CN104546387B - Bionic energy-storing walking aiding external skeleton - Google Patents
Bionic energy-storing walking aiding external skeleton Download PDFInfo
- Publication number
- CN104546387B CN104546387B CN201410741999.5A CN201410741999A CN104546387B CN 104546387 B CN104546387 B CN 104546387B CN 201410741999 A CN201410741999 A CN 201410741999A CN 104546387 B CN104546387 B CN 104546387B
- Authority
- CN
- China
- Prior art keywords
- energy
- wave tube
- travelling wave
- storage
- storage travelling
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 21
- 210000004394 hip joint Anatomy 0.000 claims abstract description 47
- 210000004197 pelvis Anatomy 0.000 claims abstract description 43
- 210000000689 upper leg Anatomy 0.000 claims abstract description 39
- 206010033892 Paraplegia Diseases 0.000 claims abstract description 24
- 238000004146 energy storage Methods 0.000 claims description 123
- 238000009432 framing Methods 0.000 claims description 48
- 230000001769 paralizing effect Effects 0.000 claims description 24
- 210000000629 knee joint Anatomy 0.000 claims description 18
- 210000003423 ankle Anatomy 0.000 claims description 6
- 210000001624 hip Anatomy 0.000 abstract description 37
- 238000005265 energy consumption Methods 0.000 abstract 1
- 230000002452 interceptive effect Effects 0.000 description 21
- 210000002414 leg Anatomy 0.000 description 9
- 210000003127 knee Anatomy 0.000 description 8
- 210000000544 articulatio talocruralis Anatomy 0.000 description 7
- 230000002146 bilateral effect Effects 0.000 description 7
- 206010061258 Joint lock Diseases 0.000 description 6
- 101000911772 Homo sapiens Hsc70-interacting protein Proteins 0.000 description 4
- 230000009471 action Effects 0.000 description 4
- 210000003141 lower extremity Anatomy 0.000 description 4
- 238000004088 simulation Methods 0.000 description 4
- 210000000988 bone and bone Anatomy 0.000 description 3
- 230000002612 cardiopulmonary effect Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000003902 lesion Effects 0.000 description 3
- 230000033001 locomotion Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 206010033799 Paralysis Diseases 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 230000005021 gait Effects 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 206010002027 Amyotrophy Diseases 0.000 description 1
- 208000001132 Osteoporosis Diseases 0.000 description 1
- 208000005392 Spasm Diseases 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 210000000527 greater trochanter Anatomy 0.000 description 1
- 210000002837 heart atrium Anatomy 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 208000020431 spinal cord injury Diseases 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
Landscapes
- Manipulator (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a bionic energy-storing walking aiding external skeleton. The bionic energy-storing walking aiding external skeleton comprises two foot supports, two lower leg support bars, two thigh support bars, a hip joint assembly, and an energy-storing assembly, wherein the hip joint assembly comprises two pelvis brackets and a connecting piece connected between the two pelvis brackets; the two pelvis brackets are connected to the thigh support bars through rotatable hip joints respectively; the energy-storing assembly is connected between the pelvis brackets and the thigh support bars, and is used for storing or releasing energy in order to assist a paraplegic patient in switching between a standing posture and a sitting posture. According to the walking aiding external skeleton disclosed by the invention, energy generated through stretching exercise of the waist of the paraplegic patient on a sagittal plane is stored in the energy-storing assembly, the energy is released during hip flection to provide hip flection assistance, a part of energy is stored in the energy-storing assembly which is connected with the pelvis brackets and the thigh support bars and is used for simulating the hip joint extensor of a human body in a hip flection, and a flexible girdle for providing hip extension assistance is used for aiding walking of the external skeleton, so that the physical energy consumption of the patient during walking is lowered.
Description
Technical field
The present invention relates to medical artificial bone field, more particularly, to a kind of walking aided ectoskeleton of bionic energy-storage formula.
Background technology
Spinal cord injury often results in paraplegia, so that patient is lost and stands and walking function, and walking function is to maintain muscle, skeleton
Primary condition with cardio-pulmonary function.In recent years, with the development of modern biotechnology mechanics, biomedical engineering, walking aided dermoskeleton
Bone (i.e. walking orthosis) is widely used, and the application of walk-aiding exoskeleton is equal to the physical and psychological rehabilitation of paralytic patient and complication prevention
Significant, carry out standing using walk-aiding exoskeleton and walking energy prevents amyotrophy, and the generation of spasm, strengthen cardiopulmonary
Function, reduces the complication such as osteoporosises.
Walking aided ectoskeleton is broadly divided into what outer power-actuated power walking aided ectoskeleton and external power-free drove
The big type of unpowered walking aided ectoskeleton two.At present, the domestic unpowered paraplegia clinically mainly adopting external power-free to drive
Walk-aiding exoskeleton, has the long leg brace (knee ankle foot orthosis, kafo) of bilateral knee ankle joint, new interaction to cut
Paralysed walking orthosis (walkabout), interactive walking orthosis for paraplegia patients (reciprocating gait orthosis,
Rgo), improve interactive walking orthosis for paraplegia patients (advanced reciprocating gait orthosis, argo).Bilateral
The long leg brace of knee joint ankle joint is only applicable to the relatively low patient of lesion level.Hereafter, the long leg of bilateral knee ankle joint is propped up by doctor
Tool extends to waist, forms hip knee joint ankle long leg brace (hip knee ankle foot orthosis, hkafo), lesion level
Higher paralytic patient can obtain standing balance by using it, but cannot realize interaction walking.New interactive paraplegia walking
Orthosiss are made up of the long leg brace of interactive hinge means and bilateral knee ankle joint, and interactive hinge means is placed in perineal position
Lower section, connects the inner side lattice framing of the long leg brace of bilateral knee ankle joint.New interactive walking orthosis for paraplegia patients is according to pendulum principle
Design, when the new interactive walking orthosis for paraplegia patients walking of patient's wearing, trunk, to lopsidedness, center of gravity transfer, makes another
Side lower limb leave ground, then center of gravity reach, complete to step lower limb action.Interactive walking orthosis for paraplegia patients is then capable of alternately stepping
Walking is walked, and it increases by a pair of hip joint on the basis of the long leg brace of bilateral knee ankle joint, and by left and right sides hip joint
The rocker that the backboard coupling together alternately is taken a step with realization.During wearing interactive walking orthosis for paraplegia patients walking, patient is with waist sacrum
Portion's metal half-rings are levers support point, and lower back band is force, and a side hip joint does hyperextension motion, by hip joint rear
The isometric movement of rocker, drives the hip joint of opposite side to do curvature movement, thus driving lower limb to move forward.Improve interactive cutting
Paralysed walking orthosis are similar to improving interactive walking orthosis for paraplegia patients walking principle, and improving interactive walking orthosis for paraplegia patients will
The rocker connecting two hip joints about interactive walking orthosis for paraplegia patients is changed to a cable wire, in addition, improving interactive paraplegia
Walking orthosis knee joint increased to help stretches gas spring, helps patient to realize the conversion from seat to erect-position.
The long leg brace of bilateral knee ankle joint and new interactive walking orthosis for paraplegia patients are only applicable to spinal plane relatively
Low paralytic patient, and the high paralytic patient of lesion level is difficult to keep standing balance；Interactive walking orthosis for paraplegia patients
Patient's generation can be made alternately to take a step with improving interactive walking orthosis for paraplegia patients, but because itself not provide energy storage power-assisted
Function, therefore using interactive walking orthosis for paraplegia patients with improve in interactive walking orthosis for paraplegia patients walking and needing to consume
More energy, the cardio-pulmonary function requirement to patient is higher.Further, since interactive walking orthosis for paraplegia patients connects left and right hip closing
The cable wire that the backboard of section, rocker and the interactive walking orthosis for paraplegia patients of improvement connect left and right hip joint is respectively positioned on body back one
Side, causes wearing difficult it is impossible to complete independently.
Content of the invention
It is contemplated that at least solving one of technical problem present in prior art.For this reason, one object of the present invention
It is to propose a kind of walking aided ectoskeleton of bionic energy-storage formula, described walking aided ectoskeleton is easy to patient's wearing and reduces
Physical consumption.
The walking aided ectoskeleton of a kind of bionic energy-storage formula according to embodiments of the present invention, comprising: two footrest, each institute
State sufficient, ankle and the shank that footrest is adapted to fixing paralytic patient；Two shank lattice framings, described two shank lattice framings are connected to
The top of described two footrest；Two thigh lattice framings, described two thigh lattice framings are passed through with described two shank lattice framings respectively can
The knee joint of flexing is connected；Hip joint assembly, described hip joint assembly includes two pelvis supports and is connected to described two bones
Connector between basin stand, described two pelvis supports are connected to described thigh lattice framing by rotatable hip joint respectively；
Energy storage component, described energy storage component connect between described pelvis support and described thigh lattice framing with to storage or the use that releases energy
Switching between the stance assisting described paralytic patient and sitting posture.
The walking aided ectoskeleton of bionic energy-storage formula according to embodiments of the present invention, can be by the waist of paralytic patient in arrow
The energy storage of stretching is done in energy storage component in shape face, and hip power-assisted is bent in the offer that releases energy during hip in the wrong, and in hip process in the wrong
Middle be stored in wherein portion of energy connects the energy storage component that pelvis support and thigh lattice framing simulate human hip extensor, provides
Stretch the flexible band walk-aiding exoskeleton of hip power-assisted, reduce physical consumption during patient's walking.In addition, it is according to embodiments of the present invention
Walking aided ectoskeleton is also convenient for patient and voluntarily dresses, using simple and low cost.
According to one embodiment of present invention, described energy storage component includes: the first energy-storage travelling wave tube, described first energy-storage travelling wave tube
Upper end be movably attached on described pelvis support, and lower end is detachably connected on described thigh lattice framing, described
When the lower end of one energy-storage travelling wave tube is connected with described thigh lattice framing, described paralytic patient is in stance and described first energy-storage travelling wave tube draws
Stretch and store energy, described in when the lower end of described first energy-storage travelling wave tube is departed from described thigh lattice framing, the first energy-storage travelling wave tube bounces back simultaneously
Release energy；Second energy-storage travelling wave tube, the upper end of described second energy-storage travelling wave tube be movably attached on described pelvis support and with
The upper end of described first energy-storage travelling wave tube is spaced apart, and the lower end of described second energy-storage travelling wave tube is rotationally attached to described hip joint
On, described paralytic patient is in the second energy-storage travelling wave tube described in during stance and stretches and store energy, under described first energy-storage travelling wave tube
First energy-storage travelling wave tube retraction described in when end is departed from described thigh lattice framing and described second energy-storage travelling wave tube retraction, described to assist
Paralytic patient switches to sitting posture.
According to one embodiment of present invention, the upper end of described first energy-storage travelling wave tube has the first top shoe, described pelvis
Slide rail on first is had on support, by being slidably matched described first of slide rail on described first top shoe and described first
The upper end of energy-storage travelling wave tube may be movably attached on described pelvis support；The upper end of described second energy-storage travelling wave tube has sliding on second
Block, described pelvis support has slide rail on second, by being slidably matched of slide rail on described second top shoe and described second
So that the upper end of described second energy-storage travelling wave tube be may be movably attached on described pelvis support；Slide rail and institute on wherein said first
State the distance between slide rail on second gradually to broaden from top to bottom.
According to one embodiment of present invention, each described pelvis support forms rounded triangle respectively, and wherein said
On slide rail and described second on, slide rail is respectively provided on two sides of described triangle.
According to one embodiment of present invention, described hip joint have at least one arcuate groove, described second energy storage unit
It is connected by the second glidepath between the lower end of part and the center of rotation of described hip joint, the lower end tool of described second energy-storage travelling wave tube
There is the second sliding block being slidably fit on described second glidepath；Have on described second glidepath and slidably engage
Projection in described arcuate groove.
According to one embodiment of present invention, the rear end of described hip joint has an arc-shaped side, the center of circle of described arc-shaped side with
The center of rotation of described hip joint overlaps.
According to one embodiment of present invention, the lower end of described first energy-storage travelling wave tube has the first sliding block, in described hip
The lower end in joint is connected with the first glidepath, and described first sliding block is slidably fit on described first glidepath；Described
Pass through between the lower end of the first glidepath and described thigh lattice framing to be connected pin connection.
According to one embodiment of present invention, described first top shoe and described first is provided with first between slide rail to lock
Determine device to lock any position of described first top shoe slide rail on described first；Described second top shoe and described
It is provided with second locking device between slide rail with by the optional position of described second top shoe slide rail on described second on second
Place's locking；It is provided with first time locking device with by described first sliding block between described first sliding block and described first glidepath
In the locking of any position of described first glidepath；It is provided with second between described second sliding block and described second glidepath
Locking device to lock described second sliding block in any position of described second glidepath.
According to one embodiment of present invention, described first energy-storage travelling wave tube and described second energy-storage travelling wave tube are spring.
According to one embodiment of present invention, described connector is flexible band.Thus improving patient comfort, and make trouble
Person can voluntarily complete wearing action.
The additional aspect of the present invention and advantage will be set forth in part in the description, and partly will become from the following description
Obtain substantially, or recognized by the practice of the present invention.
Brief description
The above-mentioned and/or additional aspect of the present invention and advantage will become from reference to the description to embodiment for the accompanying drawings below
Substantially and easy to understand, wherein:
Fig. 1 is the ectoskeletal schematic diagram of walking aided of bionic energy-storage formula according to embodiments of the present invention；
Fig. 2 is the schematic diagram that the walking aided ectoskeleton shown in Fig. 1 is in hip joint assembly and energy storage component during stance；
Fig. 3 is the schematic diagram that the walking aided ectoskeleton shown in Fig. 1 is in hip joint assembly and energy storage component during sitting posture.
Reference:
Footrest 1；Shank lattice framing 2；Thigh lattice framing 3；Big leg support 31；Knee joint 4；Knee joint lock 41；
Hip joint assembly 5；Pelvis support 51；Connector 52；Hip joint 53；Arcuate groove 531；Center of rotation 532；
Energy storage component 6；First energy-storage travelling wave tube 61；Second energy-storage travelling wave tube 62；
First top shoe 71a；Slide rail 71b on first；
Second top shoe 72a；Slide rail 72b on second；
First sliding block 73a；First glidepath 73b；Rotating shaft 731；
Second sliding block 74a；Second glidepath 74b；Connecting pin 8
Specific embodiment
Embodiments of the invention are described below in detail, the example of described embodiment is shown in the drawings, wherein from start to finish
The element that same or similar label represents same or similar element or has same or like function.Below with reference to attached
The embodiment of figure description is exemplary, is only used for explaining the present invention, and is not considered as limiting the invention.
In describing the invention it is to be understood that term " " center ", " on ", D score, "front", "rear", " left ",
" right ", " vertical ", " level ", " top ", " bottom " " interior ", " outward ", " clockwise ", " counterclockwise ", " axial ", " radially ", " circumferential "
Be based on orientation shown in the drawings or position relationship in the orientation of instruction or position relationship, be for only for ease of description the present invention and
Simplify description, rather than the device of instruction or hint indication or element must have specific orientation, with specific azimuth configuration
And operation, therefore it is not considered as limiting the invention.Additionally, term " first ", " second " are only used for describing purpose, and not
It is understood that as indicating or implying relative importance or the implicit quantity indicating indicated technical characteristic.Thus, define " the
One ", the feature of " second " can be expressed or implicitly include one or more this feature.In describing the invention,
Unless otherwise stated, " multiple " are meant that two or more.
In describing the invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected, or is integrally connected；Can
To be to be mechanically connected or electrical connection；Can be to be joined directly together it is also possible to be indirectly connected to by intermediary, Ke Yishi
The connection of two element internals.For the ordinary skill in the art, above-mentioned term can be understood at this with concrete condition
Concrete meaning in invention.
A kind of walking aided ectoskeleton of bionic energy-storage formula according to embodiments of the present invention is described below with reference to Fig. 1-Fig. 3,
This skeleton is suitable to waist the paralytic patient of certain control ability, and assists paralytic patient to play the actions such as seat, walking.
The walking aided ectoskeleton of bionic energy-storage formula according to embodiments of the present invention, comprising: 1, two shanks of two footrest
2, two thigh lattice framings 3 of lattice framing, hip joint assembly 5 and energy storage component 6.As shown in figure 1, each footrest 1 is adapted to fixing paraplegia
The sufficient, ankle of patient and shank, two shank lattice framings 2 are connected to the top of two footrest 1, and such as shank lattice framing 2 can position
Outside on front side of the top of footrest 1.Two thigh lattice framings 3 pass through with two shank lattice framings 2 respectively can flexing knee joint 4 phase
Even.Shank lattice framing 12 and thigh lattice framing 3 play support and interconnection function, and in sitting posture, knee joint lock 41 is opened, and knee joint 4 is bent
Song, knee joint lock 41 locking when standing or walk, knee joint 4 is not flexible.In the description of this specification, front side and after
Side all to be considered with patient for main body, and that is, front side refers to the front side direction of patient, and rear side refers to the rear side of patient
Direction.
Hip joint assembly 5 includes two pelvis supports 51 and the connector 52 being connected between two pelvis supports 51, and two
Individual pelvis support 51 is connected to thigh lattice framing 3 by rotatable hip joint 53 respectively, and energy storage component 6 connects to pelvis support 51
And thigh lattice framing 3 between with to storage or release energy for assisting the switching between the stance of paralytic patient and sitting posture.So,
By connecting using energy storage component 6 between hip joint assembly 5 and thigh lattice framing 3, human hip musculus flexor and hip can be simulated
Joint extensor, when walking, patient stretches waist in sagittal plane and stores energy in simulation human hip musculus flexor energy storage component,
Hip in the wrong discharges the energy of energy storage component 6 storage, provides hip power-assisted in the wrong, and wherein portion of energy will be stored in storage during hip in the wrong
In energy assembly 6, provide and stretch hip power-assisted, make patient successfully can be transitioned into walking states by stance, then by walking states transition
To stance, physical consumption when reducing walking.
The walking aided ectoskeleton of bionic energy-storage formula according to embodiments of the present invention, can be by the waist of paralytic patient in arrow
The energy storage of stretching is done in energy storage component in shape face, and hip power-assisted is bent in the offer that releases energy during hip in the wrong, and in hip process in the wrong
Middle be stored in wherein portion of energy connects the energy storage component that pelvis support and thigh lattice framing simulate human hip extensor, provides
Stretch the flexible band walk-aiding exoskeleton of hip power-assisted, reduce physical consumption during patient's walking.In addition, it is according to embodiments of the present invention
Walking aided ectoskeleton is also convenient for patient and voluntarily dresses, using simple and low cost.
According to one embodiment of present invention, as shown in Figures 2 and 3, energy storage component 6 includes: simulation hip joint extensor
First energy-storage travelling wave tube 61 and the second energy-storage travelling wave tube 62 of simulation hip joint song flesh, the upper end of the first energy-storage travelling wave tube 61 movably connects
It is connected on pelvis support 51, and lower end is detachably connected on thigh lattice framing 3, the lower end of the first energy-storage travelling wave tube 61 is propped up with thigh
When bar 3 connects, paralytic patient is in stance and the first energy-storage travelling wave tube 61 stretches and store energy, the lower end of the first energy-storage travelling wave tube 61
When departing from thigh lattice framing 3, the first energy-storage travelling wave tube 61 bounces back and releases energy.The upper end of the second energy-storage travelling wave tube 62 movably connects
It is connected on pelvis support 51 and is spaced apart with the upper end of the first energy-storage travelling wave tube 61, the lower end of the second energy-storage travelling wave tube 62 rotatably connects
It is connected on hip joint 53, paralytic patient is in the second energy-storage travelling wave tube 62 during stance and stretches and store energy, the first energy-storage travelling wave tube 61
The first energy-storage travelling wave tube 61 bounces back and the second energy-storage travelling wave tube 62 bounces back, to assist paralytic patient when departing from thigh lattice framing 3 for lower end
Switch to sitting posture.In some optional examples, the first energy-storage travelling wave tube 61 and the second energy-storage travelling wave tube 62 can be spring.
Specifically, the upper end of the first energy-storage travelling wave tube 61 has the first top shoe 71a, pelvis support 51 has sliding on first
Rail 71b, will be removable for the upper end of the first energy-storage travelling wave tube 61 by being slidably matched of slide rail 71b on the first top shoe 71a and first
Connect to pelvis support 51 dynamicly.The upper end of the second energy-storage travelling wave tube 62 has the second top shoe 72a, and pelvis support 51 has
Slide rail 72b on second, by being slidably matched the second energy-storage travelling wave tube 62 of slide rail 72b on the second top shoe 72a and second
Upper end may be movably attached on pelvis support 51, and on slide rail 71b and second on wherein first, the distance between slide rail 72b is from upper
To under become larger, alternatively, on slide rail 71b and second on first, the section of slide rail 72b is t type, but its section not office
It is limited to the shapes such as t type slide rail or dove-tail form.In some optional examples, as shown in Figures 2 and 3, each pelvis props up
Frame 51 forms angle rounded triangle directed downwardly respectively, and on slide rail 71b and second on wherein first, slide rail 72b is respectively provided at three
On two angular sides.The shape of pelvis support 51 is extremely complex, and outside is plane, and inner side is curved surface, is affixed with human body contour outline
Close, the Atria summit that for example pelvis support 51 is formed corresponds to human pelvis anterior superior iliac spine, posterior superior iliac spine, greater trochanter respectively
Projection on sagittal plane, on slide rail 71b and second on first, slide rail 72b is respectively provided on two sides of triangle.
As shown in Figures 2 and 3, some alternative embodiments according to the present invention, hip joint 53 has at least one arc
Groove 531, is connected by the second glidepath 74b between the lower end of the second energy-storage travelling wave tube 62 and the center of rotation of hip joint 53, and second
The lower end of energy-storage travelling wave tube 62 has the second sliding block 74a being slidably fit on the second glidepath 74b.Under second in example
Have the screwed hole wide with arcuate groove 531 on slide rail 74b, the second glidepath 72b is fixed on arbitrarily angled by hip by screw
On joint 53.
The rear end of hip joint 53 has arc-shaped side, and the center of circle of arc-shaped side is overlapped with the center of rotation of hip joint 53.In such as Fig. 2
In shown example, hip joint 53 is formed as semicircle, and its diameter side is located at front side, between the two ends of arcuate groove 531
Line is vertically extending.
More specifically, as shown in Figures 2 and 3, the lower end of the first energy-storage travelling wave tube 61 has the first sliding block 73a, in hip
The lower end in joint 53 is rotatably connected the first glidepath 73b, specifically, has between the first glidepath 73b and hip joint 53
There is rotating shaft 731, the first sliding block 73a is slidably fit on the first glidepath 73b；The lower end of the first glidepath 73b with big
Connected by connecting pin 8 between lower limb lattice framing 3.Thus, when paralytic patient is in stance, connecting pin 8 is by the first glidepath 73b's
Lower end is rotatably attached with thigh lattice framing 3, and now the first energy-storage travelling wave tube 61 and the second energy-storage travelling wave tube 62 stretch and store energy,
Then, when switching to sitting posture by stance, connecting pin 8 is extracted from thigh lattice framing 3, and the first energy-storage travelling wave tube 61 bounces back and discharges energy
Amount is so that the first glidepath 73b 731 rotates to rear side around the shaft.
In some embodiments of the invention, the first top shoe 71a and first is provided with locking on first between slide rail 71b
Device (not shown) is to lock any position of first top shoe 71a slide rail 71b on first.Wherein, first lock
Determine the jackscrew that device can include being formed on the first top shoe 71a, wherein at required latched position, in jackscrew compression first
Slide into the surface of 71b, form electrodeless regulation.Certainly, the various forms of locking of remaining known to ordinary person in the art dress
Put and can be used in the present invention, with to the electrodeless regulation of slide rail 71b on the first top shoe 71a and first.
Similarly, the second top shoe 72a and second is provided between slide rail 72b locking device on second (not shown) with
By the locking of any position of second top shoe 72a slide rail 72b on second, the first sliding block 73a and the first glidepath 73b it
Between be provided with first time locking device (not shown) to lock the first sliding block 73a in any position of the first glidepath 73b
Fixed, it is provided with second time locking device (not shown) between the second sliding block 74a and the second glidepath 74b with by the second sliding block
74a locks in any position of the second glidepath 74b.Under locking device on wherein second, first time locking device and second
The structure of locking device and locking device on first can identical, can also be different, depending on the design.
As shown in Figure 1-Figure 3, in some embodiments of the invention, for the ease of the daily wearing of patient, connector 52 is
Flexible band, that is, adopting flexible band to connect left and right hip joint, thus improving patient comfort, and enabling patient voluntarily to complete to wear
Wear action.
Describe the ectoskeletal work process of walking aided according to embodiments of the present invention referring again to Fig. 1-Fig. 3 in detail,
And so that the paralytic patient that waist has certain control ability uses as a example illustrate.
First, the walking aided ectoskeleton according to the present invention is dressed by paralytic patient.
When patient is in stance, knee joint lock 41 locking, knee joint 4 is not flexible.As depicted in figs. 1 and 2,
It is connected by connecting pin 8 between the lower end of one glidepath 73b and thigh lattice framing 3, now the first energy-storage travelling wave tube 61 and the second energy storage
Element 62 stretches and stores energy, and when switching to sitting posture by stance, connecting pin 8 is extracted from thigh lattice framing 3, the first energy-storage travelling wave tube
61 and second energy-storage travelling wave tube 62 bounce back and release energy so that the first glidepath 73b around the shaft 731 to rear side rotate, as Fig. 3 institute
Show, now, knee joint lock 41 is opened, knee joint 4 flexing.
When patient is in walking states, knee joint lock 41 locking, knee joint 4 is not flexible.Patient stretches in sagittal plane
By energy storage in the second energy-storage travelling wave tube 62 of simulation hip joint musculus flexor, hip in the wrong discharges stored by the second energy-storage travelling wave tube 62 waist
Energy, provides hip power-assisted in the wrong, and wherein portion of energy will be stored in the first energy-storage travelling wave tube 61 during hip in the wrong, stretches hip release the
Portion of energy stored by one energy-storage travelling wave tube 61, provides and stretches hip power-assisted, makes patient successfully can be transitioned into walking shape by stance
State, then it is transitioned into stance by walking states, physical consumption when reducing walking.
In the description of this specification, reference term " embodiment ", " some embodiments ", " illustrative examples ",
The description of " example ", " specific example " or " some examples " etc. means specific features, the knot describing with reference to this embodiment or example
Structure, material or feature are contained at least one embodiment or the example of the present invention.In this manual, to above-mentioned term
Schematic representation is not necessarily referring to identical embodiment or example.And, the specific features of description, structure, material or spy
Point can combine in any one or more embodiments or example in an appropriate manner.
Although an embodiment of the present invention has been shown and described, it will be understood by those skilled in the art that: not
Multiple changes, modification, replacement and modification can be carried out to these embodiments in the case of the principle of the disengaging present invention and objective, this
The scope of invention is limited by claim and its equivalent.
Claims (9)
1. a kind of walking aided ectoskeleton of bionic energy-storage formula is it is characterised in that include:
Two footrest, each described footrest is adapted to sufficient, ankle and the shank of fixing paralytic patient；
Two shank lattice framings, described two shank lattice framings are connected to the top of described two footrest；
Two thigh lattice framings, described two thigh lattice framings respectively with described two shank lattice framings pass through can flexing knee joint phase
Even；
Hip joint assembly, described hip joint assembly includes two pelvis supports and the company being connected between described two pelvis supports
Fitting, described two pelvis supports are connected to described thigh lattice framing by rotatable hip joint respectively；
Energy storage component, described energy storage component connect between described pelvis support and described thigh lattice framing with to storage or release energy
Measure for assisting the switching between the stance of described paralytic patient and sitting posture, described energy storage component includes:
First energy-storage travelling wave tube, the upper end of described first energy-storage travelling wave tube is movably attached on described pelvis support, and lower end can
Releasably it is connected on described thigh lattice framing, described paraplegia when the lower end of described first energy-storage travelling wave tube is connected with described thigh lattice framing
Patient is in stance and described first energy-storage travelling wave tube stretches and store energy, the lower end of described first energy-storage travelling wave tube and described thigh
First energy-storage travelling wave tube described in when lattice framing departs from bounces back and releases energy；
Second energy-storage travelling wave tube, the upper end of described second energy-storage travelling wave tube is movably attached on described pelvis support and with described
The upper end of one energy-storage travelling wave tube is spaced apart, and the lower end of described second energy-storage travelling wave tube is rotationally attached on described hip joint, described
Paralytic patient is in the second energy-storage travelling wave tube described in during stance and stretches and store energy, the lower end of described first energy-storage travelling wave tube with described
First energy-storage travelling wave tube retraction described in when thigh lattice framing departs from and described second energy-storage travelling wave tube retraction, to assist described paralytic patient
Switch to sitting posture.
2. the walking aided ectoskeleton of bionic energy-storage formula according to claim 1 is it is characterised in that described first energy storage is first
The upper end of part has the first top shoe, and described pelvis support has slide rail on first, by described first top shoe with described
On first, slide rail is slidably matched may be movably attached to the upper end of described first energy-storage travelling wave tube on described pelvis support；
The upper end of described second energy-storage travelling wave tube has the second top shoe, and described pelvis support has slide rail on second, by institute
State being slidably matched to be movably coupled to the upper end of described second energy-storage travelling wave tube of slide rail on the second top shoe and described second
To described pelvis support；
On slide rail and described second on wherein said first, the distance between slide rail becomes larger from top to bottom.
3. the walking aided ectoskeleton of bionic energy-storage formula according to claim 2 is it is characterised in that each described pelvis props up
Frame forms rounded triangle respectively, and on slide rail and described second on wherein said first, slide rail is respectively provided at the two of described triangle
On bar side.
4. the walking aided ectoskeleton of bionic energy-storage formula according to claim 2 is it is characterised in that have on described hip joint
There is at least one arcuate groove, pass through second between the lower end of described second energy-storage travelling wave tube and the center of rotation of described hip joint and glide
Rail is connected, and the lower end of described second energy-storage travelling wave tube has the second sliding block being slidably fit on described second glidepath.
5. the walking aided ectoskeleton of bionic energy-storage formula according to claim 4 is it is characterised in that after described hip joint
End has arc-shaped side, and the center of circle of described arc-shaped side is overlapped with the center of rotation of described hip joint.
6. the walking aided ectoskeleton of bionic energy-storage formula according to claim 4 is it is characterised in that described first energy storage is first
The lower end of part has the first sliding block, is connected with the first glidepath in the lower end of described hip joint, and described first sliding block can be slided
Coordinate on described first glidepath dynamicly；
Pass through between the lower end of described first glidepath and described thigh lattice framing to be connected pin connection.
7. the walking aided ectoskeleton of bionic energy-storage formula according to claim 6 is it is characterised in that described first top shoe
And be provided between slide rail on described first locking device on first with by described first top shoe on described first the appointing of slide rail
Meaning locks at position；
Locking device is provided with second on described second top shoe and described second so that described second top shoe to exist between slide rail
Any position locking of slide rail on described second；
It is provided with first time locking device so that described first sliding block to exist between described first sliding block and described first glidepath
Any position locking of described first glidepath；
It is provided with second time locking device so that described second sliding block to exist between described second sliding block and described second glidepath
Any position locking of described second glidepath.
8. the walking aided ectoskeleton of the bionic energy-storage formula according to any one of claim 1-7 is it is characterised in that described
First energy-storage travelling wave tube and described second energy-storage travelling wave tube are spring.
9. the walking aided ectoskeleton of bionic energy-storage formula according to claim 1 is it is characterised in that described connector is soft
Property band.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410741999.5A CN104546387B (en) | 2014-12-05 | 2014-12-05 | Bionic energy-storing walking aiding external skeleton |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410741999.5A CN104546387B (en) | 2014-12-05 | 2014-12-05 | Bionic energy-storing walking aiding external skeleton |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104546387A CN104546387A (en) | 2015-04-29 |
| CN104546387B true CN104546387B (en) | 2017-01-18 |
Family
ID=53064184
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410741999.5A Expired - Fee Related CN104546387B (en) | 2014-12-05 | 2014-12-05 | Bionic energy-storing walking aiding external skeleton |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104546387B (en) |
Families Citing this family (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104523405A (en) * | 2014-12-05 | 2015-04-22 | 中国康复研究中心 | Energy storing type front-mounted rigid bracket walking aided exoskeleton |
| KR20180060853A (en) * | 2016-11-29 | 2018-06-07 | 삼성전자주식회사 | Motion assist apparatus |
| CN107126348B (en) * | 2017-03-31 | 2019-06-18 | 清华大学 | A kind of quasi- passive knee ankle-joint coupling lower limb exoskeleton and its control method |
| CN107088872B (en) * | 2017-05-22 | 2019-10-18 | 合肥工业大学 | Ectoskeleton power-assisted and carrying dual function apparatus |
| CN109528451B (en) * | 2018-09-14 | 2019-10-08 | 华中科技大学 | A kind of passive exoskeleton device of hip knee doublejointed based on clutch timesharing regulation |
| CN109875838A (en) * | 2019-03-15 | 2019-06-14 | 山东聚维复合材料科技有限公司 | A kind of carbon fibre composite energy storage convalescence device |
| CN109909983B (en) * | 2019-04-24 | 2023-09-12 | 广州海同工业技术有限公司 | Adjustable energy storage waist hip exoskeleton |
| CN111840006A (en) * | 2019-10-10 | 2020-10-30 | 邳州利康沃智能康复设备有限公司 | Passive walking-aid exoskeleton |
| CN111759682B (en) * | 2020-07-14 | 2023-03-28 | 北方工业大学 | Unpowered human body lower limb assistance exoskeleton device |
| CN112587359B (en) * | 2020-12-31 | 2022-05-06 | 成都市龙泉驿区第一人民医院 | Hemiplegia patient standing position gravity center shifts training ware |
| CN113081697B (en) * | 2021-03-30 | 2022-08-19 | 河北工业大学 | Active energy storage type ankle joint walking aid |
| CN115120473B (en) * | 2022-06-23 | 2023-04-18 | 北京航空航天大学 | Walking-aid exoskeleton for paraplegic patient |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4051558A (en) * | 1976-06-30 | 1977-10-04 | The United States Of America As Represented By The United States National Aeronautics And Space Administration | Mechanical energy storage device for hip disarticulation |
| JP4989278B2 (en) * | 2007-04-05 | 2012-08-01 | パナソニック株式会社 | Lower limb power amplifier |
| CN201642752U (en) * | 2010-03-23 | 2010-11-24 | 济南恒川机械有限公司 | Rocker-type paraplegia walker |
| US9655762B2 (en) * | 2011-06-10 | 2017-05-23 | The Regents Of The University Of California | Trunk supporting exoskeleton and method of use |
| CN103655013A (en) * | 2012-09-17 | 2014-03-26 | 李春明 | Novel intelligent automatic walking prosthesis |
| CN103610524B (en) * | 2013-12-16 | 2015-09-09 | 哈尔滨工业大学 | A kind of Portable energy storage ectoskeleton power-assisting robot |
| CN104055650B (en) * | 2014-04-30 | 2017-05-10 | 中国康复研究中心 | Interactive paraplegia walking aid external skeleton with horizontal swinging function |
-
2014
- 2014-12-05 CN CN201410741999.5A patent/CN104546387B/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| CN104546387A (en) | 2015-04-29 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104546387B (en) | Bionic energy-storing walking aiding external skeleton | |
| KR102360981B1 (en) | Leg orthosis and orthosis | |
| US6010474A (en) | Orthopedic brace for legs | |
| KR101496683B1 (en) | Method for correcting pathological configurations of segments of the lower extremities and device for realizing same | |
| Rose | The principles and practice of hip guidance articulations/1 | |
| US9492342B2 (en) | Knee rehabilitation device | |
| CN104523405A (en) | Energy storing type front-mounted rigid bracket walking aided exoskeleton | |
| US9408770B2 (en) | Knee rehabilitation device with measurement element | |
| US20130245524A1 (en) | Knee ankle foot orthosis | |
| US4603690A (en) | Sliding pivot knee joint | |
| US20180256433A1 (en) | Knee rehabilitation therapy device | |
| CN108888476A (en) | A kind of medical hand-rail type shank healing device material | |
| CN107296717A (en) | A kind of orthopaedics limbs simulating sports rehabilitation machines | |
| JP2008274493A (en) | Wear for chain promotion of inner muscle activity | |
| EP3162515B1 (en) | Exoskeleton | |
| CN209347545U (en) | Digital three-dimensional human body lower limbs function of joint corrects therapeutic instrument for rehabilitation | |
| JP2006305225A (en) | Walking aid | |
| CN209004370U (en) | The anti-dislocation brace of the hip replacement of adjustable-angle | |
| CN105055123A (en) | Paraplegia support tool | |
| CN204233252U (en) | A kind of knee joint exempts from the flexible small leg support carrying accessory | |
| Kempfer et al. | Prosthetic and orthotic devices | |
| CN209347335U (en) | Digital three-dimensional human synovial function corrects therapeutic instrument for rehabilitation | |
| US10966854B1 (en) | Brace with a variable resistance band system | |
| CN208864740U (en) | A kind of pull strap that auxiliary ankle joint function is taken exercise | |
| CN108433941A (en) | Digital three-dimensional human body lower limbs function of joint corrects therapeutic instrument for rehabilitation |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170118 Termination date: 20171205 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |