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 of active driving exoskeletons is particularly prominent. Once the power is depleted, the assistance device 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 portion and a second arm portion, and is connected to a mechanical energy storage mechanism through a clutch mechanism, so that when the second arm portion adjusts between a first attitude and a second attitude according to the user's action, the mechanical energy storage mechanism is timely energized and discharged to assist the user.

[0006] The present application provides an exoskeleton, comprising: a first arm portion and a second arm portion, the second arm portion is configured to swing relative to the first arm portion to have a first attitude and a second attitude, when the second arm portion is in the first attitude, the two ends of the first arm portion and the second arm portion away from each other have a first distance, when the arm portion is in the second attitude, the two ends of the first arm portion and the second arm portion 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 portion and the second arm portion; 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 is energized during the transition of the second arm portion from the first attitude to the second attitude, and is discharged during the transition of the second arm portion from the second attitude to the first attitude; a wearing mechanism, provided on the first arm portion and / or the second arm portion, to wear the exoskeleton on the human body.

[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 in sequence 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 rounded 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 rounded structure formed by the first arm portion and the radius of the rounded 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 rounded structure formed by the first arm portion is configured to have a central angle greater than or equal to 90°; and / or, the rounded 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 rounded structure of the first arm portion; at least two second guide roller sets symmetrically distributed on both sides of the angle bisector of the rounded 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 rounded structure of the first arm portion coincides with the first axis, the center of the rounded structure of the second arm portion coincides with the second axis, and the rounded surfaces of the rounded structures formed by the first arm portion and 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 first guide wheel, and then is guided to the adjacent 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 traction 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 body includes 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 rounded structure and jointly defines the rounded curved surface.

[0035] According to the embodiment of the present application, the wearing mechanism includes: a first wearing plate arranged on the first arm part; a second wearing plate arranged on the rotating part of the second arm part; and a strap arranged on the first wearing plate and / or the second wearing plate.

[0036] According to the embodiment of the present application, the wearing mechanism is used for wearing the exoskeleton on the human body, and the exoskeleton adopts a mechanical energy storage mechanism to realize the recovery and conversion of the motion energy of the human body. When the 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 motion 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 the potential energy into effective mechanical assistance to assist the user to 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, so that the above-mentioned energy storage process does not cause additional burden to the natural movement of the user. The passive assistance mechanism based on the pure mechanical structure forms an efficient passive driving mode, which not only breaks the dependence of the traditional exoskeleton on the battery and the electric actuator, but also expands the applicable scenarios of the exoskeleton in the environment without external power supply. BRIEF DESCRIPTION OF DRAWINGS

[0037] The above and other objects, features and advantages of the present application will become more apparent from the following description of the embodiments of the present application with reference to the accompanying drawings.

[0038] Figure 1 A side view of an exoskeleton of an embodiment of the present application is shown;

[0039] Figure 2 is Figure 1 A perspective view of an exoskeleton configured with a wearing mechanism is shown;

[0040] Figure 3 is Figure 1 A side view of another perspective of an exoskeleton is shown;

[0041] Figure 4 is Figure 3An enlarged view of the exoskeleton, showing the guide wheel mechanism;

[0042] Figure 5 is Figure 3 An enlarged view of the guide wheel mechanism, showing the winding path of the rope;

[0043] Figure 6 is Figure 1 A use state diagram of the joint mechanism in the second posture;

[0044] Figure 7 is Figure 1 A use state diagram of the joint mechanism in the third posture;

[0045] Figure 8 is Figure 1 An enlarged view of the exoskeleton, showing the wearing side;

[0046] Figure 9 is Figure 1 An enlarged view of the exoskeleton clutch mechanism and mechanical energy storage mechanism part;

[0047] Figure 10 is Figure 9 A perspective view of the clutch mechanism;

[0048] Figure 11 is Figure 10 A perspective view of the clutch mechanism omitting the push piece;

[0049] Figure 12 is Figure 10 A structural schematic diagram of the clutch mechanism omitting the base body.

[0050] In the drawings, the meanings of the reference signs are as follows:

[0051] 100, exoskeleton;

[0052] 110, first arm part;

[0053] 120, second arm part; 121, body; 1211, round corner surface; 1212, groove structure; 122, rotating piece; 1221, wearing side; 123, fourth axis;

[0054] 130, connecting rod; 131, first axis; 132, second axis;

[0055] 140, rope;

[0056] 150, first guide wheel set; 151, first guide wheel;

[0057] 160, second guide wheel set; 161, second guide wheel;

[0058] 170, third guide wheel set; 171, third guide wheel;

[0059] 181, first connecting piece; 182, second connecting piece.

[0060] 200, clutch mechanism;

[0061] 210, base body; 211, through hole; 212, cavity;

[0062] 220, clamping piece; 221, shaft structure; 222, friction surface;

[0063] 230, limiting assembly; 231, third magnetic piece; 232, fourth magnetic piece;

[0064] 240, cooperation assembly; 241, sliding piece; 242, first magnetic piece; 243, second magnetic piece; 244, first cooperation piece; 245, second cooperation piece;

[0065] 300, mechanical energy storage mechanism;

[0066] 400, wearing mechanism; 410, first wearing plate; 420, second wearing plate; 430, strap. DETAILED DESCRIPTION

[0067] 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.

[0068] The terms used herein are merely used to describe specific embodiments, and are not intended to limit the present application. The terms "comprise", "include" and the like used herein indicate the presence of the stated features, steps, operations and / or components, but do not exclude the presence or addition of one or more other features, steps, operations or components.

[0069] All terms used herein, including technical and scientific terms, have meanings commonly understood by those skilled in the art, unless otherwise defined. It should be noted that the terms used herein should be interpreted to have meanings consistent with the context of the present specification, and should not be interpreted in an idealized or overly formal manner.

[0070] When using expressions such as "at least one of A, B, and C," the meaning should generally be interpreted according to the understanding of someone skilled in the art. For example, "a system having at least one of A, B, and C" should include, but is not limited to, systems having A alone, having B alone, having C alone, having A and B, having A and C, having B and C, and / or having A, B, and C. Similarly, when using expressions such as "at least one of A, B, or C," the meaning should generally be interpreted according to the understanding of someone skilled in the art. For example, "a system having at least one of A, B, or C" should include, but is not limited to, systems having A alone, having B alone, having C alone, having A and B, having A and C, having B and C, and / or having A, B, and C.

[0071] Exoskeletons, as wearable assistive devices, have significant application value in fields such as medical rehabilitation, industrial logistics, emergency rescue, and outdoor sports. Their core function is to assist users in rebuilding motor function or to provide assistance for specific movements during long-term work, thereby effectively relieving user fatigue and reducing the risk of physical injury.

[0072] 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.

[0073] 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.

[0074] 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.

[0075] Figure 1 A side view of an exoskeleton according to an embodiment of the present invention is shown. Figure 2 yes Figure 1 The diagram shows a three-dimensional view of the exoskeleton configuration and wear mechanism. Figure 3 yes Figure 1 The exoskeleton shown is a side view from another perspective. Figure 4 yes Figure 3 The enlarged view of the exoskeleton shown illustrates the guide wheel mechanism. Figure 5is Figure 3 A winding path diagram of the guide wheel mechanism shown in FIG. 1. Figure 6 is Figure 1 A use state diagram of the joint mechanism shown in FIG. 1.

[0076] According to an embodiment of the present application, referring to Figures 1 to 6 As shown in FIG. 1, an exoskeleton 100 is provided. The exoskeleton 100 comprises a first arm 110, a second arm 120, a rope 140, a mechanical energy storage mechanism 300, and a wearing mechanism 400. The second arm 120 is configured to swing relative to the first arm 110 to have a first attitude and a second attitude. When the second arm 120 is in the first attitude, the two ends of the first arm 110 and the second arm 120 away from each other have a first interval. When the arm is in the second attitude, the two ends of the first arm 110 and the second arm 120 away from each other have a second interval, which is smaller than the first interval. The rope 140 is fixedly arranged in the first arm 110 and the second arm 120. The mechanical energy storage mechanism 300 is connected or disconnected with the rope 140 through a clutch mechanism 200. In the state that the mechanical energy storage mechanism 300 is connected with the rope 140, the mechanical energy storage mechanism 300 stores energy during the transition of the second arm 120 from the first attitude to the second attitude, and releases energy during the transition of the second arm 120 from the second attitude to the first attitude. The wearing mechanism 400 is arranged on the first arm 110 and / or the second arm 120 to wear the exoskeleton 100 on the human body.

[0077] According to an embodiment of the present application, referring to Figure 1 and Figure 3 As shown in FIG. 1, when the second arm 120 is in the first attitude, the second arm 120 and the first arm 110 are arranged in sequence along the maximum dimension direction of the exoskeleton. When the second arm 120 is in the second attitude, the second arm 120 and the first arm 110 are both substantially parallel to the maximum dimension direction of the exoskeleton.

[0078] It should be noted that the description that the second arm 120 is parallel to the maximum dimension direction of the exoskeleton when it is in the second attitude refers to the theoretical position when it reaches the maximum designed swing angle (such as 180°) relative to the first arm 110. In actual application, the range of motion of each flexion joint has a definite upper limit due to the limitation of the physiological structure of the human body. For example, the range of motion of the knee joint is about 0° to 140°, and the range of motion of the elbow joint is about 0° to 150°. Therefore, when the exoskeleton is worn on the human body, the actual motion amplitude of the second arm 120 may not reach the limit angle of the mechanical design.

[0079] However, the structure design still fully guarantees the full freedom of the user within the physiological activity range, so that the exoskeleton can accurately match the natural motion trajectory of the human joint and will not mechanically interfere with or hinder the user's action during flexion and extension. In some illustrative embodiments, as shown in Figs. 1 and 2, the first arm part 110 and the second arm part 120 are generally rectangular plate-shaped structures as a whole. Figure 1 and Figure 3 As shown, the first arm part 110 and the second arm part 120 are generally long strip-shaped, which means that the length of the first arm part 110 and the second arm part 120 is significantly greater than the width, and the maximum dimension direction extends along the length. However, in order to fit the human body skeleton and muscle lines, the first arm part 110 and the second arm part 120 are designed to have irregular external contours, so that they do not strictly conform to the geometric definition of a rectangle.

[0080] Referring to the above structure, the above exoskeleton including the first arm part 110 and the second arm part 120 is suitable for being worn at the user's knee joint, and the first arm part 110 and the second arm part 120 can complete the extension and flexion action with the user, and make the second arm part 120 swing relative to the first arm part 110 between the first attitude and the second attitude.

[0081] For example, the lower limb exoskeleton: the size of the first arm part 110 is usually configured to be greater than or equal to the second arm part 120, which can be fixed to the outside of the user's thigh, and the second arm part 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 following connecting rod 130 is arranged in the knee joint area of the user, without being directly bound to the knee joint.

[0082] 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 part 110 and the second arm part 120 of the exoskeleton are in the corresponding first attitude. When the user performs the knee flexion action in squatting, sitting or gait, the knee joint is flexed, and the second arm part 120 of the exoskeleton swings relative to the first arm part 110 to the second attitude, realizing the synchronization with the joint motion of the human body.

[0083] In this motion process, when the second arm part 120 moves from the first attitude to the second attitude, the fixed length of the rope 140 pulls the mechanical energy storage mechanism 300, and stores the kinetic energy of the human body motion in the mechanical energy storage mechanism 300; then when the user performs the extension action and the second arm part 120 returns to the first attitude from the second attitude, the mechanical energy storage mechanism 300 releases the stored potential energy through the rope 140, which is converted into effective mechanical assistance for assisting the extension action.

[0084] 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 a concentric 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. However, in the subsequent stretching stage, when the muscle group turns to concentric contraction with higher metabolic cost, the mechanical energy storage mechanism 300 will release the stored energy in time to provide an auxiliary torque, reducing the activation level and energy consumption of the main stretching muscle group. This achieves the temporal regulation of energy, so that the user obtains a metabolic saving in the stretching stage that far exceeds the additional consumption in the flexion stage, thereby producing a net energy gain in the complete motion cycle, achieving the overall energy-saving engineering biology effect.

[0085] The power-assisted mechanism of this purely mechanical structure constitutes an efficient passive driving scheme, which not only eliminates the dependence of exoskeletons on batteries and electric actuators, but also expands the application potential of exoskeletons in environments without external power supply.

[0086] In addition, the controllable separation between the mechanical energy storage mechanism 300 and the rope 140 through the clutch mechanism 200 allows the user to selectively choose whether to need energy storage and power assistance, so as to avoid interference with the user's natural movement. For example, when the user is climbing a mountain, the rope 140 and the mechanical energy storage mechanism 300 can be connected through the clutch mechanism 200 to make the user more labor-saving during climbing. 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 stride, and prevent falling hazards.

[0087] According to an embodiment of the present application, referring to Figure 3 and Figure 4 , the end of the first arm portion 110 and the end of the second arm portion 120 are configured as a rounded structure, and form a conjugate rolling contact pair.

[0088] According to an embodiment of the present application, referring to Figure 3 and Figure 4 , the first arm portion 110 is pivotally connected to one end of the connecting rod 130, and the second arm portion 120 is pivotally connected to the other end of the connecting rod 130. The sum of the radius of the rounded structure formed by the first arm portion 110 and the radius of the rounded structure formed by the second arm portion 120 is configured to be equal to the distance between the first axis 131 and the second axis 132.

[0089] According to an embodiment of the present application, referring to Figure 3 and Figure 4As shown, the exoskeleton further comprises a link 130. The first arm portion 110 is configured to rotate around a first axis 131 of the link 130, and the second arm portion 120 is configured to rotate around a second axis 132 of the link 130.

[0090] According to embodiments of the present application, with reference to Figure 3 and Figure 4 As shown, the center of the rounded structure of the first arm portion 110 coincides with the first axis 131, and the center of the rounded structure of the second arm portion 120 coincides with the second axis 132. The rounded surface of the rounded structure of the first arm portion 110 and the rounded surface 1211 of the rounded structure of the second arm portion 120 abut each other.

[0091] In some illustrative embodiments, with reference to Figure 4 As shown, the first arm portion 110 is pivotally connected to one end of the link 130, so as to be able to rotate around the first axis 131. The second arm portion 120 is also pivotally connected to the other end of the link 130 in the same way, and is able to rotate around the second axis 132. This double-axis pivot structure makes the first arm portion 110 and the second arm portion 120 form a kinematically decoupled three-bar kinematic unit through the link 130, and realizes dynamic coordination of the relative motion of the first arm portion 110 and the second arm portion 120.

[0092] Based on the above structure, the center of the rounded structure of the first arm portion 110 is arranged to coincide with the first axis 131, and the center of the rounded structure of the second arm portion 120 is arranged to coincide with the second axis 132. The sum of the radii of the two rounded structures is configured to be equal to the distance between the first axis 131 and the second axis 132, forming a geometric constraint on the first arm portion 110 and the second arm portion 120. This geometric constraint ensures that the two rounded surfaces 1211 remain in continuous contact at any relative motion position, and substantially form a pure rolling motion without slippage.

[0093] 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, forms a conjugate rolling pair as in the above 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 they can always remain in continuous contact during relative motion. Moreover, the contact pair mainly takes rolling as the motion form, 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, they can also maintain a constant angular velocity ratio (for example, 1:1), thereby realizing angular velocity synchronization during swinging.

[0094] When the human body performs the knee flexion actions such as squatting, sitting down 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 of the femoral condyle rolling backward and sliding backward. At the same time, the patella moves downward along the femoral trochlear groove, and when the knee flexion is 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 a 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 part 110 and the second arm part 120 of the exoskeleton are in the second attitude (for details, please refer to Figure 6 ).

[0095] To realize the reproduction of the above-mentioned physiological movement, in the exoskeleton described above, the profile surface where the first arm part 110 (corresponding to the femur) and the second arm part 120 (corresponding to the tibia) are in contact constitutes a conjugate rolling contact pair, which is responsible for simulating the relative rolling of the femorotibial joint; and the connecting rod 130 connecting the two arm parts converts the simple swing 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 in the flexion process.

[0096] Compared with the traditional single hinge joint structure, the exoskeleton described above can better match the natural movement characteristics of the human knee joint, effectively avoid the joint binding feeling and soft tissue pulling problem, and provide movement assistance while ensuring the use comfort and biocompatibility.

[0097] Figure 7 is a use state diagram of the joint mechanism in the third attitude as shown in Figure 1 .

[0098] Of course, the second arm part 120 of the joint mechanism described above can be in the third attitude as shown in Figure 2 in addition to the first attitude as shown in Figure 6 and the second attitude as shown in Figure 7 . The third attitude can be understood as a transition attitude of the second arm part 120 between the first attitude and the second attitude. At this time, the angle of the second arm part 120 relative to the first arm part 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 knee joint. It should be understood that the embodiments of the present application are not limited thereto.

[0099] For example, the exoskeleton described above can also be used as an upper limb exoskeleton, i.e., the first arm part 110 can be fixed to the upper arm (i.e., the lateral side of the humerus) of the user, the second arm part 120 is fixed to the lower arm (i.e., the lateral side of the ulna and radius) of the user, and the connecting rod 130 is located in the region of the humeroulnar joint to adapt to the flexion and extension movement of the upper limb. The specific implementation and the action are similar to the above embodiment, and thus will not be described here.

[0100] 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.

[0101] In some illustrative embodiments, as shown in Figure 4 , 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.

[0102] In some illustrative embodiments, as shown in Figure 4 , 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.

[0103] On this basis, the first arm part 110, the second arm part 120, and the connecting rod 130 include but are not limited to the coaxial ring sleeve structure as shown in Figure 4 , to realize the pivotal connection. In detail, the connecting rod 130 forms a shaft neck-shaped inner ring at both ends, and a precise circular hole is provided at the corresponding position of the first arm part 110 and the second arm part 120 as an outer ring. The gap fit 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 part 110 (the second arm part 120). This integrated shaft sleeve structure directly builds the movement function unit on the component body, which not only ensures the positioning accuracy of the first axis 131 and the second axis 132, but also realizes the extremely compact and lightweight design of the joint part, effectively avoiding the size error and weight burden introduced by the additional connecting parts. It should be understood that the embodiments of the present application are not limited thereto.

[0104] For example, the pivotal connection between the first arm part 110 (the second arm part 120) and the connecting rod 130 can also adopt a solid shaft structure and a shaft sleeve form sleeved outside the shaft structure.

[0105] According to the embodiments of the present application, as shown in Figure 4 , the end of the first arm part 110 close to the second arm part 120 is provided with a groove structure 1212, and one end of the connecting rod 130 is located in the groove structure 1212. And / or, the end of the second arm part 120 close to the first arm part 110 is provided with a groove structure 1212, and the other end of the connecting rod 130 is located in the groove structure 1212.

[0106] According to an embodiment of the present application, referring to Figure 3 and Figure 4 , the rounded corner structure formed by the first arm portion 110 is configured to have a central angle of 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 of greater than or equal to 90°.

[0107] In some illustrative embodiments, referring to Figure 3 and Figure 4 , the end portions of the first arm portion 110 and the second arm portion 120 proximate to each other are configured as rounded corner structures, and the two rounded corner structures abut against each other via the rounded corner surface 1211 to form a contact pair. In detail, the rounded corner structures formed by the first arm portion 110 and the second arm portion 120 are each configured to have a central angle of 90°, which allows the second arm portion 120 to have a rotation angle of approximately 180° when it is rotated from the first posture to the second posture relative to the first arm portion 110. It should be understood that embodiments of the present application are not limited thereto.

[0108] For example, the central angle of the rounded corner structures formed by the first arm portion 110 and the second arm portion 120 can also be configured to be 60°, 70°, 80°, 90°, 95°, 100°, 105°, 110°, or any other angle.

[0109] For another example, for the embodiment in which the exoskeleton is worn on the lower limbs or upper limbs of a user, the range of motion of the knee joint from the extension position (i.e., in the closed packed position described above) to the flexion limit position is approximately 0° to 140°, and the range of motion of the elbow joint from the extension position to the flexion limit position is approximately 0° to 150°. Therefore, the central angle of the rounded corner structures formed by the first arm portion 110 and the second arm portion 120 can also be configured to be 70°, 75°, 80°, 85°, or any other angle, as appropriate to meet the flexion angle requirement of the user wearing position.

[0110] In such an embodiment, by configuring the first arm portion 110 and the second arm portion 120 as rounded corner structures having the central angle described above, the flexion and extension angle requirement of the flexion joint of the human body can be met, so as to better match the flexion action of the corresponding joint.

[0111] According to an embodiment of the present application, referring to Figure 4As shown, 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 rounded 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 rounded corner structure of the second arm portion 120. The rope 140 is fixedly threaded through the first guide roller sets 150 and the second guide roller sets 160 and straddles both sides of the line connecting the first axis 131 and the second axis 132 to form a bidirectional closed loop winding path.

[0112] According to embodiments of the present application, referring to Figure 1 and Figure 3 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 first winds through one first guide roller 151 on one side of the line connecting the first axis 131 and the second axis 132, and then is guided to one second guide roller 161 on the same side; the rope 140 further straddles the other side of the line, and in turn winds through another first guide roller 151 and another second guide roller 161 on the other side.

[0113] 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 rounded 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 caused by the one-way traction of the rope 140, avoid lateral load deviation, and at the same time ensure that the tension of the rope 140 is always efficiently transmitted along the contact point principal 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 in both positive and negative rotation directions relative to the first arm portion 110.

[0114] Further, by straddling the rope 140 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 symmetric 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 roller 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. Such a straddling 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 gaps.

[0115] In this way, through the synergistic effect of the above-mentioned symmetrical arrangement and cross-connection 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 synergistic displacement of the multiple sections of the rope 140, forming an equivalent displacement amplification structure based on the principle of a movable pulley to avoid the response lag and movement jerk caused by the one-way traction of the rope 140 in the related art.

[0116] According to an embodiment of the present application, referring to Figure 5 As shown, the first guide roller set 150 includes at least two first guide rollers 151 coaxially and stacked. The second guide roller set 160 includes at least two second guide rollers 161 coaxially and stacked. According to the winding path of the rope 140, the rope 140 first winds around the first first guide roller 151, and then is guided to the adjacent first second guide roller 161; thereafter, the rope 140 transitions to the second first guide roller 151, and finally winds around the second second guide roller 161, and the rope 140 winds around the outer circumferential surface of the guide roller.

[0117] In some illustrative embodiments, referring to Figure 5 As shown, the same first guide roller set 150 includes but is not limited to having two first guide rollers 151 coaxially fixedly connected to form a rigid synchronous rotation unit. That is, different first guide rollers 151 in the same first guide roller set 150 maintain complete synchronization of angular displacement and linear velocity under any working condition. Similarly, the same second guide roller set 160 also has two second guide rollers 161 fixedly connected, and therefore, no further description is given.

[0118] For the first guide roller set 150 and the second guide roller 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 5 As shown: first, the outer circumferential surface of the first first guide roller 151 (the lower first guide roller 151) is wound to establish force transmission; then, the first second guide roller 161 (the lower second guide roller 161) on the same side is guided to complete the first reversal; then, the second first guide roller 151 (the upper first guide roller 151) is transitioned for secondary traction; finally, the second second guide roller 161 (the upper second guide roller 161) is wound to complete the path closure on this side. Thereafter, the rope 140 is guided to the other side of the connecting rod 130 through other guide roller sets (such as the third guide roller set 170), and is then arranged on the first guide roller set 150 and the second guide roller set 160 on the other side of the connecting rod 130 in a similar winding manner, thereby forming a synergistic displacement mechanism of four sections of the rope 140.

[0119] 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 roller 151 and the first second guide roller 161 on the same side constitute a primary amplification unit, achieving 2 times displacement amplification; and then the second first guide roller 151 and the second second guide roller group 160 constitute 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.

[0120] In addition, in the execution process of the 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 roller group 150 and the second guide roller group 160 through the rope 140. By reciprocally winding the rope 140 in the symmetrically distributed guide roller groups 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 rollers, 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 rollers in each guide roller group and adopting a symmetric winding method, 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 enables the system to 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.

[0121] For example, 3, 4, 5, 6, or any other number of first guide rollers 151 (or second guide rollers 160) can be coaxially and stacked in the same first guide roller group 150 (or second guide roller group 160) to further meet the requirement of increasing the displacement multiple of the rope. Of course, the more guide rollers arranged in the same guide roller group, the greater the thickness of the exoskeleton and the probability of winding jamming. Therefore, the specific number of guide rollers should be appropriate to meet the actual requirements of the use scenario.

[0122] According to the embodiments of the present application, as shown in Figure 1 and Figure 3 the center of the first guide roller 151 and the circular corner surface 1211 of the first arm portion 110 are concentric circles with the first axis 131 as the center. Moreover, the center of the second guide roller 161 and the circular corner surface 1211 of the second arm portion 120 are concentric circles with the second axis 132 as the center.

[0123] In some illustrative embodiments, as shown in Figure 1 and Figure 3As shown, the center of the first guide wheel 151 is on a concentric circle with the rounded surface 1211 of the first arm 110, with the first axis 131 as the center, and the center of the second guide wheel 161 is also on a concentric circle with the rounded surface 1211 of the second arm 120, with the second axis 132 as the center.

[0124] Specifically, the first guide wheel 151 in the first guide wheel set 150 is rotatably connected to the first arm 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 R1; and the rounded surface 1211 of the first arm 110 is also a circle with the first axis 131 as the center, and the radius of curvature is R2. When R1 is equal to R2, the angular displacement Δθ generated by the swing of the first arm 110 relative to the second arm 120 will be converted into the linear displacement (R2 x Δθ) of the contact point of the rounded surface 1211 and the amount of winding and unwinding of the rope 140 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.

[0125] According to an embodiment of the present application, referring to Figure 5 As shown, 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 one end of the rope 140 to the first arm 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 110.

[0126] According to an embodiment of the present application, referring to Figure 5 As shown, 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 rounded structure of the first arm 110.

[0127] According to an embodiment of the present application, referring to Figure 5 As shown, the rope 140 includes but is not limited to a static rope. The static rope can also be referred to as a static rope, which can be understood as having little change in length (e.g., its elongation is less than or equal to 5%) when it is under load. In this way, it can be used to transmit the displacement amount of the rope 140 in the traction direction. It should be understood that embodiments of the present application are not limited thereto.

[0128] For example, the rope 140 can also use a dynamic rope to change the displacement amount and / or force of the rope 140 in the traction direction.

[0129] In some illustrative embodiments, referring to Figure 5 illustrated, the exoskeleton further comprises a third guide wheel set 170. In detail, the third guide wheel set 170 comprises 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 comprises other third guide wheels 171, which can be odd or even, 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 crossing of the rope 140.

[0130] In some illustrative embodiments, referring to Figure 5 illustrated, the exoskeleton further comprises 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 comprises 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 approaches 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 close to the outer circumferential side of 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 illustrated in Figure 5 .

[0131] It should be noted that the arrows formed by S1 to S9 above only represent the passing sequence 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.

[0132] Figure 8 is a partial enlarged view of the exoskeleton illustrated in Figure 1 , showing the wearing side.

[0133] According to an embodiment of the present application, referring to Figures 1 to 8 illustrated, 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 around a fourth axis 123, which is orthogonal to the first axis 131 of the connecting rod 130.

[0134] According to an embodiment of the present application, referring to Figure 8 As shown, the body 121 comprises a first plate, a second plate and a support. The first plate and the second plate are arranged in parallel and spaced apart, and the support is arranged between the first plate and the second plate. The part between the first plate, the support and the second plate defines a groove structure 1212. The outer contour of the first plate and the second plate forms a rounded structure, and together defines a rounded curved surface 1211.

[0135] In some illustrative embodiments, referring to Figure 8 As shown, the end of the first arm 110 and the second arm 120 close to each other is provided with a 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.

[0136] In some illustrative embodiments, as Figure 8 As shown, the body 121 structure of the first arm 110 and the second arm 120 is composed of a first plate, a second plate and a support, and the three include but are not limited to plate structures. In detail, the first plate, the support and the second plate are arranged in sequence in the thickness direction of the first arm 110 (or the second arm 120); in the projection in the thickness direction, the projection of the first plate and the second plate is completely coincident, and the projection of the support is completely within the contour of the first plate and the second plate, that is, the outer contour size of the support is smaller than that of the first plate and the second plate.

[0137] On this basis, the inner side surfaces of the first plate and the second plate jointly define two groove side walls of the groove structure 1212, and the extension range of the support in the opening direction determines the effective groove depth of the groove structure 1212. The distance between the first plate and the second plate is set to be substantially equal to or slightly larger than the thickness of the connecting rod 130, so as to limit the displacement of the connecting rod 130 in the thickness direction of the arm while not affecting the normal rotation of the connecting rod 130 around the first axis 131 (or the second axis 132).

[0138] In addition, the edge of the support towards the opening of the groove structure 1212 can be provided with a rounded configuration, and the central angle of the rounded structure can be configured as 90°, for example, to meet the angle requirement of the connecting rod 130 relative to the arm rotation, and to ensure that there is no structural interference during the movement.

[0139] In this embodiment, the first arm 110, the second arm 120, and the connecting rod 130 are embedded together. The groove structure 1212 effectively constrains the connecting rod 130 in the direction perpendicular to the axis (i.e., the aforementioned first axis 131 and / or second axis 132), preventing axial movement during operation. This ensures the stability of the pure rolling contact between the rounded curved surfaces 1211, while also making the overall structure more compact and improving the lateral stability between the arms and the connecting rod 130. It should be understood that the embodiments of the present invention are not limited thereto.

[0140] For example, the link 130 may include, but is not limited to, being configured as an elliptical, rectangular with rounded corners or any other non-circular cross-section member, such as an elliptical, rectangular with rounded corners or other shapes with high bending resistance.

[0141] Alternatively, the groove structure 1212 may include, but is not limited to, a closed hole structure with a bearing seat, or a guide rail with a sliding bushing, etc. As long as it can reliably accommodate and smoothly pivot the end of the connecting rod 130, it is within the scope of protection of this invention.

[0142] Continue to refer to Figure 8 As shown, in some illustrative embodiments, the second arm 120 includes a body 121 and a rotating member 122 rotatable relative to the body 121. Specifically, the rotating member 122 is rotatably connected to the body 121 via a hinge structure and is capable of free rotation about a fourth axis 123, which is spatially orthogonal to the first axis 131 of the connecting rod 130.

[0143] Continuing with the lower limb exoskeleton example, when the second arm 120 is worn on the user's calf, the wearing side 1221 of its rotating component 122 can be designed as a curved surface that matches the contour of the calf muscles. This rotating mechanism allows the exoskeleton to dynamically adapt to the morphological changes of the muscle groups and the displacement of soft tissues during walking or flexion and extension of the calf, and maintains a close fit to the limb surface through adaptive rotation around the fourth axis 123.

[0144] This improves user comfort and force transmission efficiency. On the one hand, it effectively avoids localized compression or detachment caused by changes in limb shape in traditional rigid structures. On the other hand, it optimizes the distribution of assistive force by increasing the effective contact area, making the exoskeleton's drive on the lower leg more natural and efficient, while reducing energy loss and skin friction risks during exercise. It should be understood that embodiments of the present invention are not limited thereto.

[0145] For example, the first arm portion 110 can also be configured in the form of a body 121 and a rotating member 122 similar to the second arm portion 120 to adapt to the curve of the user's thigh. The specific implementation and the effect thereof are similar to the embodiment in which the second arm portion 120 is worn on the calf, and thus, no further description is provided herein.

[0146] According to an embodiment of the present application, with reference to Figure 2 As shown in the figure, the wearing mechanism 400 includes a first wearing plate 410, a second wearing plate 420, and a plurality of straps 430. In detail, the first wearing plate 410 is fixedly connected to the first arm portion 110, and the second wearing plate 420 is fixedly connected to the rotating member 122 of the second arm portion 120, that is, the second wearing plate 420 can swing with the rotating member 122 relative to the body 121 of the second arm portion 120, so that the second wearing plate 420 can be inwardly or outwardly everted along the curve of the human body (such as the calf), thereby avoiding rigid pulling or compression on the user.

[0147] Further, in order to ensure the comfort and fit of wearing, the surfaces of the first wearing plate 410 and the second wearing plate 420 facing the human body are designed as curved surfaces, which can be arc-shaped curved surfaces. The shape of the arc-shaped curved surface should be as close as possible to the surface curve of the corresponding part of the human body. In this way, the contact area between the exoskeleton and the human body can be effectively increased to uniformly disperse the pressure, thereby avoiding discomfort caused by excessive point pressure, and thus, a good experience can be maintained during long-term wearing.

[0148] Further, the connection between the first wearing plate 410 and / or the second wearing plate 420 and the human body includes but is not limited to being completed by the straps 430. Specifically, the straps configured on the first wearing plate 410 and / or the second wearing plate 420 can be multiple (such as two), so as to form a complete binding ring at the upper end and the lower end of the first wearing plate 410 (or the second wearing plate 420) to be fixed to the thigh (or the calf), thereby preventing the user from falling off and / or deviating during movement. In addition, in order to dynamically adapt to the thickness change and position fine adjustment of the limb during movement, the straps 430 can have multiple functional options.

[0149] For example, the straps 430 can be made of elastic material to provide a continuous and soft tightening force by relying on the stretchability of the material itself;

[0150] For another example, the straps 430 can also be designed in a form of adjustable length, and the length is adjusted by mechanical structures such as buckles, magic tapes, or knobs, so that the user can accurately control the tightness according to the own needs to achieve the best individual fixing effect.

[0151] According to an embodiment of the present application, the wearing mechanism 400 described above can also be worn in cooperation with the clothes of the user.

[0152] For example, the wearing mechanism 400 can also include a pair of trousers made of fabric. In this case, the first wearing plate 410 and / or the second wearing plate 420 can be pre-sewn in the trousers, so as to form an integrated structure with the trousers, and the user can wear the first wearing plate 410 and the second wearing plate 420 on the outside of the thighs and the shanks when wearing the trousers.

[0153] Similarly, the wearing mechanism 400 can also be separable from the trousers, that is, the wearing mechanism 400 can be connected to the trousers or separated from the trousers, so as to facilitate the user to wear or take off the exoskeleton.

[0154] Figure 9 is Figure 1 is an enlarged view of the exoskeleton clutch mechanism and the mechanical energy storage mechanism part.

[0155] According to an embodiment of the present application, referring to Figure 1 and Figure 9 , the mechanical energy storage mechanism 300 includes at least one elastic member. Alternatively, the mechanical energy storage mechanism 300 includes at least two elastic members. When the second arm part 120 is in the first posture, the elastic member is in the original state, and when the second arm part 120 is in the second posture, the elastic member is in the deformed state to provide resistance in the opposite direction of the swinging direction.

[0156] According to an embodiment of the present application, referring to Figure 9 , one end of the elastic member is connected to the first arm part 110, and the other end of the elastic member is provided with the clutch mechanism 200. 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.

[0157] In some illustrative embodiments, referring to Figure 1 and Figure 9 , the mechanical energy storage mechanism 300 includes, but is not limited to, two extension springs. In detail, the two extension springs extend along the maximum dimension direction of the exoskeleton and are arranged in parallel in the width direction of the first arm part 110. Further, one end of the two extension springs is fixedly connected to the end of the first arm part 110 close to the second arm part 120, and the other end is commonly connected to the clutch mechanism 200 (the shell assembly as described below). When the rope is connected to the rope through the clutch mechanism 200, the end of the spring is connected to the specified position of the rope through the clutch mechanism 200.

[0158] Thus, during the flexion motion of the exoskeleton, as the second arm 120 transitions from the first posture to the second posture, the clutch mechanism 200 will cause the tensile spring to be stretched in a first direction away from the first arm 110, and the mechanical energy is stored. Conversely, during the extension motion of the exoskeleton, the tensile spring releases the stored potential energy, and assists the second arm 120 to return to the first posture by applying a pulling force in a second direction opposite to the first direction, thereby providing effective mechanical assistance to the user's extension motion.

[0159] Figure 10 is Figure 9 a perspective view of the clutch mechanism.

[0160] According to the present application, a clutch mechanism 200 is provided, as shown in Figure 10 comprises a base 210, at least two clamping members 220, and a cooperating 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 an external rope 140 passes through the at least two clamping members 220. The cooperating assembly 240 is configured to relatively rotate the at least two clamping members 220, so that the clamping members 220 have a cooperating state in which the respective first ends are close to each other, and a disengaging state in which the first ends are away from each other, when the clamping members 220 are in the cooperating state, the friction surfaces 222 lock the rope 140, and when the clamping members 220 are in the disengaging state, the friction surfaces 222 release the rope 140.

[0161] Referring to Figure 10 In some illustrative embodiments, the clutch mechanism 200 comprises the base 210, which comprises a shell assembly configured as a body structure, without limitation. In detail, the shell assembly has two opposite sides each provided with a through hole 211, 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 disengaging 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 clutch mechanism 200 to displace.

[0162] 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 a groove structure, a protrusion structure, a flexible structure, and any other structure suitable for enhancing the friction between the clamping members 220 and the rope 140.

[0163] On this basis, the clutch mechanism 200 includes, but is not limited to, two clamping pieces 220 arranged in pairs, and a portion of the rope 140 passes between the friction surfaces 222 provided by the two clamping pieces 220. Among them, the friction surface 222 can be understood as a continuous or discontinuous non-smooth surface. When the clamping piece 220 is in the matching state that the friction surface 222 clamps 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 piece 220 will drive the clutch mechanism 200 to move synchronously with the rope 140.

[0164] Specifically, referring to Figure 10 As shown in the figure, the clamping piece 220 includes, but is not limited to, a structure configured to be substantially fan-shaped or part of a disc, and is rotatably arranged on the base body 210. In detail, the clamping piece 220 rotates around an axis offset from its geometric center, thereby constituting an eccentric rotating structure. Further, the clamping piece 220 has a friction surface 222 extending 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 outside and away from the axis. Among them, the distance from the first end to the axis is greater than the distance from the second end to the axis, thereby forming an asymmetric lever arm structure.

[0165] Based on the eccentric design of the clamping piece 220, when the clamping piece 220 rotates around the axis, the pressing force of its friction surface 222 on the rope 140 changes accordingly, that is, during the tensioning of the rope 140, the distance 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 clamping effect through the friction torque. When the rope 140 moves in the opposite direction, the pulling direction of the rope 140 is the same as the swinging direction of the clamping piece 220 to the second end, so that the distance between the first ends of the two clamping pieces 220 can be increased, thereby allowing the rope to move in this direction of displacement. That is, in this way, the clutch mechanism can only form a connection with the rope 140 in one direction, and in the opposite direction, the rope 140 will be allowed to move away from the clutch mechanism without restriction.

[0166] In such an embodiment, the clutch mechanism 200 realizes the clutch function without power supply by the eccentric structure and the friction self-locking mechanism of the at least two clamping pieces 220. When the cooperating assembly 240 drives the clamping pieces 220 to rotate to the cooperating state, the first ends of the two clamping pieces 220 approach each other, compress the rope 140 passing therethrough, and generate a self-enhanced locking effect by the eccentric effect, thereby realizing reliable locking. Conversely, the clamping pieces 220 can be reversely rotated to the uncooperating state by the mechanical action of the same cooperating assembly 240, and the rope 140 is quickly released. The entire working process, including state switching and position keeping, is completed by pure mechanical structure without any power participation, 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 system weight and volume, and improves the applicability and endurance of the auxiliary equipment in different scenes.

[0167] Figure 11 is a perspective view of the clutch mechanism. Figure 10 is a perspective view of the clutch mechanism. Figure 12 is a structural schematic view of the clutch mechanism. Figure 10 is a structural schematic view of the clutch mechanism.

[0168] According to an embodiment of the present application, referring to Figures 10 to 12 , a cavity 212 is arranged in the base body 210. The rope 140 is arranged in the cavity 212. The at least two clamping pieces 220 are arranged in the cavity 212 and symmetrically arranged on both sides of the rope 140.

[0169] According to an embodiment of the present application, referring to Figures 10 to 12 , one of the clamping piece 220 and the base body 210 is provided with a shaft structure 221, and the other is provided with a groove structure rotationally fitted with the shaft structure 221. The shaft structure 221 defines a third axis.

[0170] In some illustrative embodiments, referring to Figures 10 to 12 , the shell assembly (i.e. the base body 210) is used as the 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 shaped according to the external contour of the clamping piece 220, so that the clamping piece 220 is rotationally fitted in the groove.

[0171] In some illustrative embodiments, referring to Figures 10 to 12As shown, the side of the clamping member 220 facing the bottom of the cavity 212 is provided with a protruding shaft structure 221. Correspondingly, the bottom of the cavity 212 is provided with a groove structure for accommodating the shaft structure 221, the shape and size of the groove structure (including but not limited to the inner diameter and depth of the groove structure) are adapted to the shaft structure 221, so that a rotary 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 rotatably connected to the shell assembly. It should be understood that embodiments of the present application are not limited thereto.

[0172] 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, and 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 position between the clutch mechanism 200 and the rope 140, and to disperse the force on each clamping member 220.

[0173] For another example, the shaft structure 221 can be formed in the cavity 212, and the groove structure can be correspondingly provided in the clamping member 220, which is similar to the rotary pair formed in the above-mentioned embodiments, and thus will not be described in detail.

[0174] According to embodiments of the present application, referring to Figure 11 and Figure 12 As shown, the fitting assembly 240 includes an actuating part and an unlocking part. The actuating part 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 part is configured to exert a pressing force on the at least two clamping members 220 to make the first ends away from each other, so that the clamping members 220 have an unfitted state.

[0175] According to embodiments of the present application, referring to Figure 11 and Figure 12 As shown, the actuating part includes a first magnetic member 242 and a second magnetic member 243, the first magnetic member 242 is provided on one clamping member 220, and the second magnetic member 243 is provided on another clamping member 220, and the attractive force between the first magnetic member 242 and the second magnetic member 243 serves as the actuating force.

[0176] In some illustrative embodiments, referring to Figure 11 and Figure 12 As shown, the fitting assembly 240 at least includes an actuating part and an unlocking part. In detail, the actuating part and the unlocking part are respectively responsible for controlling the switching of the clamping members 220 between the fitting state and the unfitted state.

[0177] In some illustrative embodiments, the above-mentioned actuating part includes but is not limited to using, for example, Figure 11 and Figure 12The first magnetic member 242 and the second magnetic member 243 are shown. In detail, the two are respectively embedded in the two clamping members 220 (for example, arranged in the embedding grooves provided in the clamping members 220), and are configured to have opposite magnetic poles, so as to continuously exert an actuating force for making the first ends of the two clamping members 220 close to each other through the magnetic force (magnetic attraction) generated therebetween. Based on the magnetic force, the clamping members 220 can automatically enter and maintain the locked state of the rope 140 without the input of external energy, achieving reliable passive self-locking. At least one of the first magnetic member 242 and the second magnetic member 243 is a magnet (for example, a permanent magnet), and the other can be a permanent magnet or a magnetic member made of a magnetic material (for example, at least one of iron, cobalt, and nickel) that can be attracted by a magnet.

[0178] It should be noted that the first magnetic member 242 and the second magnetic member 243 are only used to distinguish the magnetic members arranged in different clamping members 220, and are not used to limit the specific number of magnetic members, that is, the 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.

[0179] In some other illustrative embodiments, not shown in the drawings, the actuating part includes an elastic member, and the elastic force exerted by the elastic member on the clamping members 220 serves as the actuating force. The elastic member is arranged between at least two clamping members 220.

[0180] Similarly, in some other illustrative embodiments, the elastic member can also be arranged between the clamping members 220 and the base body 210.

[0181] In specific embodiments, when the elastic member is arranged between the two clamping members 220, a tension spring can be used as the elastic member. The two ends of the tension spring are respectively connected to the two clamping members 220 (for example, the first end), so as to continuously exert a pulling force on the first end for making the two clamping members 220 close to each other, and promote the clamping members 220 to tend to the fitting state.

[0182] If the elastic member is arranged between the clamping members 220 and the base body 210, a torsion spring can be used as the elastic member. The torsion spring is sleeved outside the shaft structure 221, the long arm (or the short arm) of the torsion spring is connected to the base body 210, and the short arm (or the long arm) is connected to the clamping member 220. The restoring torque generated by the torsional deformation of the torsion spring drives the clamping member 220 to rotate around the axis to realize the mutual approach of the first ends. It should be understood that the embodiments of the present application are not limited thereto.

[0183] For example, the elastic member can also be a compression spring or other elastic structure capable of exerting a force on the first end of the clamping member 220 in the opposite direction, as long as it can achieve the same actuation function, which falls within the protection scope of the present embodiment.

[0184] In addition, in addition to the above mechanical structure, an electrically driven mode can also be used to move the clamping member 220 between the first position and the second position. Specifically, it can be an electric motor and a gear (or a belt, a pulley, etc.) that drives the clamping member 220 to rotate around its axis.

[0185] It should be noted that although the electrically driven mode is introduced in the part that drives the clamping member 220 to rotate, this part is only used for the clamping member 220 to swing in a small range, and its power consumption is very low. Therefore, compared with the device in the related art that achieves energy storage and release through active driving, it still has the advantages of smaller size and weight.

[0186] Based on the above electrically driven clutch mechanism 200, in some illustrative embodiments, the exoskeleton system of the present application further integrates an intelligent electronic clutch control system composed of an inertial measurement unit (IMU), a microprocessor and an electrically controlled actuator on the basis of a purely mechanical structure.

[0187] The system provides a dynamic data basis for the entire assistance process by real-time sensing and analyzing the acceleration and its change frequency and value of the wearer during the movement through the IMU sensor installed on the arm. Among them, the microprocessor is configured to quickly compare the instantaneous motion data collected by the IMU with the characteristic models of various typical motion patterns (such as walking, running, going up and down stairs) pre-stored, so as to accurately determine the type of motion the wearer is currently performing.

[0188] Further, after determining the type of motion, the system immediately enters a threshold-based judgment stage. The controller (i.e. the microprocessor) continuously analyzes the real-time data stream of the IMU and judges whether the acceleration or the calculated torque requirement 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 maximum and most needs assistance, ensuring the accuracy of the assistance timing.

[0189] Further, when the system determines that the intervention threshold is reached, the controller immediately sends a control signal to the electrically controlled actuator. The actuator then drives the clutch mechanism 200 to quickly act, so that it reliably combines with the mechanical energy storage mechanism 300 (such as the tensile spring therein). At this time, the exoskeleton enters the assist cycle: when the user bends the joint, the fixed-length rope 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 the displacement amplification mechanism composed of the rope 140 and the guide roller set (such as the first guide roller set 150 and the second guide roller set 160) converts the stored potential energy into mechanical assistance to assist the user's movement.

[0190] In some illustrative embodiments, in order to realize the intelligent decision described above, the system needs to be pre-trained with an algorithm. In the training phase, the tester wears the device to perform various movements, and records the original motion data of the IMU and the best clutch intervention time 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 time according to real-time motion characteristics, so as to obtain an optimized clutch control strategy for different motion modes.

[0191] In such an embodiment, the primary technical effect of introducing electronic clutch control logic is to achieve high precision and adaptive matching of the assist timing. It can distinguish the 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 and 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), so that the joint is free to move, 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 the 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 efficiently utilized, 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, preventing the exoskeleton from interfering or harming the user in unexpected situations, thereby enhancing the reliability and safety of use.

[0192] According to embodiments of the present application, with reference to Figure 11 and Figure 12As shown, the unlocking part 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 disposed on a clamping member 220. The sliding member 241 is slidably disposed on the base 210. At least two second mating members 245 are symmetrically disposed on both sides of the sliding member 241 and move synchronously between a first position and a second position with the sliding member 241. Specifically, when the sliding member 241 is in the first position, the first mating members 244 and the second mating members 245 form a clearance fit. When the sliding member 241 is in the second position, the second mating members 245 abut against the first mating members 244, and apply pressure against the actuating force to the clamping member 220 through the first mating members 244, so that the clamping member 220 is in an unlocked state.

[0193] According to an embodiment of the present invention, referring to Figure 11 and Figure 12 As shown, the first mating member 244 is configured to protrude from the clamping member 220. The second mating member 245 has a curved surface structure on its end face facing the first mating member 244.

[0194] In some illustrative embodiments, reference is made to Figure 11 and Figure 12 As shown, the unlocking part includes a slider 241, which is slidably disposed on the shell assembly (i.e., the base 210), and its sliding direction is configured to be parallel to the extension direction of the rope 140. Furthermore, the unlocking part also includes at least two first mating members 244 and at least two second mating members 245.

[0195] Based on this, the aforementioned first mating member 244 includes, but is not limited to, being configured as a columnar structure. Two first mating members 244 are respectively fixed to the corresponding clamping member 220 and protrude from the end face of the clamping member 220 away from the shell assembly. Correspondingly, second mating members 245 are symmetrically arranged on both sides of the sliding member 241. The end face of the sliding member 245 facing the first mating member 244 is designed as a curved surface so as to form a clearance fit with the first mating member 244 and to make the second mating member 245 push the first mating member 244 more smoothly.

[0196] The gap between the second engaging member 245 and the first engaging member 244 is configured to be greater than or equal to zero. When the gap is zero, the second engaging member 245 is in contact with the first engaging member 244 but has not yet applied effective pressure to the first engaging member 244. When the sliding member 241 is in the first position, the gap ensures that the second engaging member 245 and the first engaging member 244 do not interfere with each other, and the clamping member 220 remains 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 member 245 moves with it to abut the first engaging member 244 with its curved surface and apply pressure, forcing the two clamping members 220 to rotate against the magnetic force, causing the first ends to move away from each other, thereby switching to the disengaged state and reliably releasing the rope 140.

[0197] In addition, to facilitate user operation, the end surface of the sliding member 241 facing away from the shell assembly is also provided with a pull tab to increase the contact area between the user and the sliding member 241. The surface of the pull tab can be provided with anti-slip structures such as stripes or protrusions to increase the friction during operation and facilitate the user to reciprocally pull the sliding member 241.

[0198] According to an embodiment of the present application, referring to Figure 12 The limiting assembly 230 is configured to keep the sliding member 241 in the first position and / or the second position.

[0199] According to an embodiment of the present application, referring to Figure 12 The limiting assembly 230 includes at least two third magnetic members 231 and at least one fourth magnetic member 232. The at least two third magnetic members 231 are arranged on the sliding member 241 along the sliding direction of the sliding member 241. The fourth magnetic member 232 is arranged on the base body 210. When one of the third magnetic members 231 is opposite to the fourth magnetic member 232, the sliding member 241 is kept in the first position. When another one of the third magnetic members 231 is opposite to the fourth magnetic member 232, the sliding member 241 is kept in the second position.

[0200] In some illustrative embodiments, referring to Figure 12 The limiting assembly 230 mainly includes two third magnetic members 231 arranged on the sliding member 241 and one fourth magnetic member 232 mounted on the base body 210. In detail, the third magnetic members 231 are arranged along the sliding direction of the sliding member 241, and the fourth magnetic member 232 is fixed to the corresponding position of the base body 210. The third magnetic members 231 and the fourth magnetic member 232 are similar to the first magnetic member 242 and the second magnetic member 243, i.e., at least one of the third magnetic members 231 and the fourth magnetic member 232 is a magnet, and the other one can be a magnet or a magnetic member made of a magnetic material that can be attracted by a magnet.

[0201] Thus, when the sliding member 241 is moved to the first position, one of the third magnetic members 231 is opposite to the fourth magnetic member 232, and the magnetic attraction force between the two keeps the sliding member 241 stably in the first position; when the sliding member 241 is nudged to the second position, the other third magnetic member 231 is opposite to the same fourth magnetic member 232, and the magnetic force also keeps the position. This magnetic limiting structure not only makes the operation of the user clear and the positioning reliable, but also further strengthens the passive driving characteristics of the entire clutch mechanism 200, and the stable maintenance and switching of the state can be achieved without relying on electricity. It should be understood that the embodiments of the present application are not limited thereto.

[0202] For example, in other embodiments, not shown in the drawings, the limiting component 230 includes at least one third magnetic member 231 and at least two fourth magnetic members 232. The at least one third magnetic member 231 is arranged on the sliding member 241. The at least two fourth magnetic members 232 are arranged on the base body 210 along the sliding direction of the sliding member 241. When the third magnetic member 231 is opposite to one of the fourth magnetic members 232, the sliding member 241 is kept in the first position; when the third magnetic member 231 is opposite to the other fourth magnetic member 232, the sliding member 241 is kept in the second position. The principle of this embodiment is similar to the above-mentioned Figure 12 Therefore, no further description is given.

[0203] For example, the sliding member 241 can also be moved through a tight fitting mode, a clamping fitting mode, a detachable fastener, and any other connection mode that can position and release the sliding member 241.

[0204] It should be further 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 protection scope of the present application. Throughout the drawings, the same elements are identified by the same or similar reference numerals. When it is possible to cause confusion in the understanding of the present application, conventional structures or configurations will be omitted.

[0205] 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, 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. A wearable mechanism is disposed on the first arm and / or the second arm to wear the exoskeleton on the human body; Clutch mechanism, including: The base is disposed at the other 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 maximum size direction of the exoskeleton. When the second arm is in the second posture, both the second arm and the first arm are approximately parallel to the maximum size direction 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 guides 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 passes through the first first guide pulley, and then is guided to the adjacent first second guide pulley; thereafter, the rope transitions to the second first guide pulley, and finally passes through the second second guide pulley, with the rope passing 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 16, 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 16, 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 16, 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.

29. The exoskeleton according to claim 27, characterized in that, The wearable mechanism includes: A first wearable plate is disposed on the first arm portion; The second wear plate is disposed on the rotating member of the second arm; Straps are provided on the first wear plate and / or the second wear plate.

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