CN105943318A - An assisting type ankle exoskeleton device - Google Patents
An assisting type ankle exoskeleton device Download PDFInfo
- Publication number
- CN105943318A CN105943318A CN201610357235.5A CN201610357235A CN105943318A CN 105943318 A CN105943318 A CN 105943318A CN 201610357235 A CN201610357235 A CN 201610357235A CN 105943318 A CN105943318 A CN 105943318A
- Authority
- CN
- China
- Prior art keywords
- great
- side plates
- ankle
- type ankle
- spring
- 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.)
- Pending
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Classifications
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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
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
-
- 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
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H2003/007—Appliances for aiding patients or disabled persons to walk about secured to the patient, e.g. with belts
-
- 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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/01—Constructive details
- A61H2201/0157—Constructive details portable
-
- 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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/165—Wearable interfaces
-
- 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
- A61H2205/106—Leg for the lower legs
-
- 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
- A61H2205/12—Feet
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- Health & Medical Sciences (AREA)
- Engineering & Computer Science (AREA)
- Animal Behavior & Ethology (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Pain & Pain Management (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Epidemiology (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention provides an assisting type ankle exoskeleton device. Two side plates of a shank fixing end (1) are vertically arranged on a bottom plate (2); a spring plate (3) is arranged under the bottom plate (2); a front spring (4) is arranged between the bottom plate (2) and the spring plate (3); two rear springs are arranged between the two side plates and the spring plate (3) symmetrically to form an assisting elastic balance stabilizing mechanism. The assisting type ankle exoskeleton device has the advantages that the joints can operate flexibly, so that the flexibility is great and the buffer energy-absorbing impact resistance is great; the bearing and impact-resisting performance and the balance stability of an exoskeleton structure are great; the performance of structures of the joint points is similar to that of the structures of the joint points of a human body, so that the device is great in steadiness and the requirement for the bearing function of ankle joints is met.
Description
Technical field
The present invention relates to human body wearable device, especially ectoskeleton self adaptation lower limb power assisting device, it is achieved the stable motion that ectoskeleton vola and shank and lower limb connect, reduce unstability during walking, increase the hookup of carrying.
Background technology
When human body dresses ectoskeleton equipment motion walking, often easily tilt because of disequilibrium or fall down, and ankle bears bigger moment of torsion in human body lower limbs structure, playing an important role to maintaining balance.
In " ectoskeleton " lower limb power assisting device, the Power assisted control to ankle joint, HAL ectoskeleton machine uses controllable motor to drive the power-assisted increased lower limb ankle joint；Balance when " ReWalk " of angstrom erg Medical Technology company research and development uses pair of crutches to help to maintain body kinematics.
In current lower limb exoskeleton equipment, ankle device design major part only considered wearable property and the degree of freedom of motion of device, does not takes into full account the ectoskeleton self adaptation design requirement to keeping human body own bodies posture balancing in human walking procedure.
Summary of the invention
It is an object of the invention to provide a kind of ESD being applied to human body assisted walk so that it is balance foot movement, the most do not interfere foot movement motility.
Goal of the invention is to be realized in that a kind of assistance type ankle ESD, and shank is fixed two side plates of end 1 and stood on base plate 2, and base plate is equipped with latch plate 32 times；Preposition spring 4 it is equipped with between base plate 2 and latch plate 3；Between two side plates and latch plate 3, symmetry is equipped with two rear springs and constitutes power-assisted elastic equilibrium stabilizing mechanism.
Further, described preposition spring 4 and two rear springs constitute an equilateral triangular form rock-steady structure.
Using the structure of the present invention, elastic arch of foot contact with ground, three spring mechanisms absorb and resilience power-assisted, balance foot movement, the most do not interfere foot movement motility.Human body joint motion is flexible, and pliability is good, buffering energy-absorbing strong shock resistance.Ectoskeleton agent structure and each articulare structure are with carrying and shock resistance and stability of equilibrium as major function, and its agent structure should meet the strength and stiffness requirement needed for carrying.
Experiment uses high-strength light metal material to be device fixed structure material, and spring steel is power-assisted adaptive mechanism material；The structure design of each articulare, the structural behaviour of numerical simulation human joint points, exoskeleton ankle joint is the strong point that external applied load is final, load concentration, and the stationarity of man-machine gait is played an important role, meet the bearing function requirement of ankle joint, its structure of Preliminary design uses Light high-strength aluminum alloy metal material, and its feature is that light weight, specific strength be high, corrosion-resistant, the processing of antioxidation, easy-formation.
Accompanying drawing explanation
Fig. 1 is the structural representation that ectoskeleton structure of the present invention coordinates with human body lower limbs.
Fig. 2 is ankle ectoskeleton side view.
Fig. 3 is the right view of Fig. 2.
Fig. 4 is ankle ectoskeleton bottom view.
Detailed description of the invention
Below in conjunction with the accompanying drawings the structure of the present invention is described in further detail.
A kind of assistance type ankle ESD, shank fixes two side plates of end 1 and stands on base plate 2, and base plate is equipped with latch plate 32 times；Preposition spring 4 it is equipped with between base plate 2 and latch plate 3；Between two side plates (5 and 6) and latch plate 3, symmetry is equipped with two rear springs (7 and 8) and constitutes power-assisted elastic equilibrium stabilizing mechanism.From the figure, it can be seen that ectoskeleton structure to be arranged on people's foot 10 outside, machinery thigh and shank is connected through the hinge and human body is integrated, when human body joint motion, frame for movement coordinates the motion of leg muscle, to leg power-assisted, helps and carries leg stress.
The present invention adds ankle power-assisted balance at foot position, reduces the out-of-balance force impact in human walking procedure, benefits the attitude increased when balanced human walks, maintain total balance of the body；Simultaneously to human body walking storage power and release action, reduce energy loss during walking, save the muscle power of people.
Claims (2)
1. an assistance type ankle ESD, it is characterised in that two side plates of the fixing end (1) of shank stand on base plate (2), are equipped with latch plate (3) under base plate (2)；Preposition spring (4) it is equipped with between base plate (2) and latch plate (3)；Between two side plates and latch plate (3), symmetry is equipped with two rear springs and constitutes power-assisted elastic equilibrium stabilizing mechanism.
Assistance type ankle ESD the most according to claim 1, it is characterised in that preposition spring (4) and two rear springs constitute an equilateral triangular form rock-steady structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610357235.5A CN105943318A (en) | 2016-05-26 | 2016-05-26 | An assisting type ankle exoskeleton device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610357235.5A CN105943318A (en) | 2016-05-26 | 2016-05-26 | An assisting type ankle exoskeleton device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105943318A true CN105943318A (en) | 2016-09-21 |
Family
ID=56910091
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610357235.5A Pending CN105943318A (en) | 2016-05-26 | 2016-05-26 | An assisting type ankle exoskeleton device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105943318A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106539150A (en) * | 2016-10-27 | 2017-03-29 | 江苏大学 | A kind of lower limb bumper and absorbing shock protector |
| CN111956458A (en) * | 2020-09-25 | 2020-11-20 | 焦彪彪 | Ankle joint power-assisted passive exoskeleton |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU2033780C1 (en) * | 1991-04-04 | 1995-04-30 | Тураб Абидович Хасанов | Device for developing mobility of foot and alocrural articulation |
| JPH0833735A (en) * | 1994-07-21 | 1996-02-06 | Kiyoshige Okano | Ankle exercising tool |
| KR20110111586A (en) * | 2010-04-05 | 2011-10-12 | 임영석 | Elasticity device of shoes for exercise |
| CN202619935U (en) * | 2012-07-13 | 2012-12-26 | 中国人民解放军第二〇八医院 | Ankle injury protective shoe |
| CN204192809U (en) * | 2014-10-28 | 2015-03-11 | 高月明 | Multi-functional ankle joint orthotic device |
| CN204839861U (en) * | 2015-07-14 | 2015-12-09 | 中国人民解放军总医院 | Ankle joint rehabilitation pulling equipment with adjustable joint angle |
| CN206007548U (en) * | 2016-05-26 | 2017-03-15 | 成都润惠科技有限公司 | A kind of assistance type ankle ESD |
-
2016
- 2016-05-26 CN CN201610357235.5A patent/CN105943318A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU2033780C1 (en) * | 1991-04-04 | 1995-04-30 | Тураб Абидович Хасанов | Device for developing mobility of foot and alocrural articulation |
| JPH0833735A (en) * | 1994-07-21 | 1996-02-06 | Kiyoshige Okano | Ankle exercising tool |
| KR20110111586A (en) * | 2010-04-05 | 2011-10-12 | 임영석 | Elasticity device of shoes for exercise |
| CN202619935U (en) * | 2012-07-13 | 2012-12-26 | 中国人民解放军第二〇八医院 | Ankle injury protective shoe |
| CN204192809U (en) * | 2014-10-28 | 2015-03-11 | 高月明 | Multi-functional ankle joint orthotic device |
| CN204839861U (en) * | 2015-07-14 | 2015-12-09 | 中国人民解放军总医院 | Ankle joint rehabilitation pulling equipment with adjustable joint angle |
| CN206007548U (en) * | 2016-05-26 | 2017-03-15 | 成都润惠科技有限公司 | A kind of assistance type ankle ESD |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106539150A (en) * | 2016-10-27 | 2017-03-29 | 江苏大学 | A kind of lower limb bumper and absorbing shock protector |
| CN106539150B (en) * | 2016-10-27 | 2018-04-24 | 江苏大学 | A kind of lower limb bumper and absorbing shock protector |
| CN111956458A (en) * | 2020-09-25 | 2020-11-20 | 焦彪彪 | Ankle joint power-assisted passive exoskeleton |
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| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20160921 |