CN113081698B

CN113081698B - Multi-layer pressurization driven ankle joint gait stability augmentation system

Info

Publication number: CN113081698B
Application number: CN202110377989.8A
Authority: CN
Inventors: 夏海生; 李智军
Original assignee: University of Science and Technology of China USTC
Current assignee: University of Science and Technology of China USTC
Priority date: 2021-04-08
Filing date: 2021-04-08
Publication date: 2022-03-01
Anticipated expiration: 2041-04-08
Also published as: CN113081698A

Abstract

The invention provides a multilayer pressurization driven ankle joint gait augmentation system, which comprises a leg fastening member, a leg and foot connecting assembly, a multilayer pressurization member, a pressure transmission member and a foot fastening member, wherein the leg fastening member is detachably worn on the lower leg part of a human body, the foot fastening member is detachably worn on the ankle part of the human body and wound around the bottom of the rear sole, and the front sole of the human body extends to the outside of the foot fastening member and can freely move; the lower end of the leg and foot connecting assembly is connected with a foot fastening component, the upper end of the leg and foot connecting assembly is connected with a leg fastening component through a multilayer pressurizing component, when the foot is in a supporting phase, the pressure transmission component does not allow the two ends of the leg and foot connecting assembly to move, and when the foot is in a swinging phase, the two ends of the leg and foot connecting assembly are respectively movably matched with the foot fastening component and the multilayer pressurizing component.

Description

Multi-layer pressurization driven ankle joint gait stability augmentation system

Technical Field

The invention relates to the technical field of medical instruments, in particular to an ankle joint gait stability augmentation system driven by multilayer pressurization.

Background

Stroke is one of the highest fatality and disability rates worldwide. The stroke incidence in China is in the rising stage, and in recent years, nearly 300 million new diseases cause huge burden to individuals and society every year. The vast majority of stroke survivors have walking dysfunction, especially ankle dysfunction, such as powerless propulsion, unstable turning inside and outside and the like, so that the problems of walking speed reduction, energy consumption increase, falling risk increase and the like are caused, and the life quality of patients is greatly influenced.

The current commonly used ankle joint gait rehabilitation equipment mainly comprises: ankle-foot orthotics, large platform type rehabilitation robots and exoskeleton robots. These devices have been shown to play a role in the gait rehabilitation of patients, but have presented a number of problems. The ankle-foot orthosis can limit the normal movement of the ankle joint; the large platform type rehabilitation robot cannot move and is high in cost; the exoskeleton robot has the ankle joint power assisting function only considering propulsion power assistance and does not consider the ankle joint inversion and stability augmentation. Therefore, the ankle joint gait stabilization system which is low in cost and effective can bring great convenience to the life of the stroke patients and other people with ankle joint dysfunction.

Patent document CN 206809370U discloses a fixed lightweight ankle foot orthopedic ware based on 3D prints, including the shank supporting part, ankle joint supporting part and sole supporting part, the shank supporting part, ankle joint supporting part and sole supporting part adopt 3D to print integrated into one piece, be equipped with on this ankle foot orthopedic ware and bind the device, the both sides of sole supporting part are equipped with the flank, the ankle bone portion of ankle joint supporting part is amputated, and the position that ankle joint supporting part is close to ankle bone portion and the position wall thickness thickening that the shank supporting part is close to the calf muscle lower part, the position that the shank supporting part is close to inside and outside calf muscle rear side is provided with a plurality of fretwork holes, nevertheless this design can restrict ankle joint normal motion.

Disclosure of Invention

Aiming at the defects in the prior art, the invention aims to provide a multi-layer pressurization driven ankle joint gait stabilization system.

The invention provides a multi-layer pressurization driven ankle joint gait stabilization system, which comprises a leg fastening component, a leg and foot connecting component, a multi-layer pressurization component, a pressure transmission component and a foot fastening component, wherein the leg fastening component is connected with the leg and foot connecting component;

the leg fastening member is detachably worn on the lower leg part of a human body, the foot fastening member is detachably worn on the ankle part of the human body and is wound around the bottom of the rear sole, and the front sole of the human body extends to the outside of the foot fastening member and can freely move;

the lower extreme of leg foot coupling assembling is connected foot fastening component, the upper end of leg foot coupling assembling is passed through multilayer pressure boost component and is connected leg fastening component, when the foot is in the support phase, the pressure transmission component does not allow the both ends activity of leg foot coupling assembling, when the foot is in the swing phase, the both ends of leg foot coupling assembling respectively with foot fastening component, multilayer pressure boost component clearance fit.

Preferably, the pressure transfer member includes a leg left air bag, a leg right air bag, a left catheter, a right catheter, a sole air bag, a left limit housing, and a right limit housing;

the left leg air bag and the right leg air bag are respectively arranged in the left limiting shell and the right limiting shell and are respectively connected with the multilayer pressurizing components, and the left leg air bag and the right leg air bag are respectively communicated with the sole air bags through a left conduit and a right conduit;

when the foot is in the support looks, the sole gasbag is extruded by the sole and then makes the left gasbag of shank, the right gasbag of shank rise the extrusion the multilayer supercharging component and then do not allow the shank coupling assembling with multilayer supercharging component clearance fit, when the foot is in during the swing looks, the left gasbag of shank, the right gasbag of shank retract and then allow multilayer supercharging component with shank coupling assembling clearance fit.

Preferably, the multi-layer supercharging member comprises a left panel group structure and a right panel group structure;

the left side sheet set structure comprises a left moving sheet and a left fixing sheet, wherein the inner end and the outer end of the left side sheet set structure are respectively provided with the left fixing sheets, and the left moving sheet is arranged between every two left fixing sheets;

the right side piece group structure includes that the right side removes piece and right stationary blade, wherein, the inside and outside both ends of right side piece group structure are right stationary blade respectively, and with per two the mode that sets up a right side between the right stationary blade is arranged.

Preferably, when the foot is in the swing phase, the left moving piece is in sliding fit with the left fixing piece, and the right moving piece is in sliding fit with the right fixing piece.

Preferably, the leg and foot connecting assembly comprises a left leg and foot connecting assembly and a right leg and foot connecting assembly;

the left leg and foot connecting assembly is arranged on the left side of the lower leg, and two ends of the left leg and foot connecting assembly are respectively movably matched with the multilayer pressurizing member and the foot fastening member;

the right leg and foot connecting assembly is arranged on the right side of the lower leg, and two ends of the right leg and foot connecting assembly are respectively in movable fit with the multilayer pressurizing member and the foot fastening member.

Preferably, the pressure transmission member forms a sealed space inside, and the sealed environment formed by the sealed space is realized by heat sealing of waterproof cloth.

Preferably, the sealed space is filled with air, oil or water.

Preferably, when the foot is in the supporting phase, the inner walls of the left limiting shell and the right limiting shell respectively squeeze the left leg air bag and the right leg air bag in a butting manner, so that the left leg air bag and the right leg air bag can squeeze the multilayer pressurizing member.

Preferably, the left fixing plate is mounted on a left limiting shell arranged on the pressure transmission member, and the left moving plate is movably matched with the left fixing plate through a left connecting piece;

the right fixed plate is arranged on a right limiting shell arranged on the pressure transmission component, and the right movable plate is movably matched with the right fixed plate through a right connecting piece;

when the supporting phase is in use, the left moving piece and the right moving piece can not move; when the swing was in the same place, left side removal piece, right side removal piece all can be in leg foot coupling assembling drive down relative to left stationary blade right stationary blade slides from top to bottom.

Preferably, the leg fastening member and the foot fastening member are worn by magic tape.

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

1. according to the project, the pressure air bags are added on the soles of the feet, so that the system naturally obtains pressure increase by utilizing self gravity when supporting the feet in the walking process; transmitting the pressure increase to the leg portion by the pressure transmitting member; the leg is provided with the multilayer pressurizing members, the pressure is multiplied by the multilayer structure, so that the multilayer structure cannot move and is stable under the action of the pressure, and simultaneously, the constraint on the ankle joint can be relieved when the ankle joint swings. The leg and foot connecting component is stably and immovably limited by the multi-layer structure when the support is in phase, so that the ankle joint is limited to be overturned inside and outside to realize the stability increase of the ankle joint, the walking energy consumption can be reduced, the eversion and stretching risk of the ankle joint is reduced, and the walking and falling risk is reduced especially under the condition that the road surface is not flat.

2. The invention can be applied to people with insufficient muscle strength around the ankle joint, such as the old, the apoplexy patient and the like, to carry out gait rehabilitation, and has practical application value.

3. The ankle joint internal and external turning stabilizing system adopts a brand new ankle joint internal and external turning stabilizing system design, does not need an additional sensor or a switch, does not need additional energy input to provide power, and utilizes the self gravity of a human body as a pressure source, so that the structure is simple and the energy is saved.

4. The leg is provided with the multilayer pressurizing members, and the pressure is multiplied by the multilayer structure, so that the multilayer structure cannot move and is stable under the action of the pressure; the motion of the leg and foot connecting assembly is stably and immovably limited by the multilayer structure, so that the ankle joint is limited to turn inside and outside and is stably increased by extruding multiple layers of thin sheets mutually to multiply the friction force, the limitation on the relative motion between the thin sheets is realized, and the ankle joint is stably increased by turning inside and outside.

5. The invention can be easily worn on feet and shanks, has light weight, can assist the stability increase of the gait process of a human body, and is not limited by the environment and the field.

6. The ankle joint rehabilitation training aid is designed aiming at the problems of the existing auxiliary equipment by comprehensively considering cost, convenience, effectiveness and durability, is beneficial to promoting research and development and application of related products, and improves the living capacity of the existing ankle joint dysfunction people.

Drawings

Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:

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

The figures show that:

right leg and foot connecting assembly 9 of leg fastening member 1

Left airbag 2 left moving piece 10 of leg

Right airbag 3 right moving piece 11 of leg

Left fixing piece 12 of left catheter 4

Right guide tube 5 right fixing piece 13

Left limit shell 14 of foot air bag 6

Right limit shell 15 of foot fastening component 7

Left leg and foot connecting assembly 8

Detailed Description

The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the present invention.

The invention provides a multi-layer pressurization driven ankle joint gait augmentation system, which comprises a leg fastening member 1, a leg and foot connecting assembly, a multi-layer pressurization member, a pressure transmission member and a foot fastening member 7, wherein the leg fastening member 1 is detachably worn on the lower leg part of a human body, the foot fastening member 7 is detachably worn on the ankle part of the human body and wound around the bottom of the rear sole, the front sole of the human body extends to the outside of the foot fastening member 7 and can move freely, the leg fastening member 1 and the foot fastening member 7 are preferably worn by magic tape, and the wearing and the taking-off operation are convenient.

Furthermore, the lower end of the leg and foot connecting component is connected with the foot fastening component 7, the upper end of the leg and foot connecting component is connected with the leg fastening component 1 through a plurality of layers of pressurizing components, the walking of a person is divided into a supporting phase and a swinging phase, wherein the supporting phase is a supporting phase, the feet step on the ground, the swinging phase is a swinging phase, the supporting phase needs the stability enhancement of the ankle joint, and the swinging phase needs the free movement of the ankle joint. When the foot is in the supporting phase, the pressure transmission component does not allow the two ends of the leg and foot connecting component to move, and when the foot is in the swinging phase, the two ends of the leg and foot connecting component are respectively in movable fit with the foot fastening component 7 and the multilayer pressurizing component.

The invention does not need additional sensors or switches and also does not need additional energy input. The sole air bag is arranged on the sole of the foot, and when the foot is stepped on the ground, the pressure is naturally generated by the gravity of the human body. The pressure is transmitted to the leg air bags at two sides through the catheters at two sides, and the leg air bags press the pressure on the multilayer thin sheets due to the limitation of the limiting shell. The multiple layers multiply the total friction force so that the multiple layers of moving sheets cannot move relative to the multiple layers of fixed sheets. Therefore, the leg and foot connecting component fixedly connected to the multilayer moving pieces cannot move, and the foot fastening component cannot rotate due to the fact that the leg and foot connecting component cannot stretch, so that the ankle joint is limited to turn inside and outside to realize the turning and stability increasing of the ankle joint. When the foot is in the air, the foot air bags do not generate pressure, the leg air bags on the two sides also have no pressure, no pressure acts on the multi-layer pressurizing structure, the friction force among the layers is small, the multi-layer sheets can move relatively, and the normal inward and outward turning motion of the ankle joint is not influenced.

Specifically, the pressure transmission component includes the left gasbag 2 of shank, the right gasbag 3 of shank, left pipe 4, right pipe 5, sole gasbag 6, the spacing shell in a left side 14 and the spacing shell in a right side 15, sole gasbag 6 is installed on the fastening component 7 of foot and is located the below of back sole, left side spacing shell 14, the spacing shell in a right side 15 are installed respectively the left side of shank fastening component 1, the right side of shank fastening component, the left gasbag 2 of shank, the right gasbag 3 of shank are installed respectively in the spacing shell in a left side 14, the spacing shell in a right side 15 of shank and are connected respectively the multilayer supercharging component, the left gasbag 2 of shank, the right gasbag 3 of shank respectively through left pipe 4, right pipe 5 with sole gasbag 6 intercommunication, when the foot is in the support phase, sole gasbag 6 is extruded by the sole and then makes the left gasbag 2 of shank, the right gasbag 3 of shank rise the extrusion multilayer supercharging component and then do not allow the shank coupling assembling with the activity of multilayer supercharging component And when the feet are in the swinging phase, the leg left air bag 2 and the leg right air bag 3 are retracted to allow the multilayer pressurizing member to be movably matched with the leg and foot connecting assembly.

Furthermore, the system does not need to provide additional power, only utilizes the self gravity of the human body to generate pressure to squeeze the foot air bags 6, the catheters at the two sides are communicated with the leg air bags at the two sides to form a sealed environment, and water or oil can be added into the sealed environment to further increase the pressure which can be transmitted to the leg air bags.

Specifically, when the foot is in the supporting phase, the inner walls of the left and right limiting shells 14 and 15 respectively press the leg left airbag 2 and the leg right airbag 3 against each other, so that the leg left airbag 2 and the leg right airbag 3 can press the multilayer pressurizing member. The sole air bag 6 is used for acquiring pressure generated by the gravity of a human body when a foot steps on the ground, the guide pipe transmits the pressure to the leg air bag, the leg air bag extrudes the multilayer thin sheet pressurizing member to enable the multilayer thin sheet pressurizing member not to move, so that the movement of the leg and foot connecting component is limited, the inward and outward turning and stability increasing of the ankle joint are realized, the total friction force of the multilayer thin sheet structure is multiplied by the number of layers when the pressure is applied, and when the foot steps on the ground, the air bag pressure enables the thin sheets not to move relatively, so that the inward and outward turning and stability of the ankle joint are realized. When the foot swings in the air, the air bag has no pressure, the multilayer thin sheets can move relatively, and the normal inward and outward turning motion of the ankle joint is not influenced.

Specifically, multilayer supercharging component includes left side piece group structure and right side piece group structure, left side piece group structure includes that the left side removes piece 10 and left stationary blade 12, and when the foot is in when the swing is mutually, remove piece 10 and left stationary blade 12 sliding fit on the left side, remove piece 11 on the right side with sliding fit between the right stationary blade 13. The inner end and the outer end of the left side sheet group structure are respectively provided with a left fixing sheet 12, and a left moving sheet 10 is arranged between every two left fixing sheets 12; the right side sheet group structure comprises a right moving sheet 11 and a right fixing sheet 13, wherein the inner end and the outer end of the right side sheet group structure are respectively provided with the right fixing sheet 13, and the right moving sheet 11 is arranged between every two right fixing sheets 13.

Further, the left moving plate 10, the right moving plate 11, the left fixing plate 12, and the right fixing plate 13 are preferably in a thin plate structure, so that a plurality of plates can be sequentially arranged without increasing the volume, and the friction force after mutual pressing is increased. Specifically, a sliding pair connection is formed between the multilayer fixed sheet and the multilayer movable sheet, the movable sheet is fixedly connected with a leg and foot connecting assembly, and the leg and foot connecting assembly is connected with a foot fastening member 7 in a rotating pair mode. Because the leg and foot connecting component can not be stretched, when a foot steps on the ground, the multi-layer sheets can not move relatively due to the extrusion of the leg air bag and the limiting shell, and the limitation of the sliding of the multi-layer sheets can be converted into the limitation of the inward and outward turning of the ankle joint.

Specifically, the leg and foot connecting assembly comprises a left leg and foot connecting assembly 8 and a right leg and foot connecting assembly 9, the left leg and foot connecting assembly 8 is arranged on the left side of the lower leg, and two ends of the left leg and foot connecting assembly 8 are respectively movably matched with the multilayer pressurizing member and the foot fastening member 7; the right leg and foot connecting assembly 9 is arranged on the right side of the lower leg, and two ends of the right leg and foot connecting assembly 9 are respectively in movable fit with the multilayer pressurizing member and the foot fastening member 7.

In the specific application, the head of the multilayer movable sheet in the multilayer pressurizing member is punched, and all holes are fastened after the multilayer movable sheet completely passes through the multilayer fixed sheet, so that the movable sheet is prevented from being pulled out in the relative movement of the fixed sheets and losing the multilayer pressurizing effect.

The foot fastening component is attached to the foot (outside the shoe), and the instep and the heel are fixed on the foot through the magic tape. The foot securing member also provides a revolute pair for connection to the leg and foot joint assembly by making a hole in the leg and foot joint assembly and inserting a pin into the foot securing member. Specifically, the left fixed plate 12 is mounted on a left limit housing 14 provided on the pressure transmission member, the left movable plate 10 is movably engaged with the left fixed plate 12 through a left connecting member, the right fixed plate 13 is mounted on a right limit housing 15 provided on the pressure transmission member, and the right movable plate 11 is movably engaged with the right fixed plate 13 through a right connecting member; wherein, left side connecting piece, right connecting piece preferably adopt the elasticity rope, and the elasticity rope can prevent on the one hand that left side removes piece 10, right side and removes piece 11 and drop from left stationary blade 12, right stationary blade 13 respectively, and on the other hand still is favorable to left side to remove piece 10, right side and removes piece 11 and slide from top to bottom, plays elasticity guide left side to a certain extent and removes the slip direction of piece 10, right side removal piece 11.

Further, in the supporting phase, the left moving plate 10 and the right moving plate 11 are respectively pressed by the left fixing plate 12 and the right fixing plate 13, and the friction force between the left fixing plate and the right fixing plate is increased, so that the left moving plate and the right moving plate cannot move; when the swing phase is in use, the left moving plate 10 and the right moving plate 11 can slide up and down relative to the left fixing plate 12 and the right fixing plate 13 under the driving of the leg and foot connecting assembly.

The leg fastening components are attached to the left side and the right side of the shank (outside the clothes), and are wound on the upper side and the lower side of the most protruded part of the shank muscle through magic tapes so as to be fixed on the shank. The leg fastening member provides an installation position for the multilayer fixing sheet, screws are fixed on the leg fastening member, and the fixing sheet is sleeved on the screws by punching holes at two edges of the fixing sheet; the leg fastening component also provides an installation position for the limiting shell for limiting the movement of the leg air bag, and the limiting shell can be continuously perforated by utilizing the screws sleeved with the fixing pieces and is fastened through the nuts after penetrating through the screws. The mounting height of the fixed shell is standard so as not to influence the free eversion and rotation of the ankle joint when the foot is in the air and limit the eversion and rotation of the ankle joint when the foot is on the ground.

The leg-foot connecting component is connected with the foot fastening component through a revolute pair (such as a hole and a pin); the multi-layer moving piece is fixedly connected with the multi-layer moving pieces, in a preferred embodiment, the multi-layer moving pieces are clamped by the pressure plates on two sides of the leg and foot connecting component and are fixed by screws, and further the multi-layer moving pieces and the leg fastening component form a sliding pair, so that the multi-layer moving pieces can slide up and down between the multi-layer fixing pieces to form the sliding pair. When the ankle joint turns inwards and outwards, the foot fastening component can rotate to drive the leg and foot connecting component to slide up and down, so that the multilayer movable sheet can slide up and down between the multilayer fixed sheets.

The sole airbag 6, the catheters on both sides and the leg airbags on both sides in the pressure transmission member are communicated with each other to form a sealed environment. Whole sealed environment accessible tarpaulin heat-seal realizes, and the pipe is inserted and is used for supporting inside the tarpaulin, prevents that the gas circuit (water route or oil circuit) from blockking. The addition of water or oil in a sealed environment further increases the pressure that can be transmitted to the leg bladders.

The multilayer pressurizing member comprises a multilayer fixing sheet and a multilayer moving sheet. The multilayer movable sheets are inserted in the middle of the multilayer fixed sheets, and the two sheets are stacked in a staggered mode. The topmost and bottommost fixing sheets are both provided with fixing sheets. When the multilayer pressurizing member receives pressure from the leg air bag, the moving sheet is restricted from sliding up and down.

The working principle of the invention is as follows:

the walking of a person is divided into a supporting phase of stepping on the ground by feet and a swinging phase of the feet in the air. The ankle joint needs to be stabilized in the supporting phase, and the ankle joint needs to move freely in the swinging phase. The invention utilizes the sole air bag, and the pressure is naturally generated by the gravity of the human body when the foot steps on the ground. The pressure is transmitted to the leg air bags at two sides through the catheters at two sides, and the leg air bags press the pressure on the multilayer thin sheets due to the limitation of the limiting shell. Because the total frictional force of multilayer thin slice after receiving the extrusion increases at double for the multilayer movable piece can't remove relative multilayer stationary blade, then links firmly the unable removal of leg foot coupling assembling on the multilayer movable piece, because leg foot coupling assembling can't stretch, then the unable rotation of foot's fastening member, thereby the inside and outside upset of restriction ankle is moved and is realized the ankle and turn over steadily inside and outside. When the foot is in the air, the foot air bags do not generate pressure, the leg air bags on the two sides also have no pressure, no pressure acts on the multi-layer pressurizing structure, the friction force between the layers of thin sheets is small, the multiple layers of thin sheets can move relatively, and the normal inward and outward turning motion of the ankle joint is not influenced.

In the description of the present application, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present application and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present application.

The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.

Claims

1. A multi-layer pressurization driven ankle joint gait augmentation system is characterized by comprising a leg fastening component (1), a leg and foot connecting component, a multi-layer pressurization component, a pressure transmission component and a foot fastening component (7);

the leg fastening member (1) is detachably worn on the lower leg part of a human body, the foot fastening member (7) is detachably worn on the ankle part of the human body and is wound around the bottom of the rear sole, and the front sole of the human body extends to the outside of the foot fastening member (7) and can move freely;

the lower end of the leg and foot connecting assembly is connected with the foot fastening member (7), the upper end of the leg and foot connecting assembly is connected with the leg fastening member (1) through a multi-layer pressurizing member, when the foot is in a supporting phase, the pressure transmission member does not allow the two ends of the leg and foot connecting assembly to move, and when the foot is in a swinging phase, the two ends of the leg and foot connecting assembly are respectively in movable fit with the foot fastening member (7) and the multi-layer pressurizing member;

the pressure transmission component comprises a leg left air bag (2), a leg right air bag (3), a left catheter (4), a right catheter (5), a sole air bag (6), a left limit shell (14) and a right limit shell (15);

the foot sole air bag (6) is installed on the foot fastening component (7) and is positioned below the rear sole, the left limiting shell (14) and the right limiting shell (15) are respectively installed on the left side and the right side of the leg fastening component (1), the leg left air bag (2) and the leg right air bag (3) are respectively installed in the left limiting shell (14) and the right limiting shell (15) and are respectively connected with the multilayer pressurizing component, and the leg left air bag (2) and the leg right air bag (3) are respectively communicated with the foot sole air bag (6) through a left catheter (4) and a right catheter (5);

when the foot is in the support phase, sole gasbag (6) are squeezed and then make shank left side gasbag (2), shank right side gasbag (3) the extrusion that rises multilayer supercharging component and then do not allow leg right side gasbag (3) leg coupling assembling with multilayer supercharging component clearance fit, when the foot is in when the swing phase, shank left side gasbag (2), shank right side gasbag (3) retract and then allow multilayer supercharging component with leg right side gasbag clearance fit.

2. The multi-tiered plenum driven ankle gait augmentation system of claim 1, wherein the multi-tiered plenum members comprise a left side plate set structure and a right side plate set structure;

the left side sheet group structure comprises a left moving sheet (10) and left fixing sheets (12), wherein the inner end and the outer end of the left side sheet group structure are respectively provided with the left fixing sheets (12), and the left moving sheet (10) is arranged between every two left fixing sheets (12);

the right side piece group structure includes that the right side removes piece (11) and right stationary blade (13), wherein, the inside and outside both ends of right side piece group structure are right stationary blade (13) respectively, and with per two the mode that sets up a right side between right stationary blade (13) removes piece (11) is arranged.

3. The system of claim 2, wherein the left moving plate (10) is in sliding engagement with the left stationary plate (12) and the right moving plate (11) is in sliding engagement with the right stationary plate (13) when the foot is in the swing phase.

4. The multi-level booster driven ankle gait augmentation system according to claim 1, characterized in that the leg-foot connection assembly comprises a left leg-foot connection assembly (8) and a right leg-foot connection assembly (9);

the left leg and foot connecting assembly (8) is arranged on the left side of the lower leg, and two ends of the left leg and foot connecting assembly (8) are respectively movably matched with the multilayer pressurizing member and the foot fastening member (7);

the right leg and foot connecting assembly (9) is arranged on the right side of the lower leg, and two ends of the right leg and foot connecting assembly (9) are respectively in movable fit with the multilayer pressurizing member and the foot fastening member (7).

5. The multi-level booster driven ankle gait augmentation system according to claim 1, wherein the pressure transmission member internally forms a sealed space, and the sealed environment formed by the sealed space is realized by waterproof cloth heat sealing.

6. The multi-level booster driven ankle gait augmentation system according to claim 5, wherein the sealed space is filled with air, oil or water.

7. The ankle gait augmentation system of the multi-level pressurization driven according to claim 1, characterized in that when the foot is in the support phase, the inner walls of the left and right limiting shells (14, 15) respectively form an abutting extrusion to the left and right leg airbags (2, 3) so as to enable the left and right leg airbags (2, 3) to extrude the multi-level pressurization member.

8. The system of claim 2, wherein the left fixed plate (12) is mounted on a left limit housing (14) provided on the pressure transmission member, and the left movable plate (10) is movably engaged with the left fixed plate (12) through a left connecting member;

the right fixed plate (13) is arranged on a right limiting shell (15) arranged on the pressure transmission component, and the right movable plate (11) is movably matched with the right fixed plate (13) through a right connecting piece;

when the supporting phase is in use, the left moving piece (10) and the right moving piece (11) cannot move; when the swing phase is in, the left moving piece (10) and the right moving piece (11) can slide up and down relative to the left fixing piece (12) and the right fixing piece (13) under the driving of the leg and foot connecting assembly.

9. The multi-level booster driven ankle gait augmentation system according to claim 1, characterized in that the leg fastening member (1) and the foot fastening member (7) are both worn by velcro.