Bouncing mechanism matched with exoskeleton walking booster and bouncing method

Abstract

The invention discloses a bouncing mechanism matched with an exoskeleton walking booster and a bouncing method.The bouncing mechanism comprises the bouncing mechanism body, the bouncing mechanism body is composed of one or more elastic pieces, the elastic pieces are made of springs or leaf springs, and the elastic pieces are shaped to form a string-free bow-like shape; one end of the bouncing mechanism is connected with the shoulder part of the exoskeleton walking booster, and the other end of the bouncing mechanism is connected with the foot part of the exoskeleton walking booster. According to the exoskeleton walking booster, the elastic deformation characteristic of the elastic piece can be utilized, effective elastic force assistance can be provided when a user carries out bouncing actions, the problem that a traditional exoskeleton walking booster lacks a bouncing assisting function is well solved, and the application scene of the booster is expanded.

Description

Technical Field

[0001] This invention relates to the field of walking aids technology, specifically to a bouncing mechanism and bouncing method adapted to an exoskeleton walking aid. Background Technology

[0002] Exoskeleton walking aids play an important role in assisting people with mobility impairments or carrying heavy loads. However, most existing exoskeleton walking aids focus on support during walking and are significantly lacking in jumping assistance.

[0003] Meanwhile, traditional assistive devices lack a dedicated jumping mechanism, making it difficult to provide effective assistance when users need to jump. They cannot adequately meet the jumping assistance needs in some special scenarios, especially in situations where jumping is required to cross obstacles in complex terrain. This limits the application scope and effectiveness of exoskeleton walking assistive devices to some extent.

[0004] Furthermore, existing exoskeleton assistive devices lack a safety limiting mechanism during jumping. Excessive deformation of elastic components can lead to uncontrolled rebound angles, causing imbalance in the assistive force. This significantly increases the risk of falls, especially for users with mobility impairments. Therefore, existing exoskeleton walking assistive devices are deficient in terms of scenario adaptability, force application precision, coordination stability, and safety. There is an urgent need for a jumping method and corresponding mechanism that can flexibly adjust to specific scenario requirements and achieve precise energy storage and directional release of elastic force. This would expand the application scenarios of exoskeleton assistive devices and improve the effortlessness and safety of jumping movements. Summary of the Invention

[0005] The purpose of this invention is to provide a bouncing mechanism and bouncing method adapted to an exoskeleton walking aid, so as to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a bouncing mechanism adapted to an exoskeleton walking aid, comprising a bouncing mechanism, wherein the bouncing mechanism is composed of one or more elastic elements, wherein the elastic elements are made of springs or spring sheets, and the elastic elements are shaped into a stringless bow-like shape after being molded. One end of the bouncing mechanism is connected to the shoulder of the exoskeleton walking aid, and the other end of the bouncing mechanism is selectively connected to the front end, middle part or rear part of the foot of the exoskeleton walking aid.

[0007] As a preferred embodiment of the present invention: when the bouncing mechanism is composed of an elastic element, the elastic element is in the shape of a common bow or a composite bow, and the connection end of the elastic element and the foot is provided with a matching connection interface corresponding to the front, middle or rear of the foot.

[0008] As a preferred embodiment of the present invention: when the bouncing mechanism is composed of multiple elastic elements, two adjacent elastic elements are detachably connected by a fixed connector, and the multiple elastic elements are assembled into the shape of a common bow or a composite bow; the foot connection ends of the multiple elastic elements can be connected to the same position of the foot simultaneously, or connected to at least two different positions of the front, middle and rear of the foot respectively.

[0009] As a preferred embodiment of the present invention, the elastic element is covered with an elastic protective sleeve.

[0010] As a preferred embodiment of the present invention: when the elastic element is made of a spring sheet, the spring sheet is a single-layer spring sheet or a multi-layer spring sheet, and the connection end of the spring sheet and the foot is provided with an arc-shaped fitting section corresponding to the contour of the front, middle or rear of the foot.

[0011] As a preferred embodiment of the present invention: the connection between the jumping mechanism and the shoulder, front end, middle part and rear part of the exoskeleton walking aid is hinged, and the hinged parts at each connection position of the foot are provided with an angle limiting structure.

[0012] As a preferred embodiment of the present invention: when the elastic element is made of a spring sheet, a string-like elastic sheet is connected to the inner side of the spring sheet, and a switchable connecting component is provided at the bottom of the spring sheet. The connecting component includes an "L"-shaped connecting part adapted to the front end of the foot, a "Y"-shaped connecting part adapted to the middle part of the foot, and a "straight" connecting part adapted to the rear part of the foot. The "L"-shaped connecting part, the "Y"-shaped connecting part, and the "straight" connecting part are respectively fixedly connected to the front end, the middle sides, and the rear end of the foot of the exoskeleton walking aid.

[0013] A jumping method based on a jumping mechanism adapted to an exoskeleton walking aid, as described in any one of the above, includes the following steps:

[0014] S1: Depending on the usage scenario of the exoskeleton walking assist device, select the connection position between the jumping mechanism and the foot. When the toes exert force to jump over a low hurdle, connect to the front of the foot; when the middle of the foot exerts force to go up and down stairs, connect to the middle of the foot; when the heel exerts force to jump and climb, connect to the back of the foot.

[0015] S2: When the user wears the assistive device to walk or store energy, the body movement causes the corresponding connection points of the shoulders and feet to move relative to each other. The elastic element undergoes elastic deformation and stores elastic potential energy with this movement. The hinge structure of the jumping mechanism and the shoulders and feet adjusts the angle with the body posture to ensure that the deformation direction of the elastic element matches the force trajectory.

[0016] S3: When the user jumps, the elastic potential energy stored in the elastic element is released along the force direction of the foot connection to provide directional assistance. If the foot connection is provided with an angle limiting structure, the structure limits the maximum rebound angle of the elastic element to avoid imbalance in assistance.

[0017] As a preferred embodiment of the present invention: when the bouncing mechanism is composed of multiple elastic elements, step S1 further includes adjusting the assembly state of the elastic elements according to the assistance requirements. When it is necessary to enhance the assistance at a single position, multiple elastic elements are assembled and connected to the same position of the foot through a threaded sleeve. When it is necessary to provide assistance at multiple positions in a coordinated manner, multiple elastic elements are connected to at least two different positions of the foot respectively.

[0018] In step S2, multiple elastic elements deform in coordination, and the assembly length of the threaded sleeve is adjusted to match the lever arm requirements of the force point, ensuring uniform energy storage.

[0019] As a preferred embodiment of the present invention: in steps S2 and S3, when the elastic protective sleeve outside the elastic element deforms and stores energy synchronously, the silicone material assists the deformation of the elastic element to reduce fatigue damage. When the potential energy is released, the diamond-shaped anti-slip protrusions on the surface increase the friction with the foot connection position to avoid assisting deviation.

[0020] Compared with the prior art, the beneficial effects of the present invention are:

[0021] 1) The jumping mechanism of the present invention, by setting up a jumping mechanism composed of elastic elements made of springs or spring sheets and formed into a bow shape after plasticization, when used in an exoskeleton walking assist device, can utilize the elastic deformation characteristics of the elastic elements to provide effective elastic assistance when the user performs jumping actions, which solves the problem of traditional exoskeleton walking assist devices lacking jumping assistance function and expands the application scenarios of the assist device.

[0022] 2) The jumping mechanism of the present invention is connected to the shoulder and foot parts of the exoskeleton walking aid by a hinged connection, which allows the jumping mechanism to flexibly adjust the angle according to the user's movement posture during operation, adapt to different movement states, improve the flexibility and comfort of use, and also solve the problem of lack of flexibility in traditional connection methods.

[0023] 3) This invention allows for flexible selection of the connection position between the jumping mechanism and the foot in scenarios such as "toe leaping, foot stepping, and heel climbing," achieving precise matching between the force point and the natural trajectory of the human body. This solves the problem that traditional exoskeleton fixed connections cannot adapt to multiple scenarios, significantly expanding the application range. Through the hinged structure that adjusts the angle according to posture and the collaborative deformation design of multiple elastic components, the deformation direction of the elastic components during energy storage conforms to the force trajectory, and the potential energy is directionally transmitted during release. Combined with the threaded sleeve to adjust the assembly length, it ensures uniform energy storage, significantly improving energy utilization and reducing the user's physical exertion during jumping. The angle limiting structure can prevent the assistance imbalance caused by excessive deformation of the elastic components. The elastic protective sleeve can both assist deformation to reduce fatigue damage and prevent slippage of the connection end through anti-slip protrusions, providing double protection to improve safety. At the same time, the multiple elastic components can be detached and assembled, and the connection position can be quickly switched, adapting to different assistance needs without replacing the entire mechanism, reducing maintenance costs. Furthermore, this invention can adjust the assembly length and connection position of the elastic components according to the user's height, weight, and force exertion habits, enhancing universality and flexibility of use. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the structure of the present invention;

[0025] Figure 2 This is one of the structural schematic diagrams of the present invention;

[0026] Figure 3 This is the second structural schematic diagram of the present invention;

[0027] Figure 4 This is a schematic diagram of the protective sleeve structure of the present invention;

[0028] Figure 5 This is a schematic diagram of the protective sleeve structure of the present invention;

[0029] Figure 6 This is a schematic diagram of the protective sleeve structure of the present invention;

[0030] Figure 7 This is a schematic diagram of the structure of Embodiment 3 of the present invention.

[0031] In the diagram: 100, bouncing mechanism; 110, elastic element; 111, elastic protective sleeve; 112, elastic sheet; 200, connecting part. Detailed Implementation

[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] Example 1

[0034] Please see Figure 1-4 The present invention provides a technical solution: a bouncing mechanism adapted to an exoskeleton walking aid, comprising a bouncing mechanism 100, wherein the bouncing mechanism 100 is composed of one or more elastic elements 110, wherein the elastic element 110 is made of a spring or spring sheet, and the elastic element 110 is shaped into a bow-like shape without a string after being shaped. One end of the bouncing mechanism 100 is connected to the shoulder of the exoskeleton walking aid, and the other end of the bouncing mechanism 100 is selectively connected to the front end, middle part or rear part of the foot of the exoskeleton walking aid.

[0035] Specifically, when users need to use the exoskeleton walking aid for walking or preparing for jumping, they can choose the foot connection position according to the scenario: when using the midfoot to exert force when going up and down stairs, the elastic element 110 is connected to the midfoot; when using the toes to exert force when jumping over low hurdles, the connection is switched to the front of the foot; and when using the heel to exert force for jumping, the connection is switched to the back of the foot. During walking, the body's movement causes a relative movement tendency between the corresponding force points of the shoulders and feet, and the elastic element 110 undergoes elastic deformation to store energy as it moves. When performing a jumping action, the energy stored in the elastic element 110 is released along the direction of the force point, providing precise assistance for the jump and helping users complete jumping actions in different scenarios more easily.

[0036] In this embodiment: when the bouncing mechanism 100 is composed of an elastic element 110, the elastic element 110 is in the shape of a regular bow or a composite bow, and the connection end of the elastic element 110 and the foot is provided with a matching connection interface corresponding to the front, middle or rear of the foot.

[0037] Specifically, the connection interface adopts a snap-on design, which adapts to the interface size and shape of different positions on the foot: the front interface is a narrow snap-on to adapt to the width of the toes, the middle interface is a wide snap-on to adapt to the width of the middle of the foot, and the rear interface is an arc-shaped snap-on to adapt to the contour of the heel. Users can quickly switch the connection position by pressing the snap-on, and can complete the adjustment without tools, improving the convenience of use.

[0038] In this embodiment: when the bouncing mechanism 100 is composed of multiple elastic elements 110, two adjacent elastic elements 110 are detachably connected by a fixed connector, and the multiple elastic elements 110 are also in the shape of a regular bow or a composite bow after assembly; the foot connection ends of the multiple elastic elements 110 can be simultaneously connected to the front, middle or rear of the same position of the foot, or connected to at least two of the front, middle, and rear positions of the foot respectively.

[0039] Specifically, the fixed connector is a threaded sleeve, and the assembly length of the elastic element 110 can be adjusted by rotation. When the three elastic elements 110 are connected to the middle of the foot simultaneously, the assembly length is adjusted to 30cm, which is suitable for the width of the middle of an adult's foot. When the two elastic elements 110 are connected to the front and middle of the foot respectively, the assembly length of the front elastic element is 20cm to match the length of the toes, and the assembly length of the middle elastic element is 30cm, ensuring that there is no interference when the two work together.

[0040] In this embodiment, the elastic element 110 is covered with an elastic protective sleeve 111.

[0041] Specifically, the elastic protective sleeve 111 is made of silicone material with a thickness of 2mm. The surface has diamond-shaped anti-slip protrusions with a height of 1mm corresponding to the connection positions of the front, middle and back of the foot. When the elastic element 110 is connected to different positions of the foot, the anti-slip protrusions can increase the friction between the connection end and the foot exoskeleton, preventing the connection end from sliding during jumping. At the same time, the elasticity of the silicone material can assist the deformation of the elastic element 110 and reduce fatigue damage to the elastic element.

[0042] In this embodiment: when the elastic element 110 is made of a spring sheet, the spring sheet is a single-layer spring sheet or a multi-layer spring sheet, and the connection end of the spring sheet and the foot is provided with an arc-shaped fitting section corresponding to the contour of the front, middle or rear of the foot.

[0043] Specifically, the thickness of a single-layer spring sheet is 1.5mm, and the total thickness of the three-layer multi-layer spring sheet is 4mm. The radius of curvature of the arc-shaped adapter segment corresponding to the front of the foot is 5cm to fit the upward curve of the toes, the radius of curvature of the arc-shaped adapter segment corresponding to the middle of the foot is 8cm to fit the natural curve of the sole, and the radius of curvature of the arc-shaped adapter segment corresponding to the back of the foot is 6cm to fit the protruding curve of the heel. The arc-shaped adapter segment design allows the connecting end to fit completely with the foot exoskeleton, avoiding damage to the exoskeleton caused by local stress concentration.

[0044] In this embodiment: the connection between the jumping mechanism 100 and the shoulder, front end, middle part and rear part of the exoskeleton walking aid is hinged, and the hinged components at each connection position of the foot are provided with an angle limiting structure.

[0045] Specifically, the hinge components use stainless steel pins, and the angle limiting structure is an arc-shaped baffle on the outside of the pin. The baffle of the front hinge component of the foot limits the rotation angle to 0°-60° to adapt to the upward tilt of the toes. The baffle of the middle hinge component of the foot limits the rotation angle to 0°-45° to adapt to the bending of the foot. The baffle of the rear hinge component of the foot limits the rotation angle to 0°-30° to adapt to the rotation of the heel. This ensures that the deformation of the elastic element 110 is always within a safe range during jumping, while avoiding excessive rotation that could affect the power generation efficiency.

[0046] Additional notes: To increase the stability of the jumping mechanism 100 and the exoskeleton installation, the thigh and lower leg of the jumping mechanism 100 and the exoskeleton walking assist device are also equipped with hinge components, and the thigh hinge component can be linked with the hinge component at the front, middle or rear of the foot through the adjustment rod.

[0047] Specifically, the adjustment rod is a telescopic aluminum alloy rod with a length adjustment range of 40cm-60cm. When the jumping mechanism 100 is connected to the front of the foot, the adjustment rod is shortened to 40cm, so that the lever arm of the thigh hinge component matches that of the front of the foot hinge component. When connected to the middle or back of the foot, the adjustment rod is extended to 50cm or 60cm respectively, to ensure coordinated force exertion of the thigh and foot and avoid movement imbalance caused by a single force point.

[0048] Example 2

[0049] Please see Figure 5-6 The technical feature that distinguishes this embodiment from Embodiment 1 is that the elastic element 110 is made of a spring or a spring sheet. When the elastic element 110 made of two spring sheets is specifically selected, one end of the spring sheet is hinged to the shoulder of the exoskeleton walking assist device, and the other end is selectively hinged to the front end, middle part or rear part of the foot of the exoskeleton walking assist device.

[0050] Specifically, during the power-building phase of a user's jumping motion using the exoskeleton assistive device, the squatting motion causes relative displacement between the corresponding force points on the shoulders and feet. When connected to the front of the foot, the two spring plates deform with the upward tilt of the toes, storing the elastic potential energy required for "toe-powering"; when connected to the middle of the foot, the spring plates deform with the bending of the foot, storing the elastic potential energy required for "foot-powering"; and when connected to the back of the foot, the spring plates deform with the downward pressure of the heel, storing the elastic potential energy required for "heel-powering". Upon entering the jumping power-generating phase, the stored elastic potential energy is rapidly released along the direction of the force point, propelling the corresponding foot position. Simultaneously, the coordinated work of the two spring plates prevents uneven force distribution on one side, ensuring a smooth jumping process. Furthermore, because the two ends of the spring plates are hinged, they can flexibly adjust their angles throughout the movement according to the posture changes of different force points on the shoulders and feet, ensuring smooth and stable elastic deformation and making energy storage and release more efficient.

[0051] Example 3

[0052] Please see Figure 7 The technical feature that distinguishes this embodiment from embodiment 2 is that when the elastic element 110 is made of a spring sheet, a string-like elastic sheet 112 is connected to the inner side of the spring sheet, and a “Y”-shaped connecting part 200 is provided at the bottom of the spring sheet. One end of the “Y”-shaped connecting part 200 is fixedly connected to the middle two sides of the foot of the skeletal walking aid.

[0053] Specifically, during the power-gathering phase of a user's jumping motion using the exoskeleton walking assist device, the squatting motion causes relative displacement between the shoulders and heels. The elastic element 110, made of spring plates and with a string-like elastic plate 112 connected to its inner side, deforms synchronously with this relative movement. The spring plate, as the main elastic body, is in a "bow pulled open" state, beginning to store the main elastic potential energy. At the same time, the string-like elastic plate 112 is simultaneously tightened, which on the one hand helps to share the tension of the spring plate and avoid local stress concentration, and on the other hand limits the maximum deformation range of the spring plate through its own elastic properties, ensuring that the elastic force is always within a safe range. During this process, the "Y"-shaped connecting part 200 at the bottom of the spring plate, because one end is fixedly connected to the middle two sides of the exoskeleton foot, can evenly transmit the tension of the foot to the spring plate, while stabilizing the foot posture and preventing lateral deviation, ensuring that the deformation direction is consistent with the force trajectory.

[0054] During the jumping phase, the main elastic potential energy stored in the spring plate is rapidly released and simultaneously transmitted to both sides of the foot through the "Y"-shaped connector 200, propelling the foot to exert force evenly to increase the jumping height and distance. The string-like elastic plate 112 also releases auxiliary elastic potential energy simultaneously, providing a boost to the spring plate's rebound and buffering the rebound impact, avoiding discomfort caused by rigid forces. Throughout the movement, the hinged connection between the spring plate and the shoulder, as well as the fixed connection between the "Y"-shaped connector 200 and the foot, allow the elastic element 110 to flexibly adapt to changes in shoulder and foot posture, ensuring efficient and smooth energy storage and release, ultimately achieving a stable, effortless, and comfortable jumping assistance effect.

[0055] A jumping method based on a jumping mechanism adapted to an exoskeleton walking aid, comprising the following steps:

[0056] S1: Depending on the usage scenario of the exoskeleton walking assist device, select the connection position between the jumping mechanism 100 and the foot. When the toes exert force to jump over a low hurdle, connect to the front of the foot; when the middle of the foot exerts force to go up and down stairs, connect to the middle of the foot; when the heel exerts force to jump and climb, connect to the back of the foot.

[0057] S2: When the user wears the assistive device to walk or store energy, the body movement causes the corresponding connection positions of the shoulder and foot to generate relative movement. The elastic element 110 undergoes elastic deformation and stores elastic potential energy with this movement. The hinge structure of the jumping mechanism 100 and the shoulder and foot adjusts the angle with the body posture to ensure that the deformation direction of the elastic element 110 matches the force trajectory.

[0058] S3: When the user jumps, the elastic potential energy stored in the elastic element 110 is released along the force direction of the foot connection position to provide directional assistance. If the foot connection position is provided with an angle limiting structure, the structure limits the maximum rebound angle of the elastic element 110 to avoid imbalance in assistance.

[0059] Specifically, in actual operation, users need to first determine the foot exertion requirements based on the current sports scenario. The connection can be completed through the pre-set buckle interface of the jumping mechanism and the exoskeleton foot. When it is necessary to cross a low hurdle with a height of 30-50cm, the natural point of force exertion for the human body is the toes. The connecting end of the elastic element 110 needs to be aligned with the narrow buckle interface at the front of the foot, and the buckle needs to be pressed until a "click" sound is heard to confirm the lock.

[0060] When you need to go up or down a step with a height of 15-20cm, the middle of your foot is the main stress area, so you need to switch to the wide buckle interface in the middle of your foot for connection.

[0061] When it is necessary to climb to a platform of 0.8-1.2m, the heel needs to bear the main force of pushing off the ground, and the elastic element 110 is connected to the arc-shaped buckle interface at the back of the foot.

[0062] During subsequent movements, when the user prepares to jump and squats to build up momentum, the body leans forward, causing the exoskeleton's shoulder to move forward and downward. Simultaneously, the corresponding connection point of the foot moves backward and downward as the leg bends. The relative movement of these two elements causes the elastic element 110 to bend and deform, gradually converting the kinetic energy of the squatting body into elastic potential energy and storing it. When the user stands up and completes the jumping action, the elastic element 110 quickly returns to its original shape, and the stored elastic potential energy is released directionally along the force direction of the foot. For example, when the toes connect, the potential energy is released diagonally forward to assist in the leap, and when the heel connects, the potential energy is released directly downward to enhance the force of the push-off. The stainless steel pin hinge structure connecting the jumping mechanism to the shoulder and foot can automatically adjust the rotation angle according to the body's swing angle, ensuring that the deformation trajectory of the elastic element 110 always remains consistent with the natural force trajectory of the human body, avoiding energy waste or local stress concentration caused by angle deviation.

[0063] In this embodiment: when the bouncing mechanism 100 is composed of multiple elastic elements 110, step S1 further includes adjusting the assembly state of the elastic elements 110 according to the assistance requirements. When it is necessary to enhance the assistance at a single position, multiple elastic elements 110 are assembled and connected to the same position of the foot through a threaded sleeve. When it is necessary to provide assistance at multiple positions, multiple elastic elements 110 are connected to at least two different positions of the foot respectively.

[0064] In step S2, multiple elastic elements 110 deform in coordination, and the assembly length of the threaded sleeve is adjusted to match the lever arm requirements of the force point, ensuring uniform energy storage.

[0065] Specifically, when the bouncing mechanism is composed of multiple elastic elements 110, if the user is a worker carrying a load (20-30kg), it is necessary to enhance the assist strength of a single position such as the middle of the foot. Two or three elastic elements 110 can be connected in sequence using a threaded sleeve. Rotate the sleeve to make the connection ends of adjacent elastic elements 110 fit tightly. After assembly, the overall length is adjusted to 28-32cm according to the width of the middle of the foot. Then, the assembled elastic elements 110 are connected to the wide interface in the middle of the foot. The total energy storage is increased by the superimposed deformation of multiple elastic elements 110 to meet the bouncing requirements under load.

[0066] If a user needs to perform complex jumps on rugged terrain, requiring coordinated force application from multiple points, one elastic element 110 can be connected to the front of the foot and another to the middle of the foot. The front elastic element 110 can be adjusted to a length of 18-22cm via a threaded sleeve to fit the width of the toes, while the middle elastic element 110 can be adjusted to a length of 28-32cm to fit the width of the foot. This corresponds to "point force application" from the toes and "surface force application" from the foot, respectively. During exercise, when the user squats to gather power, the elastic elements at the front and middle of the foot... Component 110 will deform synchronously with the force applied at the corresponding position. The front elastic component 110 deforms by 10-15mm due to the smaller force, while the middle elastic component 110 deforms by 20-25mm due to the larger force. The assembly length can be adjusted by the threaded sleeve to accurately adapt to the lever arm requirements of different force points, ensuring that the deformation per unit length of each elastic component 110 is uniform, avoiding overload deformation or insufficient energy storage of a single elastic component 110, and realizing the coordinated energy storage and synchronous energy release of multiple elastic components 110.

[0067] In this embodiment: In steps S2 and S3, when the elastic protective sleeve 111 outside the elastic member 110 deforms and stores energy synchronously, the silicone material assists the deformation of the elastic member 110 to reduce fatigue damage. When the potential energy is released, the diamond-shaped anti-slip protrusions on the surface increase the friction with the foot connection position to avoid assisting deviation.

[0068] Specifically, the elastic element 110 is externally covered by a 1-3mm thick silicone elastic protective sleeve 111. During the bouncing process, in the deformation and energy storage phase of the elastic element 110, when the elastic element 110 undergoes bending deformation due to force, the silicone material of the protective sleeve has good elasticity and extensibility, and will stretch or contract synchronously with the deformation of the elastic element 110, complementing the elastic element 110. This can share some of the deformation stress and reduce fatigue damage to the metal material of the elastic element 110. At the same time, the protective sleeve tightly adheres to the surface of the elastic element 110, which can isolate... External dust, moisture, and impurities prevent the elastic component 110 from rusting or getting stuck, making it especially suitable for use in humid or dusty outdoor environments. During the energy release phase of the elastic component 110, the pre-set diamond-shaped anti-slip protrusions on the surface of the elastic protective sleeve 111 can fit tightly with the rough contact surface at the connection point of the exoskeleton foot. By increasing the coefficient of friction of the contact surface, it effectively prevents the elastic component 110 from sliding or shifting under the impact force generated by the release of potential energy, ensuring that the direction of assistance always accurately points to the point of force application, and guaranteeing the stability and continuity of the jumping action.

[0069] The contents not described in detail in this description are existing technologies known to those skilled in the art. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A bounce mechanism for adapting an exoskeleton walking assist device, characterized by: The elastic piece (110) is shaped into a shape similar to an arch without a string, one end of the elastic piece (100) is connected with the shoulder part of the exoskeleton walking booster, and the other end of the elastic piece (100) is selectively connected with the front end, the middle part or the rear part of the foot part of the exoskeleton walking booster.

2. The bounce mechanism of the exoskeleton walking assist device according to claim 1, wherein: When the elastic piece (110) is shaped into a shape similar to an arch without a string, the elastic piece (110) is shaped into a shape similar to an arch without a string, and the connecting end of the elastic piece (110) corresponding to the front end, the middle part or the rear part of the foot part is provided with a matched connecting interface.

3. The bounce mechanism of the exoskeleton walking power-assisted device according to claim 1, characterized in that: When the elastic piece (110) is shaped into a shape similar to an arch without a string, the elastic piece (110) is shaped into a shape similar to an arch without a string, and the connecting end of the elastic piece (110) corresponding to the front end, the middle part or the rear part of the foot part is provided with a matched connecting interface.

4. The bounce mechanism of the exoskeleton walking assist device according to claim 1, wherein: When the elastic piece (110) is shaped into a shape similar to an arch without a string, the elastic piece (110) is shaped into a shape similar to an arch without a string, and the connecting end of the elastic piece (110) corresponding to the front end, the middle part or the rear part of the foot part is provided with a matched connecting interface.

5. The bounce mechanism of the exoskeleton walking assist device according to claim 1, wherein: When the elastic piece (110) is shaped into a shape similar to an arch without a string, the elastic piece (110) is shaped into a shape similar to an arch without a string, and the connecting end of the elastic piece (110) corresponding to the front end, the middle part or the rear part of the foot part is provided with a matched connecting interface.

6. The bounce mechanism of an exoskeleton walking assistive device according to claim 1, wherein: The connecting of the elastic piece (110) with the shoulder part, the front end of the foot part, the middle part of the foot part and the rear part of the foot part of the exoskeleton walking booster is hinged, and the hinge parts at each connecting position of the foot part are provided with angle limiting structures.

7. The bounce mechanism of an exoskeleton walking assistive device according to claim 1, wherein: When the elastic piece (110) is shaped into a shape similar to an arch without a string, the elastic piece (110) is shaped into a shape similar to an arch without a string, and the connecting end of the elastic piece (110) corresponding to the front end, the middle part or the rear part of the foot part is provided with a matched connecting interface.

8. A bouncing method of a bouncing mechanism of a walking assist device for a lower extremity based on the bouncing mechanism of the walking assist device for a lower extremity according to any one of claims 1 to 7, characterized by: The connecting of the elastic piece (110) with the shoulder part, the front end of the foot part, the middle part of the foot part and the rear part of the foot part of the exoskeleton walking booster is hinged, and the hinge parts at each connecting position of the foot part are provided with angle limiting structures. The elastic piece (110) is shaped into a shape similar to an arch without a string, one end of the elastic piece (100) is connected with the shoulder part of the exoskeleton walking booster, and the other end of the elastic piece (100) is selectively connected with the front end, the middle part or the rear part of the foot part of the exoskeleton walking booster. The elastic piece (110) is shaped into a shape similar to an arch without a string, one end of the elastic piece (100) is connected with the shoulder part of the exoskeleton walking booster, and the other end of the elastic piece (100) is selectively connected with the front end, the middle part or the rear part of the foot part of the exoskeleton walking booster. The elastic piece (110) is shaped into a shape similar to an arch without a string, one end of the elastic piece (100) is connected with the shoulder part of the exoskeleton walking booster, and the other end of the elastic piece (100) is selectively connected with the front end, the middle part or the rear part of the foot part of the exoskeleton walking booster. S3: When the user jumps, the elastic potential energy stored in the elastic member (110) is released along the force direction of the foot connection position to provide directional assistance. If the foot connection position is provided with an angle limiting structure, the structure limits the maximum rebound angle of the elastic member (110) to avoid unbalanced assistance.

9. A bounce method for a bounce mechanism according to claim 8, wherein: When the jumping mechanism (100) is composed of multiple elastic members (110), step S1 further includes adjusting the assembly state of the elastic members (110) according to the assistance requirement. When single position assistance needs to be enhanced, multiple elastic members (110) are assembled through a threaded sleeve and connected to the same position of the foot. When multiple position collaborative assistance is required, multiple elastic members (110) are connected to at least two different positions of the foot respectively. In step S2, multiple elastic members (110) are deformed collaboratively, and the assembly length adjusted by the threaded sleeve adapts to the force arm requirement of the stress point, ensuring uniform energy storage.

10. The bounce method of a bounce mechanism of claim 1, wherein: In steps S2 and S3, the external elastic protective sleeve (111) of the elastic member (110) deforms synchronously when storing energy, and the silica gel material assists the deformation of the elastic member (110) to reduce fatigue damage. When the potential energy is released, the surface diamond-shaped anti-slip protrusions increase the friction force with the foot connection position to avoid assistance deviation.

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