Lower limb exoskeleton robot convenient to wear and use method thereof

Abstract

The invention provides a lower limb exoskeleton robot convenient to wear and a using method thereof, and mainly relates to the technical field of rehabilitation medical robotics.The lower limb exoskeleton robot comprises two symmetrically-arranged bottom supporting frames and lifting supports arranged at the tops of the bottom supporting frames, and the inner sides of the two lifting supports are jointly provided with a lifting assembly; supporting arms are symmetrically arranged behind the lifting assembly, hip supporting structures are arranged at the bottoms of the rear ends of the supporting arms, thigh supporting assemblies are installed at the bottoms of the hip supporting structures in a hinged mode, shank supporting assemblies are installed at the bottoms of the thigh supporting assemblies in a hinged mode, and foot supporting assemblies are installed at the bottoms of the shank supporting assemblies in a hinged mode. The device has the advantages that the front face wearing function is achieved in the mode that the layout supporting frame is connected with the leg bones, the height adjusting function of the lifting assembly is combined, a user can directly wear the device from the sitting posture of a bed or a wheelchair, transferring or standing is not needed, the device is suitable for users of different heights and body types, and the user experience and universality are remarkably improved.

Description

Technical Field

[0001] This invention relates to the field of rehabilitation medical robot technology, specifically a wearable lower limb exoskeleton robot and its usage method. Background Technology

[0002] Lower limb exoskeleton robots are generally used for people with lower limb motor dysfunction (such as paraplegics caused by spinal cord injuries, and people who are unable to walk due to the sequelae of cerebral thrombosis). They help users regain motor ability, help users establish correct walking posture, help users maintain blood circulation and muscle strength in the lower limbs, and improve users' mental health by assisting them to stand up and walk again.

[0003] Lower limb exoskeleton robots, as intelligent equipment that integrates mechanical design, electronic control, and sensor technology, can provide walking assistance for people with mobility impairments and provide precise training for rehabilitation users. They have become a research hotspot and core product direction in the field of medical rehabilitation. Currently, existing lower limb exoskeleton robots still have the following technical shortcomings in practical applications: 1. Some existing lower limb assistive walking exoskeletons do not have protective support brackets and cannot provide reliable support, which may cause users to fall directly if they lack skills. At the same time, people without lower limb motor ability cannot use them. 2. Some lower limb exoskeletons with protective support frames generally require the user to stand during donning (impossible for those completely without lower limb mobility), or a stool must be provided so that someone else can lift the user onto the stool before donning. For users who have lost lower limb mobility, the inability to exert force with their lower limbs makes transferring them extremely difficult, often requiring multiple people to assist in successfully donning the exoskeleton. This structure cannot be donned directly from a bed or wheelchair, making it very inconvenient for home use. For example, if one elderly couple needs to use it, the other cannot assist in donning it and requires the help of a younger person, making the operation extremely inconvenient. Furthermore, there is a risk of accidental falls and injuries during the transfer to the stool, resulting in poor safety. In response to the shortcomings of the existing technologies, the development of a lower limb exoskeleton robot that can be directly worn in a seated position, has wide adaptability, strong motion coordination, and is easy to operate has become an urgent technical problem to be solved in this field, and is of great significance to promoting the popularization of rehabilitation medical equipment in homes. Summary of the Invention To address the shortcomings of existing technologies, this invention provides a wearable lower limb exoskeleton robot and its usage method, achieved through the following technical solution: A wearable lower limb exoskeleton robot and its usage method are disclosed. The robot comprises two symmetrically arranged bottom support frames and a lifting bracket mounted on top of each frame. The bottom support frames and the lifting bracket form an L-shape. The bottom support frames are divided into left and right sections, which are not directly connected. Universal wheels with braking mechanisms are fixedly installed on both the front and rear sides of the bottom surface of each bottom support frame. The lifting bracket is fixedly installed on the front side of the top of each bottom support frame. A lifting assembly is mounted on the inner side of both lifting brackets. The lifting assembly can move vertically along the lifting bracket. Adjustable-spaced support arms are symmetrically arranged on both sides of the rear of the lifting assembly. The support arms can move relative to the lifting assembly within a certain range. The support arm slides up and down within the enclosure. A compression spring is installed between the support arm and the lifting assembly. The lifting assembly provides an upward thrust to the support arm through the spring. The bottom of the rear end of each support arm is provided with a hip support structure to adapt to the human hip joint. The top of the rear end of each support arm is hinged to an openable and closable backrest that can be opened outward and automatically locked after closing. Adjustable waist straps are fixedly installed on the rear part of the inner side of each of the two support arms. The two waist straps are connected by quick buckles. An adjustable thigh support component and a calf support component are hinged in sequence below the hip support structure. The end of the calf support component is hinged to a foot support component to form a complete exoskeleton leg support chain. The thigh support assembly provides fixed support to the user's thigh from the outside and the back. The lower leg support component provides fixed support for the user's lower leg from the outside and front, realizing a structural layout where the user faces the device when wearing it.

[0004] Furthermore, the thigh support assembly includes: The thigh support is hinged to the hip support structure at its upper end and to the calf support assembly at its lower end. An openable and closable thigh support is provided in the middle of the rear of the thigh support, which can be opened away from the lifting assembly. Thigh straps are fixedly installed on the opposite sides of both thigh supports.

[0005] Furthermore, the lower leg support assembly includes: The lower leg support is hinged to the lower end of the thigh support, and the lower end of the lower leg support is hinged to install a foot support assembly. The lower leg support plate is fixedly installed in the middle of the front of the lower leg support plate, and the lower leg support plate is diagonally arranged with the openable and closable thigh support plate located on the same side. Lower leg straps are fixedly installed on the back of the lower leg support plates.

[0006] Both the thigh support and the calf support are adjustable length support rods.

[0007] Furthermore, the foot support assembly includes: Foot support plate: A foot support plate is provided below each of the lower leg supports. A hinge seat is fixedly installed on the outer side of the top surface of each foot support plate. The lower end of each lower leg support plate is hinged to the foot support plate on the same side through a corresponding hinge seat. Foot straps are fixedly installed on the top surface of the foot support plate.

[0008] Furthermore, the lifting assembly includes a lifting platform, a first synchronous lifting component and a second synchronous lifting component symmetrically arranged with identical structures, and the first synchronous lifting component and the second synchronous lifting component are respectively installed in the two lifting brackets. The first synchronous lifting component includes a servo motor, a servo motor support, a gear, a ball screw, and a linear guide rail. The servo motor support is fixedly installed in the lifting assembly, and the servo motor is fixedly installed at the bottom of the servo motor support. The servo motor drives the ball screw through the gear. The linear guide rail is installed in the lifting bracket. The two sides of the lifting platform are respectively fixedly connected to the corresponding linear guide rail sliders.

[0009] Furthermore, the thigh support and hip support structure are connected via a first joint motor, and the calf support and thigh support are connected via a second joint motor.

[0010] Furthermore, the thigh straps, calf straps, and foot straps are all adjustable in length.

[0011] Furthermore, it also includes a controller housing, a touch screen display, a control module, an angle sensor, a torque sensor, a pressure sensor, and a power module; The controller housing is fixedly installed on the front of the lifting assembly. The touch screen is embedded in the front panel of the controller housing. The control module is integrated inside the controller housing and is electrically connected to the touch screen, servo motor, two first joint motors, and two second joint motors, respectively. The angle sensors are respectively installed on the output shaft ends of the first joint motor and the second joint motor to collect the rotation angle data of the hip joint and the knee joint in real time. The torque sensor is installed inside the first joint motor and the second joint motor to collect the output torque of the hip joint and the knee joint in real time. The pressure sensors are respectively embedded in the top surface of the foot support plate and the inner side of the thigh support plate and the calf support plate to collect the contact pressure data between the human body and the support structure. The angle sensors and pressure sensors are both connected to the control module signal. The power module includes a rechargeable lithium battery pack and a charging interface. The power module is fixedly installed inside the lifting assembly and provides working power to the control module, touch screen, servo motor, first joint motor, second joint motor, angle sensor, pressure sensor, first synchronous lifting assembly and second synchronous lifting assembly. The control module has a built-in gait recognition algorithm and posture adjustment program. It can dynamically adjust the operating parameters of the servo motor, the first joint motor, and the second joint motor based on real-time data from the angle sensor and the pressure sensor to achieve coordinated control of the joint rotation angle. The control module is also responsible for controlling the synchronous lifting of the first synchronous lifting component and the second synchronous lifting component.

[0012] A wearable lower limb exoskeleton robot includes the following steps: Includes the following steps: S1: Equipment Preparation When using it for the first time, adjust the spacing of the support arms, the length of the thigh support structure, and the length of the calf support structure according to the user's body size to make the device fit the user's height. This adjustment only needs to be made once when using it for the first time. When preparing to wear it, place the lower limb exoskeleton robot on a level surface, ensuring the bottom support frame is stable on the ground. Confirm that the power module has sufficient power through the charging port. Turn on the controller power switch, and the touch screen will start and display the initial interface. The system will automatically complete the signal connection self-test of the servo motors, joint motors, sensors, and various electrical components. After the self-test is passed, it will enter standby mode.

[0013] S2: Wearing adjustment The user can put on the garment while remaining seated (on the edge of a bed, in a wheelchair, or on other support), without having to stand or move, and can be assisted by another operator. (1) First, adjust according to the user’s body size: adapt to the horizontal distance of the user’s hips; adjust the length of the thigh support and calf support to make the height of the foot support fit the position of the user’s feet in a sitting position (if it has been used before and no other adjustments have been made, the above steps can be omitted). (2) Operate the touch screen to enter "wearable mode". At this time, the first joint motor and the second joint motor are in a state of free rotation without power. (3) Open the openable backrest, open the lumbar straps, and open the openable thigh support. (4) Push the device to move it directly in front of the user sitting in a wheelchair or bed, insert the bottom support frame under the bed or to the outside of the wheelchair, so that the bottom support frame is basically facing the user's hips; The operation adjusts the lifting assembly to lower the overall height of the exoskeleton, so that the thigh support is basically level with the user's thighs on both sides of the user's thighs; (5) At this time, the lifting assembly is adjusted to the lower part of the lifting bracket. The thigh support and calf support are in a state of free movement. Position them so that their angle is consistent with the bending direction of the user's legs. (6) The user faces the device and places both feet into the two foot supports respectively, and the ankles are initially fixed by the foot straps; (7) The user’s lower leg naturally fits against the lower leg support board (the lower leg support component forms support from the outside and the front), and the lower leg is adjusted and bound by the lower leg strap; the thigh strap is wrapped around the thigh and the length is adjusted to ensure a close fit without loosening. (8) Close the openable backrest so that it locks automatically, and then connect and lock it through the quick buckles (male buckle and female buckle) of the two waist straps to complete the waist fixation; (9) When the lifting assembly is raised, the first joint motor and the second joint motor are in a state of free rotation without power. The user is mainly lifted by the thigh straps, while the elbows are placed on the support arm and waist straps for auxiliary balance and lifting. The lower legs naturally descend due to gravity, while pushing the whole device to move away from the bed or wheelchair, so as to realize the user's transformation from sitting to standing. (10) After reaching the standing position, close the openable thigh support; The user enters the "preparatory mode" by operating the touch screen. The first and second joint motors slowly lock the joints into a fully upright position, ultimately achieving full fixation of the feet, calves, thighs, and waist, completing the wearing process. The entire process does not require transferring the user to a stool, unlike existing exoskeletons that require transferring the user to a stool first and then wearing them from behind. S3: Parameter Settings Select the working mode via the touch display, including three preset modes: passive ground walking, passive hovering walking, and active hovering walking. (1) Select passive landing walking mode: Adjust the lifting assembly to lower until the foot support plate contacts the ground and the touch screen shows that it has landed in place. At this time, the auxiliary speed and auxiliary stride can be adjusted from level 1 to 5. The system loads the preset natural gait parameters (hip joint, knee joint rotation angle range, movement speed) to enable the device to drive the user to walk and move forward on the ground. (2) Select passive suspended walking mode: Adjust the lifting assembly to rise, and confirm that the foot support plate is more than 5cm off the ground. At this time, the auxiliary speed and auxiliary stride can be adjusted from level 1 to 5. The system loads the preset natural gait parameters (hip joint, knee joint rotation angle range, movement speed) to realize the device to drive the user to simulate walking movements in the air. (3) Select active suspended walking mode: Adjust the lifting assembly to rise and confirm that the foot support plate is more than 5cm off the ground. At this time, the first joint motor and the second joint motor will provide assistance to the user's legs according to the direction of the user's force, so that the user can actively control and complete the walking action.

[0014] S4: Running and using After the user initiates the operation, the control module drives the first joint motor (hip joint) and the second joint motor (knee joint) to operate in coordination according to preset parameters, thereby driving the thigh support component and the calf support component to simulate the natural gait of the human body; during operation: (1) An angle sensor collects rotation angle data of hip and knee joints in real time, pressure sensor monitors contact pressure data between foot support, thigh support, calf support and human body, and torque sensor feeds back working pressure of joint motor. (2) A compression spring is installed between the support arm and the lifting assembly. It will automatically rise or fall according to the gait cycle to compensate for the up-and-down fluctuation of the body's center of gravity and improve the stability when walking. (3) Users can view walking distance, joint movement angle, running time and other motion data in real time through the touch screen, and can also interrupt the operation at any time through the external emergency stop button.

[0015] S5: Take off and store After use, send a stop command via the touchscreen display, and the system will return to "ready mode": (1) Operate the touch screen to enter "wearable mode". At this time, the first joint motor and the second joint motor are in a state of free rotation without power. (2) Open the closable thigh support; (3) Move the device to the bedside, chair or wheelchair, adjust the lifting assembly to lower it, stop lowering when the user's thighs touch the bed, chair or wheelchair, push the device to insert the bottom support frame under the bed, or insert it to the outside of the chair or wheelchair, to ensure that the user's center of gravity is on the bed or chair or wheelchair, adjust the lifting assembly to lower it again, so that the user is sitting on the bed, chair or wheelchair, and realize the transition from standing to sitting posture; (4) Loosen the foot straps, calf straps, and thigh straps in sequence, and open the waist straps and the openable backrest; (5) Push the equipment away to complete the removal process; Turn off the controller power, reset all straps, adjust the lifting assembly to raise it, and make sure the foot support is more than 5cm off the ground. (6) If the device is not used for a long time, fully charge the power module through the charging interface and then turn off the power. Store the device in a dry and ventilated environment.

[0016] Compared with the prior art, the beneficial effects of the present invention are: 1. This device has an L-shaped support structure consisting of a bottom support frame and a lifting bracket set on top, which allows the device to be moved under the bed, under the seat, or to the side. Users can wear the device while sitting or standing. After wearing the device, the lifting platform allows users to switch to a standing position. It is suitable for elderly users with limited mobility or people in the rehabilitation period to use it independently or with minimal assistance, which significantly improves the user experience and the universality of the device.

[0017] 2. This device is designed for a seated wearing posture, eliminating the need for user transfer or assistance. Users can put it on directly while seated in a wheelchair or bed. It can be operated independently by a single person (such as an elderly couple), addressing the pain point of "relying on multiple people for assistance" in home use. It also avoids the risk of falls during user transfer. Furthermore, the device's stability is enhanced during wear and use thanks to braked casters on the base frame and positioning on the left and right support arms. The complete foot, calf, thigh, and hip support structure provides reliable support, preventing falls. It is suitable not only for people with weak lower limb mobility but also for those with no lower limb mobility, overcoming the limitations of existing products that require standing to wear or transfer to a seat. It can be worn directly without additional transfer equipment or assistance from others, reducing labor costs in home use. The electric lifting mechanism is simple to operate, requiring no professional training.

[0018] 3. This device adopts an openable and closable backrest, waist strap, thigh support and strap structure, combined with the automatic height adjustment function of the lifting assembly, which greatly simplifies the wearing process. A single person can quickly complete the wearing of the device and fix the body position. At the same time, it can flexibly adapt to users of different heights and body types, further improving the universality of this device.

[0019] 4. This device utilizes the coordinated control of the first joint motor (hip joint) and the second joint motor (knee joint), and integrates real-time feedback data from angle and pressure sensors. The control module dynamically adjusts the joint rotation angle and lifting height to achieve active compensation for center of gravity shift and precise simulation of gait cycle. The lower leg support and thigh support are arranged diagonally to effectively avoid motion interference, ensure joint freedom of movement, and make the assisted walking or rehabilitation training process closer to the natural human gait. It has high motion coordination and a natural and stable gait, which can improve the user's safety and training effect. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the front structure of the present invention; Figure 2 This is a schematic diagram of the rear structure of the present invention; Figure 3 This is the front view of the present invention; Figure 4 This is a side view of the present invention; Figure 5 This is a rear view of the present invention; Figure 6 This is a simulation diagram of the usage state of the present invention; Figure 7 This is a simulation diagram of the placement of the support structure for wearing the present invention in a seated posture; Figure 8 This is a simulation diagram of the usage state of the present invention in a seated wearing position.

[0021] The following are the labels in the attached diagram: 10, bottom support frame; 20, lifting bracket; 30, lifting assembly; 40, support arm; 401, openable / closable backrest; 402, lumbar strap; 50, hip support structure; 60, thigh support assembly; 601, thigh support; 602, openable / closable thigh support plate; 603, thigh strap; 70, calf support assembly; 701, calf support; 702, calf support plate; 703, calf strap; 80, foot support assembly; 801, foot support plate; 802, foot strap. Detailed Implementation

[0022] The present invention will be further described in conjunction with the accompanying drawings and specific embodiments. It should be understood that these embodiments are for illustrative purposes only and are not intended to limit the scope of the invention. Furthermore, it should be understood that after reading the teachings of this invention, those skilled in the art can make various alterations or modifications to the invention, and these equivalent forms also fall within the scope defined in this application.

[0023] Example 1: like Figure 1-8 As shown, a wearable lower limb exoskeleton robot includes two symmetrically arranged bottom support frames (10) without direct connection. Both the front and rear sides of the bottom surface of the bottom support frame (10) are fixed with universal wheels with braking mechanisms by bolts. Anti-loosening washers are provided between the bolts and the connection holes of the bottom support frame. The connecting rod of the braking mechanism is hinged to the U-shaped bracket welded to the side of the bottom support frame by a pin. Elastic retaining rings are installed at both ends of the pin to prevent it from falling off. The top front side of the bottom support frame 10 is fixed to the lifting bracket 20 by welding to form an L-shaped structure. The welded part is stress-relieved. The inner side of the lifting bracket 20 is machined with a linear guide rail mounting groove. The linear guide rail is fixed in the groove by bolts. After the bolts are tightened, spot welding is performed to prevent loosening.

[0024] The lifting assembly 30 includes a lifting platform, a first synchronous lifting component, and a second synchronous lifting component. The first synchronous lifting component and the second synchronous lifting component have the same structure and are symmetrically arranged in two lifting brackets 20. In the first synchronous lifting component, the servo motor is fixedly installed at the bottom of the servo motor support by bolts. The servo motor support is fixed to a pre-set mounting seat inside the lifting assembly 30 by bolts. The output shaft of the servo motor is connected to one end of the ball screw through a coupling. The clearance between the coupling and the shaft is controlled by adjusting shims. The other end of the ball screw is connected to the bearing seat at the bottom of the lifting bracket 20 through a bearing. The bearing is installed in the bearing seat with an interference fit. The bearing seat is fixed to the bottom of the lifting bracket 20 by bolts.

[0025] The lifting platform is fixedly connected to the corresponding linear guide rail sliders on both sides by bolts. The bolt tightening torque meets the design requirements, ensuring that the lifting platform moves smoothly along the linear guide rail with the slider without shaking or jamming.

[0026] Support arms 40 are symmetrically arranged on both sides of the rear of the lifting assembly 30. A spacing adjustment mechanism is provided between the support arms 40 and the lifting assembly 30. The support arms 40 are machined with long strip-shaped adjustment grooves. A positioning pin is welded to the lifting assembly 30. The positioning pin passes through the adjustment groove. The support arms 40 are fixed to the lifting assembly 30 by wing bolts. Loosening the wing bolts can adjust the spacing of the support arms 40. After tightening, the contact surface between the wing bolts and the lifting assembly 30 is tightly fitted.

[0027] A compression spring is installed between the support arm 40 and the lifting assembly 30. The two ends of the compression spring are respectively embedded in the spring seats at the bottom of the support arm 40 and the top of the lifting assembly 30. The spring seats are fixed by bolts. The compression spring is in a pre-compressed state in its natural state, providing an upward thrust to the support arm 40.

[0028] A hinged ear plate is welded to the bottom of the rear end of the support arm 40, and a matching hinged ear plate is welded to the outside of the hip support structure 50. The two are hinged by a pin. A nylon bushing is installed between the pin and the hole of the hinged ear plate to reduce wear. Elastic retaining rings are installed at both ends of the pin to limit axial displacement. A medical silicone pad is pasted on the inside of the hip support structure 50 and fixed with glue. The surface of the silicone pad is treated with anti-slip treatment.

[0029] The top rear end of the support arm 40 is connected to the hinge shaft to install the openable and closable backrest 401. A torsion spring is mounted on the hinge shaft. One end of the torsion spring is inserted into the slot of the support arm 40, and the other end is inserted into the slot of the openable and closable backrest 401. An automatic locking mechanism is installed on the inside of the openable and closable backrest 401. The support arm 40 is machined with a locking hole that matches the locking mechanism. When the openable and closable backrest 401 is closed, the locking tongue of the locking mechanism is inserted into the locking hole under the action of the spring to lock. Pressing the unlock button will disengage the locking tongue from the locking hole to unlock.

[0030] The waist strap 402 is fixed to the inner rear of both support arms 40 by bolts. One end of the waist strap 402 is fixed to the fixed seat, and the other end is equipped with a male or female quick buckle. The male and female quick buckles are locked by springs. After being inserted, they can withstand the preset tension and are not loose.

[0031] The thigh support assembly 60 includes a thigh support 601, an openable and closable thigh support plate 602, and a thigh strap 603. The thigh support 601 is an adjustable length structure, including an outer tube and an inner tube. The outer tube has multiple positioning holes. A spring positioning pin is installed at the end of the inner tube. Under the action of the spring, the spring positioning pin can be inserted into the positioning hole of the outer tube to fix the length. When adjusting, pressing the spring positioning pin can push the inner tube to slide along the outer tube to adjust the length.

[0032] The upper end of the thigh support 601 is connected to the hip support structure 50 via a first joint motor. The housing of the first joint motor is fixed to the mounting base of the hip support structure 50 by bolts. The output shaft of the first joint motor is fixedly connected to the upper end of the thigh support 601 via a coupling. The connection between the coupling and the two is a key connection to transmit torque.

[0033] The thigh support 601 is mounted on the middle of the back via a hinge, and the hinge is fixed to the thigh support 601 on one side by bolts and to the thigh support 602 on the other side by bolts. The thigh support 602 can be opened away from the lifting assembly 30, and the opening angle meets the wearing requirements. A silicone pad is attached to the inside of the thigh support 602 and fixed with glue.

[0034] Both thigh supports 601 have strap mounting seats welded to opposite sides. One end of the thigh strap 603 is fixed to the strap mounting seat with bolts, and the other end is fitted with Velcro. The length can be adjusted and fixed by the Velcro. The side of the thigh strap 603 that comes into contact with the human body is provided with a breathable layer.

[0035] The calf support assembly 70 includes a calf support 701, a calf support plate 702, and a calf strap 703. The calf support 701 is an adjustable length structure, and its structure is the same as that of the adjustable thigh support 601, including an outer tube and an inner tube. The length is fixed and adjusted by a spring positioning pin.

[0036] The upper end of the calf support 701 is connected to the lower end of the thigh support 601 via a second joint motor. The housing of the second joint motor is fixed to the mounting base at the lower end of the thigh support 601 by bolts. The output shaft of the second joint motor is fixedly connected to the upper end of the calf support 701 via a coupling. The connection method is the same as the connection method between the thigh support 601 and the hip support structure 50.

[0037] The lower leg support 701 has a lower leg support plate mounting bracket welded to the front center. The lower leg support plate 702 is fixed to the mounting bracket with bolts. The lower leg support plate 702 and the openable thigh support plate 602 on the same side are diagonally arranged. A silicone pad is pasted on the inner side of the lower leg support plate 702 and fixed with glue. The surface of the silicone pad is treated with anti-slip treatment.

[0038] The lower leg support plate 702 is welded to the back of the strap mounting base. One end of the lower leg strap 703 is fixed to the mounting base by bolts, and the other end is fitted with Velcro. The length can be adjusted and fixed by Velcro. The structure of the lower leg strap 703 is the same as that of the thigh strap 603.

[0039] The foot support assembly 80 includes a foot support plate 801 and a foot strap 802. A hinge seat is welded to the outer side of the top surface of the foot support plate 801, and a matching hinge ear plate is welded to the lower end of the calf support 701. The hinge seat and the hinge ear plate are hinged by a pin. Elastic retaining rings are installed at both ends of the pin. The foot support plate 801 can rotate around the pin to adapt to ankle movement.

[0040] The top surface of the foot support plate 801 is welded with a strap fixing seat. The foot straps 802 include ankle straps and foot straps, both of which are fixed to the fixing seat by bolts. Velcro is installed at both ends of the foot straps 802 to achieve length adjustment and fixation. The surface of the foot support plate 801 is processed with anti-slip texture.

[0041] The controller housing is fixed to the front of the lifting assembly 30 by bolts. A waterproof gasket is placed between the bolts and the connection holes of the lifting assembly 30. A touch screen display is embedded in the front panel of the controller housing. A sealing strip is placed between the display and the housing to ensure waterproof performance.

[0042] The control module is integrated inside the controller housing and is fixed to the mounting bracket inside the housing with bolts. The control module is electrically connected to the touch screen, servo motor, first joint motor and second joint motor through wires. The wire connectors are connected by terminal blocks, which are fixed with bolts. The wires are protected by corrugated tubing.

[0043] Angle sensors are mounted on the output shafts of the first and second joint motors via couplings. The angle sensor housings are fixed to the motor end caps with bolts. Torque sensors are integrated inside the first and second joint motors and are installed synchronously with the motors.

[0044] Pressure sensors are embedded in the top surface of the foot support plate 801 and the inner side of the thigh support plate and calf support plate 702. The pressure sensors are fixed in the preset grooves with glue. The groove size is adapted to the pressure sensor. The wires of the pressure sensors are led out through the wire hole inside the support plate. A sealing ring is set in the wire hole to prevent dust from entering.

[0045] The power module includes a rechargeable lithium battery pack and a charging interface. The power module is fixedly installed inside the lifting assembly 30 by bolts. An insulating pad is placed between the bolts and the lifting assembly 30. The charging interface is embedded in the side of the lifting bracket 20. A waterproof rubber ring is placed between the charging interface and the lifting bracket 20. The power module is electrically connected to the control module, the touch screen display, the servo motor, the first joint motor, the second joint motor, the angle sensor, the pressure sensor, the first synchronous lifting component, and the second synchronous lifting component through wires. Waterproof connectors are used for the wire connections.

[0046] Example 2: The method of using the lower limb exoskeleton robot according to Embodiment 1 includes the following steps: S1: Equipment Preparation Upon first use, loosen the wing bolts connecting the support arm 40 and the lifting assembly 30 according to the user's body size, and move the support arm 40 along the adjustment groove to adjust the spacing to fit the user's hip width. After adjustment, tighten the wing bolts to fix it. Press the spring positioning pins of the thigh support 601 and the calf support 701, pull the inner tube to adjust the length to fit the user's leg length, and after adjustment, the spring positioning pins will engage with the positioning holes to achieve fixation. This adaptation adjustment is only performed once during the first use.

[0047] When preparing to wear it, place the lower limb exoskeleton robot on a level surface, ensuring that the bottom support frame 10 is stable on the ground. Check the power module's charge level through the charging port to ensure sufficient power. Turn on the controller's power switch, and the touch screen will start up and display the initial interface. The system will automatically perform a self-test on the signal connections of the servo motors, joint motors, sensors, and various electrical components. After the self-test passes, it will enter standby mode. If the self-test fails, the touch screen will display fault information.

[0048] S2: Wearing adjustment The user remains seated (on the edge of a bed, in a wheelchair, or on other support) and does not need to stand or move; the dressing is done with the assistance of another operator. (1) If the device has been adapted to the user and no other adjustments have been made, the pre-adjustment step can be omitted; if pre-adjustment is required, adjust the support arm 40 spacing, thigh support 601 and calf support 701 length according to the adaptation adjustment method for first use, so that the height of the foot support 801 is adapted to the foot position of the user in a sitting position.

[0049] (2) Operate the touch screen to enter the "wearable mode". At this time, the control module controls the first joint motor and the second joint motor to be de-energized and in a state of free rotation without power.

[0050] (3) Press the unlock button of the openable backrest 401 to open the openable backrest 401; tear open the quick buckle of the waist strap 402 to open the waist strap 402; open the openable thigh support 602 outward.

[0051] (4) Push the device and move it to the front of the user sitting in a wheelchair or bed so that the bottom support frame 10 is inserted under the bed or outside the wheelchair, ensuring that the bottom support frame 10 is basically facing the user's hip; operate the touch screen to control the lifting assembly 30 to lower it, adjust the overall height of the exoskeleton so that the thigh support 601 is basically level with the user's thigh on both sides of the user's thigh, and then step on the universal wheel brake of the bottom support frame 10 to fix the position of the device.

[0052] (5) At this time, the lifting assembly 30 is adjusted to the lower part of the lifting bracket 20. Since the first joint motor and the second joint motor are not powered, the angle of the thigh support 601 and the calf support 701 is manually adjusted so that they are consistent with the bending direction of the user's legs.

[0053] (6) The user faces the device and places both feet into the two foot support plates 801 respectively. The tightness is adjusted by the Velcro of the foot straps 802 to initially fix the ankles and ensure that the feet fit tightly with the foot support plates 801 without pressure.

[0054] (7) The user’s lower leg naturally fits against the lower leg support plate 702. The lower leg is tightened by adjusting the Velcro of the lower leg strap 703 so that the lower leg fits tightly against the lower leg support plate 702. The thigh strap 603 is wrapped around the thigh by Velcro and the length is adjusted to ensure that the thigh fits tightly against the thigh support 601 without loosening.

[0055] (8) Close the openable backrest 401. The openable backrest 401 closes automatically under the action of the torsion spring. The locking tongue of the locking mechanism is inserted into the locking hole of the support arm 40 to achieve automatic locking. Connect and lock the quick buckles (male buckle and female buckle) of the two waist straps 402. Adjust the tightness of the waist straps 402 to complete the waist fixation.

[0056] (9) The touch screen controls the lifting assembly 30 to rise. At this time, the first joint motor and the second joint motor are still in a state of free rotation without power. The user is mainly lifted up by the thigh strap 603, while the elbows are placed on the support arm 40. The waist strap 402 assists in balance and lifting. The lower legs naturally descend due to gravity. The operator pushes the whole equipment to move away from the bed or wheelchair, realizing the user's transformation from sitting to standing.

[0057] (10) After the user reaches the standing position, close the openable thigh support 602; operate the touch screen to enter the "preparation mode", and the control module drives the first joint motor and the second joint motor to slowly lock the joint to a fully upright state, and finally achieve full position fixation of the feet, calves, thighs and waist, and complete the wearing.

[0058] S3: Parameter Settings The working mode can be selected via the touch display. There are three preset working modes: passive ground walking, passive hovering walking, and active hovering walking. (1) Select passive landing walking mode: operate the touch screen to control the lifting assembly 30 to descend until the foot support 801 contacts the ground. The touch screen will show that it has landed in place. At this time, adjust the 1-5 level auxiliary speed and 1-5 level auxiliary stride through the touch screen. The system loads the preset natural gait parameters (hip joint, knee joint rotation angle range, movement speed) to enable the device to drive the user to walk and move forward on the ground.

[0059] (2) Select passive suspended walking mode: operate the touch screen to control the lifting assembly 30 to rise, confirm that the foot support plate 801 is a certain distance away from the ground, adjust the 1-5 level auxiliary speed and 1-5 level auxiliary stride through the touch screen, and load the preset natural gait parameters (hip joint, knee joint rotation angle range, movement speed) to realize the device to drive the user to simulate walking in the air.

[0060] (3) Select active suspended walking mode: operate the touch screen to control the lifting assembly 30 to rise, confirm that the foot support plate 801 is a certain distance away from the ground. At this time, the first joint motor and the second joint motor will provide assistance to the user's legs according to the direction of the user's force sensed by the torque sensor, so that the user can actively control and complete the walking action.

[0061] S4: Running and using After the user initiates the operation, the control module drives the first joint motor (hip joint) and the second joint motor (knee joint) to operate in coordination according to preset parameters, thereby simulating the natural gait of the human body by moving the thigh support component 60 and the calf support component 70. During operation: (1) Angle sensors collect rotation angle data of hip and knee joints in real time and transmit the data to the control module; pressure sensors monitor the contact pressure data between the foot support plate 801, thigh support plate, calf support plate 702 and the human body in real time; torque sensors provide feedback on the working pressure of the joint motor in real time. All of the above data are transmitted to the control module, and the control module dynamically adjusts the motor operating parameters according to the data.

[0062] (2) The compression spring installed between the support arm 40 and the lifting assembly 30 will automatically extend and retract according to the gait cycle, so that the support arm 40 rises or falls, compensates for the up-and-down fluctuation of the body's center of gravity, and improves the stability when walking.

[0063] (3) Users can view walking distance, joint movement angle, running time and other motion data in real time through the touch screen. In case of emergency, the operation can be interrupted at any time through the external emergency stop button and all motors of the equipment will stop running.

[0064] S5: Take off and store After use, send a stop command via the touchscreen display, and the system will return to "ready mode": (1) Operate the touch screen to enter "wearable mode". At this time, the first joint motor and the second joint motor are in a state of free rotation without power.

[0065] (2) The thigh support plate 602 can be opened outward.

[0066] (3) Move the device to the bedside, chair or wheelchair, step on the universal wheel brake of the bottom support frame 10 to fix the device, operate the touch screen to control the lifting assembly 30 to descend, stop descending when the user's thigh touches the bed, chair or wheelchair, push the device to insert the bottom support frame 10 under the bed or outside the chair or wheelchair, ensure that the user's center of gravity has been transferred to the bed, chair or wheelchair, operate the touch screen again to control the lifting assembly 30 to descend, so that the user can sit steadily and realize the transformation from standing to sitting posture.

[0067] (4) Loosen the Velcro straps of the foot strap 802, calf strap 703 and thigh strap 603 in sequence, tear off the quick buckle of the waist strap 402, and press the unlock button of the openable backrest 401 to open the openable backrest 401.

[0068] (5) Push the device away from the user to complete the removal process; turn off the controller power, reset each strap, operate the touch screen to control the lifting assembly 30 to rise, and confirm that the foot support 801 is a certain distance away from the ground.

[0069] (6) If the device is not used for a long time, fully charge the power module through the charging interface and then turn off the power. Store the device in a dry and ventilated environment and check the connection status of each component and the power module charge regularly.

[0070] Example 3: Walking Assistance Mode (for elderly people with mobility difficulties) Equipment preparation: Place the robot on a flat surface, lock the universal wheel brakes, and confirm that the power supply is ≥80%; turn on the power switch, and after the system self-test passes, it enters standby mode. The lifting assembly 30 is in the initial low position, and the backrest 401 and thigh support 602 can be opened and closed. Wearing and adjusting: The user sits on the edge of the bed, and the operator assists in completing the process. The pre-adjusted support arm spacing is about 40cm to 45cm (to fit the hip width of elderly users), and the length of the thigh support 601 and calf support 701 is extended to make the footrest 801 fit the sitting height of the bedside. The user places both feet into the footrest 801 and secures the ankles with the foot straps 802; the user operates the touch screen to raise the lifting platform to fit the hip support structure 50 against the user's hips (approximately 100cm in height). Close the openable backrest 401 and quickly lock it in place using the waist strap 402. Close the thigh support 602 and adjust the tightness of the thigh strap 603 (it is advisable to insert a gap of 1 finger). After the lower legs are in contact with the support, they are fixed in place by the lower leg strap 703. Parameter settings: Select "Walking Assist Mode", adjust the assistance level to level 3 (medium strength), and load the preset gait parameters (hip joint rotation angle 30°-60°, knee joint rotation angle 20°-50°, walking speed 0.5m / s, height compensation threshold ±5cm). Operation and Use: After startup, the joint motors work together to simulate a natural gait, and the lifting assembly 30 finely adjusts the height according to the gait cycle; the pressure sensor monitors the foot contact pressure (normal range 0-50N), and the angle sensor provides feedback on the joint angle to ensure smooth movement; users can view the walking distance and running time through the touch screen, and can press the emergency button to stop if necessary. Disassembly and storage: After use, the user sits back on the bed, and the operator loosens each strap, opens the tray and backrest in turn to help the user get off the device; turn off the power, reset the straps and lifting assembly 30, and unlock the casters to push the device to the storage area. Example 4: Rehabilitation Training Mode (for users recovering from knee surgery) Equipment preparation: Same as in Example 1, with the key point being to confirm that the pressure sensor sensitivity is normal and the power supply is sufficient.

[0071] Wearing and adjustment: The user sits on the rehabilitation chair, and the operator assists: Adjust the height of the lifting platform to 95cm according to the user's height (165cm), adjust the left and right spacing of the support arm (40) to 42cm, and adapt the length of the thigh support 601 and the calf support 701 to the user's lower limb size. Secure the feet, hips, waist, thighs and calves according to the wearing steps in Example 2. The tightness of the straps should be such that the user does not feel pressure (to avoid affecting blood circulation). Parameter settings: Select "Rehabilitation Training Mode", set the assistance level to level 2 (light assistance), customize the knee joint training parameters (training angle 30°-90°, exercise frequency 1 time / 3 seconds, gait cycle count 50 times), and set the hip joint to small angle assistance fixation (10°-20°). Operation and usage: After startup, the second joint motor drives the knee joint to reciprocate at a set angle, while the first joint motor maintains the hip joint at a small angle for assistance; the pressure sensor monitors the contact pressure of the thigh and calf in real time (avoiding it from exceeding 30N), and the angle sensor provides feedback on the knee joint rotation angle to ensure training accuracy; the touch screen displays the number of completed cycles and the joint movement angle in real time, and automatically stops after reaching 50 cycles. Disassembly and storage: Same as in Example 1. After disassembly, clean and disinfect the straps and support plate, turn off the power, and store the equipment in a dry and ventilated rehabilitation room.

[0072] In explaining this invention, it should be noted that the terms indicating location are used only for ease of description and understanding, and are not intended to limit the installation location of specific technical features. Other possible installation methods are not excluded.

[0073] The serial numbers assigned to components in this document, such as "first," "second," etc., are merely used to distinguish the described objects and have no sequential or technical meaning. The terms "connection" and "linkage" used in this application, unless otherwise specified, include both direct and indirect connections (linkages). In the description of this invention, it should be understood that the terms "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention.

[0074] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first and second features are in direct contact, or that they are in indirect contact through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0075] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A wearable lower limb exoskeleton robot, characterized in that: The system includes two symmetrically arranged bottom support frames (10) and a lifting bracket (20) on top of them. The bottom support frames (10) and the lifting bracket (20) are L-shaped. The bottom support frames (10) are divided into left and right sides, and the left and right sides are not directly connected. Universal wheels with braking mechanisms are fixedly installed on the front and rear sides of the bottom surface of the bottom support frame (10). The lifting bracket (20) is fixedly installed on the front side of the top of the bottom support frame (10). The inner sides of the two lifting brackets (20) are jointly equipped with a lifting assembly (30). The lifting assembly (30) can move vertically along the lifting bracket (20). The two sides behind the lifting assembly (30) are symmetrically arranged with adjustable spacing support arms (40). The support arms (40) can slide up and down relative to the lifting assembly (30) within a certain range. A compression spring is installed between the 0) and the lifting assembly (30). The lifting assembly (30) provides an upward thrust to the support arm (40) through the spring. The bottom of the rear end of the support arm (40) is provided with a hip support structure (50) for adapting to the human hip joint. The top of the rear end of the support arm (40) is hinged to a backrest (401) that can be opened outward and automatically locked after closing. Adjustable waist straps (402) are fixedly installed on the rear part of the inner side of the two support arms (40). The two waist straps (402) are connected by quick buckles. The thigh support assembly (60) and the calf support assembly (70) with adjustable length are hinged to the bottom of the hip support structure (50). The end of the calf support assembly (70) is hinged to the foot support assembly (80) to form a complete exoskeleton leg support chain. The thigh support assembly (60) provides fixed support for the user's thigh from the outside and the back. The lower leg support component (70) provides fixed support for the user's lower leg from the outside and front, realizing a structural layout in which the user faces the device when wearing it.

2. The wearable lower limb exoskeleton robot according to claim 1, characterized in that: The thigh support assembly (60) includes: Thigh support (601), the upper end of which is hinged to the hip support structure (50), and the lower end of which is hinged to the calf support assembly (70). An openable thigh support (602) is provided at the center of the rear of the thigh support (601), which can be opened away from the lifting assembly (30). Thigh straps (603) are fixedly installed on opposite sides of the two thigh supports (601).

3. The wearable lower limb exoskeleton robot according to claim 2, characterized in that: The lower leg support assembly (70) includes: The lower leg support (701) is hinged to the lower end of the thigh support (601), and the lower end of the lower leg support (701) is hinged to the foot support assembly (80). The calf support plate (702) is fixedly installed in the middle of the front of the calf support (701), and the calf support plate (702) and the openable thigh support plate (602) located on the same side are diagonally arranged. Lower leg straps (703) are fixedly installed on the back of the lower leg support plate (702). Both the thigh support (601) and the calf support (701) are adjustable length support rods.

4. The wearable lower limb exoskeleton robot according to claim 3, characterized in that: The foot support assembly (80) includes: Foot support plate (801) is provided below the lower leg support (701). A hinge seat is fixedly installed on the outer side of the top surface of the foot support plate (801). The lower end of the lower leg support (701) is hinged to the foot support plate (801) on the same side through the corresponding hinge seat. Foot strap (802), the foot strap (802) is fixedly installed on the top surface of the foot support plate (801).

5. A wearable lower limb exoskeleton robot according to claim 4, characterized in that: The lifting assembly (30) includes a lifting platform, a first synchronous lifting component and a second synchronous lifting component with the same structure and symmetrical arrangement. The first synchronous lifting component and the second synchronous lifting component are respectively arranged in the two lifting brackets (20). The first synchronous lifting component includes a servo motor, a servo motor support, a gear, a ball screw, and a linear guide. The servo motor support is fixedly installed in the lifting assembly (30), and the servo motor is fixedly installed at the bottom of the servo motor support. The servo motor drives the ball screw through the gear. The linear guide is installed in the lifting bracket (20). The two sides of the lifting platform are fixedly connected to the corresponding linear guide sliders.

6. A wearable lower limb exoskeleton robot according to claim 5, characterized in that: The thigh support (601) and the hip support structure (50) are connected by a first joint motor, and the calf support (701) and the thigh support (601) are connected by a second joint motor.

7. A wearable lower limb exoskeleton robot according to claim 5, characterized in that: The thigh strap (603), calf strap (703), and foot strap (802) are all adjustable in length.

8. A wearable lower limb exoskeleton robot according to claim 6, characterized in that: It also includes a controller housing, a touch screen display, a control module, an angle sensor, a torque sensor, a pressure sensor, and a power module; The controller housing is fixedly installed on the front of the lifting assembly (30), the touch screen is embedded in the front panel of the controller housing, the control module is integrated inside the controller housing and is electrically connected to the touch screen, servo motor, two first joint motors and two second joint motors respectively. The angle sensors are respectively installed on the output shaft ends of the first joint motor and the second joint motor to collect the rotation angle data of the hip joint and the knee joint in real time. The torque sensor is installed inside the first joint motor and the second joint motor to collect the output torque of the hip joint and the knee joint in real time. The pressure sensor is respectively embedded in the top surface of the foot support plate (801) and the inner side of the thigh support plate (602) and the calf support plate (702) to collect the contact pressure data between the human body and the support structure. The angle sensors and pressure sensors are both connected to the control module signal. The power module includes a rechargeable lithium battery pack and a charging interface. The power module is fixedly installed inside the lifting assembly (30) and provides working power to the control module, touch screen, servo motor, first joint motor, second joint motor, angle sensor, pressure sensor, first synchronous lifting assembly and second synchronous lifting assembly respectively. The control module has a built-in gait recognition algorithm and posture adjustment program. It can dynamically adjust the operating parameters of the servo motor, the first joint motor, and the second joint motor based on real-time data from the angle sensor and the pressure sensor to achieve coordinated control of the joint rotation angle. The control module is also responsible for controlling the synchronous lifting of the first synchronous lifting component and the second synchronous lifting component.

9. The method of using the lower limb exoskeleton robot according to any one of claims 1 to 8, characterized in that, Includes the following steps: S1: Equipment Preparation When using it for the first time, the spacing of the support arms (40), the length of the thigh support (601) structure, and the length of the calf support (701) structure are adjusted according to the user's body size to make the device fit the user's height. It only needs to be adjusted once when using it for the first time. When preparing to wear it, place the lower limb exoskeleton robot on a horizontal ground, so that the bottom support frame (10) is stable on the ground, turn on the controller power switch, start the touch screen and display the initial interface. The system automatically completes the signal connection self-test of the servo motor, joint motor, sensor and each electrical component. After the self-test is passed, it enters the standby mode. S2: Wearing adjustment The user can put on the garment while remaining seated (on the edge of a bed, in a wheelchair, or on other support), without having to stand or move, and can be assisted by another operator. (1) First, adjust according to the user’s body size: adapt to the horizontal distance of the user’s hips; adjust the length of the thigh support (601) and calf support (701) so that the height of the foot support (801) matches the position of the user’s feet in a sitting position (if it has been used and no other adjustments have been made, the above steps can be omitted). (2) Operate the touch screen to enter "wearable mode". At this time, the first joint motor and the second joint motor are in a state of free rotation without power. (3) Open the openable backrest (401), open the waist strap (402), and open the openable thigh support (602). (4) Push the device to move it in front of the user sitting in a wheelchair or bed, insert the bottom support frame (10) under the bed or into the outside of the wheelchair so that the bottom support frame (10) is basically facing the user's hips; The operation adjusts the lifting assembly (30) to lower the overall height of the exoskeleton, so that the thigh support (601) is basically level with the user's thigh on both sides of the user's thigh; (5) At this time, the lifting assembly (30) is adjusted to the lower part of the lifting bracket (20), and the thigh support (601) and the calf support (701) are in a state of free movement. The angle of the support is aligned with the bending direction of the user's leg. (6) The user faces the device and places both feet into the two foot support plates (801) respectively, and the ankles are initially fixed by the foot straps (802); (7) The user’s lower leg naturally fits the lower leg support plate (702) (the lower leg support component (70) forms support from the outside and front), and the lower leg is adjusted and bound by the lower leg strap (703); the thigh strap (603) wraps around the thigh and adjusts the length to ensure a close fit without loosening; (8) Close the openable backrest (401) to lock it automatically, and then connect and lock it through the quick buckles (male buckle and female buckle) of the two waist straps (402) to complete the waist fixation; (9) Operate the lifting assembly (30) to rise. At this time, the first joint motor and the second joint motor are in a state of free rotation without power. The user is mainly lifted up by the thigh strap (603). At the same time, the elbows are placed on the support arm (40) and the waist strap (402) for auxiliary balance and lifting. The lower legs naturally descend due to gravity. At the same time, the device moves away from the bed or wheelchair, realizing the user's transformation from sitting to standing. (10) After reaching the standing position, close the openable and closable thigh support (602); The user enters "prepared mode" via the touchscreen display. The first and second joint motors slowly lock the joints into a fully upright position, ultimately achieving full fixation of the feet, calves, thighs, and waist, completing the wearing process. The entire process does not require transferring the user to a stool, unlike existing exoskeletons that require transferring the user to a stool before wearing them from behind. S3: Parameter Settings Select the working mode via the touch display, including three preset modes: passive ground walking, passive hovering walking, and active hovering walking. (1) Select passive landing walking mode: Adjust the lifting assembly (30) to lower until the foot support plate (801) contacts the ground and the touch screen shows that it has landed in place. At this time, the auxiliary speed and auxiliary stride can be adjusted from level 1 to 5. The system loads the preset natural gait parameters (hip joint, knee joint rotation angle range, movement speed) to enable the device to drive the user to walk and move forward on the ground. (2) Select passive suspended walking mode: Adjust the lifting assembly (30) to rise, and confirm that the foot support plate (801) is more than 5cm off the ground. At this time, the auxiliary speed and auxiliary stride can be adjusted from level 1 to 5. The system loads the preset natural gait parameters (hip joint, knee joint rotation angle range, movement speed) to realize the device driving the user to simulate walking in the air. (3) Select active suspended walking mode: Adjust the lifting assembly (30) to rise, and confirm that the foot support plate (801) is more than 5cm off the ground. At this time, the first joint motor and the second joint motor will provide assistance to the user's legs according to the direction of the user's force, so as to enable the user to actively control and complete the walking action. S4: Running and using After the user initiates the operation, the control module drives the first joint motor (hip joint) and the second joint motor (knee joint) to operate in coordination according to preset parameters, thereby driving the thigh support component (60) and the calf support component (70) to simulate the natural gait of the human body; during operation: (1) An angle sensor collects rotation angle data of hip and knee joints in real time, pressure sensor monitors contact pressure data between foot support plate (801), thigh support plate (602), calf support plate (702) and human body, and torque sensor feeds back working pressure of joint motor. (2) A compression spring is installed between the support arm (40) and the lifting assembly (30), which will automatically rise or fall according to the gait cycle to compensate for the up-and-down fluctuation of the body's center of gravity and improve the stability when walking; (3) Users can view walking distance, joint movement angle, running time and other motion data in real time through the touch screen, and can also interrupt the operation at any time through the external emergency stop button. S5: Take off and store After use, send a stop command via the touchscreen display, and the system will return to "ready mode": (1) Operate the touch screen to enter "wearable mode". At this time, the first joint motor and the second joint motor are in a state of free rotation without power. (2) Open the openable and closable thigh support (602); (3) Move the device to the bedside, chair or wheelchair side, adjust the lifting assembly (30) to lower it, stop lowering when the user’s thigh touches the bed, chair or wheelchair, push the device to insert the bottom support frame (10) under the bed, or insert it to the outside of the chair or wheelchair, to ensure that the user’s center of gravity is on the bed or chair or wheelchair, adjust the lifting assembly (30) to lower it again, so that the user can sit firmly on the bed, chair or wheelchair, and realize the transition from standing to sitting posture; (4) Loosen the foot straps (802), calf straps (703), and thigh straps (603) in sequence, and open the waist straps (402) and the openable backrest (401). (5) Push the equipment away to complete the removal process; Turn off the controller power, reset all straps, adjust the lifting assembly (30) to rise, and confirm that the foot support plate (801) is more than 5cm off the ground; (6) If the device is not used for a long time, fully charge the power module through the charging interface and then turn off the power. Store the device in a dry and ventilated environment.

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