Exoskeleton device
By introducing retractable waist and leg fixation devices into the exoskeleton device, combined with hip and knee joint drive devices, the problems of wearing discomfort and slippage failure in the assisted bi-joint movement of existing exoskeleton devices are solved, achieving greater flexibility and comfort.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-12-30
- Publication Date
- 2026-03-13
AI Technical Summary
Existing exoskeleton devices, when assisting the movement of human dual joints, have problems such as wearing discomfort, limiting movement flexibility, and affecting blood circulation. In particular, when there is a large area of binding and tightening, it is easy to cause sliding failure.
An exoskeleton device was designed, employing waist, hip, and knee joint drive mechanisms, combined with a retractable fixation device and a pressure equalizing plate. The hip and knee joint drive mechanisms provide assistance, while the retractable waist bar and pressure equalizing plate achieve stable fixation without increasing the binding force. The combination of spherical joints and hinge structures enhances flexibility.
It achieves stable fixation and flexible comfort of exoskeleton devices without increasing binding force, improves the wearer's movement flexibility and comfort, reduces pressure on muscles and blood vessels, and avoids slippage failure.
Smart Images
Figure CN121649958A_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of human assistive technology, and more particularly to an exoskeleton device. Background Technology
[0002] In existing technologies, exoskeletons are used to assist the human body in movement. However, walking requires full-body coordination, especially the hip and knee joints, which are strongly coupled during the gait cycle. Assisting only one joint often fails to achieve optimal results and may even place compensatory burden on the unassisted joint. Therefore, simultaneous assistance to both joints is necessary. Current technologies, to achieve dual-joint assistance and ensure efficient force transmission, require extensive binding on the thighs and calves, and a tighter fit. This significantly increases discomfort and restricts flexibility. It also compresses muscles and blood vessels, affecting blood circulation. Furthermore, it can cause the exoskeleton to slip relative to the body, leading to assistive failure. Therefore, a more flexible and comfortable exoskeleton device is needed. Summary of the Invention
[0003] The main purpose of this application is to provide an exoskeleton device that allows the wearer to be more flexible and comfortable.
[0004] An exoskeleton device according to a first aspect of this application includes: a lumbar fixation device for fixing to the lumbar region of a human body; a thigh fixation device including a thigh linkage, a first pressure equalizing plate, and a first binding strap, wherein the first pressure equalizing plate is attached to the front of the thigh, one end of the first binding strap is disposed on the first pressure equalizing plate, and the other end of the first binding strap is fixedly disposed relative to the first pressure equalizing plate, the first binding strap and the first pressure equalizing plate together defining a thigh fixation ring for fitting on the thigh, and a first end of the thigh linkage is disposed on the first pressure equalizing plate; and a hip joint driving device including a first fixed end and a first driving end, wherein the first fixed end is disposed on the lumbar fixation device, and the first driving end is disposed on the thigh linkage. The second end of the leg link, the hip joint drive device is used to drive the thigh link to rotate in the direction of hip joint rotation; the lower leg fixation device includes a second pressure equalizing plate and a second binding strap, the second pressure equalizing plate is used to attach to the back of the lower leg, one end of the second binding strap is disposed on the second pressure equalizing plate, the other end of the second binding strap is fixedly disposed relative to the second pressure equalizing plate, the second binding strap and the second pressure equalizing plate together define a lower leg fixation ring, the lower leg fixation ring is used to be sleeved on the lower leg; the knee joint drive device includes a second fixed end and a second drive end, the second fixed end is disposed on the first pressure equalizing plate, the second drive end is disposed on the second pressure equalizing plate, the knee joint drive device is used to drive the second pressure equalizing plate to rotate in the direction of knee joint rotation.
[0005] The exoskeleton device according to embodiments of this application has at least the following beneficial effects: by providing a first pressure-equalizing plate on the front side of the thigh and a second pressure-equalizing plate on the back side of the calf, the thigh fixation device and the calf fixation device can be firmly fixed to the human body without applying excessive binding force. This reduces the binding force on the wearer, making the wearer more flexible and comfortable during movement.
[0006] According to some embodiments of this application, the thigh fixation device further includes a third pressure equalizing plate and a posterior leg link. The third pressure equalizing plate is used to attach to the posterior side of the thigh and is disposed on the side of the first pressure equalizing plate near the waist fixation device.
[0007] According to some embodiments of this application, the rear leg link is a rod that can extend and retract along the extension direction of the rear leg link.
[0008] According to some embodiments of this application, the thigh link is a rod that can extend and retract along the extension direction of the thigh link.
[0009] According to some embodiments of this application, the side of the first equalizing plate facing the thigh is an arc surface that is concave to the side opposite the thigh.
[0010] According to some embodiments of this application, the waist fixing device includes a waist bar and a waist binding strap. The waist bar is disposed on the rear side of the waist, and both ends of the waist binding strap are disposed on the waist bar. The waist bar and the waist binding strap together define a waist fixing ring, which is used to be fitted onto the waist.
[0011] According to some embodiments of this application, the waist bar is a rod that can extend and retract along the extension direction of the waist bar.
[0012] According to some embodiments of this application, the exoskeleton device further includes a control host and a power supply. The control host is used to control the hip joint drive device and the knee joint drive device, and the power supply is used to supply power to the control host, the hip joint drive device and the knee joint drive device. Both the control host and the power supply are mounted on the waist bar.
[0013] According to some embodiments of this application, the exoskeleton device further includes a control host and a power supply, the control host being used to control the hip joint drive device and the knee joint drive device, and the power supply being used to supply power to the control host, the hip joint drive device, and the knee joint drive device.
[0014] According to some embodiments of this application, the thigh fixation device further includes a buckle, which includes a fixing part and a disassembly part. One of the fixing part and the disassembly part is fixed to the first pressure equalizing plate, and the other is fixed to the thigh connecting rod. The fixing part and the disassembly part are detachably snapped together.
[0015] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description
[0016] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0017] Figure 1 This is a schematic diagram of the overall structure of an exoskeleton device provided in an embodiment of this application; Figure 2 This application provides a schematic diagram of the structure of a waist fixation device and a thigh fixation device for an exoskeleton device. Figure 3 This is a schematic diagram of the lower leg fixation device and the thigh fixation device of an exoskeleton device provided in an embodiment of this application.
[0018] Figure label: 1. Waist fixation device; 11. Waist bar; 12. Waist binding strap; 2. Thigh fixation device; 21. Thigh connecting rod; 22. First pressure equalizing plate; 23. First binding strap; 24. Third pressure equalizing plate; 25. Leg connecting rod; 26. Buckle; 3. Lower leg fixation device; 31. Second pressure equalizing plate; 32. Second binding strap; 4. Hip joint drive device; 41. First fixed end; 42. First drive end; 5. Knee joint drive device; 51. Second fixed end; 52. Second drive end; 6. Control host; 7. Power supply.
[0019] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation
[0020] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.
[0021] In the description of this application, "several" means one or more, "multiple" means two or more, and "greater than," "less than," and "exceeding" are understood to exclude the stated number, while "above," "below," and "within" are understood to include the stated number. The use of "first" and "second" in the description is merely for distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly specifying the number of indicated technical features or their sequential relationship. In the description of this invention, unless otherwise explicitly defined, terms such as "set," "install," and "connect" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of these terms in this invention based on the specific content of the technical solution.
[0022] Reference Figure 1 , Figure 2 and Figure 3 The exoskeleton device of the first aspect of the present invention includes a waist fixation device 1, a thigh fixation device 2, a lower leg fixation device 3, a hip joint drive device 4, and a knee joint drive device 5.
[0023] The main function of the lumbar fixation device 1 is to secure it to the waist. Specifically, it can be a single elastic strap wrapped around the waist. Alternatively, the lumbar fixation device 1 can be configured as a waist support 11 and a waist binding strap 12. When the body is compressed against the relatively rigid waist support 11, the body will experience pain and significant discomfort. Because the back of the waist is relatively flat and rigid, and the waist has less contraction movement, it is less likely to compress the rigid waist support. Therefore, the waist support 11 is positioned on the back of the waist. Both ends of the waist binding strap 12 are attached to the waist support 11. The waist support 11 and the waist binding strap 12 together define a waist fixing ring, which is worn around the waist, thus securing the lumbar fixation device 1 to the waist. The waist binding strap 12 has good elasticity, allowing it to better adapt to the compression that occurs when the body bends over. Because the human abdomen is relatively soft, the compression between the front of the waist (the abdomen) and the relatively flexible abdomen makes the wearer more comfortable. Furthermore, the rigid, fixed-shape waist bar 11 is more suitable for mounting electronic mechanisms, such as the control unit 6 and power supply 7 of the entire exoskeleton device. The control unit 6 controls the hip joint drive device 4 and the knee joint drive device 5, allowing them to provide more coordinated auxiliary drive according to the wearer's movement. The power supply 7 supplies power to the control unit 6, hip joint drive device 4, knee joint drive device 5, and other electrical components of the device. The control unit 6 and power supply 7 can be designed as detachable structures for greater convenience during use. Alternatively, the control unit 6 and power supply 7 can be placed in other locations within the exoskeleton device.
[0024] Furthermore, a tension adjustment mechanism can be provided at one end of the waist binding strap 12 to adjust the tightness of the waist binding strap 12, thereby adapting to different wearers' body shapes and making the wearer more comfortable. At the same time, if the waist bar 11 is too short, both ends of the waist bar 11 will cause significant pressure on the wearer, and the waist fixation device 1 will not be securely fixed to the waist. Therefore, further, the waist bar 11 can be designed as a telescopic rod that extends along its extension direction, allowing the waist bar 11 to accommodate more wearers by adjusting the length of the telescopic rod.
[0025] The thigh fixation device 2 is used to fix the thigh of the human body and cooperates with the waist fixation device 1. Under the drive of the hip joint drive device 4, the thigh swings relative to the waist. Specifically, the thigh fixation device 2 includes a thigh link 21, a first pressure equalizing plate 22, and a first binding strap 23. The first binding strap 23 and the first pressure equalizing plate 22 together define a thigh fixation ring, which is sleeved on the thigh to fix the thigh. The first end of the thigh link 21 is set on the first pressure equalizing plate 22. When the hip joint drive device 4 is needed to drive the thigh link 21 to rotate, the thigh link 21 drives the first pressure equalizing plate 22 to move. The first pressure equalizing plate 22 is attached to the front side of the thigh. When the thigh needs to be lifted forward, the first pressure equalizing plate 22 lifts the first binding strap 23 upward and the first binding strap 23 supports the back side of the thigh to assist in lifting the thigh forward. When the thigh swings backward, the first pressure equalizing plate 22 presses down on the thigh to provide assistance.
[0026] The hip joint drive device 4 serves as the power source to assist the swinging of the thigh. Specifically, the hip joint drive device 4 includes a first fixed end 41 and a first drive end 42. The first fixed end 41 is disposed on the waist fixation device 1, and the first drive end 42 is disposed on the second end of the thigh link 21. The first end of the thigh link 21 is disposed on the first pressure equalizing plate 22.
[0027] Furthermore, a third pressure equalizing plate 24 and a leg linkage 25 can be provided on the thigh fixation device 2. The third pressure equalizing plate 24 is used to attach to the back of the thigh, and it is located on the side of the first pressure equalizing plate 22 near the waist fixation device 1. This not only provides a better force distribution to the thigh when driving it to lift, but also makes the fixation of the thigh fixation device 2 on the thigh more stable.
[0028] Furthermore, the posterior leg link 25 is configured to extend and retract along its extension direction, and the thigh link 21 is configured to extend and retract along its extension direction. These extendable links allow the entire device to adapt to a wider range of body types and better accommodate the stretching and contraction of various body parts during movement. This prevents the posterior leg link 25 and thigh link 21 from restricting the body's flexibility. To further enhance flexibility, spherical joints or multi-hinge structures can be installed at multiple locations. Specifically, a spherical joint can be installed at the connection between the thigh link 21 and the first drive end 42 of the hip joint drive device 4, at the connection between the first pressure equalizing plate 22 and the thigh link 21, and at the connection between the second pressure equalizing plate 31 and the second drive end 52 of the knee joint drive device 5. In addition, the spherical joint can slide relative to the thigh link 21 or the first drive end 42 in the first pressure equalizing plate 22, or the spherical joint can slide relative to the first pressure equalizing plate 22, thereby improving flexibility.
[0029] The lower leg fixation device 3 is used to fix the lower leg of the human body. Specifically, the lower leg fixation device 3 includes a second pressure equalizing plate 31 and a second binding strap 32. Both ends of the second binding strap 32 are set on the second pressure equalizing plate 31. The second binding strap 32 and the second pressure equalizing plate 31 together define a lower leg fixation ring, which is used to fit on the lower leg, thereby fixing the lower leg fixation device 3 to the lower leg. The second pressure equalizing plate 31 is attached to the back of the lower leg, so that when the lower leg swings forward, the second pressure equalizing plate 31 can provide more comfortable assistance to the lower leg. Not only is it not necessary to apply excessive binding force to fix the lower leg, but it can also protect the tibia of the lower leg and avoid the discomfort of the tibia being pressed. When the lower leg is raised backward, the second pressure equalizing plate 31 assists the lower leg by lifting the second binding strap 32. The movement of the lower leg fixation device 3 is accomplished by setting a knee joint driving device 5. The specific knee joint drive device 5 includes a second fixed end 51 and a second drive end 52. The second fixed end 51 is disposed on the first pressure equalizing plate 22, and the second drive end 52 is disposed on the second pressure equalizing plate 31. The knee joint drive device 5 is used to drive the second pressure equalizing plate 31 to rotate in the direction of knee joint rotation. The knee joint drive device 5 and the hip joint drive device 4 can be equipped with different motors, such as servo motors.
[0030] The second pressure equalizing plate 31 in the lower leg fixation device 3, and the first pressure equalizing plate 22 and the third pressure equalizing plate 24 in the thigh fixation device 2 can all be set into arc-shaped plates according to the curvature of the human leg. Taking the first pressure equalizing plate 22 as an example, its side facing the thigh is an arc surface that is concave to the side opposite the thigh. This allows for better adhesion to the human body.
[0031] Buckles 26 can be installed on the waist fixation device 1, thigh fixation device 2, and lower leg fixation device 3, making it easier to detach the exoskeleton device from the human body and to put it on. Taking the buckle 26 on the thigh fixation device 2 as an example, the buckle 26 includes a fixing part and a disassembly part. One of the fixing part and the disassembly part is fixed to the first pressure equalizing plate 22, and the other is fixed to the thigh connecting rod 21. The fixing part is fixed to the first pressure equalizing plate 22, and the disassembly part is fixed to the first binding strap 23. The fixing part and the disassembly part are detachably snapped together.
[0032] The sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments. The above descriptions are merely specific implementations of this application, but the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.
Claims
1. An exoskeleton device, characterized in that, include: A lumbar fixation device, which is used to fix the waist of a human body; A thigh fixation device includes a thigh link, a first pressure equalizing plate, and a first binding strap. The first pressure equalizing plate is attached to the front side of the thigh. One end of the first binding strap is disposed on the first pressure equalizing plate, and the other end of the first binding strap is fixedly disposed relative to the first pressure equalizing plate. The first binding strap and the first pressure equalizing plate together define a thigh fixation ring, which is used to be fitted onto the thigh. The first end of the thigh link is disposed on the first pressure equalizing plate. A hip joint drive device, comprising a first fixed end and a first drive end, wherein the first fixed end is disposed on the lumbar fixation device and the first drive end is disposed on the second end of the thigh link, and the hip joint drive device is used to drive the thigh link to rotate in the direction of hip joint rotation. The lower leg fixation device includes a second pressure equalizing plate and a second binding strap. The second pressure equalizing plate is used to attach to the back of the lower leg. One end of the second binding strap is disposed on the second pressure equalizing plate, and the other end of the second binding strap is fixedly disposed relative to the second pressure equalizing plate. The second binding strap and the second pressure equalizing plate together define a lower leg fixation ring, which is used to be fitted onto the lower leg. A knee joint driving device includes a second fixed end and a second driving end. The second fixed end is disposed on the first pressure equalizing plate, and the second driving end is disposed on the second pressure equalizing plate. The knee joint driving device is used to drive the second pressure equalizing plate to rotate in the direction of knee joint rotation.
2. The exoskeleton device according to claim 1, characterized in that, The thigh fixation device also includes a third pressure equalizing plate and a leg tie rod. The third pressure equalizing plate is used to attach to the back of the thigh and is located on the side of the first pressure equalizing plate near the waist fixation device.
3. The exoskeleton device according to claim 2, characterized in that, The rear leg link is a rod that can extend and retract along the extension direction of the rear leg link.
4. The exoskeleton device according to claim 1, characterized in that, The thigh link is a rod that can extend and retract along the extension direction of the thigh link.
5. The exoskeleton device according to claim 1, characterized in that, The side of the first equalizing plate facing the thigh is an arc surface that is concave to the side opposite the thigh.
6. The exoskeleton device according to claim 1, characterized in that, The waist fixation device includes a waist bar and a waist binding strap. The waist bar is located on the back of the waist, and both ends of the waist binding strap are located on the waist bar. The waist bar and the waist binding strap together define a waist fixing ring, which is used to be fitted onto the waist.
7. The exoskeleton device according to claim 6, characterized in that, The waist bar is a rod that can extend and retract along the extension direction of the waist bar.
8. The exoskeleton device according to claim 6, characterized in that, The exoskeleton device also includes a control host and a power supply. The control host is used to control the hip joint drive device and the knee joint drive device, and the power supply is used to provide power to the control host, the hip joint drive device, and the knee joint drive device.
9. The exoskeleton device according to claim 1, characterized in that, The thigh fixation device also includes a buckle, which includes a fixing part and a disassembly part. One of the fixing part and the disassembly part is fixed to the first pressure equalizing plate, and the other is fixed to the thigh connecting rod. The fixing part and the disassembly part are detachably snapped together.
10. The exoskeleton device according to claim 1, characterized in that, The thigh fixation device further includes a spherical pair, which includes a groove and a spherical part. The spherical part is rotatably disposed in the groove. One of the groove and the spherical part is disposed on the first pressure equalizing plate, and the other is disposed on the thigh connecting rod.