CN113618714B - Lower limb passive exoskeleton device assisting walking and running - Google Patents
Lower limb passive exoskeleton device assisting walking and running Download PDFInfo
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- CN113618714B CN113618714B CN202110923766.7A CN202110923766A CN113618714B CN 113618714 B CN113618714 B CN 113618714B CN 202110923766 A CN202110923766 A CN 202110923766A CN 113618714 B CN113618714 B CN 113618714B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A50/00—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE in human health protection, e.g. against extreme weather
- Y02A50/30—Against vector-borne diseases, e.g. mosquito-borne, fly-borne, tick-borne or waterborne diseases whose impact is exacerbated by climate change
Abstract
The invention discloses a lower limb passive exoskeleton device for assisting walking and running, which comprises a waist module, a left leg module, a right leg module, an auxiliary connecting piece and a stretching device. The fixing pieces for binding the device modules and the mounting pieces for connecting the tension springs with other device modules are symmetrically arranged on the waist, thigh, calf and foot of the human body, and the tension springs are arranged on the waist, thigh and calf and foot modules of the human body. When the human body walks or runs, the tension springs disposed between the waist module and the thigh modules of the left/right leg modules absorb energy as the legs move forward, and release energy when the human body steps over the ground. The tension springs disposed between the calf module and the foot module of the left/right leg module absorb energy when the foot steps on the ground and release energy when the human body steps on the ground.
Description
Technical Field
The invention belongs to the technical field of lower limb exoskeleton, and particularly relates to a lower limb passive exoskeleton device for assisting walking and running.
Background
The human lower limb exoskeleton technology generally assists the corresponding gait of the human body according to a certain principle, so as to achieve the effect of enhancing or assisting the corresponding movement of the human body. Generally, human lower extremity exoskeletons are classified into active exoskeletons (or active exoskeletons, dynamic exoskeletons) and passive exoskeletons (or passive exoskeletons) according to their energy source division. Because the active exoskeleton needs to be provided with the corresponding motor and the energy storage device, the human body needs additional energy to carry or uses a complex mechanism to transmit weight to the ground, the passive exoskeleton can realize the auxiliary of human gait through ingenious design and principle explanation only through an elastic element or other means, the relatively heavy motor and the energy storage device are not needed, and meanwhile, complex sensors and control programs are not needed to be deployed, so that the active exoskeleton has the advantages of light weight, high safety, reliable effect and the like when being worn on the human body.
Currently, most passive exoskeletons still rely on gait analysis of either a single joint or a double joint for assistance. The multi-joint passive exoskeleton auxiliary device is single in visual angle, is an optimized multi-joint passive exoskeleton auxiliary device based on multi-gait (walking and running) of an integral lower limb model of a human body, effectively reduces the metabolic energy of walking and running, ensures that each module on the human body is fixed transversely and longitudinally through the module and the human body, is high in wearability and stability, and simultaneously ensures that the device has great expansibility due to the separate design of the fixing piece and the mounting piece, and can realize the mounting of extension springs at different positions.
Disclosure of Invention
The invention aims to overcome the defects and shortcomings of the prior art and provide a lower limb passive exoskeleton device for assisting walking and running, when a human body walks or runs, the movement of the lower limb of the human body triggers the energy absorption and release of a spring at a specific position, so that the gait of the human body is assisted, and the effect of reducing metabolism is achieved.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
the invention discloses a lower limb passive exoskeleton device for assisting walking and running, which comprises a waist module, a left leg module, a right leg module, an auxiliary connecting piece and a stretching device, wherein the waist module is connected with the left leg module;
the auxiliary connecting piece comprises a left waist-leg connecting piece, a right waist-leg connecting piece, a left waist-leg connecting piece, a right waist-leg connecting piece and a thigh-shank connecting piece;
the waist module comprises a tactical vest, a waistband and a moment arm; the tactical vest and the waistband are respectively fixed on the back and the waist of a wearer, and the arm of force is arranged at the rear of the waistband; the left side and the right side below the waistband are respectively connected with a left waist-leg connecting piece and a right waist-leg connecting piece, and the left waist-leg connecting piece is connected with a left leg module through a left waist-leg connecting piece and a right waist-leg connecting piece; the right one-waist-leg connecting piece is connected with the right leg module through the right two-waist-leg connecting piece;
the left leg module comprises a left thigh module, a left shank module and a left foot module;
the left thigh module comprises a thigh TPU soft sleeve and a thigh sleeve rigid connecting piece; the thigh TPU soft sleeve is fixed at the expected position of the left thigh of the wearer; the thigh sleeve rigid connecting piece is arranged at the rear side of the thigh TPU soft sleeve;
the left calf module comprises a calf TPU soft sleeve and a calf sleeve rigid connecting piece; the shank TPU soft sleeve is fixed at the expected position of the left shank of the wearer; the lower leg sleeve rigid connecting piece is arranged at the rear side of the lower leg TPU soft sleeve;
the thigh sleeve rigid connecting piece of the left thigh module is connected with the shank sleeve rigid connecting piece of the left shank module through the thigh shank connecting piece;
the left foot module comprises a shoe cover, a first foot rigid connecting piece and a second foot rigid connecting piece; the rear part of the shoe cover is provided with a first foot rigid connecting piece, and a second foot rigid connecting piece is connected above the first foot rigid connecting piece; the second foot rigid connecting piece is connected with the lower leg sleeve rigid connecting piece of the lower leg module;
the right leg module comprises a right thigh module, a right shank module and a right foot module, and the structural composition of the right leg module is the same as that of the left leg module;
the stretching device comprises a plurality of stretching springs which are respectively arranged between the force arm and the left thigh module, between the force arm and the right thigh module, between the left calf module and the left foot module and between the right calf module and the right foot module.
As the preferable technical scheme, the left waist-leg connecting piece and the right waist-leg connecting piece are of inverted triangle structures; the upper end of the left waist-leg connecting piece is connected with the waistband, and one side of the lower end is bound with the left two waist-leg connecting pieces at the lower side of the left end by two binding bands around the front side of the human body; the upper end of the right waist-leg connecting piece is connected with the waistband, and one side of the lower end is bound with the right two waist-leg connecting pieces at the lower side of the right end by two binding bands around the front side of the human body.
As an optimal technical scheme, the left two waist-leg connecting pieces and the right two waist-leg connecting pieces are of regular triangle structures; two sides of the upper end of the left two waist-leg connecting pieces are bound with the left one waist-leg connecting piece on the upper side of the left end through two binding bands, and one side of the lower end is connected with the left thigh module by bypassing the rear side of the thigh through two binding bands; the two sides of the upper end of the right two waist-leg connecting pieces are bound with the right one waist-leg connecting piece on the upper side of the left end through two binding bands, and one side of the lower end is connected with the right thigh module by bypassing the rear side of the thigh through two binding bands.
As an optimal technical scheme, the force arm is of a semi-rectangular frame structure; the waist module further comprises a force arm vest connecting piece and a waistband force arm connecting piece; the arm of force is fixed at the tactical vest through the arm of force vest connecting piece connection; the force arm is connected and fixed at the waistband through a waistband force arm connecting piece.
As the preferable technical scheme, the thigh sleeve rigid connecting piece and the shank sleeve rigid connecting piece are triangle rigid bodies with certain thickness, one side of each triangle rigid body is close to the leg, and two sides of the other side of each triangle rigid body protrude towards the rear part of the leg.
As an optimal technical scheme, a tension arm-left thigh extension spring is arranged between the tension arm and the left thigh module, and specifically comprises the following components:
a force arm lifting bolt is arranged at a concave position at the longitudinal lower end of one side of the force arm, which is close to the left leg module; punching holes at the protruding part of the rear part of the thigh sleeve rigid connecting piece of the left thigh module according to fixed intervals, and arranging thigh lifting bolts on the required holes; the tension arm-left thigh tension spring is mounted on the tension arm eye bolt and the thigh eye bolt;
the manner of arranging the tension spring between the arm and the right thigh module is the same as the manner of arranging the arm-left thigh tension spring between the arm and the left thigh module.
As the preferable technical scheme, the thigh and shank connecting piece is of an inverted-Y-shaped structure, wherein the upper two parts are connected with the thigh sleeve rigid connecting piece of the thigh module, and the lower part is connected with the shank sleeve rigid connecting piece of the shank module.
As the preferable technical proposal, the first foot rigid connecting piece is of a semicircle structure, and the semicircle straight line edge of the first foot rigid connecting piece is tightly connected with the rear part of the shoe cover; the second foot rigid connecting piece is a rigid body of which the upper square block is fixedly connected with the lower triangular block; the lower triangular block is fixedly connected with the semicircular curve edge of the first foot rigid connecting piece.
As an optimal technical scheme, a left calf-foot extension spring is arranged between a left calf module and a left foot module, and specifically comprises the following components:
punching holes at the protruding part of the rear part of the shank sleeve rigid connecting piece of the left shank module according to fixed intervals, and arranging shank eye bolts on the required holes; an eye bolt is arranged on a square block above the second foot rigid connecting piece of the left foot module; a left shank-foot extension spring is mounted by using a shank eye bolt and an eye bolt arranged on a left foot module;
the manner of arranging the tension springs between the right calf module and the right foot module is the same as the manner of arranging the left calf-foot tension springs between the left calf module and the left foot module.
As the preferable technical scheme, the thigh TPU soft sleeve and the shank TPU soft sleeve are worn in a fastening manner through magic tape.
Compared with the prior art, the invention has the following advantages and beneficial effects:
(1) The invention optimally designs the multi-joint lower limb passive exoskeleton device for assisting walking and running from the aspect of multi-gait (walking and running) of the whole lower limb model of the human body, and effectively reduces the metabolic energy of walking and running.
(2) In the device, each module on the human body is fixed with the human body transversely and fixed with the module longitudinally, so that the wearing property and the stability are high.
(3) In the device, the fixing piece and the mounting piece are separately designed, so that the device has great expansibility, and the mounting of the tension springs at different positions can be realized.
Drawings
FIG. 1 is a side, front three-dimensional schematic view of a lower extremity passive exoskeleton apparatus for assisting walking and running in accordance with an embodiment of the present invention;
FIG. 2 is a side-rear three-dimensional schematic view of a lower extremity passive exoskeleton apparatus for assisting walking and running in accordance with an embodiment of the present invention;
fig. 3 is a schematic illustration of the physical wearing front, side and back of a passive exoskeleton device for lower limbs to assist walking and running in accordance with an embodiment of the present invention.
Reference numerals illustrate: 1. tactical vest; 2. a waistband; 3.1, a left waist-leg connecting piece; 3.2, right one waist leg connecting piece; 4.1, left two waist leg connecting pieces; 4.2, right two waist leg connecting pieces; 5.1, thigh sleeve rigid connection; 5.2, a shank sleeve rigid connecting piece; 6.1, thigh TPU soft sleeve; 6.2, a soft sleeve of the calf TPU; 7. thigh and shank connectors; 8. a shoe cover; 9. a first foot rigid link; 10. arm of force eye bolt; 11. a second foot rigid link; 12. force arm; 13. arm vest connectors; 14. shank eye bolts; 15. thigh eye bolts; 16.1, arm-left thigh extension spring; 16.2, left calf-foot extension spring; 17. a waistband arm connecting piece.
Detailed Description
In order to enable those skilled in the art to better understand the present application, the following description will make clear and complete descriptions of the technical solutions in the embodiments of the present application with reference to the accompanying drawings in the embodiments of the present application. It will be apparent that the described embodiments are only some, but not all, of the embodiments of the present application. All other embodiments, which can be made by those skilled in the art based on the embodiments herein without making any inventive effort, are intended to be within the scope of the present application.
Examples
As shown in fig. 1, the present embodiment provides a lower limb passive exoskeleton device for assisting walking and running, comprising the following transposed components:
the device comprises a waist module, a left leg module, a right leg module, an auxiliary connecting piece and a stretching device; wherein the modules of the device are composed of two parts: one part is a fixing piece, and the module is tightly bound on a certain part of a human body; the other part is a mounting piece, so that the module can mount the stretching device. The stretching device is mounted between the modules as a kinetic enabling element, so that the device can assist a human body. The auxiliary connection is responsible for balancing the pulling force of the modules throughout so that the device is maintained in a fixed position.
The lumbar module includes a mount: tactical vest 1, waist belt 2 and arm 12; mounting piece: arm vest connector 13 and waistband arm connector 17;
the tactical vest 1 and the waistband 2 are respectively fixed on the back and the waist of a wearer, the force arm 12 is arranged at the rear of the waistband 2, wherein the force arm 12 is of a semi-rectangular frame structure made of aluminum alloy section materials, and the force arm lifting bolt 10 is hung at the concave part of the aluminum alloy section materials at the lower end in the longitudinal direction, so that the tension spring is hung; the arm 12 is connected and fixed at the tactical vest 1 through an arm vest connecting piece 13, and is connected and fixed at the waistband 2 through a waistband arm connecting piece 17; one end of the arm vest connecting piece 13 is fixedly connected to the arm 12, and the other end of the arm vest connecting piece is connected to the rear sides of the two shoulders of the tactical vest 1 through a wide fabric bandage; the waistband arm of force connecting piece 17 is flat type rectangle structure, and it passes the fabric inside of waistband rear side, is fixed with arm of force 12 through screw nut.
The auxiliary connecting pieces comprise a left waist-leg connecting piece 3.1, a right waist-leg connecting piece 3.2, a left two waist-leg connecting piece 4.1, a right two waist-leg connecting piece 4.2 and a thigh-shank connecting piece 7;
the left waist-leg connecting piece 3.1 and the right waist-leg connecting piece 3.2 are of inverted triangle structures; the upper end of the left waist-leg connecting piece 3.1 is connected with the waistband 2, and one side of the lower end is bound by the left two waist-leg connecting pieces 4.1 which are wound around the front side of the human body and the lower side of the left end through two binding bands; the upper end of the right one-waist-leg connecting piece 3.2 is connected with the waistband 2, and one side of the lower end is bound by the two wide fabric binding bands around the front side of the human body and the right two-waist-leg connecting piece 4.2 at the lower side of the right end;
the left two waist-leg connecting pieces 4.1 and the right two waist-leg connecting pieces 4.2 are of regular triangle structures made of PLA materials; two sides of the upper end of the left two waist-leg connecting pieces 4.1 are bound with the left one waist-leg connecting piece 3.1 on the upper side of the left end through two binding bands, and one side of the lower end is connected with the left thigh module by bypassing the rear side of the thigh through two binding bands; the two sides of the upper end of the right two waist-leg connecting piece 4.2 are bound with the right one waist-leg connecting piece 3.2 on the upper side of the left end through two binding bands, and one side of the lower end is connected with the right thigh module by bypassing the rear side of the thigh through the two binding bands.
The left leg module comprises a left thigh module, a left shank module and a left foot module;
the left thigh module comprises a thigh TPU soft sleeve 6.1, a thigh sleeve rigid connecting piece 5.1 and a thigh eye bolt 15; the thigh TPU soft sleeve 6.1 is tightly tied at the expected position of the left thigh of a wearer through a magic tape; the thigh sleeve rigid connecting piece 5.1 is arranged at the rear side of the thigh TPU soft sleeve 6.1; the thigh sleeve rigid connecting piece 5.1 is a triangle rigid body with a certain thickness, one side of the triangle rigid body is close to the leg, two sides of the other side of the triangle rigid body protrude towards the rear part of the leg, and holes are punched according to fixed intervals; a thigh eye bolt 15 is arranged on a required hole position of the thigh sleeve rigid connecting piece 5.1 and is used for mounting a force arm-left thigh extension spring 16.1; one end of the arm-left thigh extension spring 16.1 is hung at the thigh eye bolt 15, and the other end is hung at the arm eye bolt 10;
the left calf module comprises a calf TPU soft sleeve 6.2, a calf sleeve rigid connecting piece 5.2 and a calf eye bolt 14; the shank TPU soft sleeve 6.2 is tightly tied at the expected position of the left shank of a wearer through a magic tape; the shank sleeve rigid connecting piece 5.2 is arranged at the rear side of the shank TPU soft sleeve 6.2; the shank sleeve rigid connecting piece 5.2 is a triangle rigid body with a certain thickness, one side of the triangle rigid body is close to the leg, two sides of the other side of the triangle rigid body protrude towards the rear part of the leg, and holes are punched according to fixed intervals; a shank eye bolt 14 is arranged on a required hole site of the shank sleeve rigid connecting piece 5.2 and is used for mounting a tension spring 16.2 on the left shank and the foot;
the thigh sleeve rigid connecting piece 5.1 of the left thigh module is connected with the shank sleeve rigid connecting piece 5.2 of the left shank module through the thigh shank connecting piece 7; the thigh shank connecting piece 7 is of an inverted-Y-shaped structure made of PLA materials, wherein the upper two parts are connected with the thigh sleeve rigid connecting piece 5.1 of the left thigh module through wide fabric binding bands, and the lower one part is connected with the shank sleeve rigid connecting piece 5.2 of the left shank module through wide fabric binding bands.
The left foot module comprises a shoe cover 8, a first foot rigid connecting piece 9 and a second foot rigid connecting piece 11;
the shoe cover 8 is worn by being fastened from the sole of the foot;
the first foot rigid connecting piece 9 is of a semicircular structure, and the semicircular linear edge of the first foot rigid connecting piece is fixedly connected with the rear part of the shoe cover 8;
the second foot rigid connecting piece 11 is a rigid body of which the upper square block is fixedly connected with the lower triangular block; the upper square block is provided with an eye bolt for mounting a left calf-foot extension spring 16.2; one end of the left shank-foot extension spring 16.2 is hung on the shank eye bolt 14, and the other end is hung on the eye bolt on the second foot rigid connecting piece 11; the lower triangular block is fixedly connected with the semicircular curve edge of the first foot rigid connecting piece 9;
the right leg module comprises a right thigh module, a right shank module and a right foot module, and the structural composition of the right leg module is the same as that of the left leg module.
The stretching device comprises a plurality of stretching springs with rigidity coefficients of 5N/mm, and the stretching springs are respectively arranged between the force arm 12 and the left thigh module, between the force arm 12 and the right thigh module, between the left shank module and the left foot module and between the right shank module and the right foot module; the manner of arranging the tension spring between the arm 12 and the right thigh module is the same as the manner of arranging the tension arm-left thigh tension spring 16.1 between the arm 12 and the left thigh module; the way of arranging the tension springs between the right calf module and the right foot module is the same as the way of arranging the left calf-foot tension springs 16.2 between the left calf module and the left foot module.
When the human body moves, taking the left side of the human body as an example, when the left leg moves forward, a force arm-left thigh extension spring 16.1 arranged between the waist module and the left thigh module absorbs energy, and releases energy when the human body steps on the ground. The left calf-foot extension spring 16.2 arranged between the left calf module and the left foot module absorbs energy when the left foot steps on the ground and releases energy when the person steps on the ground.
The above examples are preferred embodiments of the present invention, but the embodiments of the present invention are not limited to the above examples, and any other changes, modifications, substitutions, combinations, and simplifications that do not depart from the spirit and principle of the present invention should be made in the equivalent manner, and the embodiments are included in the protection scope of the present invention.
Claims (6)
1. The lower limb passive exoskeleton device for assisting walking and running is characterized by comprising a waist module, a left leg module, a right leg module, an auxiliary connecting piece and a stretching device;
the auxiliary connecting piece comprises a left waist-leg connecting piece (3.1), a right waist-leg connecting piece (3.2), a left two waist-leg connecting piece (4.1), a right two waist-leg connecting piece (4.2) and a thigh-shank connecting piece (7);
the waist module comprises a tactical vest (1), a waistband (2) and a moment arm (12); the tactical vest (1) and the waistband (2) are respectively fixed on the back and the waist of a wearer, and the arm of force (12) is arranged at the rear of the waistband (2); the left side and the right side below the waistband (2) are respectively connected with a left waist-leg connecting piece (3.1) and a right waist-leg connecting piece (3.2), and the left waist-leg connecting piece (3.1) is connected with a left leg module through a left waist-leg connecting piece (4.1); the right one-waist-leg connecting piece (3.2) is connected with the right leg module through the right two-waist-leg connecting piece (4.2);
the left waist-leg connecting piece (3.1) and the right waist-leg connecting piece (3.2) are of inverted triangle structures; the upper end of the left waist-leg connecting piece (3.1) is connected with the waistband (2), and one side of the lower end is bound with the left two waist-leg connecting pieces (4.1) at the lower side of the left end by two binding bands around the front side of the human body; the upper end of the right waist-leg connecting piece (3.2) is connected with the waistband (2), and one side of the lower end is bound with the right two waist-leg connecting pieces (4.2) at the lower side of the right end by two binding bands around the front side of the human body;
the left two waist-leg connecting pieces (4.1) and the right two waist-leg connecting pieces (4.2) are of regular triangle structures; two sides of the upper end of the left two waist-leg connecting pieces (4.1) are bound with the left one waist-leg connecting piece (3.1) on the upper side of the left end through two binding bands, and one side of the lower end is connected with the left thigh module by bypassing the rear side of the thigh through the two binding bands; two sides of the upper end of the right two waist-leg connecting pieces (4.2) are bound with the right one waist-leg connecting piece (3.2) on the upper side of the left end through two binding bands, and one side of the lower end is connected with the right thigh module by bypassing the rear side of the thigh through two binding bands;
the left leg module comprises a left thigh module, a left shank module and a left foot module;
the left thigh module comprises a thigh TPU soft sleeve (6.1) and a thigh sleeve rigid connecting piece (5.1); the thigh TPU soft sleeve (6.1) is fixed at the expected position of the left thigh of the wearer; the thigh sleeve rigid connecting piece (5.1) is arranged at the rear side of the thigh TPU soft sleeve (6.1);
the left calf module comprises a calf TPU soft sleeve (6.2) and a calf sleeve rigid connecting piece (5.2); the shank TPU soft sleeve (6.2) is fixed at the expected position of the left shank of a wearer; the shank sleeve rigid connecting piece (5.2) is arranged at the rear side of the shank TPU soft sleeve (6.2);
the thigh sleeve rigid connecting piece (5.1) of the left thigh module is connected with the shank sleeve rigid connecting piece (5.2) of the left shank module through the thigh shank connecting piece (7);
the left foot module comprises a shoe cover (8), a first foot rigid connecting piece (9) and a second foot rigid connecting piece (11); the rear part of the shoe cover (8) is provided with a first foot rigid connecting piece (9), and a second foot rigid connecting piece (11) is connected above the first foot rigid connecting piece (9); the second foot rigid connecting piece (11) is connected with a shank sleeve rigid connecting piece (5.2) of the shank module;
the right leg module comprises a right thigh module, a right shank module and a right foot module, and the structural composition of the right leg module is the same as that of the left leg module;
a moment arm-left thigh tension spring (16.1) is arranged between the moment arm (12) and the left thigh module, specifically:
a moment arm lifting bolt (10) is arranged at a concave position at the longitudinal lower end of one side of the moment arm (12) close to the left leg module; punching holes at the protruding part of the rear part of the thigh sleeve rigid connecting piece (5.1) of the left thigh module according to fixed intervals, and arranging thigh lifting bolts (15) on the required holes; the arm-left thigh tension spring (16.1) is mounted on the arm eye bolt (10) and the thigh eye bolt (15);
the manner of arranging the tension spring between the arm (12) and the right thigh module is the same as the manner of arranging the arm-left thigh tension spring (16.1) between the arm (12) and the left thigh module;
a left calf-foot extension spring (16.2) is arranged between the left calf module and the left foot module, specifically:
punching holes at the rear protruding part of a shank sleeve rigid connecting piece (5.2) of the left shank module according to fixed intervals, and arranging shank eye bolts (14) on the required holes; an eye bolt is arranged on a square block above a second foot rigid connecting piece (11) of the left foot module; a left shank-foot extension spring (16.2) is mounted by using a shank eye bolt (14) and an eye bolt arranged on the left foot module;
the way of arranging the tension springs between the right calf module and the right foot module is the same as the way of arranging the left calf-foot tension springs (16.2) between the left calf module and the left foot module;
the stretching device comprises a plurality of stretching springs which are respectively arranged between the force arm (12) and the left thigh module, between the force arm (12) and the right thigh module, between the left calf module and the left foot module and between the right calf module and the right foot module.
2. A lower extremity passive exoskeleton device for assisting walking and running as claimed in claim 1 wherein said arm (12) is a semi-rectangular frame structure; the waist module also comprises a force arm vest connecting piece (13) and a waistband force arm connecting piece (17); the force arm (12) is connected and fixed at the tactical vest (1) through a force arm vest connecting piece (13); the arm of force (12) is fixed in waistband (2) department through waistband arm of force connecting piece (17) connection.
3. The lower limb passive exoskeleton device for assisting walking and running as claimed in claim 1, wherein said thigh cuff rigid connection (5.1) and said shank cuff rigid connection (5.2) are both triangle rigid bodies having a certain thickness, one side of which is close to the leg, and the other side of which protrudes toward the rear of the leg.
4. A lower extremity passive exoskeleton device for assisting walking and running as claimed in claim 1 wherein said thigh calf connection (7) is of inverted-delta configuration, wherein the upper two places are connected with thigh cuff rigid connection (5.1) of thigh module and the lower one with calf cuff rigid connection (5.2) of calf module.
5. A lower limb passive exoskeleton device for assisting walking and running as claimed in claim 1, wherein said first foot rigid connection member (9) is of a semicircular structure with a semicircular straight edge in firm connection with the rear portion of the shoe cover (8); the second foot rigid connecting piece (11) is a rigid body of which the upper square block is fixedly connected with the lower triangular block; the lower triangular block is fixedly connected with the semicircular curve edge of the first foot rigid connecting piece (9).
6. A lower extremity passive exoskeleton device assisting walking and running as claimed in claim 1, characterized in that said thigh TPU soft cover (6.1) and said calf TPU soft cover (6.2) are worn by means of velcro fastening.
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