CN110384605A - A kind of lower limb muscles flexion and extension power assisting device and optimum design method - Google Patents
A kind of lower limb muscles flexion and extension power assisting device and optimum design method Download PDFInfo
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- CN110384605A CN110384605A CN201910737797.6A CN201910737797A CN110384605A CN 110384605 A CN110384605 A CN 110384605A CN 201910737797 A CN201910737797 A CN 201910737797A CN 110384605 A CN110384605 A CN 110384605A
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- 210000003141 lower extremity Anatomy 0.000 title claims abstract description 131
- 210000003205 muscle Anatomy 0.000 title claims abstract description 33
- 238000000034 method Methods 0.000 title claims abstract description 18
- 230000005484 gravity Effects 0.000 claims abstract description 14
- 210000000629 knee joint Anatomy 0.000 claims abstract description 11
- 244000309466 calf Species 0.000 claims abstract description 7
- 230000006870 function Effects 0.000 claims description 33
- 238000009966 trimming Methods 0.000 claims description 18
- 210000001624 hip Anatomy 0.000 claims description 10
- 238000005457 optimization Methods 0.000 claims description 7
- 238000013178 mathematical model Methods 0.000 claims description 6
- 210000000689 upper leg Anatomy 0.000 claims description 6
- 238000009434 installation Methods 0.000 claims description 5
- 230000010355 oscillation Effects 0.000 claims description 5
- 238000004590 computer program Methods 0.000 claims description 4
- 230000001133 acceleration Effects 0.000 claims description 3
- 238000004364 calculation method Methods 0.000 claims description 3
- 210000003414 extremity Anatomy 0.000 claims description 3
- 210000003127 knee Anatomy 0.000 claims description 3
- 238000004088 simulation Methods 0.000 claims description 3
- 230000001360 synchronised effect Effects 0.000 claims description 3
- 230000001419 dependent effect Effects 0.000 claims description 2
- 230000000474 nursing effect Effects 0.000 abstract description 8
- 230000000694 effects Effects 0.000 abstract description 6
- 230000007246 mechanism Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 210000004394 hip joint Anatomy 0.000 description 3
- 238000005452 bending Methods 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 238000004422 calculation algorithm Methods 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 150000001875 compounds Chemical class 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000002146 bilateral effect Effects 0.000 description 1
- 230000037396 body weight Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 206010028417 myasthenia gravis Diseases 0.000 description 1
- 238000013312 nursing technique Methods 0.000 description 1
- 238000011017 operating method Methods 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H2003/005—Appliances for aiding patients or disabled persons to walk about with knee, leg or stump rests
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H2003/007—Appliances for aiding patients or disabled persons to walk about secured to the patient, e.g. with belts
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- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a kind of lower limb muscles flexion and extension power assisting device and optimum design method, which includes waist bandage, is worn on the waist of human body；Rigid support, is symmetricly set on the two sides of human body, and the top of rigid support is fixedly connected with waist bandage；Upper hinge support is mounted on the lower part of rigid support；First lower hinge support, is worn on the knee joint of human body；Pneumatic power support lever, both ends are respectively hinged in upper hinge support and the first lower hinge support, and Pneumatic power support lever is located in plane perpendicular to the ground；Supporter is arranged between the knee joint of human body and sole, and support physical efficiency is bent and stretched before progress with human calf's to swing.The present invention can active balance lower limb in difference bend and stretch self gravity squares at position, meet rehabilitation and nursing with lower limb muscles to spaces compact, weight torque balance effect is good, driving lower limb consume energy low, motion actuated performance requirement fast, that movement interference will not occur.
Description
Technical field
The present invention relates to the rehabilitation of the mankind and nursing technique fields more particularly to a kind of lower limb muscles flexion and extension power-assisted to fill
It sets and optimum design method.
Background technique
There are many elderly or the lower limb myasthenia gravis patients for needing to carry out rehabilitation, because under related muscles strength itself
Drop, cannot provide enough kinetic moments to lift lower limb, the lower limb flexion and extension in walking process cannot be completed well, in step
Lower limb can be encountered when row can not lift, the problem of sole tows on the ground.The obstacle of walking can make patient be easy to be tripped, this
Function training to them or nursing etc. of walking are caused into very big puzzlement.A kind of wearable lower limb muscles are provided and bend and stretch power-assisted
Mechanism makes this kind of personnel in function training or walking nursing etc., can bend and stretch the auxiliary of servomechanism in wearable lower limb muscles
It helps down, effectively offsets and act on the lower limb gravitational moment at hip joint when lifting lower limb, use oneself little muscle strength of remaining
Lower limb can be easily lifted, obtain effective function training or walking nursing etc., this is that related fields medical staff needs to solve
A kind of problem.
Summary of the invention
The technical issues of present invention mainly solves in the presence of the prior art, exists to provide a kind of active balance lower limb
Difference bends and stretches the self gravity square at position, reduces the lower limb muscles flexion and extension of the demand to human body itself related muscles strength
Power assisting device and optimum design method.
Above-mentioned technical problem of the invention is mainly to be addressed by following technical proposals:
Lower limb muscles flexion and extension power assisting device provided by the invention comprising:
Waist bandage is worn on the waist of human body；
Rigid support is symmetricly set on the two sides of human body, the top of the rigid support and the fixed company of the waist bandage
It connects；
Upper hinge support is mounted on the lower part of the rigid support；
First lower hinge support, is worn on the knee joint of human body；
Pneumatic power support lever, main function are the lower limb gravitational moments for balancing lower limb about hip joint center；Pneumatic support
Bar both ends are respectively hinged in upper hinge support and the first lower hinge support, and the Pneumatic power support lever is located at plane perpendicular to the ground
It is interior, and synchronous hunting can be done with the flexion and extension forward of human body lower limbs and stretched；
Supporter is arranged between the knee joint of human body and sole, it is described support physical efficiency with human calf bend and stretch into
To swing before row；When lower limb walking lift forward when, supporter lower end pestle on the ground, itself can with shank bend and stretch into
To swing before row, when lower limb are upright, the down thrust that Pneumatic power support lever is applied mainly is born by supporter, so as to improve
Kneed stress.
Further, the supporter includes the second lower hinge support, support rod and support footrest, second lower hinge
Support and support footrest be worn on the knee joint of human body respectively and foot on, the both ends of the support rod respectively with described second under
Rocker bar bearing is hinged and is fixedly connected with support footrest.
Because lower limb mainly just need biggish muscle strength in walking flexion and extension when lifting lower limb forward
Overcome the gravitational moment of lower limb, therefore when designing mechanism of the present invention, need to only consider circumstance that lower limb lift forward can, in this way,
The forward limit amplitude of oscillation of lower limb thigh is calculated according to 90 ° (1.57rad).
Limb position of centre of gravity approximation is removed not when forward flexion and extension is done in lower limb walking for the complication for avoiding problem
Become, but the gravitational moment size of lower limb can bend and stretch the difference of amplitude and different with lower limb.The branch of correct design Pneumatic power support lever
The installation site of support force and upper hinge support and the first lower hinge support, the equilibrant force that will Pneumatic power support lever thrust generated
The gravitational moment that square is any to lower limb when bending and stretching amplitude can generate good counterbalance effect, to keep patient smaller with itself
Related muscles strength can effectively raise lower limb, realize convenient walking rehabilitation or nursing need.
Based on above-mentioned mechanism, the optimum design method of lower limb muscles flexion and extension power assisting device provided by the invention, packet
Include following steps:
S1, it obtains each design parameter and determines design variable；
S2, installation parameter is designed according to the height, weight and support rod of different people, determines that the design of design variable allows to take
It is worth range, and carries out initialization assignment；
When S3, the lower limb for establishing human body do forward flexion and extension, trimming moment MpWith lower limb gravitational moment MzMechanics parameter
Dynamic mathematical models；
S4, the constraint function for determining the design variable；
When S5, the lower limb for establishing human body do forward flexion and extension, the trimming moment M of Pneumatic power support lever generationpiWith lower limb weight
Torque MziThe maximum value of difference absolute value reach the smallest objective function；
S6, optimization is worked out according to the design variable, constraint function, the dynamic mathematical models of mechanics parameter and objective function
The computer program of design, and calculating is run and is optimized, until reaching desired optimal value；
S7, output optimal value and its motion simulation figure.
Further, in the step S1, the design parameter of selection includes:
The lower limb weight m of human body left or right side, units/kg；
The length NC of human thigh, the length NC are the hip joint center N point of human body to the line of knee joint center C point
Length, unit mm；
Human calf fills up the length CT in portion, and unit mm, the length CT are the sole T point of the human body into knee joint
The wire length of heart C point；Wherein, when human body is stood, length NC line and length CT line are all perpendicular to ground；
The lower limb center of gravity P point of the human body, the P point are located at the surface of the knee joint center C point；
The center of the upper hinge support is D point,
The center of the first lower hinge support is E point, and the E point and the knee joint center C point exist together a height
On；
When human body is stood, length DE line is parallel to each other with length NC line；When human body walking, length DE line with
Length NC line each self-swinging in the plane perpendicular to ground respectively；On the upward extended line of the length DE line with it is described
N point level point in hip joint center is H point；
The design variable includes: the pneumatic thrust value x of Pneumatic power support lever1, unit: N；The center D point of upper hinge support
With the line DH length x of H point2, unit: mm.
Further, in the step S3, when the lower limb of the human body do forward flexion and extension, trimming moment MpAnd lower limb
Gravitational moment MzMathematical modeling formula difference it is as follows:
Mp=x1·L1, unit Nm；
Mz=mgL2, unit Nm；
Wherein: L1γ/1000=HEsin；L2α/1000=HPsin
In formula:
L1Balance arm of force when doing flexion and extension forward for the lower limb of human body, unit mm；
L2Weight arm when doing flexion and extension forward for the lower limb of human body, unit mm；
γ is that H point, E point and D point are formed by angle ∠ HED, and unit degree is dependent variable during exercise, can be according to α and each
Parameter is acquired using geometry and the programming of trigonometric function knowledge；
α is that the lower limb of human body do forward the amplitude of oscillation angle ∠ EHD of flexion and extension, unit degree；
M is the weight of human body lower limbs, units/kg；
G is acceleration of gravity, unit N/kg.
Further, the step S4 design variable pneumatic thrust value x1With line DH length x2Constraint function are as follows:
g1(x)=x1- 800≤0, that is, x1Value range is less than 800N；
g2(x)=80-x1≤ 0, that is, x1Value range is greater than 80N；
g3(x)=x2- 200≤0 that is, x2Value range is less than 200mm；
g4(x)=60-x2≤ 0, that is, x2Value range is greater than 60mm.
Further, in the step S5, the trimming moment M of the Pneumatic power support lever generationpiWith lower limb gravitational moment MziIt
The calculation formula that the maximum value of poor absolute value reaches the smallest objective function minf (x) is as follows:
Min f (x)=max (abs (Δ Mi))；Wherein, Δ Mi=Mpi-Mzi；
In formula:
ΔMiIt is done forward in the hunting range of flexion and extension for the lower limb of human body, the trimming moment M that Pneumatic power support lever generatespi
With lower limb gravitational moment MziNumerical value of the difference in different location, i=1 ... n；
F (x) indicates that lower limb walks forward when doing flexion and extension, the trimming moment that generates in different location Pneumatic power support lever and
Maximum value in the difference absolute value of lower limb gravitational moment, min f (x) are objective functions, optimization design the result is that reaching f (x)
To minimum, that is, so that lower limb forward walking do flexion and extension when, Pneumatic power support lever generate trimming moment and lower limb gravitational moment
Difference absolute value in maximum value reach minimum.
The beneficial effects of the present invention are:
1), when the lower limb of human body walk do flexion and extension forward, can active balance lower limb difference bend and stretch at position
Self gravity square reduces the demand to human body itself related muscles strength, meets rehabilitation and nursing lower limb muscles are tight to space
It gathers, weight torque balance effect is good, driving lower limb consume energy low, motion actuated performance requirement fast, that movement interference will not occur；
2) optimum design method, is used, optimal personalized designs can be quickly obtained according to the needs of Different Individual and become
Measure parameter value.
3) when wearer's lower limb walking lift forward when, the main function of Pneumatic power support lever of the present invention be balance lower limb about
Lower limb gravitational moment at the N point of hip joint center；Supporter lower end pestle on the ground, itself can with shank bend and stretch progress before
To swing, when lower limb are upright, the down thrust that Pneumatic power support lever is applied mainly is born by supporter, so as to improve knee pass
The stress of section.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is the structural schematic diagram of lower limb muscles flexion and extension power assisting device of the invention；
When Fig. 2 is that human body of the present invention is stood, the mechanism section schematic diagram of lower limb muscles flexion and extension power assisting device；
When Fig. 3 is that human body of the present invention is taken a step, the mechanism section schematic diagram of lower limb muscles flexion and extension power assisting device；
Fig. 4 is that human body lower limbs walk do in the scope of activities of flexion and extension forward, the change curve of lower limb gravitational moment；
Fig. 5 is optimization program operation block diagram of the invention.
In figure: 1-waist bandage, 2-upper hinge supports, the 3-the first lower hinge support, 4-Pneumatic power support levers, 5-the
Two lower hinge supports, 6-support rods, 7-support footrests, 8-rigid supports.
Specific embodiment
The preferred embodiment of the present invention is described in detail with reference to the accompanying drawing, so that advantages and features of the invention energy
It is easier to be readily appreciated by one skilled in the art, so as to make a clearer definition of the protection scope of the present invention.
Lower limb muscles flexion and extension power assisting device of the invention is made of for two groups left and right, because of the structure of everyone bilateral lower limb
Essentially identical, therefore, human body two sides lower limb need to only design wherein side (such as: right side) parameter.
Refering to fig. 1 shown in -4, lower limb muscles flexion and extension power assisting device of the invention comprising:
Waist bandage 1 is worn on the waist of human body；
Rigid support 8 is symmetricly set on the two sides of human body, and the structure of the left and right sides can be designed to a rigid body pattern,
The top of rigid support 8 is fixedly connected with waist bandage 1；
Upper hinge support 2 is mounted on the lower part of rigid support 8；
First lower hinge support 3, is worn on the knee joint of human body；
Pneumatic power support lever 4, both ends are respectively hinged in upper hinge support 2 and the first lower hinge support 3, Pneumatic power support lever 4
In plane perpendicular to the ground, and synchronous hunting can be done with the flexion and extension forward of human body lower limbs and is stretched；When under human body
When limb walking is lifted forward, the main function of Pneumatic power support lever 4 is balance lower limb about the lower limb gravity at the N point of hip joint center
Square；
Supporter is arranged between the knee joint of human body and sole, support physical efficiency with human calf bend and stretch progress before
To swing.In the present invention, supporter includes the second lower hinge support 5, support rod 6 and support footrest 7, the second lower hinge support 5
It is worn on the knee joint of human body respectively with support footrest 7 on foot, the upper end of support rod 6 and 5 phase of the second lower hinge support are cut with scissors
It connects, lower end is fixedly connected with support footrest 7.When the lower limb of human body are upright, supporter is mainly used for bearing 4 institute of Pneumatic power support lever
The down thrust of application, so as to improve kneed stress.
In the present invention, Pneumatic power support lever 4 used its thrust approximation in telescopic process is constant, because lower limb are bent in walking
It stretches in movement, biggish muscle strength is mainly just needed to overcome the gravitational moment of lower limb when lifting lower limb forward, therefore, this
Invention only need to consider the situation that lower limb lift forward: the forward limit amplitude of oscillation of lower limb thigh is counted according to 90 ° (1.57rad)
It calculates.
In the present invention, limb center of gravity position is removed when forward flexion and extension is done in lower limb walking for the complication for avoiding problem
Set approximate constant, still, the gravitational moment size of lower limb can bend and stretch the difference of amplitude and different with lower limb.Therefore, correct design
The support force and upper hinge support 2 of Pneumatic power support lever 4 and the installation site of the first lower hinge support 3, will be so that pneumatic support
The trimming moment that 4 thrust of bar generates gravitational moment when bending and stretching amplitude any to lower limb can generate good counterbalance effect, so as to
Allow patient that can effectively raise lower limb with itself lesser related muscles strength, realizes convenient walking rehabilitation or nursing
It needs.
As shown in fig.5, the optimum design method of lower limb muscles flexion and extension power assisting device of the invention comprising following
Step:
S1, it obtains each design parameter and determines design variable；
Specifically, design parameter includes:
The lower limb weight m of human body left or right side；
The length NC of human thigh, length NC are that the line of hip joint center N point to the knee joint center C point of human body is long
Degree；
Human calf fills up the length CT in portion, and length CT is that the line of sole T point to the knee joint center C point of human body is long
Degree；Wherein, when human body is stood, length NC line and length CT line are all perpendicular to ground；
The lower limb center of gravity P point of human body, P point are located at the surface of knee joint center C point；
The center of upper hinge support is D point；
The center E point of first lower hinge support, E point and knee joint center C point exist together in a height；
When human body is stood, length DE line is parallel to each other with length NC line；When human body walking, length DE line with
Length NC line each self-swinging in the plane perpendicular to ground respectively；On the upward extended line of length DE line and in hip joint
The level point of heart N point is H point；
Design variable includes: the pneumatic thrust value x of Pneumatic power support lever1, the line of the center D point and H point of upper hinge support
DH length x2。
S2, installation parameter etc. is designed according to the height, weight and support rod of different people, determines that the design of design variable allows
Value range, and carry out initialization assignment；
When S3, the lower limb for establishing human body do forward flexion and extension, trimming moment MpWith lower limb gravitational moment MzMechanics parameter
Dynamic mathematical models；Mathematical modeling formula difference is as follows:
Mp=x1·L1；Mz=mgL2
Wherein: L1γ/1000=HEsin；L2α/1000=HPsin
In formula: L1Balance arm of force when doing flexion and extension forward for the lower limb of human body；L2It is bent and stretched forward for the lower limb of human body
Weight arm when movement；γ is that H point, E point and D point are formed by angle ∠ HED；α is that the lower limb of human body do forward flexion and extension
Amplitude of oscillation angle ∠ EHD；M is the weight of human body lower limbs；G is acceleration of gravity.It, can be according to α value and each parameter benefit in the present invention
γ value is acquired with geometry and the programming of trigonometric function knowledge.
S4, the constraint function for determining design variable；
In design variable, pneumatic thrust value x1With line DH length x2Constraint function are as follows:
g1(x)=x1-800≤0；g2(x)=80-x1≤0；g3(x)=x2-200≤0；g4(x)=60-x2≤0。
When S5, the lower limb for establishing human body do forward flexion and extension, the trimming moment M of Pneumatic power support lever generationpiWith lower limb weight
Torque MziThe maximum value of difference absolute value reach the smallest objective function minf (x)；The calculation formula of objective function minf (x) is such as
Under:
Min f (x)=max (abs (Δ Mi))；Wherein, Δ Mi=Mpi-Mzi；
In formula: Δ MiIt is done forward in the hunting range of flexion and extension for the lower limb of human body, the balance that Pneumatic power support lever generates
Torque MpiWith lower limb gravitational moment MziNumerical value of the difference in different location, i=1 ... n；
When f (x) is that the lower limb of human body do forward flexion and extension, in the trimming moment M that different location Pneumatic power support lever generatespi
With lower limb gravitational moment MziDifference absolute value in maximum value.
S6, optimization design is worked out according to design variable, constraint function, the dynamic mathematical models of mechanics parameter and objective function
Computer program, and calculating is run and is optimized, until reaching desired optimal value；
S7, output optimal value and its motion simulation figure.
Embodiment:
The selection of design parameter is as follows:
The lower limb weight m=18kg on right side (similarly hereinafter)；
The length NC=500mm of thigh；
The length that shank fills up portion is CT=450mm；
The distance of lower limb center of gravity P point to hip joint N point is PN=450mm；
The distance of lower limb center of gravity P point to knee joint center C point is PC=50mm.
In this embodiment, the pneumatic thrust value x of Pneumatic power support lever1Value range are as follows: x1Greater than 80N, it is less than 800N；On
The center D point of rocker bar bearing and the line DH length x of H point2Value range are as follows: x2Greater than 60mm, it is less than 200mm, each design becomes
The initial assignment of amount is its respectively arbitrary value in value range.
Firstly, with computer language to the dynamic mathematics of design variable, constraint function, lower limb mechanics parameter in above-mentioned parameter
The computer program of model and objective function establishment optimization design, and input computer and transported.Then, using compound optimist
Algorithm optimizes calculating, wherein compound optimist algorithm use publishing house, Tsinghua University publish " machinery optimize set
Meter " in method disclosed in chapter 5.Computer operating procedure (routine side of optimization design as shown in 5 program chart of attached drawing
Method).It is computed, optimizing design of main parameters result are as follows:
1), the pneumatic thrust value of Pneumatic power support lever 4 are as follows: x1=797.2035N；
2), the design length between DH are as follows: x2=94.600mm；
3), objective function (maximum residual gravitational moment) are as follows: f (x)=5.2555Nm.
It, can be to work in above-mentioned motion range and state as shown in fig.4, the present invention is during lifting lower extremity movement
The weight torque balance of lower limb falls 93% or more.That is: the personnel of apparatus of the present invention have been dressed, usual related muscles are theoretically only needed
Strength less than 7%, so that it may effectively lift oneself lower limb carry out Ambulatory Activity.It can help some lower limb fleshes well in this way
The daily walking movement rehabilitation of powerless patient or nursing need.
More than, only a specific embodiment of the invention, but scope of protection of the present invention is not limited thereto, it is any without
The change or replacement that creative work is expected are crossed, should be covered by the protection scope of the present invention.Therefore, protection of the invention
Range should be determined by the scope of protection defined in the claims.
Claims (7)
1. a kind of lower limb muscles flexion and extension power assisting device, characterized in that it comprises:
Waist bandage is worn on the waist of human body；
Rigid support, is symmetricly set on the two sides of human body, and the top of the rigid support is fixedly connected with the waist bandage；
Upper hinge support is mounted on the lower part of the rigid support；
First lower hinge support, is worn on the knee joint of human body；
Pneumatic power support lever, main function are the lower limb gravitational moments for balancing lower limb about hip joint center；Pneumatic power support lever two
End is respectively hinged in upper hinge support and the first lower hinge support, and the Pneumatic power support lever is located in plane perpendicular to the ground,
And synchronous hunting can be done with the flexion and extension forward of human body lower limbs and is stretched；
Supporter is arranged between the knee joint of human body and sole, it is described support physical efficiency with human calf bend and stretch progress before
To swing；When lower limb walking lift forward when, supporter lower end pestle on the ground, itself can with shank bend and stretch progress before
To swing, when lower limb are upright, the down thrust that Pneumatic power support lever is applied mainly is born by supporter, so as to improve knee pass
The stress of section.
2. lower limb muscles flexion and extension power assisting device as described in claim 1, which is characterized in that the supporter includes second
The knee that lower hinge support, support rod and support footrest, the second lower hinge support and support footrest are worn on human body respectively closes
On section and on foot, the both ends of the support rod respectively with the second lower hinge support and footrest is supported to be hinged and the company of fixation
It connects.
3. a kind of optimum design method of lower limb muscles flexion and extension power assisting device as described in claim 1, which is characterized in that
Itself the following steps are included:
S1, it obtains each design parameter and determines design variable；
S2, installation parameter is designed according to the height, weight and support rod of different people, determines that the design of design variable allows value model
It encloses, and carries out initialization assignment；
When S3, the lower limb for establishing human body do forward flexion and extension, trimming moment MpWith lower limb gravitational moment MzMechanics parameter dynamic
Mathematical model；
S4, the constraint function for determining the design variable；
When S5, the lower limb for establishing human body do forward flexion and extension, the trimming moment M of Pneumatic power support lever generationpiWith lower limb gravitational moment
MziThe maximum value of difference absolute value reach the smallest objective function；
S6, optimization design is worked out according to the design variable, constraint function, the dynamic mathematical models of mechanics parameter and objective function
Computer program, and calculating is run and is optimized, until reaching desired optimal value；
S7, output optimal value and its motion simulation figure.
4. the optimum design method of lower limb muscles flexion and extension power assisting device as claimed in claim 3, which is characterized in that described
In step S1, the design parameter of selection includes:
The lower limb weight m of human body left or right side, units/kg；
The length NC, the length NC of human thigh is that the line of hip joint center N point to the knee joint center C point of human body is long
Degree, unit mm；
Human calf fills up the length CT in portion, and unit mm, the length CT are the sole T point of the human body to knee joint center C
The wire length of point；Wherein, when human body is stood, length NC line and length CT line are all perpendicular to ground；
The lower limb center of gravity P point of the human body, the P point are located at the surface of the knee joint center C point；
The center of the upper hinge support is D point,
The center of the first lower hinge support is E point, and the E point and the knee joint center C point exist together in a height；
When human body is stood, length DE line is parallel to each other with length NC line；When human body walking, length DE line and length
NC line each self-swinging in the plane perpendicular to ground respectively；It is closed on the upward extended line of the length DE line with the hip
N point level point in section center is H point；
The design variable includes: the pneumatic thrust value x of Pneumatic power support lever1, unit: N；The center D point and H point of upper hinge support
Line DH length x2, unit: mm.
5. the optimum design method of lower limb muscles flexion and extension power assisting device as claimed in claim 4, which is characterized in that described
In step S3, when the lower limb of human body do forward flexion and extension, trimming moment MpWith lower limb gravitational moment MzMathematical modeling formula difference
It is as follows:
Mp=x1·L1, unit Nm；
Mz=mgL2, unit Nm；
Wherein: L1γ/1000=HEsin；L2α/1000=HPsin
In formula:
L1Balance arm of force when doing flexion and extension forward for the lower limb of human body, unit mm；
L2Weight arm when doing flexion and extension forward for the lower limb of human body, unit mm；
γ is that H point, E point and D point are formed by angle ∠ HED, and unit degree is dependent variable during exercise, can be according to α and each parameter
It is acquired using geometry and the programming of trigonometric function knowledge；
α is that the lower limb of human body do forward the amplitude of oscillation angle ∠ EHD of flexion and extension, unit degree；
M is the weight of human body lower limbs, units/kg；
G is acceleration of gravity, unit N/kg.
6. the optimum design method of lower limb muscles flexion and extension power assisting device as claimed in claim 5, which is characterized in that described
Step S4 design variable pneumatic thrust value x1With line DH length x2Constraint function are as follows:
g1(x)=x1- 800≤0, that is, x1Value range is less than 800N；
g2(x)=80-x1≤ 0, that is, x1Value range is greater than 80N；
g3(x)=x2- 200≤0 that is, x2Value range is less than 200mm；
g4(x)=60-x2≤ 0, that is, x2Value range is greater than 60mm.
7. the optimum design method of lower limb muscles flexion and extension power assisting device as claimed in claim 6, which is characterized in that described
In step S5, the trimming moment M of Pneumatic power support lever generationpiWith lower limb gravitational moment MziThe maximum value of difference absolute value reach minimum
Objective function minf (x) calculation formula it is as follows:
Min f (x)=max (abs (Δ Mi))；Wherein, Δ Mi=Mpi-Mzi；
In formula:
ΔMiIt is done forward in the hunting range of flexion and extension for the lower limb of human body, the trimming moment M that Pneumatic power support lever generatespiWith under
Limb gravitational moment MziNumerical value of the difference in different location, i=1 ... n；
F (x) indicates that lower limb walks forward when doing flexion and extension, in the trimming moment and lower limb of the generation of different location Pneumatic power support lever
Maximum value in the difference absolute value of gravitational moment, min f (x) are objective functions, optimization design the result is that reaching f (x) most
It is small, that is, so that lower limb forward walking do flexion and extension when, Pneumatic power support lever generate trimming moment and lower limb gravitational moment difference
Maximum value in absolute value reaches minimum.
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