CN101589983B - Wearable lower limb exoskeleton device - Google Patents

Wearable lower limb exoskeleton device Download PDF

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Publication number
CN101589983B
CN101589983B CN 200910088396 CN200910088396A CN101589983B CN 101589983 B CN101589983 B CN 101589983B CN 200910088396 CN200910088396 CN 200910088396 CN 200910088396 A CN200910088396 A CN 200910088396A CN 101589983 B CN101589983 B CN 101589983B
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China
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joint
hip
freedom
axis
ankle
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CN 200910088396
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Chinese (zh)
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CN101589983A (en
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何爱颖
尹军茂
李剑锋
邓毅
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北京工业大学
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Abstract

The invention discloses a wearable lower limb exoskeleton device, which comprises a waist supporting frame, a waist object carrier, an adjustable hip mechanism, a connecting rod adjustable knee joint mechanism, a connecting rod adjustable ankle joint mechanism, pressure detection shoes, a leg connecting rod, a constraint part and various connecting pieces. Both lower limbs have twelve rotational freedoms, the single lower limb has six degrees of freedom respectively, a hip has two degrees of freedom which finish bending and stretching as well as adduction and abduction movements of a hip joint, two joint axes always intersects at the center of the hip joint of a human body through the adjustment of the hip mechanism, and a knee joint has one degree of freedom which is coaxial with the knee joint of the human body and corresponds to the bending and stretching movement of the knee joint of the human body; and an ankle joint has three degrees of freedom. The device has good consistency of the movement of the hip joint and the movement of the human body during the walking of people; human-machine knee joints have small coaxality and position deviation; and the ankle joint has a compact structure. The device can be used for strengthening the abilities of walking with load and walking for a long time of wearers and detecting walking information of the wearers, and can also be used for helping people with slight obstacle of lower limb movement to normally walk and gradually rehabilitate.

Description

穿戴式下肢外骨骼装置 Lower extremity exoskeleton apparatus wearable

技术领域 FIELD

[0001] 本发明涉及一种穿戴式下肢外骨骼机构装置,尤其涉及一种能用于人体下肢运动信息检测及下肢运动助力的外骨骼机器人装置。 [0001] The present invention relates to a wearable mechanism Lower extremity exoskeleton apparatus, in particular, relates to an apparatus for a robot exoskeleton the lower limbs and lower limbs motion information detected in power.

背景技术 Background technique

[0002] 目前,下肢外骨骼主要应用于人体下肢的康复训练,一般均为基体固定的形式。 [0002] At present, mainly used in lower limb exoskeletons rehabilitation of human lower limbs, they are generally fixed in the form of a matrix. 穿戴式下肢外骨骼可以穿戴于人体并与人同步运动,在动态步行移动中跟随检测人体运动信息或者主动提供驱动力矩,以帮助穿戴者完成较大负重和较长时间的行走,减轻穿戴者的疲劳。 An outer wearable lower extremity exoskeleton can be worn on the human body and synchronous movement, movement in a dynamic walking motion follows the detection of human unsolicited information or drive torque to assist the wearer to complete a large weight and a long walking time, reducing the wearer fatigue. 申请号为200410053695. 6的发明和申请号为200420081797. 4的实用新型设计了一种双下肢共8自由度的机构,该外骨骼的典型特点是通过髋部四杆机构、膝盖四杆机构、脚踝四杆机构来完成穿戴者对应的矢状面运动,使用四杆机构可以很好的使用线性驱动器完成较大的负重。 Application No. 200410053695.6 invention and utility model application No. 200420081797.4 designed a degree of freedom of the lower limbs mechanism 8, the exoskeleton is typically characterized by four mechanism hip, knee four-bar mechanism, to complete the four bar linkage ankle in the sagittal plane motion of the wearer corresponding to the four-bar mechanism can be a good use of the linear drive completes the larger load. 另外,其在髋部增加了旋内旋外关节。 Further, it increases the internal rotation of the outer rotation hip joints. 单下肢4自由度布位的构型方式相对于简化的人体单下肢7自由度,其自由度数相对较少。 Single mode configuration of lower extremity DOF cloth 4 bits with respect to the lower limb 7 a simplified single degree of freedom of the body, its relatively small number of degrees of freedom. 申请号为200680006514. 1的发明揭示了一种可经配置以耦合至人体下部的下肢外骨骼的设计概念。 Application No. 200680006514.1 of the invention discloses a design concept can be configured to be coupled to an outer lower portion of the lower extremity bones. 该设计基于人机耦合和能量元器件来提供主动功能的助力,以耦合为设计关键,不要求人机关节的严格对应,不具有检测穿戴者实际运动的功能。 The design is based on coupling the display unit to provide active components and energy booster function, designed to be coupled to a key, the display unit is not required to correspond exactly to the joint, the wearer does not have a function of detecting an actual movement.

发明内容 SUMMARY

[0003] 本发明的目的在于,通过提供一种穿戴式下肢外骨骼机构装置,使外骨骼能够具有较准确的信息检测与助力的双重功能,能够较好的与人体运动协调一致,保证动态步行运动中,人机各下肢关节运动的对应性和一致性,且能方便的用于检测运动信息,提供助力功能。 [0003] The object of the present invention, by providing a mechanism wearable lower extremity exoskeleton apparatus, the outer skeleton to have a dual function in more accurate detection and help information can be better coordinated with the movement of the human body, to ensure the dynamic walking movement, and the corresponding man-machine consistency of each lower limb articulation, and can conveniently be used to detect motion information, provide help function.

[0004] 本发明穿戴式下肢外骨骼机构装置是采用以下技术手段实现的: [0004] The present invention wearable lower extremity exoskeleton mechanism means is realized by the following technical means:

[0005] 一种穿戴式下肢外骨骼装置,其机械部分包括:腰部支撑架和载物架、可调整髋部机构、连杆可调膝关节机构、连杆可调踝关节机构、压力检测鞋、腿部连杆、约束部件及各连接件;双下肢共十二个转动自由度,单下肢各六个自由度,分别为髋部二个自由度,完成髋关节屈伸和收展运动,两关节轴线通过髋部机构调整始终汇交人体髋关节中心,髋部收展关节位于体后侧,关节轴线沿矢状轴方向,髋部屈伸关节位于体外侧,关节轴线沿额状轴方向,两者轴线正交垂直;膝部关节一个自由度,与人体膝关节同轴线,对应人体膝关节的屈伸运动;踝关节三个自由度,外侧布位,屈伸关节轴线沿额状轴,与人体脚踝关节同轴,收展关节和旋转关节沿矢状轴和垂直轴,三者关节轴线两两正交。 [0005] A lower extremity exoskeleton external wearable apparatus mechanical portion comprises: a waist support frame and the carrier rack, the adjustable hip mechanism, the link mechanism is adjustable knee, ankle adjustable link means, the pressure sensing shoes , leg link, and each link member constraints; lower limb twelve rotational degrees of freedom, the single lower limb six degrees of freedom, two degrees of freedom are hip, hip flexion and extension and complete closing movement development, two by adjusting the hip joint axis mechanism always Concurrent human hip joint center, close hip joint development on the rear side thereof, along a sagittal axis joint axis direction, the hip flexion and extension is located outside the body, along the axial direction of the frontal joint axis, two are orthogonal to the axis perpendicular; a degree of freedom of a knee joint, coaxial with the human knee joint, corresponding to flexion and extension of the human knee joint; ankle three degrees of freedom, the outer cloth bits, flexion and extension along the axis of the frontal axis, with the body coaxially ankle, are orthogonal to each joint and a pivot joint development received in the sagittal and vertical axis, the three joint axis.

[0006] 前述的腰部支撑架通过马甲、绑带固联于躯干。 [0006] By the vest waist supporting frame, fixedly connected to the torso strap.

[0007] 前述的载物架、髋部机构安装于腰部支撑架背部。 [0007] The foregoing carrier rack, hip mechanism is attached to the back of the lumbar support basket.

[0008] 前述的髋部机构的收展关节位于体后侧,其轴线沿矢状轴方向;髋部屈伸关节位于体外侧,髋部关节运动与人体运动一致,其轴线沿额状轴方向,两者正交垂直。 [0008] The mechanism of the hip joint development on the rear side thereof closed, its axis direction along the sagittal axis; hip flexion and extension is located outside the body, hip articulation body motion coincides with, the axis along which the frontal axis, two orthogonal vertical.

[0009] 前述的腿部连杆的大、小腿均分为上、下连杆,各连杆上有可调节安装滑槽,可调整连接部位实现不同腿部长度,保证安装人机膝关节同轴性;所述的连杆贴近腿部。 [0009] The leg link of the large leg are divided into upper and lower link, an adjustable chute is mounted on each link, adjustable to achieve different length of the leg connecting portion, to ensure that the display unit is mounted with the knee axial; close to the link legs.

[0010] 前述的约束部位于膝关节上、下侧,接近膝关节位置。 [0010] positioned on the knee restraint portion, the lower side, close to the position of the knee joint.

[0011] 前述的脚踝关节的外侧为三个自由度,所述的屈伸关节轴线沿额状轴方向与人体脚踝屈伸运动同轴线,收展关节和旋转关节沿矢状轴和垂直轴,三个自由度的关节轴线两两正交。 [0011] outside of the ankle joint for three degrees of freedom, the flexion and extension along the axis of the frontal axis coaxial human ankle flexion and extension, and rotation of the joint close joint development in the sagittal and vertical axes, three a joint axis are orthogonal to each degree of freedom.

[0012] 前述的压力检测鞋,通过连接件与脚踝部分相连接,检测鞋与脚面有绑缚约束,检测鞋的压力传感器件部位于鞋底,检测鞋为柔性鞋底。 [0012] detecting the pressure shoe, connected by the connecting member ankle portion, shoes and foot have detected bundled constraints, the pressure sensor detects the shoe sole member portion is located, detecting a flexible shoe sole.

[0013] 本发明的穿戴式下肢外骨骼装置可以安装驱动电机和编码器,完成髋部二个自由度、膝部关节一个自由度和脚踝关节屈伸自由度四个主要运动的助动和六个关节运动的对应运动信息的检测,通过鞋底的压力传感器可以检测脚底对应部位的压力信息。 [0013] The present invention is an outer wearable lower extremity bones device may be mounted a drive motor and an encoder, complete hip two degrees of freedom, one degree of freedom knee joint and ankle flexion assisted four degrees of freedom of motion and six major detecting motion information corresponding to the articulation of the plantar pressure information can be detected by the pressure sensor corresponding part of the sole.

[0014] 本发明与现有技术相比,具有以下明显的优势和有益效果: [0014] Compared with the prior art the present invention has the following obvious advantages and beneficial effects:

[0015] 本发明一种穿戴式下肢外骨骼装置,其机构构型由十二个旋转自由度构成,单下肢各六自由度,构型通过上述机械部分实现,可以保证正常动态步行过程中,髋部两个关节运动与人体髋关节运动一致性好;通过髋部的布位构型和大小腿近膝关节约束保证了人机膝关节同轴性和位置偏差小;脚踝关节结构紧凑。 [0015] The present invention provides a wearable lower extremity exoskeleton apparatus, which mechanism consists of twelve configurations rotational degrees of freedom, six degrees of freedom of each single lower limb, by the above-described configuration, the mechanical parts to achieve, can guarantee the normal dynamics during walking, hip articulation with two articulated human hip consistency; para configurations cloth by hip and leg near the knee a large man-machine constraints to ensure that the knee joint and a coaxial small position deviation; ankle compact structure. 本发明穿戴式下肢外骨骼装置安装驱动可帮助穿戴者减轻步行疲劳,增强穿戴者步行负重和长时间行走的能力。 External wearable device is mounted lower extremity bones of the present invention can help the wearer relieve the drive foot fatigue, and enhance the ability of the wearer walking weight of a long walk. 安装编码器和压力检测器件可采集记录穿戴者步行信息,为步态运动分析提供准确数据。 Mounting the encoder and the pressure sensing device may collect the information recording wearer's foot, to provide accurate data for the gait analysis. 另外,经过处理的步行信息的复现,外骨骼还可以帮助下肢运动轻度障碍者正常行走,并逐步实现康复。 In addition, walk through the reproduction of information processing, but also can help lower extremity exoskeleton mild movement disorders normal walking, and gradually recovered.

附图说明 BRIEF DESCRIPTION

[0016] 图1是穿戴式下肢外骨骼装置结构示意图; [0016] FIG. 1 is a schematic structural skeletal apparatus wearable outer lower extremity;

[0017] 图2是穿戴式下肢外骨骼装置腰部结构放大视图; [0017] FIG. 2 is an external wearable device lower extremity exoskeleton structure an enlarged view of the waist;

[0018] 图3是穿戴式下肢外骨骼装置脚踝部结构放大视图; [0018] FIG. 3 is an external wearable device lower limb ankle bone structure enlarged view;

[0019] 图4是穿戴式下肢外骨骼装置平面三视图。 [0019] FIG. 4 is an external view of the three lower extremity bones wearable device plane.

[0020] 图中1.髋部收展关节,2.安装螺孔,3.髋部屈伸关节,4.安装螺孔,5、6、10、 11.连杆,7、9.绑带约束,8.膝关节,12.脚踝部关节,13.压力检测鞋,14.载物架,15.腰部支撑架,16、17、18、19.髋部连接件,20.腿部绑带连接基座,21.膝关节连接件,22.脚踝连接件,23.脚部绑带,24.载物架安装槽,25.腰部支撑连接槽,26.脚踝屈伸关节,27.脚踝收展关节,28.脚踝旋转关节。 [0020] FIG 1. hip joint development close, 2 mounting holes, 3. hip flexion and extension, 4 mounting holes, 6, 10, 11. The connecting rod 7,9. Restraint straps 8 joint, 12. ankle joint 13 pressure detector shoes, 14. rack carrier 15. lumbar support basket, 16,17,18,19. hip link member 20 connected to the leg straps a base 21 connected to the knee member 22 connected to the ankle member 23 leg straps 24. carrier rack mounting groove 25. lumbar support connecting groove 26. ankle flexion and extension, 27 to close the ankle joint development , 28. The rotation of the ankle joint.

具体实施方式 Detailed ways

[0021] 以下结合附图说明本发明的具体实施方式。 [0021] DETAILED DESCRIPTION OF THE DRAWINGS The following embodiment of the present invention.

[0022] 请参阅图1所示,本发明设计的一种下肢运动信息检测与助力用外骨骼装置(以下简称外骨骼),它包括腰部支撑架15,载物架14,由髋部收展关节1和髋部屈伸关节3组成的外骨骼髋部机构,大腿连杆5、6,膝关节8,小腿连杆10、11,腿部约束绑带7、9,脚踝关节12,压力检测鞋以及各部分连接件组成。 [0022] Please refer to FIG. 1, the present invention is designed to detect motion information of a lower-extremity exoskeleton apparatus with power (hereinafter referred exoskeleton), which comprises a lumbar support basket 15, the carrier rack 14, a hip receiving exhibition and a joint mechanism exoskeleton hip flexion and extension of the hip portion 3 consisting, thigh links 5, 6, 8 knee, shank link 10 and 11, leg restraint straps 7,9, ankle 12, the pressure sensing shoes and portions of the connector components. 如图2所示,所述腰部机构以腰部支撑架15为基础件,用背带、马甲与人体躯干固定。 2, the lumbar support frame means 15 to the waist base member, a strap, human torso vest and secured. 载物架14通过载物架安装槽24和腰部支撑连接槽25安装在腰部支撑架15上,位于穿戴者背侧。 The carrier rack 14 by the carrier rack mounting groove connecting grooves 24 and lumbar support 25 mounted on the lumbar support frame 15, the back side of the wearer is located. 髋部连接件16安装在腰部支撑架15上,可在腰部支撑架连接槽25中调节连接件16的安装位置以适应不同穿戴者,保证腰部收展关节1与人体髋关节共轴线。 Hip link member 16 is mounted on the lumbar support basket 15, the support frame can be adjusted in the connection groove 25 mounting position of the connecting member 16 to accommodate different waist of the wearer, the waist to ensure close joint development coaxially with a human hip joint. 髋部连接件18上部通过安装螺孔2安装在髋部连接件16上, 下部通过髋部连接件19与连杆5相联接,构成髋部屈伸关节3。 Hip link mounting holes 18 through the upper portion 2 is mounted on a hip links 16, 19 coupled with the link member 5 are connected by a lower hip, hip flexion and extension constitute 3. 连杆6和连杆10由连接件21相联接,构成膝关节。 Link 6 and the link 10 is coupled by a connecting member 21, the knee joint configuration. 脚踝部关节12有脚踝屈伸关节沈、脚踝收展关节27、脚踝旋转关节28 (参见图幻,三者相互正交。压力检测鞋与脚踝关节连接。 Ankle joint 12 with a heavy ankle flexion and extension, ankle joints 27 show close, rotating the ankle joint 28 (see FIG magic, three mutually orthogonal. Pressure detector connected to the shoe and ankle.

[0023] 连杆5、6、10、11上均有安装滑槽,可以调节连杆连接位置,适应不同身高穿戴者。 [0023] Each slide is mounted on the link 5,6,10,11, link connection position can be adjusted, to adapt to different height of the wearer. 调节连杆5和连杆6的安装位置,保证膝关节8与人体膝关节同轴线。 5 and the mounting position adjustment link rod 6 to ensure that the human knee joint and the knee 8 coaxial. 调节连杆10和连杆11的安装位置,保证屈伸关节26与人体脚踝关节屈伸运动同轴线。 Adjusting the mounting position of the link 10 and the link 11, 26 to ensure that flexion and extension movement of the human ankle flexion and extension coaxial. 绑带约束7、9安装在大小腿的连杆6、10上。 7,9 restraint strap mounted on the large leg link 6,10.

[0024] 压力检测鞋13连接于脚踝部关节12下部,鞋面有脚部绑带23与人体脚部连接, 鞋底装有检测器件,是穿戴舒适的普通柔性鞋底。 [0024] The shoe 13 is connected to the pressure detecting ankle joint 12 a lower portion, the upper leg has a foot strap 23 is connected to the body, with the sole detection device is comfortable to wear ordinary flexible sole.

[0025] 外骨骼装置装配后的三视图如图4所示。 [0025] view of the three assembly exoskeleton apparatus shown in FIG.

[0026] 髋部收展关节1,髋部屈伸关节3,膝关节8,脚踝屈伸关节沈可选择或全部驱动, 12自由度均安装检测元件。 [0026] The hip joint development received 1, 3 hip flexion and extension, knee 8 or the ankle flexion and extension all sink selectively driven, the detection elements 12 are installed freedom.

[0027] 本发明适用于需要协助步行和负重的对象,也可帮助下肢运动轻度障碍者实现康复。 [0027] The present invention is applicable to require assistance walking and weight-bearing objects, can also help with mild lower limb movement disorders achieve recovery. 实施中,穿戴者通过腰部,腿部和脚部的约束与外骨骼装置联接,调节各部分连杆的安装位置,以使外骨骼适应穿戴者,保证关节初始安装位置准确。 Embodiment, the waist of the wearer by constraining, the outer legs and feet bones means coupled to adjust the position of the respective mounting portion of the link so that the exoskeleton accommodate wearers ensure accurate joint initial installation position. 针对信息检测功能,步行期间,安装在各自由度上的检测器件和脚底压力检测器件记录受试者运动信息,与上位机联机分析处理受试者的步态。 Information for the detection, during walking, the detecting device mounted on each degree of freedom and the foot pressure sensing device records the motion information of the subject, and PC online analytical processing gait of the subject. 针对助力功能,驱动关节电机输入力矩为穿戴者提供助力。 For booster function, joint drive motor input torque to provide the impetus for the wearer.

[0028] 本发明外骨骼未述及之处适用于现有技术。 [0028] The present invention is a skeletal outer applicable not described in the prior art.

[0029] 最后应说明的是:以上实施例仅用以说明本发明而并非限制本发明所描述的技术方案;因此,尽管本说明书参照上述的各个实施例对本发明已进行了详细的说明,但是,本领域的普通技术人员应当理解,仍然可以对本发明进行修改或等同替换;而一切不脱离发明的精神和范围的技术方案及其改进,其均应涵盖在本发明的权利要求范围当中。 [0029] Finally, it should be noted that: the above embodiments are merely to illustrate the invention and do not limit the technical solutions described in the present invention; therefore, while the present description with reference to each of the above embodiments of the present invention has been described in detail, but , one of ordinary skill in the art will appreciate that modifications may be made still or equivalents of the present invention; and all without departing from the spirit and scope of the technical solutions of the invention and its improvement, which should be covered by the present invention as claimed in which the required range.

Claims (9)

1. 一种穿戴式下肢外骨骼装置,其机械部分包括:腰部支撑架和载物架、可调整髋部机构、连杆可调膝关节机构、连杆可调踝关节机构、压力检测鞋、腿部连杆、约束部件及各连接件;其特征在于:双下肢共十二个转动自由度,单下肢各六个自由度,分别为髋部二个自由度,完成髋关节屈伸和收展运动,两关节轴线通过髋部机构调整始终汇交人体髋关节中心,髋部收展关节位于体后侧,关节轴线沿矢状轴方向,髋部屈伸关节位于体外侧,关节轴线沿额状轴方向,两者轴线正交垂直;膝部关节一个自由度,与人体膝关节同轴线,对应人体膝关节的屈伸运动;脚踝关节三个自由度,外侧布位,屈伸关节轴线沿额状轴,与人体脚踝关节同轴,收展关节和旋转关节沿矢状轴和垂直轴,三者关节轴线两两正交;装置安装驱动电机和编码器,能够完成髋部二自 A lower extremity exoskeleton wearable apparatus mechanical portion comprises: a waist support frame and the carrier rack, the adjustable hip mechanism, the link mechanism is adjustable knee, ankle adjustable link means, pressure sensing shoes, leg link, and each link constraint member; characterized in that: the lower limbs total of 12 rotational degrees of freedom, the single lower limb six degrees of freedom, two degrees of freedom are hip, hip flexion and extension, and close to complete development motion, by adjusting the two hip joint axis mechanism always Concurrent human hip joint center, close hip joint development on the rear side thereof, along a sagittal axis joint axis direction, the hip flexion and extension is located outside the body, along the joint axis frontal axis direction, perpendicular to the axis perpendicular to both; a degree of freedom of a knee joint, coaxial with the human knee joint, corresponding to flexion and extension of the human knee joint; ankle three degrees of freedom, the outer cloth bits, flexion and extension along the axis of the frontal axis , coaxially with the human ankle joint, the rotary joint and the joint development received in the sagittal and vertical axes, the three axes are orthogonal to each joint; means mounting a drive motor and an encoder, can be completed from the two hips 度、膝部关节一自由度和脚踝关节屈伸自由度四个主要运动的助动和六个关节运动的对应运动信息的检测,通过脚底的压力传感器可以检测运动中脚底对应部位的压力信息。 Degree of freedom of a knee joint and ankle joint range of motion freedom of motion detection information corresponding assisted four and six articulation of the primary motion, motion can be detected by the pressure sensor portion of the sole corresponding to the plantar pressure information.
2.根据权利要求1所述的穿戴式下肢外骨骼装置,其特征在于:所述的腰部支撑架通过马甲、绑带固联于躯干。 The lower extremity exoskeleton wearable device according to claim 1, wherein: the support frame by the waist vest, fixedly connected to the torso strap.
3.根据权利要求1所述的穿戴式下肢外骨骼装置,其特征在于:所述的载物架、髋部机构安装于腰部支撑架背部。 The lower extremity exoskeleton wearable device according to claim 1, wherein: said carrier rack, hip mechanism attached to the back of the lumbar support basket.
4.根据权利要求1或3所述的穿戴式下肢外骨骼装置,其特征在于:所述的髋部机构的收展关节位于体后侧,其轴线沿矢状轴方向;髋部屈伸关节位于体外侧,髋部关节运动与人体运动一致,其轴线沿额状轴方向,两者正交垂直。 The lower extremity exoskeleton wearable device according to claim 13, wherein: the means hip joint development on the rear side of the receiving member, the direction of its axis along a sagittal axis; hip flexion and extension located outside the body, in line with the hip articulation body motion along its axis frontal axis, perpendicular to both the vertical.
5.根据权利要求1所述的穿戴式下肢外骨骼装置,其特征在于:所述的腿部连杆的大、 小腿均分为上、下连杆,各连杆上有可调节安装滑槽,可调整连接部位实现不同腿部长度, 保证安装人机膝关节同轴性;所述的连杆贴近腿部。 The lower extremity exoskeleton wearable device according to claim 1, wherein: said leg link is large, the leg are divided into upper and lower link, an adjustable chute is mounted on each of the link adjusted to achieve different length of the leg connecting portion, mounting the display unit to ensure coaxiality of the knee; leg proximate said link.
6.根据权利要求1所述的穿戴式下肢外骨骼装置,其特征在于:佩戴者穿戴外骨骼的约束分别位于膝关节上、下侧,接近膝关节位置。 The lower extremity exoskeleton wearable device according to claim 1, characterized in that: Put on a wearer constraint exoskeleton located on the knee, the lower side, close to the position of the knee joint.
7.根据权利要求1所述的穿戴式下肢外骨骼装置,其特征在于:所述的脚踝关节的外侧为三个自由度,所述的屈伸关节轴线沿额状轴方向与人体脚踝屈伸运动同轴线,收展关节和旋转关节沿矢状轴和垂直轴,三个自由度的关节轴线两两正交。 The lower extremity exoskeleton wearable device according to claim 1, wherein: said outer ankle for three degrees of freedom along the axis of flexion and extension of the frontal axis direction with the human ankle flexion and extension axis, and the joints receive pivot joint development in the sagittal and vertical axes, are orthogonal to each joint axis of the three degrees of freedom.
8.根据权利要求1所述的穿戴式下肢外骨骼装置,其特征在于:所述的压力检测鞋,通过连接件与脚踝部分相连接,检测鞋与脚面有绑缚约束,检测鞋的压力传感器件布位于鞋底,检测鞋为柔性鞋底。 8. The lower extremity exoskeleton wearable device according to claim 1, wherein: said pressure sensing shoes, connected by a connecting member to the ankle portion, shoes and foot have detected bundled constraints, the pressure sensor detects the shoe cloth sole member is located, detecting a flexible shoe sole.
9.根据权利要求1所述的穿戴式下肢外骨骼装置,其特征在于:所述装置安装驱动电机和编码器,驱动电机对应安装于髋部二自由度、膝部关节一自由度和脚踝关节屈伸自由度,实现四个主要运动的助动,编码器安装于下肢的六个活动关节完成对应运动信息的检测,通过脚底的压力传感器检测运动中脚底对应部位的压力信息。 9. The lower extremity of the external wearable bone device according to claim 1, wherein: said means mounting a drive motor and an encoder, the driving motor is mounted on a hip portion corresponding to two degrees of freedom, one degree of freedom knee joint and ankle flexion freedom of movement to achieve assisted four main encoder mounted on the lower extremity of the corresponding six movable joint completion detecting motion information corresponding to motion detected by the pressure sensor portion of the sole of foot pressure information.
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