CN116158945A - Lower limb exoskeleton device and ankle joint assembly thereof - Google Patents

Abstract

The invention relates to a lower limb exoskeleton device and an ankle joint assembly thereof, wherein the ankle joint assembly comprises a first limb part, a joint seat, a rotating shaft and a second limb part, the second limb part is rotatably arranged between the first limb part and the joint seat through the rotating shaft, a first boss and a second boss are respectively arranged on two sides of the second limb part, torsion springs are respectively arranged between the first boss and the first limb part and between the second boss and the second limb part, and when the second limb part rotates back and forth relative to the first limb part, the first boss and the second boss alternately compress the torsion springs on corresponding sides. According to the lower limb exoskeleton device and the ankle joint assembly thereof, the torsion spring is utilized to enable the second limb part to always have a trend of resetting towards the initial position relative to the first limb part, so that the second limb part has a certain elastic supporting effect relative to the first limb part, the protection and assistance effects are achieved for walking exercise of the ankle joint, and the probability of damaging the ankle joint is reduced.

Description

Lower limb exoskeleton device and ankle joint assembly thereof

Technical Field

The invention relates to the technical field of rehabilitation training devices, in particular to a lower limb exoskeleton device and an ankle joint assembly thereof.

Background

In recent years, with the progress of aging of population, there are increasing numbers of patients suffering from lower limb dysfunction due to cerebral apoplexy, spinal nerve injury, other various accidents, and the like. The traditional rehabilitation therapy mode is to train repeatedly through the professional skill of a professional rehabilitation doctor, and along with the development of scientific technology, especially robot technology, the lower limb exoskeleton device can replace the rehabilitation doctor to finish the boring and tasteless repeated training action to a great extent.

At present, the exoskeleton is in an early and rapid development stage, and the ankle joint can only meet the rotation requirement of the ankle joint along with a human body, however, the ankle joint of a patient is generally free of muscle strength or weak muscle strength, and is subjected to great load when the patient walks actually, so that the ankle joint of the patient is easily injured.

Disclosure of Invention

Based on the above, the lower limb exoskeleton device and the ankle joint assembly thereof are provided to solve the problem that the ankle joint is easy to damage.

In one aspect, the invention provides an ankle joint assembly, which comprises a first limb part, a joint seat, a rotating shaft and a second limb part, wherein the second limb part is rotatably arranged between the first limb part and the joint seat through the rotating shaft, a first boss and a second boss are respectively arranged on two sides of the second limb part, torsion springs are respectively arranged between the first boss and the first limb part and between the second boss and the second limb part, and when the second limb part rotates reciprocally relative to the first limb part, the first boss and the second boss alternately compress the torsion springs on corresponding sides.

The ankle joint assembly has the advantages that the torsion spring is compressed to store certain torsion, the effects of buffering and reverse power assisting can be achieved, so that the second limb piece corresponds to dorsiflexion and toe Qu Shi of the ankle joint in the lower limb walking process, the second limb piece always has a trend of resetting towards the initial position relative to the first limb piece, the second limb piece has a certain elastic supporting effect relative to the first limb piece, the protection and power assisting effects are achieved for walking exercise of the ankle joint, and the probability of damaging the ankle joint is reduced.

In one embodiment, the first limb member is provided with a first clamping groove, the joint seat is provided with a second clamping groove, the pin of the torsion spring, which is arranged corresponding to the first boss, is arranged in the first clamping groove, and the pin of the torsion spring, which is arranged corresponding to the second boss, is arranged in the second clamping groove.

In one embodiment, the device comprises a support column, and two ends of the support column are respectively connected with the first limb piece and the joint seat.

In one embodiment, the first limb part and the joint seat are respectively provided with a first shaft hole and a second shaft hole, and two ends of the rotating shaft are respectively connected with the first shaft hole and the second shaft hole through bearings in a rotating mode.

The lower limb exoskeleton device comprises a sole component, a length adjusting component and the ankle joint component, wherein the length adjusting component is connected between the ankle joint component and the sole component and used for adjusting the distance from the ankle joint component to the sole component.

By utilizing the lower limb exoskeleton device, the distance between the ankle joint assembly and the sole assembly can be flexibly adjusted, so that the wearing comfort level is improved.

In one embodiment, the length adjustment assembly includes a stationary tube, a movable tube, and a knob; the fixed pipe is connected with the second limb part, the movable pipe is connected with the sole component, the movable pipe movably penetrates through the fixed pipe, the knob is in threaded connection with the movable pipe, and when the knob rotates, the movable pipe can be in threaded transmission to move relative to the fixed pipe.

In one embodiment, the movable tube is provided with an external thread, the knob is provided with an internal thread matched with the external thread, and both the internal thread and the external thread are trapezoidal threads.

In one embodiment, the knob is rotatably connected with the fixed tube through a knob cover plate, and the knob cover plate is fixed in the fixed tube.

In one embodiment, the wall of the fixing tube is provided with a through hole, the second limb part is provided with an inserting part, the inserting part is inserted into the fixing tube, and the length adjusting assembly comprises a locking piece, and the locking piece penetrates through the through hole and limits the inserting part to the fixing tube.

In one embodiment, the movable tube is provided with a limit groove, and the tail end of the locking piece is located in the limit groove.

In one embodiment, the sole assembly comprises a rear sole plate, a return torsion spring and a front sole plate, wherein the front sole plate and the rear sole plate are rotationally connected through a shaft, and the return torsion spring is sleeved on the shaft and connected with the rear sole plate and the front sole plate.

Drawings

In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other embodiments of the drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic view of the overall structure of a lower extremity exoskeleton apparatus;

FIG. 2 is a schematic cross-sectional view of the lower extremity exoskeleton apparatus shown in FIG. 1;

FIG. 3 is a schematic view of the overall structure of an ankle joint assembly of the lower extremity exoskeleton apparatus;

FIG. 4 is a schematic view of an exploded construction of an ankle joint assembly of the lower extremity exoskeleton apparatus shown in FIG. 3;

FIG. 5 is a schematic view of the first limb member of the ankle assembly;

FIG. 6 is a schematic view of the structure of the joint seat of the ankle joint assembly;

FIG. 7 is a schematic view of the connection structure of the shaft and flange of the ankle assembly;

FIG. 8 is a schematic structural view of a first limb member of the ankle assembly;

FIG. 9 is a schematic illustration of an exploded view of a length adjustment assembly in a lower extremity exoskeleton apparatus;

FIG. 10 is a schematic view of the structure of a movable tube in a length adjustment assembly of a lower extremity exoskeleton apparatus;

FIG. 11 is a schematic view of the knob in the length adjustment assembly of the lower extremity exoskeleton apparatus;

fig. 12 is a schematic view of the plantar component of the lower extremity exoskeleton apparatus.

Reference numerals illustrate:

10. an ankle joint assembly; 11. a first limb member; 111. a first mounting hole; 112. a first shaft hole; 113. a first clamping groove; 12. a support column; 13. a joint seat; 131. a second mounting hole; 132. a second shaft hole; 133. a second clamping groove; 14. a bearing; 15. a rotating shaft; 151. a flange plate; 16. a torsion spring; 17. a second limb member; 17a, a shaft hole; 171. a first boss; 172. a flange mounting hole; 173. a second boss; 174. a plug-in part; 20. a length adjustment assembly; 21. a fixed tube; 22. a movable tube; 22a, first pin holes; 23. a locking member; 24. a knob cover plate; 25. a knob; 26. a plantar plate connecting piece; 26a, second pin holes; 27. a pin; 21. a fixing hole; 21. a fixing hole; 21. a fixing hole; 30. a sole assembly; 31. a rear plantar plate; 32. a flexible strap; 33. a reset torsion spring; 34. a forefoot sole plate.

Detailed Description

In order that the invention may be readily understood, a more complete description of the invention will be rendered by reference to the appended drawings. Preferred embodiments of the present invention are shown in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

In the description of the present invention, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present invention, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.

It should be noted that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counter-clockwise," "axial," "radial," "end," etc. refer to an orientation or positional relationship based on that shown in the drawings, merely for convenience of description and to simplify the description, and do not indicate or imply that the apparatus or elements referred to must have a particular orientation, be configured and operated in a particular orientation, and therefore should not be construed as limiting the invention.

In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.

It will be understood that when an element is referred to as being "fixed" or "disposed" on another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present.

Referring to fig. 1 and 2, an embodiment of the present invention provides a lower limb exoskeleton device for being worn to a lower limb of a human body to assist the lower limb in performing exercises. The lower limb exoskeleton device comprises an ankle joint assembly 10, a length adjusting assembly 20 and a sole assembly 30, wherein the length adjusting assembly 20 is connected between the ankle joint assembly 10 and the sole assembly 30 and used for adjusting the distance from the ankle joint assembly 10 to the sole assembly 30, so that wearing comfort and reliability are improved.

As shown in connection with fig. 3 and 4, the ankle joint assembly 10 includes a first limb member 11, a support column 12, a joint seat 13, a bearing 14, a rotation shaft 15, a torsion spring 16, and a second limb member 17.

The first limb member 11 and the joint seat 13 are arranged at intervals through three support columns 12 so as to vacate the installation space of the second limb member 17. It should be noted that the number of support columns 12 is not limited to three, for example, in some embodiments, the number of support columns 12 is 2 or more.

In some embodiments, when the first limb member 11 and the joint seat 13 are connected by using the support 12, a first mounting hole 111 and a second mounting hole 131 may be formed at positions corresponding to the first limb member 11 and the joint seat 13, threaded holes are formed at both ends of the support column 12, one end of the support column 12 is connected to the first mounting hole 111 by a connecting member such as a screw or a bolt, and the other end is connected to the second mounting hole 131 by a connecting member such as a screw or a bolt.

The first limb member 11 and the joint seat 13 are respectively provided with a first shaft hole 112 and a second shaft hole 132, and two ends of the rotating shaft 15 are respectively connected with the first shaft hole 112 and the second shaft hole 132 through bearings 14 in a rotating way. The second limb member 17 is connected to the shaft 15, specifically, the second limb member 17 is provided with a shaft hole 17a, the shaft 15 is matched with the shaft hole 17a, and the rotational freedom of the shaft 15 relative to the second limb member 17 is limited. For example, in some embodiments, as shown in fig. 7 and 8, the rotating shaft 15 is connected with the flange 151, the second limb member 17 is provided with the flange mounting hole 172, and a locking member such as a screw or a bolt penetrating through the flange mounting hole 172 is connected with the flange 151, so that the flange 151 and the second limb member 17 are relatively fixed, and thus the rotating shaft 15 can be used to meet the rotation requirement of the second limb member 17 relative to the first limb member 11, so as to adapt to the rotation exercise requirement of the ankle joint.

It should be noted that, the bearing 14 may be a deep groove ball bearing, which has the characteristics of small friction resistance, high rotation speed, and the like, and the deep groove ball bearing may be used on a machine member that bears radial load or combined load that acts radially and axially simultaneously, so as to ensure rotational stability of the rotating shaft 15, so as to facilitate improvement of motion stability of the ankle joint assembly 10, thereby having good reliability in adapting to ankle joint exercise. In other embodiments, bearing 14 may be other types of bearings.

In some embodiments, the bearing 14 may be omitted, for example, both ends of the rotation shaft 15 are directly rotatably coupled to the first shaft hole 112 and the second shaft hole 132. For another example, collars (not shown) are sleeved on both ends of the rotating shaft 15, and are respectively in rotating fit with the first shaft hole 112 and the second shaft hole 132. The rotational connection manner of the two ends of the rotation shaft 15 with the first limb member 11 and the joint seat 13 is not limited herein.

Torsion springs 16 are mounted on both sides of the second limb member 17, and a first boss 171 and a second boss 173 are respectively arranged on both sides of the second limb member 17.

When the second limb member 17 rotates relative to the first limb member 11 in the first direction, the first boss 171 compresses one of the torsion springs 16, so that the second limb member 17 has a tendency to return to the second direction (opposite to the first direction) relative to the first limb member 11 by using the elastic force generated by the deformation of the torsion spring 16, that is, a force is generated to prevent the second limb member 17 from rotating relative to the first limb member 11 in the first direction.

When the second limb member 17 rotates in the second direction relative to the first limb member 11, the second boss 173 compresses the other torsion spring 16, so that the second limb member 17 has a return movement trend in the first direction relative to the first limb member 11 due to the elastic force generated by the deformation of the torsion spring 16, that is, a force preventing the second limb member 17 from rotating in the second direction relative to the first limb member 11 is generated.

It will be appreciated that the first and second directions are opposite in reference to the second limb 17 rotating in opposite directions relative to the first limb 11. For example, the first direction is the direction in which the second limb 17 rotates clockwise relative to the first limb 11, and the second direction is the direction in which the second limb 17 rotates counterclockwise relative to the first limb 11. Accordingly, when the counterclockwise direction of the second limb 17 relative to the first limb 11 is the first direction, the second direction is the clockwise direction of the second limb 17 relative to the first limb 11. Thus, the two torsion springs 16 rotate back and forth relative to the first limb 11 during the walking of the ankle joint assembly 10 along with the user, and press the torsion springs 16 on the corresponding sides, so that the two torsion springs 16 can elastically support the second limb 17 in a direction of damping the movement of the second limb 17 relative to the first limb 11. Specifically, in the process of rotating the second limb 17 relative to the first limb 11, the first boss 171 or the second boss 173 compresses the corresponding torsion spring 16, and the torsion spring 16 is compressed to store a certain torsion force, so that the effects of buffering and reverse power assisting are achieved. Therefore, the second limb piece 17 corresponds to the dorsiflexion and toe Qu Shi of the ankle joint in the walking process of the lower limb, the second limb piece 17 always has a tendency of resetting towards the initial position relative to the first limb piece 11, and the second limb piece 17 has a certain elastic supporting effect relative to the first limb piece 11, so that the ankle joint walking exercise is protected and assisted, and the probability of damaging the ankle joint is reduced.

Further, in the natural state of the ankle assembly 10, i.e., the initial state, the two torsion springs 16 may not be pressed by the corresponding structure. Specifically, the first bosses 171 and the second bosses 173 alternately compress the torsion springs 16 on the respective sides while the second limb 17 reciprocally rotates with respect to the first limb 11, i.e., alternately rotates in the first direction and rotates in the second direction. In this structure, when the first boss 171 presses one of the torsion springs 16, the second boss 173 is away from the other torsion spring 16 so that the torsion spring 16 is not pressed, and thus the torsion spring 16 corresponding to the second boss 173 does not provide torsion force.

When the second limb 17 is rotated in reverse, the situation is just reversed from that described above. Specifically, when one of the torsion springs 16 is pressed by the second boss 173, the first boss 171 is away from the other torsion spring 16 so that the torsion spring 16 is not pressed, and thus the torsion spring 16 corresponding to the first boss 171 does not provide torsion force. When the second limb member 17 is in an initial position, such as a natural state, relative to the first limb member 11, both torsion springs 16 are in an initial state, no torsion force is provided, and only when the ankle joint assembly 10 is in rehabilitation training, the corresponding torsion springs 16 can provide elastic force for restoring movement, so that for a patient with no muscle force or weak muscle force of the ankle joint, the ankle joint assembly 10 can utilize the torsion force provided by the torsion springs 16 to share the load acting on the ankle joint during walking, so as to reduce the probability of injury of the ankle joint of the patient.

The torsion spring 16 may be provided in various ways, as long as it is satisfied that the first boss 171 and the second boss 173 alternately compress the torsion spring 16 on the corresponding sides when the second limb 17 reciprocally rotates with respect to the first limb 11.

In some embodiments, as shown in fig. 5 and 6, the first limb 11 is provided with a first clamping groove 113, and the joint seat 13 is provided with a second clamping groove 133. The leg of the torsion spring 16 disposed corresponding to the first boss 171 is mounted in the first clamping groove 113, so that one leg of the torsion spring 16 is fixed relative to the first limb member 11 through the first clamping groove 113, and the other leg can be kept in contact with the first boss 171, and when the first limb 11 rotates relative to the second limb 17 to force the first boss 171 to press the torsion spring 16, the torsion spring 16 can be utilized to provide an elastic restoring force between the first boss 171 and the first limb member 11. Accordingly, the leg of the torsion spring 16 disposed corresponding to the second boss 173 is mounted to the second clamping groove 133, so that one leg of the torsion spring 16 is fixed to the knuckle mount 13 through the second clamping groove 133 and the other leg can be kept in contact with the second boss 173. Since the joint seat 13 is fixed relative to the first limb 11, the torsion spring 16 can be used to provide an elastic restoring force between the second boss 173 and the first limb member 11 when the first limb 11 rotates relative to the second limb 17 to force the second boss 173 to press the corresponding torsion spring 16.

Referring to fig. 9, the length adjustment assembly 20 includes a fixed tube 21, a movable tube 22, a locking member 23, a knob cover 24, a knob 25, and a plantar plate connecting member 26.

The second limb member 17 is connected to the fixing tube 21 by a locking member 23, and the locking member 23 may be a pin, a screw or a bolt, which is not limited herein. In some embodiments, the wall of the fixing tube 21 is provided with a through hole 21a, the second limb 17 is provided with an inserting portion 174, the inserting portion 174 is inserted into the fixing tube 21, the locking member 23 passes through the through hole 21a and limits the inserting portion 174 to the fixing tube 21, so that the inserting portion 174 cannot be removed from the fixing tube 21, and then stable connection between the second limb 17 and the fixing tube 21 is realized.

The knob 25 is rotatably connected with the fixed tube 21 through a knob cover 24. The knob 25 can be rotated relative to the knob cover 24, and the knob cover 24 is fixed in the fixed tube 21 by means of a locking member such as a screw, a bolt, or the like, so that the knob 25 can be rotated relative to the fixed tube 21. The manner of fixing the knob cover 24 to the fixing tube 21 is not limited herein.

As shown in fig. 2, 10 and 11, the movable tube 22 is movably inserted through the fixed tube 21. And the movable tube 22 is provided with a limit groove 221, and after the locking piece 23 is locked, the tail end of the locking piece 23 is positioned in the limit groove 221, so as to play a role in regulating and limiting the length up and down. The movable tube 22 is provided with an external thread 222, the knob 25 is provided with an internal thread 251, the external thread 222 is matched with the internal thread 251, and when the knob 25 is rotated, the movable tube 22 can realize the function of adjusting the length up and down. When the threads of the movable tube 22 and the knob 25 matched with each other can be trapezoidal threads, the self-locking function is realized, namely, the knob 25 can not move along the movable tube 22 under the self-locking function of the trapezoidal threads only when the knob 25 rotates, and when the rotating force of the knob 25 is released, the knob 25 can not move along the movable tube 22.

Further, scale marks can be arranged on the movable tube 22, so that the patient can more conveniently watch the current position.

Referring again to FIG. 9, the sole plate connector 26 is attached to the activity tube 22 by pins 27. Specifically, the movable tube 22 is provided with a first pin hole 22a, the plantar plate connecting member 26 is provided with a second pin hole 26a, and a pin 27 is provided through the first pin hole 22a and the second pin hole 26a to connect the plantar plate connecting member 26 with the movable tube 22.

It should be noted that, in other embodiments, the sole plate connector 26 and the movable tube 22 may be connected together by a snap connection or a plug connection. The sole plate connector 26 and the movable tube 22 may be connected in other manners, for example, the sole plate connector 26 and the movable tube 22 may be integrally formed by a metal casting process, or may be integrally welded, which is not limited herein.

As shown in connection with FIG. 12, sole assembly 30 includes a rear sole plate 31, a flexible strap 32, a return torsion spring 33, and a front sole plate 34. The front sole plate 34 and the rear sole plate 31 are rotatably connected by a shaft, and a return torsion spring 33 is sleeved on the shaft, and the return torsion spring 33 can be connected with the rear sole plate 31 and the front sole plate 34 so as to provide elastic restoring force between the rear sole plate 31 and the front sole plate 34. In this embodiment, the return torsion spring 33 can play a role in plantar cushioning and power-assisted return, effectively increasing the safety and comfort of patient walking, and facilitating the recovery of the correct gait of the patient.

The flexible strap 32 may facilitate securing the sole assembly 30 to the user's foot, and is comfortable to wear because the flexible strap 32 is soft. The flexible strap 32 may be made of cloth or silicone, and is not limited thereto.

The waist-shaped groove 30b is arranged on the connecting portion 30a of the rear sole plate 31, so that the relative position of the rear sole plate 31 and the sole plate connecting piece 26 can be conveniently adjusted, and the sole assembly 30 can be adjusted to a proper position relative to the ankle assembly 10 in the horizontal direction, so that wearing comfort is improved.

The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.

The foregoing examples illustrate only a few embodiments of the invention, which are described in detail and are not to be construed as limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.

Claims (11)

1. The utility model provides an ankle joint subassembly, its characterized in that includes first limbs spare, joint seat, pivot and second limbs spare, the second limbs spare pass through the pivot rotationally set up in first limbs spare with between the joint seat, just the both sides of second limbs spare are equipped with first boss and second boss respectively, first boss with between the first limbs spare, and second boss with between the second limbs spare all are equipped with the torsional spring, works as the second limbs spare is relative when first limbs spare reciprocal rotation, first boss with the second boss is alternately to corresponding side the torsional spring compresses.

2. The ankle joint assembly according to claim 1, wherein the first limb member is provided with a first clamping groove, the joint seat is provided with a second clamping groove, the pin of the torsion spring corresponding to the first boss is arranged in the first clamping groove, and the pin of the torsion spring corresponding to the second boss is arranged in the second clamping groove.

3. The ankle joint assembly according to claim 1, comprising a support post having opposite ends connected to the first limb member and the joint seat, respectively.

4. The ankle joint assembly according to claim 1, wherein the first limb member and the joint seat are provided with a first shaft hole and a second shaft hole, respectively, and both ends of the rotating shaft are rotatably connected to the first shaft hole and the second shaft hole through bearings, respectively.

5. A lower extremity exoskeleton apparatus comprising a sole assembly, a length adjustment assembly and an ankle assembly according to any one of claims 1 to 4, said length adjustment assembly being connected between said ankle assembly and said sole assembly and adapted to adjust the distance of said ankle assembly from said sole assembly.

6. The lower extremity exoskeleton device of claim 5 wherein said length adjustment assembly includes a fixed tube, a movable tube and a knob; the fixed pipe is connected with the second limb part, the movable pipe is connected with the sole component, the movable pipe movably penetrates through the fixed pipe, the knob is in threaded connection with the movable pipe, and when the knob rotates, the movable pipe can be in threaded transmission to move relative to the fixed pipe.

7. The lower extremity exoskeleton device of claim 6 wherein said movable tube is provided with external threads, said knob is provided with internal threads that mate with said external threads, and both said internal threads and said external threads are trapezoidal threads.

8. The lower extremity exoskeleton device of claim 7 wherein said knob is rotatably coupled to said fixed tube by a knob cover plate, said knob cover plate being secured within the fixed tube.

9. The lower extremity exoskeleton device of claim 6 wherein said fixed tube has a perforated wall, said second limb member has a plug portion, said plug portion is inserted into said fixed tube, said length adjustment assembly includes a locking member, said locking member is disposed through said perforated wall and limiting said plug portion to said fixed tube.

10. The lower extremity exoskeleton device of claim 9 wherein said movable tube has a limiting slot in which the end of the locking member is located.

11. The lower extremity exoskeleton device of claim 5 wherein said plantar assembly includes a posterior plantar plate, a return torsion spring and a anterior plantar plate, said anterior and posterior plantar plates being rotatably connected by a shaft, said return torsion spring being nested on said shaft and connected to said posterior and anterior plantar plates.

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