CN221243147U - Adjustable foot exoskeleton - Google Patents

Abstract

The application discloses an adjustable foot exoskeleton, which comprises a foot support, wherein the foot support comprises a front support and a rear support, and the front support is used for placing and fixing feet of a human body; the rear foot support is used for being positioned at the heel part of a human body and attached to the heel part of the human body; the front support is provided with at least one supporting point at the sole part and the instep part for fixing the sole; the foot surface support belt is connected to two sides of the front support, and is used for providing support points for the human foot surface and adjusting and fixing the human foot surface part; when in use, the front end of the front bracket is contacted with the ground. The adjustable foot exoskeleton of the application can have good correction effect on patients with varus and valgus.

Description

Adjustable foot exoskeleton

Technical Field

The application relates to the field of rehabilitation correction instruments, in particular to an adjustable foot exoskeleton.

Background

The varus foot is a heel varus and plantar valgus to the medial ankle deformity, and the clinical symptoms are mainly represented by the heel valgus. Long-term varus can lead to abnormal gait and foot pain in the human body. The eversion of the foot refers to the phenomenon of eversion of the foot and outward of the sole, and is commonly seen in congenital diseases, and acquired diseases such as wounds and infections. General patients with varus and valgus can be treated with the aid of ankle-foot brace fixation. The ankle foot brace that uses on the market at present mostly makes its unable activity through brace overall structure fixed user's foot to reach the effect of correcting, like chinese patent of patent publication No. CN214712955U provides "an ankle foot brace" including integrated into one piece's plantar support portion and shank support portion, has played and has carried out certain correction effect to the condition of drop foot, and plantar support portion is unadjustable, can not adapt to not unidimensional user's foot, and is not good to the correction effect of drop foot patient.

Disclosure of Invention

The application aims to provide an adjustable foot exoskeleton which can effectively fix feet according to the foot size of a user, effectively improve, correct and treat the conditions of foot varus and foot valgus and has wider application prospect.

In order to achieve the above purpose, the technical scheme provided by the application is as follows:

An adjustable foot exoskeleton comprising a foot brace comprising a front brace, a rear brace, wherein:

The front bracket is used for placing and fixing feet of a human body;

The rear foot support is used for being positioned at the heel part of a human body and attached to the heel part of the human body;

The front support is provided with at least one supporting point at the sole part and the instep part for fixing the sole;

The foot surface support belt is connected to two sides of the front support, and is used for providing support points for the human foot surface and adjusting and fixing the human foot surface part;

when in use, the front end of the front bracket is contacted with the ground.

Preferably, the front bracket comprises a front left bracket and a front right bracket which are symmetrical in structure, the front left bracket and the front right bracket are bar-shaped brackets with certain bending degrees, and the bending degrees of the front left bracket and the front right bracket are bending from two end points to a middle point towards the sole direction; the two ends of the instep supporting belt are respectively connected to the front left bracket and the front right bracket, and are close to one end of the ankle of the human body.

Preferably, the instep support strap further comprises a strap adjustment means for adjusting the length of the instep support strap.

Preferably, the supporting strap adjusting device is a winch for winding and unwinding the adjusting supporting strap.

Preferably, the instep supporting belt is two toothed chains, the supporting belt adjusting device is a gear winch, the two toothed chains are oppositely arranged on two sides of the gear winch, and the teeth on the two toothed chains are matched with the gear winch, so that the teeth on the two toothed chains can be embedded in the gear winch.

Preferably, one or two ends of the instep supporting belt are provided with magnetic lock catches, and one or two sides of the front bracket are provided with magnetic bosses corresponding to the magnetic lock catches, so that the instep supporting belt is installed and fixed on one or two sides of the front bracket in a magnetic attraction mode.

Preferably, one or both ends of the instep support belt are provided with magic glues, one or both sides of the front bracket are provided with magic glues corresponding to the magic glues on the instep support belt, so that the instep support belt is fixed on one or both sides of the front bracket in a magic-sticking mode adjustable installation.

Preferably, the number of the foot surface supporting points of the front bracket is two, and the two foot surface supporting points are respectively positioned at the left side and the right side of the front bracket; the instep support belt is connected to two support points on the front bracket;

The adjustable foot exoskeleton further comprises a sole support and sole supporting belts, wherein the sole support is respectively and fixedly connected to two sides of the front end of the front support, and two ends of the sole supporting belts are respectively and fixedly connected to the sole support; the sole support and the sole supporting belt are used for providing supporting points for the sole of the human body and fixing the sole part of the human body; the sole support has a certain width and is contacted with the ground.

Preferably, the device further comprises a supporting part, wherein the supporting part is connected to the front bracket; the support part comprises a support part connecting end part, the front support comprises a front support connecting end part which is correspondingly connected and matched with the support part connecting end part, and the support part connecting end part and the front support connecting end part are matched into a connecting part; the connecting part is a rotating part, and the rotating part is positioned at or near the ankle joint of the human body and can enable the front bracket to rotate up and down.

Preferably, the device also comprises a left upper bracket and a right upper bracket for supporting and fixing the lower leg, which are respectively and fixedly connected with the supporting parts at the two sides of the front bracket and are positioned in front of the lower leg of the human body when in use; the foot rear support is U-shaped, and two ends of an opening of the foot rear support are fixedly connected with the rear ends of the front left support and the front right support of the front support respectively.

The adjustable foot exoskeleton provided by the application is arranged at two sides of the front support by arranging the two ends of the foot support belt, so that the feet of a user can be fixed and corrected, the length of the foot support belt is adjustable, the length of the foot support belt and the force for binding the feet can be adjusted according to the conditions of the user, the feet can be effectively bound on the support according to the foot shape of the user, and the conditions of the foot inside and the foot outside of the user can be improved better.

In addition, the instep supporting belt is detachable at one end or two ends, and can be unbound from any direction at one side or two sides, so that the use comfort of a user is improved, and the use convenience is improved.

On the other hand, the adjustable foot exoskeleton provided by the application can move relative to the support part by arranging the support part and the front support, and the rotation centers of the support part and the front support are arranged at or near the ankle joint point of the foot of a human body, so that when the foot exoskeleton is worn by the human body and moves, the support part and the front support can rotate along with the ankle joint, the drop foot of a patient can be improved, the movement range of the ankle joint of a wearer is not limited, the ergonomic structural design is met, and the comfort of the user is improved.

Drawings

In order to more clearly illustrate the embodiments of the present application 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, and it is obvious that the drawings in the following description are some embodiments of the present application, and other drawings may 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 an adjustable foot exoskeleton in accordance with an embodiment of the present application;

FIG. 2 is an exploded view of a portion of the structure of FIG. 1;

FIG. 3 is a schematic view showing the internal structure of a supporting part at the joint of the supporting part and a front bracket according to another embodiment of the present application;

FIG. 4 is a schematic view showing the internal structure of a front bracket at the connection between a support part and the front bracket according to another embodiment of the present application;

FIG. 5 is a schematic view of a combined structure of a torsion adjusting device assembled on a supporting portion according to another embodiment of the present application;

FIG. 6 is a schematic view of another combination structure of the torsion adjusting device assembled on the supporting portion according to another embodiment of the present application;

FIG. 7 is a schematic view of a foot surface support strap in accordance with an embodiment of the present application;

FIG. 8 is a schematic view of the overall structure of an adjustable foot exoskeleton including an upper bracket in another embodiment of the present application;

FIG. 9 is a schematic front view of an adjustable foot exoskeleton with an upper support in an embodiment of the present application.

Detailed Description

The application is further described with reference to the following detailed drawings in order to make the technical means, the creation characteristics, the achievement of the purpose and the effect of the implementation of the application easy to understand.

The application provides an adjustable foot exoskeleton, which comprises a foot support, wherein the foot support comprises a front support, a rear support and a supporting part, wherein: the front bracket is used for placing and fixing feet of a human body; the rear foot support is used for being positioned at the heel part of a human body and attached to the heel part of the human body; the supporting part is fixed on the front bracket; the support part comprises a support part connecting end part, the front support comprises a front support connecting end part which is correspondingly connected and matched with the support part connecting end part, the support part connecting end part and the front support connecting end part are matched into a rotating part, the rotating part is positioned at or near the ankle joint of a human body and can enable the front support to rotate up and down, at least one support point is respectively arranged below and above the corresponding sole part and the instep part of the human body of the front support and used for fixing the sole of a foot, and when the front support is used, the front end of the front support is contacted with the ground.

As shown in fig. 1 and 2, an embodiment of the present application provides an adjustable foot exoskeleton comprising a foot rest including a support portion 100 and a front rest 200, the support portion 100 being mounted on the front rest 200. The supporting part 100 comprises a supporting plate 101, one or more mounting holes are formed in the supporting plate 101, and the supporting part 100 is matched and mounted with the front bracket 200 through the supporting plate 101; the support portion 100 is provided with a support portion connecting end 1012, specifically, the support portion connecting end 1012 is provided on the support plate 101; the front bracket 200 comprises a front bracket connecting end 203 correspondingly connected and matched with the supporting part connecting end 1012, the supporting part 100 is rotatably connected with the front bracket 200 at the joint of the supporting part connecting end 1012 and the front bracket connecting end 203 to form a rotating part, and the rotating part is positioned at or near the ankle joint of a human body and can enable the front bracket 200 to rotate up and down. The front bracket 200 is located on the foot of the human body, and is used for placing and fixing the foot of the human body, in the embodiment of the application, the bearing 102 is disposed at the connection position of the support portion connecting end 1012 of the support portion 100 and the front bracket connecting end 203 of the front bracket 200, so that the front bracket 200 and the support portion 100 can rotate relatively.

Referring to fig. 2, an exploded view of a portion of an adjustable foot exoskeleton according to an embodiment of the present application is shown. The supporting part 100 comprises the supporting plate 101, a bearing 102, an elastic part 103, a torsion adjusting device 300, a limiting device 105 and a mounting shaft 106 for mounting and supporting; wherein, the mounting shaft 106 is fixed on the supporting plate 101 through one of the mounting holes 1011 of the supporting plate 101, and the bearing 102 is fixed on the mounting shaft 106 to provide a rotation supporting function for the rotation movement of the front bracket 200 and the supporting part 100. The elastic component 103 is used for providing elastic reset for the front bracket; the limiting device 105 provides adjustment and limiting functions for the rotation angle range of the front bracket 200; the torsion adjusting device 300 adjusts the elastic force of the elastic member 103.

Referring to fig. 3-4, the elastic member 103 is disposed at the connection between the support portion 100 and the front bracket 200, and is used for elastic return between the support portion 100 and the front bracket 200. In the embodiment of the application, the connection end 1012 of the support portion 100 near the front bracket 200 has a circular structure, a certain accommodating space is provided in the connection end, and the end of the front bracket 200 near the support portion 100 has a circular structure with a certain accommodating space matching the circular structure of the connection end 1012 of the support portion, and the two structures are mutually matched to form a rotatable portion at the connection position of the support portion 100 and the front bracket 200. The rotating part is positioned at or near the ankle joint of the human body and can enable the front bracket to rotate up and down. The elastic member 103 is a torsion spring, one end of the torsion spring is fixed on the supporting plate 101 of the supporting portion 100, the other end of the torsion spring is fixed on the front bracket 200, after the front bracket 200 rotates relative to the supporting portion 100, the elasticity provided by the torsion spring can enable the front bracket 200 to return to an initial position when no external force is applied, when the foot exoskeleton of the present application is worn, the elasticity provided by the torsion spring provides assistance for lifting the foot upwards when the foot is lifted upwards, and the elasticity provided by the torsion spring serves as resistance when the foot sags downwards from the horizontal direction and provides assistance for restoring the sole to the horizontal direction. Further, the limiting device 105, the torsion spring 103 and the bearing 102 are accommodated in the accommodating space of the circular structure of the support portion connecting end 1012 and the front bracket connecting end 203.

In a further embodiment, the connection between the support portion 100 and the front support 200 is a rotation center of the support portion 100 and the front support 200, when the foot exoskeleton of the present application is worn, a projection distance between a center point of the rotation center and a center point of an ankle joint of a human foot on a same plane parallel to a heel and a toe of the human body in a traveling direction of the human body is less than 50mm, and the support portion 100 and the front support 200 can rotate along with the ankle joint in cooperation with the arrangement of the elastic member 103, so that when the foot exoskeleton of the present application is worn by the human body, the foot exoskeleton of the present application can rotate along with the ankle joint, further conforming to an ergonomic structural design, and increasing comfort of a user.

The limiting device 105 is disposed between the support 100 and the front bracket 200, and provides an adjusting and limiting function for the rotation angle range of the front bracket 200, and simultaneously adjusts and limits the torsion angle of the elastic member 103. The limiting device 105 includes an inner base 1051 with a limiting groove or a limiting projection provided on the support part 100 and an outer base 1052 with a limiting projection or a limiting groove provided on the front bracket 200; or an inner base 1051 with a limit groove or a limit projection arranged on the front bracket 200 and an outer base 1052 with a limit projection or a limit groove arranged on the supporting part 100, wherein the outer base 1052 and the inner base 1051 can be in limit fit sliding to enable the rotatable angle of the front bracket 200 to be within a certain proper range: the rotation angle of the rotation part in the horizontal direction with the rotation center of the rotation part as the origin is larger than 15 degrees and smaller than 90 degrees, and the rotation angle of the rotation part in the horizontal direction with the rotation center of the rotation part as the origin is larger than 10 degrees and smaller than 90 degrees. In the embodiment of the present application, the limiting device 105 is composed of an inner bearing seat with a limiting protrusion 21 disposed on the supporting portion 100 and an outer bearing seat with a limiting groove 22 disposed on the front bracket 200 and adapted to the limiting protrusion 21, wherein the limiting protrusion 21 can slide in the limiting groove 22, and when the front bracket 200 rotates relative to the supporting portion 100, the limiting protrusion 21 rotates within the range of the limiting groove 22, and the rotation angle corresponds to the rotation angle of the front bracket 200 relative to the supporting portion 100. In a further embodiment, the inner bearing seat with the limiting protrusion 21 is sleeved on the bearing 102. The outer bearing seat with the limiting groove 22 is fixed on the front bracket 200 and is matched with the inner bearing seat with the limiting bulge 21 to rotate in a limiting way. In another embodiment of the present application, the outer bearing seat with the limiting groove 22 is fixed on the inner side of the supporting plate 101 and cooperates with the inner bearing seat with the limiting protrusion 21 to rotate in a limited manner.

Referring to fig. 5 and fig. 6, a schematic view of a combined structure of the torsion adjusting device according to an embodiment of the application is shown from outside to inside and from inside to outside after the torsion adjusting device is combined to the supporting portion. In this embodiment of the present application, the support part 100 includes the torsion adjusting means 300 for adjusting the elastic force of the elastic member 103. The torsion adjusting device 300 includes a torsion adjusting plate 301, one end of the torsion adjusting plate 301 is fixed on the supporting portion 100, and the other end is adjustably movably fixed on a cross bar; one end of the torsion spring 103 is fixedly connected to the torsion adjusting plate 301. Further, one end of the torsion adjusting plate 301 is fixed to the mounting shaft 106 of the support plate 101 and is located outside the support plate.

In the embodiment of the present application, the torque adjusting device 300 includes a torque adjusting plate 301, a torque adjusting knob 302, a torque adjusting shaft 303, and a torque adjusting bolt 304; the torque adjusting plate 301 is provided with an upper mounting hole and a lower mounting hole at an upper end, a rotating hole (not numbered) is provided at a lower end, the torque adjusting plate 301 is rotatably fixed on the outer side of the supporting plate 101 through the rotating hole and the mounting shaft 106, and the other end is adjustably movably fixed on the torque adjusting bolt 304 through the mounting hole at the upper end and the torque adjusting shaft 303. One end of the elastic member 103 passes through the mounting hole of the torsion adjusting plate 301 below the upper end part and is fixed on the torsion adjusting plate 301, and the elastic force of the elastic member 103 fixed on the torsion adjusting plate 301 is changed by adjusting the torsion adjusting plate 301 to move at different positions of the torsion adjusting bolt 304, namely, adjusting the rotation angle of the torsion adjusting plate 301 and the mounting shaft 106. The torsion adjusting device 300 is fixed at the upper end and the lower end of the supporting plate 101 through the torsion adjusting bolt 304 and the mounting shaft 106, the upper end of the supporting plate 101 is the other end opposite to the supporting part connecting end 1012, and the lower end of the supporting plate 101 corresponds to the supporting part connecting end 1012. The torsion adjusting shaft 303 passes through the mounting hole of the torsion adjusting plate 301 above the supporting plate 101 and is sleeved on the torsion adjusting bolt 304, the torsion adjusting knob 302 is mounted at one end of the torsion adjusting bolt 304, and the torsion adjusting bolt 304 is rotated by rotating the torsion adjusting knob 302, so that the torsion adjusting shaft 303 moves on the torsion adjusting bolt 304 in the opposite direction to the rotation direction of the torsion adjusting bolt 304, thereby driving the torsion adjusting plate 301 to synchronously move, and further changing the elastic force of the elastic part 103 fixed on the torsion adjusting plate 301. In the embodiment of the present application, the torsion adjusting bolt 304 is an adjustable screw with external threads, and the torsion adjusting shaft 303 is provided with internal threads matching with the external threads. In the present application, the elastic force provided by the elastic member 103 is the elastic restoring torsion between the support portion 100 and the front bracket 200, so that the user can not only greatly adjust the torsion by rotating the torsion adjusting knob 302 outside the torsion adjusting device 300, but also finely adjust the torsion by finely rotating the torsion adjusting knob 302, thus being capable of performing rough adjustment and fine adjustment, and being capable of more conveniently and rapidly adjusting the torsion of the foot exoskeleton required under different use situations.

Further, in this embodiment of the present application, an opening (not numbered) is formed in the supporting plate 101, which is convenient for installation, assembly, adjustment and use of the torsion adjusting plate 301, the torsion spring 103, the torsion adjusting shaft 303, and the torsion adjusting bolt 304.

In another specific scheme of the embodiment of the application, a plurality of fixing blocks are arranged on the cross rod, and the upper mounting hole of the upper end part of the torsion adjusting piece 301 can be movably adjusted and fixed on one of the plurality of fixing blocks of the cross rod so as to adjust the torsion. The different fixing blocks correspond to the torque force of different gears, and a user switches to the torque force of different gears by adjusting and fixing the torque force adjusting piece 301 to the different fixing blocks.

One specific assembly scheme for the support portion in the embodiment of the application is as follows: the support plate 101 is arranged at the outermost part of the support part 100, the support part connecting end 1012 is arranged on the support plate 101, and the support parts 100 are sequentially arranged from outside to inside: the torsion adjusting piece 301 is rotatably and movably fixed on the outer side of the supporting plate 101 through the mounting shaft 106 and the cross rod, the mounting shaft 106 is fixed on the mounting hole 1011 of the supporting plate 101, the bearing 102 is sleeved on the mounting shaft 106 and positioned on the inner side of the supporting plate 101, the inner bearing seat with the limiting protrusion 21 is sleeved on the bearing 102, and the outer bearing seat with the limiting groove 22 is fixed on the front bracket 200 and is in matched and limited rotary connection with the inner bearing seat with the limiting protrusion 21. In another embodiment of the present application, the outer bearing seat with the limiting groove 22 is fixed on the inner side of the supporting plate 101 and is matched with the inner bearing seat with the limiting protrusion 21 to be in a limited rotation connection. The torsion spring 103 is sleeved on the inner bearing seat and the outer bearing seat, can be in contact fit with the inner bearing seat and the outer bearing seat or can be in non-contact fit with the inner bearing seat and the outer bearing seat, one end of the torsion spring 103 is fixed on the torsion adjusting piece 301, and the other end of the torsion spring 103 is fixed on the outer bearing seat. The support housing (not numbered) is mounted outside the support part 100, specifically, is fixedly mounted outside the support plate 101, the upper end and the lower end of the support housing are respectively provided with a mounting hole, the upper end and the lower end of the support plate 101 are provided with openings corresponding to the mounting holes, the openings are used for fixing the support housing on the support plate, and the support housing is used for protecting the support part 100 and components mounted on the support part.

In another embodiment of the present application, the front support 200 includes a left front support and a right front support which are symmetrical in structure, the left front support and the right front support are bar-shaped supports having a certain curvature, and the curvature of the left front support and the right front support is curved from two end points to the middle part towards the sole direction, so as to form a shape slightly curved downwards from two ends to the middle part. When being worn, the left front bracket is positioned on the left side of the human foot, the right front bracket is positioned on the right side of the human foot, and the rear end part of the left front bracket is provided with a certain accommodating space with a circular structure for connecting the supporting part 100 and placing other components.

The bottoms of the front ends of the left and right brackets of the front bracket 200 are provided with the supporting parts 201 with a certain width, so that the supporting parts 201 are contacted with the ground when a user wears the foot exoskeleton to walk, and the wearing comfort of the user is further improved. Further, the supporting portion 201 is located at front end portions of the left and right brackets of the front bracket 200; the bottom surface of the supporting portion 201 is a straight surface, and forms an acute angle with the upper surfaces of the brackets on the left and right sides of the front bracket 200.

In another embodiment of the present application, the foot support further comprises a rear foot support 202, wherein the rear foot support 202 is fixedly connected to the rear end of the front support 200, and is used for positioning at the heel of a human body to provide a support point for the heel of the human body. Further, the rear foot support 202 has a certain width, so that the pressure applied to the heel of the user during wearing can be reduced, and the comfort of the user during wearing can be improved. Further, the rear foot support 202 is a U-shaped support adapted to the contour of the heel of the human body, one end of the rear foot support is fixedly connected to the rear end of the left front support, the other end of the rear foot support is fixedly connected to the rear end of the right front support, and when the rear foot support is worn, the rear foot support 202 is attached to the heel of the human body. The provision of the rear foot support 202 makes it more convenient and comfortable for the user to wear. In addition, the arrangement of the rear foot support 202 can also increase the overall structural strength of the front support 200, make the left and right side movements of the front support more synchronous, and enhance the stability between the front support 200 and the support portion 100. In the implementation of the present application, the rear foot support 202 is preferably not in contact with the ground during use, and the contact point with the ground during use is only the front support, so that the comfort of wearing and use of the user is increased.

In another embodiment of the present application, the foot support further comprises a sole supporting band 210, wherein both ends of the sole supporting band 210 are fixedly connected to the front portion of the front support 200, for providing a supporting point for the sole of the human body and fixing the sole portion of the human body; further, the sole support 211 is further included, the sole support 211 is respectively and fixedly connected to the left and right supports at the front end of the front support 200, two ends of the sole support belt 210 are respectively and fixedly connected to the sole support 211, and support points can be further provided for the sole of a human body through the arrangement of the sole support 211 and the sole support belt 210, so that the sole is fixed more firmly, and the support strength of the whole structure is higher. In this embodiment, the sole support 211 is located at the support 201 at the end of the front support 200, and extends inward from the support 201 at the front ends of the left and right supports of the front support 200. Further, the sole supporting belt 210 is made of elastic material, so that the user can feel more comfortable and labor-saving when wearing the device.

In another embodiment of the present application, the foot support further includes a instep support strap 220, and please refer to fig. 7, which is a schematic diagram of the structure of the instep support strap according to an embodiment of the present application. The two ends of the instep support belt 220 are mounted on two sides of the front bracket 200, and one or two ends of the instep support belt 220 are detachable to provide a support point for the instep of the human body and fix the instep portion of the human body, in the embodiment of the application, one or two ends of the instep support belt 220 are provided with magnetic locks 221, and one or two sides of the front bracket are provided with magnetic bosses 222 corresponding to the magnetic locks 221, so that the instep support belt 220 is mounted and fixed on two sides of the front bracket 200 in a magnetic attraction manner. Further, the instep support belt 220 is made of elastic material. In an embodiment of the present application, the instep support strap 220 is an elastic strap. In a further embodiment, the instep support strap 220 further comprises a strap adjustment device 223 for adjusting the length of the instep support strap 220, and in an embodiment of the present application, the strap adjustment device 223 is a winch. The supporting strap adjusting device 223 is provided to enable the user to adjust the length of the supporting strap of the instep and the force of binding the instep according to the situation of the user, and to unbind the supporting strap from any direction on one side or two sides, thereby improving the comfort of the user and the convenience of use.

In another embodiment of the present application, the instep supporting belt 220 is two serrated chains, the supporting belt adjusting device 223 is a gear winch, the two serrated chains are oppositely disposed at two sides of the gear winch, and the serrations on the two serrated chains are adapted to the gear winch, so that the serrations on the two serrated chains can be embedded in the gear winch, and the serrated chains can be tightened or loosened by rotating the gear winch clockwise or anticlockwise, so as to adjust the length of the instep supporting belt, and further adjust the tightness of the instep of the human body.

In another specific aspect of the embodiment of the present application, one or both ends of the instep support strap 220 are provided with a magic adhesive, and one or both sides of the front bracket 200 are provided with a magic adhesive corresponding to the magic adhesive on the instep support strap, so that the instep support strap is adjustably mounted and fixed on one or both sides of the front bracket in a magic adhesive manner.

In another embodiment of the present application, the adjustable foot exoskeleton further comprises an upper bracket 400, as shown in fig. 8 and 9, which is a schematic structural diagram of the adjustable foot exoskeleton with an upper bracket according to the present application. The upper bracket 400 extends upward from the support part 100, and is used for fixing and positioning the calf of the human body. The upper bracket 400 is located below the knee of the human body and is used for providing support for the lower leg of the human body, the upper bracket 400 is nonlinear and comprises a left upper bracket and a right upper bracket which are symmetrical in structure and matched with the front bracket 200, the left upper bracket and the right upper bracket are strip-shaped brackets with certain bending degree and width, the bending degree of the left upper bracket and the right upper bracket is that the integral bracket is bent from two endpoints to the middle part forward, the bracket is bent from the middle point upward to the front surface and is bent from the middle point downward to the side surface, and when the upper bracket 400 is worn, the integral bracket is located on the front side of the lower leg of the human body and is bent upward forward and downward to the side surface, so that the upper bracket is more comfortable to fit when the upper bracket is worn by a user. The left upper bracket is positioned in front of the lower leg of the human body from the middle point upwards and positioned at the left side of the lower leg of the human body from the middle point downwards; the right upper bracket is positioned in front of the lower leg of the human body from the middle point upwards, and is positioned on the right side of the lower leg of the human body from the middle point downwards. Further, the left upper bracket and the right upper bracket form an opening 104, the opening 104 is gradually increased in a shape like a Chinese character 'ji' from the knee of the human body downwards, and is used for avoiding the position of the leg bones in front of the lower leg of the human body, so that the user can feel uncomfortable when wearing the foot exoskeleton for activities due to the extrusion of the leg bones in front of the lower leg and the upper bracket 400, the upper bracket 400 is arranged into a strip-shaped bracket with a certain curvature, and the front bracket 200 is arranged into a strip-shaped bracket with a certain curvature, so that the upper bracket or the front bracket is of a hollow structure, the whole weight of the foot exoskeleton can be lightened, and the user can wear the foot exoskeleton more conveniently and comfortably.

The upper bracket 400 further includes leg support straps 110 for securing the upper bracket 400 in a donned position, and in an embodiment of the present application, the leg support straps 110 are adjustable in length to accommodate different users. In the specific implementation of the application, the leg supporting belt is a magic tape with a length capable of encircling the circumference of the lower leg. In another embodiment of the present application, the leg support strap 110 has the same structure as the instep support strap 220, so that the user can adjust the length of the leg support strap 110 and the force for restraining the lower leg according to his/her own situation, and the upper bracket 400 is fixed to the lower leg portion below the knee of the user when wearing the foot exoskeleton of the present application.

The adjustable foot exoskeleton of the present application can provide the size of the foot according to the foot sizes of different people, and can simultaneously perform effective correction and rehabilitation treatment on drop foot, varus foot and valgus foot conditions, when the user wears the adjustable foot exoskeleton of the present application, the user firstly unwinds the instep support band 220 from one end to enable the upper support 400 to be positioned in front of the calf, then inserts the sole from the rear side of the upper support 400 onto the sole support band 210, the heel is attached onto the rear support 202, fastens the instep support band 220, adjusts the foot to the most comfortable state through the support band adjusting device 223, and finally tightens the leg support band 110 on the upper support 400 to fix the upper support 400 onto the calf, thus completing the wearing.

According to the adjustable foot exoskeleton provided by the application, the support part 100 and the front support part 200 are arranged, so that the front support part 200 and the support part 100 can relatively move, and the elastic part 103 is arranged at the joint to provide torsion for the elastic resetting of the front support part 200 and the support part 100, so that the front support part 200 can be elastically restored to the initial position when no external force is applied, the drop foot condition of a user can be corrected through the torsion of the elastic resetting, the foot of the user can freely move within a certain range, and the drop foot condition of the user can be comfortably worn for a long time, and can be better improved.

In the scheme provided by the application, the torsion of the elastic part 103 is adjusted by arranging the torsion adjusting device 300, so that the elastic resetting torsion of the front bracket 200 can be automatically adjusted, the foot exoskeleton provided by the application is suitable for different crowds and patients in different disease stages, and the user can automatically adjust the resetting force according to the requirements, thereby improving the rehabilitation effect and wearing comfort.

In addition, the rotation centers of the support part 100 and the front bracket 200 are disposed near the ankle joint point of the human foot, so that when the human body wears the adjustable foot exoskeleton of the present application, the support part 100 and the front bracket 200 can rotate along with the ankle joint, without limiting the movement range of the ankle joint of the wearer, thereby more conforming to the design of the ergonomic structure and increasing the comfort of the user.

In addition, the two ends of the instep support belt 220 are mounted on two sides of the front bracket 200, one end or two ends of the instep support belt 220 are detachable, and the support belt adjusting device 223 is arranged on the instep support belt 220, so that a user can adjust the length of the instep support belt 220 and the strength of binding the instep according to the condition of the user, the foot can be effectively bound on the bracket according to the foot shape of the user, the foot inside and outside of the user is improved, the binding can be freely released from one side or two sides in any direction, the use comfort of the user is improved, and the convenience of use is improved.

The upper bracket 400 is provided with a certain curvature, so that the upper bracket 400 is positioned on the front side of the lower leg of a human body, a wearer can feel more comfortable, flexible and convenient during exercise, the actions of bending the lower leg such as squatting can be performed without being hindered by the upper bracket 400 and the front bracket 200, the upper bracket 400 is provided with the opening 104, the feet of the user can directly wear the foot exoskeleton through the opening 104, the wearing is convenient, and the discomfort of the user caused by the extrusion of the leg bones in front of the lower leg and the upper bracket 400 when the user wears the foot exoskeleton to move can be avoided.

While the application has been described in detail with respect to an adjustable foot exoskeleton, those skilled in the art will appreciate that the application is not limited to the specific embodiments and applications described herein, based on the concepts of the embodiments of the application.

Claims (10)

1. An adjustable foot exoskeleton comprising a foot support, wherein the foot support comprises a front support, a rear support, wherein:

The front bracket is used for placing and fixing feet of a human body;

The rear foot support is used for being positioned at the heel part of a human body and attached to the heel part of the human body;

The front support is provided with at least one supporting point at the sole part and the instep part for fixing the sole;

The foot surface support belt is connected to two sides of the front support, and is used for providing support points for the human foot surface and adjusting and fixing the human foot surface part;

when in use, the front end of the front bracket is contacted with the ground.

2. The adjustable foot exoskeleton of claim 1 wherein said front brace comprises a structurally symmetrical front left brace and front right brace, said front left brace and front right brace being bar braces having a degree of curvature that curves in the ball direction from two endpoints to a midpoint; the two ends of the instep supporting belt are respectively connected to the front left bracket and the front right bracket, and are close to one end of the ankle of the human body.

3. The adjustable foot exoskeleton of claim 1 wherein said instep support strap further comprises a strap adjustment means for adjusting the length of said instep support strap.

4. An adjustable foot exoskeleton according to claim 3 wherein said strap adjustment means is a winch for retracting and adjusting the strap.

5. An adjustable foot exoskeleton according to claim 3 wherein the instep support strap is two toothed chains, the support strap adjustment means is a gear capstan, the two toothed chains are disposed opposite each other on either side of the gear capstan, and the teeth on the two toothed chains are adapted to the gear capstan such that the teeth on the two toothed chains are capable of being embedded in the gear capstan.

6. An adjustable foot exoskeleton according to claim 3 wherein one or both ends of said instep support strap are provided with magnetic catches, and one or both sides of said front frame are provided with magnetic bosses corresponding to said magnetic catches, such that said instep support strap is magnetically attached to one or both sides of said front frame.

7. An adjustable foot exoskeleton according to claim 3 wherein one or both ends of said instep support strap are provided with velcro, and one or both sides of said front bracket are provided with velcro corresponding to the velcro of the instep support strap, such that said instep support strap is adjustably mounted in velcro fashion on one or both sides of said front bracket.

8. The adjustable foot exoskeleton of claim 1 wherein said front support has two instep support points, one on each of the left and right sides of the front support; the instep support belt is connected to two support points on the front bracket;

The adjustable foot exoskeleton further comprises a sole support and sole supporting belts, wherein the sole support is respectively and fixedly connected to two sides of the front end of the front support, and two ends of the sole supporting belts are respectively and fixedly connected to the sole support; the sole support and the sole supporting belt are used for providing supporting points for the sole of the human body and fixing the sole part of the human body; the sole support has a certain width and is contacted with the ground.

9. An adjustable foot exoskeleton as set forth in claim 2 wherein: the support part is connected to the front bracket; the support part comprises a support part connecting end part, the front support comprises a front support connecting end part which is correspondingly connected and matched with the support part connecting end part, and the support part connecting end part and the front support connecting end part are matched into a connecting part; the connecting part is a rotating part, and the rotating part is positioned at or near the ankle joint of the human body and can enable the front bracket to rotate up and down.

10. An adjustable foot exoskeleton as set forth in claim 2 wherein: the device also comprises a left upper bracket and a right upper bracket for supporting and fixing the lower leg, which are respectively and fixedly connected with the supporting parts at the two sides of the front bracket and are positioned in front of the lower leg of the human body when in use; the foot rear support is U-shaped, and two ends of an opening of the foot rear support are fixedly connected with the rear ends of the front left support and the front right support of the front support respectively.