CN105943319A - An exoskeleton self-adaptive lower limb assisting device - Google Patents

An exoskeleton self-adaptive lower limb assisting device Download PDF

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Publication number
CN105943319A
CN105943319A CN201610357516.0A CN201610357516A CN105943319A CN 105943319 A CN105943319 A CN 105943319A CN 201610357516 A CN201610357516 A CN 201610357516A CN 105943319 A CN105943319 A CN 105943319A
Authority
CN
China
Prior art keywords
ankle
assisting
front foot
lower limb
plate
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
Application number
CN201610357516.0A
Other languages
Chinese (zh)
Inventor
秦开宇
周丰
张向刚
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Chengdu Runhui Technology Co Ltd
Original Assignee
Chengdu Runhui Technology Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Chengdu Runhui Technology Co Ltd filed Critical Chengdu Runhui Technology Co Ltd
Priority to CN201610357516.0A priority Critical patent/CN105943319A/en
Publication of CN105943319A publication Critical patent/CN105943319A/en
Pending legal-status Critical Current

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Classifications

    • 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

Landscapes

  • 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)
  • Orthopedics, Nursing, And Contraception (AREA)

Abstract

The invention provides an exoskeleton self-adaptive lower limb assisting device comprising a front foot fixing mechanism, a self-adaptive ankle adjusting mechanism and a shank fixing mechanism. The front foot fixing mechanism consists of a front ball plate (1) and a hook-and-loop fastener ring (2) riveted onto the front ball plate (1); two elastic assisting strips are connected to the left side and the right side of the tail end of the front ball plate (1) symmetrically, and the other ends of the two elastic assisting strips are connected with an adjusting shaft (10) placed in a slide groove (11) of an ankle adjusting plate (5); the shank fixing mechanism comprises two rigid shank fixing rings which are fixedly connected with the ankle adjusting plate (5) via butterfly nuts. The device consists of a heel spring assisting buffer mechanism and an ankle joint protection mechanism, so that the assisting effect of the device is effectively improved, assisting force can be effectively released and the man-machine coupling requirement is met.

Description

A kind of ectoskeleton self adaptation lower limb power assisting device
Technical field
The present invention relates to human body wearable device, especially ectoskeleton self adaptation lower limb power assisting device.
Background technology
Lower extremity movement drives gravity center of human body to move, it is achieved human body both legs are walked, and in the process, in order to keep body kinematics and balance, ankle portion motion is main kinetic energy consumption.
In current lower limb exoskeleton device, major part only considered the wearable property of structure and the freedom of motion of device of ectoskeleton and human body, does not considers motion power-assisted and the importance of holding posture balancing in human walking procedure.
Summary of the invention
It is an object of the invention to provide a kind of lower limb ankle arthrosis power-assisted balance and stability device of design, it is achieved human body walking power-assisted, and keep the stability of gravity motion.
Goal of the invention is to be realized in that a kind of ectoskeleton self adaptation lower limb power assisting device, and including front foot fixed mechanism, self adaptation ankle governor motion, little leg restraint gear, front foot fixed mechanism is made up of front foot volar plate 1 and riveting adhesive tape latch closure 2 thereon；Front foot volar plate 1 tail end symmetrically couples two elastic power-assisted bars, and the other end of two elastic power-assisted bars couples with the regulation axle 6 in the chute 5 being placed in ankle adjustable plate 4 respectively；Little leg restraint gear use two rigidity shank retainer ring, shank retainer ring use with ankle adjustable plate 4 wing nut fix be connected.
Ectoskeleton self adaptation lower limb power assisting device of the present invention makes front end vola be connected with ground embedding, rear end connects through regulation axle and connects self adaptation ankle governor motion, constitute and achieve foot walking power-assisted, device couples with ankle motion self adaptation simultaneously, do not interfere the flexible motion of foot, it is achieved human body walking stability.
Accompanying drawing explanation
Fig. 1 is the structural representation of ectoskeleton self adaptation lower limb power assisting device of the present invention.
Fig. 2 is the side view of Fig. 1.
Detailed description of the invention
Below in conjunction with the accompanying drawings the inventive method is described in further detail.
Front foot fixed mechanism is made up of front foot volar plate 1 and riveting adhesive tape latch closure 2 thereon；Front foot volar plate 1 tail end symmetrically couples two elastic power-assisted bars 3, and the other end of two elastic power-assisted bars couples with the regulation axle 6 in the chute 5 being placed in ankle adjustable plate 4 respectively；Little leg restraint gear uses two rigidity shank retainer ring 7 and 8, and shank retainer ring uses wing nut 9 to fix to be connected with ankle adjustable plate 4.
Described regulation axle 6 uses nut to couple with ankle adjustable plate 4, after regulating the suitable height walked, with the screw thread in the middle part of nut and regulation axle 6, regulation axle is fixed on the corresponding site of chute 5.

Claims (2)

1. an ectoskeleton self adaptation lower limb power assisting device, including front foot fixed mechanism, self adaptation ankle governor motion, little leg restraint gear, it is characterised in that: front foot fixed mechanism is made up of front foot volar plate (1) and riveting adhesive tape latch closure (2) thereon；Front foot volar plate (1) tail end symmetrically couples two elastic power-assisted bars, and the other end of two elastic power-assisted bars couples with the regulation axle (10) in the chute (11) being placed in ankle adjustable plate (5) respectively；Little leg restraint gear uses two rigidity shank retainer ring, and shank retainer ring is fixing with ankle adjustable plate (5) employing wing nut to be connected.
Ectoskeleton self adaptation lower limb power assisting device the most according to claim 1, it is characterised in that described regulation axle (10) uses nut to couple with ankle adjustable plate (5).
CN201610357516.0A 2016-05-26 2016-05-26 An exoskeleton self-adaptive lower limb assisting device Pending CN105943319A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201610357516.0A CN105943319A (en) 2016-05-26 2016-05-26 An exoskeleton self-adaptive lower limb assisting device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201610357516.0A CN105943319A (en) 2016-05-26 2016-05-26 An exoskeleton self-adaptive lower limb assisting device

Publications (1)

Publication Number Publication Date
CN105943319A true CN105943319A (en) 2016-09-21

Family

ID=56910625

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201610357516.0A Pending CN105943319A (en) 2016-05-26 2016-05-26 An exoskeleton self-adaptive lower limb assisting device

Country Status (1)

Country Link
CN (1) CN105943319A (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106344344A (en) * 2016-09-22 2017-01-25 清华大学 Human foot bionic exoskeleton system
WO2019044980A1 (en) * 2017-08-30 2019-03-07 国立大学法人東京大学 Walking support device

Citations (6)

* Cited by examiner, † Cited by third party
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
CN2317684Y (en) * 1997-11-25 1999-05-12 唐延禄 Effort-saving shoes
WO2002098333A1 (en) * 2001-06-01 2002-12-12 Johan David Van Wyk Apparatus and method for avoiding deep vein thrombosis
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
CN206007549U (en) * 2016-05-26 2017-03-15 成都润惠科技有限公司 A kind of ectoskeleton self adaptation lower limb power assisting device

Patent Citations (6)

* Cited by examiner, † Cited by third party
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
CN2317684Y (en) * 1997-11-25 1999-05-12 唐延禄 Effort-saving shoes
WO2002098333A1 (en) * 2001-06-01 2002-12-12 Johan David Van Wyk Apparatus and method for avoiding deep vein thrombosis
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
CN206007549U (en) * 2016-05-26 2017-03-15 成都润惠科技有限公司 A kind of ectoskeleton self adaptation lower limb power assisting device

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106344344A (en) * 2016-09-22 2017-01-25 清华大学 Human foot bionic exoskeleton system
CN106344344B (en) * 2016-09-22 2018-08-28 清华大学 A kind of human foot's bionic exoskeleton system
WO2019044980A1 (en) * 2017-08-30 2019-03-07 国立大学法人東京大学 Walking support device
JPWO2019044980A1 (en) * 2017-08-30 2020-10-15 国立大学法人 東京大学 Walking support device

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Application publication date: 20160921

RJ01 Rejection of invention patent application after publication