Mobility assistance exoskeleton robot

Abstract

A mobility assistance exoskeleton robot, comprising: a waist support structure module (1), a waist rod module (2), a joint drive module (3), a leg rod module (4), and a binding system (5). The waist rod module (2) comprises waist rod module assemblies; two waist rod module assemblies are provided, said two assemblies being symmetrically arranged relative to the waist support structure module (1).

Description

Walking assistance exoskeleton robot TECHNICAL FIELD

[0001] The present application relates to the field of exoskeleton robots, and more particularly, to a walking assistance exoskeleton robot. BACKGROUND

[0002] As a kind of service robot, the current exoskeleton robot industry has ushered in rapid development, and more and more high-tech exoskeleton robot manufacturers have emerged, and have successively launched a number of representative products on the market. According to different application fields, exoskeleton robots can be divided into medical exoskeletons, rehabilitation exoskeletons, industrial carrying exoskeletons, emergency fire-fighting exoskeletons, and outdoor travel exoskeletons, etc. According to different action mechanisms, exoskeletons can also be divided into active assistance type exoskeletons and passive assistance type exoskeletons. According to different energy supply methods, exoskeletons can also be divided into active assistance type exoskeletons and passive assistance type exoskeletons, etc. Although there are many types of exoskeleton robots, there are still few mature products on the market that can simultaneously achieve the advantages of attractive appearance, comfortable wearing, easy operation, and good assistance effect, etc.

[0003] For exoskeleton robots, size and weight are important factors affecting the wearing comfort of exoskeleton robots. The larger the size and weight, the stronger the sense of burden during wearing, which reduces the comfort. At the same time, the binding method and binding belt manufacturing process of the whole machine of the exoskeleton robot are also a key link affecting the wearing comfort. In addition, the appearance modeling can directly affect the human-machine wearing experience. If the contour curve of the exoskeleton where the human body contacts is consistent, the human-machine fit will be higher, and a more comfortable wearing feeling will be brought. However, due to the high technical difficulty, there are few existing products on the market that can simultaneously have the above advantages, and there are still some deficiencies in various aspects.

[0004] In addition, regardless of the application scenario, the exoskeleton robot has certain requirements for the protection ability of the whole machine, and the most important one is the shell protection level. For general application requirements, it is required to have a high protection level (generally not less than IP55), so that the exoskeleton robot can meet the use requirements in complex environments such as rain and snow, and will not be unable to work normally due to the entry of external water vapor. SUMMARY

[0005] (I) Technical problem

[0006] In view of the many shortcomings of the existing exoskeleton robots, how to provide an exoskeleton robot with small size, light weight, attractive appearance, reasonable and comfortable binding design, strong protection ability, and walking assistance has become a problem to be solved by the technical personnel in the field.

[0007] (II) Technical solution

[0008] In order to achieve the above object, the application provides a walking assistance exoskeleton robot, which belongs to the field of exoskeleton robots and specifically relates to a walking assistance exoskeleton robot.

[0009] In order to achieve the above object, the application provides a walking assistance exoskeleton robot, which includes a waist support structure module, a waist rod module, a joint driving module, a leg rod module and a binding system, the binding system is arranged on the waist support structure module and is used for stably wearing the waist support structure module on the body of a wearer and realizing fixation with the legs of the wearer, the waist rod module is arranged on the waist support structure module and the joint driving module is fixedly arranged on the waist rod module, the waist rod module is used for providing a mounting space for the joint driving module, the leg rod module is connected with the power end of the joint driving module, the leg rod module can output walking assistance and can transmit the assistance to the legs of the wearer through the leg rod module; the waist rod module includes a waist rod module assembly, the waist rod module assembly is arranged in two groups and is symmetrically arranged relative to the waist support structure module, the waist rod module assembly includes a waist rod part, the waist rod part includes a hollow tubular rod structure designed according to the shape of the waist of a human body, a joint driving module connecting structure used for fixedly mounting the joint driving module and a joint driving module baffle structure, the joint driving module baffle structure is arranged corresponding to the power end of the joint driving module and is used for isolating the power end from the wearer, the manufacturing material of the waist rod part is carbon fiber or metal material, and the waist rod part is an integral structure.

[0010] (Three) beneficial effects

[0011] As known from the above, the design scheme provided by the embodiment of the application can not only simplify the whole machine structure by changing parts into a whole, thereby reducing the assembly process, but also reduce the structural complexity and improve the stability of the machine body. By applying the symmetrical telescopic adjustment module, the machine body can bring good wearing adaptability and comfort to people with different body shapes.

[0012] Through the above structural design, the walking assistance exoskeleton robot provided in the application has the advantages of wearing comfort and convenience, easy operation, high whole machine protection capability and strong assistance capability compared with the existing light walking exoskeleton robot, in addition, the application has small volume and light weight, so that it has strong market competitiveness in the same type of exoskeleton robot products. In addition, the binding system is designed in the application, which can enhance the comfort of wearing exercise. BRIEF DESCRIPTION OF DRAWINGS

[0013] The drawings accompanying the specification of this application serve as further explanation of the application, the illustrative embodiments thereof and its description, and do not constitute an improper limitation of the application. In the drawings:

[0014] Fig. 1 is a schematic diagram of the back structure of the whole walking-assisted exoskeleton robot in the embodiment of the present application;

[0015] Fig. 2 is a schematic diagram of the side structure of the whole walking-assisted exoskeleton robot in the embodiment of the present application;

[0016] Fig. 3 is a schematic diagram of the front structure of the whole walking-assisted exoskeleton robot in the embodiment of the present application;

[0017] Fig. 4 is a schematic diagram of the structure of the waist support structure module in the embodiment of the present application;

[0018] Fig. 5 is a schematic diagram of the structure of the waist rod module in the embodiment of the present application;

[0019] Fig. 6 is an exploded schematic diagram of the parts such as the silica gel button and the button pressing tablet in the waist rod module in the embodiment of the present application;

[0020] Fig. 7 is a schematic diagram of the overall structure of the waist rod module assembly in the embodiment of the present application;

[0021] Fig. 8 is a schematic diagram of the structure of the joint driving module in the embodiment of the present application;

[0022] Fig. 9 is a schematic diagram of the structure of the leg rod module in the embodiment of the present application;

[0023] Fig. 10 is an enlarged schematic diagram of the local structure of the leg rod module in the embodiment of the present application;

[0024] Fig. 11 is a schematic diagram of the waist belt in the embodiment of the present application;

[0025] Fig. 12 is a schematic diagram of the leg belt in the embodiment of the present application;

[0026] Fig. 13 is a schematic diagram of the leg belt after the angle is changed in the embodiment of the present application;

[0027] Fig. 14 is a schematic diagram of the effect when the wearer walks after wearing in the embodiment of the present application;

[0028] Fig. 15 is a schematic diagram of the overall appearance structure of the joint driving module in the embodiment of the present application;

[0029] Fig. 16 is a schematic diagram of the layout of the motor assembly, the execution assembly and the joint frame in the embodiment of the present application;

[0030] Fig. 17 is an internal structure sectional view of the joint driving module in the embodiment of the present application;

[0031] Fig. 18 is a schematic view of a gear sealing groove and a housing mounting sealing groove structure in an embodiment of the present application.

[0032] Fig. 19 is a sectional view of a joint driving module connected with an external structure (a waist rod) in an embodiment of the present application. DETAILED DESCRIPTION

[0033] The present application will be described in detail below with reference to the drawings and in conjunction with embodiments. Each example is provided by way of explanation of the present application and is not intended to limit the present application. In fact, those skilled in the art will appreciate that modifications and variations can be made in the present application without departing from the scope or spirit of the present application. For example, features shown or described as part of one embodiment can be used in another embodiment to produce yet another embodiment. Therefore, it is intended that the present application encompass such modifications and variations as fall within the scope of the appended claims and their equivalents.

[0034] In the description of the present application, the terms "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", and the like indicate the orientation or positional relationship shown in the drawings, and are only intended to facilitate the description of the present application and are not required to be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation of the present application. The terms "connected", "connected" used in the present application should be interpreted broadly, for example, it can be fixed connection, or detachable connection; it can be directly connected, or indirectly connected through intermediate components, and those skilled in the art can understand the specific meaning of the above terms according to the specific circumstances.

[0035] The main purpose of the present application is to provide a walking assistance exoskeleton robot, the walking assistance exoskeleton robot provided by the present application has the advantages of small volume, light weight, beautiful appearance, reasonable and comfortable binding design, strong protection ability, etc.

[0036] In order to achieve the above purpose, the present application provides the following technical scheme:

[0037] The present application provides a walking assistance exoskeleton robot, hereinafter referred to as robot, which comprises a joint driving module 3, a waist rod module 2, a waist support structure module 1, a leg rod module 4 and a binding system 5.

[0038] In the present application, the binding system 5 is arranged on the waist support structure module 1 for stabilizing the waist support structure module 1 to be worn on the wearer's body and achieving fixation with the wearer's legs. In the present application, the waist support structure module 1 is the basic structure, which is worn on the waist of the human body relative to the human body, and the other structures of the present application are mainly installed through the waist support structure module 1. The installation can be direct installation, that is, direct connection with the waist support structure module 1, or indirect connection with the waist support structure module 1 through other structures, such as the binding system 5 in the present application. The binding system 5 is installed on the waist support structure module 1, but the binding system 5 also maintains a connection relationship with other structures. Through the design of the binding system 5, the present application adopts shoulder back fixation, waist fixation and leg fixation to stabilize the waist support structure to the wearer's body. The waist rod module 2 is arranged on the waist support structure module 1 and the joint driving module 3 is fixedly arranged on the waist rod module 2. The waist rod module 2 is used to provide installation space for the joint driving module 3. The joint driving module 3 can be fixedly installed on the waist rod module 2. The waist rod module 2 is fixedly arranged on the waist support structure module 1. In this way, the joint driving module 3 can be fixed relative to the upper torso of the human body, and the joint driving module 3 can output power assistance. The leg rod module 4 is connected with the power end of the joint driving module 3. The joint driving module 3 can output walking assistance and can transmit the assistance to the wearer's legs through the leg rod module 4. In the present application, the waist rod module 2 includes a waist rod module assembly. The waist rod module assembly is provided with two groups and is symmetrically arranged relative to the waist support structure module 1. The waist rod module assembly includes a waist rod part (i.e. waist rod 21). The waist rod part includes a hollow tubular rod structure 21a designed according to the shape of the human waist, a joint driving module connecting structure 21b for fixedly installing the joint driving module 3, and a joint output baffle structure 21c arranged corresponding to the power end of the joint driving module 3 for isolating the power end from the wearer. The manufacturing material of the waist rod part (i.e. waist rod 21) is carbon fiber or metal material. The waist rod part (i.e. waist rod 21) is a one-piece structure. The waist rod part (i.e. waist rod 21) is a hollow and tubular structure with a certain curve. It is made of lightweight material with high structural strength, such as carbon fiber or aluminum alloy. The waist rod part (i.e. waist rod 21) is fixedly installed on the waist support structure module 1. In the actual wearing state, the waist rod part (i.e. waist rod 21) is arranged obliquely. According to ergonomics, the waist rod part (i.e. waist rod 21) can be designed according to the contour shape of the human waist to match the waist curve of most people. The joint driving module 3 is installed on the waist rod module 2 and serves as an actuator to provide motion assistance effect for the wearer.The joint driving module 3 is internally provided with a multi-stage gear reduction mechanism, which can convert the small torque output by the motor into a larger torque output by the joint driving module 3 and act on the wearer's thigh through the leg bar module 4 to achieve the effect of assisting. As a relatively independent structural component, the joint driving module 3 includes an execution component 33 (the specific structure is not shown in the drawings) and a motor component 34 (the specific structure is not shown in the drawings), and in addition from the assembly level, the joint driving module 3 has a fixed end 31 and an output end 32, wherein the fixed end 31 further includes a fixed mounting plane 31b and a sealing groove 31a.

[0039] The waist bar module 2 is divided into two symmetrical groups of components, i.e. waist bar module components. In the wearing state, the waist bar module components are symmetrically arranged on both sides of the human hip joint, and each waist bar module component includes a waist bar part (i.e. waist bar 21) on which a silica gel button 22, a button PCB 23, a button threaded frame 24, a button pressing piece 25 and a joint sealing pressing piece 26 are mounted. In the present application, the joint driving module 3 is a power structure driven by electricity and capable of outputting a larger torque, which includes a motor component 34 and a multi-stage reduction gear structure. Specifically, the joint driving module 3 includes a power output end (i.e. output end 32), which is power-connected with the multi-stage reduction gear structure (the motor drives the power output end to act through the multi-stage reduction gear structure), and the power output end can output a larger torque externally. The present application adopts a button control mode for controlling the joint driving module 3, which specifically includes a control button (i.e. the silica gel button 22 mentioned above) for controlling the operation of the joint driving module 3, a button PCB 23 is arranged below the control button, and the button PCB 23 sends corresponding operation instructions to the joint driving module 3 after being pressed by the control button; a mounting hole for mounting the control button is arranged on the joint driving module connecting structure 21b, a waterproof edge structure is arranged on the inner side of one end of the control button, and the waterproof edge structure of the control button is pressed on the inner wall of the joint driving module connecting structure 21b by the button pressing piece 25. Further, the button threaded frame 24 is fixedly arranged on the inner wall of the joint driving module connecting structure 21b, and the control button and the button PCB 23 are pressed on the button threaded frame 24 by the button pressing piece 25, and the button pressing piece 25 is bolted with the button threaded frame 24.

[0040] The waist rod module assembly is provided with two groups, and the waist rods 21 in the two groups of waist rod module assemblies are left-right symmetrical structures. The structural features of the waist rod 21 mainly include three parts: one is a hollow tubular rod structure 21a, the second is a joint driving module connecting structure 21b, and the third is a joint output baffle structure 21c. The hollow tubular rod structure 21a is responsible for being connected with the waist support structure module 1 except for being used for internal wiring, the joint driving module connecting structure 21b is responsible for being connected with the joint driving module 3, and the joint output baffle structure 21c is used for isolating the joint driving module 3 from the human body, protecting the two sides of the wearer's body from accidental injury caused by the movement of the joint output module output end 32. In addition, the joint output baffle structure 21c also has a binding strap connecting structure for providing a fixing point for the binding system 5. The joint driving module connecting structure 21b is provided with two circular holes for installing the silica gel button 22. The silica gel button 22 has two groups, and the two groups of silica gel buttons 22 are completely identical in structure and are installed on the two groups of waist rod module assemblies. Each group of silica gel buttons 22 (left and right control buttons) has two trigger keycaps, and the silica gel button 22 installed on the left waist rod module 2 has two trigger keycaps marked with "+" and "-", respectively representing one step increase and one step decrease in assistance size, and the silica gel button 22 installed on the right waist rod module 2 has two trigger keycaps marked with "power symbol" and "M", respectively representing power on and off and assistance mode switching. The marking patterns on the trigger keycaps of the two groups of silica gel buttons 22 are all light-transmitting silica gel materials, and the rest are all black opaque silica gel materials.

[0041] The button PCB 23 also has two groups, which are installed in the two groups of waist rod module assemblies. Each button PCB 23 is provided with a trigger switch. Except that the trigger switch used for power on / off operation is a self-locking switch, the others are all micro switches. An LED lamp is arranged beside each trigger switch. When each trigger keycap is pressed, the control program will make the LED lamp beside the corresponding trigger switch light up. The light color can be controlled, and the light emitted can be dispersed to the outside of the silica gel button 22 through the light-transmitting silica gel material on the trigger keycap to be recognized by the operator, which greatly enhances the human-machine interaction.

[0042] In order to meet the requirement of high protection ability of the exoskeleton robot, the two groups of silica gel buttons 22 need to have certain dustproof and waterproof ability. The protection ability is realized through the following ways: first, the silica gel button 22 is designed to have a waterproof edge structure; second, the waterproof edge of the silica gel button 22 is pressed and installed on the inner side plane of the two circular holes of the joint driving module connecting structure 21b through the button pressing sheet 25, and the pressing method is screwing the button pressing sheet 25.

[0043] The waist rod 21 can be made of carbon fiber or 3D printed aluminum alloy. Regardless of the processing technology, to ensure that the inner planes of the two circular openings have threaded holes for mounting the button pressure plate 25, a small threaded metal piece is embedded inside the joint drive module connection structure 21b of each waist rod 21. This metal piece serves as the button threaded frame 24. The button threaded frame 24 is fixed to the waist rod 21 (the joint drive module connection structure 21b has a groove structure, and the button threaded frame 24 is fixedly set on the inner side of the groove structure). If the waist rod 21 is processed using a carbon fiber mold, the button threaded frame 24 is embedded and formed into the waist rod 21 through the mold, becoming an integral part of the waist rod 21. If it is processed using a 3D printed aluminum alloy process, the threaded frame is bonded to the inner surface of the joint drive module connection structure 21b using high-strength structural adhesive. The joint sealing plate 26 is fixed to the waist bar 21 in the same way. When the joint drive module 3 is fixedly installed on the joint drive module connection structure 21b of the waist bar 21, the joint sealing plate 26 can press the sealing ring set in the groove by means of its own planar structure at the installation joint and the fixed installation plane 31b with a sealing groove 31a structure designed on the joint drive module 3, thereby achieving the purpose of sealing the installation surface.

[0044] The waist support structure module 1 includes an inner shell structure 11 and an outer shell structure 12, which are sealed together. A battery unit 14, a main controller 15, and a symmetrical telescopic adjustment module 16 are disposed inside the waist support structure module 1. The symmetrical telescopic adjustment module 16 includes an adjustable telescopic end, on which the waist rod module assembly is fixedly disposed. The symmetrical telescopic adjustment module 16 also includes a telescopic adjustment button, which is disposed at the upper end of the waist support structure module 1. The waist support structure module 1 has a battery compartment for installing the battery unit 14. A battery compartment opening is provided at the lower end of the waist support structure module 1. The battery unit 14 is inserted into the battery compartment from the bottom of the waist support structure module 1. A battery compartment cover 13 is provided on the battery compartment opening.

[0045] Specifically, the waist support structure module 1 includes an inner shell structure 11, an outer shell structure 12, a battery compartment cover 13, a battery unit 14, a main controller 15, a symmetrical telescopic adjustment module 16, and external buttons (including a left external button 17a and a right external button 17b). The inner shell structure 11 and the outer shell structure 12 are made of plastic and are fixed together to accommodate the internal battery unit 14, the symmetrical telescopic adjustment module 16, and the main controller 15. The battery compartment cover 13 is located at the bottom of the waist support structure module 1, allowing for quick disassembly and replacement of the battery unit 14 via a plug-in method.

[0046] The symmetrical telescopic adjustment module 16 is located in the upper part of the waist support structure module 1. This module connects the hollow tubular rod structure parts of the two sets of waist rod module components arranged symmetrically on the left and right, respectively. It can complete the symmetrical manual pull-out telescopic adjustment and locking of the two sets of waist rod module components. The symmetrical telescopic adjustment module 16 in this invention adopts the structure provided in the invention patent application with publication number CN116810764A. Based on the structure disclosed in that patent, the embodiment of this invention has made further improvements. By setting two symmetrical external buttons on the upper outer surface of the waist support structure module 1, the operation mode of the "symmetrical telescopic adjustment mechanism based on multi-link tubular rods" is changed from pressing one "button" as described in the cited patent to pressing two "external buttons", which makes the operation and adjustment more convenient. In this invention, the specific structure of the symmetrical telescopic adjustment module 16 is as follows, including: an adjustment module housing structure (the adjustment module housing structure is actually composed of an inner shell structure 11 and an outer shell structure 12, and is part of the combined structure of the inner shell structure 11 and the outer shell structure 12; the upper part of the internal space of the housing formed by the inner shell structure 11 and the outer shell structure 12 is used to accommodate the symmetrical telescopic adjustment module), an adjustment module telescopic structure, an adjustment module adjustment structure, and an adjustment module switch lock structure. The adjustment module housing structure is used to accommodate the adjustment module telescopic structure. The adjustment module telescopic structure includes a base plate (the main structure of the adjustment module telescopic structure), a tube rod holding assembly (used to maintain the stability of the tubular rod movement), a tubular rod, a guide rail slider assembly, and a tube rod slider connector. The base plate is fixed inside the adjustment module housing structure (within the internal space formed by the inner shell structure 11 and the outer shell structure 12). There are two sets of tube rod holding assemblies, and the two sets of tube rod holding assemblies are arranged along a first direction and fixed to the base plate. The guide rail slider assembly extends along a first direction, with one end fixed to a set of tube rod holding assemblies and the other end fixed to another set of tube rod holding assemblies. Each tubular rod corresponds one-to-one with a tube rod holding assembly, and the tubular rod is slidably installed within the tube rod holding assembly along the first direction, with its first end extending between the two tube rod holding assemblies. The first end of the tubular rod is slidably connected to the guide rail slider assembly via a tube rod slider connector. The adjustment module adjustment structure is connected to the adjustment module telescopic structure to ensure symmetrical and consistent movement of the two tubular rods in the adjustment module telescopic structure. The adjustment module switch lock structure is installed inside the adjustment module housing structure to control the locking or unlocking of the adjustment module adjustment structure. In this invention, the adjustment module switch lock structure can have a button on the adjustment module housing structure for pressing to control the operation of the adjustment module switch lock structure; this button is located in the middle of the upper side of the adjustment module housing structure.Alternatively, the adjustment module's switch-lock structure can have two buttons on its housing. These buttons can be pressed individually or simultaneously to control the operation of the switch-lock structure. When two buttons are used, they are located on opposite sides of the upper side of the housing. In use, the wearer can release the limiting position of the adjustment module by operating the switch-lock structure. At this point, the wearer can pull out or push in one end of the tubular rod, allowing it to slide within the rod retaining assembly. Since the two tubular rods are connected by the adjustment module, the sliding of one end simultaneously drives the other end, thus completing the extension and retraction adjustment of the tubular rod. The wearer can then release the switch-lock module to re-limit the adjustment module. The tubular rods are restrained by a retaining assembly, providing support for both sets of tubular rods during use and enabling stable and reliable extension and retraction adjustments. The adjustment module structure ensures that when one tubular rod extends or retracts, the other tubular rod extends or retracts simultaneously. Finally, the wearer can quickly lock and unlock the adjustment module by simply operating its switch lock mechanism, making operation convenient.

[0047] The present invention can also provide a Type-C interface (not shown) on the inner shell structure 11 for electronic control debugging of the exoskeleton robot, and a charging port (not shown) for charging the exoskeleton robot. Both external interfaces are well protected and equipped with rubber plugs to meet the requirements of high-level shell protection. In addition, to improve human-machine interaction, a power indicator light group (not shown) is designed on the outer surface of the inner shell structure 11, which can work with the internal power management circuit to realize real-time display of the robot's power level.

[0048] The main controller 15 is fixedly installed in the internal cavity formed by the inner shell structure 11 and the outer shell structure 12, and is located between the battery unit 14 and the symmetrical telescopic adjustment module 16. The electrical energy stored in the battery unit 14 is transmitted to the main controller 15 through the blade-type battery connector and then the main controller 15 supplies power to the joint drive module 3. The main controller 15 adopts the overall encapsulation process to achieve the high protection capability of the whole machine.

[0049] The leg rod module 4 has two sets arranged symmetrically on the left and right. Each set of leg rod modules 4 includes a leg rod 41, a leg strap plate 42, and a leg strap plate buckle 43. The leg rod 41 also has two connecting ends, namely the first connecting end (numbered 41a) and the second connecting end (numbered 41b), which are used to connect the leg strap plate 42 and the joint drive module 3, respectively. The leg rod 41 is made of 3D printed aluminum alloy or carbon fiber. Since the first connecting end (numbered 41a) and the second connecting end (numbered 41b) each have a pin hole structure, when using 3D printed aluminum alloy, after printing and removing the support, the two pin hole structures need to be precisely machined using a machine tool. If using carbon fiber, a piece of aluminum alloy material is embedded in each of the two connecting ends during mold making, and then the two pin holes are machined in the aluminum alloy material. As shown in Figures 11 and 12, in this invention, the leg bar 41 has a certain degree of twist in space (i.e., along the length direction of the push rod 41) (i.e., a spatial curve shape structure). This design is based on ergonomics and aims to make the leg bar 41 conform as closely as possible to the contour of the human thigh, thereby improving the fit between the leg bar 41 and the human thigh.

[0050] The restraint system 5 includes leg straps 53, waist straps 52, and shoulder straps 51. Leg straps 53 are used to restrain the wearer's thighs and are fixed to the leg pole module 4. Waist straps 52 are used to restrain the wearer's waist. The shoulder straps 51 function similarly to common backpack straps, allowing the exoskeleton robot to be carried on the wearer's back. Through the combined restraint of the leg straps 53, waist straps 52, and shoulder straps 51, the exoskeleton robot can be effectively restrained on the wearer, thus enabling further motion assistance. Leg strap plates 42 and leg strap plate buckles 43 are both made of plastic and are similar to common backpack strap buckles. Leg strap plate buckles 43 can be inserted and locked to the leg strap plates 42, and can also be removed by pressing and pulling them out. The leg strap plate 42 and leg strap plate buckle 43 are used to fix and install the leg strap 53. By being designed to be pluggable, the exoskeleton robot can be quickly put on and taken off at the leg strap 53. The leg strap 53 is composed of nylon fabric strap, sponge padding 533 and Velcro, which can effectively restrain the wearer's thigh. The leg strap 53 has a fixed end and an adjustable end. The fixed end is directly passed through a strip hole and then fixed by Velcro. The adjustable end can be adjusted according to the wearer's thigh circumference, passed through the other strip hole, tightened and then fixed by Velcro.

[0051] Because the swinging of the exoskeleton robot's leg rod 41 and the swinging of the user's thigh cannot be perfectly synchronized when the user is wearing the exoskeleton robot, a relative movement tendency exists between the leg strap 53 and the user's thigh. To enable the leg strap plate 42 to more effectively transmit the assistance of the joint drive module 3 and apply it to the user's thigh, and also to improve the sense of consistency in human-machine collaborative movement, a rotational degree of freedom is designed at the connection between the first connecting end (number 41a) of the leg rod 41 and the leg strap plate 42. This degree of freedom is formed by hinged connection through the insertion of a pin 45 into the corresponding pin hole on the first connecting end (number 41a) and the leg strap plate 42. The pin 45 is axially locked in conjunction with the shaft elastic retaining ring 44. The second connecting end (number 41b) of the leg rod 41 is also hinged to the output end 32 in the joint drive module 3 through the pin 45, forming a rotational degree of freedom. This degree of freedom allows the user to perform adduction and abduction movements of the thigh when wearing the exoskeleton, thus making human-machine collaborative movement more free.

[0052] The waist strap 52 adopts a binding method similar to a tactical waist belt. The waist strap 52 consists of two parts: an outer waist strap 522 and an inner waist strap 521. The outer waist strap 522 is a rigid strap used to stabilize the exoskeleton, ensuring it stays securely around the waist during wear and movement. A PP plastic plate is embedded inside the outer waist strap 522 for shaping, and a buckle is provided to lock the two straps together and secure it around the waist during wear. The inner waist strap 521 is a flexible strap made of nylon fabric filled with foam padding. It directly contacts the waist during use and provides comfort. The outer waist strap 522 has three fixing positions: the left joint fixing area 522a, the right joint fixing area 522b, and the waist fixing area 522c. The left joint fixing area 522a and the right joint fixing area 522b are fixed to the strap connection structure on the waist bar 21 by screws, while the waist fixing area 522c is fixed to the inner shell structure 11 by screws. Through the fixing at the above three positions, the outer waist strap 522 can be firmly fixed to the exoskeleton robot, thereby ensuring the stability of the coordinated movement when the user wears it.

[0053] The shoulder strap 51 is made of nylon fabric and is connected to the outer waist strap 522 through three connection points. This connection is detachable. Two of the fixing points are located on both sides of the outer waist strap 522, and the other fixing point is located in the middle of the back side of the outer waist strap 522. The shoulder strap 51 can function like a backpack strap to carry the entire exoskeleton robot on the human shoulder, thereby distributing the weight of the exoskeleton to the human's shoulders. If there is no shoulder strap 51, the weight of the entire machine will be transferred to the human body by the waist strap 52. Since the exoskeleton robot of this embodiment is relatively lightweight, the user can decide whether to install the shoulder strap 51 based on the wearing experience.

[0054] Analysis shows that the embodiment of the walking-assistive exoskeleton robot disclosed in this invention achieves the following technical effects:

[0055] (1) The present invention designs a walking-assisting exoskeleton robot. Compared with existing lightweight walking-assisting exoskeleton robots, the present invention has the advantages of being comfortable and convenient to wear, easy to operate, having high overall protection capabilities, and strong assistive capabilities. In addition, the present invention has a smaller overall structure and lighter weight, making it more competitive in the market among similar exoskeleton robot products.

[0056] (2) This invention designs a walking-assisted exoskeleton robot. The wearing comfort and convenience of this invention are mainly reflected in the design scheme of the whole machine binding system, the design scheme of the leg pole module, and the symmetrical telescopic adjustment module used in the waist support structure module. The design scheme of the whole machine binding system is the final scheme summarized after multiple rounds of iterative design improvements. The wearing process can be simply described as "one back and two buckles". "One back" refers to carrying the exoskeleton shoulder straps on the shoulder like a backpack. "Two buckles" refers to inserting and fastening the buckles of the waist straps together, and inserting and fastening the buckles of the leg straps together, thereby achieving the binding of the wearer's waist and legs, thus completing the convenient wearing. The two rotational degrees of freedom set at the first and second connecting ends of the leg pole module not only provide the wearer's thighs with a range of motion for abduction and adduction, but also provide the thighs with a margin of motion during flexion and extension movements, which enhances the sense of consistency of human-machine collaborative movement and further enhances the comfort of wearing movement. Furthermore, the application of a symmetrical telescopic adjustment module allows the device to provide better wearability and comfort for people of different body types.

[0057] (3) The present invention designs a walking-assisted exoskeleton robot. The present invention has a pair of left and right symmetrical waist pole module components. The waist pole includes a hollow tubular rod structure, a joint drive module connection structure and a joint drive module baffle structure. The waist pole with the above three structural components can be integrally processed by carbon fiber mold or 3D aluminum alloy printing process. The design scheme proposed in the embodiment of the present invention can not only simplify the overall structure by integrating parts to reduce assembly process, but also reduce structural complexity and improve the stability of the body.

[0058] (4) The present invention designs a walking-assisted exoskeleton robot. The present invention has a set of symmetrically arranged waist pole module components and joint drive modules. In order to ensure the protection performance of the whole machine from the design, the present invention not only adopts the structure of the waist pole with hollow internal wiring, but also achieves static sealing at the connection between the waist pole and the joint drive module by pressing the joint sealing pressure plate installed on the waist pole with the sealing groove structure designed on the fixed installation plane of the joint drive module.

[0059] (5) This invention designs a walking-assisted exoskeleton robot. Two integrated waist rod parts arranged symmetrically on the left and right are each designed with two circular openings for installing silicone buttons. In order to achieve a high protection level for the whole machine, a corresponding protection scheme is also required here. To solve this problem, a waterproof edge structure is designed on the silicone button. This skirt structure with a raised edge can achieve the protection effect by pressing the outer edge. The silicone button is installed from the inside to the outside on the inner wall of the cavity where the drive module connection structure of the waist rod is located. To achieve the pressing operation, the simplest way is to design a button pressing plate and tighten it on the inner wall with threads. However, since the waist rod parts are made of carbon fiber mold or 3D aluminum alloy printing, it is not possible to directly process threaded holes on the inner wall. Therefore, an embedded threaded button thread frame is used to solve this problem. Screws can be used to tighten the silicone button and button PCB on the button thread frame through the button pressing plate, so that the outer waterproof edge of the silicone button is pressed onto the inner wall.

[0060] (6) This invention designs a walking-assisted exoskeleton robot. To meet the requirements of high overall protection, after solving the protection problems of the joint drive module and the waist pole module, the protection problem of the waist support structure module also needs to be considered. To solve this problem, a double protection design scheme is proposed in the waist support structure module. The outer protection refers to making the shell joints as tight as possible and avoiding too many openings. In addition, the battery unit disassembly scheme adopts a bottom-up installation and disassembly method. The battery compartment is located at the bottom, and the main controller is powered by a blade-type battery connector located at the top of the battery unit, which avoids water and dust from entering to a certain extent. Furthermore, at the internal connection between the waist pole and the waist support structure module, the outlet of the hollow tubular structure of the waist pole is filled with a rubber plug, which effectively prevents water from entering the joint drive module due to moisture inside the waist support structure module entering the waist pole. Internal protection refers to the treatment of the main controller by encapsulating it as a whole and coating each internal circuit board with light-curing adhesive. Before the treatment, all internal circuit board wiring was replaced with direct soldering instead of plug design.

[0061] (7) This invention designs a walking-assist exoskeleton robot. In order to meet the wearing needs of people of different weights, the waist width is adjustable. There are similar exoskeleton robot products on the market that can adjust the waist width, but they have the problem of complicated operation. Not only is the adjustment process time-consuming and laborious, but it is also impossible to achieve symmetrical and consistent adjustment size on the left and right sides. In view of the above problems, the embodiment of this invention adopts a symmetrical telescopic adjustment module. This structure can complete the symmetrical manual pull-out telescopic adjustment and locking of the two sets of waist bar modules. By adopting this solution, not only can the waist width adjustment operation be made simpler, but the consistency of the adjustment size on the left and right sides can also be achieved.

[0062] (8) The present invention designs a walking-assisted exoskeleton robot. In order to meet the requirements of reasonable and comfortable binding design, and good overall stability when wearing the exoskeleton robot, the waist strap is designed to have two parts: an outer waist strap and an inner waist strap. The outer waist strap is made of rigid material, which can play a good role in stabilizing the body. The inner waist strap is a flexible strap, made of nylon fabric and filled with foam sponge pad. The inner waist strap is installed on the inside of the outer waist strap by Velcro, so as to directly contact the wearer's waist and bring a better wearing comfort.

[0063] (9) The present invention designs a walking-assisted exoskeleton robot. In order to achieve the purpose of quick donning and doffing, the specific binding method of the leg straps is designed as a scheme of interlocking and fixing the leg strap plates and the leg strap plate buckles and pressing and pulling them out. The leg strap plates and the leg strap plate buckles are made of plastic. Each of the leg strap plates and the leg strap plate buckles has an identical strip-shaped opening structure for fixing the leg straps. The leg straps are composed of nylon fabric straps, sponge pads and Velcro, which can better restrain the wearer's thighs. The leg straps have a fixed end and an adjustable end. The fixed end is directly passed through a strip-shaped hole and then fixed by Velcro. When wearing, the adjustable end can be passed through another strip-shaped hole according to the wearer's thigh circumference, tightened first and then fixed by Velcro. When wearing the garment, the fixed end and the adjusting end are respectively fixed to the leg strap plate and the leg strap plate buckle. First, the leg strap plate and the leg strap plate buckle can be inserted and fixed together. Then, pull the adjusting end of the leg strap to make it tightly bind the thigh before attaching and fixing it.

[0064] (10) This invention designs a walking-assisted exoskeleton robot. In order to meet the requirements of small size, light weight and high protection capability of the whole machine, the joint drive module, as the most important drive actuator, adopts an overall design scheme that is different from other common exoskeleton products. For the specific scheme, please refer to the invention patent application with publication number CN118721158A. By adopting this scheme, a reasonable layout design of motor assembly (specific structure not shown), execution assembly (specific structure not shown) and drive controller is realized in a limited space. This makes the structure compact and also has the performance characteristics that other joint drive component products do not have, such as light weight and high protection capability. In addition, the module also integrates a programmable ring-shaped colored light strip, which enhances human-machine interaction. This is also an advantage that most exoskeleton joint drive component products do not have.

[0065] As shown in Figures 1-3, this embodiment of the invention provides a walking-assisted exoskeleton robot, including: a waist support structure module 1, a waist pole module 2, a joint drive module 3, a leg pole module 4, and a binding system 5.

[0066] The binding system 5 includes a shoulder strap 51, a waist strap 52, and a leg strap 53. The shoulder strap 51, waist strap 52, and leg strap 53 are used to fix the device at three points on the wearer's shoulders, waist, and legs, thereby improving the stability of wearing the device.

[0067] As shown in Figure 4, the waist support structure module 1 includes an inner shell structure 11, an outer shell structure 12, a battery compartment cover 13, a battery unit 14, a main controller 15, a symmetrical telescopic adjustment module 16, and external buttons (left external button 17a, right external button 17b). The inner shell structure 11 and the outer shell structure 12 are made of plastic and are fixed together with screws to form an internal cavity for accommodating the symmetrical telescopic adjustment module 16, the battery unit 14, and the main controller 15. The battery unit 14 is a detachable module. During installation, it is inserted into the waist support structure module 1 from bottom to top (after the inner shell structure 11 and the outer shell structure 12 are assembled, an insertion port is provided at the bottom of the shell, and the battery unit 14 is inserted or pulled out from the bottom insertion port). Disassembly is the reverse, thus realizing the battery replacement operation. The battery compartment cover 13 is used to seal and protect the disassembly port after installation.

[0068] As shown in Figures 1-3 and 5, this embodiment of the invention provides a walking-assist exoskeleton robot, including a waist pole module 2. The waist pole module 2 has waist pole module components arranged symmetrically on the left and right sides. The waist pole module components are arranged on both sides of the waist support structure module 1 and are fixedly connected to the internal symmetrical telescopic adjustment module 16, which can realize the telescopic adjustment function.

[0069] As shown in Figure 8, the joint drive module 3 includes a fixed end 31 (the fixed end 31 has a sealing groove 31a and a fixed mounting plane 31b), an output end 32, an execution component 33 (specific structure not shown), and a motor component 34 (specific structure not shown). The joint drive module 3 has a built-in motor and reducer and is the actuator of the exoskeleton robot. It can output torque through the output end 32 and act on the human body to achieve assistance.

[0070] In addition to the above structure, the joint drive module also integrates a driver PCB (not shown in the figure) to receive the instruction program of the main controller 15 and control the operation of the joint drive module 3. The motor assembly 34 is mainly composed of a stator and a rotor.

[0071] Please refer to Figure 8. The joint drive module 3 provided in this embodiment of the invention, to meet the requirements of small size, light weight, and high protection capability of the exoskeleton robot, adopts a joint design scheme different from other exoskeleton robot products. Specifically, refer to the invention patent application with publication number CN118721158A (referencing another filed invention patent application, "A High-Protection Electric Joint Assembly for Exoskeleton Robots," which was filed before this patent). This scheme uses an internal rotor frameless motor paired with a reducer system composed of a fixed-axis gear train and a planetary gear train. This achieves a reasonable layout design of the motor assembly 34 (specific structure not shown), the execution assembly 33 (specific structure not shown), and the drive controller (not shown) within a limited space. Simultaneously, through the design of several mechanical sealing structures, the module as a whole has a higher shell protection level than other joint drive modules for exoskeleton robots. Furthermore, this module also integrates a programmable ring-shaped colored light strip, enhancing human-machine interaction. It should be noted that the joint drive module design should be understood as an optional embodiment and not as a limitation of this invention patent. Any exoskeleton robot that adopts the technical solution provided in the invention patent application with publication number CN118721158A cited in this invention embodiment and uses it as the drive module for any joint of the exoskeleton robot (which may be the hip joint, knee joint, shoulder joint, elbow joint, etc.) can be considered to achieve the same technical effect as the embodiment of this invention in terms of the performance of the joint drive module.

[0072] Specifically, referring to Figures 5 and 6, the waist support module 2 includes a waist support 21, a silicone button 22, a button PCB 23, a button threaded frame 24, a button pressure plate 25, and a joint sealing pressure plate 26. The waist support 21 is divided into two symmetrical parts. Each waist support 21 part has a hollow tubular rod structure 21a, a joint drive module connection structure 21b, and a joint drive module baffle structure 21c. The hollow tubular rod structure 21a is used to accommodate the internal wiring of the exoskeleton robot, ensuring that the wiring is not exposed. The joint drive module connection structure 21b is used to connect and install the joint drive module 3, while the joint drive module baffle structure 21c is used to separate the output end 32 of the joint drive module 3 from the human hip, so that the output end 32 will not collide or squeeze with the human body during normal operation and rapid rotation, thereby preventing injury to the human body and playing a protective role.

[0073] Please refer to Figure 6. The waist rod module 2 includes a waist rod 21. The waist rod 21 has a hollow tubular rod structure 21a, a joint drive module connection structure 21b, and a joint drive module baffle structure 21c. The waist rod 21 can be integrally processed by carbon fiber mold or 3D aluminum alloy printing process (the integral processing process of the above-mentioned solution adopted in this invention has been verified by small-batch trial production. At present, there are waist rod parts for exoskeleton robots with similar structures and corresponding functions on the market, but there is no precedent for designing the three structural parts on the same waist rod part and using integral processing). It should also be noted that the structural form of the waist bar 21 should be understood as an optional embodiment rather than a limitation of this invention patent. The specific shape and size of the three functional structures included therein can have a variety of design options. For example, the cross-section of the hollow tubular rod structure 21a can be circular, square, or rectangular, etc., and the joint drive module baffle structure 21c can also be circular, elliptical, or square, etc. Regardless of the shape or size adopted, as long as the above three functional structures are designed and processed as a whole, and the design scheme that simplifies the overall structure and reduces the assembly process by integrating the parts, it is applicable to the scope of protection of this invention embodiment.

[0074] As shown in Figure 5-7, the joint drive module 3 is fixedly installed on the waist support module 2. Since the motor assembly 34, the driver PCB (not shown in the figure), and the button PCB 23 on the waist support module 2 all have electrical cables that need to be routed through the inside of the waist support 21 to the main controller 15 in the waist support structure module 1, a corresponding structural design is made at the mounting surface to meet the requirements of the high shell protection capability of the whole machine: First, a set of mounting joint surfaces are designed on the waist support module 2 and the drive module 3 respectively, namely the outer surface of the joint sealing plate 26 and the fixed mounting plane 31b. During installation, this set of joint surfaces will be pressed together as the screws are tightened. Second, in order to further achieve the sealing effect, a sealing groove 31a is designed in the pressed joint surface using the traditional mechanical static sealing method. The sealing operation at this joint surface is finally achieved by installing an O-ring in the sealing groove 31a and pressing it together by the joint surface.

[0075] Furthermore, while there are already solutions and corresponding mature exoskeleton robot products on the market that fix the joint drive module and the waist rod together, there is no precedent for a solution that specifically designs a sealing structure to improve protection capabilities. It should be noted that the sealing connection method of the waist rod module 2 and the joint drive module 3 proposed in this embodiment should be understood as an optional embodiment and not as a limitation of this patent. For exoskeleton robot products, the joint drive module can be fixedly connected with any waist rod, leg rod, arm rod, etc. with a hollow structure and internal wiring scheme, and the joint surface can also have any shape. As long as a solution of setting sealing grooves and O-rings at the joint surface is adopted, the same effect as the embodiment of this invention can be achieved.

[0076] Referring to Figures 5 and 6, each of the two symmetrically arranged waist bars 21 has two circular openings for installing silicone buttons 22. To avoid the opening structure affecting the overall protective performance of the device, a protective scheme is also designed here: the silicone buttons 22 with a waterproof outer edge are designed and installed on the inner wall of the cavity where the drive module connection structure 21b of the waist bar 21 is located from the inside to the outside. The protective effect can be achieved by pressing the waterproof edge with the raised structure tightly.

[0077] Specifically, since the silicone button 22 is closely attached to the button PCB 23, and the outer contour of the button PCB 23 is designed to match the contour of the waterproof edge of the silicone button 22, the waterproof edge of the silicone button 22 can be indirectly pressed by uniformly pressing the button PCB 23. Therefore, a button pressing plate 25 and a button threaded frame 24 are designed. Since it is not possible to directly machine threaded holes on the inner wall of the cavity where the drive module connection structure 21b is located, a solution is adopted to embed the threaded button threaded frame 24 into the inner wall of the cavity. If the waist rod 21 is 3D printed from aluminum alloy, the embedding and fixing method can be adhesive bonding. If carbon fiber is used, the button threaded frame 24 can be molded together with the inner wall of the cavity using a mold. Furthermore, by adopting the above structural solution, screws can be used to tighten the silicone button 22 and the button PCB 23 onto the button threaded frame 24 through the button pressing plate 25, thereby pressing the outer waterproof edge of the silicone button 22 onto the inner wall, thus achieving a protective effect. Setting buttons on the body of an exoskeleton robot is a common design practice, but most of them lack protective capabilities. It should be noted that the protection and installation methods of the above-mentioned buttons should be understood as an optional embodiment rather than a limitation of this invention. The silicone button 22, button PCB 23, and button threaded frame 24 can be of any shape. As long as the waterproof edges of the button PCB 23 and silicone button 22 are pressed together by tightening the screws, the method is consistent with the technical solution provided in the embodiment of this invention and can achieve the same effect.

[0078] Referring to Figures 1-4, this embodiment of the invention provides a symmetrical telescopic adjustment module 16. The symmetrical telescopic adjustment module 16 is installed inside the waist support structure module 1, with a set of symmetrically designed waist bar modules 2 fixedly connected to the left and right sides. This enables symmetrical telescopic adjustment of the left and right waist bars 21, allowing the exoskeleton of this embodiment to meet the wearing needs of people of different body types. For the specific structural principle and functional implementation of this module, please refer to the invention patent application with publication number CN116810764A. Furthermore, no adjustment module with a similar structure and function to the symmetrical telescopic adjustment module 16 provided in this embodiment of the invention has been found to be applied to currently available mature products or research prototypes. It should be noted that the telescopic adjustment scheme proposed in this embodiment of the invention should be understood as an optional embodiment and not a limitation of this patent. Any telescopic adjustment module applied to an exoskeleton robot product and having symmetrical telescopic adjustment of the left and right waist bars, as well as locking and button-press unlocking functions, can be considered to have the same technical effect as this embodiment of the invention.

[0079] Referring to Figure 9, an embodiment of the present invention provides a walking-assisted exoskeleton robot, whose leg module 4 includes a leg 41, a first connecting end (Figure number 41a), a second connecting end (Figure number 41b), a leg strap plate 42, a leg strap plate buckle 43, an elastic retaining ring for the shaft 44, and a pin 45. The leg bar 41 is manufactured using 3D aluminum alloy metal printing or carbon fiber mold processing technology. The leg bar 41 has a first connecting end (Figure No. 41a) and a second connecting end (Figure No. 41b). The second connecting end (Figure No. 41b) is hinged together with the output end 32 through a pin and forms a passive rotational degree of freedom, which is used to provide the wearer with a degree of freedom of movement when the thigh performs abduction and adduction movements. The first connecting end (Figure No. 41a) is hinged together with the leg strap plate 42 through a pin 45 and a shaft elastic retaining ring 44 and forms a passive rotational degree of freedom. This degree of freedom can compensate for the discomfort caused by the misalignment of the rotation center of the output end 32 with the projection position of the human hip joint in the sagittal plane. The leg strap plate buckle 43 is installed and connected to the leg strap plate 42 by inserting and locking and pressing to unlock and pull out. Both the leg strap plate buckle 43 and the leg strap plate 42 are made of plastic.

[0080] Referring to Figures 12 and 13, the leg strap 53 includes a strap fixing end 531, a strap adjusting end 532, and a sponge pad 533. The strap fixing end 531 is sewn and fixed to a certain point on the sponge pad 533. The strap adjusting end 532 is the narrower end of the sponge pad 533. The leg strap 53 is actually a series of different parts of a whole. The sponge pad 533 is wider and is used to contact the thigh and provide comfort when strapped. The leg strap plate 42 and the leg strap plate buckle 43 are each designed with the same strip-shaped opening structure. In order to achieve quick donning and doffing of the walking-assisting exoskeleton robot of this embodiment, the strap fixing end 531 and the strap adjusting end 532 are respectively passed through the strip-shaped opening on the leg strap plate 42 and the leg strap plate buckle 43 and are fixed to themselves in the opposite direction by Velcro. Based on the above structural design, when wearing this invention, the leg strap plate buckle 43, along with the strap adjustment end 532 fixed thereon, can be pressed and pulled out first. Next, the sponge pad 533 is wrapped around the thigh and reinserted into the leg strap plate 42. Finally, the strap adjustment end 532 is adjusted and tightened to achieve thigh restraint. When removing the garment, simply press and pull the leg strap plate buckle 43 out of the leg strap plate 42 again to release the thigh restraint, thus achieving the quick on / off function of the leg straps 53. It should be noted that the quick on / off solution for the leg straps proposed in this embodiment should be understood as an optional embodiment and not as a limitation of this invention. Any restraint design scheme applied to wearable exoskeleton robots that simultaneously has a similar leg strap plate, leg strap plate buckle, strap fixing end, strap adjustment end, and sponge pad can be considered to have the same technical effect as this embodiment.

[0081] Referring to Figure 11, the waist strap 52 includes an inner waist strap 521 and an outer waist strap 522. The outer waist strap 522 is made of embedded rigid material, such as PC, PP, or PVC. It is fixed to the joint drive module 3 (left), joint drive module (right), and waist support structure module 1 of the exoskeleton body by screws in the left joint fixation area 522a, the right joint fixation area 522b, and the waist fixation area 522c, respectively, which can achieve good stability during wear. The inner waist strap 521 is a flexible strap made of nylon fabric and filled with foam sponge pads. The inner waist strap 521 is attached to the inside of the outer waist strap 522 by Velcro, so that it can directly contact the wearer's waist and bring good wearing comfort. It should be noted that this design and fixing method of the waist strap should be understood as an optional embodiment rather than a limitation of the present invention patent. Any waist binding scheme applied to an exoskeleton robot, having a rigid external waist strap and a flexible internal waist strap and fixedly installed on the lower back and both sides of the hip joint, can be considered to have the same technical effect as the embodiment of the present invention.

[0082] The structure of the joint drive module in this invention is as follows: it includes a housing 35, a joint frame 36, a motor assembly 34, an execution assembly 33, a light strip assembly, and an encoder assembly.

[0083] The housing 35 is sealed and fastened to one side of the joint frame 36. A mounting portion 361 is formed on the side of the joint frame 36 facing the housing 35, and a gear sealing end cover 336 is sealed and fastened to the mounting portion 361. A motor mounting portion 367 and an output portion are formed on the surface of the joint frame 36 opposite to the housing 35. The motor assembly 34 includes a motor end cover 341. The motor end cover 341 is fastened to the side of the motor mounting portion 367 opposite to the housing 35. The actuating assembly 33 includes an output sealing end cover 3311. The output sealing end cover 3311 is sealed and fastened to the side of the output portion opposite to the housing 35. A first receiving space is formed between the housing 35 and the gear sealing end cover 336. A second receiving space is formed between the gear sealing end cover 336 and the joint frame 36. A third receiving space is formed between the gear sealing end cover 336 and the motor end cover 341. A fourth receiving space is formed between the gear sealing end cover 336 and the output sealing end cover 3311. The third and fourth receiving spaces communicate through the second receiving space. The motor assembly 34 is disposed within the second and third receiving spaces. The actuation assembly 33 is disposed within the second and fourth receiving spaces. A first sealing structure is provided on the mating surface between the joint frame 36 and the housing 35 for sealing the first receiving space. A second sealing structure is provided at the mating surface between the mounting part 361 and the gear sealing end cap 336. A third sealing structure is provided between the output part and the output sealing end cap 3311. The second sealing structure cooperates with the third sealing structure to seal the second and fourth receiving spaces. The joint frame 36 has a fixed mounting plane 363. The fixed mounting plane 363 serves as a mating surface when the electric joint device is connected to the exoskeleton robot body structure. A fourth sealing structure is provided on the fixed mounting plane 363. The fourth sealing structure cooperates with the exoskeleton robot body structure to seal the third receiving space.

[0084] Specifically, the outer casing 35 can be made of plastic. After the outer casing 35 is fastened to the joint frame 36, the two can be fixed with screws. The first sealing structure includes an outer casing mounting sealing groove 365 and a first sealing ring. The outer casing mounting sealing groove 365 is formed on the mating surface where the joint frame 36 and the outer casing 35 contact. The first sealing ring is disposed within the outer casing mounting sealing groove 365. The first sealing structure is used for sealing between the outer casing 35 and the joint frame 36. The sealing between the outer casing 35 and the joint frame 36 is achieved through the first sealing structure, thus achieving sealed protection for the electronic components inside the electric joint assembly. The motor assembly 34 includes a motor end cover 341, a motor stator 342, a motor shaft 343, and a motor rotor 344. The motor stator 342 and the motor rotor 344 are both disposed within the third receiving space. The two ends of the motor shaft 343 are located in the second receiving space and the third receiving space, respectively, and are mounted on the motor end cover 341 and the joint frame 36 by bearings to achieve axial positioning. The motor stator 342 is fixedly connected to the motor mounting part 367. The motor rotor 344 is fixedly connected to the motor shaft 343, and after connection, it is set between the motor stators 342.

[0085] Specifically, the motor stator 342 is bonded and fixed to the joint frame 36 with high-strength structural adhesive and further secured with several screws. The motor shaft 343 is also tightly bonded and fixed to the motor rotor 344 with high-strength structural adhesive. The motor end cover 341 is axially fixed to the joint frame 36 with screws and two deep groove ball bearings. The actuating assembly 33 also includes: a first gear 332, a second gear 334, a third gear 337, an internal gear ring 338, planetary gears 339, a planetary carrier 3310, an output end cover pressure plate 3313, and an output connector 331. A portion of the first gear 332, the second gear 334, and the third gear 337 is located within the second receiving space. The remaining portion of the third gear 337, as well as the internal gear ring 338, the planetary gears 339, and the planetary carrier 3310, are all located within the fourth receiving space. The first gear 332 includes the first gear 332. The second gear 334 includes the second gear 334. The portions of the first gear 332, the second gear 334, and the third gear 337 located within the second receiving space mesh sequentially. The internal gear ring 338 is fixedly connected to the joint frame 36. Multiple planetary gears 339 are present. Each planetary gear 339 meshes between the portions of the internal gear ring 338 and the third gear 337 located within the fourth receiving space. The planet carrier 3310 is coaxially arranged with the third gear 337. The axis of rotation of each planetary gear 339 is rotatably connected to the planet carrier 3310, allowing the planetary gear 339 to rotate while simultaneously driving the planet carrier 3310 to rotate. The output end cover pressure plate 3313 is mounted on the output sealing end cover 3311 and cooperates with the gear sealing end cover 336 to achieve axial positioning of the third gear 337 and the planet carrier 3310. The output connector 331 is mounted on the side of the planet carrier 3310 facing away from the third gear 337 and is used to connect the planet carrier 3310 to the exoskeleton robot.

[0086] Specifically, the first gear 332 and the second gear 334 are both single-layer spur gears. The third gear 337 is a double gear, with the portion of its teeth with a larger pitch circle diameter (located in the second receiving space) forming a first-stage fixed-axis reduction gear system with the first gear 332 and the second gear 334. The portion of the third gear 337 with a smaller pitch circle diameter (located in the fourth receiving space) participates in the transmission process as the input sun gear of the second-stage planetary reduction gear system. That is, the first gear 332 is coaxially connected to the motor shaft 343, the second gear 334 meshes with the first gear 332, the portion of the third gear 337 with a larger pitch circle diameter meshes with the second gear 334, and the portion of the third gear 337 with a smaller pitch circle diameter meshes with the planet gear 339, which in turn meshes with the external gear ring. More specifically, the axle of planetary gear 339 passes through planet carrier 3310 and is rotatably connected to planet carrier 3310, so that when planetary gear 339 revolves around third gear 337, it drives planet carrier 3310 to rotate through the axle of planetary gear 339.

[0087] It should be noted that the above structural design scheme should be understood as an optional embodiment rather than a limitation on the application. Any electric joint assembly for exoskeleton robots that has the same structural layout (including the same gear reduction mechanism, the same type of motor, the same housing layout, the same external mounting method, etc.) as the electric joint assembly described in the embodiments of the present invention can be considered to have the same technical effect as the embodiments of the present invention.

[0088] The second sealing structure includes a gear sealing groove 364 and a second sealing ring. The gear sealing groove 364 is formed on the mating surface where the mounting portion 361 contacts the gear sealing end cover 336. The second sealing ring is disposed within the gear sealing groove 364. The second sealing structure is used for sealing between the gear sealing end cover 336 and the mounting portion 361.

[0089] Specifically, the mounting portion 361 is a structure composed of three intersecting circular grooves. These three circular grooves respectively accommodate the first gear 332, the second gear 334, and the third gear 337, without hindering the meshing between them. A gear sealing groove 364 is formed around the side of the mounting portion 361 facing the housing 35, i.e., on the mating surface where the mounting portion 361 contacts the gear sealing cover. When the second sealing ring is inserted into the gear sealing groove 364, and the gear sealing end cover 336 is engaged with the mounting portion 361, a seal is formed between the mounting portion 361 and the gear sealing end cover 336. The gear sealing end cover 336 can be fixed to the mounting portion 361 with screws, or it can be fixed to the joint frame 36 via the housing 35, and then pressed onto the mounting portion 361 by the housing 35. The third sealing structure includes an output sealing groove 3312 and a third sealing ring. The output sealing groove 3312 is formed around the periphery of the output sealing end cover 3311. The third sealing ring is disposed within the output sealing groove 3312. The third sealing structure is used for sealing between the output sealing end cover 3311 and the output section. Specifically, the output section is a hollow cylinder. After the gear sealing end cover 336, the third gear 337, the planetary gear 339, the planet carrier 3310, the output sealing end cover 3311, and the output end cover pressure plate 3313 are all installed in place, a bearing is provided between the gear sealing end cover 336 and the third gear 337, a bearing is provided between the lower end of the third gear 337 and the planet carrier 3310, and a bearing is provided between the planet carrier 3310 and the output sealing end cover 3311. The output end cover pressure plate 3313 restricts the axial displacement of the bearing between the planet carrier 3310 and the output sealing end cover 3311, thereby restricting the axial displacement of the planet carrier 3310. The gear sealing end cover 336 restricts the axial displacement of the bearing between the gear sealing end cover 336 and the third gear 337, thereby restricting the axial displacement of the third gear 337. Ultimately, the axial positioning of the third gear 337 and the planetary carrier 3310 is achieved, meaning that the third gear 337 and the planetary carrier 3310 can only rotate around their own axes and cannot move along their own axes. Static sealing of the two-stage gear reduction mechanism in the actuator 33 is achieved through the second and third sealing structures. The fourth sealing structure includes an external mounting sealing groove 362 and a fourth sealing ring. The external mounting sealing groove 362 is formed on the fixed mounting plane 363. The fourth sealing ring is disposed within the external mounting sealing groove 362. The fourth sealing structure is used for sealing between the joint frame 36 and the exoskeleton robot body structure. Specifically, the fixed mounting plane 363 serves as a mounting mating surface when connecting the exoskeleton robot body structure, suitable for connecting the external connecting structure 38. The external connecting structure 38 can be a tubular rod 382 with a hollow structure, in which the motor assembly 34 is located within the inner cavity of the connected tubular rod 382, ​​which is fixed to the joint frame 36 by screws and a pressure plate structure 381.Therefore, when the mounting sealing groove on the fixed mounting plane 363 is used in conjunction with the fourth sealing ring, a sealing protection can be achieved at this location. The fourth sealing structure seals the fixed mounting plane 363, which serves as the mating surface when the electric joint assembly is connected to the exoskeleton robot's body structure.

[0090] It should be noted that the sealing scheme when the electric joint assembly is connected to the exoskeleton body structure should be understood as an optional embodiment rather than a limitation of the present invention. The external mounting schematic shown in the figure has a pressure plate structure 381 and a hollow tubular rod 382. They can have any specific structural shape. As long as they have a similar internal hollow tubular structure and pressure plate structure 381, and can cover the motor assembly 34 entirely on the joint frame 36, they can be considered to have the same technical effect as the embodiment of the present invention.

[0091] In summary, the first to fourth sealing structures achieve overall sealing of the electric joint assembly, enabling it to meet at least the IP54 protection level, thus providing high protection for the electric joint assembly. The motor assembly 34 also includes a motor control module 37, whose control functions can be integrated into the PCB board for controlling the motor's operating parameters. The motor control module 37 is located within the first receiving space, specifically between the housing 35 and the gear sealing end cover 336. The light strip assembly includes an LED indicator strip and a light strip control module 352, as well as a light guide plate 351. The LED indicator strip is fixedly connected to the side of the housing 35 facing away from the joint frame 36. The light strip control module 352 can be integrated into the PCB board. The light strip control module 352 communicates with the LED indicator strip and with the motor control module 37. The light strip control module 352 is located within the first receiving space. The light strip control module 352 can be bolted to the housing 35, or installed using adhesive, snap-fit, or other suitable methods. Specifically, the LED indicator strip is tightly bonded to the housing 35 using adhesive. Rigorous testing is required during the bonding process to ensure the housing 35's airtightness. The light guide plate 351 is located on the outside of the LED indicator strip and is firmly bonded to the housing 35 using structural adhesive. The power supply and signal lines of the LED strip control module 352 are connected to the motor control module 37 via ribbon cables. The LED strip control module 352 and the motor control module 37 can be connected to a single main control module for simultaneous coordination and control of both modules. The LED indicator strip can be ring-shaped, with its center coinciding with the rotation axis of the planetary carrier 3310. Through the LED strip control module 352, the color and flashing mode of the LED indicator strip can be freely programmed and controlled, thereby enhancing the human-machine interaction characteristics of the exoskeleton robot.

[0092] It should be noted that the design, installation, and wiring scheme of this ring indicator light strip for human-computer interaction should be understood as an optional embodiment and not as a limitation of the present invention. Any electric joint device for exoskeleton robots that has the same ring indicator light strip layout, the same display function, and the same installation method as the electric joint assembly described in the embodiments of the present invention can be considered to have the same technical effect as the embodiments of the present invention. In addition, the high-protection electric joint device for exoskeleton robots of the present invention also includes an encoder assembly. The encoder assembly includes a first magnet 333, a second magnet 335, a first Hall sensor probe 371, and a second Hall sensor probe 372. The first magnet 333 is coaxially disposed on the first gear 332. The second magnet 335 is coaxially disposed on the second gear 334. The first Hall sensor probe 371 and the second Hall sensor probe 372 are both disposed in the first receiving space and are respectively opposite to the first magnet 333 and the second magnet 335, thereby obtaining the single-turn position information of the first gear 332 and the second gear 334 respectively. Specifically, the first magnet 333 and the second magnet 335 belong to two different encoders. The corresponding first Hall sensor probe 371 and second Hall sensor probe 372 are mounted on the motor control module 37, positioned above the first magnet 333 and the second magnet 335, respectively. By pre-calibrating the relationship between the absolute position difference of a single turn of the first gear 332 and the second gear 334 and the rotation angle of the output connector 331 (typically less than 360° on an exoskeleton), the current position of the output connector 331 can be determined in real time by acquiring the single-turn position information of the first gear 332 and the second gear 334. Unlike the encoder setup scheme in common robot electric joint assemblies, this scheme does not require separate power supplies for the two encoders, nor does it require additional external mechanical structures. It should be noted that the dual encoder configuration in the electric joint assembly of this exoskeleton robot should be understood as an optional embodiment rather than a limitation of the present invention. The mounting method of the encoder magnet, such as adhesive bonding or interference fit, and whether the gear is a spur gear or a helical gear, are not restricted. As long as the encoder position layout is the same as that of the embodiment of the present invention, it can be considered to have the same technical effect as the embodiment of the present invention.

[0093] In summary, the joint drive module of this invention achieves sealing between the outer shell 35 and the joint frame 36 through the first sealing structure, thus providing sealed protection for the electronic components inside the electric joint assembly. The second and third sealing structures achieve static sealing of the two-stage gear reduction mechanism in the execution component 33. The fourth sealing structure seals the fixed mounting plane 363, which serves as the mating surface when the electric joint assembly connects to the exoskeleton robot's body structure. This achieves overall sealing of the high-protection electric joint device for exoskeleton robots, giving it an overall protection capability of at least IP54. Furthermore, the high-protection electric joint device for exoskeleton robots of this invention features an LED strip assembly on the outer shell 35. The color and flashing mode of the LED indicator strip can be freely programmed and controlled via the LED strip control module 352, the motor control module 37, or the main control module, enhancing the human-machine interaction characteristics of the exoskeleton robot. The joint drive module provided by this invention employs a dual-encoder design, eliminating the need for separate power supplies for the two encoders and additional external mechanical structures, resulting in a compact layout and high reliability for the high-protection electric joint device for exoskeleton robots.

[0094] The above are merely preferred embodiments of the present invention and are not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A mobility-assisted exoskeleton robot, characterized in that, The device includes: a lumbar support structure module, a lumbar support module, a joint drive module, a leg support module, and a binding system. The binding system is mounted on the lumbar support structure module and is used to stably wear the lumbar support structure module on the wearer's body and to fix it to the wearer's legs. The lumbar support module is mounted on the lumbar support structure module, and the joint drive module is fixedly mounted on the lumbar support module. The lumbar support module provides installation space for the joint drive module. The leg support module is connected to the power end of the joint drive module, and can output walking assistance and transmit the assistance to the wearer's legs through the leg support module. The lumbar support module includes two sets of lumbar support module assemblies symmetrically arranged relative to the lumbar support structure module. Each lumbar support module assembly includes a lumbar support component, which includes a hollow tubular rod structure designed according to the shape of the human waist, a joint drive module connection structure for fixing and installing the joint drive module, and a joint drive module baffle structure. The joint drive module baffle structure is provided corresponding to the power end of the joint drive module and is used to isolate the power end from the wearer. The lumbar support component is made of carbon fiber or metal and is a one-piece structure.

2. The mobility-assisted exoskeleton robot according to claim 1, characterized in that, The joint drive module includes: a housing, a joint frame, a motor assembly, and an actuator assembly; wherein, the housing is sealed and fastened to one side of the joint frame; a mounting portion is formed on the side of the joint frame facing the housing; a gear sealing end cover is sealed and fastened to the mounting portion; a motor mounting portion and an output portion are formed on the surface of the joint frame opposite to the housing; the motor assembly includes a motor end cover; the motor end cover is fastened to the side of the motor mounting portion opposite to the housing; the actuator assembly includes an output sealing end cover; the output sealing end cover is sealed and fastened to the side of the output portion opposite to the housing; a first receiving space is formed between the housing and the gear sealing end cover; a second receiving space is formed between the gear sealing end cover and the joint frame; a third receiving space is formed between the gear sealing end cover and the motor end cover; a fourth receiving space is formed between the gear sealing end cover and the output sealing end cover; the third receiving space and the fourth receiving space... The storage space is connected through the second storage space; the motor assembly is disposed within the second and third storage spaces; the execution assembly is disposed within the second and fourth storage spaces; a first sealing structure is provided on the mating surface between the joint frame and the outer shell for sealing the first storage space; a second sealing structure is provided at the mating surface between the mounting part and the gear sealing end cap; a third sealing structure is provided between the output part and the output sealing end cap; the second sealing structure is used to cooperate with the third sealing structure to seal the second and fourth storage spaces; the joint frame has a fixed mounting plane; the fixed mounting plane is used as a mating surface when the electric joint device is connected to the exoskeleton robot body structure; a fourth sealing structure is provided on the fixed mounting plane; the fourth sealing structure is used to cooperate with the exoskeleton robot body structure to seal the third storage space.

3. The mobility-assisting exoskeleton robot according to claim 2, characterized in that, The motor assembly includes a motor end cover, a motor stator, a motor shaft, and a motor rotor; the motor stator and the motor rotor are both disposed within the third accommodating space; the two ends of the motor shaft are respectively located within the second accommodating space and the third accommodating space, and are mounted on the motor end cover and the joint frame by bearings to achieve axial positioning; the motor stator is fixedly connected to the motor mounting part; the motor rotor is fixedly connected to the motor shaft, and after connection, it is disposed between the motor stator.

4. The mobility-assisted exoskeleton robot according to claim 3, characterized in that, The actuating component further includes: a first gear, a second gear, a third gear, an internal gear ring, planetary gears, a planet carrier, and an output end cover plate; a portion of the first gear, the second gear, and the third gear are located within the second receiving space; the other portion of the third gear, as well as the internal gear ring, the planetary gears, and the planet carrier, are all disposed within the fourth receiving space; the first gear includes a first gear; the second gear includes a second gear; the portions of the first gear, the second gear, and the third gear located within the second receiving space mesh sequentially; the internal gear ring is fixedly connected to the joint frame; there are multiple planetary gears; each planetary gear meshes with... The internal gear ring and the third gear are located between the portions within the fourth accommodating space; the planetary carrier is coaxially arranged with the third gear; the rotation shaft of each planetary gear is rotatably connected to the planetary carrier, so that the planetary gear can drive the planetary carrier to rotate while rotating on its own; the output end cover pressure plate is installed on the output sealing end cover and is used to cooperate with the gear sealing end cover to realize the axial positioning of the third gear and the planetary carrier; the power end of the execution component is provided with an output connector; the output connector is installed on the side of the planetary carrier away from the third gear and is used to connect the planetary carrier to the exoskeleton robot; the output connector is movably connected to the leg module.

5. The mobility-assisted exoskeleton robot according to claim 1, characterized in that, The hollow tubular rod structure is a hollow rod structure used for cable passage; The joint drive module connection structure is a shell structure with an installation space. The joint drive module can be fixedly installed in the installation space. An assembly window is provided on the joint drive module connection structure. A joint sealing pressure plate extending inward parallel is provided on the outer edge of the assembly window. The joint sealing pressure plate is used to press the joint drive module. A sealing groove structure is provided on the joint drive module to achieve static sealing with the joint drive module connection structure.

6. The mobility-assisted exoskeleton robot according to claim 1, characterized in that, The joint drive module includes control buttons for controlling its operation. A button PCB is provided below the control buttons. When the button PCB is pressed by the control buttons, it sends a corresponding operation command to the joint drive module. The joint drive module connection structure is provided with mounting holes for installing the control button, and a waterproof edge structure is provided on one inner end of the control button. The button PCB presses the waterproof edge structure of the control button onto the inner wall of the joint drive module connection structure through a button pressing plate.

7. The mobility-assisted exoskeleton robot according to claim 6, characterized in that, A button threaded frame is fixedly provided on the inner wall of the joint drive module connection structure. The control button and the button PCB are pressed onto the button threaded frame by the button pressing plate, and the button pressing plate is bolted to the button threaded frame.

8. The mobility-assisted exoskeleton robot according to claim 1, characterized in that, The waist support structure module includes an inner shell structure and an outer shell structure, which are sealed together. A battery unit, a main controller, and a symmetrical telescopic adjustment module are disposed within the waist support structure module. The symmetrical telescopic adjustment module includes an adjustable telescopic end, and the waist support module assembly is fixedly disposed on the telescopic end. The symmetrical telescopic adjustment module also includes a telescopic adjustment button located at the upper end of the waist support structure module. The waist support structure module has a battery compartment for installing the battery unit, and a battery compartment opening is provided at the lower end of the waist support structure module. The battery unit is inserted into the battery compartment from the bottom of the waist support structure module, and a battery compartment cover is provided on the battery compartment opening. The hollow tubular rod structure is filled with a rubber plug to prevent moisture from entering. The main controller has an integral sealed structure.

9. The mobility-assisted exoskeleton robot according to claim 4, characterized in that, It also includes an encoder assembly, which includes a first magnet, a second magnet, a first Hall sensor probe, and a second Hall sensor probe. The first magnet is coaxially mounted on the first gear; the second magnet is coaxially mounted on the second gear; The first Hall sensor probe and the second Hall sensor probe are both disposed within the first accommodating space and are respectively opposite to the first magnet and the second magnet, thereby obtaining the single-turn position information of the first gear and the second gear respectively.

10. The mobility-assisted exoskeleton robot according to claim 2, characterized in that, The fourth sealing structure includes an external mounting sealing groove and a fourth sealing ring; The external mounting sealing groove is formed on the fixed mounting plane, and the fourth sealing ring is disposed in the external mounting sealing groove; The fourth sealing structure is used for sealing between the articulated frame and the exoskeleton robot body structure.

11. The mobility-assisted exoskeleton robot according to claim 2, characterized in that, The second sealing structure includes a gear sealing groove and a second sealing ring; The gear sealing groove is formed on the mating surface where the mounting part contacts the gear sealing end cover; The second sealing ring is disposed within the gear sealing groove; The third sealing structure includes an output sealing groove and a third sealing ring; The output sealing groove is formed on the periphery of the output sealing end cover; the third sealing ring is disposed in the output sealing groove.

12. The mobility-assisted exoskeleton robot according to claim 1, characterized in that, The binding system includes a waist strap, which comprises an outer waist strap and an inner waist strap. The outer waist strap is made of a rigid material and is used to stabilize the waist support structure module. The inner waist strap is a flexible strap made of nylon fabric and filled with foam padding. The inner waist strap is attached to the inside of the outer waist strap via Velcro. The inner waist strap is in direct contact with the wearer's waist and is used to improve wearing comfort.

13. The mobility-assisted exoskeleton robot according to claim 12, characterized in that, The binding system also includes leg straps, each consisting of a leg strap plate and a leg strap plate buckle. The leg strap plate and the leg strap plate buckle are interlocked and can be pressed out and released. Both the leg strap plate and the leg strap plate buckle are made of plastic. Each leg strap plate and the leg strap plate buckle has an identical strip-shaped opening structure for securing the leg strap. The leg strap consists of nylon fabric straps, sponge padding, and Velcro, providing good restraint for the wearer's thighs.

14. The mobility-assisted exoskeleton robot according to claim 1, characterized in that, The leg bar module includes a leg bar, a first connecting end, and a second connecting end. The second connecting end is hinged to the power output end of the joint drive module via a pin, forming a passive rotational degree of freedom, which provides the wearer with a degree of freedom of movement when the thigh performs abduction and adduction movements. The first connecting end is hinged to the leg strap plate of the binding system via a pin, forming a passive rotational degree of freedom, which is used to compensate for the discomfort caused by the misalignment of the rotation center of the power output end with the projection position of the human hip joint in the sagittal plane.

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