Active pull-up knee joint and rehabilitation walking assisting exoskeleton

Abstract

The utility model provides a kind of active lifting knee joint and rehabilitation walking aid exoskeleton, it is related to medical rehabilitation instrument technical field, solve the technical problem that the walking aid exoskeleton of prior art cannot provide support for patient knee joint, leading to the technical problem that the wearing comfort is not ideal.The active lifting knee joint and rehabilitation walking aid exoskeleton include lifting drive assembly and rotationally connected thigh assembly and shank assembly, and lifting binding is provided on thigh assembly, and lifting binding is slidably arranged on thigh assembly;Lifting drive assembly is connected with lifting binding, and lifting drive assembly is used to drive lifting binding to reciprocate in the mode of approaching or moving away from shank assembly.The utility model is used to provide a kind of active lifting knee joint and rehabilitation walking aid exoskeleton for providing support for user knee joint, to improve the wearing comfort of user.

Description

Technical Field

[0001] This utility model relates to the field of medical rehabilitation equipment technology, and in particular to an active knee joint lifting and rehabilitation walking aid exoskeleton. Background Technology

[0002] Currently, with the increasing aging population, the proportion of people experiencing difficulty walking is growing daily. Simultaneously, the number of patients with knee osteoarthritis is also gradually increasing. These patients bear a heavy burden on their knee joints and experience severe pain during daily walking. Therefore, walking exoskeletons are playing an increasingly important role in assisting daily walking and in assisting walking for patients with knee osteoarthritis. Walking exoskeletons can provide walking assistance to people with weakened walking abilities, reduce the burden of outdoor activities, alleviate the load on the knee joints of patients with knee osteoarthritis, reduce the pressure of body weight on the knee joint, reduce knee pain, and effectively improve the wearer's quality of life.

[0003] Existing assistive exoskeletons mainly include direct motor drive and wire rope drive. Direct motor drive has the advantages of a simple drive structure, higher transmission efficiency, and the ability to provide assistance in both knee extension and flexion, offering excellent support. However, the actuators are generally located in the lower limbs, resulting in a larger lower limb mass and increasing the wearer's burden while walking. Wire rope drive has the advantage of a smaller lower limb structure, reducing the burden on the wearer. However, wire rope drive has lower transmission efficiency; it can drive the knee to extend but cannot provide assistance for knee flexion, and it cannot support the knee joint, causing knee pain for patients with knee problems when wearing the exoskeleton. Utility Model Content

[0004] The purpose of this invention is to provide an active knee joint lifting and rehabilitation walking exoskeleton to solve the technical problem that existing walking exoskeletons cannot provide support for the patient's knee joint, resulting in unsatisfactory wearing comfort. 。 The various technical effects of the preferred technical solutions among the many technical solutions provided by this utility model are described in detail below.

[0005] To achieve the above objectives, the present invention provides the following technical solution:

[0006] The present invention provides an active knee joint lifting device, including a lifting drive assembly and a thigh assembly and a calf assembly that are rotatably connected. The thigh assembly is provided with a lifting strap, which is slidably disposed on the thigh assembly.

[0007] The lifting drive assembly is connected to the lifting strap, and the lifting drive assembly is used to drive the lifting strap to reciprocate in a manner that moves closer to or further away from the calf assembly.

[0008] Optionally, the lifting drive assembly includes a lifting drive component, a lifting reel, and a lifting wire rope, wherein the lifting wire rope is wound around the lifting reel, and the lifting drive component is connected to the lifting reel.

[0009] Optionally, it also includes a rotation drive assembly for driving the thigh assembly and the lower leg assembly to rotate.

[0010] Optionally, the rotation drive assembly includes a rotating reel and a rotating wire rope, the rotating wire rope being wound around the rotating reel, and the lifting reel being fixedly connected to the rotating reel.

[0011] Optionally, the thigh assembly is provided with a thigh sleeve, the calf assembly is provided with a calf sleeve, and the rotating steel wire rope passes through the thigh sleeve and is connected to the calf sleeve.

[0012] Optionally, a wire clamp slider is provided inside the calf sleeve, the wire clamp slider is slidably disposed inside the calf sleeve, and the rotating steel wire rope is connected to the wire clamp slider.

[0013] Optionally, the lifting strap is provided with a strapping slider, and the thigh assembly is provided with a strapping slide rail, the strapping slider cooperating with the strapping slide rail.

[0014] Optionally, the thigh assembly includes a thigh plate, an upper thigh support plate binding, and a lower thigh support plate binding. The upper thigh support plate binding is disposed on the upper side of the thigh plate, the lower thigh support plate binding is disposed on the lower side of the thigh plate, and the support plate of the upper thigh support plate binding is located on the posterior side of the thigh, while the support plate of the lower thigh support plate binding is located on the anterior side of the thigh.

[0015] Optionally, the lower leg assembly includes a lower leg plate, an upper lower leg support plate binding, and a lower lower leg support plate binding. The upper lower leg support plate binding is disposed on the upper side of the lower leg plate, and the lower lower leg support plate binding is disposed on the lower side of the lower leg plate. The support plate of the upper lower leg support plate binding is located on the front side of the lower leg, and the support plate of the lower lower leg support plate binding is located on the rear side of the lower leg.

[0016] A rehabilitation assistive exoskeleton, including active knee traction as described above.

[0017] The beneficial effects of this utility model are as follows: The active knee joint lifting and rehabilitation walking exoskeleton provided by this utility model includes a lifting drive component and a rotatably connected thigh component and calf component. The calf component is worn on the user's calf. The thigh component is provided with a lifting strap, which is used to wear the thigh component on the user's thigh. The lifting strap is slidably disposed on the thigh component. The lifting drive component is connected to the lifting strap. The lifting drive component is used to drive the lifting strap to move back and forth in a manner that moves closer to or away from the calf component. In this way, the lifting drive component can drive the human thigh to move closer to the calf and away from the calf, thereby realizing the adjustment of knee joint pressure. This provides support for the user's knee joint when the thigh component and calf component rotate, thereby improving the user's wearing comfort. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a perspective view of one embodiment of the present utility model;

[0020] Figure 2 This is a front view of one embodiment of the present invention;

[0021] Figure 3 This is a rear view of one embodiment of the present invention;

[0022] Figure 4 This is a partial structural diagram of embodiment A of the present invention;

[0023] Figure 5 This is a schematic diagram of the structure of a lifting drive component according to an embodiment of the present invention;

[0024] Figure 6 This is a schematic diagram of the lower leg sleeve according to one embodiment of the present invention;

[0025] Figure 7 This is a schematic diagram of a rehabilitation-aiding exoskeleton structure according to another embodiment of the present invention;

[0026] Figure 8 This is a partial structural diagram of the rehabilitation assistive exoskeleton B according to another embodiment of the present invention.

[0027] In the picture:

[0028] 1. Lifting drive assembly; 11. Battery main control assembly; 12. Lifting drive component; 121. Motor reducer assembly; 122. Reducer output end; 123. Rotating reel; 124. Lifting reel; 125. Lifting wire rope; 126. Rotating wire rope; 13. Motor; 14. Planetary gear reducer;

[0029] 2. Thigh assembly; 21. Thigh plate; 22. Thigh sleeve; 23. Upper thigh support plate binding; 231. Binding adjustment component; 232. Adjusting bolt; 233. Binding hinge component; 234. Support plate; 235. Binding connector; 236. Straight pull binding; 24. Lower thigh support plate binding; 25. Thigh posture sensor; 26. Lifting binding; 27. Sleeve anchor point; 28. Binding slide rail; 29. ​​Binding slider;

[0030] 3. Lower leg assembly; 31. Lower leg plate; 32. Lower leg sleeve; 33. Cable clamp slider; 34. Lower leg upper support plate binding; 35. Lower leg lower support plate binding; 36. Lower leg outer shell. Detailed Implementation

[0031] Please refer to the attached diagram below. Figures 1-8 This document explains the content of this utility model and its differences from existing technologies. The technical solutions (including preferred solutions) of this utility model are further described in detail below through accompanying drawings and examples of optional embodiments. It should be noted that any technical feature or solution in this embodiment is one or more of a variety of optional technical features or solutions. For the sake of brevity, this document cannot exhaustively list all alternative technical features and solutions of this utility model, nor is it convenient to emphasize that each implementation of a technical feature is one of multiple optional implementations. Therefore, those skilled in the art should understand that any technical means provided by this utility model can be replaced, or any two or more technical means or features provided by this utility model can be combined to obtain a new technical solution. No technical feature or solution in this embodiment limits the scope of protection of this utility model. The scope of protection of this utility model should include any alternative technical solutions that can be conceived by those skilled in the art without creative effort, as well as new technical solutions obtained by combining any two or more technical means or features provided by this utility model.

[0032] In the description of this invention, it should be noted that, unless otherwise stated, "a plurality of" means two or more; the terms "upper," "lower," "left," "right," "inner," "outer," "front end," "rear end," "head," "tail," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention. Furthermore, the terms "first," "second," "third," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0033] In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0034] This invention provides an active knee-lifting and rehabilitation-aiding exoskeleton that provides support to the user's knee joint, thereby improving the user's wearing comfort.

[0035] The following is combined Figures 1-8 The technical solution provided by this utility model will be described in more detail.

[0036] This utility model provides an active knee joint lifting mechanism, including a lifting drive component 1 and a thigh component 2 and a calf component 3 rotatably connected. The thigh component 2 is provided with a lifting strap 26, which is slidably disposed on the thigh component 2.

[0037] The lifting drive component 1 is connected to the lifting strap 26, and the lifting drive component 1 is used to drive the lifting strap 26 to reciprocate in a manner that moves closer to or further away from the calf component 3.

[0038] The present invention provides an active knee joint lifting device, comprising a lifting drive assembly 1 and a rotatably connected thigh assembly 2 and calf assembly 3. The calf assembly 3 is worn on the user's calf. The thigh assembly 2 is provided with a lifting strap 26, which is used to wear the thigh assembly 2 on the user's thigh. The lifting strap 26 is slidably disposed on the thigh assembly 2. The lifting drive assembly 1 is connected to the lifting strap 26. The lifting drive assembly 1 is used to drive the lifting strap 26 to reciprocate by moving it closer to or away from the calf assembly 3. This allows the lifting drive assembly 1 to drive the human thigh closer to the calf and away from the calf, thereby adjusting the knee joint pressure and providing support to the user's knee joint when the thigh assembly 2 and calf assembly 3 rotate, thus improving the user's wearing comfort.

[0039] Understandably, the thigh component 2 and the calf component 3 are rotatably connected to allow the user's thigh and calf joints to rotate. When the thigh component 2 and the calf component 3 rotate to an upright position, the foot is on the ground, and the body weight needs to be supported by the thigh and calf. At this time, the joint between the thigh and calf needs to bear a lot of pressure. The lifting drive component 1 drives the human thigh to move away from the calf, lifting the thigh upward, thereby reducing the pressure between the thigh and calf, so as to provide support for the patient's knee joint, making the user more comfortable after wearing it and reducing the user's knee joint pain.

[0040] In some embodiments of this utility model, the lifting drive assembly 1 includes a lifting drive component 12, a lifting reel 124, and a lifting wire rope 125. The lifting wire rope 125 is wound around the lifting reel 124, and the lifting drive component 12 is connected to the lifting reel 124.

[0041] In some embodiments of the present invention described above, the lifting drive assembly 1 includes a lifting drive component 12, a lifting reel 124, and a lifting steel wire rope 125. The lifting drive component 12 drives the lifting reel 124 to rotate, thereby achieving the winding and unwinding of the lifting steel wire rope 125, which in turn achieves the lifting and unwinding of the lifting binding 26. This drives the human thigh to move closer to or away from the human calf, providing support for the patient's knee joint, making the wearer more comfortable and reducing knee pain.

[0042] It should be noted that the lifting drive assembly 1 uses a lifting coil 124 and a lifting steel wire rope 125, which can set the lifting drive component 12 at the waist position, effectively reducing the weight of the thigh assembly 2 and the calf assembly 3, improving user comfort, effectively protecting the knee joint, and avoiding knee joint injury.

[0043] Specifically, the lifting drive component 12 includes a battery main control component 11 and a motor reducer component 121. The reducer output terminal 122 of the motor reducer component 121 is connected to the lifting cable reel 124. The battery main control component 11 leads out a power line to power the motor reducer component 121, and the lead-out line is connected to the thigh posture sensor 25 and the calf posture sensor (described later) to receive posture data of the thigh and calf.

[0044] In some embodiments of this utility model, a rotation drive assembly is also included, which is used to drive the thigh assembly 2 and the lower leg assembly 3 to rotate.

[0045] In some embodiments of the present invention described above, a rotation drive component is provided to drive the thigh component 2 and the lower leg component 3 to rotate, thereby achieving automated control of the joint rotation of the thigh component 2 and the lower leg component 3 and providing users with a more comfortable experience.

[0046] In some embodiments of this utility model, the rotation drive assembly includes a rotating reel 123 and a rotating wire rope 126, the rotating wire rope 126 being wound around the rotating reel 123, and the lifting reel 124 being fixedly connected to the rotating reel 123.

[0047] In some embodiments of the present invention described above, the rotation drive assembly includes a rotating reel 123 and a rotating steel wire rope 126. The rotating steel wire rope 126 is wound around the rotating reel 123. The rotating reel 123 is connected to the lifting reel 124 and is driven by the lifting drive component 12. It can simultaneously realize the rotation between the thigh component 2 and the calf component 3, and can also realize the lifting of the thigh. The structure is simple, the control is convenient and efficient, the weight of the exoskeleton waist drive is reduced, and the wearing comfort is improved.

[0048] Specifically, when the rotating reel 123 and the lifting reel 124 rotate synchronously to take in the line, the knee joint can be straightened and the lifting strap 26 can be pulled upwards. That is, when the knee joint is straightened, the thigh is pulled upwards, thereby reducing the pressure on the knee joint. When the rotating reel 123 and the lifting reel 124 rotate synchronously to release the line, the knee joint can be bent and the lifting strap 26 can be pulled downwards to return to its original position. When the knee joint rotates from straight to bent, the knee joint returns to its original position under the action of the human body, and the lifting strap also slowly returns to its original position.

[0049] It should be noted that the rotation drive assembly can also be a separate rotation drive component, which drives the rotating disc 123 to rotate.

[0050] Optionally, the rotation drive assembly includes a motor 13 and a planetary gear reducer 14, which are mounted on the thigh assembly 2. The output shaft of the planetary gear reducer 14 is connected to the lower leg assembly 2 to drive the lower leg assembly 3 to rotate.

[0051] Specifically, a planetary gear reducer includes a reducer housing, an internal gear ring, a sun gear, planet gears, and a planet carrier. The planet gears mesh with both the sun gear and the internal gear ring. The planet carrier is connected to the planet gears, and an output shaft is mounted on the sun gear. Given that planetary gear reducers have a conventional structure, further details will not be provided here.

[0052] In some embodiments of this utility model, the thigh assembly 2 is provided with a thigh sleeve 22, the calf assembly 3 is provided with a calf sleeve 32, and the rotating steel wire rope 126 passes through the thigh sleeve 22 and is connected to the calf sleeve 32.

[0053] In some of the embodiments of this utility model described above, by providing a thigh sleeve 22 on the thigh and a calf sleeve 32 on the calf, it is ensured that the rotating steel wire rope 126 can be connected between the thigh assembly 2 and the calf assembly 3, so as to ensure that the thigh assembly 2 and the calf assembly 3 can rotate stably.

[0054] It should be noted that a pulley is also provided between the thigh sleeve 22 and the lower leg sleeve 32 so that the rotation of the wire rope 126 can be smoothly transitioned, ensuring the stable rotation of the thigh assembly 2 and the lower leg assembly 3.

[0055] In some embodiments of this utility model, a wire clamp slider 33 is provided inside the calf sleeve 32, the wire clamp slider 33 is slidably disposed inside the calf sleeve 32, and the rotating steel wire rope 126 is connected to the wire clamp slider 33.

[0056] In some embodiments of this utility model, by sliding the wire clamp slider 33 inside the calf sleeve 32, when the rotating reel 123 retracts the wire, the wire clamp slider 33 moves upward to the top limit of the calf sleeve 32 under the pull of the rotating wire rope 126, and then the knee joint can be straightened under the action of the rotating wire rope 126. When the rotating reel 123 releases the wire, if the release speed is faster than the knee joint flexion speed, the rotating wire rope 126 itself has a certain rigidity, and the wire clamp slider 33 slides downward inside the calf sleeve 32 under the push of the rotating wire rope 126, preventing the wire rope from slack and protruding from the rotating reel 123 and rubbing against the outer shell of the rotating reel 123, while also preventing the rotating wire rope 126 from protruding from the knee joint rope wheel, thus increasing the service life of the wire rope.

[0057] In some embodiments of this utility model, the lifting binding 26 is provided with a binding slider 29, and the thigh assembly 2 is provided with a binding slide rail 28, and the binding slider 29 cooperates with the binding slide rail 28.

[0058] In some of the embodiments of the present invention described above, the lifting strap 26 is slidably disposed on the thigh component 2 by the strapping slider 29 and the strapping slide rail 28, thereby enabling the lifting strap 26 to move toward or away from the calf component 3.

[0059] Furthermore, a sleeve anchor point 27 is provided on the thigh assembly 2, and the lifting steel wire rope 125 passes through the sleeve anchor point 27 and is connected to the binding slider 29. The sleeve anchor point 27 ensures that the lifting binding 26 slides smoothly.

[0060] In some embodiments of this utility model, the thigh assembly 2 includes a thigh plate 21, an upper thigh support strap 23, and a lower thigh support strap 24. The upper thigh support strap 23 is disposed on the upper side of the thigh plate 21, the lower thigh support strap 24 is disposed on the lower side of the thigh plate 21, and the support plate 234 of the upper thigh support strap 23 is located on the posterior side of the thigh, while the support plate 234 of the lower thigh support strap 24 is located on the anterior side of the thigh.

[0061] In some embodiments of the present invention described above, the thigh assembly 2 includes an upper thigh support plate binding 23 and a lower thigh support plate binding 24. The support plate 234 of the upper thigh support plate binding 23 is located on the back side of the thigh, and the support plate 234 of the lower thigh support plate binding 24 is located on the front side of the thigh. When the steel wire rope 126 is rotated to retract the line, the thigh assembly 2 rotates relative to the lower leg assembly 3, and the torsional torque is transmitted to the upper rear part of the thigh, which helps to straighten the knee joint. The lower front part of the thigh provides reverse pressure, which is conducive to straightening the knee joint.

[0062] In some embodiments of this utility model, the calf assembly 3 includes a calf plate 31, an upper calf support plate binding 34, and a lower calf support plate binding 35. The upper calf support plate binding 34 is disposed on the upper side of the calf plate 31, and the lower calf support plate binding 35 is disposed on the lower side of the calf plate 31. The support plate 234 of the upper calf support plate binding 34 is located on the front side of the calf, and the support plate 234 of the lower calf support plate binding 35 is located on the rear side of the calf.

[0063] In some embodiments of the present invention described above, the calf assembly 3 includes an upper calf support plate binding 34 and a lower calf support plate binding 35. The support plate 234 of the upper calf support plate binding 34 is located on the front side of the calf, and the support plate 234 of the lower calf support plate binding 35 is located on the back side of the calf. When the steel wire rope 126 is rotated to retract the line, the thigh assembly 2 rotates relative to the calf assembly 3, and the torsional torque is transmitted to the lower rear part of the calf, which helps to straighten the knee joint. The upper front part of the calf provides reverse pressure, which is conducive to straightening the knee joint.

[0064] It should be noted that when the wire rope 126 is rotated to retract the line, the thigh assembly 2 rotates relative to the calf assembly 3, rotating from bent to straight. The support plate 234 of the upper thigh support plate binding 23 is located on the back of the thigh, the support plate 234 of the lower thigh support plate binding 24 is located on the front of the thigh, the support plate 234 of the upper calf support plate binding 34 is located on the front of the calf, and the support plate 234 of the lower calf support plate binding 35 is located on the back of the calf. The upper thigh and the lower calf will be pushed forward, and the upper calf and the lower thigh will be pushed backward, which will help straighten the knee joint and prevent the situation where the thigh assembly 2 and the calf assembly 3 are straight but the lower limbs are not straight.

[0065] Specifically, the upper thigh support plate binding 23, lower thigh support plate binding 24, upper calf support plate binding 34, and lower calf support plate binding 35 all have the same structure and each includes a straight pull binding 236, a binding connector 235, a binding adjustment component 231, a binding hinge component 233, an adjustment bolt 232, and a support plate 234. The binding connector 235 is located on the first side of the thigh plate 21 or the calf plate 31. The straight pull binding 236 is hinged to the binding connector 235, and the straight pull binding 236 can rotate around the hinge axis.

[0066] The binding adjustment member 231 is connected to the second side of the thigh plate 21 or the calf plate 31. The binding hinge member 233 is hinged to the binding adjustment member 231. The support plate 234 is set on the binding hinge member 233 by the adjusting bolt 232. The straight-pull binding 236 and the support plate 234 can rotate by hinge so that the support plate 234 can better fit the human body. The position of the support plate 234 can be adjusted by adjusting the adjusting bolt 232 so that it can adapt to wearers of different body types.

[0067] More specifically, the lower leg plate 31 is also provided with a lower leg posture sensor and a lower leg housing 36. The lower leg housing 36 is fastened to the lower leg plate 31, and the lower leg posture sensor is located inside the lower leg housing 36. The lower leg posture sensor is not shown in the figure. The thigh plate 21 is provided with a thigh posture sensor 25.

[0068] This invention also provides a rehabilitation walking exoskeleton, including the active knee joint lifting function as described above.

[0069] The rehabilitation walking exoskeleton provided by this utility model has the function of actively lifting the knee joint as described above, thereby adjusting the knee joint pressure to provide support for the user's knee joint when the thigh component 2 and the lower leg component 3 rotate, thus improving the user's wearing comfort.

[0070] In the description of this specification, references to terms such as "example," "embodiment," or "some embodiments" indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, 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.

[0071] Of course, the present invention is not limited to the above-described embodiments. Those skilled in the art can make equivalent modifications or substitutions without departing from the spirit of the present invention. All such equivalent modifications or substitutions are included within the scope defined by the claims of this application.

Claims

1. An active knee joint lifting device, characterized in that, The invention includes a lifting drive assembly and a thigh assembly and a calf assembly that are rotatably connected. The thigh assembly is provided with a lifting strap, which is slidably disposed on the thigh assembly. The lifting drive assembly is connected to the lifting strap, and the lifting drive assembly is used to drive the lifting strap to reciprocate in a manner that moves closer to or further away from the calf assembly.

2. The active knee joint lifting method according to claim 1, characterized in that, The lifting drive assembly includes a lifting drive component, a lifting reel, and a lifting wire rope. The lifting wire rope is wound around the lifting reel, and the lifting drive component is connected to the lifting reel.

3. The active knee joint lifting method according to claim 2, characterized in that, It also includes a rotation drive assembly for driving the thigh assembly and the lower leg assembly to rotate.

4. The active knee joint lifting method according to claim 3, characterized in that, The rotation drive assembly includes a rotating reel and a rotating steel wire rope, the rotating steel wire rope being wound around the rotating reel, and the lifting reel being fixedly connected to the rotating reel.

5. The active knee joint lifting method according to claim 4, characterized in that, The thigh assembly is provided with a thigh sleeve, the calf assembly is provided with a calf sleeve, and the rotating steel wire rope passes through the thigh sleeve and is connected to the calf sleeve.

6. The active knee joint lifting method according to claim 5, characterized in that, A wire clamp slider is provided inside the calf sleeve, and the wire clamp slider is slidably disposed inside the calf sleeve. The rotating steel wire rope is connected to the wire clamp slider.

7. The active knee joint lifting method according to any one of claims 1-6, characterized in that, The lifting strap is equipped with a strapping slider, and the thigh assembly is equipped with a strapping slide rail. The strapping slider cooperates with the strapping slide rail.

8. The active knee joint lifting method according to any one of claims 1-6, characterized in that, The thigh assembly includes a thigh plate, an upper thigh support plate binding, and a lower thigh support plate binding. The upper thigh support plate binding is disposed on the upper side of the thigh plate, the lower thigh support plate binding is disposed on the lower side of the thigh plate, and the support plate of the upper thigh support plate binding is located on the posterior side of the thigh, while the support plate of the lower thigh support plate binding is located on the anterior side of the thigh.

9. The active knee joint lifting method according to any one of claims 1-6, characterized in that, The lower leg assembly includes a lower leg plate, an upper lower leg support plate, and a lower lower leg support plate. The upper lower leg support plate is located on the upper side of the lower leg plate, and the lower lower leg support plate is located on the lower side of the lower leg plate. The support plate of the upper lower leg support plate is located on the front side of the lower leg, and the support plate of the lower lower leg support plate is located on the back side of the lower leg.

10. A rehabilitation-aiding exoskeleton, characterized in that, Including the active knee lift as described in any one of claims 1-9.

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