LENGTH-ADJUSTABLE LOWER LIMB STRUCTURE, AND EXOSKELETON ROBOT USING SAME

The disclosure relates to a lower limb structure, comprising: a hip joint assembly comprising a hip joint support, a hip joint driver fixed to the hip joint support, and a hip joint transmission handle driven by the hip joint driver; a thigh rod connected to the hip joint transmission handle and driven by the hip joint driver; a knee joint assembly comprising a knee joint fixing base, a knee joint driver fixed on the knee joint fixing base, and a knee joint transmission handle driven by the knee joint driver, wherein the knee joint fixing base comprises a sleeve and a connector which is connected to the knee joint driver, and the sleeve is slidably fixed on the thigh rod along an extension direction of the thigh rod; and a lower leg rod connected to the knee joint transmission handle and driven by the knee joint driver, wherein the thigh rod does not coincide with a line connecting centers of the hip joint driver and the knee joint driver, such that a movement range of the knee joint on the thigh rod regulator is larger. The disclosure also relates to an exoskeleton robot having the lower limb structure.

FIELD

The disclosure relates to a lower limb structure, and particularly, a length-adjustable lower limb structure applied to a lower limb of a robot, and an exoskeleton robot using the same.

BACKGROUND

The disclosure aims to restore and enhance walking ability of patients with chronic osteoarticular disease (OAD), spinal hip injury and brain injury. Currently, in patients with lower limb function disturbance, most are caused by osteoarticular disease (OAD), and the remaining is mainly caused by spinal hip injury and brain injury. Currently, exoskeleton robots applicable for these patients also developed in the market to assist in restoring their action capability of the lower limbs.

As for the exoskeleton robot in the prior art, the lower limb structure can be substantially divided into length-fixed type and length-adjustable type. As for the lower limb structure with a fixed length, the manufacturing method is simple, but the fixed length allows a lower limb of the robot not to be suitable for patients at various heights. Although the lower limb structure with the fixed length can be adjusted after the patient takes off, after taking off, such repeated wearing can be adjusted to consume time and energy of the patients. As for the lower limb structure with an adjustable length, the sleeve is often adjusted in a form of retraction sleeve, and the length-adjustable range is limited. For example, the minimum length of such length-adjustable lower limb structure is substantially half of the maximum length, and although it can be designed to be the form of multiple retraction sleeves, design of the multiple retraction sleeve reduces strength of the lower limb structure.

Therefore, there is a need to develop a lower limb structure that overcomes the above defects, and can adjust a length of the lower limb structure within a large range while still having a desired strength.

SUMMARY

The technical problem solved by the disclosure is a length-adjustable lower limb structure applied to a lower limb of a robot, comprising:a hip joint assembly comprising a hip joint support, a hip joint driver fixed to the hip joint support, and a hip joint transmission handle driven by the hip joint driver;a thigh rod connected to the hip joint transmission handle, so as to be driven by the hip joint driver;a knee joint assembly comprising a knee joint fixing base, a knee joint driver fixed on the knee joint fixing base, and a knee joint transmission handle driven by the knee joint driver, wherein the knee joint fixing base comprises a sleeve and a connector which is connected to the knee joint driver, and the sleeve is slidably fixed on the thigh rod along an extension direction of the thigh rod; anda lower leg rod connected to the knee joint transmission handle and driven by the knee joint driver,wherein the thigh rod does not coincide with a line connecting centers of the hip joint driver and the knee joint driver.

According to the lower limb structure in one or more embodiments of the disclosure, wherein,the thigh rod further comprises a thigh rod limit assembly comprising a first limit post, wherein,the thigh rod is provided with a plurality of first limit holes along the extension direction of the thigh rod, and the sleeve is formed with a first limit opening having a position aligned with one of the plurality of first limit holes; andthe first limit post passes through the first limit opening to be clamped in one of the plurality of first limit holes.

According to the lower limb structure in one or more embodiments of the disclosure, the thigh rod limit assembly further comprises an adjusting sleeve and a locking nut, wherein,the thigh rod passes through the adjusting sleeve and in thread engagement with the adjusting sleeve, such that a position of the adjusting sleeve along the extension direction of the thigh rod is variable, and the adjusting sleeve is located below the sleeve, such that an upper end surface of the adjusting sleeve is in contact with a lower end surface of the sleeve;the locking nut surrounds the upper end surface of the adjusting sleeve and the lower end surface of the sleeve to maintain the contact between the upper end surface of the adjusting sleeve and the lower end surface of the sleeve or maintain a constant axial distance between the upper end surface of the adjusting sleeve and the lower end surface of the sleeve.

According to the lower limb structure in one or more embodiments of the disclosure, the thigh rod limit assembly further comprises a plurality of roll balls between the upper end surface of the adjusting sleeve and the lower end surface of the sleeve, such that the upper end surface of the adjusting sleeve and the lower end surface of the sleeve are in rolling contact via the plurality of roll balls.

According to the lower limb structure in one or more embodiments of the disclosure, the thigh rod limit assembly further comprises a roll ball holding frame for holding the plurality of roll balls.

According to the lower limb structure in one or more embodiments of the disclosure, wherein,the thigh rod is formed with a groove along the extension direction of the thigh rod, the plurality of first limit holes are provided in the groove;a boss is formed on an inner surface of the sleeve, the boss is clamped in the groove when the thigh rod passes through the sleeve.

According to the lower limb structure in one or more embodiments of the disclosure, further comprises a sole assembly connected to a lower end of the lower leg rod.

According to the lower limb structure in one or more embodiments of the disclosure, the lower leg rod comprises:a hollow lower leg fixing rod having an upper end connected to the knee joint transmission handle; anda lower leg adjusting rod slidably fitted into the lower leg fixing rod.

According to the lower limb structure in one or more embodiments of the disclosure, wherein,the lower leg rod further comprises a lower leg rod limit assembly comprising a second limit post, wherein,the lower leg adjusting rod is provided with a plurality of second limit holes along the extension direction of the lower leg adjusting rod, and the lower leg fixing rod is formed with a second limit opening aligned with one of the plurality of second limit holes; andthe second limit post passes through the second limit opening to be clamped in one of the plurality of second limit holes.

According to the lower limb structure in one or more embodiments of the disclosure, the lower leg rod limit assembly further comprises a limit sleeve and an adjusting nut fixed to an inner surface of the limit sleeve, wherein,the adjusting sleeve surrounds a lower end of the lower leg fixing rod, such that the lower end of the lower leg fixing rod abuts against the adjusting nut, and the adjusting sleeve is rotatable relative to the lower leg fixing rod;the adjusting nut surrounds an outer surface of the lower leg adjusting rod and in thread engagement with the lower leg adjusting rod, such that the lower leg adjusting rod retracts into or extends out of the lower leg fixing rod.

According to the lower limb structure in one or more embodiments of the disclosure, a lower end of the lower leg rod is formed with a flange, the inner surface of the limit sleeve is formed with an retracted step, and the flange is positioned between the retracted step and the adjusting nut.

According to the lower limb structure in one or more embodiments of the disclosure, the lower leg rod limit assembly further comprises:a plurality of roll balls disposed between the flange and the retracted step; anda roll ball holding frame for holding the plurality of roll balls.

The disclosure further provides an exoskeleton robot, comprising:lower limbs having the lower limb structure according to the embodiments described above;a waist support device mounted with the lower limbs; anda suspension device on which the waist support device is mounted.

According to the exoskeleton robot in one or more embodiments of the disclosure, the suspension device comprises: a suspension frame; a suspension mechanism mounted on the suspension frame, and the waist support device mounted on the suspension mechanism; and an auxiliary mechanism mounted on the suspension frame and connected to the suspension mechanism, the auxiliary mechanism outputs an auxiliary force to assist the suspension mechanism to suspend the waist support device and the lower limbs.

According to the exoskeleton robot in one or more embodiments of the disclosure, after the waist support device is suspended to a predetermined position, the suspension mechanism is locked, and when the user moves through the lower limbs, and drives the waist support device to move up and down relative to the predetermined position, the auxiliary mechanism further outputs the auxiliary force to assist movement of the lower limbs.

According to the exoskeleton robot in one or more embodiments of the disclosure, the suspension frame comprises a suspension bearing rod and two longitudinal sliding rods arranged in parallel on both sides of the suspension bearing rod, and the auxiliary suspension mechanism and the auxiliary mechanism are mounted on the suspension bearing rod.

According to the exoskeleton robot in one or more embodiments of the disclosure, the suspension mechanism comprises: at least one pulley mounted on the suspension bearing rod; and a rope mounted on the at least one pulley and connected to the auxiliary mechanism at one end, a member to be suspended is mounted on the rope, and suspended by pulling the other end of the rope.

According to the exoskeleton robot in one or more embodiments of the disclosure, the suspension bearing rod is provided with a through hole through which a part of the rope passes, and the member to be suspended is mounted on a part of the rope passing through the through hole.

According to the exoskeleton robot in one or more embodiments of the disclosure, the auxiliary mechanism comprises: a fixing base fixedly connected to an end part of the suspension bearing rod; and a spring having one end connected to the fixing base, and the other end connected to one end of the rope.

According to the exoskeleton robot in one or more embodiments of the disclosure, the suspension device further comprises a winch connected to the other end of the rope, the winch is rotated to drive the rope to slide between the at least one pulley to suspend the member to be suspended, and when the member is suspended to the predetermined position, the winch is locked.

Effect of the disclosure over the prior art is that: by laterally offsetting the thigh rod from a line connecting centers of the hip joint driving assembly and the knee joint driving assembly, an actual length of the thigh rod can be adjusted only by adjusting the position of the knee joint driving assembly on the thigh rod, which expands the length-adjustable range of the lower limb structure. Meanwhile, since the length within a large range can be adjusted only using single regulator, as compared to the length-adjustable mechanism with the multiple retraction sleeve, more ideal strength can be obtained.

DETAILED DESCRIPTION

Concerning detailed contents and technical specification of the disclosure, now further explanations are made using one preferable embodiment, but the disclosure shall not be limited thereto.

FIG.1is a schematic view of a lower limb structure1according to embodiments of the disclosure. As shown inFIG.1, the lower limb structure1comprises a hip joint assembly10, a thigh rod11, a knee joint assembly12and a lower leg rod13. The thigh rod11has one end fixedly connected to the hip joint assembly10, and the hip joint assembly10is configured to imitate a hip joint of human to rotate, and thus the thigh rod11may rotate with rotation of the hip joint assembly10to imitate action of the legs when human walks. The thigh rod11has the other end fixedly connected to the knee joint assembly12, so when rotating, the thigh rod11also drives the knee joint assembly12to move. The lower leg rod13has one end connected to the knee joint assembly12, and the knee joint assembly12is configured to imitate a knee joint of human to rotate, so the lower leg rod13may rotate with rotation of the knee joint assembly12. Therefore, the hip joint assembly10is controlled to rotate to drive the thigh rod11connected thereto to rotate, and the thigh rod11further drives the knee joint assembly12connected thereto to move while the knee joint assembly12itself is also controlled to rotate to drive the lower leg rod13connected thereto to rotate. Under coordination of the hip joint assembly10, the thigh rod11, the knee joint assembly12and the lower leg rod13, the lower limb structure may imitate human's walking.

As shown inFIG.1, the lower limb structure1may further comprise a sole assembly14connected to the lower leg rod13, so the lower limb structure1may further imitate human's walking.

As shown inFIG.1, the lower limb structure1may further comprise a thigh rod limit assembly15. The thigh rod11is connected to the knee joint assembly12through the thigh rod limit assembly15, wherein the thigh rod limit assembly15is fixedly connected to the knee joint assembly12, and slidably connected to the thigh rod11, such that the thigh rod limit assembly15can slide along a length of the thigh rod11to adjust a position of the thigh rod limit assembly15relative to the thigh rod11, thereby adjusting a position of the knee joint assembly12relative to the thigh rod11. Here, a distance from the thigh rod limit assembly15to one end of the thigh rod11and the hip joint assembly10is an actual length of the thigh rod in use. Therefore, the actual length of the thigh rod in the lower limb structure1in use can be realized to adjust the length by adjusting the position of the thigh rod limit assembly15relative to the thigh rod11.

In this embodiment, the thigh rod11is configured not to coincide with a line A connecting centers of the hip joint assembly10and the knee joint assembly12. For example, as shown inFIG.1, the thigh rod11can offset a distance d from the line A. AlthoughFIG.1illustrates that the thigh rod11offsets the distance d in an advancing direction (a direction from right to left inFIG.2a) relative to the line A, the disclosure is not limited thereto. For example, the thigh rod11also can offset in a backward direction (a direction from left to right inFIG.2a) relative to the line A, or offset in other direction (a direction in and out of the paper inFIG.2a) relative to the line A, as long as the thigh rod11does not coincide with the line A. Therefore, as compared to the length-adjustable lower limb structure applying retraction sleeve on the thigh rod, the lower limb structure1in this embodiment can adjust the actual length of the thigh rod within a length rang of the entire thigh rod11, which significantly increases the length-adjustable range of the thigh rod, and allows the lower limb structure1to be suitable for use of all people.

FIGS.2A and2Bare local explosive views of the lower limb structure1inFIG.1, andFIG.3is a local sectional view of the lower limb structure1inFIG.1.

As shown inFIG.2A, the hip joint assembly10has a hip joint support100, a hip joint driver101(e.g., a motor) fixed to the hip joint support100, and a hip joint transmission handle102driven by the hip joint driver101. The hip joint transmission handle102comprises a fixing base103fixedly connected to the hip joint driver101and a sleeve104connected to the thigh rod11. One end of the thigh rod11is inserted into the sleeve104, and the thigh rod11is fixedly connected to the sleeve104through a fixing member such as a screw.

The thigh rod11has a groove111(e.g., a V-shaped groove) arranged along a longitudinal direction of the thigh rod11and a plurality of limit holes112formed along the longitudinal direction of the thigh rod11. These limit holes112can be formed in the groove111, and arranged at an equal interval. In some embodiments, the limit holes112can be formed only on a part of length of the thigh rod11, or can be formed on an entire length of the thigh rod11.

As shown inFIGS.2B and3, the knee joint assembly12comprises a knee joint driver121(e.g., a motor) and a knee joint fixing base122, and the knee joint fixing base122comprises a connector123connected to the knee joint driver121and a sleeve124connected to the thigh rod11. The thigh rod11is fitted in the sleeve124. Here, the A is also actually a line connecting centers of the hip joint driver101and the knee joint driver121.

In some embodiments, a boss126is formed in the sleeve124, a position of the boss126corresponds to a position of the groove111on the thigh rod11, such that when the thigh rod11is fitted in the sleeve124, the boss126is just clamped in the groove111, thereby preventing relative rotation of the thigh rod11and the knee joint fixing base122around an axis of the thigh rod.

The sleeve124is formed with apertures (not shown), and when the apertures on the sleeve124are aligned with the limit holes112on the thigh rod11, a limit post125can pass through the apertures and the limit holes to fix the sleeve124and the thigh rod11. Therefore, the sleeve124can slide along a longitudinal direction of the thigh rod11to adjust an actual length of the thigh rod11. After the actual length of the thigh rod11is adjusted, one aperture of the sleeve124is aligned with the limit holes112at corresponding positions of the thigh rod11, and the sleeve124and the thigh rod11are fixed using the limit post125. In some embodiments, scale lines and size markings are also provided near the limit holes112, thereby facilitating quick location and adjustment of the length of the thigh rod.

In some embodiments, the limit post125has one end with a handle, and the other end with a tapered tip, an outer periphery of the limit post125and an inner periphery of the apertures of the sleeve124are provided with threads mating with each other, and the limit holes112of the thigh rod are configured as taper holes. Therefore, during operation, the limit post125can be rotated into the apertures of the sleeve124through the handle, such that the tapered tip of the limit post125abuts against the limit holes112, thereby applying a radial pushing force to the thigh rod, and preventing the thigh rod from swaying from left to right along a radial direction after location.

The locking nut152surrounds a position where the adjusting sleeve151is in contact with the sleeve124, i.e., surrounding the upper end surface of the adjusting sleeve151and the lower end surface of the sleeve124. In some embodiments, an inner surface of the locking nut152and an outer surface of the sleeve124may form threads mating with each other, and a lower end of the locking nut152may form a step part157, such that the flange156is clamped in the step part157to limit a position of the adjusting sleeve151along a longitudinal direction of the thigh rod11. Therefore, during use, the locking nut152holds the adjusting sleeve151and the sleeve124together, and when the adjusting sleeve151and the sleeve124are adjusted to the desired position on the thigh rod11, the locking nut152is rotated tightly, such that the locking nut152can closely maintain contact between the adjusting sleeve151and the sleeve124, or maintain a constant axial distance between the adjusting sleeve151and the sleeve124, thereby firmly locking of the thigh rod, the sleeve124, the adjusting sleeve151and the locking nut152.

In some embodiments, the limit assembly15may further comprise a pad153between the locking nut152and the sleeve124to adjust an axial relative position between the locking nut152and the sleeve124, and apply a pre-tightened force to thread connection therebetween, such that the connected threads are more fastened.

In some embodiments, the limit assembly15may further comprise roll balls154(e.g., steel balls) between the upper end surface of the adjusting sleeve151and the lower end surface of the sleeve124, and the roll balls154can be held between the upper end surface of the adjusting sleeve151and the lower end surface of the sleeve124by a holding frame155to limit radial motion of the roll balls154. A gravity of the sleeve124(or the knee joint fixing base122) and a force born along the longitudinal direction of the thigh rod11are delivered to the adjusting sleeve151through the roll balls154, and when the adjusting sleeve151is rotated, the sleeve124(or the knee joint fixing base122) is driven to move up and down along the longitudinal direction of the thigh rod11through transmission of the roll balls154.

In some embodiments, a bottom end of the thigh rod11may be further provided with a baffle plate113to limit the adjusting range of the adjusting sleeve151along the longitudinal direction of the thigh rod11.

Hereinafter a structure of the lower leg rod13is described with reference toFIGS.4and5.FIG.4is an explosive view of the lower leg rod13and a lower leg rod limit assembly16, andFIG.5is a sectional view of the lower leg rod13and the lower leg rod limit assembly16.

The lower leg rod13comprises a lower leg fixing rod131and a lower leg adjusting rod132. The lower leg fixing rod131has one end fixedly connected to a knee joint transmission handle127, and the knee joint transmission handle127is connected to the knee joint driver121, such that the lower leg rod13can rotate by the driving of the knee joint assembly12. The lower leg fixing rod131is hollow, such that the lower leg adjusting rod132can be fitted therein, and the lower leg adjusting rod132can slide in the lower leg fixing rod131along a length of the lower leg fixing rod131.

The lower leg adjusting rod132is formed with a plurality of limit holes133(e.g., taper holes) along a longitudinal direction. These limit holes133can be arranged at an equal interval, and the lower leg fixing rod131is formed with apertures. When the lower leg adjusting rod132is fitted in the lower leg fixing rod131, the apertures of the lower leg fixing rod131may be aligned with one of the plurality of limit holes133, and a length of the lower leg rod13may be adjusted by aligning the apertures of the lower leg fixing rod131with different limit holes. The lower leg adjusting rod132and the lower leg fixing rod131may be fixed to each other through the limit post passing through the apertures and the limit holes, so the length of the lower leg rod13may be fixedly adjusted. In some embodiments, scale lines and size markings are also provided near the limit holes133, thereby facilitating quick location and adjustment of the length of the lower leg rod.

In some embodiments, a groove134(e.g., a V-shaped groove) may be formed on an outer surface of the lower leg adjusting rod132along the longitudinal direction, and the limit holes133may be formed in the groove134. A boss135may be formed correspondingly on the inner surface of the lower leg fixing rod131. When the lower leg adjusting rod132is fitted in the lower leg fixing rod131, the boss135is clamped in the groove134, thereby preventing relative rotation of the lower leg adjusting rod132and the lower leg fixing rod131around an axis of the lower leg rod.

The lower leg rod limit assembly16comprises a limit post161. When the apertures of the lower leg fixing rod131is aligned with one of the plurality of limit holes133, the limit post161passes through the apertures and the limit holes to be clamped, such that the lower leg adjusting rod132and the lower leg fixing rod131are fixed to each other. In some embodiments, the limit post161has one end with a handle, and the other end with a tapered tip. An outer periphery of the limit post161and an inner periphery of the apertures of the lower leg fixing rod131are provided with threads mating with each other. Therefore, the limit post161can be rotated into the apertures of the lower leg fixing rod131through the handle, such that the tapered tip of the limit post161abuts against the limit holes133, thereby applying a radial pushing force to the lower leg adjusting rod132, and preventing the lower leg adjusting rod132from swaying from left to right along a radial direction after location.

The lower leg rod limit assembly16further comprises a limit sleeve162and an adjusting nut163fixedly connected to the limit sleeve162. For example, the adjusting nut163may be fixed through a limit screw164and the limit sleeve162.

The limit sleeve162surrounds a lower end of the lower leg fixing rod131, and may rotate around an axis of the lower leg fixing rod131, but a relative position of the limit sleeve162and the lower leg fixing rod131on a longitudinal direction of the lower leg fixing rod131is maintained unchanged. In some embodiments, the lower end of the lower leg fixing rod131may be formed with a flange136, the limit sleeve162is formed with an retracted step167, and the flange136and the step167mate with each other, such that a lower surface of the step167is in contact with an upper surface of the flange136.

The adjusting nut163is fixed to a lower end of the limit sleeve162, and an upper end surface of the adjusting nut163is in contact with a lower end surface of the lower leg fixing rod131(a lower end surface of the flange136). Therefore, a combination of the limit sleeve162and the adjusting nut163is clamped together with the flange136, and the flange136limits positions of the limit sleeve162and the adjusting nut163on the longitudinal direction of the lower leg fixing rod131, such that a relative position of the limit sleeve162(and the adjusting nut163) and the lower leg fixing rod131on the longitudinal direction of the lower leg fixing rod131is maintained unchanged. In some embodiments, roll balls165(e.g., steel balls) may be further provided between the step167and the flange136, instead of surface contact with rolling contact, thereby reducing rotational friction, and reducing a torque desired by rotation of the adjusting sleeve162. The roll balls165can be held by a holding frame166.

An inner surface of the adjusting nut163and an outer surface of the lower leg adjusting rod132form threads mating with each other. Therefore, when the limit sleeve162rotates, the adjusting nut163rotates accordingly, and the lower leg adjusting rod132may retract into or extend out of the lower leg fixing rod131by engaged transmission of the threads between the adjusting nut163and the lower leg adjusting rod132, thereby adjusting the length of the lower leg rod.

Referring toFIG.6,FIG.6is a structural view of an exoskeleton robot. As shown inFIG.6, the exoskeleton robot comprises two lower limbs1, a waist support device2and a suspension device3. The waist support device2is connected to the suspension device3, and the two lower limbs1are connected to the waist support device2. In this embodiment, the lower limbs1have the lower limb structure described above, so the details are not described here.

Further, referring toFIG.7,FIG.7is a structural view of the suspension device3of the exoskeleton robot. As shown inFIG.7, the suspension device of the exoskeleton robot comprises a suspension frame31, a suspension mechanism32and an auxiliary mechanism33.

Referring to bothFIGS.6and7, the suspension mechanism32is mounted on the suspension frame31, and the waist support device2is mounted on the suspension mechanism32. The auxiliary mechanism33is mounted on the suspension frame31, and connected to the suspension mechanism32. The auxiliary mechanism33outputs an auxiliary force to assist the suspension mechanism32to suspend the waist support device2connected to the lower limbs1. After the waist support device2is suspended to a predetermined position, the suspension mechanism32is locked, and when the waist support device2moves relative to the predetermined position, the auxiliary mechanism33also outputs an auxiliary force to assist movement of the waist support device2and the lower limbs1.

Further, the suspension frame31comprises two longitudinal sliding rods311arranged in parallel and a suspension bearing rod312. The suspension bearing rod312is vertically connected to ends of the two longitudinal sliding rods311. The suspension bearing rod312is provided with a bearing groove3121extending from one end of the suspension bearing rod312to the other end, and the bearing groove3121is provided with a through hole. The suspension mechanism32comprises four pulleys321and a rope322. The four pulleys321are mounted in parallel on the bearing groove3121. The rope322is mounted on the four pulleys321, and has one end connected to the auxiliary mechanism33, a part S of the rope322passes through the through hole, and the waist support device2is mounted on the part S of the rope322passing through the through hole (for example, the waist support device2is mounted with pulleys, and the part S is connected to the pulleys), and suspended by pulling the other end of the rope322.

More further, the auxiliary mechanism33comprises a fixing base331fixedly connected to an end part of the bearing groove3121, and a spring332having one end connected to the fixing base331, and the other end connected to one end of the rope322. The suspension bearing rod312is further provided with multiple scales, and a tension of the spring332is adjusted according to the multiple scales, such that the auxiliary mechanism33outputs different auxiliary forces to be adapted to weights of the patients.

Still further, the suspension device further comprises a winch34connected to the other end of the rope322. The winch34is rotated to drive the rope322to slide among the four pulleys321to suspend the waist support device2and the lower limb3. It shall be noticed that in this embodiment, the four pulleys are taken as a preferable embodiment, but the disclosure is not limited thereto.

The disclosure is only preferable embodiment of the disclosure, not limiting the implementing scope of the disclosure, and those skilled in the art shall make various corresponding modifications and variations according to the disclosure without departing from spirit and essence of the disclosure, but these corresponding modifications and variations shall belong to the protection scope of the appended claims of the disclosure.