Exoskeleton using flexible joints for walking assistance

Abstract

The utility model relates to an exoskeleton using flexible joints for walking aiding, which comprises a waist supporting mechanism, a hip bone supporting mechanism is arranged below the waist supporting mechanism, thighbone supporting components capable of deforming are arranged on two sides of the hip bone supporting mechanism, and the top of each thighbone supporting component is connected with a wire driving mechanism. A shank supporting assembly is hinged to the bottom of the thighbone supporting assembly, a deformable flexible joint assembly is further arranged between the bottom of the thighbone supporting assembly and the linear driving mechanism, and a driving rope is connected to the surface of the flexible joint assembly. One end of the driving rope is connected to the wire driving mechanism and the other end is connected to the top of the thighbone supporting assembly of the shank supporting assembly; according to the utility model, the traction of the driving rope and the adaptability of the elastic bandage are combined to form a bimodal power-assisted mechanism. Compared with a gear / motor driving mode of a traditional rigid exoskeleton, power consumption is remarkably reduced, and motion fluency is improved.

Description

Technical Field

[0001] This utility model relates to the field of exoskeleton technology, specifically to an exoskeleton that uses flexible joints to assist walking. Background Technology

[0002] Flexible walking exoskeletons are innovative rehabilitation devices developed based on bionic principles. The technical solution utilizes flexible materials and intelligent drive technology, balancing support and the natural movement characteristics of the human body. Compared to traditional rigid exoskeletons, their main body is composed of flexible components such as elastic fabrics, shape memory alloys, or pneumatic muscles. They are lightweight, conform to the curves of the human body, and significantly improve wearing comfort and freedom of movement. The drive system provides assistance through flexible methods such as cable transmission and pneumatic artificial muscles, reducing rigid resistance between the mechanical structure and the human body. They are particularly suitable for assisting fine motor movements such as knee flexion and extension, and ankle dorsiflexion, thus mimicking the natural gait and helping users perform actions such as standing, walking, and climbing stairs.

[0003] Authorization announcement number CN109730904B discloses a wearable rest and mobility aid exoskeleton. According to its instruction manual and accompanying drawings, the design uses two drive motors in conjunction with a transmission system to complete the predetermined motion functions. Further optimization analysis reduces the weight of the device components and saves manufacturing costs. True flexible transmission is achieved through cable and flexible shaft drive.

[0004] However, the solution has certain limitations: 1. The cables of each joint are directly exposed, which can easily become tangled during the assistance process, causing inconvenience during use; 2. There are not many limits on the movement trajectory of the cables, which may cause the cables to not be subjected to force as set. Summary of the Invention

[0005] This invention addresses the problems existing in exoskeleton-assisted walking by inventing an exoskeleton that utilizes flexible joints. It combines drive rope traction with the adaptability of elastic bandages to form a dual-modal assist mechanism. Compared to the gear / motor drive method of traditional rigid exoskeletons, it significantly reduces power consumption and improves the smoothness of movement.

[0006] The objective of this invention is achieved through the following technical solution: an exoskeleton for assisting walking using flexible joints, comprising a lumbar support mechanism, a hip support mechanism below the lumbar support mechanism, deformable femoral support components on both sides of the hip support mechanism, a wire drive mechanism connected to the top of the femoral support components, a lower leg support component hinged to the bottom of the femoral support components, and a deformable flexible joint component between the bottom of the femoral support components and the wire drive mechanism. A drive rope is connected to the surface of the flexible joint component, one end of the drive rope being connected to the wire drive mechanism and the other end being connected to the top of the lower leg support component.

[0007] Preferably, the femoral support assembly includes a first support plate, an elastic bandage, a second support plate, and a third support plate. The top of the first support plate is connected to the bottom of the hip support mechanism, the bottom of the first support plate is connected to the top of the second support plate via an elastic bandage, the bottom of the second support plate is also connected to the top of the third support plate via an elastic bandage, the bottom of the third support plate is connected to the top of the calf support assembly, and a thigh strap is provided on the side of the second support plate.

[0008] Preferably, the lumbar support mechanism includes a lumbar backrest, a first flexible strap, and a first buckle. The lumbar backrest is connected to the top of the hip support mechanism by an elastic bandage. The lumbar backrest is made of a flexible material. The surface of the lumbar backrest is provided with a plurality of first flexible straps, and adjacent flexible straps are connected by first buckles.

[0009] Preferably, the hip support mechanism includes a hip support sleeve, a second flexible strap, and a second buckle. The surface of the hip support sleeve is provided with a plurality of second flexible straps, and adjacent flexible straps are connected by a second buckle.

[0010] Preferably, the calf support assembly includes a calf support plate, a foot support plate, a foot instep limiting bandage, and a third buckle. The top of each calf support plate is hinged to the bottom of the third support plate. Each calf support plate has a foot support plate at its bottom. Each foot support plate has several foot instep limiting bandages on its surface. A third buckle is provided between adjacent foot instep limiting bandages.

[0011] Preferably, each of the wire drive mechanisms includes a wire drive support shell, a turntable, a drive shell cover, and a joint guide assembly. The wire drive support shell is connected to the side of the first support plate. The interior of the wire drive support shell is provided with a turntable that is rotated by a motor. The surface of the wire drive support shell is provided with a drive shell cover that covers the turntable. The surface of the second support plate is provided with a joint guide assembly. The flexible joint assembly passes through the interior of the joint guide assembly. The turntable is connected to one end of the drive rope, and the other end of the drive rope passes through the flexible joint assembly and is connected to the surface of the third support plate.

[0012] Preferably, the flexible joint assembly is composed of several hinged support plates that are hinged to each other. The two ends of each hinged support plate are provided with hinged through holes. Adjacent hinged support plates are hinged to each other through the hinged through holes. The surface of each hinged support plate is provided with rope limiting blocks. The drive rope passes through the interior of each rope limiting block. Several limiting circular plates are provided on the surface of the drive rope and between adjacent rope limiting blocks.

[0013] Preferably, the joint guide assembly includes a joint guide sleeve and guide rollers. The joint guide sleeve is connected to the surface of the second support plate. The interior of the joint guide sleeve allows the hinged support piece to pass through, and the interior of the joint guide sleeve is provided with a plurality of guide rollers. The top and bottom of the joint guide sleeve are provided with arc-shaped guide grooves.

[0014] Compared with the prior art, the present invention has the following beneficial effects:

[0015] 1. A dual-modal assist mechanism is formed by combining drive rope traction (actively pulling up the legs) with elastic bandages (passively lowering the legs). Compared with the gear / motor drive method of traditional rigid exoskeletons, this design reuses kinetic energy through flexible straps (converting elastic potential energy into falling potential energy), significantly reducing power consumption and improving the smoothness of movement;

[0016] 2. By introducing deformable flexible joint components, the design can adapt to the limb's movement trajectory when assisting the leg, avoiding entanglement of the installed drive ropes. This design breaks through the limitations of traditional fixed exoskeleton frames and meets the core requirement of "adaptive coupling" in ergonomics.

[0017] 3. Through the synergistic effect of flexible joint components and elastic bandages, the common motion interference problem of rope-driven exoskeletons is solved. When the knee joint is flexed and extended, the flexible joint components can expand the safe movement space of the drive rope, reducing friction loss compared with fixed rope guide structures. Attached Figure Description

[0018] Figure 1 This is a perspective view of the present utility model;

[0019] Figure 2 This is a perspective view of the present utility model;

[0020] Figure 3 This is a perspective view of the present utility model;

[0021] Figure 4 For the present utility model in Figure 3 A 3D diagram of region A;

[0022] Figure 5 For the present utility model in Figure 3 A 3D diagram of region B in the image;

[0023] Figure 6 For the present utility model in Figure 2 A 3D diagram of region C.

[0024] In the diagram, the markings are as follows: 1. Lumbar support mechanism; 11. Lumbar backrest; 12. First flexible strap; 13. First buckle; 2. Hip support mechanism; 21. Hip support sleeve; 22. Second flexible strap; 23. Second buckle; 3. Femoral support assembly; 31. First support plate; 32. Elastic bandage; 33. Second support plate; 34. Third support plate; 35. Thigh strap; 4. Cable drive mechanism; 41. Cable drive support shell; 42. 43. Turntable; 44. Drive housing cover; 45. Joint guide assembly; 46. Joint guide sleeve; 47. Guide roller; 48. Arc-shaped guide groove; 59. Lower leg support assembly; 50. Lower leg support plate; 51. Foot support plate; 52. Foot instep limiting bandage; 53. Third buckle; 60. Flexible joint assembly; 61. Hinge support piece; 62. Limiting circular plate; 611. Hinge through hole; 612. Rope limiting block; 70. Drive rope. Detailed Implementation

[0025] The present invention will be further described below with reference to the embodiments shown in the accompanying drawings:

[0026] like Figure 1 and Figure 2 As shown, an exoskeleton that uses flexible joints for walking assistance includes a lumbar support mechanism 1. The lumbar support mechanism 1 includes a lumbar backrest 11, a first flexible strap 12, and a first buckle 13. The lumbar backrest 11 is connected to the top of a hip support mechanism 2 by a bandage. The lumbar backrest 11 is made of a flexible material. The surface of the lumbar backrest 11 is provided with a plurality of first flexible straps 12, and adjacent flexible straps are connected by first buckles 13.

[0027] When wearing the entire exoskeleton, the user can rest their back against the surface of the lumbar backrest 11. The flexible material of the lumbar backrest 11 can reduce discomfort when wearing it. Since everyone's waist width is different, the first flexible strap 12 can adapt to the deformation, and finally the connection is completed by the first buckle 13.

[0028] Please continue to refer to this. Figure 1 and Figure 3 Below the lumbar support mechanism 1, there is a hip support mechanism 2. The hip support mechanism 2 includes a hip support sleeve 21, a second flexible strap 22, and a second buckle 23. The surface of the hip support sleeve 21 is provided with a plurality of second flexible straps 22, and adjacent flexible straps are connected by second buckles 23.

[0029] For the user's lower limbs, the hip bone can be pressed against the surface of the hip bone support sleeve 21. Similarly, the second flexible strap 22 can adapt to the deformation, and finally the connection is completed by the second buckle 23.

[0030] Please refer to Figure 2The hip support mechanism 2 has deformable femoral support components 3 on both sides, and the top of the femoral support components 3 is connected to a wired drive mechanism 4. The femoral support components 3 include a first support plate 31, an elastic bandage 32, a second support plate 33, and a third support plate 34. The top of the first support plate 31 is connected to the bottom of the hip support mechanism 2, and the bottom of the first support plate 31 is connected to the top of the second support plate 33 via the elastic bandage 32. The bottom of the second support plate 33 is also connected to the top of the third support plate 34 via the elastic bandage 32. The bottom of the third support plate 34 is connected to the top of the lower leg support component 5, and the side of the second support plate 33 is provided with a thigh strap 35.

[0031] After the user's thigh is connected inside the thigh strap 35, when the cable drive mechanism 4 assists the thigh, the first support plate 31 does not rotate relative to the end of the hip support sleeve 21. Therefore, the elastic bandage 32 located above the second support plate 33 will bend at this time, while the elastic bandage 32 located below the second support plate 33 will be stretched and tightened.

[0032] When the line drive mechanism 4 no longer assists the thigh, the rebound force of the elastic bandage 32 will move the entire thigh back, thus achieving the assistance provided by the line drive mechanism 4 during the leg raising process and by the elastic bandage 32 during the leg lowering process.

[0033] The first support plate 31, the second support plate 33, and the third support plate 34 are all made of aluminum. This metal material is used to provide support and rigidity in the joint area connecting other components, so as to prevent the compatible components from falling off.

[0034] Please refer to Figure 1 and Figure 2 The femoral support component 3 is hinged to the bottom of the lower leg support component 5. The lower leg support component 5 includes a lower leg support plate 51, a foot support plate 52, a foot instep limiting bandage 53, and a third buckle 54. The top of each lower leg support plate 51 is hinged to the bottom of the third support plate 34. The bottom of each lower leg support plate 51 is provided with a foot support plate 52. The surface of each foot support plate 52 is provided with a plurality of foot instep limiting bandages 53. A third buckle 54 is provided between adjacent foot instep limiting bandages 53.

[0035] When wearing the entire exoskeleton, the user can place their entire foot on the surface of the foot support plate 52 and then lock the entire shoe using the third buckle 54. During the locking process, the foot instep limiting bandage 53 also functions to adapt to different shoes due to its elasticity. The calf support plate 51 is designed to provide effective support for the user's calves.

[0036] Please refer to Figure 2 and Figure 4 Each of the wire drive mechanisms 4 includes a wire drive support shell 41, a turntable 42, a drive shell cover 43, and a joint guide assembly 44. The wire drive support shell 41 is connected to the side of the first support plate 31. The turntable 42, which is rotated by a motor, is provided inside the wire drive support shell 41. The drive shell cover 43 is provided on the surface of the wire drive support shell 41, and the drive shell cover 43 covers the turntable 42. The joint guide assembly 44 is provided on the surface of the second support plate 33. The flexible joint assembly 6 passes through the interior of the joint guide assembly 44. The turntable 42 is connected to one end of the drive rope 7, and the other end of the drive rope 7 passes through the flexible joint assembly 6 and is connected to the surface of the third support plate 34.

[0037] When flexible assistance is needed using the drive rope 7, the turntable 42 inside the line drive support shell 41 is rotated by a motor. During the rotation, the turntable 42 can continuously pull the drive rope 7. During the movement, the drive rope 7 can cause the elastic bandage 32 above the second support plate 33 to bend, and the drive rope 7 will also cause the flexible joint assembly 6 to deform. The deformation of the flexible joint assembly 6 can support and guide the drive rope 7.

[0038] Please refer to Figure 2 , Figure 5 and Figure 6 A deformable flexible joint component 6 is provided between the bottom of the femoral support component 3 and the line drive mechanism 4. A drive rope 7 is connected to the surface of the flexible joint component 6. One end of the drive rope 7 is connected to the line drive mechanism 4 and the other end is connected to the top of the femoral support component 3 of the lower leg support component 5.

[0039] The flexible joint assembly 6 is composed of several hinged support plates 61 that are hinged together. The two ends of each hinged support plate 61 are provided with hinged through holes 611. Adjacent hinged support plates 61 are hinged together through the hinged through holes 611. The surface of each hinged support plate 61 is provided with rope limiting blocks 612. The drive rope 7 passes through the interior of each rope limiting block 612. Several limiting circular plates 62 are provided on the surface of the drive rope 7 and between adjacent rope limiting blocks 612.

[0040] When the drive rope 7 moves, each limiting circular plate 62 contacts the side of each rope limiting block 612, thereby causing each hinged support plate 61 to rotate hingedly. During the hinged rotation, the hinged support plates 61 are limited in rotation by limiting pins between the hinged through holes 611.

[0041] Please refer to Figure 2 and Figure 6The joint guide assembly 44 includes a joint guide sleeve 441 and guide rollers 442. The joint guide sleeve 441 is connected to the surface of the second support plate 33. The interior of the joint guide sleeve 441 allows the hinged support piece 61 to pass through, and the interior of the joint guide sleeve 441 is provided with a plurality of guide rollers 442. The top and bottom of the joint guide sleeve 441 are provided with arc-shaped guide grooves 443.

[0042] During the deformation of the flexible joint assembly 6, the joint guide sleeve 441 can restrict the movement of the hinged support plates 61, which are hinged together, along a set trajectory. This limiting function enables the movement of the flexible joint assembly 6 to be somewhat controllable, and can achieve sufficient assist effect when combined with the drive rope 7. Moreover, the rope limiting block 612 can effectively prevent the drive rope 7 from getting tangled with other components when it is driven by the drive rope 7.

[0043] Working principle and usage of this utility model:

[0044] After the user puts on the entire walking exoskeleton, the turntable 42 inside the drive support shell 41 is rotated by a motor. During the rotation, the turntable 42 can continuously pull the drive rope 7. As the drive rope 7 moves, the elastic bandage 32 located above the second support plate 33 will bend, while the elastic bandage 32 located below the second support plate 33 will be stretched and tightened, thereby lifting the user's legs.

[0045] During this lifting assistance process, the drive rope 7 also causes the flexible joint assembly 6 to deform. Each limiting circular plate 62 will contact the side of each rope limiting block 612, thereby causing each hinged support plate 61 to rotate hingedly. During the hinged rotation, the hinged support plates 61 are limited to rotate by limiting pins between the hinged through holes 611.

[0046] During the deformation of the flexible joint assembly 6, the joint guide sleeve 441 can restrict the movement of the hinged support plates 61, which are hinged together, along a set trajectory. This limiting function enables the movement of the flexible joint assembly 6 to be somewhat controllable, and can achieve sufficient assist effect when combined with the drive rope 7. Moreover, the rope limiting block 612 can effectively prevent the drive rope 7 from getting tangled with other components when it is driven by the drive rope 7.

[0047] When the line drive mechanism 4 no longer assists the thigh, the rebound force of the elastic bandage 32 will move the entire thigh back, thus achieving the assistance provided by the line drive mechanism 4 during the leg raising process and by the elastic bandage 32 during the leg lowering process.

[0048] The specific embodiments described herein are merely illustrative examples illustrating the spirit of this utility model. Those skilled in the art to which this utility model pertains may make various modifications or additions to the described specific embodiments or use similar methods to replace them, without departing from the spirit of this utility model or exceeding the scope defined by the appended claims.

Claims

1. An exoskeleton for walking with the aid of flexible joints, comprising a waist support mechanism (1), characterized in that, The lower part of the waist supporting mechanism (1) is provided with a hip supporting mechanism (2), both sides of the hip supporting mechanism (2) are provided with femur supporting assemblies (3) capable of deforming, the top of the femur supporting assembly (3) is connected with a wire driving mechanism (4), the bottom of the femur supporting assembly (3) is hingedly connected with a calf supporting assembly (5), and the bottom of the femur supporting assembly (3) and the wire driving mechanism (4) are also provided with a flexible joint assembly (6) capable of deforming, the surface of the flexible joint assembly (6) is connected with a driving rope (7), one end of the driving rope (7) is connected to the wire driving mechanism (4) and the other end is connected to the top of the calf supporting assembly (5).

2. The exoskeleton for walking with a flexible joint according to claim 1, characterized by, The femur supporting assembly (3) comprises a first supporting plate (31), an elastic bandage (32), a second supporting plate (33) and a third supporting plate (34), the top of the first supporting plate (31) is connected to the bottom of the hip supporting mechanism (2), the bottom of the first supporting plate (31) is connected to the top of the second supporting plate (33) through a bandage, the bottom of the second supporting plate (33) is also connected to the top of the third supporting plate (34) through the elastic bandage (32), the bottom of the third supporting plate (34) is connected to the top of the calf supporting assembly (5), and the side surface of the second supporting plate (33) is provided with a thigh bandage (35).

3. The exoskeleton for walking with a flexible joint according to claim 2, characterized by, The waist supporting mechanism (1) comprises a waist backrest (11), a first flexible bandage (12) and a first plug buckle (13), the waist backrest (11) is connected to the top of the hip supporting mechanism (2) through the elastic bandage (32), the waist backrest (11) is made of a flexible material, and the surface of the waist backrest (11) is provided with a plurality of first flexible bandages (12), and adjacent flexible bandages are connected through first plug buckles (13).

4. The exoskeleton for walking with a flexible joint according to claim 2, characterized by, The hip supporting mechanism (2) comprises a hip supporting sleeve (21), a second flexible bandage (22) and a second plug buckle (23), and the surface of the hip supporting sleeve (21) is provided with a plurality of second flexible bandages (22), and adjacent flexible bandages are connected through second plug buckles (23).

5. The exoskeleton for walking with a flexible joint according to claim 4, characterized by, The calf supporting assembly (5) comprises a calf supporting plate (51), a sole supporting plate (52), a foot surface limiting bandage (53) and a third plug buckle (54), the top of each calf supporting plate (51) is hingedly connected to the bottom of the third supporting plate (34), the bottom of each calf supporting plate (51) is provided with a sole supporting plate (52), the surface of each sole supporting plate (52) is provided with a plurality of foot surface limiting bandages (53), and adjacent foot surface limiting bandages (53) are provided with third plug buckles (54).

6. The exoskeleton for walking with a flexible joint according to claim 5, wherein Each of the wire driving mechanisms (4) comprises a wire driving support shell (41), a rotating disc (42), a driving shell upper cover (43) and a joint guiding assembly (44), the wire driving support shell (41) is connected to the side surface of the first support plate (31), the inside of the wire driving support shell (41) is provided with the rotating disc (42) which rotates by using a motor, the surface of the wire driving support shell (41) is provided with the driving shell upper cover (43), the driving shell upper cover (43) covers the rotating disc (42), the surface of the second support plate (33) is provided with the joint guiding assembly (44), the flexible joint assembly (6) passes through the inside of the joint guiding assembly (44), the rotating disc (42) is connected to one end of the driving rope (7), the other end of the driving rope (7) passes through the flexible joint assembly (6) and is connected to the surface of the third support plate (34).

7. The exoskeleton for walking with a flexible joint according to claim 6, characterized by, The flexible joint assembly (6) is composed of a plurality of hinged support pieces (61) which are connected to each other by hinges, both ends of the hinged support piece (61) are provided with hinge through holes (611), adjacent hinged support pieces (61) are connected by hinges through the hinge through holes (611), the surface of the hinged support piece (61) is provided with a rope limiting block (612), the driving rope (7) passes through the inside of each rope limiting block (612), a plurality of limiting round plates (62) are arranged on the surface of the driving rope (7) and between adjacent rope limiting blocks (612).

8. The exoskeleton for walking with a flexible joint according to claim 7, characterized by, The joint guiding assembly (44) comprises a joint guiding sleeve (441) and a guiding roller (442), the joint guiding sleeve (441) is connected to the surface of the second support plate (33), the inside of the joint guiding sleeve (441) can allow the hinged support piece (61) to pass through and is provided with a plurality of guiding rollers (442), the top and bottom of the joint guiding sleeve (441) are provided with arc-shaped guiding grooves (443).

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