Self-adaptive auxiliary exoskeleton for lower limbs

Abstract

The utility model discloses a lower limb self-adaption auxiliary exoskeleton which comprises a waist binding belt assembly and a leg binding belt, an X-axis motor is arranged at the hip joint position, a Y-axis motor, an upper skeleton rod piece and a lower skeleton rod piece are arranged at the thigh bone position, and the X-axis motor is used for assisting the lower limb to swing back and forth. The Y-axis motor is used for assisting left-right swing of the lower limbs, the X-axis motor is connected with the Y-axis motor through an upper skeleton rod piece, the leg binding belt is connected with a Y-axis motor support through a lower skeleton rod piece, and a straight rod type weighing sensor is arranged between the X-axis motor and the upper end of the upper skeleton rod piece. A battery assembly is arranged on the rear side of the waist binding belt assembly. A double-crankshaft structure is utilized, on the basis of keeping exoskeleton movement assistance, a brushless motor is utilized for providing support for transverse assistance of lower limb movement, the energy efficiency of the system is improved, and in an exoskeleton powered by a battery, the endurance time is prolonged, meanwhile, motor heating is reduced, and the safety of long-time movement is ensured.

Description

TECHNICAL FIELD

[0001] The utility model relates to the field of motion auxiliary equipment especially to a lower limbs self -adaptation auxiliary exoskeleton. BACKGROUND

[0002] With the promotion of national fitness demand, the demand of motion auxiliary equipment is increasing. However, the existing motion auxiliary equipment has many limitations, which is difficult to meet the extensive consumer demand.

[0003] Exoskeleton technology can enhance human mobility and reduce weight, which is usually made of metal or carbon fiber and other materials, and initially aims to help groups with multiple sclerosis, severe arthritis and other diseases to overcome mobility difficulties.

[0004] Based on the above situation, the utility model provides a lower limbs self -adaptation auxiliary exoskeleton to effectively solve the above problems. UTILITY MODEL CONTENT

[0005] In order to solve the problems in the background art, the utility model provides a lower limbs self -adaptation auxiliary exoskeleton.

[0006] The utility model adopts the following technical scheme:

[0007] A lower limbs self -adaptation auxiliary exoskeleton, including waist binding belt assembly, leg binding belt, hip joint part is equipped with X axial motor, femur part is equipped with Y axial motor, upper skeleton bar and lower skeleton bar, X axial motor is used for helping lower limbs to swing forward and backward, Y axial motor is used for helping lower limbs to swing left and right, X axial motor and Y axial motor are connected through upper skeleton bar, leg binding belt and Y axial motor support are connected through lower skeleton bar, X axial motor and the upper end of upper skeleton bar are equipped with straight bar type load cell, the rear side of waist binding belt assembly is equipped with battery assembly.

[0008] Further, the X axial motor is a rudder assembly, and the Y axial motor is a brushless motor assembly.

[0009] Further, the waist binding belt assembly includes a waist binding belt and a fixed waistband, both ends of the front part of the fixed waistband are connected to the waist binding belt, and the rear side of the middle part of the fixed waistband is fixed with the battery assembly.

[0010] Further, the brushless motor assembly includes a brushless motor upper cover, a brushless motor lower cover, a display screen and a brushless motor, the brushless motor is fixed between the brushless motor upper cover and the brushless motor lower cover, and the front side of the brushless motor upper cover is provided with the display screen.

[0011] Further, the rudder assembly comprises a rudder lower cover, a rudder upper cover, a rudder and an adjusting sliding block, the rudder is fixed in the groove of the rudder lower cover, the end of the rudder is connected with the rudder upper cover, the upper part of the rudder lower cover is connected with the adjusting sliding block, and the adjusting sliding block is slidably clamped on the fixed waistband.

[0012] Further, the upper part of the skeleton rod is a curve shape that is folded towards the center.

[0013] Further, the lower part of the skeleton rod is a wave-shaped curve.

[0014] Further, the waist binding belt is a soft flat belt, and the end is connected through a magic tape.

[0015] Further, the waist binding belt is a soft flat belt made of nylon and TPU.

[0016] Further, the battery assembly comprises a battery compartment cover and a battery.

[0017] The lower limb self-adaptive auxiliary exoskeleton provided by the utility model: utilize double-curved shaft structure, on the basis of keeping exoskeleton movement aid, utilize brushless motor to provide support for the transverse aid of lower limb movement, the hardware acceleration of ESP32S3 can realize high-frequency current loop control, this real-time nature can capture transient abnormality in movement, and quickly generate reverse restraint force, FOC minimizes motor copper loss and iron loss, improves system energy efficiency, in the exoskeleton of battery power supply, this prolongs the endurance time, reduces motor heating simultaneously, ensures the safety of long-time movement. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 It is whole structure schematic diagram of the utility model;

[0019] Figure 2 It is exploded structure schematic diagram of the utility model;

[0020] Figure 3 It is wearing state schematic of the utility model Figure 1 ;

[0021] Figure 4 It is wearing state schematic of the utility model Figure 2 ;

[0022] Figure 5 It is circuit diagram of the utility model.

[0023] The serial numbers marked in the figure represent, in sequence: 1-waist binding belt; 2-leg binding belt; 3-fixed waistband; 4-rudder lower cover; 5-rudder upper cover; 6-upper skeleton rod; 7-brushless motor upper cover; 8-lower skeleton rod; 9-brushless motor; 10-display screen; 11-battery compartment cover; 12-battery; 13-adjusting slider; 14-rudder; 15-straight rod type load sensor; 16-brushless motor lower cover; 20-ground; 30-wearer. DETAILED DESCRIPTION

[0024] The utility model will be further explained in detail below in combination with the drawings and specific embodiments.

[0025] Referring to the drawings Figures 1-2 A lower limb self-adaptive auxiliary exoskeleton, comprising a waist binding belt 1 component, a leg binding belt 2, an X-axis motor provided at a hip joint part, a Y-axis motor provided at a thigh bone part, an upper skeleton rod 6 and a lower skeleton rod, the X-axis motor is used for assisting the swing of the lower limbs forward and backward, the Y-axis motor is used for assisting the swing of the lower limbs left and right, the X-axis motor and the Y-axis motor are connected through the upper skeleton rod 6, the leg binding belt 2 is connected with the Y-axis motor support through the lower skeleton rod, a straight rod type load sensor 15 is arranged between the X-axis motor and the upper end of the upper skeleton rod 6, and a battery assembly is arranged at the rear side of the waist binding belt 1 component. The straight rod type load sensor 15 is used for detecting the stress direction.

[0026] The X-axis motor is a rudder assembly, and the Y-axis motor is a brushless motor 9 assembly.

[0027] The waist binding belt 1 component comprises the waist binding belt 1 and a fixed waistband 3, both ends of the front part of the fixed waistband 3 are connected with the waist binding belt 1, and the rear side of the middle part of the fixed waistband 3 is fixed with the battery assembly.

[0028] The brushless motor 9 assembly comprises a brushless motor upper cover 7, a brushless motor lower cover 16, a display screen 10 and a brushless motor 9, the brushless motor 9 is fixed between the brushless motor upper cover 7 and the brushless motor lower cover 16, and the display screen 10 is arranged at the front side of the brushless motor upper cover 7.

[0029] The rudder assembly comprises a rudder lower cover 4, a rudder upper cover 5, a rudder 14 and an adjusting slider 13, the rudder is fixed in the groove of the rudder lower cover 4, the end of the rudder 14 is connected with the rudder upper cover 5, the upper part of the rudder lower cover 4 is connected with the adjusting slider 13, and the adjusting slider 13 is slidably clamped on the fixed waistband 3.

[0030] The upper skeleton rod 6 is a curve shape that is folded towards the center, and is more in line with the human body curve.

[0031] The lower skeleton rod 8 is a wave-shaped curve shape, and is more in line with the human body curve.

[0032] The waist binding strap 1 is a soft, flat strap with its ends connected by Velcro.

[0033] The waist binding strap 1 is a soft, flat strap woven from a mixture of nylon and TPU. Both the upper skeletal member 6 and the lower skeletal member 8 are made of PLA material.

[0034] The battery assembly includes a battery compartment cover 11 and a battery 12.

[0035] Figure 5 This is the circuit diagram of the present invention, where 20 represents the ground and 30 represents the wearer.

[0036] The brushless motor is controlled by FOC.

[0037] Field-oriented control (FOC) decomposes the stator current of the motor into magnetic field components, achieving precise decoupling control of the motor's magnetic field. In lateral motion protection scenarios, FOC can accurately output reverse torque (adjustable from 0 to 5 Nm) to ensure that the lateral twisting amplitude of the knee joint is limited within safe thresholds (valgus ≤ 8°, adduction ≤ 4°), avoiding exceeding physiological limits.

[0038] The exoskeleton utilizes a double-crankshaft structure to provide lateral assistance for lower limb movements while maintaining exoskeleton motion assistance. The ESP32S3's hardware acceleration, such as the FPU unit, enables high-frequency current loop control (≥20kHz) with a total response latency of <50ms. This real-time capability can capture transient anomalies during movement, such as sudden pressure drops caused by knee valgus, and quickly generate counter-restraint forces. FOC improves system energy efficiency by minimizing motor copper and iron losses. In battery-powered exoskeletons, this extends battery life while reducing motor heat generation, ensuring safety during extended exercise.

[0039] like Figures 3-4 When this device is in use, the wearer's (30) lower limb movements cause the straight-bar weighing sensor to detect force, driving the servo motor to provide forward assistance to the lower limbs. Simultaneously, when the knee joint undergoes lateral deflection, the brushless motor provides both assistance and resistance to stabilize the lower limb movement.

[0040] The preparation device provided by this invention utilizes a double crankshaft structure to provide lateral assistance for lower limb movement while maintaining exoskeleton movement assistance.

[0041] During operation, the brushless motor detects lower limb movement and performs motion state analysis. A shift in the body's center of gravity occurs, with the knees exhibiting outward and inward rotation. The brushless motor encoder detects this force line deviation, triggering a protection mechanism. The brushless motor then executes its protection action.

[0042] It should be noted that the above only the preferred embodiments of the present application and the use of technical principles. Those skilled in the art will understand that the present application is not limited to the specific embodiments described herein, those skilled in the art can make various obvious changes, re-adjustment and replacement without departing from the scope of the present application. Therefore, although the above embodiments of the present application has been described in more detail, but the present application is not limited to the above examples, without departing from the concept of the present application, it can also include more other equivalent embodiments, and the scope of the present application is determined by the appended claims.

Claims

1. A lower limb adaptive assistive exoskeleton, characterized in that, The device includes a waist binding strap assembly, a leg binding strap, an X-axis motor at the hip joint, a Y-axis motor at the femur, an upper skeletal member, and a lower skeletal member. The X-axis motor assists in the forward and backward swinging of the lower limbs, and the Y-axis motor assists in the left and right swinging of the lower limbs. The X-axis motor and the Y-axis motor are connected by the upper skeletal member, and the leg binding strap is connected to the Y-axis motor bracket by the lower skeletal member. A straight-rod type weighing sensor is installed between the X-axis motor and the upper end of the upper skeletal member, and a battery assembly is installed on the rear side of the waist binding strap assembly.

2. The lower limb adaptive assistive exoskeleton according to claim 1, characterized in that, The X-axis motor is a servo motor assembly, and the Y-axis motor is a brushless motor assembly.

3. The lower limb adaptive assistive exoskeleton according to claim 2, characterized in that, The waist binding belt assembly includes a waist binding belt and a fixing belt. The two ends of the front part of the fixing belt are connected to the waist binding belt, and the battery assembly is fixed to the rear side of the middle part of the fixing belt.

4. The lower limb adaptive assistive exoskeleton according to claim 2, characterized in that, The brushless motor assembly includes a brushless motor upper cover, a brushless motor lower cover, a display screen, and a brushless motor. The brushless motor is fixed between the brushless motor upper cover and the brushless motor lower cover, and the display screen is located on the front side of the brushless motor upper cover.

5. The lower limb adaptive assistive exoskeleton according to claim 3, characterized in that, The servo assembly includes a lower servo cover, an upper servo cover, a servo, and an adjusting slider. The servo is fixed in the groove of the lower servo cover, and the end of the servo is connected to the upper servo cover. The upper part of the lower servo cover is connected to the adjusting slider, which is slidably locked onto the fixed belt.

6. The lower limb adaptive assistive exoskeleton according to claim 1, characterized in that, The upper skeletal structure is curved, tapering towards the center from the bottom.

7. The lower limb adaptive assistive exoskeleton according to claim 1, characterized in that, The lower skeletal members are wavy and curved.

8. The lower limb adaptive assistive exoskeleton according to claim 3, characterized in that, The waist binding strap is a soft, flat strap with the ends connected by Velcro.

9. A lower limb adaptive assistive exoskeleton according to claim 8, characterized in that, The waist binding strap is a soft, flat band woven from a mixture of nylon and TPU.

10. A lower limb adaptive assistive exoskeleton according to claim 1, characterized in that, The battery assembly includes a battery compartment cover and a battery.

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