Mechanical exoskeleton wearable apparatus, operation control method and operation control device for the same

An operation control method for a mechanical exoskeleton wearable apparatus, wherein the mechanical exoskeleton wearable apparatus comprises:

• a foot wearable mechanism;
• a leg wearable mechanism comprising:
• shank supports articulated with the foot wearable mechanism, thigh supports articulated with the shank supports, and first stroke regulators articulated at both ends with the foot wearable mechanism and the thigh supports respectively;
• and
• a hip support mechanism configured to connect with the thigh supports,
• wherein each of the first stroke regulators is configured to be extendable and retractable with a leg action of a user who wears the mechanical exoskeleton wearable apparatus, and an extending or retracting condition thereof is lockable,
• wherein the operation control method comprises:
• acquiring an extending or retraction stroke of the first stroke regulator;
• and
• controlling the first stroke regulator to be locked at an extending or retracting condition thereof once the extending or retraction stroke thereof reaches a predetermined extending or retraction stroke threshold;
• wherein each of the first stroke regulators is an electric cylinder provided with a switch;
• or
• wherein each of the first stroke regulator comprises:
• a lock-pin, and
• a first adjustment rod and a second adjustment rod which are assembled slidably relative to each other and provided respectively with a plurality of pinholes arranged in a relative sliding direction, the extending or retracting condition thereof being locked once the lock-pin is inserted into a pair of respective pinholes of the first adjustment rod and the second adjustment rod disposed to be aligned with each other.

An operation control device for a mechanical exoskeleton wearable apparatus, wherein the mechanical exoskeleton wearable apparatus comprises:

• a foot wearable mechanism;
• a leg wearable mechanism comprising:
• shank supports articulated with the foot wearable mechanism, thigh supports articulated with the shank supports, and first stroke regulators articulated at both ends with the foot wearable mechanism and the thigh supports respectively;
• and
• a hip support mechanism configured to connect with the thigh supports,
• wherein each of the first stroke regulators is configured to be extendable and retractable with a leg action of a user who wears the mechanical exoskeleton wearable apparatus, and an extending or retracting condition thereof is lockable,
• wherein the operation control device comprises:
• an acquisition unit configured to acquire an extending or retraction stroke of the first stroke regulator;
• and
• a control unit configured to control the first stroke regulator to be locked at an extending or retracting condition thereof once the extending or retraction stroke thereof reaches a predetermined extending or retraction stroke threshold;
• wherein each of the first stroke regulators is an electric cylinder provided with a switch;
• or
• wherein each of the first stroke regulator comprises:
• a lock-pin, and
• a first adjustment rod and a second adjustment rod which are assembled slidably relative to each other and provided respectively with a plurality of pinholes arranged in a relative sliding direction, the extending or retracting condition thereof being locked once the lock-pin is inserted into a pair of respective pinholes of the first adjustment rod and the second adjustment rod disposed to be aligned with each other.