Multifunctional knee joint heating exoskeleton with torsion spring assistance

Abstract

The application provides a multifunctional knee joint heating exoskeleton with a torsional spring assisting function and belongs to the technical field of wearable knee joint auxiliary devices. The multifunctional knee joint heating exoskeleton comprises a thigh supporting part, a shank supporting part, a knee joint rotation limiting assisting device, a composite heat preservation fabric layer and a detachable heating device. The knee joint rotation limiting assisting device is arranged between the thigh supporting part and the shank supporting part and is coupled 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 assisting device. The composite heat preservation fabric layer is connected with a plurality of adjusting bands, and the adjusting bands are connected through hook and loop fasteners. The detachable heating device is matched with the thigh supporting part and the knee joint position. The multifunctional knee joint heating exoskeleton can provide assistance through a torsional spring, has the functions of heating and heat preservation, is combined with intelligent medicine assistance, effectively relieves knee joint pain, and improves the rehabilitation effect and medicine safety.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of wearable knee joint auxiliary devices, in particular to a multifunctional knee joint heating exoskeleton adopting a torsional spring assisted power type. BACKGROUND

[0002] With the aggravation of population aging and the increase of sports injuries, knee joint exoskeletons are increasingly widely used in rehabilitation and assisted walking. Existing knee joint exoskeletons mainly include thigh support parts, shank support parts and knee joint rotating devices and the like. For example, CN116898702A discloses a wearable knee joint exoskeleton, which includes a thigh support part, a knee joint rotating limiting device and a shank support part, wherein the knee joint rotating limiting device is used to limit the angle range of human knee movement, but it adopts a rigid hinge connection, which is difficult to adapt to the natural internal or external rotation trajectory of the human knee joint, and the motion adaptability is poor. CN119347730A proposes a knee joint exoskeleton with variable rotation center, which realizes multiple rotation degrees of freedom through a continuum rotating mechanism to adapt to the natural movement of the human knee joint, but it does not integrate the power assistance function, and can only realize motion adaptation, and cannot provide additional knee joint support force for the user, which is insufficient in supporting the scenes with high physical consumption in assisted walking or rehabilitation training.

[0003] In terms of power assistance function, CN111773026B describes a multi-joint rigid-flexible combined power-assisted lower limb exoskeleton, which provides power assistance for the swing flexion of the knee joint part through a driving assembly and a rope system, but the driving assembly is large in size and complex in structure, which increases the overall weight of the exoskeleton, reduces the portability and comfort when worn, and lacks the functions of keeping warm and heating for the knee joint, which is easy to affect the rehabilitation effect due to joint cooling when used in low temperature environment. CN115302489B proposes a center-of-moment adjustable variable stiffness flexible knee joint exoskeleton, which realizes adjustable stiffness and high flexibility through parallel cross springs and pneumatic artificial muscles, but the pneumatic artificial muscles need to be matched with an additional air pump and pipeline system, which not only increases the complexity and maintenance cost of the equipment, but also has a slow response speed in the process of air pressure adjustment, which is difficult to adapt to the power assistance demand in different motion states in real time, and does not consider the heat therapy demand of the knee joint, and the function is relatively single.

[0004] In addition, knee exoskeleton technology assists joint movement, limits abnormal range of motion, and shares load through mechanical structure, becoming the research focus in the field of rehabilitation medicine and assistive devices. However, the existing knee exoskeleton design still has significant bottlenecks in biomechanical adaptability and functional integration. For example, the patent with the authorization announcement number CN216603447U provides a power-assisted knee exoskeleton, which is extremely sensitive to assembly positioning accuracy. The multi-degree-of-freedom hinged design results in a large number of mechanical components, and the user's self-wearing takes a long time. At the same time, it cannot limit and restrict the range of knee extension movement, and there is a potential safety hazard in movement. For another example, the patent with the authorization announcement number CN201910201776.2 provides an exoskeleton type bionic power knee joint rehabilitation device, which has the problem of insufficient coupling degree in structural integration. Specifically, the heat source layout and power transmission are stacked through rigid split structure, which causes heat to penetrate the metal skeleton to act on the deep joint tissue, reducing the heat energy transmission, and the heat therapy effect is not good.

[0005] However, the existing knee exoskeleton still has some problems in biomechanical adaptability and functional integration. First, most exoskeletons have high requirements for assembly positioning accuracy, and the multi-degree-of-freedom hinged design results in a large number of mechanical components, which takes a long time for the user to wear independently. At the same time, most of them use rigid hinged structure, which is not suitable for the natural movement trajectory of the human body, and is prone to movement interference. Second, although some exoskeletons can limit the movement angle of the knee joint, they cannot accurately limit and control the range of extension movement. Finally, there is a problem of insufficient coupling degree in structural integration. In particular, when integrating the heating function, the heat source layout and power transmission are usually stacked through rigid split structure, which causes heat to penetrate the metal skeleton to act on the deep joint tissue, reducing the heat energy transmission efficiency. Moreover, the heating module lacks multiple safety protection, the battery compartment has a short circuit risk in a humid environment, and the air permeability design of the thermal insulation fabric is insufficient. These problems limit the comfort, safety and functionality of the knee exoskeleton in actual application. SUMMARY

[0006] In order to overcome the shortcomings of the prior art, the purpose of the present application is to provide a multifunctional knee heating exoskeleton with torsional spring assistance, which provides step-by-step assistance through torsional springs to adapt to different movement needs, and elastic rubber coupled joints to adapt to the natural movement of the human knee joint. At the same time, the integration of detachable heating devices and composite thermal insulation fabric layers realizes efficient heat therapy and insulation, which can effectively relieve knee pain and improve rehabilitation effect, and has the characteristics of high safety, good stability and simple wearing, which can meet the use requirements in multiple scenes.

[0007] To achieve the above purpose, the present application provides the following solutions:

[0008] The multifunctional knee joint heating exoskeleton of the twist spring assisted type comprises a thigh support part, a shank support part, a knee joint rotation limiting assisting device, a composite heat preservation fabric layer and a detachable heating device; the knee joint rotation limiting assisting device is arranged between the thigh support part and the shank support part and is coupled with the thigh support part and the shank support part through elastic rubber coupling joints; the composite heat preservation fabric layer covers the surfaces of the thigh support part, the shank support part and the knee joint rotation limiting assisting device, and a plurality of adjusting bands are connected to the composite heat preservation fabric layer, and the adjusting bands are connected to each other through high-strength nylon hooks and loops.

[0009] Preferably, the thigh support part comprises a thigh support metal bent plate, a rotation connecting piece, a connecting bolt and an adjusting band, the inner side of the thigh support metal bent plate is in contact with the human body, and the outer side is attached to the composite heat preservation fabric layer; the rotation connecting piece is connected with the elastic rubber coupling joint through the connecting bolt; the adjusting band is fixedly arranged at the edge of the composite heat preservation fabric layer, and the adjusting bands are connected to each other through high-strength nylon hooks and loops.

[0010] Preferably, the elastic rubber coupling joint is arranged between the thigh support part and the knee joint rotation limiting assisting device and between the shank support part and the knee joint rotation limiting assisting device, one end of the elastic rubber coupling joint is connected with the rotation connecting piece of the thigh support part or the corresponding connecting piece of the shank support part, and the other end is connected with the thigh support piece or the shank support piece of the knee joint rotation limiting assisting device.

[0011] Preferably, the knee joint rotation limiting assisting device comprises a thigh support piece, a parallel twist spring, a shank support piece and a spring stiffness adjusting mechanism, the thigh support piece is connected with the shank support piece through the parallel twist spring, the thigh support piece is provided with a gear adjuster and a limiting bolt, wherein the gear adjuster cooperates with the spring stiffness adjusting mechanism, the spring stiffness adjusting mechanism is used for adjusting the stiffness of the parallel twist spring, the gear adjuster is connected with one end of the parallel twist spring, and the limiting bolt cooperates with the corresponding limiting structure of the shank support piece; the shank support piece is provided with an anti-lateral torsion rib and a height adjusting plate, the height adjusting plate is connected with a connecting plate through a bolt, and the height adjusting plate is provided with a plurality of adjusting holes, the connecting plate is provided with fixing holes matched with the adjusting holes, and the length of the exoskeleton is adjusted by passing the bolt through the adjusting holes and the fixing holes at different positions.

[0012] Preferably, the thigh support part comprises a thigh support body, the gear adjuster is arranged at the upper end of the thigh support body and connected with one end of the parallel torsion spring; the limiting bolt is arranged at the side of the thigh support body and matched with the limiting hole of the lower leg support part; the other end of the thigh support body away from the parallel torsion spring is connected with the connecting plate through a bolt.

[0013] Preferably, the lower leg support part comprises a lower leg support body, the anti-lateral torsion ribs are symmetrically arranged at the two sides of the upper end of the lower leg support body and fixedly connected with the lower leg support body; the height adjustment plate is arranged at the side of the lower leg support body and connected with the connecting plate through a bolt; the other end of the lower leg support body away from the parallel torsion spring is connected with the connecting plate through a bolt.

[0014] Preferably, the detachable heating device comprises an integrated power supply system, a flexible graphene heating cloth and a connecting line, the integrated power supply system is located at the front end of the human body and attached to the arc surface of the thigh support metal bending plate of the thigh support part; the flexible graphene heating cloth is wrapped around the front end of the knee patella of the human body and internally contacted with the inner surface of the composite heat preservation fabric layer; the integrated power supply system is connected with the flexible graphene heating cloth through the connecting line.

[0015] Preferably, the integrated power supply system comprises a temperature adjusting button, a heating switch button, a battery compartment, a data display screen and an intelligent first-aid medicine box, the temperature adjusting button, the heating switch button and the data display screen are arranged on the surface of the integrated power supply system and respectively connected with the battery compartment and the flexible graphene heating cloth through internal circuits; the battery compartment is arranged inside the integrated power supply system and provides electric energy for the detachable heating device; the intelligent first-aid medicine box is detachably connected with the shell of the integrated power supply system.

[0016] Preferably, the composite heat preservation fabric layer comprises a fabric heat preservation cylinder, an electric wire, a graphene heating cloth and a moxibustion bag placing compartment, the fabric heat preservation cylinder is wrapped outside the thigh support part, the lower leg support part and the knee joint rotation limiting assisting device; the electric wire is arranged inside the fabric heat preservation cylinder and connected with the connecting line of the detachable heating device at one end and with the graphene heating cloth at the other end; the graphene heating cloth receives electric energy through the electric wire and is attached to the inner surface of the fabric heat preservation cylinder; the moxibustion bag placing compartment is arranged at the back of the graphene heating cloth and fixedly connected with the graphene heating cloth through the hook and loop fastener of high-strength nylon.

[0017] Preferably, the connecting plate is further arranged, one end of the connecting plate is connected with the thigh support body through a bolt and the other end of the connecting plate is connected with the lower leg support body through a bolt, the length of the exoskeleton is adjusted by changing the connection position of the bolts on the connecting plate, the thigh support body and the lower leg support body.

[0018] According to the specific embodiments provided by the present application, the following technical effects are disclosed:

[0019] (1) The present application improves the motion adaptability and safety through the synergistic effect of the thigh support part, the calf support part, the knee joint rotation limiting power assisting device and the elastic rubber coupling joint. The thigh support metal bending plate of the thigh support part cooperates with the adjusting bandage to realize close fitting with the human body. The elastic rubber coupling joint connects the thigh support part, the calf support part and the knee joint rotation limiting power assisting device to provide the freedom of rotation in the horizontal plane of the knee joint, which adapts to the natural motion trajectory of the human body. The parallel torsion spring in the knee joint rotation limiting power assisting device cooperates with the gear adjuster to realize low, medium and high three gear power adjustment by moving the slider position, which meets the needs of different motion scenes. At the same time, the limiting bolt cooperates with the limiting structure of the calf support part to limit the excessive flexion and extension of the knee joint, which ensures the safety of motion. At the same time, the intelligent first-aid medicine box of the present application can also adopt modular lightweight design, which is compatible with the outline of the exoskeleton and can be detachably connected. It has the functions of time unlocking, medicine storage environment monitoring and medicine reminding, and can be linked with the exoskeleton health monitoring system. Thus, the present application has the functions of heating and heat preservation, which can effectively relieve the pain of the knee joint and improve the rehabilitation effect and the safety of medicine taking in combination with the medicine taking assistance of the intelligent first-aid medicine box.

[0020] (2) The present application strengthens the knee heat therapy effect through the combination of the detachable heating device and the composite heat preservation fabric layer. The flexible graphene heating cloth of the detachable heating device is attached to the patella of the knee joint. The integrated power supply system controls the heating temperature and switch through the connecting line. The battery compartment provides electric energy. The data display screen feedbacks the temperature and power in real time. The graphene heating cloth of the composite heat preservation fabric layer cooperates with the moxibustion bag storage compartment to realize the synergistic effect of heat therapy and moxibustion during heating. The fabric heat preservation cylinder reduces heat loss, so that the heat can effectively act on the knee to relieve inflammation and pain.

[0021] (3) The present application improves the convenience and applicability of wearing through the connection plate, the height adjusting plate and the adjusting bandage. The connection plate cooperates with the connecting bolts of the thigh support part and the calf support part. The adjusting hole of the height adjusting plate cooperates with the fixing hole of the connection plate. By changing the position of the connecting bolt, the length and attachment area of the exoskeleton can be adjusted to adapt to the lower limb size of different users. The adjusting bandage of the thigh support part and the calf support part can be quickly adjusted in tightness through the hook face high-strength nylon zipper. The wearing can be completed in sitting and standing positions, which greatly shortens the wearing time and meets the needs of multi-scene use. BRIEF DESCRIPTION OF DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed in the embodiments. Obviously, the drawings in the following description only constitute some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained from these drawings without creative labor.

[0023] Figure 1 The overall structure schematic diagram of a multifunctional knee joint heating exoskeleton provided by the present application is provided by a torsional spring assisted force;

[0024] Figure 2 The structure schematic diagram of a knee joint rotation limiting force assisting device provided by the embodiment of the present application is provided;

[0025] Figure 3 The structure schematic diagram of a parallel torsional spring provided by the embodiment of the present application is provided;

[0026] Figure 4 The structure schematic diagram of a thigh support part provided by the embodiment of the present application is provided;

[0027] Figure 5 The connection schematic diagram of a thigh support part and a knee joint rotation limiting force assisting device provided by the embodiment of the present application is provided;

[0028] Figure 6 The structure schematic diagram of a composite heat preservation fabric layer provided by the embodiment of the present application is provided;

[0029] Figure 7 The structure schematic diagram of a detachable heating device provided by the embodiment of the present application is provided.

[0030] Explanation of reference signs:

[0031] 1, thigh support part; 11, thigh support metal bent plate; 12, rotation connecting piece; 13, connecting bolt; 14, adjusting bandage; 2, elastic rubber coupling joint; 3, thigh support piece; 31, thigh support piece main body; 32, limiting bolt; 33, gear adjuster; 4, parallel torsional spring; 5, calf support piece; 51, anti-lateral torsion rib; 52, calf support piece main body; 53, height adjusting plate; 6, connecting plate; 7, detachable heating device; 71, temperature adjusting button; 72, heating switch button; 73, battery compartment; 74, data display screen; 75, intelligent first-aid medicine box; 8, spring stiffness adjusting mechanism; 9, composite heat preservation fabric layer; 91, fabric heat preservation cylinder; 92, electric wire; 93, graphene heating cloth; 94, moxibustion bag placing compartment; 10, calf support part. DETAILED DESCRIPTION

[0032] 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.

[0033] 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.

[0034] Example

[0035] 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:

[0036] 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.

[0037] The thigh support metal bent plate 11 is connected with the adjusting band 14 through a rotary connecting piece 12 at the contact position, the opening of the rotary connecting piece 12 fixes the rotation track of the thigh support metal bent plate 11, and the rotary connecting piece 12 is connected with the elastic rubber coupling joint 2 through a connecting bolt 13, wherein the thigh support metal bent plate 11 can also adopt a split type design, the main body and the two extension plates are connected through the inner arc-shaped slide rail, the extension plate can slide to the two sides along the slide rail to adjust the overall width. Eight positioning holes are uniformly distributed on the slide rail, the hole distance is 10 mm, the spring plunger at the end of the extension plate can be clamped into the corresponding positioning hole to realize fixation, and the adjustment range covers 280-420 mm of thigh girth. The inner side of the extension plate is attached with a 0.5 mm thick silica gel pad, and the edge is rounded to reduce friction on the skin. Meanwhile, the support metal bent plate of the calf support part 10 can also adopt the split sliding structure, and the adjustment range is adapted to 220-340 mm of calf girth. After the width is adjusted, the overlapping area of the extension plate and the main body still retains sufficient support strength, cooperates with the tightness control of the adjusting band 14, so that the support part and the lower limb contour are closely fitted, the shaking due to the gap during movement is avoided, the limb size difference of different users is adapted, and the wearing comfort and stability are improved. The contact parts of the rotary connecting piece 12 and the two sides of the thigh are wrapped with fabric to reduce discomfort. The structure of the calf support part 10 is similar to that of the thigh support part 1, and also includes a support metal bent plate, a connecting piece and an adjusting band.

[0038] With reference to Figure 2 and Figure 3 , the knee joint rotation limiting assisting device is arranged between the thigh support part 1 and the calf support part 10, and includes a thigh support part 3, a parallel torsional spring 4, a calf support part 5 and a spring stiffness adjusting mechanism 8. The thigh support part 3 and the calf support part 5 are connected through the parallel torsional spring 4, the thigh support part 3 includes a thigh support part main body 31, the upper end of the thigh support part main body 31 is provided with a gear adjusting device 33, and the side surface is provided with a limiting bolt 32; the gear adjusting device 33 cooperates with the spring stiffness adjusting mechanism 8, the spring stiffness adjusting mechanism 8 is a hollow guide rail, a movable sliding block is arranged in the hollow guide rail, three series grooves are distributed on the guide rail, and the stiffness of the parallel torsional spring 4 can be adjusted by fixing the sliding block in different grooves, so that low (10-20 N·m), medium (20-40 N·m) and high (40-60 N·m) three gear assisting adjustments are realized.

[0039] Specifically, as Figure 5As shown, a MEMS six-axis inertial sensor with a size of 2mm x 2mm x 1mm is embedded in the hinge shaft of the knee joint rotation limiting assist device, which is used to collect real-time flexion / extension angle and angular velocity data; a flexible piezoresistive sensing array with a thickness of 0.3mm is integrated on the inner side of the adjusting strap 14 of the thigh support part 1 and the calf support part 10, which is used to dynamically monitor the pressure distribution of the rectus femoris and gastrocnemius muscles; the above data is transmitted to the newly added multi-core microprocessor in the battery compartment 73 of the detachable heating device 7 through the SPI bus, realizing gait phase recognition, such as walking / stair climbing / sitting- standing conversion, and outputting signals to remind the user to change the moving block of the spring stiffness adjustment mechanism 8 to automatically switch the three gear assist torques (such as low gear 10-20N·m corresponding to stair descent, medium gear 20-40N·m corresponding to flat ground walking, and high gear 40-60N·m corresponding to climbing). At the same time, the infrared distance measuring module integrated in the limiting bolt 32 is used to convert the joint angle in real time, and the built-in vibration motor is triggered to warn when the knee hyperextension is detected to be >5°; the data display screen 74 of the detachable heating device 7 displays the joint range of motion curve and gait symmetry analysis interface, all data is transmitted to the medical end APP through Bluetooth 5.2 encryption to generate a rehabilitation quantitative report, realizing closed-loop intelligent control of exoskeleton assistance-thermal therapy-protection.

[0040] In this embodiment, zirconia (ZrO2) ceramic pieces with a thickness of 0.5-1mm are inlaid on the circular arc contact surface of the limiting bolt 32 and the groove contact surface of the anti-lateral torsion rib 51. The high hardness of the ceramic pieces can resist surface scratches caused by long-term friction, and the low friction coefficient (0.1-0.2) reduces contact loss, ensuring long-term stability of the limiting angle. Polyurethane elastic stoppers are embedded in the limiting grooves of the calf support 5, and the stoppers are circular arc-shaped, forming an elastic buffer layer when the ceramic surface of the limiting bolt 32 is attached. When the joint reaches the limit angle, the elastic stopper absorbs impact energy through deformation, avoiding structural damage caused by rigid collision, and reducing impact noise.

[0041] The calf support 5 includes a calf support body 52, two anti-lateral torsion ribs 51 symmetrically arranged on the upper end of the calf support body 52, the anti-lateral torsion ribs 51 being fixedly connected with the calf support body 52 and extending to both sides, which can enhance the structural strength and shield the hinge part to prevent foreign matter from entering; the height adjustment plate 53 is provided on the side surface of the calf support body 52, and a plurality of adjustment holes are provided on the height adjustment plate 53 and connected with the fixing holes of the connecting plate 6 through bolts, and the end of the calf support body 52 away from the parallel torsion spring 4 is also connected with the connecting plate 6 through bolts, and the length of the exoskeleton can be adjusted by changing the bolt connection position.

[0042] The elastic rubber coupling joint 2 is arranged between the thigh support part 1 and the knee joint rotation limiting assisting device, and between the shank support part 10 and the knee joint rotation limiting assisting device, one end of the elastic rubber coupling joint 2 is connected with the rotary connecting piece 12 of the thigh support part 1 or the corresponding connecting piece of the shank support part 10, and the other end of the elastic rubber coupling joint 2 is connected with the thigh support piece 3 or the shank support piece 5 of the knee joint rotation limiting assisting device, the elastic rubber coupling joint 2 replaces the traditional rigid hinge, can not only transmit elastic force to ensure the structural strength, but also provide the freedom degrees of horizontal plane rotation or external rotation of the knee joint, and further adapt to the natural motion track of the human body, compared with the rigid limiting structure of the prior art, the motion interference force can be reduced by more than 30%.

[0043] As shown in Figure 7 The detachable heating device 7 includes an integrated power supply system, a flexible graphene heating cloth and a connecting line, the integrated power supply system is located at the front end of the human body and is attached to the arc surface of the thigh support metal bending plate 11 of the thigh support part 1, the surface of the integrated power supply system is provided with a temperature adjusting button 71, a heating switch button 72, a data display screen 74 and a smart first-aid medicine box 75, and the inside of the integrated power supply system is provided with a battery compartment 73; the temperature adjusting button 71, the heating switch button 72 and the data display screen 74 are respectively connected with the battery compartment 73 and the flexible graphene heating cloth through internal lines, the battery compartment 73 provides electric energy for the heating device, the data display screen 74 can display the heating temperature and the remaining electric quantity in real time, and the smart first-aid medicine box 75 is detachably connected with the shell of the integrated power supply system.

[0044] As a preferred embodiment, the smart first-aid medicine box 75 adopts a modular and lightweight design, the main body is made of high-strength lightweight plastic or carbon fiber composite material, the total weight is controlled within the range of 200-300 grams, and the thickness is not more than 35 mm. The shape of the smart first-aid medicine box 75 is arc-shaped, the arc-shaped contour is matched with the contour curve of the exoskeleton, a silica gel buffer layer is attached to the surface to reduce friction during movement, and the smart first-aid medicine box 75 is detachably connected with the shell of the integrated power supply system, is fixed by magnetic attraction, buckling or sliding rail to ensure stable assembly during movement. In addition, the smart first-aid medicine box 75 can also be provided with a rotary medicine compartment, which cooperates with an electromagnetic lock to realize timed unlocking of the corresponding medicine compartment to prevent mistaken taking or early taking of medicine. A silica gel damping pad and a weight sensor are arranged in the rotary medicine compartment, the weight sensor is used for real-time calibration of the remaining amount of medicine and monitoring of the state of taking out of medicine, and the silica gel damping pad can avoid detection errors caused by movement bumps. In addition, a Hall sensor can also be arranged to monitor the state of the compartment door.

[0045] As a preferred embodiment, the smart first-aid medicine box 75 can also share the battery compartment with the integrated power supply system, and in the embodiment, a magnetic attraction wireless charging method can be used for power supply. The magnetic attraction modules of the output end of the exoskeleton power supply and the input end of the smart first-aid medicine box 75 generate a magnetic field through alternating current to realize power transmission, and the current and voltage are dynamically adjusted by a charging management chip to prevent overcharging.

[0046] As a preferred embodiment, the smart first-aid medicine box 75 is also integrated with a temperature and humidity sensor, a light-sensitive element, and an RFID tag identification function, which can monitor the medicine storage environment in real time and synchronize the data to the data display screen. When abnormal light-proof and moisture-proof conditions or expired medicines are detected, the screen triggers a red warning icon and enhances the vibration reminder. Through the linkage of the microcontroller and the RTC real-time clock, the corresponding medicine storage is unlocked at a certain time to prevent misuse or missed medication. The smart first-aid medicine box 75 has a multi-mode reminder mechanism and can be linked with a low-frequency vibration module with an amplitude of no more than 5 mm at the knee joint of the exoskeleton. The regular vibration and pulse vibration distinguish the reminder level, and the large font high-contrast interface and voice interaction are used to avoid motion noise interference. When the medicine storage environment is abnormal or the medicine is expired, the vibration reminder is enhanced simultaneously. The user can customize the reminder sound and light color, and the operation process is simplified to realize one-key medicine taking.

[0047] As a preferred embodiment, the data of the smart first-aid medicine box 75 can also be connected with the exoskeleton health monitoring system that monitors heart rate, blood pressure, and other health data. Through the WiFi or 5G module, the data is uploaded to the cloud for doctors to remotely monitor the medication situation. 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 the missed medication scenario and enhance the reminder strength in advance. For example, when it is detected that the user has not been active for a long time, the vibration frequency and volume are automatically increased. The data can also be synchronized to the data display screen of the integrated power supply system or the mobile phone APP through the Internet of Things technology to realize the early warning of expired medicines or abnormal storage and facilitate medical staff to remotely monitor the patient's medication situation.

[0048] The flexible graphene heating cloth is wrapped around the front end of the human knee patella, and the inner side is in contact with the inner surface of the composite heat preservation fabric layer 9, and is connected with the integrated power supply system through the connecting line. Meanwhile, a high-temperature-resistant silicone rubber heat insulation layer can also be arranged on the contact surface of the flexible graphene heating cloth and the composite heat preservation fabric layer 9, so as to avoid direct conduction of local overheating to the skin. In the carbon fiber heating layer of the graphene heating cloth 93, far-infrared ceramic particles with a diameter of 1-3 μm are uniformly mixed, and the particle proportion is 18%, and a composite film is formed through a high-temperature compression process. The flexible graphene heating cloth is directly attached to the knee joint patella, and the composite heat preservation fabric layer is covered on the surface of the support structure, and is not directly wrapped around the metal skeleton, so that the heat can act on the knee without penetrating the rigid part. Compared with the split structure of the prior art, the heat transfer efficiency is improved by 40%, and the heat source and transmission are integrated. The heating layer emits 8-15 μm band far-infrared rays, with a penetration depth of 3-5 cm, which can raise the temperature of the knee synovial membrane by 2-3℃. A ring-shaped neodymium-iron-boron permanent magnet is pasted at the bottom of the moxibustion bag placement bin 94, the central aperture of the magnetic sheet matches the diameter of the moxibustion bag, and a hot therapy and magnetic therapy cooperation area is formed. The magnetic field can promote local blood circulation, and cooperate with far-infrared heat therapy to improve the penetration efficiency of moxibustion medicine by 30%, and improve the analgesic effect on knee synovitis. The central part of the graphene heating cloth 93 is attached with a thermistor, and the edge is embedded with a low-melting-point alloy fuse wire, and the melting temperature is 55℃. The thermistor is connected with the MCU of the integrated power supply system through a flexible wire, to form double overheat protection, for example: when the MCU detects that the heating temperature exceeds 50℃, the heating circuit is automatically cut off and the warning icon is triggered on the data display screen; if the circuit control system fails, the fuse wire can physically cut off the current.

[0049] In the embodiment, the protection level of the battery bin 73 can reach IP67, which is realized by a triple-sealing structure: an omega-shaped food-grade silicone sealing ring is used at the connection between the bin body and the shell, with a compression amount of 30%, for realizing complete dustproof; a waterproof plug-in connector and an elastic sealing cover are configured for the charging interface, for meeting the water immersion protection; a polytetrafluoroethylene insulating partition plate is additionally arranged between the internal cell and the bin body, for forming a short-circuit isolation. In addition, the battery bin is provided with an overcurrent protection chip, which has a response time of <10 ms and automatically cuts off the power when the loop current exceeds 1.5 A. The positive and negative electrode contacts of the cell are treated by 5 μm gold plating, to reduce the risk of oxidation short circuit in a humid environment.

[0050] As Figure 6As shown, the composite thermal fabric layer 9 covers the thigh support part 1, the calf support part 10 and the surface of the knee joint rotation limiting assistance device, including a fabric thermal cylinder 91, an electric wire 92, a graphene heating cloth 93 and a moxa bag placement bin 94. The fabric thermal cylinder 91 is wrapped outside each part, and the outer side is connected with an adjusting bandage 14, which is connected with each other through the hook and loop high-strength nylon fastener; the electric wire 92 is arranged inside the fabric thermal cylinder 91, one end of which is connected with the connecting line of the detachable heating device 7, and the other end is connected with the graphene heating cloth 93; the graphene heating cloth 93 is attached to the inner surface of the fabric thermal cylinder 91, and the back surface is provided with the moxa bag placement bin 94, which is fixedly connected with the graphene heating cloth 93 through the hook and loop high-strength nylon fastener, and the bottom is pasted with an annular neodymium iron boron permanent magnet; the fabric thermal cylinder 91 is provided with a rotating hole matched with the thigh supporting piece 3, which can avoid fabric sliding.

[0051] In the embodiment, the fabric thermal cylinder 91 can adopt a three-layer composite structure, specifically: the outer layer is a high-density nylon windproof fabric, the air permeability of which is 800 mm / s, the middle layer is hollow polyester fiber thermal cotton, the porosity of which is 90%, and the inner layer is a honeycomb-shaped bamboo fiber breathable fabric, the air permeability of which is 1200 mm / s. According to the GB / T12704.1 standard test, the overall air permeability reaches 5000 g / (m 2 ·24h), which can quickly exhaust the skin evaporation water vapor while keeping the heat loss rate below 15%, and the thermal efficiency is improved by 20% compared with the existing thermal fabric. In addition, the fabric at the corresponding position of the knee joint rotation limiting assistance device can also be provided with invisible air holes, which cooperate with the air gap of the elastic rubber coupling joint to form an air convection channel, so as to avoid stuffiness caused by long-term wrapping.

[0052] 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.

[0053] 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.

[0054] 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 heating exoskeleton using a torsion spring assisted force, 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 both the thigh support and the calf support 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, and is connected to several adjustment straps, which are connected to each other via hook-and-loop high-strength nylon fasteners. The detachable heating device is positioned to fit the thigh support and the knee joint. 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 match the adjustment holes. The length of the exoskeleton is adjusted by passing bolts through the adjustment holes and fixing holes at different positions. 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.

2. The multifunctional knee heating exoskeleton with torsion spring assistance according to 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 heating exoskeleton with torsion spring assistance according to 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 heating exoskeleton with torsion spring assistance according to claim 1, 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.

5. The multifunctional knee heating exoskeleton with torsion spring assistance according to claim 1, characterized in that, The calf support piece includes a calf support piece body, the anti-lateral torsion rib is symmetrically arranged on both sides of the upper end of the calf support piece body and is fixedly connected with the calf support piece body, the height adjusting plate is arranged on the side surface of the calf support piece body and is connected with the connecting plate through a bolt, and the calf support piece body is connected with the connecting plate through a bolt at the end away from the parallel torsion spring.

6. The multifunctional knee heating exoskeleton with torsion spring assistance according to claim 1, characterized in that, The integrated power supply system includes a temperature adjusting button, a heating switch button, a battery compartment, a data display screen and a smart first-aid medicine box, the temperature adjusting button, the heating switch button and the data display screen are arranged on the surface of the integrated power supply system and are connected with the battery compartment and the flexible graphene heating cloth through internal lines respectively, the battery compartment is arranged inside the integrated power supply system and provides electric energy for the detachable heating device, and the smart first-aid medicine box is detachably connected with the shell of the integrated power supply system.

7. The multifunctional knee heating exoskeleton with torsion spring assistance according to 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 moxa stick bag placing compartment, the fabric thermal insulation cylinder is wrapped outside the thigh support part, the calf support part and the knee joint rotation limiting assisting device, the electric wire is arranged inside the fabric thermal insulation cylinder and is connected with the connecting line of the detachable heating device at one end and with the graphene heating cloth at the other end, the graphene heating cloth receives electric energy through the electric wire and is attached to the inner surface of the fabric thermal insulation cylinder, and the moxa stick bag placing compartment is arranged on the back surface of the graphene heating cloth and is fixedly connected with the graphene heating cloth through a hook and loop fastener.

8. The multifunctional knee heating exoskeleton with torsion spring assistance according to claim 1, characterized in that, The connecting plate is connected with the thigh support piece body through a bolt at one end and is connected with the calf support piece body through a bolt at the other end, and the length of the exoskeleton is adjusted by changing the connection position of the bolt on the connecting plate, the thigh support piece body and the calf support piece body.

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