A frame walking machine for walking with a person

Abstract

This invention discloses a simplified implementation of a frame-based walking machine that coordinates with human movement, enabling machine walking while simultaneously assisting human walking. The frame-based walking machine includes a wearable connection unit, an external frame, at least two support components, a drive unit, and a transmission mechanism. The external frame is independent of the user's lower limbs, and the ends of the support components directly contact the ground, transmitting the device's weight and the reaction force of the assist force to the ground. The drive unit is mounted on the external frame and does not move with the legs. The left and right support components extend and retract alternately, coordinating with the user's gait. The core concept of this invention is that the human body provides motion guidance and balance control for the frame-based walking machine, while the frame-based walking machine provides weight-bearing support for the human body; the two complement each other, forming a complete human-machine walking system. This architecture is extremely simple, lightweight, low-cost, and requires no binding of the lower limbs.

Description

Technical Field

[0001] This invention relates to the field of wearable walking aids, specifically to a frame walking machine that is worn on the human body and assists walking through an external frame that works in coordination with the human body. Background Technology

[0002] Existing walking aids are mainly divided into three categories: passive lower limb orthoses, powered exoskeletons, and handheld assistive devices. Passive orthoses only provide fixed support and do not provide active assistance. Powered exoskeletons use motors to drive the hip and knee joints to rotate and assist in walking; they are essentially "machines worn on the human body," with complex structures, heavy weight, high cost, and require precise alignment with the user's joints, making them cumbersome to wear. Handheld assistive devices occupy both hands and affect daily operations.

[0003] Existing technologies include solutions that integrate drive components into the waist area. For example, Existing technology 1 uses a waist binding component, a drive motor, and drive cables, with the motor driving the drive cables to alternately apply traction to the thigh straps. Existing technology 2 uses a waist wear module and an auxiliary support telescopic rod, with the telescopic rod connected to the user's legs via a thigh support rod. Existing technology 3 uses a frame-mounted motor and a reel, with the reel connected to the thigh straps via a flexible band.

[0004] The common essence of the aforementioned existing technologies lies in the fact that the force transmission path is "motor → drive component → user's limb". The assistive force is directly applied to the user's limb (thigh / calf), the user has to bear the weight of the device, and the lower limb binding restricts the degree of freedom of movement and wearing comfort. These solutions all attempt to use machines to "drive" or "replace" the function of human joints, rather than "cooperate" with the human body. Summary of the Invention

[0005] Inventive concept

[0006] This invention proposes a novel type of walking assistance device—the "frame walker." Its core concept lies in the fact that the frame walker, with the cooperation of the human body, enables machine walking while simultaneously assisting human walking.

[0007] This concept has two layers of meaning:

[0008] First, the frame walker achieves machine walking with the cooperation of the human body. The frame walker itself is an external mechanical structure independent of the human lower limbs, with its support components in direct contact with the ground. During walking, the human body provides motion guidance, balance control, and direction of movement for the frame walker—wherever the person goes, the frame follows. The frame walker does not walk entirely autonomously, but relies on the guidance and cooperation of the human body to complete its spatial movement. The human body provides the frame walker with a path and rhythm for "walking."

[0009] Secondly, the frame walker also assists in human walking. While the user guides the frame walker, its support components provide upward assistance in the support phase, transferring part of the user's weight to the ground reaction force, thus reducing the burden on the lower limbs. The frame walker "bears the weight," and the user "guides," the two working together and depending on each other.

[0010] The traditional concept of exoskeletons is "machines replacing joints," while the concept of this invention is "human-machine interaction to form machine walking." Traditional exoskeletons attempt to simulate or replace human joint functions with machines; the frame walker of this invention does not replace any human movement function, but rather forms a complete walking system together with the human body. The human body's balance ability, orientation judgment ability, and movement intention provide the frame walker with "intelligence"; the frame walker's support and load-bearing capacity provide the human body with "strength." The combination of the two forms a new type of human-machine walking relationship.

[0011] This architecture simplifies the complex problem of "multi-joint drive and coordination" into a problem of "external alternating support and follow-up." The current embodiment demonstrates a simplified implementation of this frame walker—the basic frame structure consists of a fixed connection to the human body at the waist and two alternately extending and retracting support rods on the left and right sides. Under the frame walker concept of this invention, auxiliary support rods can be added in the future to form a more complete external walking frame independent of the human lower limbs.

[0012] Force transmission path – a fundamental difference from existing technologies

[0013] The force transmission path in existing technologies is: motor → drive component → user's limbs (thigh / lower leg / hip).

[0014] The force transmission path of this invention is: motor → transmission mechanism → support rod → end contact head → ground / step → reaction force through support rod → frame → user's waist.

[0015] This distinction means:

[0016] The support rod of this invention supports an external support surface (ground / step), rather than the user's body.

[0017] The reaction force of the device's own weight and auxiliary force is mainly borne by the ground, and the user does not bear the weight of the equipment.

[0018] The device and the user's lower limbs are physically independent of each other, connected only at the waist, with no bindings on the lower limbs.

[0019] Technical problems to be solved

[0020] The present invention aims to provide a new type of walking assistance device—a frame walking machine, which does not drive human joints, does not apply assistance force directly to the limbs, has its own weight borne by the ground, has a simplified structure, is easy to wear, and forms a human-machine mutual assistance walking relationship with the human body.

[0021] Technical solution

[0022] Part 1: Overall Architecture of the Frame Walker

[0023] A frame-type walking machine that walks in coordination with humans, enabling the machine to walk while simultaneously assisting human walking, includes:

[0024] (1) Wearable connection unit (100) for connecting the frame walker to the user's body. The wearable connection unit can be worn on the user's waist, back or other parts of the torso. In the current simplified implementation, it is a waist belt type waist fixation component.

[0025] (2) An external frame (500) is connected to the wearable connection unit to form an external support structure independent of the user's lower limbs. During use, the external frame can move with the user's body, but remains physically separate from the user's lower limbs. The current simplified implementation uses an installation frame.

[0026] (3) At least two support components (200) are mounted on the external frame. Each support component can alternately switch between an extended state and a retracted state. In the extended state, the end of the support component contacts the ground or a step, transferring the weight of the frame walker and part of the user's weight to the ground; in the retracted state, the end of the support component is off the ground, without interfering with the user's leg movement. In the current simplified implementation, there are two support rods, one on the left and one on the right.

[0027] (4) A drive unit (510) is mounted on the external frame. The drive unit drives the support assembly to extend and retract via a transmission mechanism. In the current simplified implementation, a motor is used.

[0028] (5) A control unit for coordinating the alternating movements of the at least two support components to synchronize them with the user’s gait.

[0029] Part Two: The Specific Structure of the Current Simplified Implementation

[0030] As a simplified implementation of the aforementioned frame-based walking machine, this embodiment discloses an external frame-type alternating waist-assisted walking aid device, comprising:

[0031] (1) Waist fixing component (100), which is a waist belt type, is worn and fixed on the user's waist.

[0032] (2) Mounting frame (500), fixed to both sides of the waist fixing component. An elastic connector can be set between the mounting frame and the waist belt to achieve semi-flexible fixing, allowing the support rod to swing slightly with the gait.

[0033] (3) Motor (510), fixed to the mounting frame. The motor does not move with the legs and its relative position to the user's waist remains unchanged.

[0034] (4) Winch wheel (302), installed on the motor output shaft.

[0035] (5) Rope (301) is wound around the winch wheel at least 2 times, with the two ends of the rope fixed to the upper and lower ends of the support rod, respectively. When the motor rotates, the winch wheel drives the rope through friction, causing the support rod to extend and retract axially.

[0036] (6) The support rod (200) consists of two parallel optical axes (201, 202), which pass through the guide hole of the slider (530) fixed to the mounting frame and can slide freely along the axial direction. The support rod is the only axially moving part in the frame walker.

[0037] (7) Slider (530), fixed to the mounting frame and fitted onto the support rod. The slider only serves as a guide and its relative position to the human body remains unchanged.

[0038] (8) End contact head (203), fixed to the bottom of the support rod. In use, the end contact head directly contacts the ground or step, transmitting the reaction force of the auxiliary force to the ground through the support rod, rather than to the user's lower limbs. The contact head can be made of elastic material to provide cushioning.

[0039] (9) One-way reducer (520), fixed to the mounting frame, connected between the motor and the winch wheel, used to control the falling speed of the support rod and provide reverse buffer damping when going downstairs.

[0040] (10) Tension spring (307), connected in series between the fixed point of the rope and the support rod, with a pretension not less than the maximum auxiliary force to ensure that the rope is always taut. The tension spring is equipped with a limiter (307a) to limit the maximum amount of tension.

[0041] (11) An elastic reset element, disposed between the mounting frame and the support rod, is used to drive the support rod to passively move forward to the next support position after the support rod is lifted off the ground. The elastic reset element is one of a torsion spring, a tension spring, or an elastic band.

[0042] Standard Action Logic

[0043] During one gait cycle, the standard movement of a single support component (support rod) is as follows:

[0044] ①Standing support: The support rod is parallel to the legs in the lower position, with the end touching the ground. The ground reaction force is transmitted to the user's body through the support rod, mounting frame and connecting unit, providing an upward assist force.

[0045] ② As the user steps forward, the foot moves forward, and the support bar behind maintains support until the center of gravity shifts. The human body guides the walking machine forward, and the support bar behind maintains its support position.

[0046] ③ After the center of gravity shifts, the load on the support rod decreases, and the motor drives the support rod to lift up, with its end off the ground. The elastic reset component passively moves the support rod forward until it merges with the user's landing foot. The human body provides the frame walker with the path and opportunity to move.

[0047] ④ The motor drives the support rod to sink, with the end contact head touching the ground first, forming a buffer and providing support. After completion, return to ①.

[0048] Throughout the gait cycle, the human body is responsible for guiding direction, controlling balance, and providing stepping power, while the frame walking machine is responsible for weight-bearing support and following movement. A mutually supportive relationship is formed between the human and the machine: the human provides the walking path, and the machine provides support for the human.

[0049] The left and right support rods alternately perform the above actions. It is suitable for walking on flat ground, going upstairs, and going downstairs: it provides a large upward thrust when going upstairs (preset 150-200N), provides buffer resistance when going downstairs, and provides moderate auxiliary force when walking on flat ground (preset 100-150N).

[0050] Future scalability

[0051] Based on the concept of the frame-walking machine of this invention—which enables machine walking with human cooperation while simultaneously assisting human walking—the above simplified implementation can be further expanded. For example, auxiliary support components can be added to the external frame to form a support system with more than two support rods. These multiple support rods can alternate or coordinate their movements at different stages of the walking cycle, forming a more complete external walking frame independent of the human lower limbs. Passive mechanical linkage mechanisms, energy recovery modules, or sensor feedback modules can also be added.

[0052] Assisted positioning

[0053] This frame-based walker is positioned as an assistive force provider. The user's own muscles bear the primary weight support and propulsion, while the frame walker only provides a preset assist force of 100-200N. The user guides the walking, and the frame provides support; the two assist each other. This positioning allows for significant reductions in motor power, structural weight, and energy consumption, making it suitable for wearable applications.

[0054] Beneficial effects

[0055] Compared with the prior art, the present invention has the following beneficial effects:

[0056] (1) A frame walking machine is proposed. This invention is not an improvement on the "exoskeleton", but rather proposes a completely new category of "frame walking machine". The core concept is: the frame walking machine forms machine walking with the cooperation of the human body, while assisting human walking. The relationship between the device and the human body is one of mutual assistance, rather than a relationship of substitution and being replaced.

[0057] (2) The weight of the device is borne by the ground. The end of the support rod touches the ground directly, and the reaction force is transmitted to the ground rather than the user's body. The user does not bear the weight of the equipment.

[0058] (3) The lower limbs are completely untied. The device is only connected at the waist (or torso), with no binding on the lower limbs, no joint alignment requirements, and is easy to wear and allows for free movement.

[0059] (4) Humans and machines complement each other. The human body provides motion guidance and balance control for the frame walker, while the frame walker provides weight-bearing support for the human body. The two depend on each other and form a complete walking system.

[0060] (5) The structure is extremely simple and the weight is controllable. The entire drive mechanism is integrated into the external frame, with only the support rod extending and retracting. The core transmission components are the rope and winch wheel, and the total weight can be controlled within 1.5 kg.

[0061] (6) Extremely low cost. The main components are standard optical shaft, rope, and small motor, with material costs of approximately RMB 300-500.

[0062] (7) Multi-scene adaptation. Walking on flat ground, going upstairs and going downstairs are all covered by the same set of action logic, without the need for mode switching.

[0063] (8) High scalability. Based on the same walking mechanism, it can be expanded into a multi-support rod system to form a more complete walking assistance framework. Attached Figure Description

[0064] Figure 1 This is a simplified schematic diagram of the overall wearable state of the present invention, showing the relationship between the waist fixation component, the mounting frame, the support rod, the human body, and the ground.

[0065] Figure 2 This is a detailed diagram of the rope drive principle, showing the structural relationship between the dual-axis support rod, rope, winch wheel, motor, tension spring, and limit switch.

[0066] Figure 3 This is a standard motion logic diagram, showing the four-frame motion breakdown of a single support rod in one gait cycle. Detailed Implementation

[0067] The specific embodiments of the present invention will now be described with reference to the accompanying drawings, using a simplified implementation as an example. It should be understood that these descriptions are merely exemplary and do not constitute any limitation on the scope of protection of the present invention.

[0068] Example (current simplified implementation)

[0069] like Figure 1 As shown, the frame walker in this embodiment includes a wearable connection unit (waist belt), with an external frame (mounting frame) mounted on each side of the waist belt. The two external frames are symmetrical and coordinated by a control unit. The external frames are semi-flexibly fixed to the waist belt.

[0070] like Figure 2 As shown, a motor, a one-way reducer, and a slider are fixed to a single external frame. The support rod consists of two parallel optical shafts that pass through the guide holes of the slider and can slide freely axially. The two ends of a rope are fixed to the upper and lower ends of the support rod, respectively, with the middle section tensioned around a winch pulley on the motor output shaft, wound three times. A tension spring and a limiter are connected in series between the upper fixing point of the rope and the rope to ensure that the rope is always taut. The bottom end of the support rod has an elastic end contact head that directly contacts the ground or step. An elastic reset element (torsion spring) is installed between the mounting frame and the support rod, driving the support rod to move forward passively after it is lifted off the ground. The motor and slider are both fixed to the external frame, and their relative positions to the user's waist remain unchanged; the support rod is the only moving part.

[0071] Work process:

[0072] 1. The user stands with one support bar in the lower position, its end touching the ground. The ground reaction force is transmitted to the user's waist through the support bar, external frame, and connecting unit, providing an upward assist force. The weight of the frame walker is transmitted to the ground through the support bar. The human body provides balance support for the frame walker.

[0073] 2. The user steps forward with the other leg. The body-guided walking machine moves forward, the center of gravity gradually shifts forward, and the load on the original supporting side's support rod decreases as the center of gravity shifts. The user's foot moves forward, and the support rod maintains support from behind.

[0074] 3. As the load decreases, the motor on that side rotates in the opposite direction, and the winch pulley drives the rope, lifting the support rod off the ground. The elastic reset element releases, passively pulling the support rod forward to the position of the user's feet. The human body provides the frame walker with the opportunity and path to move.

[0075] 4. As the motor rotates forward, the support rod lowers, and the end contact head touches the ground first, creating a buffer. The user's center of gravity shifts to that side, entering the next support phase. The frame walker once again provides weight-bearing support for the user.

[0076] 5. The left and right sides alternate, forming continuous walking assistance. Throughout the process, the human body is responsible for guiding direction, controlling balance, and providing stepping power, while the frame walking machine is responsible for load-bearing support and following the movement. The human provides the walking path, and the machine provides support for the human; the two assist each other.

[0077] When going upstairs, the motor provides greater upward driving force (preset 150-200N), when going downstairs, the one-way reducer provides buffer resistance, and when walking on flat ground, it provides moderate auxiliary force (preset 100-150N).

[0078] Extended Implementation (Foreseeable Extensions)

[0079] Based on the core concept of this invention—the frame-based walking machine, with the cooperation of the human body, forms machine walking while simultaneously assisting human walking—the above embodiments can be extended in various ways. For example, auxiliary support components can be added to the external frame to form a support system with more than two support rods. The auxiliary support components can alternate or coordinate their movements at different stages of the walking cycle, forming a more stable and complete external support frame. Furthermore, a passive mechanical linkage mechanism can be added; the extension or retraction of the support rods can be driven by the user's own walking movements; or an energy recovery module can be added to recover energy during passive buffering stages such as descending stairs. It is understood that, in addition to hard contact, the ends of the support components can also be equipped with elastic buffer structures to provide a smoother and gentler auxiliary support effect.

Claims

1. A frame-type walking machine that walks in tandem with a person, characterized in that, include: • A wearable connection unit (100) for connecting the frame walker to the user's body; • An external frame (500) is connected to the wearable connection unit to form an external support structure independent of the user's lower limbs; • At least one support component (200) is mounted on the outer frame, each of the support components being switchable between an extended state and a retracted state, wherein in the extended state its end may contact the ground or a step, and in the retracted state its end is off the ground; • A drive unit (510) for driving external support components; A transmission mechanism is provided, connecting the drive unit and the support assembly.

2. The frame walker of claim 1, wherein, The end of the support component (200) directly contacts the ground or steps during use, and transmits the reaction force of the auxiliary force to the ground through the support component, rather than to the user's lower limbs; the weight of the frame walker is mainly borne by the ground.

3. The frame walker of claim 1, wherein, The wearable connection unit (100) is worn on the user's legs, waist, back or torso; the external frame (500) is used to transmit external support force to the user's body through the wearable connection unit (100) without relying on the user's lower limbs.

4. The frame walker of claim 1, wherein, The frame walker forms a collaborative walking relationship with the user during use: the user takes the lead in walking direction, balance control and motion drive, and the frame walker provides auxiliary support and moves with the user.

5. The frame walker according to any one of claims 1 to 4, characterized in that, The support components (200) move alternately or in coordination at different stages of the walking cycle, providing auxiliary support.

6. The frame walker of any one of claims 1 to 4, wherein, The frame-type walking machine is an external frame-type alternating waist-assisted walking aid device, wherein: • The wearable connection unit is a waist belt type waist fixation component; • The external frame is a mounting frame, fixed to both sides of the waist fixing component; • The drive unit is a motor, which is fixed to the mounting frame and remains in a constant position relative to the user's waist; The transmission mechanism includes: a winch wheel (302) mounted on the output shaft of the motor; and a rope (301) wound around the winch wheel at least 2 turns, with the two ends of the rope fixed to the upper and lower ends of the support assembly, respectively.

7. The frame walker of claim 8, wherein, The support component (200) is a support rod consisting of two parallel optical axes (201, 202), which can slide axially through a slider (530) fixed to the mounting frame; the motor and the slider are both fixed to the mounting frame, and the support rod is the only axially moving component.

8. The frame walker of claim 8, wherein, The mounting frame (500) is also provided with a one-way reducer (520), which is connected between the motor and the winch wheel, and is used to control the falling speed of the support rod and provide reverse damping.

9. The frame walker of claim 8, wherein, A tensioning component (307) is connected in series between the rope (301) and the fixed point of the support rod. The pretension of the tensioning component is not less than the maximum auxiliary force to ensure that the rope is always taut.

10. The frame walker of claim 8, wherein, An elastic reset member is provided between the mounting frame (500) and the support rod (200), and the elastic reset member drives the support rod to move forward passively after the support rod is lifted off the ground.

11. A method of operating a frame walker according to any one of claims 1 to 14, characterised in that, The action logic of a single support component in one gait cycle is as follows: ①Standing support: When the support component is extended and its end touches the ground, the ground reaction force is transmitted to the user's body through the external frame and the wearable connection unit; •②When the user steps forward, the support component maintains support from behind until the center of gravity shifts; ③ After the center of gravity shifts, the load on the support component decreases, the drive unit drives the support component to switch to the retracted state, and the elastic reset component drives the support component to move forward passively; ④ After the support rod and the leg are combined, the drive unit drives the support assembly to switch to the extended state, with the end touching the ground to provide cushioning and support; • The at least two support components alternately execute the above-described action logic, with the user in control of the walking direction and the frame walking machine following and providing auxiliary support.

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