Biomimetic metamorphic lower extremity exoskeleton device
By employing an adaptive switching mechanism in a biomimetic, cell-like lower limb exoskeleton device, the problem of balancing movement flexibility and load-bearing rigidity in existing devices has been solved. This achieves impact buffering, elastic energy storage, and stable load-bearing, thereby improving wearing comfort and gait naturalness.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- TIANJIN UNIVERSITY OF TECHNOLOGY
- Filing Date
- 2026-05-18
- Publication Date
- 2026-06-30
AI Technical Summary
Existing lower limb exoskeleton devices struggle to balance movement flexibility with load-bearing rigidity, resulting in insufficient shock absorption and mechanical energy storage, which negatively impacts wearing comfort and gait naturalness.
The biomimetic variable-cell lower limb exoskeleton device achieves adaptive switching between motion and load-bearing configurations through the cooperation of variable-cell compliant joint components and variable-cell load-bearing components. Combined with the mechanical linkage of variable-cell triggering components, traction components and energy storage components, it achieves impact buffering, elastic energy storage and stable load bearing.
It improves the device's compliance during movement and stability during load-bearing, enhances the continuity of assistance and the efficiency of mechanical energy utilization, reduces component friction and wear, and ensures positional stability and smooth movement when worn.
Smart Images
Figure CN122299581A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of exoskeleton assistive device technology, and in particular to a biomimetic variable cell lower limb exoskeleton device. Background Technology
[0002] Lower limb exoskeletons can be used for rehabilitation training, mobility assistance, and weight-bearing capacity enhancement for people with lower limb dysfunction. Most existing lower limb exoskeletons employ rigid support structures or actively driven structures, using motors, hydraulic components, or other drive units to achieve assisted joint movement.
[0003] However, existing technologies still have the following shortcomings: On the one hand, during the human gait, the lower limbs need high mobility during the swing phase and strong load-bearing stability during the support phase. Existing exoskeleton devices cannot balance mobility and load-bearing rigidity, which can easily affect wearing comfort and gait naturalness. On the other hand, existing devices do not make sufficient use of impact buffering, mechanical energy storage and energy release during foot contact and load-bearing transition, making it difficult to effectively achieve structural adaptive switching and improve assist efficiency.
[0004] Therefore, it is necessary to provide a biomimetic cellular exoskeleton device for the lower limbs to construct a complete cellular biomimetic passive adaptation mechanism covering the pre-cellular, mid-cellular, and post-cellular stages. This would enable the exoskeleton to have good compliant motion adaptation capabilities during the swinging phase, impact buffering and elastic energy storage capabilities during the ground contact switching phase, and stable load-bearing capabilities during the support phase. This would improve the problem of difficulty in simultaneously achieving compliance, buffering, stability, and energy utilization efficiency in existing technologies. Summary of the Invention
[0005] The purpose of this invention is to provide a biomimetic cellular exoskeleton device for the lower limbs, which constructs a complete cellular biomimetic containment passive adaptation mechanism for the exoskeleton, and solves the problems of insufficient adaptation to the compliant movement of the swinging phase in the pre-cellular stage, insufficient ground impact buffering and mechanical energy storage utilization in the middle cellular stage, and low load-bearing stability in the post-cellular stage of existing lower limb exoskeleton devices.
[0006] To achieve the above objectives, the present invention adopts the following technical solution:
[0007] A biomimetic variable-cell lower limb exoskeleton device includes a thigh fixation component, a lower leg fixation component, a variable-cell triggering component, a traction component, a variable-cell bearing component, a variable-cell compliant joint component, and an energy storage component.
[0008] A linkage mechanism is provided between the thigh fixation component and the lower leg fixation component, which is connected to the variable-cell compliant joint component. The linkage mechanism includes a first link, a second link, and a torsion spring disposed at the rotatable connection between the first link and the second link, so as to realize the switching of the exoskeleton between the support configuration and the motion configuration, and improve the rotational stability during the configuration switching process.
[0009] Based on the above structure, the present invention forms the following three-stage passive adaptation process: In the pre-variant stage, the exoskeleton is in a motion configuration, and passive adaptation to the compliant motion of the swing phase is achieved by relying on the variant compliant joint components and linkage mechanism, which is conducive to maintaining the activity compliance of the device in the motion configuration; In the middle stage, the variant trigger component is triggered by the ground contact force, and the traction component drives the variant compliant joint components to move along the guide channel, and combined with spring damping, energy storage compression components and guide structure, impact buffering and elastic energy storage are achieved with the configuration switching; In the post-variant stage, the variant compliant joint components and the variant load-bearing components form a locking engagement, so that the exoskeleton switches to the load-bearing configuration to achieve stable load-bearing in the support phase.
[0010] The variable cell compliant joint assembly is configured to cooperate with the variable cell support assembly. The variable cell support assembly has a guide channel inside for the movement of the variable cell compliant joint assembly. The guide channel is provided with a limiting reset component and an energy storage compression component.
[0011] The variable cell triggering component is connected to the variable cell compliant joint component through the traction component. After the variable cell triggering component is triggered by an external force, it can drive the variable cell compliant joint component to move along the guide channel and enter the variable cell bearing component through the traction component, forming a locking engagement with the variable cell bearing component.
[0012] The energy storage component is connected to the variable cell compliant joint component for storing energy when the variable cell compliant joint component enters the locking engagement position and releasing energy after the external force is released, so as to drive the variable cell compliant joint component to disengage from the locking engagement position.
[0013] A linkage mechanism is provided between the thigh fixation component and the lower leg fixation component, which is connected to the variable-cell compliant joint component, to enable the exoskeleton to switch between a support configuration and a motion configuration.
[0014] Preferably, the variable cell triggering assembly includes a roller mechanism, a trigger rod, a trigger rod compensation component connected to the trigger rod, a first spring damper disposed on the trigger rod, and a first compression spring washer cooperating with the first spring damper. The trigger rod compensation component is used to buffer the impact load and drive the trigger rod to move when the device contacts the ground.
[0015] Furthermore, the traction assembly includes a traction rope, a roller mechanism disposed on the variable cell trigger assembly, and a third grooved roller disposed on the variable cell bearing assembly. One end of the traction rope is connected to the trigger rod, and the other end is connected to the variable cell compliant joint assembly, and passes around the roller mechanism and the third grooved roller to transmit traction force.
[0016] Furthermore, the variable cell bearing assembly includes a bearing rod body, a guide device disposed at the entrance of the bearing rod body, a bearing rod I, a second grooved roller, a second spring damper, a bearing rod compensation component, a second compression spring washer, a third washer, a bearing rod II, and a third compression spring washer. The bearing rod I and the bearing rod II together form a guide channel. It also includes a variable cell reset block disposed at the end of the guide channel and an energy storage compression spring disposed at the variable cell reset block. The guide device is used to guide the variable cell compliant joint assembly into the guide channel and form a locking fit.
[0017] Furthermore, the variable-cell compliant joint assembly is a variable-cell compliant joint installed in the thigh exoskeleton, including a compliant joint body composed of variable-cell compliant joint component I and variable-cell compliant joint component II, a shaft connector, a variable-cell compliant joint roller that cooperates with the shaft connector, and a variable-cell compliant joint base. The shaft connector cooperates with the limiting component to realize the installation and axial limiting of the variable-cell compliant joint roller. The variable-cell compliant joint assembly is cooperated with the traction component. The compliant joint body can move in the guide channel along the guide direction and form a locking engagement with the variable-cell bearing component at a predetermined position.
[0018] Furthermore, the energy storage component includes a second grooved roller bracket, a support frame, a second grooved roller, and energy storage tension springs I and II respectively disposed on both sides of the support frame. The energy storage tension springs I and II are connected to the linkage mechanism and are used to store elastic potential energy during the locking process and release elastic potential energy during the unlocking process.
[0019] Furthermore, the linkage mechanism includes a first link and a second link, with a torsion spring between the first and second links. The torsion spring provides a restoring torque when the first and second links rotate relative to each other, thereby improving the equivalent rotational stiffness of the linkage mechanism, mitigating the abrupt change in the link angle during configuration switching, and enhancing the flexibility of motion adaptation in the early stage of the cell transformation and the rotational stability during configuration switching in the middle stage of the cell transformation. The energy storage component is connected to the first and second links to cause a change in the angle between the first and second links during the movement of the compliant joint assembly in the cell transformation.
[0020] Furthermore, the lower part of the variable-cell bearing assembly is provided with a buffer structure, which includes a bearing rod compensation component, a second spring damper, a second compression spring washer, and a third compression spring washer. Through the combined action of the provided second spring damper and the second and third compression spring washers that cooperate with it, the ground reaction force is buffered during the bearing stage.
[0021] Furthermore, the thigh fixation component and the calf fixation component are a thigh strap and a calf strap, respectively, used to fix the device to the user's thigh and calf.
[0022] Furthermore, the trigger rod compensation component and the bearing rod compensation component are spaced apart along the height direction of the device, and the trigger rod compensation component contacts the ground before the bearing rod compensation component, so as to trigger the variable cell trigger assembly first, and then make the variable cell compliant joint assembly enter the locking engagement position in the variable cell bearing assembly.
[0023] Compared with the prior art, the present invention has at least the following beneficial effects:
[0024] 1. By coordinating the compliant joint components and the load-bearing components of the variable cell, the exoskeleton can adaptively switch between motion and load-bearing configurations, thereby constructing a complete passive adaptation process of the variable cell that includes compliant motion adaptation in the pre-variant stage, configuration switching buffering in the mid-variant stage, and stable load-bearing in the post-variant stage.
[0025] 2. Through the mechanical linkage between the variable cell triggering component, traction component and energy storage component, impact buffering, structural locking and elastic energy storage are realized during the variable cell stage, which is accompanied by the switching of degrees of freedom. Automatic reset and energy release are realized during the lift-off process, thereby improving the continuity of the device's assistance and the efficiency of mechanical energy utilization.
[0026] 3. By using rollers, grooved rollers, and guide structures together, friction and wear between components are reduced, which helps to improve the smoothness of movement and enhance structural reliability.
[0027] 4. By forming a fixed connection with the human limb through the thigh fixation component and the calf fixation component, it is beneficial to ensure the positional stability of the device in the wearing state and provide basic support for the switching between the motion configuration and the load-bearing configuration.
[0028] 5. By setting a torsion spring between the first link and the second link, an elastic restoring force is provided to the relative rotation of the link mechanism during the movement of the variable-cell compliant joint assembly. This can improve the equivalent rotational stiffness during the configuration switching process, slow down the rapid change of the link angle, and help improve the smoothness of the mechanism's movement and its anti-disturbance stability.
[0029] 6. Through the synergistic effect of compliant joint components, linkage mechanisms and torsion springs, the device helps maintain good activity compliance in motion configuration, improves motion smoothness during configuration switching, and maintains good support stability in load configuration, thereby enhancing the overall passive adaptability. Attached Figure Description
[0030] Figure 1 This is a schematic diagram of the wearable human-machine interface of the present invention;
[0031] Figure 2 This is a schematic diagram of the biomimetic variable cell lower limb exoskeleton device of the present invention;
[0032] Figure 3 This is an exploded view of the variable cell trigger rod of the present invention;
[0033] Figure 4 This is an exploded view of the roller mechanism of the variable cell triggering component of the present invention;
[0034] Figure 5 This is an exploded view of the thigh exoskeleton of the present invention;
[0035] Figure 6 This is an exploded view of the variable-cell compliant joint of the present invention;
[0036] Figure 7 This is an assembly diagram of the energy storage component of the present invention;
[0037] Figure 8 This is an exploded view of the variable-cell support rod of the present invention;
[0038] Figure 9 This is an exploded view of the guiding device of the present invention.
[0039] In the figure, 1. Human unilateral lower limb model; 2. Bionic cellular exoskeleton for lower limb; 2-1. Thigh strap; 2-2. Lower leg strap; 2-3. Cellular trigger rod; 2-4. Thigh exoskeleton; 2-5. Cellular support rod; 2-6. Traction rope;
[0040] 2-3-1 Roller mechanism; 2-3-2 First compression spring washer; 2-3-3 Trigger rod compensation component; 2-3-4 First spring damping; 2-3-5 Trigger rod; 2-3-1-1 First bearing; 2-3-1-2 Locking screw cap; 2-3-1-3 First washer; 2-3-1-4 First grooved roller bracket base; 2-3-1-5 First grooved roller; 2-3-1-6 Locking screw pin; 2-3-1-7 Screw; 2-3-1-8 First grooved roller bracket;
[0041] 2-4-1, Energy storage component support base I; 2-4-2, First connecting rod; 2-4-3, Torsion spring; 2-4-4, Second connecting rod; 2-4-5, Variable cellular compliant joint; 2-4-6, Thigh strap base; 2-4-7, Energy storage component support base II; 2-4-8, Energy storage component; 2-4-9, Energy storage component fixing base; 2-4-5-1, Variable cellular compliant joint base; 2-4-5-2, Variable cellular compliant joint component I; 2-4-5-3, Threaded rivet; 2-4-5-4, Variable-cell compliant joint roller; 2-4-5-5, rivet head; 2-4-5-6, Variable-cell compliant joint component II; 2-4-5-7, Second bearing; 2-4-5-8, Second washer; 2-4-8-1, Bearing frame; 2-4-8-2, Second grooved roller; 2-4-8-3, Energy-storing tension spring I; 2-4-8-4, Energy-storing tension spring II; 2-4-8-5, Energy-storing traction rope; 2-4-8-6, Second grooved roller bracket;
[0042] 2-5-1, Guide device; 2-5-2, Energy storage compression spring; 2-5-3, Bearing rod I; 2-5-4, Third grooved roller; 2-5-5, Second spring damping; 2-5-6, Bearing rod compensation component; 2-5-7, Second compression spring washer; 2-5-8, Third washer; 2-5-9, Bearing rod II; 2-5-10, Third compression spring washer; 2-5-11, Variable cell reset block; 2-5-1-1, Roller bracket; 2-5-1-2, rivet head; 2-5-1-3, rivet part; 2-5-1-4, Roller bracket fixing piece; 2-5-1-5, Fourth washer; 2-5-1-6, Roller; 2-5-1-7, Funnel I; 2-5-1-8, Funnel II. Detailed Implementation
[0043] The present invention will be further described below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of protection of the present invention.
[0044] like Figures 1 to 9As shown, the present invention provides a biomimetic variable-cell lower limb exoskeleton device, including a thigh fixation component, a lower leg fixation component, a variable-cell triggering component, a traction component, a variable-cell bearing component, and a variable-cell compliant joint component and an energy storage component disposed in the thigh exoskeleton. Specifically, the thigh fixation component is a thigh strap 2-1; the lower leg fixation component is a lower leg strap 2-2; the variable-cell triggering component is a variable-cell triggering rod 2-3; the thigh exoskeleton is 2-4; the variable-cell bearing component is a variable-cell bearing rod 2-5; the traction component is a traction rope 2-6; the variable-cell compliant joint component is disposed in the thigh exoskeleton 2-4, the variable-cell compliant joint component is a variable-cell compliant joint 2-4-5, and the energy storage component is an energy storage component 2-4-8. The device comprises a variable-cell compliant joint assembly that mates with the variable-cell support assembly; a thigh fixation assembly and a calf fixation assembly that are respectively fitted and fixed to the user's thigh and calf; a variable-cell trigger assembly located at the bottom of the device to generate a trigger displacement when the device touches the ground; a traction assembly connected to the variable-cell trigger assembly and the variable-cell compliant joint assembly to transmit the trigger displacement; a guide structure, a limiting and resetting component, and an energy-storing compression component internally configured to cooperate with the variable-cell compliant joint assembly to form a locking engagement; a linkage mechanism connected to the variable-cell compliant joint assembly is provided between the thigh fixation assembly and the calf fixation assembly to enable the exoskeleton to switch between a support configuration and a motion configuration. An energy-storing assembly connected to the linkage mechanism stores and releases elastic potential energy during configuration switching. The energy-storing assembly is drive-connected to the variable-cell compliant joint assembly to store energy when the variable-cell compliant joint assembly enters the locking engagement position of the guide structure and releases energy after the external force is released to drive the variable-cell compliant joint assembly out of the locking engagement position.
[0045] Based on the working process of this embodiment, the passive adaptation of this device can be divided into three stages: In the pre-variant stage, the exoskeleton is in a motion configuration. The compliant joint assembly and linkage mechanism together ensure that the device has good compliant movement capability and help maintain the motion compliance during the swing phase; In the mid-variant stage, the trigger rod compensation component first touches the ground and triggers the variant trigger assembly to move. The traction assembly drives the compliant joint assembly to move along the guide structure. At the same time, the spring damping, torsion spring and energy storage element jointly participate in impact buffering and configuration switching; In the post-variant stage, the compliant joint assembly enters the interior of the variant load-bearing assembly and forms a locking fit, so that the device switches to a load-bearing configuration to improve the stable load-bearing capacity during the support phase.
[0046] When the device transitions from the off-ground state to the ground-contact bearing stage, the trigger rod compensation component first contacts the ground. Under external force, the trigger rod moves along a preset direction, and via rollers, traction ropes, and grooved rollers, drives the variable-cell compliant joint assembly to move along the funnel guide section and guide channel. As the variable-cell compliant joint assembly moves, the relative angle of the linkage mechanism changes, and the energy storage component begins to store elastic potential energy. After the variable-cell compliant joint assembly moves to the predetermined position, it enters the variable-cell bearing component and forms a locking engagement with it. Simultaneously, the energy storage compression spring is compressed, thereby switching the device from a motion configuration to a bearing configuration to improve the structural stability of the support stage.
[0047] When the device moves from the load-bearing stage to the off-ground swinging stage, the load-bearing rod compensation component gradually leaves the ground. The energy storage compression spring and energy storage component release the previously stored elastic potential energy, which drives the linkage mechanism to return to its original position and drives the variable-cell compliant joint component to move in the opposite direction along the guide channel. When the variable-cell compliant joint component disengages from the locking position of the variable-cell load-bearing component, the device switches from the load-bearing configuration back to the motion configuration, thereby meeting the requirements for compliance and mobility in the lower limb swinging stage.
[0048] In this embodiment, the trigger rod compensation component and the load-bearing rod compensation component are respectively provided with spring damping and compression spring washers to provide graded buffering of ground contact impact; the rollers and grooved rollers in the traction component and guide structure are used to reduce transmission friction and improve the smoothness of configuration switching and structural reliability; the thigh fixation component and the calf fixation component are respectively used to fit and fix with the user's thigh and calf to ensure the connection stability of the device in the wearing state.
[0049] See appendix Figure 3 and attached Figure 4In this embodiment, the variable cell triggering component is disposed at the lower part of the device and includes a roller mechanism 2-3-1, a first compression spring washer 2-3-2, a trigger rod compensation component 2-3-3, a first spring damping 2-3-4, and a trigger rod 2-3-5. The first grooved roller 2-3-1-5 in the roller mechanism 2-3-1 is sleeved on the shaft connector and the limiting member through the first bearing 2-3-1-1. In this embodiment, the shaft connector is a locking screw 2-3-1-6, and the limiting member is a locking screw cap 2-3-1-2 and a first washer 2-3-1-3 that cooperate with the shaft connector. The first grooved roller 2-3-1-5 in the roller mechanism 2-3-1 is located between the first grooved roller bracket 2-3-1-8 provided on the first grooved roller bracket base 2-3-1-4. The first grooved roller bracket base 2-3-1-4 and the first grooved roller bracket 2-3-1-8 are fixedly connected by screws 2-3-1-7. The first washer 2-3-1-3 is disposed between the roller mechanism 2-3-1 and the adjacent connecting member to reduce friction and axially limit the roller mechanism 2-3-1, thereby restricting the axial movement of the roller mechanism 2-3-1 during use. The trigger rod compensation component 2-3-3 is disposed at the lower end or near the lower end of the trigger rod 2-3-5, and is used to first contact the ground and transmit the trigger displacement when the device touches the ground; the first spring damper 2-3-4 and the first compression spring washer 2-3-2 are disposed on the trigger rod 2-3-5 to buffer the impact load at the moment of ground contact and limit the local displacement stroke of the trigger rod 2-3-5; the roller mechanism 2-3-1 is disposed on the variable-cell trigger assembly and cooperates with the traction rope 2-6 to change the direction of traction force transmission, reduce friction loss, and improve the smoothness of trigger transmission. When the ground reaction force acts on the trigger rod compensation component 2-3-3, the trigger rod 2-3-5 moves along the preset direction after being subjected to force, and drives the traction rope 2-6 to generate displacement through the roller mechanism 2-3-1, thereby driving the subsequent variable-cell compliant joint component to change position.
[0050] See appendix Figure 8 and attached Figure 9In this embodiment, the variable cell support assembly includes a guide device 2-5-1, an energy storage compression spring 2-5-2, a support rod I 2-5-3, a third grooved roller 2-5-4, a second spring damping 2-5-5, a support rod compensation component 2-5-6, a second compression spring washer 2-5-7, a third washer 2-5-8, a support rod II 2-5-9, a third compression spring washer 2-5-10, and a variable cell reset block 2-5-11. The guide device 2-5-1 is located at the entrance of the variable cell support assembly, and its interior includes a roller bracket 2-5-1-1, a rivet head 2-5-1-2, a rivet shank 2-5-1-3, a roller bracket fixing piece 2-5-1-4, a fourth washer 2-5-1-5, a roller 2-5-1-6, a funnel I 2-5-1-7, and a funnel II 2-5-1-8. The roller 2-5-1-6 is installed between the roller bracket 2-5-1-1 and the roller bracket fixing piece 2-5-1-4 by a male rivet 2-5-1-3 and a male rivet head 2-5-1-2 that cooperates with it. The fourth washer 2-5-1-5 is set between the roller 2-5-1-6 and the adjacent component to realize the rotational installation and axial limit of the roller and prevent it from axial movement during operation. The funnel I 2-5-1-7 and the funnel II 2-5-1-8 cooperate to form a funnel guide structure, which is used to guide the flexible joint 2-4-5 so that it enters the predetermined guide channel under the traction action. The bearing rod I 2-5-3 and bearing rod II 2-5-9 together form a receiving and guiding space. The variable-cell reset block 2-5-11 is located at the end of the guide channel and cooperates with the energy storage compression spring 2-5-2 to limit and reset the variable-cell compliant joint 2-4-5 after it enters the bearing position along the guide channel. The third grooved roller 2-5-4 cooperates with the traction rope 2-6 to reduce the frictional resistance during rope winding. The bearing rod compensation component 2-5-6, the second spring damper 2-5-5, the second compression spring washer 2-5-7, and the third compression spring washer 2-5-10 together constitute a buffer structure for the bearing stage, located at the lower part of the variable-cell bearing assembly, to buffer the ground reaction force when the device is under load. Through the above structural cooperation, the variable-cell compliant joint 2-4-5 can enter the locking position along the guide device 2-5-1 and the guide channel under traction and exit the locking position under the action of the reset force.
[0051] See appendix Figure 5 and attached Figure 6In this embodiment, the compliant joint assembly is the compliant joint 2-4-5 in the thigh exoskeleton 2-4. The compliant joint 2-4-5 includes a compliant joint base 2-4-5-1, a compliant joint component I 2-4-5-2, a female rivet 2-4-5-3, a compliant joint roller 2-4-5-4, a female rivet head 2-4-5-5, a compliant joint component II 2-4-5-6, a second bearing 2-4-5-7, and a second washer 2-4-5-8. In this embodiment, the shaft connector is a female rivet 2-4-5-3, and the variable-cell compliant joint roller 2-4-5-4 is sleeved on the shaft connector via a second bearing 2-4-5-7; the limiting member is a female rivet cap 2-4-5-5 and / or a second washer 2-4-5-8 that mates with the shaft connector, to achieve the installation and axial limiting of the variable-cell compliant joint roller 2-4-5-4, and to prevent axial movement during operation. The variable-cell compliant joint base 2-4-5-1 is used to connect with adjacent structures, and the variable-cell compliant joint component I 2-4-5-2 and the variable-cell compliant joint component II 2-4-5-6 are used to form the compliant joint body.
[0052] In this embodiment, the energy storage component is the energy storage component 2-4-8 in the thigh exoskeleton 2-4, and the linkage mechanism consists of a first link 2-4-2 and a second link 2-4-4, which is disposed in the thigh exoskeleton 2-4 and cooperates with the variable-cell compliant joint 2-4-5. The thigh exoskeleton 2-4 includes an energy storage component support base I 2-4-1, a first link 2-4-2, a torsion spring 2-4-3, a second link 2-4-4, a variable-cell compliant joint 2-4-5, a thigh strap base 2-4-6, an energy storage component support base II 2-4-7, an energy storage component 2-4-8, and an energy storage component fixing base 2-4-9. The energy storage component 2-4-8 is connected to the first connecting rod 2-4-2 and the second connecting rod 2-4-2. The torsion spring 2-4-3 is disposed at the rotational connection between the first connecting rod 2-4-2 and the second connecting rod 2-4-4, and is used to provide restoring torque when the first connecting rod 2-4-2 and the second connecting rod 2-4-4 rotate relative to each other, so as to improve the equivalent rotational stiffness of the linkage mechanism and suppress rapid changes in the connecting rod angle. See also the appendix. Figure 7The energy storage component 2-4-8 includes a support frame 2-4-8-1, a second grooved roller 2-4-8-2, an energy storage tension spring I 2-4-8-3, an energy storage tension spring II 2-4-8-4, an energy storage traction rope 2-4-8-5, and a second grooved roller bracket 2-4-8-6. When the ground triggering action is transmitted to the variable-cell compliant joint 2-4-5 via the traction component, the position change of the variable-cell compliant joint 2-4-5 causes a change in the angle between the first link 2-4-2 and the second link 2-4-4. At the same time, the torsion spring 2-4-3 undergoes elastic deformation and generates a restoring torque. The energy storage tension springs I 2-4-8-3 and II 2-4-8-4 undergo tensile deformation and store elastic potential energy. When the device moves from the load-bearing stage to the off-ground stage, the energy storage tension springs I 2-4-8-3 and II 2-4-8-4 release their elastic potential energy, and the torsion spring 2-4-3 releases its elastic potential energy simultaneously. Through the linkage of the first link 2-4-2, the second link 2-4-4, and the variable-cell compliant joint 2-4-5, the variable-cell compliant joint 2-4-5 is driven to disengage from the locked position, thereby realizing the automatic recovery of the device from the load-bearing configuration to the motion configuration. The second grooved roller 2-4-8-2 and the energy storage traction rope 2-4-8-5 are used to optimize the force transmission path in the energy storage assembly and reduce friction loss.
[0053] Other rollers or guide rollers in this device can also be rotated and axially limited by bearings, shaft connectors, washers and brackets to prevent axial movement during operation.
Claims
1. A biomimetic, variable-geometry lower-limb exoskeleton device, characterized by, It includes a thigh fixation component, a calf fixation component, a variable cell triggering component, a traction component, a variable cell support component, a variable cell compliant joint component, and an energy storage component; the thigh fixation component and the calf fixation component are used to fix and connect to the user's thigh and calf respectively; the variable cell compliant joint component is configured to cooperate with the variable cell support component, and the variable cell support component has a guide channel inside for the movement of the variable cell compliant joint component, and the guide channel has a limiting reset component and an energy storage compression component; The variable cell triggering component is connected to the variable cell compliant joint component through the traction component. After the variable cell triggering component is triggered by an external force, it can drive the variable cell compliant joint component to move along the guide channel and enter the variable cell bearing component through the traction component, forming a locking engagement with the variable cell bearing component. The energy storage component is connected to the variable cell compliant joint component for storing energy when the variable cell compliant joint component enters the locking engagement position and releasing energy after the external force is released, so as to drive the variable cell compliant joint component to disengage from the locking engagement position. A linkage mechanism is provided between the thigh fixation component and the lower leg fixation component, which is connected to the variable-cell compliant joint component, to enable the exoskeleton to switch between a support configuration and a motion configuration.
2. The biomimetic, variable-urcellated lower extremity exoskeleton device according to claim 1, wherein, The variable-cell trigger assembly includes a roller mechanism (2-3-1), a trigger rod (2-3-5), a trigger rod compensation component (2-3-3) connected to the trigger rod (2-3-5), a first spring damper (2-3-4) disposed on the trigger rod (2-3-5), and a first compression spring washer (2-3-2) cooperating with the first spring damper (2-3-4). The trigger rod compensation component (2-3-3) is used to buffer the impact load and drive the trigger rod (2-3-5) to move when the device contacts the ground.
3. The biomimetic, variable-urcellated lower extremity exoskeleton device according to claim 1, wherein, The traction assembly includes a traction rope (2-6), a roller mechanism (2-3-1) disposed on the variable cell trigger assembly, and a third grooved roller (2-5-4) disposed on the variable cell bearing assembly. One end of the traction rope (2-6) is connected to the trigger rod (2-3-5), and the other end is connected to the variable cell compliant joint assembly, and passes around the roller mechanism (2-3-1) and the third grooved roller (2-5-4) to transmit traction force.
4. The biomimetic cellular exoskeleton device for lower limbs according to claim 1, characterized in that, The variable cell bearing assembly includes a bearing rod body, a guide device (2-5-1) disposed at the entrance of the bearing rod body, bearing rod I (2-5-3), a second grooved roller (2-5-4), a second spring damper (2-5-5), a bearing rod compensation component (2-5-6), a second compression spring washer (2-5-7), a third washer (2-5-8), a bearing rod II (2-5-9), and a third compression spring washer (2-5-10). Bearing rod I (2-5-3) and bearing rod II (2-5-9) together form a guide channel. It also includes a variable cell reset block (2-5-11) disposed at the end of the guide channel and an energy storage compression spring (2-5-2) disposed at the variable cell reset block (2-5-11). The guide device is used to guide the variable cell compliant joint assembly into the guide channel and form a locking fit.
5. The biomimetic cellular exoskeleton device for lower limbs according to claim 1, characterized in that, The variable-cell compliant joint assembly is a variable-cell compliant joint (2-4-5) installed in the thigh exoskeleton (2-4), including a compliant joint body composed of variable-cell compliant joint component I (2-4-5-2) and variable-cell compliant joint component II (2-4-5-6), a shaft connector, a variable-cell compliant joint roller (2-4-5-4) that cooperates with the shaft connector, and a variable-cell compliant joint base (2-4-5-1). The shaft connector cooperates with the limiting component to realize the installation and axial limiting of the variable-cell compliant joint roller (2-4-5-4). The variable-cell compliant joint assembly is configured to cooperate with the traction component. The compliant joint body can move in the guide channel along the guide direction and form a locking engagement with the variable-cell bearing component at a predetermined position.
6. The biomimetic cellular exoskeleton device for lower limbs according to claim 1, characterized in that, The linkage mechanism includes a first link (2-4-2), a second link (2-4-4), and a torsion spring (2-4-3) disposed at the rotatable connection between the first link (2-4-2) and the second link (2-4-4). The torsion spring (2-4-3) provides a restoring torque when the first link (2-4-2) and the second link (2-4-4) rotate relative to each other, thereby improving the equivalent rotational stiffness of the linkage mechanism and suppressing rapid changes in the relative angle. The energy storage component (2-4-8) is connected to the first link (2-4-2) and the second link (2-4-2) to cause the included angle between the first link (2-4-2) and the second link (2-4-4) to change during the movement of the variable-cell compliant joint assembly.
7. The biomimetic cellular exoskeleton device for lower limbs according to claim 6, characterized in that, The energy storage component includes a second grooved roller bracket (2-4-8-6), a support frame (2-4-8-1), at least one second grooved roller (2-4-8-2), and energy storage tension springs I (2-4-8-3) and II (2-4-8-4) respectively disposed on both sides of the support frame (2-4-8-1). The energy storage tension springs I (2-4-8-3) and II (2-4-8-4) are respectively connected to the linkage mechanism and are used to store elastic potential energy when the variable-cell compliant joint assembly enters the locking engagement position and release elastic potential energy when unlocking.
8. The biomimetic cellular exoskeleton device for lower limbs according to claim 1, characterized in that, The lower part of the variable-cell bearing assembly is provided with a buffer structure, which includes a bearing rod compensation component (2-5-6), a second spring damper (2-5-5), a second compression spring washer (2-5-7), and a third compression spring washer (2-5-10). Through the combined action of the second spring damper (2-5-5) and the cooperating second compression spring washer (2-5-7) and third compression spring washer (2-5-10), the ground reaction force is buffered during the bearing stage.
9. The biomimetic cellular exoskeleton device for lower limbs according to claim 1, characterized in that, The thigh fixation component and the calf fixation component are a thigh strap (2-1) and a calf strap (2-2), respectively, used to fix the device to the user's thigh and calf.
10. The biomimetic cellular exoskeleton device for lower limbs according to claim 2 or 8, characterized in that, The trigger rod compensation component and the bearing rod compensation component are spaced apart along the height direction of the device, and the trigger rod compensation component contacts the ground before the bearing rod compensation component, so as to trigger the variable cell trigger assembly first, and then make the variable cell compliant joint assembly enter the locking engagement position in the variable cell bearing assembly.