CN110339547B - A foot-assist exoskeleton device - Google Patents

Abstract

The invention discloses a foot power-assisted exoskeleton device, comprising an energy storage torsion spring, a sole supporting part, a sole energy locking and releasing part, a heel energy locking and releasing part, a reset spring, and a heel and sole supporting part; the reset spring is arranged on the heel and sole. between the support part and the sole support part; the energy storage torsion spring is sleeved on the torsion spring installation shaft fixed on the sole support part, the energy storage torsion spring and the first torsion spring arm at the opposite end of the sole, the energy storage torsion spring and the heel The opposite end is the second torsion spring arm; the sole energy locking and releasing component is arranged at the head end of the sole support component, and the heel energy locking release component is arranged at the rear end of the sole supporting component; in the gait cycle, the torsion spring realizes the release of the heel to the ground. Collision energy absorption, control the release of energy on the forefoot when the foot is on the ground through the change of the sole pressure, to achieve walking assistance, the device has a simple structure, is easy to manufacture and use, and provides assistance when the forefoot is on the ground. Feeling, the boosting effect is remarkable, and the man-machine coordination is good.

Description

A foot-assist exoskeleton device

technical field

The present invention relates to the technical field of foot assist devices, in particular to a foot assist exoskeleton device.

Background technique

A journey of a thousand miles begins with a single step, and human work and life are inseparable from foot movement. Humans walk about 10,000 steps per day on average. Reducing the energy consumption of walking through foot-assisted exoskeleton devices is of great significance to improve human exercise capacity. The current foot exoskeleton systems are divided into powered exoskeletons and passive exoskeletons according to whether there is a power supply or not. Most of the powered exoskeletons are heavy and complex, and the inclusion of driving power greatly increases the weight and cost of the system, further limiting the application conditions. There are still problems in common issues such as human-machine coordination. The passive exoskeleton has a relatively simple structure, better practicability and lower production cost.

When the human body walks, part of the main energy consumption is in the collision between the heel and the ground, and the other part is in the hamstrings, Achilles tendon and other muscle tissues. How to store the collision energy between the heel and the ground when walking, and release this part of the energy to reduce the energy consumption of the leg muscles is the key to the design of the passive assist device. Simply arranging elastic elements on the sole can obtain limited energy feedback and cannot achieve a good labor-saving effect.

Most of the existing passive foot exoskeleton assist systems control the release of assist based on changes in the angle of the ankle joint. When the hamstrings of the calf are about to exert force, the energy is released to provide torque to the ankle joint and relieve the fatigue of key muscles during walking. However, if the power is released too early, the human body needs to provide the assistance provided by an additional force balance device, which makes walking more laborious. In addition, complex ankle angle changes and difficult monitoring add to the complexity of this type of equipment.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide a foot-assisted exoskeleton device to solve the above-mentioned problems in the prior art, control the release of the booster based on the pressure change of the sole of the foot, and provide assistance for the forefoot when the walking foot is on the ground, so as to achieve a better fit for the foot. Effort-saving walking for part of the exercise habit.

For achieving the above object, the present invention provides the following scheme:

The invention provides a foot power-assisted exoskeleton device, comprising an energy storage torsion spring, a sole support part, a sole energy locking and releasing part, a heel energy locking and releasing part, a return spring, and a heel and sole supporting part;

The heel and sole support member is arranged on the top of the sole support member, and the top of the heel and sole support member is used to fix the human foot;

the return spring is arranged between the heel and sole support part and the sole support part;

A first torsion spring installation shaft is fixed on the top of the sole support member, the energy storage torsion spring is sleeved on the first torsion spring installation shaft, and the head end of the energy storage torsion spring opposite to the sole is the first torsion spring. a torsion spring arm, the tail end of the energy storage torsion spring opposite to the heel is a second torsion spring arm;

The sole energy locking and releasing component is arranged at the head end of the sole support component, and the heel energy locking release component is arranged at the rear end of the sole supporting component; in the initial state, the sole energy locking release component is locked The first torsion spring arm of the energy storage torsion spring, the heel energy locking and releasing part is opposite to the second torsion spring arm, and the second torsion spring arm is in a waiting state; when the foot is walking, the heel is in contact with the ground. The second torsion spring arm is contacted and pressed down, the energy storage torsion spring stores energy, and the second torsion spring arm is locked by the heel energy locking and releasing component during the pressing process; Press down the sole energy locking and releasing part, the first torsion spring arm is unlocked, and the energy stored by the energy storage torsion spring is released to provide assistance for walking; after the energy storage torsion spring releases the assist, the heel energy locking and releasing part is affected by The force becomes smaller, the heel is lifted, and the second torsion spring arm is unlocked and reset; after further pushing the ground, the overall foot-assisted exoskeleton device enters a suspended state with the foot, and under the push of the reset spring, the sole of the heel under the heel The distance between the support member and the sole support member is increased, and the second torsion spring arm rotates counterclockwise around the first torsion spring installation axis, so that the first torsion spring arm also rotates around the first torsion spring installation axis By rotating counterclockwise, the foot energy locking and releasing component locks the first torsion spring arm, the device returns to the initial state, and energy feedback is realized in the gait cycle.

Preferably, the heel and sole support member includes two support plates opposite to the sole and the heel respectively, the top of each support plate is provided with a foot fixing member, and the bottom of each support plate is provided with a torsion spring limiter The torsion spring limiting frame is composed of two oppositely arranged rectangular frames, and the height of the rectangular frames is greater than the diameter of the energy storage torsion spring.

Preferably, a chute is provided on the top of each of the support blocks, and the foot fixing components are splints respectively arranged on both sides of the chute, the splint is slidably connected to the chute, and the splint is There are straps for fixing the feet.

Preferably, the return spring is disposed between the two support plates and the sole support member.

Preferably, there are two first torsion spring arms, the two first torsion spring arms extend from the inner side of the energy storage torsion spring toward the head end, and the ends of the two first torsion spring arms The two parts are connected by a limit rod, the inner side of the rod body of the limit rod between the two first torsion spring arms is provided with a first locking groove, and the first locking groove cooperates with the sole energy locking and releasing part Arrangement, the rod body part of the limit rod located on the outer side of the two first torsion spring arms is overlapped on the torsion spring limit frame at the sole end;

There are two second torsion spring arms, the two second torsion spring arms extend from the outer side of the energy storage torsion spring to the rear end, and the ends of the two second torsion spring arms are respectively provided There are clamping feet, the clamping feet are formed by bending the second torsion spring arm inward, and each of the clamping feet is provided with a second locking groove cooperating with the heel energy locking and releasing part, The clamping feet are overlapped on the torsion spring limiting frame at the heel end.

Preferably, the foot energy locking and releasing component comprises two laterally oppositely arranged first bases, a second torsion spring mounting shaft, a first torsion spring, two first locking and releasing switches and a first pawl;

The two first bases are fixedly connected to the sole support member, the second torsion spring installation shaft is fixed between the two first bases, and the first torsion spring is sleeved on the The second torsion spring is mounted on the shaft, and the start end and the end end of the first torsion spring are respectively fixed on one of the first bases;

The bottoms of the two first lock-release switches and the first pawls are rotatably connected with the second torsion spring installation shaft, and the first pawls are arranged between the two first lock-release switches ;

The tops of the two first lock-release switches are in contact with the bottom of the heel and sole support member, and the tops of the first pawls are provided with a first locking portion, and the first locking portion is clamped to the first locking portion. in the locking groove;

The rod bodies of the two first lock-release switches are also provided with strip-shaped first limit holes vertically, respectively, and the rod bodies of the first pawls are provided with strip-shaped second limit holes. The middle of a torsion spring is provided with a first U-shaped connecting portion extending toward the head end, and the first torsion springs on both sides of the first U-shaped connecting portion are provided with a second U-shaped connecting portion extending toward the tail end A connecting portion, the first U-shaped connecting portion is penetrated in the first limiting hole, and the second U-shaped connecting portion is respectively penetrated in one of the second limiting holes.

Preferably, the heel energy locking and releasing component includes a second base, a third torsion spring mounting shaft, a second torsion spring, two second locking and releasing switches and two second pawls; the second base is fixed In the middle of the third torsion spring installation shaft, the second base is fixedly connected to the sole support member; the second torsion spring is sleeved on the third torsion spring installation shaft, and the two The bottom of the second pawl is rotatably connected to both ends of the third torsion spring installation shaft, and the third torsion spring installation shaft between the two second pawls and the second base is respectively A second lock and release switch is provided, and the bottoms of the two second lock and release switches are rotatably connected with the third torsion spring installation shaft;

The tops of the two second locking and releasing switches are in contact with the bottom of the heel and sole support member, and the tops of the two second pawls are provided with second locking parts, which are connected with the second locking parts. The locking grooves are opposite to each other, and when the second torsion spring arm is forced downward, the second locking portion can be engaged with the second locking groove;

The middle portion of the second torsion spring is provided with a third U-shaped connecting portion extending toward the head end, and the second torsion springs on both sides of the third U-shaped connecting portion are provided with third U-shaped connecting portions extending toward the tail end. Four U-shaped connecting parts, the third U-shaped connecting part is penetrated on the second base, and the third U-shaped connecting part is fixedly connected with the second base;

The rod bodies of the two second lock-release switches are respectively provided with strip-shaped third limit holes vertically, and the rod bodies of the two second pawls are respectively provided with strip-shaped fourth limit holes. The fourth U-shaped connecting parts are respectively penetrated in one of the third limiting holes, and the force-receiving parts at both ends of the second torsion spring are respectively penetrated in one of the fourth limiting holes.

Preferably, the first base and the sole support member are fixedly connected by bolts.

Preferably, the second base and the sole support member are fixedly connected by bolts.

The present invention has achieved the following beneficial technical effects with respect to the prior art:

1. The foot assist exoskeleton device provided by the present invention stores and discharges energy through a torsion spring, with a simple structure and high energy storage and discharge efficiency.

2. The foot assist exoskeleton device provided by the present invention triggers the storage and release of the assist force through the pressure of the sole of the foot, and has a simple structure and effective control.

3. The foot power exoskeleton device provided by the present invention stores the energy of the heel landing on the forefoot through the torsion spring, which is more in line with the movement characteristics of the forefoot when the human body is walking, and improves the human-machine coordination of the foot power exoskeleton. sex.

Description of drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the accompanying drawings required in the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some of the present invention. In the embodiments, for those of ordinary skill in the art, other drawings can also be obtained according to these drawings without any creative effort.

Fig. 1 is the overall three-dimensional assembly view of the foot assist exoskeleton device in the present invention;

FIG. 2 is a partial three-dimensional assembly view of the foot assist exoskeleton device in the present invention;

Fig. 3 is the three-dimensional structure schematic diagram of the sole support member in the present invention;

Fig. 4 is the three-dimensional structure schematic diagram of the heel and sole support member in the present invention;

Fig. 5 is the three-dimensional structure schematic diagram of the energy storage torsion spring in the present invention;

FIG. 6 is a schematic three-dimensional structure diagram of a sole energy locking and releasing component in the present invention;

Fig. 7 is the three-dimensional structure schematic diagram of the heel energy locking and releasing component in the present invention;

8 is a schematic diagram of a foot assist process of the foot assist exoskeleton device in the present invention;

In the figure: 1-energy storage torsion spring, 101-first torsion spring arm, 102-second torsion spring arm, 103-limiting rod, 104-first locking groove, 105-pin, 106-second locking groove ;

2-foot support part, 201-first torsion spring installation shaft;

3-foot energy locking and releasing part, 301-first base, 302-second torsion spring installation shaft, 303-first torsion spring, 304-first locking and releasing switch, 305-first pawl, 306-first Locking part, 307-first limit hole, 308-second limit hole, 309-first U-shaped connecting part, 310-second U-shaped connecting part;

4- Heel energy locking and releasing part, 401- Second base, 402- Third torsion spring mounting shaft, 403- Second torsion spring, 404- Second locking and releasing switch, 405- Second pawl, 406- Second Locking part, 407-third U-shaped connection part, 408-fourth U-shaped connection part, 409-third limit hole, 410-fourth limit hole, 411-force-receiving part;

5-Return spring;

6- Heel and sole support part, 601- Support plate, 602- Foot fixing part, 603- Torsion spring limit frame, 604- Chute.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

The purpose of the present invention is to provide a foot assist exoskeleton device to solve the problems existing in the prior art.

In order to make the above objects, features and advantages of the present invention more clearly understood, the present invention will be described in further detail below with reference to the accompanying drawings and specific embodiments.

The present invention provides a foot power-assisted exoskeleton device, as shown in Figures 1-3, comprising an energy storage torsion spring 1, a sole support part 2, a sole energy locking and releasing part 3, a heel energy locking and releasing part 4, and a return spring 5. The heel and sole support member 6; the heel and sole support member 6 is arranged on the top of the sole support member 2, and the top of the heel and sole support member 6 is used to fix the human foot; the return spring 5 is arranged on the heel and sole support member 6 and the sole of the foot Between the support parts 2, the reset of the movement of the whole device is realized; the top of the sole support part 2 is fixed with a first torsion spring installation shaft 201, and the energy storage torsion spring 1 is sleeved on the first torsion spring installation shaft 201, and the energy storage torsion spring is mounted on the first torsion spring installation shaft 201. The head end of the spring 1 opposite to the sole of the foot is the first torsion spring arm 101, and the tail end of the energy storage torsion spring 1 opposite to the heel is the second torsion spring arm 102;

The sole energy locking and releasing component 3 is arranged at the head end of the sole support component 2, and the heel energy locking release component 4 is arranged at the rear end of the sole supporting component 2; in the initial state, the sole energy locking release component 3 locks the energy storage torsion spring 1 The first torsion spring arm 101, the heel energy locking member 4 is opposite to the second torsion spring arm 102, and the second torsion spring arm 102 is in a waiting state; when the foot is walking, the heel contacts the ground and presses the second torsion spring arm 102, the energy storage torsion spring 1 stores energy, and the second torsion spring arm 102 is locked by the heel energy locking and releasing part 4 during the pressing process; after the entire sole of the foot touches the ground, the pressure of the sole of the foot increases, and the sole energy locking and releasing part 3 is pressed down, and the first twist The spring arm 101 is unlocked, releasing the energy stored by the energy storage torsion spring 1 to provide assistance for walking; after the energy storage torsion spring 1 releases the assist, the force of the heel energy locking and releasing part 4 becomes smaller, the heel is lifted, and the second torsion spring arm 102 is unlocked Reset; after further kicking the ground, the overall foot assist exoskeleton device enters the suspended state with the foot, and the distance between the heel and sole support part 6 under the heel is pushed by the reset spring 5 and the sole support part 2 increases, and the second torsion spring arm 102 winds the first A torsion spring installation shaft 201 rotates counterclockwise, so that the first torsion spring arm 101 also rotates counterclockwise around the first torsion spring installation shaft 201, and then the sole energy locking member 3 locks the first torsion spring arm 101, and the device returns to the initial state, Energy feedback is achieved during the gait cycle.

Specifically, as shown in FIG. 4 , the heel and sole support member 6 includes two support plates 601 respectively opposite to the sole of the foot and the heel. The top of each support plate 601 is provided with a foot fixing member 602 . The bottoms are provided with torsion spring limit frames 603, and the torsion spring limit frames 603 are composed of two oppositely arranged rectangular frames, and the height of the rectangular frames is greater than the diameter of the energy storage torsion spring 1;

In order to fix the entire device with the foot of the human body, the top of each support block is provided with a chute 604, the foot fixing parts 602 are splints arranged on both sides of the chute 604, the splint is slidably connected with the chute 604, and the splint A strap for fixing the foot (not shown in the figure) is arranged on the upper part; when in use, the foot is first clamped with the splint at the heel and the sole, and then the strap can be used to bind and fix it.

In the present invention, a return spring 5 is disposed between the two support plates 601 and the sole support member 2 .

As shown in FIG. 5 , there are two first torsion spring arms 101 , the two first torsion spring arms 101 extend from the inner side of the energy storage torsion spring 1 toward the head end, and the ends of the two first torsion spring arms 101 Connected by a limit rod 103, a first locking groove 104 is provided on the inner side of the rod body of the limit rod 103 between the two first torsion spring arms 101, and the first locking groove 104 is arranged in cooperation with the sole energy locking member 3, located in The rod parts of the limit rods 103 on the outer sides of the two first torsion spring arms 101 overlap with the torsion spring limit frame 603 at the sole end; two second torsion spring arms 102 are provided, and the two second torsion spring arms 102 are formed by The outer side of the energy storage torsion spring 1 extends toward the rear end. The ends of the two second torsion spring arms 102 are respectively provided with clamping feet 105. The clamping feet 105 are formed by bending the second torsion spring arms 102 inward. Each of the feet 105 is provided with a second locking groove 106 cooperating with the heel energy locking and releasing member 4 , and the locking feet 105 are overlapped on the torsion spring limiting frame 603 at the heel end.

As shown in FIG. 6 , the sole energy locking and releasing component 3 includes two laterally oppositely arranged first bases 301 , a second torsion spring mounting shaft 302 , a first torsion spring 303 , two first locking and releasing switches 304 and a first The pawls 305; the two first bases 301 are fixedly connected to the sole support member 2 by bolts, the second torsion spring installation shaft 302 is fixed between the two first bases 301, and the first torsion spring 303 is sleeved on the first torsion spring 303. The two torsion springs are mounted on the shaft 302, and the start end and the end end of the first torsion spring 303 are respectively fixed on one of the first bases 301;

The bottoms of the two first lock-release switches 304 and the first pawls 305 are rotatably connected with the second torsion spring installation shaft 302 (sleeved on the second torsion spring installation shaft 302 ), and the first pawls 305 are arranged on the two torsion spring installation shafts 302 . Between the first lock and release switches 304; the tops of the two first lock and release switches 304 are in contact with the bottom of the heel and sole support member 6 (support plate 601), the top of the first pawl 305 is provided with a first locking portion 306, A locking portion 306 is snapped into the first locking groove 104;

The rod bodies of the two first lock-release switches 304 are also provided with strip-shaped second limit holes 308 vertically, respectively, and the rod bodies of the first pawls 305 are provided with strip-shaped first limit holes 307 . The middle portion of the spring 303 is provided with a first U-shaped connecting portion 309 extending toward the head end, and the first torsion springs 303 on both sides of the first U-shaped connecting portion 309 are provided with a second U-shaped connecting portion extending toward the tail end. 310 , the first U-shaped connecting portion 309 is penetrated in the first limiting hole 307 , and the second U-shaped connecting portion 310 is respectively penetrated in one of the second limiting holes 308 .

As shown in FIG. 7 , the heel energy locking and releasing component 4 includes a second base 401 , a third torsion spring mounting shaft 402 , a second torsion spring 403 , two second locking and releasing switches 404 and two second pawls 405 ; The second base 401 is fixed to the middle of the third torsion spring installation shaft 402, and the second base 401 is fixedly connected to the sole support member 2 through bolts; the second torsion spring 403 is sleeved on the third torsion spring installation shaft 402, The bottoms of the two second pawls 405 are rotatably connected to both ends of the third torsion spring installation shaft 402 , and a third torsion spring installation shaft 402 between the two second pawls 405 and the second base 401 is respectively provided with a The second lock and release switches 404, and the bottoms of the two second lock and release switches 404 are connected with the third torsion spring installation shaft to rotate 402;

The tops of the two second lock-release switches 404 abut against the bottom of the heel and sole support member 6 , the tops of the two second pawls 405 are provided with second locking portions 406 , and the second locking portions 406 are opposite to the second locking grooves 106 . When the second torsion spring arm 102 is forced downward, the second locking portion 406 can be engaged with the second locking groove 106;

The middle of the second torsion spring 403 is provided with a third U-shaped connecting portion 407 extending toward the head end, and the second torsion springs 403 on both sides of the third U-shaped connecting portion 407 are provided with a fourth U-shaped connecting portion 403 extending toward the tail end The third U-shaped connecting portion 407 is penetrated on the second base 401, and the third U-shaped connecting portion 407 is fixedly connected with the second base 401; A strip-shaped third limiting hole 409 is vertically opened, respectively, and a strip-shaped fourth limiting hole 410 is vertically opened on the rod bodies of the two second pawls 405. The fourth U-shaped connecting portion 408 is respectively penetrated in In one of the third limiting holes 409 , the force-receiving portions 411 at both ends of the second torsion spring 403 are respectively penetrated in one of the fourth limiting holes 410 .

The specific foot assist process of the foot assist exoskeleton device in the present invention will now be described in detail with reference to the various structures of the above-mentioned foot assist exoskeleton device:

The device is fixed to the sole of the foot through the splint and straps in the heel and ball support part 6;

As shown in a of FIG. 8 , in the initial state of the gait cycle, the first locking portion 306 of the first pawl 305 is snapped into the first locking groove 104 , the first torsion spring arm 101 is fixed, and the second torsion spring The clip 105 at the end of the arm 102 is inserted into the torsion spring limiting frame 603 to support the rear heel, and is in a state to be locked;

As shown in b and c in Figure 8, when the foot is walking, the heel contacts the ground and presses the second torsion spring arm 102, and the energy storage torsion spring 1 stores energy. After pressing down to a certain position, the support plate 601 at the heel moves The two second locking and releasing switches 404 of the moving heel energy locking and releasing component 4 drive the two second pawls 405 to rotate under the action of the second torsion spring 403 , and the second locking portions 406 on the second pawls 405 are engaged with each other. into the second locking groove 106 to lock the second torsion spring arm 102 and store the energy of the foot landing;

As shown in pictures d and e in FIG. 8 , after the sole of the foot touches the ground, the pressure of the sole of the foot increases, the two first lock-release switches 304 are pressed down, and the force between the first torsion spring arm 101 and the first pawl 305 becomes smaller at the same time. , the first pawl 305 rotates, the first locking portion 306 is moved out from the first locking groove 104, the first torsion spring arm 101 is unlocked, and the energy stored in the stored energy storage torsion spring 1 is released to provide assistance for walking;

As shown in Figure f in FIG. 8 , after the energy storage torsion spring 1 releases the power, the force of the two second pawls 405 becomes smaller, and the heel lifts up. Since the height of the torsion spring limit frame 603 is greater than the diameter of the energy storage torsion spring 1 , the support plate 601 at the heel is raised to a height, the height is the height of the torsion spring limit frame 603 minus the diameter of the second torsion spring arm 102, the two second locking switches are reset and opened, at this time the top of the second pawl 405 Under the action of the second torsion spring 403, the second locking part 406 of the second lock part 406 comes out of the second locking groove 106, and the second torsion spring arm 102 is unlocked and reset;

After further kicking the ground, the exoskeleton of the entire sole assists the foot to enter the suspended state with the foot. Under the push of the return spring 5, the distance between the support plate 601 under the heel and the sole support structure increases. Driven by the torsion spring limit frame 603, the second torsion The spring arm 102 rotates counterclockwise around the first torsion spring installation shaft 201 , so that the first torsion spring arm 101 also rotates counterclockwise around the first torsion spring installation shaft 201 until the first locking portion 306 is snapped into the first locking groove 104 , the first pawl 305 is locked, the device returns to the initial state, and energy feedback is realized in the gait cycle.

The present invention uses specific examples to illustrate the principles and implementations of the present invention, and the descriptions of the above embodiments are only used to help understand the method and the core idea of the present invention; There will be changes in the specific implementation and application scope. In conclusion, the contents of this specification should not be construed as limiting the present invention.

Claims (9)

1. A foot-assist exoskeleton device, comprising: comprises an energy storage torsion spring, a sole supporting component, a sole energy locking component, a heel energy locking component, a return spring and a heel sole supporting component;

the heel sole supporting part is arranged at the top of the sole supporting part, and the top of the heel sole supporting part is used for fixing the foot of a human body;

the return spring is arranged between the heel sole supporting component and the sole supporting component;

a first torsion spring mounting shaft is fixed at the top of the sole supporting part, the energy storage torsion spring is sleeved on the first torsion spring mounting shaft, the head end of the energy storage torsion spring opposite to the sole is a first torsion spring arm, and the tail end of the energy storage torsion spring opposite to the heel is a second torsion spring arm;

the sole energy locking and releasing component is arranged at the head end of the sole supporting component, and the heel energy locking and releasing component is arranged at the tail end of the sole supporting component; in an initial state, the sole energy locking and releasing component locks a first torsion spring arm of the energy storage torsion spring, the heel energy locking and releasing component is opposite to a second torsion spring arm, and the second torsion spring arm is in a state to be locked; when the foot walks, the heel contacts with the ground to press down the second torsion spring arm, the energy storage torsion spring stores energy, and the second torsion spring arm is locked by the heel energy locking component in the pressing down process; after the whole sole lands, the sole pressure is increased, the sole energy locking and releasing component is pressed down, the first torsion spring arm is unlocked, and the energy stored by the energy storage torsion spring is released to provide assistance for walking; after the energy storage torsion spring releases the assistance, the stress of the heel energy locking and releasing component is reduced, the heel is lifted, and the second torsion spring arm is unlocked and reset; after the human body is pedaled, the whole foot sole assisting exoskeleton device enters a suspended state along with feet, under the pushing of the reset spring, the distance between the heel sole supporting part and the foot sole supporting part under the heel is increased, the second torsion spring arm rotates anticlockwise around the first torsion spring mounting shaft, so that the first torsion spring arm also rotates anticlockwise around the first torsion spring mounting shaft, the first torsion spring arm is locked by the sole energy locking and releasing part, the device returns to an initial state, and energy feedback is achieved in a gait cycle.

2. The foot-assisted exoskeleton device of claim 1, wherein: heel sole supporting part includes two backup pads relative with sole and heel respectively, and the top of every backup pad all is provided with foot fixed part, every the bottom of backup pad all is provided with the spacing frame of torsional spring, the spacing frame of torsional spring comprises two relative rectangular frame that set up, and rectangular frame's height is greater than the diameter of energy storage torsional spring.

3. The foot-assisted exoskeleton device of claim 2, wherein: every the top of backup pad all is provided with the spout, foot fixed part for set up respectively in the splint of spout both sides, splint with spout sliding connection, be provided with the bandage of fixed foot on the splint.

4. The foot-assisted exoskeleton device of claim 2, wherein: the reset springs are arranged between the two supporting plates and the sole supporting part.

5. The foot-assisted exoskeleton device of claim 2, wherein: the two first torsion spring arms extend from the inner side of the energy storage torsion spring to the head ends, the end parts of the two first torsion spring arms are connected through a limiting rod, a first locking groove is formed in the inner side of a rod body of the limiting rod between the two first torsion spring arms, the first locking groove is matched with the sole energy locking and releasing component, and the rod body parts of the limiting rods positioned on the outer sides of the two first torsion spring arms are lapped on the torsion spring limiting frames at the sole ends;

the second torsional spring arm is provided with two, two the second torsional spring arm by the outside of energy storage torsional spring extends to the tail end, two the tip of second torsional spring arm is provided with the card foot respectively, the card foot by the second torsional spring arm is to the inside side bend and is formed, every all be provided with on the card foot with the second locking groove that the part cooperation set up is put to heel energy lock, the card foot overlap joint is in the heel end on the spacing frame of torsional spring.

6. The foot-assisted exoskeleton device of claim 5, wherein: the sole energy locking and releasing component comprises a first base, a second torsion spring mounting shaft, a first torsion spring, two first locking switches and a first pawl which are transversely arranged oppositely;

the two first bases are fixedly connected with the sole supporting part, the second torsion spring mounting shaft is fixed between the two first bases, the first torsion spring is sleeved on the second torsion spring mounting shaft, and the starting end and the terminating end of the first torsion spring are respectively fixed on one of the first bases;

the bottoms of the two first locking switches and the first pawl are rotationally connected with the second torsion spring mounting shaft, and the first pawl is arranged between the two first locking switches;

the tops of the two first locking switches are abutted against the bottom of the heel sole supporting part, a first locking part is arranged at the top of the first pawl, and the first locking part is clamped in the first locking groove;

two still vertically set up the first spacing hole of bar respectively on the body of rod of first locking switch, set up the spacing hole of second of bar on the body of rod of first pawl, the middle part of first torsional spring is provided with the first U type connecting portion that extend towards the head end, first U type connecting portion both sides be provided with the second U type connecting portion that extend towards the tail end on the first torsional spring, first U type connecting portion wear to locate in the first spacing downthehole, one of them is worn to locate respectively by the second U type connecting portion the spacing downthehole of second.

7. The foot-assisted exoskeleton device of claim 5, wherein: the heel energy locking and releasing component comprises a second base, a third torsion spring mounting shaft, a second torsion spring, two second locking and releasing switches and two second pawls; the second base is fixed in the middle of the third torsion spring mounting shaft and is fixedly connected with the sole supporting part; the second torsion spring is sleeved on the third torsion spring mounting shaft, the bottoms of the two second pawls are rotatably connected to two ends of the third torsion spring mounting shaft, the second locking switches are respectively arranged on the third torsion spring mounting shaft between the two second pawls and the second base, and the bottoms of the two second locking switches are rotatably connected with the third torsion spring mounting shaft;

the tops of the two second locking switches abut against the bottom of the heel sole supporting part, second locking parts are arranged at the tops of the two second pawls, the second locking parts are opposite to the second locking grooves, and the second locking parts can be clamped with the second locking grooves when the second torsion spring arms are stressed downwards;

a third U-shaped connecting part extending towards the head end is arranged in the middle of the second torsion spring, fourth U-shaped connecting parts extending towards the tail end are arranged on the second torsion spring on two sides of the third U-shaped connecting part, the third U-shaped connecting part penetrates through the second base, and the third U-shaped connecting part is fixedly connected with the second base;

two vertically offer the spacing hole of bar-shaped third respectively on the body of rod of second locking switch, two vertically offer the spacing hole of bar-shaped fourth respectively on the body of rod of second pawl, fourth U type connecting portion wear to locate one of them respectively the spacing downthehole of third, the atress portion at second torsional spring both ends wears to locate one of them respectively the spacing downthehole of fourth.

8. The foot-assisted exoskeleton device of claim 6, wherein: the first base is fixedly connected with the sole supporting component through bolts.

9. The foot-assisted exoskeleton device of claim 7, wherein: the second base is fixedly connected with the sole supporting component through bolts.

Images