1660 results about "Ankle" patented technology

A humanoid robot leg that may include a shank, an ankle that includes an ankle joint that is configured to perform yaw and pitch rotations, a knee joint, multiple ankle related (AR) rotational motors that are in mechanical communication, via multiple AR transmission mechanisms, with the ankle joint, and a knee related (KR) rotational motor that is in mechanical communication, via a KR transmission mechanism, with the knee joint. The multiple AR rotational motors and the KR rotational motor are positioned above the knee joint.

The invention belongs to the technical field of signal processing, and particularly relates to a lower limb motion intention recognition method and system based on electromyographic signals. The method comprises the following steps: S1, arranging electromyographic sensors on a hip key muscle group, a knee joint key muscle group and an ankle joint key muscle group in sequence, and collecting electromyographic signals; s2, performing time-frequency-space domain feature fusion and dimension reduction processing on the electromyographic signals acquired at the hip key muscle group and the knee joint key muscle group, and performing corresponding motion intention prediction by using a dynamic weight distribution method and a decoder based on an LSTM-attention mechanism; electromyographic signals collected at key muscle groups of ankle joints are processed through a muscle force distribution matrix, and meanwhile a time-varying weight adjustment strategy and impedance control are adopted for corresponding motion intention prediction; s3, according to the predicted motion intention, the system controls a direct-current brushless motor on rehabilitation training equipment, a fuzzy self-adaptive PID control method is adopted to regulate and control joint motion, and a walking posture is simulated.

The invention relates to the technical field of motion detection, in particular to an old people falling early warning system based on motion trail analysis, which comprises a gravity center identification module, a trend identification module, an inertia pushing module, a phase judgment module and a grade response module. According to the method, the vertical coordinates of the key points of the waist and the two feet in the image frame are acquired, and the height difference change is continuously tracked, so that the potential falling initial state can be identified from the static posture, the vector included angles among the three groups of bone points of the hip knee, the knee ankle and the shoulder pelvis are subjected to sequence analysis, and whether synchronous disintegration occurs in the coordination action is identified; the identified trend sequence is mapped according to the risk level, a differential response mechanism is applied, a high-density corresponding relation is constructed between the behavior trend and the alarm level, graded response and time sequence triggering of the falling risk are achieved, the accurate identification capability of the falling precursor action is enhanced, the sensitivity and discrimination of the alarm response are also improved, and the safety of the falling risk is improved. And misjudgment and missed judgment are effectively avoided.

The invention discloses an intelligent training method for preventing lower limb thrombus and a related device, and the method comprises the steps: inputting the physiological parameters of a patient, the initial exercise ability evaluation information and the personalized rehabilitation target information into a DQN multi-mode fusion model, and generating an ankle pump exercise training scheme meeting the rehabilitation demands of the patient; monitoring ankle pump motion execution information of the patient in real time through wearable equipment; according to the ankle pump motion training scheme and the ankle pump motion execution information of the patient, a lower limb thrombus training effect evaluation result of the patient is calculated, and the lower limb thrombus training effect evaluation result comprises the blood circulation improvement degree, the joint motion range and the gait characteristics; according to a lower limb thrombus training effect evaluation result of the patient, predicting lower limb thrombus potential recovery disorder and a falling risk level of the patient, and starting a grading alarm program according to the potential recovery disorder and the falling risk level. The training effect is comprehensively evaluated through the multi-modal data fusion training method, and the lower limb thrombus rehabilitation efficiency is improved.

The invention is applicable to the technical field of robots, and provides a method, a device, equipment and a product for determining poses of parallel ankle joints of a robot. The pose determination method for the parallel ankle joints of the robot comprises the steps that actual encoder position data of a motor are obtained, and the motor is used for controlling the parallel ankle joints to move; obtaining a Jacobian matrix, wherein the Jacobian matrix is used for establishing a mapping relation between the tail end posture of the parallel ankle joint and encoder position data of a motor; and determining a target attitude of the parallel ankle joint according to the actual encoder position data and the Jacobian matrix. According to the embodiment of the invention, the posture of the parallel ankle joint can be solved, so that motion control on the robot is facilitated.

The invention relates to a humanoid robot foot based on a human arch, and aims to solve the problems that a foot structure of a biped humanoid robot is insufficient in the aspects of stability, rigidity, flexibility, energy efficiency, diversity, ergonomics and the like. The five toes, the first metal vertical plate and the second metal vertical plate are fixed to the sole metal plate, the hallux toe sleeve is sleeved on the toes and connected with the toes through the first elastic metal driving rod, and the final toe sleeve is sleeved on the toes and connected with the toes through the second elastic metal driving rod. A first C-shaped connecting rod connected with a first elastic metal driving rod and a second elastic metal driving rod is inserted into the front portion of an ankle connecting block, the bottom of the ankle connecting block is connected with a heel metal plate through a plurality of spring columns, and a second C-shaped connecting rod is inserted into the rear portion of the ankle connecting block. And the second C-shaped connecting rod is fixed with the heel metal plate through the heel elastic metal driving rod. According to the scheme, the shoe sole has better adaptability and balance.

The invention relates to the technical field of robots, and discloses an electro-hydraulic hybrid driving and driven humanoid robot lower limb and waist assembly which serves as a connection foundation of lower limbs and a robot trunk. The near ends of the thigh assemblies are connected with the waist assembly through hip joints; the near end of the shank assembly is connected with the far end of the thigh assembly through a knee joint; the foot component is connected with the far end of the shank component through an ankle joint; the hip joint is provided with three rotational degrees of freedom, the knee joint is provided with one rotational degree of freedom, and the ankle joint is provided with two rotational degrees of freedom; the rotational degree of freedom of each joint in a sagittal plane is driven by an active hydraulic actuator and a passive hydraulic actuator; the rotational degree of freedom of each joint in a horizontal plane and a coronal plane is driven by a motor joint module; the advantages of electric drive and hydraulic drive are brought into full play, and the problems of high power consumption in the negative work stage, complex traditional hydraulic drive pipelines and the like are solved by adopting an active and passive combined distributed hydraulic drive technology.

The invention relates to the technical field of humanoid robots, in particular to a humanoid robot humanoid sole and shank assembly which comprises a sole assembly, a shank assembly and a thigh assembly. The sole assembly comprises a sole, an inertial measurement unit mounted on the sole, a force sensor mounted above an arch of the sole and an adapter plate mounted on the force sensor; the shank assembly comprises a shank, a cross-shaped bearing, an ankle joint support and an ankle joint driving module, the ankle joint support is movably connected to the bottom of the shank through the cross-shaped bearing, the ankle joint support is fixedly installed on the top of the sole assembly, and the ankle joint driving module is installed on the shank and used for driving the ankle joint support to swing along double shafts of the cross-shaped bearing; the thigh assembly comprises a thigh and a knee joint driving module, and the thigh is rotationally connected to the top of the shank through the knee joint driving module. The performance of the humanoid robot in the aspects of movement flexibility, stability, load bearing capacity and complex ground adaptability is remarkably improved.

The invention relates to the field of medical instruments, and discloses a patient ankle self-rehabilitation device which comprises a rear shell, the front side of the rear shell is connected with a front shell through an assembling mechanism, a massage mechanism and a pressing mechanism are arranged on the lower middle portion of the rear end of the rear shell, and an inflation mechanism is arranged on the inner bottom wall of the rear shell. An angle adjusting mechanism is arranged on the inflation mechanism, a temperature adjusting mechanism is arranged in the rear shell, and a plurality of vent grooves are formed in the front shell. Through the massage mechanism, the pressing mechanism, the inflation mechanism, the angle adjusting mechanism and the temperature adjusting mechanism, ankles can be subjected to ice compress and fixation in the initial stage, blood vessels can be expanded in the rehabilitation stage, blood flow of injured parts can be increased, more nutrient substances are provided for tissue repair, muscle tension is relieved, and the recovery rate is increased. Corresponding operation is performed on recovery of ankles in different periods, the whole structure is light and convenient, different requirements of patients can be met, and the patients are helped to be healed faster.

The invention discloses an orthopedic ankle joint trauma recovery exercise device in the technical field of medical apparatus and instruments, comprising a base, a support rod fixedly connected to the top of the base, an adjusting assembly fixedly connected to the bottom wall of the base, movement grooves symmetrically formed in the base, movement assemblies fixedly connected in the movement grooves, tibia fixing assemblies symmetrically hinged to the support rod, and tibia fixing assemblies symmetrically hinged to the tibia fixing assemblies. The top end of the supporting rod is further fixedly connected with a controller, and the adjusting assembly, the movement assembly and the tibia fixing assembly are all in signal connection with the controller. According to the device, the requirement of three-dimensional composite rehabilitation exercise of the ankle joint of a patient is met by constructing a multi-degree-of-freedom platform, the ankle joint force application and fatigue threshold value of the patient are calculated and predicted in combination with multi-source data, real-time following of force application of the patient by resistance is achieved, efficient rehabilitation exercise is achieved, and the rehabilitation effect is improved. Buffering is actively released according to the magnetorheological fluid damping principle after the ankles of the patient reach the movement angle threshold value, the burden of movement inertia on the ankle joints of the patient is reduced, and secondary ankle sprain injuries possibly caused by rehabilitation movement are avoided.

The invention is suitable for the technical field of medical instruments, and provides a pneumatic global self-adaptive ankle-foot artificial limb which comprises a rear sole and a front sole which are connected through a front and rear foot connecting piece. The pressure response assemblies are located at the bottoms of the rear sole and the front sole, and pressure changes after bearing; and the ankle self-adaption assembly is connected with the pressure response assembly through a valve communication assembly and drives the ankle to do eversion, centering and introversion motions based on pressure changes. According to the embodiment of the invention, an ankle joint inward and outward turning automatic adjusting mechanism directly driven by plantar pressure change can enable the artificial limb to adapt to complex terrains such as uneven road surfaces and lateral slopes in real time, an inward and outward turning motion mode of a physiological ankle joint in the walking process is simulated, and the gait of a user is smoother and more natural; the pure pneumatic control structure is relatively simple and light, and an external power supply pressure driving pump or a complex sensor is not needed.

The utility model discloses an inside and outside splayed tendon stretching foot machine mechanism, which comprises a massage seat and a massage assembly arranged on the massage seat, the massage assembly comprises a rotating shaft, a massage wheel arranged on the rotating shaft and a first driving piece for driving the rotating shaft to rotate, and the massage seat comprises a mounting frame, a first torsion swing frame and a second torsion swing frame. The rotating shaft is arranged on the mounting frame and penetrates through the first torsional pendulum frame and the second torsional pendulum frame, a first eccentric part used for driving the first torsional pendulum frame to perform torsional pendulum and a second eccentric part used for driving the second torsional pendulum frame to perform torsional pendulum are arranged on the rotating shaft, and the guiding structure is used for limiting and guiding when the first torsional pendulum frame and the second torsional pendulum frame swing. When the massage assembly works, the whole massage seat can be driven to twist, so that the ankle joint can be subjected to swinging and stretching massage, and meanwhile, the calf muscle can be subjected to stretching massage.

The invention provides a skiing posture correction method and device, and relates to the technical field of skiing teaching, and the method comprises the steps: synchronously collecting plantar pressure distribution characteristic data and ankle joint inclination data of a skier; when the plantar pressure distribution data and / or the ankle inclination data meet the preset unbalance judgment condition, an unbalance adjusting signal is triggered; the imbalance adjustment signal includes at least one of a haptic alert signal related to a severity of the imbalance, a dynamic visual signal including a pressure distribution characteristic, and a sound indication signal having a joint angle quantitative indicator. According to the invention, the skiing posture of the skier can be intelligently and accurately corrected, and the correction efficiency of the skiing posture is improved.

The invention relates to a humanoid robot leg structure and sole assembly based on rope driving, which comprises a hip assembly, a thigh assembly, a shank assembly and a sole assembly, the joint of the hip assembly and the thigh assembly is a hip joint, the joint of the thigh assembly and the shank assembly is a knee joint, and the joint of the shank assembly and the sole assembly is an ankle joint. A first driving source is arranged on the upper side of a hip joint and used for driving the hip to roll, a second driving source and a third driving source are arranged on the left side and the right side of the hip joint respectively and used for driving the hip to pitch and yaw, and a fourth driving source and a fifth driving source are arranged on the left side and the right side of the upper portion of a thigh assembly respectively and used for driving the hip to roll. The fourth driving source is used for driving the knee joint to move, the fifth driving source is used for driving the ankle to do pitching motion, and the sixth driving source is arranged at the joint of the shank assembly and the sole assembly and used for driving the ankle to do rolling motion. The dynamic performance of the whole robot can be improved.

The present invention discloses a cross-double-joint rigid powered lower limb exoskeleton, comprising a waist support and two groups of lower limb supports respectively arranged on both lateral sides of the waist support for assisting the lower limbs on the corresponding sides of the human body; the lower limb support comprises a hip joint connection component, a thigh protector, a plantar support and an electric push rod used as an actuator module, wherein: the thigh protector is connected to the waist support through the hip joint connection component to adapt to the multi-degree-of-freedom movement of the human hip joint; the telescopic direction of the electric push rod is arranged along the length direction of the human calf, and the telescopic end of the electric push rod extends upward and then crosses the human knee joint and is hinged to the rear of the thigh protector, and the fixed end of the electric push rod extends downward and then crosses the human ankle joint and is hinged to the rear of the plantar support; the exoskeleton has the advantages of better ensuring the comfort of the wearer and enhancing the gain effect of the exoskeleton on the human body, and can achieve a better effect of both lightweight and performance.

The invention discloses a lower limb exoskeleton control system and method based on phase recognition and model prediction control. The system comprises a kinematics modeling module, a gait database module, a data processing and feature extraction module, a gait phase recognition module, a dynamics modeling module, a model prediction controller and an actuator control unit. By recognizing the gait phase and dynamically adjusting and controlling the target, precise assistance of the natural gait of the wearer is achieved. The system calculates the trajectory of the ankle joint relative to the hip joint in real time based on a kinematic model, and constructs a database in combination with gait data collected under multiple working conditions to provide an expected trajectory and reference parameters for control. In the dynamic modeling process, motor driving torque and man-machine interaction torque are introduced, a system dynamic model is established in a unified mode, and control characteristics under different gait phases are reflected.

The invention relates to the technical field of robots, and discloses an electro-hydraulic hybrid drive active and passive humanoid robot which is characterized in that a head assembly adopts pure electric drive configuration, and three-degree-of-freedom rotation of a neck is realized through driving of a parallel-series hybrid mechanism; the upper limb assembly is purely electrically driven and comprises a two-degree-of-freedom waist joint driven by a differential parallel transmission mechanism and a seven-degree-of-freedom mechanical arm driven by a near-end motor through a spherical parallel mechanism, a four-bar mechanism and the differential parallel transmission mechanism; the lower limb assembly adopts mixed configuration of active and passive hydraulic main drive and motor auxiliary drive, the single leg has six degrees of freedom, sagittal plane degrees of freedom of hip joints, knee joints and ankle joints are driven by active and passive hydraulic actuators, and other degrees of freedom are driven by a motor joint module; high-dynamic, high-outbreak, high-energy-efficiency, large-load and impact-resistant operation of the upper limbs is achieved while high-dynamic, large-load, high-rigidity and high-precision operation of the upper limbs is guaranteed, and the movement, operation and cruising ability of the whole machine is remarkably improved.

Footwear uppers include a footwear upper base formed from one or more component parts and including: (i) an instep region including at least one of a tongue base region or instep base region and (ii) a heel-containing region. A bladder is engaged with the footwear upper. The bladder includes: (i) at least a first instep chamber engaged with the instep region, (ii) at least a first heel and / or ankle support chamber engaged with the heel-containing region, and (iii) a first fluid line connecting the first instep chamber and the first heel and / or ankle support chamber and placing the first instep chamber in fluid communication with the first heel and / or ankle support chamber. Fluid moving from the first instep chamber to the first heel and / or ankle support chamber (e.g., under force applied by a footwear securing strap) provides further support for the wearer's heel and / or ankle.

The invention discloses an ankle joint mixed exoskeleton system fused with functional electrical stimulation. The ankle joint mixed exoskeleton system comprises a leg support used for being fixed to a shank, a foot fixing plate hinged to the bottom of the leg support, a driving mechanism arranged on the leg support and used for driving the foot fixing plate to swing and a system module matched with the driving mechanism. The invention further provides an assisting torque distribution method. The system provided by the invention can effectively assist the patient in keeping the correct position of the foot in the walking process, so that the foot drop is effectively prevented, and the walking safety and efficiency are improved.

The utility model discloses a bed body foot support of a digital fluoroscopy X-ray machine, which comprises a bottom plate, an examination bed arranged at the top of the bottom plate and a connecting frame arranged at one end of the examination bed, and further comprises a mounting plate arranged at one end of the connecting frame, a sliding opening is formed in the outer wall of the top of the mounting plate, and a sliding block is connected to the inner wall of the sliding opening in a sliding mode. According to the bed body foot support of the digital fluoroscopy X-ray machine, a patient can put two heels on the two foot supporting assemblies respectively, the fixing plate can be driven to ascend by a certain height through the lifting assembly when the legs need to be lifted, then the foot supporting assemblies and the feet of the patient are driven to ascend, the patient is helped to lift the legs, and therefore the patient can conveniently lift the legs. When the foot needs to be rotated to adjust the position of the ankle joint, the foot supporting assembly can be driven to rotate by a certain angle through the adjusting assembly, then the foot of a patient is driven to rotate by a certain angle, the position of the ankle joint is adjusted, the adjusted posture can be stably kept, and the shooting effect is ensured.

The invention discloses a management device for patient leg fracture nursing, and belongs to the field of orthopedic trauma, the management device comprises a bed body, an arranged fracture management mechanism is used in cooperation with a fracture patient, the legs of the patient are placed on the top surface of a bottom plate, and the shanks and thighs of the patient are supported through a thigh supporting plate and a shank supporting plate respectively; after thighs and shanks of a patient are bound and bound together with the thigh supporting plate and the shank supporting plate through belt buckles and binding belts respectively, the position of the traction plate is adjusted according to the position of a bone needle part after fracture puncture at the thigh proximal end, the femoral shaft, the knee joint or the ankle joint of the shank of the patient, and a bone needle is placed in one bone needle clamping groove; after the traction plate is fixed on the L-shaped adjusting plate through the second screw hole knob, the L-shaped adjusting plate is pushed to move towards the right side by rotating the first screw hole knob on the fixed threaded rod, and the compression spring is forced to perform retraction operation, so that the aim of performing bone traction on a patient is fulfilled.

The invention relates to the technical field of medical health data analysis, in particular to a multi-modal data fusion abnormal behavior early warning system before falling of a high-risk patient. According to the method, for any patient, a plurality of gait cycles formed by time frames are obtained according to ankle coordinate distribution of different time frames; according to the ankle coordinate distribution of different time frames in each gait cycle, gait high risk of each gait cycle is obtained; according to the hip coordinate distribution of different time frames in each gait cycle, obtaining the center-of-gravity shift degree of each gait cycle, and obtaining the high-risk center-of-gravity shift reference degree of all patients in each gait cycle; for any patient, the falling probability in each sliding window is obtained according to the gravity center shift degrees of different gait cycles, the high-risk gravity center shift reference degree and various physiological parameter data at different moments; and early warning is carried out on abnormal falling behaviors. According to the invention, the accuracy of early warning of abnormal falling behaviors is improved by accurately analyzing the falling probability of the high-risk patient.

An instrument includes a housing having a first end, a second end, and a body disposed therebetween. The housing also includes a first opening positioned at the first end, and a second opening positioned at the second end, with the first opening and the second opening positioned about a common longitudinal axis. The instrument also includes a first drive shaft received at least partially within the first opening and extending into the housing and a second drive shaft disposed at least partially within the housing. The instrument also includes an engagement member extending at least partially from the second opening of the housing.

The invention discloses a sleep-aiding linkage system based on ankle recovery monitoring, and relates to the technical field of medical health and intelligent monitoring. According to the sleep-aiding linkage system based on ankle recovery monitoring, rich biomechanical parameters of an ankle area are collected in real time through a multi-mode sensor; the method comprises the steps that plantar pressure distribution, ankle joint motion trails, foot temperature and skin impedance are covered, the data are subjected to multi-dimensional fusion analysis, calculation is conducted in combination with a built-in neural network model, the ankle fatigue state and the recovery stage can be accurately analyzed, the method is different from a traditional fixed threshold value judgment mode, and the system can be dynamically adjusted according to individual differences of users and historical data; and furthermore, the sleep-aiding equipment linkage control module is used for finely adjusting operation parameters of mattress hardness, environment illumination intensity and sound wave frequency for sleep monitoring equipment and environment temperature control equipment according to an analysis result, so that an exclusive sleep environment matched with an ankle recovery process is created for a user.

The utility model relates to medical rehabilitation training equipment, in particular to a modularized flexible lower limb exoskeleton robot. Comprising a control part, a driving part, a transmission part, a hip joint body part and an ankle joint body part, the driving part communicates with the control part, the driving part is connected with the hip joint body part and the ankle joint body part through the transmission part, and the hip joint body part is arranged at the hip joint of the human body. The ankle joint body part is arranged at the ankle joint of the human body, and the driving part controls the hip joint body part and the ankle joint body part through the transmission part to assist lower limb movement. The power assisting device is compact in structure, small and exquisite, easy to wear, light in weight, portable, adjustable in height and suitable for being worn by people with different body types, a separated modular design principle is adopted, and a power assisting mode can be configured according to specific requirements so as to meet the use requirements of different users in different environments.

The invention provides a unilateral parallel connecting rod type ankle structure and a robot, and belongs to the technical field of robots. The problems that due to the fact that an existing humanoid robot ankle mechanism adopts a symmetrical double-connecting-rod or direct-driving structure, the occupied transverse space is large, and the rotational inertia is high are solved. The device comprises a shank part, a long connecting rod, a short connecting rod and a sole plate, a first driver and a second driver are arranged on the shank part, the output end of the first driver is connected with a first output flange connecting rod, the output end of the second driver is connected with a second output flange connecting rod, and the first output flange connecting rod is connected with the long connecting rod. The second output flange connecting rod is connected with a short connecting rod, a sole plate connecting rod is installed on the sole plate and provided with two connecting ends, the two connecting ends are connected with a long connecting rod and a short connecting rod respectively, the long connecting rod and the short connecting rod are both arranged on the outer side of a shank part, and the lower portion of the shank part is connected with the sole plate through a cross bearing. The robot ankle structure is mainly used for robot ankle structures.

According to the technical scheme, the four-limb joint supporting structure comprises an upper supporting part, a lower supporting part and a connecting part, and the upper supporting part and the lower supporting part can be bent to be in an arc surface shape from the two sides and are used for being attached to the upper limb and the lower limb at the joints of a patient; the two ends of the connecting part are connected to the upper supporting part and the lower supporting part respectively and used for being attached to the joint position, and the width of the connecting part is smaller than that of the upper supporting part and that of the lower supporting part so that two grooves can be formed between the connecting part and the upper supporting part and between the connecting part and the lower supporting part. The utility model has the beneficial effects that the connecting part is formed between the upper supporting part and the lower supporting part through the groove, the connecting part is bent and attached to the joint, the generation of a break angle is avoided, the bending can be extremely simplified, no matter whether the material has enough ductility or not, the requirements can be met, the structure is simple, the complexity degree is low, the production process is simple, and the operability is high; the device is suitable for shoulder joints, elbow joints, ankles and the like, and the structural design has certain universality.

The invention relates to the technical field of active artificial limbs, in particular to a bionic artificial limb with a knee-ankle linkage function. Comprising a fixing frame, a receiving cavity is connected to the fixing frame, first air bags are arranged on the inner side of the receiving cavity at intervals, clamping blocks are connected to the first air bags at intervals, air escape valves are arranged on the first air bags, an air conveying mechanism is arranged on the fixing frame, and the air conveying mechanism is used for alternately conveying air into the different first air bags. The first air bags with the clamping blocks are combined with the air conveying mechanism, so that the first air bags can be alternately expanded and deflated, intermittent fixation and relaxation of limbs are achieved, blood circulation disorder caused by long-time continuous compression of a traditional rigid or semi-rigid receiving cavity is effectively avoided through the dynamic adjusting mode, and the medical treatment effect is improved. The probability of occurrence of complications such as skin irritation, redness and swelling and even pressure sores is remarkably reduced, and the wearing comfort and safety are improved.

The invention discloses a knee-ankle power-assisted exoskeleton based on a metamorphic principle and a control method of the knee-ankle power-assisted exoskeleton. The knee-ankle power-assisted exoskeleton comprises a control system, a waist driving mechanism, a waist transmission mechanism, a waist input knee joint transmission mechanism, a waist input ankle joint transmission mechanism and a plantar pressure sensing device. The waist transmission mechanism is a metamorphic mechanism and is in transmission connection with the input end of the waist input knee joint transmission mechanism and the input end of the waist input ankle joint transmission mechanism through two Bowden rope sets. And the metamorphic mechanism outputs power according to three preset configuration circulation modes. Automatic switching of different power assisting modes is achieved; and the output end of the waist input knee joint transmission mechanism is also provided with a knee joint variable stiffness mechanism. The metamorphic mechanism is adopted, the knee joint and the ankle joint are driven through a single motor, the overall weight of the exoskeleton is obviously reduced, and the power assisting efficiency is improved; intelligent switching of the exoskeleton in different gait stages can be achieved, and the power assisting mode can be dynamically adjusted.