Exoskeleton device

Abstract

An exoskeleton device, comprising: a waist module (1), a first leg module (2), a second leg module (3), and a dynamic control module (4), wherein the waist module (1) is rotatably connected to the first leg module (2) and the second leg module (3), respectively; the dynamic control module (4) comprises an environment recognition assembly (41) and a dynamic controller (42); the environment recognition assembly (41) is located on at least one of the first leg module (2) and the second leg module (3) and is in communication connection with the dynamic controller (42); and the dynamic controller (42) is electrically connected to at least one of the waist module (1), the first leg module (2) and the second leg module (3).

Description

Exoskeleton equipment

[0001] This application claims priority to Chinese patent application No. 202411560675.1, filed on November 4, 2024, entitled "Exoskeleton Device", the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to the field of exoskeleton technology, and in particular to an exoskeleton device. Background Technology

[0003] Mechanical exoskeletons, also known as powered exoskeletons or exoskeleton devices, are wearable robotic devices constructed from a high-strength frame. These devices provide additional power for limb movement. Exoskeletons worn on the lower limbs are commonly used in medical and outdoor activities.

[0004] In related technologies, exoskeleton devices suitable for lower limb wear typically adjust their operating state according to a preset program or by using the reaction force provided by the human leg movement. However, the autonomous control capability of exoskeleton devices is insufficient.

[0005] Public content

[0006] This application provides an exoskeleton device, which includes: a waist module, a first leg module, a second leg module, and a dynamic control module;

[0007] The waist module is rotatably connected to the first leg module and the second leg module, respectively;

[0008] The dynamic control module includes an environment recognition component and a dynamic controller;

[0009] The environmental recognition component is located on at least one of the first leg module and the second leg module and is communicatively connected to the dynamic controller; the dynamic controller is electrically connected to at least one of the waist module, the first leg module and the second leg module.

[0010] The exoskeleton device of this application has a dynamic control module, wherein the environmental recognition component is arranged on the first leg component and / or the second leg component, which can collect environmental information around the device in real time, such as terrain features and the presence of obstacles. This environmental information is sent to the dynamic controller, which determines the assistance mode of the exoskeleton device based on the environmental information. Since the environmental recognition component and the dynamic controller collect and control data in real time, the exoskeleton device can respond autonomously when the environment changes and select the assistance mode most suitable for the current environment, thereby improving the work adaptability, flexibility and user comfort of the exoskeleton device in different environmental scenarios. When an emergency occurs (such as the sudden appearance of an obstacle), the exoskeleton device can respond quickly and automatically switch to the corresponding assistance mode to avoid accidents, enabling the exoskeleton device to operate more smoothly and safely in complex environments. Attached Figure Description

[0011] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0012] Figure 1 is a schematic diagram of the structure of the exoskeleton device provided in an embodiment of this application;

[0013] Figure 2 is a control logic diagram of the exoskeleton device provided in an embodiment of this application;

[0014] Figure 3 is a structural schematic diagram of the lower leg assembly provided in an embodiment of this application;

[0015] Figure 4 is a structural side view of the lower leg assembly provided in an embodiment of this application;

[0016] Figure 5 is a schematic diagram showing the connection between the environmental recognition component and the lower leg component provided in an embodiment of this application;

[0017] Figure 6 is a schematic diagram of the connection between the limiting bracket and the environmental recognition component provided in an embodiment of this application;

[0018] Figure 7 is a control logic diagram of an exoskeleton device provided in another embodiment of this application;

[0019] Figure 8 is a control logic diagram of an exoskeleton device provided in another embodiment of this application;

[0020] Figure 9 is a schematic diagram of the thigh assembly provided in an embodiment of this application;

[0021] Figure 10 is a structural schematic diagram of the lower leg assembly provided in an embodiment of this application.

[0022] The reference numerals in the figure represent: 1. Waist module; 11. Hip joint actuator; 1101. First axis; 12. Backrest assembly; 13. Internal sensor; 2. First leg module; 21. Thigh assembly; 211. Thigh link; 212. Thigh strap; 22. Knee joint actuator; 23. Lower leg assembly; 231. Lower leg link; 2311. First link; 2312. Second link; 2313. Elastic element; 232. Lower leg strap; 233. Limiting bracket; 2331. Base; 2332. Limiting part; 23321. Top limiting plate; 23322. Bottom limiting plate; 23323. Limiting space; 24. Thigh lateral swing hinge; 2401. Second axis; 25. Thigh rotation hinge; 2501. Third axis; 26. Lower leg lateral swing hinge; 2601. Fourth axis; 27. Lower leg rotation hinge; 2701. Fifth axis; 3. Second leg module; 4. Dynamic control module; 41. Environmental recognition component; 42. Dynamic controller. Detailed Implementation

[0023] In related technologies, exoskeleton devices utilize pressure sensors, angle sensors, and other sensors to monitor the movement of human joints and limbs. These sensors can capture the wearer's posture and joint status; for example, only after capturing the pressure feedback from the wearer lifting their leg can the device determine that the wearer's movement intention is to lift their leg. The exoskeleton device only possesses passive adaptive capabilities. Its operation is highly dependent on the wearer's leg reaction force feedback and lacks active adaptive capabilities.

[0024] Therefore, this application provides an exoskeleton device that can autonomously respond to environmental changes and select the most suitable assistance mode for the current environment, thereby improving the exoskeleton device's adaptability, flexibility, and user comfort in different environmental scenarios.

[0025] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described in further detail below with reference to the accompanying drawings.

[0026] Referring to Figures 1 and 2, this embodiment provides an exoskeleton device, which includes: a waist module 1, a first leg module 2, a second leg module 3, and a dynamic control module 4.

[0027] The waist module 1 is rotatably connected to the first leg module 2 and the second leg module 3.

[0028] The dynamic control module 4 includes an environment identification component 41 and a dynamic controller 42; the environment identification component 41 is located on at least one of the first leg module 2 and the second leg module 3 and is communicatively connected to the dynamic controller 42; the dynamic controller 42 is electrically connected to at least one of the waist module 1, the first leg module 2 and the second leg module 3.

[0029] The exoskeleton device of this embodiment has a dynamic control module 4, wherein the environment recognition component 41 is arranged on the first leg component and / or the second leg component, which can collect environmental information around the device in real time, such as terrain features and whether there are obstacles. This environmental information is sent to the dynamic controller 42, which determines the assistance mode of the exoskeleton device based on the environmental information. Since the environment recognition component 41 and the dynamic controller 42 collect and control in real time, the exoskeleton device can respond autonomously when the environment changes and select the assistance mode most suitable for the current environment, thereby improving the work adaptability, flexibility and comfort of the exoskeleton device in different environmental scenarios.

[0030] When unexpected situations occur (such as the sudden appearance of obstacles), the exoskeleton device can respond quickly and automatically switch to the appropriate assistance mode to avoid accidents, enabling the exoskeleton device to operate more smoothly and safely in complex environments.

[0031] In some embodiments, the exoskeleton device is configured such that the environmental recognition component 41 collects surrounding environmental information in real time, the dynamic controller 42 receives the environmental information, and determines the assistance mode of at least one of the waist module 1, the first leg module 2, and the second leg module 3 based on the environmental information.

[0032] In some possible implementations, the environmental identification component 41 includes at least one sensor, which can collect environmental information based on technologies such as image acquisition, video acquisition, infrared imaging, ultrasonic radar, microwave radar, infrared ranging, and laser ranging.

[0033] For example, in this embodiment, environmental information includes, but is not limited to, terrain features (e.g., flat ground, steps, ramps), the presence of obstacles, the size of obstacles, etc. Any environmental factor that can cause the wearer to change their movement state may be the object of collection by the above-mentioned environmental recognition component 41.

[0034] In some possible implementations, the exoskeleton device includes a main control board that integrates the power supply and control functions of various electrical components. In this embodiment, the dynamic controller 42 can be integrated with the main control board of the exoskeleton device, serving as one of the electrical components on the main control board. Alternatively, the dynamic controller 42 can be independent of the main control board and located independently within the exoskeleton device. Furthermore, the relevant functions of the dynamic controller 42 can be integrated into the control chip of the main control board, utilizing the main control board's control chip to achieve dynamic control.

[0035] In some possible implementations, the dynamic controller 42 can be electrically connected to one of the waist module 1, the first leg module 2, and the second leg module 3, or it can be connected to two of them, performing dynamic control only on the module electrically connected to it; or, the dynamic controller 42 can be electrically connected to all three modules simultaneously, enabling coordinated dynamic control of the three modules.

[0036] In other possible implementations, the assist modes of the waist module 1, the first leg module 2, and the second leg module 3 include, but are not limited to, normal flat ground mode, flat ground stride mode, stair mode, ramp mode, obstacle avoidance mode, etc. The normal flat ground mode assists the wearer in normal walking motion when facing a flat surface. The flat ground stride mode assists the wearer in increasing stride length when facing uneven surfaces such as potholes. The stair mode assists the wearer in alternating leg lifts and knee bends when facing stairs.

[0037] When a wearer wearing the exoskeleton device of this embodiment approaches a step in the normal flat ground mode, the environmental recognition component 41 detects the step in front and transmits the corresponding environmental information to the dynamic controller 42. The dynamic controller 42 can send a command to the waist module 1, the first leg module 2 and the second leg module 3 to switch to the step mode based on this environmental information. The waist module 1, the first leg module 2 and the second leg module 3 respond to the command and switch from the normal flat ground mode to the step mode, and coordinate their work according to the preset program of the step mode to actively adapt to the wearer's movement state of going up and down the steps, thereby realizing adaptive walking assistance and improving the wearer's walking safety and comfort.

[0038] Referring to Figure 1, in some embodiments, the first leg module 2 and the second leg module 3 respectively include a thigh assembly 21, a knee joint actuator 22 and a lower leg assembly 23 arranged in series; at least one of the thigh assembly 21 and the lower leg assembly 23 is provided with an environmental recognition component 41.

[0039] With the above arrangement, when the first leg module 2 and the second leg module 3 have thigh component 21 and calf component 23 respectively, the environmental recognition component 41 can be arranged on the thigh component 21 and calf component 23 respectively, which facilitates the collection of environmental information by the environmental recognition component 41.

[0040] In some possible implementations, the first leg module 2 and the second leg module 3 may also only include the thigh component 21, with the environmental recognition component 41 arranged on the thigh component 21.

[0041] For example, the specific location of the environment recognition component 41 on the thigh component 21 or the lower leg component 23 can also have various different schemes. For instance, when the environment recognition component 41 is arranged on the thigh component 21, the environment recognition component 41 can be close to the top of the thigh component 21, close to the bottom of the thigh component 21, or located in the middle of the thigh component 21. As another example, when the environment recognition component 41 is arranged on the lower leg component 23, the environment recognition component 41 can be close to the top of the lower leg component 23, close to the bottom of the lower leg component 23, or located in the middle of the lower leg component 23.

[0042] As shown in Figure 3, in some embodiments, when the lower leg assembly 23 is provided with an environmental recognition component 41, the environmental recognition component 41 is located on the outer side of the lower leg assembly 23 facing away from the human leg, and the environmental recognition component 41 can collect environmental information under the feet and in front of the human body.

[0043] By placing the lower leg component 23 on the outside of the lower leg component 23 facing away from the human leg, no other structures are placed around the environmental recognition component 41, so the environmental recognition component 41 can have a better field of view. The environmental recognition component 41 is located on the outside of the lower leg component 23, which can also prevent the wearer's clothing, backpack, etc. from blocking it, so that it can accurately collect the surrounding environmental information.

[0044] As shown in Figure 4, in some embodiments, the environmental recognition component 41 is tilted toward the front of the human body to collect environmental information from the feet of the human body to the target area in front.

[0045] With the above arrangement, the environmental recognition component 41 is tilted and can collect environmental information from the feet to the front of the human body, so as to make adaptive adjustments in advance to environmental changes.

[0046] For example, the target range mentioned above is 0.3-0.6 meters. That is, the environmental recognition component 41 can collect environmental information within a range of 0.3 meters from the feet of a person to the front, or it can collect environmental information within a range of 0.6 meters from the feet of a person to the front.

[0047] As shown in Figures 3 and 4, in some embodiments, the lower leg assembly 23 includes a lower leg link 231 and a lower leg strap 232; the lower leg link 231 is arranged vertically along the human leg, the lower leg strap 232 is located on the inner side of the lower leg link 231 near the human leg, and the environmental recognition component 41 is located on the outer side of the lower leg link 231 away from the human leg.

[0048] With the above arrangement, the lower leg assembly 23 is positioned on the human leg using the lower leg connecting rod 231 and secured to the lower leg using the lower leg strap 232, thus providing assistance to the lower leg. The environmental recognition component 41 is positioned on the outer side of the lower leg connecting rod 231, away from the human leg, providing a better field of view for data acquisition. Furthermore, its installation is simple, facilitating maintenance and upkeep.

[0049] Referring to Figure 5, in some embodiments, the lower leg assembly 23 further includes a limiting bracket 233, which is located on the outside of the lower leg link 231. The limiting bracket 233 includes a base portion 2331 and a limiting portion 2332. The base portion 2331 is fitted and connected to the outer side of the lower leg link 231, and the limiting portion 2332 is located on the side of the base portion 2331 facing away from the lower leg link 231. The limiting portion 2332 is used to fix and support the environmental recognition component 41 at the target angle.

[0050] With the above arrangement, the environmental identification component 41 is fixed and supported by the limiting bracket 233 installed on the outer side of the lower leg connecting rod 231. The structure is simpler, which is conducive to improving the installation and disassembly of the environmental identification component 41 and the lower leg component 23, and achieving a reliable environmental information collection effect.

[0051] For example, in order to improve the installation reliability of the environmental identification component 41, the environmental identification component 41 and the limiting bracket 233 can be further bonded together using adhesive material.

[0052] In another example, the limiting bracket 233 and the lower leg connecting rod 231 are movably connected, which provides better flexibility, allowing the environmental recognition component 41 to adjust its height and / or angle as needed.

[0053] As shown in Figure 6, in some embodiments, the limiting part 2332 includes a top limiting plate 23321 and a bottom limiting plate 23322. The top limiting plate 23321 and the bottom limiting plate 23322 are arranged vertically at intervals, and the top limiting plate 23321 and the bottom limiting plate 23322 form a limiting space 23323. The shape of the limiting space 23323 is the same as the shape of the environmental recognition component 41, and the environmental recognition component 41 is located within the limiting space 23323.

[0054] In this embodiment, a limiting space 23323 is formed by the top limiting plate 23321 and the bottom limiting plate 23322, and the shape of the limiting space 23323 is the same as the shape of the environmental recognition component 41, thereby achieving stable and reliable fixation and support for the environmental recognition component 41.

[0055] In some possible implementations, referring to Figure 6, both the top limiting plate 23321 and the bottom limiting plate 23322 are L-shaped. The top limiting plate 23321 and the bottom limiting plate 23322 are arranged downwards and opposite to each other, forming a rectangular limiting space 23323. The limiting space 23323 is inclined towards the ground in front. The shape of the environmental recognition component 41 is also rectangular, which can be inserted into the limiting space 23323. It is ensured that the acquisition direction of the environmental recognition component 41 is towards the ground in front, that is, the environmental recognition component 41 is fixed and supported at the target angle.

[0056] In some possible implementations, referring to Figures 3 and 6, the area of ​​the top limiting plate 23321 is larger than that of the bottom limiting plate 23322. The top limiting plate 23321 can cover the top, front, and sides of the environmental recognition component 41, providing impact protection for the environmental recognition component 41 from above, front, and sides. The bottom limiting plate 23322 has a smaller area, which can provide limiting support for the environmental recognition component 41 while avoiding the acquisition field of the environmental recognition component 41, ensuring the acquisition effect of environmental information by the environmental recognition component 41.

[0057] In some embodiments, the environmental recognition component 41 includes at least one of a visual sensor, a distance sensor, a radar detector, and an infrared sensor.

[0058] In some possible implementations, the environment recognition component 41 includes a vision sensor, and the vision sensor satisfies:

[0059] 1) Depth perception capability: Exoskeleton devices used for walking assistance and terrain recognition require accurate depth data to determine terrain undulations and obstacle locations. For example, 3D cameras or rangefinders that support depth perception are selected to ensure reliable 3D environmental information is obtained.

[0060] 2) Field of view and resolution: With a field of view of over 70° and a high resolution of over 720p, it can capture a wider field of view and provide fine terrain details, which helps to improve the exoskeleton device's ability to recognize terrain features.

[0061] 3) Real-time performance and low latency: Exoskeleton devices need to achieve fast response, so the visual sensor should have high frame rate and low latency data output to ensure real-time performance.

[0062] 4) Ability to resist ambient light interference: The vision sensor can adapt to different lighting conditions (such as strong outdoor light and low indoor light).

[0063] Referring to Figure 7, in some embodiments, the waist module 1 includes a hip joint actuator 11, and the first leg module 2 and the second leg module 3 respectively include a knee joint actuator 22; the dynamic controller 42 is electrically connected to the hip joint actuator 11 and the knee joint actuator 22 respectively, and the dynamic controller 42 can determine the assist mode of the hip joint actuator 11 and the knee joint actuator 22 according to environmental information.

[0064] Through the above arrangement, the dynamic controller 42 can determine the assist mode of the hip joint actuator 11 and the knee joint actuator 22 according to the environmental information, realize the autonomous response of the exoskeleton device, select the most suitable assist mode for the current environment, and improve the work adaptability, flexibility and user comfort of the exoskeleton device in different environmental scenarios.

[0065] Referring to Figure 8, in some embodiments, at least one of the waist module 1, the first leg module 2, and the second leg module 3 is provided with an internal sensor 13, which is used to collect motion parameters of the human leg.

[0066] The internal sensor 13 is electrically connected to the dynamic controller 42, which is capable of receiving motion parameters and determining the assist mode of at least one of the waist module 1, the first leg module 2, and the second leg module 3 based on the motion parameters and environmental parameters.

[0067] With the above arrangement, in addition to receiving environmental information collected by the environmental recognition component 41, the dynamic controller 42 can also receive motion parameters of the human leg collected by the internal sensor 13. Combining environmental information and motion parameters, it can comprehensively judge and select the optimal assistance mode, further improving the work adaptability, flexibility and user comfort of the exoskeleton device.

[0068] In some possible implementations, the internal sensor 13 includes, but is not limited to, an inertial measurement unit, a gyroscope, an accelerometer, a pressure sensor, an angle sensor, etc., and can measure motion parameters of the human leg, including but not limited to three-axis attitude angles, acceleration, magnitude and direction of leg force, joint rotation angle, etc.

[0069] Referring to Figures 1 and 9, in some embodiments, the waist module 1 includes a back bar assembly 12 and two hip joint actuators 11. The back bar assembly 12 is arranged around the back of the human waist, and the two hip joint actuators 11 are located at both ends of the back bar assembly 12, and the first axis 1101 of the two hip joint actuators 11 coincides with the axis of the human hip joint.

[0070] The first leg module 2 and the second leg module 3 are respectively connected to a hip joint actuator 11, which drives the first leg module 2 and the second leg module 3 to rotate relative to the waist module 1 around the axis of the human hip joint.

[0071] With the above arrangement, the exoskeleton device can be worn and fixed to the waist of the human body using the back pole assembly 12, and the first leg module 2 and the second leg module 3 can be worn and fixed to the legs of the human body. The axes of the two hip joint actuators 11 are respectively aligned with the axis of the human hip joint. Thus, the hip joint actuators 11 drive the first leg module 2 and the second leg module 3 to rotate around the axis of the human hip joint, thereby providing assistance to the wearer's leg movements.

[0072] For example, the first leg module 2 and the second leg module 3 are respectively arranged on the left and right sides of the wearer, and the two hip joint actuators 11 correspond to the two hip joints respectively, and can respectively drive the first leg module 2 and the second leg module 3 to assist the corresponding legs in movement.

[0073] Referring to Figure 9, in some embodiments, when the first leg module 2 and the second leg module 3 respectively include a thigh assembly 21, a thigh lateral hinge 24 is provided between the hip joint actuator 11 and the thigh assembly 21, and the second axis 2401 of the thigh lateral hinge 24 is arranged along the front-back direction of the human body; and / or, a thigh rotation hinge 25 is provided between the hip joint actuator 11 and the thigh assembly 21, and the third axis 2501 of the thigh rotation hinge 25 passes through the vertical line where the center of gravity of the human leg is located.

[0074] With the above arrangement, the first leg module 2 and the second leg module 3, in addition to having the degree of freedom to rotate around the axis of the hip joint, can also couple the lateral swing degree of freedom of the human thigh with the thigh lateral swing hinge 24, and the internal or external rotation degree of freedom of the human thigh with the thigh rotation hinge 25. The exoskeleton device has a higher degree of coupling with the degree of freedom of the human leg, and the wearer has better flexibility and comfort when using the exoskeleton device. In addition, the third axis 2501 of the thigh rotation hinge 25 passes through the vertical line where the center of gravity of the human leg is located, which can eliminate the overturning torque caused by the force on the tight position during thigh rotation, further improving the comfort and flexibility during thigh rotation.

[0075] In some possible implementations, when both the thigh lateral hinge 24 and the thigh rotation hinge 25 are present, the thigh lateral hinge 24 is located above and the thigh rotation hinge 25 is located below. The height difference between the thigh lateral hinge 24 and the thigh rotation hinge 25 and the hip joint actuator 11 is between 5-10 cm. While satisfying the structural layout space, the thigh lateral hinge 24 and the thigh rotation hinge 25 are as close as possible to the human hip joint, so that when lateral swinging and rotation are performed, the misalignment distance between the thigh assembly 21 and the binding position of the thigh is smaller, which can reduce the discomfort caused by this.

[0076] Referring to Figure 10, in some embodiments, when the first leg module 2 and the second leg module 3 respectively include a thigh assembly 21, a knee joint actuator 22 and a lower leg assembly 23 arranged in series, a lower leg lateral swing hinge 26 is provided between the knee joint actuator 22 and the lower leg assembly 23, and the fourth axis 2601 of the lower leg lateral swing hinge 26 is arranged along the front-back direction of the human body; a lower leg rotation hinge 27 is provided between the knee joint actuator 22 and the lower leg assembly 23, and the fifth axis 2701 of the lower leg rotation hinge 27 passes through the vertical line where the center of gravity of the human leg is located.

[0077] With the above arrangement, the first leg module 2 and the second leg module 3, in addition to having the degree of freedom to rotate around the axis of the hip joint, can also couple the lateral swing degree of freedom of the human lower leg with the lower leg lateral swing hinge 26, and couple the internal or external rotation degree of freedom of the human lower leg with the lower leg rotation hinge 27. The exoskeleton device has a higher degree of coupling with the degree of freedom of the human leg, and the wearer has better flexibility and comfort when using the exoskeleton device. In addition, the fifth axis 2701 of the lower leg rotation hinge 27 passes through the vertical line where the center of gravity of the human leg is located, which can eliminate the overturning torque caused by the force on the tight position during the rotation of the lower leg, further improving the comfort and flexibility of the lower leg during rotation.

[0078] In some possible implementations, when both the lower leg lateral swing hinge 26 and the lower leg rotation hinge 27 are present, the lower leg lateral swing hinge 26 is located above and the lower leg rotation hinge 27 is located below. The height difference between the lower leg lateral swing hinge 26 and the lower leg rotation hinge 27 and the hip joint actuator 11 is between 5-10 cm. While satisfying the structural layout space, the lower leg lateral swing hinge 26 and the lower leg rotation hinge 27 are as close as possible to the human hip joint. Thus, when lateral swinging and rotation are performed, the misalignment distance between the lower leg assembly 23 and the binding position of the human leg is smaller, which can reduce the discomfort caused by this.

[0079] Referring to Figures 3, 9, and 10, in some embodiments, the thigh assembly 21 includes a thigh link 211 and a thigh strap 212. The thigh link 211 is arranged vertically along the human leg, and the thigh strap 212 is located on the inner side of the thigh link 211 near the human leg. The calf assembly 23 includes a calf link 231 and a calf strap 232. The calf link 231 is arranged vertically along the human leg, and the calf strap 232 is located on the inner side of the calf link 231 near the human leg. At least one of the thigh link 211 and the calf link 231 is an elastic telescopic member.

[0080] Due to the objective horizontal misalignment between the thigh link 211 and the lower leg link 231 and the human leg, when the human thigh or lower leg swings laterally, the thigh link 211 and the lower leg link 231 will be misaligned in length and direction with the human leg. If the distance between the thigh strap 212 and the lower leg strap 232 and the knee joint actuator 22 remains unchanged, the thigh strap 212 and the lower leg strap 232 will tighten, hindering the degree of freedom of lateral swing.

[0081] In this embodiment, the thigh link 211 and the lower leg link 231 are elastic telescopic rods. The thigh link 211 and the lower leg link 231 can compensate for their length according to the lateral swinging motion of the human leg. The thigh strap 212 and the lower leg strap 232 are movable relative to the knee joint actuator 22, but fixed relative to the human leg. When the lateral swinging motion occurs, the thigh strap 212 can drive the thigh link 211 to extend and retract, and the lower leg strap 232 can drive the lower leg link 231 to extend and retract, which helps to improve the flexibility of the thigh component 21 and the lower leg component 23, thereby improving the flexibility and comfort of the exoskeleton device.

[0082] In some possible implementations, the structure of the thigh link 211 is similar to that of the calf link 231. This embodiment takes the calf link 231 as an example. Referring to Figures 3 and 10, the calf link 231 includes a first link 2311 and a second link 2312. The first link 2311 and the second link 2312 are movably connected along the direction of the human leg. The first link 2311 is close to and connected to the knee joint actuator 22, while the second link 2312 is away from the knee joint actuator 22. The calf strap 232 is located on the second link 2312. When a lateral swing occurs, the calf strap 232 moves with the human leg, causing the second link 2312 to extend or retract relative to the first link 2311, thus achieving length compensation of the calf link 231 and preventing the calf strap 232 from constricting the human leg.

[0083] For example, an elastic element 2313 can be arranged between the first link 2311 and the second link 2312. The elastic element 2313 can provide an elastic restoring force for the first link 2311 and the second link 2312. That is, when the second link 2312 is extended by the calf strap 232, as the lateral swing motion returns to its original position, the elastic element 2313 applies an elastic force to the second link 2312 to return to its original position, thereby driving the second link 2312 to return to its original position. This can also provide a restoring assistance to the human leg during the lateral swing motion. On the other hand, when no lateral swing motion is performed, the elastic element 2313 can apply an upward elastic pulling force to the second link 2312. This elastic pulling force can also counteract the weight of the second link 2312 and the calf strap 232, thereby reducing the supporting burden on the human calf.

[0084] The exoskeleton device in this embodiment adds a dynamic module that can be autonomously adjusted according to environmental information. The environmental recognition component in the dynamic control module can rely on increasingly mature visual sensing technologies, such as RGB-D cameras and depth cameras, which have good portability, accuracy and real-time performance, and can accurately acquire three-dimensional structural information of the environment.

[0085] The introduction of the dynamic control module enables the exoskeleton device of this application to include at least the following technical effects:

[0086] 1. Environmental perception and terrain recognition

[0087] Environmental recognition components based on visual sensing technology can capture images and depth information of the surrounding environment in real time, identifying environmental features such as steps, ramps, and obstacles. This environmental perception capability allows exoskeleton devices to adjust gait and assistance schemes according to different terrain features, thereby achieving adaptive walking assistance and improving the user's walking safety and comfort.

[0088] 2. Improved accuracy and recognition precision

[0089] Leveraging the advantages of visual sensing-based environmental recognition components in spatial resolution and depth perception, the device can accurately capture details of the surrounding environment. Through image processing algorithms and depth data fusion, the exoskeleton device can accurately identify complex terrain features and more accurately determine the wearer's movement intentions. Compared to traditional solutions, the dynamic control module of this application significantly improves the recognition accuracy of the exoskeleton device, enabling it to make precise decisions in various environments.

[0090] 3. Real-time dynamic feedback

[0091] Environmental recognition components based on visual sensing technology enable high-frame-rate data acquisition and real-time environmental feedback. This helps exoskeleton devices respond quickly to environmental changes (such as the sudden appearance of obstacles), preventing accidents. This dynamic feedback capability improves the exoskeleton device's response speed to emergencies, allowing it to operate more smoothly and safely in complex environments.

[0092] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. An exoskeleton device, wherein, The exoskeleton device includes: a waist module (1), a first leg module (2), a second leg module (3), and a dynamic control module (4); The waist module (1) is rotatably connected to the first leg module (2) and the second leg module (3) respectively; The dynamic control module (4) includes an environment recognition component (41) and a dynamic controller (42); The environmental recognition component (41) is located on at least one of the first leg module (2) and the second leg module (3) and is communicatively connected to the dynamic controller (42); the dynamic controller (42) is electrically connected to at least one of the waist module (1), the first leg module (2) and the second leg module (3).

2. The exoskeleton device according to claim 1, wherein, The exoskeleton device is configured such that the environment recognition component (41) collects surrounding environmental information in real time, the dynamic controller (42) receives the environmental information, and determines the assistance mode of at least one of the waist module (1), the first leg module (2), and the second leg module (3) based on the environmental information.

3. The exoskeleton device according to claim 1 or 2, wherein, The first leg module (2) and the second leg module (3) respectively include a thigh assembly (21), a knee joint actuator (22) and a lower leg assembly (23) arranged in series; The environment recognition component (41) is provided on at least one of the thigh assembly (21) and the lower leg assembly (23).

4. The exoskeleton device according to claim 3, wherein, When the lower leg assembly (23) is provided with the environmental recognition component (41), the environmental recognition component (41) is located on the outside of the lower leg assembly (23) facing away from the human leg, and the environmental recognition component (41) can collect environmental information under the feet and in front of the human body.

5. The exoskeleton device according to any one of claims 1 to 4, wherein, The environmental recognition component (41) is tilted toward the front of the human body to collect environmental information from the feet of the human body to the target area in front.

6. The exoskeleton device according to claim 4, wherein, The lower leg assembly (23) includes a lower leg link (231) and a lower leg strap (232); The lower leg link (231) is arranged vertically along the human leg, the lower leg strap (232) is located on the inner side of the lower leg link (231) near the human leg, and the environmental recognition component (41) is located on the outer side of the lower leg link (231) away from the human leg.

7. The exoskeleton device according to claim 6, wherein, The lower leg assembly (23) also includes a limiting bracket (233), which is located on the outside of the lower leg connecting rod (231); The limiting bracket (233) includes a base part (2331) and a limiting part (2332). The base part (2331) is fitted and connected to the outer side of the lower leg connecting rod (231). The limiting part (2332) is located on the side of the base part (2331) facing away from the lower leg connecting rod (231). The limiting part (2332) is used to fix and support the environmental recognition component (41) at the target angle.

8. The exoskeleton device according to claim 7, wherein, The limiting part (2332) includes a top limiting plate (23321) and a bottom limiting plate (23322). The top limiting plate (23321) and the bottom limiting plate (23322) are arranged vertically at intervals, and the top limiting plate (23321) and the bottom limiting plate (23322) form a limiting space (23323). The shape of the limiting space (23323) is the same as the shape of the environmental recognition component (41), and the environmental recognition component (41) is located within the limiting space (23323).

9. The exoskeleton device according to any one of claims 1 to 8, wherein, The environmental recognition component (41) includes at least one of a visual sensor, a distance sensor, a radar detector, and an infrared sensor.

10. The exoskeleton device according to any one of claims 1 to 8, wherein, The waist module (1) includes a hip joint actuator (11), and the first leg module (2) and the second leg module (3) each include a knee joint actuator (22). The dynamic controller (42) is electrically connected to the hip joint actuator (11) and the knee joint actuator (22) respectively. The dynamic controller (42) can determine the assist mode of the hip joint actuator (11) and the knee joint actuator (22) according to the environmental information.

11. The exoskeleton device according to any one of claims 1 to 10, wherein, At least one of the waist module (1), the first leg module (2) and the second leg module (3) is provided with an internal sensor (13), which is used to collect motion parameters of the human leg; The internal sensor (13) is electrically connected to the dynamic controller (42), which is capable of receiving the motion parameters and determining the assist mode of at least one of the waist module (1), the first leg module (2) and the second leg module (3) based on the motion parameters and the environmental parameters.

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