Knee joint exoskeleton assisting trousers for assisting walking

Abstract

The walking-assisting knee joint exoskeleton assisting trousers comprise an exoskeleton and trousers, the exoskeleton comprises an assisting assembly, a thigh supporting assembly, a shank supporting assembly and a crossed four-connecting-rod assembly, and a driving mechanism of the assisting assembly is arranged on the outer side of the upper half portion of the thigh; the thigh supporting assembly comprises a thigh binding mechanism and a thigh support, the shank supporting assembly comprises a shank binding mechanism and a shank support, the thigh support is in power connection with the shank support through a crossed four-bar linkage assembly, and the thigh binding mechanism and the shank binding mechanism are located inside the trousers. Part of the weight of the exoskeleton is borne through the trousers, the load of the legs is reduced, a wearer can walk, run and other actions more easily and freely, the driving mechanism moves upwards to the binding position of the thigh, the load of the knee joint area is reduced, joint abrasion and muscle fatigue can be reduced, the wearing comfort and the feasibility of long-time walking are improved, and the wearing comfort is improved. One part of the exoskeleton is located in the trousers, so that the overall attractiveness is improved.

Description

Technical Field

[0001] This utility model relates to the field of assistive walking devices, specifically to an assistive walking knee joint exoskeleton pants. Background Technology

[0002] In the field of everyday wearables and assisted walking, existing knee joint assistive devices typically only include the knee exoskeleton. However, due to the limitations of trousers, the knee exoskeleton can usually only be placed outside the trousers and tied to the wearer's legs through the fabric. This has a significant impact on the stability of the binding, especially when the trouser fabric is smooth, it is easy to slip, making it difficult to achieve an effective walking assistance function. At the same time, the exoskeleton is tied to the trousers, and the trousers are tightened and just stick to the legs, affecting the aesthetics and resulting in low user satisfaction. Traditional designs lack integration with the overall wearable system, making knee exoskeleton devices inconvenient to use in daily life.

[0003] Existing knee exoskeletons typically place the motor or drive unit directly at the knee joint. When walking, the wearer's leg needs to drive the drive unit, resulting in excessive joint load, affecting the flexibility and comfort of wearing the device, making it bulky and inconvenient for long-term use. At the same time, the weight of the drive unit can easily cause the movement trajectory to deviate from the natural movement pattern of the human knee joint, resulting in a stiff movement process and unsmooth assistance, affecting the user experience. This utility model proposes a new solution to the above problems. Utility Model Content

[0004] To overcome at least one of the aforementioned drawbacks, this utility model provides a knee joint exoskeleton assistive pant for walking. The objective of this utility model can be achieved by employing the following technical solution:

[0005] This utility model provides a knee-supporting exoskeleton pants for assisting walking, comprising an exoskeleton and pants, wherein the exoskeleton includes:

[0006] A power-assisting component, the power-assisting component including a drive mechanism for being positioned on the outer side of the upper thigh;

[0007] A thigh support assembly, comprising a thigh binding mechanism and a thigh support, wherein the thigh binding mechanism is used to bind to the thigh.

[0008] The lower leg support assembly includes a lower leg binding mechanism and a lower leg bracket, wherein the lower leg binding mechanism is used to bind the lower leg.

[0009] A cross-bar linkage assembly is provided, through which the thigh support is poweredly connected to the lower leg support;

[0010] The thigh binding mechanism and the calf binding mechanism are located inside the trousers, while the assist component, the thigh support, the calf support, and the cross four-bar assembly are located outside the trousers. The trousers have openings through which the thigh binding mechanism and the calf binding mechanism pass.

[0011] In one possible implementation, the trousers include:

[0012] A side zipper, which is longitudinally positioned on the outside of the trouser leg and extends to the bottom of the trouser leg;

[0013] A first zipper is provided on the upper part of the pant leg, and the pant leg is detachably connected to the thigh support assembly via the first zipper;

[0014] A second zipper is located at the lower part of the pant leg, and the pant leg is detachably connected to the thigh support assembly via the second zipper.

[0015] In one possible implementation, the crossbar assembly includes:

[0016] A femoral support frame, which is connected to the thigh support assembly;

[0017] A tibial support frame, which is connected to the lower leg support assembly;

[0018] A first cross link, the first end of which is rotatably connected to the first end of the femoral support frame, and the second end of which is rotatably connected to the first end of the tibial support frame;

[0019] The second cross link has its first end rotatably connected to the second end of the femoral support frame, and its second end rotatably connected to the second end of the tibial support frame.

[0020] In one possible implementation, the thigh support assembly is rotatably connected to the calf support assembly via a cross four-bar linkage assembly, and the calf support assembly can rotate relative to the thigh support assembly at an angle of 0°-120°.

[0021] In one possible implementation, there is a height difference between the drive mechanism and the crossbar assembly, with the drive mechanism located on the upper half of the wearer's thigh or hip.

[0022] In one possible implementation, the drive mechanism includes:

[0023] The motor assembly includes a motor housing and a drive motor;

[0024] A coil, the output end of which is connected to the drive motor;

[0025] Brake cable, one end of which is connected to the spool;

[0026] Anchor points are provided on the outer sides of both the thigh support and the calf support, and the brake line passes through the anchor points of the thigh support and the calf support in sequence.

[0027] A return spring is provided on the lower leg bracket, and the other end of the brake cable is connected to the return spring.

[0028] In one possible implementation, the thigh support includes:

[0029] A ring-shaped object, wherein the coil is disposed in the inner cavity of the ring-shaped object, and the ring-shaped object has a threading opening for the brake cable to pass through;

[0030] A first support, one end of which is connected to the annular object.

[0031] In one possible implementation,

[0032] The thigh support includes a first adjustment shaft disposed at the other end of the first support for rotatable connection with the femoral support frame, so as to adjust the angle of the femoral support frame;

[0033] The lower leg support includes a second support, one end of which is provided with a second adjustment shaft for rotatably connecting with the tibial support frame, so as to adjust the angle of the tibial support frame;

[0034] The axis of the first adjustment shaft is parallel to the axis of the second adjustment shaft, which is used to adjust the position of the second bracket.

[0035] In one possible implementation, both the thigh binding mechanism and the calf binding mechanism include:

[0036] The fixing plate is arc-shaped;

[0037] A flexible pad is disposed on the inner side of the fixing plate for flexible contact with the leg.

[0038] A binding wire, one end of which is connected to the fixing plate or the flexible pad;

[0039] A binding adjustment assembly is disposed on the fixed plate, and the binding line is disposed circumferentially on the outer side of the flexible pad. The binding adjustment assembly is connected to the other end of the binding line and is used to adjust the tension of the binding line.

[0040] The trousers have adjustment holes on their legs, and these adjustment holes are positioned corresponding to the binding adjustment components.

[0041] In one possible implementation, the binding adjustment component includes:

[0042] The base is mounted on the fixing plate;

[0043] A tablet pressing motor, which is mounted on the base;

[0044] A ratchet mechanism, comprising a ratchet and a pawl, wherein the output end of the tablet pressing motor is connected to the pawl, and the binding wire is connected to the ratchet;

[0045] A rotating buckle is provided on the base, and the rotating buckle is screwed on to release or tighten the binding wire.

[0046] The beneficial technical effects of this utility model are as follows: According to the present disclosure, the assistive walking knee joint exoskeleton pants combine the exoskeleton with the pants, with the pants bearing part of the weight of the exoskeleton, reducing the load on the legs and helping to reduce joint wear and muscle fatigue. This makes walking, running, and other movements easier and more comfortable for the wearer. Part of the exoskeleton is located inside the pants, improving the overall aesthetics. At the same time, the heavier drive mechanism is moved upwards to the thigh binding area, reducing the load on the knee joint area and making the pants lighter and more flexible at the knee joint, thereby improving wearing comfort and the feasibility of long-distance walking. The cross-linked four-bar assembly simulates the instantaneous rotation center of the human knee joint, making the movement trajectory of the assistive pants more consistent with the natural movement trajectory of the human knee joint, bringing a smoother walking experience and avoiding interference from stiff mechanical movements on the knee joint. It can also be finely adjusted according to the leg contour to ensure the fit and comfort of the assistive pants during walking, thereby improving the user experience and achieving better assistive effects. Attached Figure Description

[0047] The following are given by way of example and without limitation in the accompanying drawings:

[0048] Figure 1 A schematic diagram of the overall structure of the power pants is shown;

[0049] Figure 2 A schematic diagram of the exoskeleton at one angle is shown;

[0050] Figure 3 This shows a structural diagram of the exoskeleton from another angle;

[0051] Figure 4 An exploded view of the exoskeleton structure is shown.

[0052] Figure 5A schematic diagram of the exoskeleton's operation process is shown;

[0053] Figure 6 A schematic diagram of the cross four-bar linkage assembly at one angle is shown;

[0054] Figure 7 A structural schematic diagram of the cross four-bar linkage assembly from another angle is shown;

[0055] Figure 8 A schematic diagram of the thigh support structure is shown;

[0056] Figure 9 A schematic diagram of the lower leg support structure is shown;

[0057] Figure 10 It shows Figure 4 Enlarged schematic diagram of part A;

[0058] Figure 11 A schematic diagram of the binding adjustment component at one angle is shown;

[0059] Figure 12 This shows a structural schematic diagram of the binding adjustment component from another angle;

[0060] Figure 13 A schematic diagram of the base structure is shown;

[0061] Figure 14 A schematic diagram of the tablet pressing motor, ratchet mechanism, and binding wire is shown.

[0062] Figure 15 A schematic diagram of the rotating buckle is shown.

[0063] In the picture:

[0064] 100. Exoskeleton; 200. Pants; 201. First zipper; 202. Second zipper; 203. Side zipper; 204. Adjustment hole;

[0065] 1. Assistive component; 2. Thigh support component; 3. Calf support component; 4. Cross four-bar linkage component; 5. Binding adjustment component;

[0066] 11. Drive mechanism; 12. Brake cable; 13. Anchor point; 14. Return spring; 21. Thigh binding mechanism; 22. Thigh support; 31. Lower leg binding mechanism; 32. Lower leg support; 41. Femoral support frame; 42. First cross link; 43. Second cross link; 44. Tibial support frame; 51. Base; 52. Pressing motor; 53. Ratchet mechanism; 54. Rotary buckle;

[0067] 111. Motor assembly; 112. Wire reel; 221. Ring; 222. Wire threading port; 223. First bracket; 224. First adjusting shaft; 321. Second bracket; 322. Second adjusting shaft. Detailed Implementation

[0068] In the following detailed disclosure, these embodiments are fully described with reference to the accompanying drawings. In order to enable those skilled in the art to understand and clarify the technical solution of this utility model more clearly, the embodiments described below are not limited thereto. The present utility model will be further described in detail below with reference to the embodiments and the accompanying drawings.

[0069] In this utility model, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance; the term "multiple" refers to two or more unless otherwise explicitly defined. The terms "install," "connect," "join," and "fix" should be interpreted broadly. For example, "connect" can be a fixed connection, a detachable connection, or an integral connection; "join" can be a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0070] In the description of this utility model, it should be understood that the terms "upper", "lower", "left", "right", "front", "rear", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or unit referred to must have a specific orientation or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0071] This utility model provides a pair of knee joint exoskeleton assistive pants for walking, such as... Figures 1-15 As shown, the device includes an exoskeleton 100 and trousers 200. The exoskeleton 100 includes an assist component 1, a thigh support component 2, a calf support component 3, and a cross four-bar linkage 4. The assist component 1 includes a drive mechanism 11, which is positioned on the outer side of the upper part of the thigh. The thigh support component 2 includes a thigh binding mechanism 21 and a thigh support 22. The thigh binding mechanism 21 is used to bind the thigh. The calf support component 3 includes a calf binding mechanism 31 and a calf support 32. The calf binding mechanism 31 is used to bind the calf. The thigh support 22 is poweredly connected to the calf support 32 through the cross four-bar linkage 4. The thigh binding mechanism 21 and the calf binding mechanism 31 are located inside the trousers 200, while the assist component 1, the thigh support 22, the calf support 32, and the cross four-bar linkage 4 are located outside the trousers 200. The trousers 200 has openings through which the thigh binding mechanism 21 and the calf binding mechanism 31 pass.

[0072] The walking-assisting knee exoskeleton pants provided in this embodiment combine the exoskeleton 100 with the pants 200, fixing the exoskeleton 100 to the pants 200. The weight that was originally borne by the legs is shared by the pants 200 and the exoskeleton 100, reducing the load on the legs, helping to reduce joint wear and muscle fatigue, and making it easier and more comfortable for the wearer to walk, run and perform other movements.

[0073] The assistive walking knee exoskeleton pants provided in this embodiment have the parts that need to directly contact the legs located inside the pants 200, namely the thigh binding mechanism 21 and the calf binding mechanism 31. This ensures wearing comfort and a secure fit, allowing the binding mechanism to fit the legs more closely and provide good support and stability. The parts that do not need to directly contact the legs are located outside the pants 200, namely the assistive component 1, thigh support 22, calf support 32, and cross four-bar assembly 4. This avoids the large internal structure of the pants 200 affecting aesthetics, simplifies the donning and doffing process, and facilitates maintenance, adjustment, and replacement. The external structure of the pants 200 allows for better heat dissipation of the drive mechanism 11, preventing it from affecting the internal temperature of the pants 200 and improving wearer comfort. By dividing and arranging the exoskeleton 100 inside and outside the pants 200 according to its functionality, it ensures binding stability, normal operation, and good heat dissipation, while also reducing the bulkiness of the exoskeleton 100 and improving overall aesthetics.

[0074] The assistive walking knee exoskeleton pants provided in this embodiment move the drive mechanism 11 upwards to the thigh binding area, reducing the load on the knee joint area and making the pants lighter and more flexible at the knee joint, thereby improving wearing comfort and the feasibility of long-term walking. The knee joint is one of the most vulnerable joints in the human body, especially during weight-bearing activities. Moving the heavier drive mechanism 11 upwards and connecting it to the thigh binding mechanism 21 not only reduces the weight and pressure on the knee joint and optimizes the instantaneous center of rotation of the knee joint, reducing the risk of joint wear and injury, but also ensures the connection stability of the drive mechanism 11.

[0075] Understandably, the outwardly protruding drive mechanism 11 is relatively low at the knee joint, making it difficult for people around to notice, especially in crowded spaces, and increasing the risk of collisions. The assistive walking knee exoskeleton pants provided in this embodiment move to the thigh, where the thigh is higher than the knee joint, making the drive mechanism 11 more visible and easily noticed. Due to its elevated position, the drive mechanism 11 has less chance of contact with other people's legs and knees during walking, and the thigh's movement is smaller than the knee joint's, reducing the likelihood of collisions. The relatively high position of the drive mechanism 11 at the thigh naturally increases the safe distance from the ground and other obstacles.

[0076] The assistive walking knee exoskeleton pants provided in this embodiment simulate the instantaneous rotation center of the human knee joint through the cross four-bar linkage 4, making the movement trajectory of the pants more consistent with the natural movement trajectory of the human knee joint, bringing a smoother walking experience and avoiding interference from stiff mechanical movements on the knee joint.

[0077] In one possible implementation, such as Figure 1 As shown, the trousers 200 include a side zipper 203, a first zipper 201, and a second zipper 202. The side zipper 203 is longitudinally arranged on the outside of the trouser leg and extends to the bottom of the trouser leg. The first zipper 201 is located on the upper part of the trouser leg, and the trouser leg is detachably connected to the thigh support component 2 through the first zipper 201. The second zipper 202 is located on the lower part of the trouser leg, and the trouser leg is detachably connected to the thigh support component 2 through the second zipper 202.

[0078] The trousers 200 have a side zipper 203 that extends vertically to the bottom of the trouser leg. Pulling the side zipper 203 from the bottom up allows the trouser leg to gradually unfold from the bottom, making it easier to put on and take off the trousers. Especially when the exoskeleton 100 needs to be bound, the side zipper 203 can be opened in hot weather or during exercise to allow better ventilation for the feet or legs, thereby increasing comfort and helping to regulate body temperature.

[0079] The trouser legs have an additional opening on the outside to facilitate the installation of the exoskeleton 100, so that part of the exoskeleton 100 can be inside the trousers 200 and the other part can be outside the trousers 200.

[0080] The pant legs feature a first zipper 201 with an upper chain, and a first lower chain on the thigh binding mechanism 21. A flexible pad protrudes from the upper end of the fixed plate, and the lower chain can be mounted on the flexible pad of the thigh binding mechanism 21. The pant legs and thigh binding mechanism 21 are detachably connected through the matching upper and lower chains. The pant legs also feature a second zipper 202 with a second upper chain, and a second lower chain on the calf binding mechanism 31. A flexible pad protrudes from the upper end of the fixed plate, and the lower chain can be mounted on the flexible pad of the calf binding mechanism 31. The pant legs and calf binding mechanism 31 are detachably connected through the matching upper and lower chains. The weight originally borne by the legs is shared by the pant leg 200 and the exoskeleton 100, reducing the load on the legs and helping to reduce joint wear and muscle fatigue.

[0081] It is understood that this embodiment provides a rigid-flexible coupling knee joint assist pants with an instantaneous rotation center. The pants 200 adopt a three-section structure design. The middle section can be opened in the vertical direction for easy wearing and binding. The upper and lower sections are connected by buckles to form an integral structure for easy wearing and adjustment.

[0082] In one possible implementation, such as Figures 1-10 As shown, the cross four-bar assembly 4 includes a femoral support frame 41, a tibial support frame 44, a first cross link 42, and a second cross link 43. The femoral support frame 41 is connected to the thigh support assembly 2, and the tibial support frame 44 is connected to the lower leg support assembly 3. The first end of the first cross link 42 is rotatably connected to the first end of the femoral support frame 41, and the second end of the first cross link 42 is rotatably connected to the first end of the tibial support frame 44. The first end of the second cross link 43 is rotatably connected to the second end of the femoral support frame 41, and the second end of the second cross link 43 is rotatably connected to the second end of the tibial support frame 44.

[0083] Among them, such as Figure 3 As shown, the assistive walking knee exoskeleton pants provided in this embodiment use a biomimetic cross-bar linkage 4 to achieve biomimetic movement. The cross-bar linkage 4 includes a femoral support frame 41, a tibial support frame 44, a first cross link 42, and a second cross link 43, which are fixed by connecting bolts to form a flexible support system for the knee joint. Figure 6 , Figure 7 and Figure 10As shown, the femoral support frame 41 is connected to the thigh support component 2, and the tibial support frame 44 is connected to the lower leg support component 3. The femoral support frame 41 and the tibial support frame 44 rotate through the first cross link 42 and the second cross link 43. The first cross link 42 and the second cross link 43 play the role of connecting and transmitting motion, allowing the femoral support frame 41 and the tibial support frame 44 to move relative to each other. During walking, running, jumping and other movements, the human knee joint will undergo complex rotational movements around an instantaneous rotation center. The cross four-bar linkage component 4 simulates the instantaneous rotation center of the human knee joint, making the movement trajectory of the knee joint of the assistive pants more consistent with the movement of the human knee joint. This effectively increases the naturalness and comfort of the knee joint flexion and extension movements, ensuring that the movement trajectory of the knee joint of the assistive pants is more consistent with the movement of the human knee joint, avoiding stiff movements in the mechanical drive process, and allowing the wearer to enjoy a more natural and smooth movement experience during wear.

[0084] The cross-link mechanism consists of a femoral support frame 41, a tibial support frame 44, and two sets of cross links. This structure can rotate in multiple axes like the human knee joint, thus adapting to various complex movement postures. By precisely controlling the rotation angle and speed of the links, it ensures that the assistive walking pants remain synchronized with the human knee joint during exercise, reducing friction and resistance during exercise. The highly simulated design allows the assistive walking pants to provide just the right amount of assistance when the wearer performs various daily activities, reducing the burden on the knee joint and improving walking efficiency and comfort.

[0085] In one possible implementation, such as Figure 5 As shown, the thigh support assembly 2 is rotatably connected to the calf support assembly 3 via a cross four-bar linkage assembly 4, and the calf support assembly 3 can rotate relative to the thigh support assembly 2 at an angle of 0°-120°.

[0086] Understandably, the exoskeleton 100 mimics the structure of the human skeleton and muscles to provide assistance or rehabilitation training for the wearer. In the exoskeleton 100, the thigh support component 2 and the calf support component 3 are key components. They are fixed to the wearer's thigh and calf respectively, connected and transmitting assistance through a mechanical structure. The cross-link assembly 4 serves as the connecting component between the thigh support component 2 and the calf support component 3, enabling rotational connection between the two. This allows the exoskeleton 100 to more accurately simulate the movement trajectory of the human knee joint, improving the assistance effect and the wearer's comfort.

[0087] During walking, when the knee joint bends, the lower leg support component 3 rotates at a certain angle relative to the thigh support component 2. Through precise control by the cross-bar linkage 4, this rotation angle matches the natural bending angle of the human knee joint, ensuring that the exoskeleton 100 smoothly follows the wearer's movement trajectory and provides assistance. The rotation angle α of the lower leg support component 3 relative to the thigh support component 2 ranges from 0° to 120°. This range covers the range of motion of the human knee joint in most daily activities, limiting the extension and flexion movements of the exoskeleton 100's knee joint to the 0-120° range, thus achieving mechanical limitation of 0° extension and 120° flexion. Within this angle range, the cross-bar linkage 4 ensures that the relative movement between the lower leg support component 3 and the thigh support component 2 is both flexible and stable, thereby meeting the wearer's assistance needs in different scenarios.

[0088] In one possible implementation, there is a height difference between the drive mechanism 11 and the cross four-bar assembly 4, with the drive mechanism 11 located on the upper half of the wearer's thigh or hip.

[0089] In traditional exoskeleton designs, the drive mechanism 11 is usually located near the knee joint, directly driving the movement of the lower leg. This design often puts a lot of pressure and burden on the knee joint, especially when walking for a long time or engaging in high-intensity exercise.

[0090] The knee-assisted walking exoskeleton pants provided in this embodiment reduce the burden on the knee joint by moving the drive mechanism 11 upwards to the upper half of the wearer's thigh or hip, thus distributing the pressure originally concentrated on the knee joint to the thigh or hip. This reduces wear and tear on the knee joint and extends its service life. The thigh and hip, as important support parts of the human body, have higher stability. Placing the heavier drive mechanism 11 in these areas makes the exoskeleton 100 more stable during movement, reducing swaying and shaking, and improving the wearer's walking stability and safety. Moving the drive mechanism 11 upwards also makes the movement trajectory of the exoskeleton 100 more consistent with the natural movement trajectory of the human body. This not only improves the wearer's comfort but also reduces additional energy consumption and fatigue caused by mismatched movement trajectories, reducing the burden on the body during exercise and improving exercise efficiency and comfort.

[0091] In one possible implementation, such as Figure 3 and Figure 4As shown, the drive mechanism 11 includes a motor assembly 111, a coil 112, a brake cable 12, an anchor point 13, and a return spring 14. The motor assembly 111 includes a motor housing and a drive motor. The output end of the drive motor is connected to the coil 112. One end of the brake cable 12 is connected to the coil 112. Anchor points 13 are provided on the outer sides of both the thigh support 22 and the calf support 32. The brake cable 12 passes through the anchor points 13 of the thigh support 22 and the calf support 32 in sequence. The return spring 14 is provided on the calf support 32. The other end of the brake cable 12 is connected to the return spring 14.

[0092] The assistive walking knee exoskeleton pants provided in this embodiment adopt a combination of cable drive and spring return, including active flexion / extension degrees of freedom, mainly achieved through a cross four-bar linkage mechanism, providing assistance that conforms to the natural movement trajectory of the knee joint to meet the requirements of bionics and flexibility.

[0093] The drive mechanism 11 includes a motor assembly 111 mounted on the upper part of the thigh support assembly 2, used to drive the knee joint flexion movement. The drive motor is connected to a coil 112. The brake cable 12 consists of a fixed outer sheath and a freely sliding inner steel wire. The outer sheath is fixed to the thigh and lower leg supports 32 respectively by anchor points 13 and remains stationary, while the inner steel wire is stretched when the drive motor rotates, thereby driving the knee joint flexion movement. During knee joint flexion, the return spring 14 is compressed and stores energy; when the drive motor stops or rotates in the opposite direction, the spring releases its stored energy, retracting the inner steel wire and restoring the knee joint to its initial position. To ensure that the exoskeleton 100 exhibits a smooth and coordinated movement during knee joint flexion and extension, the system is equipped with a mechanical control system to adjust the spring tension and provide elastic cushioning for the knee joint.

[0094] The assistive walking knee exoskeleton pants provided in this embodiment utilize the elastic characteristics of the anterior and posterior cruciate ligaments of the human knee joint, achieving a biomimetic simulation of the ligament's flexibility through the action of springs. A return spring 14 is incorporated into the cross-bar linkage 4 to provide cushioning when the knee joint reaches its extreme flexion and extension positions, reducing the impact of instantaneous loads on the knee joint. The spring absorbs and releases some elastic potential energy during knee joint movement, effectively reducing energy consumption during flexion and extension movements of the exoskeleton 100's knee joint. This rigid-flexible coupling cross-bar linkage 4 reduces the forced assistance required by the exoskeleton 100 on the human body, better conforms to the natural movement trajectory of the human body, improves the smoothness of movement and wearing comfort, thereby further enhancing the assistive effect and overall stability of the exoskeleton 100 device.

[0095] Among them, such as Figure 3 , Figure 4 and Figure 8As shown, this embodiment provides a specific structure of a thigh support 22, which includes an annular object 221 and a first support 223. A coil 112 is disposed in the inner cavity of the annular object 221. The annular object 221 has a threading port 222 for the brake cable 12 to pass through. One end of the first support 223 is connected to the annular object 221.

[0096] In one possible implementation, such as Figure 3 , Figure 4 , Figure 9 and Figure 10 As shown, the thigh support 22 includes a first adjustment shaft 224 disposed at the other end of the first support 223 for rotatably connecting with the femoral support frame 41, so as to adjust the angle of the femoral support frame 41; the lower leg support 32 includes a second support 321, one end of the second support 321 is provided with a second adjustment shaft 322 for rotatably connecting with the tibial support frame 44, so as to adjust the angle of the tibial support frame 44.

[0097] In this embodiment, the assistive walking knee exoskeleton pants have an adjustable device at the knee joint. This adjustable device includes a rotatable adjustment shaft and a flexible support system. Specifically, the cross four-bar assembly 4 is rotatably connected to the thigh support 22 via the first adjustment shaft 224, and the cross four-bar assembly 4 is rotatably connected to the calf support 32 via the second adjustment shaft 322. This allows the calf support 32 to rotate in the vertical plane, adaptively adjusting its position. This enables the assistive pants to be finely adjusted at the knee joint according to the wearer's leg contour and body shape to meet the needs of people with different leg shapes. This ensures that the knee joint part of the assistive pants can dynamically conform to the leg curve, thereby providing personalized wearing adaptability and comfort.

[0098] Furthermore, the axis of the first adjusting shaft 224 is parallel to the axis of the second adjusting shaft 322, in order to adjust the position of the second bracket 321.

[0099] The assistive walking knee exoskeleton pants provided in this embodiment adopt a combination of cable drive and spring return, and have two degrees of freedom, including active flexion / extension freedom and multi-directional flexible fit freedom. The multi-directional flexible fit freedom is achieved through an adjustment axis. The adjustment axis at the knee joint can adapt to small angle changes in different directions with joint movement, dynamically adjusting the fit angle between the exoskeleton 100 and the leg to avoid discomfort caused by joint changes.

[0100] In one possible implementation, such as Figure 12As shown, both the thigh binding mechanism 21 and the calf binding mechanism 31 include a fixed plate, a flexible pad, binding wires, and a binding adjustment component 5. The fixed plate is arc-shaped, and the flexible pad is located on the inner side of the fixed plate for flexible contact with the leg. One end of the binding wire is connected to the fixed plate or the flexible pad. The binding adjustment component 5 is located on the fixed plate, and the binding wires are located circumferentially on the outer side of the flexible pads. The binding adjustment component 5 is connected to the other end of the binding wires for adjusting the tension of the binding wires.

[0101] The fixing plate is arc-shaped, and when worn, the arc-shaped notch is located on the inside of the leg, reducing friction on the leg during walking and improving the comfort and stability of wearing it.

[0102] The flexible pad, located on the inner side of the fixation plate and in direct contact with the human skin, is made of soft material and provides comfortable flexible support while dispersing the pressure of the exoskeleton on the legs, further reducing discomfort when wearing it.

[0103] Furthermore, fixing points can be set on the flexible pad for connection with the trousers 200, such as zippers, buttons, etc.

[0104] The binding threads are circumferentially bound to the outside of the fixed plate and the flexible pad. The tension of the binding threads is adjusted by the binding adjustment component 5, thereby ensuring that the thigh binding mechanism 21 and the calf binding mechanism 31 fit snugly against the leg. The binding adjustment component 5 is located on the fixed plate, allowing the wearer to make quick adjustments. By adjusting the binding adjustment component 5, the wearer can easily adjust the tension of the binding threads according to their leg size and comfort needs, achieving a personalized wearing experience.

[0105] The trousers 200 have adjustment holes 204 on their legs. The adjustment holes 204 are positioned corresponding to the binding adjustment components 5, making it easy to operate the binding adjustment components 5 through the adjustment holes 204. The adjustment holes 204 are holes through which fingers or tools can pass, allowing direct operation of the binding adjustment components 5, thereby achieving quick adjustment of the binding tightness and improving the flexibility of adjusting the binding tightness.

[0106] In one possible implementation, the binding adjustment assembly 5 includes a base 51, a pressure plate motor 52, a ratchet mechanism 53, and a rotating buckle 54. The base 51 is mounted on a fixed plate, the pressure plate motor 52 is mounted on the base 51, the ratchet mechanism 53 includes a matching ratchet and a pawl, the output end of the pressure plate motor 52 is connected to the pawl, the binding line is connected to the ratchet, and the rotating buckle 54 is mounted on the base 51. The rotating buckle 54 is screwed to release or tighten the binding line.

[0107] The base 51 is the supporting structure of the binding adjustment component 5 and is set on the fixed plate. The pressure plate motor 52 is set on the base 51 and is the power source for driving the ratchet mechanism 53. The output shaft of the pressure plate motor 52 is connected to the pawl, and the ratchet is connected to the binding line. When the pawl rotates or moves under the drive of the pressure plate motor 52, it interacts with the ratchet, thereby driving the ratchet to rotate, which in turn tightens or releases the binding line, thereby adjusting the binding tightness.

[0108] The rotating buckle 54 is located on the base 51. It provides users with an interface to manually adjust the tightness of the binding. The binding can be released or tightened by turning the rotating buckle 54, so as to adjust the tightness of the binding according to one's own needs and comfort, making the binding adjustment more convenient and flexible.

[0109] Furthermore, the trousers 200 have adjustment holes 204 on the trouser legs that correspond to the rotating buckle 54. Fingers can pass through the adjustment holes 204 to directly operate the binding adjustment component 5, thereby achieving quick adjustment of the binding tightness.

[0110] The lightweight and thin design of the pressure plate motor 52 helps reduce the overall weight of the exoskeleton 100 and the space occupied by the drive mechanism 11, making it easier for the wearer to carry and use. It also reduces interference and consumption with human movement while ensuring the assistive effect.

[0111] In the description of this specification, the terms "one embodiment," "some embodiments," "specific embodiment," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0112] The above are merely preferred embodiments of this utility model and are not intended to limit the scope of this utility model. Various modifications and variations can be made to this utility model by those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

[0113] In view of the detailed description above, these and other changes can be made to these embodiments. This written description includes embodiments of the best mode disclosed in this utility model. The patent scope of this utility model is defined by the claims, which are not limited by this disclosure. The protection scope of this utility model is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope disclosed in this utility model, based on the technical solution and concept of this utility model, are within the protection scope of this utility model.

Claims

1. A walking-assisting knee exoskeleton assisting pant, characterized by, The exoskeleton (100) comprises: The exoskeleton (100) comprises: The exoskeleton (100) comprises: The exoskeleton (100) comprises: The exoskeleton (100) comprises: The exoskeleton (100) comprises:

2. The assisted walking knee exoskeleton powered pant of claim 1, wherein, The exoskeleton (100) comprises: The exoskeleton (100) comprises: The exoskeleton (100) comprises: The exoskeleton (100) comprises:

3. The assisted walking knee exoskeleton powered pant of claim 1, wherein, The exoskeleton (100) comprises: The exoskeleton (100) comprises: The exoskeleton (100) comprises: The exoskeleton (100) comprises: The exoskeleton (100) comprises:

4. The assisted walking knee exoskeleton powered pant of claim 3, wherein, The exoskeleton (100) comprises:

5. The assisted walking knee exoskeleton powered pant of claim 3, wherein, The exoskeleton (100) comprises: The exoskeleton (100) comprises: The exoskeleton (100) comprises: The exoskeleton (100) comprises: The exoskeleton (100) comprises: The exoskeleton (100) comprises: The exoskeleton (100) comprises: The exoskeleton (100) comprises: The exoskeleton (100) comprises: The exoskeleton (100) comprises: The exoskeleton (100) comprises: The exoskeleton (100) comprises: The exoskeleton (100) comprises: The exoskeleton (100) comprises: The exoskeleton (100) comprises: The exoskeleton (100) comprises: The exoskeleton (100) comprises: The exoskeleton (100) comprises: The exoskeleton (100) comprises: The exoskeleton (100) comprises: The exoskeleton (100) comprises: The exoskeleton (100) comprises: The exoskeleton (100) comprises: The exoskeleton (100) comprises: The exoskeleton (100) comprises: The exoskeleton (100) comprises: The exoskeleton (100) comprises: The exoskeleton (100) comprises: The 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exoskeleton (100) comprises: The exoskeleton (100) comprises: The exoskeleton (100) comprises: The exoskeleton (100) comprises: The exoskeleton (100) comprises: The exoskeleton (100) comprises: The exoskeleton (100) comprises: The exoskeleton (100) comprises: The exoskeleton (100) comprises: The exoskeleton (100) comprises: The exoskeleton (100) comprises: The exoskeleton (100) comprises: The exoskeleton (100) comprises: The exoskeleton (100) comprises: The exoskeleton (100) comprises: The exoskeleton (100) comprises: The exoskeleton (100) comprises: The exoskeleton (100) comprises: The exoskeleton (100) comprises: The exoskeleton (100) comprises: The exoskeleton (100) comprises: The exoskeleton (100) comprises: The exoskeleton (100) comprises: The exoskeleton (100) comprises: The exoskeleton (100) comprises: The exoskeleton (100) comprises: The exoskeleton (100) comprises: The exoskeleton (100) comprises: The exoskeleton (100) comprises: The exoskeleton (100) comprises: The exoskeleton (100) comprises: The exoskeleton (100) comprises: The exoskeleton (100) comprises: The exoskeleton (100) comprises: The exoskeleton (100) comprises: The exoskeleton (100) comprises: The exoskeleton (100) comprises: The exoskeleton (100) comprises: The exoskeleton (100) comprises: The exoskeleton (100) comprises: The exoskeleton (100) comprises: The exoskeleton (100) comprises: The exoskeleton (100) comprises: The exoskeleton (100) comprises: The exoskeleton (100) comprises: The exoskeleton (100) comprises: The exoskeleton (100) comprises: The exoskeleton (100) comprises: The exoskeleton (100) comprises: The exoskeleton (100) comprises: The exoskeleton (100) comprises: The exoskeleton (100) comprises: The exoskeleton (100) comprises: The exoskeleton (100) comprises: The exoskeleton (100) comprises: The exoskeleton (100) comprises: The exoskeleton (100) comprises: The exoskeleton (100) comprises: The exoskeleton (100) comprises: The exoskeleton (100) comprises: The exoskeleton (100) comprises: The exoskeleton (100) comprises: The exoskeleton (100) comprises: The exoskeleton ( 6. The assisted walking knee exoskeleton powered pant of claim 5, wherein, The driving mechanism (11) comprises: a motor assembly (111) comprising a motor housing and a driving motor; a wire reel (112) connected with the output end of the driving motor; a brake wire (12) connected with one end of the wire reel (112); an anchor point (13) provided on the outer side of the thigh support (22) and the calf support (32), and the brake wire (12) sequentially passes through the anchor points (13) of the thigh support (22) and the calf support (32); a reset spring (14) provided on the calf support (32), and the other end of the brake wire (12) is connected with the reset spring (14).

7. The assisted walking knee exoskeleton powered pant of claim 6, wherein, The thigh support (22) comprises: a ring (221) in which the wire reel (112) is arranged, and a wire passing hole (222) is formed in the ring (221) for the brake wire (12) to pass through; a first support (223) connected with one end of the ring (221).

8. The auxiliary walking knee exoskeleton assisting trousers according to claim 7, wherein the thigh support (22) comprises a first adjusting shaft (224) provided on the other end of the first support (223) for rotationally connecting with the femur support frame (41) to adjust the angle of the femur support frame (41); the calf support (32) comprises a second support (321) provided with a second adjusting shaft (322) at one end for rotationally connecting with the tibia support frame (44) to adjust the angle of the tibia support frame (44); wherein the axis of the first adjusting shaft (224) and the axis of the second adjusting shaft (322) are parallel to adjust the position of the second support (321).

9. The assisted walking knee exoskeleton power pant of claim 1, wherein, The thigh binding mechanism (21) and the calf binding mechanism (31) each comprise: a fixed plate which is arc-shaped; a flexible pad provided on the inner side of the fixed plate for flexible contact with the leg; a binding wire connected with one end of the fixed plate or the flexible pad; a binding adjusting assembly (5) provided on the fixed plate, the binding wire is circumferentially arranged on the outer side of the flexible pad, and the other end of the binding wire is connected with the binding adjusting assembly (5) for adjusting the tension of the binding wire; wherein an adjusting hole (204) is formed on the leg of the trousers (200), and the adjusting hole (204) is arranged corresponding to the position of the binding adjusting assembly (5).

10. The assisted walking knee exoskeleton powered pant of claim 9, wherein, The binding adjusting assembly (5) comprises: a base (51) provided on the fixed plate; a tablet pressing motor (52) provided on the base (51). A ratchet mechanism (53) comprising a ratchet and a pawl adapted to each other, an output end of the tablet pressing motor (52) is connected with the pawl, and the binding line is connected with the ratchet; A rotating buckle (54) is arranged on the base (51), and the rotating buckle (54) is screwed for releasing or tightening the binding line.

Images