Joint assist device

Abstract

This application discloses a joint assist device, belonging to the field of exoskeleton technology. The joint assist device includes a drive module and a wearable module. The drive module includes a driver body, a first connecting plate, and a second connecting plate. The stator portion of the driver body is connected to the first connecting plate, and the mover portion of the driver body is fixedly connected to the second connecting plate. The wearable module includes a wearable soft pack, a first drive rod, and a second drive rod. The wearable soft pack is worn on a human joint, a first limb, and a second limb. The wearable soft pack worn on the first limb is connected to the first drive rod, and the wearable soft pack worn on the second limb is connected to the second drive rod. The driver body is located on the outside of the human joint. The first connecting plate is detachably connected to the first drive rod, and the second connecting plate is detachably connected to the second drive rod. This joint assist device can achieve size compatibility for users of different body types, balancing overall size and weight.

Description

Technical Field

[0001] This application relates to the field of exoskeleton technology, and in particular to a joint assist device. Background Technology

[0002] In related technologies, wearable exoskeleton devices have made certain sacrifices in terms of device compatibility due to the overall weight and unfolded / folded volume. For example, the structure of the assist leg bar and support leg cover is fixed, and the adaptation to the leg circumference of people with different body types is achieved by simply binding soft packs.

[0003] However, it is impossible to achieve compatibility with different heights while maintaining a small weight and size. Utility Model Content

[0004] This application provides a joint assist device that can solve the problem of being unable to achieve compatibility and adaptation to different heights while ensuring that the exoskeleton device is small in weight and size.

[0005] The technical solution is as follows: A joint assist device, the joint assist device comprising: a drive module and a wearable module; The drive module includes a drive body and a connection mechanism, and the drive body and the connection mechanism are connected. The actuator body is located on the outside of the human joint, and the connecting mechanism is detachably connected to the wearable module; The wearable module includes a wearable soft pack, which is worn on a human joint, a first limb, and a second limb, with the first limb and the second limb located on either side of the human joint.

[0006] In some embodiments, the wearable module further includes a first drive rod and a second drive rod; The wearable soft pack worn on the first limb is connected to the first drive rod, and the wearable soft pack worn on the second limb is connected to the second drive rod; the connecting mechanism is detachably connected to the first drive rod and the second drive rod respectively.

[0007] In some embodiments, the axis of the actuator body coincides with the axis of the human joint.

[0008] In some embodiments, a limiting structure is provided on the outer side of the wearable soft pack worn on the human joint, and the limiting structure corresponds to the position of the driver body; The driver body is detachably connected to the limiting structure.

[0009] In some embodiments, the limiting structure is a groove-shaped structure, and the shape of the groove-shaped structure is the same as the shape of the driver body.

[0010] In some embodiments, the wearable module further includes at least one first leg support structure and at least one second leg support structure; The at least one first leg support structure is located between the first drive rod and the corresponding wearable soft bag; the at least one second leg support structure is located between the second drive rod and the corresponding wearable soft bag.

[0011] In some embodiments, the drive module further includes a first connecting plate and a second connecting plate; The stator portion of the driver body is fixedly connected to the first connecting plate, and the mover portion of the driver body is fixedly connected to the second connecting plate. The first connecting plate is detachably connected to the wearable soft pack worn on the first limb, and the second connecting plate is detachably connected to the wearable soft pack worn on the second limb.

[0012] In some embodiments, when the wearable module includes a first drive rod and a second drive rod, the first connecting plate is detachably connected to the first drive rod, and the second connecting plate is detachably connected to the second drive rod.

[0013] In some embodiments, the first connecting plate is provided with a first connecting structure, and the end of the first drive rod near the human joint is provided with a third connecting structure, wherein the first connecting structure and the third connecting structure are detachably connected. The second connecting plate is provided with a second connecting structure, and the end of the second drive rod near the human joint is provided with a fourth connecting structure. The second connecting structure and the fourth connecting structure are detachably connected.

[0014] In some embodiments, the first connection structure includes at least two first connection holes, and the third connection structure includes at least two third connection holes; The first connecting hole and the third connecting hole are connected one-to-one by screws; And / or, The second connection structure includes at least two second connection holes, and the fourth connection structure includes at least two fourth connection holes; The second connecting hole and the fourth connecting hole are connected one-to-one by screws.

[0015] In some embodiments, the human joint is the knee joint, the first limb is the thigh, the second limb is the calf, and the soft bag is trousers.

[0016] The beneficial effects of the technical solution provided in this application include at least the following: The joint assist device of this application can be worn and fixed on the human joint through a wearable module. The driver body is detachably connected to the wearable module through a connecting mechanism. The driver module and the wearable module can be quickly installed or removed. When it is necessary to adapt to different user body shapes or different assistance scenarios, different sizes of wearable modules can be selected. By installing the same driver module on different sizes of wearable modules, size compatibility with users of different body shapes can be achieved. Each wearable module is designed with a non-adjustable size to take into account the overall size and weight of the device. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the joint assist device provided in this application embodiment in the wearable state; Figure 2 This is a schematic diagram of the wear position of the joint assist device provided in the embodiments of this application on the human body; Figure 3 This is an exploded view of the joint assist device provided in the embodiments of this application; Figure 4 This is a schematic diagram of the structure of the drive module provided in the embodiments of this application; Figure 5 This is a schematic diagram of the joint assist device provided in another embodiment of this application in the wearing state.

[0019] The reference numerals in the figure are respectively: 100. Human joints; 200. First limb; 300. Second limb; 1. Drive module; 11. Driver body; 12. First connecting plate; 121. First connecting structure; 121a. First connecting hole; 13. Second connecting plate; 131. Second connecting structure; 131a. Second connecting hole; 2. Wearable module; 21. Wearable soft pack; 22. First drive rod; 221. Third connecting structure; 23. Second drive rod; 231. Fourth connecting structure; 24. Limiting structure; 25. First leg support structure; 26. Second leg support structure; 3. Screws. Detailed Implementation

[0020] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0021] In the description of this application, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the appendix. Figure 1 The orientations or positional relationships shown are for the purpose of facilitating and simplifying the description of this application, and are not intended to 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 application.

[0022] Unless otherwise defined, all technical terms used in the embodiments of this application have the same meaning as commonly understood by one of ordinary skill in the art.

[0023] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described in further detail below with reference to the accompanying drawings.

[0024] Combination Figure 1 and Figure 2 As shown, this embodiment provides a joint assist device, which includes a drive module 1 and a wearable module 2.

[0025] The drive module 1 includes a driver body 11 and a connecting mechanism, which are connected together. The driver body 11 is located on the outside of the human joint 100, and the connecting mechanism is detachably connected to the wearable module 2. The wearable module 2 includes a wearable soft pack 21, which is worn on the human joint 100, the first limb 200, and the second limb 300. The first limb 200 and the second limb 300 are located on both sides of the human joint 100, respectively.

[0026] The joint assist device in this embodiment can be worn and fixed on the human joint 100 by the wearable module 2. The driver body 11 is detachably connected to the wearable module 2 through the connecting mechanism. The driver module 1 and the wearable module 2 can be quickly installed or removed. When it is necessary to adapt to different user body shapes or different assistance scenarios, different sizes of wearable modules 2 can be selected. By installing the same driver module 1 on different sizes of wearable modules 2, size compatibility with users of different body shapes can be achieved. Each set of wearable modules 2 is designed with a non-adjustable size, taking into account the overall size and weight of the device.

[0027] For example, the driver body 11 and the connection mechanism can be a fixed connection, an integrally formed connection, or a detachable connection.

[0028] In some possible implementations, the exoskeleton device of this embodiment can be applied to assist the human knee joint or the human elbow joint; this embodiment does not limit this application.

[0029] When the exoskeleton device is applied to assist the human knee joint, one of the first limb 200 and the second limb 300 is the human thigh, and the other is the human lower leg. When the exoskeleton device is applied to assist the human elbow joint, one of the first limb 200 and the second limb 300 is the human upper arm, and the other is the human forearm.

[0030] In some possible implementations, the wearable soft pad 21 is a flexible garment that can be worn and conforms to the human body surface, providing necessary support for the joint drive device so that the joint drive device does not move arbitrarily under its own weight or driving reaction force. For example, the wearable soft pad 21 can be trousers, sleeves, or wearable knee pads at the human joint 100, or straps that can be tied to the first limb 200 or the second limb 300, etc.

[0031] For example, the wearable soft bag 21 is formed by weaving a fiber material or by injection molding a plastic material.

[0032] In some possible implementations, the detachable connection between the wearable soft bag 21 and the connecting mechanism can be achieved by setting a connecting seat or other structure on the outside of the wearable soft bag 21, and then connecting the connecting mechanism and the connecting seat in a detachable manner such as plugging, snapping, or screw connection.

[0033] Combination Figure 1 and Figure 2 As shown, in some embodiments, the wearable module 2 further includes a first drive rod 22 and a second drive rod 23.

[0034] The wearable soft pack 21 worn on the first limb 200 is connected to the first drive rod 22, and the wearable soft pack 21 worn on the second limb 300 is connected to the second drive rod 23; the connecting mechanism is detachably connected to the first drive rod 22 and the second drive rod 23 respectively.

[0035] With the above arrangement, the first drive rod 22 is connected to the wearable soft pack 21 worn on the first limb 200, and the second drive rod 23 is connected to the wearable soft pack 21 worn on the second limb 300. The driver body 11 is detachably connected to the first drive rod 22 and the second drive rod 23 respectively through the connecting mechanism. The drive module 1 and the wearable module 2 can be quickly installed or removed.

[0036] In some possible implementations, the dimensions of the first drive rod 22 and the second drive rod 23 in different wearable modules 2 are different. The longer the first drive rod 22 or the second drive rod 23, the greater the distance between the assist point of the first drive rod 22 or the second drive rod 23 and the drive module 1, and the better the assist effect of the joint assist device. Moreover, the first drive rod 22 and the second drive rod 23 have more space to arrange the assist points, and the pressure on the limbs during exercise assistance will be distributed more evenly, resulting in better wearing comfort.

[0037] However, the longer first drive rod 22 and second drive rod 23 will also increase the overall size and weight of the machine, which will lead to a decrease in ease of use and portability.

[0038] Therefore, in some usage scenarios where the assistive effect is less important, or where portability is more important, shorter first drive rods 22 and second drive rods 23 can be used to reduce the overall size and weight of the joint assist device, thereby improving ease of use and portability.

[0039] In some possible implementations, the connection between the first drive rod 22 and the second drive rod 23 and the corresponding wearable soft pack 21 can be a direct connection, an indirect connection (e.g., via a leg brace), or a flexible connection such as a strap. In some possible implementations, the detachable connection between the first connecting plate 12 and the first drive rod 22 includes, but is not limited to, fastener connections, plug-in connections, snap-fit ​​connections, etc. The detachable connection between the second connecting plate 13 and the second drive rod 23 includes, but is not limited to, fastener connections, plug-in connections, snap-fit ​​connections, etc.

[0040] In this embodiment, the stator portion of the driver body 11 is fixedly connected to the first connecting plate 12, and the mover portion of the driver body 11 is fixedly connected to the second connecting plate 13. Alternatively, the stator portion of the driver body 11 can be fixedly connected to the second connecting plate 13, and the stator portion of the driver body 11 can be fixedly connected to the second connecting plate 13.

[0041] For example, the driver body 11 is an electric motor. After receiving an external drive signal, the driver body 11 rotates relative to the stator, which in turn drives the first connecting plate 12 and the second connecting plate 13 to rotate coaxially relative to each other. The first connecting plate 12 drives the first drive rod 22, the first drive rod 22 drives the first limb 200, the second connecting plate 13 drives the second drive rod 23, and the second drive rod 23 drives the second limb 300, so that the first limb 200 and the second limb 300 rotate around the human joint 100, thereby assisting the joint movement.

[0042] Combination Figure 1 As shown, in some embodiments, the axis of the actuator body 11 coincides with the axis of the human joint 100. Thus, the actuator body 11 can drive the first drive rod 22 through the first connecting plate 12 and drive the second drive rod 23 through the second connecting plate 13, thereby causing the first limb 200 and the second limb 300 to rotate around the human joint 100, thereby providing motion assistance to the human joint 100.

[0043] Combination Figure 3 As shown, in some embodiments, a limiting structure 24 is provided on the outer side of the wearable soft bag 21 worn on the human joint 100, and the limiting structure 24 corresponds to the position of the driver body 11; the driver body 11 and the limiting structure 24 are detachably connected.

[0044] With the above arrangement, the actuator body 11 can be fixedly connected to the outside of the wearable soft bag 21 by the limiting structure 24. In addition to being connected and fixed by the first connecting plate 12 and the second connecting plate 13, the actuator body 11 can also be fixed by the limiting structure 24. The limiting effect is better, which can ensure that the actuator body 11 and the human joint 100 have a high degree of coaxiality, thereby improving the assisting effect and wearing comfort of the joint assisting device.

[0045] Combination Figure 3 As shown, in some embodiments, the limiting structure 24 is a groove-shaped structure, and the shape of the groove-shaped structure is the same as the shape of the driver body 11.

[0046] With the above arrangement, the shape of the driver body 11 is the same as the shape of the slot structure of the limiting structure 24. The driver body 11 can be inserted into the slot structure as a whole. The installation and disassembly process of the driver body 11 and the limiting structure 24 is simple and the coaxial limiting effect is better.

[0047] For example, the groove structure is a circular groove, and the inner diameter of the groove structure is the same as the outer diameter of the driver body 11.

[0048] Combination Figure 1 and Figure 5As shown, in some embodiments, the wearable module 2 further includes at least one first leg support structure 25 and at least one second leg support structure 26.

[0049] At least one first leg support structure 25 is located between the first drive rod 22 and the corresponding wearable soft pack 21; at least one second leg support structure 26 is located between the second drive rod 23 and the corresponding wearable soft pack 21.

[0050] With the above arrangement, the wearable module 2 can be rigidly connected to the first drive rod 22 and the drive module 1 through the first leg support structure 25, and rigidly connected to the second drive rod 23 and the drive module 1 through the second leg support structure 26. When the joint assist device is working, the drive module 1 drives the first drive rod 22 to rotate. The first drive rod 22 can apply assistance to the first limb 200 around the human joint 100 through the first leg support structure 25. The drive module 1 drives the second drive rod 23 to rotate. The second drive rod 23 can apply assistance to the second limb 300 around the human joint 100 through the second leg support structure 26.

[0051] In some possible implementations, the number of first leg support structures 25 can be one, two, three, etc. The number of second leg support structures 26 can be one, two, three, etc.

[0052] Different numbers of first leg support structures 25 or second leg support structures 26 provide different assistive effects. When there are a large number of first leg support structures 25 or second leg support structures 26, the force of the first drive rod 22 or second drive rod 23 can be evenly distributed to the entire limb using multiple leg support structures, which helps to reduce discomfort caused by excessive local pressure and improves the comfort of using the joint assist device.

[0053] Combination Figure 1 As shown, in some embodiments, there are two first leg support structures 25 and two second leg support structures 26.

[0054] Two first leg support structures 25 are arranged at intervals along the extension direction of the first limb 200, and two second leg support structures 26 are arranged at intervals along the extension direction of the second limb 300.

[0055] The joint assist device of this embodiment has two first leg support structures 25 and second leg support structures 26. Moreover, the first drive rod 22 and the second drive rod 23 are larger in size, resulting in better assist effect and higher comfort. It is suitable for application scenarios with high requirements for assist effect.

[0056] Combination Figure 5 As shown, in some embodiments, the number of the first leg support structure 25 and the second leg support structure 26 is one each.

[0057] The joint assist device of this embodiment has a first leg support structure 25 and a second leg support structure 26. Therefore, the size of the first drive rod 22 and the second drive rod 23 can be greatly reduced. Although some assist effect will be sacrificed, the overall size is small and the portability is good, making it suitable for use scenarios with high portability requirements.

[0058] Combination Figure 1 and Figure 2 As shown, in some embodiments, the drive module 1 further includes a first connecting plate 12 and a second connecting plate 13; the stator portion of the drive body 11 is fixedly connected to the first connecting plate 12, and the mover portion of the drive body 11 is fixedly connected to the second connecting plate 13; the first connecting plate 12 is detachably connected to the wearable soft pack 21 worn on the first limb 200, and the second connecting plate 13 is detachably connected to the wearable soft pack 21 worn on the second limb 300.

[0059] With the above arrangement, when the driver body 11 is working, the moving part and the stator part can respectively drive the first connecting plate 12 and the second connecting plate 13 to rotate relative to each other. Then, the first connecting plate 12 drives the wearable soft bag 21 and the first limb 200 to move, and the second connecting plate 13 drives the wearable soft bag 21 and the second limb 300 to move, thereby realizing the movement assistance of the human joint 100.

[0060] Combination Figure 1 and Figure 2 As shown, in some embodiments, when the wearable module 2 includes a first drive rod 22 and a second drive rod 23, the first connecting plate 12 is detachably connected to the first drive rod 22, and the second connecting plate 13 is detachably connected to the second drive rod 23.

[0061] With the above arrangement, the first connecting plate 12 and the second connecting plate 13 are detachably connected to the corresponding wearable soft pack 21 via the corresponding first driving rod 22 or second driving rod 23, which is simple in structure, easy to disassemble, and has a better assist effect.

[0062] Combination Figure 3 and Figure 4 As shown, in some embodiments, the first connecting plate 12 is provided with a first connecting structure 121, and the end of the first drive rod 22 near the human joint 100 is provided with a third connecting structure 221. The first connecting structure 121 and the third connecting structure 221 are detachably connected.

[0063] The second connecting plate 13 is provided with a second connecting structure 131, and the end of the second drive rod 23 near the human joint 100 is provided with a fourth connecting structure 231. The second connecting structure 131 and the fourth connecting structure 231 are detachably connected.

[0064] With the above arrangement, the first connecting plate 12 and the first drive rod 22 are detachably connected by the first connecting structure 121 and the third connecting structure 221, and the second connecting plate 13 and the second drive rod 23 are detachably connected by the second connecting structure 131 and the fourth connecting structure 231. This arrangement has the advantages of simple structure and convenient installation and disassembly.

[0065] refer to Figure 4 As shown, in some embodiments, the first connecting structure 121 includes at least two first connecting holes 121a, and the third connecting structure 221 includes at least two third connecting holes (not shown in the figure); the first connecting holes 121a and the third connecting holes are connected by screws 3 corresponding to each other.

[0066] The second connecting structure 131 includes at least two second connecting holes 131a, and the fourth connecting structure 231 includes at least two fourth connecting holes (not shown in the figure); the second connecting holes 131a and the fourth connecting holes are connected by screws 3 corresponding to each other. This arrangement further reduces the difficulty of installing and disassembling the drive module 1 and the wearable module 2.

[0067] In some possible implementations, the first connecting structure 121 and the third connecting structure 221 can also be connected in a way other than screw connection, and the second connecting structure 131 and the fourth connecting structure 231 can also be connected in a way other than screw connection, such as magnetic connection.

[0068] In some embodiments, the human joint 100 is the knee joint, the first limb 200 is the thigh, the second limb 300 is the calf, and the soft pack 21 is trousers.

[0069] Therefore, the joint assist device provided in this application can assist the movement of the human knee joint and has the function of quick disassembly of the drive module 1, which can solve the size compatibility problem of the joint assist device for users of different body types.

[0070] It should be noted that in this article, "several" and "at least one" refer to one or more, while "multiple" and "at least two" refer to two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone. The character " / " generally indicates that the preceding and following related objects have an "or" relationship.

[0071] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0072] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, features defined as "first" or "second" may explicitly or implicitly include one or more features. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0073] Unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0074] In the description of this specification, the references to the terms "certain embodiments", "one embodiment", "some embodiments", "illustrative embodiment", "example", "specific example", or "some examples" refer to specific features, structures, materials, or characteristics described in connection with the embodiments or examples that are included in at least one embodiment or example of this application.

[0075] The above description is merely an embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. An articulation assistance device, characterized by, The joint assist device includes: a drive module (1) and a wearable module (2); The drive module (1) includes a driver body (11) and a connection mechanism, wherein the driver body (11) and the connection mechanism are connected. The driver body (11) is located on the outside of the human joint (100), and the connecting mechanism is detachably connected to the wearable module (2); The wearable module (2) includes a wearable soft bag (21), which is worn on a human joint (100), a first limb (200) and a second limb (300), with the first limb (200) and the second limb (300) located on both sides of the human joint (100).

2. The joint assistance device according to claim 1, characterized in that The wearable module (2) also includes a first drive rod (22) and a second drive rod (23); The wearable soft pack (21) worn on the first limb (200) is connected to the first drive rod (22), and the wearable soft pack (21) worn on the second limb (300) is connected to the second drive rod (23); the connecting mechanism is detachably connected to the first drive rod (22) and the second drive rod (23) respectively.

3. The joint assist device according to claim 1, characterized in that, The axis of the driver body (11) coincides with the axis of the human joint (100).

4. The joint assist device according to claim 1, characterized in that, The outer side of the wearable soft pack (21) worn on the human joint (100) is provided with a limiting structure (24), and the limiting structure (24) corresponds to the position of the driver body (11); The driver body (11) is detachably connected to the limiting structure (24).

5. The joint assist device according to claim 4, characterized in that, The limiting structure (24) is a groove-shaped structure, and the shape of the groove-shaped structure is the same as the shape of the driver body (11).

6. The joint assist device according to claim 2, characterized in that, The wearable module (2) further includes at least one first leg support structure (25) and at least one second leg support structure (26); The at least one first leg support structure (25) is located between the first drive rod (22) and the corresponding wearable soft bag (21); the at least one second leg support structure (26) is located between the second drive rod (23) and the corresponding wearable soft bag (21).

7. The joint assist device according to any one of claims 1 to 6, characterized in that, The connecting mechanism includes a first connecting plate (12) and a second connecting plate (13); The stator portion of the driver body (11) is fixedly connected to the first connecting plate (12), and the mover portion of the driver body (11) is fixedly connected to the second connecting plate (13). The first connecting plate (12) is detachably connected to the wearable soft pack (21) worn on the first limb (200), and the second connecting plate (13) is detachably connected to the wearable soft pack (21) worn on the second limb (300).

8. The joint assist device according to claim 7, characterized in that, When the wearable module (2) includes a first drive rod (22) and a second drive rod (23), the first connecting plate (12) is detachably connected to the first drive rod (22), and the second connecting plate (13) is detachably connected to the second drive rod (23).

9. The joint assist device according to claim 8, characterized in that, The first connecting plate (12) is provided with a first connecting structure (121), and the end of the first driving rod (22) near the human joint (100) is provided with a third connecting structure (221). The first connecting structure (121) and the third connecting structure (221) are detachably connected. The second connecting plate (13) is provided with a second connecting structure (131), and the end of the second drive rod (23) near the human joint (100) is provided with a fourth connecting structure (231). The second connecting structure (131) and the fourth connecting structure (231) are detachably connected.

10. The joint assist device according to claim 9, characterized in that, The first connection structure (121) includes at least two first connection holes (121a), and the third connection structure (221) includes at least two third connection holes; The first connecting hole (121a) and the third connecting hole are connected one-to-one by screws (3); And / or, The second connection structure (131) includes at least two second connection holes (131a), and the fourth connection structure (231) includes at least two fourth connection holes; The second connecting hole (131a) and the fourth connecting hole are connected one-to-one by screws (3).

11. The joint assist device according to any one of claims 1 to 6, characterized in that, The human joint (100) is the knee joint, the first limb (200) is the thigh, the second limb (300) is the calf, and the wearable soft bag (21) is trousers.

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