Adaptive leg spiral binding device and wearable equipment for human body and robot

Abstract

The embodiment of the present disclosure provides a leg spiral self-adaptive binding device and wearable equipment for human body and robot, which comprises a driving unit, a spiral binding unit in transmission connection with the driving unit, the spiral binding unit comprising spiral binding units distributed along the circumferential direction of the leg and symmetrically arranged along the logarithmic spiral trajectory of the length direction of the leg, a Bowden cable group penetrating between two adjacent spiral binding units and between the driving unit and the spiral binding unit, and a pressure sensing assembly arranged on the side of the spiral binding unit close to the leg; wherein the driving unit drives and adjusts the winding and unwinding of the Bowden cable group according to the contact pressure between the spiral binding unit and the leg detected by the pressure sensing assembly, so as to adjust the bending curvature and tightness of the spiral binding unit.

Description

Technical Field

[0001] The embodiments disclosed herein belong to the field of intelligent wearable devices and embodied intelligent robots, specifically relating to a leg spiral adaptive binding device and wearable device adapted to human body and robot. Background Technology

[0002] As a core component of exoskeleton devices and the leg execution components of embodied intelligent humanoid robots, the binding mechanism directly affects the synergistic effect between the human body and the exoskeleton, as well as the reliability of the robot's leg movements, in terms of its fitting accuracy, motion compatibility, and wearing and assembly stability. The human leg, as a key weight-bearing and movement part of the lower limb, has unique physiological characteristics: its outline is a conical structure with varying thickness at the top and bottom; the anterior tibia has dense blood vessels and nerves; and muscles such as the gastrocnemius and soleus are unevenly distributed. Furthermore, movement requires coordination with ankle and knee flexion and extension to achieve gait switching. In contrast, the legs of embodied intelligent humanoid robots need to simulate human gait trajectories. Their leg structures are mostly segmented mechanical structures, exhibiting characteristics such as high requirements for the fit between the mechanical body and the outer components, and significant differences in leg size and structure between different robot models.

[0003] With the promotion of exoskeleton technology in rehabilitation training, weight-bearing assistance, sports protection and other fields, as well as the popularization of the application of embodied intelligent humanoid robots in industrial operations, service interaction and bionic research and development, the requirements for the compatibility of binding mechanisms between human legs and robot legs are becoming increasingly stringent. Existing leg restraint mechanisms are mostly designed for single scenarios, either only suitable for humans or only compatible with specific robot models, resulting in the following technical shortcomings: First, poor versatility: in human scenarios, they can only accommodate people with specific leg circumferences and lengths; in robot scenarios, they cannot be compatible with the leg mechanical structures of different models, requiring separate customization, which significantly increases production and manufacturing costs and raises the barrier to entry. Second, insufficient fit: in human scenarios, they cannot adapt to the tapered contours and muscle distribution characteristics of the legs, easily leading to localized compression or loosening and slippage, and long-term wear can affect blood circulation and cause muscle fatigue; in robot scenarios, they are difficult to adapt to the irregular structure of the mechanical body, easily causing assembly gaps or localized stress concentrations, affecting the accuracy of motion transmission. Third, poor motion compatibility: in human scenarios, they cannot adjust their shape in real time according to the flexion and extension of the ankle and knee joints and the contraction and relaxation of leg muscles, limiting natural gait; in robot scenarios, they cannot match the joint motion trajectory with the deformation requirements of mechanical components, easily causing motion interference with the leg drive mechanism and reducing the robot's motion stability.

[0004] In summary, existing restraint mechanisms suffer from a singular design paradigm, typically optimizing for a single objective such as "human comfort" or "robot structural integrity," lacking consideration for the conflicting demands of biological adaptability and mechanical conformity. Therefore, a novel restraint device is urgently needed in this field. Summary of the Invention

[0005] The embodiments disclosed herein aim to at least solve one of the technical problems existing in the prior art, and provide a leg spiral adaptive binding device and wearable device that are adapted to human bodies and robots.

[0006] A first aspect of the embodiments of this disclosure provides a leg spiral adaptive restraint device adapted to humans and robots, comprising:

[0007] Drive unit;

[0008] A spiral binding unit is connected to the drive unit. The spiral binding unit includes spiral binding elements distributed along the circumference of the leg and symmetrically arranged along the length of the leg in a logarithmic spiral trajectory.

[0009] Bowden wire assemblies are threaded between two adjacent spiral binding elements, and between the drive unit and the spiral binding element; and,

[0010] A pressure sensing component is disposed on the side of the spiral binding unit near the leg;

[0011] The drive unit drives and adjusts the opening and closing of the Bowden cable group based on the contact pressure between the spiral binding unit and the leg detected by the pressure sensing component, so as to adjust the curvature and tightness of the spiral binding unit.

[0012] Optionally, the spiral binding element includes an element body, a protrusion disposed at one end of the element body, and a recess disposed at the other end of the element body.

[0013] In this embodiment, the protrusion of one of the spiral binding elements rotates with the concave portion of the adjacent spiral binding element.

[0014] Optionally, the spiral binding element is provided with a threading hole that extends through the element body along the circumferential direction of the leg and is used to thread the Bowden wire assembly.

[0015] Optionally, the threading hole includes a first threading hole and a second threading hole corresponding to the protrusion and the recess, and a third threading hole in the basic body.

[0016] Optionally, the Bowden wire assembly includes a first Bowden wire passing through the first wire hole, a second Bowden wire passing through the second wire hole, and a third Bowden wire passing through the third wire hole;

[0017] The drive unit is configured to control the first Bowden line and the second Bowden line to adjust the tightness of the spiral binding unit, and to control the third Bowden line to adjust the curvature of the spiral binding unit.

[0018] Optionally, the drive unit includes a housing, a motor disposed within the housing, a drive gear that is hygienically connected to the rotating shaft of the motor, a driven gear that meshes with the drive gear, and a winding post that is hygienically connected to the driven gear.

[0019] The Bowden cable assembly is fixed at one end to the winding post, and the drive unit winds up and unwinds the Bowden cable assembly by rotating the winding post.

[0020] Optionally, the drive unit further includes a pawl disposed within the housing for locking the drive gear, and a spring elastically connected to the pawl.

[0021] Optionally, the pressure sensing component includes multiple pressure sensors, which are disposed at positions of the spiral binding unit corresponding to non-sensitive force areas of the leg.

[0022] Furthermore, it also includes: a flexible protective cover, which is disposed over the spiral binding unit.

[0023] A second aspect of the embodiments of this disclosure provides a wearable device including the aforementioned leg spiral adaptive binding device.

[0024] The beneficial effects of the embodiments of this disclosure include:

[0025] In this application, through the design of a logarithmic spiral trajectory binding unit, and the drive of Bowden wire assembly and pressure sensing feedback control, efficient, universal, and adaptive binding of the legs of both flexible biological bodies (humans) and rigid mechanical bodies (robots) is achieved. This setup can solve the problems of poor versatility, insufficient fit, and poor motion compatibility of traditional devices.

[0026] On the one hand, the logarithmic spiral binding unit design can simultaneously approximate the physiological contours of the human leg and the mechanical contours of the robot, achieving a conformal fit. On the other hand, the drive unit dynamically adjusts the tightness and curvature of the binding by tightening and loosening the Bowden cable assembly based on pressure data from pressure sensors. When worn by the human body, this ensures uniform pressure distribution and motion tracking, avoiding localized pressure. Furthermore, during robot assembly, it achieves a seamless, tight fit and coordinated movement, guaranteeing stability and efficient force transmission. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the structure of a leg spiral adaptive binding device adapted to human body and robot according to an embodiment of this application;

[0028] Figure 2 This is a schematic diagram of the structure of a leg spiral adaptive binding device adapted to human body and robot according to another embodiment of this application;

[0029] Figure 3 This is a schematic diagram of the unfolded structure of a leg spiral adaptive binding device adapted to human body and robot according to an embodiment of this application;

[0030] Figure 4 This is a schematic diagram of the structure of a driving unit according to an embodiment of this application;

[0031] Figure 5 This is a schematic diagram of the structure of a spiral binding element according to an embodiment of this application;

[0032] Figure 6 This is a schematic diagram of the structure of two spiral binding elements connected according to an embodiment of this application.

[0033] In the diagram: 100, spiral binding unit; 101, spiral binding element; 11, first threading hole; 12, second threading hole; 13, third threading hole; 14, protrusion; 15, recess; 16, first Bowden wire; 17, second Bowden wire; 18, third Bowden wire; 19, element body; 200, drive unit; 201, driven gear; 202, winding post; 203, drive gear; 204, motor; 205, pawl; 206, spring; 207, tray; 210, housing. Detailed Implementation

[0034] To enable those skilled in the art to better understand the technical solutions of this disclosure, the disclosure will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0035] The embodiments of this application will be further described in detail below with reference to the accompanying drawings and examples. The detailed descriptions and accompanying drawings of the following embodiments are used to exemplarily illustrate the principles of this application, but should not be used to limit the scope of this application; that is, this application is not limited to the described embodiments. In the description of this application, it should be noted that, unless otherwise stated, "a plurality of" means two or more; the terms "upper," "lower," "left," "right," "inner," "outer," etc., indicating orientation or positional relationships are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance. "Vertical" is not strictly vertical, but within the allowable error range. "Parallel" is not strictly parallel, but within the allowable error range.

[0036] In the description of this application, it should also be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "joining" 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 direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this application depending on the specific circumstances.

[0037] like Figure 1-6 As shown, a leg spiral adaptive binding device adapted to humans and robots includes a drive unit 200, a spiral binding unit 100, a Bowden wire assembly, and a pressure sensing component.

[0038] The spiral binding unit 100 is connected to the drive unit 200. The spiral binding unit 100 includes spiral binding elements 101 distributed along the circumference of the leg and symmetrically arranged along the length of the leg in a logarithmic spiral trajectory.

[0039] Bowden cords are threaded between two adjacent spiral binding units 101, and between the drive unit 200 and the spiral binding unit 101. A pressure sensing assembly is also provided on the side of the spiral binding unit 100 near the leg.

[0040] The drive unit 200 drives and adjusts the opening and closing of the Bowden cable group based on the contact pressure between the spiral binding unit 100 and the leg detected by the pressure sensing component, so as to adjust the bending curvature and tightness of the spiral binding unit 100.

[0041] In this application, through the design of a logarithmic spiral trajectory spiral binding unit 100, and the drive of Bowden wire assembly and pressure sensing feedback control, efficient, universal, and adaptive binding of the legs of both biological flexible bodies (humans) and mechanical rigid bodies (robots) is achieved. This setup can solve the problems of poor versatility, insufficient fit, and poor motion compatibility of traditional devices.

[0042] On the one hand, the logarithmic spiral binding unit 100 design can simultaneously approximate the physiological contours of the human leg and the mechanical contours of the robot, achieving a conformal fit. On the other hand, the drive unit 200 dynamically adjusts the tightness and curvature of the binding by extending and retracting the Bowden cable assembly based on pressure data from the pressure sensor. When worn by the human body, this ensures uniform pressure distribution and motion tracking, avoiding localized pressure. Furthermore, during robot assembly, it achieves a seamless, tight fit and coordinated movement, guaranteeing stability and efficient force transmission.

[0043] refer to Figure 5In some embodiments, the spiral binding element 101 includes an element body 19, a protrusion 14 disposed at one end of the element body 19, and a recess 15 disposed at the other end of the element body 19.

[0044] In this embodiment, the protrusion 14 of one of the spiral binding elements 101 is rotatably engaged with the recess 15 of the adjacent spiral binding element 101.

[0045] In this application, the adjacent spiral binding units 101 can rotate relative to each other through the rotational engagement of the protrusion 14 and the concave part 15, thereby enabling the entire spiral binding unit 100 to bend flexibly to adapt to the constantly changing contours and postures of the human leg and the robot leg during movement.

[0046] In some embodiments, the spiral binding element 101 is provided with a threading hole that extends through the element body 19 along the circumferential direction of the leg and is used to thread the Bowden wire assembly.

[0047] In this application, the Bowden wires are provided with a precise guiding and constraint path through the threading hole that runs through the circumference of the leg body 19. This ensures that when the spiral binding unit 100 is stretched and bent, the tension of the multiple Bowden wires can be stably and accurately transmitted to each spiral binding unit 101, thereby achieving controllable and uniform adjustment of the binding shape.

[0048] In some embodiments, the threading hole includes a first threading hole 11 and a second threading hole 12 corresponding to the protrusion 14 and the recess 15, and a third threading hole 13 passing through the basic body 19.

[0049] In this application, the threading holes are specifically divided into a first threading hole 11, a second threading hole 12, and a third threading hole 13, which realizes the orderly separation and independent guidance of multiple Bowden wires. This lays the structural foundation for the drive unit 200 to perform precise and independent coordinated winding and unwinding control of different Bowden wires, thereby realizing the precise adjustment of the tightness and curvature of the spiral binding unit 100.

[0050] refer to Figure 6 In some embodiments, the Bowden wire assembly includes a first Bowden wire 16 passing through the first wire hole 11, a second Bowden wire 17 passing through the second wire hole 12, and a third Bowden wire 18 passing through the third wire hole 13.

[0051] The drive unit 200 is configured to control the first Bowden line 16 and the second Bowden line 17 to adjust the tightness of the spiral binding unit 100, and to control the third Bowden line 18 to adjust the curvature of the spiral binding unit 100.

[0052] In this application, by separating the functions of the Bowden line group, the tightness (i.e., radial contraction / expansion) of the spiral binding unit 100 is adjusted by the first Bowden line 16 and the second Bowden line in coordination, while the curvature of the third Bowden line 18 is adjusted independently, thereby achieving decoupled control of the shape of the binding device, which can respond more accurately and independently to the needs of leg circumference changes and posture deformation.

[0053] refer to Figure 4 In some embodiments, the drive unit 200 includes a housing 210, a motor 204 disposed within the housing 210, a drive gear 203 that is drivenly connected to the shaft of the motor 204, a driven gear 201 that is meshed with the drive gear 203, and a winding post 202 that is drivenly connected to the driven gear 201.

[0054] One end of the Bowden cable assembly is fixed to the winding post 202, and the drive unit 200 winds up and unwinds the Bowden cable assembly by rotating the winding post 202.

[0055] In this application, the winding column 202 is driven to rotate by a reduction transmission mechanism consisting of a motor 204, a drive gear 203, and a driven gear 201, thereby achieving synchronous, smooth, and precise winding and unwinding control of multiple Bowden lines. This provides a stable and reliable driving force for the spiral binding unit 100 to perform adaptive and high-precision bending curvature and tightness adjustment.

[0056] In some embodiments, the drive unit 200 further includes a pawl 205 disposed within the housing 210 for locking the drive gear 203, and a spring 206 elastically connected to the pawl 205.

[0057] In this application, by setting a self-locking mechanism consisting of a pawl and a spring in the drive unit 200, the gear can be automatically locked after the motor stops driving, preventing the Bowden line from retracting under external tension, thereby ensuring that the tension and shape of the spiral binding unit 100 can be stably maintained after adjustment.

[0058] In some embodiments, the pressure sensing component includes a plurality of pressure sensors disposed at positions of the spiral binding unit 100 corresponding to non-sensitive force areas of the leg.

[0059] In this application, the design uses multiple pressure sensors strategically placed in non-sensitive pressure areas of the leg (such as avoiding the front of the tibia) to accurately monitor binding pressure, ensuring wearing comfort and safety while providing feedback data for the adaptive adjustment of the drive unit 200.

[0060] In some embodiments, the binding device further includes a flexible protective cover that covers the spiral binding unit 100.

[0061] In this application, by covering the spiral binding unit 100 with a flexible protective cover, it can prevent external dust and foreign objects from intruding into the internal precision structure, provide a soft skin feel when worn by the human body, and play a role in buffering and filling gaps during robot assembly, thereby improving the service life, wearing comfort and structural adaptability of the device.

[0062] A second aspect of the embodiments of this disclosure provides a wearable device including the binding device described above.

[0063] The main objective of this application is to overcome the shortcomings of existing technologies and provide a leg spiral adaptive binding device that is compatible with both humans and robots. This device, through its unique spiral configuration and closed-loop control strategy, aims to solve the core technical challenge of how a single physical entity can simultaneously achieve flexible and adaptive fitting to a living organism (human body) and rigid and precise fitting to a mechanical body (robot).

[0064] Furthermore, the device includes a drive unit, a spiral binding unit, a pressure sensing assembly, and three Bowden wires.

[0065] The spiral binding unit comprises spiral binding elements distributed along the circumference of the human or robot leg and symmetrically arranged along the length of the leg in a logarithmic spiral trajectory. This logarithmic spiral trajectory is specially designed so that its curvature variation can simultaneously approximate the approximate conical logarithmic spiral physiological contour of the human leg and the segmented cylindrical or conical mechanical contour commonly found on robot legs. This conformal geometric basis is the structural prerequisite for this device to achieve "dual adaptation".

[0066] Each adjacent spiral binding unit is connected by Bowden lines (including the first, second, and third Bowden lines). The extension trajectory of the spiral binding units can precisely adapt to the logarithmic spiral contour of the human leg and the mechanical contour of the leg of the embodied intelligent humanoid robot, and the modular splicing structure facilitates disassembly and maintenance. The modular design of each spiral binding unit not only facilitates production and maintenance, but its key significance lies in allowing for the matching of individual human differences (such as calf circumference and muscle distribution) and the leg mechanical dimensions and joint layout of different robot models by increasing or decreasing the number of units or fine-tuning the angle between units. At the same time, the module spacing and fitting curvature can be adjusted according to the muscle distribution characteristics of the human leg and the mechanical structure of the robot leg. One end of the last spiral binding unit is connected to the drive unit, which can adaptively adjust the binding tension according to the different movement needs of the human body and the robot.

[0067] Furthermore, this application offers a comprehensive solution to the core problems of traditional related devices, such as poor versatility, insufficient fit, and poor motion compatibility. It also leverages the inherent characteristics of the helical winding configuration to create unique mechanical advantages that distinguish it from traditional structures, achieving dual adaptation for both human and robotic applications. Addressing the issue of poor versatility, this application employs a reconfigurable helical modular design. One device can cover the leg size range of most adult individuals and can be adjusted to accommodate various robot leg configurations, fundamentally changing the traditional "one person, one machine, one customization" model. This significantly reduces R&D and manufacturing costs. Simultaneously, by increasing or decreasing the number of helical binding elements and fine-tuning the angles between elements, it can flexibly match the differences in calf circumference and muscle distribution among different individuals, and can also adapt to the leg mechanical dimensions and joint layouts of different robot models without requiring separate customization.

[0068] Furthermore, to address the issue of insufficient fit, this application combines logarithmic spiral trajectory with active pressure closed-loop control, which can achieve dynamic and uniform pressure distribution on the human body, avoiding local pressure points, and also achieve seamless fit with the robot's mechanical structure throughout the entire area, thus solving the problem of the difficulty in achieving both biological and mechanical fit.

[0069] By accurately collecting contact pressure data through pressure sensor components, the drive unit automatically adjusts the length of the Bowden line according to a preset threshold. Combined with the conformal geometric characteristics of the logarithmic spiral trajectory, the device can not only conform to the conical contour of the human lower leg, but also precisely fit with the rigid structure of the robot's leg, thus avoiding local pressure or assembly gap problems from the root.

[0070] To address the issue of poor motion compatibility, this device possesses flexible dynamic adaptation capabilities. When the human body moves, it can perform real-time flexible deformation in accordance with muscle contraction and relaxation and joint movement. When the robot moves, it can achieve coordinated rigid adaptation with the joint movement trajectory. Therefore, it can ensure excellent motion tracking and stability in two completely different application scenarios: human wearable devices and robot assembly.

[0071] When worn by humans, the device dynamically adapts to changes in ankle and knee flexion and extension, as well as muscle contraction and relaxation, without restricting the natural gait. During robot assembly, it precisely matches joint movement trajectories with the deformation requirements of mechanical components, effectively preventing motion interference. Simultaneously, the device's helical winding configuration inherently provides resistance to longitudinal torsion—a unique mechanical property not found in traditional parallel or circular straps. In human applications, this effectively prevents strap slippage, ensuring stability during wear. In robotic applications, it enhances the reliability of load-bearing, further improving the structural strength and overall operational reliability of robot leg-mounted equipment.

[0072] The drive unit includes a housing, a motor, a winding post, a drive gear, a driven gear, a tray, and a spring. The motor and the winding post are housed within the housing. The motor is connected to the winding post via the drive gear and the driven gear to drive the winding post to rotate. One end of the Bowden wire assembly (including a first Bowden wire, a second Bowden wire, and a third Bowden wire) is fixed to the winding post, and the other end passes through the spiral binding element. The length of the Bowden wire within the spiral binding element is adjusted by rotating the winding post, thereby changing the curvature of the spiral binding element to adapt to the conical profile of the lower leg and changes in motion posture, while simultaneously meeting the mechanical structural deformation requirements of the robot's leg.

[0073] The pressure sensing component includes several pressure sensors located inside the housing, distributed in areas corresponding to the non-sensitive stress zones of the human lower leg. During placement, these sensors must avoid the anterior tibial nerve bundle and the medial ankle lymphatic vessels. When the restraint device is worn on the lower leg, the pressure sensors continuously monitor the contact pressure between the user and the restraint device. The drive unit automatically adjusts the length of the Bowden wire within the spiral restraint unit based on the pressure data, ensuring the restraint device remains in a close fit without excessive pressure. When the restraint device is mounted on the robot's leg, the tension can be adjusted according to a preset pressure threshold to ensure the assembly stability of the mechanical structure.

[0074] When the human and robot-compatible spiral adaptive binding device of this application is worn on the human calf, pressure sensors located in the non-sensitive force-bearing area inside the device will accurately collect the contact pressure data between the human leg and the spiral binding unit in real time. After receiving the pressure signal, the core control module will automatically adjust the length of the Bowden line passing through the spiral binding unit according to the preset pressure threshold. By utilizing the flexible expansion and contraction characteristics of the spiral binding unit along the logarithmic spiral trajectory, the overall fit curvature and binding tension of the device are dynamically adjusted to achieve an adaptive control effect. This allows the device to closely fit the conical contour and muscle distribution characteristics of the human calf while maintaining a comfortable state without excessive pressure.

[0075] When the binding device is assembled on the robot's leg, it can be similarly based on the preset mechanical adaptation pressure parameters. Through the adaptive adjustment of the drive unit, the spiral binding unit can be precisely fitted with the rigid mechanical structure of the robot's leg, avoiding assembly gaps or local stress concentration, and ensuring the stability and accuracy of the robot's leg movement.

[0076] The spiral binding elements comprise forty-seven units, with Bowden wire threaded inside each element. The spiral binding element profile is designed for the tapered surface of the calf. A first and second threading hole are located on the inner left side of the spiral binding element (i.e., the position of the protrusion and concave portion of the element body), and a third threading hole is located on the right side of the element (i.e., the element body). The spiral binding element has a protrusion at the front and a concave portion at the rear. The size of the concave portion is adapted to the adjustment range of the protrusion, ensuring the flexibility and stability of modular splicing.

[0077] Specifically, the Bowden cable assembly of the leg spiral adaptive binding device includes a first Bowden cable, a second Bowden cable, and a third Bowden cable.

[0078] The spiral binding unit has a first, second, and third threading hole. The first and second threading holes are located near the non-human contact area, while the third threading hole is near the calf side. When two adjacent spiral binding units are connected, the first Bowden wire passes through the first threading hole, and the second and third Bowden wires pass through the second and third threading holes in sequence. By tightening and loosening the first and second Bowden wires, the radius of the logarithmic spiral can be adjusted. This adapts to the contraction of the posterior calf muscles and changes in the lateral contour, avoiding localized pulling during adjustment. The third Bowden wire is used to control the overall curvature of the spiral binding unit, meeting the different posture requirements of the human body and the robot.

[0079] In some embodiments, a spring retainer is provided at the end of the spiral binding element (between two spiral binding elements). The spring retainer is snapped and fixedly connected to the spiral binding element to enhance the connection stability and avoid changes in the curvature of the entire device and uneven gaps between the spiral binding elements.

[0080] In some embodiments, the drive unit includes a driving wheel, a driven wheel, and a winding post. The driving wheel is fixed to the output shaft of the motor, and the driven wheel is fixed to the winding post and meshes with the driving wheel. A gear transmission structure reduces the rotational speed and increases the torque, ensuring the smoothness and precision of Bowden line adjustment. This accommodates the fine-tuning needs of slight changes in the posture of the human lower leg, as well as precise tension control during robot leg movements.

[0081] In some embodiments, the leg spiral adaptive restraint device also includes a flexible protective cover. The flexible protective cover, made of a breathable elastic material, is fitted over the inner and outer sides of the spiral restraint unit. The ends of the flexible protective cover are fixed to the drive unit, serving both dust and abrasion protection functions without affecting the bending and deformation of the spiral restraint unit. It also enhances the skin feel when worn by the human body and improves the structural fit during robot assembly.

[0082] In this application, the leg spiral adaptive binding device is designed around the conical contour, muscle distribution, and motion characteristics of the human calf, combined with the mechanical structural requirements of the robot leg, making it highly versatile. The drive unit precisely adjusts the length of the Bowden cable via a winding post, driving the spiral binding unit to achieve dual extension and contraction along the length and circumference of the calf. Simultaneously, the bending curvature can be flexibly adjusted to accommodate individuals with different calf circumferences, lengths, and vertical diameters, eliminating the need for custom-made devices. This device is also compatible with the leg structures of different robot models, significantly reducing manufacturing costs and lowering the barrier to entry.

[0083] Specifically, referring to Figures 1 to 5, the adaptive spiral binding device for legs, suitable for both humans and robots, includes a drive unit 200 and a spiral binding unit 100. The spiral binding unit 100 is the core adaptation structure of the device, composed of 47 spiral binding elements 101. One end of each spiral binding element 101 is connected to another spiral binding element 101, and the second end is connected to the drive unit 200. Each spiral binding element 101, as well as the drive unit 200 and the spiral binding elements, are connected via Bowden wire perforations. This allows the entire binding device to expand and contract, adapting to different leg contours of humans and robots. The drive unit 200, as the active motion structure, drives the entire binding device to complete contraction and bending movements, achieving adaptive adjustment.

[0084] See Figure 4 The drive unit 200 includes a housing 210, a driven gear 201, a winding post 202, a pawl 205, a spring 206, a tray 207, and a Bowden cable assembly. The motor 204 and the winding post 202 are housed within the housing 210. The motor 204 is connected to the winding post 202 via a drive gear 203 and a driven gear 201 to drive the winding post 202 to rotate. One end of the Bowden cable is fixed to the winding post 202, and the other end passes through the spiral binding unit 100. Rotation of the winding post 202 adjusts the length of the Bowden cable within the spiral binding unit 100, thereby adjusting the curvature of the spiral binding unit 100. The pawl can lock the drive gear 203 to ensure tension stability after adjustment.

[0085] A pressure sensing component (not shown) is located near the center of the spiral binding unit 100, and monitors the pressure on the binding surface in real time. When applied to the human body, the control objective is to maintain the pressure within a comfortable range that ensures both stability and avoids obstruction of blood circulation, with particular attention to avoiding sensitive areas such as the anterior tibia. When applied to a robot, the control objective is to ensure a uniform, tight, and secure contact between the binding device and the mechanical structure to optimize force transmission efficiency and avoid motion interference. The drive unit 200 sets targets according to different pressures and adjusts them collaboratively through three Bowden lines (first Bowden line 16, second Bowden line 17, and third Bowden line 18) to change the curvature and overall tightness of the spiral binding unit 100, achieving "adaptive" control for different objects.

[0086] When the restraint device is worn on the legs, the pressure sensor detects the pressure between the body and the restraint device. The drive unit 200 adjusts the length of the Bowden line within the spiral restraint unit 100 according to the pressure.

[0087] In this embodiment, the adaptive spiral binding device for legs, which is compatible with both humans and robots, has high versatility. The drive unit 200 changes the length of the Bowden cable via the winding post 202, thereby enabling the spiral binding unit 100 to contract or extend, thus altering the curvature of the adaptive spiral binding device for legs, which is compatible with the needs of different body types and the leg structures of different robot models.

[0088] Furthermore, by employing an electronically adjustable strategy, users can set pressure thresholds according to their own needs to adjust the tightness of the entire restraint. In robotic applications, tension can be automatically controlled through preset programs, resulting in high levels of comfort and adaptability.

[0089] In this embodiment, the spiral binding unit 100 has significant advantages. This unit is flexible with a wide bending range, resists longitudinal torsion, and improves stability after wearing or assembly. Furthermore, the spiral binding unit 100 adopts a modular manufacturing approach. The overall length can be adjusted by changing the number of spiral binding elements. This allows it to adapt to human and robotic legs of different lengths, further enhancing the versatility of the device.

[0090] Meanwhile, the restraint device utilizes various flexible materials to enhance wearability, such as flexible protective shields. These components prevent discomfort caused by direct contact between the human body and rigid structures, thus improving comfort. In robotic applications, flexible materials can fill gaps in mechanical structures, reducing motion interference.

[0091] In some embodiments, see Figure 3 and Figure 6The spiral binding unit 100 includes 47 spiral binding elements, with the Bowden wire passing through the interior of the spiral binding elements;

[0092] See Figure 5 and Figure 6 The basic body 19 of the spiral binding element has a first threading hole 11 and a second threading hole 12 on its left side, and a third threading hole 13 on its right side. The basic body 19 of the spiral binding element has a semi-circular protrusion 14 and a semi-circular recess 15. The protrusion 14 of the first spiral binding element is connected to the recess 15 of the second spiral binding element. The first threading hole 11 and the second threading hole 12 of the first spiral binding element are connected to the first threading hole 11 and the second threading hole 12 of the second spiral binding element by Bowden wire. The third threading hole 13 of the first spiral binding element is connected to the third threading hole 13 of the second spiral binding element by Bowden wire.

[0093] Multiple spiral binding elements are arranged adjacently to form a spiral binding unit 100. The included angle between adjacent spiral binding elements can be adjusted by changing the length of the Bowden wire in the third threading hole 13. This changes the curvature of the spiral binding unit 100, precisely adapting it to the conical contour of the human lower leg and the mechanical structure of the robot's leg.

[0094] In the above embodiment, the curvature of the spiral binding unit 100 is changed by adjusting the length of the Bowden wire in the third threading hole 13. The binding shape can be adjusted according to the patient's specific condition to fix and protect the patient's legs. The device can also adjust the curvature according to the movement requirements of the robot's legs to improve movement stability, making it very convenient to use.

[0095] In addition, the spiral binding unit 100 has good flexibility and adaptability, and can meet the needs of different scenarios of human wear and robot assembly.

[0096] Further, see Figure 6 The adaptive spiral binding device for legs, which is compatible with both humans and robots, also includes a first Bowden line 16, a second Bowden line 17, and a third Bowden line 18.

[0097] The basic unit 19 of the spiral binding element is provided with a first threading hole, a second threading hole, and a third threading hole. The first threading hole is located above the second threading hole. The Bowden wire in the first and second threading holes is used to limit the length of the spiral binding element and ensure structural stability. The Bowden wire in the third threading hole, through stretching, causes the entire spiral unit 100 to contract and bend, achieving curvature adjustment.

[0098] In the above embodiment, by setting three Bowden lines (i.e., the first Bowden line 16, the second Bowden line 17, and the third Bowden line 18) distributed in the threading holes corresponding to the spiral binding unit to pass through the entire spiral binding unit 100, the device is bound inward and extended, thereby achieving precise adaptation of the human body and the robot's legs.

[0099] The telescopic spiral structure can be contracted to accommodate a thinner leg profile by reducing the length of the first Bowden line 11 and the second Bowden line 12. The structure can be extended to accommodate a thicker leg profile by increasing the length of the Bowden lines.

[0100] In one specific implementation, see Figure 5 and Figure 6 The specific structure of the telescopic spiral unit 100 is described.

[0101] For example, each spiral binding element has three threading holes and is connected by Bowden wire. This design helps improve the spiral binding element's resistance to longitudinal torsion, preventing it from sagging while maintaining good lateral flexibility, thus ensuring stability when worn by the human body and structural strength during robot assembly.

[0102] In this embodiment, the spiral binding unit has the ability to resist longitudinal torsion, thereby providing better support and protection during human movement. It can also carry or bear the weight of other components and equipment, improving the binding effect on the human lower leg and the robot's carrying capacity.

[0103] Further, see Figure 4 The drive unit 200 further includes a drive gear 203, a driven gear 201, and a winding post 202. The drive gear 203 is fixed to the output shaft of the motor 204, and the driven gear 201 is fixed to the winding post 202 and meshes with the drive gear 203.

[0104] In the above embodiment, the cooperation of the driving gear 203, the driven gear 201, and the winding post 202 enables the motor 204 to rotate and drive the winding post 202 to rotate, thereby adjusting the length of the Bowden line in the spiral binding unit 100, and further adjusting the curvature of the spiral binding unit 100 to adjust the comfort of the binding device. The operation is simple.

[0105] Furthermore, the leg spiral adaptive binding device adapted for both humans and robots also includes a flexible protective cover (not shown in the figure). The flexible protective cover is fitted onto the outside of the spiral binding unit 100, and the end of the flexible protective cover is fixed to the drive unit 200.

[0106] In the above embodiment, the flexible protective cover is sleeved on the outside of the spiral binding unit 100 and wraps around the spiral binding unit 100. It is fixedly connected to the housing 210, which protects the internal structure and prevents damage such as external wear and pollution, while providing a buffer for the extension and retraction of the binding device.

[0107] For example, flexible protective covers are made of materials with good elasticity and tensile strength, such as polyurethane, nylon, and spandex. These materials can provide sufficient support and stability while ensuring comfort.

[0108] The pressure sensor is located between the flexible protective cover and the inner side of the spiral binding unit.

[0109] In this embodiment, the adaptive spiral leg restraint device, which is compatible with both humans and robots, offers greater applicability and comfort. It is not only suitable for exoskeletons but also for other medical restraint devices. Its unique telescopic structure and electrical controls significantly improve versatility and wearing comfort.

[0110] It should be noted that, firstly, this application does not limit the number of drive units 200. This application can change the number of drive units 200 according to specific needs, and at the same time change the length of the spiral binding unit 100 and the length of the internal Bowden wire and its connection method with other components.

[0111] Secondly, the external shape of the spiral binding unit 100 can be changed as needed to mount other components.

[0112] Thirdly, the spiral binding unit 100 can arbitrarily change its number of basic elements, size of basic elements and external shape while ensuring its extension, bending and resistance to longitudinal torsion, so that it can be applied to other scenarios by changing its overall length, such as other medical binding devices and automated grasping devices.

[0113] Fourthly, the binding structure of this application can also be used for binding cylindrical parts such as the chest and limbs, the difference being the shape, size and number of drive units 200, etc. In addition to being used in medical assistive devices, it can also be designed for use in automated grasping equipment, etc.

[0114] It is understood that the above embodiments are merely exemplary embodiments used to illustrate the principles of this disclosure, and this disclosure is not limited thereto. For those skilled in the art, various modifications and improvements can be made without departing from the spirit and substance of this disclosure, and these modifications and improvements are also considered to be within the scope of protection of this disclosure.

Claims

1. A leg spiral adaptive restraint device adapted to humans and robots, characterized in that, include: Drive unit; A spiral binding unit is connected to the drive unit. The spiral binding unit includes spiral binding elements distributed along the circumference of the leg and symmetrically arranged along the length of the leg in a logarithmic spiral trajectory. Bowden wire assemblies are threaded between two adjacent spiral binding elements, and between the drive unit and the spiral binding element; and, A pressure sensing component is disposed on the side of the spiral binding unit near the leg; The drive unit drives and adjusts the opening and closing of the Bowden cable group based on the contact pressure between the spiral binding unit and the leg detected by the pressure sensing component, so as to adjust the curvature and tightness of the spiral binding unit. The spiral binding element includes an element body, a protrusion disposed at one end of the element body, and a recess disposed at the other end of the element body. In this embodiment, the protrusion of one of the spiral binding elements is rotatably engaged with the concave portion of the adjacent spiral binding element; The spiral binding element is provided with a threading hole that extends through the element body along the circumference of the leg and is used to thread the Bowden wire assembly. The threading hole includes a first threading hole and a second threading hole corresponding to the protrusion and the recess, and a third threading hole in the basic body. The Bowden wire assembly includes a first Bowden wire passing through the first wire hole, a second Bowden wire passing through the second wire hole, and a third Bowden wire passing through the third wire hole; The drive unit is configured to control the first Bowden line and the second Bowden line to adjust the tightness of the spiral binding unit, and to control the third Bowden line to adjust the curvature of the spiral binding unit.

2. The leg spiral adaptive binding device according to claim 1, characterized in that, The drive unit includes a housing, a motor disposed within the housing, a drive gear that is driven and connected to the rotating shaft of the motor, a driven gear that meshes with the drive gear, and a winding post that is driven and connected to the driven gear. The Bowden cable assembly is fixed at one end to the winding post, and the drive unit winds up and unwinds the Bowden cable assembly by rotating the winding post.

3. The leg spiral adaptive binding device according to claim 2, characterized in that, The drive unit also includes a pawl disposed within the housing for locking the drive gear, and a spring elastically connected to the pawl.

4. The leg spiral adaptive binding device according to claim 1, characterized in that, The pressure sensing component includes multiple pressure sensors, which are positioned at locations on the spiral binding unit corresponding to non-sensitive force areas of the leg.

5. The leg spiral adaptive binding device according to claim 1, characterized in that, Also includes: A flexible protective cover is provided on the spiral binding unit.

6. A wearable device, characterized in that, Includes the leg spiral adaptive binding device as described in any one of claims 1-5.

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