A flexible lower limb exoskeleton assisting device and wearing system

Abstract

The application discloses a flexible lower limb exoskeleton assisting device and a wearing system. The device comprises: an upper assembly worn on the upper limb above the joint, a lower assembly worn on the lower limb below the joint, a joint hinged structure connecting the upper vertical plate and the lower vertical plate, a power module and a cable. The upper assembly comprises an upper vertical plate and an upper horizontal frame, and the lower assembly comprises a lower vertical plate and a lower horizontal frame. A plurality of guide wheels are arranged on the upper vertical plate, the upper horizontal frame, the lower vertical plate and the lower horizontal frame, and the cable passes through the guide wheels to form a cable vertical segment extending along the limb in the longitudinal direction and a cable horizontal segment crossing or acting on the horizontal frame. When the cable is tightened, the cable vertical segment generates an assisting torque for assisting the joint extension relative to the joint hinged structure, and the cable horizontal segment drives the upper horizontal frame and / or the lower horizontal frame to move towards the center of the limb, thereby generating a dynamic compression force for tightly holding the limb. The application realizes mechanical decoupling of the assisting torque and the wearing compression force, and improves the assisting transmission efficiency and the wearing comfort.

Description

Technical Field

[0001] This invention relates to the field of human assistive technology, and in particular to a flexible lower limb exoskeleton assistive device and wearable system. Background Technology

[0002] Flexible lower limb exoskeletons are typically used to provide extension assistance to lower limb joints such as the knee and ankle, reducing the burden on these joints during exercise, weight-bearing, or rehabilitation training. Existing lower limb exoskeletons mainly fall into two categories: rigid exoskeletons and flexible cable-stayed exoskeletons.

[0003] Rigid exoskeletons are typically connected to the human thigh, calf, or foot via rigid frames, linkages, and mechanical hinges, with a drive mechanism providing joint assistance. While this type of structure can transmit significant assist torque, human joint movement is not an ideal uniaxial rotation, and the rigid hinges are difficult to perfectly match with the natural joint movement center of the human body, easily leading to wearing interference and discomfort.

[0004] Compared to rigid exoskeletons, flexible cable-based exoskeletons offer advantages such as lighter weight, better fit, and less movement interference. They typically generate joint assistance through cable tightening. However, in existing flexible cable-based exoskeletons, the cable tension often simultaneously bears the responsibility for both assist output and wear fixation when the cables are tightened, making effective decoupling difficult. To generate sufficient extension assistance, the cables usually require significant tension, which can easily create localized pressure on the anterior side of the limb or near joints, particularly in the knee region, potentially compressing the patella, patellar tendon, or local soft tissues.

[0005] Furthermore, existing flexible exoskeletons largely rely on pre-tensioned straps to ensure effective transmission of cable-assisted power. If the pre-tension is too low, the wearable components can easily slip relative to the body when the cables tighten, leading to delayed power response and torque loss. Conversely, if the pre-tension is too high, it will continuously compress the limbs in the non-assisted state, affecting wearing comfort. Therefore, how to automatically enhance the fit and grip between the wearable components and the limbs during power output, while reducing continuous pressure in the non-assisted state, is a problem that flexible lower limb exoskeletons need to solve.

[0006] Existing technology lacks a lower limb exoskeleton device that can functionally distribute assist torque and wearing clamping force through a cable winding structure. That is, it can use different stress sections of the cable to generate joint extension assistance and dynamic clamping force on the limb, thereby improving the efficiency of assistance transmission while reducing concentrated pressure on the local area on the front of the joint. Summary of the Invention

[0007] The purpose of this invention is to provide a flexible lower limb exoskeleton assistive device and wearable structure, which aims to solve the problems of low assist transmission efficiency, severe local compression, and poor wearing comfort caused by the inability to effectively decouple the assist torque and the wearing clamping force in existing flexible cable exoskeletons.

[0008] To solve the above-mentioned technical problems, the objective of this invention is achieved through the following technical solution: providing a flexible lower limb exoskeleton assistive device, comprising: The upper component is worn on the limb above the joint of the human body; the upper component includes upper vertical plates corresponding to both sides of the upper limb and upper horizontal frames spanning the front of the upper limb. The lower component is worn on the limb below the joint of the human body; the lower component includes a lower vertical plate corresponding to both sides of the lower limb and a lower horizontal frame spanning the front of the lower limb. A joint hinge structure is used to connect the upper vertical plate and the lower vertical plate; A power module and a cable assembly, wherein the power module is connected to the cable assembly and is used to drive the cable assembly to tighten or release; The upper and lower vertical plates are provided with multiple guide wheels. The cable component passes around the multiple guide wheels to form at least one cable vertical segment extending longitudinally along the limb, and at least one cable horizontal segment spanning or acting on the upper horizontal frame and / or the lower horizontal frame. The cable is configured such that when it is tightened, the vertical section of the cable tightens and generates an assisting torque relative to the joint hinge structure to assist joint extension, and the horizontal section of the cable tightens and drives the upper horizontal frame and / or the lower horizontal frame to move closer to the limb center and generate a dynamic clamping force to hold the limb.

[0009] Furthermore, the upper horizontal frame includes an upper horizontal frame and / or an upper lower horizontal frame that spans the front side of the upper limb; the upper horizontal frame and the upper lower horizontal frame are connected to the upper vertical plate in a transmission manner, and one of them can move back and forth relative to the upper vertical plate in the sagittal plane. The lower component includes a lower upper horizontal frame and / or a lower lower horizontal frame that spans the front of the lower limb; both the lower upper horizontal frame and the lower lower horizontal frame are connected to the lower vertical plate via a transmission connection, and the lower upper horizontal frame can move back and forth relative to the lower vertical plate in the sagittal plane.

[0010] Furthermore, the upper horizontal frame, the upper lower horizontal frame, and the lower upper horizontal frame are all configured as a strip structure with a rigid middle section and flexible wings. The rigid middle section is configured to disperse the compressive force generated by the transverse section of the cable, and the flexible wings are configured to adapt to different human limb circumferences.

[0011] Furthermore, the cable component includes a first cable vertical section located on the left and right sides of the limb, or has a second cable vertical section, or has a third cable vertical section, wherein the first cable vertical section, and / or the second cable vertical section, and / or the third cable vertical section are configured to generate an assisting torque to aid joint extension when tensioned.

[0012] Furthermore, the cable component includes a first cable cross section and a second cable cross section; the first cable cross section and the second cable cross section span across the left and right sides of the limb, the first cable cross section is a cable connection section returning to the limb's power side from the opposite side of the limb's power, and the second cable cross section is a cable connection section going to the opposite side of the limb's power from the limb's power side. The first and second cable sections are configured to generate a circumferential clamping force that hugs and presses against the front of the limb when tensioned.

[0013] Furthermore, the cable component also includes a third cable cross section and a fourth cable cross section; the third cable cross section is located between the upper vertical plate and the upper horizontal frame, and the fourth cable cross section is located between the lower vertical plate and the lower horizontal frame; The third cable section is configured to generate a downward pressing force that adheres to the front side of the upper limb when tensioned; the fourth cable section is configured to generate a pressing force that wraps around the lower limb when tensioned.

[0014] Furthermore, the guide wheel includes an upper plate guide wheel, a lower plate guide wheel, and a joint guide wheel; the upper plate guide wheel is disposed on the middle section of the upper vertical plate; the lower plate guide wheel is disposed on the lower vertical plate; and the joint guide wheel is disposed on the lower section of the upper vertical plate. The power module is located on the upper section of the upper vertical plate. The cable is a single cable with two ends, cable A and cable B. Cable A is wound and fixedly connected to the output of the power module. Cable B is wound and fixedly connected to the output of the power module after the following winding: extending downwards in sequence, passing through the upper plate guide wheel, joint guide wheel, and lower plate guide wheel, turning to the opposite side of the limb, and then wound around the return guide wheel of the upper plate in a basically the same layout on the opposite side, and then wound back to the power module to form a closed loop.

[0015] Furthermore, the upper plate guide wheel and / or lower plate guide wheel and / or joint guide wheel have a multi-groove structure, which supports the cable component to repeatedly wrap back and forth around the upper plate guide wheel and / or lower plate guide wheel and / or joint guide wheel, thereby reducing the complexity of the device.

[0016] Furthermore, the guide wheel also includes an upper horizontal frame guide wheel and a lower horizontal frame guide wheel; the upper horizontal frame guide wheel is disposed on the upper horizontal frame and is disposed between the upper plate guide wheel and the joint guide wheel; the lower horizontal frame guide wheel is disposed on the lower horizontal frame and is disposed between the lower plate guide wheel and the joint guide wheel; The cable starts from the output end of the power module, passes around the upper plate guide wheel, then passes around the upper horizontal frame guide wheel, the joint guide wheel, the lower horizontal frame guide wheel, and the lower plate guide wheel. It then extends upwards, passes around the joint guide wheel and the upper horizontal frame guide wheel, then extends to the opposite side and, in a basically identical layout, passes around the pull-back guide wheel on the upper section of the upper plate. Finally, it passes back to the power module to form a closed loop.

[0017] Furthermore, the left and right sides of the limb are each provided with 1-3 vertical cable segments and at least 2 horizontal cable segments; The cable vertical section forms a first cable vertical section with one bottom and one top between the upper horizontal frame guide wheel and the lower horizontal frame guide wheel, or it may have a second cable vertical section or a third cable vertical section; The cable cross section includes a first cable cross section, a second cable cross section, a third cable cross section, and a fourth cable cross section. The first and second cable cross sections are located in front of the upper horizontal frame and cross over the left and right sides of the limb. The third cable cross section is formed between the upper plate guide wheel and the upper horizontal frame guide wheel. The fourth cable cross section is formed between the lower plate guide wheel and the lower horizontal frame guide wheel.

[0018] Furthermore, the upper horizontal frame is provided with an upper horizontal frame guide groove, and the upper vertical plate is provided with an upper plate guide post. The upper horizontal frame guide groove cooperates with the upper plate guide post so that the upper horizontal frame can slide back and forth relative to the upper vertical plate in the sagittal plane; and / or The lower horizontal frame is provided with a lower horizontal frame guide groove, and the lower vertical plate is provided with a lower plate guide post. The lower horizontal frame guide groove and the lower plate guide post cooperate to allow the lower horizontal frame to slide back and forth relative to the lower vertical plate in the sagittal plane.

[0019] Furthermore, a lower horizontal frame pull strap is fixed to the lower vertical plate, and the lower horizontal frame has a lower horizontal frame protrusion ring. The lower horizontal frame pull strap passes through the lower horizontal frame protrusion ring and pulls back to fix the lower horizontal frame to the lower vertical plate; and / or The upper vertical plate is fixed with an upper horizontal frame pull strap. The upper horizontal frame has an upper horizontal frame protrusion ring. The upper horizontal frame pull strap passes through the upper horizontal frame protrusion ring and pulls back to fix the upper horizontal frame to the upper vertical plate.

[0020] This invention also provides a wearable system, which includes a flexible lower limb exoskeleton assistive device as described above, wherein the assistive device is a knee joint assistive device, an ankle joint assistive device, or a combination of knee and ankle joint assistive devices.

[0021] The beneficial effects of this invention are as follows: it achieves mechanical decoupling between the assisting torque and the wearing clamping force. The vertical section of the cable is mainly responsible for outputting joint extension assistance, while the horizontal section of the cable is mainly responsible for driving the horizontal frame to hug the human limbs. This enables the device to simultaneously enhance the fit stability with the human limbs when the assisting output is enhanced, reducing slippage and idle loss during the assisting process, and reducing the dependence on the static strap pretension force. Attached Figure Description

[0022] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 A side view schematic diagram of Embodiment 1 of a flexible lower limb exoskeleton assistive device provided by the present invention (worn on the leg). Figure 2 A front view schematic diagram of Embodiment 1 of a flexible lower limb (knee joint) exoskeleton assistive device provided by the present invention (worn on the leg); Figure 3 A schematic diagram of an embodiment of the upper and lower horizontal frames that rotate / slide relative to the upper and lower vertical plates provided by the present invention; Figure 4 A schematic diagram of the power module of the flexible lower limb (knee joint) exoskeleton assistive device provided by the present invention, in embodiment 1; Figure 5 A schematic diagram of the power module of the flexible lower limb (knee joint) exoskeleton assistive device provided by the present invention, in embodiment 2; Figure 6 A schematic diagram of the power module of the flexible lower limb (knee joint) exoskeleton assistive device provided by the present invention, embodiment 3; Figure 7 This is a schematic diagram of the principle of embodiment 2 of the joint hinge structure provided by the present invention; Figure 8 This is a schematic diagram of the principle of embodiment 3 of the joint hinge structure provided by the present invention; Figure 9 This is a schematic diagram of the principle of embodiment 4 of the joint hinge structure provided by the present invention; Figure 10 A side view of Embodiment 2 of the flexible lower limb exoskeleton assistive device provided by the present invention (worn on the leg). Figure 11 This is a schematic diagram of the guide structure of the present invention, in which the joint guide wheel simultaneously guides the reciprocating cables; Figure 12 This is a side view of Embodiment 3 of the flexible lower limb (knee joint) exoskeleton assistive device of the present invention (worn on the leg). Figure 13 This is a side view of the flexible lower limb (ankle) exoskeleton assistive device of the present invention (worn on the foot). Figure 14 This is a side view of Embodiment 4 of the flexible lower limb (knee joint) exoskeleton assistive device of the present invention (worn on the leg). Figure 15 This is a side view of embodiment 5 of the flexible lower limb (knee joint) exoskeleton assistive device of the present invention (worn on the leg).

[0024] Explanation of the markings in the image: 1. Upper component; 11. Upper vertical plate; 111. Upper upper plate (upper section); 112. Upper middle section; 113. Upper plate hook; 114. Upper plate guide wheel; 115. Pull-back guide wheel; 116. Upper plate guide post; 12. Upper lower horizontal frame; 121. Upper horizontal frame guide wheel; 13. Upper upper horizontal frame; 14. Upper binding strap; 141. Upper upper binding strap; 142. Upper lower binding strap; 2. Lower component; 21. Lower vertical plate; 211. Lower plate hook; 212. Middle section of lower plate; 213. Lower section of lower plate; 214. Lower plate guide wheel; 215. Lower horizontal frame pull strap; 22. Lower upper horizontal frame; 221. Lower horizontal frame guide wheel; 222. Lower horizontal frame protruding ring; 23. Lower lower horizontal frame; 24. Lower binding strap; 241. Lower upper binding strap; 242. Lower lower binding strap; 25. Joint guide wheel; 3. Joint hinge structure; 31. Short sling; 311. Upper suspension end; 312. Lower suspension end; 313. First short sling; 314. Second short sling; 32. Knee pad; 33. Double-axis hinge; 331. First axis; 332. Second axis; 333. First gear; 334. Second gear; 4. Cable components; 41. Cable A end; 42. Cable B end; 43. Cable vertical section; 431. First cable vertical section; 432. Second cable vertical section; 433. Third cable vertical section; 44. Cable horizontal section; 441. First cable horizontal section; 442. Second cable horizontal section; 443. Third cable horizontal section; 444. Fourth cable horizontal section; 5. Power module; 51. Drive motor; 52. Output gear; 53. Output A disk; 54. Output B disk; 6. Perception and control system; 61. Main control unit; 62. TOF sensor; 63. IMU sensor. Detailed Implementation

[0025] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0026] It should be understood that, when used in this specification and the appended claims, the terms "comprising" and "including" indicate the presence of the described features, integrals, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or collections thereof.

[0027] It should also be understood that the terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the invention. As used in this specification and the appended claims, the singular forms “a,” “an,” and “the” are intended to include the plural forms unless the context clearly indicates otherwise.

[0028] It should also be further understood that the term "and / or" as used in this specification and the appended claims refers to any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0029] Please see Figure 1 and Figure 2 This invention provides a flexible lower limb exoskeleton assistive device, which includes an upper component 1, a lower component 2, a joint hinge structure 3, a cable component 4, and a power module 5.

[0030] The upper component 1 in this embodiment is worn on the limbs above the joints of the human body. Taking knee joint assistance as an example, the upper component 1 includes an upper vertical plate 11, an upper lower horizontal frame 12, an upper upper horizontal frame 13, and an upper strap 14. The upper vertical plate 11 is divided into left and right groups, which are made of rigid or semi-flexible semi-rigid materials and are respectively fitted along the inner and outer sides of the human thigh. The upper lower horizontal frame 12 and the upper upper horizontal frame 13 are horizontally positioned above the front of the knee joint and the upper front of the thigh, respectively. They are made of rigid materials and are connected to the upper vertical plate 11. They can also move back and forth with the upper vertical plate 11 in the sagittal plane. The upper strap 14 is divided into an upper upper strap 141 and an upper lower strap 142, which are used to wear the upper vertical plate 11, the upper lower horizontal frame 12, and the upper upper horizontal frame 13 on the human thigh.

[0031] The lower component 2 in this embodiment is worn on the limbs below the joints of the human body. Taking knee joint assistance as an example, the lower component 2 includes a lower vertical plate 21, a lower upper horizontal frame 22, a lower lower horizontal frame 23, and a lower strap 24. The lower vertical plate 21 is divided into left and right groups, which are made of rigid or semi-flexible semi-rigid materials and are respectively fitted along the inner and outer sides of the lower leg. The lower upper horizontal frame 22 and the lower lower horizontal frame 23 are horizontally positioned below the front side of the knee joint and the lower front side of the lower leg. The lower upper horizontal frame 22 is made of rigid material and is connected to the lower vertical plate 21. It can also move back and forth with the lower vertical plate 21 in the sagittal plane. The lower strap 24 is divided into a lower upper strap 241 and a lower lower strap 242, which are used to wear the lower vertical plate 21, the lower upper horizontal frame 22, and the lower lower horizontal frame 23 on the lower leg.

[0032] In this embodiment, the joint hinge structure 3 connects the upper vertical plate 11 and the lower vertical plate 21, enabling the upper component 1 and the lower component 2 to rotate or swing relative to each other as the human joint flexes and extends. It should be noted that in this embodiment, the joint hinge structure 3 can be a mechanical hinge, a flexible connector, a composite hinge structure, or other structures capable of connecting the upper vertical plate 11 and the lower vertical plate 21 and allowing relative movement between them. The core of this invention is not limited to a specific joint connection form, but rather lies in forming a vertical cable section 43 and a horizontal cable section 44 through the cable member 4. The vertical cable section 43 is used to generate a joint extension assist torque, and the horizontal cable section 44 is used to drive the horizontal frame to dynamically hold the human limb.

[0033] In this embodiment, the power module 5 is connected to the cable 4 and is used to drive the cable 4 to tighten or release. The power module 5 can be disposed on the upper component 1 or the lower component 2. In this embodiment, the power module 5 is preferably disposed on the upper section of the upper vertical plate 11 to reduce interference with the human joint movement area.

[0034] In this embodiment, the upper vertical plate 11, the upper horizontal frame, the lower vertical plate 21 and the lower horizontal frame are all provided with multiple guide wheels. The cable member 4 passes around the multiple guide wheels and forms at least one cable vertical section 43 extending longitudinally along the limb, and at least one cable horizontal section 44 spanning or acting on the upper horizontal frame and / or the lower horizontal frame. In this embodiment, when the cable 4 is triggered to tighten by the following sensing and control system 6, the vertical section 43 of the cable tightens and generates an assisting torque relative to the joint hinge structure 3 to assist the joint extension, and the horizontal section 44 of the cable tightens and drives the upper horizontal frame and / or the lower horizontal frame to move closer to the center of the limb and generate a pressing force to dynamically hug the limb.

[0035] Based on this, the embodiments of the present invention achieve mechanical decoupling between the assisting torque and the wearing clamping force. The vertical section 43 of the cable is mainly responsible for outputting joint extension assistance, and the horizontal section 44 of the cable is mainly responsible for driving the horizontal frame to hug the human limbs. This enables the device to simultaneously enhance the fit stability with the human limbs when the assisting output is enhanced, reduce slippage and idle loss during the assistance process, and reduce the dependence on the static strap pretension force.

[0036] In one embodiment, the upper horizontal frame includes an upper upper horizontal frame 13 and an upper lower horizontal frame 12 spanning the front side of the upper limb; both the upper upper horizontal frame 13 and the upper lower horizontal frame 12 are drivenly connected to the upper vertical plate 11 and can move back and forth relative to the upper vertical plate 11 in the sagittal plane direction; the lower component 2 includes a lower upper horizontal frame 22 and a lower lower horizontal frame 23 spanning the front side of the lower limb; both the lower upper horizontal frame 22 and the lower lower horizontal frame 23 are drivenly connected to the lower vertical plate 21 and can move back and forth relative to the lower vertical plate 21 in the sagittal plane direction.

[0037] In this embodiment, by setting an upper horizontal frame 13, an upper lower horizontal frame 12, a lower upper horizontal frame 22, and a lower lower horizontal frame 23, and enabling each horizontal frame to move back and forth relative to its corresponding vertical plate in the sagittal plane, the horizontal frames are no longer fixed rigid compression members, but rather dynamic clamping members that can actively conform to the human limbs under the action of the cable horizontal section 44. This structure in this embodiment can form zoned conformation and zoned compression at different height positions of the upper and lower limbs, making the distribution of compression force more reasonable. When the cable 4 is tightened, each horizontal frame can move closer to the center of the limb as the cable horizontal section 44 is tensioned, thereby generating a dynamic clamping force, which improves the conformation stability between the upper component 1 and the lower component 2 and the human limbs, reduces relative slippage, and improves the efficiency of torque transmission.

[0038] In one embodiment, the upper horizontal frame 13, the upper lower horizontal frame 12, the lower upper horizontal frame 22, and the lower lower horizontal frame 23 are all configured as a strip structure with a rigid middle section and flexible wings; the rigid middle section is configured to disperse the compressive force generated by the cable horizontal section 44, and the flexible wings are configured to adapt to different human limb circumferences.

[0039] In this embodiment, the rigid middle section is used to bear the compressive force applied by the cable transverse section 44 and distribute the compressive force to a larger contact area, thereby preventing the cable from directly compressing local soft tissues of the human body. The flexible wings are used to adapt to different limb circumferences and compensate for angular or positional deviations that occur when the frame is fitted relative to the surface of the human limb. Taking the knee joint as an example, the rigid middle section of the lower upper frame 22 can be set to avoid the area directly in front of the patella, so that the compressive force generated by the cable transverse section 44 is not directly concentrated on the patella, but is distributed to the area below the knee joint or the periphery of the front of the lower leg through the frame structure, thereby improving wearing safety and comfort.

[0040] like Figure 1 and Figure 2 As shown, in one embodiment, the cable member 4 includes a first cable vertical section 431 and a second cable vertical section 432 located on the left and right sides of the human limb. The first cable vertical section 431 and the second cable vertical section 432 extend longitudinally along the human limb and have lever arms relative to the joint hinge structure 3. When the power module 5 tightens the cable member 4, the first cable vertical section 431 and the second cable vertical section 432 are tensioned, generating an assisting torque T on both sides of the human joint to assist in joint extension.

[0041] The cable component 4 also includes a first cable cross section 441, a second cable cross section 442, a third cable cross section 443, and a fourth cable cross section 444. The first cable cross section 441 and the second cable cross section 442 can span across the left and right sides of the human limb and are located in front of the upper horizontal frame or act on the upper horizontal frame. The third cable cross section 443 can be formed between the upper vertical plate 11 and the upper horizontal frame, and the fourth cable cross section 444 can be formed between the lower vertical plate 21 and the lower horizontal frame. Among them, the first cable cross section 441 is the cable connection section returning to the limb's power side from the opposite side of the limb's power side, and the second cable cross section 442 is the cable connection section going to the opposite side of the limb's power side from the limb's power side.

[0042] When cable 4 is tightened, the first cable segment 441 and the second cable segment 442 are tensioned and generate a positive pressing force F3 on the front side of the upper limb, causing the corresponding upper horizontal frame to conform to the front side of the human thigh, and together with the upper strap 14, to hug the human thigh. The third cable segment 443 is tensioned and generates a downward pressing force F2 on the front side of the upper limb, causing the upper horizontal frame to move closer to the center of the human thigh in the sagittal plane. The fourth cable segment 444 is tensioned and generates a pressing force F1 that hugs the lower limb, causing the lower horizontal frame to conform to the front side of the human calf or the area below the knee joint. The specific compression force analysis is as follows: 1) The first vertical cable section 431 and the second vertical cable section 432 generate knee extension torque T: The left and right vertical cable sections 43 deviate from the joint hinge structure 3 (mainly the short suspension cable 31 described below). When they are tensioned along the cable axis, they will generate knee extension torque T evenly on the left and right sides, which helps the human body straighten the knee joint and reduce the pressure on the knee joint during human movement. 2) The fourth horizontal section 444 on the left and right sides generates a compressive force F1 that hugs the lower half of the knee joint: The fourth horizontal section 444 on the left and right sides is set almost horizontally. When the cable is tightened, its combined force with the vertical section 43 of the cable will generate an upward pressure F1 in the sagittal plane with the lower vertical plate 21 on both sides as the base. This will pull the upper horizontal frame 22 upward to the lower vertical plate 21. The lower vertical plates 21 on both sides are fixed to the lower leg by the lower strap 24 and cannot move forward. In this way, the upper horizontal frame 22 will tightly hug and press against the lower part of the knee joint, which plays a role similar to the tightening and wrapping of the lower part of the knee joint, protecting the knee joint from injury during sports impact. 3) The third horizontal section 443 on the left and right sides and the second horizontal section 442 of the cable generate a downward pressing force F2 that presses against the front of the human thigh: The third horizontal section 443 on the left and right sides is set almost horizontally. When the cable is tightened, its combined force with the second horizontal section 442 and the vertical section 43 of the cable will generate a downward pressing force F2 with the upper vertical plates 11 on both sides as the base, pressing the lower horizontal frame 12 downward and against the front of the human thigh. 4) The first horizontal section 441 of the cable generates a positive pressing force F3 on the front of the human thigh: The first horizontal section 441 of the cable is set horizontally. When the cable is tightened, it generates a positive downward pressure F3 with the upper vertical plates 11 on both sides as the base, which presses the upper horizontal frame 13 against the front of the human thigh. At the same time, the upper vertical plates 11 are pulled forward in the sagittal plane. The upper vertical plates 11 on both sides are fixed to the human thigh by the upper straps 14 and cannot move forward. In this way, the upper horizontal frame 13 will tightly hug and press against the upper part of the human thigh, reducing shaking when the device assists and ensuring the stability of the device when force is applied.

[0043] The cable component 4 consists of a single cable with guide wheels or lubricated surfaces that have a very low coefficient of friction throughout. The lengths on the left and right sides can be adjusted to compensate for each other in real time, thus achieving a balance between the knee extension torque T and the clamping forces F1, F2, and F3 on the left and right sides, resulting in a better user experience. In addition, the power module 5 drives the two ends of the cable component 4 to tighten or loosen synchronously, with the power sources on the left and right sides synchronized. This not only accelerates the response speed of the search cable component 4 but also improves the left-right balance.

[0044] like Figure 1 and Figure 2 As shown, the guide wheel may include an upper plate guide wheel 114, an upper horizontal frame guide wheel 121, a pull-back guide wheel 115, a lower plate guide wheel 214, a lower horizontal frame guide wheel 221, and a joint guide wheel 25.

[0045] The upper plate guide wheel 114 is located in the middle section (i.e., the middle section 112 of the upper plate) or near the middle section of the upper vertical plate 11, and is used to guide the path of the cable component 4 between the upper vertical plate 11 and the upper horizontal frame. The upper horizontal frame guide wheel 121 is located on the upper horizontal frame, and is used to form or guide the cable acting on the upper horizontal frame. The pull-back guide wheel 115 is located in the upper section of the upper vertical plate 11, and is used to guide the cable from the opposite side of the human body back to the power module 5. The lower plate guide wheel 214 is located in the middle section 212 of the lower vertical plate 21, and the lower horizontal frame guide wheel 221 is located on the lower horizontal frame. The two work together to form or guide the horizontal section 44 of the cable acting on the lower horizontal frame. The joint guide wheel 25 is located near the human joint, and is used to guide the cable component 4 to cross or pass around the joint area.

[0046] In one specific winding method, the cable component 4 can be composed of a continuous cable, with cable end A 41 and cable end B 42 at its two ends. Cable end A 41 is connected to or wound around the output end of the power module 5 (i.e., output disk B 54 hereinafter referred to as output). After cable end B 42 is led out from the power module 5, it extends downward in sequence and winds around the upper plate guide wheel 114, the upper horizontal frame guide wheel 121, the joint guide wheel 25, the lower horizontal frame guide wheel 221, and the lower plate guide wheel 214; then it extends upward and winds around the joint guide wheel 25 and the upper horizontal frame guide wheel 121; then it extends to the opposite side of the human body and winds around the same guide wheel layout on the opposite side of the human body, and finally returns to the output of the power module 5 (i.e., output disk A 53 hereinafter referred to as output) via the return guide wheel 115.

[0047] Through the above-described winding method, vertical cable sections 43 and horizontal cable sections 44 are formed on the left and right sides of the human body, respectively. Specifically, the cable component 4 forms a first vertical cable section 431 and a second vertical cable section 432 between the upper horizontal frame guide wheel 121 and the lower horizontal frame guide wheel 221; a first horizontal cable section 441 and a second horizontal cable section 442 spanning the left and right sides of the human body are formed on the front side of the upper horizontal frame; a third horizontal cable section 443 is formed between the upper plate guide wheel 114 and the upper horizontal frame guide wheel 121; and a fourth horizontal cable section 444 is formed between the lower plate guide wheel 214 and the lower horizontal frame guide wheel 221.

[0048] One or more of the upper plate guide wheel 114, upper horizontal frame guide wheel 121, pull-back guide wheel 115, lower plate guide wheel 214, lower horizontal frame guide wheel 221, and joint guide wheel 25 can be configured as a multi-groove structure to support the cable component to wind back and forth multiple times, thereby reducing the complexity of the device.

[0049] It should be noted that the above winding method is only a preferred embodiment. Provided that the cable member 4 can form the vertical section 43 and the horizontal section 44 of the cable, and can generate joint extension assist torque and horizontal frame dynamic clamping force respectively when tightened, the number of guide wheels, the position of the guide wheels, the cable winding sequence, and the connection method between the cable end and the power module 5 can all be adjusted according to the actual structure.

[0050] In this invention, when the cable 4 is tightened, the lower upper horizontal frame 22 can slide closer to the lower vertical plate 21, and the upper lower horizontal frame 12 and / or the upper upper horizontal frame 13 can slide closer to the upper vertical plate 11. Figure 3 The diagram shows an embodiment of the upper and lower horizontal frames of the present invention that rotate / slide relative to the upper and lower vertical plates, including two embodiments, A and B.

[0051] like Figure 3 In embodiment A shown, the upper vertical plate 11 has an upper plate guide post 116 on its inner side, and the upper lower horizontal frame 12 has an upper horizontal frame guide groove. The upper horizontal frame guide groove cooperates with the upper plate guide post 116, allowing the upper lower horizontal frame 12 to slide back and forth in the sagittal plane relative to the upper vertical plate 11, and also to swing back and forth in the sagittal plane relative to the upper vertical plate 11. The middle section of the upper lower horizontal frame 12 is rigid, while the two wings have a certain degree of flexibility. The advantages of this structure are: 1) It can adapt to users with different thigh circumferences to a certain extent; the user adaptability is good; 2) The upper lower horizontal frame 12 can rotate relative to the upper vertical plate 11, which can adapt to the deviation of the upper vertical plate 11 relative to the human thigh caused by the user's wearing, ensuring that the upper lower horizontal frame 12 fits correctly and tightly with the front of the human thigh, and the wearing comfort is high; 3) The middle section of the upper lower horizontal frame 12 is rigid, which can ensure that the upper lower horizontal frame 12 is squeezed by the second or first cable horizontal section 441, ensuring the wearing comfort of the human body. The flexibility of the two wings matches the thickness of different human thighs and can compensate for the matching deviation caused by the movement of the upper lower horizontal frame 12 relative to the human thigh.

[0052] like Figure 3In embodiment B shown, the sliding connection between the lower upper horizontal frame 22 and the lower vertical plate 21 adopts another simple strap connection scheme: a lower horizontal frame pull strap 215 is fixed on the lower vertical plate 21, and a lower horizontal frame protrusion ring 222 is provided on the lower upper horizontal frame 22. The lower horizontal frame pull strap 215 passes through the lower horizontal frame protrusion ring 222 and pulls back to fix the lower upper horizontal frame 22 to the lower vertical plate 21. In this scheme, the lower upper horizontal frame 22 can move closer to the lower vertical plate 21, and can also rotate relative to the lower vertical plate 21, but cannot move relative to the lower vertical plate 21. 1. The lower upper horizontal frame 22 is rigid in the middle and flexible on both sides. When under stress, the rigid frame in the middle can be designed to avoid the patella and distribute the pressure to both sides. The flexibility of the two sides matches the thickness of different human calves and can compensate for the matching deviation caused by the movement of the lower upper horizontal frame 22 relative to the human calves. To improve the comfort of wearing the body, there is a knee pad 32 between the lower upper horizontal frame 22 and the human calves. The advantage of this structure is that this embodiment can achieve the same effect as the above embodiment A, which will not be described again.

[0053] In one embodiment, such as Figure 1 , Figure 2 , Figure 4 As shown, the power module 5 is located on the upper section of the upper component 1 near the outer side of the human thigh. The power module 5 includes a drive motor 51, an output gear 52, an output A disk 53, and an output B disk 54. The output gear 52 is connected to the output of the drive motor 51. The output A disk 53 and the output B disk 54 are both meshed and connected to the output gear 52. The drive motor 51 is driven to rotate, which drives the output gear 52 to rotate. The output gear 52 then drives the output A disk 53 and the output B disk 54 to rotate simultaneously in the same direction.

[0054] Figure 5 , Figure 6 These are schematic diagrams of the power module 5 of the flexible lower limb exoskeleton assistive device provided by the present invention, respectively.

[0055] Figure 5 Compared with Example 1, Example 2 uses only one output A disk 53, eliminating the output gear 52 and output B disk 54. The A end 41 and the B end 42 of the cable are fixed from the same side and wound on the output A disk 53. Example 2 has the same function as Example 1, and can tighten the A end 41 and the B end 42 of the cable at the same time. The structure is simpler, but the output A disk 53 requires two parallel winding grooves and has a larger thickness than Example 1. It is more advantageous when the diameter of the cable is very small.

[0056] Figure 6Compared with Example 1, Example 3 omits the output gear 52, and the output A disk 53 and output B disk 54 directly mesh and rotate synchronously in opposite directions. Example 3 can also include two cases, namely, the cable A end 41 and cable B end 42 are introduced from the outside and from the middle, and the functions are exactly the same in both cases. Example 3 has the same function as Example 1, and can tighten the cable A end 41 and cable B end 42 at the same time. The structure is simpler, and the cable B end 42 is closer to the upper side of the upper horizontal frame 13. This example can be selected depending on the specific position of the power module 5 on the upper vertical plate 11.

[0057] In summary, according to Embodiment 1 of the flexible lower limb exoskeleton assistive device, when the human body is in a non-assisted or low-assisted state, the power module 5 can release or slightly tighten the cable 4, allowing the upper and lower horizontal frames to conform to the human limb with less pressure, thereby reducing continuous pressure on the human limb. When joint extension assistance is required, the power module 5 tightens the cable 4. At this time, the first and second vertical cable sections 431 and 432 located on the left and right sides of the human limb are tensioned and generate lever arms relative to the joint hinge structure 3, thereby forming an assisting torque T to assist the human joint extension. Simultaneously, the first, second, third, and fourth horizontal cable sections 441, 442, 443, and 444 are tensioned and apply forces toward the center of the human limb to the upper and / or lower horizontal frames, respectively. Guided by the corresponding movable connection structure, the upper and / or lower horizontal frames move toward the center of the human limb, forming a dynamic clamping force that holds the human limb. Therefore, in the same tightening action of the cable, the vertical section 43 of the cable is responsible for generating the joint extension assist torque, while the horizontal section 44 of the cable is responsible for driving the horizontal frame to hold the human limb tightly. This working method allows the assist output and the wear fixation to cooperate with each other but with distinct functions, which can improve the efficiency of assist transmission and avoid the continuous pressure caused by relying solely on the pre-tightening of the straps.

[0058] In the knee joint application of the flexible lower limb exoskeleton assistive device of the present invention, the upper component 1 is worn on the thigh, and the lower component 2 is worn on the calf. The joint hinge structure 3 connects the upper vertical plate 11 and the lower vertical plate 21 and is located on both sides or adjacent to the knee joint. When the power module 5 tightens the cable 4, the first cable vertical section 431 and the second cable vertical section 432 generate knee extension assist torque T on both sides of the knee joint to assist the knee joint extension. At the same time, the upper horizontal frame is pressed against the front of the thigh by the first cable horizontal section 441, the second cable horizontal section 442 and / or the third cable horizontal section 443, and the lower horizontal frame hugs or presses against the front of the calf or the area below the knee joint by the fourth cable horizontal section 444. Through the above structure, this embodiment can simultaneously enhance the fit stability of the thigh and calf when the knee extension assist increases, reduce the possibility of slippage of the upper component 1 and the lower component 2 relative to the human limb, and reduce the risk of the cable directly pressing on the local area of ​​the front of the knee joint.

[0059] The joint hinge structure 3 of the present invention will be described in detail below.

[0060] The joint hinge structure 3 of the flexible lower limb exoskeleton assistive device in this embodiment of the invention, along with its adjacent structure, is further designed as a collapse-resistant, misaligned, suspended flexible bionic joint assembly of the exoskeleton. The exemplary configuration of the flexible bionic joint assembly of the exoskeleton provided by this invention is described in detail below.

[0061] Please see Figure 1 , Figure 2 and Figures 7 to 9 This embodiment provides a flexible bionic joint assembly for an exoskeleton, applied to the aforementioned flexible lower limb exoskeleton assistive device. The flexible lower limb exoskeleton assistive device includes an upper component 1, a lower component 2, a joint hinge structure 3, a cable component 4, and a power module 5. The upper vertical plate 11 (specifically its lower section) in the upper component 1, the lower vertical plate 21 (specifically its upper end) in the lower component 2, and the joint hinge structure 3 constitute the flexible bionic joint assembly for an exoskeleton of this invention.

[0062] The upper vertical plate 11 is disposed on the side of the upper wearable part (i.e., the upper component 1 mentioned above) and extends along the length of the limb above the human joint. The lower vertical plate 21 is disposed on the side of the lower wearable part (i.e., the lower component 2 mentioned above) and extends along the length of the limb below the human joint. The upper vertical plate 11 and the lower vertical plate 21 can be disposed on the outer side of the human limb, or they can be disposed on the inner side of the human limb according to actual needs, or one set can be disposed on each side of the human joint.

[0063] The lower end of the upper vertical plate 11 has an upper plate hook 113 that protrudes to one side and extends downward. The upper end of the lower vertical plate 21 has a lower plate hook 211 that protrudes to one side and extends upward.

[0064] The articulated joint structure 3 is configured as a flexible tensile member, connecting the upper plate hook 113 and the lower plate hook 211. The flexible tensile member includes a short suspension cable 31. The short suspension cable 31 has an upper suspension end 311 and a lower suspension end 312. The upper suspension end 311 is fixedly connected to the lower plate hook 211, and the lower suspension end 312 is fixedly connected to the upper plate hook 113. That is, the upper plate hook 113 at the lower end of the upper vertical plate 11 extends downwards, and the lower plate hook 211 at the upper end of the lower vertical plate 21 extends upwards, and the two are connected by the flexible short suspension cable 31. This structure forms a staggered suspension flexible connection system.

[0065] In its natural upright state, the suspension connection position of the lower plate hook 211 is higher than that of the upper plate hook 113. The short sling 31 connects the upper plate hook 113 and the lower plate hook 211, which are misaligned. This means that the upper vertical plate 11 and the lower vertical plate 21 are not directly hinged by a traditional rigid pivot, but are connected by a flexible suspension through the short sling 31.

[0066] To match the center of rotation of the human knee joint, the upper plate hook 113 and the lower plate hook 211 are set near the natural rotation center of the human knee joint; to prevent the problem of empty travel caused by the slack of the short suspension cable 31 when tightening the cable, the power module 5 applies a very small preload in the engineering implementation, which can prevent the problem of empty travel caused by the slack of the cable.

[0067] When an exoskeleton is subjected to external driving forces or human body loads, the upper and lower wear parts typically tend to compress towards each other along the limb axis. Taking a knee-assisted exoskeleton as an example, when the exoskeleton outputs extension assistance to the human knee joint through cables, elastic elements, motors, or other drive mechanisms, the upper and lower wear parts tend to move relatively closer to the center of the knee joint along the direction of the thigh and lower leg, forming an axial collapse tendency.

[0068] In traditional flexible exoskeletons, the aforementioned axial compression tendency can easily cause relative slippage between the upper and lower wearable components, preventing the timely transmission of assist torque and potentially compressing the soft tissues around the knee joint. In this embodiment, since the upper plate hook 113 extends downward and the lower plate hook 211 extends upward, and the suspension point of the lower plate hook 211 is initially located above the suspension point of the upper plate hook 113, when the upper and lower wearable parts tend to move axially towards each other, the connection distance between the upper plate hook 113 and the lower plate hook 211 actually tends to increase.

[0069] Specifically, when the upper vertical plate 11 moves closer to the lower wearing part along with the upper wearing part, and the lower vertical plate 21 moves closer to the upper wearing part along with the lower wearing part, the downward-extending upper plate hook 113 and the upward-extending lower plate hook 211 tend to move away from each other due to their misaligned geometric relationship. This tendency to move away from each other will tighten the short sling 31 connecting the two, causing the short sling 31 to quickly enter a tensile state from a compliant state.

[0070] The short suspension cable 31 cannot withstand compression after being tensioned, but it can withstand a large tensile force. Because the tensioned short suspension cable 31 restricts the further distance between the upper plate hook 113 and the lower plate hook 211, it effectively creates a resistance to the axial relative approach of the upper and lower wearable parts in terms of geometric constraint. In other words, this invention utilizes a reverse misaligned suspension structure to transform the axial compressive tendency of the upper and lower wearable components under stress into the tensile tension of the short suspension cable 31, thereby forming a dynamic support with longitudinal compressive stiffness.

[0071] Therefore, this invention achieves a biomimetic joint effect that is compliant when not under stress and resistant to collapse when under stress, without employing a traditional rigid single-axis hinge. This structure can adapt to the complex movement trajectory of the human knee or ankle joint, and can also suppress the collapse of the upper and lower wearable components towards the joint center at the moment of assist force application, reducing the idle travel effect and assist loss.

[0072] In a preferred embodiment, the short sling 31 may be made of ultra-high molecular weight polyethylene (UHMWPE) fiber. UHMWPE fiber has advantages such as light weight, high tensile strength, good abrasion resistance, and good flexibility, making it suitable for short-distance tensile connections in the joint areas of wearable exoskeletons. In other embodiments, the short sling 31 may also be made of aramid fiber, nylon fiber, polyester fiber, steel wire rope, composite fiber rope, or combinations thereof.

[0073] The length of the short sling 31 can be set according to the size of the human joint, the positional relationship between the upper vertical plate 11 and the lower vertical plate 21, and the desired range of flexibility. Preferably, the short sling 31 is set to a relatively short length so that it can quickly transition from a relaxed or slightly tensioned state to a tensioned state when the exoskeleton is under stress, thereby reducing the idle travel during the power transfer process. At the same time, the short sling 31 should not be too short, so as not to excessively restrict the natural lateral and torsional freedom of the human joints when not under stress.

[0074] To improve comfort and safety, padding, soft covering, or low-friction protective layer can be installed between the short sling 31 and the human joint to prevent the short sling 31 from directly contacting and rubbing against the human skin or soft tissue.

[0075] In one embodiment, there can be multiple short slings 31, and there can also be multiple upper sling ends 311 and lower sling ends 312. Using multiple short slings 31 is beneficial to enhance the stability of the transmission of tension between the upper component 1 and the lower component 2 under different knee joint angles. Figures 7-9 Embodiments using two short slings 31 are disclosed respectively. In embodiments 2-4, the short slings 31 include a first short sling 313 and a second short sling 314 respectively. There are also multiple corresponding upper sling ends 311 and lower sling ends 312. Embodiments 2-4 can improve the stability of the tension transmission between the upper component 1 and the lower component 2 under different knee joint angles.

[0076] See Figures 7 to 9 The short sling 31, composed of multiple slings, can also be a single sling composed of multiple continuous segments, with adjacent segments forming an angle. The two ends of each segment are fixedly connected to the upper plate hook 113 and the lower plate hook 211, respectively. That is, the length of the first short sling 313 and the second short sling 314 can be allocated. In this way, the angle between the upper component 1 and the lower component 2 will change under different knee joint angles, and the length requirements of the first short sling 313 and the second short sling 314 will also be different. By allocating the sling length, the tension of the first short sling 313 and the second short sling 314 can be automatically distributed, achieving tension balance and improving the stability and reliability of the system of the present invention.

[0077] Figure 10 The diagram shown is a side view of Embodiment 2 of a flexible knee joint assist device provided by the present invention. In this embodiment, the hook of the upper vertical plate 11 extends from the front of the human leg, around the hook of the lower plate 211, and downwards to below the hook of the lower plate 211. The joint guide wheel 25 is located in the lower section of the upper vertical plate 11. The joint hinge structure 3 includes two upper hanging ends 311, two short suspension cables 31, and one lower hanging end 312. This provides more stable support for the force transmission between the upper component 1 and the lower component 2 when the human lower limbs (knee joint, ankle joint) are at different angles. Notably, this embodiment significantly simplifies the guide wheel setup, adopting a structure where one guide wheel simultaneously guides the back-and-forth cables, such as... Figure 11 The diagram shown is a schematic of the articulated guide wheel 25 simultaneously guiding the reciprocating cable guide structure of the present invention. Figure 11The downward cable, i.e., the first vertical section 431, extends from the top, wraps around the joint guide wheel 25 on the right side, and then extends downward. The upward cable, i.e., the second vertical section 432, extends upward from the bottom, wraps clockwise around the joint guide wheel 25 from the left side, and then extends upward. Since the first vertical section 431 and the second vertical section 432 are a single cable, their downward and upward pulling speeds are the same. Driven by the first vertical section 431 and the second vertical section 432, the joint guide wheel 25 rotates clockwise, which perfectly satisfies the needs of the first vertical section 431 sliding downward and the second vertical section 432 sliding upward. The joint guide wheel 25 can be a multi-groove structure to avoid interference between the first vertical section 431 and the second vertical section 432. After adopting the above-mentioned guide structure, the number of guide wheels required to achieve the same function as in embodiment 1 is greatly reduced, the engineering implementation difficulty is greatly reduced, the cost is low, and the reliability is high.

[0078] Figure 14 The diagram shown is a side view of Embodiment 4 of a flexible knee joint assist device provided by the present invention. Compared with Embodiment 2, this embodiment also adopts a structure in which a guide wheel simultaneously guides the back-and-forth pull cable. Furthermore, the guide wheel arrangement is further simplified by removing the horizontal frame guide wheel. All guide wheels are positioned on the upper vertical plate 11 and the lower vertical plate 21. Thus, when the pull cable 4 is tightened, the force along the vertical direction of the limb is entirely distributed on the upper vertical plate 11, the lower vertical plate 21, and the joint hinge structure 3, significantly improving stability and reliability. In addition, a third vertical pull cable segment 433 is added. The second horizontal pull cable segment 442, which pulls towards the opposite side of the limb's force, is positioned on the lower upper horizontal frame 22, and the pull cable 4 is also tightened... When the device tightens, the knee extension torque T of the present invention also increases by 50%. At the same time, by changing the position of the pull-back guide wheel 115, the first cable horizontal section 441 is set on the upper lower horizontal frame 12. When the first cable horizontal section 441 and the second cable horizontal section 442 tighten, they press the upper lower horizontal frame 12 and the lower upper horizontal frame 22, and pull the upper vertical plate 11 and the lower vertical plate 21 towards the sagittal front. This allows the device of the present invention to simultaneously hold the upper and lower parts of the knee joint when the cable 4 tightens, which is similar to the function of a sports knee brace that tightens and wraps the upper and lower parts of the human knee joint, thus protecting the human knee joint from injury during sports impact.

[0079] Figure 15The diagram shown is a side view of Embodiment 5 of a flexible knee joint assist device provided by the present invention. This embodiment is similar to Embodiment 4 in its cable winding layout, but simplifies the cable winding method of the cable member 4. There is only a first cable vertical segment 431 along the vertical direction of the limb. This implementation is simple, but with only one first cable vertical segment 431 on one side of the limb, the knee extension torque T of the device is significantly reduced when the cable member 4 is subjected to the same cable tension. This embodiment has a simple and reliable structure and is suitable for use in situations where large knee extension assistance is not required.

[0080] Figure 12 This is a side view of Embodiment 3 of the flexible knee joint assist device provided by the present invention, as shown in the figure. Figure 12 As shown, the joint hinge structure 3 is a double-axis hinge 33. The double-axis hinge 33 is fixed with a first shaft 331 and a second shaft 332. The first shaft 331 and the second shaft 332 are rotatably connected to the upper vertical plate 11 and the lower vertical plate 21, respectively. The first gear 333 and the second gear 334 are fixedly connected to the upper vertical plate 11 and the lower vertical plate 21, respectively. The first gear 333 and the second gear 334 mesh with each other. The first shaft 331 and the second shaft 332 pass through the teeth of the first gear 333 and the second gear 334, respectively. The first shaft 331 and the second shaft 332 are fixed to each other by a kit, thereby ensuring that the first gear 333 and the second gear 334 maintain a stable meshing state. When the relative angle between the upper vertical plate 11 and the lower vertical plate 21 changes, the first gear 333 and the second gear 334 mesh and rotate. When the relative angle between the upper vertical plate 11 and the lower vertical plate 21 remains fixed, the cable 4 tightens to generate a knee extension torque T. The first gear 333 and the second gear 334 are in a stable meshing and force transmission state. The knee extension torque T can be transmitted to the upper vertical plate 11 and the lower vertical plate 21 through the first gear 333 and the second gear 334 respectively, and then transmitted to the lower limbs of the human body, thereby helping the human body to extend the knee. Compared with embodiment 1, this embodiment has better stability when bearing heavy loads. However, this embodiment has a complex structure, increases the weight, and cannot adapt to the parasitic degree of freedom requirements of the human knee joint during movement, such as twisting and lateral misalignment. It is not comfortable to wear and is only suitable for medical and mobility impairment situations where the requirements for improving mobility are not high.

[0081] It should be understood that the present invention is not limited to knee joint assistance. In other embodiments, the flexible lower limb exoskeleton assistive device can also be applied to the ankle joint or other human joints.

[0082] Taking the ankle joint as an example, Figure 13 This is a side view of a structural embodiment 1 of a flexible ankle joint assist device provided by the present invention (worn on the foot). The principle of this embodiment is the same as that of the knee joint assist device, except that it is worn on the ankle joint. Figure 13In the illustrated embodiment, the upper component 1 is mounted on the lower leg, and the lower component 2 is mounted on the foot. The structure and fixation method of the upper component 1 to the lower leg are consistent with those of the knee joint assist device embodiment, and will not be repeated here. The lower component 2 differs from the knee joint assist device. The upper end of the lower vertical plate 21 still has a lower plate hook 211, which is located above the upper plate hook 113. The tension is transmitted through the short suspension cable 31. The main body of the lower vertical plate 21 is parallel to both sides of the foot and is fixed to the person's shoes or to the foot after the lower vertical plates 21 on both sides are fixed. It has a lower plate guide wheel 214. In this embodiment, when the cable 4 is tightened, an ankle extension assist torque is generated, which enhances the strength of the foot.

[0083] The exoskeleton control system of the flexible lower limb exoskeleton assistive device of the present invention is described in detail below.

[0084] The flexible lower limb exoskeleton assistive device of the present invention includes an exoskeleton and an exoskeleton control system disposed on the exoskeleton; the exoskeleton includes an upper component 1, a lower component 2 and a joint hinge structure 3; the exoskeleton control system includes a power module 5, multiple guide wheels, cable components 4 and a sensing control system 6. Power module 5 (the specific details of power module 5 can be found in the aforementioned embodiments and...) Figures 4 to 6 The system is mounted on the exoskeleton, specifically on the upper section 111 of the upper plate of the upper component 1; multiple guide wheels are distributed on the first side, the second side, and the bridging area of ​​the exoskeleton (see the aforementioned layout embodiments of the guide wheels for details); both ends of the cable 4 (i.e., cable A end 41 and cable B end 42) are respectively connected to the power module 5 and can be tightened or released by the power module 5; the sensing and control system 6 is mounted on the lower outer end of the lower vertical plate 21 of the exoskeleton and is electrically connected to the power module 5; Among them, the cable 4 is led out from one side of the power module 5, passes around the first side of the exoskeleton, and then passes through the guide wheel on the front or rear side to the second side of the exoskeleton. Then it passes back from the second side to the other side of the power module 5, forming a sliding closed loop with mutual tension on both sides. The perception control system 6 is configured to trigger the power module 5 to tighten both ends of the cable 4 when the limb worn by the exoskeleton swings back to the ground and the distance from the ground and / or the movement state reaches a preset condition. The cable 4 is configured to slide between the guide wheels when it is wound up and tightened, so as to drive the tension of the cable 4 on the first and second sides of the exoskeleton to be automatically balanced.

[0085] This embodiment employs a single, continuous cable combined with power module 5 to achieve real-time tension self-balancing of the left and right sides of the exoskeleton at the physical and mechanical level. It eliminates the need to consider changes in the user's exertion posture, preventing unilateral torsional interference and resulting in a smooth user experience. Specifically, by combining a distance sensor and / or an inertial sensor, the distance from the ground and acceleration threshold are accurately identified before the swing leg touches the ground. This allows for pre-emptive control of power module 5 to tighten the cable, eliminating mechanical travel delay. Powerful impact cushioning and knee extension assistance are provided the instant the foot touches the ground, significantly reducing the load on the human skeletal muscles and the impact on the bones within the joints.

[0086] The perception control system 6 of this embodiment includes a main control unit 61, and at least one of a ranging sensor and an inertial sensor.

[0087] In one embodiment, the perception control system 6 includes a main control unit 61 and a distance sensor. The distance sensor is located on the lower outer side of the exoskeleton (specifically, on the lower section 213 of the lower vertical plate 21) and faces the ground. The distance sensor is configured to detect the distance data between the distance sensor and the ground. The main control unit 61 is configured to control the power module 5 to pre-tighten the cable 4 when it determines that the swinging limb is falling back to the ground and the distance data measured by the distance sensor reaches a preset distance threshold.

[0088] In this embodiment, the ranging sensor is one or more of the following: a TOF sensor 62, a laser ranging sensor, an infrared ranging sensor, an ultrasonic ranging sensor, a depth camera, and a multi-view camera. Preferably, a TOF sensor 62 is used. The TOF sensor 62 is positioned at the lower end of the lower vertical plate 21, on the outside of the human body. TOF (Time of Flight) is an active optical depth sensing technology. Its core is to measure the round-trip flight time of a light signal from the transmitter to the target object and then to the receiver. Combining this with the physical property of the constant speed of light, the distance between the TOF sensor 62 and the target is calculated, ultimately generating depth information and D-point cloud data for the scene. In this embodiment 1, the TOF sensor 62 integrates a transmitter and a receiver, both of which face the ground, allowing for real-time measurement of the distance between the TOF sensor 62 and the ground.

[0089] Specifically, such as Figure 1 and Figure 3As shown, when the human body moves, as the leg swings back down from the ground, the TOF sensor 62 measures the distance between the leg and the ground in real time. When the distance reaches a preset distance threshold, the control unit controls the power module 5 to drive the output A disk 53 and output B disk 54 to rotate clockwise in the same direction. This causes the cable 4 to be gradually tightened from cable A end 41 and cable B end 42 simultaneously with a set force. At this time, the device will gradually output knee extension torque to the human thigh and calf. At the moment the human foot touches the ground, the power module 5 outputs a large torque. At this time, the upper component 1 tightly hugs the human thigh, and the lower component 2 tightly hugs the human calf. The downward impact force of the human thigh is directly transmitted to the human calf through the joint hinge structure 3. The assist system of the present invention also provides an auxiliary knee extension torque T, which will also reduce the knee extension torque of the human body's thigh and calf. In this way, with the help of the assist system of the present invention, the impact force on the knee joint can be greatly reduced during human movement, the load on the human knee extension muscles and bones can be reduced, and the knee joint can be protected from injury.

[0090] When the human body moves, when the human leg touches the ground and becomes the support phase, the cable 4 applies different tension forces according to the principles of human kinematics to provide different degrees of knee joint assistance to support the human body's weight and load; when the human leg leaves the ground and becomes the swing phase, the cable 4 will return to the pre-tensioned state, without affecting the free swing of the human knee joint.

[0091] In another embodiment, the perception control system 6 includes a main control unit 61 and an inertial sensor; the inertial sensor is disposed on the underside of the exoskeleton and is configured to detect the acceleration data of the exoskeleton relative to the ground when the exoskeleton swings with the limbs and falls back to the ground in the air; the main control unit 61 is configured to perform a first integration based on the acceleration data to obtain velocity information, and / or perform a second integration to obtain displacement or height change information, and control the power module 5 to pre-tighten the cable 4 when the acceleration, velocity and / or displacement meet a preset trigger threshold.

[0092] In this embodiment, the inertial sensor is one or more of an IMU sensor 63, an accelerometer, or a gyroscope. Figure 12 As shown, an IMU sensor 63 is preferably used. The IMU sensor 63 is installed on the lower vertical plate 21. When the human body moves, as the swinging leg falls back to the ground in the air, the IMU sensor 63 senses the acceleration of the human lower leg relative to the ground in real time. This information is transmitted to the main control unit 61. The main control unit 61 can obtain the velocity of the human lower leg relative to the ground by integration. It can measure the distance relative to the ground by double integration. When the main control unit 61 determines that the combination of acceleration and / or velocity and / or displacement distance exceeds the set critical value, it controls the power module 5 to gradually tighten the cable 4 to realize knee joint assistance and cushioning protection after the human body touches the ground.

[0093] like Figure 13 As shown, the exoskeleton control system of the present invention can also be applied to flexible ankle joint assistive devices. The principle of this embodiment is the same as that of the aforementioned knee joint assistive device, except that the part of the human body worn is the ankle joint. The working principle of the exoskeleton control system in this embodiment is as follows: When a person moves, as the swinging leg falls back to the ground in the air, the IMU sensor 63 or the TOF sensor 62 senses the acceleration of the human foot relative to the ground in real time. This information is transmitted to the main control unit 61. The main control unit 61 can obtain the velocity of the human lower leg relative to the ground through integration. It can measure the distance relative to the ground through double integration. When the main control unit 61 determines that the combination of acceleration and / or velocity and / or displacement distance exceeds the set critical value, it controls the power module 5 to gradually tighten the cable 4. When the cable 4 tightens, it generates an ankle extension torque, realizing knee joint assistance and cushioning protection after the human body touches the ground.

[0094] This invention also provides an exoskeleton control method, applied to the above-mentioned exoskeleton control system. The exoskeleton control method includes: The control power module 5 maintains the cable component 4 in a preset tension state; the sensing control system 6 detects the distance of the human lower limb from the ground and / or the motion state; when it detects that the human lower limb is falling back to the ground and meets the preset conditions before touching the ground, the control power module 5 tightens both ends of the cable component 4; through the sliding compensation of the cable between the left and right sides of the exoskeleton, the tension of the cable on the left and right sides of the exoskeleton is self-balanced; when or after the human lower limb touches the ground, the joint assist torque continues to be output according to the preset assist strategy.

[0095] This method can eliminate mechanical backlash delay, provide powerful impact cushioning and knee extension assistance at the moment of foot contact with the ground, and achieve mechanical self-balancing of the tension of the left and right side cables, reducing the load on the human skeletal muscles.

[0096] This invention also provides a wearable system, including the flexible lower limb exoskeleton assistive device described above.

[0097] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in the present invention, and these modifications or substitutions should all be covered within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A flexible lower limb exoskeleton assistive device, characterized in that, include: The upper component is worn on the limb above the joint of the human body; the upper component includes upper vertical plates corresponding to both sides of the upper limb and upper horizontal frames spanning the front of the upper limb, and the upper horizontal frames are movably connected to the upper vertical plates. The lower component is worn on the limb below the joint of the human body; the lower component includes a lower vertical plate corresponding to both sides of the lower limb and a lower horizontal frame spanning the front of the lower limb, the lower horizontal frame being movably connected to the lower vertical plate; A joint hinge structure is used to connect the upper vertical plate and the lower vertical plate; A power module and a cable assembly, wherein the power module is connected to the cable assembly and is used to drive the cable assembly to tighten or release; The upper and lower vertical plates are provided with multiple guide wheels. The cable component passes around the multiple guide wheels to form at least one cable vertical segment extending longitudinally along the limb, and at least one cable horizontal segment spanning or acting on the upper horizontal frame and / or the lower horizontal frame. The cable is configured such that when it is tightened, the vertical section of the cable tightens and generates an assisting torque relative to the joint hinge structure to assist joint extension, and the horizontal section of the cable tightens and drives the upper horizontal frame and / or the lower horizontal frame to move closer to the limb center and generate a dynamic clamping force to hold the limb.

2. The flexible lower limb exoskeleton assistive device according to claim 1, characterized in that, The upper horizontal frame includes an upper horizontal frame and / or an upper lower horizontal frame that spans the front of the upper limb; the upper horizontal frame and the upper lower horizontal frame are connected to the upper vertical plate, and one of them can move back and forth relative to the upper vertical plate in the sagittal plane. The lower component includes a lower upper horizontal frame and / or a lower lower horizontal frame that spans the front of the lower limb; the lower upper horizontal frame and the lower lower horizontal frame are connected to the lower vertical plate in a driving connection, and the lower upper horizontal frame can move back and forth relative to the lower vertical plate in the sagittal plane.

3. The flexible lower limb exoskeleton assistive device according to claim 2, characterized in that, The upper horizontal frame, the upper lower horizontal frame, and the lower upper horizontal frame are all configured as a strip structure with a rigid middle section and flexible wings. The rigid middle section is configured to disperse the compressive force generated by the transverse section of the cable, and the flexible wings are configured to adapt to different human limb circumferences.

4. The flexible lower limb exoskeleton assistive device according to claim 1, characterized in that, The cable includes a first cable section located on the left and right sides of the limb, or with a second cable section, or with a third cable section, wherein the first cable section, and / or the second cable section, and / or the third cable section are configured to generate an assisting torque to aid joint extension when tensioned.

5. The flexible lower limb exoskeleton assistive device according to claim 4, characterized in that, The cable component includes a first cable cross section and a second cable cross section; the first cable cross section and the second cable cross section span across the left and right sides of the limb, the first cable cross section is the cable connection section returning to the limb's power side from the opposite side of the limb's power, and the second cable cross section is the cable connection section going to the opposite side of the limb's power side from the limb's power side. The first and second cable sections are configured to generate a circumferential clamping force that hugs and presses against the front of the limb when tensioned.

6. The flexible lower limb exoskeleton assistive device according to claim 5, characterized in that, The cable assembly further includes a third cable cross section and a fourth cable cross section; the third cable cross section is located between the upper vertical plate and the upper horizontal frame, and the fourth cable cross section is located between the lower vertical plate and the lower horizontal frame; The third cable section is configured to generate a downward pressing force that adheres to the front side of the upper limb when tensioned; the fourth cable section is configured to generate a pressing force that wraps around the lower limb when tensioned.

7. The flexible lower limb exoskeleton assistive device according to claim 6, characterized in that, The guide wheel includes an upper plate guide wheel, a lower plate guide wheel, and a joint guide wheel; The upper plate guide wheel is located on the middle section of the upper vertical plate; The lower plate guide wheel is disposed on the lower vertical plate; The articulated guide wheel is disposed on the lower section of the upper vertical plate or the upper section of the lower vertical plate; The power module is located on the upper section of the upper vertical plate. The cable is a single cable with two ends, cable A and cable B. Cable A is wound and fixedly connected to the output of the power module. Cable B is wound and fixedly connected to the output of the power module after the following winding: extending downwards in sequence, passing through the upper plate guide wheel, joint guide wheel, and lower plate guide wheel, turning to the opposite side of the limb, and then wound around to the pull-back guide wheel located on the upper section of the upper vertical plate in a basically the same layout on the opposite side, and then wound back to the power module to form a closed loop.

8. The flexible lower limb exoskeleton assistive device according to claim 7, characterized in that, The upper plate guide wheel and / or lower plate guide wheel and / or joint guide wheel have a multi-groove structure, which supports the cable component to repeatedly wrap back and forth around the upper plate guide wheel and / or lower plate guide wheel and / or joint guide wheel, thereby reducing the complexity of the device.

9. The flexible lower limb exoskeleton assistive device according to claim 7, characterized in that, The guide wheel also includes an upper horizontal frame guide wheel and a lower horizontal frame guide wheel; The upper horizontal frame guide wheel is disposed on the upper horizontal frame and is located between the upper plate guide wheel and the joint guide wheel; The lower horizontal frame guide wheel is disposed on the lower horizontal frame and is located between the lower plate guide wheel and the joint guide wheel; The cable starts from the output end of the power module, passes around the upper plate guide wheel, then around the upper horizontal frame guide wheel, the joint guide wheel, the lower horizontal frame guide wheel, and the lower plate guide wheel. It then extends upwards, passes around the joint guide wheel and the upper horizontal frame guide wheel, then extends to the opposite side and, in a basically identical layout, passes around the pull-back guide wheel on the upper section of the upper vertical plate. Finally, it returns to the power module to form a closed loop.

10. The flexible lower limb exoskeleton assistive device according to claim 9, characterized in that, The limbs have 1-3 vertical cable segments and at least 2 horizontal cable segments on each side; The cable vertical section forms a first cable vertical section with one bottom and one top between the upper horizontal frame guide wheel and the lower horizontal frame guide wheel, or it may have a second cable vertical section or a third cable vertical section; The cable cross section includes a first cable cross section, a second cable cross section, a third cable cross section, and a fourth cable cross section. The first and second cable cross sections are located in front of the upper horizontal frame and cross the left and right sides of the limb. The third cable cross section is formed between the upper plate guide wheel and the upper horizontal frame guide wheel. The fourth cable cross section is formed between the lower plate guide wheel and the lower horizontal frame guide wheel.

11. The flexible lower limb exoskeleton assistive device according to claim 2, characterized in that, The upper horizontal frame is provided with an upper horizontal frame guide groove, and the upper vertical plate is provided with an upper plate guide post. The upper horizontal frame guide groove cooperates with the upper plate guide post so that the upper horizontal frame can slide back and forth relative to the upper vertical plate in the sagittal plane; and / or The lower horizontal frame is provided with a lower horizontal frame guide groove, and the lower vertical plate is provided with a lower plate guide post. The lower horizontal frame guide groove and the lower plate guide post cooperate to allow the lower horizontal frame to slide back and forth relative to the lower vertical plate in the sagittal plane.

12. The flexible lower limb exoskeleton assistive device according to claim 2, characterized in that, A lower horizontal frame pull strap is fixed to the lower vertical plate. The lower horizontal frame has a lower horizontal frame protrusion ring. The lower horizontal frame pull strap passes through the lower horizontal frame protrusion ring and pulls back to fix the lower horizontal frame to the lower vertical plate; and / or The upper vertical plate is fixed with an upper horizontal frame pull strap. The upper horizontal frame has an upper horizontal frame protrusion ring. The upper horizontal frame pull strap passes through the upper horizontal frame protrusion ring and pulls back to fix the upper horizontal frame to the upper vertical plate.

13. A wearable system, characterized in that, The device includes the flexible lower limb exoskeleton assistive device according to any one of claims 1 to 12, wherein the assistive device is a knee joint assistive device, an ankle joint assistive device, or a combination of knee and ankle joint assistive devices.

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