CN101589983A - Wearable lower limb exoskeleton device - Google Patents
Wearable lower limb exoskeleton device Download PDFInfo
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- CN101589983A CN101589983A CNA2009100883969A CN200910088396A CN101589983A CN 101589983 A CN101589983 A CN 101589983A CN A2009100883969 A CNA2009100883969 A CN A2009100883969A CN 200910088396 A CN200910088396 A CN 200910088396A CN 101589983 A CN101589983 A CN 101589983A
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Abstract
The invention discloses a kind of wearable lower limb exoskeleton device, comprise lumbar support frame and luggage carrier, can adjust hip mechanism, the adjustable knee-joint mechanism of connecting rod, connecting rod is adjustable ankle joint mechanism, pressure detecting footwear, leg link, constraint component and each connector; Two lower limb are totally ten two rotational freedoms, single each six-freedom degree of lower limb, be respectively two degree of freedom of hip, finish the hip joint motion of bending and stretching and take down the exhibits, two joints axes are passed through hip institutional adjustment junction human hip center all the time, knee joint one degree of freedom, with the human body knee joint coaxial line, the flexion and extension of corresponding human body knee joint; The ankle joint three degree of freedom.Coxa joint motion and human motion high conformity during this device walking, man-machine knee joint alignment and position deviation are little, ankle articulation structure compactness.The present invention can be used for strengthening the ability that the wearer walking is born a heavy burden and walked for a long time, detects the wearer walking information, also can be used for helping the slight obstacle person of lower extremity movement normally to walk, and progressively rehabilitation.
Description
Technical field
The present invention relates to a kind of wearable lower limb exoskeleton mechanism arrangement, relate in particular to a kind of exoskeleton robot device that can be used for detection of human body lower limbs movable information and lower extremity movement power-assisted.
Background technology
At present, lower limb exoskeleton is mainly used in the rehabilitation training of human body lower limbs, generally is the fixed form of matrix.Wearable lower limb exoskeleton can be worn on human body and be synchronized with the movement with the people, in dynamic walking is moved, follow the human body movable information or driving moment initiatively is provided, to help wearer to finish the walking of bigger heavy burden and long period, alleviate the fatigue of wearer.Application number is that 200410053695.6 invention and application number are that 200420081797.4 utility model has designed a kind of pair of lower limb mechanism of totally 8 degree of freedom, this ectoskeletal typical feature is to finish the sagittal plane motion of wearer correspondence by hip four-bar mechanism, knee four-bar mechanism, ankle four-bar mechanism, uses four-bar mechanism can well use Linear actuator to finish bigger heavy burden.In addition, it has increased medial rotation at hip and has revolved extrinsic articulation.The configuration mode of single lower limb 4DOF cloth position is with respect to human body list lower limb 7 degree of freedom of simplifying, and its number of degrees of freedom, is less relatively.Application number is that 200680006514.1 invention has disclosed a kind of design concept that is configured to be coupled to the lower limb exoskeleton of human body bottom.This design provides the power-assisted of active functions based on man-machine coupling and energy element device, to be coupled as design key, does not require the strict corresponding of man-machine joint, does not have the function that detects the wearer actual motion.
Summary of the invention
The objective of the invention is to, by a kind of wearable lower limb exoskeleton mechanism arrangement is provided, make ectoskeleton can have the dual-use function of information detection more accurately and power-assisted, can be harmonious with human motion preferably, guarantee in the dynamic walking movement, the correspondence and the concordance of man-machine each joint of the lower extremity motion, and can easily be used to detect movable information, assist function is provided.
Wearable lower limb exoskeleton mechanism arrangement of the present invention is to adopt following technological means to realize:
A kind of wearable lower limb exoskeleton device, its mechanical part comprises: lumbar support frame and luggage carrier, can adjust hip mechanism, the adjustable knee-joint mechanism of connecting rod, connecting rod is adjustable ankle joint mechanism, pressure detecting footwear, leg link, constraint component and each connector; Two lower limb are totally ten two rotational freedoms, single each six-freedom degree of lower limb, be respectively two degree of freedom of hip, finish the hip joint motion of bending and stretching and take down the exhibits, two joints axes are by hip institutional adjustment junction human hip center all the time, and the hip joint of taking down the exhibits is positioned at the body rear side, joints axes is along the sagittal axis direction, hip bends and stretches the joint and is positioned at external side, and joints axes is along the frontal axis direction, and both orthogonal axes are vertical; Knee joint one degree of freedom, with the human body knee joint coaxial line, the flexion and extension of corresponding human body knee joint; The ankle joint three degree of freedom, joints axes is bent and stretched along frontal axis in cloth position, the outside, and is coaxial with human body ankle joint, and take down the exhibits joint and rotary joint be along sagittal axis and vertical axis, three's joints axes pairwise orthogonal.
Aforesaid lumbar support frame is fixed on trunk by waistcoat, bandage.
Aforesaid luggage carrier, hip mechanism are installed on lumbar support frame back.
The joint of taking down the exhibits of aforesaid hip mechanism is positioned at the body rear side, and its axis is along the sagittal axis direction; Hip bends and stretches the joint and is positioned at external side, and coxa joint motion is consistent with human motion, and its axis is along the frontal axis direction, both orthogonal vertical.
The large and small lower limb of aforesaid leg link is divided into upper and lower connecting rod, has scalable that chute is installed on each connecting rod, can adjust connecting portion and realize different leg length, guarantees to install man-machine knee joint alignment; Described connecting rod is pressed close to shank.
Aforesaid constriction is positioned at the upper and lower side of knee joint, near the knee joint position.
The outside in aforesaid ankle joint is a three degree of freedom, and the described joints axes of bending and stretching is along frontal axis direction and human body ankle flexion and extension coaxial line, and take down the exhibits joint and rotary joint be along sagittal axis and vertical axis, the joints axes pairwise orthogonal of three degree of freedom.
Aforesaid pressure detecting footwear are connected with ankle portion by connector, and detecting footwear and instep has the bondage constraint, and the pressure sensor portion of detecting footwear is positioned at sole, and detecting footwear is flexible sole.
Wearable lower limb exoskeleton device of the present invention can be installed drive motors and encoder, finish the detection that the corresponding movable information of four main power-assists that move of degree of freedom and six joint motions is bent and stretched in two degree of freedom of hip, knee joint one degree of freedom and ankle joint, can detect the pressure information of sole corresponding position by the pressure transducer of sole.
The present invention compared with prior art has following remarkable advantages and beneficial effect:
A kind of wearable lower limb exoskeleton device of the present invention, its mechanism configuration is made of 12 rotary freedoms, each six degree of freedom of single lower limb, and configuration is realized by above-mentioned mechanical part, can guarantee in the normal dynamic gait processes two joint motions of hip and human hip motion high conformity; The nearly knee joint constraint of cloth position configuration by hip and thigh and calf has guaranteed that man-machine knee joint alignment and position deviation are little; Ankle articulation structure compactness.Wearable lower limb exoskeleton device of the present invention is installed to drive and can be helped wearer to alleviate walking fatigue, strengthens the ability of wearer walking heavy burden and long-time walking.But encoder and pressure detecting device acquisition and recording wearer walking information are installed, for the gait motion analysis provides accurate data.In addition, the reproduction of treated walking information, ectoskeleton can also help the slight obstacle person of lower extremity movement normally to walk, and progressively realizes rehabilitation.
Description of drawings
Fig. 1 is the wearable lower limb exoskeleton device structural representation;
Fig. 2 is a wearable lower limb exoskeleton device waist structure zoomed-in view;
Fig. 3 is a wearable lower limb exoskeleton device ankle part structure zoomed-in view;
Fig. 4 is a wearable lower limb exoskeleton device plane three-view diagram.
Screw is 2. installed in the 1. hips joint of taking down the exhibits among the figure, and 3. hip bends and stretches the joint, 4. installation screw, 5,6,10,11. connecting rods, 7,9. bandage constraint, 8. knee joint, 12. ankle part joint, 13. the pressure detecting footwear, 14. luggage carriers, 15. lumbar support framves, 16,17,18,19. hip connectors, 20. leg strap connects pedestal, 21. knee joint connectors, 22. ankle connectors, 23. foot's bandage, 24. the luggage carrier mounting groove, 25. lumbar support link slots, 26. ankles bend and stretch the joint, the joint 27. ankle is taken down the exhibits, 28. ankle rotary joints.
The specific embodiment
Below in conjunction with description of drawings the specific embodiment of the present invention.
See also shown in Figure 1, a kind of lower extremity movement information of the present invention's design detects and power-assisted ESD (hereinafter to be referred as ectoskeleton), it comprises lumbar support frame 15, and luggage carrier 14 bends and stretches the ectoskeleton hip mechanism that forms in joint 3 by take down the exhibits joint 1 and hip of hip, big leg connecting rod 5,6, knee joint 8, shank connecting rod 10,11, shank constraint bandage 7,9, ankle joint 12, pressure detecting footwear and each several part connector are formed.As shown in Figure 2, described waist mechanism is a basic part with lumbar support frame 15, fixes with braces, waistcoat and trunk.Luggage carrier 14 is installed on the lumbar support frame 15 by luggage carrier mounting groove 24 and lumbar support link slot 25, is positioned at the wearer dorsal part.Hip connector 16 is installed on the lumbar support frame 15, and the installation site that can regulate connector 16 in lumbar support frame link slot 25 to be to adapt to different wearers, guarantees waist take down the exhibits joint 1 and human hip coaxial line.Hip connector 18 tops are installed on the hip connector 16 by screw 2 is installed, and the bottom links by hip connector 19 and connecting rod 5, constitute hip and bend and stretch joint 3.Connecting rod 6 and connecting rod 10 are linked by connector 21, constitute knee joint.Ankle part joint 12 has ankle to bend and stretch joint 26, ankle take down the exhibits joint 27, ankle rotary joint 28 (referring to Fig. 3), and the three is mutually orthogonal.The pressure detecting footwear are connected with the ankle joint.
On the connecting rod 5,6,10,11 the installation chute is arranged all, can regulate the connecting rod link position, adapt to different height wearers.Regulate the installation site of connecting rod 5 and connecting rod 6, guarantee knee joint 8 and human body knee joint coaxial line.Regulate the installation site of connecting rod 10 and connecting rod 11, guarantee to bend and stretch joint 26 and human body ankle joint flexion and extension coaxial line.Bandage constraint 7,9 is installed on the connecting rod 6,10 of thigh and calf.
Three-view diagram after the ESD assembling as shown in Figure 4.
The hip joint 1 of taking down the exhibits, hip bends and stretches joint 3, knee joint 8, ankle bends and stretches that joint 26 can be selected or all drive the equal installation and measuring element of 12 degree of freedom.
The present invention is applicable to the object that needs to assist walking and heavy burden, also can help the slight obstacle person of lower extremity movement to realize rehabilitation.In the enforcement, wearer is by waist, and the constraint of shank and foot connects with ESD, regulates the installation site of each several part connecting rod, so that ectoskeleton adapts to wearer, guarantees that initial installation site, joint is accurate.At information detection functions, during the walking, be installed in detection means and foot force detection means record experimenter movable information on each degree of freedom, with host computer on-line analytical processing experimenter's gait.At assist function, drive the joint motor input torque and provide power-assisted for wearer.
Ectoskeleton of the present invention is not addressed part and is applicable to prior art.
It should be noted that at last: above embodiment only in order to the explanation the present invention and and unrestricted technical scheme described in the invention; Therefore, although this description has been described in detail the present invention with reference to each above-mentioned embodiment,, those of ordinary skill in the art should be appreciated that still and can make amendment or be equal to replacement the present invention; And all do not break away from the technical scheme and the improvement thereof of the spirit and scope of invention, and it all should be encompassed in the middle of the claim scope of the present invention.
Claims (8)
1, a kind of wearable lower limb exoskeleton device, its mechanical part comprises: lumbar support frame and luggage carrier, can adjust hip mechanism, the adjustable knee-joint mechanism of connecting rod, connecting rod is adjustable ankle joint mechanism, pressure detecting footwear, leg link, constraint component and each connector; It is characterized in that: two lower limb are totally ten two rotational freedoms, single each six-freedom degree of lower limb, be respectively two degree of freedom of hip, finish the hip joint motion of bending and stretching and take down the exhibits, two joints axes are by hip institutional adjustment junction human hip center all the time, and the hip joint of taking down the exhibits is positioned at the body rear side, joints axes is along the sagittal axis direction, hip bends and stretches the joint and is positioned at external side, and joints axes is along the frontal axis direction, and both orthogonal axes are vertical; Knee joint one degree of freedom, with the human body knee joint coaxial line, the flexion and extension of corresponding human body knee joint; Ankle joint three degree of freedom, joints axes is bent and stretched along frontal axis in cloth position, the outside, and is coaxial with human body ankle joint, and take down the exhibits joint and rotary joint be along sagittal axis and vertical axis, three's joints axes pairwise orthogonal.
2, wearable lower limb exoskeleton device according to claim 1 is characterized in that: described lumbar support frame is fixed on trunk by waistcoat, bandage.
3, wearable lower limb exoskeleton device according to claim 1 is characterized in that: described luggage carrier, hip mechanism are installed on lumbar support frame back.
4, according to claim 1 or 3 described wearable lower limb exoskeleton devices, it is characterized in that: the joint of taking down the exhibits of described hip mechanism is positioned at the body rear side, and its axis is along the sagittal axis direction; Hip bends and stretches the joint and is positioned at external side, and coxa joint motion is consistent with human motion, and its axis is along the frontal axis direction, both orthogonal vertical.
5, wearable lower limb exoskeleton device according to claim 1, it is characterized in that: the large and small lower limb of described leg link is divided into upper and lower connecting rod, there is scalable that chute is installed on each connecting rod, can adjusts connecting portion and realize different leg length, guarantee to install man-machine knee joint alignment; Described connecting rod is pressed close to shank.
6, wearable lower limb exoskeleton device according to claim 1 is characterized in that: described constriction is positioned at the upper and lower side of knee joint, near the knee joint position.
7, wearable lower limb exoskeleton device according to claim 1, it is characterized in that: the outside in described ankle joint is a three degree of freedom, the described joints axes of bending and stretching is along frontal axis direction and human body ankle flexion and extension coaxial line, take down the exhibits joint and rotary joint along sagittal axis and vertical axis, the joints axes pairwise orthogonal of three degree of freedom.
8, wearable lower limb exoskeleton device according to claim 1, it is characterized in that: described pressure detecting footwear, be connected with ankle portion by connector, detecting footwear and instep has the bondage constraint, the pressure sensor cloth that detects footwear is positioned at sole, and detecting footwear is flexible sole.
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| Application Number | Priority Date | Filing Date | Title |
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| CN2009100883969A CN101589983B (en) | 2009-06-26 | 2009-06-26 | Wearable lower limb exoskeleton device |
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| CN2009100883969A CN101589983B (en) | 2009-06-26 | 2009-06-26 | Wearable lower limb exoskeleton device |
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| CN101589983A true CN101589983A (en) | 2009-12-02 |
| CN101589983B CN101589983B (en) | 2011-05-18 |
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| CN2009100883969A Expired - Fee Related CN101589983B (en) | 2009-06-26 | 2009-06-26 | Wearable lower limb exoskeleton device |
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