A lower extremity exoskeleton device that is easy to don
Patent Information
- Application Number
- CN202522461711.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-11-20
- Publication Date
- 2026-10-16
- Estimated Expiration
- 2035-11-20
AI Technical Summary
[0004]但是，由于下肢外骨骼装置普遍是为个人定制使用，如果外骨骼的关节设计与其他人关节的运动范围和方式不匹配，会导致使用时的不适感，甚至可能对使用者造成伤害，导致外骨骼装置不便于多人通用穿戴，为此，本实用新型提出一种便于穿戴的下肢外骨骼装置用于解决上述问题
[0010] Compared with the prior art, the beneficial effects of this utility model are: for different groups of people and different body shapes, users can freely adjust the length of the elastic strip by pulling the buckle to ensure that the fixed airbag wraps around the thigh to achieve comfortable wearing during use, making the lower limb exoskeleton device easy for multiple people to wear.
Smart Images
Figure CN224855866U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of exoskeleton assistive technology, specifically a wearable lower limb exoskeleton device. Background Technology
[0002] Lower limb exoskeletons are designed to provide additional strength and support through mechanical structures and drive systems. These devices can help people with impaired lower limb function due to illness, injury, or other reasons regain the ability to walk, or provide enhanced mobility for healthy individuals.
[0003] In the existing technology, although lower limb exoskeleton devices can achieve lower limb assistance through the coordinated action of the lifting frame, sliding components and lifting components, because everyone's body shape is different, the device is generally customized for individual adjustment and use.
[0004] However, since lower limb exoskeleton devices are generally customized for individual use, if the joint design of the exoskeleton does not match the range of motion and manner of movement of other people's joints, it will lead to discomfort during use and may even cause injury to the user. This makes it inconvenient for multiple people to wear the exoskeleton device. Therefore, this utility model proposes a lower limb exoskeleton device that is easy to wear to solve the above problems. Utility Model Content
[0005] The purpose of this invention is to provide a wearable lower limb exoskeleton device to solve the problems mentioned in the background art.
[0006] To achieve the above objectives, this utility model provides the following technical solution: a wearable lower limb exoskeleton device, comprising: a waist strap, a pair of upper connecting rods fixedly connected to the lower surface of the waist strap, the tops of the upper connecting rods being symmetrically arranged on both sides of the waist strap, an upper fixing airbag fixedly connected near the bottom of the upper connecting rods, the bottom of the upper connecting rods being rotatably connected to the top of the lower connecting rods, a lower fixing airbag fixedly connected to the bottom of the lower connecting rods, the left and right sides of the upper and lower fixing airbags being fixedly connected to one end of an elastic strip, a retainer fixedly connected to the other end of the left elastic strip, and a buckle fixedly connected to the other end of the right elastic strip, the retainer and the buckle being compatible.
[0007] Preferably, the bottom of the upper connecting rod and the top of the lower connecting rod are provided with through holes, and a limiting shaft is connected through the through holes. The bottom of the upper connecting rod and the top of the lower connecting rod are rotatably connected by the limiting shaft.
[0008] Preferably, both ends of the waist strap are fixedly connected with Velcro.
[0009] Preferably, both the upper and lower fixed airbags are equipped with air guide tubes, and air inlets are opened in the air guide tubes. One end of the air guide tube is fixedly connected to a small connecting strip, and the other end of the small connecting strip is fixedly connected to an air hole cap.
[0010] Compared with the prior art, the beneficial effects of this utility model are: for different groups of people and different body shapes, users can freely adjust the length of the elastic strip by pulling the buckle to ensure that the fixed airbag wraps around the thigh to achieve comfortable wearing during use, making the lower limb exoskeleton device easy for multiple people to wear. Attached Figure Description
[0011] Figure 1 This is a schematic diagram of the overall front structure of this utility model; Figure 2 This is a bottom view of the overall structure of this utility model; Figure 3 This is a schematic diagram of the back of the overall structure of this utility model; Figure 4 This is a side view of the overall structure of this utility model.
[0012] In the diagram: 1. Waist strap; 2. Upper connecting rod; 3. Upper fixed airbag; 4. Lower connecting rod; 5. Lower fixed airbag; 6. Elastic strip; 7. Clip; 8. Buckle; 9. Velcro; 10. Air duct; 11. Air inlet; 12. Small connecting strip; 13. Air vent cap; 14. Through hole; 15. Limiting shaft. Detailed Implementation
[0013] To make the objectives, technical solutions, and advantages of this utility model clear and complete, the embodiments of this utility model will be further described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only some, not all, embodiments of this utility model, and are merely used to explain the embodiments of this utility model. They are not intended to limit the embodiments of this utility model. All other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.
[0014] Example 1: Please refer to Figures 1-4This utility model provides a technical solution: a wearable lower limb exoskeleton device, comprising: a waist strap 1, with a pair of upper connecting rods 2 fixedly connected to the lower surface of the waist strap 1. The tops of the upper connecting rods 2 are symmetrically arranged on both sides of the waist strap 1. The symmetrical arrangement of the upper connecting rods 2 ensures that the device is evenly stressed, avoiding wear deviation caused by unilateral weight distribution. An upper fixing airbag 3 is fixedly connected near the bottom of the upper connecting rods 2. The upper fixing airbag 3 is used to fix the device to the thigh area. The symmetrical arrangement of the upper connecting rods 2 on the waist strap 1 not only balances the overall stress of the device but also accurately corresponds to the position of the two thighs, ensuring that the upper fixing airbag 3 can be vertically aligned with the outer thigh, avoiding misalignment of the upper fixing airbag 3 due to the offset of the connecting rods, which would affect the thigh fixation effect. The bottom of the upper connecting rod 2 is rotatably connected to the top of the lower connecting rod 4. The upper connecting rod 2 and the lower connecting rod 4 correspond to the thigh and calf areas respectively. The rotatable connection between the two essentially simulates the movement function of the human knee joint, avoiding the knee joint from being unable to move due to rigid fixation of the connecting rods, or the knee joint from being unable to move during movement. Currently, there is a feeling of jamming and pulling. The bottom of the lower connecting rod 4 is fixedly connected to a lower fixing airbag 5. The lower fixing airbag 5 is used to fix the lower leg. Fixing the lower fixing airbag 5 to the bottom of the lower connecting rod 4 allows the airbag to fit precisely against the outside of the lower leg, preventing the lower limb exoskeleton from shifting as a whole during movement. The upper fixing airbag 3 and the lower fixing airbag 5 are fixedly connected to one end of the elastic strip 6 on both sides. The other end of the left elastic strip 6 is fixedly connected to a sleeve 7, and the other end of the right elastic strip 6 is fixedly connected to a buckle 8. The sleeve 7 and the buckle 8 are compatible. Different users have different thigh and calf circumferences. The connection design of elastic strip 6, sleeve 7, and buckle 8 can meet the needs of quick adjustment and easy wearing. The elastic strip 6 on the left and right sides are connected to the two ends of the airbag respectively. It can be stretched freely according to the circumference of the thigh and calf to ensure that the airbag can tightly wrap the lower limbs of different circumferences. This avoids the airbag being too loose or too tight due to unsuitable circumference, which may affect blood circulation. The quick-fit design of sleeve 7 and buckle 8 allows users to complete the tightness adjustment and locking without bending over or relying on others when wearing it.
[0015] First, wrap the waist strap 1 around the waist and adjust its position to the waist, ensuring that the upper connecting rods 2 on both sides are vertically aligned with the outer sides of both thighs. With one hand, the user holds the upper fixing airbag 3 against the middle of the outer side of the thigh, and with the other hand, pull the buckle 8 of the right elastic strip 6 and pass it through the sleeve 7 of the left elastic strip 6. Adjust the tightness according to the thigh circumference. The elastic strip 6 extends from one side of the airbag, wraps around the thigh or calf, and is fixed by the buckle 8 and sleeve 7 to form a closed loop structure to ensure a snug fit. Pull the buckle 8 until the airbag slightly wraps around the thigh, and then fasten the buckle 8 to complete the initial locking of the upper fixing airbag 3. After fixing, check the connection status between the upper connecting rod 2 and the upper fixing airbag 3 to ensure that the airbag does not shift. Gently move the thigh and observe whether the airbag moves synchronously with the thigh. If there is no slippage, it means that it is fixed in place. Keeping the upper connecting rod 2 and the thigh in the same position, use one hand to press the lower fixed airbag 5 against the middle of the outer side of the calf, and use the other hand to repeat the adjustment operation of the tension strip 6. Pull the right buckle 8 through the left sleeve 7 and adjust the tightness according to the calf circumference. After fastening the buckle 8, gently shake the calf to check if the airbag is stable. Example 2: Based on Example 1, both ends of the waist strap 1 are fixedly connected with Velcro 9.
[0016] The Velcro 9 is attached to both ends of the waist strap 1. It can secure the strap to the waist with adhesive force. The adjustable adhesive force of the Velcro 9 can adapt to users with different waist sizes. Compared with traditional metal buckles, the Velcro 9 is gentler on the skin of the waist and can reduce the waist marks caused by long-term wear. It is especially suitable for users who need to wear exoskeleton for rehabilitation training for a long time. Example 3: Based on Example 2, both the bottom of the upper connecting rod 2 and the top of the lower connecting rod 4 have through holes 14, through which a limiting shaft 15 is connected. The bottom of the upper connecting rod 2 and the top of the lower connecting rod 4 are rotatably connected by the limiting shaft 15. When the user walks wearing the lower limb exoskeleton device, the precise fit between the limiting shaft 15 and the through hole 14 can reduce the gap during rotation, avoid abnormal noises or jamming during lower limb movement, and improve the user experience of the exoskeleton device. Both the upper fixing airbag 3 and the lower fixing airbag 5 are equipped with air guide tubes 10, and the air guide tubes 10 have through holes... The independent installation design of the air inlet 11 and the air guide tube 10 allows the upper fixed airbag 3 and the lower fixed airbag 5 to be inflated separately through the air inlet 11, with adjustable pressure. This avoids the air guide tube 10 being squeezed by the movement of the thigh and calf during inflation, ensuring that the airbag fits the curve of the lower limb as a whole, improving fixation stability and comfort. The air guide tube 10 is fixedly connected to one end of the small connecting strip 12, and the other end of the small connecting strip 12 is fixedly connected to the air vent cap 13. The small connecting strip 12 fixes the air vent cap 13 to the air guide tube 10, which can prevent the air vent cap 13 from falling off and being lost, ensuring that the airbag pressure is always stable.
[0017] Hold the upper fixed airbag 3 with one hand, making it fit against the outside of the thigh. Hold the air tube 10 with the other hand, open the air vent cap 13, insert the inflation device interface into the air inlet 11, and slowly press the inflation pump while observing the airbag's expansion. When the airbag begins to fit the thigh contour without obvious wrinkles, continue to inflate in small amounts until the airbag fits the limb completely without excessive pressure, ensuring comfort and blood circulation. Stop inflation and immediately tighten the air vent cap 13. The operation procedure is the same as for the thigh airbag, but pay attention to the inflation pressure to prevent squeezing the air tube 10 from causing inflation to stop or pressure to increase suddenly. Ensure that the airbag expands evenly and fits tightly against the curve of the calf. When walking for the first time after wearing it, feel whether the rotation of the upper connecting rod 2 and the lower connecting rod 4 is synchronized with the leg movement when the knee joint flexes and extends.
[0018] In use: The user stands on a flat surface, picks up the device with both hands, first wraps the waist strap 1 around the waist and secures it with Velcro 9, ensuring the waist strap 1 is snug. Then, with one hand, aligns the left upper fixed airbag 3 with the middle of the outer side of the left thigh, and with the other hand, pulls the buckle 8 of the right elastic bar 6 through the left sleeve 7, adjusting according to the thigh circumference. If the user's thigh circumference is large, the buckle 8 can be pulled more until the airbag slightly wraps around the thigh. Fasten the buckle 8, and similarly complete the fixation of the right upper fixed airbag 3. Next, keeping the upper connecting rod 2 still, place the lower fixed airbag 5 against the outer side of the calf, repeat the adjustment operation of the elastic bar 6, and after fastening the buckle 8, gently shake both legs to check if the airbag is stable. Then, the user slowly stands up and walks. During the walking process, the rotation connection between the upper connecting rod 2 and the lower connecting rod 4 can flexibly adapt to the knee joint movement.
[0019] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.
Claims
1. A wearable lower limb exoskeleton device, comprising a waist strap (1), characterized in that: A pair of upper connecting rods (2) are fixedly connected to the lower surface of the waist strap (1). The top of the upper connecting rods (2) is symmetrically arranged on both sides of the waist strap (1). An upper fixing airbag (3) is fixedly connected near the bottom of the upper connecting rod (2). The bottom of the upper connecting rod (2) is rotatably connected to the top of the lower connecting rod (4). A lower fixing airbag (5) is fixedly connected to the bottom of the lower connecting rod (4). The left and right sides of the upper fixing airbag (3) and the lower fixing airbag (5) are fixedly connected to one end of the elastic strip (6). A sleeve (7) is fixedly connected to the other end of the left elastic strip (6). A buckle (8) is fixedly connected to the other end of the right elastic strip (6). The sleeve (7) and the buckle (8) are compatible.
2. The wearable lower limb exoskeleton device according to claim 1, characterized in that: The bottom of the upper connecting rod (2) and the top of the lower connecting rod (4) are both provided with through holes (14), and a limiting shaft (15) is connected through the through holes (14). The bottom of the upper connecting rod (2) and the top of the lower connecting rod (4) are rotatably connected by the limiting shaft (15).
3. The wearable lower limb exoskeleton device according to claim 1, characterized in that: The waist strap (1) is fixedly connected to Velcro (9) at both ends.
4. The wearable lower limb exoskeleton device according to claim 1, characterized in that: Both the upper fixed airbag (3) and the lower fixed airbag (5) are equipped with air guide tubes (10). An air inlet (11) is opened in the air guide tube (10). One end of the air guide tube (10) is fixedly connected to the small connecting strip (12), and the other end of the small connecting strip (12) is fixedly connected to the air hole cap (13).