Ankle joint assisting flexible exoskeleton

Abstract

The utility model relates to the field of power-assisted exoskeletons, and particularly provides an ankle joint power-assisted flexible exoskeleton. The flexible exoskeleton comprises a tensioning module, a Bowden cable, a waistband, a binding module, a foot supporting module and a main control unit. The tensioning module is arranged on the waistband, and the binding module is used for being bound to the shanks of a user. The foot supporting module is worn on the foot of a user; the Bowden cable is used for connecting the binding module, the foot supporting module and the tensioning module; the tensioning module comprises a shell, a tensioning bolt, a guide piece, a power device and an elastic piece, the shell is installed on the waistband through a fixing piece, the elastic piece used for being connected with the Bowden cable is arranged in the shell, and the power device is used for controlling the Bowden cable to stretch out and draw back in the shell; the guide piece is used for providing guidance for the Bowden cable; a first tensioning bolt is arranged on the guide piece; the tensioning module allows the user to adjust the tension of the Bowden cable so as to adapt to the body and motion characteristics of different users.

Description

Technical Field

[0001] The utility model relates to the field of power-assisted exoskeletons, and specifically provides an ankle joint power-assisted flexible exoskeleton. Background Art

[0002] Exoskeleton technology originated from the military and manufacturing fields to enhance human strength and endurance. With the development of technology, exoskeletons have begun to be widely used in the field of medical rehabilitation, especially for the support and rehabilitation of people with walking disabilities. Exoskeletons help users restore or enhance their athletic ability by imitating the movement patterns of the human body.

[0003] The ankle joint assisted exoskeleton of the prior art uses the Bowden cable to transmit torque to the anchor point of the heel fixing rod to assist the wearer's ankle plantar flexion movement. However, since the ankle joint assisted Bowden cable transmission system of the exoskeleton mechanism lacks a tensioning mechanism, it is impossible to adjust the tension of the steel wire bundle in the Bowden cable tube, which can easily cause force transmission lag, affect the power-assisting effect, and easily cause the Bowden cable to fall off the turntable during reversing transmission; and the foot structure of the ankle joint assisted exoskeleton of the prior art is relatively simple, lacking an auxiliary wearing structure, which not only affects the foot experience of walking assistance, but also makes the exoskeleton unable to provide upward assistance to the heel through the support structure of the sole. Finally, since the leg structure and foot structure of the ankle joint assisted exoskeleton of the prior art are difficult to adjust in size, the exoskeleton can adapt to a limited foot width or shoe size, and the wearer's calves are thick or thin, and the rigid rods on both sides of the exoskeleton calf cannot fit various leg shapes, which is not conducive to practical application.

[0004] Accordingly, the art needs a new ankle-assisted flexible exoskeleton to solve the above-mentioned technical problems. Utility Model Content

[0005] The utility model aims to solve the above-mentioned technical problems, that is, to solve the problems that the existing ankle joint assisted exoskeleton lacks tension adjustment and has poor comfort and adaptability.

[0006] The utility model provides an ankle joint-assisted flexible exoskeleton, the flexible exoskeleton comprising a tensioning module, a Bowden cable, a waist belt, a binding module, a foot support module, and a main control unit, wherein: the waist belt is provided with the tensioning module for fixing the tensioning module on the user's waist; the binding module is used to be bound to the user's calf to support the user's calf; the foot support module is worn on the user's foot to support the user's foot; the Bowden cable is used to connect the binding module, the foot support module and the tensioning module; the tensioning module comprises a shell, a tensioning bolt, a guide, a power device, an elastic member, and the The shell is installed on the belt through a fixing part, and the shell is provided with the elastic part for connecting the Bowden cable so that the Bowden cable can be subjected to a reverse force when stretched; the power device is used to control the extension and retraction of the Bowden cable in the shell; the guide member is used to provide guidance for the extension and retraction of the Bowden cable in the shell, and the guide member is configured to be a structure that can rotate along the axis of the shell to adjust the extension angle of the Bowden cable; the guide member is provided with a first tensioning bolt for controlling the length of the Bowden cable stretched from the shell to the outside; the main control unit is used to control the operation of the power device.

[0007] Based on the above settings, the tensioning module is a key component that connects the Bowden cable and other parts of the exoskeleton. It allows users to adjust the tension of the Bowden cable to adapt to the physical and movement characteristics of different users; users can accurately adjust the tension by operating the adjustment bolt, as well as the reverse force of the elastic part on the Bowden cable, to ensure that the assistance provided by the exoskeleton meets the needs of the user without excessively interfering with or restricting natural movement. As a medium for power transmission, the Bowden cable has sufficient strength and flexibility to adapt to various activities of the user. In a flexible exoskeleton, the use of the Bowden cable can effectively connect the power source and the support point, providing smooth and precise assistance while keeping the entire system light and flexible.

[0008] In the preferred technical solution of the above-mentioned flexible exoskeleton, the power device includes a motor and a groove wheel, the motor is used to drive the groove wheel to rotate, and the rotation of the groove wheel drives the Bowden cable to extend and retract; the elastic member is a planar scroll spring, which is used to provide bending elastic force for the Bowden cable.

[0009] Based on the above settings, the design of the motor and the groove wheel can not only accurately control the extension and retraction of the Bowden cable, thereby providing continuous and stable assistance, but also provide the necessary elastic force through the flat scroll spring to increase the adaptability of the exoskeleton.

[0010] In the preferred technical solution of the above-mentioned flexible exoskeleton, the binding module includes a calf binding ring, a fixing plate, a second tensioning bolt and a guide, wherein: the fixing plate is installed on the Bowden cable through the guide, and the second tensioning bolt is arranged on the guide to adjust the tightness of the clamping of the Bowden cable by the guide; the calf binding ring is connected to the top of the fixing plate to bind and fix the binding module to the user's calf.

[0011] Based on the above arrangement, combined with the calf binding ring, the fixing plate and the second tensioning bolt, the exoskeleton can be firmly and comfortably fixed on the user's calf, ensuring stability and adaptability of use.

[0012] In the preferred technical solution of the above-mentioned flexible exoskeleton, the guide member is detachably connected to the fixing plate by bolts, and the fixing plate has a plurality of threaded holes arranged along its length direction so that the guide member can be selectively fixed at different positions.

[0013] Based on the above settings, this design increases the adjustment flexibility of the exoskeleton, allowing users to personalize adjustments based on their body size, providing better fit and comfort.

[0014] In the preferred technical solution of the above-mentioned flexible exoskeleton, the foot support module includes a connecting and fixing rod, a dorsal foot binding ring, a support pad, a foot rest, and a tension spring, wherein: the connecting and fixing rod is installed at the bottom of the fixing plate, the connecting and fixing rod is hinged to the foot rest, and the connecting and fixing rod and the foot rest are respectively connected to the two ends of the tension spring, so that the user can reset the joint when exercising; the Bowden cable extends to the foot rest and is fixedly connected to the foot rest, so as to stretch the foot rest through the Bowden cable to provide assistance; the dorsal foot binding ring is fixedly installed on the foot rest; the part of the foot rest close to the user's heel and the bottom of the foot rest are both provided with a support pad.

[0015] Based on the above settings, the structural design of the foot support module takes into account the complexity of foot movement, and provides good support and adaptability through the combined effects of connecting the fixing rod, the instep binding ring, the support pad, the foot rest and the tension spring.

[0016] In the preferred technical solution of the above-mentioned flexible exoskeleton, the bottom of the footrest is configured as a detachable structure by bolts, and a plurality of threaded holes are distributed along the width direction of the user's foot at the bottom of the footrest; the footrest is used to be disassembled and assembled into different widths according to the different foot widths of the user.

[0017] Based on the above settings, by designing multiple threaded holes at the bottom of the footrest, the exoskeleton can be adjusted according to the foot width of different users, thereby improving personalized adaptation and comfort.

[0018] In the preferred technical solution of the above-mentioned flexible exoskeleton, EVA sponge is embedded in the foot binding ring and the calf binding ring.

[0019] Based on the above settings, the user is provided with comfort and cushioning for long-term wearing, reducing the pressure or discomfort that may occur during use.

[0020] In the preferred technical solution of the above-mentioned flexible exoskeleton, the calf binding ring and the instep binding ring are both configured as an adjustable structure composed of a strap and a buckle.

[0021] Based on the above settings, more flexible adjustment options are provided, allowing users to adjust the tightness of the binding according to their needs, increasing the convenience and personalization of wearing.

[0022] In the preferred technical solution of the above-mentioned flexible exoskeleton, a third tensioning bolt for fixing the Bowden cable is provided on the footrest.

[0023] Based on the above settings, this increases the safety and stability of the exoskeleton and ensures the fixity and reliability of the Bowden cable during use.

[0024] In the preferred technical solution of the above-mentioned flexible exoskeleton, the main control unit includes an inertial measurement component, a controller and a battery. The inertial measurement component is arranged on the calf binding ring and is used to measure the user's walking state information; the controller is electrically connected to the inertial measurement component for receiving the walking state information; the controller is electrically connected to the motor and is used to adjust the motor power according to the walking state information; the battery is used to supply energy to the motor, the controller and the inertial measurement component.

[0025] Based on the above settings, by integrating inertial measurement components, controllers and batteries, the exoskeleton can intelligently adjust the power assistance, make real-time adjustments based on the user's walking status information, and provide personalized assistance. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings, in which:

[0027] Figure 1 The overall structure schematic diagram of the utility model is shown;

[0028] Figure 2 The rear side schematic diagram of the overall structure of the utility model is shown;

[0029] Figure 3 The figure shows the internal structure of the tensioning module of the present invention.

[0030] Reference numerals:

[0031] 1. Waist belt; 2. Tension module; 3. Bowden cable; 4. Inertial measurement unit; 5. Calf binding ring; 6. Connecting fixed rod; 7. Footrest; 8. Tension spring; 9. Support pad; 10. Instep binding ring; 11. Ankle joint; 12. Controller; 13. Battery. 14. Planar scroll spring; 15. Fixing plate; 16. Guide; 17. Second tension bolt; 18. Third tension bolt. 19. First tension bolt; 20. Motor; 21. Groove wheel; 22. Guide. DETAILED DESCRIPTION

[0032] The preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only used to explain the technical principles of the present invention and are not intended to limit the scope of protection of the present invention. Those skilled in the art can make adjustments to them as needed to adapt to specific application scenarios.

[0033] It should be noted that in the description of the present invention, the terms "center", "upper", "lower", "left", "right", "inner", "outer" and the like indicating directions or positional relationships are based on the directions or positional relationships shown in the drawings, which are only for the convenience of description, and do not indicate or imply that the structure must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0034] In addition, it should be noted that in the description of the present invention, unless otherwise clearly specified and limited, the terms "connected", "interconnected", and "connection" should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the internal communication of two components. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0035] See below Figures 1 to 3 ,like Figures 1 to 3As shown, the utility model provides an ankle joint-assisted flexible exoskeleton, which includes a tensioning module 2, a Bowden cable 3, a belt 1, a binding module, a foot support module, and a main control unit, wherein: the belt 1 is provided with a tensioning module 2 for fixing the tensioning module 2 on the user's waist; it should be noted that the utility model does not impose any restriction on the specific structure of the belt 1, and those skilled in the art can set it according to their needs, as long as it can ensure that the belt 1 is not easy to fall off when worn on the user's waist and is comfortable. The binding module is used to be bound to the user's calf to support the user's calf; the foot support module is worn on the user's foot to support the user's foot; the Bowden cable 3 is used to connect the binding module, the foot support module and the tensioning module 2; the tensioning module 2 includes a shell, a first tensioning bolt 19, a guide member 22, a power device, and an elastic member. The shell is installed on the belt 1 through a fixing member so that the shell can rotate along its own axis to adjust the angle; it should be noted that the present invention does not impose any restrictions on the specific structure of the shell, and technical personnel in this field can set it according to their needs. For example, the shell can be a circular structure, and for another example, the shell can also be a square structure, as long as the internal space of the shell is sufficient to accommodate the device required for power assistance. An elastic member for connecting the Bowden cable 3 is arranged in the shell so that the Bowden cable 3 can be subjected to a reverse force when stretched; the power device is used to control the extension and retraction of the Bowden cable 3 in the shell; the guide member 22 is used to provide guidance for the extension and retraction of the Bowden cable 3 in the shell, and the guide member 22 is arranged to be rotatable along the axis of the shell to adjust the extension angle of the Bowden cable 3; a first tensioning bolt 19 is arranged on the guide member 22, which is used to control the length of the Bowden cable 3 stretched from the inside of the shell to the outside; the main control unit is used to control the operation of the power device.

[0036] In addition, it should be noted that the present invention does not impose any restrictions on the specific structure of the guide member 22, and those skilled in the art can set it according to their needs. For example, the guide member 22 can be a catheter structure, or for another example, the guide member 22 can be a slide rail structure, as long as it can ensure that the guide member 22 can guide the Bowden cable 3 to extend or retract into the shell.

[0037] Based on the above settings, the tensioning module 2 is a key component that connects the Bowden cable 3 and other parts of the exoskeleton. It allows the user to adjust the tension of the Bowden cable 3 to adapt to the physical and movement characteristics of different users; the user can accurately adjust the tension by operating the adjustment bolt, as well as the reverse force of the elastic member on the Bowden cable 3, to ensure that the assistance provided by the exoskeleton meets the needs of the user without excessively interfering with or restricting natural movement. As a medium for power transmission, the Bowden cable 3 has sufficient strength and flexibility to adapt to various activities of the user. In the flexible exoskeleton, the use of the Bowden cable 3 can effectively connect the power source and the support point, providing smooth and precise assistance, while keeping the entire system light and flexible.

[0038] Of course, it should be noted that the present invention does not impose any restrictions on the specific structure of the elastic member, and those skilled in the art can set it according to their needs. For example, the elastic member can be a spring, or an elastic rubber, as long as it can ensure that the elastic member can generate a reverse tensile force on the Bowden cable 3. In this preferred embodiment, the elastic member is a plane scroll spring 14, which is used to provide a bending elastic force for the Bowden cable 3. The plane scroll spring 14 provides the necessary elastic force to increase the adaptability of the exoskeleton.

[0039] Furthermore, the power device includes a motor 20 and a sheave 21. The motor 20 is used to drive the sheave 21 to rotate, and the rotation of the sheave 21 drives the Bowden cable 3 to extend and retract. The design of the motor 20 and the sheave 21 can not only accurately control the extension and retraction of the Bowden cable 3, but also provide continuous and stable assistance. It should be noted that the utility model does not impose any restrictions on the specific structure of the sheave 21, and those skilled in the art can set it according to their needs, as long as it can ensure that the sheave 21 can drive the Bowden cable 3 to extend and retract by rotating.

[0040] Further, the binding module includes a calf binding ring 5, a fixing plate 15, a second tensioning bolt 17 and a guide 16, wherein: the fixing plate 15 is installed on the Bowden cable 3 through the guide 16, and the second tensioning bolt 17 is arranged on the guide 16, which is used to adjust the clamping tightness of the Bowden cable 3 by the guide 16; the calf binding ring 5 is connected to the top of the fixing plate 15, and is used to bind and fix the binding module to the user's calf. Combined with the calf binding ring 5, the fixing plate 15 and the second tensioning bolt 17, the exoskeleton can be firmly and comfortably fixed on the user's calf, ensuring the stability and adaptability of use. It should be noted that the utility model does not impose any restrictions on the specific structure of the calf binding ring 5, and those skilled in the art can set it according to their needs. For example, the calf binding ring 5 can be a fully enclosed structure, and for another example, the calf binding ring 5 can also be a semi-enclosed structure, as long as it can ensure that the user is comfortable when wearing the calf binding ring 5.

[0041] Furthermore, the guide member 16 is detachably connected to the fixing plate 15 by bolts, and a plurality of threaded holes are arranged on the fixing plate 15 along its length direction, so that the guide member 16 can be selectively fixed at different positions. Of course, the utility model does not impose any restrictions on the specific connection method between the guide member 16 and the fixing plate 15, and those skilled in the art can set it according to their needs. For example, the guide member 16 can be disassembled to adjust the position on the fixing plate 15. For another example, the guide member 16 can also be adjusted on the fixing plate 15 by sliding. As long as the guide member 16 is fixed in position during use and can be adjusted in position according to user needs, it can be done. This design increases the adjustment flexibility of the exoskeleton, allowing users to make personalized adjustments according to their own body size, providing better fit and comfort.

[0042] The foot support module includes a connecting and fixing rod 6, a dorsal binding ring 10, a support pad 9, a foot rest 7, and a tension spring 8, wherein: the connecting and fixing rod 6 is installed at the bottom of the fixing plate 15, the connecting and fixing rod 6 is hinged with the foot rest 7, and the connecting and fixing rod 6 and the foot rest 7 are respectively connected to the two ends of the tension spring 8, so that the user can reset the joint when exercising; the Bowden line 3 extends to the foot rest 7 and is fixedly connected to the foot rest 7, so as to stretch the foot rest 7 through the Bowden line 3 to assist; the dorsal binding ring 10 is fixedly installed on the foot rest 7; the part of the foot rest 7 close to the user's heel and the bottom of the foot rest 7 are provided with a support pad 9. It should be noted that the utility model does not impose any restrictions on the specific structure of the dorsal binding ring 10, and those skilled in the art can set it according to their needs. For example, the dorsal binding ring 10 can be a fully enclosed structure, and for another example, the dorsal binding ring 10 can also be a semi-enclosed structure, as long as it can ensure that the user is comfortable when wearing the dorsal binding ring 10.

[0043] In addition, it should be noted that the present invention does not impose any restrictions on the connection method between the connecting fixing rod 6 and the foot rest 7. Those skilled in the art can set it according to their needs, as long as a certain resilience can be ensured between the connecting fixing rod 6 and the foot rest 7. The structural design of the foot support module takes into account the complexity of foot movement, and provides good support and adaptability through the comprehensive effect of the connecting fixing rod 6, the instep binding ring 10, the support pad 9, the foot rest 7 and the tension spring 8.

[0044] Furthermore, the bottom of the footrest 7 is set into a detachable structure by bolts, and a plurality of threaded holes are distributed along the width direction of the user's foot at the bottom of the footrest 7; it is used to disassemble and assemble the footrest 7 into different widths according to the different foot widths of the users. It should be noted that the utility model does not impose any restrictions on the specific adjustment method of the width of the footrest 7, and those skilled in the art can set it according to their needs. For example, the footrest 7 can be contracted and expanded by pulling. For another example, the footrest 7 can also be installed into a suitable size according to the disassembly method, as long as it can be ensured that the adjustment method does not affect the normal use of the user. By designing a plurality of threaded holes at the bottom of the footrest 7, the exoskeleton can be adjusted according to the foot width of different users, thereby improving personalized adaptation and comfort.

[0045] In this preferred embodiment, EVA sponges are embedded in the foot binding ring and the calf binding ring 5. It provides users with comfort and cushioning for long-term wearing, reducing the pressure or discomfort that may occur during use. Of course, the utility model does not impose any restrictions on the specific materials of the foot binding ring and the calf binding ring 5. Those skilled in the art can set them according to their needs as long as they can improve the comfort of users when wearing them.

[0046] The calf binding ring 5 and the instep binding ring 10 are both configured as an adjustable structure composed of a strap and a buckle. More flexible adjustment options are provided, so that users can adjust the tightness of the binding according to their needs, which increases the convenience and personalization of wearing. It should be noted that the utility model does not impose any restrictions on the specific structure of the strap and the buckle, and those skilled in the art can set it according to their needs. For example, the strap and the buckle can be adhered by means of a hook, and for another example, the strap and the buckle can also be connected by binding, as long as it can ensure that the strap and the buckle are convenient for users to adjust the tightness. A third tensioning bolt 18 for fixing the Bowden cable 3 is provided on the footrest 7. This increases the safety and stability of the exoskeleton and ensures the fixity and reliability of the Bowden cable 3 during use.

[0047] The main control unit includes an inertial measurement unit 4, a controller 12 and a battery 13. The inertial measurement unit 4 is arranged on the calf binding ring 5 and is used to measure the walking state information of the user. The controller 12 is electrically connected to the inertial measurement unit 4 and is used to receive the walking state information. The controller 12 is connected to the motor 20 and is used to adjust the power of the motor 20 according to the walking state information. The battery 13 is used to supply energy to the motor 20, the controller 12 and the inertial measurement unit 4. By integrating the inertial measurement unit 4, the controller 12 and the battery 13, the exoskeleton can intelligently adjust the power assistance, make real-time adjustments according to the walking state information of the user, and provide personalized assistance.

[0048] So far, the technical solution of the utility model has been described in conjunction with the optional implementation modes shown in the accompanying drawings, but it is easy for those skilled in the art to understand that the protection scope of the utility model is obviously not limited to these specific implementation modes. Without departing from the principle of the utility model, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the utility model.

Claims

1. An ankle joint-assisted flexible exoskeleton, characterized in that: The flexible exoskeleton includes a tensioning module, a Bowden cable, a waist belt, a binding module, a foot support module, and a main control unit, wherein: The tensioning module is provided on the waist belt, and is used to fix the tensioning module on the waist of the user; The binding module is used to be bound to the user's calf to support the user's calf; The foot support module is worn on the user's foot to support the user's foot; The Bowden cable is used to connect the binding module, the foot support module and the tensioning module; The tensioning module comprises a housing, a tensioning bolt, a guide, a power device, and an elastic member. The housing is mounted on the waist belt through a fixing member. The housing is provided with the elastic member for connecting the Bowden cable so that the Bowden cable can be subjected to a reverse force when stretched. The power device is used to control the extension and retraction of the Bowden cable in the housing. The guide is used to provide guidance for the extension and retraction of the Bowden cable in the housing, and the guide is configured to be a structure that can rotate along the axis of the housing to adjust the angle at which the Bowden cable extends. The guide is provided with a first tensioning bolt for controlling the length of the Bowden cable stretched from the housing to the outside. The main control unit is used to control the operation of the power device.

2. The flexible exoskeleton according to claim 1, characterized in that: The power device includes a motor and a groove wheel, the motor is used to drive the groove wheel to rotate, and the rotation of the groove wheel drives the Bowden cable to extend and retract; the elastic member is a flat scroll spring, which is used to provide bending elastic force for the Bowden cable.

3. The flexible exoskeleton according to claim 2, characterized in that: The binding module comprises a calf binding ring, a fixing plate, a second tensioning bolt and a guide, wherein: The fixing plate is installed on the Bowden cable through the guide member, and the second tensioning bolt is arranged on the guide member for adjusting the tightness of the clamping of the Bowden cable by the guide member; the calf binding ring is connected to the top of the fixing plate for binding and fixing the binding module to the user's calf.

4. The flexible exoskeleton according to claim 3, characterized in that: The guide member is detachably connected to the fixing plate by bolts, and a plurality of threaded holes are arranged on the fixing plate along its length direction so that the guide member can be selectively fixed at different positions.

5. The flexible exoskeleton according to claim 3, characterized in that: The foot support module includes a connecting fixing rod, a foot binding ring, a support pad, a foot rest, and a tension spring, wherein: The connecting and fixing rod is installed at the bottom of the fixing plate, the connecting and fixing rod is hinged to the foot rest, and the connecting and fixing rod and the foot rest are respectively connected to the two ends of a tension spring, so that the user can reposition the joint when exercising; the Bowden cable extends to the foot rest and is fixedly connected to the foot rest, so that the foot rest can be stretched by the Bowden cable to provide assistance; the instep binding ring is fixedly installed on the foot rest; the part of the foot rest close to the user's heel and the bottom of the foot rest are both provided with support pads.

6. The flexible exoskeleton according to claim 5, characterized in that: The bottom of the footrest is configured as a detachable structure by bolts, and a plurality of threaded holes are provided on the bottom of the footrest along the width direction of the user's foot; the footrest is used for being disassembled and assembled into different widths of the footrest according to different foot widths of the user.

7. The flexible exoskeleton according to claim 5, characterized in that: The foot binding ring and the calf binding ring are both embedded with EVA sponges.

8. The flexible exoskeleton according to claim 7, characterized in that: The calf binding ring and the instep binding ring are both configured as adjustable structures composed of a strap and a buckle.

9. The flexible exoskeleton according to claim 5, characterized in that: The foot rest is provided with a third tensioning bolt for fixing the Bowden cable.

10. The flexible exoskeleton according to claim 3, characterized in that: The main control unit includes an inertial measurement unit, a controller and a battery. The inertial measurement assembly is arranged on the calf binding ring, and is used to measure the walking state information of the user; the controller is electrically connected to the inertial measurement assembly, and is used to receive the walking state information; the controller is electrically connected to the motor, and is used to adjust the motor power according to the walking state information; the battery is used to supply energy to the motor, the controller, and the inertial measurement assembly.

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