exoskeleton

Abstract

The application provides an exoskeleton, and relates to the technical field of wearable exoskeletons, which comprises a first arm part and a second arm part, the second arm part is configured to swing relative to the first arm part to have a first posture and a second posture, when the second arm part is in the first posture, the two ends of the first arm part and the second arm part that are far away from each other have a first interval, when the arm part is in the second posture, the two ends of the first arm part and the second arm part that are far away from each other have a second interval, the second interval is smaller than the first interval; a rope, the fixed-length rope is arranged in the first arm part and the second arm part; a mechanical energy storage mechanism, the mechanical energy storage mechanism is separated from or connected with the rope through a clutch mechanism, in the state that the mechanical energy storage mechanism is connected with the rope, the mechanical energy storage mechanism stores energy during the transition of the second arm part from the first posture to the second posture, and releases energy during the transition of the second arm part from the second posture to the first posture.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of wearable exoskeletons, and in particular to an exoskeleton. BACKGROUND

[0002] As a kind of wearable assistance device, exoskeletons have played an important role in many fields such as medical rehabilitation, industrial logistics, emergency rescue and outdoor sports. According to the driving mode, existing exoskeletons are mainly divided into two types: active driving and passive driving.

[0003] Active driving exoskeletons rely on batteries or external power supplies as energy sources and provide active driving force through actuators such as motors, cylinders or hydraulic motors. Although this type of exoskeleton has intuitive and effective assistance performance, it often leads to a heavy overall structure and high energy consumption due to the need to equip power modules and driving components, thereby having obvious limitations in terms of endurance and mobility.

[0004] Especially in scenarios requiring long-term continuous operation, the battery endurance problem of active driving exoskeletons is particularly prominent. Once the power is depleted, the assistance device that was originally used to assist the user will instead become a load for the user, seriously affecting the actual user experience and system reliability. SUMMARY

[0005] To solve the above and other aspects of at least one technical problem in the prior art, the present application provides an exoskeleton, a rope is fixedly arranged in a first arm part and a second arm part, and is connected to a mechanical energy storage mechanism through a clutch mechanism, so that when the second arm part adjusts between a first attitude and a second attitude with the user's action, the energy is stored and released in time to assist the user.

[0006] The present application provides an exoskeleton, comprising: a first arm part and a second arm part, the second arm part is configured to swing relative to the first arm part to have a first attitude and a second attitude, when the second arm part is in the first attitude, the two ends of the first arm part and the second arm part away from each other have a first distance, when the arm part is in the second attitude, the two ends of the first arm part and the second arm part away from each other have a second distance, the second distance is less than the first distance; a rope, fixedly arranged in the first arm part and the second arm part; a mechanical energy storage mechanism, the mechanical energy storage mechanism is separated or connected with the rope through a clutch mechanism, in the state that the mechanical energy storage mechanism is connected with the rope, the mechanical energy storage mechanism stores energy during the transition of the second arm part from the first attitude to the second attitude, and releases energy during the transition of the second arm part from the second attitude to the first attitude.

[0007] According to an embodiment of the present application, when the second arm portion is in the first posture, the second arm portion and the first arm portion are arranged successively along the maximum dimension direction of the exoskeleton, and when the second arm portion is in the second posture, the second arm portion and the first arm portion are both substantially parallel to the maximum dimension direction of the exoskeleton.

[0008] According to an embodiment of the present application, the end portions of the first arm portion and the second arm portion close to each other are configured as a fillet structure, and form a conjugate rolling contact pair.

[0009] According to an embodiment of the present application, the exoskeleton further comprises a connecting rod, the first arm portion is configured to rotate around a first axis of the connecting rod, and the second arm portion is configured to rotate around a second axis of the connecting rod.

[0010] According to an embodiment of the present application, the first arm portion is pivotally connected to one end of the connecting rod, and the second arm portion is pivotally connected to the other end of the connecting rod; the sum of the radius of the fillet structure formed by the first arm portion and the radius of the fillet structure formed by the second arm portion is configured to be equal to the distance between the first axis and the second axis.

[0011] According to an embodiment of the present application, the fillet structure formed by the first arm portion is configured to have a central angle greater than or equal to 90°; and / or, the fillet structure formed by the second arm portion is configured to have a central angle greater than or equal to 90°.

[0012] According to an embodiment of the present application, the exoskeleton further comprises: at least two first guide roller sets symmetrically distributed on both sides of the angle bisector of the fillet structure of the first arm portion; at least two second guide roller sets symmetrically distributed on both sides of the angle bisector of the fillet structure of the second arm portion; and a rope passing through the first guide roller sets and the second guide roller sets and bridging both sides of the line connecting the first axis and the second axis to form a bidirectional closed loop winding path.

[0013] According to an embodiment of the present application, each of the first guide roller sets comprises at least one first guide roller, and each of the second guide roller sets comprises at least one second guide roller; according to the winding path of the rope, the rope first passes through one of the first guide rollers on one side of the line connecting the first axis and the second axis, and then is guided to one of the second guide rollers on the same side; the rope further bridges to the other side of the line, and sequentially passes through another one of the first guide rollers and another one of the second guide rollers on the other side.

[0014] According to an embodiment of the present application, the center of the fillet structure of the first arm portion coincides with the first axis, the center of the fillet structure of the second arm portion coincides with the second axis, and the fillet curved surface of the fillet structure formed by the first arm portion and the fillet curved surface of the fillet structure formed by the second arm portion abut each other.

[0015] According to an embodiment of the present application, the center of the first guide wheel and the rounded surface of the first arm are concentric with respect to the first axis; and the center of the second guide wheel and the rounded surface of the second arm are concentric with respect to the second axis.

[0016] According to an embodiment of the present application, the first guide wheel set includes at least two first guide wheels coaxially and stacked; the second guide wheel set includes at least two second guide wheels coaxially and stacked; according to the winding path of the rope, the rope first winds through the first guide wheel, and then is guided to the first second guide wheel; thereafter, the rope transitions to the second first guide wheel, and finally winds through the second second guide wheel, and the rope winds through the outer circumferential surface of the guide wheel.

[0017] According to an embodiment of the present application, the exoskeleton further comprises: a third guide wheel set configured to guide the rope to cross from one side of the line connecting the first axis and the second axis to the other side of the line; the third guide wheel set includes at least two third guide wheels symmetrically arranged on both sides of the angle bisector of the rounded structure of the first arm.

[0018] According to an embodiment of the present application, the exoskeleton further comprises: a first connecting member arranged at one end of the rope and connecting the one end of the rope to the first arm; and a second connecting member arranged at the other end of the rope and connecting the other end of the rope to the first arm.

[0019] According to an embodiment of the present application, the rope comprises a static rope.

[0020] According to an embodiment of the present application, the mechanical energy storage mechanism includes at least one elastic member; or the mechanical energy storage mechanism includes at least two elastic members; when the second arm is in the first posture, the elastic member is in an original state, and when the second arm is in the second posture, the elastic member is in a deformed state to provide resistance in the opposite direction of the swing direction.

[0021] According to an embodiment of the present application, one end of the elastic member is connected to the first arm, and the other end of the elastic member is provided with the clutch mechanism; the elastic member is configured to be deformed with the displacement of the rope in the first direction to provide a pulling force in the second direction opposite to the first direction to the rope.

[0022] According to an embodiment of the present application, the clutching mechanism comprises a base arranged at the other end of the elastic member; at least two clamping members arranged at the base, each of the clamping members is configured to rotate around a third eccentric axis and has a friction surface, the friction surfaces of the at least two clamping members are oppositely arranged, the friction surface has a first end and a second end which are away from each other, the distance between the first end and the third axis is greater than the distance between the second end and the third axis, and an external rope passes between the at least two clamping members; a matching assembly configured to relatively rotate the at least two clamping members to make the clamping members have a matching state in which the first ends of the clamping members are close to each other, and an unmatching state in which the first ends are away from each other, when the clamping members are in the matching state, the friction surface locks the rope, and when the clamping members are in the unmatching state, the friction surface releases the rope.

[0023] According to an embodiment of the present application, the base is provided with a cavity, and the rope is arranged in the cavity; the at least two clamping members are arranged in the cavity and symmetrically arranged at both sides of the rope.

[0024] According to an embodiment of the present application, the matching assembly comprises an actuating part configured to apply an actuating force to the at least two clamping members to make the first ends close to each other, so that the clamping members have the matching state; and an unlocking part configured to apply a pressure to the at least two clamping members to make the first ends away from each other, so that the clamping members have the unmatching state.

[0025] According to an embodiment of the present application, the actuating part comprises a first magnetic member and a second magnetic member, the first magnetic member is arranged at one of the clamping members, the second magnetic member is arranged at the other clamping member, and the attractive force between the first magnetic member and the second magnetic member serves as the actuating force.

[0026] According to an embodiment of the present application, the actuating part comprises an elastic member, the elastic force applied by the elastic member to the clamping members serves as the actuating force; the elastic member is arranged between the at least two clamping members, or the elastic member is arranged between the clamping members and the base.

[0027] According to an embodiment of the present application, the unlocking part comprises: at least two first engaging members, each of which is arranged on one of the clamping members; a sliding member arranged on the base in a sliding manner; and at least two second engaging members symmetrically arranged on both sides of the sliding member and moving between a first position and a second position synchronously with the sliding member; wherein, when the sliding member is in the first position, the first engaging members and the second engaging members form a clearance fit, and when the sliding member is in the second position, the second engaging members abut against the first engaging members and apply pressure on the clamping members to overcome the actuating force, so that the clamping members are in the disengaged state.

[0028] According to an embodiment of the present application, the first engaging member is configured to protrude from the clamping member, and an end surface of the second engaging member facing the first engaging member is configured to have a curved surface structure.

[0029] According to an embodiment of the present application, the exoskeleton further comprises a limiting assembly configured to keep the sliding member in the first position and / or the second position.

[0030] According to an embodiment of the present application, the limiting assembly comprises: at least two third magnetic members arranged on the sliding member in a spaced manner along a sliding direction of the sliding member; and at least one fourth magnetic member arranged on the base, wherein, when one of the third magnetic members is opposite to the fourth magnetic member, the sliding member is kept in the first position, and when another one of the third magnetic members is opposite to the fourth magnetic member, the sliding member is kept in the second position; or, at least one third magnetic member arranged on the sliding member; and at least two fourth magnetic members arranged on the base in a spaced manner along the sliding direction of the sliding member, wherein, when the third magnetic member is opposite to one of the fourth magnetic members, the sliding member is kept in the first position, and when the third magnetic member is opposite to another one of the fourth magnetic members, the sliding member is kept in the second position.

[0031] According to an embodiment of the present application, one of the clamping member and the base is provided with a shaft structure, and the other is provided with a groove structure rotationally fitted with the shaft structure; wherein the shaft structure defines the third axis.

[0032] According to an embodiment of the present application, the friction surface is provided with at least one of a tooth structure, a groove structure, a protrusion structure, and a flexible structure.

[0033] According to an embodiment of the present application, at least one of the first arm part and the second arm part comprises a body and a rotating member; the body forms a conjugate rolling contact pair with the other one of the first arm part and the second arm part, and the rotating member is configured to rotate about a fourth axis, which is orthogonal to the first axis of the connecting rod.

[0034] According to the embodiment of the present application, the above-mentioned body comprises a first plate body, a second plate body and a support; the first plate body and the second plate body are arranged in parallel and spaced apart, and the support is arranged between the first plate body and the second plate body; a part between the first plate body, the support and the second plate body defines a groove structure, and the end of the connecting rod is located in the groove structure; wherein the outer contour of the first plate body and the second plate body forms the above-mentioned rounded structure and jointly defines the rounded curved surface.

[0035] The exoskeleton provided by the embodiment of the present application adopts a mechanical energy storage mechanism to realize the recovery and conversion of human motion energy. When a user performs a flexion action and drives the second arm part to move from the first posture to the second posture, the fixed-length rope pulls the mechanical energy storage mechanism to store the kinetic potential energy of the mechanical energy storage mechanism; then in the process that the user performs an extension action and the second arm part returns to the first posture from the second posture, the mechanical energy storage mechanism releases the stored potential energy through the rope and converts it into effective mechanical assistance to help the user complete the extension action. Moreover, through the controllable separation of the clutch mechanism, the system can completely release the connection between the mechanical energy storage mechanism and the rope in the non-assistance stage, avoiding the additional burden of the above-mentioned energy storage process on the natural movement of the user. This passive assistance mechanism based on a pure mechanical structure forms an efficient passive driving mode, which not only gets rid of the dependence of the traditional exoskeleton on batteries and electric actuators, but also expands the applicable scenarios of the exoskeleton in the environment without external power supply. BRIEF DESCRIPTION OF DRAWINGS

[0036] The above and other objects, features and advantages of the present application will become more apparent from the following description of embodiments of the present application with reference to the accompanying drawings.

[0037] Figure 1 A side view of an exoskeleton of an embodiment of the present application is shown;

[0038] Figure 2 is Figure 1 A side view of another view of the exoskeleton is shown;

[0039] Figure 3 is Figure 2 A partial enlarged view of the exoskeleton is shown, showing a guide wheel mechanism;

[0040] Figure 4 is Figure 2 A winding path diagram of the guide wheel mechanism winding the rope is shown;

[0041] Figure 5 is Figure 1 A use state diagram of the joint mechanism in the second posture is shown;

[0042] Figure 6 isFigure 1 Figure 3 is a use state diagram showing the joint mechanism in a third posture;

[0043] Figure 7 Figure 4 is a partial enlarged view of the exoskeleton shown in Figure 1, showing the wearing side; Figure 1 Figure 5 is a partial enlarged view of the exoskeleton shown in Figure 1, showing the wearing side;

[0044] Figure 8 Figure 6 is an enlarged view of the exoskeleton clutch mechanism and mechanical energy storage mechanism part shown in Figure 1; Figure 1 Figure 7 is an enlarged view of the exoskeleton clutch mechanism and mechanical energy storage mechanism part shown in Figure 1;

[0045] Figure 9 Figure 8 is a perspective view of the clutch mechanism shown in Figure 1; Figure 8 Figure 9 is a perspective view of the clutch mechanism shown in Figure 1, omitting the base;

[0046] Figure 10 Figure 10 is a perspective view of the clutch mechanism shown in Figure 1, omitting the base; Figure 9 Figure 11 is a structural schematic diagram of the clutch mechanism shown in Figure 1, omitting the base.

[0047] Figure 11 Figure 12 is a structural schematic diagram of the clutch mechanism shown in Figure 1, omitting the base. Figure 9 In the drawings, the meanings of the reference signs are as follows:

[0048] 100, exoskeleton;

[0049] 110, first arm part;

[0050] 120, second arm part; 121, body; 1211, rounded surface; 1212, groove structure; 122, rotating part; 1221, wearing side; 123, fourth axis;

[0051] 130, connecting rod; 131, first axis; 132, second axis;

[0052] 140, rope;

[0053] 150, first guide roller set; 151, first guide roller;

[0054] 160, second guide roller set; 161, second guide roller;

[0055] 170, third guide roller set; 171, third guide roller;

[0056] 181, first connecting part; 182, second connecting part.

[0057] 200, clutch mechanism;

[0058] 210, base; 211, through hole; 212, cavity;

[0059] 220, clamping part; 221, shaft structure; 222, friction surface;

[0060] 221, shaft structure; 222, friction surface;

[0061] 230, limiting assembly; 231, third magnetic member; 232, fourth magnetic member;

[0062] 240, cooperating assembly; 241, sliding member; 242, first magnetic member; 243, second magnetic member; 244, first cooperating member; 245, second cooperating member;

[0063] 300, mechanical energy storage mechanism. DETAILED DESCRIPTION

[0064] In order to make the objects, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to specific embodiments and drawings.

[0065] The terms used herein are merely used to describe specific embodiments, and are not intended to limit the present application. The terms "include", "comprise" and the like used herein indicate the presence of the described features, steps, operations and / or components, but do not exclude the presence or addition of one or more other features, steps, operations or components.

[0066] All terms used herein, including technical and scientific terms, have meanings commonly understood by one of ordinary skill in the art, unless otherwise defined. It should be noted that the terms used herein should be interpreted as having meanings consistent with the context of the present specification, and should not be interpreted in an idealized or overly formal manner.

[0067] In the case of using expressions similar to "at least one of A, B, and C, etc.", it should be generally interpreted that the meaning of the expression is the same as that of "at least one of A or B; at least one of A or C; at least one of B or C; at least one of A, B, and C, etc." In the case of using expressions similar to "at least one of A, B, or C, etc.", it should be generally interpreted that the meaning of the expression is the same as that of "at least one of A or B; at least one of A or C; at least one of B or C; at least one of A, B, and C, etc."

[0068] Exoskeletons, as wearable assistive devices, have important application value in the fields of medical rehabilitation, industrial logistics, emergency rescue, and outdoor sports. The core function is to assist users to realize the reconstruction of motor function, or to provide assistance for specific actions in long-term work, thereby effectively relieving user fatigue and reducing the risk of physical injury.

[0069] Currently, actively driven exoskeletons rely on batteries or external power sources for energy, providing active driving force through actuators such as motors, cylinders, or hydraulic motors. While these systems offer good assistive performance, the need for power modules and drive components often results in a bulky overall structure, high energy consumption, and limitations in range and mobility.

[0070] Taking lower limb exoskeletons as an example, these exoskeletons are typically worn around the user's thighs, calves, and knees to provide flexion or extension assistance during actions such as walking and squatting. In outdoor applications such as hiking and mountaineering, the battery life of actively driven exoskeletons is particularly problematic. Once the power is depleted, the device, originally intended to assist the user, becomes an additional burden, severely impacting the user experience and system reliability.

[0071] Therefore, there is an urgent need to develop a passively driven exoskeleton that can provide continuous and reliable assistance in outdoor environments where power cannot be connected, in order to overcome the fundamental limitations of active drive methods in terms of battery life and applicable scenarios.

[0072] Figure 1 A side view of an exoskeleton according to an embodiment of the present invention is shown. Figure 2 yes Figure 1 The exoskeleton shown is a side view from another perspective. Figure 3 yes Figure 2 The enlarged view of the exoskeleton shown illustrates the guide wheel mechanism. Figure 4 yes Figure 2 The diagram shows the winding path of the guide wheel mechanism for winding the rope. Figure 5 yes Figure 1 The diagram shows the joint mechanism in its second posture.

[0073] According to an embodiment of the present invention, referring to Figures 1 to 5 As shown, an exoskeleton 100 is provided. The exoskeleton 100 includes a first arm 110, a second arm 120, a rope 140, and a mechanical energy storage mechanism 300. The second arm 120 is configured to swing relative to the first arm 110 to have a first posture and a second posture. When the second arm 120 is in the first posture, the two ends of the first arm 110 and the second arm 120 that are far apart have a first distance. When the arm is in the second posture, the two ends of the first arm 110 and the second arm 120 that are far apart have a second distance, and the second distance is smaller than the first distance. The rope 140 is threaded through the first arm 110 and the second arm 120 at a fixed length. The mechanical energy storage mechanism 300 is disconnected from or connected to the rope 140 via a clutch mechanism 200. When the mechanical energy storage mechanism 300 is connected to the rope 140, the mechanical energy storage mechanism 300 stores energy during the transition of the second arm 120 from the first posture to the second posture, and releases energy during the transition of the second arm 120 from the second posture to the first posture.

[0074] According to an embodiment of the present application, referring to Figure 1 and Figure 2 As shown, when the second arm portion 120 is in the first posture, the second arm portion 120 and the first arm portion 110 are arranged in sequence along the maximum dimension direction of the exoskeleton, and when the second arm portion 120 is in the second posture, the second arm portion 120 and the first arm portion 110 are both substantially parallel to the maximum dimension direction of the exoskeleton.

[0075] In some illustrative embodiments, referring to Figure 1 and Figure 2 As shown, the first arm portion 110 and the second arm portion 120 are both substantially rectangular plate-shaped structures. Here, the substantially rectangular shape can be understood as the length of the first arm portion 110 and the second arm portion 120 being significantly greater than the width, and the maximum dimension direction extending along the length. However, in order to conform to the lines of the human skeleton and muscles, the first arm portion 110 and the second arm portion 120 are designed to have irregular external contours, so that they do not strictly conform to the geometric definition of a rectangle.

[0076] Referring to the above structure, the above exoskeleton including the first arm portion 110 and the second arm portion 120 is suitable for being worn at the user's knee joint, and the first arm portion 110 and the second arm portion 120 can move with the user to complete the extension and flexion actions, and make the second arm portion 120 swing relative to the first arm portion 110 between the first posture and the second posture.

[0077] Taking the lower limb exoskeleton as an example, the size of the first arm portion 110 is generally configured to be greater than or equal to the second arm portion 120, which can be fixed to the outside of the user's thigh, and the second arm portion 120 is correspondingly fixed to the outside of the calf, thereby forming a wearing layout conforming to the structure of the human lower limb. In addition, the connecting rod 130 described below is arranged in the knee joint area of the user, without being directly bound to the knee joint.

[0078] Specifically, the human lower limb is mainly composed of the femur, the tibia and the patella. When the human body is in an upright posture, the knee joint is in a stable closed packed position, the angle between the femur and the tibia is close to 0°, and at this time the first arm portion 110 and the second arm portion 120 of the exoskeleton are in the corresponding first posture. When the user performs the knee flexion action in squatting, sitting or gait, the knee joint is flexed, and the second arm portion 120 of the exoskeleton swings to the second posture relative to the first arm portion 110, realizing the synchronization with the joint movement of the human body.

[0079] In the movement process, when the second arm portion 120 is moved from the first posture to the second posture, the fixed-length rope 140 pulls the mechanical energy storage mechanism 300, and the potential energy of the human body movement is stored in the mechanical energy storage mechanism 300; then when the user performs the stretching action and the second arm portion 120 returns to the first posture from the second posture, the mechanical energy storage mechanism 300 releases the stored potential energy through the rope 140, and converts the potential energy into effective mechanical assistance for assisting the stretching action.

[0080] It should be noted that although the energy storage process requires the user to overcome the resistance (such as elastic force) of the mechanical energy storage mechanism 300 to do work, the muscle group that dominates the movement is in the eccentric contraction state at this time. The eccentric contraction of the muscle has higher biomechanical efficiency than the concentric contraction, can produce greater tension per unit cross-sectional area, and has lower metabolic consumption, so the additional load added in this stage has limited effect on the overall energy consumption. When the muscle group turns to the concentric contraction with higher metabolic cost in the subsequent stretching stage, the mechanical energy storage mechanism 300 timely releases the stored energy and directly provides an auxiliary torque to reduce the activation level and energy consumption of the main stretching muscle group. This realizes the temporal regulation of energy, so that the user obtains a metabolic saving in the stretching stage that is much higher than the additional consumption in the flexion stage, thereby producing a net energy gain in the complete action cycle and achieving the overall energy-saving engineering biology effect.

[0081] The assistance mechanism of the pure mechanical structure constitutes an efficient passive driving scheme, which not only eliminates the dependence of the exoskeleton on the battery and the electric actuator, but also expands the application potential of the exoskeleton in the environment without external power supply.

[0082] In addition, the controllable separation between the mechanical energy storage mechanism 300 and the rope 140 through the clutch mechanism 200 can make the user selectively choose whether to need energy storage and assistance, so as to avoid interference with the natural movement of the user. For example, when the user is climbing, the rope 140 and the mechanical energy storage mechanism 300 can be connected through the clutch mechanism 200, so that the user can be more labor-saving during the climbing process; and when the user is descending, the rope 140 and the mechanical energy storage mechanism 300 can be separated through the clutch mechanism 200, so that the user can effectively control the step frequency and step length to prevent falling danger.

[0083] According to the embodiment of the present application, referring to Figure 2 and Figure 3 It is shown that the end portions of the first arm portion 110 and the second arm portion 120 are configured as a rounded structure, and form a conjugate rolling contact pair.

[0084] According to the embodiment of the present application, referring to Figure 2 and Figure 3As shown, the first arm 110 is pivotally connected to one end of the connecting rod 130, and the second arm 120 is pivotally connected to the other end of the connecting rod 130. The sum of the radii of the rounded corner structure formed by the first arm 110 and the rounded corner structure formed by the second arm 120 is configured to be equal to the distance between the first axis 131 and the second axis 132.

[0085] According to an embodiment of the present invention, referring to Figure 2 and Figure 3 As shown, the exoskeleton also includes a link 130. A first arm 110 is configured to rotate about a first axis 131 of the link 130, and a second arm 120 is configured to rotate about a second axis 132 of the link 130.

[0086] According to an embodiment of the present invention, referring to Figure 2 and Figure 3 As shown, the center of the rounded corner structure of the first arm 110 coincides with the first axis 131, and the center of the rounded corner structure of the second arm 120 coincides with the second axis 132. The rounded corner surface of the first arm 110 and the rounded corner surface 1211 of the second arm 120 abut each other.

[0087] In some illustrative embodiments, reference is made to Figure 3 As shown, the first arm 110 is pivotally connected to one end of the connecting rod 130, allowing it to rotate about the first axis 131; the second arm 120 is connected to the other end of the connecting rod 130 in the same manner and can rotate about the second axis 132. This dual-axis pivoting structure enables the first arm 110 and the second arm 120 to form a motion-decoupled three-bar linkage unit through the connecting rod 130, achieving dynamic coordination of the relative motion of the first arm 110 and the second arm 120.

[0088] Based on the above structure, the center of the rounded corner structure of the first arm portion 110 is set to coincide with the first axis 131, and the center of the rounded corner structure of the second arm portion 120 coincides with the second axis 132. The sum of the radii of the two rounded corners is configured to be equal to the distance between the first axis 131 and the second axis 132, thus forming a geometric constraint on the first arm portion 110 and the second arm portion 120. This geometric constraint ensures that the two rounded corner surfaces 1211 maintain continuous contact in any relative movement position, essentially forming a pure rolling motion without slippage.

[0089] That is, when the second arm portion 120 swings relative to the first arm portion 110, the contact point between the two moves smoothly along the rounded surface 1211, and in an ideal state, constitutes a conjugate rolling pair as in the above-mentioned embodiment. Specifically, the profile shapes of the two ends of the first arm portion 110 and the second arm portion 120 match each other and are mutually enveloped, so that the two can always maintain continuous contact during relative movement. Moreover, the contact pair mainly takes rolling as the form of movement, and the sliding component can be ignored. Further, when the first arm portion 110 and the second arm portion 120 roll relative to each other, the two can also maintain a constant angular velocity ratio (for example, 1:1), thereby realizing angular velocity synchronization during swinging.

[0090] When the human body performs a knee flexion action such as squatting, sitting, or stepping as described above, the knee joint movement presents a complex biomechanical mechanism. In the initial stage of knee flexion, the femoral condyle mainly rolls on the tibial plateau; after about 15° to 20° flexion, the sliding component gradually dominates, forming a composite movement in which the femoral condyle rolls backward and slides backward at the same time. Meanwhile, the patella moves downward along the femoral trochlear groove, and when the knee flexes about 30°, the contact surface with the femur is located in the middle, and after more than 90°, the contact surface shifts to the lower part of the patella, and the interpatellofemoral joint pressure increases accordingly. As can be seen, the flexion and extension movement of the knee joint is not rotation around a fixed axis, and the instantaneous rotation center moves along a path approximately in the shape of "J" during the movement. In this state, the first arm portion 110 and the second arm portion 120 of the exoskeleton are in the second posture (for details, refer to Figure 5

[0091] To realize the reproduction of the above-mentioned physiological movement, in the above-mentioned exoskeleton, the profile surface where the first arm portion 110 (corresponding to the femur) and the second arm portion 120 (corresponding to the tibia) contact constitutes a conjugate rolling contact pair, responsible for simulating the relative rolling of the femorotibial joint; and the connecting rod 130 connecting the two arm portions converts the simple swinging into the dynamic change of the contact point by constraining the relative movement, thereby equivalently realizing the "backward sliding" of the femur at the mechanical level, and reproducing the moving track of the rotation center of the human knee joint during flexion.

[0092] Compared with the traditional single-hinge joint structure, the above-mentioned exoskeleton can better match the natural movement characteristics of the human knee joint, effectively avoid the joint binding feeling and soft tissue pulling problem, and at the same time of providing movement assistance, guarantee the use comfort and biocompatibility.

[0093] Figure 6 is Figure 1 the joint mechanism in the third posture of the use state diagram.

[0094] Of course, the second arm portion 120 of the above-mentioned joint mechanism can be in the first posture as shown in Figure 2 and the second posture as shown in Figure 5 in addition to the first posture as shown in​Figure 6 The third posture shown can be understood as a transition posture of the second arm portion 120 between the first posture and the second posture. At this time, the angle of the second arm portion 120 relative to the first arm portion 110 includes but is not limited to 60°, 70°, 80°, 90°, 100°, 110°, 120°, and other arbitrary angles between 0° and 180°, so that the joint mechanism is suitable for different states of the user's flexion joint. It should be understood that embodiments of the present application are not limited thereto.

[0095] For example, the exoskeleton described above can also be used as an upper limb exoskeleton, that is, the first arm portion 110 can be fixed to the user's upper arm (i.e., the lateral side of the humerus), the second arm portion 120 is fixed to the user's lower arm (i.e., the lateral side of the ulna and radius), and the connecting rod 130 is located in the humeroulnar joint area to adapt to the flexion and extension movement of the upper limb. The specific implementation and action are similar to the above embodiment, and therefore will not be described in detail.

[0096] For example, the exoskeleton described above can also be worn on the ankle joint and other flexion joints that mainly perform flexion and extension movements.

[0097] In some illustrative embodiments, referring to Figure 3 As shown, the cross section of the connecting rod 130 in the direction orthogonal to the extension direction of the first axis 131 is configured as a track-shaped structure.

[0098] In some illustrative embodiments, referring to Figure 3 As shown, the connecting rod 130 is configured as a track-shaped structure in the cross section orthogonal to the extension direction of the first axis 131. The track-shaped structure can be understood as a geometric shape composed of two parallel straight sides and two semicircular ends.

[0099] On this basis, the first arm portion 110, the second arm portion 120, and the connecting rod 130 include but are not limited to the coaxial ring sleeve structure as shown in Figure 3 The two ends of the connecting rod 130 form a neck-shaped inner ring, and a precise circular hole is provided at the corresponding position of the first arm portion 110 and the second arm portion 120 as an outer ring. The gap between the inner ring and the outer ring forms a sliding bearing pair, so that the end of the connecting rod 130 can rotate smoothly around the axis in the circular hole of the first arm portion 110 (the second arm portion 120). This integrated shaft sleeve structure directly builds the motion function unit on the component body, while ensuring the positioning accuracy of the first axis 131 and the second axis 132, realizing the extremely compact and lightweight design of the joint part, and effectively avoiding the size error and weight burden introduced by the additional connecting parts. It should be understood that embodiments of the present application are not limited thereto.

[0100] For example, the pivotal connection between the first arm 110 (second arm 120) and the connecting rod 130 can also be a solid shaft structure or a bushing sleeve fitted outside the shaft structure.

[0101] According to an embodiment of the present invention, referring to Figure 3 As shown, a groove structure 1212 is provided at the end of the first arm 110 near the second arm 120, and one end of the connecting rod 130 is located within the groove structure 1212. And / or, a groove structure 1212 is provided at the end of the second arm 120 near the first arm 110, and the other end of the connecting rod 130 is located within the groove structure 1212.

[0102] According to an embodiment of the present invention, referring to Figure 2 and Figure 3 As shown, the rounded corner structure formed by the first arm portion 110 is configured to have a central angle greater than or equal to 90°. And / or, the rounded corner structure formed by the second arm portion 120 is configured to have a central angle greater than or equal to 90°.

[0103] In some illustrative embodiments, reference is made to Figure 2 and Figure 3 As shown, the adjacent ends of the first arm 110 and the second arm 120 are both configured with rounded corners, and they abut against each other through their respective rounded curved surfaces 1211 to form a contact pair. Specifically, the rounded corners of the first arm 110 and the second arm 120 are both configured with a central angle equal to 90°, which allows the second arm 120 to have a swing angle of nearly 180° relative to the first arm 110 when it swings from a first posture to a second posture. It should be understood that the embodiments of the present invention are not limited thereto.

[0104] For example, the angle of the central angle of the rounded structure formed by the first arm 110 and the second arm 120 can also be configured as 60°, 70°, 80°, 90°, 95°, 100°, 105°, 110° and other arbitrary angles.

[0105] For example, in an embodiment where the exoskeleton is worn on a user's lower or upper limbs, the range of motion of the knee joint from its extended position (i.e., in the aforementioned closed, bundled position) to its flexion limit position is approximately 0° to 140°, while the range of motion of the elbow joint from its extended position to its flexion limit position is approximately 0° to 150°. Therefore, the central angle of the rounded structure formed by the first arm portion 110 and the second arm portion 120 can also be configured as 70°, 75°, 80°, 85°, or other arbitrary angles, specifically to meet the flexion angle requirements of the user's wearing position.

[0106] In such an embodiment, by configuring the first arm portion 110 and the second arm portion 120 as the circular corner structure with the above-mentioned central angle, the flexion and extension angle requirement of the human body's flexion joint can be met, so as to better match the flexion action of the corresponding joint.

[0107] According to an embodiment of the present application, referring to Figure 3 As shown in the figure, the exoskeleton further comprises at least two first guide roller sets 150 and at least two second guide roller sets 160. The at least two first guide roller sets 150 are symmetrically distributed on both sides of the angle bisector of the circular corner structure of the first arm portion 110. The at least two second guide roller sets 160 are symmetrically distributed on both sides of the angle bisector of the circular corner structure of the second arm portion 120. The rope 140 is fixedly arranged in the first guide roller set 150 and the second guide roller set 160, and is connected on both sides of the line connecting the first axis 131 and the second axis 132 to form a bidirectional closed loop winding path.

[0108] According to an embodiment of the present application, referring to Figure 1 and Figure 2 As shown in the figure, each first guide roller set 150 comprises at least one first guide roller 151, and each second guide roller set 160 comprises at least one second guide roller 161. According to the winding path of the rope 140, the rope 140 is first wound around one first guide roller 151 on one side of the line connecting the first axis 131 and the second axis 132, and then guided to one second guide roller 161 on the same side; the rope 140 is further connected to the other side of the line, and is sequentially wound around another first guide roller 151 and another second guide roller 161 on the other side.

[0109] In such an embodiment, by symmetrically arranging the at least two first guide roller sets 150 on both sides of the angle bisector of the circular corner structure of the first arm portion 110 and correspondingly arranging the at least two second guide roller sets 160 on the symmetric positions of the second arm portion 120, a complete force and motion symmetric transmission path is constructed. Such a symmetric layout can effectively eliminate the joint additional torque generated by the one-way traction of the rope 140, avoid the lateral unbalanced load phenomenon, and at the same time ensure that the tension of the rope 140 is always transmitted along the contact point normal direction, thereby minimizing the internal force loss of the system. In addition, the layout also ensures that the second arm portion 120 has completely symmetric displacement amplification characteristics and dynamic response speed relative to the first arm portion 110 in both forward and reverse rotation directions.

[0110] Further, by making the rope 140 cross from one side of the connecting rod 130 (i.e. the line connecting the first axis 131 and the second axis 132) to the other side, a spatially symmetrical closed winding path is formed, and a displacement amplification mechanism is constructed. When the second arm portion 120 rotates relative to the first arm portion 110, the guide pulley sets on both sides of the connecting rod 130 synchronously generate displacement of the rope 140, and through displacement superposition, the effective stroke reaches more than twice that of a single-sided structure. This cross design decomposes the rotational angular displacement into two independent displacement components of the rope 140, and then realizes vector synthesis through the winding path, effectively eliminating the hysteresis phenomenon caused by transmission gap.

[0111] In this way, through the synergistic effect of the above symmetrical arrangement and cross design, when the first arm portion 110 and the second arm portion 120 rotate relative to each other through the conjugate rolling contact pair, the small angular displacement at the joint is efficiently converted into the cooperative displacement of the multiple rope 140, forming an equivalent displacement amplification structure based on the principle of movable pulley, to avoid the response lag and motion jerk caused by the one-way traction of the rope 140 in the related art.

[0112] According to an embodiment of the present application, referring to Figure 4 The first guide pulley set 150 includes at least two first guide pulleys 151, which are coaxial and stacked. The second guide pulley set 160 includes at least two second guide pulleys 161, which are coaxial and stacked. According to the winding path of the rope 140, the rope 140 first winds through the first first guide pulley 151, and then is guided to the adjacent first second guide pulley 161; thereafter, the rope 140 transitions to the second first guide pulley 151, and finally winds through the second second guide pulley 161, and the rope 140 winds through the outer circumferential surface of the guide pulley.

[0113] In some illustrative embodiments, referring to Figure 4 The same first guide pulley set 150 includes but is not limited to two first guide pulleys 151, which are coaxially fixedly connected to form a rigid synchronous rotation unit. That is, the different first guide pulleys 151 in the same first guide pulley set 150 maintain completely synchronous angular displacement and linear velocity under any working condition. Similarly, the same second guide pulley set 160 also has two second guide pulleys 161 fixedly connected, and therefore, no further description is given.

[0114] For the first guide pulley set 150 and the second guide pulley set 160 located on the same side of the connecting rod 130 (i.e. the line connecting the first axis 131 and the second axis 132), the winding path of the rope 140 can refer to Figure 4As shown: first around the first first guide pulley 151 (lower first guide pulley 151) outside the circumference of the establishment of force transmission; then guided to the same side of the first second guide pulley 161 (lower second guide pulley 161) to complete the first reversing; then transition to the second first guide pulley 151 (upper first guide pulley 151) for secondary traction; finally around the second second guide pulley 161 (upper second guide pulley 161) to complete the path closure on this side. After that, the rope 140 is guided to the other side of the connecting rod 130 through other guide pulley groups (such as the third guide pulley group 170), and then is arranged on the other side of the connecting rod 130 in a similar winding manner. The first guide pulley group 150 and the second guide pulley group 160 are arranged to form a cooperative displacement mechanism of four sections of the rope 140.

[0115] In this way, a two-stage displacement amplification system is formed between the first arm portion 110 and the second arm portion 120: the first first guide pulley 151 and the first second guide pulley 161 on the same side constitute a primary amplification unit, achieving 2 times displacement amplification; then the second first guide pulley 151 and the second second guide pulley group 160 form a secondary amplification unit, achieving 2 times amplification again on the basis of the previous stage. That is, through this series amplification mechanism, the exoskeleton can finally obtain 4 times displacement amplification effect, thereby effectively converting the small angular displacement of the user's joint into an easily controlled displacement amount.

[0116] In addition, during the execution of the above exoskeleton, when the mechanical energy storage mechanism 300 releases the elastic potential energy stored therein, the energy is transmitted to the transmission system composed of the first guide pulley group 150 and the second guide pulley group 160 through the rope 140. By repeatedly winding the rope 140 in the symmetrically distributed guide pulley group according to a specific path, the system forms an equivalent dynamic pulley amplification mechanism. According to the working principle of the pulley group, when the rope 140 forms a continuous winding path between multiple guide pulleys, the displacement amount of the output end is proportional to the number of effective action sections of the rope. In this embodiment, by configuring two guide pulleys in each guide pulley group and adopting a symmetric winding manner, the rope forms four effective action sections, and finally the initial displacement output by the mechanical energy storage mechanism 300 is amplified to four times. This makes the system provide enhanced mechanical assistance to the user when the second arm portion 120 is restored from the flexion posture (i.e., the second posture) to the extension posture (the first posture). It should be understood that the embodiments of the present application are not limited thereto.

[0117] For example, 3, 4, 5, 6 or any other number of first guide pulleys 151 (or second guide pulleys 160) can be coaxially and stacked in the same first guide pulley group 150 (or second guide pulley group 160) to further meet the requirement of increasing the displacement multiple of the rope. Of course, the more guide pulleys arranged in the same guide pulley group, the greater the thickness of the exoskeleton and the probability of winding jam. Therefore, the specific number of guide pulleys should be appropriate to meet the actual requirements of the use scenario.

[0118] According to an embodiment of the present application, referring to Figure 1 and Figure 2 , the center of the first guide wheel 151 and the circular corner surface 1211 of the first arm part 110 are concentric with respect to the first axis 131. Also, the center of the second guide wheel 161 and the circular corner surface 1211 of the second arm part 120 are concentric with respect to the second axis 132.

[0119] In some illustrative embodiments, referring to Figure 1 and Figure 2 , the center of the first guide wheel 151 and the circular corner surface 1211 of the first arm part 110 are concentric with respect to the first axis 131, while the center of the second guide wheel 161 and the circular corner surface 1211 of the second arm part 120 are also concentric with respect to the second axis 132.

[0120] Specifically, the first guide wheel 151 in the first guide wheel set 150 is rotatably connected to the first arm part 110, and the center of the first guide wheel 151 is located on a circle with the first axis 131 as the center and a radius of R1. The circular corner surface 1211 of the first arm part 110 is also centered on the first axis 131, and has a radius of curvature R2. When R1 is equal to R2, the angular displacement Δθ generated by the swing of the first arm part 110 relative to the second arm part 120 is converted into a linear displacement (R2 x Δθ) of the contact point of the circular corner surface 1211 and a length of the rope 140 wound or unwound at the first guide wheel 151 (R1 x Δθ). Since R1 is equal to R2, the two displacement amounts are always consistent, thereby completely eliminating the internal motion conflict in the transmission chain. In this way, the phenomenon of rope 140 slack or excessive tension caused by the radius difference is effectively avoided, which optimizes the stability and efficiency of the force transmission path, and prolongs the service life of the rope 140.

[0121] According to an embodiment of the present application, referring to Figure 4 , the exoskeleton further comprises a first connecting piece 181 and a second connecting piece 182. The first connecting piece 181 is arranged at one end of the rope 140 and connects the one end of the rope 140 to the first arm part 110. The second connecting piece 182 is arranged at the other end of the rope 140 and connects the other end of the rope 140 to the first arm part 110.

[0122] According to an embodiment of the present application, referring to Figure 4 , the exoskeleton further comprises a third guide wheel set 170 configured to guide the rope 140 to cross from one side of the line connecting the first axis 131 and the second axis 132 to the other side of the line. The third guide wheel set 170 comprises at least two third guide wheels 171 symmetrically arranged on both sides of the angle bisector of the circular corner structure of the first arm part 110.

[0123] According to an embodiment of the present application, referring to Figure 4 As shown, the rope 140 includes but is not limited to a static rope. Wherein, the static rope can also be referred to as a static line, which can be understood as a length of the rope 140 hardly changes (e.g. the elongation of the rope 140 is less than or equal to 5%) when the rope 140 is subjected to a load. Thus, the rope 140 can be used to transfer the displacement of the rope 140 along the pulling direction. It should be understood that embodiments of the present application are not limited thereto.

[0124] For example, the rope 140 can also be a dynamic rope, so as to change the displacement of the rope 140 along the pulling direction and / or the force.

[0125] In some illustrative embodiments, referring to Figure 4 As shown, the exoskeleton further includes a third guide wheel set 170. In detail, the third guide wheel set 170 includes at least two third guide wheels 171, which are respectively arranged at positions close to the first guide wheel set 150 on both sides of the connecting rod 130 and symmetrically arranged along the angle bisector of the fillet curve 1211 of the first arm portion 110. Further, the third guide wheel set 170 further includes other third guide wheels 171, which can be an odd number or an even number, so that the end of the rope 140 led out by the first guide wheel set 150 on one side of the connecting rod 130 can be reversed and finally guided to the first guide wheel set 150 on the other side of the connecting rod 130, so as to realize the reversing and bridging of the rope 140.

[0126] In some illustrative embodiments, referring to Figure 4 As shown, the exoskeleton further includes a first connecting member 181 and a second connecting member 182. In detail, the first connecting member 181 is fixedly connected to one end of the rope 140 and connects the first end of the rope 140 to the first arm portion 110. The first connecting member 181 includes but is not limited to a rod structure, and the rod structure can be configured to extend along the extension direction of the first arm portion 110, so that the second end of the rope 140 is close to the first guide wheel set 150 along the extension direction of the first arm portion 110, and is wound around the outer side surface of the first guide wheel 151 and the second guide wheel 161 as similar to the above-mentioned embodiments. Further, the second connecting member 182 is arranged at the outer circumferential side close to the third guide wheel 171 on the other side of the connecting rod 130, so that the second end of the rope 140 is connected to the third guide wheel 171, and the specific winding path thereof can be referred to S1 to S9 shown in Figure 4

[0127] It should be noted that the arrows formed by the above-mentioned S1 to S9 only represent the passing order of the rope 140 from the first end to the second end, and actually when the second arm portion 120 swings relative to the first arm portion 110, the displacement transmission and force conduction of the rope 140 can be bidirectional transmission according to the movement direction on the paths of S1 to S9.

[0128] ​Figure 7 is Figure 1 is a partial enlarged view of the exoskeleton shown in FIG. 1, showing a wearing side.

[0129] According to an embodiment of the present application, referring to Figures 1 to 7 , at least one of the first arm portion 110 and the second arm portion 120 comprises a body 121 and a rotating member 122. The body 121 forms a conjugate rolling contact pair with the other one of the first arm portion 110 and the second arm portion 120, and the rotating member 122 is configured to rotate about a fourth axis 123, which is orthogonal to the first axis 131 of the connecting rod 130.

[0130] According to an embodiment of the present application, referring to Figures 1 to 7 , the body 121 comprises a first plate body, a second plate body and a support member. The first plate body and the second plate body are arranged in parallel and spaced apart, and the support member is arranged between the first plate body and the second plate body, and a portion between the first plate body, the support member and the second plate body defines a groove structure 1212. Wherein, the outer contours of the first plate body and the second plate body form a fillet structure, and together define a fillet curved surface 1211.

[0131] In some illustrative embodiments, referring to Figures 1 to 7 , the end portions of the first arm portion 110 and the second arm portion 120 that are close to each other are provided with the groove structure 1212 in the thickness direction. Further, the two ends of the connecting rod 130 are respectively accommodated in the corresponding groove structure 1212.

[0132] In some illustrative embodiments, as Figures 1 to 7 , the body 121 structure of the first arm portion 110 and the second arm portion 120 is composed of a first plate body, a second plate body and a support member, all of which include but are not limited to plate structures. In detail, the first plate body, the support member and the second plate body are arranged in sequence in the thickness direction of the first arm portion 110 (or the second arm portion 120); in the projection in the thickness direction, the projections of the first plate body and the second plate body are completely coincident, and the projection of the support member is completely within the contours of the former two, that is, the outer contour size of the support member is smaller than that of the first plate body and the second plate body.

[0133] On this basis, the inner side surfaces of the first plate body and the second plate body jointly define two groove side walls of the groove structure 1212, and the extension range of the support member in the opening direction determines the effective groove depth of the groove structure 1212. The spacing between the first plate body and the second plate body is set to be substantially equivalent to or slightly larger than the thickness of the connecting rod 130, so as to limit the displacement of the connecting rod 130 along the thickness direction of the arm portion while not affecting the normal rotation of the connecting rod 130 about the first axis 131 (or the second axis 132).

[0134] In addition, the edge of the support member opening towards the groove structure 1212 can be configured as a rounded corner structure, and the central angle of the rounded corner structure can be configured as 90°, for example, to meet the angle requirement of the connecting rod 130 relative to the arm portion, and to ensure that there is no structural interference during movement.

[0135] In such an embodiment, the first arm portion 110, the second arm portion 120, and the connecting rod 130 are arranged in an embedded manner, so that the groove structure 1212 effectively restricts the connecting rod 130 in a direction perpendicular to the axis (i.e., the first axis 131 and / or the second axis 132), thereby preventing axial movement of the connecting rod 130 during operation, ensuring stable pure rolling contact between the rounded corner surface 1211, and making the overall structure more compact and improving the lateral stability between the arm portion and the connecting rod 130. It should be understood that the embodiments of the present application are not limited thereto.

[0136] For example, the connecting rod 130 includes, but is not limited to, an elliptical, rectangular rounded corner, or any other non-circular cross-sectional rod, such as an elliptical, rectangular rounded corner, or any other non-circular cross-sectional rod, which has high bending resistance.

[0137] For example, the groove structure 1212 includes, but is not limited to, a closed hole structure with a bearing seat, or a guide rail with a sliding bushing, or any other form that can reliably accommodate and smoothly pivot the end of the connecting rod 130, and falls within the scope of the present application.

[0138] Continuing to refer to Figures 1 to 7 As shown in some illustrative embodiments, the second arm portion 120 includes a body 121 and a rotating member 122 rotatable relative to the body 121. In detail, the rotating member 122 is rotatably connected to the body 121 through a hinge structure and can freely rotate about a fourth axis 123, which is orthogonal to the first axis 131 of the connecting rod 130 in space.

[0139] Continuing with the lower extremity exoskeleton described above as an example, when the second arm portion 120 is worn on the user's lower leg, the wearing side 1221 of the rotating member 122 can be designed as a curved surface matching the muscle contour of the lower leg. The rotating mechanism enables the exoskeleton to dynamically adapt to the shape change and soft tissue displacement of the muscle group during walking or flexion and extension, and through adaptive rotation about the fourth axis 123, it always maintains close fitting with the surface of the limb.

[0140] In this way, the comfort and force transmission efficiency of the user wearing the exoskeleton can be improved, which on the one hand effectively avoids local compression or disengagement caused by the shape change of the limb due to the traditional rigid structure; and on the other hand, the distribution of assistive force is optimized by increasing the effective contact area, making the driving of the exoskeleton on the lower leg more natural and efficient, while reducing the energy loss and skin friction risk of the user during movement. It should be understood that the embodiments of the present application are not limited thereto.

[0141] For example, the first arm portion 110 can also be configured as a body 121 and a rotating member 122 similar to the second arm portion 120 to fit the curve of the user's thigh. Its specific implementation and function are similar to the embodiment described above where the second arm portion 120 is worn on the calf, and therefore will not be repeated.

[0142] Figure 8 yes Figure 1 Enlarged view of the exoskeleton's clutch mechanism and mechanical energy storage mechanism.

[0143] According to an embodiment of the present invention, referring to Figures 1 to 8 As shown, the mechanical energy storage mechanism 300 includes at least one elastic element. Alternatively, the mechanical energy storage mechanism 300 includes at least two elastic elements. When the second arm 120 is in the first posture, the elastic element is in its original state; when the second arm 120 is in the second posture, the elastic element is in a deformed state to provide resistance opposite to the swing direction.

[0144] According to an embodiment of the present invention, referring to Figures 1 to 8 As shown, one end of the elastic element is connected to the first arm 110, and the other end of the elastic element is provided with a clutch mechanism 200. The elastic element is configured to deform with the displacement of the rope in a first direction to provide a traction force on the rope in a second direction opposite to the first direction.

[0145] In some illustrative embodiments, reference is made to Figure 1 and Figure 8 As shown, the mechanical energy storage mechanism 300 includes, but is not limited to, two tension springs. Specifically, these two tension springs extend along the maximum dimension of the exoskeleton and are arranged parallel to each other in the width direction of the first arm 110. Further, one end of each tension spring is fixedly connected to the end of the first arm 110 near the second arm 120, and the other end is connected to a clutch mechanism 200 (as described in the shell assembly). When the rope is connected to the rope via the clutch mechanism 200, this end of the spring is linked to a designated position on the rope via the clutch mechanism 200.

[0146] Thus, during the flexion movement of the exoskeleton, as the second arm 120 transitions from the first posture to the second posture, the clutch mechanism 200 causes the tension spring to be stretched in a first direction away from the first arm 110, storing mechanical energy. Conversely, when the exoskeleton performs an extension movement, the tension spring releases the stored potential energy and assists the second arm 120 in returning to the first posture by applying a pulling force in a second direction opposite to the first direction, thereby providing effective mechanical assistance for the user's extension movement.

[0147] Figure 9 yes Figure 8 The diagram shows a three-dimensional representation of the clutch mechanism.

[0148] According to the clutch mechanism 200 provided by the present application, as shown in Figure 9 The clutch mechanism 200 includes a base 210, at least two clamping members 220 and a matching assembly 240. The at least two clamping members 220 are arranged on the base 210, each of the clamping members 220 is configured to rotate around an eccentric axis and has a friction surface 222, the friction surfaces 222 of the at least two clamping members 220 are oppositely arranged, the friction surface 222 has a first end and a second end which are away from each other, the distance between the first end and the axis is greater than the distance between the second end and the axis, and the external rope 140 passes through the space between the at least two clamping members 220. The matching assembly 240 is configured to relatively rotate the at least two clamping members 220, so that the clamping members 220 have a matching state in which the respective first ends are close to each other, and a disengagement state in which the first ends are away from each other, when the clamping members 220 are in the matching state, the friction surface 222 locks the rope 140, and when the clamping members 220 are in the disengagement state, the friction surface 222 releases the rope 140.

[0149] As shown in Figure 9 In some illustrative embodiments, the clutch mechanism 200 includes the base 210 which includes a shell assembly configured as a body structure, but is not limited thereto. In detail, the shell assembly has a through hole 211 arranged on each of the opposite sides, the inner diameter of the through hole 211 is configured to be greater than or equal to the diameter of the rope 140, so that the rope 140 passes through the shell assembly through the through hole 211. That is, when the clamping members 220 of the clutch mechanism 200 are in the disengagement state with the rope 140, the rope 140 is movable relative to the clutch mechanism 200, and the movement of the rope 140 along its extension direction does not cause the displacement of the clutch mechanism 200.

[0150] According to an embodiment of the present application, the friction surface 222 is provided with tooth structures which are arranged at intervals along the extension direction of the friction surface 222 (i.e. from the first end to the second end). Of course, the friction surface 222 can also adopt groove structures, protrusion structures, flexible structures and other structures suitable for improving the friction between the clamping members 220 and the rope 140.

[0151] On this basis, the clutch mechanism 200 includes but is not limited to two clamping members 220 which are arranged in pairs, and a part of the rope 140 passes through the space between the friction surfaces 222 of the two clamping members 220. Among them, the friction surface 222 can be understood as a continuous or discontinuous non-smooth surface, when the clamping members 220 are in the matching state in which the friction surface 222 locks the rope 140, it can be understood that the effective connection between the friction surface 222 and the rope 140 is achieved through friction, so that when the rope 140 moves along its extension direction, the clamping members 220 will drive the clutch mechanism 200 to displace synchronously with the rope 140.

[0152] Specifically, referring to Figure 9 As shown in the figure, the clamping piece 220 includes but is not limited to a structure configured in a substantially sector or partial disc shape, and is rotatably arranged on the base body 210. In detail, the clamping piece 220 rotates around an axis deviating from the geometric center thereof, thereby constituting an eccentric rotation structure. Further, the clamping piece 220 has a friction surface 222 extending radially outward along the axis, which is continuous as a whole and includes a second end close to the axis and a first end located on the outer side and away from the axis. The spacing between the first end and the axis is greater than the spacing between the second end and the axis, thereby forming an asymmetric lever arm structure.

[0153] Based on the eccentric design of the clamping piece 220, when the clamping piece 220 rotates around the axis, the pressing force of the friction surface 222 on the rope 140 changes accordingly, that is, during the tensioning of the rope 140, the spacing between the first ends of the two clamping pieces 220 gradually decreases, thereby exerting a gradually increasing pressing force on the rope 140, and finally achieving a self-locking locking effect through the friction torque. When the rope 140 moves in the opposite direction, the traction direction of the rope 140 is the same as the swinging direction of the clamping piece 220 to the second end, so that the spacing between the first ends of the two clamping pieces 220 increases, thereby allowing the rope to move in this direction. That is, in this way, the clutch mechanism can be connected with the rope 140 in only one direction, and in the opposite direction, the rope 140 can be disconnected from the clutch mechanism and move freely.

[0154] In such an embodiment, the above-mentioned clutch mechanism 200 realizes the clutch function driven completely without power supply through the eccentric structure and the friction self-locking mechanism of the at least two clamping pieces 220. When the clamping pieces 220 are rotated to the engaged state by the driving of the matching assembly 240, the first ends of the two clamping pieces 220 approach each other, press the rope 140 passing therebetween, and generate a self-enhancing locking effect through the eccentric effect, thereby realizing reliable locking. Conversely, through the mechanical action of the same matching assembly 240, the clamping pieces 220 can be reversely rotated to the disengaged state, and the rope 140 can be quickly released. The entire working process, including state switching and position keeping, is completed through pure mechanical structure without the participation of any power supply, which not only ensures the reliability of the clutch function, but also completely avoids the dependence on the battery or external power supply, effectively reduces the weight and volume of the system, and improves the applicability and endurance of the auxiliary equipment in different scenes.

[0155] Figure 10 is Figure 9 The clutch mechanism shown in the figure omits the perspective view of the push piece. Figure 11 is Figure 9 The clutch mechanism shown in the figure omits the structural schematic view of the base body.

[0156] According to the embodiment of the present application, referring toFigures 9 to 11 As shown, the base 210 is provided with a cavity 212. The rope 140 is arranged in the cavity 212. At least two clamping members 220 are arranged in the cavity 212 and symmetrically arranged at two sides of the rope 140.

[0157] According to an embodiment of the present application, referring to Figures 9 to 11 As shown, one of the clamping member 220 and the base 210 is provided with a shaft structure 221, and the other is provided with a groove structure which is rotationally fitted with the shaft structure 221. The shaft structure 221 defines a third axis.

[0158] In some illustrative embodiments, referring to Figures 9 to 11 As shown, the shell assembly (i.e. the base 210) serves as a mounting base of the clutch mechanism 200. In detail, the shell assembly is provided with a cavity 212, which can be a groove configured to be conformal to the external profile of the clamping member 220, so that the clamping member 220 is rotationally fitted in the groove.

[0159] In some illustrative embodiments, referring to Figures 9 to 11 As shown, the side of the clamping member 220 facing the groove bottom of the cavity 212 is provided with a protruding shaft structure 221. Correspondingly, the groove bottom of the cavity 212 is provided with a groove structure which accommodates the shaft structure 221 to pass through, and the shape and size (including but not limited to the inner diameter and groove depth of the groove structure) of the groove structure are adapted to the shaft structure 221, so that a rotational pair around the axis of the shaft structure 221 is formed between the shaft structure 221 and the groove structure. Thus, the clamping member 220 can be rotationally connected to the shell assembly. It should be understood that embodiments of the present application are not limited thereto.

[0160] For example, the clutch mechanism 200 can also be provided with 2 pairs (i.e. 4), 3 pairs (i.e. 4), 4 pairs (i.e. 8) and any other number of clamping members 220. The multiple pairs of clamping members 220 can be arranged in the cavity 212 along the extension direction of the rope 140, so as to increase the contact positions between the clutch mechanism 200 and the rope 140, and to disperse the stress of each clamping member 220.

[0161] For another example, the protruding shaft structure 221 can be formed in the cavity 212, and the groove structure is correspondingly arranged in the clamping member 220, which is similar to the rotational pair formed in the above-mentioned embodiments. Therefore, no further description is given.

[0162] According to an embodiment of the present application, referring to Figure 10 and Figure 11As shown, the fitting assembly 240 includes an actuating portion and an unlocking portion. The actuating portion is configured to exert an actuating force on the at least two clamping members 220 to make the first ends close to each other, so that the clamping members 220 have a fitting state. The unlocking portion is configured to exert a pressure on the at least two clamping members 220 to make the first ends move away from each other, so that the clamping members 220 have an unfitted state.

[0163] According to an embodiment of the present application, referring to Figure 10 and Figure 11 As shown, the actuating portion includes a first magnetic member 242 and a second magnetic member 243, the first magnetic member 242 is arranged on one clamping member 220, the second magnetic member 243 is arranged on the other clamping member 220, and the attractive force between the first magnetic member 242 and the second magnetic member 243 serves as the actuating force.

[0164] In some illustrative embodiments, referring to Figure 10 and Figure 11 As shown, the fitting assembly 240 includes at least an actuating portion and an unlocking portion. In detail, the actuating portion and the unlocking portion are respectively responsible for controlling the switching of the clamping members 220 between the fitting state and the unfitted state.

[0165] In some illustrative embodiments, the above-mentioned actuating portion includes but is not limited to the first magnetic member 242 and the second magnetic member 243 as shown in Figure 10 and Figure 11 In detail, the two are respectively embedded in the two clamping members 220 (for example, arranged in the embedding grooves arranged on the clamping members 220), and are configured to have opposite magnetic poles, so as to continuously exert the actuating force on the first ends of the two clamping members 220 to move close to each other through the magnetic force (magnetic attraction) generated therebetween. Based on the action of the magnetic force, the clamping members 220 can automatically enter and maintain the locked state of the rope 140 without the need for external energy input, achieving reliable passive self-locking. Among them, at least one of the above-mentioned first magnetic member 242 and the second magnetic member 243 is a magnet (such as a permanent magnet), and the other can be a permanent magnet or a magnetic member made of a magnetic material (such as at least one of iron, cobalt, and nickel) that can be adsorbed by a magnet.

[0166] It should be noted that the above-mentioned first magnetic member 242 and the second magnetic member 243 are only for distinguishing the magnetic members arranged on different clamping members 220, and are not used to limit the specific number of magnetic members, that is, the above-mentioned first magnetic member 242 and / or the second magnetic member 243 can be one, two, three, four, or any other number, and the specific number should be appropriate to meet the corresponding magnetic force requirement. It should be understood that the embodiments of the present application are not limited thereto.

[0167] In some other illustrative embodiments, not shown in the figures, the actuating element includes an elastic member that applies a spring force to the clamping member 220, which serves as the actuating force. The elastic member is disposed between at least two clamping members 220.

[0168] Similarly, in some other illustrative embodiments, the elastic element may also be disposed between the clamping member 220 and the base 210.

[0169] In a specific embodiment, when the elastic element is disposed between the two clamping members 220, a tension spring can be selected as the elastic element. The two ends of the tension spring are respectively connected to the two clamping members 220 (such as the first end), thereby continuously applying a pulling force to the first end to bring them closer together, causing the clamping members 220 to tend towards a mating state.

[0170] If an elastic element is placed between the clamping member 220 and the base 210, a torsion spring can be used as the elastic element. This torsion spring is fitted outside the shaft structure 221, with its long arm (or short arm) connected to the base 210 and its short arm (or long arm) connected to the clamping member 220. The restoring torque generated by the torsional deformation drives the clamping member 220 to rotate about its axis, thereby achieving mutual closing of the first ends. It should be understood that embodiments of the present invention are not limited to this.

[0171] For example, the above-mentioned elastic element may also be a compression spring or other elastic structure that can apply opposing forces to the first end of the clamping member 220. Any structure that can achieve the same actuation function is within the protection scope of this embodiment.

[0172] It should be noted that although an electric drive is introduced into the part that drives the clamping member 220 to rotate, this part is only used for the clamping member 220 to swing within a small range, and its power consumption is very low. Therefore, compared with the related technology, it still has the advantage of smaller size and weight.

[0173] Based on the electrically driven clutch mechanism 200 described above, in some illustrative embodiments, the exoskeleton system of the present invention, in addition to its purely mechanical structure, also integrates an intelligent electronic clutch control system consisting of an inertial measurement unit (IMU), a microprocessor, and an electronically controlled actuator.

[0174] This system uses an IMU sensor mounted on the arm to sense and analyze the wearer's acceleration and the frequency and value of its changes during movement in real time, providing a dynamic data foundation for the entire assistance process. The microprocessor is configured to quickly compare the instantaneous motion data collected by the IMU with pre-stored feature models of various typical movement patterns (such as walking, running, and climbing stairs) to accurately determine the type of movement the wearer is currently performing.

[0175] Further, after determining the motion type, the system enters a threshold-based decision stage. The controller (i.e. microprocessor) continuously analyzes the real-time data stream of the IMU and determines whether the current acceleration or calculated torque demand has reached the pre-set intervention threshold for this type of motion. This threshold model aims to capture the precise moment when the user's muscle load is the greatest and most in need of assistance, ensuring the precision of the assistance timing.

[0176] Further, when the system determines that the intervention threshold has been reached, the controller immediately sends a control signal to the electrically controlled actuator. The actuator then drives the clutch mechanism 200 to act quickly, making it reliably combined with the mechanical energy storage mechanism 300 (such as the extension spring). At this time, the exoskeleton enters the assistance cycle: when the user flexes the joint, the fixed-length cable 140 pulls the energy storage mechanism to deform and store energy; when the user extends the joint, the energy storage mechanism 300 releases energy, and through the displacement amplification mechanism composed of the cable 140 and the guide roller set (such as the first guide roller set 150 and the second guide roller set 160), the stored potential energy is converted into mechanical assistance to assist the user's motion.

[0177] In some illustrative embodiments, in order to realize the above-mentioned intelligent decision, the system needs to be pre-trained with an algorithm. In the training phase, the tester wears the device to perform various motions, while recording the original motion data of the IMU and the best clutch intervention timing manually annotated by the experimenters according to the biomechanical principle. Through feature extraction and analysis of these data, a neural network algorithm model can be trained to predict the best intervention timing according to the real-time motion characteristics, thereby obtaining an optimized clutch control strategy for different motion patterns.

[0178] In such an embodiment, the primary technical effect of introducing the electronic clutch control logic is to achieve high precision and adaptive matching of the assistance timing. It can distinguish subtle differences in motion and provide assistance at the most critical mechanical moment in the action cycle, which solves the problem that the pure mechanical clutch device cannot adapt to complex and variable scenarios, thereby greatly improving the energy recovery and assistance efficiency. In this way, the intelligent control improves the comfort of wearing and the naturalness of human-machine cooperation. The system can understand the user's motion intention and provide assistance when needed, and keep the clutch mechanism 200 separated when not needed (such as downhill or random swinging), allowing the joint to move freely, completely avoiding the "restraint" feeling that may be caused by traditional passive exoskeletons, making human-machine interaction more smooth. Moreover, by intervening only when effective work is detected and a threshold is reached, unnecessary clutch engagement and energy dissipation are avoided, ensuring that the elastic potential energy stored in the mechanical energy storage mechanism 300 can be used efficiently, thereby essentially extending the "endurance" capability of such a passive system. In addition, the electronic control logic also adds an additional safety layer to the system. When an abnormal motion pattern (such as slipping or violent shaking) is detected, the controller can forcibly disconnect the clutch mechanism 200 or limit the intervention force to prevent the exoskeleton from interfering with or harming the user in an unexpected situation, enhancing the reliability and safety of use.

[0179] According to an embodiment of the present application, referring to Figure 10 and Figure 11 , the unlocking portion includes at least two first mating members 244, a sliding member 241, and at least two second mating members 245. Each first mating member 244 is respectively arranged on one clamping member 220. The sliding member 241 is slidingly arranged on the base body 210. The at least two second mating members 245 are symmetrically arranged on both sides of the sliding member 241 and move between the first position and the second position synchronously with the sliding member 241. When the sliding member 241 is in the first position, the first mating member 244 and the second mating member 245 form a clearance fit, and when the sliding member 241 is in the second position, the second mating member 245 abuts against the first mating member 244, and the first mating member 244 applies pressure to the clamping member 220 to overcome the actuation force, so that the clamping member 220 is in the disengaged state.

[0180] According to an embodiment of the present application, referring to Figure 10 and Figure 11 , the first mating member 244 is configured to protrude from the clamping member 220. The end surface of the second mating member 245 towards the first mating member 244 forms a curved surface structure.

[0181] In some illustrative embodiments, referring to Figure 9 and Figure 11As shown, the unlocking portion includes a sliding member 241 which is slidably arranged on the shell assembly (i.e. the base 210) and has a sliding direction parallel to the extending direction of the rope 140. Further, the unlocking portion further includes at least two first engaging members 244 and at least two second engaging members 245.

[0182] On this basis, the first engaging members 244 are configured as columnar structures and are respectively fixed on the corresponding clamping members 220 and protrude from the end surface of the clamping members 220 away from the shell assembly. Correspondingly, the second engaging members 245 are symmetrically arranged on both sides of the sliding member 241 and have a curved end surface facing the first engaging members 244, so as to form a clearance fit with the first engaging members 244 and make the second engaging members 245 more smooth when pushing the first engaging members 244.

[0183] In this way, the clearance between the second engaging members 245 and the first engaging members 244 is configured to be greater than or equal to zero. When the clearance is zero, the second engaging members 245 are in contact with the first engaging members 244 but have not yet applied effective pressure to the first engaging members 244. When the sliding member 241 is in the first position, the clearance ensures that the second engaging members 245 and the first engaging members 244 do not interfere with each other, and the clamping members 220 remain in the engaged state under the magnetic force of the first magnetic member 242 and the second magnetic member 243, thereby achieving the clamping of the rope 140. When the sliding member 241 is pushed to the second position, the second engaging members 245 move with it, and the curved surface of the second engaging members 245 abuts against the first engaging members 244 and applies pressure, forcing the two clamping members 220 to rotate against the magnetic force, so that the first ends are away from each other, thereby switching to the disengaged state and reliably releasing the rope 140.

[0184] In addition, in order to facilitate user operation, the end surface of the sliding member 241 away from the shell assembly is further provided with a knob to increase the contact area of the user with the sliding member 241. The surface of the knob can be provided with a stripe or a protrusion or the like anti-slip structure to enhance the friction force during operation and facilitate the user to reciprocally push the sliding member 241.

[0185] According to an embodiment of the present application, referring to Figure 11 and Figure 11 As shown, the clutch mechanism 200 further includes a limiting assembly 230. The limiting assembly 230 is configured to keep the sliding member 241 in the first position and / or the second position.

[0186] According to an embodiment of the present application, referring to Figure 11As shown, the limiting component 230 includes at least two third magnetic elements 231 and at least one fourth magnetic element 232. The at least two third magnetic elements 231 are spaced apart on the slider 241 along the sliding direction of the slider 241. The fourth magnetic element 232 is disposed on the base 210. When one third magnetic element 231 is opposite to the fourth magnetic element 232, the slider 241 remains in a first position; when the other third magnetic element 231 is opposite to the fourth magnetic element 232, the slider 241 remains in a second position.

[0187] In some illustrative embodiments, reference is made to ​ As shown, the limiting component 230 mainly includes two third magnetic elements 231 disposed on the slider 241, and one fourth magnetic element 232 mounted on the base 210. Specifically, the third magnetic elements 231 are arranged at intervals along the sliding direction of the slider 241, while the fourth magnetic element 232 is fixed at a corresponding position on the base 210. The third magnetic elements 231 and 232 are similar to the first magnetic element 242 and second magnetic element 243 mentioned above; that is, at least one of the third magnetic element 231 and 232 is a magnet, while the other can be either a magnet or a magnetic element made of a magnetic material that can be attracted by a magnet.

[0188] Thus, when the slider 241 moves to the first position, one of the third magnetic elements 231 and the fourth magnetic element 232 face each other, and the magnetic attraction between them keeps the slider 241 stably in the first position. When the slider 241 is moved to the second position, the other third magnetic element 231 corresponds to the same fourth magnetic element 232, and the position is maintained by magnetic force as well. This magnetic limiting structure not only makes the user's operation feel clear and the positioning reliable, but also further enhances the passive drive characteristics of the entire clutch mechanism 200, achieving stable maintenance and switching of states without relying on electricity. It should be understood that the embodiments of the present invention are not limited thereto.

[0189] For example, in other embodiments (not shown in the figures), the limiting component 230 includes at least one third magnetic element 231 and at least two fourth magnetic elements 232. At least one third magnetic element 231 is disposed on the sliding member 241. At least two fourth magnetic elements 232 are spaced apart on the base 210 along the sliding direction of the sliding member 241. When a third magnetic element 231 is opposite to one fourth magnetic element 232, the sliding member 241 remains in a first position; when a third magnetic element 231 is opposite to another fourth magnetic element 232, the sliding member 241 remains in a second position. The principle of this embodiment is the same as described above. ​ The embodiments shown are similar, so they will not be described in detail here.

[0190] For example, the sliding member 241 can also be moved by a tight fit, a snap fit, removable fasteners, or any other connection that can position and release the sliding member 241.

[0191] It should also be noted that the directional terms mentioned in the embodiments, such as "up", "down", "front", "back", "left", "right", etc., are only with reference to the drawings, and are not intended to limit the scope of protection of the present application. Throughout the drawings, the same elements are identified by the same or similar reference numerals. When the conventional structures or configurations may cause confusion to the understanding of the present application, they will be omitted.

[0192] The above describes the embodiments of the present application. However, these embodiments are only for illustrative purposes, and are not intended to limit the scope of the present application. Although each embodiment is described above separately, this does not mean that the measures in each embodiment cannot be used advantageously in combination. The scope of the present application is defined by the appended claims and their equivalents. Without departing from the scope of the present application, those skilled in the art can make various substitutions and modifications, which should all fall within the scope of the present application.

Claims

1. An exoskeleton, characterized in that, include: A first arm and a second arm, the second arm being configured to swing relative to the first arm to have a first posture and a second posture. When the second arm is in the first posture, the two ends of the first arm and the second arm that are far apart have a first distance. When the arm is in the second posture, the two ends of the first arm and the second arm that are far apart have a second distance. The second distance is smaller than the first distance. A rope of a fixed length is threaded through the first arm and the second arm; A mechanical energy storage mechanism is separated from or connected to the rope via a clutch mechanism. When the mechanical energy storage mechanism is connected to the rope, it stores energy during the transition from the first posture to the second posture of the second arm and releases energy during the transition from the second posture to the first posture of the second arm. The clutch mechanism includes: The base is disposed at one end of the mechanical energy storage mechanism; At least two clamping members are disposed on the base, each clamping member is configured to rotate about an eccentric third axis and has a friction surface, the friction surfaces of the at least two clamping members are disposed opposite each other, the friction surfaces have a first end and a second end that are far apart, the distance between the first end and the third axis is greater than the distance between the second end and the third axis, and an external rope passes through the space between the at least two clamping members. The mating assembly is configured to rotate at least two of the clamping members relative to each other, such that the clamping members have a mating state in which their respective first ends approach each other and a disengaged state in which their first ends move away from each other. When the clamping members are in the mating state, the friction surfaces grip the rope, and when the clamping members are in the disengaged state, the friction surfaces release the rope.

2. The exoskeleton according to claim 1, characterized in that, When the second arm is in the first posture, the second arm and the first arm are arranged sequentially along the direction of the maximum size of the exoskeleton. When the second arm is in the second posture, both the second arm and the first arm are parallel to the direction of the maximum size of the exoskeleton.

3. The exoskeleton according to claim 1, characterized in that, The adjacent ends of the first arm and the second arm are both configured with rounded corners and form a conjugate rolling contact pair.

4. The exoskeleton according to claim 3, characterized in that, Also includes: A connecting rod, wherein the first arm is configured to rotate about a first axis of the connecting rod, and the second arm is configured to rotate about a second axis of the connecting rod.

5. The exoskeleton according to claim 4, characterized in that, The first arm is pivotally connected to one end of the connecting rod, and the second arm is pivotally connected to the other end of the connecting rod; The radius of the rounded corner structure formed by the first arm and the sum of the radii of the rounded corner structure formed by the second arm are configured to be equal to the distance between the first axis and the second axis.

6. The exoskeleton according to any one of claims 3 to 5, characterized in that, The rounded corner structure formed by the first arm is configured to have a central angle greater than or equal to 90°; And / or, the rounded corner structure formed by the second arm is configured to have a central angle greater than or equal to 90°.

7. The exoskeleton according to claim 4, characterized in that, Also includes: At least two first guide wheel groups are symmetrically distributed on both sides of the bisector of the rounded corner structure of the first arm; At least two second guide wheel sets are symmetrically distributed on both sides of the bisector of the rounded corner structure of the second arm; A rope is threaded through the first guide wheel assembly and the second guide wheel assembly, and spans across both sides of the line connecting the first axis and the second axis to form a bidirectional closed loop winding path.

8. The exoskeleton according to claim 7, characterized in that, Each of the first guide wheel groups includes at least one first guide wheel, and each of the second guide wheel groups includes at least one second guide wheel; According to the winding path of the rope, the rope first passes through a first guide pulley located on one side of the line connecting the first axis and the second axis, and then is guided to a second guide pulley on the same side; the rope also crosses to the other side of the line, and passes through another first guide pulley and another second guide pulley on the other side in sequence.

9. The exoskeleton according to claim 8, characterized in that, The center of the rounded corner structure of the first arm coincides with the first axis, and the center of the rounded corner structure of the second arm coincides with the second axis. The rounded corner surfaces of the first arm and the second arm abut each other.

10. The exoskeleton according to claim 9, characterized in that, The center of the first guide wheel and the rounded curved surface of the first arm are in concentric circles with the first axis as the center; Furthermore, the center of the second guide wheel and the rounded curved surface of the second arm are in concentric circles with the second axis as the center.

11. The exoskeleton according to claim 7, characterized in that, The first guide wheel assembly includes at least two first guide wheels, which are coaxial and stacked. The second guide wheel assembly includes at least two second guide wheels, which are coaxial and stacked. According to the winding path of the rope, the rope first winds around the first first guide pulley, and then guides to the adjacent first second guide pulley; thereafter, the rope transitions to the second first guide pulley, and finally winds around the second second guide pulley, with the rope winding around the outer circumference of the guide pulley in all cases.

12. The exoskeleton according to any one of claims 7 to 11, characterized in that, Also includes: The third guide pulley assembly is configured to guide the rope from one side of the line connecting the first axis and the second axis to the other side of the line; The third guide wheel assembly includes at least two third guide wheels, which are symmetrically arranged on both sides of the angle bisector of the rounded corner structure of the first arm.

13. The exoskeleton according to claim 1, characterized in that, Also includes: A first connector is disposed at one end of the rope and connects one end of the rope to the first arm. The second connector is disposed at the other end of the rope and connects the other end of the rope to the first arm.

14. The exoskeleton according to claim 13, characterized in that, The ropes include static ropes.

15. The exoskeleton according to claim 1, characterized in that, The mechanical energy storage mechanism includes at least one elastic element; Alternatively, the mechanical energy storage mechanism may include at least two elastic elements; When the second arm is in the first posture, the elastic element is in its original state; when the second arm is in the second posture, the elastic element is in a deformed state to provide resistance opposite to the swing direction.

16. The exoskeleton according to claim 15, characterized in that, One end of the elastic element is connected to the first arm, and the other end of the elastic element is provided with the clutch mechanism; The elastic element is configured to deform with the displacement of the rope in a first direction to provide a traction force on the rope in a second direction opposite to the first direction.

17. The exoskeleton according to claim 1, characterized in that, The matrix has a cavity, and the rope is threaded through the cavity; At least two of the clamping members are disposed within the cavity and are symmetrically disposed on both sides of the rope.

18. The exoskeleton according to claim 17, characterized in that, The mating components include: An actuator is configured to apply an actuating force to at least two of the clamping members to bring the first ends closer together, so that the clamping members have the engagement state; The unlocking part is configured to apply pressure to at least two of the clamping members to move the first ends apart, so that the clamping members have the disengaged state.

19. The exoskeleton according to claim 18, characterized in that, The actuating part includes a first magnetic element and a second magnetic element. The first magnetic element is disposed on one of the clamping members, and the second magnetic element is disposed on the other clamping member. The attraction between the first magnetic element and the second magnetic element serves as the actuating force.

20. The exoskeleton according to claim 18, characterized in that, The actuating part includes an elastic element, and the elastic force applied by the elastic element to the clamping member serves as the actuating force; The elastic element is disposed between at least two of the clamping elements, or the elastic element is disposed between the clamping elements and the base.

21. The exoskeleton according to any one of claims 18 to 20, characterized in that, The unlocking unit includes: At least two first mating parts, each of the first mating parts being disposed in one of the clamping parts; A sliding element is slidably disposed on the substrate; At least two second mating parts are symmetrically arranged on both sides of the slider and move synchronously between the first position and the second position with the slider; Wherein, when the slider is in the first position, the first mating member and the second mating member form a clearance fit; when the slider is in the second position, the second mating member abuts against the first mating member, and the first mating member applies pressure to the clamping member to overcome the actuating force, so that the clamping member is in the disengaged state.

22. The exoskeleton according to claim 21, characterized in that, The first mating member is configured to protrude from the clamping member; The end face of the second mating component facing the first mating component forms a curved structure.

23. The exoskeleton according to claim 22, characterized in that, It also includes a limiting component configured to hold the slider in the first position and / or the second position.

24. The exoskeleton according to claim 23, characterized in that, The limiting component includes: At least two third magnetic elements are disposed at intervals on the slider along the sliding direction of the slider; At least one fourth magnetic element is disposed on the substrate. When one of the third magnetic elements is opposite to the fourth magnetic element, the slider is held in the first position, and when another of the third magnetic elements is opposite to the fourth magnetic element, the slider is held in the second position. Alternatively, at least one third magnetic element may be disposed on the slider; At least two fourth magnetic elements are disposed at intervals on the substrate along the sliding direction of the slider. When the third magnetic element is opposite to one of the fourth magnetic elements, the slider is held in the first position, and when the third magnetic element is opposite to another of the fourth magnetic elements, the slider is held in the second position.

25. The exoskeleton according to claim 1, characterized in that, One of the clamping member and the base is provided with a shaft structure, and the other is provided with a groove structure that rotatably engages with the shaft structure. The shaft structure defines the third axis.

26. The exoskeleton according to claim 1, characterized in that, The friction surface is provided with at least one of the following: tooth structure, groove structure, protrusion structure, and flexible structure.

27. The exoskeleton according to claim 4, characterized in that, At least one of the first arm and the second arm includes a body and a rotating component; The body forms a conjugate rolling contact pair with the other of the first arm and the second arm, and the rotating member is configured to rotate about a fourth axis, which is orthogonal to the first axis of the connecting rod.

28. The exoskeleton according to claim 27, characterized in that, The main body includes a first plate, a second plate, and a support member; The first plate and the second plate are arranged in parallel and spaced apart. The support member is disposed between the first plate and the second plate. A groove structure is defined between the first plate, the support member and the second plate. The end of the connecting rod is located in the groove structure. The outer contours of the first plate and the second plate form the rounded corner structure and together define the rounded corner surface.

Images