Gait-synchronized assistive exoskeleton based on plantar pressure sensing

Abstract

This utility model relates to a gait-synchronized walking assistive exoskeleton based on plantar pressure sensing, including a waist support mechanism. Motor bodies are located on both sides of the waist support mechanism, and each motor body has a walking assist drive component detachably connected to the leg at its end. A shoe support mechanism detachably connected to the foot or shoe is also arranged side-by-side on the lower outer side of the waist support mechanism. A pressure sensor for monitoring changes in plantar pressure is located on the shoe support mechanism. The pressure sensor is signal-connected to a control module on the waist support mechanism, and the control module on the waist support mechanism is electrically connected to the motor bodies. This utility model monitors gait in real time through pressure sensors, achieving active assistance synchronized with the user's walking intention. Simultaneously, its modular design allows it to adapt to different body types and footwear, resulting in lightweight wear, natural assistance, and strong adaptability.

Description

Technical Field

[0001] This utility model relates to the field of exoskeleton technology, specifically to a gait synchronization assistive exoskeleton based on plantar pressure sensing. Background Technology

[0002] In the current field of hiking and mountaineering assistive exoskeletons, the core technological challenge lies in how to achieve efficient, timely, and natural gait assistance. Current mainstream solutions mostly use IMU inertial sensors (such as gyroscopes and accelerometers) located in the torso or thigh to indirectly calculate the gait cycle. Due to the physical distance between the sensor and foot movement, and the buffering effect of human tissue, these solutions suffer from inherent delays and phase lag in the detection signals. By the time the system detects the intention to lift the leg, the optimal mechanical moment for providing assistance has often passed, resulting in a poor connection between the assistance and the user's own force exertion. This can cause discomfort such as being dragged or experiencing asynchronous movements, and actually increases the coordination burden on the neuromuscular system. Summary of the Invention

[0003] This invention addresses the aforementioned technical problems in exoskeleton structure design by proposing a gait-synchronized walking assistive exoskeleton based on plantar pressure sensing. It monitors gait in real time through pressure sensors, achieving active assistance synchronized with the user's walking intention. Furthermore, its modular design allows it to adapt to different body types and footwear, resulting in lightweight, natural assistance, and strong adaptability.

[0004] The objective of this invention is achieved through the following technical solution: a gait synchronization assistive exoskeleton based on plantar pressure sensing, comprising a waist support mechanism, wherein motor bodies are provided on both sides of the waist support mechanism, and each motor body has an assistive driving component at its end that can be detachably connected to the leg; a shoe support mechanism that can be detachably connected to the foot or shoe is also provided in parallel on the lower outer side of the waist support mechanism; a pressure sensor for monitoring changes in plantar pressure is provided on the shoe support mechanism, the pressure sensor is signal-connected to a control module on the waist support mechanism, and the control module on the waist support mechanism is electrically connected to the motor body.

[0005] Preferably, the lumbar support mechanism includes a first lumbar support, a second lumbar support, a first elastic bandage, a second elastic bandage, and a first locking buckle. One side of the first lumbar support and the second lumbar support is shaped to fit the waist. A first elastic bandage is provided between the first lumbar support and the second lumbar support. The surfaces of the first lumbar support and the second lumbar support are provided with second elastic bandages adapted to the abdomen. A first locking buckle is provided between the ends of a plurality of second elastic bandages.

[0006] Preferably, the waist support mechanism is provided with motor support plates on both sides, and each motor support plate is provided with a motor body; the end of the motor body passes through the motor support plate and is provided with a hinge support member, and the walking assistance drive member is hinged to the hinge support member.

[0007] Preferably, the hinge support includes a hinge support plate and a hinge support block integrally extending from the bottom of the hinge support plate. The hinge support block has a hinge groove in the middle and a hinge through hole through which the hinge groove is provided inside the hinge support block. One end of the walking aid drive is connected to the inside of the hinge groove. The inside of the hinge through hole is provided with a hinge pin that is connected to the end of the walking aid drive. The end of the hinge pin is provided with a locking ring.

[0008] Preferably, the walking aid includes an annular drive block, a drive rod, a first support block, and a third elastic bandage. The annular drive block is disposed inside the hinge groove and the hinge pin passes through the inside of the annular drive block. The bottom of the annular drive block extends downward to provide a drive rod, the end of the drive rod is provided with a first support block, and the support block is provided with a third elastic bandage.

[0009] Preferably, the walking aid includes an annular drive block, a bending plate, a second support block, and a fourth elastic bandage. The annular drive block is disposed inside the hinge groove and the hinge pin passes through the interior of the annular drive block. The bottom of the annular drive block extends towards the front of the thigh and is provided with a bending plate. The shape of the bending plate does not interfere with the side and front of the thigh. The end of the bending plate is provided with a second support block, and the second support block is provided with a fourth elastic bandage.

[0010] Preferably, the control module includes a motherboard and a processor, memory, and interface circuitry integrated on the motherboard; the interface circuitry is signal-connected to the pressure sensor and electrically connected to the motor body; the pressure sensor includes a first flexible sensor for monitoring changes in foot pressure and a second flexible sensor for monitoring changes in heel pressure; the processor of the control module is configured to: identify characteristic phases in the user's gait cycle by analyzing real-time pressure data from the first and second flexible sensors, and thereby trigger the motor body to output assist.

[0011] The pressure sensor is further divided into a first flexible sensor and a second flexible sensor that monitor the sole and heel respectively; it can accurately capture the characteristic changes in the plantar pressure distribution during the walking cycle (such as heel lift-off and forefoot push-off), thereby providing the processor with accurate gait phase judgment basis, realizing precise triggering of assistance, and ensuring that assistance is synchronized with the user's intention.

[0012] Preferably, each of the shoe body support mechanisms includes a sole support plate, a side limiting plate, a fifth elastic bandage, and a signal carrying shell. The sole support plate has side limiting plates on both sides, and a fifth elastic bandage is provided between adjacent side limiting plates. Each sole support plate also has a signal carrying shell on one side. The signal carrying shell has a signal transmission circuit board that is electrically connected to the first flexible sensor or the second flexible sensor. The signal transmission circuit board is connected to the interface circuit by wire or wireless means.

[0013] The signal transmission circuit board and the interface circuit can be selectively connected via wired or wireless means. Wireless connection simplifies the wearing process and avoids the constraints of cables on movement, while wired connection provides more stable and interference-resistant signal transmission, suitable for scenarios with extremely high reliability requirements. Users or manufacturers can choose the most suitable connection method according to actual needs and application environment, increasing the product's applicability flexibility.

[0014] Compared with the prior art, the present invention has the following beneficial effects:

[0015] 1. By using flexible sensors attached to the sole support plate, the original pressure signal between the sole and the support surface is collected in real time; the control module uses a second flexible sensor to identify the decrease in heel pressure and the first flexible sensor to identify the forefoot pressure to maintain this direct physical state combination, which can efficiently determine the moment of lifting the leg to start; it achieves rapid synchronization between the assist and the body's own muscle force, achieving a natural assist experience, effectively reducing the assist lag problem of the exoskeleton, and reducing the coordination and adaptation costs for users;

[0016] 2. The shoe body support mechanism, which consists of a shoe side limiting plate and a fifth elastic bandage, can be adapted to any ordinary footwear, so users do not need special shoes and can use it immediately after wearing; the sensor is protected in the signal carrying shell, and the working environment is stable; it greatly expands the application scenarios and user range, improves the overall durability and reliability of the system, and is suitable for complex environments such as outdoor mountaineering.

[0017] 3. This solution provides two types of walking assistance drive components: the first is a drive rod that acts on the outer thigh; the second is a bending plate that acts on the front thigh. Both are quickly installed via a ring-shaped drive block and a hinge pin. Users can choose different directions of force application according to their personal comfort preferences or different sports scenarios. This modular design gives the product high flexibility and user customization potential, meeting diverse user experience needs.

[0018] 4. The walking aid drive is connected to the motor body via a hinged support. The annular drive block can rotate around the hinge pin, and the direction of rotation is perpendicular to the direction of motor assistance. This allows the angle between the two drive rods or bending plates to be adaptively adjusted according to the user's hip width, ensuring that the walking aid drive fits well against the thighs of users with different hip widths when worn, and does not generate additional lateral restraint force due to differences in body shape. At the same time, the hinge structure maintains rigidity in the assistance direction and releases freedom in the non-assistance direction, ensuring that the natural adduction / abduction of the thigh during movement is unrestricted. Attached Figure Description

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

[0020] Figure 2 This is a perspective view of the first embodiment of the present invention after removing the shoe body support mechanism;

[0021] Figure 3 These are partial exploded views of the first and second embodiments of this utility model;

[0022] Figure 4 This is a perspective view of the shoe support mechanism of the first and second embodiments of this utility model;

[0023] Figure 5 This is a perspective view of the second embodiment of the present utility model;

[0024] Figure 6 This is a perspective view of the second embodiment of the present invention after removing the shoe body support mechanism;

[0025] Figure 7 This is a perspective view of the third embodiment of the present utility model.

[0026] The diagram shows the following components: 1. Waist support mechanism; 11. First waist support; 12. Second waist support; 13. First elastic bandage; 14. Second elastic bandage; 15. First locking buckle; 2. Motor body; 3. Walking aid drive component; 31. Ring drive block; 32. Drive rod; 33. First support block; 34. Third elastic bandage; 35. Bending plate; 36. Second support block; 37. Fourth elastic bandage; 4. Shoe body support mechanism; 41. Shoe sole support plate; 42. Shoe side limiting plate; 43. Fifth elastic bandage; 44. Signal carrier shell; 5. Pressure sensor; 51. First flexible sensor; 52. Second flexible sensor; 6. Motor support plate; 7. Hinge support component; 71. Hinge support plate; 72. Hinge support block; 73. Hinge groove; 74. Hinge through hole; 75. Hinge pin; 76. Locking ring; 8. Sixth elastic bandage; 9. Wire. Detailed Implementation

[0027] The present invention will be further described below with reference to the embodiments shown in the accompanying drawings:

[0028] like Figure 1 and Figure 2 As shown, a gait synchronization assistive exoskeleton based on plantar pressure sensing, the first embodiment of this utility model, includes a waist support mechanism 1, and motor bodies 2 are provided on both sides of the waist support mechanism 1.

[0029] In the first embodiment, the lumbar support mechanism 1 includes a first lumbar support 11, a second lumbar support 12, a first elastic bandage 13, a second elastic bandage 14, and a first locking buckle 15. One side of the first lumbar support 11 and the second lumbar support 12 is shaped to fit the waist. A first elastic bandage 13 is provided between the first lumbar support 11 and the second lumbar support 12. The surfaces of the first lumbar support 11 and the second lumbar support 12 are each provided with a second elastic bandage 14 adapted to the abdomen. A first locking buckle 15 is provided between the ends of a plurality of second elastic bandages 14.

[0030] During implementation, when worn, the first lumbar support 11 and the second lumbar support 12 fit snugly against both sides of the waist. Several second elastic bandages 14 extending from the front of both wrap around the abdomen and are quickly locked and released via the first locking buckle 15. The combined action of the first elastic bandage 13 and the second elastic bandage 14 ensures that the lumbar support mechanism 1 can stably fit the waist of users of different body types and is not easily displaced or loosened during exercise.

[0031] In the first embodiment, please refer to the reference. Figure 2 and Figure 3 As shown, the waist support mechanism 1 has motor support plates 6 on both sides, and each motor support plate 6 has a motor body 2. The motor support plate 6 is preferably a metal plate, which provides a stable mounting base for the motor body 2. The motor body 2 is mounted on each motor support plate 6, and the motor body 2 is preferably a flat high-torque servo motor, whose output shaft passes through the side wall of the motor support plate 6.

[0032] It is important to note that the end of the motor body 2 is provided with a hinged support 7 passing through the motor support plate 6, and the walking aid drive 3 is hinged to the hinged support 7. Each end of the motor body 2 is provided with a walking aid drive 3 that can be detachably connected to the leg.

[0033] In the first embodiment, the walking aid drive 3 includes an annular drive block 31, a drive rod 32, a first support block 33, and a third elastic bandage 34. The annular drive block 31 is disposed inside the hinge groove 73 and the hinge pin 75 passes through the interior of the annular drive block 31. The bottom of the annular drive block 31 extends downward to provide the drive rod 32. The end of the drive rod 32 is provided with the first support block 33, and the support block is provided with the third elastic bandage 34.

[0034] With this configuration, the drive rod 32 extends vertically downward from the bottom of the annular drive block 31, and the drive rod 32 is a lightweight rigid rod. The third elastic bandage 34 is preferably an adjustable-length Velcro bandage, used to comfortably and securely bind and fix the first support block 33 to the outside of the user's thigh.

[0035] In the first embodiment, please refer to the reference. Figure 3 As shown; the hinge support 7 includes a hinge support plate 71 and a hinge support block 72 integrally extending from the bottom of the hinge support plate 71. The hinge support block 72 has a hinge groove 73 in the middle and a hinge through hole 74 through the hinge groove 73 inside the hinge support block 72. One end of the walking aid drive 3 is connected to the inside of the hinge groove 73. The hinge through hole 74 has a hinge pin 75 that is connected to the end of the walking aid drive 3. The end of the hinge pin 75 has a locking ring 76.

[0036] During implementation, when the motor body 2 receives the assist command, its output shaft drives the hinge support 7 to rotate as a whole. This, in turn, transmits the torque force of the motor body 2's rotating shaft through the hinge pin 75, until it simultaneously drives the annular drive block 31 and the drive rod 32 connected to the annular drive block 31 to swing. The swinging of the drive rod 32, through the first bearing block 33 and the third elastic bandage 34, ultimately converts the motor's rotational torque into a forward and upward lifting force acting on the outer thigh, thereby assisting in completing the assistive movement.

[0037] It is important to note that, with Figure 2 As a reference for direction, the distance between the thighs changes depending on the body type of the person. When the third elastic bandage 34 is worn on the thighs of people of different body types, the annular drive block 31 can hinge relative to the locking ring 76, thereby changing the clamping size between the two drive rods 32. The hinge support plate 71 and the hinge support block 72 rotate forward or backward due to the rotation direction of the motor body 2; however, the rotation direction between the annular drive block 31 and the locking ring 76 is left or right. Therefore, the rotation between the annular drive block 31 and the locking ring 76 does not affect the assistance provided by the hinge support 7 to the walking aid drive 3.

[0038] In the first embodiment, please continue to refer to Figure 5 The lower outer side of the waist support mechanism 1 is also provided with a shoe support mechanism 4 that can be detachably connected to the foot or shoe; the shoe support mechanism 4 is provided with a pressure sensor 5 that monitors changes in foot pressure, the pressure sensor 5 is connected to the control module on the waist support mechanism 1, and the control module on the waist support mechanism 1 is electrically connected to the motor body 2.

[0039] The control module (not shown separately in the figure) includes a motherboard and a processor, memory and interface circuit integrated on the motherboard; the interface circuit is signal-connected to the pressure sensor 5 and electrically connected to the motor body 2; the pressure sensor 5 includes a first flexible sensor 51 for monitoring changes in foot pressure and a second flexible sensor 52 for monitoring changes in heel pressure.

[0040] The first flexible sensor 51 and the second flexible sensor 52 can be matrix-type flexible thin-film pressure sensors; the specific models can be SF series or DF9-40 series flexible thin-film pressure sensors; they can detect dynamic changes in pressure with high sensitivity.

[0041] In the first embodiment, each set of shoe support mechanisms 4 includes a sole support plate 41, a side limiting plate 42, a fifth elastic bandage 43, and a signal carrier shell 44. The sole support plate 41 has side limiting plates 42 on both sides, and a fifth elastic bandage 43 is provided between adjacent side limiting plates 42. Each sole support plate 41 also has a signal carrier shell 44 on one side. The signal carrier shell 44 has a signal transmission circuit board that is electrically connected to the first flexible sensor 51 or the second flexible sensor 52. The signal transmission circuit board is wirelessly connected to the interface circuit. The signal transmission circuit board is responsible for processing the pressure signals of the first flexible sensor 51 and the second flexible sensor 52 and transmitting them to the interface circuit of the main board inside the waist support mechanism 1 via wired or wireless means.

[0042] During implementation, the bottom support plate 41 extends upward on both sides to form shoe side limiting plates 42, which constitute a slot structure that can accommodate the front of the toe of various outdoor shoes. Users can quickly and stably restrain the toe of their shoes in this slot, and then lock and fix them by the fifth elastic bandage 43 spanning above the shoe side limiting plates 42 on both sides, realizing quick assembly and disassembly with any standard footwear.

[0043] During walking on flat ground or climbing, when the user is in the middle of a standing position and preparing to take a step, the plantar pressure exhibits a characteristic change: the pressure of the second flexible sensor 52 in the heel area on the bottom support plate 41 gradually decreases to below a set threshold; while the pressure of the first flexible sensor 51 in the forefoot area on the bottom support plate 41 remains above a certain value. This process specifically involves a pressure state combination of heel off the ground and forefoot bearing weight, which is captured independently and in real time by the two sensors. The processor of the control module within the lumbar support mechanism 1 continuously receives and analyzes the pressure signals from the first flexible sensor 51 and the second flexible sensor 52. When the algorithm identifies the above specific pressure state combination, it immediately determines that the leg on the same side is at the critical point of transitioning from a supporting posture (support phase) to a swinging posture (swinging phase).

[0044] The processor of the control module within the lumbar support mechanism 1 then sends pulse control commands to the motor body 2 on that side. The motor body 2 starts, outputting a rotational motion with a preset duration and torque. This motion, through the hinged support 7 and the walking aid drive 3, is ultimately converted into a lifting assist to the outer thigh. This assistance is closely synchronized with the user's gait intention in time, thereby achieving a natural assist effect.

[0045] When the foot completes its swing and lands fully on the ground again, and both the first flexible sensor 51 and the second flexible sensor 52 detect a stable pressure value, the control module determines that the current gait cycle has ended, controls the motor body 2 to stop outputting and return to its original position, and the system enters standby mode, ready for the next assist trigger.

[0046] like Figure 5 and Figure 6 As shown, this is the second embodiment of the present invention; the main difference from the first embodiment is the structure of the walking aid drive 3. Specifically: the walking aid drive 3 includes an annular drive block 31, a bending plate 35, a second support block 36, and a fourth elastic bandage 37. The annular drive block 31 is disposed inside the hinge groove 73, and the hinge pin 75 passes through the interior of the annular drive block 31. The bottom of the annular drive block 31 extends towards the front of the thigh, and the bending plate 35 is provided. The shape of the bending plate 35 does not interfere with the side and front of the thigh. The end of the bending plate 35 is provided with the second support block 36, and the fourth elastic bandage 37 is provided on the second support block 36.

[0047] It should be noted that the bending plate 35 is carefully designed, and its geometry ensures that a safe clearance is maintained between the bending plate 35 and the side and front contours of the thigh during movement, avoiding interference or pressure. A second support block 36 is fixed to the end of the bending plate 35, and a fourth elastic bandage 37 is attached to the second support block 36 for fixing the walking aid drive 3 to the front of the thigh.

[0048] When the motor body 2 drives the hinged support 7 to rotate, the torque is transmitted to the second bearing block 36 on the front of the thigh through the bending plate 35. At this time, the assistance manifests as an upward lifting force acting directly on the front of the thigh. This method of applying force from the front provides the user with a more direct leg-lifting assistance. The user can choose to install the lateral drive component of the first embodiment or the forward drive component of the second embodiment according to their own experience, which reflects the modularity and flexibility of this design.

[0049] like Figure 7 As shown, the third embodiment of this utility model differs from the first embodiment only in that the first flexible sensor 51 and the second flexible sensor 52 inside the signal carrier shell 44 are electrically connected to the signal transmission circuit board, which is connected to the interface circuit via a wire.

[0050] Therefore, in the third embodiment, a sixth elastic bandage 8 is provided in each calf area, and the sixth elastic bandage 8 is tied to the user's calf. In order to facilitate the guidance of the wire 9, a first support block is connected to each sixth elastic bandage 8. The subsequent wire 9 can pass through the wire limiting ring or wire limiting block on the first support block, so that the wire 9 will not interfere with the walking aid drive 3, the motor body 2 or the hinge support 7 during the user's leg swing.

[0051] Working principle and usage of this utility model:

[0052] The sole support plate 41 integrates a pressure sensor 5, which includes a first flexible sensor 51 that monitors foot pressure and a second flexible sensor 52 that monitors heel pressure. During walking, these two sensors independently and in real time detect dynamic pressure changes in different areas of the sole.

[0053] The pressure signal collected by pressure sensor 5 is processed and transmitted (wirelessly or wired) to the waist via the signal transmission circuit board inside the signal carrier housing 44. The control module (integrating processor, memory, etc.) located in the waist support mechanism 1 continuously receives and analyzes these signals. Its built-in algorithm is specifically designed to identify key transition points in the gait cycle. For example, when the pressure of the second flexible sensor 52 (heel) on the same side foot drops below a threshold, while the pressure of the first flexible sensor 51 (forefoot) remains at a certain value, it is determined that the user is in the late stage of the supporting leg movement, about to take a step (heel off the ground, forefoot push-off), indicating an intention to exert force.

[0054] Once the control module determines the intention to take a step, it immediately sends a precise pulse control command to the motor body 2 on the same side. The motor body 2 starts, and its output shaft rotates according to a preset torque and duration. This rotational motion is transmitted to the hinged support 7 fixed to the end of the motor body 2's shaft. The hinged support 7 drives the walking aid drive 3, which is hinged to it, to swing through the hinge pin 75.

[0055] Whether it is the combination of the drive rod 32 and the first bearing block 33 in the first embodiment, or the combination of the bending plate 35 and the second bearing block 36 in the second embodiment, both convert the rotational torque of the motor into a lifting or raising force acting on the thigh (fixed by the third elastic bandage 34 or the fourth elastic bandage 37), thereby assisting the user in completing the leg-lifting and stepping action.

[0056] When the foot on that side completes its swing and lands fully on the ground again, after both the first flexible sensor 51 and the second flexible sensor 52 detect stable pressure, the control module determines that the gait cycle assistance is complete, and then instructs the motor body 2 to stop and return to its original position. The system enters standby mode, waiting to identify the assistance trigger point for the next gait cycle.

[0057] The specific embodiments described herein are merely illustrative examples illustrating the spirit of this utility model. Those skilled in the art to which this utility model pertains may make various modifications or additions to the described specific embodiments or use similar methods to replace them, without departing from the spirit of this utility model or exceeding the scope defined by the appended claims.

Claims

1. A gait synchronization assistive exoskeleton based on plantar pressure sensing, comprising a lumbar support mechanism (1), characterized in that, The waist support mechanism (1) is provided with motor bodies (2) on both sides, and each motor body (2) is provided with a walking aid drive (3) that can be detachably connected to the leg at its end; the waist support mechanism (1) is also provided with a shoe support mechanism (4) that can be detachably connected to the foot or shoe on its lower outer side; the shoe support mechanism (4) is provided with a pressure sensor (5) for monitoring changes in foot pressure, and the pressure sensor (5) is connected to the control module on the waist support mechanism (1) by signal, and the control module on the waist support mechanism (1) is electrically connected to the motor body (2).

2. The gait synchronization assistive exoskeleton based on plantar pressure sensing according to claim 1, characterized in that, The lumbar support mechanism (1) includes a first lumbar support (11), a second lumbar support (12), a first elastic bandage (13), a second elastic bandage (14), and a first locking buckle (15). One side of the first lumbar support (11) and the second lumbar support (12) is adapted to the waist. A first elastic bandage (13) is provided between the first lumbar support (11) and the second lumbar support (12). The surfaces of the first lumbar support (11) and the second lumbar support (12) are provided with second elastic bandages (14) adapted to the abdomen. A first locking buckle (15) is provided between the ends of several second elastic bandages (14).

3. The gait synchronization assistive exoskeleton based on plantar pressure sensing according to claim 1, characterized in that, The waist support mechanism (1) is provided with motor support plates (6) on both sides, and each motor support plate (6) is provided with a motor body (2); the end of the motor body (2) passes through the motor support plate (6) and is provided with a hinge support (7), and the walking aid drive (3) is hinged to the hinge support (7).

4. The gait synchronization assistive exoskeleton based on plantar pressure sensing according to claim 3, characterized in that, The hinge support member (7) includes a hinge support plate (71) and a hinge support block (72) extending integrally from the bottom of the hinge support plate (71). The hinge support block (72) has a hinge groove (73) in the middle and a hinge through hole (74) of the hinge groove (73) through the interior of the hinge support block (72). One end of the walking aid drive member (3) is connected to the interior of the hinge groove (73). The interior of the hinge through hole (74) is provided with a hinge pin (75) that is connected to the end of the walking aid drive member (3). The end of the hinge pin (75) is provided with a locking ring (76).

5. The gait synchronization assistive exoskeleton based on plantar pressure sensing according to claim 4, characterized in that, The walking aid drive (3) includes an annular drive block (31), a drive rod (32), a first support block (33), and a third elastic bandage (34). The annular drive block (31) is disposed inside the hinge groove (73), and the hinge pin (75) passes through the interior of the annular drive block (31). The bottom of the annular drive block (31) extends downward to provide the drive rod (32). The end of the drive rod (32) is provided with the first support block (33), and the support block is provided with the third elastic bandage (34).

6. The gait synchronization assistive exoskeleton based on plantar pressure sensing according to claim 4, characterized in that, The walking aid drive (3) includes an annular drive block (31), a bending plate (35), a second support block (36), and a fourth elastic bandage (37). The annular drive block (31) is disposed inside the hinge groove (73), and the hinge pin (75) passes through the interior of the annular drive block (31). The bottom of the annular drive block (31) extends toward the front of the thigh and is provided with a bending plate (35). The shape of the bending plate (35) does not interfere with the side and front of the thigh. The end of the bending plate (35) is provided with a second support block (36), and the second support block (36) is provided with a fourth elastic bandage (37).

7. The gait synchronization assistive exoskeleton based on plantar pressure sensing according to claim 1, characterized in that, The control module includes a motherboard and a processor, memory and interface circuit integrated on the motherboard; the interface circuit is signal-connected to the pressure sensor (5) and electrically connected to the motor body (2); the pressure sensor (5) includes a first flexible sensor (51) for monitoring changes in foot pressure and a second flexible sensor (52) for monitoring changes in heel pressure.

8. The gait synchronization assistive exoskeleton based on plantar pressure sensing according to claim 7, characterized in that, Each of the shoe support mechanisms (4) includes a sole support plate (41), a side limiting plate (42), a fifth elastic bandage (43), and a signal carrier shell (44). The sole support plate (41) has side limiting plates (42) on both sides, and a fifth elastic bandage (43) is provided between adjacent side limiting plates (42). Each sole support plate (41) also has a signal carrier shell (44) on one side. The signal carrier shell (44) has a signal transmission circuit board that is electrically connected to the first flexible sensor (51) or the second flexible sensor (52) inside. The signal transmission circuit board is connected to the interface circuit by wire or wireless means.

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