Walking-assisted exoskeleton

Abstract

This utility model belongs to the field of medical device technology and discloses a walking assist exoskeleton, including a first side exoskeleton, a second side exoskeleton, and a hip joint exoskeleton; the first side exoskeleton, the second side exoskeleton, and the hip joint exoskeleton are movably connected; the second side exoskeleton includes a leg fixation structure, an ankle connector, and a shoe; the hip joint exoskeleton, the leg fixation structure, the ankle connector, and the shoe are connected sequentially; the leg fixation structure has a first rear end corresponding to the posterior region of the affected lower leg, the shoe has a second rear end corresponding to the heel of the affected foot, and the opposite ends of the ankle connector are respectively connected to the first and second rear ends; the ankle connector has elastic properties, and the shoe, in its natural state, has at least the forefoot position tilted upwards towards the ankle connector. This walking assist exoskeleton can assist patients in moving their toes upwards, raising their toes, and can effectively solve the problem of insufficient foot alignment caused by foot drop.

Description

Technical Field

[0001] This utility model belongs to the field of medical device technology, specifically relating to a walking assistive exoskeleton. Background Technology

[0002] As a wearable robotic technology, walking-assistive exoskeletons have been widely used in medical rehabilitation, elderly care, and disability assistance in recent years. Their core function is to provide joint assistance to patients with mobility impairments (such as those with lower limb muscle weakness, spinal cord injury, or stroke sequelae) or specific occupational groups through biomimetic mechanical structures that work in conjunction with the human lower limbs. This improves gait stability, reduces walking energy consumption, and enhances motor skills. A typical exoskeleton system usually consists of a mechanical frame, drive unit, sensor modules, and control unit. By monitoring the user's movement intentions in real time, it provides dynamic assistive torques to the hip, knee, and ankle joints during the gait cycle, thereby compensating for or enhancing the user's muscle strength.

[0003] However, existing walking assist exoskeletons have significant limitations in addressing insufficient foot clearance caused by foot abnormalities such as foot drop. Foot drop is characterized by weak ankle dorsiflexion, preventing patients from properly lifting their toes during the swing phase of the gait, easily leading to dragging gait, increased risk of falls, and compensatory sports injuries. Traditional exoskeleton designs often focus on hip and knee joint assistance and motion trajectory planning, while failing to adequately adapt to the biomechanical characteristics of the ankle-foot complex. Existing devices often use rigid connections, fixed angles, or foot supports with mechanical hinges featuring limiting and elastic structures, lacking dynamic adaptive adjustment for ankle dorsiflexion-plantar flexion movements in foot drop patients, especially failing to provide sufficient "foot clearance" in the early swing phase; resulting in unbalanced foot pressure distribution. This technological bottleneck limits the rehabilitation effect of exoskeletons on foot drop patients, not only failing to effectively improve foot motor function but also potentially causing secondary injuries due to the mismatch between the mechanical structure and human movement. In addition, some lightweight exoskeletons are supported on the wearer's body without contacting the ground, leading to the problem of slippage. Utility Model Content

[0004] The purpose of this invention is to provide a walking assist exoskeleton that can help lift the toes of the affected side when the patient walks, solve the problem of insufficient foot clearance caused by foot drop, and effectively prevent the walking assist exoskeleton from slipping off the wearer during assisted walking.

[0005] The following technical solutions are used to achieve the above objectives.

[0006] This utility model embodiment provides a walking assistive exoskeleton, which includes a first side exoskeleton, a second side exoskeleton, and a hip joint exoskeleton;

[0007] The first-side exoskeleton, the second-side exoskeleton, and the hip joint exoskeleton are movably connected;

[0008] The second-side exoskeleton includes a leg fixation structure, an ankle connector, and a shoe; the hip joint exoskeleton, the leg fixation structure, the ankle connector, and the shoe are connected in sequence.

[0009] The leg fixation structure has a first rear end corresponding to the posterior region of the affected lower leg, the shoe has a second rear end corresponding to the heel of the affected foot, and the opposite ends of the ankle connector are respectively connected to the first rear end and the second rear end; the ankle connector has elastic properties, and the shoe, in its natural state, has at least the forefoot position tilted towards the ankle connector.

[0010] In some embodiments, the ankle connector is inclined relative to the sole of the shoe, and the inclination angle of the ankle connector relative to the sole of the shoe is 70° to 88°, preferably 70° to 88°, and more preferably 75° to 85°.

[0011] In some embodiments, the ankle connector is tilted at an angle of 80° to 85° relative to the sole of the shoe.

[0012] In some embodiments, the sole of the shoe near the heel has an angle of 90° relative to the ankle connector in its natural state, and the angle between the sole at the forefoot and the sole at the heel is 5° to 20°.

[0013] In some embodiments, the ankle connector is a long strip-shaped structure, with the wide side of the ankle connector facing the posterior region of the affected lower leg.

[0014] In some embodiments, the ankle connector is a carbon fiber plate, and the thickness of the ankle connector is 3mm to 8mm.

[0015] In some embodiments, the ankle connector includes a first connecting portion and a second connecting portion; a first end of the first connecting portion and a first end of the second connecting portion are connected by an adjusting member, a second end of the first connecting portion is connected to the first rear end, and a second end of the second connecting portion is connected to the second rear end; the adjusting member has a first position and a second position, wherein when the adjusting member is in the first position, the first connecting portion and the second connecting portion are in a relatively movable state, and when the adjusting member is in the second position, the first connecting portion and the second connecting portion are in a fixed connection state.

[0016] In some embodiments, the adjusting member includes a locking plate, a locking cover, and a fastener; the locking plate is provided at the end of both the first connecting portion and the second connecting portion; the locking cover is locked to the locking plate by the fastener; the first connecting portion and the second connecting portion are partially overlapped and locked and fixed by the locking plate and the locking cover; the locking cover is in the first position when it is in the loose state relative to the locking plate, and in the second position when it is in the locked state relative to the locking plate.

[0017] In some embodiments, the leg fixation structure includes a affected thigh component, an affected knee joint, and an affected lower leg component arranged sequentially; the hip exoskeleton is connected to the affected thigh component via a first rotary joint actuator, and the affected thigh component is connected to the affected knee joint via a second rotary joint actuator, both of which can rotate in a first plane.

[0018] In some embodiments, the output end of the first rotary joint actuator and the affected thigh component are connected by a first hinge, and the affected thigh component and the second rotary joint actuator are connected by a second hinge. Both the first hinge and the second hinge are rotatable in a second plane, and the first plane and the second plane are perpendicular to each other.

[0019] In some embodiments, the affected knee joint includes a first support column, a second support column, and a first support member; the first support member is supported by one end of the first support column and one end of the second support column, the other end of the first support column is connected to the output end of the second rotary joint actuator, and the other end of the second support column is connected to the affected lower leg member; the first support member is arc-shaped, and the first support column and / or the second support column are provided with a first connecting hole for connecting a strap.

[0020] In some embodiments, the affected lower leg component includes a third support column, a fourth support column, and a second support member; one end of the third support column and one end of the fourth support column jointly support the second support member, the other end of the third support column is rotatably connected to the second support column, and the other end of the fourth support column is rotatably connected to the second rotary joint actuator; the second support member is arc-shaped and has a second connecting hole for connecting a strap.

[0021] In some embodiments, the affected thigh component includes a first sleeve and a second sleeve that are sleeved together, and the first sleeve and the second sleeve can slide relative to each other for telescopic adjustment. The first sleeve is connected to the first rotary joint actuator, and the second sleeve is connected to the second rotary joint actuator.

[0022] In some embodiments, the first lateral exoskeleton includes a healthy thigh bar, the upper fixed end of which is rotatably connected to the hip joint exoskeleton via a rotating member, and the lower end of which is provided with a connector.

[0023] In some embodiments, the connector has a third connecting hole for connecting a strap; the healthy thigh bar has elastic properties.

[0024] In some embodiments, the healthy thigh bar is a long strip-shaped structure, with the wide side of the healthy thigh bar facing the outside of the patient's healthy thigh; the healthy thigh bar is a thermoplastic polyurethane elastomer.

[0025] The technical solution provided by this utility model has the following advantages and effects:

[0026] This walking assist exoskeleton features an ankle connector between the posterior lower leg region of the second exoskeleton and the heel of the affected foot. This ankle connector is designed as an elastic structure, ensuring that the shoe, in its natural state, at least the forefoot area is tilted upwards towards the ankle connector. This allows the toes to move upwards when the patient's affected foot requires dorsiflexion, thus addressing insufficient foot clearance caused by foot drop. Furthermore, its elasticity ensures unrestricted plantar flexion and internal / external rotation, guaranteeing smooth walking on the affected side and effectively preventing the exoskeleton from slipping off the wearer during assisted walking. It is characterized by its simple structure, effective solution to insufficient foot clearance caused by foot drop, and beneficial effect on walking on the affected side. Attached Figure Description

[0027] Figure 1 This is a front view of the overall structure of the walking assistive exoskeleton according to an embodiment of the present invention.

[0028] Figure 2 yes Figure 1 A schematic diagram of the overall structure of the walking aid exoskeleton from another angle.

[0029] Figure 3 yes Figure 1 Right view of the overall structure of the walking aid exoskeleton.

[0030] Figure 4 yes Figure 3 A schematic diagram of the walking assist exoskeleton in a flattened state with slight deformation of the ankle connector after the shoe is subjected to force.

[0031] Figure 5 This is a schematic diagram showing the tilt angle of the ankle connector and the shoe.

[0032] Figure 6This is a schematic diagram of the shoe's structure, showing only the forefoot area tilted relative to the ankle connector.

[0033] Explanation of reference numerals in the attached figures:

[0034] 100. Walking-assisting exoskeleton;

[0035] 1. First side exoskeleton; 11. Healthy side thigh bar; 12. Rotating component; 13. Connecting component; 131. Third connecting hole; 132. Insertion part; 133. First enclosure plate; 134. Second enclosure plate; 2. Second side exoskeleton; 21. Leg fixation structure; 211. First rear end; 212. Affected side thigh component; 2121. First sleeve; 2122. Second sleeve; 213. Affected side knee joint; 2131. First support column; 2132. Second support column; 2133. First support component; 2134. First connecting hole; 214. Affected side... 2141. Lower leg component; 2142. Third support column; 2143. Fourth support column; 2144. Second support component; 2145. Second connecting hole; 216. First rotary joint actuator; 217. First hinge; 218. Second hinge; 22. Ankle connector; 221. First connecting part; 222. Second connecting part; 23. Shoe; 231. Second rear end; 3. Hip joint exoskeleton; 31. Back support plate; 32. Hip connecting plate; 4. Adjustment component; 41. Locking plate; 42. Locking cover. Detailed Implementation

[0036] To facilitate understanding of this utility model, the specific embodiments of this utility model will be described in more detail below with reference to the accompanying drawings.

[0037] Unless otherwise specified or defined, the terms "first," "second," etc., used in this document are for distinguishing names only and do not represent a specific number or order.

[0038] Unless otherwise stated or defined, the term “and / or” as used herein includes any and all combinations of one or more of the associated listed items.

[0039] It should be noted that in this article, "fixed to" or "connected to" can mean directly fixed to or connected to a component, or indirectly fixed to or connected to a component.

[0040] This utility model embodiment provides a walking assistive exoskeleton 100, such as Figures 1 to 6As shown, the walking assistive exoskeleton 100 includes a first-side exoskeleton 1, a second-side exoskeleton 2, and a hip joint exoskeleton 3. The first-side exoskeleton 1, the second-side exoskeleton 2, and the hip joint exoskeleton 3 are movably connected. Specifically, the hip joint exoskeleton 3 is worn on the patient's hip and can dynamically assist the patient's hip movement. The first-side exoskeleton 1 is worn on the patient's unaffected leg and can synchronize the movement of the unaffected leg. The second-side exoskeleton 2 is worn on the patient's affected leg and can synchronize the movement of the affected leg. The unaffected leg refers to the patient's healthy, disease-free leg, and the affected leg refers to the leg with mobility impairment. The first-side exoskeleton 1 and the second-side exoskeleton 2 are positioned on opposite sides of the hip joint exoskeleton 3, with the first-side exoskeleton 1 located on the left side of the hip joint exoskeleton 3 and the second-side exoskeleton 2 located on the right side, thus adapting to the patient's right leg disability. Furthermore, in some embodiments, the first exoskeleton 1 can be located on the right side of the hip exoskeleton 3, and the second exoskeleton 2 can be located on the left side of the hip exoskeleton 3, thus adapting to situations where the patient's left leg is disabled. That is, the walking assist exoskeleton 100 can be adapted to be manufactured in two structures to accommodate situations where the patient's left or right leg is disabled. Of course, in other embodiments, the first exoskeleton 1 and the second exoskeleton 2 can also be detachably connected to the hip exoskeleton 3, and the first exoskeleton 1 and the second exoskeleton 2 can be installed on the corresponding side according to the patient's leg disability, thereby achieving a structure for rapid switching between the two lower limbs, without any particular limitation.

[0041] The second-side exoskeleton 2 includes a leg fixation structure 21, an ankle connector 22, and a shoe 23; the hip joint exoskeleton 3, the leg fixation structure 21, the ankle connector 22, and the shoe 23 are connected in sequence; the leg fixation structure 21 can be specifically configured according to the gait coordination and gait correction of the patient's disabled leg, for example, it can be configured with a thigh fixation structure, a knee joint fixation structure, a lower leg fixation structure, a rotation joint actuator, etc., without any special restrictions, as long as it can enable the patient's disabled leg to walk normally.

[0042] like Figure 3 and Figure 4As shown, the leg fixation structure 21 has a first rear end 211 corresponding to the posterior region of the affected lower leg, the shoe 23 has a second rear end 231 corresponding to the heel of the affected foot, and the opposite ends of the ankle connector 22 are respectively connected to the first rear end 211 and the second rear end 231. The ankle connector 22 has elastic properties, and the shoe 23, in its natural state, has at least the forefoot position tilted towards the ankle connector 22. Specifically, the shoe 23 may tilt only the forefoot position towards the ankle connector 22, or the entire shoe 23 may tilt towards the ankle connector 22; no particular limitation is made here. The elastic properties of the ankle connector 22 refer to its ability to completely restore its initial shape and size after deformation under force and removal of the external force, but it has almost no stretching properties, that is, the ankle connector 22 hardly changes length in the direction of force, such as stretching or compression. It should be noted that the lower leg in the posterior region refers to the limb from the knee joint to the ankle joint, and the posterior region refers to the area on the back (back) of the lower leg, covering the anatomical structures from the gastrocnemius muscle (calf muscle) to the Achilles tendon (above the heel). The heel is located at the back of the foot and forms the bony framework of the heel. Dorsiflexion refers to the movement of the forefoot of the shoe 23 upward, with the instep approaching the lower leg, so that the instep is close to the front of the lower leg. Plantarflexion refers to the movement of the ankle joint in the sagittal plane, causing the foot to move towards the plantar side, manifested as the toes pointing down and the heel raised. By connecting the opposite ends of the ankle connector 22 to the first rear end 211 of the leg fixation structure 21 corresponding to the posterior region of the lower leg and the shoe 23 corresponding to the second rear end 231 of the heel, and the ankle connector 22 being an elastic structure, the shoe 23, in its natural state, has at least the forefoot position tilted towards the ankle connector 22. Therefore, when the patient walks, it can assist the patient's toes to move upward and lift the toes when the patient's affected foot needs to perform dorsiflexion (many patients cannot actively dorsiflex their feet), thus solving the problem of insufficient foot clearance caused by foot drop. Its elastic properties can ensure that plantar flexion and internal and external rotation movements are unrestricted, ensuring the smoothness of the patient's affected foot walking, and effectively preventing the walking assist exoskeleton 100 from slipping off the wearer during assisted walking. It has the characteristics of simple structure, effectively solving the problem of insufficient foot clearance caused by foot drop, and being beneficial to the patient's affected side walking.

[0043] In some embodiments, such as Figure 3 and Figure 5 As shown, the ankle connector 22 is inclined relative to the sole of the shoe 23, and the inclination angle of the ankle connector 22 relative to the bottom surface of the shoe 23 is ( Figure 5The angle α in the text is 70° to 88°. The sole of shoe 23 refers to the side of shoe 23 that contacts the ground. By tilting the ankle connector 22 relative to the sole of shoe 23, the shoe 23 can be tilted towards the ankle connector 22 in its natural state, thus achieving a dorsiflexion state. The angle of inclination of the ankle connector 22 relative to the bottom surface of shoe 23 is (α angle α). Figure 5 When the α angle is 70° to 88°, preferably 70° to 88°, more preferably 75° to 85°, and even more preferably 80° to 85°, it provides better assistance to the patient in moving their toes upward and lifting their toes, without affecting plantar flexion, thus effectively improving comfort. Larger or smaller angles are unsuitable; an excessively large angle will affect the effect of assisting toe lifting, while an excessively small angle will cause the toes to be excessively tilted upward, affecting wearing and walking comfort.

[0044] In other embodiments, such as Figure 6 As shown, the angle between the sole of the shoe 23 and the ankle connector 22 in its natural state is 90° near the heel, and the angle between the sole of the forefoot and the sole of the heel is 5° to 20°, which is the angle between the forefoot and the ankle connector 22. Figure 6 The α angle is 70° to 85°. Understandably, in this embodiment, the ankle connector 22 is set vertically relative to the sole of the shoe 23 near the heel, and the forefoot of the shoe 23 is tilted relative to the sole at the heel, which can also achieve the effect of assisting the patient to move their toes upward and lifting their toes.

[0045] In some embodiments, the ankle connector 22 is a long strip-shaped sheet structure, with its wide surface facing the posterior region of the affected lower leg. It should be noted that the sheet-shaped ankle connector 22 typically has a large length and width, and a small thickness. Therefore, the larger planes extending along the length and width directions of the ankle connector 22 are the wide surface, and the smaller planes extending along the thickness direction are the side surfaces. Thus, in this embodiment, the wide surface of the ankle connector 22 faces the posterior region of the affected lower leg, allowing the ankle connector 22 to adapt to the patient's movement on the affected side. The ankle connector 22 is made of carbon fiber plate, with a thickness of 3mm to 8mm, specifically 3mm, 4mm, 5mm, 6mm, 7mm, 8mm, etc., exhibiting excellent flexural elastic deformation properties, as well as low-temperature resistance, lightweight, and fatigue resistance. Of course, in other embodiments, the ankle connector 22 can also be made of other elastic materials, without particular limitation.

[0046] In some embodiments, the ankle connector 22 includes a first connecting portion 221 and a second connecting portion 222; a first end of the first connecting portion 221 and a first end of the second connecting portion 222 are connected by an adjusting member 4; a second end of the first connecting portion 221 is connected to the first rear end 211; and a second end of the second connecting portion 222 is connected to the second rear end 231. The adjusting member 4 has a first position and a second position. When the adjusting member 4 is in the first position, the first connecting portion 221 and the second connecting portion 222 are in a relatively movable state; when the adjusting member 4 is in the second position, the first connecting portion 221 and the second connecting portion 222 are in a fixed connection state. It should be noted that the first connecting portion 221 can be a strip-shaped sheet, and the first end and the second end of the first connecting portion 221 refer to opposite ends along the length direction of the first connecting portion 221. Correspondingly, the second connecting portion 222 can also be a strip-shaped sheet, and the first end and the second end of the second connecting portion 222 refer to opposite ends along the length direction of the second connecting portion 222. Of course, in other embodiments, the first connecting part 221 and the second connecting part 222 are not limited to the strip-shaped sheet described above, but can also be a strip-shaped cylinder, etc., without any particular limitation. Understandably, the first connecting part 221 and the second connecting part 222 are connected by the adjusting member 4, thus allowing for quick adjustment of the overall length of the ankle connector 22 by adjusting the position of the adjusting member 4 to accommodate different patient heights. Specifically, when the length of the ankle connector 22 needs to be adjusted, by moving the adjusting member 4 to the first position, the first connecting part 221 and the second connecting part 222 can move relative to each other. Moving the first connecting part 221 and the second connecting part 222 towards each other or pulling them outward can shorten or lengthen the overall length of the ankle connector 22. After the length adjustment is completed, the adjusting member 4 is moved to the second position, at which point the first connecting part 221 and the second connecting part 222 are in a fixed state, thereby fixing the ankle connector 22 at the adjusted length.

[0047] Specifically, in this embodiment, the adjusting member 4 includes a locking plate 41, a locking cover 42, and fasteners. The locking plate 41 is formed at the ends of the first connecting portion 221 and the second connecting portion 222. Specifically, the ends of the connecting portions extend outward in the width direction to form a locking plate 41 with a width greater than the width of the connecting portion. The locking cover 42 is locked to the locking plate 41 by the fasteners. The first connecting portion 221 and the second connecting portion 222 are partially overlapped and locked and fixed by the locking plate 41 and the locking cover 42. When the locking cover 42 is in the loose state relative to the locking plate 41, it is in the first position. When the locking cover 42 is in the locked state relative to the locking plate 41, it is in the second position. The first connecting portion 221 and the second connecting portion 222 are partially overlapped. The overall length of the ankle connector 22 is shortened or lengthened by adjusting the overlap length between the two connecting portions. The locking plate 41 and the locking cover 42 are connected together by the fasteners to lock the two connecting portions. Specifically, the fastener can be a bolt. The locking plate 41 and locking cover 42 have threaded holes. The bolt is threaded into these holes to lock or loosen the locking plate 41 and locking cover 42, thus securely connecting the two connecting parts together and facilitating length adjustment. Of course, in other embodiments, the locking plate 41 and locking cover 42 can also be locked or loosened using positioning pins or clamping devices, without particular limitation. Two adjusting members 4 are provided. In the overlapping area of ​​the first connecting part 221 and the second connecting part 222, the end closer to the first connecting part 221 is the first end, and the end closer to the second connecting part 222 is the second end. The two adjusting members 4 are respectively positioned at the first and second ends of the overlapping area of ​​the first connecting part 221 and the second connecting part 222. By cooperating with the two adjusting members 4 to lock the overlapping area of ​​the first connecting part 221 and the second connecting part 222, the two connecting parts can be more securely connected together, effectively preventing relative displacement between the two connecting parts during walking.

[0048] In some embodiments, the first lateral exoskeleton 1 includes a healthy thigh bar 11. The upper fixed end of the healthy thigh bar 11 is rotatably connected to the hip exoskeleton 3 via a rotating member 12. The lower end of the healthy thigh bar 11 is provided with a connector 13. The connector 13 is provided with a third connecting hole 131 for connecting a strap. Specifically, by passing a strap through the third connecting hole 131 to fix the connector 13, the patient's healthy thigh can be bound to the connector 13 via the strap, thereby fixing the first lateral exoskeleton 1 to the patient's healthy thigh. Specifically, the rotating member 12 includes a fixed seat disposed on the hip exoskeleton 3 and a rotating shaft rotatably connected to the fixed seat. The upper fixed end of the healthy thigh bar 11 is sleeved on the rotating shaft, thereby rotatably connecting the healthy thigh bar 11 to the hip exoskeleton 3. The rotating member 12 is a passive rotating structure, driven to rotate by the movement of the patient's healthy leg, thereby adapting to the movement of the patient's healthy leg. By only setting the healthy thigh bar 11 and the connector 13, when the first exoskeleton 1 is worn on the patient's healthy leg, the healthy thigh bar 11 is located on the outside of the patient's healthy thigh, and the connector 13 is located above the knee joint of the patient's healthy thigh. Compared with the conventional healthy exoskeleton structure, the knee joint and lower leg auxiliary structures are omitted, which can effectively reduce the foreign body sensation when the patient walks on the healthy leg when wearing the first exoskeleton 1.

[0049] In some embodiments, the healthy thigh bar 11 has elastic properties. Specifically, the healthy thigh bar 11 is a thermoplastic polyurethane elastomer. Understandably, by setting the healthy thigh bar 11 as an elastic structure, it provides a certain elastic travel space, allowing the patient's healthy leg to swing forward and backward and side to side, further reducing the foreign body sensation when walking. The healthy thigh bar 11 is a long, strip-shaped sheet structure, with its wide surface facing the outer side of the patient's healthy thigh. It should be noted that the sheet-shaped healthy thigh bar 11 typically has a large length and width, and a small thickness. Therefore, the larger plane extending along the length and width directions of the healthy thigh bar 11 is the wide surface, and the smaller plane extending along the thickness direction is the side surface. Thus, in this embodiment, the wide surface of the healthy thigh bar 11 faces the outer side of the healthy thigh, allowing it to adapt to the movement of the patient's healthy thigh.

[0050] In some embodiments, the connector 13 includes a plug-in portion 132 and a first surrounding plate 133 and a second surrounding plate 134 connected to the plug-in portion 132. The plug-in portion 132 has a plug-in groove, into which the second end of the healthy thigh bar 11 is plugged. The first surrounding plate 133 and the second surrounding plate 134 are both arc-shaped plates, and the first surrounding plate 133 and the second surrounding plate 134 together form an arc-shaped rim with a notch on one side. A third connecting hole 131 is provided on the side of the first surrounding plate 133 and the second surrounding plate 134 away from the plug-in portion 132. A strap is passed through the third connecting hole 131, so that the strap and the arc-shaped rim together form a ring structure to bind the patient's healthy thigh. It should be noted that the connector 13 can be a thermoplastic polyurethane elastomer, which has elastic deformation properties and characteristics such as low-temperature resistance, lightweight, and fatigue resistance. Of course, in other embodiments, the connector 13 can also be made of other materials with elastic properties, and no particular limitation is made here.

[0051] In some embodiments, the leg fixation structure 21 includes a affected thigh component 212, an affected knee joint 213, and an affected lower leg component 214 arranged sequentially. The hip exoskeleton 3 is connected to the affected thigh component 212 via a first rotary joint actuator 215, and the affected thigh component 212 is connected to the affected knee joint 213 via a second rotary joint actuator 216. Both the first rotary joint actuator 215 and the second rotary joint actuator 216 can rotate in a first plane. It should be noted that the first plane refers to the plane in the anterior-posterior direction when facing the patient. The first rotary joint actuator 215 can actively control the rotation of the affected thigh component 212 relative to the hip exoskeleton 3 according to instructions, and the second rotary joint actuator 216 can actively control the rotation of the affected knee joint 213 according to instructions. Specifically, in this embodiment, from the patient's perspective, the first rotary joint actuator 215 can control the affected thigh component 212 to rotate back and forth relative to the hip exoskeleton 3, and the second rotary joint actuator 216 can control the affected knee joint 213 to rotate back and forth, thereby enabling the patient to walk with the affected leg.

[0052] In some embodiments, the output end of the first rotary joint actuator 215 and the affected thigh component 212 are connected by a first hinge 217, and the affected thigh component 212 and the second rotary joint actuator 216 are connected by a second hinge 218. Both the first hinge 217 and the second hinge 218 can rotate in a second plane, which is perpendicular to the second plane. Specifically, the second plane refers to the plane in the left-right direction when facing the patient. It should be noted that the hinge point of the first hinge 217 should be set as close as possible to the first rotary joint actuator 215, and the hinge point of the second hinge 218 should be set as close as possible to the second rotary joint actuator 216 to improve the smoothness of the swing. Understandably, the setting of the first hinge 217 allows the affected thigh component 212 to rotate left and right relative to the hip exoskeleton 3, and the affected knee joint 213 to rotate left and right relative to the affected thigh component 212, thereby giving the patient's affected leg the freedom to swing in the left and right directions.

[0053] In some embodiments, the affected knee joint 213 includes a first support column 2131, a second support column 2132, and a first support member 2133; the first support member 2133 is supported by one end of the first support column 2131 and one end of the second support column 2132, the other end of the first support column 2131 is connected to the output end of the second rotary joint actuator 216, and the other end of the second support column 2132 is connected to the affected lower leg member 214; the first support member 2133 is arc-shaped, and the first support column 2131 and / or the second support column 2132 are provided with a first connecting hole 2134 for connecting a strap. Specifically, after the patient wears the knee joint 213 on the affected side, the first support 2133 is located in the posterior region of the patient's affected thigh to support the patient's affected thigh. After the first connecting hole 2134 on the first support column 2131 and / or the second support column 2132 is threaded with a strap, the strap is wrapped around the anterior region of the knee, slightly above the patient's knee, and works in conjunction with the first support 2133 in the posterior region of the patient's thigh. Thus, the second rotary joint actuator 216 controls the rotation of the first support column 2131 to drive the patient's affected lower leg to rotate back and forth.

[0054] In some embodiments, the first support 2133 may be connected to a cushioning pad on the side of the patient's affected thigh, thereby improving the patient's wearing comfort and adapting to the legs of different patients.

[0055] In some embodiments, the affected lower leg component 214 includes a third support column 2141, a fourth support column 2142, and a second support member 2143; one end of the third support column 2141 and one end of the fourth support column 2142 jointly support the second support member 2143, the other end of the third support column 2141 is rotatably connected to the second support column 2142, and the other end of the fourth support column 2142 is rotatably connected to the second rotary joint actuator 216; the second support member 2143 is arc-shaped, and the second support member 2143 is provided with a second connecting hole 2144 for connecting a strap. Specifically, after the patient wears the affected lower leg piece 214, the second support piece 2143 is located in the posterior region of the patient's affected lower leg to support it. A strap is threaded through the second connecting hole 2144 on the second support piece 2143 and wrapped around the front region of the patient's lower leg, thus securing the affected lower leg in conjunction with the second support piece 2143 in the posterior region. Specifically, the bottom end of the second support piece 2143 corresponds to the aforementioned first rear end 211, meaning the bottom end of the second support piece 2143 is connected to the ankle connector 22.

[0056] In some embodiments, the affected thigh component 212 includes a first sleeve 2121 and a second sleeve 2122 that are sleeved together. The first sleeve 2121 and the second sleeve 2122 are slidable relative to each other for telescopic adjustment. The first sleeve 2121 is connected to the first rotary joint actuator 215, and the second sleeve 2122 is connected to the second rotary joint actuator 216. Understandably, due to the sliding arrangement of the first sleeve 2121 and the second sleeve 2122, there is a certain friction between them. By applying an external force to the first sleeve 2121 and the second sleeve 2122, the friction is overcome, thereby pulling the two sleeves to slide relative to each other, achieving the purpose of adjusting the overall length of the affected thigh component 212 to accommodate different patient leg heights. Specifically, the second sleeve 2122 is provided with a scale, allowing real-time observation of the adjusted length during telescopic adjustment.

[0057] In some embodiments, the hip exoskeleton 3 includes a back support plate 31 and hip connecting plates 32 connected to opposite sides of the back support plate 31. The hip connecting plates 32 are L-shaped so that the back support plate 31 and the two hip connecting plates 32 cooperate to form a U-shaped hip exoskeleton 3 with an opening at the front. At least one of the two hip connecting plates 32 may have a fourth connecting hole for connecting a strap. The strap is passed through the fourth connecting hole so that the strap and the U-shaped hip exoskeleton 3 form a ring structure to bind the patient's hip position.

[0058] It should be noted that the walking assist exoskeleton 100 also includes conventional sensors and controllers connected to the sensors, etc., without particular limitations. The sensors are used to monitor the patient's walking status, and the controller is used to acquire and analyze data and control the movement of the walking assist exoskeleton 100 to assist the patient's walking. The sensors can be correspondingly set at the appropriate monitoring positions on the first exoskeleton 1, the second exoskeleton 2, and the hip joint exoskeleton 3. The specific settings can be configured according to actual detection needs, without particular limitations. For example, the sensor can be set on the rotating component 12 of the first exoskeleton 1 to monitor the movement of the patient's healthy leg, or on the first rotational joint actuator 215 to monitor the movement of the patient's affected thigh, or on the second rotational joint actuator 216 to monitor the movement of the patient's affected lower leg, or on the shoe 23 to monitor the movement and force application of the patient's affected foot, etc.

[0059] In summary, the walking assist exoskeleton 100, by setting an ankle connector 22 between the posterior lower leg region of the second exoskeleton 2 and the heel of the affected foot, and by setting the ankle connector 22 as an elastic structure, ensures that the shoe 23, in its natural state, has at least the forefoot region tilted upwards towards the ankle connector 22. This allows the patient's toes to move upwards when dorsiflexion is required on the affected side of the foot, thus lifting the toes and solving the problem of insufficient foot clearance caused by foot drop. Furthermore, its elastic properties ensure that plantar flexion and internal / external rotation movements are unrestricted, guaranteeing the smoothness of walking on the affected side of the foot, and effectively preventing the walking assist exoskeleton 100 from slipping off the wearer during assisted walking. It features a simple structure, effectively solves the problem of insufficient foot clearance caused by foot drop, and is beneficial for patients walking on the affected side.

[0060] The above embodiments are not an exhaustive list based on the present invention, and there may be other embodiments not listed. Any substitutions and improvements made without departing from the concept of the present invention are within the protection scope of the present invention.

Claims

1. A walking assistive exoskeleton, characterized by, The walking assistive exoskeleton includes a first-side exoskeleton, a second-side exoskeleton, and a hip joint exoskeleton; The first-side exoskeleton, the second-side exoskeleton, and the hip joint exoskeleton are movably connected; The second-side exoskeleton includes a leg fixation structure, an ankle connector, and a shoe; the hip joint exoskeleton, the leg fixation structure, the ankle connector, and the shoe are connected in sequence. The leg fixation structure has a first rear end corresponding to the posterior region of the affected lower leg, the shoe has a second rear end corresponding to the heel of the affected foot, and the opposite ends of the ankle connector are respectively connected to the first rear end and the second rear end; the ankle connector has elastic properties, and the shoe, in its natural state, has at least the forefoot position tilted towards the ankle connector.

2. The walking assist exoskeleton as described in claim 1, characterized in that, The ankle connector is inclined relative to the sole of the shoe, and the inclination angle of the ankle connector relative to the sole of the shoe is 70° to 88°.

3. The walking assist exoskeleton as described in claim 2, characterized in that, The ankle connector has an inclination angle of 80° to 85° relative to the sole of the shoe.

4. The walking assist exoskeleton as described in claim 1, characterized in that, The sole of the shoe, near the heel, has an angle of 90° relative to the ankle connector in its natural state, and the angle between the sole at the forefoot and the sole at the heel is 5° to 20°.

5. The walking assist exoskeleton as described in claim 1, characterized in that, The ankle connector is a long strip-shaped structure, with its wide side facing the posterior region of the affected lower leg.

6. The walking assistive exoskeleton of claim 5, wherein, The ankle connector is a carbon fiber plate, and the thickness of the ankle connector is 3mm to 8mm.

7. The walking assistance exoskeleton according to claim 1, wherein The ankle connector includes a first connecting portion and a second connecting portion; a first end of the first connecting portion and a first end of the second connecting portion are connected by an adjusting member, a second end of the first connecting portion is connected to the first rear end, and a second end of the second connecting portion is connected to the second rear end; the adjusting member has a first position and a second position, when the adjusting member is in the first position, the first connecting portion and the second connecting portion are in a relatively movable state, and when the adjusting member is in the second position, the first connecting portion and the second connecting portion are in a fixed connection state.

8. The walking assistive exoskeleton of claim 7, wherein, The adjusting component includes a locking plate, a locking cover, and a fastener; the locking plate is provided at the end of both the first connecting portion and the second connecting portion, and the locking cover is locked to the locking plate by the fastener. The first connecting portion and the second connecting portion are partially overlapped and locked and fixed by the locking plate and the locking cover. When the locking cover is in the loose state relative to the locking plate, it is in the first position, and when the locking cover is in the locked state relative to the locking plate, it is in the second position.

9. The walking assistance exoskeleton according to any one of claims 1 to 8, characterized in that, The leg fixation structure includes a thigh piece, a knee joint, and a lower leg piece arranged sequentially on the affected side; the hip joint exoskeleton is connected to the thigh piece via a first rotary joint actuator, and the thigh piece is connected to the knee joint via a second rotary joint actuator. Both the first and second rotary joint actuators can rotate in a first plane.

10. The walking assistance exoskeleton according to claim 9, wherein The output end of the first rotary joint actuator is connected to the affected thigh component via a first hinge, and the affected thigh component is connected to the second rotary joint actuator via a second hinge. Both the first hinge and the second hinge can rotate in a second plane, and the first plane and the second plane are perpendicular to each other.

11. The walking assistance exoskeleton according to claim 9, wherein The affected knee joint includes a first support column, a second support column, and a first support member; the first support member is supported by one end of the first support column and one end of the second support column, the other end of the first support column is connected to the output end of the second rotary joint actuator, and the other end of the second support column is connected to the affected lower leg member; the first support member is arc-shaped, and the first support column and / or the second support column are provided with a first connecting hole for connecting a strap.

12. The walking assistance exoskeleton of claim 11, wherein, The affected lower leg component includes a third support column, a fourth support column, and a second support component; one end of the third support column and one end of the fourth support column jointly support the second support component, the other end of the third support column is rotatably connected to the second support column, and the other end of the fourth support column is rotatably connected to the second rotary joint actuator. The second support member is arc-shaped and has a second connecting hole for connecting the strap.

13. The walking assistance exoskeleton of claim 9, wherein, The affected thigh component includes a first sleeve and a second sleeve that are sleeved together, and the first sleeve and the second sleeve can slide relative to each other for telescopic adjustment. The first sleeve is connected to the first rotary joint actuator, and the second sleeve is connected to the second rotary joint actuator.

14. The gait assistance exoskeleton according to any one of claims 1 to 8, wherein, The first side exoskeleton includes a healthy side thigh bar, the upper fixed end of which is rotatably connected to the hip joint exoskeleton via a rotating component, and the lower end of which is provided with a connector.

15. The walking assistance exoskeleton of claim 14, wherein, The connector is provided with a third connecting hole for connecting the strap; the healthy thigh bar has elastic properties.

16. The walking assistance exoskeleton of claim 14, wherein, The healthy thigh bar is a long strip-shaped structure, with the wide side of the healthy thigh bar facing the outside of the patient's healthy thigh; the healthy thigh bar is made of thermoplastic polyurethane elastomer.

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