Exoskeleton with adjustable back plate

Abstract

The invention relates to the field of medical apparatus and instruments, and provides an exoskeleton with an adjustable backboard, the exoskeleton comprises a column structure and a control module, the column structure is slidably connected with a backboard mechanism and a lower limb exoskeleton connected with the backboard mechanism, and the backboard mechanism is provided with a backboard capable of moving up and down relative to the backboard mechanism; the binding device and the plantar exoskeleton are arranged on the lower limb exoskeleton, and the plantar exoskeleton is provided with a pressure sensor. When a human body wears the exoskeleton and is changed into a standing posture from a sitting posture, the back plate mechanism is adjusted upwards to the height matched with a user along the stand column structure according to different body types of the user; when the user walks in the standing posture state, the posture of the human body changes, at the moment, the plantar exoskeleton detects the change of plantar pressure, and the control module can control the back plate to move up and down relative to the back plate mechanism according to the plantar pressure so as to adjust the posture of the human body.

Description

Technical Field

[0001] This invention relates to the field of medical devices, and more specifically to an exoskeleton with an adjustable backplate. Background Technology

[0002] Lower limb exoskeletons are used by people with lower limb motor dysfunction to help them restore or improve their walking and movement abilities. However, the structure of lower limb exoskeletons varies slightly depending on the specific disease and the required function. Generally, lower limb exoskeletons are divided into three types to address different functional needs: high-assistance, motor compensation, and gait correction. The gait correction type is designed for patients with gait abnormalities (usually those caused by cerebral palsy or hemiplegia). This type uses advanced sensing technology to identify abnormal gait, combined with personalized gait planning and correction algorithms, to provide precise corrective force, improve the patient's gait posture, and prevent secondary injury.

[0003] Due to the specific needs of users targeted by gait correction products, whose behavior is usually characterized by short strides and slow walking speed, various types of lower limb exoskeleton assistive mobility products have been proposed on the market to meet this demand.

[0004] For example, the invention patent with announcement number CN106109186B discloses a wearable lower limb exoskeleton robot, including a waist and shoulder binding system and a leg movement system. The waist and shoulder binding system is worn and fixed to the upper body of the human body; the leg movement system is respectively located on the left and right legs of the human body, and the two leg movement systems are respectively fixed on both sides of the waist and shoulder binding system; each leg movement system includes a wire winding drive system, a hip joint support component, and thigh and calf support components; the hip joint support component and the thigh support component are connected through the hip joint, and the thigh support component and the calf support component are connected through the knee joint; the wire winding drive system includes a drive component, a drive winch, a hip joint winch, a knee joint winch, a hip joint drive line, and a knee joint drive line; the drive component is set on the hip joint support component and located at the waist of the human body.

[0005] For example, the invention patent with announcement number CN109730902B discloses that the present invention relates to the field of wearable rehabilitation medical technology, specifically, to an adjustable hip joint binding for a lower limb exoskeleton robot, including an adjustable hip joint skeleton, an adjustable anterior hip joint fixation mechanism, and an adjustable posterior hip joint fixation mechanism. The adjustable hip joint skeleton includes a first skeleton and a second skeleton. The adjustable anterior hip joint fixation mechanism includes a first height adjustment component, a second height adjustment component, a first width adjustment component, and a second width adjustment component. The adjustable posterior hip joint fixation mechanism includes a third width adjustment component and a fourth width adjustment component.

[0006] In the above patent documents, the backplate structure used for binding (this structure is applied to the binding of the back and shoulders) is connected to the lower limb exoskeleton in a fixed manner. This may present a problem where users with significantly different body types may find it difficult to adapt to wearing the device.

[0007] For example, invention patent CN112545846B discloses a powered multi-degree-of-freedom lower limb assisted walking robot based on intent recognition. It consists of a lower limb exoskeleton and a powered mobile frame, with the exoskeleton connected to the mobile frame. Pressure sensors mounted on the strap support detect the interaction force between the human body and the exoskeleton. Gyroscopes are installed in the middle of the thighs and calves to detect the posture and motion information of the lower limbs. Pressure sensors on the backplate recognize the user's turning intention and provide automatic assistance. A corresponding quick-mount block is installed at the rear of the exoskeleton backplate mechanism, allowing connection to a quick-connect mechanism on the powered mobile frame.

[0008] The backplate structure described in the above patent documents has a height that can be manually adjusted to accommodate patients of different heights. However, the user's posture may change during the process. At this time, the backplate strapped to the back also needs to be adjusted synchronously to adapt to the change in the user's posture. Furthermore, the mobility of users of this type of exoskeleton is limited, and they need a simpler adjustment method. Summary of the Invention

[0009] The purpose of this invention is to provide an exoskeleton with an adjustable backplate, which partially solves or alleviates the above-mentioned shortcomings in the prior art. The backplate of the exoskeleton can automatically adjust its height to adapt to different body postures of the user.

[0010] To solve the aforementioned technical problems, the present invention specifically adopts the following technical solution: An adjustable backplate exoskeleton includes: a column structure and a control module, wherein a backplate mechanism is slidably connected to the column structure, and a lower limb exoskeleton is connected to the backplate mechanism, and a backplate that can move up and down relative to the backplate mechanism is provided on the backplate mechanism; it also includes: a binding device and a foot exoskeleton provided on the lower limb exoskeleton, wherein the foot exoskeleton is provided with a pressure sensor. The binding device includes a clamping mechanism and a multi-segment airbag mechanism. The clamping mechanism includes a first rotating node and two multi-link mechanisms symmetrically arranged on both sides of the first rotating node. Each multi-link mechanism includes a first connecting rod with one end rotatably connected to the first rotating node, the other end of the first connecting rod rotatably connected to one end of a second connecting rod at the second rotating node, the other end of the second connecting rod rotatably connected to one end of a third connecting rod at the third rotating node, and the other end of the third connecting rod fixedly connected to the lower limb exoskeleton; and a fourth connecting rod with one end rotatably connected to the lower limb exoskeleton, the fourth connecting rod being linked to the second connecting rod or the third connecting rod via a linkage component. The clamping mechanism also includes a driving device and a linkage rod with one end connected to the first connecting rod and the other end connected to the driving device. The multi-segment airbag mechanism includes a first airbag mounted on the first connecting rod, a second airbag mounted on the third connecting rod, and a third airbag mounted on the fourth connecting rod, as well as an inflation structure for inflating the first airbag, the second airbag, and the third airbag. The binding device further includes: an airbag moving mechanism respectively disposed on the first connecting rod, the third connecting rod and the fourth connecting rod in the clamping mechanism. The airbag moving mechanism includes: a fixed column fixedly installed on the first connecting rod or the third connecting rod or the fourth connecting rod, with elastic elements at both ends of the fixed column, and a sliding block that can reciprocate along the axial direction of the fixed column. The sliding block is connected to the corresponding airbag, and pushing elements are disposed on both sides of the sliding block corresponding to the position of the fixed column. When the driving device drives the linkage rod to pull the first connecting rod in the first direction, causing the first rotating node to move in the direction closer to the driving device, both second rotating nodes move from the initial position to the second position in the direction of mutual approach, thereby driving both third rotating nodes to move from the third position to the fourth position in the direction of mutual distance, and driving the free ends of the two fourth connecting rods to move away from each other, thus facilitating the entry of the lower limb; while when the driving device drives the linkage rod to push the first connecting rod in the second direction, causing the first rotating node to move in the direction of distance from the driving device, both second rotating nodes move from the second position to the first position in the direction of mutual distance, and driving both third rotating nodes to move from the fourth position to the seventh position in the direction of mutual approach, causing the free ends of the two fourth connecting rods to move closer to each other, causing the space enclosed by the symmetrically arranged multi-link mechanism to shrink and become smaller, and clamped and tightly fitted to the lower limb by the inflated first airbag, second airbag and third airbag; When a user is walking, the pressure sensor of the foot exoskeleton sends a pressure signal to the control module. The control module compares the pressure data collected by the pressure sensor with a preset pressure threshold. If the pressure data is greater than or equal to the preset pressure threshold, the control module controls the backplate to move upward relative to the backplate mechanism, and simultaneously drives each airbag that is in contact with the lower limb to move upward, thereby driving the sliding block to move upward along the fixed column, so that the pushing member squeezes the elastic member at the top of the fixed column.

[0011] Furthermore, the backplate mechanism includes: a first sliding member, along which the backplate can slide; The backplate mechanism further includes: a second sliding member connected to the first sliding member, the second sliding member being able to move up and down along the first slide rail of the column structure; The backplate mechanism further includes: second support rods respectively disposed at both ends of the second sliding member and parallel to each other; the second support rods can reciprocate along the axial direction of the second sliding member.

[0012] Furthermore, the first sliding member includes: a motor, a screw connected to the output end of the motor, a first support rod extending from one side of the back plate and threadedly connected to the screw, and the back plate being movable up and down along the screw.

[0013] Furthermore, the lower limb exoskeleton is also equipped with a knee joint motor and a hip joint motor.

[0014] Furthermore, the linkage component includes: a connecting plate rotatably connected at one end to the third rotating node, the connecting plate being provided with a fourth rotating node and a fifth rotating node, the fourth rotating node being rotatably connected to the fourth connecting rod; the fifth rotating node being rotatably connected to a fifth connecting rod, the end of the fifth connecting rod away from the fifth rotating node being fixedly connected to the lower limb exoskeleton; wherein, the line connecting the third rotating node to the fourth rotating node and the fifth rotating node forms a triangle.

[0015] Furthermore, the binding device also includes a plurality of electrode pads disposed on the first airbag, the second airbag, and the third airbag.

[0016] Furthermore, the inflation structure includes: an inflation tube connected to the first airbag, the second airbag, and the third airbag, and an air pump connected to the inflation tube.

[0017] Furthermore, the binding device also includes: a fixing bracket that is fixed to the lower limb exoskeleton and symmetrically arranged; The first end of the fixed bracket is fixedly connected to the first fixed node at the end of the third connecting rod away from the third rotation node; The second end of the fixed bracket is fixedly connected to one end of the fifth connecting rod at the third fixed node; the other end of the fifth connecting rod is rotatably connected to the connecting plate at the fifth rotating node; One end of the fourth connecting rod is fixedly connected to the first end of the fixed bracket at the second fixed node via a limiting member; The included angle ∠BCG formed by the second rotating node, the third rotating node, and the second fixed node is 90°-145°.

[0018] Furthermore, the multi-segment airbag mechanism also includes: a pressure sensor disposed on the inflatable structure, and the control module is electrically connected to the pressure sensor and the inflatable structure; The air pressure sensor detects the pressure signals of the first airbag, the second airbag, and the third airbag in relation to the lower limb, and transmits the pressure signals to the control module. Based on the preset pressure threshold, the control module controls the inflation and deflation of each airbag in different parts of the lower limb by the inflation structure.

[0019] Furthermore, a limiting element is provided at one end of the fourth connecting rod near the connecting plate.

[0020] Beneficial effects: The exoskeleton device of this application includes a foot exoskeleton capable of sensing plantar pressure, and a height-adjustable backplate and backplate mechanism. The backplate mechanism can move up and down along the column structure, and the backplate can move up and down relative to the backplate mechanism. When a person wears the exoskeleton and changes from a sitting to a standing position, the backplate mechanism adjusts itself upward along the column structure to a height that matches the user's body type. Furthermore, when the user walks in a standing position, changes in body posture occur. At this time, the foot exoskeleton detects the change in plantar pressure, allowing the control module to control the up and down movement of the backplate relative to the backplate mechanism to adjust the body posture based on the plantar pressure.

[0021] The binding device of this application is different from the binding devices in the prior art that are integrated with the lower limbs (e.g., the binding device design in the prior art is set as a ring, and a uniform airbag is used to wrap around the entire lower limb). The disadvantage of one-piece surface-fitting binding devices is that the irregular shape of the lower limbs makes it difficult to balance fit and comfort. For example, when using a ring-shaped binding device, since the lower limbs are not perfectly round or elliptical, there are gaps of different sizes between different areas of the leg and the ring. To ensure a good fit, the entire airbag attached to the leg needs to be inflated with enough gas to eliminate all gaps and fit snugly. This results in excessive binding pressure in areas with small gaps, causing discomfort and affecting the user's willingness to use the device. On the other hand, for comfort, less gas is inflated, but this means that some larger gaps may not be eliminated, or even if they are, insufficient binding pressure can cause them to loosen. In particular, even slight movement by the user can cause the binding device to loosen and shift. On the other hand, not all users have the same lower limb shape; different users have different lower limb shapes. If a single airbag is used to wrap the entire lower limb, it still faces the problem of not being able to balance the fit and comfort of different areas well. That is, the existing technology uses a one-piece airbag with an integral design to inflate and fit the lower limb. In this process, the contact distance between the airbag and different surfaces of the lower limb is different. Since the airbag is a whole, it cannot be separated from the contact surface of the lower limb for individual contact. The fit between the airbag and the lower limb also varies for different leg shapes. When the airbag is inflated as a whole, there may be excessive pressure on one side of the airbag on the leg, which will not make the user feel comfortable. Therefore, the problem of not being able to balance fit and comfort well still exists.

[0022] The binding device of the present invention includes a clamping mechanism and a multi-segment airbag mechanism. The clamping mechanism includes a first rotating node and two multi-link mechanisms symmetrically arranged on both sides of the first rotating node. The linkages of the multi-link mechanisms are driven by a driving device to expand or contract the space enclosed by the multi-link mechanisms, thereby accommodating and clamping the lower limb. The multi-segment airbag mechanism of the present invention uses airbags (respectively arranged on the first connecting rod, second connecting rod, and fourth connecting rod of the multi-link mechanism, the space enclosed by these connecting rods being able to accommodate the lower limb) to cooperate with the multi-link structure to clamp the lower limb. The present invention simplifies the binding of the leg to a zoned fit, that is, by using multiple independent airbags located on the same cross-section to achieve zoned clamping and fit of the lower limb's cross-section, allowing the air pressure of each airbag to be adjusted according to the actual needs of different areas, thereby balancing the fit and comfort of different areas, and making it suitable for users with different leg shapes.

[0023] Existing lower limb exoskeleton restraint devices mostly employ manual restraint, such as Velcro straps or metal buckles, to bind the legs. The restraint device of this invention uses an automatic restraint method, making it easier for users to operate compared to traditional manual restraint. Not only does it utilize a multi-link mechanism, but it also employs independent automatic inflation and deflation for each airbag. This allows for adjustment of the fit and comfort between each airbag and its corresponding area according to the actual needs of different regions of the lower limb. For example, different amounts of gas can be inflated into airbags in different parts of the lower limb as needed.

[0024] Furthermore, in practical applications, the shape of the lower limbs changes during user movement. Therefore, this application also includes sensors to monitor air pressure data in real time during user movement. Based on the changes in air pressure data, the inflation or deflation of each airbag is adjusted, thereby automatically adjusting the fit between each airbag and the corresponding area of ​​the leg according to different states during movement. This ensures a snug fit during movement, and also ensures that the binding device (airbag) and the lower limbs maintain a stable fit as the state changes. This significantly reduces the likelihood of the binding device loosening due to changes in the shape of the lower limbs during movement.

[0025] In practical applications, some users may lack sufficient limb strength, leading to abnormal posture (e.g., a downward shift in the center of gravity compared to normal standing or walking) or inability to walk, further causing the center of gravity to shift downward. Therefore, posture correction is necessary. Specifically, this application uses plantar pressure sensors to monitor plantar pressure in real time. If the detected plantar pressure exceeds a preset threshold, the backplate and backplate mechanism are controlled to move upward or downward, thereby causing the user to move upward or downward. The human body is subjected to upward or downward forces. At this time, under the action of friction between the airbags and the lower limbs, each airbag moves synchronously with the lower limbs (i.e., the airbags move upward or downward on the airbag moving mechanism). When the backplate stops moving, the airbags maintain their current position under the action of friction between the airbags and the lower limbs. This linkage between the binding device and the backplate mechanism ensures the fit between the airbags and the lower limbs. Attached Figure Description

[0026] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. In all the drawings, similar elements or parts are generally identified by similar reference numerals. The elements or parts in the drawings are not necessarily drawn to scale. Obviously, the drawings described below are some embodiments of the present invention, and those skilled in the art can obtain other drawings based on these drawings without any creative effort.

[0027] Figure 1 This is a schematic diagram of the binding device structure according to Embodiment 1 of the present invention; Figure 2 This is a schematic diagram of the dynamic linkage of the multi-link mechanism according to Embodiment 1 of the present invention; Figure 3 This is a partial schematic diagram of the binding device according to Embodiment 1 of the present invention; Figure 4 This is a partial schematic diagram of the binding device according to Embodiment 1 of the present invention from another angle; Figure 5 This is a schematic diagram of the binding device according to Embodiment 1 of the present invention from another angle; Figure 6 This is a schematic diagram of the multi-link mechanism of the binding device according to Embodiment 1 of the present invention; Figure 7 This is a schematic diagram of the binding device in different states after being closed, unfolded, and bound to the lower limbs according to Embodiment 1 of the present invention. Figure 8 This is a schematic diagram of the airbag moving mechanism according to Embodiment 1 of the present invention; Figure 9 for Figure 8 Cross-sectional view; Figure 10 This is a schematic diagram of the exoskeleton structure in Embodiment 3 of the present invention; Figure 11 This is a schematic diagram of the column structure according to Embodiment 3 of the present invention; Figure 12 This is a schematic diagram of the backplate mechanism structure according to Embodiment 3 of the present invention; Figure 13 This is a schematic diagram of the plantar exoskeleton structure according to Embodiment 3 of the present invention; Figure 14 This is a schematic diagram of the exoskeleton from another angle in Embodiment 3 of the present invention.

[0028] Summary of attached labeling and identification: 1. First connecting rod; 2. Second connecting rod; 3. Third connecting rod; 4. Fourth connecting rod; 5. Linkage rod; 6. Connecting plate; 7. Fifth connecting rod; 8. Inflation tube; 9A. First airbag; 9B. Second airbag; 9C. Third airbag; 10. Fixed bracket; 11. Electrode plate; 12. Limiting component; 13. Pushing component; 14. Fixed column; 15. Sliding block; 16. Column structure; 17. Backplate mechanism; 18. Pulley; 19. Foot exoskeleton; 20. Backplate; 21. Slider; 22. Sixth connecting rod; 171. First sliding member; 172. Second sliding member; 173. Second support rod; 161. First slide rail; A. First rotational node; B. Second rotational node; C. Third rotational node; D. Fourth rotational node; E. Fifth rotational node; F. First fixed node; G. Second fixed node; H. Third fixed node; L. Fourth fixed node; a, First position; b, Second position; d, Third position; e, Fourth position; f, Fifth position; g, Sixth position; h, Initial position; k, Seventh position. Detailed Implementation

[0029] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0030] In this document, suffixes such as "module," "part," or "unit" used to denote elements are used only for the purpose of illustrative purposes and have no specific meaning in themselves. Therefore, "module," "part," or "unit" may be used interchangeably.

[0031] In this document, the terms "upper," "lower," "inner," "outer," "front," "rear," "one end," and "the other end," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the present invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0032] In this document, unless otherwise explicitly specified and limited, the terms "installed," "equipped with," "connected," etc., should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, a direct connection, or an indirect connection through an intermediate medium; it can be a connection within two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0033] In this document, "and / or" includes any and all combinations of one or more of the listed related items.

[0034] In this article, "multiple" means two or more, that is, it includes two, three, four, five, etc.

[0035] As used in this specification, the term "about" typically means + / -5% of the value, more typically + / -4% of the value, more typically + / -3% of the value, more typically + / -2% of the value, even more typically + / -1% of the value, and even more typically + / -0.5% of the value.

[0036] Example 1: like Figure 1 As shown, this embodiment provides a binding device for a lower limb exoskeleton, including: a clamping mechanism and a multi-segment airbag mechanism, wherein, The clamping mechanism includes: a first rotation node A; two multi-link mechanisms symmetrically arranged on both sides of the first rotation node A; each multi-link mechanism includes: a first connecting rod 1 with one end rotatably connected to the first rotation node A; the other end of the first connecting rod 1 rotatably connected to one end of a second connecting rod 2 at a second rotation node B; the other end of the second connecting rod 2 rotatably connected to one end of a third connecting rod 3 at a third rotation node C; the other end of the third connecting rod 3 being fixedly connected to the lower limb exoskeleton; and a fourth connecting rod 4 with one end rotatably connected to the lower limb exoskeleton, the fourth connecting rod 4 being linked with the second connecting rod 2 or the third connecting rod 3 through a linkage assembly.

[0037] The clamping mechanism further includes: a driving device and a linkage rod 5, one end of which is connected to the first connecting rod 1 and the other end of which is connected to the driving device.

[0038] In this embodiment, the driving device specifically adopts a motor and gear driving method. The rotating shaft of the motor drives the driving wheel to rotate. A driven wheel is provided on each side of the driving wheel. The linkage rod 5 is connected to the driven wheel, thereby realizing the movement of the linkage rod 5 along the first direction or the second direction.

[0039] The multi-segment airbag mechanism includes: a first airbag 9A mounted on the first connecting rod 1, a second airbag 9B mounted on the third connecting rod 3, and a third airbag 9C mounted on the fourth connecting rod 4; it also includes: an inflation structure for inflating the first airbag 9A, the second airbag 9B, and the third airbag 9C respectively.

[0040] The first airbag 9A, the second airbag 9B, and the third airbag 9C described in this application are merely distinctions between airbags installed at different positions in the multi-link mechanism; their functions and structures are identical. For ease of description, each airbag is used to refer to the other in this application. Preferably, the airbags at different positions in this application can be adaptively adjusted according to the different shapes of the connecting rods at their installation positions, so that there are no gaps between the airbags.

[0041] When the driving device drives the linkage 5 to pull the first connecting rod 1 along the first direction, causing the first rotating node A to move towards the driving device, both second rotating nodes B move from the initial position h towards the second position b, thereby causing both third rotating nodes C to move from the third position d towards the fourth position e, and causing the free ends of the two fourth connecting rods 4 to move away from each other, thus facilitating lower limb entry. (See also...) Figure 7 .

[0042] When the driving device drives the linkage 5 to push the first connecting rod 1 in the second direction, causing the first rotating node A to move away from the driving device, the two second rotating nodes B move from the second position b to the first position a in a direction away from each other, and drive the two third rotating nodes C to move from the fourth position e to the seventh position k in a direction closer to each other, so that the free ends of the two fourth connecting rods 4 move closer to each other, causing the space enclosed by the symmetrically arranged multi-link mechanism to shrink and become smaller, and is clamped and tightly fitted to the lower limb by the first airbag 9A, the second airbag 9B and the third airbag 9C; and when the first airbag 9A, the second airbag 9B and the third airbag 9C are inflated, they fit tightly to the lower limb, see Figure 7 .

[0043] Specifically, in this embodiment, the first direction refers to the direction of the linkage 5 along the direction closer to the driving device (e.g., Figure 7 (The arrow in the leftmost view indicates the direction), and the second direction is opposite to the first direction. In this embodiment, the design of the multi-link mechanism is to realize the linkage change of the multi-link mechanism by pushing the first connecting rod 1 through the linkage rod 5.

[0044] Specifically, in this embodiment, the first position a and the second position b both refer to the movement trajectory of the first connecting rod 1 around the first rotating node A. During the process of the first rotating node A moving from the initial position h to the second position b, the space enclosed by the multi-link mechanism to accommodate the lower limbs increases in size to accommodate the lower limbs. When the first rotating node A moves from the second position b to the first position a, this process means that the space enclosed by the multi-link mechanism has accommodated the lower limbs and bound them, and the contraction of this space causes the airbag to fit snugly against the lower limbs. Since it is a linkage relationship, the third position d, the fourth position e, and the seventh position k refer to the movement trajectory of the third rotating node C (the connection point of the second connecting rod 2 and the third connecting rod 3). The fourth position e is the maximum rotation position of the third rotating node C, at which time the space enclosed by the multi-link mechanism is at its maximum. The seventh position k refers to the position of the third rotating node C after the lower limbs are bound. The fifth position f and the first position a are slightly different according to the shape of the lower limbs, and they mainly refer to the positional state of the third rotating node C and the second rotating node B of the multi-link mechanism after the lower limbs are bound. Correspondingly, the free end of the fourth connecting rod 4 (that is, the opening of the semi-enclosed space formed by the multi-link mechanism) also moves synchronously with the rotation of the fourth rotating node D. Specifically, Figure 7 The three different states of the binding devices can be switched between each other, and are not limited to the order shown in the figure.

[0045] In some embodiments, the end of the first connecting rod 1 furthest from the second rotation node B is disposed on the slider 21. The slider 21 can move on the guide shaft of the lower limb exoskeleton, so one end of the first connecting rod 1 moves with the slider 21. The endpoints of the first connecting rod 1 on the slider 21 (the two endpoints move synchronously) are the first rotation nodes referred to in this embodiment. In other embodiments, one end of each of the two first connecting rods 1 is disposed on the two sliders 21 and the guide shaft, respectively, and the two sliders 21 and the guide shaft move synchronously, that is, ensuring that the movement trajectory of the first rotation nodes is consistent. See [link to relevant documentation]. Figure 4 .

[0046] Specifically, in this embodiment, the second rotation node B and the third rotation node C refer to the part where two adjacent connecting rods (such as the second rotation node B between the first connecting rod 1 and the second connecting rod 2 in this embodiment) are rotatably connected by a rotating shaft. See [link to relevant documentation]. Figure 2 .

[0047] In some embodiments, the linkage component includes: a connecting plate 6 rotatably connected at one end to the third rotating node C; the connecting plate 6 is provided with a fourth rotating node D and a fifth rotating node E; the fourth rotating node D is rotatably connected to one end of the fourth connecting rod 4; the fifth rotating node E is rotatably connected to a fifth connecting rod 7; one end of the fifth connecting rod 7 away from the fifth rotating node E is fixedly connected to the lower limb exoskeleton; wherein, the lines connecting the third rotating node C, the fourth rotating node D, and the fifth rotating node E form a triangle, see [reference needed]. Figure 6 .

[0048] In particular, the connecting plate 6 adopts a double-layer structure to accommodate the rotation of the multi-link mechanism.

[0049] In some embodiments, the binding device further includes: a fixing bracket 10 fixed to the lower limb exoskeleton and symmetrically arranged, wherein a first end of the fixing bracket 10 is fixedly connected to a first fixing node F at an end of the third connecting rod 3 away from the third rotation node C; a second end of the fixing bracket 10 is fixedly connected to a third fixing node H at an end of the fifth connecting rod 7, and the other end of the fifth connecting rod 7 is rotatably connected to a fifth rotation node E at a connecting plate 6; one end of the fourth connecting rod 4 is fixedly connected to a second fixing node G at a first end of the fixing bracket 10 via a limiting member 12; wherein the included angle ∠BCG formed by the second rotation node B, the third rotation node C, and the second fixing node G is 90°-145°, see [reference]. Figure 4 .

[0050] In some embodiments, the linkage component further includes a sixth connecting rod 22, one end of which is rotatably connected to the second rotating node B, and the other end of the sixth connecting rod 22 is fixedly connected to the lower limb exoskeleton / fixation bracket. For example, the end of the sixth connecting rod 22 away from the second rotating node B is fixedly connected to the fixation bracket 10 at the fourth fixing node L.

[0051] In this embodiment, the first fixing node F, the second fixing node G, the third fixing node H, and the fourth fixing node L are anchored to the exoskeleton or fixation frame. (See attached image.) Figure 2 .

[0052] Specifically, the first end of the fixation bracket 10 refers to the portion near the fourth connecting rod 4, and the second end refers to the portion near the drive device. The fixation bracket 10 serves as a fixed support point for the multi-link mechanism to be fixed on the lower limb exoskeleton structure.

[0053] Specifically, the limiting member 12 (see [reference]) is connected to one end of the fourth connecting rod 4 (the other end of the fourth connecting rod 4 is the free end). Figure 3As a limiting structure for the unfolding distance (space enclosed by the multi-link mechanism) of the fourth connecting rod 4, when the fourth connecting rod 4 moves from the initial position h to the second position b, the limiting member 12 of the fourth connecting rod 4 moves to the limiting part on the connecting plate 6 (the part that abuts against the limiting member 12), so that the fourth connecting rod 4 can no longer rotate around the fourth rotation node D.

[0054] Specifically, the rotation of the linkage component causes the limiting member 12 to move from the fifth position f (the position in the unused state) to the sixth position g after the multi-link mechanism is deployed.

[0055] The binding device of this application differs from existing binding devices that feature an integrated surface fit with the lower limbs (e.g., the prior art binding device design, which is a circular binding device and uses a single airbag to wrap around the entire lower limb). The disadvantage of an integrated surface fit is that the irregular shape of the lower limbs cannot balance fit and comfort. For example, on the one hand, when using a ring-shaped binding device, since the lower limbs are not perfectly circular or elliptical, gaps of varying sizes exist between different areas of the leg and the ring. To ensure a snug fit, the entire airbag needs to be inflated with enough air to eliminate all gaps and fit tightly. This results in excessive binding pressure in areas with small gaps, causing discomfort and affecting the user's willingness to use the device. If comfort is prioritized, less air is inflated, but this may not eliminate larger gaps, or even if they are, insufficient binding pressure may cause the device to loosen, especially with slight user movement, leading to significant loosening and displacement. On the other hand, not all users have uniform lower limb shapes; different users have different lower limb shapes. Using a single airbag for uniform wrapping still faces the challenge of effectively balancing fit and comfort in different areas. In other words, existing technologies use a one-piece airbag with an integral design that inflates to fit the lower limb. During this process, the contact distance between the airbag and different surfaces of the lower limb varies. Since the airbag is integral, it cannot be separated from the contact surface of the lower limb for individual contact. For different leg shapes, the fit between the airbag and the lower limb also varies. When the airbag is inflated as a whole, there may be excessive pressure on one side of the airbag on the leg, which will not make the user feel comfortable. Therefore, the problem of not being able to balance fit and comfort well still exists.

[0056] The multi-link structure and multi-segment airbag mechanism of this application solve the problem that integrally designed binding devices cannot balance fit and comfort with the lower limbs. Specifically, it adopts a zoned fit method, that is, multiple clamping points are set around the limb for clamping, and independent airbags are set between the clamping points and / or between the clamping points. Preferably, the clamping points are several rotation nodes of the multi-link mechanism, including: a first rotation node A, a third rotation node C, and the free end of the fourth connecting rod 4. The setting of the clamping points is more suitable for users with different lower limb shapes (the lower limbs are not necessarily regular circles, but have a certain irregular shape). This invention simplifies the binding of the binding device to the leg to a zoned fit, that is, by using multiple independent airbags located on the same cross-section, the cross-section of the lower limb is clamped and fitted in different areas. This allows the air pressure of each airbag to be adjusted according to the actual needs of different areas, thereby balancing the fit and comfort of different areas, and making it suitable for users with different leg shapes.

[0057] In some embodiments, the binding device further includes a control module electrically connected to the driving device and the inflation structure in the multi-segment airbag mechanism, for controlling the clamping of the lower limbs by the multi-link mechanism and the inflation and deflation of each airbag.

[0058] In some embodiments, the inflation structure includes: an inflation tube 8 connected to the first airbag 9A, the second airbag 9B, and the third airbag 9C, and an air pump connected to the inflation tube 8. See [link to relevant documentation]. Figure 5 .

[0059] In some embodiments, the binding device further includes a pressure sensor disposed on the inflatable structure (in this embodiment, it is connected to the inflatable tube 8), and the pressure sensor and the inflatable structure are electrically connected to the control module.

[0060] The pressure sensor detects the pressure signals of the first airbag 9A, the second airbag 9B, and the third airbag 9C, and transmits the pressure signals to the control module, so that the control module controls the inflation and deflation of each airbag in different parts of the lower limb according to the preset pressure threshold and the pressure signals.

[0061] Existing lower limb exoskeleton restraint devices mostly employ manual restraint, such as Velcro straps or metal buckles, to bind the legs. The restraint device of this invention uses an automatic restraint method, making it easier for users to operate compared to traditional manual restraint. Not only does it utilize a multi-link mechanism, but it also employs independent automatic inflation and deflation for each airbag. This allows for adjustment of the fit and comfort between each airbag and its corresponding area according to the actual needs of different regions of the lower limb. For example, different amounts of gas can be inflated into airbags in different parts of the lower limb as needed.

[0062] Furthermore, in practical applications, the shape of the lower limbs changes during user movement. Therefore, this application also includes sensors to monitor air pressure data in real time during user movement. Based on the changes in air pressure data, the inflation or deflation of each airbag is adjusted, thereby automatically adjusting the fit between each airbag and the corresponding area of ​​the leg according to different states during movement. This ensures a snug fit during movement, and also ensures that the binding device (airbag) and the lower limbs maintain a stable fit as the state changes. This significantly reduces the likelihood of the binding device loosening due to changes in the shape of the lower limbs during movement.

[0063] The multi-link mechanism of this invention can achieve automatic binding. The control module controls the drive device to pull or push the linkage 5, thereby realizing the clamping of the lower limb by the multi-link mechanism. At the same time, the air pump inflates the airbag to make it fit tightly against the lower limb. After the user wears it, during walking, the airbag and the lower limb may slide relative to each other, resulting in insufficient fit between the airbag and the lower limb. The pressure sensor detects the pressure signal of each contact point between the airbag and the lower limb, thereby inflating the airbag at the corresponding part that does not fit well against the lower limb, or deflating the part that fits too tightly, so that the airbag fits the lower limb better.

[0064] In some embodiments, the binding device further includes mounting holes provided on the first airbag 9A, the second airbag 9B, and the third airbag 9C for mounting a plurality of electrode pads 11. A wire harness passes through the mounting holes and is connected to the electrode pads 11.

[0065] Specifically, multiple mounting holes are arranged along the edge of the airbag. Depending on the installation position requirements of the electrode sheet 11, the electrode sheet can be installed in several of the multiple mounting holes, and the wire harness passes through the mounting holes at the installation position of the electrode sheet 11 and connects to the electrode sheet 11.

[0066] like Figure 5 As shown, in some embodiments, the multi-segment airbag mechanism further includes: multiple airbag moving mechanisms disposed on a multi-link mechanism (first connecting rod 1, third connecting rod 3 and fourth connecting rod 4), wherein the first airbag 9A, the second airbag 9B and the third airbag 9C are connected to the airbag moving mechanism, and the airbag moving mechanism drives each airbag to move up and down.

[0067] like Figure 8 and Figure 9 As shown, the airbag moving mechanism includes: at least two fixed posts 14 arranged side by side, and a sliding block 15 that can reciprocate along the axial direction of the fixed posts 14, wherein, The sliding block 15 is connected to the first airbag, or the second airbag, or the third airbag; and the upper and lower sides of the sliding block 15 are respectively provided with pushers 13 corresponding to the positions of the fixed column 14.

[0068] The airbag moving mechanism also includes elastic elements disposed at both ends of the fixed column 14.

[0069] When the first airbag 9A, the second airbag 9B, or the third airbag 9C is subjected to an upward or downward force, the first airbag 9A, the second airbag 9B, or the third airbag 9C drives the corresponding sliding block 15 to move up and down along the axial direction of the fixed column 14, so that the pushing member 13 compresses the elastic member. When the force is removed, under the action of the elastic element, the sliding block 15 drives the corresponding first airbag 9A, or second airbag 9B, or third airbag 9C to reset.

[0070] In some embodiments, the airbag moving mechanism further includes: a fixing member fixed to a multi-link mechanism, wherein the elastic member (a spring is used in this embodiment) is disposed within the fixing member, and the pushing member 13 can reciprocate within the fixing member and compress the elastic member.

[0071] In this embodiment, the first airbag 9A, the second airbag 9B, and the third airbag 9C are respectively mounted on the first connecting rod 1, the third connecting rod 3, and the fourth connecting rod 4 of the multi-link mechanism via an airbag moving mechanism. The frictional force between the airbag and the lower limb is greater than the elastic force of the elastic element, so the airbag can be maintained at this position after the distance is adjusted. This application sets up an airbag moving mechanism to achieve slight adjustment of the vertical distance of the airbag, ensuring that the airbag and the lower limb are offset when the user moves. This slight adjustment ensures the fit between the airbag and the lower limb.

[0072] In some other embodiments, the airbag moving mechanism is provided with a drive module, which drives the sliding block 15 to move the airbag up and down. The drive module is electrically connected to the control module (which is the same as the control module for controlling the inflation structure and clamping mechanism of the airbag).

[0073] Specifically, the drive module can be a motor, a cylinder, or a hydraulic cylinder. The foot exoskeleton 19 sends a pressure signal to the control module. The control module compares the pressure data collected by the pressure sensor with a preset pressure threshold. If the pressure data is greater than or equal to a preset first pressure threshold and less than a second pressure threshold, it indicates that the friction between the airbag and the lower limb is sufficient, causing the airbag to move a corresponding distance. If the pressure is greater than or equal to the preset second pressure threshold, in order to ensure the consistency between the airbag and the lower limb movement, the control module controls the drive module to move the airbag up and down.

[0074] Example 2 This second embodiment provides a lower limb exoskeleton, which includes the binding device as described in the first embodiment above.

[0075] Example 3: This third embodiment provides an adjustable backplate exoskeleton, including: the binding device in the first embodiment or the lower limb exoskeleton in the second embodiment.

[0076] The exoskeleton also includes: a column structure 16 and a control module (the same as the control module for the control restraint device and multi-segment airbag mechanism in Embodiment 1). The column structure 16 is connected to a backplate mechanism 17 that can move up and down along the column structure 16. The backplate mechanism 17 is connected to the two lower limb exoskeletons. In particular, the column structure 16 is also provided with pulleys 18, see [link to documentation]. Figure 10 and Figure 14 .

[0077] The exoskeleton also includes a backplate 20 that is strapped to the back of the human body. The backplate 20 is mounted on a backplate mechanism 17 and can move up and down along the backplate mechanism 17.

[0078] The backplate mechanism 17 includes a first sliding member 171, along which the backplate 20 can slide. The first sliding member 171 includes a motor, a screw connected to the output end of the motor, and a first support rod extending from one side of the backplate 20 threadedly connected to the screw. Driving the motor allows the backplate 20 to move up and down along the screw. (See also...) Figure 12 .

[0079] The backplate mechanism 17 further includes: second support rods 173 respectively disposed at both ends of the second sliding member 172 and parallel to each other, the two second support rods 173 sliding in opposite directions; the second support rods 173 can reciprocate along the axial direction of the second sliding member 172. The second sliding member 172 can move along the first slide rail 161 of the column structure 16 (see...). Figure 11 The position of the first slide rail 161 shown can be moved up and down.

[0080] In some embodiments, the second support rod is connected to the lower limb exoskeleton, and a foot exoskeleton 19 is provided at the bottom of the lower limb exoskeleton. A pressure sensor is provided on the foot exoskeleton 19. (See also...) Figure 13 .

[0081] When a user wears the foot exoskeleton 19 and walks, the pressure sensor of the foot exoskeleton 19 sends a pressure signal to the control module. The control module compares the pressure data collected by the pressure sensor with a preset pressure threshold. If the pressure data is greater than or equal to the preset pressure threshold, the control module controls the back plate 20 to move upward relative to the back plate mechanism 17, and simultaneously drives the airbags that fit the lower limbs to move upward, thereby driving the sliding block 15 to move up and down along the fixed column 14, so that the pusher 13 squeezes the elastic element at the top of the fixed column 14.

[0082] In some embodiments, the lower limb exoskeleton is further equipped with knee joint motors and hip joint motors. This structure enables three-degree-of-freedom movements of the human hip and ankle joints (flexion / extension, internal / external rotation, and abduction / adduction), as well as knee joint flexion and extension movements. Simultaneously, it improves the coordination between the human body and the exoskeleton during leg external / internal rotation, thereby enhancing wearing comfort and movement flexibility.

[0083] In some embodiments, the multi-segment airbag mechanism further includes an airbag moving mechanism disposed on the first connecting rod 1, the third connecting rod 3, and the fourth connecting rod 4, wherein the first airbag 9A, the second airbag 9B, and the third airbag 9C are connected to the airbag moving mechanism, and the airbag moving mechanism drives each airbag to move up and down.

[0084] The airbag moving mechanism includes: at least two fixed posts 14 arranged side by side, and a sliding block 15 that can reciprocate along the axial direction of the fixed posts 14, wherein, The sliding block 15 is connected to the first airbag 9A, or the second airbag 9B, or the third airbag 9C; and the upper and lower sides of the sliding block 15 are respectively provided with pushers 13 corresponding to the positions of the fixed column 14.

[0085] It also includes elastic elements disposed at both ends of the fixed post 14.

[0086] When the first airbag 9A, the second airbag 9B, or the third airbag 9C is subjected to an upward or downward force, the first airbag 9A, the second airbag 9B, or the third airbag 9C drives the corresponding sliding block 15 to move up and down along the axial direction of the fixed column 14, so that the pushing member 13 compresses the elastic member. When the force is removed, under the action of the elastic element, the sliding block 15 drives the corresponding first airbag 9A, or second airbag 9B, or third airbag 9C to reset.

[0087] In other embodiments, the airbag moving mechanism is provided with a drive module, which drives the sliding block 15 to move the airbag up and down. The drive module is electrically connected to the control module.

[0088] Specifically, the drive module can be a motor, a cylinder, or a hydraulic cylinder. The foot exoskeleton 19 sends a pressure signal to the control module. The control module compares the pressure data collected by the pressure sensor with a preset pressure threshold. If the pressure data is greater than or equal to the preset first pressure threshold and less than the second pressure threshold, it means that the back plate 20 may need to move a small distance. The friction between the airbag and the lower limb is sufficient to move the airbag a corresponding distance. If the pressure is greater than or equal to a preset second pressure threshold, it indicates that the backplate 20 may need to move a relatively large distance. To ensure consistency between the airbag and lower limb movement, the control module controls the drive module to move the airbag up and down. The multi-segment airbag and backplate 20 height-adjustable linkage adjustment structure of this invention makes it more convenient for users with mobility impairments to operate.

[0089] The exoskeleton device of this application includes a foot exoskeleton 19 capable of sensing plantar pressure, and a height-adjustable backplate 20 and backplate mechanism 17. The backplate mechanism 17 can move up and down along the column structure 16, and the backplate 20 can move up and down relative to the backplate mechanism 17. When a person wears the exoskeleton and changes from a sitting to a standing posture, the backplate mechanism 17 is adjusted upward along the column structure 16 to a height that matches the user's body shape. Furthermore, when the user walks in a standing posture, the plantar exoskeleton 19 detects changes in plantar pressure, allowing the control module to control the up and down movement of the backplate 20 relative to the backplate mechanism 17 based on the plantar pressure to adjust the user's posture (this control algorithm is not the focus of this application and will not be described in detail; please refer to the prior art).

[0090] In practical applications, some users may lack sufficient limb strength, leading to abnormal posture (e.g., a downward shift in the center of gravity compared to normal standing or walking) or inability to walk, further causing the center of gravity to shift downward. Therefore, posture correction is necessary. Specifically, this application uses a plantar pressure sensor to monitor plantar pressure in real time. If the detected plantar pressure exceeds a preset threshold, the backplate 20 and backplate mechanism 17 are controlled to move upward or downward, thereby causing the user to move upward or downward. The human body is subjected to an upward or downward force. At this time, under the action of friction between the airbag and the lower limb, each airbag moves synchronously with the lower limb (i.e., the airbag moves upward or downward on the airbag moving mechanism). When the backplate 20 stops moving, under the action of friction between the airbag and the lower limb, the airbag maintains its current position. This linkage between the binding device and the backplate mechanism 17 ensures the fit between the airbag and the lower limb.

[0091] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0092] The embodiments of the present invention have been described above with reference to the accompanying drawings. However, the present invention is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of the present invention without departing from the spirit and scope of the claims. All of these forms are within the protection scope of the present invention.

Claims

1. An exoskeleton with an adjustable backplate, characterized in that, include: The column structure (16) and control module are provided. A back plate mechanism (17) is slidably connected to the column structure (16), and a lower limb exoskeleton is connected to the back plate mechanism (17). A back plate (20) that can move up and down relative to the back plate mechanism (17) is provided on the back plate mechanism (17). The system also includes a binding device and a foot exoskeleton (19) provided on the lower limb exoskeleton. The foot exoskeleton (19) is provided with a pressure sensor. The binding device includes a clamping mechanism and a multi-segment airbag mechanism. The clamping mechanism includes a first rotating node (A) and two multi-link mechanisms symmetrically arranged on both sides of the first rotating node (A). Each multi-link mechanism includes a first connecting rod (1) with one end rotatably connected to the first rotating node (A), the other end of the first connecting rod (1) rotatably connected to one end of a second connecting rod (2) at a second rotating node (B), the other end of the second connecting rod (2) rotatably connected to one end of a third connecting rod (3) at a third rotating node (C), and the other end of the third connecting rod (3) fixedly connected to the lower limb exoskeleton; and one end rotatably connected to the lower limb exoskeleton. The fourth connecting rod (4) on the skeleton is linked to the second connecting rod (2) or the third connecting rod (3) through a linkage component; the clamping mechanism further includes: a driving device, a linkage rod (5) with one end connected to the first connecting rod (1) and the other end connected to the driving device; the multi-segment airbag mechanism includes: a first airbag (9A) installed on the first connecting rod (1), a second airbag (9B) set on the third connecting rod (3), and a third airbag (9C) set on the fourth connecting rod (4), and an inflation structure for inflating the first airbag (9A), the second airbag (9B) and the third airbag (9C); When the driving device drives the linkage rod (5) to pull the first connecting rod (1) in the first direction, causing the first rotating node (A) to move in the direction close to the driving device, both second rotating nodes (B) move from the initial position (h) to the second position (b) in the direction close to each other, thereby causing both third rotating nodes (C) to move from the third position (d) to the fourth position (e) in the direction away from each other, and causing the free ends of the two fourth connecting rods (4) to move away from each other, thus facilitating the entry of the lower limbs; while when the driving device drives the linkage rod (5) to push the first connecting rod (1) in the second direction... When the first rotating node (A) moves away from the driving device, the two second rotating nodes (B) move from the second position (b) to the first position (a) in a direction away from each other, and drive the two third rotating nodes (C) to move from the fourth position (e) to the seventh position (k) in a direction close to each other, so that the free ends of the two fourth connecting rods (4) are close to each other, so that the space enclosed by the symmetrically arranged multi-link mechanism shrinks and becomes smaller, and is clamped and tightly attached to the lower limb by the inflated first airbag (9A), second airbag (9B) and third airbag (9C); When the user is walking, the pressure sensor of the foot exoskeleton (19) sends a pressure signal to the control module. The control module compares the pressure data collected by the pressure sensor with a preset pressure threshold. If the pressure data is greater than or equal to the preset pressure threshold, the control module controls the back plate (20) to move upward relative to the back plate mechanism (17).

2. The adjustable backplate exoskeleton according to claim 1, characterized in that, The binding device further includes an airbag moving mechanism respectively disposed on the first connecting rod (1), the third connecting rod (3) and the fourth connecting rod (4) in the clamping mechanism. The airbag moving mechanism includes a fixed column (14) fixedly installed on the first connecting rod (1) or the third connecting rod (3) or the fourth connecting rod (4). The fixed column (14) is provided with elastic elements at both ends and a sliding block (15) that can reciprocate along the axial direction of the fixed column (14). The sliding block (15) is connected to the corresponding airbag, and the two sides of the sliding block (15) are provided with pushers (13) corresponding to the positions of the fixed column (14). The airbag moving mechanism is provided with a drive module, which drives the sliding block (15) to move the airbag up and down. The drive module is electrically connected to the control module. The control module compares the pressure data collected by the pressure sensor with a preset pressure threshold. If the pressure data is greater than or equal to the preset first pressure threshold and less than the second pressure threshold, the control module controls the drive module to move the airbag a corresponding distance. If the pressure is greater than or equal to a preset second pressure threshold, the control module controls the drive module to move the airbag up and down.

3. The adjustable backplate exoskeleton according to claim 1, characterized in that, The back plate mechanism (17) includes: a first sliding member (171), and the back plate (20) is slidable along the first sliding member (171); The back plate mechanism (17) further includes a second sliding member (172) connected to the first sliding member (171), the second sliding member (172) being able to move up and down along the first slide rail (161) of the column structure (16); The backplate mechanism (17) further includes: a second support rod (173) respectively disposed at both ends of the second sliding member (172) and parallel to each other; the second support rod (173) can reciprocate along the axial direction of the second sliding member (172).

4. The adjustable backplate exoskeleton according to claim 1, characterized in that, The first sliding member (171) includes: a motor, a screw connected to the output end of the motor, a first support rod extending from one side of the back plate (20) and threadedly connected to the screw, and the back plate (20) being movable up and down along the screw.

5. The adjustable backplate exoskeleton according to claim 1, characterized in that, The linkage component includes: a connecting plate (6) rotatably connected at one end to the third rotating node (C), a fourth rotating node (D) and a fifth rotating node (E) provided on the connecting plate (6), the fourth rotating node (D) being rotatably connected to the fourth connecting rod (4); the fifth rotating node (E) being rotatably connected to a fifth connecting rod (7), the end of the fifth connecting rod (7) away from the fifth rotating node (E) being fixedly connected to the lower limb exoskeleton; wherein, the line connecting the third rotating node (C) to the fourth rotating node (D) and the fifth rotating node (E) forms a triangle.

6. The adjustable backplate exoskeleton according to claim 1, characterized in that, The binding device further includes a plurality of electrode pads (11) disposed on the first airbag (9A), the second airbag (9B) and the third airbag (9C).

7. The adjustable backplate exoskeleton according to claim 1, characterized in that, The inflation structure includes: an inflation tube (8) connected to the first airbag (9A), the second airbag (9B) and the third airbag (9C), and an air pump connected to the inflation tube (8).

8. The adjustable backplate exoskeleton according to claim 5, characterized in that, The binding device also includes: A fixation bracket (10) is fixed to the lower limb exoskeleton and symmetrically arranged; The first end of the fixed bracket (10) is fixedly connected to the first fixed node (F) at the end of the third connecting rod (3) away from the third rotating node (C). The second end of the fixed bracket (10) is fixedly connected to one end of the fifth connecting rod (7) at the third fixed node (H); the other end of the fifth connecting rod (7) is rotatably connected to the connecting plate (6) at the fifth rotating node (E). One end of the fourth connecting rod (4) is fixedly connected to the first end of the fixed bracket (10) at the second fixed node (G) via a limiting member (12). The included angle ∠BCG formed by the second rotating node (B), the third rotating node (C), and the second fixed node (G) is 90°-145°.

9. The adjustable backplate exoskeleton according to claim 1, characterized in that, The multi-segment airbag mechanism further includes: a pressure sensor disposed on the inflatable structure, and the control module is electrically connected to the pressure sensor and the inflatable structure; The air pressure sensor detects the pressure signals of the first airbag (9A), the second airbag (9B), and the third airbag (9C) and the lower limb, and transmits the pressure signals to the control module. According to the preset pressure threshold, the control module controls the inflation and deflation of each airbag in different parts of the lower limb by the inflation structure.

10. The adjustable backplate exoskeleton according to claim 5, characterized in that, The fourth connecting rod (4) is provided with a limiting member (12) at one end near the connecting plate (6).

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