the thigh supporting part and the shank supporting part through elastic rubber coupling joints. The composite heat preservation fabric layer covers the surfaces of the thigh supporting part, the shank supporting part and the knee joint rotation limiting power assisting device, the composite heat preservation fabric layer is connected with a plurality of adjusting bandages, and the adjusting bandages are connected through hook hair surface high-strength nylon hasps; the detachable heating device is matched with the thigh supporting part and the knee joint in position. Assistance is provided through the torsion spring, heating and heat preservation functions are achieved at the same time, knee joint pain is effectively relieved in combination with intelligent medication assistance, and the rehabilitation effect and medication safety are improved.

Description

Technical Field

[0001] This invention relates to the field of wearable knee joint assistive devices, and in particular to a multifunctional heated exoskeleton for the knee joint that uses a torsion spring for assistance. Background Technology

[0002] With the increasing aging population and the rise in sports injuries, knee exoskeletons are being used more widely in rehabilitation medicine and assisted walking. Existing knee exoskeletons mainly consist of a thigh support, a lower leg support, and a knee joint rotation device. For example, CN116898702A discloses a wearable knee exoskeleton including a thigh support, a knee joint rotation limiting device, and a lower leg support. The knee joint rotation limiting device restricts the range of motion of the human knee, but it uses a rigid hinge connection, making it difficult to adapt to the natural internal or external rotation trajectory of the human knee joint, resulting in poor motion adaptability. CN119347730A proposes a knee exoskeleton with a variable rotation center, achieving multiple rotational degrees of freedom through a continuum rotation mechanism to adapt to the natural movement of the human knee joint. However, it lacks integrated assistive functions, only achieving motion adaptation, and cannot provide additional knee joint support for the user, thus offering insufficient support in scenarios involving high physical exertion during assisted walking or rehabilitation training.

[0003] Regarding assistive functions, CN111773026B describes a multi-joint rigid-flexible lower limb exoskeleton that assists the knee joint's swing and flexion through a drive component and cable system. However, its drive component is large and complex, increasing the overall weight of the exoskeleton and reducing portability and comfort during wear. It also lacks knee joint insulation and heating functions, making it susceptible to joint chilling and affecting rehabilitation outcomes in low-temperature environments. CN115302489B proposes an instantaneously adjustable variable stiffness flexible knee exoskeleton that achieves adjustable stiffness and high flexibility through parallel cross springs and pneumatic artificial muscles. However, its pneumatic artificial muscles require an additional air pump and tubing system, increasing the complexity and maintenance cost of the device. Furthermore, its slow response during air pressure adjustment makes it difficult to adapt to different movement states in real time, and it does not consider the knee joint's thermal therapy needs, resulting in a relatively limited functionality.

[0004] Furthermore, knee exoskeleton technology, through its mechanical structure, assists joint movement, limits abnormal range of motion, and distributes load, making it a key research focus in rehabilitation medicine and assistive devices. However, existing knee exoskeleton designs still face significant bottlenecks in terms of biomechanical adaptability and functional integration. For example, patent publication number CN216603447U provides an assistive knee exoskeleton. This exoskeleton is extremely sensitive to assembly and positioning accuracy. Its multi-degree-of-freedom hinge design results in a large number of mechanical components, making it time-consuming for users to wear independently. It also fails to limit or restrict the range of knee extension movements, posing a safety hazard. Another example is patent publication number CN201910201776.2, which provides an exoskeleton-type bionic powered knee rehabilitation device. This device suffers from insufficient coupling in structural integration. Specifically, the heat source layout and power transmission are rigidly stacked separate structures, requiring heat to penetrate the metal skeleton to reach deep joint tissues, weakening heat transfer and resulting in poor thermotherapy effects.

[0005] However, existing knee exoskeletons still have some issues regarding biomechanical adaptability and functional integration. First, most exoskeletons require high precision in assembly and positioning; their multi-degree-of-freedom hinged designs result in a large number of mechanical components, leading to lengthy self-wearing times for users. Furthermore, the use of rigid hinge structures often results in insufficient adaptation to the body's natural movement trajectories, easily causing movement interference. Second, while some exoskeletons can limit the knee joint's range of motion, they cannot precisely limit or control the range of extension movements. Finally, there are issues with insufficient coupling in structural integration, particularly when integrating heating functions. Heat source layout and power transmission are typically achieved through rigid, stacked separate structures, requiring heat to penetrate the metal frame to reach deep joint tissues, reducing heat transfer efficiency. Additionally, the heating module lacks multiple safety protections, the battery compartment poses a short-circuit risk in humid environments, and the insulation fabric's breathability is insufficient. These problems, in turn, limit the comfort, safety, and functionality of knee exoskeletons in practical applications. Summary of the Invention

[0006] To overcome the shortcomings of existing technologies, the purpose of this invention is to provide a multifunctional knee joint heating exoskeleton that uses a torsion spring to assist in providing stepped assistance to adapt to different movement needs. The elastic rubber coupling joint adapts to the natural movement of the human knee joint. At the same time, it integrates a detachable heating device and a composite heat-insulating fabric layer to achieve efficient heat therapy and heat preservation. It can effectively relieve knee pain, improve rehabilitation effects, and has the characteristics of high safety, good stability, and simple wear, which can meet the needs of multiple scenarios.

[0007] To achieve the above objectives, the present invention provides the following solution: A multifunctional knee joint heating exoskeleton with torsion spring assistance includes a thigh support, a lower leg support, a knee joint rotation limiting assist device, a composite thermal insulation fabric layer, and a detachable heating device. The knee joint rotation limiting assist device is located between the thigh support and the lower leg support, and is connected to the thigh support and the lower leg support respectively via elastic rubber coupling joints. The composite thermal insulation fabric layer covers the surfaces of the thigh support, the lower leg support, and the knee joint rotation limiting assist device, and is connected to several adjustment straps, which are connected to each other by hook-and-loop high-strength nylon fasteners. The detachable heating device is fitted to the thigh support and the knee joint.

[0008] Preferably, the thigh support includes a thigh support metal curved plate, a rotating connector, a connecting bolt, and an adjusting strap. The inner side of the thigh support metal curved plate is in contact with the human body, and the outer side is in contact with the composite insulation fabric layer. The rotating connector is connected to an elastic rubber coupling joint via the connecting bolt. The adjusting strap is fixedly disposed at the edge of the composite insulation fabric layer, and the two adjusting straps are connected in an alternating manner by hook-and-loop high-strength nylon fasteners.

[0009] Preferably, the elastic rubber coupling joint is disposed between the thigh support and the knee joint rotation limiting assist device and between the calf support and the knee joint rotation limiting assist device. One end of the elastic rubber coupling joint is connected to the rotation connector of the thigh support or the corresponding connector of the calf support, and the other end is connected to the thigh support or calf support of the knee joint rotation limiting assist device.

[0010] Preferably, the knee joint rotation limiting assist device includes a thigh support, a parallel torsion spring, a calf support, and a spring stiffness adjustment mechanism. The thigh support is connected to the calf support via the parallel torsion spring. The thigh support is equipped with a gear adjuster and a limiting bolt. The gear adjuster cooperates with the spring stiffness adjustment mechanism, which is used to adjust the stiffness of the parallel torsion spring. The gear adjuster is connected to one end of the parallel torsion spring. The limiting bolt cooperates with the corresponding limiting structure of the calf support. The calf support is equipped with anti-lateral torsion ribs and a height adjustment plate. The height adjustment plate is connected to a connecting plate via bolts, and the height adjustment plate is equipped with multiple adjustment holes. The connecting plate is equipped with fixing holes that match the adjustment holes. The length of the exoskeleton is adjusted by passing bolts through the adjustment holes and fixing holes at different positions.

[0011] Preferably, the thigh support includes a thigh support body, the gear adjuster is disposed at the upper end of the thigh support body and connected to one end of the parallel torsion spring; the limiting bolt is disposed on the side of the thigh support body and cooperates with the limiting hole of the calf support; the end of the thigh support body away from the parallel torsion spring is connected to the connecting plate by bolts.

[0012] Preferably, the calf support includes a calf support body, the anti-lateral torsion ribs are symmetrically arranged on both sides of the upper end of the calf support body and are fixedly connected to the calf support body; the height adjustment plate is arranged on the side of the calf support body and is connected to the connecting plate by bolts; the end of the calf support body away from the parallel torsion spring is connected to the connecting plate by bolts.

[0013] Preferably, the detachable heating device includes an integrated power system, a flexible graphene heating cloth, and a connecting wire. The integrated power system is located at the front end of the human body and fits against the curved surface of the thigh support metal plate of the thigh support part. The flexible graphene heating cloth wraps around the front end of the human knee patella and its inner side contacts the inner surface of the composite heat-insulating fabric layer. The integrated power system is connected to the flexible graphene heating cloth through the connecting wire.

[0014] Preferably, the integrated power system includes a temperature adjustment button, a heating switch button, a battery compartment, a data display screen, and a smart first-aid kit. The temperature adjustment button, heating switch button, and data display screen are all located on the surface of the integrated power system and are respectively connected to the battery compartment and the flexible graphene heating cloth through internal wiring. The battery compartment is located inside the integrated power system and provides power to the detachable heating device. The smart first-aid kit is detachably connected to the outer shell of the integrated power system.

[0015] Preferably, the composite thermal insulation fabric layer includes a fabric thermal insulation cylinder, an electric wire, a graphene heating cloth, and a moxibustion pack placement compartment. The fabric thermal insulation cylinder wraps around the thigh support, calf support, and knee joint rotation limiting assist device. The electric wire is located inside the fabric thermal insulation cylinder, with one end connected to the connection line of the detachable heating device and the other end connected to the graphene heating cloth. The graphene heating cloth receives electrical energy through the electric wire and is attached to the inner surface of the fabric thermal insulation cylinder. The moxibustion pack placement compartment is located on the back of the graphene heating cloth and is fixedly connected to the graphene heating cloth by hook-and-loop high-strength nylon fasteners.

[0016] Preferably, it also includes a connecting plate, one end of which is bolted to the thigh support body and the other end of which is bolted to the calf support body. The length of the exoskeleton can be adjusted by changing the connection position of the bolts on the connecting plate and the thigh and calf support bodies.

[0017] According to specific embodiments provided by the present invention, the present invention discloses the following technical effects: (1) The present invention improves the adaptability and safety of movement through the synergistic effect of the thigh support, the lower leg support, the knee joint rotation limiting assist device and the elastic rubber coupling joint. The thigh support metal curved plate of the thigh support unit works in conjunction with the adjustable strap to achieve a close fit to the human body; the elastic rubber coupling joint connects the thigh support unit, the lower leg support unit, and the knee joint rotation limiting assist device, providing the knee joint horizontal plane internal / external rotation freedom to adapt to the natural movement trajectory of the human body; the parallel torsion spring in the knee joint rotation limiting assist device works in conjunction with the gear adjuster, and the low, medium, and high assist adjustment can be achieved by moving the slider position to meet the needs of different sports scenarios. At the same time, the limiting bolt works in conjunction with the limiting structure of the lower leg support to limit excessive flexion and extension of the knee joint and ensure sports safety; at the same time, the intelligent first aid medicine box of this invention can also adopt a modular lightweight design, with an shape that adapts to the contour of the exoskeleton and can be detachably connected. It has functions such as timed unlocking, drug storage environment monitoring, and medication reminder, and can be linked with the exoskeleton health monitoring system, thereby enabling this invention to have heating and heat preservation functions. Combined with the medication assistance of the intelligent first aid medicine box, it can effectively relieve knee joint pain, improve rehabilitation effect and medication safety.

[0018] (2) This invention enhances the thermotherapy effect on the knee by combining a detachable heating device with a composite heat-insulating fabric layer. The flexible graphene heating cloth of the detachable heating device fits the patella of the knee joint, and the integrated power system controls the heating temperature and switch through the connecting wire. The battery compartment provides power, and the data display screen provides real-time feedback on temperature and power. The graphene heating cloth of the composite heat-insulating fabric layer works in conjunction with the moxibustion pack placement compartment to achieve the synergistic effect of thermotherapy and moxibustion during heating. The fabric heat-insulating cylinder reduces heat loss, allowing the heat to act efficiently on the knee and relieve inflammation and pain.

[0019] (3) The present invention improves the ease of wearing and applicability through the structure of connecting plate, height adjustment plate and adjustment strap. The connecting plate is connected to the thigh support and calf support with connecting bolts, and the adjustment hole of the height adjustment plate is adapted to the fixing hole of the connecting plate. The length and attachment area of ​​the exoskeleton can be adjusted by changing the bolt connection position to adapt to the lower limb size of different users. The adjustment straps of the thigh support and calf support are fastened with hook and loop fasteners of high-strength nylon, which can be quickly adjusted to adjust the tightness. It can be worn in sitting or standing positions, which greatly shortens the wearing time and meets the needs of multiple scenarios. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a schematic diagram of the overall structure of a multifunctional knee joint heating exoskeleton with torsion spring assistance according to the present invention. Figure 2 This is a schematic diagram of the structure of the knee joint rotation limiting assist device provided in an embodiment of the present invention; Figure 3 This is a schematic diagram of the structure of a parallel torsion spring provided in an embodiment of the present invention; Figure 4 This is a schematic diagram of the thigh support portion provided in an embodiment of the present invention; Figure 5 A schematic diagram showing the connection between the thigh support and the knee joint rotation limiting assist device provided in an embodiment of the present invention; Figure 6 This is a schematic diagram of the structure of the composite thermal insulation fabric layer provided in an embodiment of the present invention; Figure 7 This is a schematic diagram of the detachable heating device provided in an embodiment of the present invention.

[0022] Explanation of reference numerals in the attached figures: 1. Thigh support; 11. Thigh support metal curved plate; 12. Rotary connector; 13. Connecting bolt; 14. Adjustable strap; 2. Elastic rubber coupling joint; 3. Thigh support component; 31. Thigh support component body; 32. Limiting bolt; 33. Gear adjuster; 4. Parallel torsion spring; 5. Lower leg support component; 51. Anti-lateral torsion rib; 52. Lower leg support component body; 53. Height adjustment plate; 6. Connecting plate; 7. Detachable heating device; 71. Temperature adjustment button; 72. Heating switch button; 73. Battery compartment; 74. Data display screen; 75. Smart first aid medicine box; 8. Spring stiffness adjustment mechanism; 9. Composite insulation fabric layer; 91. Fabric insulation cylinder; 92. Wire; 93. Graphene heating cloth; 94. Moxibustion pack placement compartment; 10. Lower leg support. Detailed Implementation

[0023] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0024] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0025] Example like Figure 1 As shown, this embodiment provides a multifunctional knee joint heating exoskeleton with torsion spring assistance. Its structure includes a thigh support 1, a lower leg support 10, a knee joint rotation limiting assist device, a composite insulation fabric layer 9, and a detachable heating device 7. The specific structure and connection relationships of each component are as follows: Reference Figure 4 The thigh support 1 consists of a thigh support metal curved plate 11, a rotating connector 12, a connecting bolt 13, and an adjusting strap 14. The thigh support metal curved plate 11 is made of an arc-shaped aluminum alloy plate that mimics the curvature of the human thigh. Its inner side contacts the human body, and its outer side adheres to the composite insulation fabric layer 9. The adjusting strap 14 is a wide polyester pressure leg strap, fixedly positioned at the edge of the composite insulation fabric layer 9. Each pair of adjusting straps 14 is connected by a hook-and-loop high-strength nylon fastener. The adjusting strap 14 has an adjuster; during wear, the tightness can be adjusted to ensure a close fit between the thigh support 1 and the thigh with even force. Hidden neodymium iron boron magnets are embedded on the outer edges of the thigh support 1 and the calf support 10. The magnets are arranged in a rectangular array with a 50mm spacing between adjacent magnets, and their poles are staggered to avoid mutual repulsion. During wear, when the thigh support 1 and the calf support 10 are within 5mm of each other, the magnets automatically attract each other, achieving rapid positioning. After adjusting strap 14, a buckle is installed. The buckle body is embedded inside the support part, and can be quickly locked and released by pressing the top button.

[0026] The thigh support metal curved plate 11 is connected to the adjusting strap 14 near the contact position via a rotating connector 12. The opening in the rotating connector 12 fixes the rotation trajectory of the thigh support metal curved plate 11. The rotating connector 12 is connected to the elastic rubber coupling joint 2 via a connecting bolt 13. The thigh support metal curved plate 11 can also be designed as a split unit, with the main body and the two side extension plates connected via an inner arc-shaped slide rail. The extension plates can slide along the slide rail to adjust the overall width. Eight positioning holes are evenly distributed on the slide rail, with a hole spacing of 10mm. The spring plungers at the ends of the extension plates can be inserted into the corresponding positioning holes for fixation. The adjustment range covers a thigh circumference of 280-420mm. A 0.5mm thick silicone pad is attached to the inner side of the extension plate, and the edges are rounded to reduce friction on the skin. Simultaneously, the lower leg support 10's supporting metal curved plate can also adopt this split sliding structure, with an adjustment range suitable for a lower leg circumference of 220-340mm. After width adjustment, the overlapping area between the extension plate and the main body still retains sufficient support strength. Combined with the tightness control of the adjustable straps 14, the support part can fit snugly against the lower limb contour, preventing wobbling during exercise. It also adapts to the different limb sizes of users with varying body types, improving wearing comfort and stability. Furthermore, the contact area between the rotating connector 12 and the sides of the thigh is wrapped in fabric to reduce discomfort. The structure of the calf support 10 is similar to that of the thigh support 1, also including a supporting metal curved plate, connectors, and adjustable straps.

[0027] Reference Figure 2 and Figure 3 The knee joint rotation limiting assist device is located between the thigh support part 1 and the lower leg support part 10, and includes a thigh support 3, a parallel torsion spring 4, a lower leg support 5, and a spring stiffness adjustment mechanism 8. The thigh support 3 and the lower leg support 5 are connected by the parallel torsion spring 4. The thigh support 3 includes a thigh support body 31, with a gear adjuster 33 at its upper end and a limiting bolt 32 on its side. The gear adjuster 33 cooperates with the spring stiffness adjustment mechanism 8. The spring stiffness adjustment mechanism 8 is a hollow guide rail with a movable slider inside. Three series grooves are distributed on the guide rail. When the slider is fixed in different grooves, it can change the contact position with the parallel torsion spring 4, thereby adjusting the stiffness of the parallel torsion spring 4 to achieve three levels of assist adjustment: low (10-20 N·m), medium (20-40 N·m), and high (40-60 N·m).

[0028] Specifically, such as Figure 5As shown, a MEMS six-axis inertial sensor with dimensions of 2mm×2mm×1mm is embedded inside the hinge shaft of the knee joint rotation limiting assist device for real-time acquisition of flexion / extension angle and angular velocity data. A flexible piezoresistive sensor array with a thickness of 0.3mm is integrated on the inner side of the adjusting strap 14 of the thigh support 1 and the calf support 10 for dynamic monitoring of the pressure distribution of the rectus femoris and gastrocnemius muscles. The above data is transmitted via SPI bus to the multi-core microprocessor added in the battery compartment 73 of the detachable heating device 7 to realize gait phase recognition, such as the transition between walking / climbing stairs / sitting, and outputting a signal to remind the user to change the moving slider of the spring stiffness adjustment mechanism 8 to automatically switch between three levels of assist torque (e.g., low level 10-20N·m for going down stairs, medium level 20-40N·m for walking on flat ground, and high level 40-60N·m for climbing hills). Meanwhile, an infrared ranging module is integrated inside the limiting bolt 32 to calculate the joint angle in real time. When knee hyperextension > 5° is detected, the built-in vibration motor is triggered as an alarm. The data display screen 74 of the detachable heating device 7 displays the joint range curve and gait symmetry analysis interface. All data is transmitted to the medical terminal APP via Bluetooth 5.2 encryption to generate a rehabilitation quantitative report, realizing closed-loop intelligent control of exoskeleton assistance-thermal therapy-protection.

[0029] In this embodiment, zirconia (ZrO2) ceramic sheets with a thickness of 0.5-1 mm are inlaid on the arc-shaped contact surface of the limiting bolt 32 and the grooved contact surface of the anti-lateral torsion rib 51, respectively. The high hardness of the ceramic sheets can resist surface scratches caused by long-term friction, and their low coefficient of friction (0.1-0.2) reduces contact loss and ensures long-term stability of the limiting angle. A polyurethane elastic block is embedded in the limiting groove of the lower leg support 5. The block is arc-shaped and forms an elastic buffer layer when it fits against the ceramic surface of the limiting bolt 32. When the joint reaches its limit angle, the elastic block absorbs impact energy through deformation, avoiding structural damage caused by rigid collisions, and reducing impact noise.

[0030] The lower leg support 5 includes a lower leg support body 52, on both sides of its upper end symmetrically provided with anti-lateral torsion ribs 51. The anti-lateral torsion ribs 51 are fixedly connected to the lower leg support body 52 and extend to both sides, which can enhance the structural strength and cover the hinge part to prevent debris from entering. The lower leg support body 52 is provided with a height adjustment plate 53 on its side. The height adjustment plate 53 is provided with multiple adjustment holes and is connected to the fixing holes of the connecting plate 6 by bolts. The end of the lower leg support body 52 away from the parallel torsion spring 4 is also connected to the connecting plate 6 by bolts. The length of the exoskeleton can be adjusted by changing the bolt connection position.

[0031] The elastic rubber coupling joint 2 is disposed between the thigh support 1 and the knee joint rotation limiting assist device, and between the lower leg support 10 and the knee joint rotation limiting assist device. One end is connected to the rotation connector 12 of the thigh support 1 or the corresponding connector of the lower leg support 10, and the other end is connected to the thigh support 3 or the lower leg support 5 of the knee joint rotation limiting assist device. The elastic rubber coupling joint 2 replaces the traditional rigid hinge, which can transmit elastic force to ensure structural strength, and can also provide the knee joint horizontal plane internal or external rotation degree of freedom, thereby adapting to the natural movement trajectory of the human body. Compared with the rigid limiting structure of the prior art, this embodiment can reduce the motion interference force by more than 30%.

[0032] like Figure 7 As shown, the detachable heating device 7 includes an integrated power system, a flexible graphene heating cloth, and connecting wires. The integrated power system is located at the front end of the human body and fits against the arc surface of the thigh support metal curved plate 11 of the thigh support part 1. Its surface is provided with a temperature adjustment button 71, a heating switch button 72, a data display screen 74, and a smart first aid kit 75. The inside is provided with a battery compartment 73. The temperature adjustment button 71, the heating switch button 72, and the data display screen 74 are respectively connected to the battery compartment 73 and the flexible graphene heating cloth through internal circuits. The battery compartment 73 provides power to the heating device. The data display screen 74 can display the heating temperature and the remaining power in real time. The smart first aid kit 75 is detachably connected to the housing of the integrated power system.

[0033] As a preferred embodiment, the intelligent first-aid kit 75 adopts a modular and lightweight design. The main body is made of high-strength lightweight plastic or carbon fiber composite material, with a total weight controlled within the range of 200-300 grams and a thickness not exceeding 35mm. Its shape is arc-shaped, with an arc contour that matches the curve of the exoskeleton. The contact surface is covered with a silicone cushioning layer to reduce friction during movement, and it is detachably connected to the integrated power system shell, secured by magnetic attraction, snaps, or sliding rails to ensure stable assembly during movement. The intelligent first-aid kit 75 may also include a rotating medicine compartment, which, with an electromagnetic lock, can unlock at set times to prevent accidental ingestion or premature medication retrieval. The rotating medicine compartment is equipped with a silicone damping pad and a weight sensor. The weight sensor is used to calibrate the remaining medication amount in real time and monitor the medication retrieval status, while the silicone damping pad avoids detection errors caused by movement and bumps. A Hall sensor may also be included to monitor the compartment door status.

[0034] As a preferred embodiment, the smart first aid kit 75 can also share a battery compartment with the integrated power system. In this embodiment, a magnetic wireless charging method can be used for power supply. The magnetic module at the power output end of the exoskeleton and the input end of the smart first aid kit 75 generates a magnetic field through alternating current to achieve power transmission, and the current and voltage are dynamically adjusted by the charging management chip to prevent overcharging.

[0035] As a preferred embodiment, the smart first-aid medicine box 75 also integrates a temperature and humidity sensor, a photosensitive element, and RFID tag identification function. It can monitor the medicine storage environment in real time and synchronize the data to the display screen. When abnormal light-proof or moisture-proof conditions are detected, or when medicines are expired, the screen triggers a red warning icon and amplifies the vibration alert. The corresponding medicine compartment is unlocked at set times via a microcontroller and an RTC real-time clock to prevent accidental or missed doses. The smart first-aid medicine box 75 features a multi-mode alert mechanism that can be linked with a low-frequency vibration module at the knee joint of the exoskeleton with an amplitude not exceeding 5mm. It differentiates alert levels through regular vibration and pulsed vibration, while a large-font, high-contrast interface and voice interaction avoid interference from motion noise. When abnormal medicine storage conditions or expired medicines are detected, the vibration alert is amplified. It supports user-customized alert sound effects and light colors, and the operation process is simplified for one-click medication retrieval.

[0036] As a preferred implementation, the data from the smart emergency medicine box 75 can also be connected to an exoskeleton health monitoring system that monitors health data such as heart rate and blood pressure. The data can be uploaded to the cloud via WiFi or 5G modules, allowing doctors to remotely monitor medication use. The built-in machine learning algorithm can analyze the user's historical medication data, exoskeleton movement data (including gait frequency and wearing time), and environmental factors to predict missed dose scenarios and increase the intensity of reminders in advance. For example, it can automatically increase the vibration frequency and volume when it detects that the user has not been active for a long time. The data can also be synchronized to the data display screen of the integrated power system or a mobile APP via IoT technology to provide early warning of expired or abnormally stored medicines, making it convenient for medical staff to remotely monitor patients' medication use.

[0037] The flexible graphene heating cloth wraps around the front of the patella of the knee, with its inner side in contact with the inner surface of the composite insulation fabric layer 9, and is connected to an integrated power system via connecting wires. Simultaneously, a high-temperature resistant silicone rubber insulation layer can be placed on the contact surface between the flexible graphene heating cloth and the composite insulation fabric layer 9 to prevent localized overheating from being directly conducted to the skin. Far-infrared ceramic particles with a diameter of 1-3 μm are uniformly mixed into the carbon fiber heating layer of the graphene heating cloth 93, accounting for 18% of the total particles, and a composite film is formed through a high-temperature pressing process. The flexible graphene heating cloth directly adheres to the patella of the knee joint, and the composite insulation fabric layer covers the surface of the supporting structure, rather than directly wrapping the metal skeleton. Therefore, heat can be applied to the knee without penetrating rigid components. Compared to the separate structure of existing technologies, the heat transfer efficiency is improved by 40%, thus possessing the characteristics of integrated heat source and transmission. The heating layer emits far-infrared rays in the 8-15 μm band, with a penetration depth of 3-5 cm, which can raise the temperature of the synovial membrane of the knee joint by 2-3℃. A ring-shaped neodymium iron boron permanent magnet is attached to the bottom of the moxibustion pack placement chamber 94. The central aperture of the magnet matches the diameter of the moxibustion pack, forming a synergistic area for heat therapy and magnetic therapy. The magnetic field can promote local blood circulation, and combined with far-infrared heat therapy, it increases the penetration efficiency of moxibustion drugs by 30%, enhancing the analgesic effect on knee synovitis. A thermistor is attached to the center of the graphene heating cloth 93, with a low-melting-point alloy fuse embedded at the edge. The melting temperature is 55℃. The thermistor is connected to the MCU of the integrated power system through a flexible wire, forming dual overheat protection. For example, when the MCU detects that the heating temperature exceeds 50℃, it automatically cuts off the heating circuit and triggers a warning icon on the data display screen; if the circuit control system fails, the fuse can physically cut off the current.

[0038] In this embodiment, the battery compartment 73 achieves an IP67 protection rating, specifically through a triple-sealing structure: an Ω-shaped food-grade silicone sealing ring with a compression of 30% is used at the connection between the compartment and the outer shell to achieve complete dustproof protection; the charging interface is equipped with a waterproof pluggable connector and an elastic sealing cover to meet water immersion protection; and a polytetrafluoroethylene insulating partition is installed between the internal battery cells and the compartment to form short-circuit isolation. Furthermore, the battery compartment has a built-in overcurrent protection chip with a response time of <10ms, automatically cutting off power when the circuit current exceeds 1.5A. The positive and negative contacts of the battery cells are treated with 5μm gold plating to reduce the risk of oxidation and short circuits in humid environments.

[0039] like Figure 6As shown, a composite heat-insulating fabric layer 9 covers the surfaces of the thigh support 1, the calf support 10, and the knee joint rotation limiting assist device, including a fabric heat-insulating cylinder 91, an electric wire 92, a graphene heating cloth 93, and a moxibustion pack placement compartment 94. The fabric heat-insulating cylinder 91 wraps around the outside of each component, and an adjustment strap 14 is connected to the outside. The adjustment straps 14 are interlocked by hook-and-loop high-strength nylon fasteners. The electric wire 92 is located inside the fabric heat-insulating cylinder 91, with one end connected to the connection line of the detachable heating device 7 and the other end connected to the graphene heating cloth 93. The graphene heating cloth 93 is attached to the inner surface of the fabric heat-insulating cylinder 91, and a moxibustion pack placement compartment 94 is provided on its back. The moxibustion pack placement compartment 94 is fixedly connected to the graphene heating cloth 93 by hook-and-loop high-strength nylon fasteners, and a ring-shaped neodymium iron boron permanent magnet is attached to the bottom. The fabric heat-insulating cylinder 91 has a rotating hole that cooperates with the thigh support 3 to prevent the fabric from slipping.

[0040] In this embodiment, the aforementioned fabric insulation cylinder 91 can adopt a three-layer composite structure, specifically: the outer layer is a high-density nylon windproof fabric with an air permeability of 800 mm / s; the middle layer is hollow polyester fiber insulation cotton with a porosity of 90%; and the inner layer is a honeycomb bamboo fiber breathable fabric with an air permeability of 1200 mm / s. According to GB / T12704.1 standard testing, its overall air permeability reaches 5000 g / (m³). 2 (24h) While maintaining a heat loss rate of less than 15%, it can quickly expel moisture evaporated from the skin, improving the heat preservation efficiency by 20% compared to existing thermal insulation fabrics. In addition, the fabric at the corresponding position of the knee joint rotation limit assist device can also be opened with invisible ventilation holes, which, together with the movement gap of the elastic rubber coupling joint, form an air convection channel to avoid stuffiness caused by prolonged wrapping.

[0041] Working principle: When wearing the device, the user adjusts the tightness of the straps 14 on the thigh support 1 and calf support 10 using the hook-and-loop fasteners on the high-strength nylon hook and loop fasteners, ensuring a close fit between the device and the lower limbs for a secure fit. During exercise, the change in the angle between the thigh and calf drives the parallel torsion spring 4 to deform: when the joint flexion angle decreases, the torsion spring bends more, storing elastic potential energy and converting it into supporting force; when the joint extension angle increases, the torsion spring returns to its original shape, releasing elastic force to assist joint movement. The user can position the sliding slider within the guide rail of the spring stiffness adjustment mechanism 8 in three levels of grooves (corresponding to 10-20 N·m, 20-40 N·m, and 40-60 N·m of assist torque, respectively), achieving stepped assistance adjustment by changing the effective lever arm of the torsion spring to adapt to different exercise scenarios. When the heating function is activated, pressing the heating switch button 72 on the detachable heating device 7 activates the alloy heating wire circuit of the graphene heating cloth 93. Rotating the temperature adjustment button 71 adjusts the PWM duty cycle, controlling the heating power within an adjustable range of 35-50℃. The data display screen 74 provides real-time visual feedback on the heating temperature and remaining battery power. After use, pressing the heating switch button 72 again cuts off the power and terminates the heat therapy. Furthermore, the entire system automatically optimizes operating parameters through a dynamic gait recognition module, collaboratively achieving dynamic control of biomechanical assistance and heat therapy to meet the needs of multiple usage scenarios, simulating the rotational structure of the human knee joint, adapting to natural movement, and providing limit protection.

[0042] Therefore, the aforementioned multifunctional knee joint heating exoskeleton with torsion spring assistance provides stepped assistance through the torsion spring to adapt to different movement needs. The elastic rubber coupling joint adapts to the natural movement of the human knee joint. At the same time, it integrates a detachable heating device and a composite heat-insulating fabric layer to achieve efficient heat therapy and heat preservation, which can effectively relieve knee joint pain, improve rehabilitation effects, and has the characteristics of high safety, good stability, and simple wear, which can meet the needs of multiple scenarios. Meanwhile, the intelligent emergency medicine box adopts a modular and lightweight design, with an shape that matches the outline of the exoskeleton and can be detachably connected. It has functions such as timed unlocking, drug storage environment monitoring, and medication reminders, and can be linked with the exoskeleton health monitoring system. Thus, this invention has heating and heat preservation functions. Combined with the medication assistance of the intelligent emergency medicine box, it can effectively relieve knee joint pain, improve rehabilitation effects, and enhance medication safety.

[0043] This document uses specific examples to illustrate the principles and implementation methods of the present invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of the present invention. Furthermore, those skilled in the art will recognize that, based on the ideas of the present invention, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. A multifunctional knee joint heating exoskeleton using a torsion spring-assisted design, characterized in that, The device includes a thigh support, a calf support, a knee joint rotation limiting assist device, a composite thermal insulation fabric layer, and a detachable heating device. The knee joint rotation limiting assist device is located between the thigh support and the calf support, and is connected to the thigh support and the calf support respectively via elastic rubber coupling joints. The composite thermal insulation fabric layer covers the surfaces of the thigh support, the calf support, and the knee joint rotation limiting assist device. The composite thermal insulation fabric layer is connected to several adjustment straps, which are connected to each other by hook-and-loop high-strength nylon fasteners. The detachable heating device is positioned to fit the thigh support and the knee joint.

2. The multifunctional knee joint heating exoskeleton with torsion spring assistance as described in claim 1, characterized in that, The thigh support includes a thigh support metal curved plate, a rotating connector, connecting bolts, and adjusting straps. The inner side of the thigh support metal curved plate is in contact with the human body, and the outer side is in contact with the composite thermal insulation fabric layer. The rotating connector is connected to an elastic rubber coupling joint via connecting bolts. The adjusting straps are fixedly installed at the edge of the composite thermal insulation fabric layer, and the two adjusting straps are connected to each other by hook-and-loop high-strength nylon fasteners.

3. The multifunctional knee joint heating exoskeleton with torsion spring assistance as described in claim 1, characterized in that, The elastic rubber coupling joint is disposed between the thigh support and the knee joint rotation limiting assist device and between the calf support and the knee joint rotation limiting assist device. One end of the elastic rubber coupling joint is connected to the rotation connector of the thigh support or the corresponding connector of the calf support, and the other end is connected to the thigh support or calf support of the knee joint rotation limiting assist device.

4. The multifunctional knee joint heating exoskeleton with torsion spring assistance as described in claim 1, characterized in that, The knee joint rotation limiting assist device includes a thigh support, a parallel torsion spring, a calf support, and a spring stiffness adjustment mechanism. The thigh support is connected to the calf support via the parallel torsion spring. The thigh support is equipped with a gear adjuster and a limiting bolt. The gear adjuster cooperates with the spring stiffness adjustment mechanism, which is used to adjust the stiffness of the parallel torsion spring. The gear adjuster is connected to one end of the parallel torsion spring. The limiting bolt cooperates with the corresponding limiting structure of the calf support. The calf support is equipped with anti-lateral torsion ribs and a height adjustment plate. The height adjustment plate is connected to a connecting plate via bolts, and the height adjustment plate has multiple adjustment holes. The connecting plate has fixing holes that fit the adjustment holes. The length of the exoskeleton is adjusted by passing bolts through the adjustment holes and fixing holes at different positions.

5. A multifunctional knee joint heating exoskeleton with torsion spring assistance as described in claim 4, characterized in that, The thigh support includes a thigh support body, the gear adjuster is located at the upper end of the thigh support body and is connected to one end of the parallel torsion spring; the limiting bolt is located on the side of the thigh support body and cooperates with the limiting hole of the calf support; the end of the thigh support body away from the parallel torsion spring is connected to the connecting plate by bolts.

6. A multifunctional knee joint heating exoskeleton with torsion spring assistance as described in claim 4, characterized in that, The calf support includes a calf support body, the anti-lateral torsion ribs are symmetrically arranged on both sides of the upper end of the calf support body and are fixedly connected to the calf support body; the height adjustment plate is arranged on the side of the calf support body and is connected to the connecting plate by bolts; the end of the calf support body away from the parallel torsion spring is connected to the connecting plate by bolts.

7. A multifunctional knee joint heating exoskeleton with torsion spring assistance as described in claim 1, characterized in that, The detachable heating device includes an integrated power system, a flexible graphene heating cloth, and a connecting wire. The integrated power system is located at the front end of the human body and fits against the curved surface of the thigh support metal plate of the thigh support part. The flexible graphene heating cloth wraps around the front end of the human knee patella and its inner side contacts the inner surface of the composite heat-insulating fabric layer. The integrated power system is connected to the flexible graphene heating cloth through the connecting wire.

8. A multifunctional knee joint heating exoskeleton with torsion spring assistance as described in claim 7, characterized in that, The integrated power system includes a temperature adjustment button, a heating switch button, a battery compartment, a data display screen, and a smart first-aid kit. The temperature adjustment button, heating switch button, and data display screen are all located on the surface of the integrated power system and are connected to the battery compartment and the flexible graphene heating cloth through internal wiring, respectively. The battery compartment is located inside the integrated power system and provides power to the detachable heating device. The smart first-aid kit is detachably connected to the outer shell of the integrated power system.

9. A multifunctional knee joint heating exoskeleton with torsion spring assistance as described in claim 1, characterized in that, The composite thermal insulation fabric layer includes a fabric thermal insulation cylinder, an electric wire, a graphene heating cloth, and a moxibustion pack placement compartment. The fabric thermal insulation cylinder wraps around the thigh support, calf support, and knee joint rotation limiting assist device. The electric wire is located inside the fabric thermal insulation cylinder, with one end connected to the connection line of the detachable heating device and the other end connected to the graphene heating cloth. The graphene heating cloth receives electrical energy through the electric wire and is attached to the inner surface of the fabric thermal insulation cylinder. The moxibustion pack placement compartment is located on the back of the graphene heating cloth and is fixedly connected to the graphene heating cloth by hook-and-loop high-strength nylon fasteners.

10. A multifunctional knee joint heating exoskeleton with torsion spring assistance as described in claim 1, characterized in that, It also includes a connecting plate, one end of which is bolted to the thigh support body and the other end of which is bolted to the calf support body. The length of the exoskeleton can be adjusted by changing the connection position of the bolts on the connecting plate and the thigh and calf support bodies.

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