Powered knee joint exoskeleton

Abstract

A powered knee joint exoskeleton, which relates to the technical field of wearable walking aids and aims to solve the problems of existing powered knee joint exoskeletons, which are generally bulky, costly, and cumbersome to wear, and most of which can only be used in specific environments and some even require the assistance of a stand, seriously affecting the user's autonomous steering. The powered knee joint exoskeleton comprises a thigh exoskeleton, a calf exoskeleton and an actuator, wherein the thigh exoskeleton comprises at least a thigh support and a first connecting assembly, the first connecting assembly being arranged at one end of the thigh support, the first connecting assembly being configured to be connected to the thigh, and the actuator being arranged at the other end of the thigh support; and the calf exoskeleton at least comprises a calf support and second connecting assemblies, the second connecting assemblies being arranged at two ends of the calf support and configured to be connected to the calf, and the calf support being fixedly connected to the actuator by means of a connecting member.

Description

A powered knee exoskeleton Technical Field

[0001] The utility model relates to the technical field of wearable walking aids, in particular to a powered knee joint exoskeleton. Background Art

[0002] With the development of motor and control technologies, devices designed to assist specific groups of people with mobility problems have gradually emerged, commonly known as exoskeleton walkers. The medical community generally believes that exoskeleton walkers can effectively aid in the later stages of rehabilitation for these individuals. Different types of exoskeletons are categorized by the location and type of assistance provided.

[0003] For people with knee injuries and who need knee support and strengthening, knee powered exoskeletons can help them recover and enhance knee function to varying degrees, especially for the elderly with degenerated knee function, patients with knee injuries, hikers, athletes, and others who want to gain stronger leg strength.

[0004] Existing powered knee exoskeletons generally have two knee joints connected to each other through structural parts, with power assistance provided by hip-knee linkage or knee joint position rotation.

[0005] The applicant has discovered that the prior art has at least the following technical problems:

[0006] Existing knee-powered exoskeletons are generally bulky, expensive, and cumbersome to wear. Most can only be used in specific environments, and some even require the assistance of a stand, which seriously affects the user's autonomous steering.

[0007] Utility Model Content

[0008] The purpose of this utility model is to provide a powered knee exoskeleton to solve the technical problems in the prior art that the existing powered knee exoskeletons are generally bulky, expensive, cumbersome to wear, most of which can only be used in specific environments, and some even require the assistance of a stand, which seriously affects the user's independent steering. 。 The various technical effects that can be produced by the preferred technical solution among the various technical solutions provided by the present invention are described in detail below.

[0009] To achieve the above objectives, the present invention provides the following technical solutions:

[0010] The utility model provides a powered knee joint exoskeleton, comprising a thigh exoskeleton, a calf exoskeleton and an actuator, wherein:

[0011] The thigh exoskeleton comprises at least a thigh support and a first connecting component, wherein the first connecting component is provided at one end of the thigh support and is used to connect to the thigh, and the actuator is provided at the other end of the thigh support;

[0012] The calf exoskeleton includes at least a calf support and a second connecting component. The second connecting components are provided at both ends of the calf support. The second connecting component is used to connect to the calf. The calf support is fixedly connected to the actuator through a connecting piece.

[0013] Preferably, the thigh support includes a first support body and a first fixing structure and a first connecting structure respectively provided at two ends of the first support body, wherein:

[0014] The first supporting body is provided with a rotation arc;

[0015] The first connecting assembly is connected to the first fixed structure, and the first connecting structure is hinged to the output flange at the end of the actuator through a rotating shaft.

[0016] Preferably, the calf support includes a second supporting body and a second fixing structure and a third fixing structure respectively arranged at both ends of the second supporting body, wherein the second connecting component is connected to the second fixing structure and the third fixing structure respectively.

[0017] Preferably, a power supply accommodating structure is provided inside the second supporting body, a power supply is provided inside the power supply accommodating structure, and the power supply is electrically connected to the actuator.

[0018] Preferably, the first connecting component and the second connecting component both include a strap and a strap fixing structure.

[0019] Preferably, the first fixing structure, the second fixing structure, and the third fixing structure each include a first connecting portion and a second connecting portion, wherein:

[0020] One end of the strap is connected to the first connection portion, the strap fixing structure is provided at the second connection portion, and the other end of the strap is connected to the strap fixing structure via a connecting ring.

[0021] Preferably, the strap fixing structure adopts a magnetic buckle, wherein:

[0022] A first magnet is provided in the magnetic buckle, and a magnetic buckle belt is provided on the magnetic buckle;

[0023] The second connecting portion is provided with a second magnet for cooperating with the first magnet, and a first stop position and a second stop position for stopping the magnetic buckle, and the second magnet is arranged between the first stop position and the second stop position.

[0024] Preferably, the first stop position adopts a "U"-shaped structure and is arranged at the ends of the first fixing structure, the second fixing structure, and the third fixing structure, and the end of the magnetic buckle is provided with a "U"-shaped protrusion abutting against the first stop position;

[0025] A accommodating groove is provided on the inner side of the "U"-shaped protrusion, and an accommodating cavity is formed between the accommodating groove and the first fixing structure, the second fixing structure, and the third fixing structure. One end of the connecting ring is placed in the accommodating cavity, and the other end of the connecting ring is connected to the strap.

[0026] Preferably, a power button and a battery indicator light are provided on the surface of the calf support, and the power button and the battery indicator light are both electrically connected to the actuator.

[0027] Preferably, a gear adjustment button and a gear indicator light are provided on the surface of the actuator, wherein:

[0028] The gear adjustment button and the gear indicator light are both electrically connected to the actuator.

[0029] The utility model provides a powered knee exoskeleton, which comprises a thigh exoskeleton comprising at least a thigh support and a first connecting component, and a calf exoskeleton comprising at least a calf support and a second connecting component. The second connecting components are provided at both ends of the calf support. When in use, the calf support is connected and fixed to the thigh through the first connecting component and to the calf through the second connecting component. A three-point fixing method is adopted, and the connection stability is better. After wearing this powered knee exoskeleton, it is directly driven by an actuator, the thigh support swings with the thigh, and the calf support swings with the calf. The swinging signal is received by the Hall magnet and encoder on the actuator, and the size, direction and speed of the power assistance are calculated in real time by the chip and algorithm on the PCB, thereby achieving power assistance for the person. For people with knee joint injuries who need power assistance, the power assistance can help users kick and bend their legs. The overall weight is light, wearable and portable, and the cost is low. It can be used on one knee or both knees without affecting the turning of the body, and can assist in climbing stairs, mountain climbing, etc. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0031] FIG1 is a schematic structural diagram of an embodiment of a powered knee exoskeleton according to the present invention;

[0032] FIG2 is a schematic structural diagram of FIG1 from another angle;

[0033] FIG3 is a schematic diagram of the structure of the interior of the second supporting body in the power knee exoskeleton of the present invention;

[0034] FIG4 is a schematic structural diagram of the connection assembly in the power knee exoskeleton of the present invention;

[0035] FIG5 is a schematic structural diagram of FIG4 from another angle;

[0036] FIG6 is a schematic structural diagram of a stop structure in the power knee exoskeleton of the present invention;

[0037] FIG7 is a schematic structural diagram of the calf support portion of the power knee exoskeleton of the present invention;

[0038] Figure 8 is a schematic diagram of the structure of the thigh support in the power knee exoskeleton of the present invention

[0039] FIG9 is a control principle diagram of the power knee exoskeleton of the present invention.

[0040] In the figure: 1. Thigh support; 10. First supporting body; 11. First fixing structure; 111. First connecting part; 112. Second connecting part; 12. First connecting structure; 2. First connecting component; 20. Strap; 21. Strap fixing structure; 210. First magnet; 211. "U"-shaped protrusion; 212. Accommodating groove; 213. Accommodating cavity; 214. Magnetic buckle; 220. Second magnet; 100. First stop position; 200. Second stop position; 3. Calf support; 30. Second supporting body; 31. Second fixing structure; 32. Third fixing structure; 301. Power button; 302. Battery indicator light; 4. Second connecting component; 5. Actuator; 51. Connector; 501. Gear adjustment button; 502. Gear indicator light; 6. Power supply; 7. Connecting ring; 8. Rotating shaft. DETAILED DESCRIPTION

[0041] To make the purpose, technical solution, and advantages of the present invention more clear, the technical solution of the present invention will be described in detail below. Obviously, the embodiments described are only some of the embodiments of the present invention, and not all of them. Based on the embodiments of the present invention, all other implementation methods obtained by ordinary technicians in this field without making any creative efforts are within the scope of protection of the present invention.

[0042] In the description of the present invention, it should be understood that the terms "center", "lateral", "length", "width", "height", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "side", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0043] It should also be noted that, in the description of this utility model, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood broadly. For example, they may refer to fixed, detachable, or integral connections; mechanical or electrical connections; and direct or indirect connections through an intermediary. Those skilled in the art will understand the specific meanings of these terms in this utility model depending on the specific circumstances.

[0044] The present utility model provides a powered knee exoskeleton. FIG1 is a schematic structural diagram of this embodiment. As shown in FIG1 , the power knee exoskeleton includes a thigh exoskeleton, a calf exoskeleton and an actuator 5 .

[0045] The thigh exoskeleton comprises at least a thigh support 1 and a first connecting component 2. The first connecting component 2 is provided at one end of the thigh support 1 and is used to connect to the thigh. An actuator 5 is provided at the other end of the thigh support 1.

[0046] The calf exoskeleton includes at least a calf support 3 and a second connecting component 4. The second connecting component 4 is provided at both ends of the calf support 3. The second connecting component 4 is used to connect to the calf. The calf support 3 and the actuator 5 are fixedly connected through a connecting member 51. In this embodiment, the connecting member 51 adopts an "L"-shaped connecting beam that is provided on the outside of the actuator 5 and is integrally formed with the actuator 5. The calf support 3 and the actuator 5 are fixed through the connecting beam.

[0047] The actuator 5 in this embodiment includes, but is not limited to, servo motors, reduction servo motors, connecting rods, screws, linear drives, pneumatic drives, hydraulic drives, and other drive methods. The motor of the actuator 5 in this embodiment can be an external rotor motor or an internal rotor motor, and the reducer can be an RV reducer, a planetary reducer, a harmonic reducer, a gear reducer, a hydraulic reducer, a worm gear reducer, or a bevel gear reducer. The transmission between the motor and reducer can be a gear drive, a synchronous belt drive, a belt drive, a friction drive, a chain drive, a rotating shaft drive, or other transmission methods. The reducer and motor can be mounted non-coaxially or coaxially stacked.

[0048] This powered knee exoskeleton comprises at least a thigh support 1 and a first connecting component 2 through a thigh exoskeleton, and at least a calf support 3 and a second connecting component 4 through a calf support 3. The second connecting component 4 is provided at both ends of the calf support 3. When in use, the calf support 3 is connected and fixed to the thigh through the first connecting component 2 and to the calf through the second connecting component 4. A three-point fixing method is adopted, and the connection stability is better. After wearing this powered knee exoskeleton, it is directly driven by the actuator 5, the thigh support 1 swings with the thigh, and the calf support 3 swings with the calf. The swinging signal is received by the Hall magnet and encoder on the actuator 5. The size, direction and speed of the assist are calculated in real time through the chip and algorithm on the PCB to provide assist to the person. For people with knee joint injuries who need assist, it can help users kick and bend their legs. It is light in weight, portable and low in cost. It can be used on one knee or both knees without affecting the turning of the body. It can assist in climbing stairs, mountain climbing, etc.

[0049] Of course, in actual production and use, the first connecting components 2 can be provided on both sides of the thigh support 1 according to actual use needs, and the second connecting components 4 can be provided on both ends of the calf support 3 to achieve four-point fixation. Alternatively, the second connecting component 4 can be provided on one end of the calf support 3 to adopt a two-point fixation.

[0050] When the present embodiment is used, preferably, the thigh support 1 is placed on the front of the thigh. Of course, the thigh support 1 can also be placed on the back of the thigh according to actual use needs.

[0051] As an optional embodiment, Figure 2 is a structural schematic diagram of Figure 1 from another angle. As shown in Figure 2, the thigh support 1 includes a first support body 10 and a first fixing structure 11 and a first connecting structure 12 respectively arranged at both ends of the first support body 10.

[0052] Among them, the first support body 10 is provided with a rotating arc, and is matched with a first connecting component 2 connected to the first fixed structure 11. The first connecting structure 12 is hinged to the output flange at the end of the actuator 5 through the rotating shaft 8. When in use, it is hinged to the actuator 5 through the thigh support 1, and has a limiting feature when the thigh support 1 rotates, so that the thigh support 1 can only be flipped toward the outside of the thigh.

[0053] Specifically, the calf support 3 includes a second support body 30 and a second fixed structure 31 and a third fixed structure 32 respectively arranged at both ends of the second support body 30, wherein the second connecting component 4 is connected to the second fixed structure 31 and the third fixed structure 32 respectively, and cooperates with the calf support 3 to be fixed to the actuator 5 through the connecting member 51, so as to facilitate adaptation to the human leg without affecting the rotation of the body, and can adapt to various working conditions such as climbing stairs, climbing mountains, going up and down slopes, etc., and can also help with take-off and descent buffering.

[0054] As an optional embodiment, Figure 3 is a schematic structural diagram of the interior of the second supporting body in this embodiment. As shown in Figure 3, the second supporting body 30 is designed to be approximately straight, and a power supply accommodating structure is provided inside the second supporting body 30. A power supply 6 is provided in the power supply accommodating structure. The power supply 6 is electrically connected to the actuator 5 to provide the actuator 5 with the required electrical energy.

[0055] The power source 6 in this embodiment is a battery, which can be removed and replaced separately, can be removably charged, and can also be charged using a charging cable.

[0056] Of course, in actual production and use, the power supply may be integrated into the actuator 5 using a power module, or may be powered by an external power supply / battery, etc., as long as it is convenient to use.

[0057] As an optional embodiment, Figure 4 is a structural schematic diagram of the connection component in this embodiment, and Figure 5 is a structural schematic diagram of Figure 4 from another angle. As shown in Figures 4 and 5, the first connection component 2 and the second connection component 4 both include a strap 20 and a strap fixing structure 21.

[0058] Specifically, the first fixing structure 11, the second fixing structure 31, and the third fixing structure 32 each include a first connecting portion 111 and a second connecting portion 112. One end of the strap 20 is connected to the first connecting portion 111, the strap fixing structure 21 is disposed at the second connecting portion 112, and the other end of the strap 20 is connected to the strap fixing structure 21 via the connecting ring 7.

[0059] In this embodiment, the first connection portion 111 is a hole structure opened at one end of the first fixing structure 11 , the second fixing structure 31 , and the third fixing structure 32 . One end of the strap 20 passes through the first connection portion 111 and is fixed to the strap 20 .

[0060] The strap fixing structure 21 adopts a magnetic buckle, a first magnet 210 is arranged inside the magnetic buckle, and a magnetic buckle belt 214 is arranged on the magnetic buckle; the second connecting part 112 is provided with a second magnet 220 for cooperating with the first magnet 210, and a first stop position 100 and a second stop position 200 for stopping the magnetic buckle, and the second magnet 220 is arranged between the first stop position 100 and the second stop position 200.

[0061] Figure 6 is a structural schematic diagram of the stop structure in this embodiment. As shown in Figure 6, the first stop position 100 in this embodiment adopts a "U"-shaped structure and is arranged at the ends of the first fixed structure 11, the second fixed structure 31, and the third fixed structure 32. The end of the magnetic buckle is provided with a "U"-shaped protrusion 211 that abuts against the first stop position 100, and the cross-section of the second stop position 200 is a fan-shaped structure.

[0062] A receiving groove 212 is provided on the inner side of the “U”-shaped protrusion 211, and a receiving cavity 213 is formed between the receiving groove 212 and the first fixing structure 11, the second fixing structure 31, and the third fixing structure 32. One end of the connecting ring 7 is placed in the receiving cavity 213, and the other end of the connecting ring 7 is connected to the strap.

[0063] By providing magnets on both the strap fixing structure 21 and the leg support, when the strap 20 needs to be tightened, the magnetic buckle is brought close to the leg support. The magnetic force attracts the magnetic buckle to the second connection portion 112 of the leg support. Since the second connection portion 112 is provided with a first stop 100 and a second stop 200, the magnetic buckle will not be pulled out by pulling the strap 20 or the connecting ring 7 at any angle. To release the strap, the magnetic buckle can be removed by pulling the magnetic buckle strap, which is convenient and quick to use, and the connection is reliable.

[0064] Of course, Velcro or other quick-release buckles can also be used to secure the straps. The straps are preferably elastic, and can be elastic throughout or partially to meet different usage requirements.

[0065] As an optional embodiment, Figure 7 is a structural schematic diagram of the calf support in this embodiment. As shown in Figure 7, a power button 301 and a battery indicator light 302 are set on the surface of the calf support 3, and the power button 301 and the battery indicator light 302 are both electrically connected to the actuator 5.

[0066] As an optional embodiment, FIG8 is a schematic diagram of the structure of the thigh support in this embodiment. FIG9 is a control principle diagram of this embodiment. As shown in FIG8 , a gear adjustment button 501 and a gear indicator light 502 are provided on the surface of the actuator 5. The gear adjustment button 501 and the gear indicator light 502 are both electrically connected to the actuator 5 to facilitate gear adjustment according to usage needs.

[0067] When in use, first fix the middle strap 20 below the knee joint, then fix the upper strap 20 to the thigh and the lower strap 20 to the calf in turn, turn on the power button 301, and then use the gear adjustment button 501 on the actuator 5 to select the gear and walk to achieve power assistance.

[0068] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any modifications or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be based on the scope of protection of the claims.

Claims

1. A powered knee exoskeleton, characterized in that: It includes a thigh exoskeleton, a calf exoskeleton and an actuator, wherein: The thigh exoskeleton at least comprises a thigh support and a first connecting component, wherein the first connecting component is arranged at one end of the thigh support, the first connecting component is used to connect with the thigh, and the actuator is arranged at the other end of the thigh support; The calf exoskeleton at least includes a calf support and a second connecting component. The second connecting components are arranged at both ends of the calf support. The second connecting components are used to connect with the calf. The calf support is fixedly connected to the actuator via a connecting piece.

2. A powered knee exoskeleton according to claim 1, characterized in that: The thigh support comprises a first support body and a first fixing structure and a first connecting structure respectively arranged at two ends of the first support body, wherein: The first supporting body is provided with a rotation arc; The first connecting assembly is connected to the first fixed structure, and the first connecting structure is hinged to the output flange at the end of the actuator through a rotating shaft.

3. A powered knee exoskeleton according to claim 2, characterized in that: The calf support includes a second supporting body and a second fixing structure and a third fixing structure respectively arranged at two ends of the second supporting body, wherein the second connecting component is respectively connected to the second fixing structure and the third fixing structure.

4. A powered knee exoskeleton according to claim 3, characterized in that: A power supply accommodating structure is disposed inside the second supporting body, a power supply is disposed inside the power supply accommodating structure, and the power supply is electrically connected to the actuator.

5. A powered knee exoskeleton according to claim 3 or 4, characterized in that: The first connecting component and the second connecting component both include a strap and a strap fixing structure.

6. A powered knee exoskeleton according to claim 5, characterized in that: The first fixing structure, the second fixing structure, and the third fixing structure all include a first connecting portion and a second connecting portion, wherein: One end of the strap is connected to the first connection portion, the strap fixing structure is arranged at the second connection portion, and the other end of the strap is connected to the strap fixing structure via a connecting ring.

7. A powered knee exoskeleton according to claim 6, characterized in that: The strap fixing structure adopts a magnetic buckle, wherein: A first magnet is arranged in the magnetic buckle, and a magnetic buckle belt is arranged on the magnetic buckle; The second connecting portion is provided with a second magnet for cooperating with the first magnet, and a first stop position and a second stop position for stopping the magnetic buckle, and the second magnet is arranged between the first stop position and the second stop position.

8. A powered knee exoskeleton according to claim 7, characterized in that: The first stop position adopts a "U"-shaped structure and is arranged at the ends of the first fixing structure, the second fixing structure and the third fixing structure, and the end of the magnetic buckle is provided with a "U"-shaped protrusion abutting against the first stop position; A receiving groove is arranged on the inner side of the "U"-shaped protrusion, and a receiving cavity is formed between the receiving groove and the first fixing structure, the second fixing structure and the third fixing structure. One end of the connecting ring is placed in the receiving cavity, and the other end of the connecting ring is connected to the strap.

9. A powered knee exoskeleton according to any one of claims 1 to 4, characterized in that: A power button and a battery indicator light are arranged on the surface of the calf support, and both the power button and the battery indicator light are electrically connected to the actuator.

10. A powered knee exoskeleton according to any one of claims 1 to 4, characterized in that: The surface of the actuator is provided with a gear adjustment button and a gear indicator light, wherein: The gear adjustment button and the gear indicator light are both electrically connected to the actuator.

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