Exoskeleton device
By introducing a lower leg lateral swing hinge connected to a knee joint actuator in the exoskeleton device, the lateral swing freedom of the lower leg strap assembly is realized, solving the problem of insufficient coupling between existing exoskeleton devices and the human leg's degree of freedom, and improving user comfort and flexibility.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- HYPERSHELL
- Filing Date
- 2024-11-02
- Publication Date
- 2026-05-08
AI Technical Summary
Existing wearable exoskeleton devices for the lower limbs cannot be fully coupled with the human leg's degree of freedom, resulting in poor comfort and flexibility.
Design an exoskeleton device including a waist bar module, a left leg module and a right leg module. The left leg module and the right leg module respectively include a hip joint actuator, a thigh module, a knee joint actuator and a lower leg module. The lower leg module includes a lower leg linkage assembly and a lower leg strap assembly. It is connected to the knee joint actuator through a lower leg lateral swing hinge to realize the lateral swing freedom of the lower leg strap assembly.
It improves the coupling between the exoskeleton device and the human leg's freedom of movement, enhances user comfort and flexibility, and reduces the burden on the human body during movement.
Smart Images
Figure CN121989201A_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of exoskeleton technology, and in particular to an exoskeleton device. Background Technology
[0002] Mechanical exoskeletons, also known as powered exoskeletons or exoskeleton devices, are wearable robotic devices constructed from a high-strength frame. These devices provide the human body with additional energy for limb movement. Exoskeletons worn on the lower limbs are widely used in medical and outdoor activities.
[0003] In related technologies, exoskeleton devices suitable for lower limb wear can have actuators positioned at the hip and knee joints, and are secured to the legs using corresponding rigid links. However, because they cannot be fully coupled with the freedom of movement of the human leg, the comfort and flexibility of these exoskeleton devices are lacking. Summary of the Invention
[0004] This application provides an exoskeleton device that can solve the problem of not being able to fully couple with the freedom of the human leg, resulting in poor comfort and flexibility.
[0005] The technical solution is as follows:
[0006] An exoskeleton device, the exoskeleton device comprising: a waist support module, a left leg module, and a right leg module;
[0007] The left leg module and the right leg module are respectively connected to the waist support module;
[0008] The left leg module and the right leg module each include a hip joint actuator, a thigh module, a knee joint actuator and a calf module arranged in series, and the hip joint actuator is connected to the waist bar module.
[0009] The lower leg module includes a lower leg connecting rod assembly and a lower leg strap assembly;
[0010] The lower leg linkage assembly includes a lower leg lateral swing hinge, and the lower leg strap assembly is connected to the knee joint actuator via the lower leg lateral swing hinge.
[0011] In some embodiments, the first axis of the knee joint actuator coincides with the axis of the human knee joint, and the second axis of the lower leg lateral hinge is perpendicular to the first axis of the knee joint actuator.
[0012] In some embodiments, the lower leg side hinge is located below the knee joint actuator, and the vertical distance L1 between the second axis and the first axis ranges from 5 to 10 cm.
[0013] In some embodiments, the calf side swing hinge includes a first hinge joint, a first hinge shaft, and a second hinge joint;
[0014] One of the first hinge head and the second hinge head is close to and connected to the knee joint actuator, and the other is close to and connected to the calf strap assembly;
[0015] The first hinge joint includes a first shaft hole portion, and the second hinge joint includes a second shaft hole portion, which is coaxially arranged with the first shaft hole portion; the first hinge shaft is respectively connected to the first shaft hole portion and the second shaft hole portion to enable the first hinge joint and the second hinge joint to be rotatably connected.
[0016] In some embodiments, the lower leg side swing hinge further includes a wear-resistant bushing, which is sleeved on the first hinge shaft and rotatably connected to at least one of the first shaft hole portion and the second shaft hole portion.
[0017] In some embodiments, the first hinge joint further includes a first connector seat, and the two first shaft holes are respectively located on the first connector seat;
[0018] The lower leg linkage assembly further includes a first linkage member, the top end of which is connected to the knee joint actuator, and the bottom end of which is connected to the first connector seat.
[0019] And / or,
[0020] The second hinge joint also includes a second connector seat, and the second shaft hole portion is located on the second connector seat;
[0021] The lower leg linkage assembly further includes a second linkage member, the top end of which is connected to the second connector seat, and the bottom end of which is connected to the lower leg strap assembly.
[0022] In some embodiments, the lower leg linkage assembly further includes a lower leg rotating hinge, which is connected in series with the lower leg lateral swing hinge, and the lower leg rotating hinge is located between the lower leg lateral swing hinge and the lower leg strap assembly.
[0023] In some embodiments, the third axis of the calf rotation hinge is inclined toward the side where the calf strap assembly is located along the vertical plane containing the second axis of the calf side swing hinge, and the extension line of the lower end of the third axis passes through the vertical line where the center of the calf strap assembly is located.
[0024] In some embodiments, the third axis intersects the second axis perpendicularly.
[0025] In some embodiments, the calf rotation hinge includes a third hinge joint, a second hinge shaft, and a fourth hinge joint;
[0026] One of the third hinge joint and the fourth hinge joint is close to and connected to the lower leg rotating hinge, and the other is close to and connected to the lower leg strap assembly;
[0027] The third hinge joint includes a third shaft hole portion, and the fourth hinge joint includes a fourth shaft hole portion. The fourth shaft hole portion and the third shaft hole portion are arranged coaxially. The second hinge shaft is respectively connected to the third shaft hole portion and the fourth shaft hole portion to enable the third hinge joint and the fourth hinge joint to be rotatably connected.
[0028] In some embodiments, when the calf side swing hinge includes a second hinge head and the second hinge head is close to the calf strap assembly, one of the third hinge head and the fourth hinge head is close to and fixedly connected to the second hinge head.
[0029] The beneficial effects of the technical solution provided in this application include at least the following:
[0030] The exoskeleton device of this application can be connected to the human waist via a waist bar module, and the left and right leg modules can be connected to the left and right legs respectively. Hip joint actuators and knee joint actuators can be used to assist the movement of the thigh and calf respectively, reducing the human body's exercise burden. Among them, the calf linkage assembly has a calf lateral swing hinge between the knee joint actuator and the calf strap assembly, which gives the calf strap assembly an additional lateral swing freedom. In addition to satisfying the original hip joint freedom and knee joint freedom, the left and right leg modules can also achieve a 1st lateral swing freedom, which is more coupled with the human leg's movement freedom, thereby improving the user comfort and flexibility of the exoskeleton device. Attached Figure Description
[0031] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0032] Figure 1 This is a schematic diagram of the structure of the exoskeleton device provided in the embodiments of this application;
[0033] Figure 2 This is a schematic diagram of the lower leg module provided in an embodiment of this application;
[0034] Figure 3This is a schematic diagram showing the connection between the lower leg module and the human lower leg provided in an embodiment of this application;
[0035] Figure 4 This is a structural cross-sectional view of the lower leg side swing hinge provided in an embodiment of this application;
[0036] Figure 5 This is an exploded view of the lower leg side swing hinge provided in an embodiment of this application;
[0037] Figure 6 This is a schematic diagram of the connection structure of the lower leg side swing hinge provided in an embodiment of this application;
[0038] Figure 7 This is a schematic diagram of the lower leg module provided in another embodiment of this application;
[0039] Figure 8 This is a schematic diagram of the lower leg rotating hinge provided in an embodiment of this application;
[0040] Figure 9 This is a cross-sectional view of the lower leg rotating hinge provided in an embodiment of this application;
[0041] Figure 10 This is an exploded view of the lower leg rotating hinge provided in an embodiment of this application;
[0042] Figure 11 This is a schematic diagram of the degrees of freedom of the human lower leg in lateral swing.
[0043] The reference numerals in the figure are respectively:
[0044] 10. Waist support module; 20. Left leg module; 30. Right leg module;
[0045] 001, First axis; 002, Second axis; 003, Third axis; 004, Vertical line;
[0046] 1. Hip joint actuator;
[0047] 2. Thigh module;
[0048] 21. Thigh linkage assembly; 22. Thigh strap assembly;
[0049] 3. Knee joint actuator;
[0050] 4. Lower leg module;
[0051] 41. Lower leg linkage assembly; 42. Lower leg strap assembly;
[0052] 411. Lower leg lateral swing hinge; 412. Lower leg rotation hinge; 413. First link; 414. Second link;
[0053] 4111, First hinge joint; 4112, First hinge shaft; 4113, Second hinge joint; 4114, Wear-resistant bushing;
[0054] 41111, First shaft hole portion; 41112, First connector seat; 41131, Second shaft hole portion; 41132, Second connector seat;
[0055] 4121. Third hinge joint; 4122. Second hinge shaft; 4123. Fourth hinge joint;
[0056] 41211, Third shaft hole section; 41231, Fourth shaft hole section;
[0057] A1. Human waist; A2. Human hip joint; A3. Human thigh; A4. Human knee joint; A5. Human calf. Detailed Implementation
[0058] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.
[0059] In the description of this application, it should be understood that the terms "center," "longitudinal," "transverse," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the appendix. Figure 1 The orientations or positional relationships shown are for the purpose of facilitating and simplifying the description of this application, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.
[0060] Unless otherwise defined, all technical terms used in the embodiments of this application have the same meaning as commonly understood by one of ordinary skill in the art.
[0061] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described in further detail below with reference to the accompanying drawings.
[0062] Combination Figure 1 , Figure 2 , Figure 3 and Figure 11As shown, this embodiment provides an exoskeleton device, which includes: a waist support module 10, a left leg module 20, and a right leg module 30.
[0063] The left leg module 20 and the right leg module 30 are respectively connected to the waist support module 10; the left leg module 20 and the right leg module 30 respectively include a hip joint actuator 1, a thigh module 2, a knee joint actuator 3 and a calf module 4 arranged in series, and the hip joint actuator 1 is connected to the waist support module 10.
[0064] The lower leg module 4 includes a lower leg linkage assembly 41 and a lower leg strap assembly 42; the lower leg linkage assembly 41 includes a lower leg side swing hinge 411, and the lower leg strap assembly 42 is connected to the knee joint actuator 3 through the lower leg side swing hinge 411. The lower leg strap assembly 42 is used to tighten the human lower leg A5.
[0065] The exoskeleton device of this embodiment can be connected to the waist A1 of the human body via the waist pole module 10, and the left leg module 20 and the right leg module 30 can be connected to the left leg and the right leg respectively. The hip joint actuator 1 and the knee joint actuator 3 can be used to assist leg movements and reduce the exercise burden on the human body.
[0066] Among them, the lower leg linkage assembly 41 has a lower leg lateral swing hinge 411 between the knee joint actuator 3 and the lower leg strap assembly 42, which gives the lower leg strap assembly 42 an additional lateral swing degree of freedom. In addition to satisfying the original hip joint degree of freedom and knee joint degree of freedom, the left leg module 20 and the right leg module 30 can also realize a lower leg lateral swing degree of freedom, which is more coupled with the movement degree of freedom of the human leg, thereby improving the comfort and flexibility of the exoskeleton device.
[0067] refer to Figure 11 As shown, the human lower leg A5 has a degree of freedom to swing inward and outward. However, exoskeleton devices in related technologies usually ignore the existence of this degree of freedom. When the human lower leg A5 swings inward or outward, the exoskeleton device will restrict it. The human lower leg A5 and the exoskeleton device will be tightened or bumped, resulting in poor movement and discomfort.
[0068] Among some possible implementations, refer to Figure 1 , Figure 3 and Figure 11 As shown, the exoskeleton device is a lower limb exoskeleton. The waist pole module 10 is used to fix and connect to the waist A1 of the human body. The left leg module 20 and the right leg module 30 are used to connect to the left leg and the right leg of the human body, respectively. The thigh module 2 in the left leg module 20 and the right leg module 30 is used to connect to the thigh A3 of the human body, and the calf module 4 is used to connect to the calf A5 of the human body. The exoskeleton device has good consistency and is easy to wear.
[0069] The rotation axis of the hip joint actuator 1 is aligned with the axis of the human hip joint A2. The thigh module 2 can be driven to rotate relative to the waist bar module 10 by the thigh strap assembly 22 and the hip joint actuator 1, thereby providing movement assistance to the human thigh A3.
[0070] For example, the thigh module 2 includes a thigh linkage assembly 21 and a thigh strap assembly 22, wherein the thigh linkage assembly 21 has high strength, its top end is connected to the hip joint actuator 1, and its bottom end is connected to the knee joint actuator 3, and the thigh strap assembly 22 is connected to the thigh linkage assembly 21 and is used to tighten the human thigh A3.
[0071] In some possible implementations, the hip joint actuator 1 and the knee joint actuator 3 include, but are not limited to, electric motors, hydraulic actuators, etc.
[0072] In some other possible implementations, the lower leg strap assembly 42 and the thigh strap assembly 22 each include elastic straps, which can be used to secure the lower leg link assembly 41 or the thigh link assembly 21 to the human lower leg A5 or the human thigh A3.
[0073] Combination Figure 2 and Figure 3 As shown, in some embodiments, the first axis 001 of the knee joint actuator 3 coincides with the axis of the human knee joint A4, and the second axis 002 of the lower leg side swing hinge 411 is perpendicular to the first axis 001 of the knee joint actuator 3.
[0074] With the above arrangement, since the second axis 002 of the lower leg lateral swing hinge 411 and the first axis 001 of the knee joint actuator 3 are perpendicular, the coupling effect with the rotation and lateral swing degrees of freedom of the human knee joint A4 is better, which is conducive to improving the flexibility and comfort of the exoskeleton device.
[0075] Among some possible implementations, refer to Figure 3 As shown, the lower leg strap assembly 42 is connected to the lower middle part of the human lower leg A5 and is located above the human ankle joint.
[0076] Combination Figure 2 As shown, in some embodiments, the lower leg side swing hinge 411 is located below the knee joint actuator 3, and the vertical distance L1 between the second axis 002 of the lower leg side swing hinge 411 and the first axis 001 of the knee joint actuator 3 ranges from 5 to 10 cm.
[0077] With the above arrangement, the lower leg side swing hinge 411 is close to and positioned below the knee joint actuator 3. The distance between the second axis 002 of the lower leg side swing hinge 411 and the first axis 001 of the knee joint actuator 3 is less than 10cm, which can ensure that the lower leg side swing hinge 411 is as close as possible to the human knee joint A4. When the human lower leg A5 swings inward or outward, the misalignment distance between the lower leg strap assembly 42 and the binding position of the human lower leg A5 is smaller, resulting in less discomfort.
[0078] The vertical distance L1 between the second axis 002 and the first axis 001 is perpendicular to the second axis 002 and the first axis 001, respectively.
[0079] In some possible implementations, the second axis 002 of the lower leg lateral hinge 411 and the first axis 001 of the knee joint actuator 3 are arranged horizontally. The spacing L1 is equal to the vertical distance between the horizontal plane containing the second axis 002 and the horizontal plane containing the third axis 003.
[0080] In some possible implementations, the distance L1 between the second axis 002 and the first axis 001 can be, for example, 5cm, 6cm, 7cm, 8cm, 9cm, 10cm, etc.
[0081] Combination Figure 4 and Figure 5 As shown, in some embodiments, the lower leg lateral swing hinge 411 includes a first hinge joint 4111, a first hinge shaft 4112, and a second hinge joint 4113. One of the first hinge joint 4111 and the second hinge joint 4113 is close to and connected to the knee joint actuator 3, and the other is close to and connected to the lower leg strap assembly 42.
[0082] The first hinge joint 4111 includes a first shaft hole portion 41111, and the second hinge joint 4113 includes a second shaft hole portion 41131. The second shaft hole portion 41131 and the first shaft hole portion 41111 are arranged coaxially. The first hinge shaft 4112 is respectively connected to the first shaft hole portion 41111 and the second shaft hole portion 41131 so that the first hinge joint 4111 and the second hinge joint 4113 are rotatably connected.
[0083] With the above arrangement, the lower leg lateral swing hinge 411 can be connected to the knee joint actuator 3 and the lower leg strap assembly 42 through the first hinge connector 4111 and the second hinge connector 4113 respectively, thereby realizing the lateral swing freedom of the human lower leg A5.
[0084] Among some possible implementations, refer to Figure 5As shown, there are two first shaft hole portions 41111, which are coaxially spaced apart. There is one second shaft hole portion 41131, which is coaxially arranged between the two shaft hole portions. The first hinge shaft 4112 passes through one first shaft hole portion 41111, the second shaft hole portion 41131, and the other first shaft hole portion 41111 in sequence along the axial direction. The two first shaft hole portions 41111 provide symmetrical support for the second shaft hole portion 41131 through the first hinge shaft 4112. The structure of the lower leg side swing hinge 411 is more reliable and the rotation performance is better.
[0085] For example, the first hinge joint 4111 is close to and connected to the knee joint driver 3, and the second hinge joint 4113 is close to and connected to the calf strap assembly 42.
[0086] Combination Figure 5 As shown, in some embodiments, the lower leg side swing hinge 411 further includes a wear-resistant bushing 4114, which is sleeved on the first hinge shaft 4112 and rotatably connected to at least one of the first shaft hole portion 41111 and the second shaft hole portion 41131.
[0087] With the above arrangement, the first hinge shaft 4112 and the first shaft hole 41111 and the second shaft hole 41131 can be rotatably connected by a wear-resistant bushing 4114, thereby improving the wear resistance of the lower leg side swing hinge 411.
[0088] For example, the number of wear-resistant bushings 4114 can be one or more. When the number of wear-resistant bushings 4114 is multiple, one wear-resistant bushing 4114 is respectively arranged between each of the first shaft hole portion 41111 and the second shaft hole portion 41131 and the first hinge shaft 4112.
[0089] In some possible implementations, the first shaft hole portion 41111 and the second shaft hole portion 41131 are provided with countersunk structures, and the wear-resistant bushing 4114 can be fitted into the countersunk structure.
[0090] In some other possible implementations, one of the two first shaft hole portions 41111 is a through hole structure and the other is a blind hole structure, and the second shaft hole portion 41131 is a through hole structure. The first hinge shaft 4112 can be inserted from the first shaft hole portion 41111 of the through hole structure until it is inserted into the first shaft hole portion 41111 of the blind hole structure, thus completing the installation of the first hinge shaft 4112.
[0091] Combination Figure 5 and Figure 6As shown, in some embodiments, the first hinge joint 4111 further includes a first connector seat 41112, with two first shaft holes 41111 respectively located on the first connector seat 41112; the lower leg linkage assembly 41 further includes a first connecting rod 413, the top end of the first connecting rod 413 being connected to the knee joint actuator 3, and the bottom end of the first connecting rod 413 being connected to the first connector seat 41112.
[0092] With the above arrangement, the first connector seat 41112 of the first hinge connector 4111 is connected to the first connecting rod 413, and then connected to the output shaft of the knee joint actuator 3 through the first connecting rod 413. The knee joint actuator 3 can drive the first hinge connector 4111 to rotate around the first axis 001 through the first connecting rod 413. In turn, the lower leg side swing hinge 411 can drive the lower leg strap assembly 42 to rotate around the first axis 001. Since the first axis 001 coincides with the axis of the human knee joint A4, the lower leg strap assembly 42 can drive the human lower leg A5 to rotate around the axis of the human knee joint A4.
[0093] For example, the connection methods between the first connector 41112 and the first connecting rod 413 include, but are not limited to, screw connection, welding connection, adhesive connection, plug connection, etc.
[0094] Combination Figure 5 and Figure 6 As shown, in some embodiments, the second hinge joint 4113 further includes a second connector seat 41132, and the second shaft hole portion 41131 is located on the second connector seat 41132; the lower leg link assembly 41 further includes a second link member 414, the top end of the second link member 414 is connected to the second connector seat 41132, and the bottom end of the second link member 414 is connected to the lower leg strap assembly 42.
[0095] With the above arrangement, the second connector seat 41132 of the second hinge joint 4113 is connected to the second connecting rod 414, and then connected to the calf strap assembly 42 via the second connecting rod 414. When the calf lateral swing hinge 411 is driven by the knee joint actuator 3 to rotate around the first axis 001, since the second axis 002 of the calf lateral swing hinge 411 is perpendicular to the first axis 001, the second hinge joint 4113 will not rotate relative to the first hinge joint 4111. The second hinge joint 4113 can drive the second connecting rod 414 to rotate around the first axis 001, and the second connecting rod 414 in turn drives the calf strap assembly 42 to rotate around the first axis 001. When the calf swings inward or outward, the calf strap assembly 42 drives the second hinge joint 4113 to rotate relative to the first hinge joint 4111 around the second axis 002 via the second connecting rod 414, realizing the lateral swing movement of the human calf A5.
[0096] Combination Figure 7As shown, in some embodiments, the lower leg link assembly 41 further includes a lower leg rotation hinge 412, which is connected in series with the lower leg side swing hinge 411, and the lower leg rotation hinge 412 is located between the lower leg side swing hinge 411 and the lower leg strap assembly 42.
[0097] With the above arrangement, the exoskeleton device can improve the degree of freedom of internal or external rotation of the human lower leg A5. When the human lower leg A5 is internally or externally rotated, the lower leg rotation hinge 412 can be used to make the lower leg strap assembly 42 rotate internally or externally with the human lower leg A5, without being restricted by the structure of the upper lower leg side swing hinge 411, knee joint actuator 3, etc.
[0098] Combination Figure 7 As shown, in some embodiments, the third axis 003 of the calf rotation hinge 412 is inclined toward the side where the second axis 002 of the calf side swing hinge 411 is located along the vertical plane, and the extension line of the lower end of the third axis 003 of the calf rotation hinge 412 passes through the vertical line 004 where the center of the calf strap assembly 42 is located.
[0099] With the above arrangement, the third axis 003 of the lower leg rotation hinge 412 is arranged at an angle and points to the center of the lower leg strap assembly 42. This can eliminate the overturning torque caused by the force on the lower leg strap assembly 42 during the rotation of the human lower leg A5, thereby improving the comfort and flexibility of the human lower leg A5 during rotation.
[0100] Combination Figure 7 As shown, in some embodiments, the third axis 003 of the lower leg rotation hinge 412 intersects perpendicularly with the second axis 002 of the lower leg side swing hinge 411.
[0101] By arranging the third axis 003 of the lower leg rotating hinge 412 perpendicular to the second axis 002 of the lower leg side swing hinge 411, the mutual interference between the lower leg rotating hinge 412 and the lower leg side swing hinge 411 during operation can be reduced, ensuring the working flexibility and reliability of the lower leg module 4.
[0102] Combination Figure 8 , Figure 9 and Figure 10 As shown, in some embodiments, the calf rotation hinge 412 includes a third hinge joint 4121, a second hinge shaft 4122, and a fourth hinge joint 4123; one of the third hinge joint 4121 and the fourth hinge joint 4123 is close to and connected to the calf rotation hinge 412, and the other is close to and connected to the calf strap assembly 42.
[0103] The third hinge joint 4121 includes a third shaft hole portion 41211, and the fourth hinge joint 4123 includes a fourth shaft hole portion 41231. The fourth shaft hole portion 41231 and the third shaft hole portion 41211 are arranged coaxially. The second hinge shaft 4122 is respectively connected to the third shaft hole portion 41211 and the fourth shaft hole portion 41231 so that the third hinge joint 4121 and the fourth hinge joint 4123 are rotatably connected.
[0104] With the above arrangement, the lower leg rotation hinge 412 can be connected to the lower leg side swing hinge 411 and the lower leg strap assembly 42 through the third hinge connector 4121 and the fourth hinge connector 4123 respectively, so that the lower leg module 4 can realize the degree of freedom of side swing, as well as the degree of freedom of internal and external rotation of the human lower leg A5.
[0105] For example, the third hinge joint 4121 is close to and connected to the lower leg rotating hinge 412, and the fourth hinge joint 4123 is close to and connected to the lower leg strap assembly 42.
[0106] Combination Figure 8 , Figure 9 and Figure 10 As shown, in some embodiments, when the calf side swing hinge 411 includes a second hinge joint 4113 and the second hinge joint 4113 is close to the calf strap assembly 42, one of the third hinge joint 4121 and the fourth hinge joint 4123 is close to and fixedly connected to the second hinge joint 4113.
[0107] With the above arrangement, the second hinge joint 4113 of the lower leg lateral hinge 411 and the third hinge joint 4121 or the fourth hinge joint 4123 of the lower leg rotation hinge 412 are fixedly connected, so that the lower leg lateral hinge 411 and the lower leg rotation hinge 412 are reliably connected together. In addition to realizing the lateral swing freedom, the lower leg module 4 can also realize the internal and external rotation freedom of the human lower leg A5.
[0108] In some possible implementations, the second hinge joint 4113 is fixedly connected to the third hinge joint 4121. For example, refer to... Figure 8 and Figure 9 As shown, the second hinge joint 4113 and the third hinge joint 4121 are an integral structure.
[0109] The exoskeleton device of this application improves the lateral swing freedom of the lower leg relative to the thigh by adding a simple lower leg lateral swing hinge close to the knee joint actuator, thereby improving the comfort and flexibility of human-computer interaction.
[0110] Furthermore, a lower leg rotation hinge is connected below the lower leg side-swing hinge. While not affecting the ease of wearing, the position of the lower leg is more reasonably chosen, which reduces the influence of the device's own rotational inertia caused by the rotation of the lower leg, improves the wearing comfort, and further expands the freedom of internal and external rotation of the human leg on the basis of the lower leg side-swing freedom. The overall freedom of the exoskeleton is higher, which brings more possibilities to the application of outdoor exoskeletons.
[0111] It should be noted that, in the description of this application, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.
[0112] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, features defined as "first" or "second" may explicitly or implicitly include one or more features. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.
[0113] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature being directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.
[0114] In the description of this specification, the references to the terms "certain embodiments", "one embodiment", "some embodiments", "illustrative embodiment", "example", "specific example", or "some examples" refer to specific features, structures, materials, or characteristics described in connection with the embodiments or examples that are included in at least one embodiment or example of this application.
[0115] The above description is merely an embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the principles of this application should be included within the protection scope of this application.
Claims
1. An exoskeleton device, characterized in that, The exoskeleton device includes: a waist support module (10), a left leg module (20), and a right leg module (30); The left leg module (20) and the right leg module (30) are respectively connected to the waist support module (10); The left leg module (20) and the right leg module (30) respectively include a hip joint actuator (1), a thigh module (2), a knee joint actuator (3) and a calf module (4) arranged in series. The hip joint actuator (1) is connected to the waist support module (10). The lower leg module (4) includes a lower leg connecting rod assembly (41) and a lower leg strap assembly (42); The lower leg linkage assembly (41) includes a lower leg side swing hinge (411), and the lower leg strap assembly (42) is connected to the knee joint actuator (3) via the lower leg side swing hinge (411).
2. The exoskeleton device according to claim 1, characterized in that, The first axis (001) of the knee joint actuator (3) coincides with the axis of the human knee joint (A4), and the second axis (002) of the lower leg side swing hinge (411) is perpendicular to the first axis (001) of the knee joint actuator (3).
3. The exoskeleton device according to claim 2, characterized in that, The lower leg side swing hinge (411) is located below the knee joint actuator (3), and the vertical distance L1 between the second axis (002) and the first axis (001) is 5-10cm.
4. The exoskeleton device according to claim 1, characterized in that, The lower leg side swing hinge (411) includes a first hinge joint (4111), a first hinge shaft (4112), and a second hinge joint (4113); One of the first hinge joint (4111) and the second hinge joint (4113) is close to and connected to the knee joint actuator (3), and the other is close to and connected to the lower leg strap assembly (42); The first hinge joint (4111) includes a first shaft hole portion (41111), and the second hinge joint (4113) includes a second shaft hole portion (41131). The second shaft hole portion (41131) is arranged coaxially with the first shaft hole portion (41111). The first hinge shaft (4112) is respectively connected to the first shaft hole portion (41111) and the second shaft hole portion (41131) so that the first hinge joint (4111) and the second hinge joint (4113) are rotatably connected.
5. The exoskeleton device according to claim 4, characterized in that, The lower leg side swing hinge (411) also includes a wear-resistant bushing (4114), which is sleeved on the first hinge shaft (4112) and rotatably connected to at least one of the first shaft hole portion (41111) and the second shaft hole portion (41131).
6. The exoskeleton device according to claim 4, characterized in that, The first hinge joint (4111) further includes a first connector seat (41112), and the two first shaft holes (41111) are respectively located on the first connector seat (41112); The lower leg linkage assembly (41) further includes a first linkage (413), the top end of which is connected to the knee joint actuator (3), and the bottom end of which is connected to the first connector seat (41112). And / or, The second hinge joint (4113) further includes a second connector seat (41132), and the second shaft hole portion (41131) is located on the second connector seat (41132); The lower leg link assembly (41) further includes a second link (414), the top end of which is connected to the second connector seat (41132), and the bottom end of which is connected to the lower leg strap assembly (42).
7. The exoskeleton device according to any one of claims 1 to 6, characterized in that, The lower leg linkage assembly (41) further includes a lower leg rotating hinge (412), which is connected in series with the lower leg side swing hinge (411), and the lower leg rotating hinge (412) is located between the lower leg side swing hinge (411) and the lower leg strap assembly (42).
8. The exoskeleton device according to claim 7, characterized in that, The third axis (003) of the lower leg rotating hinge (412) is inclined toward the side where the lower leg strap assembly (42) is located along the vertical plane where the second axis (002) of the lower leg side swing hinge (411) is located, and the extension line of the lower end of the third axis (003) passes through the vertical line (004) where the center position of the lower leg strap assembly (42) is located.
9. The exoskeleton device according to claim 8, characterized in that, The third axis (003) intersects the second axis (002) perpendicularly.
10. The exoskeleton device according to claim 7, characterized in that, The lower leg rotating hinge (412) includes a third hinge joint (4121), a second hinge shaft (4122), and a fourth hinge joint (4123); One of the third hinge joint (4121) and the fourth hinge joint (4123) is close to and connected to the lower leg rotating hinge (412), and the other is close to and connected to the lower leg strap assembly (42); The third hinge joint (4121) includes a third shaft hole (41211), and the fourth hinge joint (4123) includes a fourth shaft hole (41231). The fourth shaft hole (41231) and the third shaft hole (41211) are arranged coaxially. The second hinge shaft (4122) is respectively connected to the third shaft hole (41211) and the fourth shaft hole (41231) so that the third hinge joint (4121) and the fourth hinge joint (4123) are rotatably connected.
11. The exoskeleton device according to claim 10, characterized in that, When the lower leg side swing hinge (411) includes a second hinge joint (4113) and the second hinge joint (4113) is close to the lower leg strap assembly (42), one of the third hinge joint (4121) and the fourth hinge joint (4123) is close to and fixedly connected to the second hinge joint (4113).