Rope-driven continuous lower limb assistive exoskeleton device

By combining a rope-driven continuum structure with an energy-storing return spring, the problems of heavy weight, discomfort, and complex synchronous control of lower limb exoskeleton devices are solved, achieving a highly compliant, safe, and lightweight lower limb assistive effect, suitable for rehabilitation training and multi-scenario applications.

CN121515141BActive Publication Date: 2026-03-31TONGJI UNIV
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
Filing Date
2026-01-14
Publication Date
2026-03-31

AI Technical Summary

Technical Problem

Existing lower limb exoskeleton devices suffer from problems such as large system mass, heavy wearing burden, discomfort caused by rigid drive and differences in human movement characteristics, complex synchronous control, insufficient stability and limited assist accuracy, making it difficult to meet the rehabilitation training needs of high compliance and high safety.

Method used

Employing a rope-driven continuous structure, combined with an energy storage and reset spring and a "person in the loop" control algorithm, it achieves flexible assistance by applying multi-directional rope pulls to multiple minimum unit layer continuous bodies. The power module is concentrated in the waist area, and the sensing module monitors and adjusts the assistance in real time. The modular design adapts to different body types and needs.

Benefits of technology

It significantly reduces the burden of wearing, improves wearing comfort and safety, naturally simulates human gait, enhances training accuracy and safety, and is lightweight and easy to maintain, making it suitable for multiple application scenarios.

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Abstract

The application provides a rope-driven continuum lower limb assisting exoskeleton device, which comprises a fixing module, a continuum module, a power module, a control module and a sensing module; the fixing module is arranged on the waist, the power module and the control module are installed on the fixing module; the continuum module comprises a plurality of minimum unit layer continuums, a plurality of pull ropes and a plurality of elastic connecting pieces; the plurality of minimum unit layer continuums are arranged on the legs; the plurality of pull ropes pass through the plurality of minimum unit layer continuums in the directions relative to the front side, the rear side and the outer side of the legs; the plurality of minimum unit layer continuums are connected in series along the vertical direction to form a continuously bendable segmented flexible structure; one end of the plurality of elastic connecting pieces is connected with one end of the pull rope respectively, and the other end is connected with the power module; and the sensing module is distributed on the waist and the legs. The application solves the technical problems of the prior art, such as large mass, poor compliance and unsuitability for long-time wearing and training of weak patients.
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Citation Information

Patent Citations

  • Knee flexible exoskeleton device based on lightweight bidirectional driving assistance and exoskeleton

    CN114083518A

  • Rigid-flexible mixed exoskeleton

    CN110900569A

  • Modularization-based active and passive knee joint exoskeleton robot

    CN116270143A