Human-machine joint coupled knee joint exoskeleton device

Abstract

The invention relates to a human-machine joint coupled knee joint exoskeleton device which comprises a wearing unit, a driving unit, a joint self-adaption unit and an energy storage unit. The device has the advantages that by means of the joint self-adaption unit, the exoskeleton joint axis is automatically coupled with the human knee joint rotating axis, axis dislocation is avoided, extra friction and internal force are reduced, and the man-machine interaction performance is improved; the driving unit is arranged on the waist close to the thigh root by adopting flexible transmission, so that the swing inertia and load of the leg are reduced, and the movement flexibility is improved; the energy storage unit realizes energy storage and release in the gait cycle, reduces the power consumption of the driving unit, and is matched with the pulley design to reduce the friction loss and improve the energy utilization efficiency; the wearing unit adopts a three-point fixing structure, assisting force is dispersed to three execution parts, main areas of legs are covered, and assisting force is more three-dimensional and effective; the length-adjustable design adapts to different body types, and two passive degrees of freedom of the joint self-adaption unit can adapt to instantaneous rotation center changes of users with different heights.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more particularly to a knee exoskeleton device for human-machine joint coupling. Background Technology

[0002] People with poor daily mobility or who need to improve their endurance, such as the elderly and sports enthusiasts, face significant challenges in daily activities like climbing stairs and outdoor sports. Furthermore, those who engage in long-term physical labor or require frequent sitting and standing are also prone to knee fatigue and injury.

[0003] When a person's knee joint transitions from a static walking posture to a dynamic posture, the relative slippage between the femur and tibia is most pronounced, significantly reducing the efficiency of the exoskeleton. If the robot's mechanism does not strictly adhere to the knee joint's axis of rotation, additional forces will be generated in the robot's fasteners. These potential tangential forces cause the robot to move and slide within the fasteners, reducing the machine's lifespan. Therefore, one of the key characteristics of the knee joint mechanism is adherence to the knee joint's axis of rotation. In existing exoskeleton designs on the market, product designers have simplified the human knee joint into a 1-DOF rotational joint. Obviously, this simplification leads to misalignment of the human joint's axis of rotation, potentially causing the exoskeleton to generate unwanted torques on the human body, resulting in pain or even injury. Therefore, there is an urgent need to develop a knee exoskeleton that is simple in structure, lightweight and comfortable, provides good assistive effects, and has good human-machine coupling.

[0004] Currently, no effective solutions have been proposed for the problems existing in related technologies, such as knee exoskeleton human-machine joint axis misalignment leading to decreased comfort and energy loss, unreasonable mass distribution leading to large leg swing inertia, single power assist transmission leading to concentrated internal forces in the structure, inability to adapt to the differences in the instantaneous rotation center trajectory of the knee joint of users of different heights, and large frictional losses of energy storage units. Summary of the Invention

[0005] The purpose of this invention is to address the shortcomings of existing technologies by providing a human-machine joint coupling knee exoskeleton device. This device solves problems such as decreased comfort and energy loss due to human-machine joint axis misalignment, large leg swing inertia due to unreasonable mass distribution, concentrated internal forces due to single power assist transmission, inability to adapt to the differences in the instantaneous rotation center trajectory of the knee joint among users of different heights, and large frictional losses in the energy storage unit.

[0006] To achieve the above objectives, the technical solution adopted by the present invention is as follows: This invention provides a human-machine joint coupling knee exoskeleton device, comprising: Wearable unit, used to secure the knee exoskeleton device to the wearer and to transmit assist torque to the wearer; A drive unit, disposed in the wearable unit, is used to output torque; A joint adaptive unit is connected to the wearable unit and is connected to the drive unit for driving the wearer's leg to move under the action of the drive unit and follow the rotation axis of the knee joint to achieve human-machine joint coupling. An energy storage unit, disposed in the joint adaptive unit, is used to store energy when the leg is bent and to release energy when the leg is extended.

[0007] Furthermore, the wearable unit includes: A first binding element is used to bind the wearer's waist to secure the knee exoskeleton device; The second binding element is connected to the energy storage unit and is used to bind the wearer's thigh area; The third binding element is connected to the joint adaptive unit and the energy storage unit respectively, and is used to bind to the wearer's lower leg.

[0008] Furthermore, the wearable unit also includes: A first connecting rod element, the top end of which is connected to the first binding element; A universal joint element is disposed at the bottom end of the first connecting rod element to achieve multi-directional rotational connection; A first adjusting rod element, the top end of which is connected to the universal joint element; The second connecting rod element is disposed at the bottom end of the first adjusting rod element and is connected to the driving unit; The third connecting rod element is movably connected to the outer side of the third binding element; A first transmission element is disposed at the top end of the third connecting rod element and connected to the joint adaptive unit, for receiving the torque of the joint adaptive unit and driving the third connecting rod element to move.

[0009] Furthermore, the driving unit includes: A drive component, disposed on the side of the wearable unit, is used to output torque; A flexible transmission component is disposed on the side of the driving component and is connected to the driving component in a transmission manner, and is used to operate under the action of the driving component; A deceleration component is disposed on the side of the flexible transmission component and is connected to the flexible transmission component and the joint adaptive unit respectively, and is used to drive the joint adaptive unit to move under the action of the flexible transmission component.

[0010] Furthermore, the driving component includes: A driving element, disposed on the side of the wearable unit, is used to output torque; The second transmission element has two ends connected to the two ends of the flexible transmission component, and the lower end of the second transmission element is rotatably connected to the wearable unit. It is used to reciprocate under the action of the flexible transmission component and transmit the motion to the wearable unit. The third transmission element is disposed at the lower end of the second transmission element and is connected to the second transmission element for transmitting the motion of the second transmission element to the wearable unit. A first support element is disposed between the drive element and the deceleration component, and is connected to the drive element, the deceleration component, and the joint adaptive unit, respectively.

[0011] Furthermore, the drive component also includes: A first housing element is fixedly disposed on the outside of the driving component and connected to the wearable unit and the joint adaptive unit respectively; A first sliding element is disposed on the first support element and slidably connected to the wearable unit, for limiting the movement trajectory of the wearable unit; A first connecting element is disposed at the lower end of the second transmission element and is connected to the second transmission element and the third transmission element respectively.

[0012] Furthermore, the flexible transmission component includes: A first winch element is disposed at the output end of the drive component and is used to output torque; A first flexible transmission element is wound around the first winch element and is connected to the wearable unit for transmitting the torque of the drive component to the wearable unit. A second flexible transmission element is wound around the first winch element and is connected to the reduction component for transmitting the torque of the drive component to the reduction component.

[0013] Furthermore, the flexible transmission component also includes: The second winch element is disposed at the input end of the reduction component and is connected to the second flexible transmission element and the reduction component respectively, and is used to drive the reduction component to work under the action of the second flexible transmission element.

[0014] Furthermore, the deceleration component includes: A speed reduction element is connected to the flexible transmission component and is used to receive the torque output by the drive component and output it after deceleration.

[0015] Furthermore, the deceleration component also includes: A fourth transmission element is disposed at the output end of the reduction element and connected to the joint adaptive unit, for outputting torque to the joint adaptive unit.

[0016] Furthermore, the joint adaptive unit includes: The fifth transmission element is connected to the drive unit and to the second part of the wearable unit, and is used to receive the driving force of the drive unit and drive the second part of the wearable unit to rotate; The sixth transmission element is connected to the fifth transmission element and is used to transmit motion; A multi-link element is connected to the sixth transmission element and the third part of the wearable unit, respectively, and is used to drive the lower leg to move under the action of the sixth transmission element and adapt to the movement of the knee joint rotation axis on the sagittal X and Y coordinate axes.

[0017] Furthermore, the joint adaptive unit also includes: The second connecting element is disposed on the side of the fifth transmission element and is connected to the fifth transmission element and the second part of the wearable unit, respectively. The second housing element is disposed between the fifth transmission element and the drive unit, and is used to encapsulate and protect the joint adaptive unit and to transmit the torque output by the drive unit to the fifth transmission element; A third housing element is disposed opposite to the second housing element and cooperates with the second housing element to form the accommodating space of the wearable unit.

[0018] Furthermore, the energy storage unit includes: An energy storage element, the upper end of which is disposed in the second part of the wearable unit and the lower end of which is disposed in the third part of the wearable unit, is used to be stretched to store energy when the knee joint is flexed and to contract to release energy when the knee joint is extended. The second support element is disposed between the second part and the third part of the wearable unit and is slidably connected to the energy storage element, for supporting and guiding the sliding of the energy storage element.

[0019] Furthermore, the energy storage unit also includes: The second sliding element is disposed at the end of the second support element, and both ends of the energy storage element pass through the second sliding element and are fixed to the wearable unit, for fixing and guiding the movement trajectory of the energy storage element; A third connecting element is disposed relative to the second sliding element and at the end of the second support element, for fixing the second support element to the joint adaptive unit; A plurality of pulley elements are distributed inside the second sliding element, and the energy storage element extends out of the second sliding element after passing through the plurality of pulley elements.

[0020] The present invention adopts the above technical solution and has the following technical effects compared with the prior art: 1) Through the joint adaptive unit, the automatic coupling between the exoskeleton joint and the rotation axis of the human knee joint is realized, avoiding the decrease in comfort and energy loss caused by the misalignment between the traditional exoskeleton joint and the human joint axis; the combination of gears and five-bar linkage can provide assistance to the wearer in daily activities. The rotation axis of the machine is consistent with the rotation axis of the human body, which can reduce the additional friction, parasitic force and internal force between machine structures caused by human-machine mismatch, and has better self-alignment ability and human-machine interaction performance. 2) The flexible transmission unit places the heaviest drive unit in the waist area near the root of the thigh, which avoids the increase in leg swing inertia caused by the downward shift of the center of gravity, reduces the load on the thigh and calf, reduces metabolic consumption during walking, and improves the wearer's movement flexibility. 3) By storing and releasing energy during the gait cycle through the energy storage unit, the power consumption of the drive unit is effectively reduced and the driving time is extended; the design of the second sliding unit and pulley unit reduces frictional loss during the movement of the energy storage unit, further improving energy utilization efficiency. 4) The three-point fixed structure of the wearable unit ensures effective torque transmission, dividing the exoskeleton robot's assistance to the legs into three execution parts, covering most of the leg area, making the assistance to the legs more three-dimensional and effective; the adjustable length of the wearable unit is designed to adapt to wearers of different body types, further improving its versatility; this solution is applicable to users of different heights because although the instantaneous rotation center trajectory of the knee joint varies from person to person, the trajectory shape is fixed, and the two passive degrees of freedom of the joint adaptive unit can adapt to the instantaneous rotation center changes of users of different heights. Attached Figure Description

[0021] Figure 1 This is a schematic diagram (a) of a knee exoskeleton device for human-machine joint coupling according to an embodiment of the present invention. Figure 2 This is a schematic diagram (II) of a human-machine joint coupling knee exoskeleton device according to an embodiment of the present invention. Figure 3 This is a schematic diagram (III) of a human-machine joint coupling knee exoskeleton device according to an embodiment of the present invention. Figure 4 This is a schematic diagram (a) of a wearable unit according to an embodiment of the present invention; Figure 5 This is a schematic diagram (II) of a wearable unit according to an embodiment of the present invention; Figure 6 This is a schematic diagram (a) of a driving unit according to an embodiment of the present invention; Figure 7 yes Figure 5 Enlarged view of section A; Figure 8 This is a schematic diagram (II) of the driving unit according to an embodiment of the present invention; Figure 9 yes Figure 8 Enlarged view of section B; Figure 10 This is a schematic diagram (IV) of a human-machine joint coupling knee exoskeleton device according to an embodiment of the present invention. Figure 11 This is a schematic diagram (V) of a human-machine joint coupling knee exoskeleton device according to an embodiment of the present invention. Figure 12 yes Figure 11 Enlarged view of section C; Figure 13 This is a schematic diagram (VI) of a human-machine joint coupling knee exoskeleton device according to an embodiment of the present invention. Figure 14 yes Figure 13 Enlarged view of section D.

[0022] The reference numerals in the accompanying drawings are as follows: 100, wearable unit; 101, first binding element; 102, second binding element; 103, third binding element; 104, first connecting rod element; 105, universal joint element; 106, first adjusting rod element; 107, second connecting rod element; 108, third connecting rod element; 109, first transmission element; 200. Drive unit; 201. Drive element; 202. Second transmission element; 203. Third transmission element; 204. First support element; 205. First winch element; 206. First flexible transmission element; 207. Second flexible transmission element; 208. Reduction element; 209. First housing element; 210. First sliding element; 211. First connecting element; 212. Second winch element; 213. Fourth transmission element; 300. Joint adaptive unit; 301. Fifth transmission element; 302. Sixth transmission element; 303. Multi-link element; 304. Second connecting element; 305. Second housing element; 306. Third housing element; 400, Energy storage unit; 401, Energy storage element; 402, Second support element; 403, Second sliding element; 404, Third connecting element; 405, Pulley element. Detailed Implementation

[0023] To make the objectives, technical solutions, and advantages of this application clearer, the application is described and illustrated below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application. All other embodiments obtained by those skilled in the art based on the embodiments provided in this application without inventive effort are within the scope of protection of this application.

[0024] Obviously, the accompanying drawings described below are merely some examples or embodiments of this application. Those skilled in the art can apply this application to other similar scenarios based on these drawings without any inventive effort. Furthermore, it is understood that although the efforts made in this development process may be complex and lengthy, for those skilled in the art related to the content disclosed in this application, any changes to design, manufacturing, or production based on the technical content disclosed in this application are merely conventional technical means and should not be construed as insufficient disclosure of the content of this application.

[0025] In this application, the reference to "embodiment" means that a specific feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment that is mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described in this application may be combined with other embodiments without conflict.

[0026] Unless otherwise defined, the technical or scientific terms used in this application shall have the ordinary meaning understood by one of ordinary skill in the art to which this application pertains. The terms “a,” “an,” “an,” “the,” and similar words used in this application do not indicate quantity limitation and may indicate singular or plural. The terms “comprising,” “including,” “having,” and any variations thereof used in this application are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that includes a series of steps or units (elements) is not limited to the listed steps or units, but may also include steps or units not listed, or may include other steps or units inherent to these processes, methods, products, or apparatus. The terms “connected,” “linked,” “coupled,” and similar words used in this application are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. The terms “multiple” / “several” used in this application refer to two or more. “And / or” describes the relationship between related objects, indicating that three relationships may exist; for example, “A and / or B” can indicate: A alone, A and B simultaneously, or B alone. The character " / " generally indicates that the preceding and following objects are in an "or" relationship. The terms "first," "second," and "third" used in this application are merely to distinguish similar objects and do not represent a specific ordering of the objects.

[0027] An illustrative embodiment of the present invention, such as Figures 1-2 As shown, a human-machine joint coupling knee exoskeleton device includes a wearable unit 100, a drive unit 200, a joint adaptive unit 300, and an energy storage unit 400. The wearable unit 100 is used to fix the knee exoskeleton device to the wearer and to transmit assist torque to the wearer; the drive unit 200 is disposed on the wearable unit 100 and is used to output torque; the joint adaptive unit 300 is connected to the wearable unit 100 and is drively connected to the drive unit 200, used to drive the wearer's leg to move under the action of the drive unit 200 and move along the rotation axis of the knee joint to achieve human-machine joint coupling; the energy storage unit 400 is disposed on the joint adaptive unit 300 and is used to store energy when the leg is flexed and release energy when the leg is extended.

[0028] It should be noted that the wearable unit 100 is strapped to the wearer's thighs, calves, and waist; the drive unit 200 transmits the output torque of the power mechanism to the joint adaptive unit 300 through a flexible transmission method; the joint adaptive unit 300 adopts a multi-link mechanism, which follows the natural displacement of the human knee joint rotation axis in the sagittal plane to avoid human-machine joint misalignment; the energy storage unit 400 stores potential energy during the knee joint flexion phase through elastic action, and releases energy in conjunction with the drive unit 200 during the extension phase to reduce system energy consumption.

[0029] The wearable unit 100 is connected vertically from top to bottom to the wearer's waist, front of the thigh, and front of the calf; the drive unit 200 is located on the thigh of the wearable unit 100 to avoid interfering with the movement space in front of the knee joint; the joint adaptive unit 300 is located on the outside of the knee joint, and its geometric center corresponds to the anatomical position of the human knee joint; the energy storage unit 400 is located on the front of the joint adaptive unit 300 and is arranged along the line connecting the thigh and the calf.

[0030] It should be noted that the wearable unit 100, drive unit 200, joint adaptive unit 300 and energy storage unit 400 are made of lightweight and high-strength materials, including aluminum alloy, carbon fiber composite material or engineering plastic.

[0031] Generally, the length of the wearable unit 100 is adjustable to accommodate wearers of different heights; the output torque direction of the drive unit 200 is consistent with the axial direction of the knee joint flexion and extension movement; the range of motion of the joint adaptive unit 300 in the sagittal plane matches the normal flexion and extension angle range of the human knee joint; and the maximum energy storage length of the energy storage unit 400 corresponds to the maximum flexion and extension angle of the knee joint.

[0032] It should be noted that the knee exoskeleton device described in this invention is applicable to the right leg. In actual application, the knee exoskeleton device can be configured to have a symmetrical structure on both sides, respectively adapting to the wearer's left and right legs.

[0033] like Figures 3-5 As shown, the wearable unit 100 includes a first binding element 101, a second binding element 102, and a third binding element 103. The first binding element 101 is used to bind to the wearer's waist to secure the knee exoskeleton device; the second binding element 102 is connected to the energy storage unit 400 and is used to bind to the wearer's thigh; the third binding element 103 is connected to both the joint adaptive unit 300 and the energy storage unit 400 and is used to bind to the wearer's lower leg.

[0034] It should be noted that the first binding element 101, the second binding element 102, and the third binding element 103 constitute a three-point fixation system, corresponding to the waist, thigh, and calf of the human body, respectively, forming a stable force transmission path. The first binding element 101 serves as the top fixation point of the entire knee joint exoskeleton device, while the second binding element 102 and the third binding element 103 transmit the assist torque to the thigh and calf, respectively, to achieve force transmission.

[0035] The first binding element 101 is an arc-shaped strip or plate structure, the shape of which fits the side of the human waist.

[0036] In some of these embodiments, a flexible pad is provided on the inner side of the first binding element 101.

[0037] In some embodiments, the first binding element 101 is provided with a buckle or Velcro (not shown) for quick wearing and adjustment of tightness.

[0038] In some embodiments, the first binding element 101 is provided with a first Velcro fastener and a first strap. The first Velcro fastener is provided on the first binding element 101; one end of the first strap is connected to the first Velcro fastener, and the other end of the first strap is wrapped around the wearer's waist and then attached to the first Velcro fastener.

[0039] In some of these embodiments, the first binding element 101 includes, but is not limited to, a belt, a waist support, or a waist strap.

[0040] The second binding element 102 is an arc-shaped plate or strip structure, and its shape fits the front of the thigh.

[0041] In some embodiments, a flexible pad is provided on the inner side of the second binding element 102.

[0042] Generally, the second binding element 102 has a connection port on its side for connecting to the drive unit 200.

[0043] Generally, the bottom of the second binding element 102 is provided with a connection hole for connecting to the energy storage unit 400.

[0044] In some embodiments, the second binding element 102 is provided with a buckle or Velcro (not shown) for quick wearing and adjustment of tightness.

[0045] In some embodiments, the second binding element 102 is provided with a second hook and loop fastener and a second strap. The second hook and loop fastener is provided on the second binding element 102; one end of the second strap is connected to the second hook and loop fastener, and the other end of the second strap is wrapped around the wearer's thigh and then attached to the second hook and loop fastener.

[0046] In some embodiments, the second binding element 102 includes, but is not limited to, thigh straps, thigh supports, leg braces, etc.

[0047] The third binding element 103 is an arc-shaped plate or strip structure, and its shape fits the front of the lower leg.

[0048] In some of these embodiments, a flexible pad is provided on the inner side of the third binding element 103.

[0049] Generally, the third binding element 103 has a connection hole on its upper part for connecting to the lower end of the energy storage unit 400.

[0050] Generally, the third binding element 103 has a connection port on its side for connecting to the joint adaptive unit 300.

[0051] In some embodiments, the third binding element 103 is provided with a buckle or Velcro (not shown) for quick wearing and adjustment of tightness.

[0052] In some embodiments, the third binding element 103 is provided with a third hook and loop fastener and a third strap. The third hook and loop fastener is provided on the third binding element 103, one end of the third strap is connected to the third hook and loop fastener, and the other end of the third strap is wrapped around the wearer's calf and then attached to the third hook and loop fastener.

[0053] In some embodiments, the third binding element 103 includes, but is not limited to, calf straps, calf support plates, leg braces, etc.

[0054] Furthermore, the wearable unit 100 also includes a first connecting rod element 104, a universal joint element 105, a first adjusting rod element 106, a second connecting rod element 107, a third connecting rod element 108, and a first transmission element 109. The top end of the first connecting rod element 104 is connected to the first binding element 101; the universal joint element 105 is disposed at the bottom end of the first connecting rod element 104 for multi-directional rotational connection; the top end of the first adjusting rod element 106 is connected to the universal joint element 105; the second connecting rod element 107 is disposed at the bottom end of the first adjusting rod element 106 and is connected to the drive unit 200; the third connecting rod element 108 is movably connected to the outer side of the third binding element 103; the first transmission element 109 is disposed at the top end of the third connecting rod element 108 and is connected to the joint adaptive unit 300, for receiving the torque of the joint adaptive unit 300 and driving the third connecting rod element 108 to move.

[0055] It should be noted that the first connecting rod element 104, the universal joint element 105, the first adjusting rod element 106, and the second connecting rod element 107 form a connection and adjustment link between the wearable unit 100, the drive unit 200, and the joint adaptive unit 300. The universal joint element 105 allows the second binding element 102, the third binding element 103, the drive unit 200, and the joint adaptive unit 300 to rotate relative to the waist within a certain range, adapting to the natural swaying of the human body when walking.

[0056] The first connecting rod element 104 is adjustablely connected to the first binding element 101 for adjusting the waist binding position; the first adjusting rod element 106 and the second connecting rod element 107 have an adjustable length structure for adjusting the overall length of the knee exoskeleton device to accommodate wearers of different heights; the third connecting rod element 108 is adjustablely connected to the third binding element 103 for adjusting the lower leg binding position.

[0057] The first connecting rod element 104 is a rigid rod-shaped structure, and its connection position with the first binding element 101 is adjustable to accommodate wearers of different heights.

[0058] Generally, the first connecting rod element 104 is provided with a groove or adjustment hole for adjusting its relative position with the first binding element 101.

[0059] Generally, a plurality of first connectors are provided on the first connecting rod element 104. The plurality of first connectors are spaced apart along the extending direction of the first connecting rod element 104, and pass through the first connecting rod element 104 respectively, and are fixedly connected to the side of the first binding element 101 respectively, for fixing the first connecting rod element 104.

[0060] In some embodiments, the first connecting rod element 104 has a plurality of first adjustment holes evenly spaced on its side, and the first binding element 101 has a plurality of second adjustment holes that cooperate with the first adjustment holes on its side. Several first connectors pass through the first adjustment holes of the first connecting rod element 104 and the second adjustment holes of the first binding element 101 to achieve connection. By adjusting the relative position of the first connecting rod element 104 and the first binding element 101 and fixing them with the first connectors, the connection position of the first connecting rod element 104 and the first binding element 101 can be adjusted to accommodate wearers of different heights.

[0061] It should be noted that the cross-section of the first connector is slightly smaller than the cross-section of the first adjustment hole (second adjustment hole), and the cross-sectional shape of the first connector matches the cross-sectional shape of the first adjustment hole (second adjustment hole).

[0062] In some embodiments, the first connector is provided in pairs, including but not limited to screws and pins.

[0063] In some of these embodiments, the first connecting rod element 104 includes, but is not limited to, a connecting rod, a support rod, a telescopic rod, etc.

[0064] Generally, the universal joint element 105 has two or three rotational degrees of freedom, and its rotation center coincides with the bottom end of the first connecting rod element 104.

[0065] The universal joint element 105 can support the knee exoskeleton device to rotate in the left-right, up-down and forward-backward directions.

[0066] In some of these embodiments, the universal joint element 105 includes, but is not limited to, universal joints, ball joints, universal couplings, etc.

[0067] The first adjusting rod element 106 is a rod-shaped structure with an adjustable connection length.

[0068] Generally, a plurality of second connecting members are provided on the first adjusting rod element 106. The plurality of second connecting members are spaced apart along the extending direction of the first adjusting rod element 106, pass through the first adjusting rod element 106 and are fixedly connected to the second connecting rod element 107, for fixing the first adjusting rod element 106 and the second connecting rod element 107.

[0069] In some embodiments, the side of the first adjusting rod element 106 is provided with a plurality of third adjusting holes at equal intervals, and the side of the second connecting rod element 107 is provided with a plurality of fourth adjusting holes that cooperate with the third adjusting holes. Several second connecting members pass through the third adjusting holes of the first adjusting rod element 106 and the fourth adjusting holes of the second connecting rod element 107 to achieve connection. By adjusting the relative position of the first adjusting rod element 106 and the second connecting rod element 107 and fixing them with the second connecting members, the connection position of the first adjusting rod element 106 and the second connecting rod element 107 can be adjusted.

[0070] It should be noted that the cross-section of the second connector is slightly smaller than that of the third adjustment hole (fourth adjustment hole), and the cross-sectional shape of the second connector matches the cross-sectional shape of the third adjustment hole (fourth adjustment hole).

[0071] In some embodiments, the second connector is provided in pairs, including but not limited to screws and pins.

[0072] In some of these embodiments, the first adjusting rod element 106 includes, but is not limited to, adjusting rods, telescopic rods, sleeve rods, etc.

[0073] The second connecting rod element 107 is a rigid rod-shaped structure.

[0074] In some of these embodiments, the second connecting rod element 107 includes, but is not limited to, a connecting rod, an adapter rod, a mounting rod, etc.

[0075] The third connecting rod element 108 is a rigid rod-shaped structure, and its connection position with the third binding element 103 is adjustable to accommodate wearers of different heights.

[0076] Generally, the third connecting rod element 108 is provided with a groove or adjustment hole for adjusting its relative position with the third binding element 103.

[0077] Generally, a plurality of third connectors are provided on the third connecting rod element 108. The plurality of third connectors are spaced apart along the extension direction of the third connecting rod element 108, pass through the third connecting rod element 108 and are fixedly connected to the side of the third binding element 103 for fixing the third connecting rod element 108.

[0078] In some embodiments, the third connecting rod element 108 is provided with a plurality of fifth adjustment holes at equal intervals on its side, and the third binding element 103 is provided with a plurality of sixth adjustment holes that cooperate with the fifth adjustment holes. Several third connectors pass through the fifth adjustment holes of the third connecting rod element 108 and the sixth adjustment holes of the third binding element 103 to achieve connection. By adjusting the relative position of the third connecting rod element 108 and the third binding element 103 and fixing them with the third connectors, the connection position of the third connecting rod element 108 and the third binding element 103 can be adjusted to accommodate wearers of different heights.

[0079] It should be noted that the cross-section of the third connector is slightly smaller than that of the fifth adjustment hole (sixth adjustment hole), and the cross-sectional shape of the third connector matches the cross-sectional shape of the fifth adjustment hole (sixth adjustment hole).

[0080] In some embodiments, the third connector is provided in two parts, including but not limited to screws and pins.

[0081] In some of these embodiments, the third connecting rod element 108 includes, but is not limited to, a connecting rod, a torque transmission rod, a lower leg rod, etc.

[0082] The first transmission element 109 has a groove-shaped or rod-shaped structure.

[0083] In some of these embodiments, the first transmission element 109 includes, but is not limited to, a transmission rod, etc.

[0084] In some embodiments, the first transmission element 109 is connected to the top end of the third connecting rod element 108 by screws or pins.

[0085] In some of these embodiments, the first connecting rod element 104, the first adjusting rod element 106, the second connecting rod element 107, and the third connecting rod element 108 are made of lightweight, high-strength materials, including but not limited to aluminum alloys, carbon fiber composites, or titanium alloys.

[0086] like Figures 6-10 As shown, the drive unit 200 includes a drive component, a flexible transmission component, and a deceleration component. The drive component is located on the side of the wearable unit 100 and is used to output torque; the flexible transmission component is located on the side of the drive component and is connected to it for operation under the action of the drive component; the deceleration component is located on the side of the flexible transmission component and is connected to both the flexible transmission component and the joint adaptive unit 300 for operation under the action of the flexible transmission component.

[0087] It should be noted that using flexible transmission components to transmit power from the drive component to the reduction component can effectively isolate the vibration of the drive component, reduce discomfort to the human body, and allow for a certain degree of installation position deviation, thus reducing the requirements for assembly precision.

[0088] like Figures 6-10 As shown, the driving component includes a driving element 201, a second transmission element 202, a third transmission element 203, and a first support element 204. The driving element 201 is disposed on the side of the wearable unit 100 and is used to output torque. The two ends of the second transmission element 202 are respectively connected to the two ends of the first flexible transmission element 206, and the lower end of the second transmission element 202 is rotatably connected to the wearable unit 100, used to reciprocate under the action of the first flexible transmission element 206 and transmit the motion to the wearable unit 100. The third transmission element 203 is disposed at the lower end of the second transmission element 202 and is drively connected to the second transmission element 202, used to transmit the motion of the second transmission element 202 to the wearable unit 100. The first support element 204 is disposed between the driving element 201 and the deceleration component, and is connected to the driving element 201, the deceleration component, and the joint adaptive unit 300, respectively.

[0089] Specifically, the drive element 201 is disposed on the side of the second binding element 102; the lower end of the second transmission element 202 is rotatably connected to the third transmission element 203 for transmitting motion to the third transmission element 203; the third transmission element 203 is connected to the first transmission element 109 for transmitting motion of the second transmission element 202 to the third binding element 103.

[0090] It should be noted that the driving element 201 is the power source of the driving unit 200; the second transmission element 202 and the third transmission element 203 form a series transmission chain, which converts the tension of the first flexible transmission element 206 into a vertical driving force and transmits it to the third binding element 103 of the wearable unit 100. The first support element 204 is used to ensure that the relative positions of the driving component and the deceleration component are fixed.

[0091] The drive element 201 is detachably connected to the second binding element 102, including but not limited to bolt connection, bracket connection, etc.

[0092] In some embodiments, the drive element 201 includes, but is not limited to, a servo motor, a DC motor, or a hydraulic motor.

[0093] The second transmission element 202 is a rod-shaped structure.

[0094] Generally, the lower end of the second transmission element 202 is rotatably connected to the third transmission element 203, and the middle section of the second transmission element 202 is slidably connected to the first sliding element 210, thus restricting the movement trajectory of the second transmission element 202 to linear reciprocating motion.

[0095] In some embodiments, a through groove is provided in the middle section of the second transmission element 202, and the first sliding element 210 is slidably connected to the through groove.

[0096] It should be noted that the second transmission element 202 converts the tension of the flexible transmission component into a driving force in the linear direction.

[0097] In some of these embodiments, the second transmission element 202 includes, but is not limited to, a transmission rod, a pull rod, a slide rod, etc.

[0098] The third transmission element 203 has a crank-shaped structure.

[0099] Generally, the third transmission element 203 and the second transmission element 202 form a rotating pair, so that the first transmission element 109 can rotate relative to the third transmission element 203 to better adapt to the bending movement of the human lower leg.

[0100] It should be noted that the third transmission element 203 transmits the linear motion of the second transmission element 202 to the third binding element 103, thereby achieving the distributed transmission of torque.

[0101] In some of these embodiments, the third transmission element 203 includes, but is not limited to, a connecting rod, a rocker arm, a link, etc.

[0102] Generally, the first support element 204 is a plate-like structure.

[0103] It should be noted that the first support element 204 is connected to the side of the second binding element 102, including but not limited to pin connection and screw connection.

[0104] In some of these embodiments, the first support element 204 includes, but is not limited to, a support tube, a support rod, a guide tube, etc.

[0105] Furthermore, the driving component also includes a first housing element 209, a first sliding element 210, and a first connecting element 211. The first housing element 209 is fixedly disposed on the outside of the driving component and connected to the wearable unit 100 and the joint adaptive unit 300, respectively. The first sliding element 210 is disposed on the first support element 204 and is slidably connected to the middle section of the second transmission element 202 to limit the movement trajectory of the second transmission element 202. The first connecting element 211 is disposed at the lower end of the second transmission element 202 and is used to connect the second transmission element 202 and the third transmission element 203.

[0106] Specifically, the first housing element 209 is connected to the second connecting rod element 107.

[0107] The first housing element 209 is used to protect the internal structure of the drive component, the first sliding element 210 ensures that the second transmission element 202 moves along a defined trajectory, and the first connecting element 211 realizes a reliable connection between the second transmission element 202 and the third transmission element 203.

[0108] Generally, the first housing element 209 is a rigid housing that covers the drive element 201 and the flexible transmission component.

[0109] The connection methods between the upper end of the first housing element 209 and the first binding element 101 and the second connecting rod element 107 include, but are not limited to, screw connection and pin connection.

[0110] In some of these embodiments, the first housing element 209 includes, but is not limited to, a housing, a protective cover, etc.

[0111] Generally, the fixed end of the first sliding element 210 is fixed to the first support element 204, and its opposite end is set as a sliding end, which is slidably connected to the second transmission element 202.

[0112] It should be noted that a groove is provided in the middle section of the second transmission element 202, and the sliding end of the first sliding element 210 is embedded in the groove of the second transmission element 202 to guide it to move in a straight line.

[0113] In some of these embodiments, the first sliding element 210 includes, but is not limited to, a slider, a guide block, etc.

[0114] Generally, the first connecting element 211 is a hinge or pin structure.

[0115] Generally, the first connecting element 211 connects the lower end of the second transmission element 202 and the upper end of the third transmission element 203 to form a rotating pair.

[0116] In some of these embodiments, the first connecting element 211 includes, but is not limited to, a hinge, a pin, a spherical bearing, etc.

[0117] like Figures 6-10As shown, the flexible transmission component includes a first winch element 205, a first flexible transmission element 206, and a second flexible transmission element 207. The first winch element 205 is disposed at the output end of the drive component and is used to output torque; the first flexible transmission element 206 is wound around the first winch element 205 and is drive-connected to the wearable unit 100, used to transmit the torque of the drive component to the wearable unit 100; the second flexible transmission element 207 is wound around the first winch element 205 and is drive-connected to the reduction component, used to transmit the torque of the drive component to the reduction component.

[0118] Specifically, the first winch element 205 is connected to the second transmission element 202; the first flexible transmission element 206 is connected to the first transmission element 109 and is used to transmit power to the third binding element 103; the second flexible transmission element 207 is connected to the deceleration element 208 and is used to output torque and output after deceleration.

[0119] It should be noted that the first winch element 205, the first flexible transmission element 206 and the second flexible transmission element 207 form a branch transmission structure. The first flexible transmission element 206 transmits the torque output by the first winch element 205 to the third binding element 103, and the second flexible transmission element 207 transmits the torque to the joint adaptive unit 300 through the deceleration component.

[0120] It should be noted that the first winch element 205 is located at the output end of the drive element 201, and the torque is transmitted to the second drive element 202 and the deceleration component by rotating and extending the first flexible transmission element 206 and the second flexible transmission element 207.

[0121] Generally, the first winch element 205 is fixedly connected to the output shaft of the drive element 201, and its rotation axis is coaxial with the output axis of the drive element 201.

[0122] Generally, the first winch element 205 is provided with a rope groove for winding the first flexible transmission element 206 and the second flexible transmission element 207.

[0123] In some embodiments, the first flexible transmission element 206 and the second flexible transmission element 207 are spaced one rope groove apart on the first winch element 205. When the joint flexes from 0 to 148°, the winch can rotate 0.46 turns, thus the extra rope groove distance is sufficient. Furthermore, when the first winch element 205 rotates, the first flexible transmission element 206 and the second flexible transmission element 207 move in the same direction on the rope groove, so no interference occurs between the first flexible transmission element 206 and the second flexible transmission element 207.

[0124] In some of these embodiments, the first winch element 205 includes, but is not limited to, a winch, a pulley, a drum, etc.

[0125] Generally, the first flexible transmission element 206 is a rope or strip-shaped flexible component, and the middle part of the first flexible transmission element 206 is fixed and wound around the first winch element 205.

[0126] In some of these embodiments, the first flexible transmission element 206 is a flexible transmission medium, including but not limited to steel wire rope, nylon rope, carbon fiber rope, transmission belt, etc.

[0127] Generally, the second flexible transmission element 207 is a rope or strip-shaped flexible component, and the second flexible transmission element 207 is fixed and wound around the first winch element 205.

[0128] In some of these embodiments, the second flexible transmission element 207 is a flexible transmission medium, including but not limited to steel wire rope, nylon rope, carbon fiber rope, transmission belt, etc.

[0129] Furthermore, the flexible transmission component also includes a second winch element 212. The second winch element 212 is disposed at the input end of the reduction component and is connected to the second flexible transmission element 207 and the reduction component for transmission, and is used to drive the reduction component to work under the action of the second flexible transmission element 207.

[0130] It should be noted that the second winch element 212 and the first winch element 205 form a rope drive pair.

[0131] Generally, the second winch element 212 is provided with a rope groove for winding the second flexible transmission element 207.

[0132] In some of these embodiments, the second winch element 212 includes, but is not limited to, a winch, a pulley, a drum, etc.

[0133] like Figures 6-10 As shown, the deceleration component includes a deceleration element 208. The deceleration element 208 is connected to the flexible transmission component and is used to receive the torque output by the drive component and decelerate it before outputting it.

[0134] Specifically, the deceleration element 208 is connected to the second winch element 212 and is used to receive the torque output by the drive element 201 and output it after deceleration.

[0135] Specifically, the deceleration element 208 is connected to the second flexible transmission element 207 and is used to rotate under the action of the drive element 201.

[0136] More specifically, the speed reduction element 208 is keyed to the second winch element 212 and is used to follow the rotation of the second winch element 212.

[0137] Generally, the reduction ratio of the reduction element 208 is determined according to the required output torque and speed of the joint.

[0138] In some embodiments, the reduction element 208 includes, but is not limited to, planetary gear reducers, harmonic reducers, cycloidal reducers, etc.

[0139] Furthermore, the deceleration component also includes a fourth transmission element 213. The fourth transmission element 213 is disposed at the output end of the deceleration element 208 and is fixedly connected to the joint adaptive unit 300, and is used to output torque to the joint adaptive unit 300.

[0140] Generally, the fourth transmission element 213 is connected to the output shaft of the reduction element 208, and the fourth transmission element 213 is fixedly connected to the input end of the joint adaptive unit 300.

[0141] In some of these embodiments, the fourth transmission element 213 includes, but is not limited to, an output shaft, a transmission disc, a flange, etc.

[0142] In some embodiments, the reduction ratio of the drive unit 200 is 4:1. The reduction ratio depends on the rotation angle of the second transmission element 202 and the output gear transmitted to the reduction element 208. Both are transmitted synchronously by the first winch element 205 through the first flexible transmission element 206 and the second flexible transmission element 207. To ensure that the second transmission element 202 does not interfere with the operation of the reduction element 208 during the movement, the movement results transmitted by the first winch element 205 to the two output ends must be consistent.

[0143] Specifically, using the instantaneous rotation center trajectory of the human knee joint as a reference trajectory, two passive degrees of freedom follow the instantaneous rotation center, while the remaining active degree of freedom is driven by the drive element 201. Based on the set length of the second transmission element 202, measurements show that the limit stroke of the second transmission element 202 is 78 mm, and the joint flexion limit range is 148°. Calculations based on the stroke of the second transmission element 202 indicate that when the knee joint flexes from 0° to 148°, the first winch element 205 drives the first flexible transmission element 206 and the second flexible transmission element 207 to rotate 0.46 revolutions; while the output gear of the drive unit 200 needs to rotate 46°, corresponding to 0.128 revolutions for the first winch element 205. Therefore, a reduction gear needs to be installed between the first winch element 205 and the output end, with a speed ratio of 0.128 / 0.46≈0.278. To facilitate the implementation of the gear system, the speed ratio between the first winch element 205 and the second winch element 212 is corrected to 0.25, i.e., a reduction ratio of 4:1. The speeds of the two drive pairs are not strictly equal, and the resulting assist deviation is negligible within the allowable range of this design.

[0144] like Figures 10-14As shown, the joint adaptive unit 300 includes a fifth transmission element 301, a sixth transmission element 302, and a multi-link element 303. The fifth transmission element 301 is connected to the drive unit 200 and to the second part of the wearable unit 100, receiving the driving force from the drive unit 200 and driving the second part of the wearable unit 100 to rotate. The sixth transmission element 302 is connected to the fifth transmission element 301 and transmits motion. The multi-link element 303 is connected to the sixth transmission element 302 and the third part of the wearable unit 100, respectively, driving the lower leg to move under the action of the sixth transmission element 302 and adapting to the movement of the knee joint rotation axis on the sagittal X and Y coordinate axes.

[0145] Specifically, the fifth transmission element 301 is connected to the fourth transmission element 213; the multi-link element 303 is connected to the third binding element 103.

[0146] In some of these embodiments, the fifth transmission element 301 includes, but is not limited to, gears, pulleys, sprockets, etc.

[0147] Specifically, the sixth transmission element 302 is engaged or connected to the fifth transmission element 301.

[0148] Generally, the transmission ratio between the sixth transmission element 302 and the fifth transmission element 301 is determined according to the torque requirement.

[0149] In some of these embodiments, the sixth transmission element 302 includes, but is not limited to, gears, pulleys, connecting rods, etc.

[0150] In some of these embodiments, the multi-link element 303 is a five-link structure, consisting of five rigid links connected by a revolute joint to form a closed-loop structure.

[0151] Specifically, the multi-link element 303 includes a first link, a second link, a third link, a fourth link, and a fifth link. The first link is rotatably connected to the rotation axis of the sixth transmission element 302, and is used to rotate coaxially with the sixth transmission element 302; the second link is rotatably connected to the sixth transmission element 302, and is used to rotate following the rotation of the sixth transmission element 302; the top end of the third link is rotatably connected to the first link, and the middle end of the third link is rotatably connected to the middle end of the second link; the top end of the fourth link is connected to the end of the third link, and the end of the fourth link is rotatably connected to the first transmission element 109; the first end of the fifth link is rotatably connected to the end of the second link, and the second end of the fifth link is rotatably connected to the middle end of the fourth link.

[0152] Generally, the input end of the multi-link element 303 (i.e., the first link and the second link) is connected to the sixth transmission element 302, and the output end of the multi-link element 303 (i.e., the end of the fourth link) is connected to the third binding element 103.

[0153] In some of these embodiments, the multi-link element 303 includes, but is not limited to, multi-link mechanisms, adaptive linkages, etc.

[0154] Furthermore, the joint adaptive unit 300 also includes a second connecting element 304, a second housing element 305, and a third housing element 306. The second connecting element 304 is disposed on the side of the fifth transmission element 301 and is connected to both the fifth transmission element 301 and the second part of the wearable unit 100. The second housing element 305 is disposed between the fifth transmission element 301 and the drive unit 200, and is used to encapsulate and protect the joint adaptive unit 300 and transmit the torque output by the drive unit 200 to the fifth transmission element 301. The third housing element 306 is disposed opposite to the second housing element 305 and cooperates with the second housing element 305 to form the accommodating space of the wearable unit 100.

[0155] Specifically, the second connecting element 304 is connected to the first supporting element 204; the second housing element 305 is disposed between the fifth transmission element 301 and the fourth transmission element 213, and is used to transmit the torque output by the fourth transmission element 213 to the fifth transmission element 301; the third housing element 306 cooperates with the second housing element 305 to form an accommodating space for encapsulating and protecting the fifth transmission element 301 and the sixth transmission element 302.

[0156] It should be noted that the second connecting element 304 can be in the form of a flange, connecting plate or rigid bracket to ensure that the fifth transmission element 301 and the second binding element 102 rotate synchronously.

[0157] Generally, there are two second connecting elements 304, which are symmetrically arranged on both sides of the fifth transmission element 301 and fixedly connected to the end of the first support element 204.

[0158] Generally, one end of the second connecting element 304 is coaxially connected to the fifth transmission element 301, and the other end of the second connecting element 304 is connected to the end of the first support element 204. The connection method includes, but is not limited to, screw connection, pin connection, etc.

[0159] In some of these embodiments, the second connecting element 304 includes, but is not limited to, a connecting plate, a flange, a bracket, etc.

[0160] The second housing element 305 and the third housing element 306 constitute the outer shell of the joint adaptive unit 300, protecting the internal transmission mechanism and serving as structural supports connecting the drive unit 200 and the lower leg portion. The first support element 204 is connected to the space formed by the second housing element 305 and the third housing element 306 via the second connecting element 304, enabling the combined output of the drive unit 200 and the multi-link element 303.

[0161] The second housing element 305 and the third housing element 306 are semi-shell structures, and the third housing element 306 is symmetrically arranged with the second housing element 305. Generally, the second housing element 305 and the third housing element 306 cover the fifth transmission element 301 and the sixth transmission element 302 from both sides.

[0162] In some embodiments, the second housing element 305 and the third housing element 306 are made of high-strength engineering plastic or aluminum alloy die casting, and are provided with bearing seats inside for mounting the drive shafts of the fifth transmission element 301 and the sixth transmission element 302.

[0163] In some of these embodiments, the second housing element 305 and the third housing element 306 include, but are not limited to, housings, outer shells, protective covers, etc.

[0164] In some embodiments, the knee exoskeleton device has 3 degrees of freedom, and the multi-link element 303 can be equivalently simplified to 2 links, wherein the first link and the second link can be considered to be fixedly connected to the sixth transmission element 302. The function of the second transmission element 202 and the third transmission element 203 is to transmit the torque of the drive element 201 across the knee joint to the lower leg. The purpose is twofold: First, the first binding element 101, the second binding element 102, and the third binding element 103 are not completely fixed to the body, and there may be relative slippage at the contact surface. The drive of only the sixth transmission element 302 may exacerbate the slippage; Second, a single drive gear (sixth transmission element 302) applies force to only one point, which will increase the internal force of the structure. By adding the second transmission element 202 and the third transmission element 203, the torque of the drive element 201 can be distributed to the lower leg through the third binding element 103, making the force on the knee exoskeleton device more balanced.

[0165] Under the premise of satisfying the adaptive structure, the second transmission element 202 and the third transmission element 203 can be removed, and only the multi-link element 303 can complete the basic motion. Therefore, the second transmission element 202 + the third transmission element 203 and the multi-link element 303 driven by the drive element 201 can be regarded as one active degree of freedom, and the other two degrees of freedom are passive degrees of freedom. When the instantaneous center of rotation moves in the sagittal plane of the human body, its trajectory equation is a nonlinear equation along the x and y axes of the plane. Different buckling angles correspond to different x and y coordinates, and the passive degrees of freedom follow the x and y axes.

[0166] like Figures 10-14As shown, the energy storage unit 400 includes an energy storage element 401 and a second support element 402. The upper end of the energy storage element 401 is disposed in the second part of the wearable unit 100, and the lower end of the energy storage element 401 is disposed in the third part of the wearable unit 100, for being stretched to store energy when the knee joint is flexed and for contracting to release energy when the knee joint is extended; the second support element 402 is disposed between the second part and the third part of the wearable unit 100 and is slidably connected to the energy storage element 401, for supporting and guiding the sliding of the energy storage element 401.

[0167] Specifically, the upper end of the energy storage element 401 is disposed on the second binding element 102, and the lower end of the energy storage element 401 is disposed on the third binding element 103; the second support element 402 is disposed on the second housing element 305.

[0168] It should be noted that the energy storage element 401 can be an elastic element such as an elastic rope, which is stretched to store elastic potential energy during the knee flexion phase and contracts to release energy during the knee extension phase, with the auxiliary drive unit 200 providing the extension torque; the second support element 402 can be a bracket structure to ensure that the energy storage element 401 maintains a stable path during the extension and contraction process, avoiding interference with the human body or other parts.

[0169] It should be noted that the energy storage element 401 stores energy in the late support phase and early swing phase of the gait cycle, and releases energy in the late swing phase and early support phase to assist knee joint extension.

[0170] In some of these embodiments, the energy storage element 401 includes, but is not limited to, springs, elastic ropes, gas springs, torsion springs, etc.

[0171] Generally, the second support element 402 is a tubular or rod-shaped support structure.

[0172] Generally, the second support element 402 is horizontally positioned and located between the second binding element 102 and the third binding element 103 in terms of height.

[0173] Generally, the second support element 402 is provided with through holes or grooves for the energy storage element 401 to pass through and slide.

[0174] In some of these embodiments, the second support element 402 includes, but is not limited to, a support tube, a guide tube, a slide bar, etc.

[0175] Furthermore, the energy storage unit 400 also includes a second sliding element 403, a third connecting element 404, and a plurality of pulley elements 405. The second sliding element 403 is disposed at the end of the second support element 402, and both ends of the energy storage element 401 pass through the second sliding element 403 and are fixed to the wearable unit 100, for fixing and guiding the movement trajectory of the energy storage element 401; the third connecting element 404 is disposed relative to the second sliding element 403 and at the end of the second support element 402, for fixing the second support element 402 to the joint adaptive unit 300; the plurality of pulley elements 405 are distributed inside the second sliding element 403, and the energy storage element 401 extends out of the second sliding element 403 after passing through the plurality of pulley elements 405.

[0176] Specifically, the two ends of the energy storage element 401 are fixed to the second binding element 102 and the third binding element 103 respectively; one end of the second support element 402 is fixed to the second housing element 305, and the other end of the second support element 402 is fixedly provided with the second sliding element 403; the third connecting element 404 is connected to the second housing element 305 and extends forward.

[0177] It should be noted that the second sliding element 403 can adopt a pulley block, guide sleeve or slider structure. By integrating the energy storage element 401 through the second support element 402 into a sliding ring, friction can be effectively reduced. The third connecting element 404 and the second support element 402 are fixed to the knee joint exoskeleton device. The pulley element 405 optimizes the direction of force transmission and reduces friction loss.

[0178] It should be noted that the second sliding element 403 and the pulley element 405 reduce friction during the movement of the energy storage element 401, and the third connecting element 404 ensures a reliable connection between the second support element 402 and the joint adaptive unit 300.

[0179] Specifically, the second sliding element 403 has a block-shaped or box-shaped structure.

[0180] Generally, the connection methods between the second sliding element 403 and the second support element 402 include, but are not limited to, threaded connection, snap-fit, and adhesive connection.

[0181] Generally, the second sliding element 403 is provided with a number of through holes, and the number of through holes are distributed at the upper and lower ends of the second sliding element 403 for the energy storage element 401 to pass through.

[0182] Generally speaking, the third connecting element 404 is a rigid connecting element.

[0183] Generally, the third connecting element 404 connects one end of the second support element 402 to the second housing element 305, so that the second support element 402 moves with the fifth transmission element 301.

[0184] In some of these embodiments, the third connecting element 404 includes, but is not limited to, a connecting tube, a bracket, a fixing base, etc.

[0185] Generally, the pulley element 405 includes several fixed pulleys, and the equivalent stiffness of the energy storage element 401 is adjusted by changing the winding method.

[0186] Generally, a number of pulley elements 405 are rotatably disposed inside the second sliding element 403, and the number of pulley elements 405 are arranged in an X-shape on the side of the second sliding element 403.

[0187] Generally, there are 2 to 4 pulley elements 405, forming a pulley block.

[0188] Generally, the energy storage element 401 bypasses the pulley element 405, changes direction, and reduces friction.

[0189] In some of these embodiments, the pulley element 405 includes, but is not limited to, pulleys, rollers, guide wheels, etc.

[0190] The usage method of this embodiment is as follows: (1) The first binding element 101 is bound and fixed to the waist of the wearer, the second binding element 102 is bound and fixed to the thigh of the wearer, and the second connecting element 304 is kept relatively fixed to the fifth transmission element 301. The third binding element 103 is bound and fixed to the lower leg of the wearer, ensuring that it fits against the back or front of the lower leg. (2) Adjust the length of the first adjusting rod element 106 so that the drive element 201 is located at a suitable position on the side and rear of the waist, and tighten the locking device to fix the length; wind the first flexible transmission element 206 and the second flexible transmission element 207 into the corresponding rope grooves of the first winch element 205 respectively, and ensure that the other end of the first flexible transmission element 206 is connected to the second transmission element 202 and the other end of the second flexible transmission element 207 is connected to the second winch element 212; (3) Start the drive element 201 to drive the first winch element 205 to rotate, and drive the second winch element 212 and the deceleration element 208 to rotate through the second flexible transmission element 207, and transmit the rotation to the multi-link element 303 through the fourth transmission element 213, the fifth transmission element 301 and the sixth transmission element 302. (4) The multi-link element 303 generates a specific trajectory under the drive of the sixth transmission element 302, and drives the third binding element 103 and the lower leg to move through the first transmission element 109 and the third connecting rod element 108. At the same time, the geometric characteristics of the multi-link element 303 enable it to automatically adapt to the movement of the knee joint rotation axis in the sagittal plane, thereby realizing human-machine joint coupling. (5) During the knee flexion process (such as the later stage of the support phase of gait), the energy storage element 401 is stretched to store elastic potential energy; during the knee extension process (such as the later stage of the swing phase of gait), the energy storage element 401 contracts to release energy, assisting the knee extension and reducing the power consumption of the drive element 201. (6) During walking, the universal joint element 105 allows the drive element 201 to rotate relative to the first connecting rod element 104 within a certain range to adapt to the natural sway of the pelvis. (7) When removing the exoskeleton device, first turn off the drive element 201, unfasten the buckles or Velcro of the first binding element 101, the second binding element 102 and the third binding element 103, and remove the device.

[0191] The technical effects of this embodiment are as follows: 1) The automatic coupling between the exoskeleton joint and the rotation axis of the human knee joint is achieved through the joint adaptive unit, avoiding the decrease in comfort and energy loss caused by the misalignment between the traditional exoskeleton joint and the human joint axis. 2) The flexible transmission components of the drive unit are arranged in the waist area, which reduces the load on the thighs and calves and reduces metabolic consumption during walking. 3) By storing and releasing energy during the gait cycle through the energy storage unit, the power consumption of the drive unit is effectively reduced, and the battery life is extended; 4) The three-point fixing structure of the wearable unit (waist, thigh, and calf) ensures effective torque transmission, while the design of the universal joint and adjustment rod adapts to wearers of different body types, improving versatility; 5) The drive unit adopts a distributed design, that is, the drive components, flexible transmission components and deceleration components are arranged separately, which realizes the upward shift of the center of gravity, reduces the rotational inertia of the legs, and improves the wearer's movement flexibility; 6) The design of the second sliding element and pulley element reduces frictional losses during the movement of the energy storage element and improves energy utilization efficiency.

[0192] The above are merely preferred embodiments of the present invention and are not intended to limit the implementation methods and protection scope of the present invention. Those skilled in the art should recognize that any equivalent substitutions and obvious changes made based on the description and illustrations of the present invention should be included within the protection scope of the present invention.

Claims

1. A human-machine joint coupling knee exoskeleton device, characterized in that, include: Wearable unit, used to secure the knee exoskeleton device to the wearer and to transmit assist torque to the wearer; A drive unit, disposed in the wearable unit, is used to output torque; A joint adaptive unit is connected to the wearable unit and is connected to the drive unit for driving the wearer's leg to move under the action of the drive unit and follow the rotation axis of the knee joint to achieve human-machine joint coupling. An energy storage unit, disposed in the joint adaptive unit, is used to store energy when the leg is bent and to release energy when the leg is extended.

2. The knee joint exoskeleton device according to claim 1, characterized in that, The wearable unit includes: A first binding element is used to bind the wearer's waist to secure the knee exoskeleton device; The second binding element is connected to the energy storage unit and is used to bind the wearer's thigh area; The third binding element is connected to the joint adaptive unit and the energy storage unit respectively, and is used to bind to the wearer's lower leg.

3. The knee joint exoskeleton device according to claim 2, characterized in that, The wearable unit also includes: A first connecting rod element, the top end of which is connected to the first binding element; A universal joint element is disposed at the bottom end of the first connecting rod element to achieve multi-directional rotational connection; A first adjusting rod element, the top end of which is connected to the universal joint element; The second connecting rod element is disposed at the bottom end of the first adjusting rod element and is connected to the driving unit; The third connecting rod element is movably connected to the outer side of the third binding element; A first transmission element is disposed at the top end of the third connecting rod element and connected to the joint adaptive unit, for receiving the torque of the joint adaptive unit and driving the third connecting rod element to move.

4. The knee joint exoskeleton device according to claim 1, characterized in that, The driving unit includes: A drive component, disposed on the side of the wearable unit, is used to output torque; A flexible transmission component is disposed on the side of the driving component and is connected to the driving component in a transmission manner, and is used to operate under the action of the driving component; A deceleration component is disposed on the side of the flexible transmission component and is connected to the flexible transmission component and the joint adaptive unit respectively, and is used to drive the joint adaptive unit to move under the action of the flexible transmission component.

5. The knee exoskeleton device according to claim 4, characterized in that, The driving component includes: A driving element, disposed on the side of the wearable unit, is used to output torque; The second transmission element has two ends connected to the two ends of the flexible transmission component, and the lower end of the second transmission element is rotatably connected to the wearable unit. It is used to reciprocate under the action of the flexible transmission component and transmit the motion to the wearable unit. The third transmission element is disposed at the lower end of the second transmission element and is connected to the second transmission element for transmitting the motion of the second transmission element to the wearable unit. A first support element is disposed between the drive element and the deceleration component, and is connected to the drive element, the deceleration component, and the joint adaptive unit, respectively; and / or The flexible transmission component includes: A first winch element is disposed at the output end of the drive component and is used to output torque; A first flexible transmission element is wound around the first winch element and is connected to the wearable unit for transmitting the torque of the drive component to the wearable unit. A second flexible transmission element, wound around the first winch element and connected to the reduction gear, is used to transmit the torque of the drive component to the reduction gear; and / or The deceleration component includes: A speed reduction element is connected to the flexible transmission component for receiving the torque output by the drive component and reducing its speed before outputting it.

6. The knee exoskeleton device according to claim 5, characterized in that, The drive component further includes: A first housing element is fixedly disposed on the outside of the driving component and connected to the wearable unit and the joint adaptive unit respectively; A first sliding element is disposed on the first support element and slidably connected to the wearable unit, for limiting the movement trajectory of the wearable unit; A first connecting element is disposed at the lower end of the second transmission element and is connected to the second transmission element and the third transmission element, respectively; and / or The flexible transmission component also includes: A second winch element is disposed at the input end of the reduction gear and is connected to both the second flexible transmission element and the reduction gear, for driving the reduction gear under the action of the second flexible transmission element; and / or The deceleration component also includes: A fourth transmission element is disposed at the output end of the reduction element and connected to the joint adaptive unit, for outputting torque to the joint adaptive unit.

7. The knee exoskeleton device according to claim 1, characterized in that, The joint adaptive unit includes: The fifth transmission element is connected to the drive unit and to the second part of the wearable unit, and is used to receive the driving force of the drive unit and drive the second part of the wearable unit to rotate; The sixth transmission element is connected to the fifth transmission element and is used to transmit motion; A multi-link element is connected to the sixth transmission element and the third part of the wearable unit, respectively, and is used to drive the lower leg to move under the action of the sixth transmission element and adapt to the movement of the knee joint rotation axis on the sagittal X and Y coordinate axes.

8. The knee exoskeleton device according to claim 7, characterized in that, The joint adaptive unit also includes: The second connecting element is disposed on the side of the fifth transmission element and is connected to the fifth transmission element and the second part of the wearable unit, respectively. The second housing element is disposed between the fifth transmission element and the drive unit, and is used to encapsulate and protect the joint adaptive unit and to transmit the torque output by the drive unit to the fifth transmission element; A third housing element is disposed opposite to the second housing element and cooperates with the second housing element to form the accommodating space of the wearable unit.

9. The knee exoskeleton device according to claim 1, characterized in that, The energy storage unit includes: An energy storage element, the upper end of which is disposed in the second part of the wearable unit and the lower end of which is disposed in the third part of the wearable unit, is used to be stretched to store energy when the knee joint is flexed and to contract to release energy when the knee joint is extended. The second support element is disposed between the second part and the third part of the wearable unit and is slidably connected to the energy storage element, for supporting and guiding the sliding of the energy storage element.

10. The knee exoskeleton device according to claim 9, characterized in that, The energy storage unit also includes: The second sliding element is disposed at the end of the second support element, and both ends of the energy storage element pass through the second sliding element and are fixed to the wearable unit, for fixing and guiding the movement trajectory of the energy storage element; A third connecting element is disposed relative to the second sliding element and at the end of the second support element, for fixing the second support element to the joint adaptive unit; A plurality of pulley elements are distributed inside the second sliding element, and the energy storage element extends out of the second sliding element after passing through the plurality of pulley elements.

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