Bionic power-assisted exoskeleton and bionic power-assisted exoskeleton robot

Abstract

The application provides a bionic lower limb exoskeleton and a bionic assisting exoskeleton robot, which comprises a hip joint unit, a first connecting seat, a first transmission rod and a first driving part. The first transmission rod is rotationally connected with the first driving part and the first connecting seat respectively. The driving end of the first driving part is rotationally connected with the first connecting seat. The first transmission rod is connected with a first connecting assembly, and the first connecting assembly is used for connecting a thigh belt support. A knee joint unit is arranged in a staggered mode with the hip joint unit and is connected with the first connecting assembly. The knee joint unit comprises a second connecting seat, a second transmission rod and a second driving part. The two ends of the second transmission rod are rotationally connected with the second driving part and the second connecting seat respectively. The driving end of the second driving part is rotationally connected with the second connecting seat. The second connecting seat is rotationally connected with a second connecting assembly, and the second connecting assembly is used for connecting a calf belt support. An ankle joint unit is rotationally connected with the second connecting seat. The bionic lower limb exoskeleton conforms to the human lower limb movement torque law and has a compact structure.

Description

Technical Field

[0001] This invention relates to the field of exoskeleton technology, and in particular to a bionic lower limb exoskeleton and a bionic assistive exoskeleton robot. Background Technology

[0002] Bionic lower limb exoskeletons, as typical wearable human-machine collaborative equipment, are divided into two categories: assistive enhancement and rehabilitation training. They are widely used in industrial heavy-duty handling, mountain marching, lower limb movement disorder rehabilitation, and elderly mobility assistance. Their core function is to distribute the load on the hip, knee, and ankle joints through mechanical power, reducing the energy consumption of human muscles, or assisting people with disabilities to rebuild a normal gait. They effectively alleviate joint strain and mobility difficulties caused by long-term weight-bearing and insufficient limb muscle strength, and have extremely high engineering practicality and medical promotion value.

[0003] In existing technologies, most mainstream lower limb exoskeletons use fixed torque output control logic, which cannot match the natural torque variation patterns of the human lower limbs. The peak torque of the hip, knee, and ankle, as well as the dynamic differences in the timing of force application, are significant in different stages of walking, squatting, and climbing. This can easily lead to insufficient assistance during the support phase and the generation of reverse dragging torque during the swing phase. The human-machine motion coupling is poor, the wearing experience is jarring, and it is difficult to fully reduce the compensatory burden on the lower limb muscle groups. Summary of the Invention

[0004] The bionic lower limb exoskeleton and bionic assistive exoskeleton robot provided in this invention at least solve the problem that existing lower limb exoskeletons cannot match the natural motion torque variation law of the human lower limb, resulting in poor assistive effect.

[0005] On one hand, the present invention provides a bionic lower limb exoskeleton, comprising: a hip joint unit, including a first connecting seat, a first transmission rod, a first driving member, a first connecting assembly, and a thigh strap bracket; one end of the first transmission rod is rotatably connected to the first driving member; the other end of the first transmission rod is rotatably connected to one end of the first connecting seat; the driving end of the first driving member is rotatably connected to the other end of the first connecting seat; the first connecting assembly is connected to the first transmission rod; the thigh strap bracket is movably connected to the first connecting assembly; a knee joint unit, disposed on one side of the first connecting assembly; along the arrangement direction of the first connecting seat and the first transmission rod, the hip joint unit and... The knee joint unit is offset; the knee joint unit is connected to the first connecting assembly; the knee joint unit includes a second connecting seat, a second transmission rod, a second driving member, a second connecting assembly, and a calf strap bracket, one end of the second transmission rod is rotatably connected to the second driving member; the other end of the second transmission rod is rotatably connected to one end of the second connecting seat; the driving end of the second driving member is rotatably connected to the other end of the second connecting seat; the second connecting assembly is rotatably connected to the second connecting seat, and the calf strap bracket is movably connected to the second connecting seat; the ankle joint unit is disposed below the knee joint unit; the ankle joint unit is rotatably connected to the second connecting seat.

[0006] In one embodiment of the present invention, the first connecting assembly includes a first connecting member and a thigh replacement member; the first connecting member is connected to the first transmission rod; one end of the thigh replacement member is detachably connected to the first connecting member; and the other end of the thigh replacement member is detachably connected to the second transmission rod.

[0007] In one embodiment of the present invention, both the second transmission rod and the thigh replacement piece are provided with a first connecting portion, the first connecting portion being provided with a first connecting groove, and the groove sidewalls on both sides of the first connecting groove being provided with first connecting through holes; a first abutment seat is provided in the first connecting groove; the thigh replacement piece and the first connecting piece are provided with a second connecting portion, the second connecting portion being provided with a second connecting groove, and the groove sidewalls on both sides of the second connecting groove being provided with second connecting through holes; wherein, the first connecting portion corresponding to the second transmission rod is slidably connected to the second connecting groove corresponding to the thigh replacement piece; the first connecting portion corresponding to the thigh replacement piece is slidably connected to the first connecting piece. The corresponding second connecting groove; the bionic lower limb exoskeleton also includes a first quick-release connecting assembly, the first quick-release connecting assembly including a first pressure block, a first limiting seat, a first spring and a first abutting member; the first limiting seat is disposed on one side of the second connecting part and is connected to the second connecting part; the first pressure block is slidably connected to the first limiting seat; the first abutting member passes through the first connecting through hole and the second connecting through hole; one end of the first abutting member abuts against the first abutting part of the first pressure block; the first spring is disposed between the first abutting member and the abutting seat, and the two elastic ends of the first spring are respectively connected to the abutting seat and the first abutting member.

[0008] In one embodiment of the present invention, a third connecting groove is provided on the second connecting portion, the third connecting groove being located on the side of the second connecting groove away from the first limiting seat, and the third connecting groove communicating with the second connecting through hole; the first quick-release connecting assembly further includes a second spring and a third transmission rod; a guide through groove is provided on the first limiting seat; the third transmission rod includes a first end and a second end, the first end being disposed in the guide through groove and slidably connected to the guide through groove; the first end being connected to one end of the first pressure block; the second end being disposed in the third connecting groove, the abutting end of the second end being slidably connected to the second connecting through hole and the first connecting through hole; the two elastic ends of the second spring are respectively connected to the other side of the second end and the groove wall of the third connecting groove.

[0009] In one embodiment of the present invention, the first connecting assembly further includes a third connecting seat and a first elastic member, the third connecting seat being connected to the first connecting member, and the first elastic member being connected to the third connecting seat; the thigh strap bracket is rotatably connected to the first elastic member.

[0010] In one embodiment of the present invention, the third connecting seat is provided with a fourth connecting groove; the first elastic element includes a first bearing seat, two third springs and a first detector; the first bearing seat is disposed in the middle of the fourth connecting groove and is slidably connected to the fourth connecting groove; the first bearing seat is rotatably connected to the thigh strap bracket; the two third springs are disposed on both sides of the first bearing seat, and the two elastic ends of the third springs are respectively connected to the groove wall of the first bearing seat and the fourth connecting groove; the first detector is connected to the first bearing seat, and the detection end of the first detector is connected to the thigh strap bracket to detect the rotation angle of the thigh strap bracket.

[0011] In one embodiment of the present invention, the first bearing seat has first connecting blind holes on both sides; the first elastic member further includes two first connecting rods and a first bracket connector, the two first connecting rods are disposed on both sides of the first bearing seat, one end of the first connecting rod is connected to the groove wall of the fourth connecting groove, and the other end of the first connecting rod is slidably connected to the first connecting blind hole; the third spring is sleeved on the first connecting rod; a first rotating shaft bearing is disposed on the first bearing seat; the first rotating shaft bearing is rotatably connected to the first bearing seat; one end of the first bracket connector is connected to the first rotating shaft bearing, and the other end of the first bracket connector is connected to the thigh strap bracket; the detection end of the first detector is connected to the first rotating shaft bearing.

[0012] In one embodiment of the present invention, the second connecting component includes a second connector and a lower leg replacement component. The second connector is rotatably connected to the second connecting seat. The second connector is detachably connected to the lower leg replacement component. One end of the lower leg replacement component is rotatably connected to the ankle joint unit.

[0013] In one embodiment of the present invention, the lower leg replacement part is provided with a third connecting portion, the third connecting portion is provided with a fifth connecting groove, and third connecting through holes are respectively provided on the groove wall surfaces on both sides of the fifth connecting groove; a second abutment seat is provided in the middle of the fifth connecting groove; a fourth connecting portion is provided on the second connecting member, the fourth connecting portion is provided with a sixth connecting groove, and the third connecting portion is disposed in the sixth connecting groove; fourth connecting through holes are provided on the groove side walls on both sides of the sixth connecting groove; the third connecting through holes communicate with the fourth connecting through holes; the bionic lower limb exoskeleton also includes a second quick-release connecting assembly, the second quick-release connecting assembly The component includes two second limiting seats, two second pressing blocks, two fourth springs, and two second abutting members; the two second limiting seats are disposed on both sides of the fourth connecting portion and are connected to the fourth connecting portion; the second pressing blocks are slidably connected to the second limiting seats; the second abutting members pass through the third connecting through hole and the fourth connecting through hole, and are slidably connected to the third connecting through hole and the fourth connecting through hole respectively; one end of the second abutting member abuts against the second abutting part of the second pressing block; the two elastic ends of the fourth springs are respectively connected to the other end of the second abutting member and the second abutting seat.

[0014] In one embodiment of the present invention, the second connecting component further includes a fourth connecting seat and a second elastic member, the fourth connecting seat being connected to the lower leg replacement member; the second elastic member being connected to the fourth connecting seat, and the lower leg strap bracket being movably connected to the second elastic member.

[0015] In one embodiment of the present invention, the fourth connecting seat is provided with a seventh connecting groove; the second elastic element includes a second bearing seat, two fifth springs and a second detector; the second bearing seat is disposed in the middle of the seventh connecting groove and is slidably connected to the seventh connecting groove; the second bearing seat is rotatably connected to the calf strap bracket; the two fifth springs are disposed on both sides of the second bearing seat, and the two elastic ends of the fifth springs are respectively connected to the groove wall of the second bearing seat and the seventh connecting groove; the second detector is connected to the second bearing seat, and the detection end of the second detector is connected to the calf strap bracket to detect the rotation angle of the calf strap bracket.

[0016] In one embodiment of the present invention, the second bearing seat is provided with second connecting blind holes on both sides; the second elastic member further includes two second connecting rods and a second bracket connector, the two second connecting rods are provided on both sides of the second bearing seat, one end of the second connecting rod is connected to the groove wall of the seventh connecting groove, and the other end of the second connecting rod is slidably connected to the second connecting blind hole; the fifth spring is sleeved on the second connecting rod; a second rotating shaft bearing is provided on the second bearing seat; the second rotating shaft bearing is rotatably connected to the second bearing seat; one end of the second bracket connector is connected to the second rotating shaft bearing, and the other end of the second bracket connector is connected to the calf strap bracket; the detection end of the second detector is connected to the second rotating shaft bearing.

[0017] In one embodiment of the present invention, the ankle joint unit includes a forefoot support, a rearfoot support, a third elastic element, and a second connecting rod. The forefoot support and the rearfoot support are arranged sequentially and are rotatably connected. One end of the second connecting rod is rotatably connected to the second connecting seat, and the other end of the second connecting rod is rotatably connected to one end of the forefoot support. One end of the third elastic element is rotatably connected to the second connecting rod, and the other end of the third elastic element is rotatably connected to the other end of the forefoot support.

[0018] In one embodiment of the present invention, the third elastic element includes a first connecting component, a second connecting component, and a sixth spring. One end of the first connecting component is rotatably connected to the second connecting rod, and the other end of the first connecting component is provided with a first limiting rod and a guide rod, the guide rod being disposed on one radial side of the first limiting rod. One end of the second connecting component is rotatably connected to the forefoot support, and the other end of the second connecting component is sequentially provided with a guide hole and a first limiting hole. The sixth spring is sleeved on the first limiting rod. One elastic end of the sixth spring is connected to the first connecting component. The other elastic end of the sixth spring is disposed in the first limiting hole and abuts against the bottom surface of the first limiting hole. The guide rod passes through the guide hole and is slidably connected to the guide hole.

[0019] In one embodiment of the present invention, a fifth connecting seat is provided on the forefoot support, the fifth connecting seat being rotatably connected to the second connecting rod, and a sixth connecting seat is provided on the rearfoot support; the ankle joint unit further includes a fourth elastic member, the two ends of the fourth elastic member being rotatably connected to the fifth connecting seat and the sixth connecting seat respectively.

[0020] In one embodiment of the present invention, the fourth elastic element includes a third connecting component, a fourth connecting component, and a seventh spring. One end of the third connecting component is rotatably connected to the fifth connecting seat, and the other end of the third connecting component is provided with a second limiting hole. One end of the fourth connecting component is rotatably connected to the sixth connecting seat, and the other end of the fourth connecting component is provided with a second limiting rod. The seventh spring is sleeved on the second limiting rod, and one elastic end of the seventh spring is connected to the fourth connecting component. The other elastic end of the seventh spring is disposed in the second limiting hole and abuts against the bottom surface of the second limiting hole.

[0021] In one embodiment of the present invention, it further includes: a lumbar unit disposed on the side of the hip joint unit away from the knee joint unit, the lumbar unit including a lumbar support and a sliding adjustment member; one end of the lumbar support is rotatably connected to the first connecting seat; the sliding adjustment member includes a slide block, a slider and a roller, the slide block being provided with a sliding groove; the slider is slidably connected to the sliding groove, one end of the slider being rotatably connected to the other end of the lumbar support; the roller is rotatably connected to the slider, and the roller is rollingly connected to the sliding groove.

[0022] In one embodiment of the present invention, the waist unit further includes a pressing adjustment assembly, which includes a first adjusting seat, a second adjusting seat, a snap-fit ​​member, a pressing member, and an eighth spring. The first adjusting seat is provided with a first adjusting cavity and a plurality of first snap-fit ​​through holes arranged in sequence, the first snap-fit ​​through holes communicating with the first adjusting cavity. One end of the second adjusting seat is disposed in the first adjusting cavity and is slidably connected to the first adjusting cavity. The second adjusting seat is provided with a second snap-fit ​​through hole corresponding to the first snap-fit ​​through hole. The second adjusting seat is provided with a second adjusting cavity communicating with the second snap-fit ​​through hole. The pressing member is disposed on the upper side of the second adjusting seat. The two elastic ends of the eighth spring are respectively connected to the second adjusting seat and the pressing member. The end of the pressing member is disposed in the second adjusting cavity. The snap-fit ​​member is connected to the end of the pressing member. The snap-fit ​​member is provided with a snap-fit ​​portion, the snap-fit ​​portion passing through the second snap-fit ​​through hole, the snap-fit ​​portion being slidably connected to the second snap-fit ​​through hole, and the snap-fit ​​portion being detachably connected to the first snap-fit ​​through hole.

[0023] In one embodiment of the present invention, both the first driving member and the second driving member include a driving connecting seat, a driving motor, a lead screw, a planetary roller lead screw sleeve, and a transmission connecting rod; the driving motor is disposed on the driving connecting seat; the lead screw is disposed on one radial side of the driving motor, and the lead screw is rotatably connected to the driving connecting seat; one end of the lead screw is drively connected to the driving end of the driving motor; the planetary roller lead screw sleeve is threadedly connected to the lead screw; the planetary roller lead screw sleeve is connected to one end of the transmission connecting rod; wherein, one end of the driving connecting seat of the first driving member is rotatably connected to one end of the first transmission rod; the other end of the transmission connecting rod of the first driving member is rotatably connected to the middle of the first connecting seat; one end of the driving connecting seat of the second driving member is rotatably connected to one end of the second transmission rod; the other end of the transmission connecting rod of the second driving member is rotatably connected to the middle of the second connecting seat.

[0024] On the other hand, the present invention also provides a biomimetic assistive exoskeleton robot, including the above-mentioned biomimetic lower limb exoskeleton.

[0025] The bionic lower limb exoskeleton and bionic assistive exoskeleton robot provided in this invention have the following technical advantages compared to existing technologies: By connecting the hip joint unit and the knee joint unit in parallel, a triangular drive assist structure is formed by the first connecting seat, the first transmission rod, and the first driving component of the hip joint unit to adapt to the torque variation pattern of the human hip joint. Simultaneously, a triangular drive assist structure is formed by the second connecting seat, the second transmission rod, and the second driving component of the knee joint to adapt to the torque variation pattern of the human knee joint. A first connecting component is movably connected to the thigh strap support, and a second connecting component is movably connected to the lower leg strap support to adapt to the movements of the thigh and lower leg in real time. Thus, this bionic lower limb exoskeleton can adapt to the torque variation patterns of the human hip and knee joints, providing precise and real-time assistance to the hip and knee joints. Attached Figure Description

[0026] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0027] Figure 1 This is a schematic diagram of a bionic lower limb exoskeleton structure according to an embodiment of the present invention.

[0028] Figure 2 This is one of the schematic diagrams of a partial structure of the hip joint unit according to an embodiment of the present invention.

[0029] Figure 3 This is a schematic diagram of the third connector structure according to an embodiment of the present invention.

[0030] Figure 4 This is one of the schematic diagrams of the first connecting component structure in an embodiment of the present invention.

[0031] Figure 5 This is a second schematic diagram of the structure of the first connecting component in an embodiment of the present invention.

[0032] Figure 6 This is one of the schematic diagrams of the knee joint unit structure according to an embodiment of the present invention.

[0033] Figure 7 This is a schematic diagram of the fourth connector structure according to an embodiment of the present invention.

[0034] Figure 8 This is a schematic diagram of the structure of the second connecting component according to an embodiment of the present invention.

[0035] Figure 9 This is a schematic diagram of the ankle joint unit structure according to an embodiment of the present invention.

[0036] Figure 10 This is a schematic diagram of the third elastic element structure according to an embodiment of the present invention.

[0037] Figure 11 This is a schematic diagram of the fourth elastic element structure according to an embodiment of the present invention.

[0038] Figure 12 This is a schematic diagram of the waist unit structure according to an embodiment of the present invention.

[0039] Figure 13 This is one of the schematic diagrams of the press adjustment component structure in an embodiment of the present invention.

[0040] Figure 14 This is a second schematic diagram of the press adjustment component structure according to an embodiment of the present invention.

[0041] Figure 15 This is a schematic diagram of the structure of the first driving component according to an embodiment of the present invention.

[0042] Figure 16 This is a second schematic diagram of the knee joint unit structure according to an embodiment of the present invention.

[0043] Figure 17 This is a second schematic diagram of a partial structure of the hip joint unit according to an embodiment of the present invention.

[0044] Figure 18 This is one of the schematic diagrams of the thigh strap support connection in an embodiment of the present invention.

[0045] Figure 19 This is a second schematic diagram of the thigh strap support connection according to an embodiment of the present invention.

[0046] Figure 20 This is the third schematic diagram of the thigh strap support connection according to an embodiment of the present invention.

[0047] Figure 21 This is a schematic diagram of the rotating connector structure according to an embodiment of the present invention.

[0048] Figure 22 This is a partial structural diagram of the rotating connector according to an embodiment of the present invention.

[0049] The above figures include the following reference numerals:

[0050] 10. Hip joint unit; 11. First connecting seat; 12. First transmission rod; 13. First driving member; 131. Drive connecting seat; 132. Drive motor; 133. Lead screw; 134. Planetary roller lead screw sleeve; 135. Transmission connecting rod; 14. First connecting assembly; 141. First connecting member; 1411. Second connecting part; 14111. Second connecting groove; 14112. Second connecting through hole; 14113. Third connecting groove; 142. Thigh replacement part; 1421 14211, First connecting part; 14212, First abutment seat; 14213, First connecting through hole; 143, Third connecting seat; 1431, Fourth connecting groove; 144, First elastic element; 1441, First bearing seat; 14411, First connecting blind hole; 14412, First rotating shaft bearing; 1442, Third spring; 1443, First detector; 1444, First connecting rod; 1445, First bracket connector; 15, Thigh strap bracket;

[0051] 20. Knee joint unit; 21. Second connecting seat; 22. Second transmission rod; 23. Second driving member; 24. Second connecting assembly; 241. Second connecting member; 2411. Fourth connecting part; 24111. Sixth connecting groove; 24112. Fourth connecting through hole; 242. Lower leg replacement part; 2421. Third connecting part; 24211. Fifth connecting groove; 24212. Second abutment seat; 24213. Third connecting through hole; 243. Fourth connecting seat; 2431. Seventh connecting groove; 244. Second elastic element; 2441. Second bearing seat; 24411. Second connecting blind hole; 24412. Second rotating shaft bearing; 2442. Fifth spring; 2443. Second detector; 2444. Second connecting rod; 2445. Second bracket connector; 25. Lower leg strap bracket;

[0052] 30. Ankle joint unit; 31. Forefoot support; 311. Fifth connecting seat; 32. Rearfoot support; 321. Sixth connecting seat; 33. Third elastic element; 331. First connecting component; 3311. Guide rod; 3312. First limiting rod; 332. Second connecting component; 3321. Guide hole; 3322. First limiting hole; 333. Sixth spring; 34. Third connecting rod; 35. Fourth elastic element; 351. Third connecting component; 3511. Second limiting hole; 352. Fourth connecting component; 3521. Second limiting rod; 353. Seventh spring;

[0053] 40. First quick-release connecting assembly; 41. First pressure block; 411. First abutting part; 42. First limiting seat; 421. Guide groove; 43. First spring; 44. First abutting member; 45. Second spring; 46. Third transmission rod; 461. First end; 462. Second end; 4621. Abutting end;

[0054] 50. Second quick-release connecting assembly; 51. Second limiting seat; 52. Second pressure block; 521. Second abutment part; 53. Fourth spring; 54. Second abutment member;

[0055] 60. Waist unit; 61. Waist support; 62. Sliding adjustment component; 621. Slide seat; 6211. Slide groove; 622. Slider; 623. Roller; 63. Press adjustment assembly; 631. First adjustment seat; 6311. First adjustment cavity; 6312. First locking through hole; 632. Second adjustment seat; 6321. Second adjustment cavity; 6322. Second locking through hole; 633. Locking component; 6331. Locking part; 634. Pressing component; 635. Eighth spring;

[0056] 70. Rotating connector; 71. Rotating connecting seat; 72. First planetary reducer; 721. First transmission gear; 73. Second planetary reducer; 731. Second transmission gear; 74. Transmission gear. Detailed Implementation

[0057] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0058] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0059] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps described in these embodiments do not limit the scope of this application. It should also be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following drawings denote similar items; therefore, once an item is defined in one drawing, it need not be further discussed in subsequent drawings.

[0060] It is worth noting that lower limb exoskeletons are wearable human-machine collaborative devices, mainly divided into two categories: assistive enhancement and rehabilitation aids. They possess irreplaceable application value in multiple fields. In the civilian industrial sector, they can assist workers in performing high-intensity tasks such as heavy object handling and long-term inspections. In the field of special operations, they can assist individual soldiers in marching and field rescue, improving personnel's load-bearing capacity and endurance. In the field of medical rehabilitation, they can provide gait correction and assisted walking support for patients with lower limb muscle injuries, mobility impairments, and the elderly. The core function of this device is to compensate for the load on the human lower limbs through mechanical power, reducing muscle energy consumption and joint pressure and wear, effectively solving problems such as fatigue from high-intensity work and limb mobility difficulties. Its application scenarios are wide-ranging, and market demand is huge.

[0061] In related technologies, most lower limb exoskeletons have significant flaws in their control strategies and dynamic designs, failing to accurately reflect the actual motion torque patterns of the human lower limbs. During actions such as walking, squatting, climbing, and going up and down stairs, the torque amplitude, timing of force application, and variation curves of the hip, knee, and ankle joints dynamically change in real time with the movement posture, exhibiting strong dynamic variability. However, existing exoskeletons mostly employ a fixed, constant torque output mode, unable to adaptively adjust assistance parameters based on joint angles and movement states. This easily leads to insufficient assistance during the weight-bearing phase and reverse resistance during limb swinging, causing problems such as human-machine interaction, jerky or hesitant walking, and poor adaptability. Not only does it fail to effectively reduce lower limb exercise load, but it also easily triggers muscle compensatory strain, severely impacting the wearing experience and rehabilitation outcomes.

[0062] To solve the above technical problems, see [link to relevant documentation]. Figures 1 to 10As shown, this application provides a bionic lower limb exoskeleton, including: a hip joint unit 10, a knee joint unit 20, and an ankle joint unit 30. It is understood that the hip joint unit 10 provides assistance to the thigh, the knee joint unit 20 provides assistance to the knee joint and lower leg, and the ankle joint unit 30 provides assistance to the ankle and foot.

[0063] The hip joint unit 10 includes a first connecting seat 11, a first transmission rod 12, a first driving member 13, a first connecting assembly 14, and a thigh strap bracket 15. One end of the first transmission rod 12 is rotatably connected to the first driving member 13, and the other end of the first transmission rod 12 is rotatably connected to one end of the first connecting seat 11. Further, the driving end of the first driving member 13 is rotatably connected to the other end of the first connecting seat 11. For example, the first driving member 13 can be a linear motor, a linear hydraulic cylinder, a linear pneumatic cylinder, or other linear drive mechanism.

[0064] The first connecting component 14 is connected to the first transmission rod 12, and the thigh strap bracket 15 is movably connected to the first connecting component 14. The thigh strap bracket 15 is movably connected to the first connecting component 14, and when the thigh strap bracket 15 is bound to the thigh by the strap, the thigh strap bracket 15 can move according to the movement of the human thigh, exhibiting good adaptability.

[0065] Thus, the thigh is bound to the thigh strap bracket 15 by the straps. The first connecting seat 11, the first transmission rod 12, and the first driving member 13 form a triangular drive assist structure. The driving end of the first driving member 13 drives along a straight line, thereby causing the first driving member 13 and the first transmission rod 12 to rotate relative to the first connecting seat 11, thus adapting to the forward and backward movement of the human hip joint. The torque of the human hip joint is minimal when standing and maximum when lifting the leg. The transmission connection between the first connecting seat 11, the first transmission rod 12, and the first driving member 13 results in minimal torque when the human is standing, which increases with the forward and backward swing of the thigh, mirroring the torque change during hip joint movement, thus providing good assist. For example, the maximum backward swing angle of the first transmission rod 12 and the first driving member 13 relative to the first connecting seat 11 is 35°, and the maximum forward swing angle is 105°.

[0066] The knee joint unit 20 is disposed on one side of the first connecting assembly 14 and along the arrangement direction of the first connecting seat 11 and the first transmission rod 12. The knee joint unit 20 and the hip joint are offset, and the knee joint unit 20 is connected to the first connecting assembly 14. In this way, the knee joint unit 20 and the hip joint unit 10 are connected in parallel, resulting in a smaller overall exoskeleton structure that can assist workers in confined spaces and has better space adaptability.

[0067] The knee joint unit 20 includes a second connecting seat 21, a second transmission rod 22, a second driving member 23, a second connecting assembly 24, and a lower leg strap bracket 25. One end of the second transmission rod 22 is rotatably connected to the second driving member 23, and the other end of the second transmission rod 22 is rotatably connected to one end of the second connecting seat 21. The driving end of the second driving member 23 is rotatably connected to the other end of the second connecting seat 21. For example, the second driving member 23 can be a linear motor, a linear hydraulic cylinder, a linear pneumatic cylinder, or other linear drive mechanism.

[0068] The second connecting component 24 is rotatably connected to the second connecting seat 21, and the calf strap bracket 25 is movably connected to the second connecting component 24. The calf strap bracket 25 is movably connected to the second connecting component 24, so that when the lower leg is bound to the calf strap bracket 25 via the strap, the calf strap bracket 25 can move in real time with the movement of the lower leg, exhibiting good adaptability.

[0069] Thus, the lower leg is bound to the lower leg strap bracket 25 by straps. The second connecting seat 21, the second transmission rod 22, and the second driving member 23 form a triangular drive assist structure. The driving end of the second driving member 23 drives along a straight line, thereby causing the second driving member 23 and the second transmission rod 22 to rotate relative to the second connecting seat 21, thus adapting to the forward and backward movement of the human knee joint. The torque of the human knee joint is minimal when standing and maximum when lifting the leg. The transmission connection between the second connecting seat 21, the second transmission rod 22, and the second driving member 23 results in minimal torque when the human is standing, which increases with the forward and backward swing of the lower leg, mirroring the torque change during knee joint movement, thus providing good assist. For example, the maximum backward swing angle of the second transmission rod 22 and the second driving member 23 relative to the second connecting seat 21 is 130°.

[0070] Ankle joint unit 30 is located on the lower side of knee joint unit 20 and is rotatably connected to second connecting seat 21. Thus, when a human foot is bound to ankle joint unit 30, the ankle rotates and ankle joint unit 30 rotates with the human foot to adapt to the movement of the human foot.

[0071] In summary, the bionic lower limb exoskeleton of this invention connects a hip joint unit 10 and a knee joint unit 20 in parallel. A triangular drive assist structure is formed by the first connecting seat 11, the first transmission rod 12, and the first driving component 13 of the hip joint unit 10 to adapt to the torque variation patterns of the human hip joint. Simultaneously, a triangular drive assist structure is formed by the second connecting seat 21, the second transmission rod 22, and the second driving component 23 of the knee joint to adapt to the torque variation patterns of the human knee joint. A first connecting component 14 is movably connected to the thigh strap support 15, and a second connecting component 24 is movably connected to the lower leg strap support 25 to adapt to the movements of the thigh and lower leg in real time. Thus, this bionic lower limb exoskeleton can adapt to the torque variation patterns of the human hip and knee joints, providing precise and real-time assistance to these joints.

[0072] Reference Figures 1 to 5 As shown, in some embodiments of the bionic lower limb exoskeleton of the present invention, the first connecting component 14 includes a first connecting member 141 and a thigh replacement member 142. The first connecting member 141 is connected to the first transmission rod 12, and one end of the thigh replacement member 142 is detachably connected to the first connecting member 141, while the other end is detachably connected to the second transmission rod 22. Thus, adjustments can be made to accommodate users of different heights by replacing the thigh replacement member 142 with different sizes.

[0073] Specifically, a first connecting portion 1421 is provided on both the second transmission rod 22 and the thigh replacement part 142, and a first connecting groove 14211 is provided on the first connecting portion 14211. First connecting through holes 14213 are provided on the groove walls on both sides of the first connecting groove 14211, and the first connecting through holes 14213 communicate with the first connecting groove 14211. Furthermore, a first abutment seat 14212 is provided in the middle of the first connecting groove 14211.

[0074] Correspondingly, a second connecting portion 1411 is provided on the thigh replacement part 142 and the first connecting part 141, and the second connecting portion 1411 is provided with a second connecting groove 14111. Second connecting through holes 14112 are provided on the groove walls on both sides of the second connecting groove 14111. It can be understood that the first connecting portion 1421 corresponding to the second transmission rod 22 is slidably connected to the second connecting groove 14111 corresponding to the thigh replacement part 142. And the first connecting portion 1421 corresponding to the thigh replacement part 142 is slidably connected to the second connecting groove 14111 corresponding to the first connecting part 141.

[0075] The bionic lower limb exoskeleton also includes a first quick-release connection assembly 40, which includes a first pressure block 41, a first limiting seat 42, a first spring 43, and a first abutment member 44. The first limiting seat 42 is disposed on one side of the second connecting portion 1411 and is connected to the second connecting portion 1411. The first pressure block 41 is slidably connected to the first limiting seat 42, moving relatively close to or away from the second connecting portion 1411. The first abutment member 44 is disposed within a first connecting through hole 14213 and a second connecting through hole 14112 on the side near the first limiting seat 42, and is slidably connected to both the first connecting through hole 14213 and the second connecting through hole 14112. The first spring 43 is disposed between the first abutment seat 14212 and the first abutment member 44, with its two elastic ends connected to the first abutment seat 14212 and the first abutment member 44, respectively. One end of the first abutment member 44 abuts against the first abutment portion 411 of the first pressure block 41.

[0076] Furthermore, a third connecting groove 14113 is provided on the second connecting part 1411. The third connecting groove 14113 is located on the side of the second connecting groove 14111 away from the first limiting seat 42, and the third connecting groove 14113 communicates with the second connecting through hole 14112 on that side.

[0077] The first quick-release assembly also includes a second spring 45 and a third transmission rod 46. The third transmission rod 46 includes a first end 461 and a second end 462. A guide groove 421 is provided on the first limiting seat 42, and the first end 461 is disposed within and slidably connected to the guide groove 421. The second end 462 of the third transmission rod 46 is disposed within the third connecting groove 14113, and an abutment end 4621 is provided on the second end 462. The abutment end 4621 is disposed within and slidably connected to the first connecting hole 14213 and the second connecting hole 14112. The two elastic ends of the second spring 45 are respectively connected to the other side of the second end 462 and the groove wall of the third connecting groove 14113.

[0078] Furthermore, a reset spring is provided between the second connecting part 1411 and the first pressing block 41 to achieve elastic reset of the first pressing block 41 after pressing.

[0079] Thus, when replacing the thigh replacement part 142, the first pressing block 41 is pushed, and the first abutting part 411 of the first pressing block 41 presses the first abutting part 44 into the first connecting groove 14211. At the same time, the movement of the first pressing block 41 drives the third transmission rod 46 to move synchronously, and the abutting end 4621 moves from the first connecting through hole 14213 and the second connecting through hole 14112 into the third connecting groove 14113. The first connecting part 1421 and the second connecting part 1411 are thus separated, thereby realizing the quick disassembly between the thigh replacement part 142 and the first connecting part 141 and the second transmission rod 22, improving the replacement efficiency.

[0080] Reference Figure 3 As shown, in some embodiments of the bionic lower limb exoskeleton of the present invention, the first connecting component 14 further includes a third connecting seat 143 and a first elastic member 144. The third connecting seat 143 is connected to the first connecting member 141, the first elastic member 144 is connected to the third connecting seat 143, and the thigh strap support 15 is rotatably connected to the first elastic member 144. It is understood that the rotatable connection between the thigh strap support 15 and the first elastic member 144 allows it to rotate with the movement of the thigh, thereby adapting to the thigh's movements. The elasticity of the first elastic member 144 provides elastic cushioning for the movement of the thigh strap support 15, providing a certain degree of cushioning for the thigh's movements and improving the safety of human thigh movements.

[0081] Specifically, the first elastic element 144 includes a first bearing seat 1441, two third springs 1442, and a first detector 1443. The third connecting seat 143 has a fourth connecting groove 1431, and the first bearing seat 1441 is disposed within the fourth connecting groove 1431 and slidably connected to it. The two third springs 1442 are disposed within the fourth connecting groove 1431 and are located on both sides of the first bearing seat 1441. One elastic end of each third spring 1442 is connected to the groove wall of the fourth connecting groove 1431, and the other elastic end is connected to the first bearing seat 1441. For example, the third spring 1442 can also be a disc spring. The first detector 1443 is connected to the first bearing seat 1441, and the thigh strap bracket 15 is rotatably connected to the first bearing seat 1441. The detection end of the first detector 1443 is connected to the thigh strap bracket 15. The first detector 1443 is used to detect the rotation angle of the thigh strap bracket 15 to predict the motion intention. For example, the first detector 1443 is an inertial measurement unit, including a magnetic encoder and a magnetic encoder connector, which is connected to the thigh strap bracket 15.

[0082] Furthermore, the first elastic element 144 also includes two first connecting rods 1444 and a first bracket connector 1445. First connecting blind holes 14411 are provided on both sides of the first bearing seat 1441. The two first connecting rods 1444 are disposed within the fourth connecting groove 1431. One end of each first connecting rod 1444 is slidably connected to the first connecting blind hole 14411, and the other end of each first connecting rod 1444 is connected to the groove wall of the fourth connecting groove 1431. A third spring 1442 is sleeved on the first connecting rods 1444, and the first connecting rods 1444 provide axial guidance and radial limiting for the third spring 1442.

[0083] A first rotating shaft bearing 14412 is provided on the first bearing housing 1441, and the first rotating shaft bearing 14412 is rotatably connected to the first bearing housing 1441. A first bracket connector 1445 is connected to the first bearing housing 1441, and the thigh strap bracket 15 is connected to the bracket connector. It can be understood that at this time, the detection end of the first detector 1443 is connected to the first rotating shaft bearing 14412. When the thigh strap bracket 15 rotates, the first bracket connector 1445 and the first rotating shaft bearing 14412 rotate accordingly, and the first detector 1443 detects the degree of rotation of the thigh strap bracket 15 in this way.

[0084] Thus, with the thigh secured to the thigh strap bracket 15 via straps, during thigh movement, the thigh strap bracket 15 drives the first pivot bearing 14412 to rotate, adapting to the thigh's movement. Simultaneously, the thigh moves the thigh strap bracket 15 in a straight line, and the first bearing seat 1441 moves in response to the movement of the thigh strap bracket 15. Two third springs 1442 provide cushioning for the movement of the first bearing seat 1441. This prevents the rigid impact of the exoskeleton from being transmitted to the body, reduces pressure on the knee joint during movement, and improves the safety of human activity.

[0085] Reference Figures 6 to 9 As shown, in some embodiments of the bionic lower limb exoskeleton of the present invention, the second connecting component 24 includes a second connecting member 241 and a lower leg replacement member 242. The second connecting member 241 is rotatably connected to the second connecting seat 21, and the second connecting member 241 is detachably connected to the lower leg replacement member 242. One end of the lower leg replacement member 242 is rotatably connected to the ankle joint unit 30. Thus, the lower leg replacement member 242 can be disassembled and replaced to fit the user's body type.

[0086] Specifically, the lower leg replacement part 242 is provided with a third connecting part 2421, and the third connecting part 2421 is provided with a fifth connecting groove 24211. The groove walls on both sides of the fifth connecting groove 24211 are provided with third connecting through holes 24213, and the middle of the fifth connecting groove 24211 is provided with a second abutment seat 24212.

[0087] Correspondingly, the second connector 241 is provided with a fourth connecting portion 2411, and the fourth connecting portion 2411 is provided with a sixth connecting groove 24111. The third connecting portion 2421 is disposed within the sixth connecting groove 24111 and is slidably connected to the sixth connecting groove 24111. Fourth connecting through holes 24112 are provided on the groove walls on both sides of the sixth connecting groove 24111, and the fourth connecting through holes 24112 communicate with the third connecting through holes 24213.

[0088] The bionic lower limb exoskeleton also includes a second quick-release connection assembly 50, which includes two second limiting seats 51, two second pressure blocks 52, two fourth springs 53, and two second abutment members 54. The two second limiting seats 51 are disposed on both sides of the fourth connecting portion 2411 and connected to it. The second pressure blocks 52 are slidably connected to the second limiting seats 51 to move closer to or further away from the fourth connecting portion 2411. The second abutment members 54 pass through the third connecting through hole 24213 and the fourth connecting through hole 24112, and are slidably connected to them. The fourth springs 53 are disposed between the second abutment seats 24212 and the second abutment members 54, with their two elastic ends connected to the second abutment seats 24212 and the second abutment members 54, respectively. One end of each second abutment member 54 abuts against the second abutment portion 521 of the second pressure block 52.

[0089] Thus, by pressing the second pressing blocks 52 on both sides of the fourth connecting part 2411, the second abutting part 521 pushes the second abutting member 54 into the sixth connecting groove 24111, so as to achieve quick disassembly of the lower leg replacement part 242.

[0090] Reference Figures 6 to 8 As shown, in some embodiments of the bionic lower limb exoskeleton of the present invention, the second connecting component 24 further includes a fourth connecting seat 243 and a second elastic member 244. The fourth connecting seat 243 is connected to the lower leg replacement component 242, the second elastic member 244 is connected to the fourth connecting seat 243, and the lower leg strap support 25 is rotatably connected to the second elastic member 244. It is understood that the rotatable connection between the lower leg strap support 25 and the second elastic member 244 allows it to rotate with the movement of the lower leg, thus adapting to the movement of the lower leg. The elasticity of the second elastic member 244 provides elastic cushioning for the movement of the lower leg strap support 25, providing a certain degree of cushioning for the movement of the lower leg and improving the safety of human lower leg movement.

[0091] Specifically, the second elastic element 244 includes a second bearing seat 2441, two fifth springs 2442, and a second detector 2443. The fourth connecting seat 243 has a seventh connecting groove 2431, and the second bearing seat 2441 is disposed within the seventh connecting groove 2431 and slidably connected to it. The two fifth springs 2442 are disposed within the seventh connecting groove 2431 and are located on both sides of the second bearing seat 2441. One elastic end of each fifth spring 2442 is connected to the groove wall of the seventh connecting groove 2431, and the other elastic end is connected to the second bearing seat 2441. For example, the fifth spring 2442 can also be a disc spring. The second detector 2443 is connected to the second bearing seat 2441, and the calf strap bracket 25 is rotatably connected to the second bearing seat 2441. The detection end of the second detector 2443 is connected to the calf strap bracket 25. The second detector 2443 is used to detect the rotation angle of the calf strap bracket 25 to predict the motion intention. For example, the second detector 2443 is an inertial measurement unit, including a magnetic encoder and a magnetic encoder connector, which is connected to the calf strap bracket 25.

[0092] Furthermore, the second elastic element 244 also includes two second connecting rods 2444 and a second bracket connector 2445. Second connecting blind holes 24411 are provided on both sides of the second bearing seat 2441. The two second connecting rods 2444 are disposed within the seventh connecting groove 2431. One end of each second connecting rod 2444 is slidably connected to the second connecting blind hole 24411, and the other end is connected to the groove wall of the seventh connecting groove 2431. A fifth spring 2442 is sleeved on the second connecting rods 2444, and the second connecting rods 2444 provide axial guidance and radial limiting for the fifth spring 2442.

[0093] A second rotating shaft bearing 24412 is provided on the second bearing housing 2441, and the second rotating shaft bearing 24412 is rotatably connected to the second bearing housing 2441. A second bracket connector 2445 is connected to the second bearing housing 2441, and a calf strap bracket 25 is connected to the second bracket connector 2445. It can be understood that at this time, the detection end of the second detector 2443 is connected to the second rotating shaft bearing 24412. When the calf strap bracket 25 rotates, the second bracket connector 2445 and the second rotating shaft bearing 24412 rotate accordingly, and the second detector 2443 detects the degree of rotation of the calf strap bracket 25 in this way.

[0094] Thus, with the lower leg bound and fixed to the lower leg strap bracket 25 via straps, during lower leg movement, the lower leg strap bracket 25 drives the second pivot bearing 24412 to rotate to accommodate the lower leg's movement. Simultaneously, the lower leg drives the lower leg strap bracket 25 to move in a straight line, and the second bearing seat 2441 moves in response to the movement of the lower leg strap bracket 25. Two fifth springs 2442 provide cushioning for the movement of the second bearing seat 2441. This prevents the rigid impact of the exoskeleton from being transmitted to the body, reduces pressure on the knee joint during movement, and improves the safety of human activity.

[0095] Reference Figures 18 to 20 As shown, in some other embodiments, the first pivot bearing 14412 is directly rotatably connected to the first connector 141, while the first bracket connector 1445 is connected to the first pivot bearing 14412, and the thigh strap bracket 15 is connected to the first bracket connector 1445. In this case, the first detector 1443 is directly connected to the first connector 141, and the detection end of the first detector 1443 is connected to the first pivot bearing 14412. When the first pivot bearing 14412 rotates with the thigh strap bracket 15, the detection end of the first detector 1443 can detect the rotation angle of the thigh strap bracket 15.

[0096] Correspondingly, the second rotating shaft bearing 24412 is directly rotatably connected to the lower leg replacement piece 242, while the second bracket connector 2445 is connected to the second rotating shaft bearing 24412, and the lower leg strap bracket 25 is connected to the second bracket connector 2445. At this time, the second detector 2443 is directly connected to the lower leg replacement piece 242, and the detection end of the second detector 2443 is connected to the second rotating shaft bearing 24412. When the second rotating shaft bearing 24412 rotates with the lower leg strap bracket 25, the detection end of the second detector 2443 can detect the rotation angle of the lower leg strap bracket 25.

[0097] Reference Figures 9 to 11 As shown, in some embodiments of the bionic lower limb exoskeleton of the present invention, the ankle joint unit 30 includes a forefoot support 31, a rearfoot support 32, a third elastic element 33, and a third connecting rod 34. The forefoot support 31 and the rearfoot support 32 are arranged sequentially and are rotatably connected, thus adapting to the torque of the foot pushing off the ground during walking and improving the efficiency of power transfer.

[0098] One end of the third connecting rod 34 is rotatably connected to the second connecting seat 21. Understandably, the connection between one end of the third connecting rod 34 and the second connecting seat 21 is a dual-axis rotatable connection to accommodate ankle joint rotation in different directions. The other end of the third connecting rod 34 is rotatably connected to one end of the forefoot support 31. One end of the third elastic element 33 is rotatably connected to the third connecting rod 34, while the other end of the third elastic element 33 is rotatably connected to the other end of the forefoot support 31. The third elastic element 33 addresses the rigid impact of the ankle joint unit 30, preventing injury to the human body and providing cushioning for ankle joint movement.

[0099] Specifically, the third elastic element 33 includes a first connecting component 331, a second connecting component 332, and a sixth spring 333. One end of the first connecting component 331 is rotatably connected to the third connecting rod 34, and the other end of the first connecting component 331 is provided with a first limiting rod 3312 and a guide rod 3311, with the guide rod 3311 positioned radially on one side of the first limiting rod 3312. One end of the second connecting component 332 is rotatably connected to the forefoot support 31, and the other end of the second connecting component 332 is sequentially provided with a guide hole 3321 and a first limiting hole 3322. The sixth spring 333 is sleeved on the first limiting rod 3312, with one elastic end of the sixth spring 333 connected to the first connecting component 331, and the other elastic end of the sixth spring 333 positioned within the first limiting hole 3322 and abutting against the bottom surface of the first limiting hole 3322. The guide rod 3311 passes through the guide hole 3321 and is slidably connected to the guide hole 3321.

[0100] Thus, when the human foot is bound to the ankle joint unit 30, foot movement causes the third connecting rod 34 to rotate, which in turn causes the third elastic element 33 to rotate. The sixth spring 333 of the third elastic element 33 is compressed, and the first connecting component 331 and the second connecting component 332 move closer together. This buffers the rigid impact on the ankle joint unit 30, preventing foot injury and ensuring the safety of the assistive device. At this time, the guide rod 3311 slides relative to the guide hole 3321, and the first limiting rod 3312 provides linear compression guidance and radial limitation for the sixth spring 333, preventing deformation of the sixth spring 333 during compression.

[0101] Furthermore, a fifth connecting seat 311 is provided on the forefoot support 31, and the fifth connecting seat 311 is rotatably connected to the third connecting rod 34. A sixth connecting seat 321 is provided on the rearfoot support 32.

[0102] The ankle joint unit 30 also includes a fourth elastic element 35, the two ends of which are rotatably connected to the fifth connecting seat 311 and the sixth connecting seat 321, respectively. The fourth elastic element 35 uses its own elasticity to mitigate the rigid impact of the forefoot support 31 and the rearfoot support 32, and provides elastic assistance for foot movement.

[0103] Preferably, two fifth connecting seats 311 are provided, located at both ends of the forefoot support 31 along the width direction of the forefoot support 31. Correspondingly, two sixth connecting seats 321 are provided, located at both ends of the rearfoot support 32 along the width direction of the rearfoot support 32. Understandably, two fourth elastic elements 35 are also provided.

[0104] Specifically, the fourth elastic element 35 includes a third connecting component 351, a fourth connecting component 352, and a seventh spring 353. One end of the third connecting component 351 is connected to the fifth connecting seat 311, and the other end of the third connecting component 351 is provided with a second limiting hole 3511. One end of the fourth connecting component 352 is rotatably connected to the sixth connecting seat 321, and the other end of the fourth connecting component 352 is provided with a second limiting rod 3521. The seventh spring 353 is sleeved on the second limiting rod 3521, one elastic end of the seventh spring 353 is connected to the fourth connecting component 352, and the other elastic end of the seventh spring 353 is disposed within the second limiting hole 3511 and abuts against the bottom surface of the second limiting hole 3511.

[0105] Understandably, both the forefoot support 31 and the rearfoot support 32 are equipped with strap seats for connecting straps, and the human foot is tightly bound and fixed to the forefoot support 31 and the rearfoot support 32 by the straps.

[0106] Thus, a forefoot support 31 and a rearfoot support 32 are set and rotatably connected, and a fourth elastic element 35 is further set between the forefoot support 31 and the rearfoot support 32. This can not only buffer the rigid impact generated between the forefoot support 31 and the rearfoot support 32 during the activity, but also provide a certain elastic assistance for the movement of the foot.

[0107] Reference Figures 12 to 14 As shown, in some embodiments of the bionic lower limb exoskeleton of the present invention, a waist unit 60 is also included, which is disposed on the side of the hip joint unit 10 away from the knee joint unit 20, and is used to cooperate with the hip joint unit 10 to provide necessary support and assistance to the human hip joint and waist.

[0108] The lumbar unit 60 includes a lumbar support 61 and a sliding adjustment member 62, wherein one end of the lumbar support 61 is rotatably connected to the first connecting seat 11. It can be understood that the direction of relative rotation between the lumbar support 61 and the first connecting seat 11 is consistent with the direction of rotation of the human thigh when it swings to the side, so as to adapt to the lateral swing of the human thigh and provide a certain support for the human waist.

[0109] The sliding adjustment component 62 includes a slide base 621, a slider 622, and a roller 623. The slide base 621 has a groove 6211. The slider 622 is rotatably connected to the other end of the lumbar support 61. It can be understood that the slider 622 and the lumbar support 61 are connected in a dual-axis rotational manner, thereby enabling the lumbar support 61 to rotate in two degrees of freedom. The slider 622 is slidably connected to the slide base 621. When the thigh sways to the side, the lumbar support 61 drives the slider 622 to slide relative to the slide base 621, providing adaptive adjustment for the lateral movement of the thigh. Furthermore, the slider 622 is rollably connected to the roller 623, further improving the smoothness of the slider 622's sliding relative to the slide base 621.

[0110] Furthermore, the waist unit 60 also includes a press adjustment component 63, which can be adjusted according to the size of the human waist to fit different body types.

[0111] The pressing adjustment assembly 63 includes a first adjustment seat 631, a second adjustment seat 632, a locking member 633, a pressing member 634, and an eighth spring 635. The first adjustment seat 631 has a first adjustment cavity 6311 and a plurality of sequentially arranged first locking holes 6312, which communicate with the first adjustment cavity 6311. One end of the second adjustment seat 632 is disposed within the first adjustment cavity 6311, and the second adjustment seat 632 is slidably connected to the first adjustment cavity 6311. The second adjustment seat 632 has a second locking hole 6322 corresponding to the first locking holes 6312. When the second adjustment seat 632 slides relative to the first adjustment cavity 6311, the second locking hole 6322 communicates with the corresponding first locking holes 6312. The pressing member 634 is disposed on the upper side of the second adjusting seat 632, and the eighth spring 635 is disposed between the pressing member 634 and the second adjusting seat 632, with the two elastic ends of the eighth spring 635 connected to the second adjusting seat 632 and the pressing member 634 respectively.

[0112] Furthermore, the second adjusting seat 632 is provided with a second adjusting cavity 6321, and the end of the pressing member 634 is disposed in the second adjusting cavity 6321 and connected to the snap-fit ​​member 633. The snap-fit ​​member 633 is provided with a snap-fit ​​part 6331, which is disposed in the second snap-fit ​​through hole 6322 and slidably connected to the second snap-fit ​​through hole 6322. When the first adjusting seat 631 and the second adjusting seat 632 are locked relative to each other, the snap-fit ​​part 6331 simultaneously passes through the first snap-fit ​​through hole 6312 and the second snap-fit ​​through hole 6322. During adjustment, pressing down on the pressing member 634 causes the locking part 6331 to slide relative to the first locking through hole 6312 and the second locking through hole 6322. The locking part 6331 moves outside the first locking through hole 6312, and the second adjusting seat 632 slides relative to the first adjusting seat 631, causing the second locking through hole 6322 to move to the corresponding position of the first locking through hole 6312. Releasing the pressing member 634 causes the locking part 6331 to slide relative to the second locking through hole 6322 into the first locking through hole 6312, thereby adjusting the length and locking it again.

[0113] Furthermore, a reset spring is provided between the snap-fit ​​member 633 and the cavity wall of the second adjustment cavity 6321, thereby increasing the stability of the snap-fit ​​member 633 during the adjustment and reset process.

[0114] Furthermore, the snap-fit ​​member 633 is provided with a third adjustment groove at an angle, wherein the end of the pressing member 634 is provided with a corresponding adjustment connection part, and the adjustment connection part is slidably connected with the third adjustment groove to provide stable locking and resetting for the snap-fit ​​member 633.

[0115] Reference Figure 15 As shown, in some embodiments of the bionic lower limb exoskeleton of the present invention, the first driving component 13 includes a driving connecting seat 131, a driving motor 132, a lead screw 133, a planetary roller lead screw sleeve 134, and a transmission connecting rod 135. One end of the driving connecting seat 131 is rotatably connected to one end of the first transmission rod 12. The driving motor 132 is mounted on the driving connecting seat 131, and the lead screw 133 is mounted on one radial side of the driving motor 132 and rotatably connected to the driving connecting seat 131. For example, the driving motor 132 can be a brushed DC motor, a brushless DC motor, a servo motor, or other motors. One end of the lead screw 133 is connected to the driving end of the driving motor 132 via gear meshing, controlling the rotation of the driving motor 132 to drive the lead screw 133 to rotate. For example, one end of the lead screw 133 and the driving motor 132 can also be connected via a synchronous belt, transmission chain, or other means. The planetary ball screw sleeve 134 is threadedly connected to the screw 133, and the planetary ball screw sleeve 134 is connected to one end of the transmission connecting rod 135, while the other end of the transmission connecting rod 135 is rotatably connected to the first connecting seat 11.

[0116] When assist is applied, the control drive motor 132 drives the lead screw 133 to rotate, and the planetary roller lead screw sleeve 134 moves along the axis of the lead screw 133 to drive the transmission connecting rod 135 to rotate relative to the first connecting seat 11. Due to the increase in the overall length of the first driving member 13 and the transmission connecting rod 135, and the connection of one end of the drive connecting seat 131 to the first transmission rod 12, the first transmission rod 12 rotates relative to the first connecting seat 11 as the overall length of the first driving member 13 and the transmission connecting rod 135 increases, thus adapting to the motion torque law of the human hip joint movement.

[0117] Understandably, the second driving component 23 adopts the same driving method as the first driving component 13, and its structure is the same as the first driving component 13. The difference is that one end of the driving connecting seat 131 of the second driving component 23 is rotatably connected to one end of the second transmission rod 22, and the other end of the transmission connecting rod 135 of the second driving component 23 is rotatably connected to the middle of the second connecting seat 21. The rest will not be described in detail.

[0118] Reference Figures 16 to 17 As shown, in some other embodiments, the first driving member 13 is configured as a linear motor. The driving end of the linear motor is rotatably connected to one end of the first connecting seat 11, while the end of the linear motor whose driving direction is away from the driving end is rotatably connected to one end of the first transmission rod 12. The other end of the first connecting seat 11 is rotatably connected to the other end of the first transmission rod 12. This forms a triangular-like transmission structure, which, through the reverse mounting and driving of the linear motor, provides rotational assistance at the hip joint.

[0119] Similarly, the second driving component 23 is also configured as a linear motor. The driving end of the linear motor is rotatably connected to one end of the second connecting seat 21, while the end of the linear motor whose driving direction is away from the driving end is rotatably connected to the second transmission rod 22. The other end of the second connecting seat 21 is rotatably connected to the other end of the second transmission rod 22. This forms a triangular-like transmission structure, which, through the reverse mounting and driving of the linear motor, provides rotational assistance at the knee joint.

[0120] In this way, using a linear motor to drive and assist the hip and knee joints results in direct and rapid transmission of driving force and high driving stability.

[0121] Reference Figures 21 to 22As shown, in some embodiments, one end of the lumbar support 61 can be directly connected to the first connecting member 141 via a rotating connector 70. The rotating connector 70 includes a rotating connecting seat 71, a first planetary reducer 72, a second planetary reducer 73, and a transmission gear 74. Specifically, the first planetary reducer 72 and the second planetary reducer 73 are sequentially disposed on the rotating connecting seat 71 and rotatably connected to it. The transmission gear 74 is disposed between the first planetary reducer 72 and the second planetary reducer 73 and rotatably connected to the rotating connecting seat 71. The first planetary reducer 72 has a first transmission tooth 721, and correspondingly, the second planetary reducer 73 has a second transmission tooth 731. The first transmission tooth 721 and the second transmission tooth 731 are respectively engaged with the transmission gear 74. The connecting end of the first planetary reducer 72 is rotatably connected to one end of the lumbar support 61, while the connecting end of the second planetary reducer 73 is rotatably connected to one end of the first connecting member 141, thereby enabling rotation at the hip joint.

[0122] Correspondingly, the second transmission rod 22 can also be connected to the first connecting member 141 via a rotating connector 70. The specific structure of the rotating connector 70 will not be described in detail here. The difference lies in that the connecting end of the first planetary reducer 72 of the rotating connector 70 is rotatably connected to one end of the second transmission rod 22. Furthermore, the connecting end of the second planetary reducer 73 of the rotating connector 70 is rotatably connected to one end of the lower leg replacement member 242 to achieve rotation at the knee joint.

[0123] On the other hand, this application also provides a biomimetic assistive exoskeleton robot, including the aforementioned biomimetic lower limb exoskeleton and assistive exoskeletons for other parts of the human body. This assistive exoskeleton robot can adapt to the motion torque patterns of the human head, providing safer, more efficient, and more stable assistance to the human body.

[0124] Working principle:

[0125] During the wearing process, the various dimensions of the target user's lower limbs are first measured, and the appropriate thigh replacement part 142 and calf replacement part 242 are replaced according to the actual dimensions. The lumbar support 61 is placed on the waist of the human body for positioning, and the pressing part 634 is adjusted to fit the actual waist size. The human thigh is bound to the thigh strap support 15 and the human calf is bound to the calf strap support 25 respectively through straps, and the human foot is bound to the forefoot support 31 and the heel support 32.

[0126] When assisting, the human body bends, and the first detector 1443 and the second detector 2443 detect the rotation angle of the thigh strap bracket 15 and the calf strap bracket 25. Based on the rotation angle, the human body's behavior is predicted, and the first drive member 13 and the second drive member 23 are controlled to drive the hip joint unit 10 and the knee joint unit 20 to assist the human lower limbs.

[0127] For ease of description, spatial relative terms such as "above," "on top of," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation beyond the orientation of the device as described in the figures. For example, if the device in the figures were inverted, a device described as "above" or "on top of" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0128] Furthermore, it should be noted that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore cannot be construed as limiting the scope of protection of this application.

[0129] The above are merely preferred embodiments of this application and are not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A biomimetic lower limb exoskeleton, characterized in that, include: The hip joint unit includes a first connecting seat, a first transmission rod, a first driving member, a first connecting assembly, and a thigh strap bracket; One end of the first transmission rod is rotatably connected to the first driving component; the other end of the first transmission rod is rotatably connected to one end of the first connecting seat. The driving end of the first driving member is rotatably connected to the other end of the first connecting seat; the first connecting assembly is connected to the first transmission rod; the thigh strap bracket is movably connected to the first connecting assembly; A knee joint unit is disposed on one side of the first connecting assembly; the hip joint unit is offset from the knee joint unit along the arrangement direction of the first connecting seat and the first transmission rod; the knee joint unit is connected to the first connecting assembly; the knee joint unit includes a second connecting seat, a second transmission rod, a second driving member, a second connecting assembly, and a calf strap bracket; one end of the second transmission rod is rotatably connected to the second driving member; the other end of the second transmission rod is rotatably connected to one end of the second connecting seat; the driving end of the second driving member is rotatably connected to the other end of the second connecting seat; the second connecting assembly is rotatably connected to the second connecting seat; and the calf strap bracket is movably connected to the second connecting seat. An ankle joint unit is disposed on the lower side of the knee joint unit; the ankle joint unit is rotatably connected to the second connecting seat.

2. The bionic lower limb exoskeleton according to claim 1, characterized in that: The first connecting assembly includes a first connector and a thigh replacement component; the first connector is connected to the first transmission rod; one end of the thigh replacement component is detachably connected to the first connector; and the other end of the thigh replacement component is detachably connected to the second transmission rod.

3. The bionic lower limb exoskeleton according to claim 2, characterized in that: Both the second transmission rod and the thigh replacement part are provided with a first connecting part, the first connecting part is provided with a first connecting groove, and the groove sidewalls on both sides of the first connecting groove are provided with first connecting through holes; a first abutment seat is provided in the first connecting groove; The thigh replacement part and the first connecting member are provided with a second connecting part, the second connecting part is provided with a second connecting groove, and the groove sidewalls on both sides of the second connecting groove are provided with second connecting through holes; wherein, the first connecting part corresponding to the second transmission rod is slidably connected to the second connecting groove corresponding to the thigh replacement part; the first connecting part corresponding to the thigh replacement part is slidably connected to the second connecting groove corresponding to the first connecting member; The bionic lower limb exoskeleton also includes a first quick-release connection assembly, which includes a first pressure block, a first limiting seat, a first spring, and a first abutment member. The first limiting seat is disposed on one side of the second connecting portion and is connected to the second connecting portion. The first pressure block is slidably connected to the first limiting seat. The first abutment member passes through the first connecting through hole and the second connecting through hole. One end of the first abutment member abuts against the first pressure block. The first spring is disposed between the first abutment member and the abutment seat, and the two elastic ends of the first spring are respectively connected to the abutment seat and the first abutment member.

4. The bionic lower limb exoskeleton according to claim 3, characterized in that: The second connecting part is provided with a third connecting groove, which is located on the side of the second connecting groove away from the first limiting seat, and the third connecting groove communicates with the second connecting through hole; The first quick-release connection assembly further includes a second spring and a third transmission rod; the first limiting seat is provided with a guide groove; the third transmission rod includes a first end and a second end, the first end is disposed in the guide groove and is slidably connected to the guide groove; the first end is connected to one end of the first pressure block; the second end is disposed in the third connecting groove, and the abutting end of the second end is slidably connected to the second connecting through hole and the first connecting through hole; the two elastic ends of the second spring are respectively connected to the other side of the second end and the groove wall of the third connecting groove.

5. The bionic lower limb exoskeleton according to claim 2, characterized in that: The first connecting assembly further includes a third connecting seat and a first elastic element. The third connecting seat is connected to the first connecting element, and the first elastic element is connected to the third connecting seat. The thigh strap bracket is rotatably connected to the first elastic element.

6. The bionic lower limb exoskeleton according to claim 5, characterized in that: The third connecting seat is provided with a fourth connecting groove; The first elastic element includes a first bearing seat, two third springs, and a first detector; the first bearing seat is disposed in the middle of the fourth connecting groove and is slidably connected to the fourth connecting groove; the first bearing seat is rotatably connected to the thigh strap bracket; the two third springs are disposed on both sides of the first bearing seat, and the two elastic ends of the third springs are respectively connected to the groove wall of the first bearing seat and the fourth connecting groove; the first detector is connected to the first bearing seat, and the detection end of the first detector is connected to the thigh strap bracket to detect the rotation angle of the thigh strap bracket.

7. The bionic lower limb exoskeleton according to claim 6, characterized in that: The first bearing housing has first connecting blind holes on both sides; The first elastic element further includes two first connecting rods and a first bracket connector. The two first connecting rods are disposed on both sides of the first bearing seat. One end of the first connecting rod is connected to the groove wall of the fourth connecting groove, and the other end of the first connecting rod is slidably connected to the first connecting blind hole. The third spring is sleeved on the first connecting rod. A first rotating shaft bearing is disposed on the first bearing seat. The first rotating shaft bearing is rotatably connected to the first bearing seat. One end of the first bracket connector is connected to the first rotating shaft bearing, and the other end of the first bracket connector is connected to the thigh strap bracket. The detection end of the first detector is connected to the first rotating shaft bearing.

8. The bionic lower limb exoskeleton according to claim 1, characterized in that: The second connecting assembly includes a second connector and a lower leg replacement component. The second connector is rotatably connected to the second connecting seat. The second connector is detachably connected to the lower leg replacement component. One end of the lower leg replacement component is rotatably connected to the ankle joint unit.

9. The bionic lower limb exoskeleton according to claim 8, characterized in that: The lower leg replacement part is provided with a third connecting part, the third connecting part is provided with a fifth connecting groove, and the groove walls on both sides of the fifth connecting groove are respectively provided with third connecting through holes; a second abutment seat is provided in the middle of the fifth connecting groove; The second connector is provided with a fourth connecting part, the fourth connecting part is provided with a sixth connecting groove, and the third connecting part is disposed in the sixth connecting groove; the groove sidewalls on both sides of the sixth connecting groove are provided with fourth connecting through holes; the third connecting through holes communicate with the fourth connecting through holes. The bionic lower limb exoskeleton also includes a second quick-release connection assembly, which includes two second limiting seats, two second pressure blocks, two fourth springs, and two second abutment members. The two second limiting seats are disposed on both sides of the fourth connecting portion and are connected to the fourth connecting portion. The second pressure blocks are slidably connected to the second limiting seats. The second abutment members pass through the third connecting through hole and the fourth connecting through hole, and are slidably connected to the third connecting through hole and the fourth connecting through hole respectively. One end of the second abutment member abuts against the second pressure block. The two elastic ends of the fourth springs are respectively connected to the other end of the second abutment member and the second abutment seat.

10. The bionic lower limb exoskeleton according to claim 9, characterized in that: The second connecting assembly further includes a fourth connecting seat and a second elastic element. The fourth connecting seat is connected to the lower leg replacement part; the second elastic element is connected to the fourth connecting seat, and the lower leg strap bracket is movably connected to the second elastic element.

11. The bionic lower limb exoskeleton according to claim 10, characterized in that: The fourth connecting seat is provided with a seventh connecting groove; The second elastic element includes a second bearing seat, two fifth springs, and a second detector; the second bearing seat is disposed in the middle of the seventh connecting groove and is slidably connected to the seventh connecting groove; the second bearing seat is rotatably connected to the calf strap bracket; the two fifth springs are disposed on both sides of the second bearing seat, and the two elastic ends of the fifth springs are respectively connected to the groove wall of the second bearing seat and the seventh connecting groove; the second detector is connected to the second bearing seat, and the detection end of the second detector is connected to the calf strap bracket to detect the rotation angle of the calf strap bracket.

12. The bionic lower limb exoskeleton according to claim 11, characterized in that: The second bearing housing has second connecting blind holes on both sides; The second elastic element further includes two second connecting rods and a second bracket connector. The two second connecting rods are disposed on both sides of the second bearing seat. One end of the second connecting rod is connected to the groove wall of the seventh connecting groove, and the other end of the second connecting rod is slidably connected to the second connecting blind hole. The fifth spring is sleeved on the second connecting rod. A second rotating shaft bearing is disposed on the second bearing seat. The second rotating shaft bearing is rotatably connected to the second bearing seat. One end of the second bracket connector is connected to the second rotating shaft bearing, and the other end of the second bracket connector is connected to the calf strap bracket. The detection end of the second detector is connected to the second rotating shaft bearing.

13. The bionic lower limb exoskeleton according to claim 1, characterized in that: The ankle joint unit includes a forefoot support, a rearfoot support, a third elastic element, and a second connecting rod. The forefoot support and the rearfoot support are arranged sequentially and are rotatably connected. One end of the second connecting rod is rotatably connected to the second connecting seat, and the other end of the second connecting rod is rotatably connected to one end of the forefoot support. One end of the third elastic element is rotatably connected to the second connecting rod, and the other end of the third elastic element is rotatably connected to the other end of the forefoot support.

14. The bionic lower limb exoskeleton according to claim 13, characterized in that: The third elastic element includes a first connecting component, a second connecting component, and a sixth spring. One end of the first connecting component is rotatably connected to the second connecting rod, and the other end of the first connecting component is provided with a first limiting rod and a guide rod, the guide rod being disposed on one radial side of the first limiting rod. One end of the second connecting component is rotatably connected to the forefoot support, and the other end of the second connecting component is sequentially provided with a guide hole and a first limiting hole. The sixth spring is sleeved on the first limiting rod. One elastic end of the sixth spring is connected to the first connecting component. The other elastic end of the sixth spring is disposed in the first limiting hole and abuts against the bottom surface of the first limiting hole. The guide rod passes through the guide hole and is slidably connected to the guide hole.

15. The bionic lower limb exoskeleton according to claim 13, characterized in that: The forefoot support is provided with a fifth connecting seat, which is rotatably connected to the second connecting rod; the rearfoot support is provided with a sixth connecting seat. The ankle joint unit also includes a fourth elastic element, the two ends of which are rotatably connected to the fifth connecting seat and the sixth connecting seat, respectively.

16. The bionic lower limb exoskeleton according to claim 15, characterized in that: The fourth elastic element includes a third connecting component, a fourth connecting component, and a seventh spring. One end of the third connecting component is rotatably connected to the fifth connecting seat, and the other end of the third connecting component is provided with a second limiting hole. One end of the fourth connecting component is rotatably connected to the sixth connecting seat, and the other end of the fourth connecting component is provided with a second limiting rod. The seventh spring is sleeved on the second limiting rod, and one elastic end of the seventh spring is connected to the fourth connecting component. The other elastic end of the seventh spring is disposed in the second limiting hole and abuts against the bottom surface of the second limiting hole.

17. The bionic lower limb exoskeleton according to claim 1, characterized in that, Also includes: A lumbar unit is disposed on the side of the hip joint unit away from the knee joint unit. The lumbar unit includes a lumbar support and a sliding adjustment component. One end of the lumbar support is rotatably connected to the first connecting seat. The sliding adjustment component includes a slide base, a slider, and a roller. The slide base is provided with a sliding groove. The slider is slidably connected to the sliding groove, and one end of the slider is rotatably connected to the other end of the waist support. The roller is rotatably connected to the slider and is rollably connected to the sliding groove.

18. The bionic lower limb exoskeleton according to claim 17, characterized in that: The waist unit also includes a pressing adjustment assembly, which includes a first adjustment seat, a second adjustment seat, a snap-fit ​​component, a pressing component, and an eighth spring. The first adjustment seat is provided with a first adjustment cavity and a plurality of first snap-fit ​​through holes arranged in sequence. The first snap-fit ​​through holes are connected to the first adjustment cavity. One end of the second adjusting seat is disposed within the first adjusting cavity and is slidably connected to the first adjusting cavity; the second adjusting seat is provided with a second locking hole corresponding to the first locking hole; the second adjusting seat is provided with a second adjusting cavity, which communicates with the second locking hole; the pressing member is disposed on the upper side of the second adjusting seat, and the two elastic ends of the eighth spring are respectively connected to the second adjusting seat and the pressing member; the end of the pressing member is disposed within the second adjusting cavity; the locking member is connected to the end of the pressing member; the locking member is provided with a locking part, which is respectively inserted into the second locking hole, and the locking part is slidably connected to the second locking hole, and the locking part is detachably connected to the first locking hole.

19. The bionic lower limb exoskeleton according to claim 1, characterized in that: Both the first driving component and the second driving component include a driving connecting seat, a driving motor, a lead screw, a planetary roller lead screw sleeve, and a transmission connecting rod; the driving motor is mounted on the driving connecting seat; the lead screw is located on one radial side of the driving motor and is rotatably connected to the driving connecting seat; one end of the lead screw is drively connected to the driving end of the driving motor; the planetary roller lead screw sleeve is threadedly connected to the lead screw; and the planetary roller lead screw sleeve is connected to one end of the transmission connecting rod. Wherein, one end of the drive connecting seat of the first drive member is rotatably connected to one end of the first transmission rod; the other end of the transmission connecting rod of the first drive member is rotatably connected to the middle of the first connecting seat; one end of the drive connecting seat of the second drive member is rotatably connected to one end of the second transmission rod; and the other end of the transmission connecting rod of the second drive member is rotatably connected to the middle of the second connecting seat.

20. A biomimetic assistive exoskeleton robot, characterized in that, Including the bionic lower limb exoskeleton as described in any one of claims 1 to 19.

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