CN111281744A

CN111281744A - Modular joint and wearable modular joint exoskeleton

Info

Publication number: CN111281744A
Application number: CN202010148125.4A
Authority: CN
Inventors: 涂细凯; 李肖; 李建; 伍赛; 何际平
Original assignee: Wuhan Watson Tookeen Technology Co ltd
Current assignee: Wuhan Watson Tookeen Technology Co ltd
Priority date: 2020-03-05
Filing date: 2020-03-05
Publication date: 2020-06-16

Abstract

The invention discloses a modular joint and a wearable modular joint exoskeleton, wherein the modular joint comprises a motor, a harmonic speed reducer, a driver, an amplifier, a dynamic torque sensor, a fixed base arm and a swing arm; the wearable modular joint exoskeleton comprises a carrying piece, an exoskeleton body and a binding piece, wherein the exoskeleton body is composed of a plurality of modular joints which can be freely combined, and can form a hip joint exoskeleton with four active joints, an exoskeleton without active ankle joints and a full-joint lower limb exoskeleton for gait support; according to the requirements of different users and crowds, the positions of the modular joints (such as upper limbs, lower limbs, shoulder joints, elbow joints, hip joints, knee joints and ankle joints) can be freely changed, and the modular joints can be overlaid (such as single joints, multiple joints, single sides, double sides, upper limbs, lower limbs and whole-body exoskeleton), so that the application range of the exoskeleton is expanded, and the manufacturing cost is reduced.

Description

Modular joint and wearable modular joint exoskeleton

Technical Field

The invention relates to the technical field of medical instruments, in particular to a modular joint and a wearable modular joint exoskeleton.

Background

Since the beginning of the 21 st century, the development of rehabilitation robotics has attracted considerable interest to researchers. In recent years, a large number of exoskeleton limbs have been developed for assistance and rehabilitation. The primary purpose of the auxiliary exoskeleton is to support patients with complete Spinal Cord Injury (SCI) who have no possibility of recovering movement. Another is the rehabilitation exoskeleton developed for stroke or incomplete spinal cord injury patients with the aim of promoting cortical motor reorganization to improve the walking pattern of the patient.

The rehabilitation robot is produced by combining the technical field of robots with the medical field of rehabilitation therapy, is a new technology for supplementing or replacing professional doctors to finish the rehabilitation training of human limbs, opens up a new path for the rehabilitation therapy of hemiplegic patients of the limbs, and makes up the defects of the clinical therapy of the hemiplegic patients. The treatment method of the rehabilitation training robot is to connect the affected limb with the robot, and the limb of the patient is driven by the robot to complete various actions and stimulate the nerve control system of the limb joint and muscle of the human body, thereby achieving the purpose of recovering the limb movement function of the patient. The mode reduces the dependence on a treating physician, can help a medical doctor to complete heavy and repeated rehabilitation training tasks, and helps a patient to recover the limb motor function better.

At present, a plurality of upper limb, lower limb and single-joint rehabilitation robots for rehabilitation training are developed at home and abroad, although the most advanced technology is applied to a limb exoskeleton system, most of the exoskeleton is heavy, and meanwhile, researches show that the design of most of the rehabilitation robots can only meet the requirement of a specific user. However, in practical rehabilitation applications, there are many possible ways for a limb exoskeleton to induce recovery of limb function in promoting motor function rehabilitation in stroke or spinal cord injured patients, and you can focus on a specific joint, such as a hip joint, knee joint and ankle joint, or you can consider the joint action of one or more joints. Therefore, the design of a rehabilitation exoskeleton must meet certain requirements, such as a modular design, which facilitates the treatment of different joint disorders for different users, i.e. the exoskeleton can be equipped with joint drive modules for one or more of the patient's joints.

Since the lower limb rehabilitation robot is a rehabilitation medical equipment which is in direct contact with the body of a hemiplegic patient, comfort and portability are very important.

In summary, it is an urgent need to solve technical problems for those skilled in the art to provide a wearable modular joint exoskeleton with wide application, good comfort and portability for patients with different needs.

Disclosure of Invention

The invention aims to provide a modular joint and a wearable modular joint exoskeleton, which solve the problems in the prior art and have the advantages of wide application range, low manufacturing cost, small size, light weight, high integration level and wearing comfort.

In order to achieve the purpose, the invention provides the following scheme:

the invention provides a modular joint which comprises a motor, a harmonic speed reducer, a driver, an amplifier, a dynamic torque sensor, a fixed base arm and a swing arm, wherein the motor is connected with the harmonic speed reducer;

the power output end of the motor is connected with the harmonic speed reducer, the swing arm is connected with the harmonic speed reducer, and the power of the motor is transmitted to the swing arm through the harmonic speed reducer; the fixed base arm is connected with a frame of the motor; the swinging arm is fixed on the skeleton of the human exoskeleton through a binding piece; when two adjacent modular joints are connected, the swing arm of the modular joint positioned at the top is connected with the base fixing arm of the modular joint positioned at the bottom through a connecting rod;

the driver is used for receiving a control signal of the control box to drive the motor to work and feeding back the working condition of the motor to the main control box; the amplifier is used for amplifying the voltage or power of an input signal; the dynamic torque sensor is used for detecting the human-computer interaction force of the joint in real time to carry out active or passive control.

Preferably, the output shaft of the motor is connected with a wave generator coupling of the harmonic speed reducer through a tensioning sleeve so as to transmit the output torque of the motor to the harmonic speed reducer, a flexible gear of the harmonic speed reducer is fixedly connected with the harmonic output shaft through a bolt, the other end of the harmonic output shaft is fixedly connected with a harmonic force sensor crank through a bolt, the harmonic force sensor crank is connected with the swing arm, and finally the output torque of the motor is transmitted to the swing arm through the speed reduction and amplification of the harmonic speed reducer so as to drive the joint to rotate.

Preferably, the swing arm comprises a connecting ring and a plate-shaped swing arm arranged on one side of the connecting ring, an amplifier mounting plate is arranged on the swing arm, and the amplifier is arranged on the amplifier mounting plate; the fixed base arm comprises a fixed ring and a plate-shaped fixed arm connected to one side of the fixed ring, the fixed ring is fixed outside the motor frame, and the driver is arranged on the fixed base arm.

Preferably, the bearing pressing end cover is installed on the bearing pressing end cover, the bearing pressing end cover is fixed to the bottom of the fixing ring through bolts, the connecting ring is provided with a rotary notch opposite to the limiting block, the limiting block and the rotary notch form a limiting mechanism, and when the two end faces of the rotary notch on the connecting ring are in contact with the end faces of the limiting block, the limiting function is achieved.

Preferably, the dynamic torque sensor is disposed between the connection ring and the harmonic force sensor crank.

The invention also provides a wearable modular joint exoskeleton, which comprises a carrying piece, an exoskeleton body and a binding piece, wherein the carrying piece enables the weight of the exoskeleton body to be borne on the shoulders of a human body, the exoskeleton body comprises four modular joints which are respectively two first modular joints and two second modular joints, the two first modular joints are respectively arranged at the rear sides of two hip joints of the human body, the two second modular joints are respectively arranged at the outer sides of the two hip joints of the human body, the bottom of the carrying piece is connected with the two first modular joints, swinging arms of the two first modular joints are respectively connected with fixed base arms of the two second modular joints through right-angle corner pieces, swinging arms of the second modular joints are arranged downwards, and the bottoms of the swinging arms are connected with adjusting rods, the binding piece is fixed on the adjusting rod, and the binding piece is bound on the thigh of the person.

Preferably, the backpack comprises a shoulder strap, a spine support plate fixing band, a spine support plate, a strap fixing block and a waistband, the shoulder strap is used for being fixed on a shoulder and bearing the weight of an exoskeleton, the spine support plate is used for fixing the whole exoskeleton on a spine position and ensuring that the exoskeleton joint is aligned with a human body joint, the waistband is arranged at the bottom of the shoulder strap and fixed on a back guide plate, the strap fixing block is arranged at the rear side of the waistband and fixed on the back guide plate, a front end interface of the shoulder strap is fixed on the waistband, a rear end interface of the shoulder strap is fixed on the strap fixing block, the spine support plate fixing band is fixed on the spine support plate, and the spine support plate is fixed on the back guide plate;

the back baffle is the back baffle of a T shape, the vertical board of back baffle with the braces fixed block is connected, be provided with a plurality of transverse arrangement's width control hole on the horizontal board of back baffle, the both sides of back baffle are provided with a back keysets respectively, two the top of back keysets all is provided with horizontal waist type groove, and adjusting bolt passes through waist type groove with the width control jogged joint, two the bottom of back keysets respectively with two the fixed arm of the articulated fixed basis arm of first modularization is connected.

Preferably, the exoskeleton body further comprises two third modular joints, the two third modular joints are respectively arranged at the outer sides of two knee joints of a human body, and a fixed base arm of each third modular joint is connected with a swing arm of each second modular joint through the adjusting rod; the swing arm of the third modular joint is arranged downwards, the bottom of the swing arm is connected with an adjusting rod, the binding piece is fixed on the adjusting rod, and the binding piece is bound on the shank of a person.

Preferably, the exoskeleton body further comprises two fourth modular joints, the two fourth modular joints are respectively arranged at the outer sides of two naked joints of a human body, and a fixed base arm of each fourth modular joint is connected with a swing arm of each third modular joint through the adjusting rod; the swing arm of the fourth modular joint is arranged downwards and is connected with a shoe insert worn on the sole of a foot.

The adjusting rod is sequentially provided with three waist-shaped grooves from top to bottom, the top of the adjusting rod is connected with a first connecting rod, the top end of the first connecting rod is connected with the swing arm, the bottom end of the first connecting rod is provided with a bolt hole, and a bolt penetrates through the waist-shaped groove at the top of the adjusting rod and is connected with the bolt hole at the bottom end of the first connecting rod; the bottom of the adjusting rod is connected with a second connecting rod, the bottom end of the second connecting rod is connected with a fixed arm of the fixed base arm, a bolt hole is formed in the top end of the second connecting rod, and a bolt penetrates through a waist-shaped groove in the bottom of the adjusting rod and is connected with the bolt hole in the bottom end of the second connecting rod; the binding piece is fixed on the waist-shaped groove in the middle;

preferably, the modular joint further comprises a housing, and the housing cover is arranged outside the modular joint

Compared with the prior art, the invention has the following beneficial technical effects:

1. according to the modular joint and wearable modular joint exoskeleton, different patients and users have different use requirements on the exoskeleton, so that the modular joint exoskeleton has the advantages that the positions of the modular joints (such as upper limbs, lower limbs, shoulder joints, elbow joints, hip joints and knee joints) can be freely changed according to the requirements of different user groups, the modular joints can be overlapped (such as multi-joints, single-side, double-side, upper limbs, lower limbs and whole-body exoskeleton), the application range of the exoskeleton is expanded, and the manufacturing cost is reduced.

2. The modularized joint and wearable modularized joint exoskeleton is light and compact in exoskeleton body structural design, and all joints and connecting parts are of high-strength thin-wall structures processed by aviation aluminum. Integrated compact modular joint design: in order to enable the integration level of the joint to be higher and reduce the size of the exoskeleton system, a driver and an amplifier required by the joint are directly arranged on a joint module, and meanwhile, the exoskeleton system comprises an integrated compact driver and a dynamic moment design, a motor frame structural part is designed according to the actual use condition, the integration level is higher, the structure is more compact and lighter, and the effect of reducing the weight is achieved as far as possible. Compared with the existing joint, the modular joint designed by the inventor has the advantages of small volume, light weight, high integration level and the like.

3. According to the modularized joint and the wearable modularized joint exoskeleton, a large-area strap bracket with certain rigidity is adopted at the position where a human body is fixed with the exoskeleton, and the spine supporting plate is added on the back, so that more effective fixation can be realized, and the comfort and the user experience are improved. A round outer shell is added in the whole exoskeleton system, so that the exoskeleton is not provided with a strong sense of equipment, and a user can feel the exoskeleton.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.

FIG. 1 is a schematic structural diagram of a modular joint according to an embodiment of the present invention;

fig. 2 is a schematic connection diagram of a motor and a harmonic reducer according to a first embodiment of the present invention;

FIG. 3 is a schematic structural diagram of a swing arm according to a first embodiment of the present invention;

FIG. 4 is a schematic structural diagram of a fixed base arm according to an embodiment of the present invention;

FIG. 5 is an exploded view of a modular joint in accordance with one embodiment of the present invention;

FIG. 6 is a schematic structural view of the wearable modular exoskeleton, with a housing, according to a second embodiment of the present invention;

fig. 7 is a schematic structural view of a wearable modular joint exoskeleton according to a second embodiment of the present invention;

FIG. 8 is a partial exploded view of the exoskeleton body of the present invention;

FIG. 9 is a schematic view of the construction of the backpack of the present invention;

FIG. 10 is a schematic structural view of a back guide plate and a back adapter plate according to the present invention;

fig. 11 is a schematic structural view of a wearable modular joint exoskeleton in a third embodiment of the present invention;

fig. 12 is a schematic structural view of a wearable modular joint exoskeleton in a fourth embodiment of the present invention;

FIG. 13 is a schematic view of a shoe insert in accordance with a fourth embodiment of the present invention;

FIG. 14 is an exploded view of the present invention at the adjustment lever;

fig. 15 is a schematic structural view of the wearable modular joint exoskeleton of the second embodiment worn by a human body;

FIG. 16 is a schematic structural view of the wearable modular joint exoskeleton of the third embodiment worn by a human;

FIG. 17 is a schematic structural view of the wearable modular joint exoskeleton of the fourth embodiment worn by a person;

in the figure: 1-a bearing piece, 11-double shoulder braces, 12-spine support plate fixing belts, 13-spine support plates, 14-brace fixing blocks and 15-waistbands;

2-exoskeleton body, 21-back guide plate, 22-back adapter plate, 23-right-angle corner piece, 24-first connecting rod, 25-adjusting rod, 26-modular joint, 27-second connecting rod and 28-waist-shaped groove; 261-motor, 262-harmonic reducer, 263-driver, 264-amplifier, 265-amplifier mounting plate, 266-dynamic torque sensor, 267-swing arm, 268-fixed base arm, 2611-first modular joint, 2612-second modular joint, 2613-third modular joint, 2614-fourth modular joint, 2621-bearing compression end cover, 2622-limiting block, 2623-wave generator coupler, 2624-tensioning sleeve, 2671-connecting ring, 2672-swing arm, 2673-rotary notch, 2681-fixing ring and 2682-fixing arm;

3-binding the binding piece;

4-shoe inserts;

5-outer shell.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The invention aims to provide a modular joint and a wearable modular joint exoskeleton so as to solve the problems in the prior art.

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.

The first embodiment is as follows:

the present embodiment provides a modular joint, as shown in fig. 1, including a motor 261, a harmonic reducer 262, a driver 263, an amplifier 264, a dynamic torque sensor 266, a fixed base arm 268, and a swing arm 267;

the power output end of the motor 261 is connected with the harmonic reducer 262, the swinging arm 267 is connected with the harmonic reducer 262, and the power of the motor 261 is transmitted to the swinging arm 267 through the harmonic reducer 262; the fixed base arm 268 is connected to the frame of the motor 261; the swinging arm 267 is fixed on the skeleton of the human exoskeleton through a binding piece 3; when two adjacent modular knuckles 26 are connected, the swing arm 267 of the top modular knuckle 26 is connected to the base-retaining arm 2682 of the bottom modular knuckle 26 by a linkage;

the driver 263 is used for receiving a control signal of the control box to drive the motor 261 to work and feeding back the working condition of the motor 261 to the main control box; the amplifier 264 is used for amplifying the voltage or power of the input signal; the dynamic torque sensor 266 is disposed between the connection ring 2671 and the harmonic force sensor crank, and the dynamic torque sensor 266 is used for detecting the human-computer interaction force of the joint in real time to perform active or passive control.

As shown in fig. 2, the output shaft of the motor 261 is connected to the wave generator coupling 2623 of the harmonic speed reducer 262 through the tension sleeve 2624, so as to transmit the output torque of the motor 261 to the harmonic speed reducer 262, the flexspline of the harmonic speed reducer 262 is fixedly connected to the harmonic output shaft through the bolt, the other end of the harmonic output shaft is fixedly connected to the harmonic force sensor crank through the bolt, the harmonic force sensor crank is fixedly connected to the swing arm 267, and finally, the output torque of the motor 261 is transmitted to the swing arm 267 through the deceleration amplification of the harmonic speed reducer 262, so as to drive the joint to rotate.

As shown in fig. 3, the swing arm 267 includes a connection ring 2671 and a plate-shaped swing arm 2672 provided on one side of the connection ring 2671, the connection ring 2671 and the swing arm 2672 are integrally provided, an amplifier mounting plate 265 is mounted on the swing arm 2672 by a bolt, and the amplifier 264 is provided on the amplifier mounting plate 265; as shown in fig. 4, the fixed base arm 268 includes a fixed ring 2681 and a plate-shaped fixed arm 2682 connected to a side of the fixed ring 2681, the fixed ring 2681 is provided integrally with the fixed arm 2682, the fixed ring 2681 is fixed to the outside of the motor frame by bolts, and the driver 263 is mounted on the fixed base arm 268 by bolts.

As shown in fig. 5, still include stopper 2622, stopper 2622 is installed on bearing compresses tightly end cover 2621, the bearing compresses tightly end cover 2621 and passes through the bottom of bolt fastening at solid fixed ring 2681, be provided with on the go-between 2671 and lack groove 2673 with the rotation that stopper 2622 is relative, stopper 2622 and rotatory lack groove 2673 constitute stop gear, rotatory lack groove 2673 opening size above the swing arm 267 is certain, but stopper 2622 can install and compress tightly the different positions of end cover 2621 at the bearing and adjust the motion limit scope, when two terminal surfaces of the rotatory lack groove 2673 on the go-between 2671 contact with stopper 2622 terminal surface, play the spacing effect of limit.

Example two:

based on the modular joints in the first embodiment, the present embodiment provides a wearable modular joint exoskeleton, which is specifically a lower limb hip joint exoskeleton, as shown in fig. 6-8 and fig. 15, comprising a carrying member 1, an exoskeleton body 2 and a tie-up member 3, wherein the carrying member 1 enables the weight of the exoskeleton body 2 to be carried on both shoulders of a human body, the exoskeleton body 2 comprises four modular joints 26, namely two first modular joints 2611 and two second modular joints 2612, the two first modular joints 2611 are respectively arranged on the back sides of two hip joints of the human body to realize abduction or adduction of the hip joints, the two second modular joints 2612 are respectively arranged on the outer sides of the two hip joints of the human body to realize forward flexion or backward extension of the hip joints, the bottom of the carrying member 1 is connected with the two first modular joints 2611, swing arms 267 of the two first modular joints 2611 are respectively connected with fixed base arms 268 of the two second modular joints 2612 through right-angle corner members 23, the swing arm 267 of the second modular joint 2612 is set down, and the bottom of the swing arm 2672 of the swing arm 267 is connected with the adjusting rod 25, and the tie-up 3 is fixed on the adjusting rod 25, and the tie-up 3 is tied up on the thigh of the person.

As shown in fig. 9, the backpack 1 includes shoulder straps 11, a spine strap fixing band 12, a spine strap 13, a strap fixing block 14 and a waist band 15, the shoulder straps 11 are used for fixing on the shoulders and carrying the weight of the exoskeleton, the spine strap 13 is used for fixing the whole exoskeleton on the spine to ensure the alignment of the exoskeleton joints and the human body joints, the waist band 15 is arranged at the bottom of the shoulder straps 11 and fixed on a back guide plate 21, the waist band 15 is used for tightly attaching the exoskeleton body 2 to the human body, the strap fixing block 14 is arranged at the rear side of the waist band 15 and fixed on the back guide plate 21, the front end interface of the shoulder straps 11 is fixed on the waist band 15, the rear end interface of the shoulder straps 11 is fixed on the strap fixing block 14, the spine strap fixing band 12 is fixed on the spine strap 13, and the spine strap.

As shown in fig. 10, the back guide plate 21 is a T-shaped back guide plate, a vertical plate of the back guide plate 21 is connected to the strap fixing block 14, a plurality of width adjustment holes arranged in a transverse direction are formed in a transverse plate of the back guide plate 21, back adapter plates 22 are respectively arranged on two sides of the back guide plate 21, transverse waist-shaped grooves are formed in the tops of the two back adapter plates 22, an adjustment bolt is connected to the width adjustment holes through the waist-shaped grooves, the bottoms of the two back adapter plates 22 are respectively connected to the fixing arms 2682 of the fixing base arms 268 of the two first modular joints 2611, and the widths of the hip joints can be adjusted by the waist-shaped grooves to adapt to people of different waistlines.

Example three:

on the basis of the second embodiment, the present embodiment provides a wearable modular joint exoskeleton, which is specifically an ankle-joint-free exoskeleton, as shown in fig. 11 and 16, the exoskeleton body 2 further includes two third modular joints 2613, the two third modular joints 2613 are respectively disposed at outer sides of two knee joints of a human body, and a fixed base arm 268 of the third modular joint 2613 is connected to a swing arm 2672 of the second modular joint 2612 through an adjusting rod 25; the swing arm 267 of the third modular joint 2613 is arranged downwards, the bottom of the swing arm 2672 of the swing arm 267 is connected with an adjusting rod 25, the binding piece 3 is fixed on the adjusting rod 25, and the binding piece 3 is bound on the lower leg of the person.

Example four:

on the basis of the third embodiment, the present embodiment provides a wearable modular joint exoskeleton, specifically a full-joint lower extremity exoskeleton for gait support, as shown in fig. 12 to 13 and 17, the exoskeleton body 2 further includes two fourth modular joints 2614, the two fourth modular joints 2614 are respectively disposed at the outer sides of two naked joints of a human body, and the fixed base arm 268 of the fourth modular joint 2614 is connected with the swing arm 2672 of the third modular joint 2613 through the adjusting rod 25; the swing arm 267 of the fourth modular joint 2614 is disposed downward, and the swing arm 267 of the fourth modular joint 2614 is connected to the shoe insert 4 worn on the sole of the foot.

As shown in fig. 14, for the structure of the adjustment rod 25, three waist-shaped grooves 28 are sequentially arranged on the adjustment rod 25 from top to bottom, the top of the adjustment rod 25 is connected with a first connecting rod 24, the top end of the first connecting rod 24 is connected with a swing arm 2672, the bottom end of the first connecting rod 24 is provided with a bolt hole, and a bolt passes through the waist-shaped groove 28 on the top of the adjustment rod 25 and is connected with the bolt hole at the bottom end of the first connecting rod 24; the bottom of the adjusting rod 25 is connected with a second connecting rod 27, the bottom end of the second connecting rod 27 is connected with a fixed arm 2682 of the fixed base arm 268, the top end of the second connecting rod 27 is provided with a bolt hole, and a bolt penetrates through a waist-shaped groove 28 at the bottom of the adjusting rod 25 and is connected with the bolt hole at the bottom end of the second connecting rod 27; the binding 3 is fixed on the waist-shaped groove 28 in the middle; the length of the whole exoskeleton can be flexibly adjusted by arranging the waist-shaped groove 28 on the adjusting rod 25.

In this embodiment, the outer shell 5 is also covered on the outside of the modular joint 26, making the whole mechanism more beautiful.

The invention can realize that: 1. a hip joint exoskeleton with four degrees of freedom. Each leg has a hip joint with two degrees of freedom: free abduction/adduction and anterior/posterior flexion; 2. ankle joint free lower extremity exoskeleton; 3. a fully articulated lower extremity exoskeleton for supporting a paraplegic patient during ambulation. Through suitable module components, the modular exoskeleton can also be applied to an upper limb exoskeleton and a lower limb exoskeleton in principle, and the details are not repeated here.

The principle and the implementation mode of the invention are explained by applying specific examples, and the description of the above examples is only used for helping understanding the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In summary, this summary should not be construed to limit the present invention.

Claims

1. A modular joint, characterized by: the device comprises a motor, a harmonic speed reducer, a driver, an amplifier, a dynamic torque sensor, a fixed base arm and a swing arm;

2. The modular joint of claim 1, wherein: the output shaft of the motor is connected with a wave generator coupler of the harmonic speed reducer through a tensioning sleeve so as to transmit the output torque of the motor to the upper surface of the harmonic speed reducer, a flexible gear of the harmonic speed reducer is fixedly connected with the harmonic output shaft through a bolt, the other end of the harmonic output shaft is fixedly connected with a harmonic force sensor crank through a bolt, the harmonic force sensor crank is connected with the swing arm, and finally the output torque of the motor is transmitted to the swing arm through the speed reduction and amplification of the harmonic speed reducer so as to drive the joint to rotate.

3. The modular joint of claim 1, wherein: the swing arm comprises a connecting ring and a plate-shaped swing arm arranged on one side of the connecting ring, an amplifier mounting plate is arranged on the swing arm, and the amplifier is arranged on the amplifier mounting plate; the fixed base arm comprises a fixed ring and a plate-shaped fixed arm connected to one side of the fixed ring, the fixed ring is fixed outside the motor frame, and the driver is arranged on the fixed base arm.

4. The modular joint of claim 3, wherein: still include the stopper, the stopper is installed the bearing compresses tightly on the end cover, the bearing compresses tightly the end cover and passes through the bolt fastening and be in gu fixed ring's bottom, be provided with on the go-between with the relative rotatory groove that lacks of stopper, the stopper with rotatory scarce groove constitutes stop gear, works as on the go-between rotatory two terminal surfaces that lack the groove with when the stopper terminal surface contacts, play the spacing effect of limit.

5. The modular joint of claim 4, wherein: the dynamic torque sensor is arranged between the connecting ring and the harmonic force sensor crank.

6. A wearable modular articular exoskeleton characterized by: comprises a backpack, an exoskeleton body and a binding piece, wherein the backpack enables the weight of the exoskeleton body to be borne on the shoulders of a human body, the exoskeleton body comprises four modular joints which are two first modular joints and two second modular joints respectively, the two first modular joints are arranged at the rear sides of two hip joints of a human body respectively, the two second modular joints are arranged at the outer sides of the two hip joints of the human body respectively, the bottom of the backpack is connected with two first modular joints, the swing arms of the two first modular joints are respectively connected with the fixed base arms of the two second modular joints through right-angle corner pieces, the swing arm of the second modular joint is arranged downwards, the bottom of the swing arm is connected with an adjusting rod, the binding piece is fixed on the adjusting rod, and the binding piece is bound on the thigh of the person.

7. The wearable modular articular exoskeleton of claim 6 wherein: the backpack comprises two shoulder straps, a spine support plate fixing belt, a spine support plate, a strap fixing block and a waistband, wherein the two shoulder straps are used for being fixed on shoulders and bearing the weight of an exoskeleton, the spine support plate is used for fixing the whole exoskeleton on a spine part and ensuring that the exoskeleton joints are aligned with human body joints, the waistband is arranged at the bottom of the two shoulder straps and fixed on a back guide plate, the strap fixing block is arranged at the rear side of the waistband and fixed on the back guide plate, the front end interfaces of the two shoulder straps are fixed on the waistband, the rear end interfaces of the two shoulder straps are fixed on the strap fixing block, the spine support plate fixing belt is fixed on the spine support plate, and the spine support plate is fixed on the back guide plate;

8. The wearable modular articular exoskeleton of claim 6 wherein: the exoskeleton body further comprises two third modular joints, the two third modular joints are arranged on the outer sides of two knee joints of a human body respectively, and a fixed base arm of each third modular joint is connected with a swing arm of each second modular joint through the adjusting rod; the swing arm of the third modular joint is arranged downwards, the bottom of the swing arm is connected with an adjusting rod, the binding piece is fixed on the adjusting rod, and the binding piece is bound on the shank of a person.

9. The wearable modular articular exoskeleton of claim 8 wherein: the exoskeleton body further comprises two fourth modular joints, the two fourth modular joints are arranged on the outer sides of two naked joints of a human body respectively, and a fixed base arm of each fourth modular joint is connected with a swing arm of each third modular joint through the adjusting rod; the swing arm of the fourth modular joint is arranged downwards and is connected with a shoe insert worn on the sole of a foot.

10. The wearable modular articular exoskeleton of claim 9 wherein: the adjusting rod is sequentially provided with three waist-shaped grooves from top to bottom, the top of the adjusting rod is connected with a first connecting rod, the top end of the first connecting rod is connected with the swing arm, the bottom end of the first connecting rod is provided with a bolt hole, and a bolt penetrates through the waist-shaped groove at the top of the adjusting rod and is connected with the bolt hole at the bottom end of the first connecting rod; the bottom of the adjusting rod is connected with a second connecting rod, the bottom end of the second connecting rod is connected with a fixed arm of the fixed base arm, a bolt hole is formed in the top end of the second connecting rod, and a bolt penetrates through a waist-shaped groove in the bottom of the adjusting rod and is connected with the bolt hole in the bottom end of the second connecting rod; the binding piece is fixed on the waist-shaped groove in the middle;

preferably, the modular joint further comprises a housing, wherein the housing cover is arranged outside the modular joint.