CN104758099A - Lower limb assisting outer bone based on gravity balance - Google Patents
Lower limb assisting outer bone based on gravity balance Download PDFInfo
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- CN104758099A CN104758099A CN201510187605.0A CN201510187605A CN104758099A CN 104758099 A CN104758099 A CN 104758099A CN 201510187605 A CN201510187605 A CN 201510187605A CN 104758099 A CN104758099 A CN 104758099A
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Abstract
Provided is a lower limb assisting outer bone based on gravity balance. Two waists are symmetrically arranged on the two sides of a back, waist plates are fixedly connected with the back through connecting elements, upper thigh plates are hinged to the waist plates through hip joint shafts, shank plates are hinged to lower thigh plates through knee joint shafts, upper joint bearings are hinged to waist lower plates, connecting rods are hinged to the knee joint shafts, the upper end and the lower end of each upper thigh plate are each provided with a thigh binding buckle, the upper end and the lower end of each shank plate are each provided with a shank binding buckle, one ends of first steel wire ropes are arranged on the inner sides of waist upper plates and fixedly connected with the waist upper plates, the other ends of the first steel wire ropes are pulled out of first small holes of first steel wire fixing plates, wound around thigh pulley blocks and then fixedly connected with thigh connecting wheels, one ends of second steel wire ropes are arranged on the inner sides of shanks and fixedly connected with the connecting rods, and the other ends of the second steel wire ropes are pulled out of second small holes of second steel wire fixing plates, wound around shank pulley blocks and then fixedly connected with shank connecting wheels. The lower limb assisting outer bone is used for helping the aged and physically-challenged persons and used for medical rehabilitation and the like.
Description
Technical field
The present invention relates to a kind of lower limb exoskeleton for assisted walk, be specifically related to a kind of lower limb assistance exoskeleton utilizing gravitational equilibrium principle.
Background technology
At present, the research of ectoskeleton power assisting device is risen gradually, is with a wide range of applications, and helps the disabled as helped the elderly, medical rehabilitation, commercial production, earthquake rescue, the fields such as individual combat.General assistance exoskeleton has following characteristics: can the motion intention of human body; The joint freedom degrees similar with human body and articulation space; There is necessary joint active drive exert oneself with auxiliary; Carry control system and energy resource system; There is certain Security mechanism.
Assistance exoskeleton, according to the object of power transmission, can be divided into two kinds of situations: ectoskeleton drives human motion and human body to drive ectoskeleton motion, in " people-machine " design of link information interactive device that its main distinction is embodied in and the formulation of system control strategy.
Help the disabled for helping the elderly or medical rehabilitation field, ectoskeletal object is the motion of self muscle of auxiliary human body, helps old man to lift lower limb, or help the objects such as patient does that muscle function resumes training to reach.Ectoskeleton is needed to set the motion planning in each joint, or the method such as the electromyographic signal of human body, limb motion direction judges the motion intention of human body, drive wearer motion, or the consumption reduced required for wearer motion, now need the transmission of power between human body and ectoskeleton, be therefore closely connected between " people-machine ";
For commercial production, the application such as earthquake rescue or individual combat, faced by be normal healthy workers or fire fighters, ectoskeletal object is not the motion of self muscle of auxiliary human body, but strengthen the effect of exerting oneself of amplifying human body, now, in the design of man-machine connection mechanism, what need transmission between " people-machine " is not power, and is only the body motion information detected.Now, it is that a kind of elasticity connects that binding between " people-machine " connects, transmission be small reciprocal force information.
At the degree of freedom design aspect in joint, the hip joint in human body lower limbs, ankle joint can be approximated to be sphere lower pair, has 3 degree of freedom; Knee joint can be approximated to be revolute pair, has 1 degree of freedom; Sole is when pedaling ground, and sole leading portion has certain bending, and also should be considered as revolute pair; The waist of human body, in the process of walking, can left and right lateral thrust, bend forward, or upper body is rotated, therefore, waist also has 3 degree of freedom.Therefore, for lower limb assistance exoskeleton robot, if carry out bionic design according to the movement characteristic of human body completely, need 19 degree of freedom altogether, for structural design, driving design is comparatively complicated, and information monitoring system and control system are also comparatively difficult.Therefore, must simplify processes, the degree of freedom of design can be divided into active drive degree of freedom, passive freedom degree, auxiliary degree of freedom.In related invention patent in the past, great majority are to hip joint, knee joint, and ankle joint carries out higher pair lowization, to the degree of freedom of waist consider less.General lower limb power-assisting robot is all the main processing links that emphasis considers human body, only applies to drive on extension/flexion 3 degree of freedom of the extension/flexion of hip joint, kneed extension/flexion, ankle joint.Conventional type of drive has motor to drive, hydraulic-driven, the modes such as artificial-muscle pneumatic actuation.
Existing ectoskeleton design all takes motor or hydraulic pressure to hip joint substantially, and knee joint carries out independent control, realizes the high-freedom degree of exoskeleton mechanism, high-adaptability.But different crowds is different to ectoskeletal demand, so the function waste that high-adaptability can bring, can not well reduce costs.
Summary of the invention
The present invention is comparatively large for solving existing ectoskeleton weight, and structure is comparatively complicated, and is driven by power set, and cost compare is high, needs the problem of the energy, and provides a kind of lower limb assistance exoskeleton based on gravitational equilibrium.，
Lower limb assistance exoskeleton based on gravitational equilibrium of the present invention comprises back, two waists, two thighs, two shanks, two linkages, two hip joint axles, two knee axises, two first steel wire ropes, two second steel wire ropes, four thigh bindings buckles and four shanks bundle and buckle
Each waist comprises waist upper plate, leg and puts joint, the first fixation with steel wire plate and waist lower plate outward, and it is hinged that waist upper plate and waist lower plate put joint outward by leg, and waist upper plate is provided with two elongated holes, and the first fixation with steel wire plate and waist lower plate are fixed together,
Each thigh comprises thigh fifth wheel, upper thigh plate, thigh pulley base, thigh assembly pulley, thigh spring protection shell, thigh spring base, lower thigh plate and thigh spring, upper thigh plate is connected by Connection Element with lower thigh plate, lower thigh plate is provided with elongated slot, lower end and the thigh spring base of thigh spring are connected, upper end and the thigh fifth wheel of thigh spring are connected, thigh spring is arranged on the outside of thigh plate, and thigh spring base is packed on thigh plate, thigh spring protection shell fastens and is arranged on the thigh spring of large footpath, thigh spring protection shell and upper thigh plate are connected, thigh assembly pulley is arranged on the top of thigh fifth wheel, and thigh assembly pulley and thigh pulley base hinged, thigh pulley base and thigh plate are connected,
Each shank comprises calf plate, shank pulley base, shank assembly pulley, shank spring protection shell, shank spring base, knee axis, shank spring and shank fifth wheel, shank spring is arranged on the outside of calf plate, upper end and the shank fifth wheel of shank spring are connected, lower end and the shank spring base of shank spring are connected, spring base is packed on calf plate, shank spring protection shell fastens and is arranged on shank spring, shank spring protection shell and calf plate are connected, shank assembly pulley is arranged on the top of shank fifth wheel, and shank assembly pulley and shank pulley base hinged, shank pulley base and calf plate are connected,
Each linkage comprises upper joint bearing, major axis, hypozygal bearing, connecting rod and the second fixation with steel wire plate, the upper and lower side of major axis is connected with upper joint bearing and hypozygal bearing respectively, connecting rod and oscillating bearing hinged, the second fixation with steel wire plate and connecting rod are fixed together
Two waists are symmetricly set on the both sides at back, and the first fixation with steel wire plate is positioned at the outside of waist plate, waist plate is connected by Connection Element and back, two thighs and two waist one_to_one corresponding, thigh spring protection shell is positioned at the outside of thigh plate, upper thigh plate by hip joint axle and waist plate hinged, two shanks and two thigh one_to_one corresponding, calf plate by knee axis and lower thigh plate hinged, two linkages and two thigh one_to_one corresponding, upper joint bearing and waist lower plate hinged, rod hinge connection is on knee axis, the upper and lower side of each upper thigh plate installs a thigh binding button respectively, the upper and lower side of each calf plate installs a shank binding button respectively, two first steel wire ropes and two thigh one_to_one corresponding, one end of first steel wire rope is arranged on the inboard of waist upper plate and is fixedly connected with waist upper plate, the other end of the first steel wire rope pulls out from the first aperture of the first fixation with steel wire plate, affixed with thigh fifth wheel after walking around thigh assembly pulley, two second steel wire ropes and two shank one_to_one corresponding, one end of second steel wire rope is arranged on the inboard of shank and is fixedly connected with connecting rod, the other end of the second steel wire rope pulls out from the second orifice of the second fixation with steel wire plate, affixed with shank fifth wheel after walking around shank assembly pulley.
Technical scheme of the present invention has following beneficial effect:
One, the present invention adopts gravitational equilibrium principle, follow the motion of human body completely, controlled by people's subjectivity, be issued to the effect of power-assisted in the situation not comprising any power source and control device, the principle of power-assisted is reduce the unnecessary consumption (overcoming the consumption of gravity acting) in human motion process.The present invention is a kind of lower limb assistance exoskeleton utilizing law of conservation of energy, effectively can balance gravity work in the process of walking, thus reaches the object of auxiliary wearer walking.
Two, every bar lower limb of the present invention has three degree of freedom, be respectively the outer pendulum degree of freedom of thigh, the front and back pendulum degree of freedom of thigh, kneed rotational freedom, other degree of freedom of human body are not limited, greatly reduce the requirement of ectoskeleton design, wearer by regulating the height of waist and the length of thigh thus making it to adapt to wearer, can make the object that walking is more comfortable.Put on the effect that can reach power-assisted, do not need unnecessary operation.
Three, the present invention can adjust the height of thigh length and waist thus reach the effect adapting to different wearer.This ectoskeleton is completely passive, can not affect the subjective motion of wearer, utilizes the elastic potential energy of spring to balance the change of gravitional force, thus reaches the impact eliminated gravity and walk on people.
Four, structure of the present invention is very light, and each size is very little, and overall weight is very little, is easy to carry and dresses.
Five, compact simple thigh binding button H and shank binding button J is utilized can to bundle ectoskeleton and wearer well.
Accompanying drawing explanation
Fig. 1 is overall structure axonometric chart of the present invention;
Fig. 2 is waist B, the annexation schematic diagram of thigh C, shank D, linkage E (removing thigh spring protection shell C5 and shank spring protection shell D4);
Fig. 3 is the connection enlarged drawing of lower thigh plate C7 and upper thigh plate C2;
Fig. 4 is gravitational equilibrium schematic diagram of the present invention.
Detailed description of the invention
Detailed description of the invention one: composition graphs 1 ~ Fig. 3 illustrates present embodiment, present embodiment comprises back A, two waist B, two thigh C, two shank D, two linkage E, two hip joint axle F, two knee axis G, two first steel wire rope R1, two second steel wire rope R2, four thigh bindings are buckled H and four shank binding and are buckled J
Each waist B comprises waist upper plate B1, leg puts joint B2 outward, the first fixation with steel wire plate B5 and waist lower plate B6, it is hinged that waist upper plate B1 and waist lower plate B6 puts joint B2 outward by leg, waist upper plate B1 is provided with two elongated hole B1-1, elongated hole B1-1 can play and regulate waist B and back A to be connected the effect of position, make it to adapt to different wearers, first fixation with steel wire plate B5 and waist lower plate B6 is fixed together
Each thigh C comprises thigh fifth wheel C1, upper thigh plate C2, thigh pulley base C3, thigh assembly pulley C4, thigh spring protection shell C5, thigh spring base C6, lower thigh plate C7 and thigh spring C8, upper thigh plate C2 is connected by Connection Element with lower thigh plate C7, lower thigh plate C7 is provided with elongated slot C7-1, the position (as shown in Figure 3) that elongated slot C7-1 is connected with lower thigh plate C7 for regulating upper thigh plate C2, thus reach adjustment ectoskeleton thigh length to adapt to the object of different wearer, lower end and the thigh spring base C6 of thigh spring C8 are connected, upper end and the thigh fifth wheel C1 of thigh spring C8 are connected, thigh spring C8 is arranged on the outside of thigh plate C2, and thigh spring base C6 is packed on thigh plate C2, thigh spring protection shell C5 fastens and is arranged on large footpath thigh spring C8, thigh spring protection shell C5 and upper thigh plate C2 is connected, thigh assembly pulley C4 is arranged on the top of thigh fifth wheel C1, and thigh assembly pulley C4 and thigh pulley base C3 is hinged, thigh pulley base C3 and thigh plate C2 is connected,
Each shank D comprises calf plate D1, shank pulley base D2, shank assembly pulley D3, shank spring protection shell D4, shank spring base D5, knee axis D6, shank spring D7 and shank fifth wheel D8, shank spring D7 is arranged on the outside of calf plate D1, upper end and the shank fifth wheel D8 of shank spring D7 are connected, lower end and the shank spring base D5 of shank spring D7 are connected, spring base D5 is packed on calf plate D1, shank spring protection shell D4 fastens and is arranged on shank spring D7, shank spring protection shell D4 and calf plate D1 is connected, shank assembly pulley D3 is arranged on the top of shank fifth wheel D8, and shank assembly pulley D3 and shank pulley base D2 is hinged, shank pulley base D2 and calf plate D1 is connected,
Each linkage E comprises upper joint bearing E1, major axis E2, hypozygal bearing E3, connecting rod E4 and the second fixation with steel wire plate E5, the upper and lower side of major axis E2 is connected with upper joint bearing E1 and hypozygal bearing E3 respectively, connecting rod E4 and oscillating bearing E3 is hinged, second fixation with steel wire plate E5 and connecting rod E4 is fixed together
Two waist B are symmetricly set on the both sides of back A, and the first fixation with steel wire plate B5 is positioned at the outside of waist plate B1, waist plate B1 is connected by Connection Element and back A, two thigh C and two waist B one_to_one corresponding, thigh spring protection shell C5 is positioned at the outside of thigh plate C2, upper thigh plate C2 is hinged by hip joint axle F and waist plate B6, two shank D and two thigh C one_to_one corresponding, calf plate D1 is hinged by knee axis G and lower thigh plate C7, two linkage E and two thigh C one_to_one corresponding, upper joint bearing E1 and waist lower plate B6 is hinged, connecting rod E4 is hinged on knee axis G, the upper and lower side of each upper thigh plate C2 installs a thigh binding button H respectively, the upper and lower side of each calf plate D1 installs a shank binding button J respectively, two first steel wire rope R1 and two thigh C one_to_one corresponding, one end of first steel wire rope R1 is arranged on the inboard of waist upper plate B1 and is fixedly connected with waist upper plate B1, the other end of the first steel wire rope R1 pulls out from the first aperture B5-1 of the first fixation with steel wire plate B5, affixed with thigh fifth wheel C1 after walking around thigh assembly pulley C4, two second steel wire rope R2 and two shank D one_to_one corresponding, one end of second steel wire rope R2 is arranged on the inboard of shank D and is fixedly connected with connecting rod E4, the other end of the second steel wire rope R2 pulls out from the second orifice E5-1 of the second fixation with steel wire plate E5, affixed with shank fifth wheel D8 after walking around shank assembly pulley D3.Thigh binding button H and shank binding button J is for bundling the lower limb of ectoskeleton and wearer.
Detailed description of the invention two: composition graphs 2 illustrates present embodiment, the length of the first steel wire rope R1 of present embodiment is equal with the elongation of thigh spring C8.Other composition and annexation identical with detailed description of the invention one.
Detailed description of the invention three: composition graphs 2 illustrates present embodiment, the length of the second steel wire rope R2 of present embodiment is equal with the elongation of thigh spring C8.Other composition and annexation identical with detailed description of the invention two.
Detailed description of the invention four: composition graphs 2 illustrates present embodiment, the thigh spring C8 of present embodiment is made up of large diameter spring and path spring, large diameter spring is sleeved on little diameter spring, the lower end of large diameter spring and little diameter spring is all connected with thigh spring base C6, and the upper end of large diameter spring and little diameter spring is all connected with thigh fifth wheel C1.Be set to the elastic force increasing spring like this.Other composition and annexation and detailed description of the invention one, two or three identical.
Detailed description of the invention five: composition graphs 2 illustrates present embodiment, the large diameter spring of present embodiment is identical with the length of little diameter spring.Be arranged so that elastic force is evenly distributed like this.Other composition and annexation identical with detailed description of the invention four.
Detailed description of the invention six: composition graphs 2 illustrates present embodiment, the leg of present embodiment is put joint B2 outward and is made up of upper joint block B2-1, joint shaft B2-2 and hypozygal block B2-2, and upper joint block B2-1 and hypozygal block B2-2 is hinged by joint shaft B3.Other composition and annexation identical with detailed description of the invention one or four.
Detailed description of the invention seven: composition graphs 2 illustrates present embodiment, two elongated hole B1-1 of present embodiment are arranged along same straight line.Elongated hole B1-1 can play and regulate waist B and back A to be connected the effect of position, makes it the wearer that adaptation is different.Other composition and annexation identical with detailed description of the invention six.
Detailed description of the invention eight: composition graphs 2 illustrates present embodiment, the quantity of the elongated slot C7-1 of present embodiment is two, and two elongated slot C7-1 be arranged in parallel.Other composition and annexation identical with detailed description of the invention seven.
Gravitational equilibrium principle of the present invention: see Fig. 4,
One end of first steel wire rope R1 is connected to the M1 place of waist upper plate B1, the other end of the first steel wire rope R1 pulls out from the first aperture B5-1, after walking around thigh assembly pulley C4 affixed with thigh fifth wheel C1 (namely the junction point of the first steel wire rope R1 and thigh fifth wheel C1 is M2), because one end of thigh spring C8 and thigh fifth wheel C1 are connected, the other end and the thigh spring base C6 of thigh spring C8 are connected (namely the junction point of thigh spring C8 and thigh spring base C6 is M3);
One end of second steel wire rope R2 is connected to the N1 place of connecting rod E4, the other end of the second steel wire rope R2 pulls out from second orifice E5-1, after walking around shank assembly pulley D3 affixed with shank fifth wheel D8 (namely the junction point of the second steel wire rope R2 and shank fifth wheel D8 is N2), because one end of shank spring D7 and shank fifth wheel D8 are connected, the other end and the shank spring base D5 of shank spring D7 are connected (namely the junction point of shank spring D7 and shank spring base D5 is N3);
Waist upper plate B1, thigh C, major axis E2, connecting rod E4 form a parallel-crank mechanism (linkage), make connecting rod E4 remain parallel with waist upper plate B1 (waist B keeps vertical in actual use substantially).
When thigh B and shank C swings, the gravitional force of lower limb changes, first steel wire rope R1 and the partial-length of the second steel wire rope R2 between two lower limbs also change, the total length of the first steel wire rope R1 and the total length of the second steel wire rope R2 are constant, the total length of the first steel wire rope R1 is that R1-1 adds R1-2, and the total length of the second steel wire rope R2 is that R2-1 adds R2-2.When the angle of hip joint P or knee joint K changes time, R1-1 and R2-1 has just shortened, because the total length of the first steel wire rope R1 and the total length of the second steel wire rope R2 are constant, the part of corresponding R1-2 and R2-2 is just elongated, because R1-2 is connected with thigh spring C8, R2-2 is connected with shank spring D7, M2, M3 and N2, the position of N3 does not change again, so the elongation of thigh spring C8 and shank spring D7 has just diminished, thus cause the elongation of spring to change, the elastic potential energy of spring changes, namely rational design parameter can make the change of thigh gravitional force under any circumstance all equal the change of elastic potential energy of the spring, thus reach and to eliminate in human walking procedure gravity to the impact of walking.
Claims (8)
1. the lower limb assistance exoskeleton based on gravitational equilibrium, it is characterized in that: the described lower limb assistance exoskeleton based on gravitational equilibrium comprises back (A), two waists (B), two thighs (C), two shanks (D), two linkages (E), two hip joint axles (F), two knee axises (G), two first steel wire ropes (R1), two second steel wire ropes (R2), four thigh bindings buckles (H) and four shanks and are bundled and buckle (J)
Each waist (B) comprises waist upper plate (B1), leg puts joint (B2) outward, the first fixation with steel wire plate (B5) and waist lower plate (B6), it is hinged that waist upper plate (B1) and waist lower plate (B6) put joint (B2) outward by leg, waist upper plate (B1) is provided with two elongated holes (B1-1), first fixation with steel wire plate (B5) and waist lower plate (B6) are fixed together
Each thigh (C) comprises thigh fifth wheel (C1), upper thigh plate (C2), thigh pulley base (C3), thigh assembly pulley (C4), thigh spring protection shell (C5), thigh spring base (C6), lower thigh plate (C7) and thigh spring (C8), upper thigh plate (C2) is connected by Connection Element with lower thigh plate (C7), lower thigh plate (C7) is provided with elongated slot (C7-1), lower end and the thigh spring base (C6) of thigh spring (C8) are connected, upper end and the thigh fifth wheel (C1) of thigh spring (C8) are connected, thigh spring (C8) is arranged on the outside of thigh plate (C2), and thigh spring base (C6) is packed on thigh plate (C2), thigh spring protection shell (C5) fastens and is arranged on large footpath thigh spring (C8), thigh spring protection shell (C5) and upper thigh plate (C2) are connected, thigh assembly pulley (C4) is arranged on the top of thigh fifth wheel (C1), and thigh assembly pulley (C4) is hinged with thigh pulley base (C3), thigh pulley base (C3) and thigh plate (C2) are connected,
Each shank (D) comprises calf plate (D1), shank pulley base (D2), shank assembly pulley (D3), shank spring protection shell (D4), shank spring base (D5), knee axis (D6), shank spring (D7) and shank fifth wheel (D8), shank spring (D7) is arranged on the outside of calf plate (D1), upper end and the shank fifth wheel (D8) of shank spring (D7) are connected, lower end and the shank spring base (D5) of shank spring (D7) are connected, spring base (D5) is packed on calf plate (D1), shank spring protection shell (D4) fastens and is arranged on shank spring (D7), shank spring protection shell (D4) and calf plate (D1) are connected, shank assembly pulley (D3) is arranged on the top of shank fifth wheel (D8), and shank assembly pulley (D3) is hinged with shank pulley base (D2), shank pulley base (D2) and calf plate (D1) are connected,
Each linkage (E) comprises upper joint bearing (E1), major axis (E2), hypozygal bearing (E3), connecting rod (E4) and the second fixation with steel wire plate (E5), the upper and lower side of major axis (E2) is connected with upper joint bearing (E1) and hypozygal bearing (E3) respectively, connecting rod (E4) is hinged with oscillating bearing (E3), second fixation with steel wire plate (E5) and connecting rod (E4) are fixed together
Two waists (B) are symmetricly set on the both sides of back (A), and the first fixation with steel wire plate (B5) is positioned at the outside of waist plate (B1), waist plate (B1) is connected by Connection Element and back (A), two thighs (C) and two waist (B) one_to_one corresponding, thigh spring protection shell (C5) is positioned at the outside of thigh plate (C2), upper thigh plate (C2) is hinged by hip joint axle (F) and waist plate (B6), two shanks (D) and two thigh (C) one_to_one corresponding, calf plate (D1) is hinged by knee axis (G) and lower thigh plate (C7), two linkages (E) and two thigh (C) one_to_one corresponding, upper joint bearing (E1) is hinged with waist lower plate (B6), connecting rod (E4) is hinged on knee axis (G), the upper and lower side of each upper thigh plate (C2) installs thigh binding button (H) respectively, the upper and lower side of each calf plate (D1) installs shank binding button (J) respectively, two first steel wire ropes (R1) and two thigh (C) one_to_one corresponding, one end of first steel wire rope (R1) is arranged on the inboard of waist upper plate (B1) and is fixedly connected with waist upper plate (B1), the other end of the first steel wire rope (R1) pulls out from first aperture (B5-1) of the first fixation with steel wire plate (B5), walk around thigh assembly pulley (C4) affixed with thigh fifth wheel (C1) afterwards, two second steel wire ropes (R2) and two shank (D) one_to_one corresponding, one end of second steel wire rope (R2) is arranged on the inboard of shank (D) and is fixedly connected with connecting rod (E4), the other end of the second steel wire rope (R2) pulls out from the second orifice (E5-1) of the second fixation with steel wire plate (E5), walk around shank assembly pulley (D3) affixed with shank fifth wheel (D8) afterwards.
2. according to claim 1 based on the lower limb assistance exoskeleton of gravitational equilibrium, it is characterized in that: the length of described first steel wire rope (R1) is equal with the elongation of thigh spring (C8).
3. according to claim 2 based on the lower limb assistance exoskeleton of gravitational equilibrium, it is characterized in that: the length of described second steel wire rope (R2) is equal with the elongation of thigh spring (C8).
4. according to claim 1,2 or 3 based on the lower limb assistance exoskeleton of gravitational equilibrium, it is characterized in that: described thigh spring (C8) is made up of large diameter spring and path spring, large diameter spring is sleeved on little diameter spring, the lower end of large diameter spring and little diameter spring is all connected with thigh spring base (C6), and the upper end of large diameter spring and little diameter spring is all connected with thigh fifth wheel (C1).
5. according to claim 4 based on the lower limb assistance exoskeleton of gravitational equilibrium, it is characterized in that: described large diameter spring is identical with the length of little diameter spring.
6. according to claim 1 or 4 based on the lower limb assistance exoskeleton of gravitational equilibrium, it is characterized in that: described leg is put joint (B2) outward and is made up of upper joint block (B2-1), joint shaft (B2-2) and hypozygal block (B2-2), upper joint block (B2-1) and hypozygal block (B2-2) hinged by joint shaft (B3).
7. according to claim 6 based on the lower limb assistance exoskeleton of gravitational equilibrium, it is characterized in that: described two elongated holes (B1-1) are arranged along same straight line.
8. according to claim 7 based on the lower limb assistance exoskeleton of gravitational equilibrium, it is characterized in that: the quantity of described elongated slot (C7-1) is two, two elongated slots (C7-1) be arranged in parallel.
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| CN105362045A (en) * | 2015-12-25 | 2016-03-02 | 天津正天医疗器械有限公司 | Four-bar assisted walking device |
| CN105640739A (en) * | 2016-03-21 | 2016-06-08 | 哈尔滨工业大学 | Upper limb rehabilitation exoskeleton based on space gravity balance |
| CN106625598A (en) * | 2016-12-20 | 2017-05-10 | 东南大学 | Knee joint power assisting device with automatic rigidity switching function |
| CN106806089A (en) * | 2017-01-12 | 2017-06-09 | 北京协同创新研究院 | A kind of Wearable power joint recovering device of gear-rack drive |
| CN106821687A (en) * | 2017-01-12 | 2017-06-13 | 北京协同创新研究院 | A kind of Wearable power joint recovering device |
| CN106891323A (en) * | 2017-02-17 | 2017-06-27 | 哈尔滨工业大学 | A kind of tunable load Hookean spring energy storage upper limbs ectoskeleton |
| CN109464267A (en) * | 2018-11-29 | 2019-03-15 | 成都云鼎康德科技有限公司 | A kind of knee joint servomechanism |
| CN112870019A (en) * | 2021-01-18 | 2021-06-01 | 安徽工程大学 | Lower limb rehabilitation training device based on gravity balance |
| WO2022082862A1 (en) * | 2020-10-21 | 2022-04-28 | 江南大学 | Passive lower limb power-assisted exoskeleton based on gravitational potential energy locking |
| WO2022082863A1 (en) * | 2020-10-21 | 2022-04-28 | 江南大学 | Rehabilitation exoskeleton wakling aid based on human gravitational potential energy conversion |
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| CN105640739A (en) * | 2016-03-21 | 2016-06-08 | 哈尔滨工业大学 | Upper limb rehabilitation exoskeleton based on space gravity balance |
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| CN106806089A (en) * | 2017-01-12 | 2017-06-09 | 北京协同创新研究院 | A kind of Wearable power joint recovering device of gear-rack drive |
| CN106821687A (en) * | 2017-01-12 | 2017-06-13 | 北京协同创新研究院 | A kind of Wearable power joint recovering device |
| CN106806089B (en) * | 2017-01-12 | 2019-04-23 | 北京协同创新研究院 | A kind of wearable power joint recovering device of gear-rack drive |
| CN106891323B (en) * | 2017-02-17 | 2019-04-26 | 哈尔滨工业大学 | A kind of tunable load Hookean spring energy storage upper limb ectoskeleton |
| CN106891323A (en) * | 2017-02-17 | 2017-06-27 | 哈尔滨工业大学 | A kind of tunable load Hookean spring energy storage upper limbs ectoskeleton |
| CN109464267A (en) * | 2018-11-29 | 2019-03-15 | 成都云鼎康德科技有限公司 | A kind of knee joint servomechanism |
| WO2022082862A1 (en) * | 2020-10-21 | 2022-04-28 | 江南大学 | Passive lower limb power-assisted exoskeleton based on gravitational potential energy locking |
| WO2022082863A1 (en) * | 2020-10-21 | 2022-04-28 | 江南大学 | Rehabilitation exoskeleton wakling aid based on human gravitational potential energy conversion |
| GB2611670A (en) * | 2020-10-21 | 2023-04-12 | Univ Jiangnan | Passive lower limb power-assisted exoskeleton based on gravitational potential energy locking |
| CN112870019A (en) * | 2021-01-18 | 2021-06-01 | 安徽工程大学 | Lower limb rehabilitation training device based on gravity balance |
| CN112870019B (en) * | 2021-01-18 | 2022-12-23 | 安徽工程大学 | Lower limb rehabilitation training device based on gravity balance |
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