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CN-121989204-A - Exoskeleton device

CN121989204ACN 121989204 ACN121989204 ACN 121989204ACN-121989204-A

Abstract

The application provides exoskeleton equipment, and belongs to the technical field of exoskeleton. The exoskeleton device comprises a waist module, a first leg module, a second leg module and a dynamic control module, wherein the waist module is respectively connected with the first leg module and the second leg module in a rotating mode, the dynamic control module comprises an environment recognition component and a dynamic controller, the environment recognition component collects surrounding environment information in real time, and the dynamic controller receives the environment information and determines a power assisting mode of at least one of the waist module, the first leg module and the second leg module according to the environment information. The exoskeleton device provided by the application can autonomously respond when the environment changes, and selects the power assisting mode which is most suitable for the current environment, so that the working adaptability, flexibility and use comfort of the exoskeleton device under different environment scenes are improved.

Inventors

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Assignees

  • 极壳科技(上海)有限公司

Dates

Publication Date
20260508
Application Date
20241104

Claims (10)

  1. 1. The exoskeleton device is characterized by comprising a waist module (1), a first leg module (2), a second leg module (3) and a dynamic control module (4); The waist module (1) is respectively connected with the first leg module (2) and the second leg module (3) in a rotating way; the dynamic control module (4) comprises an environment recognition component (41) and a dynamic controller (42); The environment recognition component (41) is positioned on at least one of the first leg module (2) and the second leg module (3) and is in communication connection with the dynamic controller (42), and the dynamic controller (42) is electrically connected with at least one of the waist module (1), the first leg module (2) and the second leg module (3); The exoskeleton device is configured such that the environment recognition component (41) collects ambient environment information in real time, and the dynamic controller (42) receives the environment information and determines a power assisting mode of at least one of the waist module (1), the first leg module (2) and the second leg module (3) according to the environment information.
  2. 2. Exoskeleton device according to claim 1, wherein the first leg module (2) and the second leg module (3) comprise respectively a thigh assembly (21), a knee joint driver (22) and a calf assembly (23) arranged in series; at least one of the thigh module (21) and the calf module (23) is provided with the environment recognition module (41).
  3. 3. Exoskeleton device according to claim 2, wherein when the environment recognition assembly (41) is provided on the lower leg assembly (23), the environment recognition assembly (41) is located on the outer side of the lower leg assembly (23) facing away from the legs of the human body, and the environment recognition assembly (41) is capable of collecting environment information under the feet and in front of the human body.
  4. 4. An exoskeleton device as claimed in claim 2 or 3, wherein the environment recognition assembly (41) is inclined towards the front of the human body to collect environment information in the range of the human foot down to the front target.
  5. 5. An exoskeleton device as claimed in claim 3, wherein the calf assembly (23) comprises a calf link (231) and a calf strap (232); the lower leg connecting rods (231) are arranged up and down along the legs of the human body, the lower leg binding bands (232) are located on the inner sides of the lower leg connecting rods (231) close to the legs of the human body, and the environment recognition assembly (41) is located on the outer sides of the lower leg connecting rods (231) away from the legs of the human body.
  6. 6. The exoskeleton device as claimed in claim 5 wherein the lower leg assembly (23) further comprises a limit bracket (233), the limit bracket (233) being located outside of the lower leg link (231); The limiting support (233) comprises a base portion (2331) and a limiting portion (2332), the base portion (2331) is connected with the outer side face of the shank connecting rod (231) in a fitting mode, the limiting portion (2332) is located on the side face, opposite to the shank connecting rod (231), of the base portion (2331), and the limiting portion (2332) is used for fixing and supporting the environment recognition assembly (41) at a target angle.
  7. 7. The exoskeleton device as in claim 6 wherein the limit portion (2332) comprises a top limit plate (23321) and a bottom limit plate (23322), the top limit plate (23321) and the bottom limit plate (23322) are arranged at intervals up and down, and the top limit plate (23321) and the bottom limit plate (23322) enclose a limit space (23323), the limit space (23323) has the same shape as the environment recognition assembly (41), and the environment recognition assembly (41) is located in the limit space (23323).
  8. 8. The exoskeleton device of any one of claims 1 to 7, wherein the environment recognition component (41) comprises at least one of a vision sensor, a distance sensor, a radar detector, an infrared sensor.
  9. 9. The exoskeleton device of any one of claims 1 to 7, wherein the lumbar module (1) comprises a hip joint driver (11), and wherein the first leg module (2) and the second leg module (3) each comprise a knee joint driver (22); The dynamic controller (42) is electrically connected with the hip joint driver (11) and the knee joint driver (22) respectively, and the dynamic controller (42) can determine the assistance modes of the hip joint driver (11) and the knee joint driver (22) according to the environment information.
  10. 10. Exoskeleton device according to any one of claims 1 to 9, wherein an internal sensor (13) is provided within at least one of the waist module (1), the first leg module (2) and the second leg module (3), the internal sensor (13) being for acquiring movement parameters of the legs of the person; The internal sensor (13) is electrically connected with the dynamic controller (42), and the dynamic controller (42) can receive the motion parameters and determine a power assisting mode of at least one of the waist module (1), the first leg module (2) and the second leg module (3) according to the motion parameters and the environment parameters.

Description

Exoskeleton device Technical Field The application relates to the technical field of exoskeletons, in particular to an exoskeletons device. Background A mechanical exoskeleton, or powered exoskeleton, exoskeleton device, is a mechanical device that is made up of a relatively strong frame and is wearable by a person, and the device can provide additional energy for limb movement. The exoskeleton device worn on the lower limbs of the human body is widely applied to scenes such as medical treatment, outdoor activities and the like. In the related art, the exoskeleton device suitable for being worn by lower limbs generally adjusts the running state of the exoskeleton device according to a preset program or by means of the reaction force provided by the exoskeleton device in the movement process of the legs of a human body, and the autonomous regulation and control capability of the exoskeleton device is insufficient. Disclosure of Invention The application provides exoskeleton equipment, which can solve the problems that the exoskeleton equipment adjusts the running state of the exoskeleton equipment according to a preset program or by means of the reaction force provided by the exoskeleton equipment in the movement process of the legs of a human body, and the autonomous regulation and control capability is insufficient. The technical scheme is as follows: an exoskeleton device includes a waist module, a first leg module, a second leg module, and a dynamic control module; the waist module is respectively connected with the first leg module and the second leg module in a rotating way; The dynamic control module comprises an environment recognition component and a dynamic controller; The environment recognition component is positioned on at least one of the first leg module and the second leg module and is in communication connection with the dynamic controller, and the dynamic controller is electrically connected with at least one of the waist module, the first leg module and the second leg module; the exoskeleton device is configured such that the environment recognition component collects ambient environment information in real time, and the dynamic controller receives the environment information and determines a power assist mode of at least one of the waist module, the first leg module, and the second leg module based on the environment information. In some embodiments, the first leg module and the second leg module each comprise a thigh assembly, a knee joint driver, and a calf assembly arranged in series; The environment recognition component is arranged on at least one of the thigh component and the calf component. In some embodiments, when the environment recognition component is disposed on the lower leg component, the environment recognition component is located on the outer side of the lower leg component, which faces away from the leg of the human body, and the environment recognition component can collect environment information under the foot and in front of the human body. In some embodiments, the environment recognition component is tilted toward the front of the human body to collect environment information within the range of the human foot down to the front target. In some embodiments, the lower leg assembly includes a lower leg link and a lower leg strap; The shank connecting rod is arranged up and down along the leg of the human body, the shank binding band is positioned on the inner side of the shank connecting rod, which is close to the leg of the human body, and the environment recognition component is positioned on the outer side of the shank connecting rod, which is away from the leg of the human body. In some embodiments, the lower leg assembly further comprises a stop bracket located outboard of the lower leg link; The limiting support comprises a base portion and a limiting portion, the base portion is connected with the outer side face of the shank connecting rod in a fitting mode, the limiting portion is located on the side face, back to the shank connecting rod, of the base portion, and the limiting portion is used for fixing and supporting the environment recognition assembly at a target angle. In some embodiments, the limiting portion includes a top limiting plate and a bottom limiting plate, the top limiting plate and the bottom limiting plate are arranged at intervals up and down, and the top limiting plate and the bottom limiting plate enclose a limiting space, the shape of the limiting space is the same as the shape of the environment recognition component, and the environment recognition component is located in the limiting space. In some embodiments, the environment recognition component includes at least one of a vision sensor, a distance sensor, a radar detector, an infrared sensor. In some embodiments, the waist module includes a hip joint driver, and the first leg module and the second leg module each include a knee joint driver therein; the dynamic controller is respe