CN102551935A - Human body lower limb power exoskeleton device - Google Patents
Human body lower limb power exoskeleton device Download PDFInfo
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- CN102551935A CN102551935A CN2010106098306A CN201010609830A CN102551935A CN 102551935 A CN102551935 A CN 102551935A CN 2010106098306 A CN2010106098306 A CN 2010106098306A CN 201010609830 A CN201010609830 A CN 201010609830A CN 102551935 A CN102551935 A CN 102551935A
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Abstract
The invention provides a human body lower limb power exoskeleton device, which comprises a mechanical skeleton main body capable of being wrapped on lower limbs of a human body and capable of driving the lower limbs of the human body to move, a central processing unit, a foot force sensor, a thigh force sensor and a shank force sensor. The sensors can sense stress on corresponding portions of the human body and output stressed signals to the central processing unit, the central processing unit respectively sends corresponding control signals to corresponding foot sleeves, shank sleeves and thigh sleeves, and the foot sleeves, shank sleeves and thigh sleeves respectively generate corresponding actions to drive corresponding feet, shanks and thighs to move. The human body lower limb power exoskeleton device can accurately measure force of the human body in motion by adopting the shank force sensor, the thigh force sensor and the foot force sensor, accordingly more accords with action characteristics of the human body, better assists motion of the human body, and is especially suitable for being used by old people and people with disabled lower limbs.
Description
Technical field
The present invention relates to a kind of mechanically aided device, particularly a kind of human body lower limbs power ESD.
Background technology
People are when long-time walking, owing to consume a large amount of muscle power.Along with increasing of the aged, increasing old people needs to take care of, and need develop urgently that certain operations is simple, the intelligent machine device of reasonable price is used for particularly people with disability of auxiliary old people, to help them to take care of own or to carry out rehabilitation training.This solves effective measures of the problem of an aging population undoubtedly.Exoskeleton robot is exactly to help old people or people with disability to expand the intelligent auxiliary machinery of upper limb and lower extremity movement ability.In addition, the soldier who particularly in field operations, needs the many luggage of load is a kind of mechanically aided device of needs also.The existing mechanical power assisting device can be strapped on people's the lower limb usually, and when the people made certain action that will walk, this power ESD was sensed this action, makes the walking action that helps the people accordingly at once, and auxiliary people walks about.But this device can not accurately and timely be responded to people's preliminary activities when person walks, thereby the situation of mechanical skeleton in people's exercise not harmony occur, has influenced the power-assisted effect of power ESD greatly.
Summary of the invention
Technical problem to be solved by this invention is, overcomes the problem that prior art exists, and a kind of power ESD that can in time respond to human action is provided.
In order to address the above problem, technical scheme of the present invention is such:
A kind of human body lower limbs power ESD device comprises:
One can be wrapped in people's lower limb and can drive the mechanical skeleton main body of people's lower extremity movement, and it comprises: one is wrapped in footmuff, on people's the foot is wrapped in the shank cover on people's the shank and is wrapped in the thigh cover on people's the thigh; Said footmuff, shank cover and thigh cover link to each other through hinges;
One CPU;
Link to each other, be installed in being used on the said footmuff with above-mentioned CPU and respond to the stressed strength of one's legs pick off of foot;
Link to each other, be installed in that said thigh puts is used for responding to the stressed thigh force transducer of thigh with above-mentioned CPU; And
Link to each other, be installed in that said shank puts is used for responding to the stressed shank force transducer of shank with above-mentioned CPU;
The people's that the sensor is sensed appropriate section stressed; Output receives force signal to central control unit; Said central control unit sends control signal corresponding respectively and gives corresponding footmuff, shank cover and thigh cover, and said footmuff, shank cover and thigh cover produce corresponding action and drive corresponding foot, shank and big
Further; 3 strength of one's legs pick offs are installed on the footmuff of each human body; Three strong point places of when being installed in corresponding human body and stopping over ground being puted forth effort; The position of these three strong points lays respectively at first metatarsal root and fifth metatarsal bone root and rear heel, the arch support health that produces between human body leans at these 3, and the weight of health is delivered to ground via these 3;
Further, the shank force transducer that puts of the shank of every lower limb is installed in the upper end of ankle joint;
Further, the thigh force transducer that puts of the thigh of every lower limb is installed in kneed upper end;
Said shank force transducer is the LFR pick off;
Said thigh force transducer is the LFR pick off;
Said strength of one's legs pick off is the FRF pick off.
The job step of said central control unit is following:
Receive the signal of shank force transducer, thigh force transducer and strength of one's legs pick off;
Calculate the size of corresponding power;
Calculate the big or small sum of above-mentioned three power;
When above-mentioned three power and greater than the value of setting, send control signal respectively, start footmuff, shank cover and the motion of thigh cover; Otherwise, then do not start.
Human body lower limbs power ESD provided by the invention is owing to adopt shank force transducer, thigh force transducer and strength of one's legs pick off; Thereby the power when measuring human motion more accurately; Thereby the motion characteristic that more meets human body; The motion of auxiliary human body better, the people who is particularly suitable for old people, lower limb disability uses.
Description of drawings
Specify this utility model below in conjunction with the accompanying drawing and the specific embodiment.
The structural representation of Fig. 1 human body lower limbs power provided by the invention ESD;
Fig. 2 is the electrical control figure of human body lower limbs power ESD provided by the invention; And
Fig. 3 is the flow chart of central control unit.
The specific embodiment
For technological means, creation characteristic that the present invention is realized, reach purpose and effect and be easy to understand and understand, below in conjunction with concrete diagram, further set forth the present invention.
Referring to Fig. 1, human body lower limbs power ESD provided by the invention comprises mechanical skeleton main body 1, a CPU 10 (not shown), strength of one's legs pick off 111, thigh force transducer 131; Shank force transducer 121.Machinery skeleton main body 1 is wrapped in people's lower limb and can drives people's lower extremity movement, and it comprises: be wrapped in footmuff 11 on people's the foot, be wrapped in the shank cover 12 on people's the shank and be wrapped in the thigh cover 13 on people's the thigh; Said footmuff 11, shank cover 12 and thigh cover 13 link to each other through hinges 21.
On footmuff 11, can be provided with the foot that band or hoop fix the people, certain also structure of available similar footwear.On shank cover 12, be provided with shank fixed mechanism 123, it is two semicircular hoops, and is flexible, can conveniently encase people's shank.On thigh cover 13, be provided with shank fixed mechanism 133, it also is two semicircular hoops, and is flexible, can conveniently encase people's thigh.
Referring to Fig. 2, strength of one's legs pick off 111 links to each other with CPU 10, and it is installed in, and to be used for responding to foot on the footmuff 11 stressed.
Thigh force transducer 131 links to each other with CPU 10, and it is installed in, and to be used for responding to thigh on the thigh cover 13 stressed.
Shank force transducer 121 links to each other with CPU 10, and it is installed in, and to be used for responding to shank on the shank cover 12 stressed.
The people's that above-mentioned strength of one's legs pick off 111, shank force transducer 121 and thigh force transducer 131 are sensed appropriate section stressed; Output receives force signal to central control unit 10; Central control unit 10 sends control signal corresponding respectively and gives corresponding foot trigger 112, shank trigger 122 and thigh trigger 132, and these triggers produce the corresponding footmuff of dynamic starts 11, shank cover 12 and 13 motions of thigh cover.Footmuff 11, shank cover 12 and thigh cover 13 produce corresponding action and drive corresponding foot, shank and thigh motion.
In the present embodiment; 3 strength of one's legs pick offs 111 are installed on the footmuff 11 of each human body; Three strong point places of when being installed in corresponding human body and stopping over ground being puted forth effort; The position of these three strong points lays respectively at first metatarsal root and fifth metatarsal bone root and rear heel, the arch support health that produces between human body leans at these 3, and the weight of health is delivered to ground via these 3.Shank force transducer 121 on the shank cover 12 of every lower limb is installed in the upper end of ankle joint; Thigh force transducer 131 on the thigh cover 13 of every lower limb is installed in kneed upper end.
In the present embodiment, shank force transducer 121 is to adopt lower limb reason response sensor, the LFR pick off, and it is a kind of 2 D force sensor, can buy on the market.Equally, thigh force transducer 131 also is to adopt the LFR pick off; Strength of one's legs pick off 111 is dimensional force sensors, i.e. ground reagency pick off, FRF pick off.
Referring to Fig. 3, the job step of central control unit is following:
Receive the signal of shank force transducer 121, thigh force transducer 131 and strength of one's legs pick off 111;
Calculate the size of corresponding power;
Calculate the big or small sum of above-mentioned three power;
When above-mentioned three power and greater than the value of setting, send control signal respectively, start footmuff 11, shank cover 12 and 13 motions of thigh cover; Otherwise, then do not start.This setting value can be set according to specific requirement (people's age, the scale of construction etc.), for example, can be 0.00001 milligram to 100 milligrams.
More than show and described ultimate principle of the present invention, principal character and advantage of the present invention.The technical staff of the industry should understand; The present invention is not restricted to the described embodiments; That describes in the foregoing description and the description just explains principle of the present invention; The present invention also has various changes and modifications under the prerequisite that does not break away from spirit and scope of the invention, and these variations and improvement all fall in the scope of the invention that requires protection.The present invention requires protection domain to be defined by appending claims and equivalent thereof.
Claims (9)
1. human body lower limbs power ESD comprises:
One can be wrapped in people's lower limb and can drive the mechanical skeleton main body of people's lower extremity movement, and it comprises: one is wrapped in footmuff, on people's the foot is wrapped in the shank cover on people's the shank and is wrapped in the thigh cover on people's the thigh; Said footmuff, shank cover and thigh cover link to each other through hinges;
One CPU;
Link to each other, be installed in being used on the said footmuff with above-mentioned CPU and respond to the stressed strength of one's legs pick off of foot; Should
Link to each other, be installed in that said thigh puts is used for responding to the stressed thigh force transducer of thigh with above-mentioned CPU; And
Link to each other, be installed in that said shank puts is used for responding to the stressed shank force transducer of shank with above-mentioned CPU;
The people's that the sensor is sensed appropriate section stressed; Output receives force signal to central control unit; Said central control unit sends control signal corresponding respectively and gives corresponding footmuff, shank cover and thigh cover, and said footmuff, shank cover and thigh cover produce corresponding action and drive corresponding foot, shank and thigh motion.
2. human body lower limbs power ESD according to claim 1; It is characterized in that; 3 strength of one's legs pick offs are installed on the footmuff of each human body, three strong point places of when being installed in corresponding human body and stopping over ground being puted forth effort, the position of these three strong points lays respectively at first metatarsal root and fifth metatarsal bone root and rear heel; The arch support health that produces between human body leans at these 3, and the weight of health is delivered to ground via these 3.
3. human body lower limbs power ESD according to claim 1 is characterized in that the shank force transducer that the shank of every lower limb puts is installed in the upper end of ankle joint;
4. human body lower limbs power ESD according to claim 1 is characterized in that the shank force transducer that the shank of every lower limb puts is installed in the upper end of ankle joint;
5. human body lower limbs power ESD according to claim 1 is characterized in that the thigh force transducer that the thigh of every lower limb puts is installed in kneed upper end.
6. human body lower limbs power ESD according to claim 1 is characterized in that said shank force transducer is the LFR pick off.
7. human body lower limbs power ESD according to claim 1 is characterized in that said thigh force transducer is the LFR pick off.
8. human body lower limbs power ESD according to claim 1 is characterized in that said strength of one's legs pick off is the FRF pick off.
9. human body lower limbs power ESD according to claim 1 is characterized in that the job step of said central control unit is following:
Receive the signal of shank force transducer, thigh force transducer and strength of one's legs pick off;
Calculate the size of corresponding power;
Calculate the big or small sum of above-mentioned three power;
When above-mentioned three power and greater than the value of setting, send control signal respectively, start footmuff, shank cover and the motion of thigh cover; Otherwise, then do not start.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010106098306A CN102551935A (en) | 2010-12-23 | 2010-12-23 | Human body lower limb power exoskeleton device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010106098306A CN102551935A (en) | 2010-12-23 | 2010-12-23 | Human body lower limb power exoskeleton device |
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| CN102551935A true CN102551935A (en) | 2012-07-11 |
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| CN2010106098306A Pending CN102551935A (en) | 2010-12-23 | 2010-12-23 | Human body lower limb power exoskeleton device |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103340707A (en) * | 2013-07-10 | 2013-10-09 | 上海交通大学 | External skeleton assisted rehabilitation therapy system |
| CN103750841A (en) * | 2014-01-20 | 2014-04-30 | 上海交通大学 | Human knee joint angle wireless detection system and method based on MEMS inertial sensors |
| CN104434470A (en) * | 2014-12-04 | 2015-03-25 | 电子科技大学 | Lower extremity exoskeleton robot for assisting in walking |
| CN103241301B (en) * | 2013-05-29 | 2015-06-17 | 哈尔滨工业大学 | Pneumatic muscle driven frog-imitation bouncing leg having perceptivity |
| CN104940004A (en) * | 2014-03-28 | 2015-09-30 | 三星电子株式会社 | Joint assembly and walking assistance robot |
| CN105012116A (en) * | 2014-04-16 | 2015-11-04 | 吴晨喜 | Power-assisted leg |
| CN105686931A (en) * | 2016-04-01 | 2016-06-22 | 彭传新 | Walking assisting device |
| CN107693305A (en) * | 2017-11-01 | 2018-02-16 | 河南理工大学 | A kind of leg training rehabilitation multi-function robot |
| CN107802461A (en) * | 2017-11-15 | 2018-03-16 | 北京林业大学 | A kind of wearable single lower limb intelligence assistance exoskeleton and its control method |
-
2010
- 2010-12-23 CN CN2010106098306A patent/CN102551935A/en active Pending
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103241301B (en) * | 2013-05-29 | 2015-06-17 | 哈尔滨工业大学 | Pneumatic muscle driven frog-imitation bouncing leg having perceptivity |
| CN103340707A (en) * | 2013-07-10 | 2013-10-09 | 上海交通大学 | External skeleton assisted rehabilitation therapy system |
| CN103750841A (en) * | 2014-01-20 | 2014-04-30 | 上海交通大学 | Human knee joint angle wireless detection system and method based on MEMS inertial sensors |
| CN104940004A (en) * | 2014-03-28 | 2015-09-30 | 三星电子株式会社 | Joint assembly and walking assistance robot |
| US10342724B2 (en) | 2014-03-28 | 2019-07-09 | Samsung Electronics Co., Ltd. | Joint assembly and walking assistance robot |
| CN105012116A (en) * | 2014-04-16 | 2015-11-04 | 吴晨喜 | Power-assisted leg |
| CN104434470A (en) * | 2014-12-04 | 2015-03-25 | 电子科技大学 | Lower extremity exoskeleton robot for assisting in walking |
| CN105686931A (en) * | 2016-04-01 | 2016-06-22 | 彭传新 | Walking assisting device |
| CN107693305A (en) * | 2017-11-01 | 2018-02-16 | 河南理工大学 | A kind of leg training rehabilitation multi-function robot |
| CN107802461A (en) * | 2017-11-15 | 2018-03-16 | 北京林业大学 | A kind of wearable single lower limb intelligence assistance exoskeleton and its control method |
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Application publication date: 20120711 |