Non-parallel spinal exoskeleton robot

Abstract

This invention relates to the field of bionic robots and wearable assistive devices, and discloses a non-parallel spinal exoskeleton robot, including a waist restraint, a back connecting plate, and a spinal mechanism formed by multiple spinal modules connected in series. The cable of the drive mechanism is threaded through the guide hole of the cable guide on the side of the spinal module. The radial distance between the formed cable path and the central axis of the spinal mechanism gradually decreases in the series direction. This application effectively solves the problems of low end stiffness and poor load capacity of existing spinal exoskeletons through the above-mentioned non-parallel cable layout, while maintaining the flexibility of the system. After being stressed, more of the tension in the cable can directly lift the back of the human body, improving motor efficiency and load capacity. The position of the cable is less likely to interfere with the spinal mechanism, thus improving the degree of freedom.

Description

Technical Field

[0001] This invention relates to the field of bionic robots and wearable assistive devices, specifically to a non-parallel spinal exoskeleton robot. Background Technology

[0002] Spinal exoskeletons, as wearable assistive devices, are widely used in rehabilitation training, manual labor assistance, and elderly care, aiming to reduce the burden on the human spine, prevent lumbar injuries, and improve movement efficiency. However, existing spinal exoskeletons have low end stiffness, cannot perform high-load work, have poor adaptability and coordination, and limited freedom of movement. Summary of the Invention

[0003] This invention provides a non-parallel spinal exoskeleton robot to solve the problems of end-effector stiffness, low load difference, and limited degrees of freedom of movement.

[0004] In a first aspect, the present invention provides a non-parallel spinal exoskeleton robot, comprising:

[0005] Waist brace and back support plate;

[0006] The spinal mechanism is formed by connecting multiple spinal modules in series. The first end of the spinal mechanism is located at the bottom in the series direction and is connected to the waist binding piece, while the last end is located at the top and is connected to the back connecting plate.

[0007] Drive mechanism, including a retractable cable driven by a motor;

[0008] A cable guide is located on the side of the spine module and has a guide hole for guiding the cable.

[0009] The cable is threaded through all the guide holes from bottom to top to connect multiple spinal modules and form a cable path; the radial distance between the cable path and the central axis of the spinal mechanism gradually decreases in the series direction.

[0010] Beneficial effects: By setting a non-parallel structure where the radial distance between the cable path and the central axis of the spinal mechanism gradually decreases in the series direction, mimicking the biomimetic configuration of an elephant's trunk, a spatial truss effect is created. This significantly improves the stiffness and load-bearing capacity of the spinal exoskeleton's ends while maintaining the system's flexibility. Under load, more of the cable tension can directly lift the human back, improving motor efficiency and increasing load capacity. The cable's position is less likely to interfere with the spinal mechanism, increasing the degree of freedom.

[0011] In one alternative implementation, the drive mechanism includes:

[0012] A first drive assembly drives a first cable, the cable path of which is located behind the spinal mechanism for applying an upward pulling force to the back of the human body.

[0013] The second drive assembly drives the second cable, the cable path of which is located on the side of the spinal mechanism, for applying lateral tension to the back of the human body.

[0014] Beneficial effects: By setting up independent drive components to control the lifting and lateral swaying of the back, a professional division of labor in the direction of assistance is achieved, which improves the accuracy and efficiency of control and can better adapt to the complex three-dimensional movement needs of the human body.

[0015] In one alternative embodiment, the overall extension direction of the cable path of the first cable forms a first angle with the connection direction of the spinal mechanism, the first angle being greater than 135° and less than 180°.

[0016] Beneficial effects: By setting the first included angle within this specific range, it is ensured that the first cable can provide a sufficiently large normal component force to form an effective bending moment, thereby enhancing the bending stiffness of the spinal structure while providing upward tension.

[0017] In one alternative embodiment, the overall extension direction of the second cable path forms a second angle with the connection direction of the spinal mechanism, the second angle being greater than 135° and less than 180°.

[0018] Beneficial effects: By setting the second included angle within this specific range, the second cable can provide lateral tension while also generating a torque to resist lateral bending, thereby improving the stability of the non-parallel spinal exoskeleton robot in the coronal plane of the human body.

[0019] In one alternative implementation, the projection direction of the first cable is parallel to the front-back direction on a plane perpendicular to the stringing direction.

[0020] Beneficial effects: This projection direction makes the first cable specifically responsible for the motion control of the human body in the sagittal plane, and the direction of the force is consistent with the direction of the human body's flexion / extension movement, thus achieving decoupling of motion control and improving assist efficiency.

[0021] In one alternative implementation, the projection direction of the second cable is perpendicular to the front-back direction on a plane perpendicular to the stringing direction.

[0022] Beneficial effects: This projection direction allows the second cable to be specifically responsible for motion control within the coronal plane, and the direction of force is consistent with the direction of the human body's lateral flexion movement, thus achieving decoupling of motion control and improving assist efficiency.

[0023] In one alternative embodiment, the first cable includes two cables arranged symmetrically in the left-right direction of the spinal mechanism, with the cable paths of the two first cables being parallel to each other.

[0024] Beneficial effects: The two parallel first cables arranged symmetrically provide a balanced upward pull, avoiding torque caused by unilateral force and ensuring the stability of the spinal mechanism in the sagittal plane.

[0025] In one alternative embodiment, the second cable includes two cables respectively located on the left and right sides of the spinal mechanism, and the lateral distance between the cable paths of the two second cables gradually decreases in the series direction.

[0026] Beneficial effects: By setting the paths of the two second cables to gradually approach each other, a convergent non-parallel structure is formed, which can provide an adaptive tension distribution during lateral bending, improving the stability and controllability of lateral assistance.

[0027] In one alternative implementation, the cable guide includes:

[0028] The first guide section extends rearward from the spinal module and has guide holes for guiding the first cable.

[0029] The second guide section extends laterally from the spinal module and has guide holes for guiding the second cable.

[0030] Beneficial effects: The design of the guide section provides independent and optimized guide paths for cables with different functions, ensuring that the cables do not interfere with each other during movement, while achieving a compact spatial layout.

[0031] In one alternative implementation, each spinal module is fixedly provided with two sets of cable guides, which are respectively located on the left and right sides of the spinal module.

[0032] Beneficial effects: The two sets of symmetrically arranged cable guides provide stable support points for the cables on the left and right sides, ensuring force balance and enhancing the overall structural strength of the spinal module.

[0033] In one alternative embodiment, the side of the spinal module is provided with a vertically continuous mounting structure, and each set of cable guides includes two guide units, which are respectively fixed to the upper and lower sides of the mounting structure.

[0034] Beneficial effects: The guide components set at the top and bottom provide two stable constraint points for the cable, effectively limiting the lateral swing of the cable and improving the accuracy of the cable path and the stability of the system motion.

[0035] In one alternative implementation, a support structure is provided between two guide units within the same group.

[0036] Beneficial effects: The support structure enhances the connection stiffness between the upper and lower guide components, preventing deformation under stress from affecting the guiding accuracy. At the same time, it increases the natural frequency of the entire cable guiding system and reduces vibration.

[0037] In one alternative implementation, each spinal module includes a rotational component and a linear motion component, the linear motion component being connected to the rotational component, and the rotational component of the next spinal module in the series direction being connected to the linear motion component of the previous spinal module.

[0038] Beneficial effects: The combined design of the rotating component and the linear movement component enables each spinal module to have multi-degree-of-freedom movement capabilities, which can better simulate the complex movement patterns of the human spine and improve the biomimeticity and wearing comfort of the exoskeleton.

[0039] In one alternative embodiment, the rotating component of the spinal module at the front end is mounted on the lumbar brace, and the linear movement component of the spinal module at the rear end is mounted on the back connection plate.

[0040] Beneficial effects: The module that concentrates rotational freedom mainly near the waist, while pushing linear movement freedom towards the back, conforms to the biomechanical characteristics of human spinal movement, making the transmission of assist more natural and efficient.

[0041] In one alternative embodiment, the cable guide is located on the side of the linear motion assembly.

[0042] Beneficial effects: By placing the cable guide on the linear motion component, the change in the cable path is directly related to the extension and retraction of the module, which improves the directness of force transmission and avoids interference of the cable with the range of motion of the rotating component. Attached Figure Description

[0043] 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.

[0044] Figure 1 This is a schematic diagram of a non-parallel spinal exoskeleton robot installed on a human body according to an embodiment of the present invention;

[0045] Figure 2 This is a schematic diagram of the structure of a non-parallel spinal exoskeleton robot according to an embodiment of the present invention;

[0046] Figure 3This is a schematic diagram of the structure of a non-parallel spinal exoskeleton robot according to an embodiment of the present invention;

[0047] Figure 4 This is a schematic diagram of the spinal module of a non-parallel spinal exoskeleton robot according to an embodiment of the present invention;

[0048] Figure 5 This is a schematic diagram of the spinal module of a non-parallel spinal exoskeleton robot according to an embodiment of the present invention;

[0049] Figure 6 This is a cross-sectional view of the spine module of a non-parallel spinal exoskeleton robot according to an embodiment of the present invention.

[0050] Figure 7 This is a cross-sectional view of the spine module of a non-parallel spinal exoskeleton robot according to an embodiment of the present invention.

[0051] Figure 8 This is a cross-sectional view of the spine module of a non-parallel spinal exoskeleton robot according to an embodiment of the present invention.

[0052] Figure 9 This is a schematic diagram of the structure of a displacement sensor for a non-parallel spinal exoskeleton robot according to an embodiment of the present invention.

[0053] Explanation of reference numerals in the attached figures:

[0054] 100. Non-parallel spinal exoskeleton robot;

[0055] 1. Waist binding device;

[0056] 2. Spine structure;

[0057] 211, First drive assembly; 2111, First cable; 212, Second drive assembly; 2121, Second cable;

[0058] 22. Cable guide; 221. Guide unit; 2211. First guide section; 2212. Second guide section; 222. Guide hole; 223. Support structure;

[0059] 23. Spine module; 231. Rotating assembly; 2311. Rotating seat; 2312. Rotating shaft; 2313. Rotating mating part; 23131. Ball seat; 23132. Ball head; 232. Linear movement assembly; 2321. Housing; 23211. Mounting structure; 2322. Sliding part; 2323. Elastic part; 233. Displacement sensor; 2331. Fixed part; 2332. Moving part;

[0060] 24. Motor; 25. Winding reel;

[0061] 3. Back connection plate; 31. Pressure sensor. Detailed Implementation

[0062] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, 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, 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.

[0063] As a wearable assistive device, spinal exoskeletons are widely used in rehabilitation training, physical labor assistance, and elderly assistance, aiming to reduce the burden on the human spine, prevent lumbar injuries, and improve movement efficiency.

[0064] In related technologies, the spinal exoskeleton system based on parallel cable drive adjusts the posture of the back by pulling multiple parallel cables with motor 24. Due to the parallel structure of the cable layout, the stiffness of the exoskeleton ends is low, and the joints are subjected to great force. The cables cannot transmit auxiliary force well, cannot perform high-load work, have poor adaptability and coordination, and are limited by the layout, thus restricting the degree of freedom of movement.

[0065] The following is combined Figures 1 to 9 The following describes embodiments of the present invention.

[0066] According to an embodiment of the present invention, a non-parallel spinal exoskeleton robot is provided, comprising: a waist restraint 1, a back connecting plate 3, a spinal mechanism 2, a drive unit, and a cable guide 22.

[0067] The spinal mechanism 2 is formed by connecting multiple spinal modules 23 in series. The first end of the spinal mechanism 2 is located at the bottom and connected to the waist binding member 1 in the series direction, and the last end is located at the top and connected to the back connecting plate 3. The drive mechanism includes a retractable cable driven by a motor 24. The cable guide member 22 is located on the side of the spinal module 23 and has a guide hole 222 for guiding the cable.

[0068] The cable is threaded through all the guide holes 222 from bottom to top to connect multiple spinal modules 23 and form a cable path. The radial distance between the cable path and the central axis of the spinal mechanism 2 gradually decreases in the series direction.

[0069] The reason an elephant's trunk can both bend flexibly and bear heavy loads is due to the intricate, non-parallel arrangement of muscle bundles forming a spatial truss structure. This invention mimics this structure by gradually reducing the radial distance between the cable path and the central axis, combining the flexible cable with the spine module 23 into a stable virtual truss.

[0070] In traditional parallel cable structures, the cables primarily provide axial tension, resulting in a short lever arm and weak bending resistance. This application utilizes non-parallel cables to apply a longer lever arm to the spinal mechanism 2. Bending moment is the product of force and lever arm; with the same cable tension, a longer lever arm generates a greater moment resisting bending, significantly improving structural stiffness. This makes the end of the spinal mechanism 2 (where it connects to the back) less prone to sagging and deformation under load, enabling it to support greater weight and making it suitable for high-load operation scenarios. Extending the cable path also allows for more flexible cable extension and retraction, avoiding interference from cable length on flexibility.

[0071] The cable path geometry ensures that the tension is efficiently transmitted to the back of the body in the intended direction. The force transmission path is clear and direct, with minimal energy loss and high assist efficiency.

[0072] The non-parallel cable structure allows the system to better adapt to the extension and contraction of the cable when the human spine bends, and the cable is less likely to restrain or interfere with the spinal structure itself. This allows the exoskeleton to provide strong support while smoothly following the body's movements, resulting in natural and fluid movements in assisted mode.

[0073] By setting a non-parallel structure where the radial distance between the cable path and the central axis of the spinal mechanism 2 gradually decreases in the series direction, mimicking the biomimetic configuration of an elephant's trunk, a spatial truss effect is formed. This significantly improves the stiffness and load-bearing capacity of the spinal exoskeleton's end, while maintaining the system's flexibility. Under load, more of the cable tension can directly lift the human back, improving the efficiency of motor 24 and increasing the load capacity. The cable's position is less likely to interfere with the spinal mechanism 2, increasing the degree of freedom.

[0074] like Figures 1-3 As shown, in one embodiment, the drive mechanism includes: a first drive component 211 and a second drive component 212. The first drive component 211 drives a first cable 2111, the cable path of which is located on the rear side of the spinal mechanism 2, for applying an upward pulling force to the back of the human body. The second drive component 212 drives a second cable 2121, the cable path of which is located on the side of the spinal mechanism 2, for applying a lateral pulling force to the back of the human body.

[0075] The movement of the human trunk is mainly in two planes: the movement in the sagittal plane controls the forward and backward bending of the human trunk, and the movement in the coronal plane controls the left and right lateral bending of the human trunk.

[0076] The first drive component 211 is specifically designed to assist sagittal plane motion. Its cable path is located on the posterior side of the spinal mechanism 2, specifically on the posterior side of the spinal mechanism 2's motion axis, not the entire posterior side of the spinal mechanism 2. The direction of force in the first drive component 211 matches the flexion and extension movements of the human body, providing vertical lifting force. The second drive component 212 is specifically designed to assist coronal plane motion. Its cable path is located on the side of the spinal mechanism 2, and the direction of force matches the left and right flexion movements of the human body, providing lateral balance and tension. This ensures dedicated drive components and functional separation. The system can accurately determine whether the human body's movement intention is flexion or lateral flexion based on sensor information and activate the corresponding drive component to provide assistance, avoiding errors in the direction of assistance. For example, when the user is simply flexing forward, unnecessary lateral force will not be generated, causing the user to feel "pulled off course." This ensures the efficiency and comfort of the assistance, and ensures precise control of the non-parallel spinal exoskeleton robot.

[0077] Furthermore, the first cable 2111 at the rear can primarily resist the bending moment in the sagittal plane, while the second cable 2121 on the side resists the bending moment in the coronal plane. Working together, the two can provide support for the spinal mechanism 2 from different directions, enhancing its overall stiffness and stability in three-dimensional space and preventing torsional deformation of the spinal mechanism 2 under load.

[0078] The two drive components are physically and functionally independent, making it easier to debug, maintain or replace them separately.

[0079] By setting up independent drive components to control the lifting and lateral swaying of the back, a professional division of labor in the direction of assistance is achieved, which improves the accuracy and efficiency of control and can better adapt to the complex three-dimensional movement needs of the human body.

[0080] like Figure 3 As shown, in one embodiment, the overall extension direction of the cable path of the first cable 2111 forms a first angle with the connection direction of the spinal mechanism 2, the first angle being greater than 135° and less than 180°.

[0081] The first included angle is the angle between the cable path and the connecting direction, i.e., the central axis of the spine mechanism 2. When the included angle is 180°, the cable is completely parallel to the axis, providing only axial tension and generating almost no bending moment. As the included angle decreases from 180°, the cable begins to deviate from the axis, generating a normal component force perpendicular to the axis, and the lever arm increases accordingly. While a smaller included angle can achieve a longer lever arm, it will cause the cable path to be too inclined. This requires a longer cable travel to achieve the same spinal bending angle, reducing drive efficiency; it will also put excessive pressure on the spine module 23, potentially increasing internal friction and hindering smooth movement.

[0082] By setting the included angle within the range of greater than 135° and less than 180°, it is ensured that a sufficiently long lever arm is obtained while avoiding excessive space occupation, maintaining efficient and low-interference drive, and ensuring drive efficiency and motion flexibility.

[0083] When motor 24 is not in operation, the cable is not completely taut and parallel, resulting in minimal interference with the movement of the spinal module 23 and maintaining flexibility. In assist mode, once motor 24 tightens the cable, high-rigidity support is provided, enhancing the wearing experience.

[0084] By avoiding excessively small angles, the spinal mechanism 2 is ensured to have sufficient extension space in the sagittal plane, and will not be prematurely restricted by the cable geometry, conforming to the natural range of motion of the human spine, thus improving the safety and comfort of use.

[0085] By setting the first included angle within this specific range, it is ensured that the first cable 2111 can provide a sufficiently large normal component force to form an effective bending moment, thereby enhancing the bending stiffness of the spinal mechanism 2 while providing upward tension.

[0086] like Figures 1-2 As shown, in one embodiment, the overall extension direction of the cable path of the second cable 2121 forms a second angle with the connection direction of the spinal mechanism 2, the second angle being greater than 135° and less than 180°.

[0087] When the second cable 2121 is tightened, its tension can be decomposed into a component force along the connection direction of the spinal mechanism 2 and a lateral component force perpendicular to the connection direction of the spinal mechanism 2. This lateral component force and the lever arm are determined by the second included angle, and together they constitute the torque resisting lateral bending. Setting the second included angle between 135° and 180° ensures that a sufficiently large stabilizing torque can be generated during lateral flexion, preventing the spinal mechanism 2 from becoming unstable in the coronal plane.

[0088] The first cable 2111 and the second cable 2121 work together, essentially providing efficient "diagonal braces" at the rear and sides of the spinal mechanism 2. This forms a non-coplanar spatial force system capable of collaboratively resisting bending loads from different directions. When the body flexes laterally, the second cable 2121 becomes the primary load-bearing path, and its large angle design ensures efficient force transmission, working together with the first cable 2111 system to guarantee overall torsional stiffness and lateral stability.

[0089] The second included angle is chosen to be greater than 135° to avoid problems caused by an angle that is too small. If the angle is too small, the second cable 2121 will excessively restrict the lateral movement of the spinal mechanism 2, resulting in poor flexibility in the unassisted state and a noticeable feeling of restraint on the wearer.

[0090] At the same time, maintaining a relatively large tilt angle makes the 24-motor driven lateral assistance more ergonomic. It provides lateral assistance force primarily for lifting, making the assistance feel more natural.

[0091] This enables the non-parallel spinal exoskeleton robot to provide strong lateral support when the user performs lateral flexion or moves objects to the side. It effectively prevents lateral deformation of the spinal mechanism 2 in the coronal plane, ensuring the effectiveness and reliability of lateral assistance and expanding the application range of the device under asymmetric load conditions.

[0092] By setting the second included angle within this specific range, the second cable 2121 can provide lateral tension while also generating a torque to resist lateral bending, thereby improving the stability of the non-parallel spinal exoskeleton robot 100 in the coronal plane of the human body.

[0093] like Figures 1-3 As shown, in one embodiment, on a plane perpendicular to the connecting direction, the projection direction of the first cable 2111 is parallel to the front-back direction, so that the first cable 2111 is specifically responsible for the motion control in the sagittal plane of the human body, and the direction of the force is consistent with the direction of the human body's flexion / extension movement, thereby achieving decoupling of motion control and improving assist efficiency.

[0094] like Figures 1-3 As shown, in one embodiment, on a plane perpendicular to the connecting direction, the projection direction of the second cable 2121 is perpendicular to the front-back direction, so that the second cable 2121 is specifically responsible for motion control in the coronal plane, and the direction of force is consistent with the direction of human lateral flexion movement, thereby achieving decoupling of motion control and improving assist efficiency.

[0095] like Figures 1-3 As shown, in one embodiment, the first cable 2111 includes two cables symmetrically arranged in the left-right direction of the spinal mechanism 2, and the cable paths of the two first cables 2111 are parallel to each other.

[0096] When the two first cables 2111 are symmetrically arranged on the left and right sides of the spinal mechanism 2 and their paths are parallel to each other, the horizontal components of the tension they exert on the spinal mechanism 2 will cancel each other out. This results in a net force acting purely in the sagittal plane and pointing upwards. Mechanically, this completely eliminates the additional torque or lateral rollover tendency that may be caused by unilateral traction or asymmetrical tension, ensuring the absolute stability of the spinal mechanism 2 in the sagittal plane.

[0097] In some embodiments, the paths of the two first cables 2111 are parallel to each other, and their extension and contraction during movement are completely synchronized and equivalent. They can be synchronously driven by the same motor 24 through a winding wheel 25 with double grooves.

[0098] By using two parallel first cables 2111, even if one cable fails due to extreme conditions, the other cable can still provide at least sufficient tension, improving the safety of the system and preventing the sudden and complete loss of power assist.

[0099] Meanwhile, the two parallel first cables 2111 can share the load, achieving automatic load sharing, avoiding stress concentration, and extending the service life of the cables and the entire drive system.

[0100] The two parallel first cables 2111 arranged symmetrically provide a balanced upward pulling force, avoiding the torque caused by unilateral force and ensuring the stability of the spinal mechanism 2 in the sagittal plane.

[0101] like Figures 1-2 As shown, in one embodiment, the second cable 2121 includes two cables respectively located on the left and right sides of the spine mechanism 2, and the lateral distance between the cable paths of the two second cables 2121 gradually decreases in the connecting direction.

[0102] This design mimics the coordinated pattern of muscle contraction on one side and extension on the other side when the human body flexes laterally. The paths of the two second cables 2121 converge upwards, forming a "V" or trapezoidal structure.

[0103] The tapered design at the top makes all the components driving the lateral assistance more compact, reducing the overall size of the exoskeleton and making it closer to the curve of the human back, thus improving concealment and comfort. This compact layout also makes the entire system structure simpler and lighter.

[0104] By setting the paths of the two second cables 2121 to gradually approach each other, a convergent non-parallel structure is formed, which can provide an adaptive tension distribution during lateral bending, improving the stability and controllability of lateral assistance.

[0105] like Figures 4-8 As shown, in one embodiment, the cable guide 22 includes a first guide portion 2211 and a second guide portion 2212.

[0106] The first guide section 2211 extends rearward from the spinal module 23, and a guide hole 222 is provided thereon for guiding the first cable 2111. The second guide section 2212 extends laterally from the spinal module 23, and a guide hole 222 is provided thereon for guiding the second cable 2121.

[0107] This allows for the complete physical separation of drive units with different functions. By setting up two guide sections with different directions, independent and dedicated force transmission channels are established for the first cable 2111, which is responsible for flexion and extension, and the second cable 2121, which is responsible for lateral flexion.

[0108] The first guide section 2211 extends rearward, ensuring that the path of the first cable 2111 is strictly limited to the rear side of the spinal mechanism 2, so that the direction of its tension vector is specifically for movement in the sagittal plane. The second guide section 2212 extends laterally, ensuring that the path of the second cable 2121 is strictly limited to the side of the spinal mechanism 2, so that the direction of its tension vector is specifically for movement in the coronal plane. This physical isolation fundamentally avoids the entanglement, friction, or geometric interference between different cables during movement, ensuring the independence and purity of the operation of each subsystem.

[0109] The length of the first guide section 2211 or the second guide section 2212 extending backward or to the side directly determines the radial distance and lever arm length between the cable and the central axis of the spinal mechanism 2, thereby optimizing its ability to resist flexion moment.

[0110] The two guide sections are integrated into a single cable guide component 22, forming an integrated cable guide component 22. This saves installation space, simplifies the overall structure of the spine module 23, and ensures the relative positional accuracy between the first guide section 2211 and the second guide section 2212. It also facilitates mass production and assembly.

[0111] The guide design provides independent and optimized guide paths for cables with different functions, ensuring that the cables do not interfere with each other during movement, while also achieving a compact spatial layout.

[0112] like Figures 4-8 As shown, in one embodiment, each spinal module 23 is fixedly provided with two sets of cable guides 22, which are respectively located on the left and right sides of the spinal module 23.

[0113] Two identical sets of cable guides 22 are arranged symmetrically on the left and right sides of the spine module 23, forming a stable force transmission frame. The uniform and symmetrical guide layout on each spine module 23 ensures that all spine modules 23 are structurally identical or highly similar. This highly modular and standardized design greatly simplifies the manufacturing, assembly, and maintenance processes. Any spine module 23 can be quickly replaced without differentiation, improving the product's manufacturability and maintainability.

[0114] Because the physical structure itself is symmetrical and balanced, the control system can be designed based on this ideal model, eliminating the need to write complex algorithms to compensate for disturbances caused by structural asymmetry. This reduces the difficulty of control and improves the system's response speed and overall reliability.

[0115] These standardized symmetrical modules can be easily connected in series, allowing for easy expansion or contraction of the length of the spinal mechanism 2 to accommodate users of different heights.

[0116] The two sets of symmetrically arranged cable guides 22 provide stable support points for the cables on the left and right sides, ensuring force balance and enhancing the overall structural strength of the spine module 23.

[0117] like Figures 6-8 As shown, in one embodiment, the side of the spine module 23 is provided with a vertically extending mounting structure 23211, and each set of cable guides 22 includes two guide units 221, which are respectively fixed to the upper and lower sides of the mounting structure 23211.

[0118] By placing two spaced-apart guide units 221 on the same vertical line of a spinal module 23, two defined spatial constraint points can be provided for each cable on the same spinal module 23. These two points together precisely define the tangential direction of the cable as it passes through the spinal module 23.

[0119] Compared to single-point guidance, this dual-point guidance greatly enhances the constraint, effectively suppressing lateral swaying, vibration, or detachment that may occur during cable loading or movement, ensuring the spatial geometric accuracy and stability of the cable path, thereby guaranteeing the precise realization of the "non-parallel configuration".

[0120] When the cable tightens, it exerts a diagonal tension on the guide. This tension can be decomposed into an axial force and a moment that bends the guide. When there is only one fixed point, this moment is borne entirely by that single fixed point, which can easily lead to fatigue or damage at the connection.

[0121] The guide component 221 is securely fixed to the mounting structure 23211 through two fixed points, one above and one below. The bending moment generated by the cable tension is shared by the two fixed points, which improves the rigidity and load-bearing capacity of the guide component itself and avoids deformation or damage caused by bending moment.

[0122] The through-hole mounting structure 23211 can be a through threaded hole, which ensures that the mounting reference of the two guide units 221 is unified and precisely aligned, avoiding the cumulative error caused by machining two independent mounting surfaces separately.

[0123] Because the assembly process is simplified, production efficiency is improved, and the integrity of the components is ensured by simultaneously fixing the upper and lower guide units 221 by inserting fasteners such as long bolts from one side.

[0124] If a single guide unit 221 needs to be replaced due to long-term wear, it can be removed from the mounting structure 23211 simply by loosening the fasteners, without replacing the entire spine module 23. This design reduces maintenance costs and time for long-term use.

[0125] The guide unit 221, which is set at the top and bottom, provides two stable constraint points for the cable, effectively limiting the lateral swing of the cable and improving the accuracy of the cable path and the stability of the system motion.

[0126] like Figures 4-8 As shown, in one embodiment, a support structure 223 is provided between two guide unit 221s in the same group.

[0127] Although the upper and lower guide components 221 are fixed separately, the suspended portion between them may still experience slight relative displacement or vibration when subjected to the lateral pressure of the cable. The support structure 223 located between them connects them into a rigid integral frame.

[0128] The support structure 223 greatly enhances the bending and torsional stiffness of a set of guide unit 221 in the cable direction, ensuring that there is almost no deformation under dynamic load.

[0129] Furthermore, forces can be transferred and redistributed between the upper and lower units through the support structure 223, avoiding stress concentration at the fixed point of a single guide unit 221, thereby optimizing the force transmission path, reducing local peak stress, and improving the fatigue life of the entire component.

[0130] The support structure 223 enhances the connection stiffness between the upper and lower guide units 221, preventing deformation due to stress from affecting the guiding accuracy. At the same time, it increases the natural frequency of the entire cable guiding system and reduces vibration.

[0131] like Figures 1-8 As shown, in one embodiment, each spinal module 23 includes a rotation component 231 and a linear motion component 232, the linear motion component 232 being connected to the rotation component 231, and the rotation component 231 of the next spinal module 23 in the series direction being connected to the linear motion component 232 of the previous spinal module 23.

[0132] The design decomposes the complex motion of the spine module 23 into two main functions: multi-directional rotation and axial extension, which are respectively undertaken by two specialized sub-units: the rotation component 231 and the linear motion component 232.

[0133] Rotation component 231 typically employs a ball joint or directional joint structure, specifically designed to enable rotational freedom of the spine in the sagittal, coronal, and horizontal planes, simulating the bending, lateral flexion, and torsion of the human spine.

[0134] The linear motion component 232, which typically includes a spring and a sliding mechanism, is specifically designed to achieve longitudinal compression and stretching of the spine, simulating the elastic deformation of the human intervertebral disc and the slight elongation of the spine.

[0135] This "separation of rotation and translation" architecture makes each spinal module 23 a fully functional "universal joint," laying the physical foundation for reproducing the complex movements of the human spine. The specific sequence of connecting a lower rotational component 231 to a higher linear motion component 232 in the series direction makes bending movements smoother and the center of rotation clearer, mimicking the structure of functional units in the human spine. The rotational component 231 simulates the guiding role of the vertebral facet joints, limiting the range of motion and providing a rotational fulcrum, while the linear motion component 232 with its built-in spring simulates the elasticity and cushioning function of the intervertebral disc.

[0136] This biomimetic design allows the kinematic characteristics of the exoskeleton to be highly matched with the biomechanical characteristics of the human spine, thus providing assistance while naturally adapting to the body's movements, greatly reducing motion interference and "resistance".

[0137] The combined design of the rotating component 231 and the linear motion component 232 enables each spinal module 23 to have multi-degree-of-freedom motion capabilities, which can better simulate the complex movement patterns of the human spine and improve the biomimeticity and wearing comfort of the exoskeleton.

[0138] like Figures 1-3 As shown, in one embodiment, the rotation component 231 of the spinal module 23 at the first end is mounted on the waist binding 1, and the linear movement component 232 of the spinal module 23 at the last end is mounted on the back connecting plate 3.

[0139] The lumbar and pelvic regions of the human body are the driving core and foundation of spinal movement, exhibiting a large range of motion and bearing significant weight. By placing the rotating component 231 at the head end and directly connecting it to the lumbar binding component 1, the maximum rotational freedom is placed at the starting and foundational point of the movement. This aligns with biomechanical principles, ensuring that the initial movement of the exoskeleton perfectly matches the force exerted by the human lumbar region, resulting in extremely natural and efficient movements.

[0140] Conversely, the relative movement between the back and torso is more driven by the waist and requires stable transmission and distribution of assistance. Connecting the end linear motion component 232 to the back connecting plate 3 means that the axial buffering and force sensing functions are placed closest to the load, realizing the direct transmission and accurate measurement of assistance and reaction forces.

[0141] The linear motion component 232 at the end and its built-in spring act as a final buffer and fine-tuning mechanism, absorbing minor impacts and posture deviations during movement, making the assist feel soft and smooth, and reducing the risk of user discomfort or injury due to over-assistance or lag.

[0142] The module that concentrates rotational freedom mainly near the waist, while pushing linear motion freedom towards the back, conforms to the biomechanical characteristics of human spinal movement, making the transfer of assist more natural and efficient.

[0143] like Figures 1-8 As shown, in one embodiment, the cable guide 22 is disposed on the side of the linear motion assembly 232.

[0144] The drive cable is physically integrated with the linear motion assembly 232. The linear motion assembly 232 integrates a displacement sensor 233, which makes the causal relationship between the input of the drive force and the axial force response of the spine module 23 more direct.

[0145] The motion of the spinal module 23 is a combination of rotation and translation. If the guide is placed on the rotating assembly 231, the guide itself will change its spatial orientation with rotation, which will introduce additional, nonlinear cable path changes, interfere with structural changes, and make the system more complex.

[0146] By mounting the cable guide 22 on the linear motion assembly 232, it is decoupled from rotational motion. Regardless of how the spinal module 23 rotates, the radial position of the guide relative to the module's central axis remains essentially fixed. This ensures the geometric stability of the cable path.

[0147] The housing 2321 of the linear motion assembly 232 is a regular, robust cylindrical or square structure, with its sides providing an ideal large mounting surface for stable fixation of the cable guide 22.

[0148] By placing the cable guide 22 on the linear motion component 232, the change in the cable path is directly related to the extension and retraction of the module, which improves the directness of force transmission and avoids interference of the cable with the movement range of the rotating component 231.

[0149] Specifically, the rotating assembly 231 may include a rotating seat 2311, a rotating shaft 2312, and a rotating mating member 2313. The rotating shaft 2312 is connected to the rotating seat 2311 via the rotating mating member 2313. The rotating mating member 2313 may be a ball joint structure, for example, including a ball seat 23131 and a ball head 23132, to achieve multi-degree-of-freedom rotational motion. The linear motion assembly 232 may include a housing 2321, an elastic element 2323 (such as a spring), and a sliding element 2322. The sliding element 2322 is slidably disposed within the housing 2321 via the elastic element 2323 to achieve longitudinal displacement. The sliding element 2322 may be provided with a guide groove, and the rotating shaft 2312 is connected to the housing 2321 and extends into the guide groove to provide motion guidance.

[0150] The drive unit includes a motor 24 and a winding reel 25. The motor 24 is mounted on both sides of the waist binding 1. The motor 24 is connected to the winding reel 25 for transmission. Cables are wound on the winding reel 25.

[0151] To achieve precise control, a displacement sensor 233 can be integrated into the linear motion component 232 of each spinal module 23. The displacement sensor 233 includes a fixed part 2331 and a moving part 2332. It is used to inversely calculate the axial pressure of the module through the deformation of the elastic element 2323. A pressure sensor 31 can be installed on the back connecting plate 3 to measure the total output force. The system interprets the human body's movement intention by integrating surface electromyography and inertial measurement unit sensors. Through an adaptive impedance control algorithm, it achieves intelligent switching of working modes, such as transparent mode, flexion mode, and lateral flexion mode, and precise dynamic control of the assist torque.

[0152] In the transparent mode of normal walking or standing, the servo motor 24 is not activated, and the spinal mechanism 2 moves freely with the body. When the system determines through sensors that the body needs flexion assistance, it activates the first drive component 211, tightens the first cable 2111, and applies an efficient upward pulling force to the back through a non-parallel path on its rear side. When it determines that lateral flexion assistance is needed, it activates the second drive component 212, tightens the second cable 2121, and provides lateral balancing force. The entire control process benefits from the decoupling of the physical structure, becoming simple, fast, and precise.

[0153] Although embodiments of the invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the invention, and all such modifications and variations fall within the defined scope.

Claims

1. A non-parallel spinal exoskeleton robot, characterized in that, include: Waist brace and back support plate; The spinal mechanism is formed by connecting multiple spinal modules in series. The first end of the spinal mechanism is located at the bottom in the series direction and is connected to the waist binding piece, and the last end is located at the top and is connected to the back connecting plate. Drive mechanism, including a retractable cable driven by a motor; A cable guide is provided on the side of the spine module, and a guide hole is provided thereon for guiding the cable. The cables are threaded from bottom to top through all the guide holes to connect multiple spinal modules and form a cable path. The radial distance between the cable path and the central axis of the spinal mechanism gradually decreases in the series direction. The cable path of the first cable driven by the first drive assembly is located on the rear side of the spinal mechanism and is used to apply an upward pulling force to the back of the human body. The second cable driven by the second drive assembly includes two cables respectively located on the left and right sides of the spinal mechanism and is used to apply a lateral pulling force to the back of the human body. On a plane perpendicular to the series direction, the projection direction of the first cable is parallel to the front-back direction, and the projection direction of the second cable is perpendicular to the front-back direction.

2. The non-parallel spinal exoskeleton robot according to claim 1, characterized in that, The overall extension direction of the cable path of the first cable forms a first angle with the connection direction of the spinal mechanism, and the first angle is greater than 135° and less than 180°. And / or, the overall extension direction of the cable path of the second cable forms a second angle with the connection direction of the spinal mechanism, the second angle being greater than 135° and less than 180°.

3. The non-parallel spinal exoskeleton robot according to claim 1, characterized in that, The first cable comprises two cables symmetrically arranged in the left-right direction of the spinal mechanism, the cable paths of the two first cables being parallel to each other; and / or The lateral distance between the cable paths of the two second cables gradually decreases in the connecting direction.

4. The non-parallel spinal exoskeleton robot according to claim 1, characterized in that, The cable guide includes: The first guide section extends rearward from the spinal module and has a guide hole for guiding the first cable. The second guide section extends laterally from the spinal module and has guide holes for guiding the second cable.

5. The non-parallel spinal exoskeleton robot according to claim 4, characterized in that, Each of the spinal modules is fixedly provided with two sets of cable guides, which are respectively located on the left and right sides of the spinal module.

6. The non-parallel spinal exoskeleton robot according to claim 5, characterized in that, The spinal module has a vertically continuous mounting structure on its side. Each set of cable guides includes two individual guides, which are fixed to the upper and lower sides of the mounting structure, respectively.

7. The non-parallel spinal exoskeleton robot according to claim 6, characterized in that, A support structure is provided between the two guide components in the same group.

8. The non-parallel spinal exoskeleton robot according to claim 1, characterized in that, Each of the spinal modules includes a rotational component and a linear motion component. The linear motion component is connected to the rotation component, and the rotation component of the next spinal module in the series direction is connected to the linear motion component of the previous spinal module. The rotating component of the spinal module at the first end is mounted on the lumbar brace, and the linear movement component of the spinal module at the second end is mounted on the back connecting plate.

9. The non-parallel spinal exoskeleton robot according to claim 8, characterized in that, The cable guide is located on the side of the linear motion assembly.

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