CN105342806A - Human body joint movement auxiliary device and human body movement power assisting device - Google Patents
Human body joint movement auxiliary device and human body movement power assisting device Download PDFInfo
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- CN105342806A CN105342806A CN201510741175.2A CN201510741175A CN105342806A CN 105342806 A CN105342806 A CN 105342806A CN 201510741175 A CN201510741175 A CN 201510741175A CN 105342806 A CN105342806 A CN 105342806A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0218—Drawing-out devices
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/10—Leg
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Abstract
The invention discloses a human body joint movement auxiliary device and a human body movement power assisting device, which are small in size and can realize movement in multiple degrees of freedom. The human body joint movement auxiliary device comprises an inhaul cable mechanical structure and an inhaul cable power part, wherein the inhaul cable mechanical structure comprises a first support frame, a second support frame, a rotation shaft, a first flexible inhaul cable and a second flexible inhaul cable, wherein the motion mode of the human body muscles is simulated by the contraction and traction of the inhaul cables; the free bending and stretching of the joint are realized; the flexible inhaul cables are easy to mount and arrange; a plurality of joints are driven by one group of executing mechanism to move, so that the number of drive units is reduced, the volume and the weight of a system are reduced, meanwhile, the mechanism occupies a small space, and the multi-purpose artificial mechanical skeleton movement is realized; through the number and the position arranged of the inhaul cables, the contraction of different muscles in direction directions can be stimulated, thus the movement in multiple degrees of freedom and multiple directions is realized, and the human body joint movement auxiliary device and the human body movement power assisting device are suitable for being promoted and applied in the fields of movement assistance and recovery devices as well as auxiliary devices for the disabled.
Description
Technical field
The present invention relates to auxiliary, rehabilitation of moving, and people with disability's auxiliary device field, be specifically related to a kind of human body joint motion auxiliary device and human motion power assisting device.
Background technology
Outdoor activity crowd, old man and group of handicapped need a kind of succinct, flexible, efficient joint motions to assist and power assisting device.Current joint motions are assisted and are mainly comprised two classes with the principle of power assisting device, and a class is by the diarthrodial rotation of the rotating band of actuating unit, and another kind of is rotated by the elongation of extra support bar and contraction bands movable joint.The shortcoming such as existing solution mainly exists heaviness, should not realize multivariant motion, planform is dumb.
Summary of the invention
Technical problem to be solved by this invention is to provide a kind of small volume and can realizes the human body joint motion auxiliary device of multifreedom motion.
The technical solution adopted for the present invention to solve the technical problems is: this human body joint motion auxiliary device, comprise drag-line frame for movement, drag-line power part, described drag-line frame for movement comprises the first bracing frame, second bracing frame, rotating shaft, first flexible cable, second flexible cable, described first bracing frame, second bracing frame is all on the rotary shaft sheathed and freely can rotate around rotating shaft, described rotating shaft is fixed in left hip joint rotating shaft or right hip joint rotating shaft or left knee joint rotating shaft or right knee joint rotating shaft and the axial line of the two overlaps, first bracing frame is arranged on the below of rotating shaft, left side and the right side of the first support are provided with gathering sill, second bracing frame is arranged on the top of rotating shaft, the left side of the second bracing frame, right side and top are provided with gathering sill, one end of described first flexible cable is fixed on the bottom of the first bracing frame, the other end walks around the gathering sill arranged on the right side of the first bracing frame successively, the gathering sill arranged on the right side of second bracing frame, be connected with drag-line power part after the gathering sill that second bracing frame top is arranged, one end of described second flexible cable is fixed on the bottom of the first bracing frame, the other end walks around the gathering sill arranged on the left of the first bracing frame successively, the gathering sill arranged on the left of second bracing frame, be connected with drag-line power part after the gathering sill that second bracing frame top is arranged, described drag-line power part is used for stretch respectively the first flexible cable and the second flexible cable.
Further, described first bracing frame, the second bracing frame are triangular supports.
Further, be provided with two-way reset torsion spring between described first bracing frame and the second bracing frame, two support arms of described two-way reset torsion spring are separately fixed on the first bracing frame and the second bracing frame.
Present invention also offers a kind of human motion power assisting device, this human motion power assisting device comprises left leg coupling device, right leg coupling device, left thigh coupling device, right thigh coupling device, hip coupling device, described left leg coupling device is connected by left knee joint rotating shaft with left thigh coupling device, described left thigh coupling device and hip coupling device pass on left left hip joint rotating shaft and are connected, described right leg coupling device is connected by right knee joint rotating shaft with right thigh coupling device, described right thigh coupling device is connected by right hip joint rotating shaft with on the right side of hip coupling device, described left knee joint rotating shaft, right knee joint rotating shaft is all provided with the drag-line frame for movement that at least one drives it to rotate, also comprise drag-line power part, drag-line perception control assembly, man-machine interface system, control system, drag-line perception control assembly is by the kinestate of man-machine interface system perception human body and motion intention and send it to control system, control system will send instruction to drag-line power part after information processing, drag-line power part drives drag-line frame for movement to make left knee joint rotating shaft or right knee joint axis of rotation, described drag-line frame for movement comprises the first bracing frame, second bracing frame, rotating shaft, first flexible cable, second flexible cable, described first bracing frame, second bracing frame is all on the rotary shaft sheathed and freely can rotate around rotating shaft, described rotating shaft is fixed in left hip joint rotating shaft or right hip joint rotating shaft or left knee joint rotating shaft or right knee joint rotating shaft and the axial line of the two overlaps, first bracing frame is arranged on the below of rotating shaft, left side and the right side of the first bracing frame are provided with gathering sill, second bracing frame is arranged on the top of rotating shaft, the left side of the second bracing frame, right side and top are provided with gathering sill, one end of described first flexible cable is fixed on the bottom of the first bracing frame, the other end walks around the gathering sill arranged on the right side of the first bracing frame successively, the gathering sill arranged on the right side of second bracing frame, be connected with drag-line power part after the gathering sill that second bracing frame top is arranged, one end of described second flexible cable is fixed on the bottom of the first bracing frame, the other end walks around the gathering sill arranged on the left of the first bracing frame successively, the gathering sill arranged on the left of second bracing frame, be connected with drag-line power part after the gathering sill that second bracing frame top is arranged, described drag-line power part is used for stretch respectively the first flexible cable and the second flexible cable.
Be further, described left hip joint rotating shaft, right hip joint rotating shaft are all provided with the drag-line frame for movement driving it to rotate, drag-line perception control assembly is by the kinestate of man-machine interface system perception human body and motion intention and send it to control system, control system will send instruction to drag-line power part after information processing, drag-line power part drives drag-line frame for movement to make left hip joint rotating shaft or right hip joint axis of rotation.
Further, described first bracing frame, the second bracing frame are triangular supports.
Further, be provided with two-way reset torsion spring between described first bracing frame and the second bracing frame, two support arms of described two-way reset torsion spring are separately fixed on the first bracing frame and the second bracing frame.
Be further, described left leg coupling device comprises the first semicircle backplate and a C shape endless belt, described first semicircle backplate and a C shape endless belt surround a circular space, the upper end of described first semicircle backplate is fixed with the first gripper shoe, described left thigh coupling device comprises the second semicircle backplate and the 2nd C shape endless belt, described second semicircle backplate and the 2nd C shape endless belt surround a circular space, the lower end of described second semicircle backplate is fixed with the second gripper shoe, upper end is fixed with the 3rd gripper shoe, described hip coupling device comprises belt, the lower end of the second gripper shoe is connected by left knee joint rotating shaft with the upper end of the first gripper shoe, the upper end of the 3rd gripper shoe is connected with the left hip joint rotating shaft that passes on left of belt, described right leg coupling device comprises the 3rd semicircle backplate and the 3rd C shape endless belt, described 3rd semicircle backplate and the 3rd C shape endless belt surround a circular space, the upper end of described 3rd semicircle backplate is fixed with the 4th gripper shoe, described right thigh coupling device comprises the 4th semicircle backplate and the 4th C shape endless belt, described 4th semicircle backplate and the 4th C shape endless belt surround a circular space, the lower end of described 4th semicircle backplate is fixed with the 5th gripper shoe, upper end is fixed with the 6th gripper shoe, the lower end of the 5th gripper shoe is connected by right knee joint rotating shaft with the upper end of the 4th gripper shoe, the upper end of the 6th gripper shoe is connected by right hip joint rotating shaft with the right side of belt.
Be further, described man-machine interface system comprises information Perception equipment, input-output equipment, information transmission network, information processing apparatus, described information Perception equipment comprises pressure transducer, inertial sensor, joint encoders, contact strain meter, Fibre Optical Sensor, myoelectric sensor, brain electric transducer, displacement transducer, rotary encoder, pressure switch, distance measuring sensor, described input-output equipment comprises keyboard, mike, earphone, Expression Recognition system, eye tracking system.
Be further, described control system is for human motion state, and according to mobility dynamics, be the rotation of joint on each degree of freedom by human motion decomposition of movement, and set up corresponding joint angles, joint angle speed, joint moment time dependent rule data base at the volley, as the expectation input signal of feedback control system, according to kinestate or the motion intention of man-machine interface system perception human body, select the expectation input signal in data base, driven the drag-line frame for movement work of each joint by the coordination control laws of design.
Beneficial effect of the present invention: this human body joint motion auxiliary device is by the motion mode of the contraction traction simulation human muscle of drag-line, realize free bend and the stretching, extension in joint, relative to traditional joint motions auxiliary device, flexible drag-line is more easily installed and arranges, can multiple joint motions be driven by one group of actuator, alleviate driver element quantity and system bulk, weight, and mechanism's space hold amount is little, and local improves mechanism structure intensity, multiduty artificial mechanical's skeleton motion can be realized, and the quantity to be configured by drag-line and orientation, different muscle can be simulated, the contraction of different directions, thus realize the multidirectional motion of multiple degrees of freedom, this human body joint motion auxiliary device can be used in knee joint, hip joint, shoulder joint, other joints such as elbow joint and ankle joint, realize joint motions to assist.Human motion power assisting device passes through in left knee joint rotating shaft, right knee joint rotating shaft, left hip joint rotating shaft, right hip joint rotating shaft is installed the drag-line frame for movement driving it to rotate, drag-line perception control assembly is by the kinestate of man-machine interface system perception human body and motion intention and send it to control system, control system will send instruction to drag-line power part after information processing, drag-line power part drives drag-line frame for movement to make left knee joint rotating shaft or right knee joint rotating shaft or left hip joint rotating shaft or right hip joint axis of rotation, thus provide supplemental support for joint motions, and greatly can reduce the energy expenditure of wearer, joint wear, and then realize the object of auxiliary wearer motion.
Accompanying drawing explanation
Fig. 1 is the drag-line frame for movement schematic diagram of human body joint motion auxiliary device of the present invention;
Fig. 2 is the structural representation of human motion power assisting device of the present invention;
Description of symbols in figure: left leg coupling device 1, first semicircle backplate 101, one C shape endless belt 102, first gripper shoe 103, right leg coupling device 2, 3rd semicircle backplate 201, 3rd C shape endless belt 202, 4th gripper shoe 203, left thigh coupling device 3, second semicircle backplate 301, 2nd C shape endless belt 302, second gripper shoe 303, 3rd gripper shoe 304, right thigh coupling device 4, 4th semicircle backplate 401, 4th C shape endless belt 402, 5th gripper shoe 403, 6th gripper shoe 404, hip coupling device 5, belt 501, left knee joint rotating shaft 6, left hip joint rotating shaft 7, right knee joint rotating shaft 8, right hip joint rotating shaft 9, drag-line frame for movement 10, first bracing frame 1001, second bracing frame 1002, rotating shaft 1003, first flexible cable 1004, second flexible cable 1005, gathering sill 1006, two-way reset torsion spring 1007, drag-line power part 11.
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention will be further described.
As shown in Figure 1, human body joint motion auxiliary device, it is characterized in that: comprise drag-line frame for movement 10, drag-line power part 11, described drag-line frame for movement 10 comprises the first bracing frame 1001, second bracing frame 1002, rotating shaft 1003, first flexible cable 1004, second flexible cable 1005, described first bracing frame 1001, second bracing frame 1002 to be all set on rotating shaft 1003 and freely can to rotate around rotating shaft 1003, described rotating shaft 1003 is fixed in left hip joint rotating shaft 7 or right hip joint rotating shaft 9 or left knee joint rotating shaft 6 or right knee joint rotating shaft 8 and the axial line of the two overlaps, first bracing frame 1001 is arranged on the below of rotating shaft 1003, left side and the right side of the first bracing frame 1001 are provided with gathering sill 1006, second bracing frame 1002 is arranged on the top of rotating shaft 1003, the left side of the second bracing frame 1002, right side and top are provided with gathering sill 1006, one end of described first flexible cable 1004 is fixed on the bottom of the first bracing frame 1001, the other end walks around the gathering sill 1006 arranged on the right side of the first bracing frame 1001 successively, the gathering sill 1006 arranged on the right side of second bracing frame 1002, be connected with drag-line power part 11 after the gathering sill 1006 that second bracing frame 1002 top is arranged, one end of described second flexible cable 1005 is fixed on the bottom of the first bracing frame 1001, the other end walks around the gathering sill 1006 arranged on the left of the first bracing frame 1001 successively, the gathering sill 1006 arranged on the left of second bracing frame 1002, be connected with drag-line power part 11 after the gathering sill 1006 that second bracing frame 1002 top is arranged, described drag-line power part 11 is for first flexible cable 1004 and the second flexible cable 1005 that stretch respectively.This human body joint motion auxiliary device is by the motion mode of the contraction traction simulation human muscle of drag-line, realize free bend and the stretching, extension in joint, relative to traditional joint motions auxiliary device, flexible drag-line is more easily installed and arranges, can multiple joint motions be driven by one group of actuator, alleviate driver element quantity and system bulk, weight, and mechanism's space hold amount is little, and local improves mechanism structure intensity, multiduty artificial mechanical's skeleton motion can be realized, and the quantity to be configured by drag-line and orientation, different muscle can be simulated, the contraction of different directions, thus realize the multidirectional motion of multiple degrees of freedom, this human body joint motion auxiliary device can be used in knee joint, hip joint, shoulder joint, other joints such as elbow joint and ankle joint, realize joint motions to assist.
Conveniently the first bracing frame 1001 and the second bracing frame 1002 rotate around rotating shaft 1003, and described first bracing frame 1001, second bracing frame 1002 is preferably triangular supports.
In order to improve power-assisted effect, be provided with two-way reset torsion spring 1007 between described first bracing frame 1001 and the second bracing frame 1002, two support arms of described two-way reset torsion spring 1007 are separately fixed on the first bracing frame 1001 and the second bracing frame 1002.When the drag-line power part 11 flexible zip that stretches makes the first bracing frame 1001 and the second bracing frame 1002 after rotating shaft 1003 rotates, it can be made to reset by two-way reset torsion spring 1007, the convenient rotation that next time stretches.
Present invention also offers a kind of human motion power assisting device, as Fig. 1, shown in 2, this human motion power assisting device comprises left leg coupling device 1, right leg coupling device 2, left thigh coupling device 3, right thigh coupling device 4, hip coupling device 5, described left leg coupling device 1 is connected by left knee joint rotating shaft 6 with left thigh coupling device 3, described left thigh coupling device 3 and hip coupling device 5 pass on left left hip joint rotating shaft 7 and are connected, described right leg coupling device 2 is connected by right knee joint rotating shaft 8 with right thigh coupling device 4, described right thigh coupling device 4 is connected by right hip joint rotating shaft 9 with on the right side of hip coupling device 5, described left knee joint rotating shaft 6, right knee joint rotating shaft 8 is all provided with the drag-line frame for movement 10 that at least one drives it to rotate, also comprise drag-line power part, drag-line perception control assembly, man-machine interface system, control system, drag-line perception control assembly is by the kinestate of man-machine interface system perception human body and motion intention and send it to control system, control system will send instruction to drag-line power part 11 after information processing, drag-line power part 11 drives drag-line frame for movement 10 that left knee joint rotating shaft 6 or right knee joint rotating shaft 8 are rotated, described drag-line frame for movement 10 comprises the first bracing frame 1001, second bracing frame 1002, rotating shaft 1003, first flexible cable 1004, second flexible cable 1005, described first bracing frame 1001, second bracing frame 1002 to be all set on rotating shaft 1003 and freely can to rotate around rotating shaft 1003, described rotating shaft 1003 is fixed in left hip joint rotating shaft 7 or right hip joint rotating shaft 9 or left knee joint rotating shaft 6 or right knee joint rotating shaft 8 and the axial line of the two overlaps, first bracing frame 1001 is arranged on the below of rotating shaft 1003, the left side of the first support and right side are provided with gathering sill 1006, second bracing frame 1002 is arranged on the top of rotating shaft 1003, the left side of the second bracing frame 1002, right side and top are provided with gathering sill 1006, one end of described first flexible cable 1004 is fixed on the bottom of the first bracing frame 1001, the other end walks around the gathering sill 1006 arranged on the right side of the first bracing frame 1001 successively, the gathering sill 1006 arranged on the right side of second bracing frame 1002, be connected with drag-line power part 11 after the gathering sill 1006 that second bracing frame 1002 top is arranged, one end of described second flexible cable 1005 is fixed on the bottom of the first bracing frame 1001, the other end walks around the gathering sill 1006 arranged on the left of the first bracing frame 1001 successively, the gathering sill 1006 arranged on the left of second bracing frame 1002, be connected with drag-line power part 11 after the gathering sill 1006 that second bracing frame 1002 top is arranged, described drag-line power part 11 is for first flexible cable 1004 and the second flexible cable 1005 that stretch respectively.Be further, described left hip joint rotating shaft 7, right hip joint rotating shaft 9 are all provided with the drag-line parts tool structure driving it to rotate, drag-line perception control assembly is by the kinestate of man-machine interface system perception human body and motion intention and send it to control system, control system will send instruction to drag-line power part 11 after information processing, drag-line power part 11 drives drag-line frame for movement 10 that left hip joint rotating shaft 7 or right hip joint rotating shaft 9 are rotated.So just, joint motions can be carried out to knee joint and hip joint to assist simultaneously, thus provide more motion auxiliary.
Human motion power assisting device passes through in left knee joint rotating shaft 6, right knee joint rotating shaft 8, left hip joint rotating shaft 7, right hip joint rotating shaft 9 is installed the drag-line frame for movement 10 driving it to rotate, drag-line perception control assembly is by the kinestate of man-machine interface system perception human body and motion intention and send it to control system, control system will send instruction to drag-line power part 11 after information processing, drag-line power part 11 drives drag-line frame for movement 10 that left knee joint rotating shaft 6 or right knee joint rotating shaft 8 or left hip joint rotating shaft 7 or right hip joint rotating shaft 9 are rotated, thus provide supplemental support for joint motions, and greatly can reduce the energy expenditure of wearer, joint wear, and then realize the object of auxiliary wearer motion.
Conveniently the first bracing frame 1001 and the second bracing frame 1002 rotate around rotating shaft 1003, and described first bracing frame 1001, second bracing frame 1002 is preferably triangular supports.
In order to improve power-assisted effect, be provided with two-way reset torsion spring 1007 between described first bracing frame 1001 and the second bracing frame 1002, two support arms of described two-way reset torsion spring 1007 are separately fixed on the first bracing frame 1001 and the second bracing frame 1002.When the drag-line power part 11 flexible zip that stretches makes the first bracing frame 1001 and the second bracing frame 1002 after rotating shaft 1003 rotates, it can be made to reset by two-way reset torsion spring 1007, the convenient rotation that next time stretches.
In said structure, described left leg coupling device 1 comprises the first semicircle backplate 101 and a C shape endless belt 102, described first semicircle backplate 101 and a C shape endless belt 102 surround a circular space, the upper end of described first semicircle backplate 101 is fixed with the first gripper shoe 103, described left thigh coupling device 3 comprises the second semicircle backplate 301 and the 2nd C shape endless belt 302, described second semicircle backplate 301 and the 2nd C shape endless belt 302 surround a circular space, the lower end of described second semicircle backplate 301 is fixed with the second gripper shoe 303, upper end is fixed with the 3rd gripper shoe 304, described hip coupling device 5 comprises belt 501, the lower end of the second gripper shoe 303 is connected by left knee joint rotating shaft 6 with the upper end of the first gripper shoe 103, the upper end of the 3rd gripper shoe 304 is connected with the left hip joint rotating shaft 7 that passes on left of belt 501, described right leg coupling device 2 comprises the 3rd semicircle backplate 201 and the 3rd C shape endless belt 202, described 3rd semicircle backplate 201 and the 3rd C shape endless belt 202 surround a circular space, the upper end of described 3rd semicircle backplate 201 is fixed with the 4th gripper shoe 203, described right thigh coupling device 4 comprises the 4th semicircle backplate 401 and the 4th C shape endless belt 402, described 4th semicircle backplate 401 and the 4th C shape endless belt 402 surround a circular space, the lower end of described 4th semicircle backplate 401 is fixed with the 5th gripper shoe 403, upper end is fixed with the 6th gripper shoe 404, the lower end of the 5th gripper shoe 403 is connected by right knee joint rotating shaft 8 with the upper end of the 4th gripper shoe 203, the upper end of the 6th gripper shoe 404 is connected by right hip joint rotating shaft 9 with the right side of belt 501.This left leg coupling device 1, right leg coupling device 2, left thigh coupling device 3, right thigh coupling device 4, hip coupling device 5 structure are simple, easy to process, and support effect is better, easy to connect simultaneously between each coupling device, is convenient to mass production.
In order to ensure the kinestate of perception human body all sidedly, motion intention and Physiological Psychology state, , described man-machine interface system comprises information Perception equipment, input-output equipment, information transmission network, information processing apparatus, described information Perception equipment comprises pressure transducer, inertial sensor, joint encoders, contact strain meter, Fibre Optical Sensor, myoelectric sensor, brain electric transducer, displacement transducer, rotary encoder, pressure switch, distance measuring sensor, described input-output equipment comprises keyboard, mike, earphone, Expression Recognition system, eye tracking system.Man-machine interface system is according to the information of each sensor and input-output equipment, Machine self-learning is carried out to the various action gait of human body, the motion intention of real-time estimate human body, the kinestate of perception human body and Physiological Psychology state and environmental information, and real-time Transmission is to control system.
Finally, described control system is for human motion state, and according to mobility dynamics, be the rotation of joint on each degree of freedom by human motion decomposition of movement, and set up corresponding joint angles, joint angle speed, joint moment is time dependent rule data base at the volley, as the expectation input signal of feedback control system, according to kinestate or the motion intention of man-machine interface system perception human body, select the expectation input signal in data base, the drag-line frame for movement 10 of each joint is driven to work by the coordination control laws of design, reach the object that human body joint motion is auxiliary.
Claims (10)
1. a human body joint motion auxiliary device, it is characterized in that: comprise drag-line frame for movement (10), drag-line power part (11), described drag-line frame for movement (10) comprises the first bracing frame (1001), second bracing frame (1002), rotating shaft (1003), first flexible cable (1004), second flexible cable (1005), described first bracing frame (1001), second bracing frame (1002) is all set in rotating shaft (1003) and goes up and freely can rotate around rotating shaft (1003), described rotating shaft (1003) is fixed on left hip joint rotating shaft (7) or right hip joint rotating shaft (9) or left knee joint rotating shaft (6) or right knee joint rotating shaft (8) is gone up and the axial line of the two overlaps, first bracing frame (1001) is arranged on the below of rotating shaft (1003), the left side of the first bracing frame (1001) and right side are provided with gathering sill (1006), second bracing frame (1002) is arranged on the top of rotating shaft (1003), the left side of the second bracing frame (1002), right side and top are provided with gathering sill (1006), one end of described first flexible cable (1004) is fixed on the bottom of the first bracing frame (1001), the other end walks around the gathering sill (1006) that the first bracing frame (1001) right side is arranged successively, the gathering sill (1006) that second bracing frame (1002) right side is arranged, the gathering sill (1006) that second bracing frame (1002) top is arranged is connected with drag-line power part (11) afterwards, one end of described second flexible cable (1005) is fixed on the bottom of the first bracing frame (1001), the other end walks around the gathering sill (1006) that the first bracing frame (1001) left side is arranged successively, the gathering sill (1006) that second bracing frame (1002) left side is arranged, the gathering sill (1006) that second bracing frame (1002) top is arranged is connected with drag-line power part (11) afterwards, described drag-line power part (11) is for the first flexible cable (1004) and the second flexible cable (1005) of stretching respectively.
2. human body joint motion auxiliary device as claimed in claim 1, is characterized in that: described first bracing frame (1001), the second bracing frame (1002) are triangular supports.
3. human body joint motion auxiliary device as claimed in claim 2, it is characterized in that: be provided with two-way reset torsion spring (1007) between described first bracing frame (1001) and the second bracing frame (1002), two support arms of described two-way reset torsion spring (1007) are separately fixed at the first bracing frame (1001) with on the second bracing frame (1002).
4. a human motion power assisting device, comprise left leg coupling device (1), right leg coupling device (2), left thigh coupling device (3), right thigh coupling device (4), hip coupling device (5), described left leg coupling device (1) is connected by left knee joint rotating shaft (6) with left thigh coupling device (3), described left thigh coupling device (3) and hip coupling device (5) pass on left left hip joint rotating shaft (7) and are connected, described right leg coupling device (2) is connected by right knee joint rotating shaft (8) with right thigh coupling device (4), described right thigh coupling device (4) is connected by right hip joint rotating shaft (9) with hip coupling device (5) right side, it is characterized in that: described left knee joint rotating shaft (6), right knee joint rotating shaft (8) is all provided with the drag-line frame for movement (10) that at least one drives it to rotate, also comprise drag-line power part, drag-line perception control assembly, man-machine interface system, control system, drag-line perception control assembly is by the kinestate of man-machine interface system perception human body and motion intention and send it to control system, control system will send instruction to drag-line power part (11) after information processing, drag-line power part (11) drives drag-line frame for movement (10) that left knee joint rotating shaft (6) or right knee joint rotating shaft (8) are rotated, described drag-line frame for movement (10) comprises the first bracing frame (1001), second bracing frame (1002), rotating shaft (1003), first flexible cable (1004), second flexible cable (1005), described first bracing frame (1001), second bracing frame (1002) is all set in rotating shaft (1003) and goes up and freely can rotate around rotating shaft (1003), described rotating shaft (1003) is fixed on left hip joint rotating shaft (7) or right hip joint rotating shaft (9) or left knee joint rotating shaft (6) or right knee joint rotating shaft (8) is gone up and the axial line of the two overlaps, first bracing frame (1001) is arranged on the below of rotating shaft (1003), the left side of the first support and right side are provided with gathering sill (1006), second bracing frame (1002) is arranged on the top of rotating shaft (1003), the left side of the second bracing frame (1002), right side and top are provided with gathering sill (1006), one end of described first flexible cable (1004) is fixed on the bottom of the first bracing frame (1001), the other end walks around the gathering sill (1006) that the first bracing frame (1001) right side is arranged successively, the gathering sill (1006) that second bracing frame (1002) right side is arranged, the gathering sill (1006) that second bracing frame (1002) top is arranged is connected with drag-line power part (11) afterwards, one end of described second flexible cable (1005) is fixed on the bottom of the first bracing frame (1001), the other end walks around the gathering sill (1006) that the first bracing frame (1001) left side is arranged successively, the gathering sill (1006) that second bracing frame (1002) left side is arranged, the gathering sill (1006) that second bracing frame (1002) top is arranged is connected with drag-line power part (11) afterwards, described drag-line power part (11) is for the first flexible cable (1004) and the second flexible cable (1005) of stretching respectively.
5. human motion power assisting device as claimed in claim 4, it is characterized in that: described left hip joint rotating shaft (7), right hip joint rotating shaft (9) is all provided with the drag-line frame for movement (10) driving it to rotate, drag-line perception control assembly is by the kinestate of man-machine interface system perception human body and motion intention and send it to control system, control system will send instruction to drag-line power part (11) after information processing, drag-line power part (11) drives drag-line frame for movement (10) that left hip joint rotating shaft (7) or right hip joint rotating shaft (9) are rotated.
6. human motion power assisting device as claimed in claim 5, is characterized in that: described first bracing frame (1001), the second bracing frame (1002) are triangular supports.
7. human motion power assisting device as claimed in claim 6, it is characterized in that: be provided with two-way reset torsion spring (1007) between described first bracing frame (1001) and the second bracing frame (1002), two support arms of described two-way reset torsion spring (1007) are separately fixed at the first bracing frame (1001) with on the second bracing frame (1002).
8. human motion power assisting device as claimed in claim 7, it is characterized in that: described left leg coupling device (1) comprises the first semicircle backplate (101) and a C shape endless belt (102), described first semicircle backplate (101) and a C shape endless belt (102) surround a circular space, the upper end of described first semicircle backplate (101) is fixed with the first gripper shoe (103), described left thigh coupling device (3) comprises the second semicircle backplate (301) and the 2nd C shape endless belt (302), described second semicircle backplate (301) and the 2nd C shape endless belt (302) surround a circular space, the lower end of described second semicircle backplate (301) is fixed with the second gripper shoe (303), upper end is fixed with the 3rd gripper shoe (304), described hip coupling device (5) comprises belt (501), the lower end of the second gripper shoe (303) is connected by left knee joint rotating shaft (6) with the upper end of the first gripper shoe (103), the upper end of the 3rd gripper shoe (304) is connected with the left hip joint rotating shaft (7) that passes on left of belt (501), described right leg coupling device (2) comprises the 3rd semicircle backplate (201) and the 3rd C shape endless belt (202), described 3rd semicircle backplate (201) and the 3rd C shape endless belt (202) surround a circular space, the upper end of described 3rd semicircle backplate (201) is fixed with the 4th gripper shoe (203), described right thigh coupling device (4) comprises the 4th semicircle backplate (401) and the 4th C shape endless belt (402), described 4th semicircle backplate (401) and the 4th C shape endless belt (402) surround a circular space, the lower end of described 4th semicircle backplate (401) is fixed with the 5th gripper shoe (403), upper end is fixed with the 6th gripper shoe (404), the lower end of the 5th gripper shoe (403) is connected by right knee joint rotating shaft (8) with the upper end of the 4th gripper shoe (203), the upper end of the 6th gripper shoe (404) is connected by right hip joint rotating shaft (9) with the right side of belt (501).
9. human motion power assisting device as claimed in claim 8, it is characterized in that: described man-machine interface system comprises information Perception equipment, input-output equipment, information transmission network, information processing apparatus, described information Perception equipment comprises pressure transducer, inertial sensor, joint encoders, contact strain meter, Fibre Optical Sensor, myoelectric sensor, brain electric transducer, displacement transducer, rotary encoder, pressure switch, distance measuring sensor, described input-output equipment comprises keyboard, mike, earphone, Expression Recognition system, eye tracking system.
10. human motion power assisting device as claimed in claim 9, it is characterized in that: described control system is for human motion state, and according to mobility dynamics, be the rotation of joint on each degree of freedom by human motion decomposition of movement, and set up corresponding joint angles, joint angle speed, joint moment is time dependent rule data base at the volley, as the expectation input signal of feedback control system, according to kinestate or the motion intention of man-machine interface system perception human body, select the expectation input signal in data base, the drag-line frame for movement (10) of each joint is driven to work by the coordination control laws of design.
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| CN110967196A (en) * | 2019-11-21 | 2020-04-07 | 清华大学苏州汽车研究院（相城） | Dummy knee displacement measuring method in automobile crash test |
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