CN114053095A - Lower limb exoskeleton device, system for controlling device action and control method thereof - Google Patents

Abstract

The invention discloses a lower limb exoskeleton device, a system for controlling the action of a device and a control method thereof, wherein the system comprises a waist connecting assembly, the waist connecting assembly comprises a waist supporting plate, two ends of the waist supporting plate are fixedly connected with waist connecting plates, and the outer sides of the waist connecting plates are connected with mounting frames; the posture adjusting assembly comprises a middle connecting plate which is rotatably connected to the waist connecting plate, one end of the middle connecting plate extending downwards is connected with a thigh supporting shell, two sides of the thigh supporting shell are respectively connected with a first knee joint upper connecting plate and a second knee joint upper connecting plate, the lower part of the first knee joint upper connecting plate is rotatably connected with a first knee joint lower connecting plate, the lower part of the second knee joint upper connecting plate is rotatably connected with a second knee joint lower connecting plate, and a shank supporting shell is connected between the first knee joint lower connecting plate and the second knee joint lower connecting plate; the invention has simple and reliable structure, provides assistance for the lower limbs of an operator and is convenient to operate.

Description

Lower limb exoskeleton device, system for controlling device action and control method thereof

Technical Field

The invention relates to the technical field of medical rehabilitation instruments, in particular to a lower limb exoskeleton device.

Background

According to the seventh national census, the population in China is seriously aged, and the predicted 2050-year population in China reaches 4.37 hundred million. The bone wear is serious due to the aging, and the movement dysfunction of the old people in different degrees causes the descending trend of the movement speed, the coordination ability, the static anti-interference balance ability and the muscle strength. Meanwhile, a large number of patients with cerebrovascular diseases or nervous system diseases are present among the elderly, and most of these patients are accompanied by hemiplegia. In addition, the number of people with lower limb injuries caused by traffic accidents, diseases, and the like is increasing year by year.

At present, the research on the lower limb exoskeleton device at home and abroad does not reach the mature stage, most of hemiplegic patients, disabled people and old people with inconvenient legs and feet select the traditional and simple power assisting devices such as wheelchairs and walking sticks, the traditional and simple power assisting devices have large limitation on the environment where a user is located, the man-machine cooperativity with the user is not high, and the life of the user cannot be really improved. The lower limb exoskeleton device is worn outside the lower limbs of an operator, can provide functions such as assistance, protection and body support for the operator, and is a wearable mechanical mechanism device integrating technologies such as sensing, control and information acquisition. The existing related exoskeleton device has the problems of complex structure, inconvenient operation, high price, poor wearing comfort and the like.

Disclosure of Invention

This section is for the purpose of summarizing some aspects of embodiments of the invention and to briefly introduce some preferred embodiments. In this section, as well as in the abstract and the title of the invention of this application, simplifications or omissions may be made to avoid obscuring the purpose of the section, the abstract and the title, and such simplifications or omissions are not intended to limit the scope of the invention.

The present invention has been made in view of the above and/or other problems with existing lower extremity exoskeleton devices.

Therefore, the invention aims to provide a lower limb exoskeleton device which is simple and reliable in structure, provides assistance to the lower limbs of an operator and is convenient to operate.

In order to solve the technical problems, the invention provides the following technical scheme: a lower extremity exoskeleton device, comprising,

the waist connecting assembly comprises a waist supporting plate, two ends of the waist supporting plate are fixedly connected with waist connecting plates, and the outer sides of the waist connecting plates are fixedly connected with mounting frames;

the posture adjusting assembly comprises an intermediate connecting plate which is arranged below the mounting frame and is rotatably connected to the waist connecting plate, one end of the intermediate connecting plate, which extends downwards out of the waist supporting plate, is fixedly connected with a thigh supporting shell for supporting thighs, two sides of the thigh supporting shell are respectively and fixedly connected with a first knee joint upper connecting plate and a second knee joint upper connecting plate, one end of the first knee joint upper connecting plate, which extends downwards out of the thigh supporting shell, is rotatably connected with a first knee joint lower connecting plate, one end of the second knee joint upper connecting plate, which extends downwards out of the thigh supporting shell, is rotatably connected with a second knee joint lower connecting plate, and a shank supporting shell is fixedly connected between the first knee joint lower connecting plate and the corresponding second knee joint lower connecting plate;

the posture conversion supporting assemblies are provided with two groups, the two groups of posture conversion supporting assemblies are respectively connected to one outward end of the corresponding mounting frame, the bottom end of each posture conversion supporting assembly leaves away from the supporting platform in a standing posture state, and the bottom end of each posture conversion supporting assembly is supported on the supporting platform in a sitting posture state;

the foot-operated component comprises a left foot-operated pedal and a right foot-operated pedal which are respectively connected below the two shank supporting shells.

As a preferable aspect of the lower extremity exoskeleton device of the present invention, wherein: the thigh supporting shell and the rear end of the shank supporting shell are connected with an elastic supporting buffer assembly, the elastic supporting buffer assembly comprises an elastic supporting rod hinged to the rear end of the shank supporting shell and an elastic supporting sleeve hinged to the rear end of the thigh supporting shell, the elastic supporting rod is connected to the elastic supporting sleeve in a sliding mode, a first buffer spring is sleeved on the elastic supporting rod, and two ends of the first buffer spring are respectively in contact with the elastic supporting rod and the elastic supporting sleeve.

As a preferable aspect of the lower extremity exoskeleton device of the present invention, wherein: an ankle joint buffering and supporting component is connected between one shank supporting shell and the left foot treading plate and between the other shank supporting shell and the right foot treading plate, the ankle joint buffering and supporting component comprises a first ankle joint supporting rod and a second ankle joint supporting rod which are respectively hinged on two sides of the lower part of the shank supporting shell, a first ankle joint supporting sleeve and a second ankle joint supporting sleeve are respectively hinged on the left foot treading plate or the right foot treading plate, the first ankle joint supporting rod is slidably connected on the corresponding first ankle joint supporting sleeve, a second buffering spring is sleeved on the first ankle joint supporting rod, two ends of the second buffering spring can be respectively contacted with the first ankle joint supporting rod and the first ankle joint supporting sleeve, the second ankle joint supporting rod is slidably connected on the second ankle joint supporting sleeve, and a third buffering spring is sleeved on the second ankle joint supporting rod, and two ends of the third buffer spring can be respectively contacted with the second ankle joint supporting rod and the second ankle joint supporting sleeve.

As a preferable aspect of the lower extremity exoskeleton device of the present invention, wherein: the ankle joint buffering and supporting assembly further comprises ankle joint supporting rods hinged to the rear end of the lower portion of the shank supporting shell, the lower ends of the ankle joint supporting rods in one group of ankle joint buffering and supporting assemblies are hinged to the rear end of the corresponding left foot pedal, and the lower portions of the ankle joint supporting rods in the other group of ankle joint buffering and supporting assemblies are hinged to the rear end of the corresponding right foot pedal.

As a preferable aspect of the lower extremity exoskeleton device of the present invention, wherein: be connected with angle limiting component under first knee joint upper junction plate and the first knee joint between the connecting plate, angle limiting component includes the connecting axle, rotationally be connected with first chuck and second chuck on the connecting axle, the both sides at first knee joint lower junction plate are fixed respectively to the lower extreme of first chuck and second chuck, first chuck is connected with first angle limiting plate on the ascending connecting axle outwards, the outside at first knee joint upper junction plate is connected to the upper end of first angle limiting plate, be connected with second angle limiting plate on the connecting axle that first chuck one end was kept away from to the second chuck, one side that the relative thigh of first knee joint upper junction plate set up is connected to the upper end of second angle limiting plate, a plurality of first draw-in grooves and the second draw-in groove of having arranged respectively on the first angle limiting plate, a plurality of third draw-in grooves and the first draw-in groove one-to-in and the first draw-in groove of second draw-in groove of having arranged respectively on the second angle limiting plate A fourth draw-in groove that corresponds, be connected with first button and second button on the connecting axle slidable, be connected with first spacing axle on the first button, the both ends of first spacing axle can block into in first draw-in groove and the third draw-in groove that corresponds, be connected with the spacing axle of second on the second button, the both ends of the spacing axle of second can block into in second draw-in groove and the fourth draw-in groove that corresponds.

As a preferable aspect of the lower extremity exoskeleton device of the present invention, wherein: the first button is slidably connected with a first spring middle shaft, one end of the first spring middle shaft, which is far away from the first button, is connected with a second spring middle shaft, a first return spring is sleeved on the first spring center shaft, two ends of the first return spring are abutted against the first button and the second button, a second spring middle shaft is connected on the second button in a sliding way, one end of the second spring middle shaft, which is far away from the second button, is connected on the first button, a second return spring is sleeved on the second spring center shaft, two ends of the second return spring respectively abut against the first button and the second button, under the natural state, the first limiting shaft is under the action of the first reset spring, two ends of the first limiting shaft are clamped in the first clamping groove and the third clamping groove, the second limiting shaft is under the action of the second reset spring, and two ends of the second limiting shaft are clamped in the second clamping groove and the fourth clamping groove.

As a preferable aspect of the lower extremity exoskeleton device of the present invention, wherein: attitude conversion supporting component is including fixing the fixed shell in the mounting bracket outside, rotationally be connected with the lead screw on the fixed shell, attitude conversion driving motor and screw connection, be connected with the middle casing that can remove on the direction of height slidable in the fixed shell, lead screw and middle casing threaded connection, be connected with the flexible casing that can remove in the direction of height slidable in the middle casing, be connected with the interior casing that can remove on the direction of height slidable in the flexible casing, the bottom and the supporting platform contact of interior casing.

As a preferable aspect of the lower extremity exoskeleton device of the present invention, wherein: the double-gear transmission mechanism is characterized in that a first fixed rack is fixedly connected to the inner wall of one end, opposite to the middle shell, of the fixed shell, a second fixed rack is fixedly connected to the inner wall of the other end, opposite to the middle shell, of the fixed shell, two ends of the middle shell are respectively and rotatably connected with a first outer transmission gear and a second outer transmission gear, a first telescopic transmission rack is fixedly connected to one end, opposite to the middle shell, of the telescopic shell, a second telescopic transmission rack is fixedly connected to the other end, opposite to the middle shell, of the telescopic shell, two ends of the first outer transmission gear are respectively meshed with the first fixed rack and the first telescopic transmission rack, two ends of the second outer transmission gear are respectively meshed with the second fixed rack and the second telescopic transmission rack, two ends of the telescopic shell are respectively and rotatably connected with a first inner transmission gear and a second inner transmission gear, and the inner walls, facing two sides of the telescopic shell, of the middle shell, are respectively and fixedly connected with a first middle rack transmission gear and a second telescopic transmission gear The transmission rack in the middle of two, the first interior transmission rack of one end fixedly connected with of the relative flexible casing of interior casing, the transmission rack in the other end fixedly connected with second of the relative flexible casing of interior casing, drive gear's both ends respectively with first middle transmission rack and first interior transmission rack meshing in, drive gear's both ends respectively with the second in the middle of the transmission rack and the second interior transmission rack meshing in the second.

A system for controlling the motion of a lower extremity exoskeleton device, comprising,

the information acquisition module comprises a left front pressure sensor connected to the front part of the lower side of the left foot pedal and a left rear pressure sensor connected to the rear part of the lower side of the left foot pedal, the front part of the lower side of the right foot pedal is connected with a right front pressure sensor, the rear side of the lower side of the right foot pedal is connected with a right rear pressure sensor, and the outer sides of the two second knee joint lower connecting plates and the outer side of the waist connecting plate at the joint with the thigh supporting shell are both connected with angular speed sensors;

the gesture reading module receives pressure signals respectively sent by the left front pressure sensor, the right front pressure sensor, the left rear pressure sensor and the right rear pressure sensor, judges whether a walking intention exists according to the pressure signals, and simultaneously receives angular velocity signals and angular acceleration signals transmitted by the angular velocity sensors to analyze whether the walking intention reaches an expected position;

the motion driving module comprises a left hip joint driving motor and a right hip joint driving motor which are respectively fixed on the outer sides of a left end middle connecting plate and a right end middle connecting plate, the left hip joint driving motor drives the left end middle connecting plate to rotate, the right hip joint driving motor drives the right end middle connecting plate to rotate, the outer side of a left end second knee joint lower connecting plate is fixedly connected with a right knee joint driving motor which can drive the left end second knee joint lower connecting plate to move the right end second knee joint lower connecting plate to rotate, and the upper side of the fixed shell is fixedly connected with a posture conversion driving motor which can drive a screw rod to rotate;

and the controller controls the actions of the posture conversion driving motor, the left hip joint driving motor, the right hip joint driving motor, the left knee joint driving motor and the right knee joint driving motor according to the analysis result sent by the posture reading module so as to assist the motion of the human body.

A method for controlling the motion of a lower extremity exoskeleton device using a control system, comprising the steps of,

the left front pressure sensor, the right front pressure sensor, the left rear pressure sensor and the right rear pressure sensor collect pressure signals acting on the pedal;

if the pressure signals of the right front pressure sensor and the right rear pressure sensor and the pressure value of the left front pressure sensor are far larger than the pressure value of the left rear pressure sensor, the posture reading module sends the walking intention result obtained by analysis to the controller, the controller controls the left hip joint driving motor and the left knee joint driving motor to act, the angular velocity sensor detects the rotating angle of the thigh shell and the shank shell at the left end, if the rotating angle of the thigh shell and the shank shell at the left end reaches a set threshold value, the left leg is lifted, and the controller controls the left hip joint driving motor and the left knee joint driving motor to act in the reverse direction;

if pressure signals detected by the left front pressure sensor and the left rear pressure sensor reach a set pressure threshold value, the left leg resetting action is finished, if the pressure signals of the left front pressure sensor, the left rear pressure sensor and the right front pressure sensor are far larger than the pressure value of the right rear pressure sensor, the walking intention obtained by analysis is sent to the controller by the attitude reading module, the controller controls the right hip joint driving motor and the right knee joint driving motor to act, when the corresponding angle sensors detect that the rotation angle of the thigh shell and the calf shell at the right end reaches the set threshold value, the right leg lifting is finished, the controller controls the right hip joint driving motor and the right knee joint driving motor to reversely act, and when the pressure signals detected by the right front pressure sensor and the right rear pressure sensor reach the set pressure threshold value, the right leg resetting action is finished;

if the gesture reading module analyzes that no walking intention is obtained, the controller does not act, otherwise, the actions are continuously circulated.

The invention has the beneficial effects that: the rotation of the thigh shell and the shank shell can be controlled according to the intention of a human body, the lower limb movement of an operator is assisted, when the operator walks, the first ankle joint support rod and the second ankle joint support rod stretch along with the lifting and falling of the foot, the second buffer spring and the third buffer spring play a buffer role, and the ankle joint damage is avoided; when the lower limb exoskeleton device is used for assisting a human body to stand, the first buffer spring, the second buffer spring and the third buffer spring are in a natural state, when the human body is changed from a standing posture to a sitting posture, the thigh supporting shell and the shank supporting shell are bent, the first buffer spring is compressed, a triangular structure is formed among the thigh supporting shell, the elastic supporting buffer assembly and the shank supporting shell, the sitting posture is kept stable, and meanwhile, the knee joint is prevented from being damaged; through pressing first button and second button, make first button card advance in the first draw-in groove that needs and the third draw-in groove that corresponds with this first draw-in groove, the second button card advances in second draw-in groove and the fourth draw-in groove that corresponds with this second draw-in groove, control knee joint turned angle's scope plays the guard action to the knee joint, prevents that knee joint driving motor drive power is big or rotate inertia and make the shank exceed the risk of spraining that human skeletal structure bears the limit and cause around knee joint's corner too greatly.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced 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 based on these drawings without inventive exercise. Wherein:

fig. 1 is a perspective view showing a standing posture of the present invention.

Fig. 2 is a first three-dimensional structure diagram in a sitting posture state in the invention.

Fig. 3 is a partially enlarged view of a portion a in fig. 2.

Fig. 4 is a partial perspective view of the posture conversion support assembly with the fixed housing hidden.

Fig. 5 is a partially enlarged view of B in fig. 4.

Fig. 6 is a perspective view of the posture conversion support assembly of the present invention in a downwardly extended state.

Fig. 7 is a second three-dimensional structure diagram in a sitting posture state in the invention.

Fig. 8 is a three-dimensional structure diagram in a sitting posture state in the invention.

Fig. 9 is a first perspective view of the angle limiting assembly according to the present invention.

Fig. 10 is a perspective view of the angle limiting assembly after hiding the second angle limiting plate.

Fig. 11 is a second perspective view of the angle limiting assembly of the present invention.

FIG. 12 is a control flow diagram of the present invention.

Fig. 13 is a partial perspective view of the power switching assembly of the present invention connected to an intermediate connection plate.

In the drawings, a 100 foot pedal assembly, a 101 left foot pedal, a 102 right foot pedal, a 200 posture adjustment assembly, a 201 calf support shell, a 202 second knee joint lower joint plate, a 203 second knee joint upper joint plate, a 204 thigh support shell, a 205 middle joint plate, a 206 first knee joint upper joint plate, a 207 first knee joint lower joint plate, a 300 lumbar joint connecting assembly, a 301 lumbar joint plate, a 302 lumbar joint plate, a 303 mounting rack, a 400 posture conversion support assembly, a 401 fixed housing, a 402 inner housing, a 403 second inner transmission rack, a 404 middle housing, a 405 first fixed rack, a 406 first outer transmission gear, a 407 first telescopic transmission rack, a 408 first inner transmission gear, a 409 first inner transmission rack, a 410 first middle transmission rack, a 411 second outer transmission gear, a 412 second telescopic transmission rack, a 413 second inner transmission gear, a 414 second middle transmission rack, 415 second fixed rack, 416 telescopic shell, 500 elastic supporting buffer component, 501 elastic supporting sleeve, 502 elastic supporting rod, 503 first buffer spring, 600 information acquisition module, 601 right front pressure sensor, 602 left front pressure sensor, 603 left rear pressure sensor, 604 right rear pressure sensor, 605 angular velocity sensor, 700 ankle buffer supporting component, 701 second ankle supporting sleeve, 702 second ankle supporting rod, 703 third buffer spring, 704 ankle supporting rod, 705 second buffer spring, 706 first ankle supporting rod, 707 first ankle supporting sleeve, 800 action driving module, 801 posture conversion driving motor, 802 left hip driving motor, 803 right hip driving motor, 804 left knee driving motor, 805 right knee driving motor, 900 angle limiting component, 901 second chuck, 901a second angle limiting step, 902 first chuck, 902a first angle limiting step, 903a second angle limiting plate, 903a third clamping groove, 903b fourth clamping groove, 904a first angle limiting plate, 904a first clamping groove, 904b second clamping groove, 905 second button, 905a second sliding groove, 906 first limiting shaft, 907 first button, 907a first sliding groove, 908 connecting shaft, 909 second limiting shaft, 910 first return spring, 911 second return spring, 912 second spring middle shaft, 913 first spring middle shaft, 1000 controller, 2000 power switching component, 2001 linkage plate, 2002 linkage block, 2003 operation block.

Detailed Description

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

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, but the present invention may be practiced in other ways than those specifically described and will be readily apparent to those of ordinary skill in the art without departing from the spirit of the present invention, and therefore the present invention is not limited to the specific embodiments disclosed below.

Furthermore, reference herein to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one implementation of the invention. The appearances of the phrase "in one embodiment" in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments.

Example 1

Referring to fig. 1 to 6, a first embodiment of the present invention provides a lower extremity exoskeleton device that allows a posture conversion support assembly 400 to be lowered to support a person when the exoskeleton device is converted from a standing posture to a sitting posture.

A lower limb exoskeleton device comprises a waist connecting assembly 300, wherein the waist connecting assembly 300 comprises a waist supporting plate 301, both ends of the waist supporting plate 301 are fixedly connected with waist connecting plates 302, and the outer sides of the waist connecting plates 302 are fixedly connected with mounting frames 303;

the posture adjusting assembly 200 comprises an intermediate connecting plate 205 which is arranged below a mounting frame 303 and is rotatably connected to a waist connecting plate 302, one end of the intermediate connecting plate 205, which extends downwards out of a waist supporting plate 301, is fixedly connected with a thigh supporting shell 204 for supporting thighs, two sides of the thigh supporting shell 204 are respectively and fixedly connected with a first knee joint upper connecting plate 206 and a second knee joint upper connecting plate 203, one end of the first knee joint upper connecting plate 206, which extends downwards out of the thigh supporting shell 204, is rotatably connected with a first knee joint lower connecting plate 207, one end of the second knee joint upper connecting plate 203, which extends downwards out of the thigh supporting shell 204, is rotatably connected with a second knee joint lower connecting plate 202, and a shank supporting shell 201 is fixedly connected between the first knee joint lower connecting plate 207 and the corresponding second knee joint lower connecting plate 202;

the posture conversion supporting assemblies 400 are provided with two groups, the two groups of posture conversion supporting assemblies 400 are respectively connected to one outward end of the corresponding mounting frame 303, the bottom ends of the posture conversion supporting assemblies 400 leave the supporting platform in a standing posture state, and the bottom ends of the posture conversion supporting assemblies 400 are supported on the supporting platform in a sitting posture state;

the foot pedal assembly 100, the foot pedal assembly 100 includes a left foot pedal 101 and a right foot pedal 102 respectively connected to the lower parts of two lower leg supporting shells 201.

Furthermore, the rear ends of the thigh supporting shell 204 and the shank supporting shell 201 are connected with an elastic supporting and buffering assembly 500, the elastic supporting and buffering assembly 500 comprises an elastic supporting rod 502 hinged to the rear end of the shank supporting shell 201 and an elastic supporting sleeve 501 hinged to the rear end of the thigh supporting shell 204, the elastic supporting rod 502 is slidably connected to the elastic supporting sleeve 501, a first buffer spring 503 is sleeved on the elastic supporting rod 502, and two ends of the first buffer spring 503 are respectively contacted with the elastic supporting rod 502 and the elastic supporting sleeve 501.

When the lower leg support shell 201 is rotated relative to the upper leg support shell 204, the first buffer spring 503 is compressed to perform a buffer function, and when the lower leg support shell 201 is rotated to a standing position, the first buffer spring 503 is restored to its original length, and the generated restoring force performs an assisting function.

Further, an ankle joint buffering support assembly 700 is connected between one of the lower leg support shells 201 and the left foot pedal 101 and between the other of the lower leg support shells 201 and the right foot pedal 102, the ankle joint buffering support assembly 700 includes a first ankle joint support rod 706 and a second ankle joint support rod 702 hinged to the left and right sides of the lower portion of the lower leg support shell 201, respectively, a first ankle joint support sleeve 707 and a second ankle joint support sleeve 701 are hinged to the left foot pedal 101 or the right foot pedal 102, the first ankle joint support rod 706 is slidably connected to the corresponding first ankle joint support sleeve 707, the first ankle joint support rod 706 is sleeved with a second buffer spring 705, two ends of the second buffer spring can be in contact with the first ankle joint support rod 706 and the first ankle joint support sleeve 707, respectively, the second ankle joint support rod 702 is connected to the second ankle joint support sleeve 701, the second ankle joint support rod 702 is sleeved with a third buffer spring 703, two ends of the third buffer spring 703 can be respectively contacted with the second ankle joint support rod 702 and the second ankle joint support sleeve 701, the rear end of the lower part of the lower leg support shell 201 is hinged with the ankle joint support rod 704, the lower end of the ankle joint support rod 704 in one group of ankle joint buffer support components 700 is hinged at the rear end of the corresponding left foot pedal, and the lower part of the ankle joint support rod 704 in the other group of ankle joint buffer support components 700 is hinged at the rear end of the corresponding right foot pedal 102.

Further, the posture conversion support assembly 400 includes a fixed housing fixed outside the mounting frame 303, a lead screw 417 is rotatably connected to the fixed housing, the posture conversion driving motor 801 is connected to the lead screw 417, a middle housing 404 capable of moving in the height direction is slidably connected to the fixed housing, the lead screw 417 is in threaded connection with the middle housing 404, a telescopic housing 416 capable of moving in the height direction is slidably connected to the middle housing 404, an inner housing 402 capable of moving in the height direction is slidably connected to the telescopic housing 416, and the bottom of the inner housing 402 is in contact with the support platform.

Further, a first fixed rack 405 is fixedly connected to an inner wall of one end of the fixed housing opposite to the middle housing 404, a second fixed rack 415 is fixedly connected to an inner wall of the other end of the fixed housing opposite to the middle housing 404, the first fixed rack 405 and the second fixed rack 415 are arranged in a staggered manner in the left-right direction, a first external transmission gear 406 and a second external transmission gear 411 are respectively rotatably connected to two ends of the middle housing 404, a first telescopic transmission rack 407 is fixedly connected to one end of the telescopic housing 416 arranged opposite to the middle housing 404, a second telescopic transmission rack 412 is fixedly connected to the other end of the telescopic housing 416 arranged opposite to the middle housing 404, the first telescopic transmission rack 407 and the second telescopic transmission rack 412 are arranged in a staggered manner in the left-right direction, two ends of the first external transmission gear 406 are respectively meshed with the first fixed rack 405 and the first telescopic transmission rack 407, two ends of the second external transmission gear 411 are respectively meshed with the second fixed rack 415 and the second telescopic transmission rack 412, two ends of the telescopic shell 416 are respectively rotatably connected with a first internal transmission gear and a second internal transmission gear 413, inner walls of the middle shell 404 facing to two sides of the telescopic shell 416 are respectively fixedly connected with a first middle transmission rack 410 and a second middle transmission rack 414, the first middle transmission rack 410 and the second middle transmission rack 414 are arranged in a left-right staggered mode, one end of the inner shell 402 opposite to the telescopic shell 416 is fixedly connected with a first internal transmission rack 409, the other end of the inner shell 402 opposite to the telescopic shell 416 is fixedly connected with a second internal transmission rack 403, the first internal transmission rack 409 and the second internal transmission rack 403 are arranged in a left-right staggered mode, the front end and the rear end of the first internal transmission gear are respectively meshed with the first middle transmission rack 410 and the first internal transmission rack 409, the front and rear ends of the second inner transmission gear 413 are respectively engaged with the second intermediate transmission rack 414 and the second inner transmission rack 403.

In this embodiment, the direction perpendicular to the front-rear direction is the left-right direction, and the left foot and the right foot correspond to the left direction and the right direction, respectively, with the forward direction being the front and the backward direction being the back; when the invention is used, the waist connecting plate is bound on the body through the binding band, and the thigh supporting shell 204 and the crus supporting shell 201 are bound on the thigh and the crus respectively through the thigh binding band and the crus binding band; when standing, the middle shell 404, the telescopic shell 416 and the inner shell 402 retract into the fixed shell 401; when the standing posture is changed into the sitting posture, the screw 417 is controlled to rotate, so that the screw 417 drives the middle shell 404 to descend, the middle shell 404 drives the first outer transmission gear 406 and the second outer transmission gear 411 to move downwards, the first outer transmission gear 406 rolls along the first fixed rack 405, the first outer transmission gear 406 and the second outer transmission gear 411 respectively drive the first telescopic transmission rack 407 and the second telescopic transmission rack 412 to move downwards, the first telescopic transmission rack 407 and the second telescopic transmission rack 412 drive the telescopic shell 416 to move downwards, the first inner transmission gear 413 and the second inner transmission gear 413 respectively roll along the first middle transmission rack 410 and the second middle transmission rack 414, the first inner transmission gear drives the first inner transmission rack 409 to move downwards, the second inner transmission gear 413 drives the second inner transmission rack 403 to move downwards, the first inner transmission rack 409 and the second inner transmission rack 403 simultaneously drive the inner shell 402 to move downwards, the inner housing 402 is supported on a support platform, which may be the ground or other platform, and the control screw 417 stops rotating.

Example 2

Referring to fig. 8 to 11, a second embodiment of the present invention is different from embodiment 1 in that it provides a lower extremity exoskeleton device which can achieve an angular range of rotation of the lower leg and improve operational reliability.

A lower limb exoskeleton device further comprises two groups of angle limiting assemblies 900, wherein the angle limiting assemblies 900 are connected between a first knee joint upper connecting plate 206 and a first knee joint lower connecting plate 207, each angle limiting assembly 900 comprises a connecting shaft 908, a first chuck 902 and a second chuck 901 are rotatably connected to the connecting shaft 908, the lower ends of the first chuck 902 and the second chuck 901 are respectively fixed at two sides of the first knee joint lower connecting plate 207, a first angle limiting plate 904 is connected to the connecting shaft 908 in the outward direction of the first chuck 902, the upper end of the first angle limiting plate 904 is connected to the outer side of the first knee joint upper connecting plate 206, a second angle limiting plate 903 is connected to the connecting shaft 908 at one end of the second chuck 901 far away from the first chuck 902, the upper end of the second angle limiting plate 903 is connected to one side of the first knee joint upper connecting plate 206, which is arranged relative to a thigh supporting shell 204, a plurality of first clamping grooves 904a and second clamping grooves 904b are respectively arranged on the first angle limiting plate 904, a plurality of first clamping grooves 904a and a plurality of second clamping grooves 904b are symmetrically arranged relative to the center of the first angle limiting disc 904, a plurality of third clamping grooves 903a which are in one-to-one correspondence with the first clamping grooves 904a and fourth clamping grooves 903b which are in one-to-one correspondence with the second clamping grooves 904b are respectively arranged on the second angle limiting disc 903, a plurality of third clamping grooves 903a and a plurality of fourth clamping grooves 903b are symmetrically arranged relative to the center of the second angle limiting disc 903, a first button 907 and a second button 905 are slidably connected to the connecting shaft 908, a first sliding groove 907a is arranged on the first button 907, a second sliding groove 905a is arranged on the second button 905, the first button 907 can move along the outer edge of the connecting shaft 908 just through the first sliding groove 907a, the second button 905 can move along the outer edge of the connecting shaft 908 just through the second sliding groove 905a, a first limiting shaft 906 is connected to the first button 907, and two clamping grooves 904a at two ends of the first limiting shaft 906 can be clamped into the corresponding first clamping grooves 904a and the third clamping grooves 903a, the second button 905 is connected with a second limiting shaft 909, two ends of the second limiting shaft 909 can be clamped into the corresponding second clamping groove 904b and fourth clamping groove 903b, a first angle limiting step 902a and a second angle limiting step 901a are respectively arranged on the peripheries of the first chuck 902 and the second chuck 901 between the first angle limiting plate 904 and the second angle limiting plate 903, and the first angle limiting step 902a and the second angle limiting step 901a can be in contact with the first limiting shaft 906 or the second limiting shaft 909.

Further, a first spring center shaft 913 is slidably connected to the first button 907, one end of the first spring center shaft 913, which is far away from the first button 907, is connected to the second spring center shaft 912, a first return spring 910 is sleeved on the first spring center shaft 913, two ends of the first return spring 910 are abutted against the first button 907 and the second button 905, the second button 905 is slidably connected to the second spring center shaft 912, one end of the second spring center shaft 912, which is far away from the second button 905, is connected to the first button 907, a second return spring 911 is sleeved on the second spring center shaft 912, two ends of the second return spring 911 are abutted against the first button 907 and the second button 905, under a natural state, the first limiting shaft 906 is under the action of the first return spring 910, two ends of the first limiting shaft 906 are clamped in the first clamping groove 904a and the third clamping groove 903a, and the second limiting shaft 909 is under the action of the second return spring 911, both ends of the second stopper shaft 909 are caught in the second catching groove 904b and the fourth catching groove 903 b.

In a natural state, under the action of a first return spring 910 and a second return spring 911, a first limit shaft 906 is clamped in a first clamping groove 904a and a corresponding third clamping groove 903a, a second limit shaft 909 is clamped in a second clamping groove 904b and a corresponding fourth clamping groove 903b, the first button 907 and the second button 905 are pressed, the first return spring 910 and the second return spring 911 are compressed, the first limit shaft 906 is separated from the first clamping groove 904a and the third clamping groove 903a, the second limit shaft is separated from the second clamping groove 904b and the fourth clamping groove 903b, the rotating angle ranges of the first angle limiting disc 904 and the second angle limiting disc 903 can be adjusted, the first button 907 and the second button 905 are loosened, and the first return spring 910 and the second return spring 911 simultaneously and respectively push the first button 907 and the second button 905 outwards to be clamped into corresponding clamping grooves to limit the rotating angle range of the shank; the angle limiting component 900 protects the knee joint during use, and prevents the risk of sprain caused by the fact that the rotation angle of the lower leg around the knee joint exceeds the bearing limit of the human skeleton structure due to the fact that the driving power of the left knee joint driving motor 804 and the right knee joint driving motor 805 is too large or the rotation inertia is too large.

Example 3

Referring to fig. 13, a third embodiment of the present invention is different from embodiments 1 and 2 in that it provides a lower extremity exoskeleton device capable of switching between electric power control and human power control to protect the hip joint.

A lower limb exoskeleton device further comprises a power switching assembly 2000, wherein the power pipe cutting assembly comprises an operation block 2003 arranged on the outer side of a middle connecting plate 205, a separation sliding groove is formed in the middle connecting plate 205, a linkage block 2002 is arranged on the inner side of the middle connecting plate 205, the operation block 2003 and the linkage block 2002 are fixedly connected, the operation block 2003 and the linkage block 2002 which are connected together can slide up and down along the separation sliding groove, a linkage disc 2001 is fixedly connected to a motor shaft of a left hip joint driving motor 802 or a right hip joint driving motor 803, a separation groove is formed in the periphery of the linkage disc 2001, the lower end of the linkage block 2002 can be just clamped into the separation groove, and the middle connecting plate 205 and a waist connecting plate 302 are in clearance fit with corresponding motor shafts.

Taking left leg lifting walking as an example, when the linkage block 2002 is inserted into a clutch groove of the linkage disc 2001, the linkage disc 2001 cannot rotate, the left hip joint driving motor 802 acts, the left hip joint driving motor 802 is in a load state, the left hip joint driving motor 802 rotates under the action of the linkage disc 2001, and the left hip joint driving motor 802 drives the waist connecting plate 302 to rotate, so that automatic walking is realized; the operation block 2003 is slid upward to separate the link block 2002 from the clutch slot, the left hip joint driving motor 802 drives the link plate 2001 to rotate, and at this time, the operation block is in an idle state, and the leg is controlled by manpower to perform a step-up operation.

Example 4

Referring to fig. 1 and 7, a fourth embodiment of the present invention is different from embodiments 1 to 3 in that it provides a system for controlling the operation of a lower extremity exoskeleton device, which is capable of controlling the operation of the lower extremity exoskeleton device.

A system for controlling the motion of a lower extremity exoskeleton device, comprising,

the information acquisition module 600 comprises a left front pressure sensor 602 connected to the front part of the lower side of the left foot pedal and a left rear pressure sensor 603 connected to the rear part of the lower side of the left foot pedal, the front part of the lower side of the right foot pedal 102 is connected with a right front pressure sensor 601, the rear side of the lower side of the right foot pedal 102 is connected with a right rear pressure sensor 604, the outer sides of two second knee joint lower connecting plates 202 and the outer side of a waist connecting plate 302 at the connection part with a thigh supporting shell 204 are both connected with an angular velocity sensor 605, and in the embodiment, the model of the angular velocity sensor 605 is MPU 6050;

the attitude reading module reads pressure signals respectively sent by the left front pressure sensor 602, the right front pressure sensor 601, the left rear pressure sensor 603 and the right rear pressure sensor 604, judges whether a walking intention exists according to the pressure signals, and simultaneously receives angular velocity and angular acceleration signals transmitted by the angular velocity sensors 605 to analyze whether the walking intention reaches an expected position;

the motion driving module 800 comprises a left hip joint driving motor 802 and a right hip joint driving motor 803 which are respectively fixed at the outer sides of the middle connecting plate 205 at the left end and the middle connecting plate 205 at the right end, the left hip joint driving motor 802 drives the middle connecting plate 205 at the left end to rotate, the right hip joint driving motor 803 drives the middle connecting plate 205 at the right end to rotate, the outer side of the second knee joint lower connecting plate 202 at the left end is fixedly connected with a right knee joint driving motor 805 which can drive the second knee joint lower connecting plate 202 at the right end at the left end to rotate, and the upper side of the fixed shell 401 is fixedly connected with a posture conversion driving motor 801 which can drive a screw 417 to rotate;

the controller 1000, the gesture reading module sends the analysis result to the controller 1000, and the controller 1000 controls the gesture conversion driving motor 801, the left hip joint driving motor 802, the right hip joint driving motor 803, the left knee joint driving motor 804 and the right knee joint driving motor 805 to act according to the analysis result sent by the gesture reading module, so as to assist the human body to move.

Example 5

Referring to fig. 13, a fifth embodiment of the present invention is different from embodiments 1 to 4 in that it can control the operation of the lower extremity exoskeleton device according to the intention of the human body, so that the lower extremity exoskeleton device can be more coordinated with the user and the control can be more accurate.

A method for controlling the motion of a lower extremity exoskeleton device using a control system, comprising the steps of,

the left front pressure sensor 602, the right front pressure sensor 601, the left rear pressure sensor 603 and the right rear pressure sensor 604 collect pressure signals acting on the pedal;

if the pressure signals of the right front pressure sensor 601 and the right rear pressure sensor 604 and the pressure value of the left front pressure sensor 602 are far greater than the pressure value of the left rear pressure sensor 603, the posture reading module sends the walking intention result obtained by analysis to the controller 1000, the controller 1000 controls the left hip joint driving motor 802 and the left knee joint driving motor 804 to act, the angular velocity sensor 605 detects the rotation angle of the thigh shell and the shank shell at the left end, if the rotation angle of the thigh shell and the shank shell at the left end reaches a set threshold value, the left leg is lifted, and the controller 1000 controls the left hip joint driving motor 802 and the left knee joint driving motor 804 to act in reverse;

if the pressure signals detected by the left front pressure sensor 602 and the left rear pressure sensor 603 reach the set pressure threshold, the left leg resetting action is completed, if the pressure signals of the left front pressure sensor 602 and the left rear pressure sensor 603 and the pressure value of the right front pressure sensor 601 are far greater than the pressure value of the right rear pressure sensor 604, the posture reading module sends the walking intention obtained by analysis to the controller 1000, the controller 1000 controls the right hip joint driving motor 803 and the right knee joint driving motor 805 to act, when the corresponding angle sensor detects that the rotation angle of the right thigh shell and the shank shell reaches the set threshold, the right leg lifting is completed, the controller 1000 controls the right hip joint driving motor 803 and the right knee joint driving motor 805 to reversely act, and when the pressure signals detected by the right front pressure sensor 601 and the right rear pressure sensor 604 reach the set pressure threshold, the right leg reset action is finished;

if the gesture reading module analyzes that no walking intention is obtained, the controller 1000 does not act, otherwise, the above steps are continuously circulated.

By using the control method in the embodiment, the action of the lower limb exoskeleton device is controlled according to the human intention, the man-machine cooperation is good, and the control is more accurate.

It should be noted that the above-mentioned embodiments are only for illustrating the technical solutions of the present invention and not for limiting, and although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, which should be covered by the claims of the present invention.

Claims (10)

1. A lower extremity exoskeleton device, comprising: which comprises the steps of preparing a mixture of a plurality of raw materials,

the waist connecting component (300) comprises a waist supporting plate (301), two ends of the waist supporting plate (301) are fixedly connected with waist connecting plates (302), and the outer sides of the waist connecting plates (302) are fixedly connected with mounting frames (303);

gesture adjustment assembly (200), gesture adjustment assembly (200) include intermediate junction plate (205) in mounting bracket (303) below and rotationally connect on waist connecting plate (302), intermediate junction plate (205) stretch out waist supporting plate (301) outer one end fixedly connected with and are used for supporting thigh supporting shell (204) downwards, the both sides of thigh supporting shell (204) are fixedly connected with first knee joint upper junction plate (206) and second knee joint upper junction plate (203) respectively, first knee joint upper junction plate (206) stretch out the outer one end of thigh supporting shell (204) downwards and rotationally are connected with first knee joint lower junction plate (207), second knee joint upper junction plate (203) stretch out the outer one end of thigh supporting shell (204) downwards and rotationally are connected with second knee joint lower junction plate (202), fixedly connected with between first knee joint lower junction plate (207) and the second knee joint lower junction plate (202) that corresponds A lower leg support shell (201);

the posture conversion supporting assemblies (400) are provided with two groups, the two groups of posture conversion supporting assemblies (400) are respectively connected to one end, facing outwards, of the corresponding mounting frame (303), the bottom end of each posture conversion assembly leaves the supporting platform in a standing posture state, and the bottom end of each posture conversion supporting assembly (400) is supported on the supporting platform in a sitting posture state;

the foot-operated component (100) comprises a left foot-operated pedal (101) and a right foot-operated pedal (102) which are respectively connected below the two shank supporting shells (201).

2. The lower extremity exoskeleton device of claim 1 wherein: thigh support shell (204) and shank support shell (201) rear end are connected with elastic support buffer assembly (500), elastic support buffer assembly (500) including articulate elastic support pole (502) at shank support shell (201) rear end and articulate elastic support cover (501) at thigh support shell (204) rear end, elastic support pole (502) slidable ground is connected on elastic support cover (501), the cover is equipped with first buffer spring (503) on elastic support pole (502), the both ends of first buffer spring (503) contact with elastic support pole (502) and elastic support cover (501) respectively.

3. The lower extremity exoskeleton device of claim 1 wherein: an ankle joint buffer support component (700) is connected between one shank support shell (201) and the left foot pedal (101) and between the other shank support shell (201) and the right foot pedal (102), the ankle joint buffer support component (700) comprises a first ankle joint support rod (706) and a second ankle joint support rod (702) which are respectively hinged on two sides of the lower part of the shank support shell (201), the left foot pedal (101) or the right foot pedal (102) are respectively hinged with a first ankle joint support sleeve (707) and a second ankle joint support sleeve (701), the first ankle joint support rod (706) is slidably connected on the corresponding first ankle joint support sleeve (707), the first ankle joint support rod (706) is sleeved with a second buffer spring (705), two ends of the second buffer spring (705) can be respectively contacted with the first ankle joint support rod (706) and the first ankle joint support sleeve (707), the second ankle joint support rod (702) is slidably connected to the second ankle joint support sleeve (701), a third buffer spring (703) is sleeved on the second ankle joint support rod (702), and two ends of the third buffer spring (703) can be respectively in contact with the second ankle joint support rod (702) and the second ankle joint support sleeve (701).

4. The lower extremity exoskeleton device of claim 3 wherein: the ankle joint buffering and supporting assembly (700) further comprises ankle joint supporting rods (704) hinged to the rear end of the lower portion of the lower leg supporting shell (201), the lower ends of the ankle joint supporting rods (704) in one group of ankle joint buffering and supporting assembly (700) are hinged to the rear end of the corresponding left foot pedal, and the lower portions of the ankle joint supporting rods (704) in the other group of ankle joint buffering and supporting assembly (700) are hinged to the rear end of the corresponding right foot pedal (102).

5. The lower extremity exoskeleton device of claim 1 wherein: be connected with angle restriction subassembly (900) between first knee joint upper junction plate (206) and first knee joint lower junction plate (207), angle restriction subassembly (900) includes connecting axle (908), rotationally be connected with first chuck (902) and second chuck (901) on connecting axle (908), the both sides at first knee joint lower junction plate (207) are fixed respectively to the lower extreme of first chuck (902) and second chuck (901), be connected with first angle restriction dish (904) on connecting axle (908) of first chuck (902) outside orientation, the outside at first knee joint upper junction plate (206) is connected to the upper end of first angle restriction dish (904), be connected with second angle restriction dish (903) on connecting axle (908) of first chuck (902) one end is kept away from in second chuck (901), the upper end of second angle restriction dish (903) is connected and is set up relative thigh support shell (204) in first knee joint upper junction plate (206), thigh support shell (204) is set up relatively A plurality of first card slots (904a) and second card slots (904b) are respectively arranged on the first angle limiting disc (904), a plurality of third clamping grooves (903a) which are in one-to-one correspondence with the first clamping grooves (904a) and a plurality of fourth clamping grooves (903b) which are in one-to-one correspondence with the second clamping grooves (904b) are respectively arranged on the second angle limiting disc (903), a first button (907) and a second button (905) are connected on the connecting shaft (908) in a sliding way, the first button (907) is connected with a first limiting shaft (906), two ends of the first limiting shaft (906) can be clamped into the corresponding first clamping groove (904a) and the third clamping groove (903a), the second button (905) is connected with a second limiting shaft (909), and two ends of the second limiting shaft (909) can be clamped into the corresponding second clamping groove (904b) and the fourth clamping groove (903 b).

6. The lower extremity exoskeleton device of claim 5 wherein: the first button (907) is slidably connected with a first spring center shaft (913), one end, far away from the first button (907), of the first spring center shaft (913) is connected to a second spring center shaft (912), the first spring center shaft (913) is sleeved with a first return spring (910), two ends of the first return spring (910) are abutted against the first button (907) and the second button (905), the second button (905) is slidably connected with a second spring center shaft (912), one end, far away from the second button (905), of the second spring center shaft (912) is connected to the first button (907), the second spring center shaft (912) is sleeved with a second return spring (911), two ends of the second return spring (911) are abutted against the first button (907) and the second button (905) respectively, and in a natural state, the first limiting shaft (906) is under the action of the first return spring (910), two ends of the first limiting shaft (906) are clamped in the first clamping groove (904a) and the third clamping groove (903a), the second limiting shaft (909) is under the action of the second return spring (911), and two ends of the second limiting shaft (909) are clamped in the second clamping groove (904b) and the fourth clamping groove (903 b).

7. The lower extremity exoskeleton device of claim 6 wherein: attitude conversion supporting component (400) is including fixing the fixed shell in mounting bracket (303) outside, rotationally be connected with lead screw (417) on the fixed shell, attitude conversion driving motor (801) is connected with lead screw (417), be connected with middle casing (404) that can remove in the direction of height slidable in the fixed shell, lead screw (417) and middle casing (404) threaded connection, be connected with flexible casing (416) that can remove in the direction of height slidable in middle casing (404), be connected with interior casing (402) that can remove in the direction of height slidable in flexible casing (416), the bottom and the supporting platform contact of interior casing (402).

8. The lower extremity exoskeleton device of claim 7 wherein: a first fixed rack (405) is fixedly connected to the inner wall of one end of the fixed shell, which is opposite to the middle shell (404), a second fixed rack (415) is fixedly connected to the inner wall of the other end of the fixed shell, which is opposite to the middle shell (404), a first external transmission gear (406) and a second external transmission gear (411) are respectively and rotatably connected to the two ends of the middle shell (404), a first telescopic transmission rack (407) is fixedly connected to one end, which is opposite to the middle shell (404), of the telescopic shell (416), a second telescopic transmission rack (412) is fixedly connected to the other end, which is opposite to the middle shell (404), of the telescopic shell (416), two ends of the first external transmission gear (406) are respectively meshed with the first fixed rack (405) and the first telescopic transmission rack (407), two ends of the second external transmission gear (411) are respectively meshed with the second fixed rack (415) and the second telescopic transmission rack (412), both ends of flexible casing (416) are rotationally connected with first internal drive gear (408) and second internal drive gear (413) respectively, middle casing (404) are towards on the inner wall of flexible casing (416) both sides respectively fixedly connected with in the middle of drive rack (410) and second in the middle of the first fixedly connected with of one end fixedly connected with of flexible casing (416) relatively and drive rack (403) in the second, the both ends of first internal drive gear (408) mesh with first in the middle of drive rack (410) and first internal drive rack (409) respectively, the both ends of second internal drive gear (413) mesh with in drive rack (414) and the second in drive rack (403) in the middle of the second respectively.

9. A system for controlling the operation of the lower extremity exoskeleton device of any one of claims 1 to 8, wherein: which comprises the steps of preparing a mixture of a plurality of raw materials,

the information acquisition module (600) comprises a left front pressure sensor (602) connected to the front part of the lower side of the left foot pedal and a left rear pressure sensor (603) connected to the rear part of the lower side of the left foot pedal, the front part of the lower side of the right foot pedal (102) is connected with a right front pressure sensor (601), the rear side of the lower side of the right foot pedal (102) is connected with a right rear pressure sensor (604), and the outer sides of two second knee joint lower connecting plates (202) and the outer side of a waist connecting plate (302) at the connection part with the thigh supporting shell (204) are both connected with an angular speed sensor (605);

the gesture reading module receives pressure signals respectively sent by a left front pressure sensor (602), a right front pressure sensor (601), a left rear pressure sensor (603) and a right rear pressure sensor (604), judges whether a walking intention exists according to the pressure signals, and simultaneously receives angular velocity and angular acceleration signals transmitted by each angular velocity sensor (605) to analyze whether the walking intention reaches an expected position;

the motion driving module (800) comprises a left hip joint driving motor (802) and a right hip joint driving motor (803) which are respectively fixed on the outer sides of a left end middle connecting plate (205) and a right end middle connecting plate (205), the left hip joint driving motor (802) drives the left end middle connecting plate (205) to rotate, the right hip joint driving motor (803) drives the right end middle connecting plate (205) to rotate, the outer side of the left end second knee joint lower connecting plate (202) is fixedly connected with a right knee joint driving motor (805) which can drive the left end second knee joint lower connecting plate (202) to rotate, and the upper side of the fixed shell (401) is fixedly connected with a posture conversion driving motor (801) which can drive a screw rod (417) to rotate;

the controller (1000) is used for sending the analysis result to the controller (1000) by the gesture reading module, and the controller (1000) controls the actions of the gesture conversion driving motor (801), the left hip joint driving motor (802), the right hip joint driving motor (803), the left knee joint driving motor (804) and the right knee joint driving motor (805) according to the analysis result sent by the gesture reading module so as to assist the human body to move.

10. A method of controlling motion of a lower extremity exoskeleton device using a control system as claimed in claim 9, wherein: comprises the following steps of (a) carrying out,

the left front pressure sensor (602), the right front pressure sensor (601), the left rear pressure sensor (603) and the right rear pressure sensor (604) collect pressure signals acting on the pedal;

if the pressure signals of the right front pressure sensor (601) and the right rear pressure sensor (604) and the pressure value of the left front pressure sensor (602) are far larger than the pressure value of the left rear pressure sensor (603), the attitude reading module sends the walking intention result obtained by analysis to the controller (1000), the controller (1000) controls the left hip joint driving motor (802) and the left knee joint driving motor (804) to move, the angular velocity sensor (605) detects the rotation angle of the thigh shell and the shank shell at the left end, if the rotation angle of the thigh shell and the shank shell at the left end reaches a set threshold value, the left leg is lifted, and the controller (1000) controls the left hip joint driving motor (802) and the left knee joint driving motor (804) to move reversely;

if the pressure signals detected by the left front pressure sensor (602) and the left rear pressure sensor (603) reach the set pressure threshold, the left leg resetting action is finished, if the pressure signals of the left front pressure sensor (602), the left rear pressure sensor (603) and the pressure value of the right front pressure sensor (601) are far larger than the pressure value of the right rear pressure sensor (604), the gesture reading module sends the walking intention obtained by analysis to the controller (1000), the controller (1000) controls the right hip joint driving motor (803) and the right knee joint driving motor (805) to act, when the corresponding angle sensor detects that the rotation angle of the right thigh shell and the shank shell reaches the set threshold, the right leg lifting is finished, the controller (1000) controls the right hip joint driving motor (803) and the right knee joint driving motor (805) to act in a reverse direction, and when the pressure signals detected by the right front pressure sensor (601) and the right rear pressure sensor (604) reach the set pressure threshold, the right leg reset action is finished;

if the gesture reading module analyzes that no walking intention is obtained, the controller (1000) does not act, otherwise, the actions are continuously circulated.

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