Ankle joint assisting exoskeleton with plantar-dorsiflexion coupling drive

Abstract

This invention relates to the field of mechanical exoskeleton technology, and in particular to a plantar-dorsiflexion coupled-driven ankle joint assistive exoskeleton, comprising a lower elastic telescopic mechanism, a triggering mechanism, an upper driving mechanism, a lifting mechanism, a leg fixation frame, and a foot fixation frame; the leg fixation frame is fixedly connected to the lower leg structure; the upper driving mechanism is fixedly disposed at the rear of the leg fixation frame; the foot fixation frame is fixedly connected to the foot structure; the lower elastic telescopic mechanism is fixedly disposed at the rear of the foot fixation frame; the triggering mechanism is connected to both the lower elastic telescopic mechanism and the upper driving mechanism; one end of the lifting mechanism is connected to the upper driving mechanism, and the other end is connected to the front end of the foot fixation frame. The exoskeleton disclosed in this application can be used as a wearable rehabilitation assistive tool to help people with lower limb muscle weakness improve their walking posture and reduce exercise fatigue.

Description

Technical Field

[0001] This invention relates to the field of mechanical exoskeleton technology, and in particular to an ankle-assisted exoskeleton driven by plantar dorsiflexion coupling. Background Technology

[0002] The ankle joint plays a crucial role in supporting the body and providing forward propulsion during walking. The movement of the ankle joint is mainly accomplished by the plantar flexors and dorsiflexors attached to it. During normal walking, the soleus and gastrocnemius muscles of the lower leg mainly provide plantar flexion force during the ground contact and push-off phases, while the tibialis anterior muscle provides dorsiflexion force during the swing phase. The two work together to achieve the reciprocating cyclical movement between the ground contact and swing phases.

[0003] During different phases of the ground contact phase, the contraction process of the calf muscles is as follows: At 30%-45% of the gait cycle, the body's center of gravity gradually decreases from its highest point, and the soleus and gastrocnemius muscles undergo eccentric contraction, stretching the muscles and simultaneously stretching the Achilles tendon to store energy; At 45%-50% of the gait cycle, the Achilles tendon begins to rebound and release some energy, while the calf muscles undergo isometric contraction, maintaining their length; At 50%-60% of the gait cycle, the calf muscles undergo concentric contraction, shortening in length to provide the power for pushing off the ground.

[0004] Existing ankle exoskeleton actuation methods mainly include passive plantar flexion assistance based on springs, active plantar flexion assistance based on motor-driven Bowden wires, active plantar flexion assistance based on pneumatic muscles, and active plantar flexion assistance based on series elastic actuators using motors and springs. Most exoskeletons focus on plantar flexion assistance, while a few have developed dorsiflexion assistance to prevent foot drop. The actuation methods are similar to plantar flexion, and the timing of assistance is mostly determined by recognizing human movement intentions through multimodal sensors or by relying on relatively complex control algorithms. Then, the assistance torque curve is input to achieve assistance at the corresponding phase. Therefore, the reliability and practicality of these exoskeletons require further research. Summary of the Invention

[0005] The purpose of this invention is to provide a plantar dorsiflexion coupled-driven ankle joint assist exoskeleton to solve at least one of the technical problems existing in the prior art.

[0006] To solve the above-mentioned technical problems, the present invention provides an ankle joint assistive exoskeleton driven by plantar dorsiflexion coupling, comprising a lower elastic telescopic mechanism, a triggering mechanism, an upper driving mechanism, an lifting mechanism, a leg fixation frame, and a foot fixation frame;

[0007] The leg fixation bracket is used for fixed connection with the lower leg structure;

[0008] The upper drive mechanism is fixedly installed at the rear of the leg fixing frame;

[0009] The foot fixation bracket is used for fixed connection with the foot structure;

[0010] The lower elastic telescopic mechanism is fixedly installed at the rear of the foot fixing frame;

[0011] The triggering mechanism is connected to the lower elastic telescopic mechanism and the upper drive mechanism respectively;

[0012] One end of the lifting mechanism is connected to the upper drive mechanism, and the other end is connected to the front end of the foot fixing frame.

[0013] Furthermore, the lower elastic telescopic mechanism includes a first pin plate, a first connecting rod, a second connecting rod, a lower intermediate connecting plate, a first guide limiting rod, a first elastic structure, and a second spring;

[0014] The first pin plate is fixedly installed at the rear end of the foot fixing frame;

[0015] The lower middle connecting plate is connected to the first pin plate by the first connecting rod.

[0016] The first elastic structure includes a lower base plate, a second guide limiting rod, a first limiting end, a second limiting end, and a first spring;

[0017] The lower base plate is fixedly connected to the lower end of the first guide limiting rod;

[0018] The lower base plate is provided with a first through hole and a second through hole;

[0019] The second guide limiting rod is disposed through the first through hole. The first limiting end and the second limiting end are respectively fixedly disposed at the upper and lower ends of the second guide limiting rod. The first spring is disposed between the first limiting end and the upper end surface of the lower base plate and is always kept in a compressed state.

[0020] The first connecting rod passes through the second through hole;

[0021] A third through hole is provided on the lower middle connecting plate;

[0022] The end of the first guide limiting rod away from the lower base plate passes through the third through hole and is fixedly connected to the triggering mechanism.

[0023] The upper and lower ends of the second spring are respectively connected to the lower end of the second connecting rod and the lower middle connecting plate;

[0024] The second spring remains in a stretched state at all times;

[0025] The end of the second link furthest from the second spring is connected to the triggering mechanism;

[0026] The second through hole is an elongated through hole, which has a swing space for the first connecting rod in the front-back direction;

[0027] The second through hole is located at the center of the lower base plate, and there are two first through holes, which are symmetrically arranged on both sides of the second through hole;

[0028] The second guide limiting rod, the first limiting end, the second limiting end, and the first spring are all included in pairs, and are respectively provided corresponding to the first through hole;

[0029] There are two third through holes, and two corresponding first guide limit rods are also provided, which are mirror-symmetrical to the central axis of the exoskeleton.

[0030] Furthermore, the triggering mechanism includes a trigger base, a third spring, a third guide limit rod, a lower trigger assembly, and an upper trigger assembly;

[0031] The lower end of the trigger base is fixedly connected to the upper end of the first guide limiting rod;

[0032] The trigger base is provided with a fourth through hole;

[0033] The end of the second connecting rod away from the second spring passes through the fourth through hole and is fixedly connected to the trigger assembly.

[0034] The third spring is sleeved on the second connecting rod, and its upper and lower ends respectively abut against the upper end face of the trigger base and the lower end face of the trigger assembly and are always kept in a compressed state.

[0035] The lower end of the third guide limiting rod is fixedly mounted on the trigger base, and the other end passes through the lower trigger assembly, guiding and limiting the lower trigger assembly.

[0036] The upper end of the upper trigger component is connected to the upper drive mechanism, and the lower end of the upper trigger component is connected to or disconnected from the lower trigger component.

[0037] The fourth through hole is located at the center of the trigger base;

[0038] Two third guide limiting rods are provided and symmetrically distributed on both sides of the third spring;

[0039] The triggering upper component includes a trigger end and an upper connecting rod;

[0040] The trigger end is connected to or disconnected from the trigger lower component, and the lower end of the upper connecting rod is fixedly connected to the upper end of the trigger end.

[0041] Furthermore, the trigger lower component includes a trigger lower base, a trigger lower top component, an external fixing arm, and a top rotating clip;

[0042] The lower end of the trigger base is fixedly connected to the upper end of the second connecting rod;

[0043] The trigger lower top component has an L-shaped structure, including a vertical section and a horizontal section. The horizontal section is fixedly installed on the trigger lower base, and the vertical section extends upward.

[0044] The top-rotating fastener includes an integrated vertical fastener, an oblique connecting component, and a lateral abutment component;

[0045] The external mounting arm includes a mounting arm body, a forward extension top column, a forward extension connecting arm, and a fourth spring;

[0046] The upper end of the hanging arm body is directly or indirectly connected to the leg fixing frame and always maintains a fixed relative position with the leg fixing frame;

[0047] The forward-extending top column is fixedly installed at the front end of the hanging arm body and extends horizontally forward;

[0048] One end of the fourth spring is located at the lower end of the hanging arm body, and the other end is connected to the end of the lateral abutment member near the hanging arm body, and always remains in an extended state.

[0049] The upper front side of the vertical card is engaged or disengaged from the lower part of the trigger upper component;

[0050] The rear side of the lower end of the vertical clamp abuts against or separates from the forward-extending top column;

[0051] One end of the forward connecting arm is fixedly mounted on the hanging arm body, and the other end is hinged to the top rotating clamp. The hinge point is located at the connection between the vertical clamp and the oblique connecting member.

[0052] The two ends of the oblique connector are respectively connected to the vertical clip and the horizontal abutment. The end of the horizontal abutment away from the oblique connector extends backward, and the bottom of the horizontal abutment abuts against the trigger bottom piece.

[0053] Furthermore, the trigger end is provided with a first ratchet and a first limit switch;

[0054] The top rotating clip is provided with a second ratchet and a trigger surface at the location corresponding to the trigger end;

[0055] The first ratchet tooth and the second ratchet tooth engage to achieve temporary locking;

[0056] When the first ratchet and the second ratchet are engaged and locked, the first limit switch is in contact with the trigger surface, and when the first ratchet and the second ratchet are released from locking, the first limit switch is separated from the trigger surface.

[0057] Furthermore, the upper drive mechanism includes a drive base platform, a drive motor, a drive gear, a vertical rack, an upper driven frame, a fifth spring, and a fourth guide limit rod;

[0058] The drive base platform is fixedly mounted on the leg fixing frame;

[0059] The drive base platform is provided with a fifth through hole and a sixth through hole;

[0060] The end of the upper trigger component away from the lower trigger component passes through the fifth through hole and is fixedly connected to the bottom of the upper driven frame;

[0061] The drive motor is fixedly mounted on the drive base platform, the drive gear is fixedly mounted on the output shaft of the drive motor, and the vertical rack meshes with the drive gear and is driven by the drive motor to move up and down.

[0062] The upper end of the vertical rack is fixedly mounted on the upper driven frame, and the other end extends downward and passes through the sixth through hole;

[0063] The fifth spring is sleeved on the trigger assembly, with its upper and lower ends respectively abutting against the drive base platform and the lower end of the upper driven frame, and is always in a compressed state;

[0064] The upper driven frame includes a middle connection area and an end connection area;

[0065] The middle connecting area is used to connect with the vertical rack, the upper trigger assembly, the fifth spring and the fourth guide limiting rod, and the end connecting area is used to connect with the lifting mechanism;

[0066] A seventh through hole is provided on the central connecting area. The lower end of the fourth guide limit rod is fixedly installed on the driving base platform, and the upper end passes through the seventh through hole to provide guidance for the upper driven frame to move up and down.

[0067] The upper end of the fourth guide limiting rod is also provided with an upper end cover;

[0068] A second limit switch is provided at the bottom of the upper end cover;

[0069] A third limit switch is provided at the bottom of the foot fixation frame corresponding to the position of the forefoot. When the foot fixation frame is raised, the third limit switch is disconnected from the ground. When the foot fixation frame falls to the ground, the third limit switch is connected to the ground and closed.

[0070] Furthermore, the lifting mechanism includes an lifting elastic band, a steering pulley block, a sixth spring, a fifth guide limit rod, and a top connecting plate;

[0071] An eighth through hole is provided on the end connection area;

[0072] The lifting elastic band includes a band body, an end fixing clip, and an end connecting rod;

[0073] One end of the belt is connected to the front position of the foot fixing frame, and the other end passes around the steering pulley group fixed on the leg fixing frame and then goes vertically upward. The end is provided with the end fixing clip. The end of the end fixing clip away from the belt is integrally provided with the end connecting rod. The end of the end connecting rod away from the end fixing clip passes through the eighth through hole and is fixedly connected to the top connecting plate.

[0074] The sixth spring is sleeved on the end connecting rod, with its upper and lower ends respectively abutting against the top connecting plate and the upper driven frame.

[0075] The top connecting plate is provided with a ninth through hole, and the lower end of the fifth guide limit rod is fixedly installed on the upper driven frame, while the upper end passes through the ninth through hole.

[0076] Furthermore, the leg fixing frame includes a first fixing platform, a second fixing platform, and a fixing platform connecting column;

[0077] The first fixing platform and the second fixing platform are arranged vertically at intervals, with the first fixing platform located above the second fixing platform, and the first fixing platform and the second fixing platform are fixedly connected by the fixing platform connecting column;

[0078] The first fixed platform is integrally connected to the drive base platform and is fixed around the front of the lower leg;

[0079] The second fixing platform is integrally connected to the trigger base and fits against the back of the lower leg.

[0080] Furthermore, the steering pulley assembly includes a rear pulley and a front pulley;

[0081] Both the rear pulley and the front pulley are rotatably mounted on the second fixed platform, and the rear pulley is located behind the front pulley;

[0082] The elastic band of the lifting band extends vertically downward from the end fixing clamp side, passes around the rear pulley, then passes forward around the front pulley and extends vertically downward, and is fixedly connected to the side of the foot fixing frame at the end.

[0083] Furthermore, it also includes a processing module, wherein the first limit switch, the second limit switch, the third limit switch and the drive motor are all electrically connected to the processing module;

[0084] The processing module is used to receive signals from the first limit switch, the second limit switch and the third limit switch, and control the start, stop and rotation direction of the drive motor according to the signal status. Attached Figure Description

[0085] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0086] Figure 1 This is a three-dimensional structural diagram of the plantar dorsiflexion-coupled ankle-assisted exoskeleton disclosed in this application after being worn.

[0087] Figure 2 This is a three-dimensional structural diagram of the plantar dorsiflexion-coupled ankle joint assist exoskeleton disclosed in this application;

[0088] Figure 3 This is a first-person view of the planar structure of the lower elastic telescopic mechanism;

[0089] Figure 4 This is a three-dimensional structural diagram of the lower elastic telescopic mechanism from a second perspective.

[0090] Figure 5 A three-dimensional structural diagram of the triggering mechanism;

[0091] Figure 6 A 3D structural diagram showing the situation when the upper and lower components are not connected.

[0092] Figure 7 A 3D structural diagram illustrating the connection between the upper and lower components that trigger the connection.

[0093] Figure 8 A three-dimensional structural diagram of the upper drive mechanism and the lifting mechanism;

[0094] Figure 9 The activation status of lower limb muscles during the human gait cycle;

[0095] Figure 10 This describes the operation of the plantar-dorsiflexion coupled ankle-assisted exoskeleton disclosed in this application during the gait cycle.

[0096] Figure label: 1-Lower elastic telescopic mechanism; 2-Triggering mechanism; 3-Upper drive mechanism; 4-Lifting mechanism; 5-Leg fixing frame; 6-Foot fixing frame; 7-First pin connecting plate; 8-First connecting rod; 9-Second connecting rod; 10-Lower intermediate connecting plate; 11-First guide limiting rod; 12-First elastic structure; 13-Second spring; 14-Lower base plate; 15-Second guide limiting rod; 16-First limiting end; 17-Second limiting end; 18-First spring; 19-First connecting plate 20-Second through hole; 21-Third through hole; 22-Trigger base; 23-Third spring; 24-Third guide limit rod; 25-Lower trigger assembly; 26-Upper trigger assembly; 27-Fourth through hole; 28-Trigger end; 29-Upper connecting rod; 30-Lower trigger base; 31-Lower trigger top piece; 32-External fixing arm; 33-Top rotating clip; 34-Vertical section; 35-Horizontal section; 36-Vertical clip; 37-Angled connecting piece; 38-Horizontal abutment piece; 39- Hanging arm body; 40-Forward extension top column; 41-Forward extension connecting arm; 42-Fourth spring; 43-First ratchet; 44-First limit switch; 45-Second ratchet; 46-Trigger surface; 47-Drive base platform; 48-Drive motor; 49-Drive gear; 50-Vertical rack; 51-Upper driven frame; 52-Fifth spring; 53-Fourth guide limit rod; 54-Fifth through hole; 55-Sixth through hole; 56-Middle connection area; 57-End connection area; 58-Seventh through hole 59-Upper end cover; 60-Second limit switch; 61-Lifting elastic band; 62-Steering pulley group; 63-Sixth spring; 64-Fifth guide limit rod; 65-Top connecting plate; 66-Eighth through hole; 67-Belt body; 68-End fixing clamp; 69-End connecting rod; 70-Ninth through hole; 71-First fixing platform; 72-Second fixing platform; 73-Fixed platform connecting column; 74-Rear pulley; 75-Front pulley; 76-Third limit switch; 77-Processing module. Detailed Implementation

[0097] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0098] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0099] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0100] It should also be noted that the specific embodiments or implementation methods described below are a series of optimized settings listed by the present invention to further explain the specific content of the invention, and these settings can be combined or used in conjunction with each other.

[0101] The present invention will be further explained below with reference to specific embodiments.

[0102] like Figure 1-2 As shown, the ankle joint assistive exoskeleton with plantar dorsiflexion coupling driven provided in this embodiment includes a lower elastic telescopic mechanism 1, a triggering mechanism 2, an upper driving mechanism 3, an lifting mechanism 4, a leg fixation frame 5, and a foot fixation frame 6.

[0103] The leg fixing bracket 5 is used for fixed connection with the lower leg structure;

[0104] The upper drive mechanism 3 is fixedly installed at the rear of the leg fixing frame 5;

[0105] The foot fixation bracket 6 is used for fixed connection with the foot structure;

[0106] The lower elastic telescopic mechanism 1 is fixedly installed at the rear of the foot fixing frame 6;

[0107] The triggering mechanism 2 is connected to the lower elastic telescopic mechanism 1 and the upper driving mechanism 3 respectively;

[0108] One end of the lifting mechanism 4 is connected to the upper driving mechanism 3, and the other end is connected to the front end of the foot fixing frame 6.

[0109] like Figure 3-4 As shown, as a further embodiment of this example, the lower elastic telescopic mechanism 1 includes a first pin plate 7, a first connecting rod 8, a second connecting rod 9, a lower intermediate connecting plate 10, a first guide limiting rod 11, a first elastic structure 12, and a second spring 13.

[0110] The first pin plate 7 is fixedly disposed at the rear end of the foot fixing frame 6;

[0111] The lower middle connecting plate 10 is pinned to the first pin plate 7 by the first connecting rod 8.

[0112] The first elastic structure 12 includes a lower base plate 14, a second guide limiting rod 15, a first limiting end 16, a second limiting end 17, and a first spring 18;

[0113] The lower base plate 14 is fixedly connected to the lower end of the first guide limiting rod 11;

[0114] The lower base plate 14 is provided with a first through hole 19 and a second through hole 20.

[0115] The second guide limiting rod 15 is disposed through the first through hole 19. The first limiting end 16 and the second limiting end 17 are respectively fixedly disposed at the upper and lower ends of the second guide limiting rod 15. The first spring 18 is disposed between the first limiting end 16 and the upper end surface of the lower base plate 14 and is always kept in a compressed state.

[0116] The first connecting rod 8 passes through the second through hole 20;

[0117] A third through hole 21 is provided on the lower intermediate connecting plate 10;

[0118] One end of the first guide limiting rod 11, away from the lower base plate 14, passes through the third through hole 21 and is fixedly connected to the triggering mechanism 2;

[0119] The upper and lower ends of the second spring 13 are respectively connected to the lower end of the second connecting rod 9 and the lower middle connecting plate 10;

[0120] The second spring 13 is always kept in a stretched state;

[0121] The end of the second link 9 away from the second spring 13 is connected to the triggering mechanism 2.

[0122] As a further embodiment of this example, the second through hole 20 is an elongated through hole, which has a swing space for the first connecting rod 8 in the front-back direction.

[0123] As a further embodiment of this embodiment, the second through hole 20 is located at the center of the lower base plate 14, and two first through holes 19 are provided, which are symmetrically arranged on both sides of the second through hole 20.

[0124] The second guide limiting rod 15, the first limiting end 16, the second limiting end 17 and the first spring 18 are all included in two, and are respectively arranged corresponding to the first through hole 19.

[0125] As a further embodiment of this invention, two third through holes 21 are provided, and two first guide limiting rods 11 are also provided accordingly, and they are mirror-symmetrical with the central axis of the exoskeleton.

[0126] The lower elastic telescopic mechanism 1 in this application mainly provides a buffer space for the extension and contraction of the posterior length of the ankle joint, and absorbs impact energy through deformation when the ankle joint angle changes. At the same time, it utilizes the elastic restoring characteristics of the first spring 18 and the second spring 13 to ensure that the device can stably follow the foot movement trajectory during the gait cycle and transmit changes in the rear foot space. Specifically, when the ankle dorsiflexes during walking, the posterior side of the lower leg is lengthened, increasing the vertical distance between the posterior sides of the exoskeleton. Since the length of the first link 8 remains constant, it provides a downward pulling force to the lower intermediate connecting plate 10, resisting its upward movement. Simultaneously, the lower end of the second spring 13 is fixed while its upper end is stretched, generating an upward restoring force. At the same time, the first spring 18 is moved by the upward movement of the lower base plate 14 until the first limiting end 16 contacts the lower intermediate connecting plate 10. As the lower base plate 14 continues to rise, it compresses the first spring 18 from below, thus applying its resistance force to the posterior structure of the exoskeleton. When the ankle plantarflexes during walking, the posterior side of the lower leg shortens, decreasing the vertical distance between the posterior sides of the exoskeleton, and the process reverses.

[0127] like Figure 5-7 As shown, as a further embodiment of this example, the triggering mechanism 2 includes a trigger base 22, a third spring 23, a third guide limiting rod 24, a lower trigger assembly 25, and an upper trigger assembly 26;

[0128] The lower end of the trigger base 22 is fixedly connected to the upper end of the first guide limiting rod 11;

[0129] The trigger base 22 is provided with a fourth through hole 27;

[0130] The end of the second connecting rod 9 away from the second spring 13 passes through the fourth through hole 27 and is fixedly connected to the trigger lower assembly 25;

[0131] The third spring 23 is sleeved on the second connecting rod 9, and its upper and lower ends respectively abut against the upper end face of the trigger base 22 and the lower end face of the trigger lower assembly 25 and are always kept in a compressed state.

[0132] The lower end of the third guide limiting rod 24 is fixedly mounted on the trigger base 22, and the other end passes through the trigger lower component 25, and guides and limits the trigger lower component 25.

[0133] The upper end of the upper trigger component 26 is connected to the upper drive mechanism 3, and the lower end of the upper trigger component 26 is connected to or disconnected from the lower trigger component 25.

[0134] As a further embodiment of this embodiment, the fourth through hole 27 is located at the center of the trigger base 22;

[0135] Two third guide limit rods 24 are provided and symmetrically distributed on both sides of the third spring 23.

[0136] As a further embodiment of this example, the upper trigger component 26 includes a trigger end 28 and an upper connecting rod 29;

[0137] The trigger end 28 is connected to or disconnected from the trigger lower component 25, and the lower end of the upper connecting rod 29 is fixedly connected to the upper end of the trigger end 28.

[0138] As a further embodiment of this embodiment, the trigger lower component 25 includes a trigger lower base 30, a trigger lower top component 31, an external fixing arm 32, and a top rotating clip 33;

[0139] The lower end of the trigger base 30 is fixedly connected to the upper end of the second connecting rod 9;

[0140] The trigger lower top member 31 has an L-shaped structure, including a vertical section 34 and a horizontal section 35. The horizontal section 35 is fixedly installed on the trigger lower base 30, and the vertical section 34 extends upward.

[0141] The top-turning clamp 33 includes an integrated vertical clamp 36, an oblique connector 37, and a lateral abutment 38;

[0142] The external mounting arm 32 includes a mounting arm body 39, a forward extension top column 40, a forward extension connecting arm 41, and a fourth spring 42;

[0143] The upper end of the hanging arm body 39 is directly or indirectly connected to the leg fixing frame 5 and always maintains a fixed relative position with the leg fixing frame 5.

[0144] The forward-extending top column 40 is fixedly installed at the front end of the hanging arm body 39 and extends horizontally forward.

[0145] One end of the fourth spring 42 is disposed at the lower end of the hanging arm body 39, and the other end is connected to the end of the transverse abutment 38 near the hanging arm body 39, and always remains in an extended state.

[0146] The upper front side of the vertical clip 36 is engaged or disengaged from the lower part of the trigger upper component 26;

[0147] The lower rear side of the vertical clamp 36 abuts against or separates from the forward extension top post 40;

[0148] One end of the forward connecting arm 41 is fixedly mounted on the hanging arm body 39, and the other end is hinged to the top rotating clamp 33. The hinge point is located at the connection between the vertical clamp 36 and the oblique connecting piece 37.

[0149] The two ends of the oblique connector 37 are connected to the vertical clip 36 and the horizontal abutment 38 respectively. The end of the horizontal abutment 38 away from the oblique connector 37 extends backward, and the bottom of the horizontal abutment 38 abuts against the trigger lower top member 31.

[0150] As a further embodiment of this embodiment, the trigger end 28 is provided with a first ratchet 43 and a first limit switch 44;

[0151] The top rotating clip 33 is provided with a second ratchet 45 and a trigger surface 46 at the corresponding position of the trigger end 28;

[0152] The first ratchet 43 and the second ratchet 45 cooperate to achieve temporary locking;

[0153] When the first ratchet 43 and the second ratchet 45 are engaged and locked, the first limit switch 44 contacts the trigger surface 46, and when the first ratchet 43 and the second ratchet 45 are released from locking, the first limit switch 44 separates from the trigger surface 46.

[0154] In the initial state of this application, the first ratchet 43 and the second ratchet 45 are engaged. When the human body is walking and the ankle joint undergoes dorsiflexion, the second link 9 moves upward, thereby causing the trigger lower base 30 and the trigger lower top member 31 to move upward. The trigger lower top member 31 pushes the lateral abutment member 38, which in turn causes the top rotating member 33 to rotate around the hinge point, causing the first ratchet 43 and the second ratchet 45 to disengage, thus releasing the locking state and disconnecting the contact between the first limit switch 44 and the trigger surface 46. When the posture is restored, under the action of gravity and the elastic force of the fourth spring 42, the top rotating member 33 resets, causing the first ratchet 43 and the second ratchet 45 to re-engage, and the first limit switch 44 to re-contact the trigger surface 46. During the engagement of the first ratchet 43 and the second ratchet 45, the ratchet action restricts the vertical tendency of the top rotating member 33 and the trigger end 28 to move away from each other, ensuring the stability of the locking state.

[0155] like Figure 8 As shown, as a further embodiment of this example, the upper drive mechanism 3 includes a drive base platform 47, a drive motor 48, a drive gear 49, a vertical rack 50, an upper driven frame 51, a fifth spring 52, and a fourth guide limit rod 53.

[0156] The drive base platform 47 is fixedly mounted on the leg fixing frame 5;

[0157] The drive base platform 47 is provided with a fifth through hole 54 and a sixth through hole 55;

[0158] One end of the upper trigger component 26, away from the lower trigger component 25, passes through the fifth through hole 54 and is fixedly connected to the bottom of the upper driven frame 51;

[0159] The drive motor 48 is fixedly mounted on the drive base platform 47, the drive gear 49 is fixedly mounted on the output shaft of the drive motor 48, and the vertical rack 50 meshes with the drive gear 49 and is driven by the drive motor 48 to move up and down.

[0160] The upper end of the vertical rack 50 is fixedly mounted on the upper driven frame 51, and the other end extends downward and passes through the sixth through hole 55;

[0161] The fifth spring 52 is sleeved on the trigger assembly 26, with its upper and lower ends respectively abutting against the drive base platform 47 and the lower end of the upper driven frame 51, and is always in a compressed state;

[0162] The upper driven frame 51 includes a middle connecting area 56 and an end connecting area 57;

[0163] The middle connecting area 56 is used to connect with the vertical rack 50, the trigger upper component 26, the fifth spring 52 and the fourth guide limiting rod 53, and the end connecting area 57 is used to connect with the lifting mechanism 4;

[0164] A seventh through hole 58 is provided on the central connecting area 56. The lower end of the fourth guide limiting rod 53 is fixedly installed on the driving base platform 47, and the upper end passes through the seventh through hole 58 to provide guidance for the upper driven frame 51 to move up and down.

[0165] As a further embodiment of this example, a third limit switch 76 is provided at the bottom of the foot fixation frame 6 corresponding to the position of the forefoot. When the foot fixation frame 6 is lifted, the third limit switch 76 disconnects from the ground. When the foot fixation frame 6 falls to the position of the forefoot touching the ground, the third limit switch 76 contacts the ground and closes.

[0166] As a further embodiment of this example, two of each of the drive motor 48, drive gear 49, and vertical rack 50 are symmetrically arranged and distributed symmetrically around the center line of the drive base platform 47.

[0167] As a further embodiment of this embodiment, the upper end of the fourth guide limiting rod 53 is also provided with an upper end cover 59;

[0168] A second limit switch 60 is provided at the bottom of the upper cover 59.

[0169] In this application, the drive motor 48 of the upper drive mechanism 3 is controlled by the first limit switch 44 and the second limit switch 60. When the first limit switch 44 is in contact with the trigger surface 46 but the third limit switch 76 is still in contact with the ground, the drive motor 48 is in a power-off and stopped working state. When the human body is in a walking state and the ankle joint undergoes dorsiflexion, and the first limit switch 44 is disconnected from the trigger surface 46 and the third limit switch 76 is disconnected from the ground, the drive motor 48 is powered on and started. The drive gear 49 rotates, driving the vertical rack 50 to move upward, which in turn drives the upper driven frame 51 to move upward until the upper driven frame 51 triggers the second limit switch 60 at the bottom of the upper end cover 59. The motor reverses, and the drive gear 49 drives the vertical rack 50 to move downward, causing the upper driven frame 51 to reset, until the first limit switch 44 or the third limit switch 76 is triggered, and the motor stops rotating.

[0170] As a further embodiment of this example, the lifting mechanism 4 includes an lifting elastic band 61, a steering pulley group 62, a sixth spring 63, a fifth guide limiting rod 64, and a top connecting plate 65.

[0171] An eighth through hole 66 is provided on the end connection area 57;

[0172] The lifting elastic band 61 includes a band body 67, an end fixing clip 68, and an end connecting rod 69;

[0173] One end of the belt 67 is connected to the front position of the foot fixing frame 6, and the other end passes around the steering pulley group 62 fixed on the leg fixing frame 5 and then rises vertically upward. The end is provided with the end fixing clip 68. The end of the end fixing clip 68 away from the belt 67 is integrally provided with the end connecting rod 69. The end of the end connecting rod 69 away from the end fixing clip 68 passes through the eighth through hole 66 and is fixedly connected to the top connecting plate 65.

[0174] The sixth spring 63 is sleeved on the end connecting rod 69, and its upper and lower ends abut against the top connecting plate 65 and the upper driven frame 51, respectively.

[0175] The top connecting plate 65 is provided with a ninth through hole 70, and the lower end of the fifth guide limiting rod 64 is fixedly installed on the upper driven frame 51, while the upper end passes through the ninth through hole 70.

[0176] As a further embodiment of this example, the leg fixing frame 5 includes a first fixing platform 71, a second fixing platform 72, and a fixing platform connecting column 73;

[0177] The first fixing platform 71 and the second fixing platform 72 are arranged vertically at intervals, with the first fixing platform 71 located above the second fixing platform 72, and the first fixing platform 71 and the second fixing platform 72 are fixedly connected by the fixing platform connecting column 73.

[0178] The first fixed platform 71 is integrally connected to the drive base platform 47 and is fixed around the front of the lower leg;

[0179] The second fixed platform 72 is integrally connected with the trigger base 22 and fits against the back of the lower leg.

[0180] As a further embodiment of this example, the steering pulley assembly 62 includes a rear pulley 74 and a front pulley 75;

[0181] Both the rear pulley 74 and the front pulley 75 are rotatably mounted on the second fixed platform 72, and the rear pulley 74 is located behind the front pulley 75;

[0182] The belt body 67 of the lifting elastic belt 61 extends vertically downward from one side of the end fixing clip 68, passes around the rear pulley 74, then passes forward around the front pulley 75 and extends vertically downward, and is fixedly connected to the side of the foot fixing frame 6 at the end.

[0183] In this application, the lifting elastic band 61 is kept taut under the preload of the sixth spring 63. When the drive motor 48 moves the upper driven frame 51 upward, the sixth spring 63 is further compressed and applies an upward thrust to the top connecting plate 65. This, in turn, pulls the lifting elastic band 61 through the end connecting rod 69, thereby achieving passive dorsiflexion assistance of the foot, assisting the ankle joint in completing the dorsiflexion action during the swing phase, and preventing the risk of falling due to the toes dragging on the ground.

[0184] In a preferred embodiment of this invention, a processing module 77 is also included. The first limit switch 44, the second limit switch 60, the third limit switch 76, and the drive motor 48 are all electrically connected to the processing module 77. The processing module 77 is used to receive signals from the first limit switch 44, the second limit switch 60, and the third limit switch 76, and to control the start / stop and rotation direction of the drive motor 48 according to the signal status.

[0185] The exoskeleton disclosed in this application provides assistance during walking, and during walking, the ankle joint angle and stress continuously change with the gait cycle. Figure 9 and 10 As shown, this application divides the gait cycle into multiple stages.

[0186] The first stage is 0%-30%, during which the foot is in the late swing phase to the early ground contact phase. The ankle joint does not change angle much. At this time, the exoskeleton is in its initial form. The first limit switch 44 is in contact with the trigger surface 46. After the forefoot touches the ground, the third limit switch 76 changes from disconnected to in contact with the ground. The drive motor 48 does not work.

[0187] The second stage is 30%-40%, at which point the foot enters the middle of ground contact. As the body's center of gravity shifts forward, the calf muscles are stretched. Since the length of the first link 8 remains constant, it provides a downward pulling force to the lower intermediate connecting plate 10 to resist its upward movement. At this time, the lower end of the second spring 13 is fixed while its upper end is stretched, thus generating an upward restoring force. Simultaneously, the first spring 18 is moved by the lifting of the lower base plate 14 until the first limiting end 16 contacts the lower intermediate connecting plate 10. When the lower base plate 14 continues to rise, it squeezes the first spring 18 from below, compressing it and causing the resistance of the first spring 18 to act on the posterior structure of the exoskeleton. As the second link 9 moves upward, it causes the trigger lower base 30 and trigger lower top member 31 to move upward. The trigger lower top member 31 pushes the transverse abutment member 38, which in turn causes the top rotating clamp member 33 to rotate around the hinge point, causing the first ratchet 43 to disengage from the second ratchet 45, thereby releasing the locking state. The contact between the first limit switch 44 and the trigger surface 46 is broken. At this time, since only the first limit switch 44 is broken from the trigger surface 46, while the third limit switch 76 is still in contact with the ground, the processing module 77 does not issue an opening command to the drive motor 48, and the drive motor 48 remains stationary.

[0188] The third stage is from 40% to 60%. During this stage, the foot pushes off the ground, gradually leaving the ground starting from the heel. Towards the end of this stage, the forefoot separates from the ground after the push-off. At this point, the third limit switch 76 disconnects from the ground, while the first limit switch 44 remains open. The processing module 77 detects that both the first limit switch 44 and the third limit switch 76 are open, thus starting the drive motor 48 and initiating forward rotation. In this stage, the elastic potential energy generated by the first spring 18 and the second spring 13 in the second stage is released. This release of elastic potential energy assists the calf muscles in pushing off the ground, realizing the passive plantar flexion assistance function of the exoskeleton during the push-off phase.

[0189] The fourth stage is 60%-75%. At this time, the foot enters the initial swing phase. Since the drive motor 48 has been started and rotated in the forward direction at the last moment of the previous stage, the drive gear 49 of the exoskeleton rotates in this stage, driving the vertical rack 50 to move upward, which in turn drives the upper driven frame 51 to move upward. The sixth spring 63 is further compressed and applies an upward thrust to the top connecting plate 65, which in turn pulls the elastic band 61 upward through the end connecting rod 69, thereby realizing active dorsiflexion assistance of the foot, assisting the ankle joint to complete the dorsiflexion action in the swing phase, and preventing the toes from dragging on the ground.

[0190] The fifth stage is 75%-100%. At this time, the foot enters the end of the swing phase, and the lower leg and foot gradually transition from dorsiflexion to plantarflexion. At this time, the muscles in the back of the leg begin to contract. After the upper driven frame 51 triggers the second limit switch 60 at the bottom of the upper cover 59, the motor starts to reverse. The drive gear 49 also drives the vertical rack 50 to move downward, so that the upper driven frame 51 is reset. When it returns to its original position, the lower component 25 and the upper component 26 are triggered to re-engage. At this time, the first limit switch 44 and the trigger surface 46 re-contact, the motor stops rotating, and the exoskeleton returns to its initial state, completing one working cycle.

[0191] By adopting the above technical solution, the present invention has the following beneficial effects: (1) The exoskeleton of this application relies on the posterior spatial deformation of the ankle joint during movement. It directly extracts gait phase signals through the linkage deformation of multiple sets of elastic components, eliminating the need for sensors for human movement states such as plantar pressure and joint angle. It uses the mechanical displacement caused by the ankle joint to change the state of the limit switch, thereby realizing the timing triggering of the assist. This avoids the problem of sensor drift and failure during long-term movement, and also achieves rapid synchronous response of the assist action, conforming to the natural gait of the human body.

[0192] (2) The lower elastic telescopic mechanism 1 forms a graded mechanical response through two sets of elastic components (first spring 18 and second spring 13) with different pre-tightening states. In the early stage of dorsiflexion, it first follows the natural movement of the human body with low resistance deformation. After the dorsiflexion reaches the preset threshold, the elastic resistance is gradually increased. It will not interfere with the normal autonomous movement of the ankle joint in the support phase, and can efficiently absorb gait impact energy during deformation, greatly improving the following compliance during the wearing process.

[0193] (3) The triggering mechanism 2 adopts a ratchet locking structure with angled engagement as a mechanical switch for power start and stop. Small vibrations and gait fluctuations during daily walking will not cause mis-locking. The assist action will be accurately triggered only when the ankle dorsiflexion angle reaches the critical position of the swing phase and the forefoot leaves the ground, completely eliminating the safety hazards of misaligned assist timing and accidental start. It can still work stably in complex scenarios with strong vibrations such as construction sites and outdoors.

[0194] (4) The gear and rack drive unit arranged symmetrically on both sides in this application is equipped with multiple guide limit rods to completely cancel out the lateral force generated by the power assist. The power output maintains pure vertical linear motion throughout the entire process, and there will be no problem of uneven load jamming or uneven wear of components. Even when facing heavy users or working conditions such as climbing slopes or walking with heavy loads, it can maintain a strong and stable assist effect.

[0195] (5) The lifting mechanism 4 is connected in series with a pre-tightened elastic component in the lifting and pulling path. When the power is output, the elastic component is compressed first and then the pulling force is transmitted. There will be no peak impact force at the moment of rigid pulling. The assist force will gradually and gently increase with the drive stroke. It can effectively lift the toes to avoid swinging and dragging the ground and tripping. It will not forcibly pull the ankle joint to restrict the human body's willingness to move. The wearing experience is more natural and comfortable.

[0196] (6) The leg support frame 5 adopts a split hollow frame structure instead of a large area of ​​hard shell. This ensures the overall rigidity when wearing the device and distributes the weight of the device evenly to different points on the lower leg, avoiding the problems of soreness and marks caused by prolonged pressure on certain areas. It also maintains good breathability and comfort when wearing and walking for a long time.

[0197] (7) The drive stroke is controlled by two position switches at the top and bottom. Combined with the limit stroke limit of the mechanical structure itself, even if the electronic control signal is briefly abnormal, the drive mechanism will not overtravel, reducing the risk of excessive pulling on the ankle joint. At the same time, the overall weight distribution of the device is close to the physiological curve of the back of the lower leg, reducing the burden on the user's lower limbs.

[0198] (8) This set of coupled driving logic can be directly used as a rehabilitation assist exoskeleton worn by the human body to help people with insufficient lower limb muscle strength improve their walking posture and reduce exercise fatigue. This coupled triggering and driving idea can also be extended to robot ankle joint mechanism as a solution to simplify local ankle joint driving and timing control.

[0199] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A dorsiflexion-plantarflexion coupled driven ankle assistive exoskeleton, characterized by, It includes a lower elastic telescopic mechanism, a triggering mechanism, an upper drive mechanism, a lifting mechanism, a leg fixing frame, and a foot fixing frame; The leg fixation bracket is used for fixed connection with the lower leg structure; The upper drive mechanism is fixedly installed at the rear of the leg fixing frame; The foot fixation bracket is used for fixed connection with the foot structure; The lower elastic telescopic mechanism is fixedly installed at the rear of the foot fixing frame; The triggering mechanism is connected to the lower elastic telescopic mechanism and the upper drive mechanism respectively; One end of the lifting mechanism is connected to the upper drive mechanism, and the other end is connected to the front end of the foot fixing frame.

2. The plantar-dorsiflexion coupled actuated ankle assistance exoskeleton according to claim 1, characterized in that, The lower elastic telescopic mechanism includes a first pin plate, a first connecting rod, a second connecting rod, a lower intermediate connecting plate, a first guide limiting rod, a first elastic structure, and a second spring. The first pin plate is fixedly installed at the rear end of the foot fixing frame; The lower middle connecting plate is connected to the first pin plate by the first connecting rod. The first elastic structure includes a lower base plate, a second guide limiting rod, a first limiting end, a second limiting end, and a first spring; The lower base plate is fixedly connected to the lower end of the first guide limiting rod; The lower base plate is provided with a first through hole and a second through hole; The second guide limiting rod is disposed through the first through hole. The first limiting end and the second limiting end are respectively fixedly disposed at the upper and lower ends of the second guide limiting rod. The first spring is disposed between the first limiting end and the upper end surface of the lower base plate and is always kept in a compressed state. The first connecting rod passes through the second through hole; A third through hole is provided on the lower middle connecting plate; The end of the first guide limiting rod away from the lower base plate passes through the third through hole and is fixedly connected to the triggering mechanism. The upper and lower ends of the second spring are respectively connected to the lower end of the second connecting rod and the lower middle connecting plate; The second spring remains in a stretched state at all times; The end of the second link furthest from the second spring is connected to the triggering mechanism; The second through hole is an elongated through hole, which has a swing space for the first connecting rod in the front-back direction; The second through hole is located at the center of the lower base plate, and there are two first through holes, which are symmetrically arranged on both sides of the second through hole; The second guide limiting rod, the first limiting end, the second limiting end, and the first spring are all included in pairs, and are respectively provided corresponding to the first through hole; There are two third through holes, and two corresponding first guide limit rods are also provided, which are mirror-symmetrical to the central axis of the exoskeleton.

3. The plantarflexion-dorsiflexion coupled actuated ankle assist exoskeleton according to claim 2, wherein, The triggering mechanism includes a trigger base, a third spring, a third guide limit rod, a lower trigger assembly, and an upper trigger assembly; The lower end of the trigger base is fixedly connected to the upper end of the first guide limiting rod; The trigger base is provided with a fourth through hole; The end of the second connecting rod away from the second spring passes through the fourth through hole and is fixedly connected to the trigger assembly. The third spring is sleeved on the second connecting rod, and its upper and lower ends respectively abut against the upper end face of the trigger base and the lower end face of the trigger assembly and are always kept in a compressed state. The lower end of the third guide limiting rod is fixedly mounted on the trigger base, and the other end passes through the lower trigger assembly, guiding and limiting the lower trigger assembly. The upper end of the upper trigger component is connected to the upper drive mechanism, and the lower end of the upper trigger component is connected to or disconnected from the lower trigger component. The fourth through hole is located at the center of the trigger base; Two third guide limiting rods are provided and symmetrically distributed on both sides of the third spring; The triggering upper component includes a trigger end and an upper connecting rod; The trigger end is connected to or disconnected from the trigger lower component, and the lower end of the upper connecting rod is fixedly connected to the upper end of the trigger end.

4. The plantarflexion-dorsiflexion coupled actuated ankle assist exoskeleton according to claim 3, wherein, The trigger lower component includes a trigger lower base, a trigger lower top component, an external fixing arm, and a top rotating clip; The lower end of the trigger base is fixedly connected to the upper end of the second connecting rod; The trigger lower top component has an L-shaped structure, including a vertical section and a horizontal section. The horizontal section is fixedly installed on the trigger lower base, and the vertical section extends upward. The top-rotating fastener includes an integrated vertical fastener, an oblique connecting component, and a lateral abutment component; The external mounting arm includes a mounting arm body, a forward extension top column, a forward extension connecting arm, and a fourth spring; The upper end of the hanging arm body is directly or indirectly connected to the leg fixing frame and always maintains a fixed relative position with the leg fixing frame; The forward-extending top column is fixedly installed at the front end of the hanging arm body and extends horizontally forward; One end of the fourth spring is located at the lower end of the hanging arm body, and the other end is connected to the end of the lateral abutment member near the hanging arm body, and always remains in an extended state. The upper front side of the vertical card is engaged or disengaged from the lower part of the trigger upper component; The rear side of the lower end of the vertical clamp abuts against or separates from the forward-extending top column; One end of the forward connecting arm is fixedly mounted on the hanging arm body, and the other end is hinged to the top rotating clamp. The hinge point is located at the connection between the vertical clamp and the oblique connecting member. The two ends of the oblique connector are respectively connected to the vertical clip and the horizontal abutment. The end of the horizontal abutment away from the oblique connector extends backward, and the bottom of the horizontal abutment abuts against the trigger bottom piece.

5. The plantar-dorsiflexion coupled ankle joint assistive exoskeleton according to claim 4, characterized in that, The trigger end is provided with a first ratchet and a first limit switch; The top rotating clip is provided with a second ratchet and a trigger surface at the location corresponding to the trigger end; The first ratchet tooth and the second ratchet tooth engage to achieve temporary locking; When the first ratchet and the second ratchet are engaged and locked, the first limit switch is in contact with the trigger surface, and when the first ratchet and the second ratchet are released from locking, the first limit switch is separated from the trigger surface.

6. The plantar-dorsiflexion coupled ankle joint assist exoskeleton according to claim 5, characterized in that, The upper drive mechanism includes a drive base platform, a drive motor, a drive gear, a vertical rack, an upper driven frame, a fifth spring, and a fourth guide limit rod; The drive base platform is fixedly mounted on the leg fixing frame; The drive base platform is provided with a fifth through hole and a sixth through hole; The end of the upper trigger component away from the lower trigger component passes through the fifth through hole and is fixedly connected to the bottom of the upper driven frame; The drive motor is fixedly mounted on the drive base platform, the drive gear is fixedly mounted on the output shaft of the drive motor, and the vertical rack meshes with the drive gear and is driven by the drive motor to move up and down. The upper end of the vertical rack is fixedly mounted on the upper driven frame, and the other end extends downward and passes through the sixth through hole; The fifth spring is sleeved on the trigger assembly, with its upper and lower ends respectively abutting against the drive base platform and the lower end of the upper driven frame, and is always in a compressed state; The upper driven frame includes a middle connection area and an end connection area; The middle connecting area is used to connect with the vertical rack, the upper trigger assembly, the fifth spring and the fourth guide limiting rod, and the end connecting area is used to connect with the lifting mechanism; A seventh through hole is provided on the central connecting area. The lower end of the fourth guide limit rod is fixedly installed on the driving base platform, and the upper end passes through the seventh through hole to provide guidance for the upper driven frame to move up and down. The upper end of the fourth guide limiting rod is also provided with an upper end cover; A second limit switch is provided at the bottom of the upper end cover; A third limit switch is provided at the bottom of the foot fixation frame corresponding to the position of the forefoot. When the foot fixation frame is raised, the third limit switch is disconnected from the ground. When the foot fixation frame falls to the ground, the third limit switch is connected to the ground and closed.

7. The plantar-dorsiflexion coupled ankle joint assistive exoskeleton according to claim 6, characterized in that, The lifting mechanism includes an lifting elastic belt, a steering pulley block, a sixth spring, a fifth guide limit rod, and a top connecting plate; An eighth through hole is provided on the end connection area; The lifting elastic band includes a band body, an end fixing clip, and an end connecting rod; One end of the belt is connected to the front position of the foot fixing frame, and the other end passes around the steering pulley group fixed on the leg fixing frame and then goes vertically upward. The end is provided with the end fixing clip. The end of the end fixing clip away from the belt is integrally provided with the end connecting rod. The end of the end connecting rod away from the end fixing clip passes through the eighth through hole and is fixedly connected to the top connecting plate. The sixth spring is sleeved on the end connecting rod, with its upper and lower ends respectively abutting against the top connecting plate and the upper driven frame. The top connecting plate is provided with a ninth through hole, and the lower end of the fifth guide limit rod is fixedly installed on the upper driven frame, while the upper end passes through the ninth through hole.

8. The plantar-dorsiflexion coupled ankle joint assist exoskeleton according to claim 7, characterized in that, The leg fixing frame includes a first fixing platform, a second fixing platform, and a fixing platform connecting column; The first fixing platform and the second fixing platform are arranged vertically at intervals, with the first fixing platform located above the second fixing platform, and the first fixing platform and the second fixing platform are fixedly connected by the fixing platform connecting column; The first fixed platform is integrally connected to the drive base platform and is fixed around the front of the lower leg; The second fixing platform is integrally connected to the trigger base and fits against the back of the lower leg.

9. The plantar-dorsiflexion coupled ankle joint assistive exoskeleton according to claim 8, characterized in that, The steering pulley assembly includes a rear pulley and a front pulley; Both the rear pulley and the front pulley are rotatably mounted on the second fixed platform, and the rear pulley is located behind the front pulley; The elastic band of the lifting band extends vertically downward from the end fixing clamp side, passes around the rear pulley, then passes forward around the front pulley and extends vertically downward, and is fixedly connected to the side of the foot fixing frame at the end.

10. The plantar-dorsiflexion coupled ankle joint assistive exoskeleton according to claim 9, characterized in that, It also includes a processing module, and the first limit switch, the second limit switch, the third limit switch and the drive motor are all electrically connected to the processing module; The processing module is used to receive signals from the first limit switch, the second limit switch and the third limit switch, and control the start, stop and rotation direction of the drive motor according to the signal status.

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