CN105962944A - Wearable lower limb gait intelligent detecting walking device - Google Patents
Wearable lower limb gait intelligent detecting walking device Download PDFInfo
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- CN105962944A CN105962944A CN201610426762.7A CN201610426762A CN105962944A CN 105962944 A CN105962944 A CN 105962944A CN 201610426762 A CN201610426762 A CN 201610426762A CN 105962944 A CN105962944 A CN 105962944A
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- 230000005021 gait Effects 0.000 title claims abstract description 23
- 210000003141 lower extremity Anatomy 0.000 title claims abstract description 23
- 210000000629 knee joint Anatomy 0.000 claims abstract description 86
- 230000007246 mechanism Effects 0.000 claims abstract description 75
- 210000001699 lower leg Anatomy 0.000 claims abstract description 58
- 210000000689 upper leg Anatomy 0.000 claims abstract description 57
- 210000000544 articulatio talocruralis Anatomy 0.000 claims description 39
- 210000002414 leg Anatomy 0.000 claims description 29
- 210000004394 hip joint Anatomy 0.000 claims description 27
- 238000005259 measurement Methods 0.000 claims description 19
- 238000005086 pumping Methods 0.000 claims description 7
- 230000000694 effects Effects 0.000 claims description 5
- 238000003745 diagnosis Methods 0.000 abstract description 4
- 238000000354 decomposition reaction Methods 0.000 description 3
- 238000001514 detection method Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000005611 electricity Effects 0.000 description 2
- 210000002683 foot Anatomy 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000000926 separation method Methods 0.000 description 2
- 101000911772 Homo sapiens Hsc70-interacting protein Proteins 0.000 description 1
- 206010033799 Paralysis Diseases 0.000 description 1
- 206010046996 Varicose vein Diseases 0.000 description 1
- 230000000386 athletic effect Effects 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 210000003414 extremity Anatomy 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 210000001032 spinal nerve Anatomy 0.000 description 1
- 208000027185 varicose disease Diseases 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
- A61B5/112—Gait analysis
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/1036—Measuring load distribution, e.g. podologic studies
- A61B5/1038—Measuring plantar pressure during gait
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/107—Measuring physical dimensions, e.g. size of the entire body or parts thereof
- A61B5/1071—Measuring physical dimensions, e.g. size of the entire body or parts thereof measuring angles, e.g. using goniometers
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
- A61B5/6801—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be attached to or worn on the body surface
- A61B5/6813—Specially adapted to be attached to a specific body part
- A61B5/6828—Leg
-
- 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
-
- 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
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/164—Feet or leg, e.g. pedal
- A61H2201/1642—Holding means therefor
-
- 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
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- Life Sciences & Earth Sciences (AREA)
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Abstract
The invention discloses a wearable lower limb gait intelligent detecting walking device. The device comprises a seat mechanism, thigh mechanisms, knee joint mechanisms, crus mechanisms and shoe cover mechanisms; the thigh mechanisms are movably connected with the seat mechanism, and the shoe cover mechanisms are connected with the crus mechanisms; each knee joint mechanism comprises a knee joint outer plate and a knee joint inner plate, an outer plate shaft is fixedly installed on each knee joint outer plate, an inner plate shaft is fixedly installed on each knee joint inner plate, each knee joint outer plate is provided with a straight line slot extending in the vertical direction, each inner plate shaft is movably clamped in the corresponding straight line slot, each knee joint inner plate is provided with a curve slot, each outer plate shaft is movably clamped in the corresponding curve slot, the upper portion of each knee joint inner plate is fixedly connected with the corresponding thigh mechanism, and the lower portion of each knee joint outer plate is fixedly connected with the corresponding crus mechanism. According to the wearable lower limb gait intelligent detecting walking device, a personal gait database is formed and used for doctor diagnosis and rehabilitation, walking and sitting are more convenient, and operation is easy and convenient.
Description
Technical field
The invention belongs to medical treatment detection apparatus and athletic equipment instrument field, particularly relate to a kind of wearable lower limb gait Intelligent Measurement running gear.
Background technology
Along with the aggravation of social senilization and taking place frequently of daily vehicle accident, patients with paralyzed lower limbs is on the increase, and the demand of patient medical rehabilitation increases day by day.Existing human body lower limbs rehabilitation training relies primarily on Physical Therapist and carries out limb motion by doing and illustrating with its personal experience.But, the subjectivity of Physical Therapist personal experience is relatively big, does not take into full account the walking habits of individual patients, and the historical data base also not having early stage normally to walk can for reference, this method of rehabilitation not science.It addition, the occupation disease such as nurse, teacher, special counter service man, factory lines workman etc. need the work at for a long time station to easily cause spinal nerve compressing, varicose veins of the lower extremity, knee joint are ached；These job demand short-distance movement continually simultaneously, it has not been convenient to be always sitting on fixing chair.
Summary of the invention
The technical problem to be solved in the present invention is to provide a kind of easy and simple to handle, the beneficially wearable lower limb gait Intelligent Measurement running gear of rehabilitation and diagnosis.
In order to solve above-mentioned technical problem, the present invention takes techniques below scheme:
A kind of wearable lower limb gait Intelligent Measurement running gear, described device includes chair mechanism, big leg mechanism, knee-joint mechanism, little leg mechanism and shoe cover mechanism, and big leg mechanism is flexibly connected with chair mechanism, and shoe cover mechanism installs with little leg mechanism and is connected；Described knee-joint mechanism includes knee joint outside plate and knee joint inner panel, outer board shaft it is installed with on knee joint outside plate, interior board shaft it is installed with on knee joint inner panel, knee joint outside plate is provided with the straight-line groove vertically extended, interior board shaft active card is contained in this straight-line groove, and knee joint inner panel is provided with curved groove, and outer board shaft active card is contained in this curved groove, knee joint inner panel top is fixing with big leg mechanism to be connected, and knee joint outside plate bottom is fixing with little leg mechanism to be connected.
Being movably equipped with the magnetic core of electric magnet in described knee joint outside plate bottom, be set with coil outside the magnetic core of this electric magnet, this coil is fixed on the inwall of knee joint outside plate, and knee joint inner panel is provided with fixing groove.
Described shoe cover mechanism includes base plate, bandage, ankle joint inertia measuring module and plantar pressure sensor, bandage, ankle joint inertia measuring module and plantar pressure sensor are all fixedly mounted on base plate, and plantar pressure sensor controls to lead to the electric current of coil after receiving pressure pumping signal.
Described shoe cover mechanism also includes ankle joint ball seat and ankle joint club, and this ankle joint ball seat is fixedly mounted on base plate, and this ankle joint club lower removable is installed in ankle joint ball seat, and ankle joint club top is installed with little leg mechanism and is connected.
Heel plate it is further fixed on described base plate.
Described little leg mechanism includes shank bar and shank inertia measuring module, and shank inertia measuring module is arranged in shank bar.
Described shank bar is made up of shank upper boom and shank lower beam, shank lower beam top is installed with shank upper boom bottom and is connected, shank lower beam bottom is installed with ankle joint club top and is connected, shank upper boom top is installed with knee joint outside plate bottom and is connected, and shank inertia measuring module is arranged in shank upper boom or shank lower beam.
Described big leg mechanism includes hip joint plate, thigh upper boom, thigh bandage, thigh lower beam and thigh inertia measuring module, thigh upper boom and thigh lower beam are installed and are connected, thigh bandage is fixed on thigh upper boom, thigh inertia measuring module is arranged in thigh lower beam or thigh upper boom, hip joint plate is rotatably installed in thigh bar top by lock shaft, and this hip joint plate is flexibly connected with chair mechanism.
Described chair mechanism includes seat, crossbeam, upper mounted plate and bottom plate, and seat is arranged on crossbeam, and upper mounted plate and bottom plate fasten to be installed, and crossbeam passes between upper mounted plate and bottom plate, and hip joint plate is installed with upper mounted plate activity by axle.
Fixed plate is provided with link slot, in hip joint plate is located at this link slot and is rotationally connected by axle.
The method have the advantages that
On the one hand utilize thigh inertia measuring module and shank inertia measuring module detection human body walking gait, record human hip, knee joint, the various dimensions angle-data of ankle joint, form the gait data storehouse of individual, for diagnosis and rehabilitation.On the other hand, the magnetic core utilizing the straight-line electric Magnet at knee joint ectoskeleton forms knee joint latching device, when human body walking or stand feels exhausted, human body both feet heel is used to lift simultaneously and fall as pumping signal simultaneously, the Magnet utilizing straight-line electric Magnet pins knee joint, facilitates human body to take one's seat everywhere；When human body take one's seat rest complete, human body both feet heel lifts the most simultaneously and falls simultaneously as pumping signal, unties the magnetic core snap close of knee joint straight-line electric Magnet, and human body can freely be walked about again, easy and simple to handle.
Accompanying drawing explanation
Accompanying drawing 1 is perspective view of the present invention；
Accompanying drawing 2 is the perspective view of chair mechanism of the present invention；
Accompanying drawing 3 is the decomposition texture schematic diagram of the big leg mechanism of the present invention；
Accompanying drawing 4 is the decomposition texture schematic diagram of knee-joint mechanism of the present invention；
Accompanying drawing 5 is the decomposition texture schematic diagram of the little leg mechanism of the present invention；
Accompanying drawing 6 is the perspective view of shoe cover mechanism of the present invention.
Detailed description of the invention
For the ease of the understanding of those skilled in the art, the invention will be further described below in conjunction with the accompanying drawings.
As shown in accompanying drawing 1 and 4, present invention is disclosed a kind of wearable lower limb gait Intelligent Measurement running gear, described device includes chair mechanism 1, big leg mechanism 2, knee-joint mechanism 3, little leg mechanism 4 and shoe cover mechanism 5, big leg mechanism 2 is flexibly connected with chair mechanism 1, and shoe cover mechanism 5 installs with little leg mechanism 4 and is connected；Described knee-joint mechanism 3 includes knee joint outside plate 304 and knee joint inner panel 301, outer board shaft 306 it is installed with on knee joint outside plate 304, interior board shaft 302 it is installed with on knee joint inner panel 301, knee joint outside plate 304 is provided with the straight-line groove 305 vertically extended, interior board shaft 302 active card is contained in this straight-line groove 305, knee joint inner panel 301 is provided with curved groove 303, outer board shaft 306 active card is contained in this curved groove 303, knee joint inner panel 301 top is fixing with big leg mechanism 2 to be connected, and knee joint outside plate 304 bottom is fixing with little leg mechanism 4 to be connected.Being movably equipped with the magnetic core 307 of electric magnet in knee joint outside plate 304 bottom, be set with coil 308 outside the magnetic core 307 of this electric magnet, this coil 308 is fixed on the inwall of knee joint outside plate 304, and knee joint inner panel 301 is provided with fixing groove 309.Electric magnet is straight-line electric Magnet, and coil is passed through electric current and can control the magnetic core of electric magnet and move up and down.Knee joint inner panel is connected with outer board shaft realization activity installation by interior board shaft with knee joint outside plate so that knee joint outside plate and knee joint inner panel can relatively rotate.Interior board shaft moves in the straight-line groove on knee joint outside plate, and outer board shaft moves in the curved groove on knee joint inner panel.Magnetic core cooperates with the fixing groove on knee joint inner panel, when after coil electricity, the magnetic core of electric magnet blocks in inserting fixing groove and makes knee joint outside plate and knee joint inner panel be relatively fixed, when after power-off, the magnetic core of electric magnet and fixing groove relative separation, knee joint outside plate and knee joint inner panel then can relatively rotate.
Outer board shaft forms, with straight-line groove, the travel limit moved with curved groove, interior board shaft, and fixing groove and the magnetic core of electric magnet and coil form knee joint latching device, is conducive to helping to walk or take one's seat.
As shown in Figure 6, shoe cover mechanism 5 includes base plate 501, bandage 502, heel plate 506, ankle joint inertia measuring module 503 and plantar pressure sensor 507, bandage 502, ankle joint inertia measuring module 503 and plantar pressure sensor 507 are all fixedly mounted on base plate, heel plate 506 is arranged on base plate 501, plantar pressure sensor 507 controls to lead to the electric current of coil after receiving pressure pumping signal, and then the action of the magnetic core of electric magnet is controlled by coil, it is achieved the magnetic core of electric magnet and the sealed of the fixing groove on knee joint inner panel or disengaging.Ankle joint inertia measuring module is mainly used in measuring the angle-data of ankle joint.Shoe cover mechanism 5 also includes ankle joint ball seat 505 and ankle joint club 504, and this ankle joint ball seat 505 is fixedly mounted on base plate 501, and this ankle joint club 504 lower removable is installed in ankle joint ball seat 505, and ankle joint club top is installed with little leg mechanism and is connected.Ankle joint club bottom has a ball, it is possible to realize circular-rotation, so that ankle joint ball seat and ankle joint club carry out three-degree-of-freedom motion.In order to preferably tighten foot, two bandages, or more bandage can be set.
As shown in Figure 5, little leg mechanism 4 includes shank bar and shank inertia measuring module 402, and shank inertia measuring module is arranged in shank bar.Further, shank bar is made up of shank upper boom 401 and shank lower beam 403, shank lower beam 403 top is installed with shank upper boom 401 bottom and is connected, shank lower beam 403 bottom is installed with ankle joint club 504 top and is connected, shank upper boom 401 top is installed with knee joint outside plate 304 bottom and is connected, and shank inertia measuring module 402 is arranged in shank upper boom 401 or shank lower beam 403.Shank upper boom can plug-in mounting enter shank lower beam in be fastenedly connected, in the present embodiment, preferably shank inertia measuring module is arranged in shank upper boom.Some plug-in mounting of shank upper boom is fixed installation in entering the bottom of knee joint outside plate, the magnetic core of electric magnet some in also plug-in mounting enters shank upper boom.Shank upper boom and shank lower beam can be telescopic structure, can carry out length adjustment as required.
As shown in Figure 3, big leg mechanism 2 includes hip joint plate 201, thigh upper boom 202, thigh bandage 203, thigh lower beam 205 and thigh inertia measuring module 204, thigh upper boom 202 and thigh lower beam 205 are installed and are connected, thigh bandage 203 is fixed on thigh upper boom 202, thigh inertia measuring module 204 is arranged in thigh lower beam 205 or thigh upper boom 202, hip joint plate 201 is rotatably installed in thigh bar 202 top by bearing pin, and this hip joint plate 201 is flexibly connected with chair mechanism 1.Thigh upper boom bottom plug-in mounting realizes being fastenedly connected in entering thigh lower beam, can be telescopic structure, can carry out length adjustment as required between thigh upper boom and thigh lower beam.By being rotationally connected between thigh upper boom and hip joint plate so that thigh upper boom can move towards sagittal plane.In order to install hip joint plate on thigh upper boom, fork pockets can be offered with the top of thigh upper boom, a part for hip joint plate is actively plugged in this fork pockets, is passed fork pockets sidewall and the hip joint plate of thigh upper boom by bearing pin, it is achieved hip joint plate is rotationally connected with thigh upper boom.
As shown in Figure 2, chair mechanism 1 includes seat 101, crossbeam 102, upper mounted plate 104 and bottom plate 105, seat 101 is arranged on crossbeam 102, upper mounted plate 104 and bottom plate 105 fasten to be installed, crossbeam 102 passes between upper mounted plate 104 and bottom plate 105, and hip joint plate is installed with upper mounted plate activity by axle.Upper mounted plate 104 is provided with link slot 103, in hip joint plate 201 is located at this link slot 103 and is rotationally connected by axle.So that relatively rotate between hip joint plate and upper mounted plate, thus realize the motion at coronalplane of the hip joint plate.
The present invention detects the multidimensional angle-data of hip joint, knee joint and ankle joint by being distributed in the thigh inertia measuring module of zones of different, shank inertia measuring module and ankle joint measurement module.Specifically, utilize thigh inertia measuring module and shank inertia measuring module combined measurement knee joint at sagittal rotational angle.Utilize shank inertia measuring module and the free ankle joint rotational angle of ankle joint inertia measuring module combined measurement three.Thigh inertia measuring module is utilized to measure hip joint at sagittal plane and the rotational angle of coronalplane.
When the present invention is for lower limb healthy population, corresponding gait data storehouse can be formed.During for lower limb disabled, its walking can be helped or take one's seat, and playing the effect promoting rehabilitation.
When the present invention uses as detection, tying up on the thigh of people by thigh bandage, foot then steps down on the base plate of shoe cover mechanism, and is enclosed within the bandage of base plate, and heel is then blocked by heel plate, and heel is pressed in plantar pressure sensor.People is when normally walking, hip joint plate swings along coronalplane direction, hip joint plate is the most relative with thigh upper boom to be swung along sagittal plane direction, the multidimensional angle-data of hip joint, knee joint and ankle joint is detected by being distributed in the thigh inertia measuring module of zones of different, shank inertia measuring module and ankle joint measurement module, form the gait data storehouse of individual, for diagnosis and rehabilitation.
When the present invention uses as walking chair, the fixing groove of knee joint inner panel and the magnetic core of electric magnet and coil form knee joint latching device.When human normal is walked, the magnetic core of electric magnet and fixing groove relative separation, now walking about along with people, knee joint outside plate and knee joint inner panel relatively rotate, and utilize the movement in straight-line groove of the interior board shaft and the mobile realization in curved groove of the outer board shaft normally to walk.When feeling exhausted when walking or standing, use human body both feet heel to lift simultaneously and fall compressing plantar pressure sensor as pumping signal simultaneously, the electric current of control coil, realize coil electricity, move so that the magnetic core of electric magnet is made to rise relative to coil, make electric magnet magnetic core plug-in mounting knee joint inner panel fixing groove in and block, knee joint inner panel is pinned, knee joint inner panel and knee joint outside plate cannot be relatively rotated, thus facilitating human body to take one's seat everywhere so that the present invention act as the function of seat.After human body takes one's seat rest, human body both feet heel lifts the most simultaneously and falls simultaneously, plantar pressure sensor receives corresponding pressure signal as pumping signal, send coil again to, make coil blackout, so that the magnetic core of electric magnet declines to spin off from fixing groove no longer pins fixing groove so that knee joint inner panel and knee joint outside plate can relatively rotate, and human body can freely be walked about again.
It should be noted that the above is not the restriction to technical solution of the present invention, on the premise of the creation without departing from the present invention is conceived, any obvious replacement is all same in protection scope of the present invention.
Claims (10)
1. a wearable lower limb gait Intelligent Measurement running gear, it is characterized in that, described device includes chair mechanism, big leg mechanism, knee-joint mechanism, little leg mechanism and shoe cover mechanism, and big leg mechanism is flexibly connected with chair mechanism, and shoe cover mechanism installs with little leg mechanism and is connected；
Described knee-joint mechanism includes knee joint outside plate and knee joint inner panel, outer board shaft it is installed with on knee joint outside plate, interior board shaft it is installed with on knee joint inner panel, knee joint outside plate is provided with the straight-line groove vertically extended, interior board shaft active card is contained in this straight-line groove, and knee joint inner panel is provided with curved groove, and outer board shaft active card is contained in this curved groove, knee joint inner panel top is fixing with big leg mechanism to be connected, and knee joint outside plate bottom is fixing with little leg mechanism to be connected.
Wearable lower limb gait Intelligent Measurement running gear the most according to claim 1, it is characterized in that, the magnetic core of electric magnet it is movably equipped with in described knee joint outside plate bottom, it is set with coil outside the magnetic core of this electric magnet, this coil is fixed on the inwall of knee joint outside plate, and knee joint inner panel is provided with fixing groove.
Wearable lower limb gait Intelligent Measurement running gear the most according to claim 2, it is characterized in that, described shoe cover mechanism includes base plate, bandage, ankle joint inertia measuring module and plantar pressure sensor, bandage, ankle joint inertia measuring module and plantar pressure sensor are all fixedly mounted on base plate, and plantar pressure sensor controls to lead to the electric current of coil after receiving pressure pumping signal.
Wearable lower limb gait Intelligent Measurement running gear the most according to claim 2, it is characterized in that, described shoe cover mechanism also includes ankle joint ball seat and ankle joint club, this ankle joint ball seat is fixedly mounted on base plate, this ankle joint club lower removable is installed in ankle joint ball seat, and ankle joint club top is installed with little leg mechanism and is connected.
Wearable lower limb gait Intelligent Measurement running gear the most according to claim 4, it is characterised in that be further fixed on heel plate on described base plate.
Wearable lower limb gait Intelligent Measurement running gear the most according to claim 5, it is characterised in that described little leg mechanism includes shank bar and shank inertia measuring module, and shank inertia measuring module is arranged in shank bar.
Wearable lower limb gait Intelligent Measurement running gear the most according to claim 6, it is characterized in that, described shank bar is made up of shank upper boom and shank lower beam, shank lower beam top is installed with shank upper boom bottom and is connected, shank lower beam bottom is installed with ankle joint club top and is connected, shank upper boom top is installed with knee joint outside plate bottom and is connected, and shank inertia measuring module is arranged in shank upper boom or shank lower beam.
Wearable lower limb gait Intelligent Measurement running gear the most according to claim 7, it is characterized in that, described big leg mechanism includes hip joint plate, thigh upper boom, thigh bandage, thigh lower beam and thigh inertia measuring module, thigh upper boom and thigh lower beam are installed and are connected, thigh bandage is fixed on thigh upper boom, thigh inertia measuring module is arranged in thigh lower beam or thigh upper boom, and hip joint plate is rotatably installed in thigh bar top by lock shaft, and this hip joint plate is flexibly connected with chair mechanism.
Wearable lower limb gait Intelligent Measurement running gear the most according to claim 8, it is characterized in that, described chair mechanism includes seat, crossbeam, upper mounted plate and bottom plate, seat is arranged on crossbeam, upper mounted plate and bottom plate fasten to be installed, crossbeam passes between upper mounted plate and bottom plate, and hip joint plate is installed with upper mounted plate activity by axle.
Wearable lower limb gait Intelligent Measurement running gear the most according to claim 9, it is characterised in that fixed plate is provided with link slot, in hip joint plate is located at this link slot and is rotationally connected by axle.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610426762.7A CN105962944A (en) | 2016-06-16 | 2016-06-16 | Wearable lower limb gait intelligent detecting walking device |
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| CN201610426762.7A CN105962944A (en) | 2016-06-16 | 2016-06-16 | Wearable lower limb gait intelligent detecting walking device |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106377394A (en) * | 2016-12-02 | 2017-02-08 | 华中科技大学 | Wearable exoskeleton seat device capable of measuring sitting posture of lower limbs of human body |
| CN106420280A (en) * | 2016-12-02 | 2017-02-22 | 华中科技大学 | Exoskeleton device for alleviating lower limb joint load and testing support force |
| CN111251275A (en) * | 2020-01-20 | 2020-06-09 | 杭州风行医疗器械有限公司 | Intelligent sensing boots and contain its lower limbs ectoskeleton robot |
| CN112247964A (en) * | 2020-10-26 | 2021-01-22 | 广州视琨电子科技有限公司 | Wearable exoskeleton |
| CN114523465A (en) * | 2022-03-22 | 2022-05-24 | 山东建筑大学 | Riding type rope wheel driven lower limb walking aid exoskeleton robot |
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| CN106420280B (en) * | 2016-12-02 | 2019-09-03 | 华中科技大学 | A kind of exoskeleton device mitigating joint of lower extremity load and measurement support force |
| CN111251275A (en) * | 2020-01-20 | 2020-06-09 | 杭州风行医疗器械有限公司 | Intelligent sensing boots and contain its lower limbs ectoskeleton robot |
| CN112247964A (en) * | 2020-10-26 | 2021-01-22 | 广州视琨电子科技有限公司 | Wearable exoskeleton |
| CN114523465A (en) * | 2022-03-22 | 2022-05-24 | 山东建筑大学 | Riding type rope wheel driven lower limb walking aid exoskeleton robot |
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