A master-slave electro-hydraulic driven whole-body assist-enhanced robot

Abstract

This invention discloses a fully-assisted augmented robot with active and passive electrohydraulic drive, comprising an upper limb assist system, a back structure, a portable waist belt, and a lower limb assist system, all of which are quickly connected via the portable waist belt. The sagittal plane degrees of freedom of the shoulder, hip, and knee joints utilize an integrated active and passive electrohydraulic drive principle, while the remaining joints retain passive degrees of freedom. The upper limbs employ a heterogeneous end-effector gripping design, and complex joints utilize multi-link mechanisms to place the large and heavy electrohydraulic drive unit at the rear, reducing its impact on movement. A load-bearing system is composed of multiple modules, including a gripper, a front load-bearing hook, a rear load-bearing platform, and a human back frame, covering various application scenarios from tube grasping and hook lifting to backpack carrying and patient transport. This active and passive full-body robot, through its fully-driven active and passive electrohydraulic joints, heterogeneous upper limb design, and load-bearing system, reduces energy loss in the robot's joints and overall structure, improving operational flexibility and load adaptability.

Description

Technical Field

[0001] This invention relates to the field of assistive robot technology, and in particular to a whole-body assistive augmentation robot with active and passive electro-hydraulic drive. Background Technology

[0002] Assistive robots are wearable devices used to enhance human limb strength and are widely used in industrial handling, fire rescue, and other scenarios. Existing solutions mostly focus on assisting single joints or partial limbs, neglecting the rest of the limbs. Full-body assistive robots can provide more comprehensive assistance to the human body, but the large number of actively driven joints results in a large overall weight, high energy consumption, and short battery life. Current mainstream active joints mostly use geared motors, centralized valve control, or distributed pump-controlled hydraulic systems, which continue to consume energy even during joint load-bearing phases (such as braking or support), resulting in low energy utilization efficiency. Some single-joint designs attempt to introduce a combined active and passive structure (such as CN202210352669.1 and CN202210523817.1), but their active and passive units are arranged separately, resulting in a complex structure, large size, and heavy weight, making them unsuitable for multi-joint integrated full-body systems.

[0003] Furthermore, to meet the high torque required for heavy loads, the drive unit is often quite large. Existing full-body assistive robots often mount the drive unit directly at the joint, which can easily interfere with the human body, affecting wearing comfort and the naturalness of movement. Especially when dealing with the complex human shoulder joint, the conventional strap-on design makes it impossible for the upper limb of the assistive robot to match its complex movement trajectory, further resulting in poor operational flexibility and significant human-robot interference. At the same time, different shapes and sizes of heavy objects place different demands on the load-bearing platform. Existing full-body assistive robots lack the ability to adapt to various loads, resulting in low load-bearing efficiency and poor actual assistive effect.

[0004] Therefore, given the current state of development of full-body assistive robots, it is necessary to propose a full-body assistive enhanced robot with low energy consumption, high human-machine compatibility, and good load adaptability to break through existing technological bottlenecks. Summary of the Invention

[0005] The purpose of this invention is to solve the problems in the prior art and propose a whole-body assisted augmentation robot with active and passive electrohydraulic drive. By using the whole-body active and passive electrohydraulic drive joints, upper limb heterogeneity and load-bearing system, the energy loss of the robot joints and the whole body is reduced, and the operational flexibility and load adaptability are improved.

[0006] To achieve the above objectives, this invention proposes a fully assisted augmented robot with active and passive electrohydraulic actuation, comprising an upper limb assist system, a back structure, a portable waist belt, and a lower limb assist system. The upper limb assist system is fixedly connected to the back structure, the portable waist belt is connected to the human body, and the back system and lower limb assist system can be quickly connected to the portable waist belt. The back structure is connected to the shoulders and waist via a soft pack. The upper limb assist system is bilaterally symmetrical, with the sagittal, coronal, and spin degrees of freedom of a single shoulder joint connected in series. The upper limb arm link extending from the end of the spin degree of freedom is connected to an end-effector. The lower limb assist system is bilaterally symmetrical, with each leg including the coronal, sagittal, and knee sagittal planes of the hip joint and the ankle joint degrees of freedom.

[0007] The sagittal plane is the primary force-bearing plane of the full-body assisted augmentation robot. The sagittal degrees of freedom of the shoulder, hip, and knee joints are driven by both active and passive forces. The degrees of freedom of the shoulder joint coronal plane, shoulder joint rotation, heterogeneous upper limb extension and retraction, hip joint coronal plane, and ankle joint are purely passive, driven by the human body. The end effector gripper is manipulated by the human hand and is also purely passive.

[0008] The unidirectional active-passive electro-hydraulic actuator is mainly used to provide the necessary extension torque in the sagittal plane of the knee joint. It includes a unidirectional piston cylinder, a motor pump, a hydraulically controlled directional valve, a check valve, a controllable throttle valve, a relief valve, and an atmospheric pressure oil tank. The hydraulically controlled directional valve is initially in the right position. In unidirectional extension mode, the motor pump draws oil from the atmospheric pressure oil tank on one side, and the pressure on the other side increases. Therefore, the hydraulically controlled directional valve switches to the left position, the pressure in the rodless chamber of the unidirectional piston cylinder increases, and it extends outward, realizing active extension of the knee joint. When the system pressure exceeds the rated pressure (28 MPa), the relief valve will automatically open to unload the pressure in the rodless chamber. In unidirectional adjustable damping compression mode, the oil in the rodless chamber of the unidirectional piston cylinder enters the atmospheric pressure oil tank through the controllable throttle valve. The pressure in the rodless chamber can be modulated by the throttle valve. At this time, the system does negative work, which can provide torque compensation to the human knee joint in the opposite direction of flexion.

[0009] The bidirectional active-passive electro-hydraulic actuator is mainly used to provide extension and flexion torques in the sagittal plane of the hip or shoulder joint. It includes two unidirectional active-passive electro-hydraulic drive circuits: a left circuit and a right circuit. It also includes a bidirectional hydraulic cylinder, a flow-distribution check valve, and a spring oil tank. The hydraulically controlled directional valve in the left circuit is initially in the right position, while the hydraulically controlled directional valve in the right circuit is initially in the left position. In active extension mode, the motor pump draws oil from the rod chamber of the bidirectional hydraulic cylinder and the spring oil tank through the flow-distribution check valve. The hydraulically controlled directional valve in the left circuit is switched to the left position, thus increasing the pressure in the rodless chamber of the hydraulic cylinder and extending it outwards, achieving active extension of the joint. In active retraction mode, the motor pump draws oil from the rodless chamber, and the hydraulically controlled directional valve in the right circuit is switched to the right position. Oil enters the rod chamber of the hydraulic cylinder and the spring oil tank, thus actively retracting the hydraulic cylinder and achieving active flexion of the joint. When the system pressure exceeds the rated pressure (28 MPa), the relief valve in the corresponding circuit automatically opens, unloading the pressure in the corresponding chamber of the hydraulic cylinder. In compression damping mode, the oil in the rodless chamber of the bidirectional hydraulic cylinder enters the rod chamber and spring oil tank through the controllable throttle valve in the left circuit. The pressure in the rodless chamber can be modulated by the throttle valve in the left circuit, providing torque compensation to the joint in the opposite direction of bending. Conversely, in extension damping mode, the oil in the rod chamber enters the rodless chamber through the throttle valve in the right circuit. The pressure in the rod chamber can be modulated by the throttle valve in the right circuit, providing torque compensation to the joint in the opposite direction of extension.

[0010] The shoulder joint sagittal plane includes a bidirectional active / passive actuator, an upper frame, motion links, and a lower frame. The upper and lower frames are fixed to the back mechanism, and the bidirectional active / passive actuator is positioned on the back, driving the sagittal plane movement via the motion links to avoid human interference. The hip joint sagittal plane includes a lumbar link, a thigh link, an active link, and a supplementary link. The bidirectional active / passive actuator is moved posteriorly to avoid human interference. The knee joint sagittal plane includes a unidirectional active / passive actuator, a thigh link, and a lower leg link. The knee joint is a typical unidirectional drive joint, requiring a large torque for extension, especially during the standing phase; therefore, the smaller torque required for flexion assistance is neglected.

[0011] The end effector includes a gripper, a grip handle, a grip transmission mechanism, a grip linkage, and a heterogeneous upper limb telescopic groove. The upper limb assistive system eliminates the need for redundant restraint systems to fix it to the human body; it can be directly operated by the user's hand via the grip handle, and the gripper's opening and closing is achieved through the mechanism's transmission, improving ergonomics and operational flexibility. The heterogeneous upper limb telescopic groove ensures the sliding of the end effector relative to the upper limb arm linkage, facilitating the flexion and extension of the user's elbow joint.

[0012] The load-bearing platform system comprises four main modules: an upper limb gripper, a human back frame, a rear load-bearing platform, and a front load-bearing hook. All four modules are directly or indirectly connected to the carbon fiber backplate, and the rear load-bearing platform and front load-bearing hook can be quickly disassembled. This system covers various load handling scenarios, including tube gripping, hook lifting of boxes, backpack carrying, and carrying wounded personnel, significantly enhancing the robot's adaptability to various loads.

[0013] The beneficial effects of this invention are: I. Based on the joint force characteristics under human weight-bearing conditions, this invention provides primary assistance to the knee, hip, and shoulder joints in the sagittal plane of a full-body assistive augmentation robot, while preserving the passive degrees of freedom of the remaining joints. Furthermore, based on the power and force requirements of the primary assisted joints, an adaptive active and passive electro-hydraulic drive principle is proposed, realizing corresponding assistance modes: the knee joint has an electro-hydraulic driven unidirectional extension mode and a unidirectional adjustable damping compression mode; the hip and shoulder joints have an electro-hydraulic driven bidirectional mode and an adjustable damping bidirectional mode. The active and passive assistance modes of each joint compensate for the positive and negative work done by the human joints and reduce the joint energy consumption of the full-body assistive augmentation robot. Simultaneously, the rational allocation of passive degrees of freedom reduces the overall energy consumption of the robot.

[0014] Second, the invention adopts an upper limb heterogeneous solution with an end-grip design, which avoids the interference problems that may be caused by traditional binding methods, making the operation more flexible and convenient. It is especially suitable for handling tasks that require high flexibility, effectively reducing interference with the human body and improving operational flexibility.

[0015] Third, for complex joints that are prone to interference, this invention has carried out a special linkage configuration design, placing the large and heavy electro-hydraulic drive unit at the rear, thereby reducing the impact of the drive unit on the wearer's movement and greatly improving human-machine compatibility and operational flexibility.

[0016] IV. This invention provides a complete load-bearing platform system, enhancing the adaptability of the full-body assistive robot to various types of loads. The system comprises four main modules: an upper limb gripper, a front load-bearing hook, a rear load-bearing platform, and a human back frame. It covers a variety of application scenarios, from gripping round tubes and lifting boxes with hooks to carrying backpacks and carrying wounded patients, significantly enhancing the robot's adaptability to various loads and improving the load-bearing assistance effect.

[0017] The features and advantages of the present invention will be described in detail through embodiments and in conjunction with the accompanying drawings. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the whole-body assisted augmentation robot of the present invention; Figure 2 This is a schematic diagram of the main structure of the whole-body assisted augmentation robot of the present invention, excluding the back and shell; Figure 3 This invention relates to the sagittal plane driving principle and mechanism diagram of the unilateral shoulder joint of the whole-body assisted enhanced robot. Figure 4 This invention relates to the sagittal plane driving principle and mechanism diagram of the unilateral hip joint of the whole-body assisted enhanced robot. Figure 5 This invention relates to the sagittal plane driving principle and mechanism diagram of the unilateral knee joint of the whole-body assisted enhanced robot. Figure 6 This is a schematic diagram of the end-effector gripping mechanism of the heterogeneous upper limb of the whole-body assistive augmentation robot of the present invention; Figure 7 This is a schematic diagram of the load-bearing platform system of the whole-body assisted augmentation robot of the present invention; Figure 8 This is a schematic diagram of the working oil circuit of the unidirectional active and passive electro-hydraulic driven joint (knee joint in the sagittal plane) of the present invention. The left figure shows the unidirectional extension mode, and the right figure shows the unidirectional adjustable damping compression mode. Figure 9 This is a schematic diagram of the working oil circuit of the bidirectional active and passive electro-hydraulic driven joint (hip and shoulder joints in the sagittal plane) of the present invention. The upper left figure shows the active extension mode, the upper right figure shows the active retraction mode, the lower left figure shows the compression damping mode, and the lower right figure shows the extension damping mode.

[0019] In the diagram: 1-Upper limb assistive system, 2-Back structure, 3-Portable waist belt, 4-Lower limb assistive system; 10-Sagittal plane degree of freedom of shoulder joint, 11-Coronal plane degree of freedom of shoulder joint, 12-Rotational degree of freedom of shoulder joint, 13-Upper limb arm linkage, 14-End-effector gripping mechanism, 20-Human back frame, 21-Rear weight-bearing platform, 22-Front weight-bearing hook, 23-Carbon fiber backplate, 30-Human body connection belt, 31-Upper limb assistive system interface, 32-Lower limb assistive system interface, 40-Coronal plane degree of freedom of hip joint, 41-Sagittal plane degree of freedom of hip joint, 42-Thigh brace, 43-Sagittal plane degree of freedom of knee joint, 44-Lower leg brace, 45-Ankle joint; 100-Bidirectional active and passive actuator, 101-Shoulder joint upper frame, 102-Shoulder joint motion link, 103-Shoulder joint lower frame, 140-Grip gripper, 141-Grip handle, 142-Grip transmission mechanism, 143-Grip mechanism link, 144-Heterogeneous upper limb telescopic groove, 410-Hip joint lumbar link, 411-Hip joint thigh link, 412-Active link, 413-Supplementary link, 430-Unidirectional active and passive actuator, 431-Knee joint thigh link, 432-Knee joint lower leg link; 1000-Bidirectional hydraulic cylinder, 1001-Left side circuit, 1002-Right side circuit, 1003-Flow distribution check valve, 1004-Spring oil tank; 4300-One-way piston cylinder, 4301-Motor pump, 4302-Hydraulic directional valve, 4303-One-way valve, 4304-Controllable throttle valve, 4305-Relief valve, 4306-Atmospheric pressure oil tank. Detailed Implementation

[0020] The technical solution of the present invention will be further described below through embodiments and in conjunction with the accompanying drawings.

[0021] like Figure 1 The image shows a fully assisted augmentation robot with active and passive electrohydraulic drive, including an upper limb assist system 1, a back structure 2, a portable waist belt 3, and a lower limb assist system 4. The upper limb assist system 1 is fixedly connected to the back structure 2, the portable waist belt 3 is connected to the human body, the back system 2 and the lower limb assist system 4 can be quickly connected to the portable waist belt, and the back structure 2 is connected to the shoulders and waist via a soft pack.

[0022] like Figure 2 The diagram shows the main structure of the full-body assisted augmentation robot excluding the back and shell. Both the upper limb assist system 1 and the lower limb assist system 4 are bilaterally symmetrical, with the upper limbs directly grasping the end effector. The upper limb assist system's shoulder joint sagittal plane degree of freedom 10, coronal plane degree of freedom 11, and spin degree of freedom 12 on one side are connected in series. The upper limb arm link 13 extending from the spin degree of freedom is connected to the end effector gripping mechanism 14. The portable waist belt 3 includes a human body connection belt 30, an upper limb assist system interface 31, and a lower limb assist system interface 32, which connect to the human body, upper limb, and lower limb, respectively. The lower limb assist system 4 has four degrees of freedom per leg: hip joint coronal plane degree of freedom 40, hip joint sagittal plane degree of freedom 41, knee joint sagittal plane degree of freedom 43, and ankle joint 45. The hip and knee joints are connected via a thigh brace 42, and the knee and ankle joints are connected via a calf brace 44.

[0023] like Figure 3 The diagram shows the sagittal plane actuation principle and mechanism of a unilateral shoulder joint in a full-body assisted augmentation robot. The hinge points of the principle and mechanism correspond one-to-one. Figure 2 The shoulder joint sagittal plane degree of freedom 10 is driven by active and passive actuators, including a bidirectional active and passive actuator 100, a shoulder joint upper frame 101, a shoulder joint motion link 102, and a shoulder joint lower frame 103. The shoulder joint upper frame 101 and lower frame 103 are fixed on the back mechanism 2. The bidirectional active and passive actuator 100 is placed on the back and drives the movement of the shoulder joint sagittal plane through the motion link 102 to avoid human interference.

[0024] like Figure 4 The diagram shows the sagittal plane actuation principle and mechanism of a unilateral hip joint in a full-body assisted augmentation robot. The hinge points of the principle and mechanism correspond one-to-one. Figure 2The sagittal plane degrees of freedom of the hip joint are all driven by active and passive actuators. The sagittal plane degrees of freedom of the hip joint 41 include the hip joint waist link 410, the hip joint thigh link 411, the active link 412, and the supplementary link 413. The bidirectional active and passive actuator 100 is moved backward to avoid human interference.

[0025] like Figure 5 The diagram shows the sagittal plane actuation principle and mechanism of a unilateral knee joint in a full-body assisted augmentation robot. The hinge points of the principle and mechanism correspond one-to-one. Figure 2 The sagittal plane degree of freedom 43 of the knee joint includes a unidirectional active-passive actuator 430, a thigh link 431, and a lower leg link 432. The knee joint of the assistive robot is a typical unidirectional drive joint. The extension torque required for the knee joint is relatively large, especially in the standing phase, so it is driven by the unidirectional active-passive actuator 430. The flexion torque of the knee joint is very small and is driven by the human body.

[0026] like Figure 6 The diagram shows the end effector mechanism of a heterogeneous upper limb in a full-body assistive augmentation robot, including a gripper 140, a grip handle 141, a grip transmission mechanism 142, a grip mechanism link 143, and a heterogeneous upper limb telescopic groove 144. The upper limb assistive system does not require redundant restraint systems to be fixed to the human body; it can be directly operated by the human hand via the grip handle 141, and the gripper's opening and closing is achieved through the mechanism's transmission. The heterogeneous upper limb telescopic groove ensures the sliding of the end effector mechanism 14 relative to the upper limb arm link 13, facilitating the flexion and extension of the human elbow joint.

[0027] like Figure 2 , 3 4, 5, and 6 encompass the allocation of all degrees of freedom for the full-body assisted augmentation robot. The sagittal plane is the primary force-bearing plane for the human body. The shoulder joint sagittal plane degree of freedom (10), hip joint sagittal plane degree of freedom (40), and knee joint sagittal plane degree of freedom (43) are primarily driven by passive forces. The remaining shoulder joint coronal plane degree of freedom (11), shoulder joint rotation degree of freedom (12), heterogeneous upper limb extension groove (144), hip joint coronal plane degree of freedom (40), and ankle joint degree of freedom (45) are purely passive, driven by the human body. The end effector gripper (140) is manipulated by the human hand and is also a purely passive degree of freedom.

[0028] like Figure 6 , 7 The system includes a load-bearing platform system with a full-body assistive augmentation robot. This system comprises four main modules: an upper limb gripper 140, a human back frame 20, a rear load-bearing platform 21, and a front load-bearing hook 22. All four modules are directly or indirectly connected to the carbon fiber back plate 23. The rear load-bearing platform 21 and the front load-bearing hook 22 can be quickly detached, covering various load handling scenarios such as tube gripping, hook lifting of boxes, backpack carrying, and carrying wounded personnel.

[0029] like Figure 8The diagram shows the working oil circuit principle of a one-way active-passive electro-hydraulic actuator, which includes a one-way piston cylinder 4300, a motor pump 4301, a hydraulically controlled directional valve 4302, a one-way valve 4303, a controllable throttle valve 4304, a relief valve 4305, and an atmospheric pressure oil tank 4306. The hydraulically controlled directional valve 4302 is initially in the right position. In unidirectional extension mode, the motor pump 4301 draws oil from the atmospheric pressure oil tank 4306 on one side, and the pressure on the other side increases. Therefore, the hydraulic control directional valve 4302 switches to the left position, and the pressure in the rodless chamber of the unidirectional piston cylinder 4300 increases, causing it to extend outward. When the system pressure exceeds the rated pressure (28 MPa), the relief valve 4305 will automatically open to unload the pressure in the rodless chamber. In unidirectional adjustable damping compression mode, the oil in the rodless chamber of the unidirectional piston cylinder 4300 enters the atmospheric pressure oil tank 4306 through the controllable throttle valve 4304, and the pressure in the rodless chamber can be modulated by the throttle valve.

[0030] like Figure 9 The diagram shows the working oil circuit principle of a bidirectional active-passive electro-hydraulic actuator, which includes two unidirectional active-passive electro-hydraulic drive circuits, namely the left circuit 1001 and the right circuit 1002. It also includes the necessary bidirectional hydraulic cylinder 1000, the flow distribution check valve 1003, and the spring oil tank 1004. The hydraulic control directional valve in the left circuit is initially in the right position, while the hydraulic control directional valve in the right circuit 1002 is initially in the left position. In active extension mode, the motor pump draws oil from the rod chamber of the bidirectional hydraulic cylinder 1000 and the spring oil tank 1004 through the flow distribution check valve 1003. The hydraulic control directional valve of the left circuit 1001 is switched to the left position, so the pressure in the rodless chamber of the hydraulic cylinder increases, causing it to extend outward. In active retraction mode, the motor pump draws oil from the rodless chamber, and the hydraulic control directional valve of the right circuit 1002 is switched to the right position. Oil enters the rod chamber of the hydraulic cylinder and the spring oil tank, so the hydraulic cylinder actively retracts. When the system pressure exceeds the rated pressure (28 MPa), the relief valve of the corresponding circuit will automatically open, completing the pressure relief of the corresponding chamber of the hydraulic cylinder. In compression damping mode, the oil in the rodless chamber of the bidirectional hydraulic cylinder 1000 enters the rod chamber and spring oil tank through the controllable throttle valve of the left circuit, and the pressure in the rodless chamber can be modulated by the throttle valve of the left circuit; conversely, in extension damping mode, the oil in the rod chamber enters the rodless chamber through the throttle valve of the right circuit 1002, and the pressure in the rod chamber can be modulated by the throttle valve of the right circuit 1002.

[0031] Combination Figure 5 , 8 The unidirectional active-passive electro-hydraulic actuator is mainly used to provide extension torque in the sagittal plane of the knee joint. In the unidirectional extension mode, it can realize active extension of the knee joint. In the unidirectional adjustable damping compression mode, the system does negative work and can provide torque compensation to the human knee joint in the opposite direction of flexion movement.

[0032] Combination Figure 3 ,4 9. The bidirectional active and passive electro-hydraulic actuator is mainly used to provide extension and flexion torques in the sagittal plane of the hip or shoulder joint. In active extension mode, it can realize active extension of the joint; in active retraction mode, it can realize active flexion of the joint; in compression damping mode, it can provide torque compensation in the opposite direction of flexion; and in extension damping mode, it can provide torque compensation in the opposite direction of extension.

[0033] The above embodiments are illustrative of the present invention and are not intended to limit the present invention. Any simple modifications to the present invention are within the scope of protection of the present invention.

Claims

1. A passive-active electro-hydraulic driven full-body assist augmentation robot, characterized by, include: The system comprises an upper limb assist system (1), a back structure (2), a portable waist belt (3), and a lower limb assist system (4); the upper limb assist system (1) is fixedly connected to the back structure (2); the portable waist belt (3) is connected to the human body; the back structure (2) and the lower limb assist system (4) can be quickly connected to the portable waist belt (3); both the upper limb assist system (1) and the lower limb assist system (4) include at least one active and passive electrohydraulic driven joint. The active-passive electro-hydraulic driven joint includes a one-way active-passive electro-hydraulic driven actuator (430) for providing the necessary extension torque in the sagittal plane of the knee joint; the one-way active-passive electro-hydraulic driven actuator (430) includes a one-way piston cylinder (4300), a motor pump (4301), a hydraulically controlled directional valve (4302), a one-way valve (4303), a controllable throttle valve (4304), an overflow valve (4305), and an atmospheric pressure oil tank (4306), and the hydraulically controlled directional valve (4302) is initially in the right position; The one-way active-passive electro-hydraulic actuator (430) is configured such that: in one-way extension mode, the motor pump (4301) drives the hydraulic control directional valve (4302) to switch to the left position, causing the pressure in the rodless chamber of the one-way piston cylinder (4300) to increase and extend outward; when the system pressure exceeds the rated pressure, the relief valve (4305) automatically opens to unload; in one-way adjustable damping compression mode, the oil in the rodless chamber of the one-way piston cylinder (4300) enters the atmospheric pressure oil tank (4306) through the controllable throttle valve (4304), and the pressure in the rodless chamber is modulated by the controllable throttle valve (4304); The active-passive electro-hydraulic driven joint includes a bidirectional active-passive electro-hydraulic driven actuator (100) for providing extension and flexion torques in the sagittal plane of the hip or shoulder joint; the bidirectional active-passive electro-hydraulic driven actuator (100) includes a bidirectional hydraulic cylinder (1000), a left circuit (1001), a right circuit (1002), a flow distribution check valve (1003), and a spring tank (1004); the left circuit (1001) and the right circuit (1002) are two unidirectional active-passive electro-hydraulic driven circuits; The upper limb assist system (1) has a left-right symmetrical structure. The upper limb of one side includes a series of sagittal plane degrees of freedom (10), coronal plane degrees of freedom (11), and rotational degrees of freedom (12) of the shoulder joint. The upper limb arm link (13) extending from the end of the rotational degree of freedom (12) of the shoulder joint is connected to the end gripping mechanism (14). The lower limb assist system (4) is a left-right symmetrical structure, and the unilateral lower limb includes the coronal plane degree of freedom of the hip joint (40), the sagittal plane degree of freedom of the hip joint (41), the sagittal plane degree of freedom of the knee joint (43), and the ankle joint (45). The drive units for the sagittal plane degree of freedom (10) of the shoulder joint and the sagittal plane degree of freedom (41) of the hip joint are rear-mounted via a linkage mechanism to avoid interference with the human body. The sagittal plane degree of freedom (10) of the shoulder joint includes a bidirectional active-passive actuator (100), an upper frame (101), a motion link (102), and a lower frame (103). The upper frame (101) and the lower frame (103) are fixed on the back structure (2). The bidirectional active-passive actuator (100) is placed on the back and driven by the motion link (102). The sagittal plane degree of freedom (41) of the hip joint includes a waist link (410), a thigh link (411), an active link (412), and a supplementary link (413). The bidirectional active-passive actuator (100) is moved rearward and driven by the active link (412) and the supplementary link (413).

2. A passive-active electro-hydraulic driven full-body assist-enhancing robot as claimed in claim 1, characterized in that, The hydraulic control directional valve in the left circuit (1001) is initially in the right position, and the hydraulic control directional valve in the right circuit (1002) is initially in the left position.

3. A passive-active electro-hydraulic driven full-body assist-enhancing robot as claimed in claim 1, wherein, The bidirectional active-passive electro-hydraulic actuator (100) is configured such that: in active extension mode, the motor pump draws oil from the rod chamber of the bidirectional hydraulic cylinder (1000) and the spring oil tank (1004) through the flow distribution check valve (1003), and the hydraulic control directional valve of the left circuit (1001) switches to the left position, causing the pressure in the rodless chamber of the bidirectional hydraulic cylinder (1000) to increase and extend outward; in active retraction mode, the motor pump draws oil from the rodless chamber. When the hydraulic control directional valve of the right circuit (1002) is switched to the right position, the oil enters the rod chamber and the spring oil tank (1004), causing the bidirectional hydraulic cylinder (1000) to retract actively; in the compression damping mode, the oil in the rodless chamber enters the rod chamber and the spring oil tank (1004) through the controllable throttle valve of the left circuit (1001); in the extension damping mode, the oil in the rod chamber enters the rodless chamber through the controllable throttle valve of the right circuit (1002).

4. The actively and passively electrohydraulic driven whole-body assisted augmentation robot as described in claim 1, characterized in that, The end gripping mechanism (14) includes a gripping claw (140), a gripping handle (141), a gripping transmission mechanism (142), a gripping mechanism link (143), and a heterogeneous upper limb telescopic groove (144). The upper limb assist system is operated by the human hand through the gripping handle (141) and the gripping claw (140) is opened and closed through the gripping transmission mechanism (142). The heterogeneous upper limb telescopic groove (144) is used to ensure the sliding of the end gripping mechanism (14) relative to the upper limb arm link (13) to cooperate with the flexion and extension of the human elbow joint.

5. The actively and passively electrohydraulic driven whole-body assisted augmentation robot as described in claim 1, characterized in that, It also includes a load-bearing platform system, which includes an upper limb gripper (140), a human back frame (20), a rear load-bearing platform (21) and a front load-bearing hook (22), wherein the rear load-bearing platform (21) and the front load-bearing hook (22) are quick-disassembly structures.

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