1835 results about "Thigh" patented technology

The walking-assisting knee joint exoskeleton structure comprises an exoskeleton, the exoskeleton comprises an assisting assembly, a thigh supporting assembly, a shank supporting assembly and a crossed four-bar linkage assembly, the assisting assembly comprises a waistband and a driving mechanism arranged on the waistband, the thigh supporting assembly comprises a thigh binding mechanism and a thigh support, and the shank supporting assembly comprises a shank binding mechanism and a shank support. The shank supporting assembly comprises a shank binding mechanism and a shank support, and the thigh support is in power connection with the shank support through a crossed four-connecting-rod assembly. The power assisting assembly further comprises a motor assembly, a first brake cable and a second brake cable, and the first brake cable and the second brake cable are connected with the front end and the rear end of the shank binding mechanism respectively. The motor assembly is moved upwards to the waist, the load of the knee joint area is reduced, joint abrasion and muscle fatigue can be reduced, the wearing comfort and the feasibility of long-time walking are improved, the trousers bear part of the weight of the exoskeleton, the load of the legs is reduced, and the overall attractiveness is further improved.

The invention discloses a robot leg structure and a humanoid robot. The robot leg structure comprises a hip joint assembly, thighs and shank assemblies, and the hip joint assembly is used for being connected to the lower portion of the trunk of the humanoid robot; the thigh part comprises a first thigh web and a second thigh web which are oppositely arranged in the Y direction, the first thigh web and the second thigh web are detachably connected into a whole, and a mounting cavity is defined between the first thigh web and the second thigh web; the hip joint assembly is rotationally connected into the mounting cavity along the lower end of the Z direction; the upper end of the shank assembly is rotationally connected to the end, deviating from the hip joint assembly, in the mounting cavity in the Y direction. A first driving assembly is arranged in the mounting cavity and used for driving the shank assembly to rotate in the Y direction. The walking stability of the humanoid robot is improved on the premise of meeting the movement flexibility of the humanoid robot.

The invention relates to a humanoid robot lower limb structure and a robot. The lower limb structure comprises a hip unit, a thigh unit, a shank unit and a foot unit. The hip unit comprises a hip seat body, a first joint structure, a thigh swing drive, a thigh rotation drive and a thigh side-sway drive; the first joint structure comprises a first movable seat and a second movable seat; the thigh swing drive is mounted on the inner side of the hip seat body, and an output rotating shaft of the thigh swing drive is connected with the first movable seat; the thigh rotation drive is fixedly connected with the second movable seat, and an output rotating shaft of the thigh rotation drive is connected with the upper end of the thigh unit; the thigh side-sway drive is fixedly connected with the first movable seat, and an output rotating shaft of the thigh side-sway drive is connected with the second movable seat; the axial direction of a rotating shaft driven by thigh swing is parallel to the first direction; the axial direction of a rotating shaft of the thigh side-sway drive is perpendicular to the first direction; the axial direction of the rotating shaft of the thigh rotation drive is perpendicular to the first direction and the axial direction of the rotating shaft of the thigh side-sway drive.

The humanoid robot comprises a trunk assembly, a thigh assembly, a shank assembly and a foot assembly, the trunk assembly and the thigh assembly are rotatably connected through a hip joint assembly, and the thigh assembly and the shank assembly are rotatably connected through a knee joint assembly. The shank assembly is rotatably connected with the foot assembly through the ankle joint assembly, the thigh assembly and the shank assembly respectively comprise a thigh skeleton and a shank skeleton, and when the thigh skeleton and the shank skeleton are straightened, the pitching rotation axis of the hip joint assembly and the pitching rotation axis of the knee joint assembly are not on the same vertical plane; the pitching rotation axis of the knee joint assembly and the pitching rotation axis of the ankle joint assembly are located on the same vertical plane, it is guaranteed that the transmission angle between the thigh assembly and the shank assembly of the robot is not 0 degree, the degree of freedom in the vertical direction cannot be lost, straight-leg standing and straight-leg starting of the robot are achieved, and the robot is closer to a real person in shape.

The wearable knee joint exoskeleton comprises a thigh supporting part, a knee joint rotation limiting device and a shank supporting part, the knee joint rotation limiting device is used for limiting the angle range of human knee movement, and the knee joint rotation limiting device is arranged between the thigh supporting part and the shank supporting part; the leg support part is fixedly connected with the thigh support part and the shank support part; the knee joint rotation limiting device is provided with a variable rotation center and supports motion angle limiting of the knee joint in a large range, the knee joint rotation limiting device comprises a continuum rotation mechanism located on the side face of the knee joint of the human body, the continuum rotation mechanism comprises a plurality of continuum rotation modules, and a rotation freedom degree exists between every two adjacent continuum rotation modules. The size of the front-back rotation angle of each rotation freedom degree is related to the shape of the continuum rotation module. The exoskeleton has a variable rotation center, can adapt to natural movement of the knee joint of the human body, and is high in safety, good in stability and easy to wear.

The invention discloses a knee joint postoperative rehabilitation management system, which comprises the steps of building a hip-knee-ankle multi-joint associated diagnosis AI model, generating an evaluation result based on the hip-knee-ankle multi-joint associated diagnosis AI model, generating a staged rehabilitation scheme through reinforcement learning and a rehabilitation knowledge graph, and performing rehabilitation management on the rehabilitation scheme. Sensor data in the training process of a patient is collected through a detection suite and input into an action judgment model after being preprocessed, and the model outputs an action correctness score and an error type in combination with a shank-thigh axis consistency judgment algorithm and an action standard library; according to the action correctness score and the error type, the patient is guided to adjust the action, and rehabilitation training closed-loop management is achieved. The knee joint compensation relation can be accurately judged, the kinematic chain balance principle of knee rehabilitation training can be met, the correctness of actions during training can be accurately judged, and joint unbalance is avoided.

The invention relates to a hip and knee joint walking aid exoskeleton robot. The double-motor hip joint mechanism is composed of a back frame, an adjustable waist mechanism, two bilaterally-symmetrical double-motor hip joint mechanisms, two bilaterally-symmetrical thigh length adjusting mechanisms and two bilaterally-symmetrical knee joint mechanisms. The two double-motor hip joint mechanisms are connected to the two sides of the back frame and the two sides of the adjustable waist mechanism respectively, the thigh length adjusting mechanisms are connected with the double-motor hip joint mechanisms, and the knee joint mechanisms are connected with the thigh length adjusting mechanisms. When the wearer performs low-speed or low-load movement, only a second motor, close to the thigh length adjusting mechanism, of the dual-motor hip joint mechanism is activated, and when the wearer performs high-speed or high-load movement, the first motor and the second motor are activated at the same time. The hip and knee joint combined assisting mode is adopted, the walking assisting performance and the wearing comfort degree of the exoskeleton are balanced, on the premise that the wearing comfort degree is not affected, the maneuverability and the load capacity are enhanced to the maximum degree, and the fatigue degree is greatly reduced.

The invention relates to a chair for accommodating a person. The chair includesan upper body section having an upper body contact surface adapted or adaptable to at least parts of a front of a torso or a rear of a torso of a person placed on the chair, anda lower body section having a lower body contact surface adapted or adaptable to at least parts of at least a front of a thigh of the person, wherein the upper body section and the lower body section are arranged or arrangeable and fixable in a position relative to each other such that the upper body contact surface and the lower body contact surface cause a hyperextension posture of the hip joint of the person with a predetermined hyperextension angle. By forming the hyperextension angle of the hip on the chair, shortening of the anterior thigh and hip muscles can be counteracted. Also disclosed are a pressing device for application to the human body, which is adapted for use on a chair and which includes one or more pressure units each having at least one pressure head adapted to apply local or point pressure at a predetermined pressure location on the body of a person accommodated on the chair, and a chair having such a pressing device.

A method for generating a knitted article having a first, second and third opening, the knitted article adapted to cover at least a groin, a first thigh portion and a second thigh portion of a human body. The method includes using flatbed knitting machine to knit a first portion of the knitted article for covering the first thigh portion, then to knit a second portion of the knitted article for covering the groin and then to knit a third portion of the knitted article for covering the second thigh portion. The first, second and third portions of the knitted article form a one-piece, non-planar knitted article. A pair of edges of the knitted article are affixed to form a first seam, and another pair of edges are affixed to form a second seam facing away from the first seam.

The light-weight lower limb exoskeleton control system comprises a backrest assembly, leg assemblies are arranged on the two sides of the backrest assembly, and each leg assembly comprises a hip joint movement mechanism, a thigh exoskeleton mechanism, a shank exoskeleton mechanism and a foot mechanism which are sequentially arranged from top to bottom; a knee joint energy storage mechanism is connected between the thigh exoskeleton mechanism and the shank exoskeleton mechanism; the knee joint energy storage mechanism comprises an upper mounting seat, a lower mounting seat, a telescopic sleeve and an energy storage spring sleeving the telescopic sleeve; the upper mounting seat is fixedly connected with the thigh exoskeleton mechanism and is connected with the upper end of the telescopic sleeve through a rotating pair; the lower mounting seat is fixedly connected with the shank exoskeleton mechanism and is connected with the lower end of the telescopic sleeve; a plurality of mounting holes are formed in the upper mounting seat, and the elastic strength of the knee joint energy storage mechanism is changed according to the elongation of the energy storage spring when the telescopic sleeve is mounted at different positions. Compared with the prior art, the method has the requirements of light weight and low control complexity.

The invention provides a hip joint exoskeleton robot anti-falling detection method, and relates to the technical field of exoskeleton robots, and the method comprises the following steps: setting a hip joint angle threshold value of a robot; collecting a hip joint real-time angle value of the robot; based on the collected hip joint real-time angle value and the hip joint angle threshold value, whether leg binding of the robot fails or not is judged; and in response to failure of leg binding of the robot, stopping applying forward current to a motor of the robot, applying reverse current to the motor of the robot according to the real-time angle value of the hip joint and the angle threshold value of the hip joint, and when it is detected that the leg binding is in a falling state and the rotation angle of the leg rod exceeds the set angle threshold value, stopping applying forward current to the motor of the robot. The motor timely provides reverse current to counteract inertia of upward movement of the leg rod, the leg rod is prevented from hitting the abdomen, the motor stops assisting when the leg rod falls back to the angle threshold value, the leg rod is prevented from hitting the thigh, and the robot can be used simply, efficiently, conveniently and safely.

The invention discloses a knee / elbow wheel type quadruped robot, and relates to the technical field of quadruped bionic robots, the knee / elbow wheel type quadruped robot comprises a robot body and four legs arranged at four corners around the robot body, each leg comprises a thigh body and a shank body, and a knee / elbow joint is formed at the joint of the thigh body and the shank body; mounting seats are arranged at the knee / elbow joints, driving wheels are rotationally connected to the mounting seats, and the driving wheels are located on the outer sides, relative to the robot body, of the knee / elbow joints; when the driving wheel needs to be used for walking, the shank body is controlled to be bent towards the thigh body around the knee / elbow joint till the driving wheel makes contact with the ground and the foot of the shank body leaves the ground, and then the machine body can be driven to advance through the driving wheel. According to the robot, the driving wheels are arranged at the knee / elbow joints, the flexibility and adaptability of a leg structure of a traditional quadruped robot are reserved, rapid and efficient movement on the flat terrain is achieved through the driving wheels, and the application range of the robot is widened.

A saddle or harness is worn by a user when tethered to a tree or pole to suspend the user. A knee sling is releasably attachable to the saddle or harness to extend forwardly along the user's thighs and to wrap about the user's knees such that when the user leans the wrapped knee sling into the tree or pole with knees spaced the knee sling flexes to receive the tree or pole into the space between the knees and the sling further conforms to form convex knee pockets on laterally opposite sides of the tree or pole for supporting the user's knees in straddled relation to the tree or pole. The knee sling is adjustable in length to adjust for different size trees or poles.

The knee joint assembly comprises a first thigh web, a knee joint motor is arranged at the upper end of the side wall of the first thigh web in the X direction, and the output end of the knee joint motor is connected with a first flange plate; a knee joint connecting rod is hinged to the eccentric part of one end of the first flange away from the knee joint motor; the lower end of the side wall of the first thigh web is rotationally connected with a shank web in the X direction. The end, away from the first flange plate, of the knee joint connecting rod is hinged to the upper end of the shank web. The hinge point of the knee joint connecting rod and the first flange plate, the rotating shaft point of the first flange plate, the hinge point of the knee joint connecting rod and the shank web and the rotating shaft point of the shank web form a contra-parallelogram structure. The motion angle range of the knee joint connecting rod can be narrowed on the basis that the requirement for large-angle-range motion of the knee joint of the humanoid robot is met.

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 discloses a quadruped robot driving leg structure which comprises a first driving unit, a hip joint assembly, a thigh assembly and a shank assembly, the hip joint assembly is transversely arranged on a driving output shaft of the first driving unit, and the hip joint assembly comprises a hip joint shell, a second driving unit and a second driving connecting plate; the second driving connecting plate is arranged on the outer wall of the hip joint shell, a driving output shaft of the first driving unit is connected to one side of the front face of the second driving connecting plate, the first driving unit is used for driving the second driving unit to rotate within a specified angle range, and the thigh assembly is downwards obliquely provided with the driving output shaft of the second driving unit. The lower end of the thigh assembly is movably connected with the upper end of the shank assembly, and the lower end of the shank assembly is provided with a foot end. Radial impact borne by the driving motor during operation can be reduced, the accuracy and reliability of leg movement can be effectively ensured, and the effective loading capacity of the robot is further improved.

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 belongs to the technical field of mowing machines, and particularly discloses a wheel-foot combined type all-terrain mowing machine and an active obstacle crossing control method thereof.The mowing machine comprises a rack, a mowing device is installed on the rack, four bionic feet are installed on the rack, each bionic foot comprises a thigh part, the first end of each thigh part is hinged to the rack, and the second end of each thigh part is hinged to the rack; the second ends of the thighs are hinged to the shank parts, walking wheels are rotationally installed at the ends, away from the thighs, of the shank parts, thigh part driving devices are arranged between the rack and the thighs, shank part driving devices are arranged between the thighs and the shank parts, and walking wheel driving devices are installed on the shank parts. Through cooperative work of the bionic feet and the walking wheels, high-speed movement and complex terrain adaptability are both considered; dynamic adjustment of the mowing height can be achieved, the operation scene is expanded, and the mowing knife is protected against collision; according to the improved mower, manual intervention can be reduced, and the risk of equipment damage caused by complex terrain is reduced.

The present application discloses a mechanical leg and a robot, and relates to the field of robots. The mechanical leg comprises: a driving unit, a thigh unit, a calf unit and a traveling wheel; the driving unit 11 is used to drive the traveling wheel 14 to rotate; the joint end of the thigh unit, the joint end of the calf unit and the traveling wheel are coaxially connected; the calf unit and the traveling wheel switch between unlocking and locking; the thigh unit is provided with a first claw on the side facing the calf unit, and the calf unit is provided with a second claw on the side facing the thigh unit, and the first claw and the second claw are adapted; in the wheeled motion state in which the calf unit and the traveling wheel are unlocked, the first claw and the second claw are locked to fix the calf unit and the thigh unit, and the driving unit drives the traveling wheel to rotate; in the footed motion state in which the calf unit and the traveling wheel are locked, the first claw and the second claw are unlocked, and the driving unit drives the calf unit to rotate relative to the thigh unit through the traveling wheel.

The present invention discloses a flapping-wing aircraft capable of catapult takeoff and having a sweep-torsion mechanism, belonging to the field of aircraft technology. The aircraft comprises: a fuselage frame, left and right flapping wings, a passive torsion mechanism, a sweep mechanism, a catapult takeoff mechanism, a transmission flapping mechanism, and a tail rudder, wherein: a passive torsion mechanism and a sweep mechanism are provided at the roots of the left and right flapping wings, the catapult takeoff mechanism is provided in the middle of the fuselage, and a hip joint, thigh, ankle joint, calf, foot, and toe joint are provided from top to bottom, the inner and outer sides of the hip joint are controlled by a servo motor for relative rotation, the ankle joint and toe joint are provided with elastic energy storage torsion springs, a synchronous pulley and its drive mechanism are provided between the outer side of the hip joint and the outer side of the ankle joint to control the relative rotation between the thigh and the calf, and perform energy storage for catapult takeoff. In summary, the aircraft can perform catapult takeoff flight, and can perform passive torsion and sweeping motions during the flapping of the wings, which helps to increase the flapping wing lift and the overall payload of the aircraft.

The invention discloses a multi-angle adjustable operating bed, which belongs to an operating bed in the technical field of medical equipment, and adopts the technical scheme that the multi-angle adjustable operating bed comprises a head-back plate assembly, a supporting plate, a supporting plate and a supporting plate, the seat plate assembly is provided with an angle-adjustable waist supporting plate group and a main supporting plate, and one side of the waist supporting plate group is hinged to one side of the main supporting plate; the leg plate assembly is provided with an angle-adjustable thigh supporting plate and an angle-adjustable shank supporting plate; a leg plate hydraulic cylinder group which is relatively overturned is arranged between the seat plate assembly and the leg plate assembly, and the leg plate assembly is provided with two leg supporting plate groups which can be relatively opened; according to the multi-angle adjustable operating bed provided by the invention, the legs, the waist and the head of a lying patient can be stably supported after adaptive adjustment by the operating bed, so that the patient can be adaptively placed on the operating bed by medical staff, and the patient can be conveniently subjected to surgical operation.

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 invention relates to the technical field of wearable exoskeleton assistance, in particular to a lower limb exoskeleton knee joint assistance control method and system. The lower limb exoskeleton comprises a pair of swing arms respectively connected with thighs and shanks and an actuator, and the method comprises the following steps: processing data of a motion parameter sensor, acquiring detection data input by the motion parameter sensor arranged on the lower limb exoskeleton, and processing the detection data to extract motion features; gait phase detection is conducted, the current gait phase is determined according to the motion characteristics, the gait phase comprises a supporting phase and a swinging phase, the supporting phase corresponds to the state that the lower limb touches the ground, and the swinging phase corresponds to the state that the lower limb leaves the ground; activity identification: motion features are extracted in the supporting phase to determine activity types, and the activity types comprise at least one of flat walking, upward walking, downward walking, running, squatting, backward walking and unknown; according to the control strategy, the corresponding control strategy is selected according to the gait phase and the activity type so as to control an actuator.

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.

Pants housing a catheter that drains to a collection bag, said pants having a left and a right panel, wherein each panel is a covering element has a continuous zipper tape that is coextensive with the fabric forming a pant, wherein the panels provide a selectable portlets to the collection bag mounted on a wearer's anterior thigh to activate drainage or to service a connection of the catheter to the collection bag, and a selectable port to inspect, tighten straps and / or replace the collection bag. It is anticipated that the wearer may be in a wheelchair when these actions are performed.

The invention discloses a lower limb power-assisted exoskeleton robot, which belongs to the technical field of robots and comprises a hip joint assembly worn at a hip joint of a human body, a left leg assembly which is positioned on two sides of the hip joint assembly and is worn on a left leg, and a right leg assembly which is worn on a right leg, each of the left leg assembly and the right leg assembly comprises a thigh connecting rod, a shank connecting rod and a shoe body assembly which are sequentially hinged, the upper end of the thigh connecting rod is hinged to the side face of the hip joint assembly, and a first driving mechanism for driving the thigh connecting rod to rotate is arranged on the side face of the hip joint assembly; inclined driving pieces for driving the shank connecting rods to move are arranged between the hip joint assemblies and the shank connecting rods, the upper ends of the inclined driving pieces are hinged to the side faces of the hip joint assemblies, and the lower ends are hinged to the middles of the shank connecting rods; the lower limb power-assisted exoskeleton robot further comprises a sensor used for detecting uplifting of the thighs and / or the shanks. The power assisting device is simple in structure, reasonable in layout, low in cost and good in power assisting effect.

A bipedal robot having five degree of freedom leg assemblies is disclosed. The example leg assemblies each have a hip joint; a thigh link assembly rotatably coupled to the hip joint; and a knee joint coupled to the thigh link assembly. A calf link assembly is rotatably coupled to the knee joint. An ankle joint is coupled to the calf link assembly. A set of actuators is configured to control movement of the leg assembly. At least some of the actuators are positioned near the hip joint to concentrate mass of the leg assembly proximate to the hip joint. A transmission system is configured to transmit force from at least one of the actuators to either the knee joint or the ankle joint of the leg assembly.

The invention relates to the technical field of exoskeletons, in particular to a high-degree-of-freedom light lower limb assisting exoskeleton. The invention provides a high-degree-of-freedom light lower limb assisting exoskeleton. The high-degree-of-freedom light lower limb assisting exoskeleton comprises a back assembly, a waist assembly, hip joint motors, thigh assemblies, knee joint motors, shank assemblies and ankle joint and foot assemblies which are sequentially connected. Wherein the thigh assembly comprises a hip joint motor connecting piece, a thigh rod and a knee joint motor connecting piece which are connected in sequence, and the end, close to the hip joint motor connecting piece, of the thigh rod is hinged to the hip joint motor connecting piece through a first hinge shaft. The multi-degree-of-freedom hip joint mechanism and the multi-degree-of-freedom knee joint mechanism are adopted, so that the exoskeleton can better coincide with contour curves of all parts of a human body and better adapt to complex movement of human joints, and the problems that the exoskeleton is poor in wearing comfort, effective assisting force is lost and the like due to man-machine discordance are solved.

The invention discloses a passive power-assisted exoskeleton, and belongs to the technical field of auxiliary walking appliances, the passive power-assisted exoskeleton comprises a leg assembly, the leg assembly comprises a thigh supporting assembly, a shank supporting assembly, a crossed four-bar linkage assembly and an energy storage power-assisted assembly, the thigh supporting assembly is in power connection with the shank supporting assembly through the crossed four-bar linkage assembly, and the energy storage power-assisted assembly is in power connection with the energy storage power-assisted assembly; the energy storage assisting assembly comprises an elastic energy storage assembly, a brake cable, a guide wheel set and a cable length adjusting device. Passive power assisting is achieved through the energy storage power assisting assembly, the leg load is reduced, the wearing comfort and the feasibility of long-time walking are improved, the crossed four-connecting-rod assembly enables the motion trail of the exoskeleton to better conform to the natural motion trail of the knee joint of the human body, and the motion trail is more stable. Through the elastic energy storage assembly, the cable length adjusting device and the guide wheel set, the adjusting precision of the tensioning degree of the brake cable is improved, the influence of knee joint bending on the length of the brake cable is amplified, the compression degree of an elastic piece and the control precision of stored energy are improved, and the load-bearing auxiliary effect is greatly improved.

The present disclosure provides a leg guard having a toe guard, a shin guard, a knee guard including an extended kneecap wrap, a thigh guard, and an interlocking hinge. The interlocking hinge helps prevent an opening from forming between the thigh guard and the knee guard during play and prevents the leg guard from moving or rotating about the user's leg during movement. The leg guard also includes a slider assembly attached to the thigh guard that allows for the cushion pad to remain fixed against the thigh of the user while only the cover shell slides up and down the leg as the user assumes any one of a plurality of positions.