Foot and leg connecting assembly and exoskeleton device

Abstract

A foot and leg connecting assembly and an exoskeleton device. The foot and leg connecting assembly comprises: a joint mechanism (1), a leg connecting member (2), and a foot connecting member (3). The joint mechanism (1) is connected to the lower end of the leg connecting member (2) and the upper end of the foot connecting member (3). The foot connecting member (3) can rotate relative to the leg connecting member (2) about at least two intersecting axes. In a worn state, the joint mechanism (1) is located behind a foot of a wearer.

Description

Foot-leg connection components and exoskeleton device

[0001] This application claims priority to Chinese patent application No. 202510493528.5, filed on April 18, 2025, entitled “Leg-Foot Connection Assembly and Exoskeleton Device”, the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to the field of exoskeleton device technology, and in particular to foot and leg connection components and exoskeleton devices. Background Technology

[0003] An exoskeleton is an assistive device that uses mechanical structures to move a user's legs or feet to help them walk or perform other actions.

[0004] The exoskeleton device includes a leg assembly, a foot assembly, and a foot-leg connection assembly connecting the leg assembly and the foot assembly. Therefore, the exoskeleton device's center of gravity is shifted to the user's outer side, causing the overall center of gravity of the user's legs when wearing the device to deviate from the center of gravity when not wearing it, resulting in discomfort for the user.

[0005] Public content

[0006] In a first aspect, this application provides a foot-leg connection assembly, which includes a joint mechanism, a leg connector, and a foot connector, wherein...

[0007] The joint mechanism connects the lower end of the leg connector and the upper end of the foot connector, and the foot connector is rotatable relative to the leg connector about at least two intersecting axes.

[0008] When worn, the joint mechanism is located behind the feet of the human body.

[0009] Secondly, this application provides an exoskeleton device, which includes the foot and leg connection assembly as described in the above technical solution.

[0010] The beneficial effects of the technical solution provided in this application include at least the following:

[0011] The joint mechanism allows the foot connector to rotate relative to the leg connector around at least two intersecting axes, facilitating the foot connector's adaptation to changes in foot orientation during walking. When the foot-leg connection is worn, the joint mechanism is located behind the foot. This design aligns the leg's center of gravity with the leg's forward and backward alignment when the user's overall center of gravity shifts, reducing tilting during walking and thus improving wearing comfort. Attached Figure Description

[0012] 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.

[0013] Figure 1 is a schematic diagram of a leg connection assembly provided in an embodiment of this application;

[0014] Figure 2 is an exploded view of a leg connection assembly provided in an embodiment of this application;

[0015] Figure 3 is a cross-sectional schematic diagram of a leg connection component provided in an embodiment of this application;

[0016] Figure 4 is a structural schematic diagram of a support base provided in an embodiment of this application;

[0017] Figure 5 is a schematic diagram of the assembly structure of a support base and a foot connector provided in an embodiment of this application;

[0018] Figure 6 is a structural schematic diagram of a foot-leg connection component provided in an embodiment of this application from another perspective.

[0019] 1. Joint mechanism; 11. Ball; 111. Rotating hole; 12. Support shaft; 13. Support base; 131. Support part; 132. Mounting part; 1321. First plate; 1322. Second plate; 1323. Reinforcing rib; 133. First connecting part; 14. Positioning sleeve;

[0020] 2. Leg connector; 21. Ball cavity; 22. Connecting plate;

[0021] 3. Foot connector; 31. Foot connector body; 32. Second connector;

[0022] 4. Knee joint motor;

[0023] 5. Bolts.

[0024] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0025] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0026] The directional terms used in the embodiments of this application, such as "up," "down," and "side," are generally based on the relative positions shown in Figure 1. These directional terms are used merely to more clearly describe the relationships between structures, not to describe absolute positions. When the product is placed in different orientations, the positions may change; for example, "up" and "down" may be interchanged.

[0027] Unless otherwise defined, all technical terms used in the embodiments of this application have the same meaning as commonly understood by one of ordinary skill in the art.

[0028] To make the 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.

[0029] The first aspect of this application provides a foot-leg connection assembly, as shown in FIG1, which includes a joint mechanism 1, a leg connector 2, and a foot connector 3.

[0030] The joint mechanism 1 connects the lower end of the leg connector 2 and the upper end of the foot connector 3, so that the foot connector 3 can rotate relative to the leg connector 2 about at least two intersecting axes.

[0031] The foot-leg connection assembly is configured such that when the foot-leg connection assembly is worn on the human body (i.e., the wearing state of the foot-leg connection assembly), the joint mechanism 1 is located behind the human foot.

[0032] With the above arrangement, the joint mechanism 1 allows the foot connector 3 to rotate relative to the leg connector 2 around at least two intersecting axes, which helps the foot connector 3 adapt to changes in the orientation of the human foot during walking. When the foot-leg connection assembly is worn on the human body, the joint mechanism 1 is located behind the human foot. This design allows the leg's center of gravity to align with the leg in a front-back direction when the user's overall center of gravity shifts, which helps reduce tilting during walking and thus improves wearing comfort.

[0033] In this embodiment, compared to the outer side of the user, the foot-leg connection component is biased towards the rear of the user after wearing. This makes the front and back sides of the user's legs more susceptible to additional forces caused by lateral shift of the center of gravity during wear. Since the front and back sides of the user's legs themselves require driving force to achieve walking, the force caused by lateral shift of the center of gravity has less impact on the user than on other areas. This also avoids other areas of the user experiencing additional force during walking, which is beneficial for the user to complete walking.

[0034] In some embodiments, the foot connector 3 can be used to directly connect with the human foot through covering, abutting, or other means, or it can be used to indirectly connect with the human foot by connecting with a component that supports the foot.

[0035] In some embodiments, the leg connector 2 can be used to directly connect with the human leg by covering or abutting, or it can be used to indirectly connect with the human leg by connecting with a component that supports the leg.

[0036] In some embodiments, the foot connector 3 rotates relative to the leg connector 2 about at least two intersecting axes. This means that when the foot connector 3 rotates, the process of rotating from the initial position to the end position can be decomposed into rotation about two intersecting axes. That is, it can first rotate from the initial position to the middle position about one axis, and then rotate from the middle position to the end position about the other axis.

[0037] The method of joint mechanism 1 around three, four or more intersecting axes is the same as the method described above, and will not be repeated here.

[0038] In addition, the foot connector 3 can rotate around two or more axes simultaneously as described above, or it can rotate around only one axis.

[0039] In some embodiments, the two intersecting axes may refer to at least two intersecting axes among the many rotation axes of the foot connector 3, or it may refer to all the rotation axes of the foot connector 3 intersecting.

[0040] In some embodiments, the rotation of the foot connector 3 relative to the leg connector 2 about at least two intersecting axes can mean that the center of rotation of the foot connector 3 is located at the intersection of two or more intersecting axes, so that the foot connector 3 can rotate about multiple intersecting axes simultaneously.

[0041] In the case of rotation around multiple axes, the rotation of the foot connector 3 can be combined into a rotation around a specific axis, which is formed by adding multiple axes together according to the parallelogram law.

[0042] As the foot connector 3 rotates around at least two intersecting axes, the orientation of a specific axis will change accordingly by adjusting the rotation speed on each axis. This change allows the foot connector 3 to rotate in more directions, thus adapting to the rotation of the human ankle joint.

[0043] In some embodiments, as shown in FIG1, the joint mechanism 1 is rotatably connected to the leg connector 2, and the joint mechanism 1 can drive the foot connector 3 to rotate relative to the leg connector 2 about the first axis, the second axis and the third axis respectively.

[0044] Among them, the first axis, the second axis and the third axis intersect each other perpendicularly. The first axis extends along the left and right direction of the human body, the second axis extends along the front and back direction of the human body, and the third axis extends along the up and down direction of the human body.

[0045] With the above arrangement, the rotational degrees of freedom of the leg connector 2 are approximately the same as the user's ankle joint rotational degrees of freedom, which helps to naturalize the user's walking posture and thus improves the wearing effect. The first axis facilitates dorsiflexion and plantarflexion of the user's foot, the second axis facilitates inversion and eversion of the user's foot, and the third axis facilitates adduction and abduction of the user's foot. By providing the user's foot with rotational degrees of freedom in three directions, the user experiences less interference during walking, thus improving the wearing effect.

[0046] In some embodiments, the first axis, the second axis, and the third axis intersect each other perpendicularly, which can mean that the three axes intersect at a single point, and any two axes are located in the same plane.

[0047] In some embodiments, as shown in FIG2, the joint mechanism 1 includes a ball 11 and a support shaft 12. The ball 11 has a rotation hole 111, and the support shaft 12 passes through the rotation hole 111. The ball 11 is capable of rotating about a first axis relative to the support shaft 12.

[0048] The lower end of the leg connector 2 is provided with a ball cavity 21, and the two ends of the ball cavity 21 pass through the leg connector 2 along the first axis.

[0049] At least a portion of the sphere 11 is confined within the cavity 21, the wall of the cavity 21 being able to slide relative to the sphere 11 along the surface of the sphere 11.

[0050] With the above arrangement, the rotation of the sphere 11 around the first axis facilitates the rotation of the foot connector 3 relative to the leg connector 2. The fit between the ball cavity 21 and the sphere 11 facilitates the rotation of the foot connector 3 relative to the leg connector 2 around the second and third axes. This fit can both connect the joint mechanism 1 to the leg connector 2 and the foot connector 3 and allow for their relative rotation.

[0051] In some embodiments, at least a portion of the sphere 11 is confined within the cavity 21, which may mean that under normal operating conditions, the sphere 11 rotates within the cavity 21, but the effect of the rotation on the sphere 11 is insufficient to separate the sphere 11 from the cavity 21.

[0052] In this embodiment, the ball cavity 21 may be provided with an oil injection hole. Lubricating oil can enter between the wall of the ball cavity 21 and the wall of the ball 11 through the oil injection hole. In this way, the friction between the lubricating oil and the wall of the ball cavity 21 and the friction between the lubricating oil and the wall of the ball 11 replace the direct friction between the wall of the ball cavity 21 and the wall of the ball 11, thereby extending the working life of the joint mechanism 1.

[0053] In some embodiments, as shown in FIG3, the joint mechanism 1 further includes a support body 13 and a positioning sleeve 14.

[0054] The support body 13 includes two support parts 131 arranged at intervals along the first axis, a support shaft 12 located between the two support parts 131, and the two ends of the support shaft 12 are respectively connected to the two support parts 131 one by one. Two positioning sleeves 14 are spaced apart on the support shaft 12, and a ball 11 is located between the two positioning sleeves 14.

[0055] With the above arrangement, the two support parts 131 can support the support shaft 12, allowing the ball 11 on the support shaft 12 to rotate relative to the support shaft 12. The two positioning sleeves can interfere with the ball 11, allowing the ball 11 to rotate within the ball cavity 21.

[0056] In some embodiments, the sum of the lengths of the two positioning sleeves 14 and the length of the sphere 11 is close to the distance between the two supports 131. This closeness is sufficient to allow the interference of the two positioning sleeves 14 on the sphere 11 to cause at least a portion of the sphere 11 to be located within the sphere cavity 21.

[0057] In some embodiments, as shown in FIG3, the support body 13 includes a mounting portion 132, the lower ends of two support portions 131 are respectively connected to the upper ends of the mounting portion 132, and the mounting portion 132 is connected to the surface of the foot connector 3 located behind the foot of the human body.

[0058] With the above arrangement, the mounting part 132 can not only connect with the foot connector 3, but also facilitate the rotation of the joint mechanism 1 and reduce the interference of the foot connector 3 on the joint mechanism 1.

[0059] In some embodiments, as shown in FIG4, the mounting part 132 includes a first plate 1321, a second plate 1322, and a reinforcing rib 1323. The front side of the first plate 1321 is connected to the upper side of the second plate 1322, the upper side of the reinforcing rib 1323 is connected to the lower side of the first plate 1321, and the front side of the reinforcing rib 1323 is connected to the rear side of the second plate 1322.

[0060] Alternatively, the mounting part 132 includes a first plate 1321, a second plate 1322, and a reinforcing rib 1323. The first plate 1321 is attached to the surface of the foot connector 3 in parallel. The second plate 1322 is perpendicular to the surface of the foot connector 3 and is connected to the top edge of the first plate 1321. The reinforcing rib 1323 is perpendicularly connected to the first plate 1321 and the second plate 1322 respectively.

[0061] With the above arrangement, the first plate 1321 provides support for the support part 131, while the front side of the second plate 1322 can be used to connect with the foot connector 3, which helps to reduce interference from the foot connector 3 to the joint mechanism 1.

[0062] In some embodiments, the second plate 1322 can be connected to the foot connector 3 by welding, bolting, snap-fitting, or other means.

[0063] In some embodiments, the first plate 1321, the second plate 1322, and the reinforcing rib 1323 can be manufactured by an integral molding process to form the mounting part 132.

[0064] In some embodiments, as shown in FIG5, the joint mechanism 1 includes a support base 13.

[0065] The support body 13 is located behind the feet of the human body and is connected to the foot connector 3, and can adjust the distance between the joint mechanism 1 and the foot connector 3 along the vertical direction of the human body.

[0066] With the above arrangement, the height difference between the foot connector 3 and the leg connector 2 can be varied, which is beneficial for people of different body types to adjust according to their own situation, so that the joint mechanism 1 and the ankle joint are roughly on the same plane, which is beneficial to improving the wearing effect of the foot and leg connection assembly of this application.

[0067] In some embodiments, as shown in FIG5, the support body 13 includes a first connecting portion 133, and the foot connector 3 includes a foot connector 31 and a second connecting portion 32, the second connecting portion 32 being used to connect to the first connecting portion 133.

[0068] At least one of the first connecting part 133 and the second connecting part 32 is multiple, and they are arranged sequentially along the vertical direction of the human body.

[0069] Through the above arrangement, the connection between the first connecting part 133 and the second connecting part 32 enables the connection between the joint mechanism 1 and the foot connector 3. The connected joint mechanism 1 and the foot connector 3 possess sufficient strength to withstand the impact generated by the user during walking. The multiple first connecting parts 133 or second connecting parts 32 arranged sequentially along the vertical direction of the human body allow for alteration of the height difference between the foot connector 3 and the leg connector 2 by forming connections at different locations, thus improving the adaptability of the foot-leg connection assembly of this application.

[0070] In some embodiments, the number of first connecting parts 133 can be 1, and the number of second connecting parts 32 can be 2, 3, or 4, or other numbers.

[0071] In some embodiments, the number of second connecting parts 32 can be one, and the number of first connecting parts 133 can be two, three, or four, or other numbers.

[0072] In this embodiment of the application, the number of first connecting parts 133 can be 2, 3 or other numbers, and the number of second connecting parts 32 can be 2, 3 or other numbers. One of the first connecting parts 133 and the second connecting part 32 are connected by bolts 5 to realize the connection between the joint mechanism 1 and the foot connector 3.

[0073] In some embodiments, as shown in FIG5, one of the first connecting portion 133 and the second connecting portion 32 is a through groove and the other is a connecting hole, and the first connecting portion 133 and the second connecting portion 32 are connected by bolts 5.

[0074] With the above arrangement, the connection performance of bolt 5 is sufficient to resist the impact generated during walking. At the same time, bolt 5 connection also makes it easy for users to disassemble and adjust the height difference between leg connector 2 and foot connector 3.

[0075] In some embodiments, as shown in FIG5, the first connecting part 133 is a through groove, the second connecting part 32 is a connecting hole, and the first connecting part 133 and the second connecting part 32 are connected by bolts 5.

[0076] With the above arrangement, the connection performance of bolt 5 is sufficient to resist the impact generated during walking. At the same time, bolt 5 connection also makes it easy for users to disassemble and adjust the height difference between leg connector 2 and foot connector 3.

[0077] In some embodiments, as shown in FIG5, there are multiple first connecting parts 133, which are divided into two groups. Each group includes at least two first connecting parts 133, and the at least two first connecting parts 133 in each group are arranged sequentially along the vertical direction of the human body.

[0078] With the above arrangement, the first connecting part 133 can improve the connection stability between the support body 13 and the foot connector 3. The first connecting part 133, which is arranged sequentially along the vertical direction of the human body, can be connected to the second connecting part 32. At the same time, depending on the connection position, the distance between the joint mechanism 1 and the foot connector 3 along the vertical direction of the human body is also different, so that the height difference between the leg connector 2 and the foot connector 3 can be adjusted.

[0079] In some embodiments, as shown in FIG5, the support body 13 includes a mounting portion 132, the mounting portion 132 includes a first plate 1321, and a first connecting portion 133 is located on the first plate 1321; or, the support body 13 includes a mounting portion 132, the mounting portion 132 includes a first plate 1321 and a reinforcing rib 1323, the first connecting portion 133 is located on the first plate 1321 and on both sides of the reinforcing rib 1323.

[0080] With the above arrangement, the first connecting part 133 is arranged on the first plate 1321, and the first plate 1321 is attached to the surface of the foot connector 3. The surface of the foot connector 3 has sufficient arrangement space and can provide a more reliable connection strength for the support body 13.

[0081] In some embodiments, as shown in FIG1, the lower end of the leg connector 2 is connected to the joint mechanism 1, and when the foot-leg connection assembly is worn on the human body, the upper end of the leg connector 2 bends and extends to the outside of the human body's knee joint.

[0082] With the above arrangement, the leg connector 2 can be connected to the components that drive human movement, thereby reducing the interference caused by these components to the human leg during the driving process, which helps to achieve the assistive effect for the wearer.

[0083] In some embodiments, as shown in FIG6, the leg connector 2 is a curved rod, and the top end of the leg connector 2 is provided with a connecting plate 22. The connecting plate 22 is used for transmission connection with the knee joint motor 4, and the axis of the knee joint motor 4 coincides with the axis of the human knee joint.

[0084] With the above arrangement, the crank can not only achieve its connecting function, but also transmit the driving force generated by the knee joint motor 4. In addition, the crank also helps the knee joint motor 4 to avoid the human leg during the assistance process, which is conducive to achieving the assistance effect of the knee joint motor 4.

[0085] In some embodiments, as shown in Figure 6, the axis of the knee joint motor 4 is parallel to a first axis, which is arranged along the left-right direction of the human body. With this arrangement, the knee joint motor 4 can drive the knee joint of the human body to swing, thereby achieving its assistive effect.

[0086] A second aspect of this application provides an exoskeleton device, which includes a foot-leg connection assembly as described above.

[0087] Since the foot and leg connection components of the above embodiments are used, the exoskeleton device of this application has the same technical effects as the above embodiments, which will not be repeated here.

[0088] In this application, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. The term "multiple" refers to two or more unless otherwise expressly defined.

[0089] Other embodiments of this application will readily occur to those skilled in the art upon consideration of the specification and practice of the application disclosed herein. This application is intended to cover any variations, uses, or adaptations of this application that follow the general principles of this application and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only.

[0090] It should be understood that this application is not limited to the precise structure described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this application is limited only by the appended claims.

Claims

1. A leg-foot connection assembly, wherein, The foot-leg connection assembly includes: a joint mechanism (1), a leg connector (2), and a foot connector (3); The joint mechanism (1) connects the lower end of the leg connector (2) and the upper end of the foot connector (3), and the foot connector (3) is rotatable relative to the leg connector (2) about at least two intersecting axes. When worn, the joint mechanism (1) is located behind the feet of the human body.

2. The foot-leg connection assembly according to claim 1, wherein, The joint mechanism (1) is rotatably connected to the leg connector (2), and the joint mechanism (1) can drive the foot connector (3) to rotate relative to the leg connector (2) around the first axis, the second axis and the third axis respectively; The first axis, the second axis, and the third axis intersect each other perpendicularly. The first axis extends along the left-right direction of the human body, the second axis extends along the front-back direction of the human body, and the third axis extends along the up-down direction of the human body.

3. The foot-leg connection assembly according to claim 2, wherein, The joint mechanism (1) includes a ball (11) and a support shaft (12). The ball (11) has a rotating hole (111), and the support shaft (12) passes through the rotating hole (111). The ball (11) is capable of rotating about the first axis relative to the support shaft (12). The lower end of the leg connector (2) is provided with a ball cavity (21), and the ball cavity (21) passes through the leg connector (2) along the first axis; At least a portion of the sphere (11) is confined within the cavity (21), the wall of the cavity (21) being slidable along the surface of the sphere (11).

4. The foot-leg connection assembly according to claim 3, wherein, The joint mechanism (1) also includes a support base (13) and a positioning sleeve (14); The support body (13) includes two support parts (131) arranged at intervals along the first axis. The support shaft (12) is located between the two support parts (131). The two ends of the support shaft (12) are respectively connected to the two support parts (131) one by one. The two positioning sleeves (14) are sleeved on the support shaft (12) at intervals. The ball (11) is located between the two positioning sleeves (14).

5. The foot-leg connection assembly according to claim 4, wherein, The support body (13) includes a mounting part (132), the lower ends of the two support parts (131) are respectively connected to the upper end of the mounting part (132), and the mounting part (132) is connected to the surface of the foot connector (3) located behind the foot of the human body.

6. The foot-leg connection assembly according to claim 5, wherein, The mounting part (132) includes a first plate (1321), a second plate (1322), and a reinforcing rib (1323). The first plate (1321) is attached to the surface of the foot connector (3) in parallel. The second plate (1322) is perpendicular to the surface of the foot connector (3) and connected to the top edge of the first plate (1321). The reinforcing rib (1323) is perpendicularly connected to the first plate (1321) and the second plate (1322) respectively.

7. The foot-leg connection assembly according to any one of claims 1 to 6, wherein, The joint mechanism (1) includes a support base (13); The support base (13) is located behind the foot of the human body and is connected to the foot connector (3), and can adjust the distance between the joint mechanism (1) and the foot connector (3) in the vertical direction of the human body.

8. The foot-leg connection assembly according to claim 7, wherein, The support body (13) includes a first connecting part (133), and the foot connector (3) includes a foot connector (31) and a second connecting part (32), wherein the second connecting part (32) is used to connect the first connecting part (133); At least one of the first connecting part (133) and the second connecting part (32) is multiple, and they are arranged sequentially along the vertical direction of the human body.

9. The foot-leg connection assembly according to claim 8, wherein, One of the first connecting part (133) and the second connecting part (32) is a through groove, and the other is a connecting hole. The first connecting part (133) and the second connecting part (32) are connected by bolts (5).

10. The foot-leg connection assembly according to claim 8, wherein, The number of the first connecting parts (133) is multiple and they are divided into two groups distributed on the left and right. Each group includes at least two first connecting parts (133), and the at least two first connecting parts (133) in each group are arranged sequentially along the vertical direction of the human body.

11. The foot-leg connection assembly according to claim 8, wherein, The support body (13) includes a mounting part (132), the mounting part (132) includes a first plate (1321), and the first connecting part (133) is located on the first plate (1321); or, The support body (13) includes a mounting part (132), the mounting part (132) includes a first plate (1321) and a reinforcing rib (1323), the first connecting part (133) is located on the first plate (1321), and there are multiple first connecting parts (133) distributed on both sides of the reinforcing rib (1323).

12. The foot-leg connection assembly according to any one of claims 1 to 11, wherein, The lower end of the leg connector (2) is connected to the joint mechanism (1), and when the foot-leg connection assembly is worn on the human body, the upper end of the leg connector (2) bends and extends to the outside of the knee joint of the human body.

13. The foot-leg connection assembly according to claim 12, wherein, The leg connector (2) is a curved rod, and the top of the leg connector (2) is provided with a connecting plate (22). The connecting plate (22) is used for transmission connection with the knee joint motor (4). The axis of the knee joint motor (4) coincides with the axis of the human knee joint.

14. An exoskeleton device, wherein, The exoskeleton device includes the foot-leg connection assembly as described in any one of claims 1 to 13.

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