CN208693738U - A kind of semi-passive light-type lower limb exoskeleton - Google Patents

Abstract

The utility model relates to a kind of semi-passive light-type lower limb exoskeletons, the lower limb exoskeleton includes waist feature and a pair of lower extremity movement mechanism for being separately positioned on waist feature both ends, waist feature includes first baffle and the second baffle hinged with first baffle, two lower extremity movement mechanisms are connected with first baffle, second baffle respectively, and lower extremity movement mechanism includes the hip joint driving assembly being from top to bottom successively set in waist feature, big leg assembly, knee components, shank component and ankle foot component.Compared with prior art, the utility model is using lightweight, submissiveization design and semi-passive driving method, only active drive hip joint, and knee joint and ankle-joint are passive freedom degree, take full advantage of the energy of human body itself, gait meets normal human's gait, while more significantly reducing the weight and volume of lower limb exoskeleton, the lower limb rehabilitation and assisted walk suitable for slight lower limb disabled.

Description

A kind of semi-passive light-type lower limb exoskeleton

Technical field

The utility model belongs to simulation of human body ectoskeleton technical field, is related to a kind of semi-passive light-type lower limb exoskeleton.

Background technique

Lower limb walking is one of critical function of human body, and many nervous system diseases such as cerebral apoplexy, spinal cord injury etc. all can Lead to motor dysfunction of lower limb, in addition to this, fracture, muscle damage etc. are sick and wounded may also to be related to lower limb walking function.China As populous nation, the number of lower limb disorder patient can not despise, therefore, the treatment and rehabilitation of lower limb disorder by The great attention of people.

In medical science of recovery therapy field, ambulation training is one of the important means of in lower limb disorder rehabilitation.Health medically Refreshment white silk is what the plasticity principle based on brain carried out, but this needs a large amount of labour and many nursery works.For to patient Preferably protection, the use of lower limb rehabilitation auxiliary device seem very necessary in rehabilitation.Lower limb exoskeleton is lower limb health One of Typical Representative in multiple robot, such healing robot is designed based on bionics principle, in conjunction with ergonomics, can be worn It wears in suffering limb, realizes more natural effective rehabilitation training, be the hot spot of current lower limb rehabilitation robot research.In addition to this, exist Industry, military field engineering field, lower limb exoskeleton also have the function of to share weight bearing etc. have biggish practical value and research meaning Justice.

In general, for the simplification to human body lower limbs freedom degree, by taking unilateral side as an example, lower limb exoskeleton relates generally to lower limb 6 freedom degrees in joint: the stretching, extension of hip joint buckling, interior receipts outreach, inward turning outward turning totally 3 freedom degrees；Knee sprung stretches 1 Freedom degree；Ankle-joint plantar flexion dorsiflex, varus are turned up 2 freedom degrees totally.Common driving method have motor driven, hydraulic-driven, The modes such as air pressure driving.

Currently, for the demand of different crowd, lower limb exoskeleton can be to active control in existing lower limb exoskeleton The freedom degree in joint and each joint is accepted or rejected.Part design uses active control at least hip joint and kneed all freedom The mode of degree, has the characteristics that multiple degrees of freedom, movement submissiveization, but there are weight and volume larger, energy consumption and higher cost Problem；Energy consumption and cost problem are considered in part design, and using hip joint active drive, the mode of hip knee linkage is designed, approximate Energy consumption and cost close to gait and are more significantly reduced, but equally exists weight and larger, the inconvenient for use problem of volume； Also part design, in the freedom degree of sagittal plane, greatlies simplify structure only with three joints, but owe submissive in the presence of movement The problem of.

Utility model content

The purpose of this utility model is exactly to provide a kind of semi-passive light to overcome the problems of the above-mentioned prior art Amount type lower limb exoskeleton.

The purpose of this utility model can be achieved through the following technical solutions:

A kind of semi-passive light-type lower limb exoskeleton, the lower limb exoskeleton include that waist feature and a pair are separately positioned on The lower extremity movement mechanism at waist feature both ends, the waist feature include first baffle and hinged with first baffle second Baffle, two lower extremity movement mechanisms are connected with first baffle, second baffle respectively, and the lower extremity movement mechanism includes from top to bottom Hip joint driving assembly, big leg assembly, knee components, shank component and the ankle foot component being successively set in waist feature. Two lower extremity movement mechanisms mirror settings each other.

The back side of the first baffle and second baffle is equipped with reinforcing rib as a preferred technical solution,.

Further, one end of the first baffle is equipped with the first connecting plate, offers axis hole on first connecting plate, One end of the second baffle is equipped with the second connecting plate, which is equipped with fixing axle, first connecting plate Bearing compatible with axis hole, fixing axle respectively is equipped between the second connecting plate.Pass through between first baffle and second baffle Bearing is relatively rotated.

Bearing (ball) cover compatible with bearing is additionally provided on first connecting plate as a preferred technical solution,.

Further, the hip joint driving assembly include fixed disk, it is drive rod, locating part, harmonic speed reducer, brushless Direct current generator, hip joint magnet and hip joint magnetic coder, the fixed disk is fixedly connected with the end of waist feature, described Locating part be fixed in fixed disk, the locating part and brshless DC motor are located at the two of harmonic speed reducer Side, the drive rod between locating part and fixed disk, the flexbile gear of the harmonic speed reducer respectively with locating part, brushless Direct current generator is fixedly connected, and the firm gear of the harmonic speed reducer is fixedly connected with drive rod, the wave of the harmonic speed reducer Generator is connected with the output shaft of brshless DC motor, and the hip joint magnet is fixed on drive rod, the hip Joint magnetic coder is fixed in fixed disk.Locating part limits the rotational angle of drive rod, and hip joint is made to exist The interior rotation of maximum range of activities of 120 ° of buckling direction, 35 ° of direction of extension.

The hip joint driving assembly further includes outside the closing being fixedly connected with fixed disk as a preferred technical solution, Shell.Hip joint driving assembly is designed using the structure of reduction space and weight, and the width on frontal plane is less than 75mm.

Further, the big leg assembly includes thigh strut, the thigh being fixed on thigh strut shield hoop, sets Set the thigh protecting band on thigh shield hoop and the thigh protection pad that is arranged on thigh protecting band, the top of the thigh strut with The bottom end of drive rod is hinged.

The material of thigh shield hoop is resin plate as a preferred technical solution, is relaxed with mitigating weight and improving Suitable degree.

Further, the top of the thigh strut is equipped with rotating member, sets between the rotating member and the bottom end of drive rod There is hip joint pin shaft, the thigh strut is hinged by the bottom end of hip joint pin shaft and drive rod.

The drive rod is thickened with big leg assembly junction along big leg outer side as a preferred technical solution, and bottom end is The link block of the high 10mm of sagittal axis direction, the end face of the link block are cylindrical surface, are offered on link block concentric with cylindrical surface And radius is the axis hole of 5mm.The upper end of rotating member is equipped with the connection structure to match with link block and hip joint pin shaft, and lower end is set There is the pin hole being connected with thigh strut and width is 16mm, depth is 4mm slot.

Further, the knee components include the femur end being fixedly connected with the bottom end of big leg assembly and with it is small The ligament tibia end that the top of leg assembly is fixedly connected is equipped with knee joint and bends and stretches component between the femur end and ligament tibia end, described The bottom at femur end and the top of ligament tibia end member hinges are bent and stretched by knee joint.

Further, it includes linear brake, torque spring, mandrel, dividing spindle, knee pass that the knee joint, which bends and stretches component, Section magnetic coder and knee joint magnet, the linear brake, dividing spindle and knee joint magnetic coder are fixed at stock On epiphysis, and the linear brake is located at the top of dividing spindle, and the knee joint magnet is located at the center of dividing spindle In axis hole, the mandrel is fixed on ligament tibia end, and the torque spring is set in mandrel, and the torsion One end of spring is fixedly connected with mandrel, and the other end is fixedly connected with linear brake.Linear brake can be passed through according to gait Device adjusts the state of torque spring to control kneed locking and unlocking.

As a preferred technical solution, the knee joint bend and stretch component further include spring collet, big sliding sleeve, small sliding sleeve, Shell and shell disk, the spring collet, shell are fixedly connected with shell disk, and are fixed on dividing spindle by the limit of shell disk On, the axis of the ligament tibia end, big sliding sleeve and femur end is concentric, and big sliding sleeve is between ligament tibia end and femur end, small sliding sleeve It covers on dividing spindle, and is located in the axial gap of ligament tibia end and dividing spindle.

Further, the shank component includes the shank strut that knee components bottom is arranged in, is fixed at Shank shield hoop, the shank protecting band being arranged on shank shield hoop on shank strut and the shank shield being arranged on shank protecting band Pad.

The shank strut is installed after being bent according to the case where user as a preferred technical solution, small to be bonded Leg shape.

The material of shank shield hoop is resin plate as a preferred technical solution, according to outside the shank of user Formation type.

Further, the ankle foot component includes the ankle-joint main body that shank component bottom is arranged in, setting in ankle pass The ankle foot connector for saving the sole below main body and being arranged between ankle-joint main body and sole, the sole pass through ankle foot Connector and ankle-joint main body are hinged.

Further, it is equipped with side by side in the ankle-joint main body and offers a pair of of through-hole, storage is equipped in the through-hole Energy component, the energy storage component include being plugged in the stop screw of via top and being arranged along through-hole axial movement in through-hole Interior moving member is equipped with spring between the moving member and stop screw, the bottom end of the moving member connects with ankle foot connector Touching.Ankle foot component can realize the plantar flexion dorsiflex function of ankle-joint, and have elastic energy storage effect, can adjust bullet by stop screw Property damping size.

The utility model includes waist feature, two hip joint driving assemblies, two big leg assembly, two knee joint groups Part, two shank components and two ankle foot components.Waist feature is used for the lumbar support of user, and provides interior receipts for hip joint Outreach freedom degree；Hip joint driving assembly is for driving hip joint to bend and stretch；Big leg assembly play fixed supporting role, and provides hip pass The extra discretion in outreach direction is received in section；Knee components offer is kneed to bend and stretch freedom degree, and locking and unlocking are according to step State automatically switches；Shank component play fixed supporting role；Ankle foot component is used for the plantar flexion dorsiflex of ankle-joint, and flexible energy storage is made With, can pass through stop screw adjust elastic damping size.The utility model is designed using lightweight, submissiveization, and is made full use of The energy of human body itself, lower limb rehabilitation and assisted walk suitable for slight lower limb disabled.

In the utility model, sensor can be placed in hip joint driving assembly and knee components, be sentenced by sensor Disconnected hip joint and kneed state, in analysing gait, to control the driving of hip joint, and adjust torsion by linear brake The state of spring is to control kneed locking and unlocking.

Term and the noun of locality in the utility model, such as " buckling stretching, extension ", " frontal plane ", belong to body biomechanics Definition of the field based on human body.

Compared with prior art, the utility model has the following characteristics that

1) in waist feature, the junction complementary structure of the first connecting plate and the second connecting plate keeps opposite by bearing Rotation, provides the ectoskeleton hip joint inside and outside freedom degree turned over while saving volume；In hip joint driving assembly, use Reduce the structure design of space and weight, locating part limits the rotation of drive rod, ensure that hip joint active drive is bent Stretch the scope of activities in direction；In big leg assembly, rotating member can compensate for receipts, outreach direction in hip joint provided by waist feature Freedom degree, avoid thigh swing it is unsmooth, so that ectoskeleton is had the characteristics of submissiveization when in use；Thigh shield hoop and shank shield hoop are excellent Resin plate is selected, according to leg formation type, mitigates weight and improves level of comfort, in conjunction with corresponding protecting band, protection pad, by lower limb and outside Skeletal fixation；

2) the use of the new type has the characteristics that modular, the utility model can be selected corresponding according to the state of user Part be used in combination with other products, for example, below rotating member part alternatively at a knee-ankle-foot orthosis, knee joint group Part is alternatively at ankle-foot orthosis or other Huai Zu mechanisms below part；

3) the use of the new type takes semi-passive driving method, only active drive hip joint, and knee joint and ankle-joint are equal For passive freedom degree, the energy of human body itself is made full use of, gait meets normal human's gait, while more significantly reducing The weight and volume of lower limb exoskeleton.

Detailed description of the invention

Fig. 1 is the overall structure diagram of the utility model；

Fig. 2 is the three-dimensional exploded structural schematic diagram of waist feature in the utility model；

Fig. 3 is the three-dimensional exploded structural schematic diagram of hip joint driving assembly in the utility model；

Fig. 4 is the three-dimensional exploded structural schematic diagram of big leg assembly in the utility model；

Fig. 5 is the structural schematic diagram of knee components in the utility model；

Fig. 6 is the three-dimensional exploded structural schematic diagram of shank component in the utility model；

Fig. 7 is the three-dimensional exploded structural schematic diagram of ankle foot component in the utility model；

Description of symbols in figure:

A-waist feature, A1-first baffle, A2-second baffle, A3-bearing, A4-bearing (ball) cover, A5-first Connecting plate, the second connecting plate of A6-, A7-axis hole, A8-fixing axle；

B-hip joint driving assembly, B1-fixed disk, B2-drive rod, B3-locating part, B4-harmonic speed reducer, B5-brshless DC motor, B6-closure, B7-hip joint magnet, B8-hip joint magnetic coder, B9-hip joint pin Axis；

The big leg assembly of C-, C1-rotating member, C2-thigh strut, C3-thigh shield hoop, C4-thigh protecting band, C5-are big Leg protection pad；

D-knee components, D1-femur end, D2-linear brake, D3-torque spring, D4-knee joint magnetic coding Device, D5-shell disk, D6-dividing spindle, D7-ligament tibia end, D8-shell；

E-shank component, E1-shank strut, E2-shank protect hoop, E3-shank protecting band, E4-shank protection pad；

F-ankle foot component, F1-ankle-joint main body, F2-stop screw, F3-moving member, F4-spring, F5-ankle foot Connector, F6-sole.

Specific embodiment

The utility model is described in detail in the following with reference to the drawings and specific embodiments.The present embodiment is with the utility model Implemented premised on technical solution, the detailed implementation method and specific operation process are given, but the guarantor of the utility model Shield range is not limited to the following embodiments.

Embodiment:

A kind of semi-passive light-type lower limb exoskeleton as shown in Figure 1, which includes waist feature A and one To the lower extremity movement mechanism for being separately positioned on the both ends waist feature A, waist feature A includes first baffle A1 and and first baffle A1 hinged second baffle A2, two lower extremity movement mechanisms are connected with first baffle A1, second baffle A2 respectively, lower extremity movement mechanism Including hip joint driving assembly B, the big leg assembly C, knee components D, shank being from top to bottom successively set on waist feature A Component E and ankle foot component F.

As shown in Fig. 2, one end of first baffle A1 is equipped with the first connecting plate A5, axis hole is offered on first connecting plate A5 One end of A7, second baffle A2 are equipped with the second connecting plate A6, which is equipped with fixing axle A8, the first connecting plate A5 Bearing A3 compatible with axis hole A7, fixing axle A8 respectively is equipped between the second connecting plate A6.It is also set on first connecting plate A5 There is bearing (ball) cover A4 compatible with bearing A3.

As shown in figure 3, hip joint driving assembly B include fixed disk B1, drive rod B2, locating part B3, harmonic speed reducer B4, The end of brshless DC motor B5, hip joint magnet B 7 and hip joint magnetic coder B8, fixed disk B1 and waist feature A are fixed to be connected It connects, locating part B3 is fixed on fixed disk B1, and locating part B3 and brshless DC motor B5 are located at harmonic speed reducer B4 Two sides, drive rod B2 between locating part B3 and fixed disk B1, the flexbile gear of harmonic speed reducer B4 respectively with locating part B3, nothing Brushless motor B5 is fixedly connected, and the firm gear of harmonic speed reducer B4 is fixedly connected with drive rod B2, the wave hair of harmonic speed reducer B4 Raw device is connected with the output shaft of brshless DC motor B5, and hip joint magnet B 7 is fixed on drive rod B2, and hip joint magnetic is compiled Code device B8 is fixed on fixed disk B1.Hip joint driving assembly B further includes the closure being fixedly connected with fixed disk B1 B6。

As shown in figure 4, big leg assembly C include thigh strut C2, the thigh being fixed on thigh strut C2 shield hoop C3, The thigh protecting band C4 being arranged on the thigh shield hoop C3 and thigh protection pad C5 being arranged on thigh protecting band C4, thigh strut C2's Top and the bottom end of drive rod B2 are hinged.The top of thigh strut C2 is equipped with rotating member C1, rotating member C1 and drive rod B2 Hip joint pin shaft B9 is equipped between bottom end, thigh strut C2 is hinged by hip joint pin shaft B9 and the bottom end of drive rod B2.

As shown in figure 5, knee components D include the femur end D1 being fixedly connected with the bottom end of big leg assembly C and with it is small The ligament tibia end D7 that the top of leg assembly E is fixedly connected is equipped with knee joint and bends and stretches component, femur between femur end D1 and ligament tibia end D7 The top of the bottom and ligament tibia end D7 of holding D1 member hinges are bent and stretched by knee joint.It includes linear brake that knee joint, which bends and stretches component, D2, torque spring D3, mandrel, dividing spindle D6, knee joint magnetic coder D4 and knee joint magnet, linear brake D2, dividing spindle D6 and knee joint magnetic coder D4 are fixed on the D1 of femur end, and linear brake D2 is located at the upper of dividing spindle D6 Side, knee joint magnet are located in the central shaft hole of dividing spindle D6, and mandrel is fixed on ligament tibia end D7, and torque spring D3 is arranged In mandrel, and one end of torque spring D3 is fixedly connected with mandrel, and the other end is fixedly connected with linear brake D2.Knee closes It further includes spring collet, big sliding sleeve, small sliding sleeve, shell D8 and shell disk D5, spring collet, shell D8 and shell that section, which bends and stretches component, Disk D5 is fixedly connected, and is fixed on dividing spindle D6 by shell disk D5 limit, the axis of ligament tibia end D7, big sliding sleeve and femur end D1 With one heart, big sliding sleeve is located between ligament tibia end D7 and femur end D1, and small sliding sleeve covers on dividing spindle D6, and is located at ligament tibia end D7 and divides It spends in the axial gap of axis D6.

As shown in fig. 6, shank component E include the shank strut E1 that the bottom knee components D is set, be fixed at it is small Shank shield on leg strut E1 is bound round E2, the shank protecting band E3 being arranged on shank shield hoop E2 and is arranged on shank protecting band E3 Shank protection pad E4.

As shown in fig. 7, ankle foot component F includes the ankle-joint main body F1 that the bottom shank component E is arranged in, is arranged in ankle-joint Sole F6 below main body F1 and the ankle foot connector F5 being arranged between ankle-joint main body F1 and sole F6, sole F6 pass through Ankle foot connector F5 and ankle-joint main body F1 are hinged.It is equipped with side by side in ankle-joint main body F1 and offers a pair of of through-hole, set in through-hole There is energy storage component, energy storage component includes being plugged in the stop screw F2 of via top and being arranged along through-hole axial movement in through-hole Interior moving member F3 is equipped with spring F4, the bottom end of moving member F3 and ankle foot connector between moving member F3 and stop screw F2 F5 is in contact.

Since thigh strut C2 and shank strut E1 are that structure is simple, easy processing, part easy to install, length can To be customized according to user's concrete condition.Particularly, shank strut E1 needs are bent according to the shank situation of user, to protect Card shank component is bonded closely with user's shank.Thigh shield hoop C3 and shank shield hoop E2 use resin plate, it is comfortable and easy to wear and It can be formed according to user's concrete condition.Particularly, shank shield hoop E2 needs large contact area, to guarantee shank position It fixes.

When user dresses and starts lower limb exoskeleton, waist feature is supplied to the quilt that outreach direction is received in user Freedom degree is moved, sensor is placed in bilateral hip joint driving assembly, gait is judged by sensor feedback, to control hip pass It saves driving assembly and drives big leg assembly, the active freedom degree of hip joint buckling stretching, extension is provided.Big leg assembly is that user additionally mentions It has supplied in one to receive the passive freedom degree in outreach direction, so that it is submissive comfortable to allow user's thigh to swing.Bilateral knee components The passive freedom degree of buckling direction of extension is provided, two bilateral knee components equally placed sensor, pass through in analysing gait The state that linear brake adjusts torque spring D3 is controlled, to control knee joint locking and unlocking.Bilateral ankle foot component provides The passive freedom degree in ankle-joint plantar flexion dorsiflex direction, uses elastic damping structure, and flexible energy storage effect can pass through tune Stop screw F2 is saved to adjust damping size.

It can understand the above description of the embodiments is intended to facilitate those skilled in the art and use practical It is novel.Person skilled in the art obviously easily can make various modifications to these embodiments, and illustrating herein General Principle be applied in other embodiments without having to go through creative labor.Therefore, the utility model is not limited to above-mentioned Embodiment, those skilled in the art's announcement according to the present utility model, do not depart from improvement that the utility model scope is made and Modification should be all within the protection scope of the utility model.

Claims (10)

1. a kind of semi-passive light-type lower limb exoskeleton, which is characterized in that the lower limb exoskeleton includes waist feature (A) and one To the lower extremity movement mechanism for being separately positioned on the both ends waist feature (A), the waist feature (A) include first baffle (A1) with And the hinged second baffle (A2) with first baffle (A1), two lower extremity movement mechanisms respectively with first baffle (A1), second baffle (A2) it is connected, the lower extremity movement mechanism includes the hip joint driving group being from top to bottom successively set on waist feature (A) Part (B), big leg assembly (C), knee components (D), shank component (E) and ankle foot component (F).

2. a kind of semi-passive light-type lower limb exoskeleton according to claim 1, which is characterized in that the first baffle (A1) one end is equipped with the first connecting plate (A5), offers axis hole (A7), the second baffle on first connecting plate (A5) (A2) one end is equipped with the second connecting plate (A6), which is equipped with fixing axle (A8), first connection The compatible bearing (A3) with axis hole (A7), fixing axle (A8) respectively is equipped between plate (A5) and the second connecting plate (A6).

3. a kind of semi-passive light-type lower limb exoskeleton according to claim 1, which is characterized in that the hip joint drives Dynamic component (B) includes fixed disk (B1), drive rod (B2), locating part (B3), harmonic speed reducer (B4), brshless DC motor (B5), hip joint magnet (B7) and hip joint magnetic coder (B8), the fixed disk (B1) and the end of waist feature (A) are solid Fixed connection, the locating part (B3) are fixed on fixed disk (B1), the locating part (B3) and brshless DC motor (B5) be located at the two sides of harmonic speed reducer (B4), the drive rod (B2) be located at locating part (B3) and fixed disk (B1) it Between, the flexbile gear of the harmonic speed reducer (B4) is fixedly connected with locating part (B3), brshless DC motor (B5) respectively, described The firm gear of harmonic speed reducer (B4) is fixedly connected with drive rod (B2), the wave producer of the harmonic speed reducer (B4) with it is brushless The output shaft of direct current generator (B5) is connected, and the hip joint magnet (B7) is fixed on drive rod (B2), the hip Joint magnetic coder (B8) is fixed on fixed disk (B1).

4. a kind of semi-passive light-type lower limb exoskeleton according to claim 3, which is characterized in that the big leg assembly It (C) include thigh strut (C2), the thigh being fixed on thigh strut (C2) shield hoop (C3), setting in thigh shield hoop (C3) On thigh protecting band (C4) and thigh protection pad (C5) on thigh protecting band (C4), the top of the thigh strut (C2) are set It holds hinged with the bottom end of drive rod (B2).

5. a kind of semi-passive light-type lower limb exoskeleton according to claim 4, which is characterized in that the thigh strut (C2) top is equipped with rotating member (C1), and hip joint pin shaft is equipped between the rotating member (C1) and the bottom end of drive rod (B2) (B9), the thigh strut (C2) is hinged by hip joint pin shaft (B9) and the bottom end of drive rod (B2).

6. a kind of semi-passive light-type lower limb exoskeleton according to claim 1, which is characterized in that the knee joint group Part (D) includes the femur end (D1) being fixedly connected with the bottom end of big leg assembly (C) and the fixed company in top with shank component (E) The ligament tibia end (D7) connect is equipped with knee joint and bends and stretches component, the femur between the femur end (D1) and ligament tibia end (D7) The top of the bottom and ligament tibia end (D7) of holding (D1) member hinges are bent and stretched by knee joint.

7. a kind of semi-passive light-type lower limb exoskeleton according to claim 6, which is characterized in that the knee joint is bent Stretching component includes linear brake (D2), torque spring (D3), mandrel, dividing spindle (D6), knee joint magnetic coder (D4) and knee Joint magnet, the linear brake (D2), dividing spindle (D6) and knee joint magnetic coder (D4) are fixed at femur It holds on (D1), and the linear brake (D2) is located at the top of dividing spindle (D6), the knee joint magnet, which is located at, to be divided It spends in the central shaft hole of axis (D6), the mandrel is fixed on ligament tibia end (D7), and the torque spring (D3) is arranged In mandrel, and one end of the torque spring (D3) is fixedly connected with mandrel, and the other end and linear brake (D2) are solid Fixed connection.

8. a kind of semi-passive light-type lower limb exoskeleton according to claim 1, which is characterized in that the shank component (E) include setting the bottom knee components (D) shank strut (E1), be fixed on shank strut (E1) shank shield It binds round (E2), setting and protects the shank protecting band (E3) bound round on (E2) and the shank protection pad being arranged on shank protecting band (E3) in shank (E4)。

9. a kind of semi-passive light-type lower limb exoskeleton according to claim 1, which is characterized in that the ankle foot component (F) include setting the bottom shank component (E) ankle-joint main body (F1), sole below ankle-joint main body (F1) is set (F6) and ankle foot connector (F5) between ankle-joint main body (F1) and sole (F6) is set, the sole (F6) passes through Ankle foot connector (F5) and ankle-joint main body (F1) are hinged.

10. a kind of semi-passive light-type lower limb exoskeleton according to claim 9, which is characterized in that the ankle-joint It is equipped with side by side in main body (F1) and offers a pair of of through-hole, energy storage component is equipped in the through-hole, the energy storage component includes It is plugged in the stop screw (F2) of via top and moves axially the moving member (F3) being arranged in through-hole, the movement along through-hole It is equipped with spring (F4) between part (F3) and stop screw (F2), bottom end and ankle foot connector (F5) phase of the moving member (F3) Contact.