Foot bottom self-adaptive device for exoskeleton

Abstract

The utility model discloses a sole self-adaptive device for exoskeleton, which relates to the technical field of exoskeleton devices, and comprises an enveloping support plate, and the enveloping support plate is a foundation of the sole self-adaptive device for basic exoskeleton and is used for providing support for the sole; the power generation mechanism is used for achieving rotation of the ankle joint along the center position by inputting torque; the gravity center self-adaption mechanism is used for achieving relative movement of the envelope supporting plate and the ankle joint in the sagittal axis direction of the human body; the speed difference flexible fault-tolerant mechanism is used for compensating the difference between the human body training speed and the moving speed between the walking base stations; wherein the envelope supporting plate is connected with the power generation mechanism, and the gravity center self-adaption mechanism and the speed difference flexible fault-tolerant mechanism are arranged on the envelope supporting plate. The method has the optimized speed difference and gravity center-motion center difference compensation capability, and the technical effect of improving the application effect and the use experience is achieved.

Description

Technical Field

[0001] This utility model relates to the field of exoskeleton device technology, and in particular to an exoskeleton foot self-adaptive device. Background Technology

[0002] Exoskeleton robots are an emerging technology that integrates multiple disciplines such as electromechanical engineering, algorithms, and bionics. They can effectively reduce the labor intensity of workers with high limb strength; effectively assist stroke patients in rehabilitation training; and effectively help patients (elderly) with limb disabilities achieve self-care.

[0003] Currently, the most significant functional deficiencies in commercially available rehabilitation exoskeleton robots lie in the scarcity of active / passive / assisted training functions for the patient's ankle joint. The technical challenge lies in the fact that during rehabilitation training, most of the patient's weight is concentrated on the exoskeleton robot's foot support device. If the distance between the point of high weight distribution and the ankle joint's rotational center deviates significantly, the external load on the ankle joint motor can easily exceed its inherent output characteristic limits, leading to motor overload protection or even motor burnout, ultimately causing unpredictable adverse effects on the patient. Simultaneously, the speed of human walking training and the movement speed of the walking base station are affected by multiple factors, including algorithm control accuracy, the walking training ground environment (fluctuating unevenness, non-measured friction coefficient), and the reliability of the software and hardware platforms. An unavoidable speed difference exists between the two, which often negatively impacts the patient's training. Summary of the Invention

[0004] To address the technical problem that the lack of a compensation mechanism for speed difference and center of gravity-center of motion difference in existing technologies affects application effectiveness and user experience, this utility model provides an exoskeleton foot adaptive device with optimized speed difference and center of gravity-center of motion difference compensation capabilities, thereby improving application effectiveness and user experience.

[0005] This utility model provides a foot self-adaptive device for exoskeletons, comprising:

[0006] An envelope support plate, which forms the basis of the exoskeleton foot self-adaptive device, is used to provide support for the foot.

[0007] A power generating mechanism is used to achieve rotation of the ankle joint around its central position by inputting torque.

[0008] A center-of-gravity adaptive mechanism is used to enable relative movement between the envelope support plate and the ankle joint along the sagittal axis of the human body.

[0009] A speed difference flexible fault-tolerant mechanism is used to compensate for the speed difference between human training speed and walking base station.

[0010] The envelope support plate is connected to the power generation mechanism, and the center of gravity adaptive mechanism and the speed difference flexible fault-tolerant mechanism are disposed on the envelope support plate.

[0011] In one feasible design, the envelope support plate is provided with a forefoot support plate and a hindfoot support plate respectively at the corresponding transverse tarsal joint position along the sagittal axis of the human body, wherein the forefoot support plate and the hindfoot support plate are hinged by a damping rotation component.

[0012] In one feasible design, distributed distance and pressure sensors are provided below the forefoot support plate and the rearfoot support plate.

[0013] In one feasible design, a control unit is provided above the power generating mechanism to receive distance and pressure sensor signals and evaluate the degree of deviation between the human body weight distribution point and the ankle joint motion center through algorithm processing, and issue deviation adjustment commands to the downward actuator accordingly.

[0014] In one feasible design, the forefoot support plate continuously provides a thrust to the forefoot, guiding the high weight distribution point of the forefoot to the rearfoot position through the thrust, thereby directionally adjusting the body weight distribution.

[0015] In one feasible design, the center-of-gravity adaptive mechanism includes:

[0016] A guide rail type sliding translation component, wherein the guide rail type sliding translation component is fixed to the envelope support plate in the vertical axis direction and is slidably connected along the sagittal axis of the human body.

[0017] A sliding power component is connected to the guide rail sliding translation component for inputting torque to the sliding power component, thereby realizing the relative movement of the hindfoot support plate and the ankle joint along the sagittal axis of the human body, and thus realizing the adjustment of the lever arm between the high weight distribution point of the human body and the center of motion of the ankle joint.

[0018] In one feasible design, the speed difference flexible fault-tolerant mechanism includes:

[0019] A wheel system sliding component is provided below the front foot support plate and the rear foot support plate for contacting the walking base station. The wheel system sliding component adopts a bearing-type four-wheel structure with independent stability.

[0020] In one feasible design, the forefoot support plate and the rearfoot support plate are provided with mechanical limiting structures at the limits of the physiological dimensions of the human foot to restrict unintended movement trajectories.

[0021] In one feasible design, the hindfoot support plate is provided with a binding adjustment component, which includes, but is not limited to, ratchet type, hook and loop type, snap fastener type, etc.

[0022] In one feasible design, the outer edge of the bearing-type four-wheel structure is covered with a cushioning material, and the outer edge of the bearing-type four-wheel structure has a circular arc feature.

[0023] This utility model provides an exoskeleton foot self-adaptive device, comprising: an envelope support plate, which serves as the foundation for the basic exoskeleton foot self-adaptive device and provides support for the foot; a power generating mechanism, which uses input torque to achieve rotation of the ankle joint around its center position; a center of gravity self-adaptive mechanism, which enables relative movement between the envelope support plate and the ankle joint along the sagittal axis of the human body; and a speed difference flexible fault-tolerant mechanism, which compensates for the speed difference between the human training speed and the walking base station. The envelope support plate is connected to the power generating mechanism, and the center of gravity self-adaptive mechanism and the speed difference flexible fault-tolerant mechanism are mounted on the envelope support plate, providing optimized speed difference and center of gravity-motion center difference compensation capabilities, thereby improving application effects and user experience.

[0024] The above description is merely an overview of the technical solution of this utility model. In order to better understand the technical means of this utility model and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of this utility model more obvious and understandable, specific embodiments of this utility model are given below. Attached Figure Description

[0025] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the scope of the invention. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings:

[0026] Figure 1 A top view of the overall structure of an exoskeleton foot self-adaptive device provided by this utility model.

[0027] Figure 2 This is a schematic diagram of the overall structure of an exoskeleton foot self-adaptive device provided by this utility model.

[0028] Figure 3 This is a schematic diagram of the transmission relationship of an exoskeleton foot self-adaptive device provided by this utility model.

[0029] Explanation of reference numerals in the attached drawings: Envelope support plate 10, power generation mechanism 20, center of gravity adaptive mechanism 30, speed difference flexible fault-tolerant mechanism 40, front foot support plate 101, rear foot support plate 102, guide rail type sliding translation component 301, sliding power component 302, wheel system sliding component 401. Detailed Implementation

[0030] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0031] In the description of the embodiments of this utility model, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this utility model, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified. In this utility model, unless otherwise explicitly specified and limited, the terms "installed," "connected," "joined," "fixed," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two elements or the interaction between two elements, unless otherwise explicitly specified. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0032] In this utility model, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0033] In the description of this utility model, it should be understood that the terms "inner," "outer," "upper," "bottom," "front," and "rear," etc., indicate the orientation or positional relationship (if any) based on the appendix. Figure 1The orientations or positional relationships shown are for the convenience of describing this utility model and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.

[0034] Examples, such as Figure 1 As shown, this utility model provides a foot self-adaptive device for exoskeletons, comprising:

[0035] Envelope support plate 10, which is the base of the foot self-adaptive device for the exoskeleton, is used to provide support for the foot.

[0036] The power generating mechanism 20 is used to achieve rotation of the ankle joint around the center position by inputting torque.

[0037] The center of gravity adaptive mechanism 30 is used to realize the relative movement between the envelope support plate 10 and the ankle joint along the sagittal axis of the human body.

[0038] Speed ​​difference flexible fault-tolerant mechanism 40 is used to compensate for the speed difference between human training speed and walking base station.

[0039] The envelope support plate 10 is connected to the power generating mechanism 20, and the center of gravity adaptive mechanism 30 and the speed difference flexible fault-tolerant mechanism 40 are disposed on the envelope support plate 10.

[0040] Specifically, the enveloping support plate 10 is a key component of the exoskeleton foot self-adaptive device. As the foundation of the entire device, it serves to bear and support weight. "Enveloping" can be understood as the support plate's ability to adapt to and accommodate feet of different shapes and sizes, providing comprehensive support. It needs sufficient strength and rigidity to withstand the weight of the body and various forces generated during movement. In other words, the enveloping support plate 10 directly contacts the user's foot, providing a stable support surface. Its design needs to consider the physiological structure and stress characteristics of the human foot to ensure appropriate support and protection under different movement conditions. For example, the enveloping support plate 10 can be shaped according to the contour of the user's foot, making the support more uniform and comfortable.

[0041] Specifically, the power generation mechanism 20 is one of the core components of the exoskeleton foot adaptive device. Its main function is to generate power and convert it into rotational motion of the ankle joint. In other words, this mechanism can generate the required force or torque, usually achieved through power components such as motors and electric pumps. The input torque refers to the rotational torque output by the mechanism, which drives the ankle joint to rotate around a predetermined center position. The application of the power generation mechanism 20 allows the exoskeleton foot adaptive device to flexibly adjust the output torque according to different training modes and needs, realizing personalized training programs.

[0042] Optionally, the power generation mechanism 20 has multiple operating modes, including active training (landing training), passive training (moonwalk weight reduction training) or assisted training (moonwalk assisted training).

[0043] Specifically, the main function of the center-of-gravity adaptive mechanism 30 is to realize the relative movement between the envelope support plate 10 and the ankle joint along the sagittal axis of the human body. Center-of-gravity adaptation means that the mechanism can automatically adjust according to changes in the body's center of gravity to adapt to different movement states and postures. Relative movement refers to the displacement between the envelope support plate 10 and the ankle joint along the sagittal axis. By adjusting and controlling the relative movement through the center-of-gravity adaptive mechanism 30, the distance (lever arm) between the high-weight distribution point of the human body (such as the center of gravity) and the ankle joint's center of motion is changed, thereby optimizing the relationship between the human body's weight distribution and the ankle joint's center of motion. For example, when a patient's center of gravity shifts forward or backward due to changes in gait during walking, the center-of-gravity adaptive mechanism 30 can promptly adjust the position of the envelope support plate 10, ensuring that the ankle joint is always in an optimal stress state, improving the stability and efficiency of movement, while simultaneously protecting the power generation mechanism 20 and preventing overload.

[0044] Specifically, the speed difference flexible fault-tolerant mechanism 40 is used to compensate for the speed difference between the human training speed and the walking base station, so as to avoid adverse effects caused by speed mismatch. Here, "compensation" means to reduce or offset the gap between the human training speed and the walking base station through certain mechanical structures or control strategies, so as to prevent users from experiencing discomfort or falling due to speed mismatch.

[0045] Specifically, in an exoskeleton foot adaptive device of this application, the envelope support plate 10 is connected to the power generation mechanism 20, the center of gravity adaptive mechanism 30, etc., serving as the mounting base for these mechanisms to ensure that they can accurately act on the sole of the foot and ankle joint to realize the overall function of the device.

[0046] In some embodiments, such as Figure 2As shown, the envelope support plate 10 is provided with a forefoot support plate 101 and a hindfoot support plate 102 at the corresponding transverse tarsal joint position along the sagittal axis of the human body. The forefoot support plate 101 and the hindfoot support plate 102 are hinged by a damping rotation component.

[0047] Specifically, based on the physiological structure and movement characteristics of the human foot, the envelope support plate 10 is provided with a forefoot support plate 101 and a hindfoot support plate 102 at the corresponding transverse tarsal joint along the sagittal axis of the human body. The transverse tarsal joint is an important joint of the foot, located in the middle of the sole. Its movement plays an important role in the coordination of walking, running and other movements. The forefoot and hindfoot support plates 102 are provided along the sagittal axis of the human body to make the support more ergonomic and better adapt to the movement and force conditions of the sole of the foot.

[0048] Specifically, the forefoot support plate 101 mainly corresponds to the anterior region of the sole, while the posterior foot support plate 102 corresponds to the posterior region. The two are hinged together by a damping rotating component, meaning that the forefoot and posterior foot support plates 102 can rotate relative to each other via this component. This rotation is subject to resistance, thus providing stability and control during movement. In practical rehabilitation training, the sole of the foot applies different pressures to the forefoot and posterior foot support plates 102 according to different movements and postures. For example, during walking, the posterior foot support plate 102 bears greater pressure when the heel strikes the ground, while the forefoot support plate 101 bears greater force when the toes leave the ground. The presence of the damping rotating component allows the forefoot and posterior foot support plates 102 to rotate relative to each other within a certain range, thereby adapting to the natural movement trajectory of the foot. This design not only provides stable support, but also simulates the normal foot movement pattern to a certain extent. At the same time, the damping characteristics of the damping rotation component can prevent excessive movement between the front and rear foot support plates 102, avoiding discomfort or secondary injury to the user due to excessive movement.

[0049] The aforementioned split-type envelope support plate 10 with damping rotation components effectively improves the adaptability and flexibility of the exoskeleton foot self-adaptive device. It can automatically adjust the relative position and angle of the forefoot and rearfoot support plates 102 according to the patient's foot movement characteristics and force conditions, thereby providing more personalized and comfortable support.

[0050] In some embodiments, distributed distance and pressure sensors are disposed below the forefoot support plate 101 and the rearfoot support plate 102.

[0051] Specifically, distributed distance and pressure sensors are installed below the forefoot support plate 101 and the rearfoot support plate 102 to monitor the distribution of plantar pressure and changes in distance. "Distributed" means that these sensors are installed in a specific layout and density below the plantar support plates, enabling them to simultaneously collect data from multiple points. This comprehensively reflects the pressure and distance information of the plantar surface, accurately sensing the contact and force state between the plantar surface and the support plates.

[0052] For example, when a patient walks, the pressure distribution on the sole of the foot changes accordingly at different stages, such as heel strike, foot flat, and toes lift off the ground. These sensors can quickly capture these changes and transmit the data to the control unit described later to achieve precise control of the device. For instance, if the sensors detect excessive pressure on the forefoot, the control unit may instruct the power generation mechanism 20 to adjust the rotation angle of the ankle joint, or move the position of the envelope support plate 10 through the center of gravity adaptive mechanism 30 to optimize the relationship between the body weight distribution and the ankle joint's center of motion.

[0053] In some embodiments, such as Figure 3 As shown, a control unit is provided above the power generating mechanism 20, which is used to receive distance and pressure sensor signals and evaluate the degree of deviation between the human body weight distribution point and the ankle joint movement center through algorithm processing, and issue deviation adjustment commands to the downward actuator accordingly.

[0054] Specifically, the control unit located above the power generation mechanism 20 is the central control system of the entire exoskeleton foot-adaptive device, responsible for receiving, processing, and sending various commands. In other words, the "control unit" here is equivalent to the brain of the device; it can receive signals from distributed distance and pressure sensors and process these signals through built-in algorithms.

[0055] Specifically, algorithm processing is the process by which the control unit uses a series of pre-designed mathematical models and logical rules to analyze and calculate the data collected by the sensors in order to obtain specific control parameters. For example, based on the processed data, the distance and direction between the concentration point of the human body weight and the center of ankle joint rotation are determined, and based on the determination and algorithm processing results, specific adjustment commands are sent to actuators such as the power generation mechanism 20 to correct deviations.

[0056] For example, when a patient walks, the sensor under the heel strikes the ground the instant the heel lands, detecting a sudden increase in pressure. Simultaneously, the distance sensor senses a change in the contact distance between the heel and the support plate. The control unit quickly acquires this data, analyzes the force distribution and center of gravity position of the patient's foot using algorithms, and compares the current data with the preset ideal body weight distribution point and the ankle joint's motion center position to calculate the degree of deviation. If the distance between the high-weight distribution point and the ankle joint's motion center is found to exceed a safe range, the control unit immediately issues adjustment commands to the downward actuators such as the power generation mechanism 20 and the center of gravity adaptive mechanism 30. For example, it instructs the power generation mechanism 20 to adjust the ankle joint's rotation angle, or instructs the center of gravity adaptive mechanism 30 to move the position of the envelope support plate 10, thereby achieving the optimal relationship between the body weight distribution point and the ankle joint's motion center, ensuring the safety and effectiveness of the training process.

[0057] In some embodiments, the forefoot support plate 101 continuously provides a pushing force to the forefoot, guiding the high weight distribution point of the forefoot to the rearfoot position through the pushing force, thereby directionally adjusting the weight distribution of the human body.

[0058] Optionally, the forefoot support plate 101 continuously applies a directional force to the forefoot via mechanical means. In other words, throughout the entire rehabilitation training process, the forefoot support plate 101 continuously applies a force with a certain direction and magnitude to the forefoot. The direction of this thrust is usually perpendicular to the surface of the sole, i.e., upward and slightly backward. As the patient's foot swings forward and the toes lift off the ground, this continuous thrust helps to gradually transfer the weight of the forefoot to the heel. This transfer not only changes the weight distribution of the sole but also affects the overall center of gravity of the body. In this way, the thrust of the forefoot support plate 101 can actively adjust the body's weight distribution to better meet the needs of rehabilitation training and the natural laws of human movement, while ensuring the fit between the forefoot support plate 101 and the forefoot.

[0059] Among them, the high weight distribution point refers to the area where the body weight is concentrated on the sole of the foot. Normally, when walking, the force on the sole of the foot changes between the heel, arch, and forefoot depending on the movement.

[0060] In some embodiments, the center-of-gravity adaptive mechanism 30 includes:

[0061] The guide rail type sliding translation component 301 is fixed to the envelope support plate 10 in the vertical axis direction and is slidably connected along the sagittal axis of the human body.

[0062] The sliding power component 302 is connected to the guide rail sliding translation component 301 and is used to input torque to the sliding power component 302 to realize the relative movement of the rear foot support plate 102 and the ankle joint along the sagittal axis of the human body, thereby realizing the adjustment of the lever arm between the high weight distribution point of the human body and the center of motion of the ankle joint.

[0063] Specifically, the guide rail type sliding translation component 301 is a mechanical structure that achieves vertical axis position fixation through a quick-locking mechanism or the inherent mechanical characteristics of the mechanism. Examples include, but are not limited to, lead screw pairs, sliding sleeve pairs, and threaded pairs, allowing translational movement in a specific direction. The guide rail type sliding translation component 301 and the envelope support plate 10 are fixed in position along the vertical axis, meaning that the position of the guide rail type sliding translation component 301 is fixed and will not move in the direction perpendicular to the human sagittal axis. The phrase "sliding connection along the human sagittal axis" indicates that the component can slide along the human sagittal axis, i.e., move in the forward and backward direction.

[0064] Specifically, the sliding power component 302 is a device that provides power to the guide rail sliding translation component 301. It transmits torque to the guide rail sliding translation component 301 through a transmission connection, enabling it to drive the rear foot support plate 102 to move along the sagittal axis. In turn, it adjusts the lever arm length by changing the distance between the high weight distribution point of the human body and the center of motion of the ankle joint, thereby optimizing the force distribution of the ankle joint.

[0065] Specifically, when it is necessary to adjust the body weight distribution to adapt to different training needs, the sliding power component 302 inputs torque according to the command of the control unit and transmits the torque to the guide rail sliding translation component 301 through the transmission connection, driving it to slide along the sagittal axis of the human body. Since the guide rail sliding translation component 301 and the envelope support plate 10 are fixed in the vertical axis direction, the sliding will drive the rear foot support plate 102 to move together. For example, when it is necessary to adjust the high weight distribution point of the human body backward, the sliding power component 302 drives the guide rail sliding translation component 301 to move the rear foot support plate 102 backward, thereby changing the relative positional relationship between the body weight distribution and the ankle joint motion center, and realizing the adjustment of the lever arm.

[0066] Through the above design, the device automatically matches the relationship between the body's weight distribution point and the ankle joint's center of motion according to individual differences and training stages, improving balance and stability when using the device and reducing the risk of falls due to instability. Simultaneously, by optimizing the lever arm relationship, the load on the ankle joint motor is reduced, avoiding motor overload protection or damage caused by uneven weight distribution, thus improving the device's reliability and durability. Furthermore, this precise center of gravity adjustment also helps improve the effectiveness of rehabilitation training, allowing the exoskeleton to move more naturally and harmoniously with the body, enhancing the user experience and rehabilitation process.

[0067] In some embodiments, the speed difference flexible fault-tolerant mechanism 40 includes:

[0068] A wheel system sliding component 401 is disposed below the front foot support plate 101 and the rear foot support plate 102 for contacting the walking base station. The wheel system sliding component 401 adopts a bearing-type four-wheel structure with independent stability.

[0069] Specifically, the wheel system sliding component 401 in the speed difference flexible fault-tolerant mechanism 40 is used to compensate for the speed difference between the human training speed and the walking base station. The wheel system sliding component 401 is located below the forefoot support plate 101 and the rearfoot support plate 102, and contacts the walking base station. The walking base station refers to the foundation upon which the target object walks or trains, such as an intelligent navigation walking base station, used to provide stable support and guidance for patients or those with mobility impairments. The walking base station has automatic navigation and movement capabilities, and can autonomously adjust its position according to a preset path or the patient's training needs to achieve human-machine collaborative training.

[0070] Specifically, the wheel system sliding component 401 adopts a bearing-type four-wheel structure with independent stability, which means that each wheel can maintain its motion state independently without being disturbed by other wheels, thereby ensuring the stability of the entire structure during movement; the bearing-type four-wheel structure refers to the use of bearing design inside the wheel to reduce friction, improve rotation efficiency, and at the same time ensure the load-bearing capacity and durability of the wheel.

[0071] For example, during rehabilitation training, the wheel system sliding component 401 activates when the patient's foot contacts and moves against the walking base station. For instance, when the patient walks on the walking base station, due to the difference between the patient's walking training speed and the walking base station's movement speed, the wheel system sliding component 401 will experience relative sliding or rolling in the horizontal direction. Thanks to the bearing-type four-wheel structure, the wheels can flexibly adapt to this speed difference, reducing friction between the two. Simultaneously, the independent stability of the wheel system sliding component 401 ensures that the device remains stable during speed compensation, preventing the overall movement effect from being affected by uneven force or slippage of a single wheel.

[0072] In some embodiments, the forefoot support plate 101 and the rearfoot support plate 102 are provided with mechanical limiting structures at the limits of the physiological dimensions of the human foot to limit unintended movement trajectories.

[0073] Specifically, the forefoot support plate 101 and the rearfoot support plate 102 are equipped with mechanical limiting structures at the physiological size limits of the human foot to restrict unintended movement trajectories. The physiological size limits of the human foot refer to the maximum or minimum size range of the human foot in dimensions such as length, width, and thickness, determined according to the principles of ergonomics and anatomy, to ensure that the movement of the device conforms to the characteristics of human movement.

[0074] Specifically, when a patient's foot performs normal flexion, extension, and rotation movements on the support plate, if the foot's movement exceeds the preset safe range, the mechanical limiting structure will immediately activate, physically preventing the foot from continuing to move in an unsafe direction. For example, during walking, due to insufficient muscle strength or neurological control disorders, the foot may excessively invert or evert. In this case, the mechanical limiting structure will restrict this unintended movement, preventing excessive stretching or twisting of the foot and protecting the foot joints and soft tissues from injury. Simultaneously, this limiting structure also ensures that the forefoot support plate 101 and the rearfoot support plate 102 operate stably within their normal range of motion, preventing damage or malfunction of other components of the device due to excessive movement.

[0075] Specifically, the forefoot support plate 101 and the rearfoot support plate 102 physically limit the movement stroke or position, such as by using limit blocks, limit pins, baffles, or other components fixed to the device that directly contact the moving parts to prevent them from moving beyond a predetermined range, thereby ensuring that the device operates within a safe and stable range. Optionally, the aforementioned mechanical limiting structure includes, but is not limited to, mechanical microswitches, optical / magnetic / audio-sensory limit switches, etc.

[0076] In some embodiments, the hindfoot support plate 102 is provided with a binding adjustment component, which includes, but is not limited to, ratchet type, hook and loop type, snap fastener type, etc.

[0077] Specifically, the hindfoot support plate 102 is equipped with binding and adjustment components to stably fix the patient's foot to the support plate, ensuring good fit and stability between the foot and the support plate during rehabilitation training. These binding and adjustment components include, but are not limited to, ratchet-type, hook-and-loop type, and snap-on type.

[0078] Specifically, ratchet-type strap adjustment components typically consist of a toothed strap and a lockable ratchet buckle. The tightness is adjusted by pulling the strap, and the position is locked by the ratchet buckle. Hook and loop fasteners use the hook and loop sides of Velcro to adhere to each other for fixing and adjustment. Clip fasteners use plastic or metal clips to fix the strap or strap to the support plate, and adjustment is achieved by opening and closing the clips.

[0079] For example, when using the hook-and-loop fastener adjustment mechanism, the hook side of the Velcro is wrapped around the patient's foot and then attached to the looped side. The position and tightness of the fastener are adjusted according to the patient's foot shape and comfort. This method of fastening is not only simple and convenient to operate, but also allows for quick adjustment or unfastening as needed, facilitating the monitoring of the foot or adjustments during training.

[0080] The aforementioned binding and adjustment components ensure a stable connection between the foot and the support plate, allowing the foot to accurately receive the support and assistance provided by the device, thereby improving training effectiveness and safety.

[0081] In some embodiments, the outer edge of the bearing-type four-wheel structure is covered with a cushioning material, and the outer edge of the bearing-type four-wheel structure has a circular arc feature.

[0082] Specifically, in the bearing-type four-wheel structure, the outer edge is covered with a cushioning material and designed with an arc feature to improve the equipment's cushioning performance and operational stability. For example, rubber rings are fitted on the outer edge to improve impact resistance, reduce deformation caused by impact, and extend service life.

[0083] In summary, the setup includes an envelope support plate, which forms the basis of the foot-adaptive device for the basic exoskeleton and provides support for the foot; a power generation mechanism, which uses input torque to rotate the ankle joint around its center position; a center-of-gravity adaptive mechanism, which enables relative movement between the envelope support plate and the ankle joint along the sagittal axis of the human body; and a speed difference flexible fault-tolerant mechanism, which compensates for the speed difference between the human training speed and the walking base station. The envelope support plate is connected to the power generation mechanism, and the center-of-gravity adaptive mechanism and the speed difference flexible fault-tolerant mechanism are mounted on the envelope support plate, thereby achieving optimized speed difference and center-of-gravity-motion center difference compensation capabilities and improving application effects and user experience.

[0084] Although the present invention has been described in conjunction with specific features and embodiments, it is apparent that various modifications and combinations can be made thereto without departing from the spirit and scope of the present invention. Accordingly, this specification and accompanying drawings are merely illustrative examples of the present invention as defined herein, and are to be considered as covering any and all modifications, variations, combinations, or equivalents within the scope of the present invention. Clearly, those skilled in the art can make various alterations and modifications to the present invention without departing from its scope. Thus, if such modifications and modifications of the present invention fall within the scope of the present invention and its equivalents, the present invention intends to include such modifications and modifications.

Claims

1. A foot-adaptive device for an exoskeleton, characterized in that, include: An envelope support plate, which forms the basis of the foot self-adaptive device for the exoskeleton, is used to provide support for the foot. A power generating mechanism is used to achieve rotation of the ankle joint around its central position by inputting torque; A center of gravity adaptive mechanism is used to realize the relative movement between the envelope support plate and the ankle joint along the sagittal axis of the human body; A speed difference flexible fault-tolerant mechanism is used to compensate for the speed difference between the human training speed and the walking base station. The envelope support plate is connected to the power generation mechanism, and the center of gravity adaptive mechanism and the speed difference flexible fault-tolerant mechanism are disposed on the envelope support plate.

2. The foot self-adaptive device for exoskeleton as described in claim 1, characterized in that, The envelope support plate is provided with a forefoot support plate and a hindfoot support plate at the corresponding transverse tarsal joint position along the sagittal axis of the human body, wherein the forefoot support plate and the hindfoot support plate are hinged by a damping rotation component.

3. The foot self-adaptive device for exoskeleton as described in claim 2, characterized in that, Distributed distance and pressure sensors are installed below the forefoot support plate and the rearfoot support plate.

4. The foot self-adaptive device for exoskeleton as described in claim 3, characterized in that, A control unit is located above the power generating mechanism. It receives signals from distance and pressure sensors and processes them using algorithms to assess the degree of deviation between the human body weight distribution point and the ankle joint motion center. It then issues deviation adjustment commands to the downward actuator accordingly.

5. The foot self-adaptive device for an exoskeleton as described in claim 4, characterized in that, The forefoot support plate continuously provides a pushing force to the forefoot, guiding the high weight distribution point of the forefoot to the rearfoot position through the pushing force, thereby directionally adjusting the body's weight distribution.

6. The foot self-adaptive device for an exoskeleton as described in claim 5, characterized in that, The center-of-gravity adaptive mechanism includes: A guide rail type sliding translation component, wherein the guide rail type sliding translation component is fixed to the envelope support plate in the vertical axis direction and is slidably connected along the sagittal axis of the human body; A sliding power component is connected to the guide rail sliding translation component for inputting torque to the sliding power component, thereby realizing the relative movement of the hindfoot support plate and the ankle joint along the sagittal axis of the human body, and thus realizing the adjustment of the lever arm between the high weight distribution point of the human body and the center of motion of the ankle joint.

7. The foot self-adaptive device for exoskeleton as described in claim 6, characterized in that, The speed difference flexible fault-tolerant mechanism includes: A wheel system sliding component is provided below the front foot support plate and the rear foot support plate for contacting the walking base station. The wheel system sliding component adopts a bearing-type four-wheel structure with independent stability.

8. The foot self-adaptive device for exoskeleton as described in claim 2, characterized in that, The forefoot support plate and the rearfoot support plate are equipped with mechanical limiting structures at the limits of the physiological dimensions of the human foot to restrict unintended movement trajectories.

9. The foot self-adaptive device for exoskeleton as described in claim 2, characterized in that, The hindfoot support plate is equipped with a binding and adjustment component, which includes, but is not limited to, ratchet type, hook and loop type, and snap-on type.

10. The foot self-adaptive device for an exoskeleton as described in claim 7, characterized in that, The outer edge of the bearing-type four-wheel structure is covered with a cushioning material, and the outer edge of the bearing-type four-wheel structure has a circular arc feature.

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