Knee joint assisting exoskeleton
Patent Information
- Application Number
- CN202522050946.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-09-24
- Publication Date
- 2026-09-18
- Estimated Expiration
- 2035-09-24
AI Technical Summary
[0004]本实用新型的目的是提供一种膝关节助力外骨骼，旨在解决现有技术中动力传递系统扭矩不足、结构臃肿、传动效率低，且难以适配人体膝关节复杂运动需求，进而导致外骨骼助力效果差、穿戴舒适性低等问题
[0012]在实际应用中，本实用新型所公开的膝关节助力外骨骼至少可取得以下几方面的有益技术效果，具体为：
Smart Images
Figure CN224765438U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of human assistive device manufacturing technology, and in particular to a knee joint assistive exoskeleton. Background Technology
[0002] The performance of the power transmission system directly determines the assistive effect of a knee-assisted exoskeleton. Current power transmission schemes for knee-assisted exoskeletons mostly employ single-gear drives, belt drives, or ordinary reducer drives. While single-gear drives are simple in structure, meeting the torque output required for knee flexion and extension often necessitates increasing gear size or number, resulting in a larger and heavier transmission mechanism. This not only affects the lightweight design of the exoskeleton but may also interfere with lower limb movements, reducing wearing comfort. Belt drives suffer from low transmission efficiency and slippage, making it difficult to stably transmit continuous and precise torque, failing to meet the exoskeleton's requirements for stable power output. Ordinary reducers (such as worm gear reducers) can achieve some torque amplification, but they suffer from low transmission efficiency and large backlash. During frequent knee flexion and extension, power lag can easily occur, affecting the coordination between the exoskeleton and human movements, and even potentially causing additional impact on the user's knee joint. Furthermore, the knee joint, as a key joint in human lower limb movement, has a complex movement trajectory, and the required assist torque and speed vary significantly in different action scenarios (such as walking, climbing stairs, and squatting). This necessitates that the power transmission system of the knee-assisted exoskeleton possess comprehensive characteristics including high torque density, a wide speed ratio adjustment range, and a compact structure. However, existing power transmission solutions struggle to meet these requirements: either the torque output is insufficient to provide adequate assistance to the user; or the structural dimensions are too large to fit the lower limb contours of users with different body types; or the transmission efficiency is too low, leading to increased motor energy consumption and severely shortening the runtime of the knee-assisted exoskeleton.
[0003] In summary, technical personnel are urgently needed to solve the above problems. Utility Model Content
[0004] The purpose of this invention is to provide a knee joint assistive exoskeleton, which aims to solve the problems of insufficient torque, bulky structure, low transmission efficiency, and difficulty in adapting to the complex movement needs of the human knee joint in the existing technology, resulting in poor assistive effect and low wearing comfort of the exoskeleton.
[0005] This utility model relates to a knee joint assistive exoskeleton, including a lower leg support frame, a knee joint assembly, and a power drive unit; the knee joint assembly is used to adapt to and support the outer side of the human thigh, and realizes a rotatable connection between itself and the lower leg support frame; the lower leg support frame is bound to the outer side of the human lower leg, one end of which is rotatably connected to the knee joint assembly, and the other end extends to a position close to the human ankle; the power drive unit is used to drive the lower leg support frame to rotate around the knee joint assembly, and it is based on the knee joint assembly.
[0006] The power drive unit includes a base plate, a motor, a drive gear, a transition gear, a driven gear, and a planetary gear set; The base plate is fixedly connected to the knee joint assembly, serving as a mounting carrier for the motor, transition gears, and planetary gear set. The motor is mounted on one side of the base plate, and its power output end is coaxially fixed with the drive gear to drive its rotation. The transition gear meshes with both the driving gear and the driven gear simultaneously; The driven gear is fixed coaxially with the input end of the planetary gear set; When the motor starts, the rotational torque is transmitted sequentially through the driving gear, intermediate gear, and driven gear to the planetary gear set. At the same time, the output end of the planetary gear set drives the lower leg support frame.
[0007] As a further improvement to the technical solution disclosed in this utility model, the planetary gear set includes a sun gear, a planet carrier, planet gears, and a gear ring. The sun gear is fixed coaxially with the driven gear and is used to receive the rotational torque transmitted by the driven gear and rotate synchronously. N planetary gears are rotatably mounted on the planet carrier and simultaneously mesh with the sun gear and the ring gear, where N≥3; The planetary carrier, serving as the output end of the driving force, is fixedly connected to the lower leg support frame on the side furthest from the planetary gears.
[0008] As a further improvement to the technical solution disclosed in this utility model, the lower leg support frame includes a support body, multiple strain gauges, and a strain signal processing board. Multiple strain gauges are attached at intervals to the outer wall of the support body to collect strain signals of the support body during knee flexion and extension. The strain signal processing board is mounted on the support body and is electrically connected to multiple strain gauges to receive and process strain signals collected by multiple strain gauges.
[0009] As a further improvement to the technical solution disclosed in this utility model, with the rotation center connecting the support body and the knee joint assembly as the reference, multiple strain gauges are evenly distributed circumferentially to cooperate in collecting strain signals from different areas of the support body during knee flexion and extension.
[0010] As a further improvement to the technical solution disclosed in this utility model, the strain signal processing board integrates both a signal amplification module and a filtering module; the signal amplification module is used to amplify the strain signals collected by multiple strain gauges, while the filtering module is used to filter out interference noise in the amplified signal.
[0011] As a further improvement to the technical solution disclosed in this utility model, the knee joint assembly includes a rotating connecting body and a thigh fitting support part; the rotating connecting body is used to realize the rotating connection between the knee joint assembly and the lower leg support frame, while the thigh fitting support part is bound to the human thigh by an adjustable strap.
[0012] In practical applications, the knee joint assistive exoskeleton disclosed in this utility model can achieve at least the following beneficial technical effects, specifically: 1) The driving gear, intermediate gear, driven gear, and planetary gear set are integrated to form the power drive unit. Among them, the driving gear, intermediate gear, and driven gear form a precise fit, which can flexibly adjust the power transmission direction and initial speed ratio, laying a stable and reliable foundation for the subsequent torque amplification stage; while the planetary gear set, relying on its high transmission efficiency and high torque density characteristics, achieves efficient torque amplification within a limited space, and also has the advantages of low operating noise and high load-bearing capacity, which can ensure precise coordination between power output and knee flexion and extension movements, thereby fully meeting the power assistance needs in actual use; 2) The compact structure of the power transmission system better meets the lightweight design requirements of exoskeletons, effectively reducing interference with the movement of the lower limbs. Combined with the adjustable strap design of the knee joint components, it can adapt to users of different body types, significantly improving wearing comfort. Furthermore, the power transmission system has a wide speed ratio adjustment capability, which can accurately match the different needs of the knee joint for assist torque and speed in different scenarios such as walking, climbing stairs, and squatting. It can also reduce motor energy consumption, which helps to extend the overall battery life of the knee joint assist exoskeleton. Attached Figure Description
[0013] 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.
[0014] Figure 1 This is a three-dimensional schematic diagram of the knee joint assistive exoskeleton disclosed in this utility model from one perspective.
[0015] Figure 2 This is a three-dimensional schematic diagram of the knee joint assistive exoskeleton disclosed in this utility model from another perspective.
[0016] Figure 3 This is a three-dimensional schematic diagram of the power drive unit in the knee joint assistive exoskeleton disclosed in this utility model after the knee joint components are assembled.
[0017] Figure 4 This is a three-dimensional schematic diagram of the power drive unit in the knee joint assistive exoskeleton disclosed in this utility model after the knee joint components are assembled, from another perspective.
[0018] Figure 5 This is a three-dimensional schematic diagram of the power drive unit in the knee joint assistive exoskeleton disclosed in this utility model from one perspective.
[0019] Figure 6 This is a three-dimensional schematic diagram of the power drive unit in the knee joint assistive exoskeleton disclosed in this utility model from another perspective.
[0020] Figure 7 This is also a three-dimensional schematic diagram of the power drive unit in the knee joint assistive exoskeleton disclosed in this utility model (with the base plate and driven gear both hidden).
[0021] Figure 8 This is also a three-dimensional schematic diagram of the power drive unit in the knee joint assistive exoskeleton disclosed in this utility model from another perspective (with the base plate and driven gear both hidden).
[0022] 1-Lower leg support frame; 11-Support body component; 12-Adjustable lower leg strap; 2-Knee joint assembly; 21-Rotating connection body component; 22-Thigh fitting support part; 23-Adjustable thigh strap; 3-Power drive unit; 31-Base plate; 32-Motor; 33-Drive gear; 34-Transition gear; 35-Driven gear; 36-Planetary gear set; 361-Sun gear; 362-Planet carrier; 363-Planet gear; 364-Gear ring. Detailed Implementation
[0023] The present invention will be further described in detail below with reference to specific embodiments. Figure 1 , Figure 2 The diagrams show two different perspectives of the knee-assisted exoskeleton disclosed in this invention. It can be seen that it mainly consists of a lower leg support frame 1, a knee joint assembly 2, and a power drive unit 3. The knee joint assembly 2 is designed to fit and support the outer side of the human thigh, and is rotatably connected to the lower leg support frame 1. The lower leg support frame 1 is attached to the outer side of the human lower leg, with its upper end rotatably connected to the knee joint assembly 2 and its lower end extending near the ankle. The power drive unit 3 drives the lower leg support frame 1 to rotate around the knee joint assembly 2, and it is mounted on the knee joint assembly 2. like Figures 3-8 As shown, the power drive unit 3 mainly consists of a base plate 31, a motor 32, a drive gear 33, a transition gear 34, a driven gear 35, and a planetary gear set 36. The base plate 31 is fixedly connected to the knee joint assembly 2, serving as the mounting carrier for the motor 32, transition gear 34, and planetary gear set 36, providing a stable assembly reference for each component and ensuring the meshing accuracy of each gear during power transmission. The motor 32 is mounted on one side of the base plate 31, with its power output end coaxially fixed to the drive gear 33 to drive its rotation; the transition gear 34 meshes with both the drive gear 33 and the driven gear 35; and the driven gear 35 is coaxially fixed to the input end of the planetary gear set 36.
[0024] In practical applications, when the motor 32 starts, the rotational torque is transmitted sequentially through the driving gear 33, the intermediate gear 34, and the driven gear 35 to the planetary gear set 36. Simultaneously, the output of the planetary gear set 36 drives the lower leg support frame 1 to rotate around the knee joint assembly 2. This not only allows for flexible adjustment of the power transmission direction and initial speed ratio according to specific circumstances, laying a stable and reliable foundation for subsequent torque amplification, but also effectively improves the stability of power transmission.
[0025] As described above, the planetary gear set 36 plays a crucial role in torque amplification and power output. For example... Figure 7 , Figure 8 As shown, the planetary gear set 36 includes a sun gear 361, a planet carrier 362, planet gears 363, and a ring gear 364. The sun gear 361 is coaxially fixed with the driven gear 35 and is used to receive the rotational torque transmitted by the driven gear 35 and rotate synchronously. The three planet gears 363 are rotatably mounted on the planet carrier 362 and mesh with both the sun gear 361 and the ring gear 364. The planet carrier 362 serves as the driving force output end, and its side away from the planet gears 363 is fixedly connected to the lower leg support frame 1. Thanks to the coordinated transmission design of the multiple planet gears 363, not only is the stability and load-bearing capacity of power transmission improved, ensuring a smooth output of assist torque under different motion conditions, but also, relying on the high transmission efficiency and high torque density of the planetary gear set 36, the torque is efficiently amplified within a limited space. It also has the advantages of low operating noise and high load-bearing capacity, ensuring precise coordination between power output and knee flexion and extension movements, thereby fully meeting the assist requirements in actual use. like Figure 1 , Figure 2As shown, the calf support frame 1 includes a support body 11, an adjustable calf strap 12, multiple strain gauges (not shown in the figure), and a strain signal processing board (not shown in the figure). The adjustable calf strap 12 is used to securely fasten the support body 11 to the outside of the lower leg to accommodate users with different calf circumferences and improve the universality of wearing it. Multiple strain gauges are attached to the outer wall of the support body 11 at intervals to collect strain signals of the support body 11 during knee flexion and extension. The strain signal processing board uses the support body 11 as the mounting base and is electrically connected to multiple strain gauges to receive and process the strain signals collected by multiple strain gauges. With the rotation center connecting the support body 11 and the knee joint assembly 2 as the reference, multiple strain gauges are evenly distributed circumferentially to collect strain signals from different areas of the support body 11 during knee flexion and extension, thereby capturing the strain state of the support body 11 more comprehensively. This provides rich data support for accurately judging the knee joint movement intention, and makes the assist action of the power drive unit 3 more in line with the actual movement needs of the user. Furthermore, as a further optimization of the above technical solution, the strain signal processing board integrates both a signal amplification module and a filtering module. The signal amplification module amplifies the strain signals collected by multiple strain gauges, while the filtering module filters out interference noise from the amplified signal. Through optimized signal processing, the signal-to-noise ratio is significantly improved, ensuring that the subsequent control unit can accurately identify the user's movement intentions, achieve precise response to assistive actions, and avoid assist delays or malfunctions caused by signal errors, thereby further enhancing user safety and comfort.
[0026] Similarly, Figure 1 , Figure 2 As shown, the knee joint assembly 2 consists of a rotatable connecting body 21 and a thigh-fitting support part 22. The rotatable connecting body 21 is used to achieve a rotatable connection between the knee joint assembly 2 and the calf support frame 1. The thigh-fitting support part 22 is bound to the human thigh by an adjustable thigh strap 23, which not only ensures a stable fit between the knee joint assembly 2 and the human thigh, but also accommodates users with different thigh circumferences. Furthermore, the adjustable calf strap 12 further adapts to users of different body types, significantly improving overall wearing comfort.
[0027] Finally, it should be noted that the power drive unit 3 has a wide speed ratio adjustment capability, which can accurately match the different needs of the knee joint for assist torque and speed in different scenarios such as walking, going up and down stairs, and squatting. It can also reduce the energy consumption of the motor 32, which helps to extend the overall battery life of the knee joint assist exoskeleton, thereby meeting the needs of users for long-term outdoor activities.
[0028] The above description of the disclosed embodiments enables those skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims
1. A knee-assisted exoskeleton, comprising a lower leg support frame, a knee joint assembly, and a power drive unit; the knee joint assembly is adapted to fit and support the lateral aspect of the human thigh, and achieves a rotatable connection with the lower leg support frame; the lower leg support frame is bound to the lateral aspect of the human lower leg, one end of which is rotatably connected to the knee joint assembly, and the other end extends to a position near the human ankle; the power drive unit is used to drive the lower leg support frame to rotate around the knee joint assembly, and is mounted on the knee joint assembly, characterized in that... The power drive unit includes a base plate, a motor, a drive gear, a transition gear, a driven gear, and a planetary gear set. The base plate is fixedly connected to the knee joint assembly, and serves as a mounting carrier for the motor, the transition gear, and the planetary gear set. The motor is mounted on one side of the base plate, and its power output end is coaxially fixed with the drive gear to drive it to rotate. The transition gear meshes with both the driving gear and the driven gear simultaneously; The driven gear is fixed coaxially with the input end of the planetary gear set; When the motor starts, the rotational torque is transmitted sequentially to the planetary gear set via the driving gear, the intermediate gear, and the driven gear. At the same time, the output end of the planetary gear set drives the lower leg support frame.
2. The knee joint assistive exoskeleton according to claim 1, characterized in that, The planetary gear set includes a sun gear, a planet carrier, planet gears, and a ring gear. The sun gear is fixed coaxially with the driven gear and is used to receive the rotational torque transmitted by the driven gear and rotate synchronously. N planetary gears are rotatably mounted on the planet carrier and simultaneously mesh with the sun gear and the ring gear, where N≥3; The planetary carrier serves as the driving force output end, and its side away from the planetary gear is fixedly connected to the lower leg support frame.
3. The knee power exoskeleton according to any one of claims 1-2, wherein, The lower leg support frame includes a support body, multiple strain gauges, and a strain signal processing board; Multiple strain gauges are attached to the outer wall of the support body at intervals to collect strain signals of the support body during knee flexion and extension. The strain signal processing board is mounted and fixed on the support body, and is electrically connected to multiple strain gauges to receive and process strain signals collected by the multiple strain gauges.
4. The knee assist exoskeleton of claim 3, wherein, With the rotation center connecting the support body and the knee joint assembly as a reference, a plurality of strain gauges are evenly distributed circumferentially to cooperate in collecting strain signals from different regions of the support body during knee flexion and extension.
5. The knee assist exoskeleton of claim 3, wherein, The strain signal processing board integrates both a signal amplification module and a filtering module; the signal amplification module is used to amplify the strain signals collected by the multiple strain gauges, while the filtering module is used to filter out interference noise in the amplified signal.
6. The knee power exoskeleton of any one of claims 1-2, wherein, The knee joint assembly includes a rotatable connecting body and a thigh-fitting support part; the rotatable connecting body is used to realize the rotatable connection between the knee joint assembly and the lower leg support frame, while the thigh-fitting support part is bound to the human thigh by an adjustable strap.