Ankle support exoskeleton

Abstract

The exoskeleton-type ankle support provided by the present invention includes an upper support and a lower support, the lower end of the upper support is rotatably connected to the rear end of the lower support, the upper support is fixed to the calf by a connecting strap used to cover the calf of the human body, the upper end of the upper support is located on the inside and outside of the calf of the human body and is also located below the knee, the lower support is fitted to the foot of the human body to assist the dorsiflexion and plantarflexion movements of the human foot, the upper support includes a main body, a pair of upper inner supporters and upper outer supporters extending upward and outwardly from the upper end of the main body, and a pair of lower inner supporters and lower outer supporters extending downward and outwardly from the lower end of the main body, the upper supporter being formed as a curved X-shaped support structure. In this invention, by arranging a curved upper support structure, the overall height of the support structure is lowered and it fits well with the human body. Since no parts are provided on the sides of the calf of the human body, the possibility of collision is reduced, and when worn, other activities are not affected, improving the wearing experience and comfort.

Description

[Technical field]

[0001] This application claims priority to Chinese Patent Application No. 202210361494.0, filed in China on April 7, 2022, the entire contents of which are incorporated herein by reference.

[0002] The present invention relates to the technical field of wearable devices, and more particularly to an exoskeleton-type ankle support that provides support to a user's ankle and can be used daily. [Background technology]

[0003] Currently, wearable devices for the lower limbs have been designed for various purposes. These devices include wearable devices that enhance the strength of the human body, wearable devices that provide rehabilitation, and wearable devices that improve the efficiency of movement and reduce the energy consumption of the human body. For the purpose of enhancing the strength of the human body and rehabilitation, wearable lower limb devices or exoskeletons often rely on a rigid metal structure of the entire foot to provide external body support. These lower limb exoskeleton systems enable healthy and disabled people to perform things that they cannot do by themselves. For example, Chinese Patent No. 201380064944.9 discloses a rigid exoskeleton-type support, the structure of which provides a support structure in which a thigh link, a calf link, and a foot link are coupled to cooperate with the human body. However, conventional wearable rigid devices have the following shortcomings in terms of improving the efficiency of movement in accordance with the movements of the human body: (1) There is interference between the device and the joints of the living body due to misalignment between the joints of the device and the joints of the human body during movement; (2) The degree of freedom of the device is lower than that of the joints of the lower limbs of the human body, so the degree of freedom of movement of the joints of the living body is restricted; (3) Due to the large weight and inertia, the device itself cannot fully control and correct, and when the user wears the device, additional energy consumption must be added to move parts of the device. In addition, due to the heavy and large device structure, it is difficult to use such exoskeleton devices with rigid legs in daily life.

[0004] Currently, some flexible exoskeleton devices provide joint support by reducing the constraints on the joints of the living body by being manufactured from lightweight flexible materials. Such devices provide a more lightweight solution to provide support to the joints. However, these flexible exoskeleton devices rely on the skin surface of the user to provide a tangential force as a reaction force to assist the joint support. That is, while these devices provide an assisting force to the user's limb joints, they also apply tangential forces to the skin surface of the user, which rub and press the skin surface of the user, causing discomfort to the user. Furthermore, when the user's skin is loose and the muscle stiffness is insufficient, making it difficult to apply a sufficiently large tangential force as a reaction force to the assisting force, these devices cannot provide sufficient assisting force. Summary of the Invention [Problem to be solved by the invention]

[0005] Therefore, there is an urgent need for an exoskeleton support that is lightweight, easy to wear, easy to adjust, or does not restrict the user's joints, and a wearable auxiliary support that supports the lower limbs while providing tangential force independent of the user's skin surface to improve the user's daily mobility and activity efficiency.

[0006] In view of these points, the present invention is proposed.

[0007] The object of the present invention is to provide an exoskeleton-type ankle support that is lightweight, does not restrict the freedom of movement of the user's joints, and is more compatible with the human body. [Means for solving the problem]

[0008] The ankle support exoskeleton support provided by the present invention includes an upper support and a lower support, the lower end of the upper support is rotatably connected to the rear end of the lower support, the upper support is fixed to the calf by a connecting strap used to cover the calf of the human body, the upper end of the upper support is located on the inner and outer sides of the calf of the human body and is located below the knee, and the lower support is fitted to the foot of the human body to assist the dorsiflexion and plantarflexion movements of the foot of the human body, The upper supporter includes a main body, a pair of upper inner supporters and upper outer supporters extending upward from an upper end of the main body and a pair of lower inner supporters and lower outer supporters extending downward from a lower end of the main body, the pair being rounded on the outward side, and the upper supporter is formed as a curved X-shaped support structure.

[0009] In a preferred solution, the curvature of the curve of the upper support is defined as follows: the maximum extremity point is located on the main body, the upper end points of the upper medial support and the upper lateral support are located behind the middle of the medial and lateral parts of the calf when worn by a user, and the lower end points of the lower medial support and the lower lateral support are located at the joint position of the user's ankle or on the connecting axis of dorsiflexion and plantarflexion degrees of freedom when used by a user.

[0010] In another preferred solution, the upper support is integrally formed, and the curvature of the curve is as follows: the distance from the bottom end to the top end of the upper support is 20 cm to 50 cm, preferably 30 cm to 40 cm, more preferably 36 cm, and the distance from the middle part of the main body to the straight line connecting the top end and the bottom end is 5 cm to 15 cm, preferably 8 cm to 12 cm, more preferably 10 cm.

[0011] In another preferred solution, the lower supporter includes a front inner support arm, a front outer support arm and a heel support arm, the heel support arm is U-shaped to match the shape of the heel of the human body, and both ends of the U-shape are connected to the rear ends of the front inner support arm and the front outer support arm, and the intersection of the heel support arm with the front inner support arm and the front outer support arm is the connection point between the lower supporter and the upper supporter, constituting the joint rotation part of the exoskeleton supporter.

[0012] In another preferred solution, the lower support includes a foot strap, both ends of which are fixedly connected to the front inner support arm and the front outer support arm of the lower support respectively, and are positioned on the instep of the human body to support, position and fix the user's foot; convex thin support sheets extend inward from the tips of the front inner support arm and the front outer support arm of the lower support respectively, and are positioned on the sole of the user's shoe to support, position and fix the user's foot; when the lower support rotates and swings up and down, it provides an upward supporting thrust to the user's foot and a downward pressure to the ground.

[0013] In another preferred solution, the lower support further includes a heel strap located under the heel of the human body, the heel strap being in the form of a thin strip, both ends of which are connected to the front inner support arm, the front outer support arm at a more rear position, or to both ends of the U-shape of the heel support arm, or to the connection points of the heel support arm and the front inner support arm, the front outer support arm.

[0014] In another preferred solution, one baffle extends downwards from each end of the U-shape of the heel support arm, and the heel strap is connected to the lower ends of these two baffles.

[0015] Another preferred solution further includes a heel connection cover, which extends downward from the center point of the heel support arm and includes a U-shaped thin plate that abuts against the sole of the user's heel.

[0016] In another preferred solution, the rotating part realizes the relative free rotational movement and return of the upper supporter and the lower supporter, and includes an external bearing stand, a torsion spring, an internal bearing stand, a bearing, and a bearing cover, the external bearing stand being fixed to the outer side of the lower end of the upper supporter, and the torsion spring, the internal bearing stand, the bearing, and the bearing cover being sequentially mounted between the inner side of the lower end of the upper supporter and the lower supporter.

[0017] In another preferred solution, the body of the upper support is provided with a mounting part for attaching and fixing a traction cable, and the heel support arm of the lower support is provided with a mounting part for attaching and fixing a traction cable. Effect of the Invention

[0018] In this invention, by arranging a curved upper support structure, the overall height of the support structure is lowered and it fits well with the human body. Since no parts are provided on the sides of the calf of the human body, the possibility of collision is reduced, and when worn, other activities are not affected, improving the wearing experience and comfort.

[0019] In the present invention, the upper support of the X structure is integrally formed, which reduces the connection between each member and improves the strength of the entire structure. At the same time, the upper, lower inner and outer supports can be made thinner and smaller, which can withstand force, reduce material, reduce weight and reduce costs. At the same time, the X-shaped structure is symmetrical, so the force generated by the support and the support provided by the support are symmetrical, which has the effect of better balancing the support. The traction cable and / or transmission line of the exoskeleton device are connected, fixed and positioned by the body of the X structure, so that the traction cable and / or transmission line are located behind the calf, which improves the compactness and simplicity of the entire exoskeleton support structure. [Brief description of the drawings]

[0020] In order to more clearly describe the technical solutions of the embodiments of the present application or the prior art, the following briefly introduces drawings necessary for describing the embodiments or the prior art. The drawings listed below are some embodiments of the present application, and those skilled in the art can also obtain other drawings based on these drawings without labors worthy of inventive step.

[0021] [Figure 1] FIG. 2 is a schematic diagram of an exoskeleton-type ankle support according to one embodiment of the present invention; [Diagram 2] FIG. 2 is an exploded schematic diagram of a portion of the structure of the exoskeleton-type supporter of FIG. 1. [Diagram 3] 2 is a schematic diagram showing the distance between the traction cable and the connection point of the lower support of an ankle support exoskeleton-type support in one embodiment of the present invention. FIG. [Figure 4] FIG. 2 is a schematic diagram of the thigh strap of an exoskeleton-type ankle support support according to one embodiment of the present invention. [Diagram 5] FIG. 5 is a schematic three-dimensional view of the thigh strap of the ankle support exoskeleton-type supporter of FIG. 4 in use. [Figure 6] 2 is a schematic diagram of a thigh strap pad according to one embodiment of the present invention; [Figure 7] FIG. 2 is a schematic diagram of a foot strap of an exoskeleton-type ankle support support according to one embodiment of the present invention. [Figure 8] 2 is an exploded view of a cable attachment portion of an upper support according to one embodiment of the present invention; FIG. [Figure 9] 2 is an exploded view of a cable attachment portion of a lower support according to one embodiment of the present invention; FIG. [Figure 10] FIG. 2 is a schematic diagram of various reaction forces generated during the use of the ankle support exoskeleton type support of the present invention. [Figure 11] 3 is a partially enlarged exploded schematic view of a fixing structure between one end of the torsion spring and a lower supporter in FIG. 2. [Figure 12] 3 is a partially enlarged exploded schematic view of a fixing structure between the other end of the torsion spring and the upper supporter in FIG. 2. [Figure 13]3 is a local enlarged exploded schematic view of a fixing structure between an inner bearing stand and an upper supporter in FIG. 2. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0022] The directions of up, down, left, right, front and back in the present invention are based on the directions of up, down, left, right, front and back of the human body, and the directions of inside and outside are based on the directions of the inside and outside of the thighs of the human body.

[0023] As shown in Fig. 1 and Fig. 2, the ankle exoskeleton support of the present invention is applied to a wearable device for supporting the recovery of lower limb motor function, and is lightweight. The ankle exoskeleton support includes an upper support 10, a lower support 20, a thigh strap 30, a foot strap 40, a heel connection cover 50, and a heel strap 60. The lower end of the upper support 10 is rotatably connected to the rear end of the lower support 20, and the upper end of the upper support 10 is connected to the thigh strap 30. When used, the thigh strap 30 is attached to the calf of the human body, and the upper support is fixed to the calf of the human body. The foot strap 40 is connected to the tip of the lower support 20, and when used, the foot strap 40 is attached to the instep of the human body, and the heel strap 60 is connected to the rear end of the lower support 20, and when used, it is located below the heel of the human body. The upper support 10 and lower support 20 unit are attached to the lower limbs of the human body by thigh straps 30, foot straps 40 and heel straps 60.

[0024] The upper supporter 10 includes a main body 11, a pair of upper inner supporters and upper outer supporters 121 and 122 that are rounded outwardly extend upward from the upper end of the main body, and a pair of lower inner supporters and lower outer supporters 131 and 132 that are rounded outwardly extend downward from the lower end of the main body 11, so that the upper supporter 10 is formed as an X-shaped support structure. The ends of the upper inner supporter and the upper outer supporter 121 and 122 are provided with upper connection parts (not indicated) that are connected to the thigh strap 30, and the ends of the lower inner supporter and the lower outer supporter 131 and 132 are provided with lower connection parts 134 that are connected to the lower supporter 20. In one preferred solution, the X-shaped upper supporter 10 is an integrally molded structure, and its material is a lightweight carbon fiber material. The upper supporter 10 is non-linear and is arranged in a curved shape that is curved toward the calf of the human body and has a certain roundness. The curvature of the upper supporter 10 is defined as follows: the maximum curvature point is located at the position of the main body 11, the upper end points of the upper inner supporter and the upper outer supporter 121, 122 are located behind the middle of the inner and outer sides of the calf when the user wears it, and the position setting points are preferably located at positions that avoid collision between the supporter and the outside and are not affected when bending the thigh when the user uses it, and the lower end points of the lower inner supporter and the lower outer supporter 131, 132 are located at the joint position of the user's ankle or on the connecting axis of the degree of freedom of dorsiflexion and plantar flexion when the user uses it. In this embodiment, the distance from the lowest end to the highest end of the upper supporter 10 is 20 cm to 50 cm, preferably about 30 cm to 40 cm, and more preferably 36 cm, and the distance from the connecting line between the highest end and the lower end to the middle part of the X-shaped main body 11 on the back side is 5 cm to 15 cm, preferably 8 cm to 12 cm, and more preferably 10 cm. The curved structure of the upper support 10 reduces the overall height of the support structure, making it more compatible with the human body, and since there are no components on the sides of the calf, it reduces the possibility of collision, does not affect other activities when worn, and improves the wearing experience and comfort. In this invention, the X-structured upper support 10 is integrally formed, reducing the connections between each component and improving the strength of the entire structure.At the same time, the upper and lower inner and outer supports can be made thinner and smaller, and can withstand force, reducing material, weight, and cost. At the same time, since the X-shaped structure is symmetrical, the force generated by the supporter and the support provided by the supporter are symmetrical, which has the effect of better balancing the support. The main body 11 at the intersection of the upper supporter 10 of the X structure provides a mounting and fixing platform for other components such as traction cables and / or transmission lines, sensors, processors, controllers, etc., and all other components are integrated and attached to the main body 11, and the traction cables and / or transmission lines of the exoskeleton device are connected, fixed, and positioned by the main body 11 of the X structure, so that the traction cables and / or transmission lines are located behind the calves, making the entire structure of the exoskeleton supporter more compact and simple.

[0025] The lower supporter 20 includes a front inner support arm, front outer support arms 201, 202, and a heel support arm 203, and the heel support arm 203 is U-shaped to match the shape of the heel of the human body, and both ends of the U-shape are connected to the rear ends of the front inner support arm and front outer support arm 201, 202. In the embodiment of the present invention, the intersection of the front inner support arm and the front outer support arm 201, 202 with the upper supporter 134 is the connection point between the lower supporter 20 and the upper supporter 10, i.e., the joint rotation part 80 of the exoskeleton-type supporter.

[0026] The rotating part 80 realizes the relative free rotation and return of the upper supporter 10 and the lower supporter 20, and includes an outer bearing stand 81, a torsion spring 82, an inner bearing stand 83, a bearing 84, and a bearing cover 85. The installation sequence is as follows: the outer bearing stand 81 is fixed to the outside of the mounting hole at the lower end of the upper supporter 10, and the torsion spring 82, the inner bearing stand 83, the bearing 84, and the bearing cover 85 are sequentially installed between the mounting hole at the lower end of the upper supporter 10 and the mounting hole of the lower supporter 20. The outer bearing stand 81, the inner bearing stand 83, the bearing 84, and the bearing cover 85 assemble the upper supporter 10 and the lower supporter 20, and realize the relative free rotation of the upper supporter and the lower supporter. In this embodiment, they are fixed by screws. 11, 12 and 13, the inner bearing stand 83 is provided with a protrusion 831, the lower end connection part 134 of the upper supporter 10 is provided with a position limiting groove 1341, the protrusion 831 moves in the position limiting groove 1341 to limit the rotation of the upper supporter 10 and the lower supporter 20 within a certain range, and the position limiting groove 1341 limits the protrusion 831 to move within a certain range, thereby adjusting and controlling the lower supporter 20 to rotate within the rotation range of the ankle joint of the human body, thereby protecting the ankle joint of the human body. A torsion spring locking groove 821 is provided in the connection part of the lower supporter 20, and a torsion spring locking groove 822 is provided in the lower end connection part 1341 of the upper supporter 10, and both ends of the torsion spring 82 are fixed in the torsion spring locking grooves 822, 821 of the connection part of the upper supporter and the lower supporter, respectively.

[0027] In another embodiment, a fixing groove 832 is provided on the other side of the internal bearing base 83 opposite the side on which the protrusion 831 is provided, thereby fixing the bending angle of one end of the torsion spring 82, with a part of the bending angle of one end of the torsion spring 82 being fixed in the fixing groove 832 of the internal bearing base 83, and the other part being fixed in the torsion spring locking groove 821 of the lower supporter 20, and the fixing groove 832 cooperating with the torsion spring locking groove 821 of the lower supporter 20 to stably fix the torsion spring 82.

[0028] The lower end connection parts of the lower inner supporter and the lower outer supporter of the upper supporter 10 are respectively connected to the connection parts of the lower supporter 20 to form an inner joint rotation part and an outer joint rotation part that fit the ankle joint of the human body. Each joint rotation part is provided with the outer bearing stand 81, the torsion spring 82, the inner bearing stand 83, the bearing 84, the bearing cover 85 and the corresponding arrangement structure.

[0029] In this embodiment, the upper supporter 10 and the lower supporter 20 are assembled using the outer bearing stand 81, the bearing 84, the inner bearing stand 83 and the bearing cover 85, and are locked together using a method such as screw locking, thereby realizing the upper supporter and the lower supporter to rotate freely relative to each other.

[0030] The torsion spring 82 is fixed by the mechanical position restriction and return structure of the torsion spring locking groove of the upper supporter 10 and the lower supporter 20, and as the upper supporter 10 and the lower supporter 20 rotate and twist relative to each other, the torsion spring 82 generates a torsion force to assist the upper supporter and the lower supporter in returning, effectively enhancing support. The torsion spring return structure is as follows. When the supporter is in an unloaded state, the upper supporter 10 and the lower supporter 20 are at the maximum dorsiflexion angle, and the spring 82 is in a natural state. When the supporter rotates, the torsion spring 82 begins to deform, and after the external load is lost, the generated torsion force restores the supporter to an unloaded state. That is, when the heel support arm 203 of the lower support 20 is pulled up by the traction cable, the heel support arm 203 is twisted by the tensile force, and the spring 82 begins to deform, and when the cable is released, the deformed torsion spring 82 returns the support to its initial position.

[0031] The heel support arm 203 is provided with a traction cable fixing part 204 for fixing the traction cable and / or the transmission line, and the traction cable fixing part 204 is located at the middle of the heel support arm 203, thereby fixing the traction cable at the middle position of the heel support arm 203 and providing a balanced pulling force when pulled. As shown in FIG. 3, the distance S from the positioning point for fixing the traction cable of the heel support arm 203 to the heel is 1 cm to 5 cm, preferably 2 cm to 4 cm, and more preferably 2.5 cm to 3.0 cm. According to theory, due to the action of the moment arm, the longer the distance between the connection point of the traction cable and the lower supporter 20, as shown by the dotted line in FIG. 3, the smaller the required traction force. However, if the distance is too long, the heel cannot land normally.

[0032] The lower supporter 20 further includes a heel strap 60 located under the heel of the human body and serving to support and position the foot. In a preferred embodiment, the heel strap 60 is in the form of a thin strip, and both ends of the strap are connected to the rear positions of the front inner and outer support arms 201 and 202, or to both ends of the U-shape of the heel support arm 203, or to the connection points between the heel support arm 203 and the front inner and outer support arms 201 and 202. In one embodiment, a baffle 2031, 2032 extends downward from both ends of the U-shape of the heel support arm 203, and the heel strap 60 is connected to the lower ends of the two baffles 2031, 2032, which simultaneously serve to position the foot, and strengthen the fixing and positioning of the human foot in the left and right direction. In a preferred solution, the body of the two baffles 2031, 2032 is perforated to mount and fix the heel strap, and also to provide ventilation, weight reduction, and material saving. In this embodiment, the heel strap 60 is in sheet form, which has a larger contact surface with the bottom of the user's shoe, less damage to the shoe, better wear resistance, better quality, and better pressure dispersion effect, improving the fit and comfort of the user.

[0033] The present invention further includes a heel connection cover 50, which extends downward from the center point of the heel support arm 203 and includes a U-shaped thin plate, the lowest point of which is at a certain distance from the bottom surface of the user's sole, and the uppermost edge is the boundary line between the fabric and the sole of the user's shoe, so that the heel connection cover 50 is sufficiently low and at a certain distance from the ground, and the edge of the heel connection cover 50 abuts against the sole of the user's heel, thereby fixing and supporting the user's shoe, preventing the user's foot from moving back and forth, and the user will not feel the hard U-shaped thin plate, which will affect the support effect and comfort.

[0034] The convex thin support sheets 2011, 2021 extend inward from the tips of the front inner support arm 201, 202 of the lower supporter 20, respectively, and are located on the sole of the user's shoe to support, position and fix the user's foot. When the lower supporter 20 rotates and swings upward, it provides an upward support thrust to the user's foot, pushing the user's foot to perform dorsiflexion upward. When the lower supporter 20 rotates and swings downward, the foot straps connected to 2031, 2032 pull up the user's heel and move the user's foot downward to press against the ground, providing support for the plantar flexion of the user's foot. In another preferred implementation solution, the support sheets 2011, 2021 are arranged to be close to the toe joints of the human foot. Preferably, the support sheets 2011, 2021 are installed as narrow strips to reduce the foreign body sensation on the sole of the user's foot when the sole of the user's foot touches the ground.

[0035] In an embodiment of the present invention, both ends of the foot strap 40 are fixedly connected to the front inner support arm 201, 202 of the lower support 20, respectively, and are located on the instep of the human body to support, position and fix the user's foot, and when the lower support 20 rotates and swings downward, it provides downward pressure to the instep of the user's foot to assist the plantar flexion movement of the user's foot. In another preferred embodiment, the foot strap 40 is located between the ankle and the support sheet 2011, 2021, and in a more preferred solution, it is located behind the toe joint of the human body's foot.

[0036] As shown in Figs. 1, 4 and 5, in the embodiment of the present invention, the thigh strap 30 includes a fixed belt 31 and an adjustable belt 32 fixedly connected to one end of the fixed belt, the other end of the fixed belt 31 is provided with a connecting part 33, and the other end of the adjustable belt 32 is provided with a connecting member 34 fixedly connected to the connecting part 33 in a removable manner. The adjustable belt 32 is provided with an adjusting member 35 for adjusting the stretch of the adjustable belt 32. The adjusting member 35 is preferably a capstan for tightening or loosening the belt, and the adjusting member 35 is provided at one end connected to the fixed belt 31. The connecting part 33 is fixedly connected to the connecting member 34 in a removable manner, and a method in which a magnetic button having a magnetic force and a magnetic button base cooperate with each other is preferable, and the magnetic button and the magnetic button base are provided with a buckle member that engages with each other, and are fixed along the lateral direction of the thigh strap 30 so that they cannot be opened, but can be easily pulled open along the longitudinal direction of the thigh strap 30. The connecting member 34 is further provided with a release part 36, which is a carrying strap, and the connecting member 34 is released from the connecting part 33 by pulling up the release part 36. The fixing belt 31 is provided with fixing parts 311, 312 which are fixedly connected to the upper ends of the upper inner supporter and the upper outer supporter 121, 122 of the upper supporter 10, respectively, and preferably, the fixing parts 311, 312 are one or more through holes, and a bolt passes through the through hole to fix the fixing belt 31 to the upper ends of the upper inner supporter and the upper outer supporter 121, 122, and the multiple through holes meet the adjustment of calf sizes.

[0037] In another preferred embodiment, as shown in Fig. 6, which is a schematic diagram of the gasket in this embodiment, the gasket 37 further comprises a soft and comfortable layer that fits the calf of the human body, and a waterproof layer that is connected to the thigh strap 30, and the waterproof layer is fixed to the fixing belt 31 of the thigh strap 30 by hook and loop fasteners and / or snaps, in the preferred solution, the hook and loop fasteners are located in the middle part and the snaps are located at the ends, which fix the pad from the middle and both ends, prevent it from sliding, and improve the comfort of the user.

[0038] The adjustable belt allows the thigh strap to be adjusted to the appropriate size according to the size of the user's calf, and the magnetic button allows the thigh strap to be attached and loosened conveniently and quickly. The padding provides extra protection for the calf and improves the comfort of the user. Also, the strap size can be fine-tuned again by different choices for mounting and fixing the through holes.

[0039] 1 and 7, in the embodiment of the present invention, the foot strap 40 includes a fixed belt 41 and an adjustable belt 42 fixedly connected to one end of the fixed belt, the other end of the fixed belt 41 is provided with a connection part 43 fixedly connected to one of the front inner support arm and the front outer support arm 201, 202 of the lower supporter 20, and the other end of the adjustable belt 42 is provided with a connection member 44 fixedly connected removably to a connection seat (not shown) provided on the other of the front inner support arm and the front outer support arm 201, 202. The adjustable belt 42 is provided with an adjustment member 45 for adjusting the stretch of the adjustable belt 42, and preferably, the adjustment member 45 is a capstan that can tighten or loosen the belt, and the adjustment member 45 is provided at one end connected to the fixed belt 41. The connecting member 44 is detachably fixedly connected to a connecting seat provided on the support arm, and the preferred method is that a magnetic button having a magnetic force and a magnetic button base cooperate with each other, and the magnetic button and the magnetic button base are provided with buckle members that lock with each other, and are fixed along the lateral direction of the foot strap, so that they cannot be opened, but can be easily opened along the longitudinal direction of the foot strap 40. The connecting member 44 is further provided with a release part 46, which in this embodiment is a carrying belt, and the release part 46 is pulled up to release the connecting member 44 from the connecting seat. In a preferred solution, the connecting part on the fixing belt 41 is fixedly connected to the front inner support arm 201 of the lower supporter 20, and the connecting seat is provided on the front outer support arm 202 of the lower supporter 20.

[0040] The adjustable belt allows the foot strap 40 to be adjusted to a suitable size according to the shoe size of the user's foot, and the magnetic button structure allows the foot strap to be fastened and loosened conveniently and quickly.

[0041] In another preferred implementation solution, the thigh strap 30 is located below the knee of the human body when attached to the calf of the human body, which can better release the movement of the human body's joints and reduce the restriction of the exoskeleton supporter on the movement of the human body's joints.

[0042] In another embodiment of the present invention, the body 11 of the upper supporter 10 is provided with a cable mounting part 111 for fixing and mounting a traction cable and / or a transmission line, as shown in Fig. 8, which is an exploded schematic diagram of the cable mounting part 111 of this embodiment. The mounting part 111 includes an upper supporter connector 112 fixed to the body 11 and a mounting block 113 for fixing the traction cable so as to transmit, and the mounting block 113 is removably fixedly connected to the upper supporter connector 112.

[0043] The cable attachment part 111 includes an upper support connector 112 attached and fixed to the main body 11, the upper support connector 112 includes a support connector body 1121 fixed to the main body 11, a protruding base 1122 for fixing and supporting a member such as an external sensor extends upward from the support connector body 1121, and a rear protruding base extends rearward from the support connector body 1121, and the rear protruding base has a cutout groove with a rear opening, a top surface, and a bottom surface partially opened, forming a left wall, a right wall, and a top and bottom slot 1123 having an opening, and a rail (not shown) is provided on the inside of the left wall and / or the right wall. The cable attachment part 111 further includes a magnetic block 1124 embedded therein, which is embedded in the support connector body 1121, and in a preferred solution, an opening 1125 for embedding the magnetic block 1124 is opened in the left wall or the right wall of the slot 1123. The cable mounting part 111 further includes a mounting block 113. The mounting block 113 includes a through hole 1131 for positioning and guiding the traction cable, and the through hole 1131 communicates with the upper and bottom openings of the slot 1123. The mounting block 113 is provided with a locking groove 1132 for engaging with the rail. A magnetic block 1133 is embedded in the lower part of the mounting block 113, and in a preferred solution, an opening (without a symbol) is provided in the lower part of the mounting block 113 for embedding the magnetic block 1133. When mounting and engaging, the mounting block 113 is inserted into the slot 1123, and the rail is inserted into the locking groove 1132, and the mounting block 113 is fixed in the slot 1123 so as to be positioned, limited by the support, blocking and positioning provided by the upper wall, lower wall, left wall, right wall, front wall, rail and locking groove 1132 of the slot 1123. The mounting and fixing can be completed quickly by the attractive force of the magnetic blocks 1124, 1133 embedded in the supporter connection part 112 and the mounting part 113. Preferably, the rail and the locking groove 1132 have a certain inclination angle to prevent the mounting block from dropping into the slot and slipping off the supporter connection part due to the pulling force and pressure of the traction cable during the user's use. Preferably, the inclination angle between the rail and the locking groove is upward, and the inclination angle ranges from 5° to 10°.When removing the mounting block 113, the mounting block can be easily removed by simply pulling it outward with a force that is strong enough to resist the attractive force of the magnetic block. In this embodiment, the slots, rails, and locking grooves and magnetic blocks engage with each other to realize quick attachment and detachment of the supporter connection part and the mounting part.

[0044] The magnetic block 1124 and the magnetic block 1133 are magnets that magnetically attract each other.

[0045] In another embodiment of the present invention, the heel support arm 203 of the lower support 20 is provided with a cable mounting part 204 for fixedly mounting a traction cable and / or a transmission line, as shown in Fig. 9, which is an exploded schematic diagram of the cable mounting part 204 of this embodiment. The mounting part 204 includes a lower support connector 2041 fixed to the heel support arm 203 and a mounting block 2045 for fixing the traction cable for transmission, and the mounting block 2045 is removably fixedly connected to the lower support connector 2041.

[0046] The lower support connector 2041 includes a support connector body 2042, one side of which is fixed to the heel support arm 203, and in a preferred solution, is located at the middle position of the heel support arm 203. The other side of the support connector body 2042 is provided with a notch groove communicating vertically, and has a left wall and a right wall to form a slot 2043 with an open upper wall and lower wall portion. In a preferred solution, the slot 2043 is provided at the middle position of the side opposite to the fixed side. The lower support connector 2041 further includes a magnetic block 2044 embedded therein. The cable mounting part 204 further includes a mounting block 2045. The mounting block 2045 is used for fixedly connecting an external traction cable and includes a through hole 2046 having a cable positioning and guiding function, and the traction cable is fixed to the mounting block 2045 after passing through the through hole 2046. A step is provided on both sides of the upper end and the lower end of the through hole 2046 along the vertical direction, and the upper end and the lower end are formed in a convex shape, so that the operation of attachment and detachment is easy. A magnetic block 2047 is embedded in the mounting block 2045. When mounting and engaging, the mounting block 2045 is inserted into the slot 2043, and is restricted by the support and obstacles of the upper wall, lower wall, left wall, right wall and front wall of the slot, so that the mounting block 2045 is positioned and fixed in the slot 2043. The mounting and fixing are quickly completed by the attraction force of the magnetic blocks 2044 and 2047 embedded in the lower supporter connection part 2041 and the mounting part 2045. When removing, the mounting block 2045 can be easily removed by simply pulling it outward with a force that is not defeated by the attraction force of the magnetic block. In this embodiment, the slot and the magnetic block are engaged to realize quick mounting and removal of the supporter connection part and the mounting part.

[0047] The magnetic blocks 2044 and 2047 are magnets that magnetically attract each other.

[0048] The upward traction force of a flexible traction cable (unsigned) drives the lower supporter to perform in-plane dorsiflexion and plantarflexion rotational movements, thereby assisting in the recovery of motor function of the lower limbs.

[0049] The exoskeleton support does not extend beyond the knee of the human body. The flexible traction cable is fixedly attached by the cable attachment parts of the upper support 10 and the lower support 20, and when it receives an upward traction force, the traction cable rotates and pulls the heel support arm 203 of the lower support 20 to move upward, moving the entire lower support and the foot of the human body fixed to the lower support upward, providing support for the movement of lifting the calf and foot of the human body. In the process of moving upward, the torsion spring 82 of the rotating part 80 is rotated upward by the lower support 20 to generate a torsion force when the traction cable stops continuously providing a traction force and the torsion force of the torsion spring 82 becomes greater than the traction force. The torsion spring 82 imparts the accumulated torsion force to the lower support 20, providing a downward pressure to the lower support 20, causing the lower support to rotate downward and move. As shown in FIG. 10, in the present invention, various reaction forces occurring during use are F1, an upward friction force, F2, an inward pressure, and F3, a downward traction force.

[0050] In this invention, by arranging a curved upper support structure, the overall height of the support structure is lowered, and the upper support structure located below the knee fits well with the human body. Since no parts are provided on the sides of the calf, the possibility of collision is reduced, and when worn, other activities are not affected, improving the wearing experience and comfort.

[0051] In the present invention, the upper support of the X structure is integrally formed, which reduces the connections between each component and improves the strength of the entire structure. At the same time, the upper and lower inner and outer supports can be made thinner and smaller, which can withstand force, reduce material, reduce weight, and reduce costs. At the same time, the X-shaped structure is symmetrical, so the force generated by the support and the support provided by the support are symmetrical, which plays the role of better balancing the support. The main body of the upper support intersection of the X structure provides a mounting and fixing platform for other components such as the traction cable and / or transmission line, sensor, processor, controller, etc., and all other components are integrated and attached to the main body, and the traction cable and / or transmission line of the exoskeleton device are connected, fixed, and positioned by the main body of the X structure, so that the traction cable and / or transmission line are located behind the calf, making the entire structure of the exoskeleton support more compact and simple.

[0052] In this invention, according to the principle of bionic ankle joint movement, a flexible traction cable is placed on the back side of the human calf, and dorsiflexion assistance is realized by a torsion spring, which simplifies the structure, contributes to the transmission of traction force, and is superior to placing it on both sides of the calf.

[0053] In this invention, the upper support is fixed to the calf of the human body by the thigh strap, and the traction cable is fixed to the support, and the support absorbs the reaction force of the traction cable, so that the reaction force of the traction cable does not directly act on the calf and damage the thigh of the human body. At the same time, the flexible thigh strap is combined to reduce the damage to the thigh caused by the reaction force of the traction cable and improve comfort. The adjustment part of the thigh strap allows the size of the strap to be adjusted according to the size of the user's calf, so as to meet the needs of different sizes of users, and the magnetic button structure of the thigh strap improves the convenience and safety of fastening and removal when the user wears it.

[0054] In this invention, the magnet and the upper and lower parts of the cable mounting part can be used to quickly release the connector, allowing the traction cable to be quickly attached and detached, facilitating user operation and use. During transportation, the supporter, the controller of the auxiliary exoskeleton device, and the cable can be individually packaged for transportation. The cable and the supporter are connected during transportation, which prevents the device from being worn out and the cable from being easily damaged or broken, thereby improving safety during transportation and extending the service life of the device.

[0055] In this invention, the heel connection cover, foot strap, and heel strap structure are used to position the lower support on the foot, effectively preventing the human foot from moving forward, backward, left or right on the lower support, and preventing the lower support from loosening and falling off, ensuring safety and stability during use. The adjustment part of the foot strap allows the size of the strap to be adjusted according to the user's shoe size, meeting the needs of different sizes of users, and the magnetic button structure connection method of the foot strap improves the convenience and safety of the user when putting on and taking off.

[0056] The heel connection cover is positioned at the Achilles tendon of the foot with respect to the rear positioning of the lower support, which has little impact on the human body. The upper edge of the heel connection cover used for positioning is aligned with the connection gap between the shoe knitting and the sole, so that when the connection cover needs to push the shoe forward due to external force, it does not directly push the heel of the user, but all the force is transmitted to the sole, which greatly improves the comfort of the user.

[0057] The use of adjustable foot straps for the positioning of the tip of the lower support, the closer the foot strap is to the tip of the foot, the better the positioning effect, if the foot strap is placed at the position of the toes, it will affect the mobility and comfort of the toes when exercising, which will affect the use effect. Moving the position of the foot strap backwards and positioning it behind the toe joints is the preferred solution.

[0058] The support sheet on the heel strap and the lower supporter is used to limit the Z-direction freedom of the supporter against the bottom surface of the foot. If the heel strap structure is used instead of the conventional step structure of the lower supporter, and if a rigid structure is used against the bottom surface of the heel as the conventional step structure of the lower supporter, the user will have a clear tactile sensation and will affect the comfort of use. The closer the position of the lower supporter support sheet is to the tip, the better its position limiting effect will be, and the force received when the torsion spring acts will be the smallest. However, considering that the toes have a certain mobility in the moving state and cannot withstand large forces well, and the shape and structure of the shoe will affect the use effect, it is preferable that the position limiting structure of the support sheet of the lower supporter is located close to the toe joints of the foot.

Claims

1. An exoskeleton-type support for supporting ankle, comprising an upper support and a lower support, the lower end of the upper support is rotatably connected to the rear end of the lower support, the upper support is fixed to the calf by a connecting strap used for covering the calf of a human body, the upper end of the upper support is located on the inside and outside of the calf of a human body and is located below the knee, and the lower support is fitted to the foot of a human body to support the dorsiflexion and plantar flexion movements of the foot of a human body, The upper supporter includes a main body, a pair of upper inner supporters and upper outer supporters that are rounded outward extend upward from the upper end of the main body, and a pair of lower inner supporters and lower outer supporters that are rounded outward extend downward from the lower end of the main body, and the upper supporter is formed as a curved X-shaped support structure, in this exoskeleton-type supporter for supporting the ankle.

2. An exoskeleton-type support for supporting the ankle as described in claim 1, characterized in that the curvature of the curve of the upper support is defined as follows: the maximum extremity point is located on the main body, the upper end points of the upper medial support and the upper outer support are located behind the middle of the medial and lateral sides of the calf when worn by the user, and the lower end points of the lower medial support and the lower outer support are located at the joint position of the user's ankle or on the connecting axis of dorsiflexion and plantarflexion degrees of freedom when used by the user.

3. The exoskeleton-type ankle support according to claim 2, characterized in that the upper support is integrally formed and the curvature of the curve is as follows: The exoskeleton-type ankle supporter described in claim 2, characterized in that the distance from the bottom end to the top end of the upper supporter is 20 cm to 50 cm, and the distance from the middle of the main body to the straight line connecting the top end and the bottom end is 5 cm to 15 cm.

4. The exoskeleton-type support for ankle support as described in claim 1, characterized in that the lower support includes a front inner support arm, a front outer support arm and a heel support arm, the heel support arm has a U-shape that matches the shape of the heel of the human body, both ends of the U-shape are connected to the rear ends of the front inner support arm and the front outer support arm, and the intersection of the heel support arm with the front inner support arm and the front outer support arm is the connection point between the lower supporter and the upper supporter, and forms the joint rotation part of the exoskeleton-type support.

5. The exoskeleton-type support for ankle support according to claim 4, characterized in that the lower support includes a foot strap, both ends of which are fixedly connected to the front inner support arm and the front outer support arm of the lower support, respectively, and positioned on the instep of the human body to support, position and fix the user's foot; convex thin support sheets extend inward from the tips of the front inner support arm and the front outer support arm of the lower support, respectively, and positioned on the sole of the user's shoe to support, position and fix the user's foot; and when the lower support rotates and swings up and down, it provides an upward supporting thrust to the user's foot and a downward pressure to the ground.

6. The exoskeleton-type support for ankle support described in claim 5, characterized in that the lower support further includes a heel strap located under the heel of the human body, the heel strap being in the shape of a thin strip, and both ends of the heel strap being connected to a rearward position on the front inner support arm and the front outer support arm, or to both ends of the U-shape of the heel support arm, or to the connection points between the heel support arm and the front inner support arm and the front outer support arm.

7. The exoskeleton-type support for ankle support as described in claim 6, characterized in that one baffle extends downward from each of both ends of the U-shape of the heel support arm, and the heel strap is connected to the lower ends of these two baffles.

8. The exoskeleton-type support for ankle support as described in claim 4, further comprising a heel connection cover extending downward from a center point of the heel support arm and including a U-shaped thin plate that abuts against the sole of the user's heel.

9. The exoskeleton-type support for ankle support according to claim 4, characterized in that the rotating part realizes relative free rotational movement and return of the upper supporter and the lower supporter, and includes an external bearing stand, a torsion spring, an internal bearing stand, a bearing, and a bearing cover, the external bearing stand being fixed to the outer side of the lower end of the upper supporter, and the torsion spring, the internal bearing stand, the bearing, and the bearing cover being sequentially attached between the inner side of the lower end of the upper supporter and the lower supporter.

10. An exoskeleton-type support for ankle support as described in any one of claims 4 to 9, characterized in that the main body of the upper support is provided with an attachment portion for attaching and fixing a traction cable, and the heel support arm of the lower support is provided with an attachment portion for attaching and fixing a traction cable.

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