CN101691036A - Joint assistance adjusting device - Google Patents

Abstract

The invention relates to a joint power-assisted adjustment device. The joint power-assisted adjustment device involves the first limb and the second limb, and the first limb and the second limb are hinged through the joint rotation shaft, and includes a torque adjustment device for adjusting the rotational torque of the joint. The two torque adjustment devices The ends are respectively fixedly connected to the first limb and the second limb, and the torque adjustment device is based on a rotary joint assist mechanism composed of a cam and elastic components, and the effective contour surface curve of the cam is based on the auxiliary torque function, and the method of numerical iteration is used to reverse If obtained, the joint power-assisted adjustment device of the present invention realizes a torsional elastic device with variable stiffness through the cam to adjust the joint rotational torque, so that it is possible to reduce the peak value of the joint rotational torque, and at the same time increase the valley value of the joint rotational torque, so that Choose a motor with lower power and maximum torque to reduce the weight of the joint mechanism and save energy; or reduce the driving torque of the prosthetic wearer and save more effort.

Description

Joint assist adjustment device

technical field

The invention relates to a joint assist adjustment device, which is used for reducing the peak moment of joint drive, belongs to the field of mechanism design, robot technology and human body rehabilitation mechanism, and can be applied to walking robots and intelligent prosthetic knee joints.

Background technique

At present, the design of walking mechanism with low power consumption is the basis for studying human walking mechanism and developing reasonable walking mechanism, among which the design of walking robot knee joint is the key.

In the prior art, the driving of the robot knee joint is mainly directly driven by motors and other driving equipment, that is, during the walking process of the robot, the angle of the knee joint is completely controlled by the driving equipment such as the motor, and in one walking cycle of the knee joint Inside, there are peaks and valleys in the rotational torque of the knee joint, and when the drive motor is selected, it is obviously determined according to the peak value. Therefore, the problem with this drive method is that the selection of the drive motor is conservative, and the weight of the motor is the walking mechanism. One of the main components of the weight indirectly causes large energy consumption in the operation of the mechanism, which is not suitable for the research and application of the current walking mechanism.

Contents of the invention

Aiming at the deficiencies of the prior art, the present invention provides a joint power-assisted adjustment device to adjust the torque driven by the joint, so that the peak value is reduced and the valley value is increased, so that a motor with smaller power and maximum torque can be selected, the weight of the joint mechanism is reduced, and energy is saved. Consumption, or reduce the driving torque of the prosthetic wearer, more labor-saving.

For realizing above technical purpose, the present invention will take following technical scheme:

A joint power-assisted adjustment device, involving the first limb and the second limb, and the first limb and the second limb are hinged through the joint rotation shaft, including a torque adjustment device for reducing the peak value of the joint rotation torque, and the two ends of the torque adjustment device are respectively fixedly connected to the Upper limb one and limb two.

The torque adjusting device includes a cam, an elastic component and a rigid component, the cam is fixedly installed on the first limb, the two ends of the rigid component are respectively fixedly connected with the first limb and the elastic component, and the other end of the elastic component is fixed with the second limb connected, and part of the body of the rigid part is wound around the cam profile.

A rigid connecting piece is also connected between the elastic component and the second fixing component.

The torque adjustment device also includes a mounting positioning frame, which is composed of a first fixed part and a second fixed part hinged to each other, the cam is installed on the first limb through the first fixed part, and the elastic part passes through the second fixed part. The fixed part is installed on the second limb, and the rigid part is installed on the first limb through the first fixed part.

A rigid connecting piece is also connected between the elastic component and the second fixing component.

The rigid part is in the shape of a rope or a sheet.

The rigid part is a steel wire rope.

The elastic component is a tension spring.

Both the first fixing part and the second fixing part are sheet metal frames.

According to the above technical scheme, the following beneficial effects can be achieved:

1. In the present invention, a torque adjustment device is connected to the limbs 1 and 2 that make up the joints. The torque adjustment device can reduce the peak value of the joint rotation torque, and at the same time increase the valley value of the joint rotation torque, so that the power and the maximum torque can be selected to be smaller. The motor reduces the weight of the joint mechanism, saves energy consumption, or reduces the driving torque of the prosthetic wearer, saving more effort;

2. The torque adjusting device of the present invention comprises a cam, an elastic part and a rigid part, the cam is fixed on the first limb, and after the elastic part is connected with the rigid part, the two ends are fixedly connected with the first limb and the limb respectively, and the rigid part Part of the watch body is wound around the contour surface of the cam. When the joint rotates, that is, when the second limb rotates around the first limb, the straight line formed by the elastic part and the rigid part will roll along the contour surface of the cam, so that the moment arm of the elastic force changes. At the same time, the force value of the elastic force will also change, that is, the torque adjustment device provides a desired auxiliary torque for the joint rotation, which can reduce the torque peak value of the joint rotation, so that a motor with lower power and maximum torque can be selected to save energy consumption ;

3. The torque adjustment device also includes an installation positioning frame, which includes a first fixed part and a second fixed part hinged to each other, and the cam is fixedly installed on the first limb through the first fixed part, while the elastic part is installed through the second fixed part On the second limb, the rigid component is installed on the first limb through the first fixed component. Therefore, this method is more convenient for the installation of the torque adjusting device on the limb, and is easy to popularize and implement;

The main steps of the design method of the effective contour surface curve of the cam are: first set the initial value of the elastic force of the elastic member to obtain a set of cam envelopes, and then use a set of rays passing through the center of the cam to scan the cam envelope , so as to obtain a series of coordinate values of the cam contour curve points to be verified, and then calculate the elastic deformation of the elastic parts corresponding to the coordinate values of the cam contour curve points to be verified, and then obtain the coordinate values of the cam contour curve points to be verified The elastic force of the corresponding elastic part, and finally check whether the elastic force of the elastic part meets the iteration condition: if it is satisfied, the coordinate value of the cam contour curve point to be verified obtained in this iteration is used as the actual coordinate value of the cam contour curve point; if it is not satisfied Then use the elastic force of a group of elastic parts obtained in this iteration as the initial value of elastic force to obtain a new group of cam envelopes, and iterate in this way until the iteration condition is satisfied.

It can be seen that the effective cam profile surface curve of the present invention can be designed according to the torque required by the knee joint of the robot in different phases. For the same robot, different corresponding curves can be designed according to the different knee joint torque function curves designed. Cam contours; for different knee joint torque function curves of different robots, corresponding cam contours can also be designed, thereby increasing the flexibility and versatility of this patent.

Description of drawings

Fig. 1 is the structure schematic diagram when the joint rotation angle of the present invention is θ _i ;

Fig. 2 is a schematic structural view of the present invention when the joint rotation angle is θ _j ;

Fig. 3 is the flow chart that the cam profile surface curve of the present invention obtains;

Among them, limb one 1 fixed connector 2 rigid component 3 cam 4 joint rotation shaft 5 elastic component 6 rigid connector 7 limb two 8.

Detailed ways

The technical solution of the utility model will be described in detail below in conjunction with the accompanying drawings.

As shown in Figure 1, the joint power-assisted adjustment device according to the present invention involves limb one 1 and limb two 8, and limb one 1 and limb two 8 are hinged through the joint rotation shaft 5, including the torque used to reduce the peak value of joint rotation torque An adjustment device, the two ends of the torque adjustment device are respectively fixedly connected to the first limb 1 and the second limb 8, the joint assist adjustment device described in this embodiment is mainly applied to the knee joint, and the two ends of the torque adjustment device are fixedly connected respectively On the thigh and the calf, it includes a cam 4, an elastic part 6 and a rigid part 3, the cam 4 is fixedly installed on the limb one 1, and the two ends of the rigid part 3 are respectively fixedly connected with the limb one 1 and the elastic part 6, and It is connected to the first limb 1 through the fixed connector 2, while the other end of the elastic part 6 is fixedly connected with the second limb 8, and part of the surface body of the rigid part 3 is wound around the contour surface of the cam 4, and the elastic Part 6 is an extension spring.

In order to facilitate the installation of the present invention on the first limb 1 and the second limb 8, the torque adjustment device also includes an installation positioning frame, which is composed of a first fixed part and a second fixed part hinged to each other, and the first fixed part Parts and the second fixed part are all sheet metal frames, and the cam 4 is installed on the limb one 1 through the first fixed part, while the elastic part 6 is installed on the limb two 8 through the second fixed part, and the rigid part 3 is installed on the limb two 8 through the second fixed part. The first fixed part is installed on the limb one 1, promptly first cam 4 is fixedly installed on the first fixed part, and the two ends of the connecting body formed by the elastic part 6 and the rigid part 3 are respectively fixedly connected to the first fixed part and the first fixed part. On the second fixed part, part of the surface body of the rigid part 3 is wound around the contour surface of the cam 4. The rigid part 3 is in the shape of a rope or a sheet. A rigid connector 7 is also connected between them.

When in use, the first fixing part is installed on the thigh, and the second fixing part is installed on the calf. When the human body or the robot walks, the installation positioning frame will rotate with the rotation of the knee joint, and the elastic part 6 will undergo different elastic deformations around the cam 4, and the elastic force generated by the elastic component 6 at each rotation moment corresponds to a corresponding moment arm, so that the device can provide a torque value to adjust the rotational moment of the knee joint Adjustment, that is, to reduce the peak value of the rotational torque of the knee joint and increase the valley value, so that a motor with smaller power and maximum torque can be selected, the weight of the knee joint mechanism can be reduced, and energy consumption for walking can be saved, or the driving torque of the prosthetic wearer can be reduced , walking is more labor-saving.

The acquisition method of the effective contour surface curve of the cam 4 of the present invention, the flow chart is as shown in Figure 3, it uses the method of numerical iteration to invert the effective contour surface curve of the cam 4 according to the auxiliary torque function, and the effective contour surface curve is the knuckle During the rotation process, the line where the elastic part 6 is located and the tangent point of the cam 4, the main steps are: firstly, the initial value of the elastic force of the elastic part 6 is set to obtain a set of envelopes of the cam 4, and then a set of the cam 4 center is used Group rays to scan the cam 4 envelope, thereby obtaining a series of coordinate values of the cam 4 contour curve points to be verified, and then calculate the elastic deformation of the elastic member 6 corresponding to the coordinate values of the cam 4 contour curve points to be verified, to obtain Obtain the elastic force calculation value of the elastic component 6 corresponding to the coordinate value of each cam 4 contour curve point to be verified, and finally check whether the elastic component 6 elastic force calculation value satisfies the iteration condition: if it is satisfied, the cam 4 to be verified obtained in this iteration is The coordinate value of the contour curve point is used as the actual coordinate value of the contour curve point of the cam 4; if it is not satisfied, the calculation value of the elastic force of a set of elastic parts 6 obtained in this iteration is used as the initial value of the elastic force to obtain a new set of cam 4 Envelope, so that the loop iterates until the iteration condition is met.

Specifically, in conjunction with Figures 1 to 3, the acquisition of the effective contour surface curve of the cam 4 includes the following steps:

(1) Set the initial value of the elastic force of the elastic component 6 to f ₀ , establish the cam 4-joint coordinate system, and select n discrete corner positions θ _i (i=1, 2, 3, Ln) as the data fitting target values , and then assign the initial value f ₀ to the elastic force f _{(i, 1)} corresponding to the rotation angle θ _i (i=1, 2, 3, L j, L, n), f _{(i, 1)} represents the first The elastic force corresponding to the rotation angle θ _i in the iteration, a _{(i, k)} represents the tangent point between the straight line where the elastic component 6 corresponding to the rotation angle θ _i and the cam 4 are in the k iteration;

(2) According to the goal of reducing the peak value of the driving torque, select the desired auxiliary torque value τ _i , in the present invention, after studying the feasibility of the effective contour surface curve of the cam 4, adopt the linear auxiliary torque τ _i =τ ₀ +k _a θ _i , according to the elastic force value obtained in (1), obtain the elastic force arm d _{(i, 1)} = τ _i /f _{(i, 1)} corresponding to the rotation angle θ _i , where d _{(i, 1)} means The elastic force arm corresponding to the rotation angle θ _i in the first iteration;

Using the SimMechanics module in Simmulink, the dynamics simulation model of the swinging leg was established, and the curve of the knee joint motion angle changing with time in the period stable walking swing phase and the corresponding curve of the knee joint driving torque changing with time were obtained, while meeting the expectations of the knee joint Design principles of auxiliary torque: (1) Since the linear function is relatively simple, the auxiliary torque is designed to be linear, that is, τ _i =τ ₀ +k _a θ _i ; (2) As the knee joint motion angle increases, the auxiliary torque gradually (3) Ensure that the maximum positive driving torque of the knee joint is significantly reduced, and limit the increase in the maximum negative driving torque of the knee joint; (4) After adding the auxiliary torque, the peak torque of the knee joint driving torque is significantly reduced (5) At different time points, when the motion angle of the knee joint is the same, the same auxiliary torque is provided; (6) the auxiliary torque is all positive, greater than zero, that is, it is in the counterclockwise direction, and the auxiliary torque and the knee joint motion can be obtained The relationship function of the angle is:

τ _i (θ)＝-0.147θ _knee +18.6298，15°≤θ _knee ≤72°

The function of knee joint motion with time is as follows:

θ _knee (t)＝19648t ³ -4864t ² -13t-25, 0≤t≤T

Therefore, the relationship function of the auxiliary torque changing with time in the period stable walking swing phase:

τ _i (t) = 2847.4t ³ -710.2t ² -2.3t+15, 0≤t≤T

Among them, τ _i (t) is the auxiliary torque, the unit is Nm; θ _knee (t) is the knee joint motion angle, the unit is degree; t is time, the unit is s; T=0.26s, is the swing phase period;

(3) Find the coordinates [x ( _{i, 1)} of the corresponding arm point A _{(i, 1)} in the cam 4 conjoined coordinate system [x _{(i, 1)} , y _{(i, 1)} ] according to d (i, 1), Simultaneously find the coordinates [x' _{(i, 1) of the fixed connection point B (i, 1} ) between the corresponding elastic part 6 and the second fixed part with respect to the cam 4 conjoined coordinate system, y' _{(i, 1 )} ], then a series of envelopes can be obtained according to the following formula:

$\mathrm{<span\; class="notranslate">\; the\; y</span>}<span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; the\; y</span>}}^{<span\; class="notranslate">\; \&prime;</span>}\frac{{\mathrm{<span\; class="notranslate">\; the\; y</span>}}_{<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; i</span>}<span\; class="notranslate">\; ,</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; )</span>}<span\; class="notranslate">\; +</span>{{\mathrm{<span\; class="notranslate">\; the\; y</span>}}_{<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; i</span>}<span\; class="notranslate">\; ,</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; )</span>}}^{<span\; class="notranslate">\; \&prime;</span>}}{{\mathrm{<span\; class="notranslate">\; x</span>}}_{<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; i</span>}<span\; class="notranslate">\; ,</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; )</span>}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; i</span>}<span\; class="notranslate">\; ,</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; )</span>}^{<span\; class="notranslate">\; \&prime;</span>}}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; x</span>}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; i</span>}<span\; class="notranslate">\; ,</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; )</span>}^{<span\; class="notranslate">\; \&prime;</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; ,</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; i</span>}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; 1,2,3</span>}<span\; class="notranslate">\; ,</span>\mathrm{<span\; class="notranslate">\; L</span>}<span\; class="notranslate">\; ,</span>\mathrm{<span\; class="notranslate">\; no</span>}<span\; class="notranslate">\; )</span>$

B _{(i, k)} in Fig. 1 represents the coordinates of the fixed connection point between the elastic part 6 and the second fixed part corresponding to the rotation angle θ _i in the kth iteration in the cam 4 conjoined coordinate system; and in Fig. 2 B _{(j, k)} represents the coordinates of the fixed connection point between the elastic member 6 and the second fixed member corresponding to the rotation angle θ _j in the kth iteration in the cam 4 conjoined coordinate system;

(4) scan the envelope obtained in the above steps with the ray of the cam 4 conjoined coordinate system origin, to obtain the point coordinate value of the corresponding cam 4 contour line to be verified;

(5) obtain the corresponding elastic member 6 elastic deformation amount according to the cam 4 contour point coordinate value to be verified obtained in the step (4), and then obtain the corresponding elastic force f _{(i, 1)} '=ε[l _{(i, 1)} -l ₀ ], (i=1, 2, 3, L n), where ε is the elastic stiffness coefficient, l _{(i, 1)} is the elastic shape corresponding to the rotation angle θ _i in the first iteration variable, l ₀ is the original length of the spring;

(6) Check whether the calculated f′ _{(i, 1)} satisfies the iteration condition, that is, max{|f′ _{(i, 1)} -f ₀ |}<Δ, where Δ is the value of the iteration condition. condition, then the coordinates of the corresponding points of the cam 4 contour line to be verified in step (4) are the actual coordinates of the cam 4 contour line point coordinates, if the iteration condition is not satisfied, then return to step (2), and use f′ _{(i, 1 )} as the initial value of the elastic component 6, to obtain the new envelope of the cam 4, and iterate in this way until f' _{(i, k)} satisfies the iteration condition, and f' _{(i, k)} represents the obtained kth Elastic force corresponding to rotation angle θ _i in the second iteration, k=1, 2, 3, L n.

(7) Fitting the actual cam 4 contour line points obtained in (6) step to obtain the effective contour surface curve equation is:

y= ^{6.2563x2-0.0475x} -0.0161, (0.013299≤x≤0.03232)

The calculated section of the effective cam 4 contour curve is the section of the cam 4 contour line that the steel wire rope fits within the range of motion angle of the knee joint during the joint rotation process.

Claims (10)

1. A joint power-assisted adjustment device, which involves limb one and limb two, and limb one and limb two are hinged through joint rotation shafts, it is characterized in that it includes a torque adjustment device for reducing the peak value of joint rotational torque, the torque adjustment device The two ends are fixedly connected to the first limb and the second limb respectively. 2. The joint assist adjustment device according to claim 1, characterized in that, the torque adjustment device comprises a cam, an elastic component and a rigid component, the cam is fixedly mounted on the first limb, and the two ends of the rigid component are connected to the limb respectively. One is fixedly connected with the elastic component, and the other end of the elastic component is fixedly connected with the second limb, and part of the surface body of the rigid component is wound around the cam contour surface. 3. The joint assist adjustment device according to claim 2, wherein the acquisition of the effective contour surface curve of the cam comprises the following steps: (1) Set the initial value of the elastic force of the elastic component to f ₀ , then establish the cam-connected coordinate system, and select n discrete joint rotation angles θ _i (i=1, 2, 3, L, n) as data fitting target point, and then assign the initial value f ₀ to the elastic force f _{(i, 1)} corresponding to the joint rotation angle θ _i (i=1, 2, 3, L, n), and f _{(i, 1)} represents the first The elastic force corresponding to the rotation angle θ _i in the second iteration; (2) According to the known joint rotation torque values _, select a specific desired auxiliary torque value τ _i corresponding to each θ _i to reduce the peak value of the driving torque, and then obtain the elastic force arms d _{(i, 1)} =τ _i /f _{(i, 1)} , where d _{(i, 1)} represents the elastic force arm corresponding to the rotation angle θ _i in the first iteration; (3) Calculate the coordinates [x _{(i, 1)} , y _{(i, 1)} ] of the corresponding arm point A (i _{, 1 )} in the cam-connected coordinate system according to d (i, 1), and at the same time Find the coordinates [x' _{(i, 1)} of the fixed connection point between the corresponding elastic part and the second fixed part relative to the cam connected body coordinate system, y' _{(i, 1)} ], then you can find it according to the following formula Draw a series of envelopes: $\mathrm{<span\; class="notranslate">\; the\; y</span>}<span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; the\; y</span>}}^{<span\; class="notranslate">\; \&prime;</span>}<span\; class="notranslate">\; +</span>\frac{{\mathrm{<span\; class="notranslate">\; the\; y</span>}}_{<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; i</span>}<span\; class="notranslate">\; ,</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; )</span>}<span\; class="notranslate">\; +</span>{{\mathrm{<span\; class="notranslate">\; the\; y</span>}}_{<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; i</span>}<span\; class="notranslate">\; ,</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; )</span>}}^{<span\; class="notranslate">\; \&prime;</span>}}{{\mathrm{<span\; class="notranslate">\; x</span>}}_{<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; i</span>}<span\; class="notranslate">\; ,</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; )</span>}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; i</span>}<span\; class="notranslate">\; ,</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; )</span>}^{<span\; class="notranslate">\; \&prime;</span>}}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; x</span>}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; i</span>}<span\; class="notranslate">\; ,</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; )</span>}^{<span\; class="notranslate">\; \&prime;</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; i</span>}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; 1,2,3</span>}<span\; class="notranslate">\; ,</span>\mathrm{<span\; class="notranslate">\; L</span>}<span\; class="notranslate">\; ,</span>\mathrm{<span\; class="notranslate">\; no</span>}<span\; class="notranslate">\; )</span>$ (4) Scan the envelope obtained in the above steps with the ray from the origin of the cam conjoined coordinate system to obtain the corresponding coordinate values of the cam profile curve points to be verified; (5) Calculate the elastic deformation of the corresponding elastic part according to the point coordinate value of the cam contour line to be verified obtained in the step (4), and then calculate the corresponding elastic force f' _{(i, 1)} = ε[l _{(i , 1)} -l ₀ ], (i=1, 2, 3, Ln), where ε is the elastic stiffness coefficient, l _{(i, 1)} is the elastic deformation corresponding to the rotation angle θ _i in the first iteration, l ₀ is the original length of the spring; (6) Check whether the calculated f′ _{(i, 1)} satisfies the iteration condition, that is, max{|f′ _{(i, 1)} -f ₀ |}<Δ, where Δ is the value of the iteration condition. condition, then the coordinates of the corresponding point of _the cam contour line to be verified in step (4) are the actual point coordinates of the cam contour line; The initial value of the elastic component is used to obtain the new cam envelope, and the cycle continues until f′ _{(i, k)} satisfies the iteration condition, and f′ _{(i, k)} represents the k-th iteration middle angle The elastic force corresponding to θ _i . 4. The joint power-assisted regulating device according to claim 2, characterized in that, the relationship function of the knee joint cycle stability walking swing phase phase auxiliary torque changing with time is: τ _i (t) = 2847.4t ³ -710.2t ² -2.3t+15 (0≤t≤T); Then the effective contour surface curve equation is: y＝ ^{6.2563x2-0.0475x} -0.0161 (0.013299≤x≤0.03232) Among them, τ _i (t) is the auxiliary torque, the unit is Nm; t is the time, the unit is s; T=0.26s, is the swing phase period. 5 . The joint assisting adjustment device according to claim 2 , wherein a rigid connecting piece is connected between the elastic component and the second limb. 6 . 6. The joint assist adjustment device according to claim 2, characterized in that the torque adjustment device also includes a mounting positioning frame, which is composed of a first fixing part and a second fixing part hinged to each other, and the cam The first fixing part is installed on the first limb, the elastic part is installed on the second limb through the second fixing part, and the rigid part is installed on the first limb through the first fixing part. 7. The joint assisting adjustment device according to claim 2, wherein the rigid component is in the shape of a rope or a sheet. 8. The joint power assist adjustment device according to claim 7, wherein the rigid component is a steel wire rope. 9. The joint power assist adjustment device according to claim 6, characterized in that, both the first fixing part and the second fixing part are sheet metal frames. 10. The joint power assist adjustment device according to claim 2, wherein the elastic member is a tension spring.

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