CN108938340B

CN108938340B - Flexible exoskeleton robot assisting movement of hip joint and knee joint

Info

Publication number: CN108938340B
Application number: CN201810613063.2A
Authority: CN
Inventors: 张连存; 王志恒; 蔡康健; 王文康; 黄强
Original assignee: Beijing Institute of Technology BIT
Current assignee: Beijing Institute of Technology BIT
Priority date: 2018-06-14
Filing date: 2018-06-14
Publication date: 2020-06-26
Anticipated expiration: 2038-06-14
Also published as: CN108938340A

Abstract

The invention discloses a flexible exoskeleton robot for assisting movement of hip joints and knee joints, which comprises a pneumatic control system, a left leg hip joint flexible power-assisted assembly, a right leg hip joint flexible power-assisted assembly, a left leg knee joint flexible power-assisted assembly, a right leg knee joint flexible power-assisted assembly and the like. The left leg hip joint flexible power assisting assembly and the right leg hip joint flexible power assisting assembly adopt a negative pressure contraction elastic body driver as a driving element, and form linear displacement and elastic acting force under the action of negative pressure; the left leg and knee joint flexible power assisting assembly and the right leg and knee joint flexible power assisting assembly adopt a negative pressure rotating elastic body as a driving element, and the negative pressure rotating elastic body generates rotating torque under the action of negative pressure. The pneumatic control system processes the user gait data acquired and fed back by the detection and information sending module in real time, controls the negative pressure loading and unloading processes of the negative pressure shrinkage elastomer driver and the negative pressure rotation elastomer in real time, and provides assistance for hip joints and knee joints according to the gait rules in the walking process.

Description

Flexible exoskeleton robot assisting movement of hip joint and knee joint

Technical Field

The invention belongs to the technical field of flexible exoskeleton robots and lower limb exoskeletons, and particularly relates to a flexible exoskeleton robot for assisting movement of hip joints and knee joints.

Background

The method for restoring and enhancing the human body movement capability by using an engineering science method is one of important scientific targets of basic research of interdisciplines such as robotics and the like, and the lower limb robot exoskeleton is a carrier for developing the important scientific research, bears the scientific connotation of design and manufacture of intelligent equipment, and becomes the advanced research field of prior development of developed countries such as the current United states and European Union.

The current famous lower limb exoskeleton at home and abroad comprises: HAL series hybrid Power-assisted leg robot exoskeleton researched by professor Yaishiyuki Sanki of Japan Bops University and his research team, Wearable Power-assisted device week Walking Helper-KH2 developed by Tohoku University, WPAL developed by Nippon Minggu University for paraplegic patients (Wearab Power-Assistcomfort), four-degree-of-freedom exoskeleton type gait rehabilitation training robot Lokomat developed by Suzurich University of Switzerland in cooperation with Hocoma corporation, Rewalk Lower limb exoskeleton robot developed by Elge medical technology of Israel, Ritugaku Ex Lowery Exkeeslo, exoskeleton developed by Provisitors of south Africa Nature of Singapore, Kazerooni, Kazero Bos University, Kazero University, and Pacific University research group, and development of exoskeleton of Lower limb exoskeleton of Kazero exoskeleton 2-Soxhlet corporation, In addition to this, the Rockschid Martin company has also introduced exoskeleton HULC exoskeleton and the like, which are human body load bearing. In the national research institutes, research institutions such as university of great courseware, Chinese science and technology university, Harbin engineering university, Huadong science and technology university, Zhejiang university, Shanghai transportation university, northeast university, Chinese institute of science and technology integration intelligent mechanical research institute make important progress in the aspect of exoskeleton walk-assisting robots. The exoskeleton research of the lower limb robot in China starts late, and although the exoskeleton research develops rapidly in recent years, the related research level still has a large gap compared with that in foreign countries.

At present, the lower limb exoskeleton at home and abroad is mainly in a rigid frame armor structure form, and can provide support, protection and enhanced movement capability for people wearing the exoskeleton. At present, the lower limb exoskeleton mainly has the following defects at home and abroad:

(1) more parts and heavier dead weight

At present, most lower limb exoskeletons have more mechanical parts and heavier self weight. While current battery power can last only a few hours at best, once the battery is dead, it cannot afford so many additions to the elderly at all. In addition, the pneumatic or hydraulic energy source is not suitable for the reason of too large volume and the like.

(2) The comfort and convenience are not good enough

At present, the development of the lower limb exoskeleton focuses on realizing functions, and the design of the exoskeleton is not good enough in the aspects of wearing comfort and convenience and cannot be put on or taken off freely and quickly.

(3) Lack of psychological recognition

Except for a few lower limb exoskeleton robots, the robots often neglect the design of appearance modeling, and are similar to steel knights in appearance rather than auxiliary instruments worn on human bodies. The auxiliary apparatus is essentially to provide psychological and physiological help for users, and if a complicated mechanical mechanism is worn, psychological difference of users is caused.

(4) There is a danger of mechanical inertia

The lower limb exoskeleton in the form of a rigid frame armor mechanical structure can generate mechanical inertia during braking, possibly causes inertial injury, and is not suitable for the elderly population with weak walking ability and needing partial walking assistance, and patients with knee joint injury and gonarthritis.

Disclosure of Invention

The invention aims to overcome the defects of the prior art and provides a flexible exoskeleton robot for assisting the movement of hip joints and knee joints, which comprises a pneumatic control system, a left leg hip joint flexible power assisting assembly, a right leg hip joint flexible power assisting assembly, a left leg knee joint flexible power assisting assembly, a right leg knee joint flexible power assisting assembly and the like. The pneumatic control system processes the gait data of the user collected and fed back by the detection and information sending module in real time, controls the negative pressure contraction elastomer drivers in the left leg hip joint flexible power-assisted assembly and the right leg hip joint flexible power-assisted assembly and the negative pressure rotation elastomer negative pressure flow in the left leg knee joint flexible power-assisted assembly and the right leg knee joint flexible power-assisted assembly in real time, provides auxiliary torque for the hip joint and the knee joint of the user according to the gait rule in the walking process, and achieves the purpose of walking aid.

In order to achieve the purpose, the invention adopts the technical scheme that:

a flexible exoskeletal robot to assist in movement of hip and knee joints comprising:

the left leg hip joint flexible power assisting assembly provides power for the thigh swing of the left leg to assist the movement of the left leg hip joint;

the right leg hip joint flexible power-assisted assembly provides power for the thigh swing of the right leg to assist the hip joint of the right leg to move;

the left leg knee joint flexible power assisting assembly is worn on the left leg knee joint and assists the left leg knee joint in stretching and bending movement;

the right leg knee joint flexible power-assisted assembly is worn on the right leg knee joint and assists the right leg knee joint in stretching and bending movement;

the pneumatic control system is a control center of the flexible exoskeleton robot and is responsible for data processing, drive control and negative pressure output control of the flexible exoskeleton robot;

the left leg hip joint flexible power assisting assembly and the right leg hip joint flexible power assisting assembly respectively comprise negative pressure contraction elastic body drivers; the left leg and knee joint flexible power-assisted assembly and the right leg and knee joint flexible power-assisted assembly respectively comprise a negative pressure rotating elastic body driver; the pneumatic control system can provide negative pressure input and negative pressure unloading for the left leg hip joint flexible power assisting assembly, the right leg hip joint flexible power assisting assembly, the left leg knee joint flexible power assisting assembly and the right leg knee joint flexible power assisting assembly in time according to a gait rule, and provides power assisting for assisting movement of hip joints and knee joints consistent with gait for a user.

Preferably, the left leg and knee joint flexible power assisting assembly and the right leg and knee joint flexible power assisting assembly further comprise a detection and information sending module, an elastic sheath, a thigh fixing belt, elastic cloth, an air pipe G and an air pipe H respectively;

the detection and information sending module can acquire the swing angle and the angular speed change parameters of the shanks and thighs of the legs relative to the ground in real time, and feeds back the parameters to the information receiving module in the pneumatic control system to provide user gait data for the pneumatic control system;

the negative pressure rotary elastic body driver is a power-assisted actuating mechanism of the left leg and knee joint flexible power-assisted assembly and the right leg and knee joint flexible power-assisted assembly, can receive the loading and unloading of negative pressure and provides stretching and bending torque for the knee joint.

Preferably, the negative pressure rotary elastic body driver comprises a negative pressure rotary elastic body, a thigh supporting plate, a shank supporting plate, a rotating shaft, a pressing sheet and a fastener;

the thigh supporting plate and the shank supporting plate are connected through a rotating shaft to form a revolute pair within the range of 0-180 degrees;

the negative pressure rotating elastic body is fixed on the thigh supporting plate and the shank supporting plate through the fasteners, and can generate rotating torque under the driving of negative pressure and provide rotating bending torque for the knee joint through the thigh supporting plate and the shank supporting plate; after the negative pressure disappears, the stretching restoring force is generated, and the stretching torque is provided for the knee joint through the thigh supporting plate and the shank supporting plate;

preferably, the negative pressure rotary elastic body driver is fixed on the left side of the elastic sheath through a fastener and a pressing sheet, the negative pressure rotary elastic body driver in the right leg and knee joint flexible power assisting assembly is fixed on the right side of the elastic sheath through the fastener and the pressing sheet, the outside of the negative pressure rotary elastic body driver is wrapped by elastic cloth, and the elastic cloth is wrapped by the elastic sheath through heat sealing or sewing;

preferably, the thigh supporting plate and the shank supporting plate are made of synthetic resin materials or carbon fiber non-metal materials.

Preferably, the negative pressure rotating elastic body can rotate under the action of negative pressure, and generates rotating torque; the negative pressure unloading process can generate torque in the opposite direction to that of the negative pressure;

the negative pressure rotating elastic body main body is of a semi-cylinder structure, is equally divided into a plurality of groups within an angle range of 180 degrees, and each group consists of 3 quadrangular air chamber units with isosceles trapezoid bottom surfaces, wherein the 3 quadrangular air chamber units are distributed along the radial direction of the negative pressure rotating elastic body main body; included angles formed by two waists of the isosceles trapezoid bottom surfaces of all the quadrangular air chamber units are equal, and the heights of the isosceles trapezoids are equal; each quadrangular air chamber unit comprises two parallel air chamber side walls and two equilong but nonparallel isosceles air chamber side walls; the wall thicknesses of the side walls of the two parallel air chambers are equal, the wall thicknesses of the side walls of the other two isosceles air chambers are equal, and the wall thicknesses of the side walls of the two parallel air chambers are not less than 4 times of the wall thicknesses of the side walls of the other two isosceles air chambers; each air chamber unit and the air chamber units adjacent along the circumferential direction are arranged in a staggered mode, and the parallel air chamber side walls are located at the geometric middle points of the isosceles side walls of the air chambers adjacent along the circumferential direction along the radial direction; the adjacent air chamber units are provided with through holes on the side walls of the isosceles air chambers to form an airflow channel inside the negative pressure rotary elastic body, so that negative pressure input or unloading of the whole negative pressure rotary elastic body is realized;

the negative pressure of the negative pressure rotating elastic body is increased to form vacuum under the action of negative pressure, the side walls of two groups of parallel air chambers in the air chamber unit are not deformed, the side walls of two groups of isosceles air chambers are deformed, and the side walls of the two groups of parallel air chambers are wedged into the adjacent air chamber unit, so that the negative pressure rotating elastic body forms rotating motion under the action of the negative pressure to generate bending torque; when the negative pressure disappears, the negative pressure inside the air chamber unit is changed into the same state as the external atmospheric pressure, the side wall of the isosceles air chamber recovers to the original state to generate a restoring acting force, and in the process, a rotating motion in the opposite direction to the negative pressure is formed to form an auxiliary stretching torque;

preferably, the maximum rotation angles of the negative pressure rotating elastic bodies can be grouped by selecting different equal division angles, and different maximum rotation angles and torques can be realized by different numbers of air chamber units in each group; in addition, the negative pressure rotating elastic body made of silica gel materials or rubber materials with different hardness can realize different maximum rotating angles and torques.

Preferably, the left leg hip joint flexible power-assisted assembly and the right leg hip joint flexible power-assisted assembly further comprise an air pipe E, an air pipe F and a connecting piece respectively; wherein the air pipe E is arranged on a negative pressure contraction elastomer driver vent hole in the left leg hip joint flexible power-assisted assembly, and the air pipe F is arranged on a negative pressure contraction elastomer driver vent hole in the right leg hip joint flexible power-assisted assembly;

the negative pressure contraction elastic body driver is arranged on the waist fixing belt through one end of a connecting piece, the other end of the negative pressure contraction elastic body driver is arranged on the thigh fixing belt of the left leg and knee joint flexible power assisting assembly or the right leg and knee joint flexible power assisting assembly, and the hip bone, the thigh bone and the negative pressure contraction elastic body driver form a triangle with two basically fixed sides and the other side with variable length. The length change of the negative pressure contraction elastic body driver can be controlled by controlling the negative pressure flow, so that the change of the included angle between the hip bone and the thigh bone is controlled, and the assistance is provided for the hip joint.

Preferably, the negative pressure contracting elastic body driver can receive negative pressure input and unloading of a pneumatic control system, and when the negative pressure input occurs, the linear displacement is shortened and the tensile force is provided; when the elastic body driver is subjected to negative pressure unloading, the elastic body driver is gradually recovered to an unstressed initial state, and in the process, transverse displacement in a direction opposite to the direction under the action of negative pressure is formed, and the process is controllable;

the negative pressure contraction elastic body driver is provided with a vent hole communicated with the outside and used for being connected with an air pipe, and negative pressure input or unloading of the whole negative pressure contraction elastic body driver is realized. The negative pressure contraction elastomer driver is composed of cuboid air chamber units, and through holes are formed between adjacent cuboid air chamber units to form an airflow channel inside the negative pressure contraction elastomer driver. The thicknesses of the adjacent transverse air chamber walls and the longitudinal air chamber walls of the cuboid air chamber units are different, wherein the thickness of the transverse air chamber wall is not less than 4 times of that of the longitudinal air chamber wall; when the air chamber is under negative pressure, the longitudinal air chamber wall deforms under the action of the negative pressure due to the thickness difference between the transverse air chamber wall and the longitudinal air chamber wall, the transverse air chamber wall does not deform, and the transverse air chamber wall is wedged into the cuboid air chamber unit until the transverse air chamber wall is butted with the adjacent transverse air chamber wall and does not generate transverse displacement. Therefore, under the action of negative pressure, the negative pressure shrinks the elastic body driver to form transverse displacement and has tensile force. When the external negative pressure is unloaded, the acting force of the negative pressure on the longitudinal air chamber wall disappears, the longitudinal air chamber wall gradually recovers to the original state without being stressed, in the process, the transverse displacement in the direction opposite to the direction under the action of the negative pressure is formed, the process is controllable, and in the negative pressure unloading process, the negative pressure shrinkage elastic body driver can form the linear displacement in the direction opposite to the direction under the action of the negative pressure.

The pneumatic control system includes: control box, control module, drive module, information receiving module, lithium cell group, the switch, miniature vacuum negative pressure pump A, miniature vacuum negative pressure pump B, the gas circuit mounting panel, three way adapter A, three way adapter B, three way solenoid valve A, three way solenoid valve B, three way solenoid valve C, three way solenoid valve D, two-way solenoid valve A, two-way solenoid valve B, two-way solenoid valve C, two-way solenoid valve D, trachea A, trachea B, trachea C, trachea D, the end cover, two-way adapter and waist fixed band etc..

The control module can process the gait data fed back by the detection and information sending module in real time, controls the output flow of the micro vacuum negative pressure pump A and the micro vacuum negative pressure pump B in real time through the driving module, and simultaneously controls the three-way solenoid valve A, the three-way solenoid valve B, the three-way solenoid valve C and the three-way solenoid valve D, and the two-way solenoid valve A, the two-way solenoid valve B, the two-way solenoid valve C and the two-way solenoid valve D to be opened and closed to carry out different gas path switching, so as to carry out negative pressure control on the left leg hip joint flexible boosting assembly, the right leg hip joint flexible boosting assembly, the left leg knee joint flexible boosting assembly and the right leg knee joint flexible boosting assembly and provide boosting for hip joints and knee joints;

the pneumatic control system is carried at the waist of a user through a waist fixing belt;

the lithium battery pack supplies power to the pneumatic control system.

Preferably, the micro vacuum negative pressure pump a and the micro vacuum negative pressure pump B are negative pressure power sources of the flexible exoskeleton robot, and the micro vacuum negative pressure pump a provides variable negative pressure input for the left leg hip joint flexible power assisting assembly and the right leg hip joint flexible power assisting assembly; the miniature vacuum negative pressure pump B provides variable negative pressure input for the left leg and knee joint flexible power assisting assembly and the right leg and knee joint flexible power assisting assembly.

Preferably, the three-way electromagnetic valve A and the three-way electromagnetic valve B can realize the switching of the negative pressure input of the miniature vacuum negative pressure pump A and different gas paths between the left leg hip joint flexible power assisting assembly and the right leg hip joint flexible power assisting assembly; the three-way electromagnetic valve C and the three-way electromagnetic valve D can realize the switching of the negative pressure input of the miniature vacuum negative pressure pump B and different gas paths between the left leg knee joint flexible power assisting assembly and the right leg knee joint flexible power assisting assembly; the two-way electromagnetic valve A can realize control of the negative pressure unloading time and process of the left leg hip joint flexible power assisting assembly, the two-way electromagnetic valve B can realize control of the negative pressure unloading time and process of the right leg hip joint flexible power assisting assembly, the two-way electromagnetic valve C can realize control of the negative pressure unloading time and process of the left leg knee joint flexible power assisting assembly, and the two-way electromagnetic valve D can realize control of the negative pressure unloading time and process of the right leg knee joint flexible power assisting assembly.

Preferably, the negative pressure contraction elastic body driver and the negative pressure rotation elastic body are made of silica gel materials or rubber materials.

And the air pipe A, the air pipe B, the air pipe C, the air pipe D, the air pipe E, the air pipe F, the air pipe G and the air pipe H are made of PVC pipes.

The invention has the following excellent effects:

compared with the prior art, the traditional rigid exoskeleton robot generally adopts hydraulic drive and motor drive, and the two drive modes have the defects of noise, low power density, complex structure, lack of intrinsic flexibility, difficulty in realizing flexible control and the like.

Compared with the prior art, the invention adopts the negative pressure contraction elastomer driver and the negative pressure rotation elastomer as the flexible driving elements, can realize linear motion and rotary motion, directly realizes the motion of the hip joint and the knee joint for the user by negative pressure control, breaks through the defect that the existing pneumatic artificial muscle can only realize linear motion and can only realize rotary motion by other mechanical conversion devices or conversion structure forms, and improves the driving efficiency.

Compared with the prior art, the invention adopts the negative pressure contraction elastic body driver and the negative pressure rotation elastic body driver as the torque executing components of the hip joint and the knee joint of the leg, overcomes the defects of large inertia of rigid mechanisms such as general leg power-assisted equipment or an exoskeleton robot, easy mechanical inertia damage of lower limb joints of a human, poor safety, poor comfort and the like, and obviously improves the safety and the comfort of the equipment.

Compared with the prior art, the flexible exoskeleton robot overcomes the defects that the conventional rigid exoskeleton robot is heavy in self weight, cannot be put on or taken off quickly and is lack of psychological recognition of a user on the appearance, and has the advantages of few parts, small self weight of an execution part, simple structure, convenience in wearing, high psychological recognition of the user and the like.

Drawings

FIG. 1 is a diagrammatic external view of the flexible exoskeleton robot of the present invention;

FIG. 2 is a block diagram of the pneumatic control system of FIG. 1;

FIG. 3 is a schematic diagram of the left leg hip joint flexible power assist assembly or the right leg hip joint flexible power assist assembly of FIG. 1;

FIG. 4 is a block diagram of the negative pressure retraction elastomeric actuator of FIG. 3;

FIG. 5 is a block diagram of the left and right knee joint flexible power assist assemblies of FIG. 1;

FIG. 6 is a view of the negative pressure rotary elastomeric actuator of FIG. 5 in outline and principal components;

FIG. 7 is a view of the structure of the negative pressure rotary elastomer of FIG. 6;

wherein the reference symbols have the following meanings:

1. a pneumatic control system; 2. a left leg hip joint flexible power-assisted assembly; 3. the right leg hip joint flexible power-assisted assembly; 4. a left leg and knee joint flexible power-assisted assembly; 5. the right leg knee joint flexible power-assisted assembly.

101. A control box body; 102. a micro vacuum negative pressure pump A; 103. a micro vacuum negative pressure pump B; 104 a control module; 105. a drive module; 106. a lithium battery pack; 107. an information receiving module; 108. a switch; 109. a gas path mounting plate; 110. a three-way adapter A; 111. a three-way adapter B; 112. a three-way electromagnetic valve A; 113. a three-way electromagnetic valve B; 114. a three-way electromagnetic valve C; 115. a three-way electromagnetic valve D; 116. a two-way solenoid valve A; 117. a two-way electromagnetic valve B; 118. a two-way solenoid valve C; 119. a two-way solenoid valve D; 120. a trachea A; 121. a trachea B; 122. a trachea C; 123. a trachea D; 124. a two-way adapter; 125. an end cap; 126. waist fixing belt.

201. A negative pressure contracting elastomer driver; 202. trachea E or trachea F; 203. a connecting member.

301. A negative pressure rotating elastomer driver; 302. an elastic sheath; 303. a detection and information sending module; 304. thigh fixing straps; 305. an elastic cloth; 306. a trachea G; 307. and (4) a trachea H.

401. Rotating the elastic body under negative pressure; 402. a thigh support plate; 403. a shank support plate; 404. a rotating shaft; 405. and (6) tabletting.

Detailed Description

The invention is further described below with reference to the drawings and the specific embodiments, but the invention is not limited thereto.

As shown in fig. 1, a flexible exoskeleton robot for assisting movement of hip joints and knee joints mainly comprises a pneumatic control system 1, a left leg hip joint flexible power assisting assembly 2, a right leg hip joint flexible power assisting assembly 3, a left leg knee joint flexible power assisting assembly 4 and a right leg knee joint flexible power assisting assembly 5.

The pneumatic control system 1 is a control center of the flexible exoskeleton robot, is responsible for data processing, drive control and negative pressure output control of the flexible exoskeleton robot, and provides negative pressure input for the left leg hip joint flexible power assisting assembly, the right leg hip joint flexible power assisting assembly, the left leg knee joint flexible power assisting assembly and the right leg knee joint flexible power assisting assembly. The left leg hip joint flexible power assisting assembly 2 and the right leg hip joint flexible power assisting assembly 3 are hip joint flexible power assisting executing parts and provide hip joint power assistance for users. The left leg and knee joint flexible power assisting assembly 4 and the right leg and knee joint flexible power assisting assembly 5 are respectively worn at corresponding positions of left and right leg and knee joints of a user, are knee joint flexible power assisting executing parts and provide knee joint power assistance for the user.

Fig. 2 is a composition diagram of the air control system 1 in fig. 1. As shown in fig. 2, the pneumatic control system 1 mainly includes a control box 101, a micro vacuum negative pressure pump a102, a micro vacuum negative pressure pump B103, a control module 104, a driving module 105, a lithium battery pack 106, an information receiving module 107, a switch 108, an air passage mounting plate 109, a three-way adapter a 110, a three-way adapter B111, a three-way electromagnetic valve a 112, a three-way electromagnetic valve B113, a three-way electromagnetic valve C114, a three-way electromagnetic valve D115, a two-way electromagnetic valve a 116, a two-way electromagnetic valve B117, a two-way electromagnetic valve C118, a two-way electromagnetic valve D119, an air pipe a 120, an air pipe B121, an air pipe C122, an air pipe D123, a two-way adapter 124. In the using process, the detection and information sending module 303 in the left and right leg and knee joint flexible power assisting assemblies 4 and 5 can acquire gait data such as the swing angle and the angular velocity change of the legs and thighs of the legs of the user relative to the ground in real time, and send the gait data back to the information receiving module 107, and then feed the gait data back to the control module 104 in the pneumatic control system 1, the control module 104 can process the gait data, and then control the output of the micro vacuum negative pressure pump a102 and the micro vacuum negative pressure pump B103 in real time through the driving module 105, and simultaneously control the three-way electromagnetic valve a 112, the three-way electromagnetic valve B113, the three-way electromagnetic valve C114, the three-way electromagnetic valve D115, the two-way electromagnetic valve a 116, the two-way electromagnetic valve B117, the two-way electromagnetic valve C118 and the two-way electromagnetic valve D119 to be switched on and off, the air pipe A120, the air pipe C122 and the air pipe B12 respectively enter the left leg hip joint flexible power assisting assembly 2, the right leg hip joint flexible power assisting assembly 3, the left leg knee joint flexible power assisting assembly 4 and the right leg knee joint flexible power assisting assembly 5 to be switched on or switched off in different air paths and flow control is carried out.

Fig. 3 is a composition diagram of the left leg hip joint flexible power assisting assembly 2 or the right leg hip joint flexible power assisting assembly 3 in fig. 1, wherein the left leg hip joint flexible power assisting assembly 2 comprises a negative pressure contraction elastomer driver 201, an air pipe E202, a connecting piece 203 and the like; the right leg hip joint flexible power assisting assembly 3 comprises a negative pressure contraction elastic body driver 201, an air pipe F202, a connecting piece 203 and the like. The left leg hip joint flexible power assisting assembly 2 and the right leg hip joint flexible power assisting assembly 3 are identical in structure and have interchangeability. For clarity of description, the air tubes in the left hip joint flexible power assisting assembly 2 and the right hip joint flexible power assisting assembly 3 are distinguished. The air pipe E202 is communicated with an air pipe D123 in the pneumatic control system 1 through a two-way adapter 124, and the air pipe F202 is communicated with the air pipe A120 through the two-way adapter 124.

The negative pressure contraction elastic body driver 201 is a driving unit of the left leg hip joint flexible power assisting assembly 2 and the right leg hip joint flexible power assisting assembly 3. The negative pressure contraction elastic body driver 201 is provided with a vent hole communicated with the outside for connecting an air pipe, so that negative pressure input or unloading of the whole negative pressure contraction elastic body driver 201 is realized. When negative pressure is input, the negative pressure shrinkage elastomer driver 201 linearly displaces to shorten and has tensile force; when the negative pressure of the negative pressure contraction elastic body driver is unloaded, the self is recovered to the self natural state from the contraction state, and the process is controllable. The negative pressure contraction elastic body driver 201 is installed on the waist fixing band 126 through one end of the connecting piece 203, and the other end of the negative pressure contraction elastic body driver is installed on the thigh fixing band 304 of the left leg and knee joint flexible power assisting assembly 4 or the left leg and knee joint flexible power assisting assembly 5, and the hip bone, the thigh bone and the negative pressure contraction elastic body driver 201 form a triangular structure form, wherein the lengths of the hip bone and the thigh bone are basically fixed, and the length of the other side of the negative pressure contraction elastic body driver 201 is variable. The length change of the negative pressure contraction elastic body driver 201 can be controlled by controlling the input or the unloading of the negative pressure, so that the change of the included angle between the hip bone and the thigh bone is controlled, and the assistance is provided for the hip joint. When the negative pressure contraction elastic body driver 201 is shortened under the action of the negative pressure driving force, the thigh is lifted and pulled through the thigh fixing belt 304, and the power of the front swing is provided for the thigh, namely the hip joint movement is assisted; when the negative pressure acting on the negative pressure contraction elastic body driver 201 is unloaded, the negative pressure contraction elastic body driver 201 gradually releases the pulling force to realize the control of the lower thigh swing process.

Fig. 4 is a structural diagram of the negative pressure contraction elastic body driver 201, wherein the negative pressure contraction elastic body driver 201 is composed of rectangular parallelepiped air chamber units, and through holes are arranged between adjacent rectangular parallelepiped air chamber units to form an air flow channel inside the negative pressure contraction elastic body driver 201. The thicknesses of the adjacent transverse air chamber walls and the longitudinal air chamber walls of the air chamber units with the cuboid structures are different, wherein the thickness of the transverse air chamber wall (X direction) is not less than 4 times that of the longitudinal air chamber wall (Y direction); when the air chamber is under negative pressure, the vertical air chamber wall deforms under the action of the negative pressure due to the thickness difference between the horizontal air chamber wall and the vertical air chamber wall, the horizontal air chamber wall does not deform, and the horizontal air chamber wall is wedged into the cuboid air chamber unit until the horizontal air chamber wall is butted with the adjacent horizontal air chamber wall and does not generate horizontal displacement. Therefore, under the action of negative pressure, the negative pressure shrinks the elastic body driver to form transverse displacement and has tensile force. Therefore, under the action of the negative pressure, the negative pressure contracting elastic body driver 201 can be displaced in the transverse direction (X direction) and has a tensile force. When the external negative pressure is unloaded, the acting force of the negative pressure on the longitudinal air chamber wall disappears, and the longitudinal air chamber wall gradually recovers to the original state without being stressed, and in the process, the transverse displacement in the direction opposite to the direction under the action of the negative pressure is formed, the process is controllable, and in the negative pressure unloading process, the negative pressure shrinkage elastic body driver 201 can form the linear displacement in the direction opposite to the direction under the action of the negative pressure.

FIG. 5 is a schematic diagram of the left knee joint flexible booster assembly 4 and the right knee joint flexible booster assembly 5 in FIG. 1. The left leg and knee joint flexible power assisting assembly 4 and the right leg and knee joint flexible power assisting assembly 5 comprise a negative pressure rotating elastic body driver 301, an elastic sheath 302, a detection and information sending module 303, a thigh fixing band 304, an elastic cloth 305, an air pipe G306 and an air pipe H307, wherein the air pipe G306 is installed on the left leg and knee joint flexible power assisting assembly 4, and the air pipe H307 is installed on the right leg and knee joint flexible power assisting assembly 5. The negative pressure rotating elastic body driver 301 in the left leg and knee joint flexible power assisting assembly 4 is fixed on the left side of the elastic sheath 302 through a fastener and a pressing sheet, the negative pressure rotating elastic body driver 301 in the right leg and knee joint flexible power assisting assembly 5 is fixed on the right side of the elastic sheath 302 through a fastener and a pressing sheet, the outside of the negative pressure rotating elastic body driver is wrapped by elastic cloth 305, and the elastic cloth 305 is thermally sealed or sewn on the elastic sheath 302. The air pipe G306 is communicated with an air pipe C122 in the pneumatic control system 1 through a two-way adapter 124, and the air pipe H307 is communicated with an air pipe B121 through a two-way adapter 124.

Fig. 6 is an outline and main component diagram of the negative pressure rotary elastic body driver 301, and the negative pressure rotary elastic body driver 301 includes a negative pressure rotary elastic body 401, a thigh support plate 402, a shank support plate 403, a rotation shaft 404, a pressing piece 405, and the like. The negative pressure rotating elastic body 401 is one of the core driving elements of the flexible exoskeleton robot, and can generate rotating motion under the action of negative pressure and provide rotating bending torque; after the negative pressure disappears, the extending restoring force is generated, and the extending torque can be provided. The thigh support plate 402 and the shank support plate 403 are connected through a rotating shaft 404 to form a revolute pair within the range of 0-180 degrees. The negative pressure rotary elastic body 401 is fixed on the thigh support plate 402 and the shank support plate 403 through fasteners, and under the negative pressure driving, the negative pressure rotary elastic body 401 generates rotary torque under the action of negative pressure and provides rotary bending torque for the knee joint through the thigh support plate 402 and the shank support plate 403; the restoring force, which produces extension after the negative pressure disappears, provides an extension torque to the knee joint through the thigh support plate 402 and the calf support plate 403.

Fig. 7 is a structural view of the negative pressure rotation elastic body 401, and as shown in the figure, the main body of the negative pressure rotation elastic body 401 is a semi-cylindrical structure, is equally divided into 18 groups by 10 degrees in an angle range of 180 degrees, and each group is composed of 3 quadrangular prism air chamber units with isosceles trapezoid bottom surfaces, which are distributed along the radial direction of the main body of the negative pressure rotation elastic body 401. All the quadrangular air chamber units have equal included angles formed by two waists of the isosceles trapezoid bottom surfaces, and the isosceles trapezoids have equal heights. Each quadrangular air chamber unit comprises two parallel air chamber side walls and two equilong but nonparallel isosceles air chamber side walls; the wall thicknesses of the two parallel air chamber side walls are equal, the wall thicknesses of the other two isosceles air chambers are equal, and the wall thicknesses of the two parallel air chamber side walls are not less than 4 times of the wall thicknesses of the other two isosceles air chambers. Each air chamber unit and the air chamber units adjacent along the circumferential direction are arranged in a staggered mode, and the parallel air chamber side walls are located at the radial geometric middle points of the isosceles side walls of the air chambers adjacent along the circumferential direction. The through holes are formed in the side walls of the isosceles air chambers of the adjacent air chamber units to form an airflow channel inside the negative pressure rotating elastic body 401, so that negative pressure input or unloading of the whole negative pressure rotating elastic body 401 is realized. When the negative pressure rotating elastic body 401 is under the negative pressure action, the negative pressure inside the air chamber unit is increased to form vacuum, because of the thickness difference between the parallel air chamber side walls and the isosceles air chamber side walls of the air chamber unit, the two groups of parallel air chamber side walls in the air chamber unit are not deformed, and the two groups of isosceles air chamber side walls are deformed, the two groups of parallel air chamber side walls can be wedged into the adjacent air chamber unit, because the parallel air chamber side walls of the air chamber unit are distributed along the circumferential direction of the negative pressure rotating elastic body 401, and the isosceles air chamber side walls are distributed along the radial direction of the negative pressure rotating elastic body 401, the negative pressure rotating elastic body 401 forms rotating motion under the negative pressure action. When the negative pressure disappears, the negative pressure inside the air chamber unit is changed to be the same as the external atmospheric pressure, the side wall of the isosceles air chamber recovers to the original shape to generate a restoring acting force, and in the process, a rotating motion in the opposite direction to the negative pressure is formed to form a torque for assisting stretching.

The working principle of the flexible exoskeleton robot in one gait cycle is explained in conjunction with fig. 1-7. In the using process, the pneumatic control system 1 is carried on the waist of a user through a waist fixing belt 126, and the left leg and knee joint flexible power assisting assembly 4 and the right leg and knee joint flexible power assisting assembly 5 are respectively worn at the corresponding positions of the knee joints of the left leg and the right leg of the user. The left leg hip joint flexible power assisting assembly 2 is installed on the waist fixing belt 126 through one end of a connecting piece 203, the other end of the left leg hip joint flexible power assisting assembly is installed on a thigh fixing belt 304 of the left leg knee joint flexible power assisting assembly 4, the right leg hip joint flexible power assisting assembly 3 is installed on the waist fixing belt 126 through one end of the connecting piece 203, and the other end of the right leg hip joint flexible power assisting assembly is installed on a thigh fixing belt 304 of the right leg knee joint flexible power assisting assembly 5.

Taking the left leg of the user to start stepping walking as an example, when the left leg of the user starts stepping, the user goes through the following two gait phases: the left leg thigh is gradually swung up and lifted along with the left leg shank is swung down, and then the left leg thigh is gradually swung down and steps along with the left leg shank until the left foot falls to the ground.

Firstly, the left leg and thigh gradually swing upwards and lift up along with the lower leg swing stage. At this stage, the pneumatic control system 1 processes the gait data in real time by the control module 104 according to the gait data such as the swing angle and the angular velocity change of the thigh and the calf of the left leg relative to the ground, which are detected and transmitted back by the detection and information sending module 303, and then controls the start of the micro vacuum negative pressure pump a102 and the vacuum negative pressure pump B103 in real time by the driving module 105, and controls the three-way electromagnetic valve a 112 and the three-way electromagnetic valve C114 to open, and closes the three-way electromagnetic valve B113, the three-way electromagnetic valve D115, the two-way electromagnetic valve a 116, the two-way electromagnetic valve B117, the two-way electromagnetic valve C118 and the two-way electromagnetic valve D. Miniature vacuum negative pressure pump A102 negative pressure effort enters into through three-way adapter A110, three-way solenoid valve A112, trachea D123, two-way adapter 124 and trachea E202 in the negative pressure contraction elastomer driver 201 of the flexible helping hand subassembly of left leg hip joint, negative pressure contraction elastomer driver 201 contracts under the negative pressure effect and shortens and has the pulling force. Because the negative pressure contraction elastic body driver 201 is installed on the waist fixing band 126 through one end of the connecting piece 203 and the other end is installed on the thigh fixing band 304, the hip bone, the thigh bone and the negative pressure contraction elastic body driver 201 form a triangular structure form, wherein the length of two sides of the hip bone and the thigh bone is basically fixed, and the length of the third side of the negative pressure contraction elastic body driver 201 is variable. The negative pressure contraction elastic body driver 201 provides lifting tension for the thigh of the left leg through the thigh fixing band 304, and provides assistance for the hip joint of the left leg in real time. Meanwhile, the negative pressure acting force of the micro vacuum negative pressure pump B103 passes through the three-way electromagnetic valve C114, the air pipe C122, the two-way joint 124 and the air pipe G306, and then enters the negative pressure rotation elastic body 401 of the left leg and knee joint flexible power assisting assembly 4. The negative pressure rotation elastic body 401 generates rotation torque under the action of negative pressure, and provides bending assistance for the left leg and knee joint through the thigh support plate 402 and the lower leg support plate 403.

The left leg then gradually descends the thigh with the calf shank extending and strides until the left foot lands. In the process, the thigh can complete the lower swing of the thigh only by relying on the gravity of the thigh, but the lower swing process of the thigh needs to be controlled, the shank needs to swing upwards, and the moment for stretching the knee joint is needed. The control module 104 processes gait data, such as the swing angle and the angular velocity change of the thigh and the calf of the left leg relative to the ground, detected and transmitted back by the detection and information sending module 303 in real time, and then closes the vacuum negative pressure pump a102 and the micro vacuum negative pressure pump B103 through the driving module 105, and simultaneously controls the two-way electromagnetic valve a 116 and the two-way electromagnetic valve C118 to be opened, and closes the three-way electromagnetic valve a 112, the three-way electromagnetic valve B113, the three-way electromagnetic valve C114, the three-way electromagnetic valve D115, the two-way electromagnetic valve B117 and the two-way electromagnetic valve D119. The external atmospheric pressure enters the negative pressure contraction elastomer driver 201 of the left leg hip joint flexible power assisting assembly 2 through the two-way electromagnetic valve A116, the three-way electromagnetic valve A112, the air pipe D123, the two-way adapter 124 and the air pipe E202, the negative pressure contraction elastomer driver 201 unloads the negative pressure, the negative pressure contraction elastomer driver recovers to a natural state from a contraction state, the control of the negative pressure unloading time and the negative pressure unloading process of the negative pressure contraction elastomer driver 201 can be realized by controlling the on-off duration time of the two-way electromagnetic valve A116, and therefore the control of the thigh swinging-down process is realized. Meanwhile, the external atmospheric pressure enters the negative pressure rotation elastic body 401 of the left leg and knee joint flexible power assisting assembly 4 through the two-way electromagnetic valve C118, the three-way electromagnetic valve C114, the air pipe C122, the two-way adapter 124 and the air pipe G306. The negative pressure rotation elastic body 401 is unloaded by the negative pressure. The restoring force of the negative pressure rotation elastic body 401, which is generated to extend during unloading, provides an extending torque to the knee joint through the thigh support plate 402 and the calf support plate 403, thereby assisting the left leg and calf extension swing. The control of the negative pressure unloading time and process of the negative pressure rotary elastic body 401 can be realized by controlling the on-off duration time of the two-way electromagnetic valve C118, so that the control of the swing process of the left leg and the lower leg, namely the power-assisted control of the extension of the knee joint of the left leg is realized.

After the user falls on the ground with the left foot, the right leg starts to take a step, the thigh of the right leg is gradually swung upwards and lifted to be accompanied with the lower swing of the calf of the right leg, and then the thigh of the right leg is gradually swung downwards and is accompanied with the upper swing of the calf of the right leg to take a step until the right foot falls on the ground.

Firstly, the thigh of the right leg gradually swings upwards and lifts along with the lower swing stage of the shank. At this stage, the pneumatic control system 1 processes the gait data in real time by the control module 104 according to the gait data such as the swing angle and the angular velocity change of the thigh and the calf of the right leg relative to the ground, which are detected and transmitted back by the detection and information sending module 303, and then controls the start of the micro vacuum negative pressure pump a102 and the vacuum negative pressure pump B103 in real time by the driving module 105, and controls the three-way electromagnetic valve B113 and the three-way electromagnetic valve D115 to be opened, and the three-way electromagnetic valve a 112, the three-way electromagnetic valve C114, the two-way electromagnetic valve a 116, the two-way electromagnetic valve B117, the two-way electromagnetic valve C118 and the two-way electromagnetic valve D119. Miniature vacuum negative pressure pump A102 negative pressure effort enters into through three-way adapter A110, three-way solenoid valve B113, trachea A120, two-way adapter 124 and trachea F202 in the negative pressure shrink elastomer driver 201 of the flexible helping hand subassembly of right leg hip joint 3, negative pressure shrink elastomer driver 201 contracts under the negative pressure effect and shortens, through thigh fixed band 304, provides the pulling force of pendulum for right leg thigh, also provides the helping hand for right leg hip joint. Meanwhile, the negative pressure acting force of the micro vacuum negative pressure pump B103 passes through the three-way electromagnetic valve D115, the air pipe B121, the two-way joint 124 and the air pipe H307, and then enters the negative pressure rotation elastic body 401 of the right leg and knee joint flexible power assisting assembly 5. The negative pressure rotation elastic body 401 generates rotation torque under the action of negative pressure, and provides bending assistance for the right leg and knee joint through the thigh support plate 402 and the lower leg support plate 403.

The right leg then gradually descends the thigh with the calf shank extending forward until the right foot lands. The control module 104 processes gait data, such as swing angles and angular velocity changes of thighs and calves of the right leg relative to the ground, detected and transmitted back by the detection and information sending module 303 in real time, then closes the vacuum negative pressure pump a102 and the micro vacuum negative pressure pump B103 through the driving module 105, and simultaneously controls the two-way electromagnetic valve B117 and the two-way electromagnetic valve D119 to be opened, and closes the three-way electromagnetic valve a 112, the three-way electromagnetic valve B113, the three-way electromagnetic valve C114, the three-way electromagnetic valve D115, the two-way electromagnetic valve a 116 and the two-way electromagnetic valve C118. The external atmospheric pressure enters the negative pressure contraction elastomer driver 201 of the right leg hip joint flexible power assisting assembly 3 through the two-way electromagnetic valve B117, the three-way electromagnetic valve B113, the air pipe A120, the two-way adapter 124 and the air pipe F202, the negative pressure contraction elastomer driver 201 unloads the negative pressure, the negative pressure contraction elastomer driver restores to the natural state from the contraction state, the control of the negative pressure unloading time and the negative pressure unloading process of the negative pressure contraction elastomer driver 201 can be realized by controlling the on-off duration time of the two-way electromagnetic valve B117, and therefore the control of the thigh swinging-down process is realized. Meanwhile, the external atmospheric pressure enters the negative pressure rotating elastic body 401 of the right leg and knee joint flexible power assisting assembly 5 through the two-way electromagnetic valve D119, the three-way electromagnetic valve D115, the air pipe B121, the two-way adapter 124 and the air pipe H307, and the negative pressure of the negative pressure rotating elastic body 401 is unloaded. The restoring force of the negative pressure rotation elastic body 401, which is generated to extend during unloading, provides an extending torque to the knee joint of the right leg through the thigh support plate 402 and the lower leg support plate 403, thereby assisting the extension and stepping of the lower leg of the right leg. The control of the negative pressure unloading time and process of the negative pressure rotary elastic body 401 can be realized by controlling the on-off duration time of the two-way electromagnetic valve D119, so that the control of the swing process of the lower leg of the right leg, namely the power-assisted control of the extension of the knee joint of the right leg, is realized.

The flexible power assisting process of the flexible exoskeleton robot for the hip joint and the knee joint in one gait cycle is realized. The steps are repeated in such a way, in the walking process, the pneumatic control system 1 of the flexible exoskeleton robot processes the gait data of the user collected and fed back by the detection and information sending module 303 in real time, controls the flow of the negative pressure contraction elastic body driver 201 in the left leg hip joint flexible power-assisted assembly 2 and the right leg hip joint flexible power-assisted assembly 3 and the flow of the negative pressure rotation elastic body 301 in the left leg knee joint flexible power-assisted assembly 4 and the right leg knee joint flexible power-assisted assembly 5 in real time, and provides auxiliary torque for the hip joint and the knee joint of the user according to the gait rule in the walking process so as to achieve the purpose of walking aid.

The above-described embodiment is only one of the preferred embodiments of the present invention, and general changes and substitutions by those skilled in the art within the technical scope of the present invention are included in the protection scope of the present invention.

Claims

1. A flexible exoskeletal robot to assist in movement of hip and knee joints comprising:

a pneumatic control system responsible for data processing, drive control, and negative pressure output control of the flexible exoskeleton robot;

the left leg hip joint flexible power assisting assembly and the right leg hip joint flexible power assisting assembly respectively comprise negative pressure contraction elastic body drivers; the left leg and knee joint flexible power-assisted assembly and the right leg and knee joint flexible power-assisted assembly respectively comprise a negative pressure rotating elastic body driver; the pneumatic control system can provide negative pressure input and negative pressure unloading for the left leg hip joint flexible power-assisted assembly, the right leg hip joint flexible power-assisted assembly, the left leg knee joint flexible power-assisted assembly and the right leg knee joint flexible power-assisted assembly in time according to a gait rule, and provides power assistance for assisting movement of a hip joint and a knee joint consistent with gait for a user;

the negative pressure rotary elastic body driver comprises a negative pressure rotary elastic body, a thigh supporting plate, a shank supporting plate, a rotating shaft, a pressing sheet and a fastening piece;

the negative pressure rotating elastic body can rotate under the action of negative pressure to generate rotating torque; the negative pressure unloading process can generate torque in the opposite direction to that of the negative pressure;

the negative pressure of the negative pressure rotating elastic body is increased to form vacuum under the action of negative pressure, the side walls of two groups of parallel air chambers in the air chamber unit are not deformed, the side walls of two groups of isosceles air chambers are deformed, and the side walls of the two groups of parallel air chambers are wedged into the adjacent air chamber unit, so that the negative pressure rotating elastic body forms rotating motion under the action of the negative pressure to generate bending torque; when the negative pressure disappears, the negative pressure inside the air chamber unit is changed to be the same as the external atmospheric pressure, the side wall of the isosceles air chamber recovers to the original shape to generate a restoring acting force, and in the process, a rotating motion in the opposite direction to the negative pressure is formed to form a torque for assisting stretching.

2. The flexible exoskeleton robot of claim 1, wherein said left and right knee joint flexible power assistance assemblies further comprise a detection and information transmission module, an elastic sheath, a thigh fixing strap, an elastic cloth, a trachea G, and a trachea H, respectively;

3. The flexible exoskeleton robot as claimed in claim 1 or claim 2, wherein the thigh support plate and the shank support plate are connected by a rotating shaft to form a revolute pair in the range of 0 ° to 180 °;

the negative pressure rotating elastic body is fixed on the thigh supporting plate and the shank supporting plate through the fasteners, and can generate rotating torque under the driving of negative pressure and provide rotating bending torque for the knee joint through the thigh supporting plate and the shank supporting plate; the negative pressure is removed to generate an extension restoring force and provide an extension torque to the knee joint through the thigh support plate and the shank support plate.

4. The flexible exoskeleton robot as claimed in claim 3, wherein the negative pressure rotary elastomer driver is fixed on the left side of the elastic sheath through a fastener and a pressing plate, the negative pressure rotary elastomer driver in the right leg and knee joint flexible power assisting assembly is fixed on the right side of the elastic sheath through a fastener and a pressing plate, the outside of the negative pressure rotary elastomer driver is wrapped by elastic cloth, and the elastic cloth is wrapped on the elastic sheath through heat sealing or sewing.

5. The flexible exoskeleton robot of claim 3, wherein the thigh support plate and the shank support plate are made of a synthetic resin material or a carbon fiber non-metallic material.

6. The flexible exoskeleton robot as claimed in claim 1 or 2, wherein the maximum rotation angles of the negative pressure rotation elastic bodies can be grouped by selecting different bisection angles, and different maximum rotation angles and torques can be achieved by different numbers of air chamber units per group; in addition, the negative pressure rotating elastic body made of silica gel materials or rubber materials with different hardness can realize different maximum rotating angles and torques.

7. The flexible exoskeleton robot of claim 1, wherein said left and right leg hip joint flexible power assist assemblies further comprise air tubes E, F and a link, respectively; wherein the air pipe E is arranged on a negative pressure contraction elastomer driver vent hole in the left leg hip joint flexible power-assisted assembly, and the air pipe F is arranged on a negative pressure contraction elastomer driver vent hole in the right leg hip joint flexible power-assisted assembly;

the negative pressure contraction elastic body driver is arranged on the waist fixing belt through one end of a connecting piece, the other end of the negative pressure contraction elastic body driver is arranged on the thigh fixing belt of the left leg and knee joint flexible power assisting assembly or the right leg and knee joint flexible power assisting assembly, and the hip bone, the thigh bone and the negative pressure contraction elastic body driver form a triangle with two basically fixed lengths and the other variable length; the length change of the negative pressure contraction elastic body driver can be controlled by controlling the negative pressure flow, so that the change of the included angle between the hip bone and the thigh bone is controlled, and the assistance is provided for the hip joint.

8. The flexible exoskeletal robot of claim 1 or 7, wherein the negative pressure contracting elastomer actuators are capable of accepting negative pressure input and unloading from a pneumatic control system, becoming shorter in linear displacement and having a pulling force when negative pressure input is present; when the elastic body driver is subjected to negative pressure unloading, the elastic body driver is gradually recovered to an unstressed initial state, and in the process, transverse displacement in a direction opposite to the direction under the action of negative pressure is formed, and the process is controllable;

the negative pressure contraction elastic body driver is provided with a vent hole communicated with the outside and used for connecting an air pipe to realize negative pressure input or unloading of the whole negative pressure contraction elastic body driver;

the negative pressure contraction elastomer driver consists of cuboid air chamber units, and through holes are formed between adjacent cuboid air chamber units to form an airflow channel inside the negative pressure contraction elastomer driver; the thicknesses of the adjacent transverse air chamber walls and the longitudinal air chamber walls of the cuboid air chamber units are different, wherein the thickness of the transverse air chamber wall is not less than 4 times of that of the longitudinal air chamber wall; when the air chamber is under negative pressure, the transverse air chamber wall is wedged into the cuboid air chamber unit until no transverse displacement occurs when the transverse air chamber wall is butted with the adjacent transverse air chamber wall, so that under the action of the negative pressure, the elastic body driver can be contracted under the negative pressure to form transverse displacement and has tensile force; when the external negative pressure is unloaded, the acting force of the negative pressure on the longitudinal air chamber wall disappears, and the longitudinal air chamber wall is gradually restored to the original state without the action of the force, and in the process, the transverse displacement in the opposite direction to the action of the negative pressure is formed.

9. The flexible exoskeleton robot of claim 2, wherein the pneumatic control system comprises a control box body, a control module, a drive module, an information receiving module, a lithium battery pack, a switch, a micro vacuum negative pressure pump A, a micro vacuum negative pressure pump B, a gas circuit mounting plate, a three-way adapter A, a three-way adapter B, a three-way solenoid valve A, a three-way solenoid valve B, a three-way solenoid valve C, a three-way solenoid valve D, a two-way solenoid valve A, a two-way solenoid valve B, a two-way solenoid valve C, a two-way solenoid valve D, a gas pipe A, a gas pipe B, a gas pipe C, a gas pipe D, an end cap, a two-way adapter, and;

the lithium battery pack supplies power to the pneumatic control system.

10. The flexible exoskeletal robot of claim 9, wherein the micro vacuum negative pressure pump a, micro vacuum negative pressure pump B are negative pressure power sources for the flexible exoskeletal robot, the micro vacuum negative pressure pump a providing variable negative pressure input to the left and right leg hip joint flexible power assist assemblies; the miniature vacuum negative pressure pump B provides variable negative pressure input for the left leg and knee joint flexible power assisting assembly and the right leg and knee joint flexible power assisting assembly.

11. The flexible exoskeleton robot of claim 9 or 10, wherein the three-way solenoid valve a and the three-way solenoid valve B are capable of switching between negative pressure input of the micro vacuum negative pressure pump a and different air paths between the left leg hip joint flexible power assisting assembly and the right leg hip joint flexible power assisting assembly; the three-way electromagnetic valve C and the three-way electromagnetic valve D can realize the switching of the negative pressure input of the miniature vacuum negative pressure pump B and different gas paths between the left leg knee joint flexible power assisting assembly and the right leg knee joint flexible power assisting assembly; the two-way electromagnetic valve A can realize control of the negative pressure unloading time and process of the left leg hip joint flexible power assisting assembly, the two-way electromagnetic valve B can realize control of the negative pressure unloading time and process of the right leg hip joint flexible power assisting assembly, the two-way electromagnetic valve C can realize control of the negative pressure unloading time and process of the left leg knee joint flexible power assisting assembly, and the two-way electromagnetic valve D can realize control of the negative pressure unloading time and process of the right leg knee joint flexible power assisting assembly.

12. The flexible exoskeleton robot of claim 1, wherein the negative pressure contracting elastomer driver and the negative pressure rotating elastomer are made of a silicone material or a rubber material.