Lower extremity exoskeleton with shock absorption function

Abstract

The present application relates to the technical field of exoskeleton robots, and particularly relates to a lower limb exoskeleton with a shock absorption function, which comprises an ankle joint exoskeleton structure and a sole shock absorption mechanism; the ankle joint exoskeleton structure comprises a leg fixing device, a pneumatic muscle driving structure and a foot wearable mechanism; the leg fixing device is used for fixing with a human lower leg to ensure the comfort and overall stability of the exoskeleton; the pneumatic muscle driving structure is arranged between the leg fixing device and the foot wearable mechanism and is mainly used for assisting the foot ankle joint to produce a plantar flexion movement; the foot wearable mechanism is used for bearing the foot of the human body; the sole shock absorption mechanism is arranged below the foot wearable mechanism and is used for buffering and absorbing shocks of the foot, enhancing the elasticity of the arch of the foot and improving the stability of the foot ankle movement. The present application can realize efficient energy transmission between the knee joint and the ankle joint, assist the ankle joint to perform a plantar flexion and the knee joint to bend, and significantly improve the foot ankle ground climbing efficiency and gait economy.

Description

Technical Field

[0001] This invention relates to the field of exoskeleton robot technology, and in particular to a lower limb exoskeleton with shock absorption function. Background Technology

[0002] Among the key factors contributing to increased fall risk in older adults, collapsed arches are the most easily overlooked. Collapsed arches cause the soles of the feet to become flat or nearly flat, meaning the feet lose their proper elasticity and support. This can affect balance while walking, increasing the risk of falls. Furthermore, collapsed arches prevent the proper release and distribution of pressure on the soles of the feet, compressing blood vessels and nerves. This not only causes pain and discomfort while walking but can also lead to gait instability, abnormal gait, and ultimately, limping, further increasing the risk of falls.

[0003] In the fields of rehabilitation medicine and assistive devices, exoskeleton robots are playing an increasingly important role. However, existing assistive devices struggle to meet the demands of complex gait patterns, alleviate foot fatigue, and maintain ankle joint stability in practical applications. Furthermore, traditional motor-driven systems suffer from issues such as heavy weight, high energy consumption, and insufficient flexibility, limiting their use in prolonged wear and outdoor environments. Therefore, developing an exoskeleton robot that balances knee-ankle coordination, provides comfortable use, incorporates shock absorption, and enhances ankle stability to accommodate complex gait movements has become a pressing technical challenge. Summary of the Invention

[0004] The purpose of this invention is to provide a lower limb exoskeleton with shock absorption function to solve at least one of the technical problems existing in the prior art.

[0005] To solve the above-mentioned technical problems, the present invention provides a lower limb exoskeleton with shock absorption function, including an ankle joint exoskeleton structure and a foot shock absorption mechanism;

[0006] The ankle exoskeleton structure includes a leg fixation device, a pneumatic muscle drive structure, and a wearable foot mechanism.

[0007] The leg fixation device is used to fix the exoskeleton to the human leg to ensure the overall stability of the exoskeleton;

[0008] The pneumatic muscle drive structure is disposed between the leg fixation device and the foot wearable mechanism to assist in the contraction and relaxation of the calf muscles;

[0009] The wearable foot device is used to support the human foot.

[0010] The foot shock absorption mechanism is located below the wearable foot device and is used to cushion the foot from shocks.

[0011] Furthermore, the leg fixation device includes an upper knee fixation strap and a lower knee fixation strap;

[0012] The pneumatic muscle drive structure includes an external pneumatic muscle and an internal pneumatic muscle.

[0013] The knee brace is used to secure the upper edge of the human knee.

[0014] The upper end of the external pneumatic muscle is hinged to the rear of the knee fixation strap;

[0015] The lower end of the external pneumatic muscle is directly or indirectly connected to the wearable foot mechanism.

[0016] The knee fixation strap is used to be tied around the lower edge of the human knee;

[0017] The upper end of the internal pneumatic muscle is hinged to the rear of the knee fixation strap;

[0018] The lower end of the internal pneumatic muscle is directly or indirectly connected to the wearable foot mechanism;

[0019] There are two external pneumatic muscles and one internal pneumatic muscle.

[0020] The internal pneumatic muscle is positioned between the two external pneumatic muscles.

[0021] Furthermore, the ankle exoskeleton structure also includes a plantar plate, a heel connector, a heel tension spring, and a side connector;

[0022] The heel connector has a U-shaped structure, with the U-shaped opening facing forward of the foot;

[0023] The heel connector abuts against the area above the heel and behind the ankle of the human body;

[0024] The upper part of the heel tension spring is fixedly connected to the heel connector, and the lower part of the heel tension spring is fixedly connected to the sole plate.

[0025] The two side connectors are located above the two sides of the foot plate and are hinged to the end of the heel connector and directly or indirectly connected to the foot plate;

[0026] The lower ends of the external pneumatic muscles and the lower ends of the internal pneumatic muscles are both hinged to the heel connector.

[0027] Furthermore, the wearable foot mechanism also includes an arch support plate;

[0028] The arch support is positioned below the sole plate and is fixedly connected to the wearable foot mechanism.

[0029] The lower end of the side connector is indirectly connected to the foot plate by connecting to the arch support plate;

[0030] The foot plate has multiple connecting holes in the front and rear axial directions;

[0031] The arch support plate is mounted on the sole plate via connecting holes;

[0032] The arch support plate is fixed in place by means of appropriate connecting holes according to the position of the human foot arch.

[0033] Furthermore, the ankle exoskeleton structure also includes a dorsolateral foot fixation strap;

[0034] The foot back fixing strap is fixedly mounted at both ends on two parallel side connectors;

[0035] The foot dorsum fixation strap is used to fix the upper side of the human foot, thereby enhancing the overall stability of the exoskeleton.

[0036] Furthermore, the knee fixation strap is symmetrically provided with downwardly extending first connecting rods on both sides;

[0037] The lower end of the first link is rotatably connected to the side connector via a fixed second link to form a hinge structure, so as to adapt to the movement trajectory during the flexion and extension of the knee and ankle joints.

[0038] Furthermore, the ankle exoskeleton structure also includes a forefoot side member;

[0039] The two forefoot side rods are respectively positioned opposite each other at the front end of the two side connectors, and are used to clamp the user's shoe upper.

[0040] Furthermore, the foot shock absorption mechanism includes a foot tension spring, a first rod, a second rod, a third rod, a fourth rod, a first foot connector, a second foot connector, a rope, a toe connection structure, a first toe, and an auxiliary toe;

[0041] One end of the first rod and one end of the second rod are hinged together below the foot plate;

[0042] The end of the first rod away from the second rod is hinged to the first connecting member on the sole of the foot;

[0043] The end of the second rod away from the first rod is hinged to the rear end of the first toe;

[0044] The foot extension spring is disposed between the first rod and the second rod;

[0045] One end of the rope is fixedly mounted on the first toe, and the other end passes through the foot tension spring and is fixedly connected to the first rod.

[0046] The third member is an arched structure, with its two ends connected to the first foot sole connector and the second foot sole connector, respectively, and the top of the arch directly or indirectly connected to the bottom surface of the foot sole plate.

[0047] The fourth member is an arched structure, with one end connected to the second connecting member on the sole of the foot, and the other end connected to the side of the second member near the first toe;

[0048] One end of the toe connection structure is connected to the second connector on the sole of the foot, and the other end is connected to the first toe and the auxiliary toe.

[0049] The third member includes an outer arch and a support rod;

[0050] The outer arch is an arch-shaped structure, and the support rod is installed on the outer arch and used to reinforce the outer arch.

[0051] Furthermore, the toe connection structure includes a rotating connector, a telescopic rod, and a toe pin;

[0052] The rotating connector is rotatably mounted on the second connector on the sole of the foot;

[0053] The telescopic rod is telescopically mounted on the second foot connector;

[0054] The telescopic rod has a shaft hole at the end away from the rotating connector;

[0055] The toe pin is disposed in the shaft hole and extends toward the first toe and the auxiliary toe;

[0056] The first toe and the auxiliary toe are rotatably mounted on the toe pin.

[0057] Furthermore, the first toe and the auxiliary toe have the same structure, both including a shock-absorbing rod and a toe body. One end of the shock-absorbing rod is hinged to the front end of the wearable foot mechanism, and the other end is hinged to the toe body. The toe body provides cushioning support to the front end of the foot through the elastic deformation of the shock-absorbing rod.

[0058] The shock-absorbing rod is equipped with a damper, which is used to automatically adjust the rebound force according to the walking posture to improve wearing comfort;

[0059] The auxiliary toes are provided in four places, arranged side by side on the same side of the first toe. Attached Figure Description

[0060] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0061] Figure 1 This is a first-view three-dimensional structural diagram of a lower limb exoskeleton with shock absorption function disclosed in this application;

[0062] Figure 2 This is a two-dimensional structural diagram of a lower limb exoskeleton with shock absorption function disclosed in this application from a second perspective;

[0063] Figure 3 This is a three-dimensional structural diagram of a lower limb exoskeleton with shock absorption function disclosed in this application from a third-view perspective;

[0064] Figure 4 for Figure 3 A magnified view of a section at point A in the middle;

[0065] Figure 5 for Figure 3 A magnified view of a section at point B in the middle;

[0066] Figure 6 This is a four-dimensional structural diagram of a lower limb exoskeleton with shock absorption function disclosed in this application from a fourth perspective.

[0067] Figure 7 This is a schematic diagram of the planar structure of a lower limb exoskeleton with shock absorption function disclosed in this application from a first side view.

[0068] Figure 8 This is a schematic diagram of the second side view of a lower limb exoskeleton with shock absorption function disclosed in this application;

[0069] Figure 9 for Figure 8 A magnified view of a section at point C;

[0070] Figure 10 This is a schematic diagram of the planar structure of a lower limb exoskeleton with shock absorption function disclosed in this application from an upward viewing angle.

[0071] Figure label:

[0072] 1-Ankle exoskeleton structure; 2-Foot shock absorption mechanism; 3-Leg fixation device; 4-Pneumatic muscle drive structure; 5-Foot plate; 6-Supra-knee fixation strap; 7-External pneumatic muscle; 8-Pan-knee fixation strap; 9-Internal pneumatic muscle; 10-Heel connector; 11-Heel tension spring; 12-Side connector; 13-Arch pad; 14-Connecting hole; 15-Dorsal foot fixation strap; 16-First link; 17-Second link; 18-Forefoot side rod; 19-Foot 20-Bottom tension spring; 21-First rod; 22-Second rod; 23-Third rod; 24-First foot connector; 25-Second foot connector; 26-Rope; 27-Toe connection structure; 28-First toe; 29-Auxiliary toe; 30-Outer arch; 31-Support rod; 32-Rotating connector; 33-Telescopic rod; 34-Toe pin; 35-Shock-absorbing rod; 36-Toe body; 37-Damper; 38-Wearable foot mechanism. Detailed Implementation

[0073] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. 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.

[0074] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0075] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0076] It should also be noted that the specific embodiments or implementation methods described below are a series of optimized settings listed by the present invention to further explain the specific content of the invention, and these settings can be combined or used in conjunction with each other.

[0077] The present invention will be further explained below with reference to specific embodiments.

[0078] Example 1

[0079] like Figure 1 As shown, this embodiment provides a lower limb exoskeleton with shock absorption function, including an ankle joint exoskeleton structure 1 and a foot shock absorption mechanism 2;

[0080] The ankle exoskeleton structure 1 includes a leg fixation device 3, a pneumatic muscle drive structure 4, and a foot wearable mechanism 38.

[0081] The leg fixation device 3 is used to fix the exoskeleton to the human leg to ensure the overall stability of the exoskeleton.

[0082] The pneumatic muscle drive structure 4 is disposed between the leg fixation device 3 and the foot wearable mechanism 38, and is used to assist in the contraction and relaxation of the calf muscles;

[0083] The wearable foot mechanism 38 is used to support the human foot;

[0084] The foot shock absorption mechanism 2 is located below the foot wearable mechanism 38 and is used to cushion the foot from shock.

[0085] The shock-absorbing lower limb exoskeleton disclosed in this application is first securely worn on the human leg via a leg fixation device 3, ensuring accurate positioning of all components. The pneumatic muscle-driven structure 4 adjusts its stiffness output through contraction when standing, assisting the body in maintaining posture and reducing the metabolic load on the soleus muscle. During walking or running, the pneumatic muscle-driven structure 4, through coordinated contraction, achieves energy transfer across the knee and ankle joints, simultaneously assisting in ankle plantar flexion and knee flexion, improving foot and ankle push-off efficiency and stability, further reducing exercise-related metabolic energy consumption. The foot-mounted shock-absorbing mechanism 2 effectively absorbs ground impact and assists the arch of the foot in absorbing shock, restoring the cushioning characteristics of a natural gait, enhancing wearing comfort and movement stability.

[0086] like Figure 1-3 As shown, as a further embodiment of this example, the leg fixing device 3 includes an upper knee fixing strap 6;

[0087] The pneumatic muscle drive structure 4 includes an external pneumatic muscle 7;

[0088] The knee fixation strap 6 is used to bind the upper edge of the human knee;

[0089] The upper end of the external pneumatic muscle 7 is hinged to the rear of the knee fixation strap 6;

[0090] The lower end of the external pneumatic muscle 7 is directly or indirectly connected to the foot wearable mechanism 38.

[0091] like Figure 1-3 As shown, as a further embodiment of this example, the leg fixing device 3 includes a knee fixing strap 8;

[0092] The pneumatic muscle drive structure 4 includes an internal pneumatic muscle 9;

[0093] The knee fixation strap 8 is used to be tied to the lower edge of the human knee;

[0094] The upper end of the internal pneumatic muscle 9 is hinged to the rear of the knee fixation strap 8;

[0095] The lower end of the internal pneumatic muscle 9 is directly or indirectly connected to the foot wearable mechanism 38.

[0096] As a preferred embodiment of this example, both the upper knee fixation strap 6 and the lower knee fixation strap 8 are made of elastic material and have anti-slip texture on the surface to enhance the fixation effect and improve wearing comfort.

[0097] Both the external pneumatic muscles 7 and the internal pneumatic muscles 9 are made of high-strength, lightweight composite materials to ensure that they provide sufficient assistance without placing too much burden on the user.

[0098] like Figure 3 As shown, as a further embodiment of this example, two external pneumatic muscles 7 are provided, and one internal pneumatic muscle 9 is provided;

[0099] The internal pneumatic muscle 9 is positioned between the two external pneumatic muscles 7.

[0100] The external pneumatic muscle 7 and the internal pneumatic muscle 9 described in this application work together to simulate the natural contraction path of the gastrocnemius and soleus muscles. Through pneumatic feedback control, precise matching of the assist timing is achieved, further enhancing exercise efficiency. The upper end of the external pneumatic muscle 7 is hinged to the rear of the supra-knee fixation band 6, and its torque arm is longer than that of the internal pneumatic muscle 9. It preferentially responds to knee flexion and extension changes, dominating the torque output during the push-off phase. The upper end of the internal pneumatic muscle 9 is hinged to the rear of the sub-knee fixation band 8, and its torque arm is shorter. It focuses on adjusting the plantar flexion angle of the ankle joint, working in conjunction with the external pneumatic muscle 7 to achieve dual-joint linkage control. At the end of the support phase of the gait cycle, the internal pneumatic muscle 9 actively contracts to assist in the toe-off movement, reducing the activation intensity of the soleus muscle and thus reducing fatigue accumulation.

[0101] like Figure 7-8 As shown, as a further embodiment of this invention, the ankle exoskeleton structure 1 also includes a foot plate 5, a heel connector 10, a heel tension spring 11, and a side connector 12.

[0102] The heel connector 10 has a U-shaped structure, with the U-shaped opening facing forward of the foot;

[0103] The heel connector 10 abuts against the area above the heel and behind the ankle of the human body;

[0104] The upper part of the heel tension spring 11 is fixedly connected to the heel connector 10, and the lower part of the heel tension spring 11 is fixedly connected to the foot plate 5;

[0105] The two side connectors 12 are located above the two sides of the foot plate 5, and are hinged to the end of the heel connector 10 and directly or indirectly connected to the foot plate 5.

[0106] The heel connector 10 described in this application forms a stable support structure with the plantar plate 5 through the side connectors 12 on both sides, effectively limiting excessive dorsiflexion of the ankle joint. The heel tension spring 11 dynamically adjusts the tension between the heel and the plantar plate 5 during the gait cycle, simulating the elastic energy storage and release mechanism of the Achilles tendon, and improving the energy feedback efficiency during walking or running. When the foot enters the swing phase, the heel tension spring 11 gradually restores its deformation, assisting the foot to lift, reducing hip joint compensation movements, and lowering energy consumption. At the same time, the stiffness of the heel tension spring 11 is optimized to match the natural gait frequency resonance characteristics of the human body, enabling efficient energy transfer and circulation at different movement speeds.

[0107] like Figure 1-2 As shown, as a further embodiment of this example, the wearable foot mechanism 38 also includes an arch support plate 13;

[0108] The arch support 13 is positioned below the foot sole plate 5 and is fixedly connected to the foot sole plate 5;

[0109] The lower end of the side connector 12 is indirectly connected to the foot plate 5 by connecting to the arch support 13.

[0110] As a further embodiment of this embodiment, the foot plate 5 is provided with a plurality of connecting holes 14 in the front-rear axial direction;

[0111] The arch support plate 13 is mounted on the sole plate 5 through the connecting hole 14;

[0112] The arch support plate 13 is fixed according to the position of the human foot arch through a suitable connecting hole 14.

[0113] The arch support 13 described in this application has an arc-shaped structure that conforms to the arch of the shoe, providing physiological support, dispersing peak plantar pressure, and relatively fixing the relative position of the shoe and exoskeleton to prevent slippage and misalignment during exercise. The synergistic design of the arch support 13 and the sole plate 5 further enhances the stability of the human-machine coupling. Its material adopts a gradient elastic composite structure, ensuring both support stiffness and wearing comfort. Preferably, during gait transitions, the arch support 13 absorbs ground impact through micro-deformation, reducing lower limb joint load and improving the overall system's response sensitivity.

[0114] As a further embodiment of this embodiment, the ankle exoskeleton structure 1 also includes a foot dorsal fixation strap 15;

[0115] The foot back fixing strap 15 is fixedly mounted at both ends on the two parallel side connectors 12;

[0116] The foot dorsal fixation strap 15 is used to fix the upper side of the human foot, thereby enhancing the overall stability of the exoskeleton.

[0117] The dorsal foot fixation strap 15 of this application combines fixation and motion synchronization, ensuring efficient transmission of the drive system's output force to the human joints. The dorsal foot fixation strap 15 employs an adjustable flexible fabric structure, balancing fit and blood circulation. Its anchor points, optimized through mechanical simulation, are distributed in stress-concentrated areas above the ankle to reduce localized pressure. During the gait cycle, the fixation strap, in conjunction with the heel tension spring 11 and the pneumatic muscle drive structure 4, forms a closed-loop mechanical guidance system, suppressing unnecessary degrees of freedom and improving assistive precision. The overall structure achieves a lightweight and low-inertia design, adapting to the needs of prolonged wear and enhancing the naturalness and safety of human-computer interaction.

[0118] As a further embodiment of this example, the lower ends of the external pneumatic muscle 7 and the internal pneumatic muscle 9 are both hinged to the heel connector 10.

[0119] like Figure 1 As shown, as a further embodiment of this example, the knee fixation strap 8 is provided with downwardly extending first connecting rods 16 symmetrically arranged on both sides.

[0120] The lower end of the first connecting rod 16 is rotatably connected to the side connecting member 12 through a fixedly installed second connecting rod 17 to form a hinge structure, so as to adapt to the movement trajectory during the flexion and extension of the knee and ankle joints.

[0121] In this application, the articulated structure, in conjunction with the elastic compensation of the heel tension spring 11, effectively alleviates stress concentration caused by joint motion coupling, improving wearing comfort and movement compliance. The rotational connection axis of the first link 16 and the second link 17 is approximately coincident with the movement axis of the human ankle joint, ensuring optimal power transmission path and reducing ineffective components of auxiliary torque. In the gait support phase, the pneumatic muscle drive structure 4, in conjunction with the heel tension spring 11, provides active support force, enhancing stability; in the swing phase, it achieves smooth following through rapid exhaust, reducing energy consumption. The overall mechanical structure is highly matched with human biomechanical characteristics, achieving natural, safe, and efficient movement assistance.

[0122] This application does not specifically limit whether the knee-support strap 6 is equipped with a linkage structure similar to the first link 16 and the second link 17. In practice, the current structural design can effectively ensure stable fit and movement tracking of the leg, and avoid wearing discomfort and movement interference caused by redundant constraints. In addition, a shoulder strap structure can also be provided on the knee-support strap 6, and the user can wear the shoulder strap to further distribute the system load and improve the overall stability.

[0123] As a further embodiment of this embodiment, the ankle exoskeleton structure 1 also includes a forefoot side member 18;

[0124] The two forefoot side rods 18 are respectively disposed opposite to each other at the front end of the two side connectors 12, and are used to clamp the user's shoe upper.

[0125] like Figure 1-10 As shown, as a further embodiment of this example, the foot shock absorption mechanism 2 includes a foot tension spring 19, a first rod 20, a second rod 21, a third rod 22, a fourth rod 23, a first foot connector 24, a second foot connector 25, a rope 26, a toe connection structure 27, a first toe 28, and an auxiliary toe 29.

[0126] One end of the first rod 20 and one end of the second rod 21 are hinged together below the foot plate 5;

[0127] The end of the first rod 20 away from the second rod 21 is hinged to the first foot connector 24;

[0128] The end of the second rod 21 away from the first rod 20 is hinged to the rear end of the first toe 28;

[0129] The foot tension spring 19 is disposed between the first rod 20 and the second rod 21;

[0130] One end of the rope 26 is fixedly mounted on the first toe 28, and the other end passes through the foot tension spring 19 and is fixedly connected to the first rod 20;

[0131] The third member 22 is an arched structure, with its two ends connected to the first foot connector 24 and the second foot connector 25 respectively, and the top of the arch directly or indirectly connected to the bottom surface of the foot plate 5.

[0132] The fourth rod 23 has an arched structure, with one end connected to the second foot connector 25 and the other end connected to the side of the second rod 21 near the first toe 28.

[0133] One end of the toe connection structure 27 is connected to the second foot connector 25, and the other end is connected to the first toe 28 and the auxiliary toe 29.

[0134] like Figure 8 As shown, as a further embodiment of this example, the third member 22 includes an outer arch member 30 and a support rod 31;

[0135] The outer arch 30 has an arched structure, and the support rod 31 is disposed on the outer arch 30 and is used to reinforce the outer arch 30.

[0136] like Figure 9 As shown, as a further embodiment of this example, the toe connection structure 27 includes a rotating connector 32, a telescopic rod 33, and a toe pin 34.

[0137] The rotating connector 32 is rotatably mounted on the second foot connector 25;

[0138] The telescopic rod 33 is telescopically mounted on the second foot connector 25;

[0139] The telescopic rod 33 has a shaft hole at the end away from the rotating connector 32;

[0140] The toe pin 34 is disposed in the shaft hole and extends toward the first toe 28 and the auxiliary toe 29;

[0141] The first toe 28 and the auxiliary toe 29 are rotatably mounted on the toe pin 34.

[0142] like Figure 4 As shown, as a further embodiment of this example, four auxiliary toes 29 are provided, arranged side by side on the same side of the first toe 28.

[0143] As a further embodiment of this example, the first toe 28 and the auxiliary toe 29 have the same structure, both including a shock-absorbing rod 35 and a toe body 36. One end of the shock-absorbing rod 35 is hinged to the front end of the foot wearable mechanism 38, and the other end is hinged to the toe body 36. The toe body 36 provides cushioning support to the front end of the foot through the elastic deformation of the shock-absorbing rod 35.

[0144] The shock-absorbing rod 35 is equipped with a damper 37, which is used to automatically adjust the rebound force according to the walking posture to improve wearing comfort.

[0145] The foot shock absorption mechanism 2 of this application effectively simulates the biomechanical characteristics of the human foot through the synergistic action of multiple links and elastic elements, achieving dynamic cushioning and energy feedback during walking or running. The foot tension spring 19, together with the arched third and fourth rods 23, forms an elastic support network. Combined with the linkage of the telescopic rod 33 and the rotating connector 32, it can provide adaptive support force in different phases. Specifically, when the foot hits the ground, the first rod 20 and the second rod 21 rotate relative to each other around the hinge point, compressing the foot tension spring 19 to store energy. At the same time, the outer arch 30 of the third rod 22 and the support rod 31 deform together to absorb the vertical impact force. The fourth rod 23 undergoes elastic buckling around the second foot connector 25, converting part of the impact energy into lateral deformation potential energy. At this time, the first rod 20, the second rod 21, the third rod 22 and the fourth rod 23 form a triangular shock absorption structure, effectively improving structural stability and dispersing stress concentration. Simultaneously, the telescopic rod 33 is compressed and shortened, and the toe pin 34 drives the first toe 28 and the four auxiliary toes 29 to tilt upwards synchronously, reducing the frictional resistance at the toe tip. At this time, the shock-absorbing rod 35 is compressed and undergoes elastic deformation, and the micro damper 37 adjusts the damping coefficient in real time to match the current gait speed, achieving a smooth transition. In the stage from the end of the foot contact with the ground to the toe pushing off the ground, the pneumatic muscle drive structure 4 and the heel tension spring 11 drive the heel off the ground, and the body weight is gradually transferred to the forefoot. As the metatarsophalangeal joint at the toes extends, the rope 26 inside the foot tension spring 19 tightens the first toe 28, effectively improving the stiffness of the entire arch and providing support for the push-off. As the foot enters the propulsion stage, the energy-stored foot tension spring 19 gradually releases energy, pushing the first rod 20 and the second rod 21 to return to their original positions, and the outer arch of the third rod 22 30 returns to its original shape, converting the stored lateral potential energy into forward kinetic energy, assisting in completing the push-off action and improving the efficiency of the movement. Meanwhile, the fourth link 23 elastically flexes and rebounds, enhancing the rebound response when the arch pushes off. The telescopic link 33 gradually returns to its initial length under the action of the return spring, causing the toe pin 34 to press down, allowing the first toe 28 and auxiliary toe 29 to land smoothly. Furthermore, the shock-absorbing link 35 slowly rebounds under the control of the micro-damper 37, ensuring a smooth and controllable toe landing process. This structure effectively disperses plantar pressure through multi-point coordinated deformation, reducing local stress concentration and improving wearing comfort. When walking on complex terrain, the rotating connector 32 and the telescopic link 33 adaptively adjust their angles and lengths to maintain the natural movement trajectory of the foot. The arched third and fourth links 23 exhibit stable elastic recovery characteristics under cyclic loads, ensuring that the shock absorption performance does not degrade during long-term use.

[0146] By adopting the above technical solution, the present invention has the following beneficial effects:

[0147] (1) This invention enables efficient energy transfer between the knee and ankle joints, assisting in ankle plantar flexion and knee flexion, significantly improving foot and ankle push-off efficiency and gait economy. The pneumatic muscle drive structure 4 adjusts stiffness output through contraction when standing, assisting the body in maintaining posture and reducing the metabolic load on the soleus muscle. During walking or running, the pneumatic muscle drive structure 4, through coordinated contraction, achieves energy transfer across the knee and ankle joints, simultaneously assisting in ankle plantar flexion and knee flexion, improving foot and ankle push-off efficiency and stability, and further reducing exercise metabolic energy consumption. External and internal pneumatic muscles work together, simulating natural contraction paths and precisely matching the assist timing, further enhancing exercise efficiency. The pneumatic muscle drive structures 4 installed in different positions have clearly defined functions, jointly achieving dual-joint linkage control, reducing soleus muscle activation intensity, and minimizing fatigue accumulation.

[0148] (2) The foot shock absorption mechanism 2 effectively simulates the biomechanical characteristics of the human foot through the synergistic action of multi-link and elastic elements, achieving dynamic buffering and energy feedback. The foot tension spring 19, arched rods, etc. constitute an elastic support network, providing adaptive support force at different gait stages, absorbing impact force, dispersing peak foot pressure, reducing local stress concentration, and improving wearing comfort. The arch support 13 provides physiological-level support. Its material adopts a gradient elastic composite structure, which takes into account both support stiffness and wearing comfort. During gait transitions, it absorbs impact through micro-deformation, reduces lower limb joint load, and improves system response sensitivity.

[0149] (3) Leg fixation device 3 ensures that the equipment is securely worn on the human leg, ensuring accurate positioning of each component and enhancing overall stability. The knee and knee fixation straps 8 are made of elastic material and have anti-slip texture to enhance the fixation effect and improve wearing comfort. The heel connector 10, side connector 12, etc. form a stable support structure, effectively limiting excessive dorsiflexion of the ankle joint. The dorsal foot fixation strap 15 combines fixation and motion synchronization, ensuring that the output force of the drive system is efficiently transmitted to the human joint. It adopts an adjustable flexible fabric structure, taking into account both fit and smooth blood circulation, and works with other components to form a closed-loop mechanical guidance, suppressing excessive degrees of freedom of movement and improving auxiliary accuracy.

[0150] (4) The articulated structure, combined with the elastic compensation of the foot extension spring 19, alleviates the stress concentration of joint motion coupling, improving wearing comfort and movement compliance. The mechanical structure is highly matched with the biomechanical characteristics of the human body, with the optimal power transmission path, reducing the ineffective component of the auxiliary torque, providing appropriate support or smooth following at different stages of gait, reducing energy consumption, and achieving natural, safe, and efficient movement assistance. The forefoot side rod 18 can clamp the user's shoe upper, further enhancing stability. When walking on complex terrain, the foot shock absorption mechanism 2 uses the rotating connector 32 and the telescopic rod 33 to adaptively adjust, maintaining the natural movement trajectory of the foot, and the arched rod ensures that the shock absorption performance does not decrease during long-term use.

[0151] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A lower limb exoskeleton with shock absorption function, characterized in that, The device includes an ankle exoskeleton structure and a foot shock-absorbing mechanism. The ankle exoskeleton structure includes a leg fixation device, a pneumatic muscle drive structure, and a wearable foot mechanism. The leg fixation device is used to fix the exoskeleton to the human leg, ensuring the overall stability of the exoskeleton. The pneumatic muscle drive structure is located between the leg fixation device and the wearable foot mechanism to assist the ankle joint in plantar flexion. The wearable foot mechanism supports the human foot. The foot shock-absorbing mechanism is located below the wearable foot mechanism to cushion shocks to the foot. The leg fixation device includes an upper knee fixation strap and a lower knee fixation strap; the pneumatic muscle drive structure includes an external pneumatic muscle and an internal pneumatic muscle; the upper knee fixation strap is used to bind to the upper edge of the human knee; the upper end of the external pneumatic muscle is hinged to the rear of the upper knee fixation strap; the lower end of the external pneumatic muscle is directly or indirectly connected to the foot wearable mechanism; the lower knee fixation strap is used to bind to the lower edge of the human knee; the upper end of the internal pneumatic muscle is hinged to the rear of the lower knee fixation strap; the lower end of the internal pneumatic muscle is directly or indirectly connected to the foot wearable mechanism; there are two external pneumatic muscles and one internal pneumatic muscle; the internal pneumatic muscle is located between the two external pneumatic muscles. The wearable foot mechanism also includes a sole plate, a heel connector, a heel tension spring, and side connectors. The heel connector has a U-shaped structure with the U-shaped opening facing forward of the foot. The heel connector abuts against the area above the heel and behind the ankle. The upper part of the heel tension spring is fixedly connected to the heel connector, and the lower part of the heel tension spring is fixedly connected to the sole plate. The two side connectors are located on both sides above the sole plate and are hinged to the ends of the heel connector and directly or indirectly connected to the sole plate. The lower ends of the external pneumatic muscles and the lower ends of the internal pneumatic muscles are both hinged to the heel connector. The foot shock absorption mechanism includes a foot tension spring, a first rod, a second rod, a third rod, a fourth rod, a first foot connector, a second foot connector, a rope, a toe connection structure, a first toe, and an auxiliary toe. One end of the first rod and one end of the second rod are hinged together below the wearable foot mechanism. The end of the first rod away from the second rod is hinged to the first foot connector. The end of the second rod away from the first rod is hinged to the rear end of the first toe. The foot tension spring is located between the first rod and the second rod. One end of the rope is fixed to the first toe, and the other end passes through the... A foot tension spring is fixedly connected to the first rod; the third rod is an arched structure, with both ends connected to the first and second foot connectors respectively, and the top of the arch directly or indirectly connected to the bottom surface of the foot plate; the fourth rod is an arched structure, with one end connected to the second foot connector and the other end connected to the side of the second rod near the first toe; one end of the toe connection structure is connected to the second foot connector, and the other end is connected to the first toe and the auxiliary toe; the third rod includes an outer arch and a support rod; the outer arch is an arched structure, and the support rod is disposed on the outer arch and used to reinforce the outer arch; The auxiliary toes are provided in four places, arranged side by side on the same side of the first toe.

2. The lower limb exoskeleton with shock absorption function according to claim 1, characterized in that, The wearable foot mechanism also includes an arch support plate; The arch support is disposed below the sole plate and is fixedly connected to the sole plate; The lower end of the side connector is indirectly connected to the foot plate by connecting to the arch support plate; The foot plate has multiple connecting holes in the front and rear axial directions; The arch support plate is mounted on the sole plate via connecting holes; The arch support plate is fixed in place by means of appropriate connecting holes according to the position of the human foot arch.

3. The lower limb exoskeleton with shock absorption function according to claim 2, characterized in that, The wearable foot mechanism also includes a foot support strap; The foot back fixing strap is fixedly mounted at both ends on two parallel side connectors; The foot dorsum fixation strap is used to fix the upper side of the human foot, thereby enhancing the overall stability of the exoskeleton.

4. The lower limb exoskeleton with shock absorption function according to claim 3, characterized in that, The knee fixation strap has symmetrically arranged downward-extending first connecting rods on both sides; The lower end of the first link is rotatably connected to the side connector via a fixed second link to form a hinge structure, so as to adapt to the movement trajectory during the flexion and extension of the knee and ankle joints.

5. The lower limb exoskeleton with shock absorption function according to claim 1, characterized in that, The ankle exoskeleton structure also includes a forefoot side member; The two forefoot side rods are respectively positioned opposite each other at the front end of the two side connectors, and are used to clamp the user's shoe upper.

6. The lower limb exoskeleton with shock absorption function according to claim 1, characterized in that, The toe connection structure includes a rotating connector, a telescopic rod, and a toe pin. The rotating connector is rotatably mounted on the second connector on the sole of the foot; The telescopic rod is telescopically mounted on the second foot connector; The telescopic rod has a shaft hole at the end away from the rotating connector; The toe pin is disposed in the shaft hole and extends toward the first toe and the auxiliary toe; The first toe and the auxiliary toe are rotatably mounted on the toe pin.

7. The lower limb exoskeleton with shock absorption function according to claim 6, characterized in that, The first toe and the auxiliary toe have the same structure, both including a shock-absorbing rod and a toe body. One end of the shock-absorbing rod is hinged to the front end of the wearable foot mechanism, and the other end is hinged to the toe body. The toe body provides cushioning support to the front end of the foot through the elastic deformation of the shock-absorbing rod. The shock-absorbing rod is equipped with a damper, which is used to automatically adjust the rebound force according to the walking posture to improve wearing comfort; The auxiliary toes are provided in four places, arranged side by side on the same side of the first toe.

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