WO2022082862A1 - Passive lower limb power-assisted exoskeleton based on gravitational potential energy locking - Google Patents

Abstract

A passive lower limb power-assisted exoskeleton based on gravitational potential energy locking. A ratchet wheel (18), a pawl (13), a small sprocket (8) and a positioning plate (19) are mounted on a waist rod member (5), wherein a through hole is provided in the positioning plate (19); a swingable position adjusting column body (20) passes through the through hole and is inserted into and mounted in the through hole; a rotating disc (10), a large sprocket (23), a first fixed pulley (11) and a first spring (24) are mounted on a thigh rod member (6); the large sprocket (23) and the small sprocket (8) are connected by means of a chain (9); a first cylinder (26) and a second cylinder (27) are mounted on the rotating disc (10); a foot rod member (16) and a sliding hole rod member (17) are mounted to the lower end of a shank rod member (7) in a hinged manner; the lower end of the first spring (24) is fixed to the thigh rod member (6); the upper end of the first spring (24) is connected to one end of a steel wire rope (15); the other end of the steel wire rope (15) is connected to one end of the sliding hole rod member (17); the upper end the the first spring (24) is connected to one end of a crank connecting rod (14); and the other end of the crank connecting rod (14) and the large sprocket (23) rotate synchronously. Gravitational potential energy during walking can be effectively used for power-assisting a user, thereby improving the coupling between an exoskeleton and human body movement.

Description

A passive lower limb assist exoskeleton based on gravitational potential energy locking technical field

The invention relates to the technical field of assisting devices, in particular to a passive lower limb assisting exoskeleton based on gravitational potential energy locking.

Background technique

The existing passive lower extremity exoskeleton designs mostly use the swing energy generated during walking and convert it into a source of energy for assistance. In addition, most passive lower extremity exoskeletons use springs for energy storage, but most of them use the form of instant release assistance, and the walking gait of a person is divided into different cycles. The boosting effect usually releases the energy in the latter stage of the support period, and the energy use efficiency is low, and the coupling with the human gait is poor.

technical problem

Low energy use efficiency and poor coupling with human gait.

technical solutions

A passive lower-limb power-assisted exoskeleton based on gravitational potential energy locking, comprising two power-assisted linkage mechanisms, the power-assisted linkage mechanism includes a waist rod, a thigh rod and a calf rod, and the upper and lower ends of the thigh rod are respectively connected to the waist rod The lower end of the piece and the upper end of the calf rod are hingedly connected, and a small sprocket, a rotatable pawl and a swingable adjusting cylinder are installed on the waist rod. The ratchet and the small sprocket are integrated to realize synchronous rotation. One end of the body abuts one end of the pawl; the small sprocket and the large sprocket are connected by a chain, a rotating disc is fixed on the thigh rod, cylinder 1 and cylinder 2 are fixed on one side of the rotating disc, and the lower end of the calf rod is hinged Install the foot rod and the sliding hole rod, one end of the foot rod is installed with a bolt, the bolt can slide freely in the strip hole on one end of the sliding hole rod, the lower end of the spring one is fixed on the thigh rod, the spring one The upper end of the wire rope is connected to one end of the wire rope, and the fixed pulley I is installed on the thigh rod. The other end is connected with the large sprocket to realize synchronous rotation. When the foot touches the ground, the sliding hole rod can be rotated to contact the ground; when the rotating disc rotates with the thigh rod in both directions, the cylinder 1 and cylinder 2 are toggled respectively. The adjusting cylinder then controls the engagement or separation of the pawl from the ratchet.

As a further improvement of the above technical solution:

A positioning plate is installed on the outer surface of the waist rod, a through hole is provided on the positioning plate, and the position adjustment cylinder is inserted in the through hole, the diameter of the through hole is larger than the diameter of the position adjustment cylinder, and the lower end of the position adjustment cylinder is provided with a positioning plate. The shaft shoulder, a nut is installed in the middle of the adjusting cylinder, a second spring is sleeved on the adjusting cylinder, the lower end of the second spring abuts on the positioning plate, and the upper end of the second spring abuts on the nut.

One end of the pawl is provided with an arc-shaped groove, the upper end of the adjusting cylinder is inserted in the arc-shaped groove, the middle part of the pawl is rotatably sleeved on the installation column, and the installation column is vertically fixed on the waist rod. outer side.

The crank connecting rod is hinged by two rod bodies.

A spring guide sleeve is installed on the thigh rod, the spring is arranged in the spring guide sleeve, the spring guide sleeve is in the shape of a square tube and the tube length direction is consistent with the thigh rod member, and a strip is opened on the outer tube wall of the spring guide sleeve along the tube length direction. The two ends of the bar-shaped opening extend to the two ends of the spring guide sleeve, and one end of the crank connecting rod is placed on the outer tube wall of the spring guide sleeve.

The second fixed pulley is installed on the hinge shaft at the hinge between the thigh rod and the lower leg rod. The second fixed pulley is located below the spring guide sleeve, and the first fixed pulley is located above the spring guide sleeve. The wire rope first goes up around the fixed pulley 1 and then extends downward through the fixed pulley 2 and is wound for one week and then fixed at one end of the sliding hole rod.

The hinge point of the foot rod and the calf rod is located above the hinge point of the sliding hole rod and the calf rod.

The passive lower-limb power-assisted exoskeleton based on gravitational potential energy locking further comprises a waist fixing sleeve, two thigh fixing sleeves, two calf fixing sleeves and two foot fixing sleeves, and the two foot fixing sleeves are respectively connected to the two lower legs. The lower end of the fixing sleeve, the upper end of the waist rod is fixed on one side of the waist fixing sleeve, the middle part of the thigh rod is fixed on the outer side of one of the thigh fixing sleeves, and the small

The middle part of the leg link is fixed on the outer side of one of the lower leg fixing sleeves, and the two power-assisted link mechanisms are distributed on both sides of the waist fixing sleeve. The waist fixing sleeve, the thigh fixing sleeve and the calf fixing sleeve are all sleeve-shaped and the sleeve is The front side is opened and closed by a fastening belt, and the foot fixing sleeve is in the shape of a shoe supporting the foot.

beneficial effect

The patent of the present invention provides a passive lower-limb power-assisted exoskeleton based on gravitational potential energy locking, which solves the problems of low utilization energy and poor coupling with human gait in the above technical background. The user wears the lower limb power-assisted exoskeleton through the waist fixing sleeve, two thigh fixing sleeves, two calf fixing sleeves and two foot fixing sleeves. After wearing, they can walk with a normal gait. When the walking gait is at the end of the swing phase, the foot begins to land, and the left end of the sliding hole rod begins to contact the ground. Under the action of the ground support, the sliding hole rod rotates clockwise and pulls the traction wire rope. The spring is pulling Under the action of the steel wire rope, it is gradually elongated along the spring guide sleeve to receive energy. At this time, the angle between the thigh rod and the waist rod gradually increases, the rotating disc rotates clockwise, and the second cylinder on the rotating disc also rotates clockwise. , as soon as the cylinder on the disc is rotated, the adjusting cylinder also rotates clockwise, so that the pawl rotates counterclockwise around the connection point, the ratchet is buckled, and the crank connecting rod is at the uppermost limit position for locking and energy storage. . When the walking gait is at the end of the support phase to the beginning of the swing phase, the ratchet wheel and the pawl are in a buckled state, the chain drive does not affect the buckle, and the lower end of the crank connecting rod begins to make a straight line relative to the thigh rod under the tension of the spring 1 sports. During this process, the crank connecting rod rotates counterclockwise around its upper end point, and the force exerted by the crank connecting rod and the spring together on the side of the spring guide sleeve is used to assist the leg-lifting process. When the energy-releasing power-assisting process is over, the hip joint movement angle reaches the maximum, and the rotating disc that moves with the thigh rod, under the action of the driving force of the cylinder 1 on the rotating disc behind it, moves the pawl and the pawl through the adjusting cylinder. The ratchet is opened, and the spring is at its original length.

During walking, during the support period, the exoskeleton stores energy and locks, and the spring remains stretched. At the beginning of the swing period, the user starts to lift the leg, releases energy, the exoskeleton is unlocked, and the spring returns to its original length, helping the user to continue the leg swing action and assist. Entering the next cycle, the user settles into the support period and cycles.

The whole stage can effectively use the gravitational potential energy during walking to assist the user, and at the same time use the locking mechanism, so that after the energy is stored in the walking support period, it is released during the leg lift or swing period, which improves the coupling between the exoskeleton and the human body. .

Description of drawings

FIG. 1 is a structural diagram of the present invention.

FIG. 2 is a structural diagram of another angle of the present invention.

FIG. 3 is a partial structural diagram of FIG. 1 .

FIG. 4 is a partial structural diagram of FIG. 3 .

FIG. 5 is a structural diagram of FIG. 4 after removing the waist rod.

Fig. 6 is the installation structure diagram of the spring guide bush.

Among them: 1. Waist fixing sleeve; 2. Thigh fixing sleeve; 3. Calf fixing sleeve; 4. Foot fixing sleeve; 5. Waist rod; 6. Thigh rod; 7. Calf rod; 8. Small sprocket ;9, chain; 10, rotating disc; 11, fixed pulley one; 12, fixed pulley two; 13, pawl; 14, crank connecting rod; 15, wire rope; 16, foot rod; 17, sliding hole rod Parts; 18, ratchet; 19, positioning plate; 20, adjusting cylinder; 21, nut; 22, spring two; 23, large sprocket; 24, spring one; 25, spring guide sleeve; 26, cylinder one; 27 , Cylindrical two; 28. Fasten the belt.

Embodiments of the present invention

The specific embodiments of the present invention will be described below with reference to the accompanying drawings.

As shown in FIGS. 1-6 , the passive lower-limb power-assisted exoskeleton based on gravitational potential energy locking in this embodiment includes two power-assisted link mechanisms, and the power-assisted link mechanism includes a waist rod 5 , a thigh rod 6 and a calf rod 7. The upper and lower ends of the thigh rod 6 are hingedly connected to the lower end of the waist rod 5 and the upper end of the calf rod 7, respectively. The waist rod 5 is equipped with a small sprocket 8, a rotatable pawl 13 and a swingable adjustment. The positioning cylinder 20, the ratchet 18 and the small sprocket 8 are integrated to realize synchronous rotation, and one end of the positioning cylinder 20 abuts one end of the pawl 13; the small sprocket 8 and the large sprocket 23 are connected by the chain 9, the thigh The rotating disk 10 is fixed on the rod member 6, the cylinder one 26 and the cylinder two 27 are fixed on one side of the rotating disk 10, and the lower end of the lower leg rod member 7 is hingedly installed with the foot rod member 16 and the sliding hole rod member 17, and the foot rod member One end of 16 is installed with a bolt, the bolt can slide freely in the strip hole on one end of the sliding hole rod 17, the lower end of the spring one 24 is fixed on the thigh rod 6, and the upper end of the spring one 24 is connected to one end of the wire rope 15, the thigh rod. The fixed pulley one 11 is installed on the component 6, the other end of the wire rope 15 is connected to one end of the sliding hole rod 17 after bypassing the fixed pulley one 11, the upper end of the spring one 24 is connected to one end of the crank connecting rod 14, and the other end of the crank connecting rod 14 is connected. One end is connected with the large sprocket 23 to realize synchronous rotation. When the foot touches the ground, the sliding hole rod 17 can be rotated to contact the ground; The two 27 respectively turn the adjusting cylinder 20 to control the ratchet pawl 13 to engage or separate from the ratchet wheel 18 .

A positioning plate 19 is installed on the outer surface of the waist rod 5, a through hole is provided on the positioning plate 19, and the position adjustment cylinder 20 is inserted in the through hole, and the diameter of the through hole is larger than the diameter of the position adjustment cylinder 20. The lower end is provided with a shaft shoulder, the middle of the adjusting cylinder 20 is installed with a nut 21, the adjusting cylinder 20 is sleeved with a spring two 22, the lower end of the spring two 22 abuts on the positioning plate 19, and the upper end of the spring two 22 abuts on nut 21.

One end of the pawl 13 is provided with an arc-shaped groove, the upper end of the adjusting cylinder 20 is inserted into the arc-shaped groove, the middle part of the pawl 13 is rotatably sleeved on the installation column, and the installation column is vertically fixed on the waist rod. 5 outside.

The crank connecting rod 14 is hinged by two rod bodies.

A spring guide sleeve 25 is installed on the thigh rod 6, the spring one 24 is arranged in the spring guide sleeve 25, the spring guide sleeve 25 is a square tubular shape and the length of the tube is consistent with the thigh rod 6, and the upper edge of the outer tube wall of the spring guide sleeve 25 is A bar-shaped opening is formed in the length direction of the tube, and both ends of the bar-shaped opening extend to both ends of the spring guide sleeve 25 . The second fixed pulley 12 is installed on the hinge shaft at the hinge between the thigh rod 6 and the calf rod 7, the fixed pulley two 12 is located below the spring guide sleeve 25, and the fixed pulley one 11 is located above the spring guide sleeve 25. The wire rope 15 extending from the upper end of the 24 first goes around the fixed pulley one 11 upwards, then extends downwards through the fixed pulley two 12 and is wound for one week, and then is fixed at one end of the sliding hole rod 17 . The hinge point of the foot rod 16 and the calf rod 7 is located above the hinge point of the sliding hole rod 17 and the calf rod 7 .

The passive lower-limb power-assisted exoskeleton based on gravitational potential energy locking also includes a waist fixing sleeve 1, two thigh fixing sleeves 2, two lower leg fixing sleeves 3 and two foot fixing sleeves 4. The two foot fixing sleeves 4 are respectively connected to The lower ends of the two lower leg fixing sleeves 3, the upper end of the waist rod member 5 is fixed on one side of the waist fixing sleeve 1, the middle part of the thigh rod member 6 is fixed on the outer side of one of the thigh fixing sleeves 2, and the middle part of the calf rod member 7 is fixed on the On the outside of one of the lower leg fixing sleeves 3, two power-assisted linkage mechanisms are distributed on both sides of the waist fixing sleeve 1. The waist fixing sleeve 1, the thigh fixing sleeve 2 and the calf fixing sleeve 3 are all sleeve-shaped and the front side of the sleeve is The opening and closing are realized by the fastening belt 28, and the foot fixing cover 4 is in the shape of a shoe supporting the foot. The user can open the fastening straps at the front ends of the waist fixed connection device 1, the thigh fixed connection device 2, and the calf fixed connection device 3 to wear, fix them, and check the fixation and connection.

The patent of the present invention provides a passive lower-limb power-assisted exoskeleton based on gravitational potential energy locking, which solves the problems of low utilization energy and poor coupling with human gait in the above technical background. The user wears the lower limb power-assisted exoskeleton through the waist fixing sleeve 1, two thigh fixing sleeves 2, two calf fixing sleeves 3 and two foot fixing sleeves 4. After wearing, they can walk with a normal gait. When the walking gait is at the end of the swing phase, the foot begins to land, and the left end of the sliding hole rod 17 begins to contact the ground. Under the action of the ground support reaction, the sliding hole rod 17 rotates clockwise and pulls the traction wire rope 15. The spring A 24 is gradually elongated along the spring guide sleeve 25 under the action of the traction wire rope 15 to store energy. At this time, the angle between the thigh rod 6 and the waist rod 5 gradually increases, and the rotating disc 10 rotates clockwise, and the rotating circle The second cylinder 27 on the disk 10 also rotates clockwise, so that the pawl 13 rotates counterclockwise around the connection point, the ratchet 18 is buckled, and the crank connecting rod 14 is at the uppermost limit position for locking and energy storage. When the walking gait is at the end of the support phase to the beginning of the swing phase, the ratchet wheel 18 and the pawl 13 are in a buckling state, the chain drive does not affect the buckling, and the lower end of the crank connecting rod 14 begins to be relative to the thigh under the pulling force of the spring 1 24 The rod 6 moves linearly. During this process, the crank connecting rod 14 rotates counterclockwise around its upper end point, and the force exerted by the crank connecting rod 14 and the spring one 24 on the side of the spring guide sleeve 25 is used to assist the leg raising process. When the energy-releasing power-assisting process ends, the hip joint movement angle reaches the maximum, and the rotating disc 10 that moves together with the thigh rod 6, under the action of the driving force of the cylinder-26 on the rotating disc 10 behind it, adjusts the position of the cylinder. 20 opens the pawl 13 and the ratchet wheel 18, and the spring one 24 is at its original length.

During the walking process, during the support period, the exoskeleton stores energy and locks, and the spring one 24 maintains a stretched state. At the beginning of the swing period, the user starts the leg-lifting phase, releases energy, unlocks the exoskeleton, and the spring 124 restores its original length, helping the user to continue the leg swing action and assist. Entering the next cycle, the user settles into the support period and cycles.

One end of the traction wire rope 15 in the exoskeleton goes around the fixed pulley 2 12, and the fixed pulley 1 11 is connected to the upper end of the spring 1 24. When walking, the spring 1 24 is stretched under the action of external force to store the gravitational potential energy.

In the process of the human foot gradually contacting the ground, the sliding hole rod 17 contacts the ground, and the left end of the sliding hole rod 17 moves clockwise upward around the rotating pair. On the contrary, the right end moves clockwise downward, driving the traction wire rope 15 Pull the spring one 24, and play the role of amplifying the stroke, thereby increasing the stretching length of the spring one 24, reducing the spring coefficient, thereby reducing the weight and movement burden of the spring one 24.

When the human body wears an exoskeleton for walking, the exoskeleton's working process can be divided into three stages, namely the energy storage stage, the energy release stage, and the transition stage.

During the energy storage stage, the walking gait is at the end of the swing phase, the ratchet wheel 18 and the pawl 13 are in an unbuckled state, and the left end of the foot rod 17 begins to contact the ground. Under the action of the ground support reaction, the foot rod The element 17 rotates clockwise and pulls the traction wire 15, and the spring 24 is gradually elongated along the spring guide sleeve 25 under the action of the traction wire 15. From the end of the swing phase to the middle of the support phase, the exoskeleton energy storage phase ends, and with the thigh The protruding cylinder II 27 on the rotating disc 10 that the rod member 6 moves together makes the adjusting cylinder 20 rotate clockwise, which drives the pawl 13 to rotate counterclockwise around the axis, and the pawl 13 is stuck in the ratchet wheel 8 to carry out gravitational potential energy. At this time, the foot surface is completely in contact with the ground, and the spring one 24 is in the longest stretched state. Since the ratchet wheel 13 and the pawl 18 are in the buckled state, the chain transmission fails at this time, and the crank connected to the large chain wheel 23 The connecting rod 14 is in the uppermost limit position.

In the energy release stage, the spring one 24 gradually shortens, releasing energy to assist the hip joint. The ratchet wheel 18 and the pawl 13 are in a buckled state. The failure of the chain drive causes the crank connecting rod 14 to be in a relatively static state during this process. Linear motion. During this process, the crank connecting rod 14 rotates counterclockwise around its upper end point, and the force exerted by the joint action of the crank connecting rod 14 and the spring one 24 on the side of the spring guide sleeve 25 is used to assist the leg raising process. When the energy-releasing power-assisting process ends, the hip joint movement angle reaches the maximum, and the raised cylinder 1 26 on the rotating disc 10 that moves with the thigh rod 6 rotates the adjusting cylinder 20 counterclockwise, so that the pawl 13 surrounds The shaft rotates clockwise, leaves the ratchet 8, and the energy is released. At this time, the spring one 24 is at its original length.

In the transition stage, when the energy release process is over, the walking gait is in the early and middle stage of the swing phase, the pawl 13 and the ratchet 18 are open, and the chain drive resumes work. Before the foot surface touches the ground, the crank connecting rod 14 is accompanied by the large chain. The wheel 23 rotates clockwise. After the sole of the foot touches the ground, the energy storage stage starts again, the spring one 24 is stretched, and the crank connecting rod 14 moves counterclockwise. At the end of the energy storage stage, the crank connecting rod 14 returns to the uppermost limit position again. , the angle between the thigh rod 6 and the waist rod 5 gradually increases until the ratchet 18 and the pawl 13 are engaged, and the next cycle begins.

The whole stage can effectively use the gravitational potential energy during walking to assist the user, and at the same time use the locking mechanism, so that after the energy is stored in the walking support period, it is released during the leg lift or swing period, which improves the coupling between the exoskeleton and the human body. .

The above description is an explanation of the present invention, not a limitation of the present invention. For the limited scope of the present invention, refer to the claims, and any form of modification can be made within the protection scope of the present invention.

Claims (8)

A passive lower-limb power-assisted exoskeleton based on gravitational potential energy locking, characterized in that it includes two power-assisted linkage mechanisms, and the power-assisted linkage mechanism includes a waist rod (5), a thigh rod (6) and a calf rod (7). ), the upper and lower ends of the thigh rod (6) are hingedly connected to the lower end of the waist rod (5) and the upper end of the calf rod (7) respectively, and a small sprocket (8) is installed on the waist rod (5). The rotating pawl (13) and the swingable adjusting cylinder (20), the ratchet (18) and the small sprocket (8) are integrated to realize synchronous rotation, and one end of the adjusting cylinder (20) abuts against the ratchet (18). One end of the claw (13); the small sprocket (8) and the large sprocket (23) are connected by a chain (9), and a rotating disc (10) is fixed on the thigh rod (6), and one of the rotating discs (10) The first cylinder (26) and the second cylinder (27) are fixed on the side, the lower end of the lower leg rod (7) is hingedly installed with the foot rod (16) and the sliding hole rod (17), and one end of the foot rod (16) is installed The bolt can slide freely in the strip hole on one end of the sliding hole rod (17), the lower end of the spring one (24) is fixed on the thigh rod (6), and the upper end of the spring one (24) is connected to the wire rope (15). ), a fixed pulley one (11) is installed on the thigh rod (6), the other end of the wire rope (15) goes around the fixed pulley one (11) and is connected to one end of the sliding hole rod (17), the spring one (24) ) is connected with one end of the crank connecting rod (14), and the other end of the crank connecting rod (14) is connected with the large chain wheel (23) to realize synchronous rotation, when the foot touches the ground, the sliding hole rod (17) can follow the When the rotating disc (10) rotates with the thigh rod (6) in both directions, the first cylinder (26) and the second cylinder (27) respectively turn the adjusting cylinder (20) to control the pawl (13) Engage or disengage from the ratchet (18). The passive lower-limb power-assisted exoskeleton based on gravitational potential energy locking according to claim 1, characterized in that: a positioning plate (19) is installed on the outer surface of the waist rod (5), and the positioning plate (19) is provided with a through hole. The hole, the adjusting cylinder (20) is inserted in the through hole, the diameter of the through hole is larger than the diameter of the adjusting cylinder (20), the lower end of the adjusting cylinder (20) is provided with a shaft shoulder, and the adjusting cylinder (20) ), the nut (21) is installed in the middle of the adjusting cylinder (20), and the second spring (22) is sleeved on the adjusting cylinder (20). against the nut (21). The passive lower-limb power-assisted exoskeleton based on gravitational potential energy locking according to claim 1, characterized in that: one end of the pawl (13) is provided with an arc-shaped groove, and the upper end of the adjusting cylinder (20) is inserted in the In the arc-shaped groove, the middle part of the pawl (13) is rotatably sleeved on the installation column, and the installation column is vertically fixed on the outer side surface of the waist rod (5). The passive lower-limb power-assisted exoskeleton based on gravitational potential energy locking according to claim 1, characterized in that: the crank connecting rod (14) is formed by articulating two rod bodies. The passive lower-limb power-assisted exoskeleton based on gravitational potential energy locking according to claim 1, characterized in that: a spring guide sleeve (25) is installed on the thigh rod (6), and the first spring (24) is arranged on the spring guide sleeve In (25), the spring guide sleeve (25) is in the shape of a square tube and the length of the tube is the same as that of the thigh rod (6). The two ends of the crank connecting rod (14) extend to the two ends of the spring guide sleeve (25), and one end of the crank connecting rod (14) is lapped on the outer tube wall of the spring guide sleeve (25). The passive lower-limb power-assisted exoskeleton based on gravitational potential energy locking according to claim 5, characterized in that: a second fixed pulley is installed on the hinge shaft at the hinge between the thigh rod (6) and the calf rod (7). (12), the second fixed pulley (12) is located below the spring guide sleeve (25), the fixed pulley one (11) is located above the spring guide sleeve (25), and the wire rope (15) extending from the upper end of the spring one (24) ) first bypasses the fixed pulley one (11) upwards, then extends downwards and is wound around the fixed pulley two (12) for one week, and then is fixed at one end of the sliding hole rod (17). The passive lower-limb power-assisted exoskeleton based on gravitational potential energy locking according to claim 1, characterized in that: the hinge point of the foot rod (16) and the calf rod (7) is located at the sliding hole rod (17) and above the hinge point of the lower leg bar (7). The passive lower-limb power-assisted exoskeleton based on gravitational potential energy locking according to claim 1, wherein the passive lower-limb power-assisted exoskeleton based on gravitational potential energy locking further comprises a waist fixing sleeve (1), two thigh fixing sleeves (2), two lower leg fixing sleeves (3) and two foot fixing sleeves (4), the two foot fixing sleeves (4) are respectively connected to the lower ends of the two lower leg fixing sleeves (3), and the waist rod ( The upper end of 5) is fixed on one side of the waist fixing sleeve (1), the middle part of the thigh rod (6) is fixed on the outer side of one of the thigh fixing sleeves (2), and the middle part of the calf rod (7) is fixed on one of the lower legs On the outside of the fixing sleeve (3), two power-assisted linkage mechanisms are distributed on both sides of the waist fixing sleeve (1), and the waist fixing sleeve (1), the thigh fixing sleeve (2) and the calf fixing sleeve (3) are all sleeves The front side of the sleeve is opened and closed by a fastening band (28), and the foot fixing sleeve (4) is in the shape of a shoe supporting the foot.

Images