CN106344344A - Human foot bionic exoskeleton system - Google Patents
Human foot bionic exoskeleton system Download PDFInfo
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- CN106344344A CN106344344A CN201610842313.0A CN201610842313A CN106344344A CN 106344344 A CN106344344 A CN 106344344A CN 201610842313 A CN201610842313 A CN 201610842313A CN 106344344 A CN106344344 A CN 106344344A
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- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 44
- 210000002683 foot Anatomy 0.000 claims abstract description 74
- 210000003423 ankle Anatomy 0.000 claims abstract description 30
- 230000033001 locomotion Effects 0.000 claims abstract description 8
- 230000004888 barrier function Effects 0.000 claims abstract description 7
- 230000008054 signal transmission Effects 0.000 claims description 3
- 238000000465 moulding Methods 0.000 claims description 2
- 230000001174 ascending effect Effects 0.000 abstract 1
- 235000001968 nicotinic acid Nutrition 0.000 abstract 1
- 238000004088 simulation Methods 0.000 description 6
- 210000000544 articulatio talocruralis Anatomy 0.000 description 3
- 238000013461 design Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000005021 gait Effects 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 210000000988 bone and bone Anatomy 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000012549 training Methods 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
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
- 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
- A61H1/0255—Both knee and hip of a patient, e.g. in supine or sitting position, the feet being moved together in a plane substantially parallel to the body-symmetrical plane
- A61H1/0262—Walking movement; Appliances for aiding disabled persons to walk
-
- 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
- A61H2003/005—Appliances for aiding patients or disabled persons to walk about with knee, leg or stump rests
-
- 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
-
- 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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
-
- 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
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
-
- 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
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Rehabilitation Tools (AREA)
- Prostheses (AREA)
Abstract
The invention discloses a human foot bionic exoskeleton system and belongs to the technical field of human body bionics. The exoskeleton system comprises a limiting device and a distance measuring device, wherein the limiting device is connected with a human foot bionic exoskeleton, covers human feet and the outside of common shoes and is used for limiting relative motion of the human feet and common shoes and the human foot bionic exoskeleton; the distance measuring device is fixed on one side of the limiting device, is used for measuring the distance between the human foot bionic exoskeleton and front and lower barriers and transmits signals with an external control system. The system can realize follow-up motion of ankle stretch degree of freedom of the human foot bionic exoskeleton, can be fit with common shoes and can acquire pavement information and recognize flat grounds and steps to lay a foundation for continuous stair ascending and descending mode.
Description
Technical field
The invention belongs to simulation of human body technical field, particularly to a kind of human foot's bionic exoskeleton system.
Background technology
With the development of science and technology, roboticses and intellectual technology, in order to improve the quality of life of the people, especially
Old people and people with disability, from the sixties in last century, each great institutions expand to human gait and ectoskeletal research.Dermoskeleton
Bone is primarily used to assist walking or carries out rehabilitation training, is therefore all widely used in medical industry with daily life
Background.
Ectoskeleton is corresponding with Endoskeleton.Endoskeleton is skeleton, jointly supports human body in inside of human body and muscle.Outward
Skeleton, as wearable plant equipment, supports human body by physical mechanical in human external, can strengthen people's physical ability with contributor
Power.Existing ectoskeleton can assist people to complete to surmount the action of function of human body restriction, surmount human body and bear the limit as lifted
Weight, carry out running at a high speed, jump etc. at a distance, also have the ectoskeleton equipment for medicinal approaches, people with disability can be helped to transport
Dynamic, make up the ability to act of its forfeiture.
Human foot's bionic exoskeleton system, as the ectoskeletal independent sector of the whole series, is applied among ectoskeleton.
Its role serving as in ectoskeleton, is equivalent to the foot of human body.The invention of same type also has leg bionic exoskeleton, closes everywhere
Section bionic exoskeleton etc..
At present, need special footwear to be adapted to it the ectoskeletal foot bionic system having put goods on the market more, or to general
Trading product footwear are transformed, and using not convenient, and improve cost.Or additionally, these equipment do not support stair activity,
Can only be by the Non-follow control of people, No. one time button can only walk one-level step it is impossible to automatic identification level land and step, therefore cannot
Carry out the gait conversion of smoothness.
Content of the invention
It is contemplated that overcoming the weak point of prior art, a kind of human foot's bionic exoskeleton system is proposed, can
Realization is adapted to general goods footwear, and realizes the automatic identification to level land and step.
A kind of human foot's bionic exoskeleton system proposed by the present invention is it is characterised in that this exoskeleton system includes limiting
Position device and range unit；Described stopping means are connected with human leg's bionic exoskeleton, and this stopping means is wrapped in human foot
Outside portion and city shoe, for limiting the relative fortune between human foot and city shoe and this human foot's bionic exoskeleton system
Dynamic；Described range unit is fixed on stopping means side, for measuring this human foot's bionic exoskeleton system and front, lower section
The distance of barrier, and carry out signal transmission with outside control system.
Described stopping means include ankle backplate and the pedal on the downside of it, connect for rotating between the two, real respectively
Now to before and after human foot/left and right is spacing and spacing up and down, realizes human body ankle by ankle backplate and relatively rotating of pedal
The stretching, extension degree of freedom in joint.
The feature of the present invention and beneficial effect:
The present invention, as the ectoskeletal part of simulation of human body, is also the ectoskeletal strong point of simulation of human body, and its design is right
The ectoskeletal performance impact of simulation of human body is very big.The simulation of human body ectoskeleton that the present invention is applied can be applicable to rehabilitation medical, energy
Auxiliary lose ability to act people complete uprightly, walking, the action such as stair activity.
According to human foot's bionic exoskeleton system of the present invention, can be real using the rotation between ankle backplate and pedal
The existing ectoskeletal ankle joint of human foot stretches the follow-up motion of degree of freedom, and is adapted to city shoe by stopping means, simultaneously
Information of road surface collection can be carried out by range unit, level land and step are identified, and then for realizing continuous up/down steps
Pattern is laid a foundation.This system design is simple, it is easy to accomplish, and suitability is strong, experience comfort level is high.
Brief description
Fig. 1 is the structural representation of the human foot's bionic exoskeleton system according to one embodiment of the invention；
Fig. 2 is the structural representation of the ankle backplate according to one embodiment of the invention；
Fig. 3 is the structural representation of the pedal according to one embodiment of the invention；
Fig. 4 is according to one embodiment of the invention, and a kind of footwear of flexible bandage that can substitute on pedal hook schematic diagram；
Fig. 5 is the assembling schematic diagram of the range unit according to one embodiment of the invention；
Fig. 6 is the structural representation of the diastimeter holder according to one embodiment of the invention.
Specific embodiment
A kind of human foot's bionic exoskeleton system proposed by the present invention, below in conjunction with the accompanying drawings with specific embodiment specifically
Bright as follows:
A kind of human foot's bionic exoskeleton system proposed by the present invention, its structure is as shown in Figure 1, comprising:
Stopping means: include ankle backplate 1, pedal 2；
Range unit 3；Wherein,
(described human leg's bionic exoskeleton is not belonging in the present invention described stopping means with human leg's bionic exoskeleton
Hold) connect, this stopping means is wrapped in outside human foot and general goods footwear, for limiting human foot and general goods footwear
Relative motion and this human foot's bionic exoskeleton system between；Described range unit is fixed on stopping means side, is used for
Measure this human foot's bionic exoskeleton system and front, the distance of lower section barrier, and carry out letter with outside control system
Number transmission.
Described stopping means include ankle backplate 1 and the pedal 2 on the downside of it, pass through between the two to rotate secondary connection,
Realize respectively to before and after human foot/left and right is spacing and spacing up and down, relatively rotates reality by ankle backplate 1 and pedal 2
The stretching, extension degree of freedom of existing model of human ankle.
The structure of described ankle backplate 1 is as shown in Fig. 2 be one by ankle backplate main body 11 and pedal connecting bracket 12 one
The symmetrical structure of molding；Wherein, ankle backplate main body 11 is u-shaped shell structure, and its arc section inner surface is fitted with human body carpus,
Play the effect of protection ankle joint, u-shaped circular arc portion is about the semi arch of girth 15cm；Two flat side in ankle backplate main body 11
Wall end symmetric setting human leg's bionic exoskeleton interface 13 is used for connecting human leg's bionic exoskeleton, and this interface is according to people
The structure determination of body leg bionic exoskeleton, this interface of the present embodiment is four through holes, and through hole becomes the array arrangement of 2*2, permissible
By completing be connected ectoskeletal with leg with screw fit；Described pedal connecting bracket 12 is symmetrically fixed on ankle backplate main body
On the downside of 11 two straight side walls ends, two pedal connecting bracket 12 end is provided with pedal interface 14, and this pedal interface comprises one relatively
Pedal connecting bracket 12 inner surface is sunk the circular groove of about 2mm and be arranged concentrically with this circular groove and protrude from pedal connecting bracket 12
The short axle on surface.
Described pedal 2 be located at ankle backplate 1 downside, as shown in figure 3, pedal 2 be face in u-shaped, side-looking be in be inverted y type
Asymmetric housings structure, pedal 2 is integrally formed, and its size determines according to general goods footwear size one-size-fits-all, and for slightly larger or slightly
Little footwear code also adapts to install, and middle part is vacant, for accommodating human foot and general goods footwear；Pedal 2 two side top pair
Claim to be provided with ankle backplate interface 21, the size of this interface is adapted with the size of ankle backplate pedal interface 14, ankle backplate 1 with
Pass through its interior pedal interface 13, ankle backplate interface 21 is realized relatively rotating the stretching, extension realizing model of human ankle between pedal 2
Degree of freedom, to simulate the motion of human foot；It is respectively provided with two elongated holes, respectively heel strap banding holes in the middle part of pedal 2 two side
22 are slightly longer than instep bandage hole 23 with instep bandage banding holes 23, heel strap hole 22, and heel strap banding holes 22 length is about
The 2/3 of the type of falling y side wall λ one branch length of shape part, instep bandage banding holes 23 is the 1/2 of its place branch length, is located at
Banding holes on the wall of side is used to fixing bandage, after bandage binding instep and heel is fixed on human foot and general goods footwear
On pedal 2；Pedal 2 bottom is the arch of foot seat 24 and heel interface 25 being adapted to general goods footwear, by the foot of general goods footwear
Bow position is supported on arch of foot seat 24, and heel interface 25 is located substantially at human foot's heel；It is typically slightly above at human body arch of foot
Vola plane, has a gap with ground, and the crossbeam of arch of foot seat 24 bottom can fill up ground clearance at arch of foot for the city shoe, both
Shoes can be fixed, do not interfere with human body walking comfort level again；The end of heel interface 25 clamps the roomy of shoes heel
Part, realizes pedal and foot, the fixation of shoes further；Below ankle backplate interface 21, y type two side center also sets
There is a range unit interface 26, this interface is made up of two horizontally arranged through holes, be used for fixing range unit 3.The present invention is implemented
Bandage in example is self-adhesion VELCRO, carries out self-adhesion through banding holes and can achieve fixing human foot, using direct after finishing
Tear i.e. separable foot and pedal.
The present invention can also fix its own and human foot by way of footwear hook.Footwear are hooked mode and are hooked with footwear and replace
Bandage.If Fig. 4 is the structural representation that footwear hook embodiment.It is in t font that footwear hook overall, size commodity according to used by user
The difference of footwear and different, along cooperation, t type lower end is fixing with described pedal 2 for its upper length and commodity upper shoe part side；This footwear
Hook upper end is provided with hook 41 and hooks on commodity upper shoe part side edge；This footwear hooks lower end and is provided with footwear hook positioning screw hole 42, can be with pedal 2
Instep bandage banding holes 23 is connected, and is fixed on inside pedal 2.
The structure of described range unit 3 is as shown in figure 5, include diastimeter holder 31, and is located at this diastimeter respectively
Ultrasonic distance measuring apparatus 32 on holder 31 two side, ultrasonic distance measuring apparatus 33；Diastimeter fixing device 31 is in l type, its structure such as Fig. 6
Shown, between two side with circular arc excessively, size has according to the of different sizes of the ultrasonic distance measuring apparatus (for conventional products) chosen
Institute is different；Diastimeter holder 31 is provided with holder interface 311, and this interface is made up of two horizontally arranged through holes, with foot
The range unit interface 26 pedaled in 2 coordinates, and is used for fixing this range unit, and the range unit after fixing fits in the side of pedal 2
Face, range unit bottom is far from ground about 1cm；Ultrasonic distance measuring apparatus groove position 312 is additionally provided with diastimeter holder two side, this groove position
For round rectangle, it is slightly larger in dimension than two mutually perpendicular ultrasonic distance measuring apparatus, concrete size is according to the ultrasonic distance measuring apparatus chosen
Of different sizes and different, during assembling ultrasonic distance measuring apparatus, ultrasonic distance measuring apparatus sink in described groove position, each at corner outside groove position
There is a through hole, screw fixes ultrasonic distance measuring apparatus by this through hole.Diastimeter holder 31 is perpendicular type structure, therefore supersonic sounding
Instrument 32 is vertical relation with the position of ultrasonic distance measuring apparatus 33, wherein, the distance of ultrasonic distance measuring apparatus 32 measurement and preceding object thing, surpass
Acoustic ranger 33 measurement and the distance of lower section barrier, are then converted into the signal of telecommunication, are transferred to external control system.
Described external control system is not belonging to present invention protection content, is the Mechanical course maincenter of human body bionic exoskeleton,
Typically it is made up of single-chip microcomputer, there is simple data-handling capacity, be usually located at the ectoskeletal back of a whole set of simulation of human body, with people
Body bionic exoskeleton other parts pass through circuit communication, arrange other parts execution task.
The work process of the embodiment of the present invention or operation principle are described as follows:
User can be worn city shoe (as ordinary movement footwear) and use the embodiment of the present invention, hold up arch of foot using arch of foot seat 24
Part, heel interface 25 is then adapted to sport shoess heel member；Article two, spacing bandage is each passed through self-adhesion after banding holes 22,23,
Realize the pressurization to heel, instep respectively, to strengthen the fixation between human foot and the embodiment of the present invention；
When human body walking, the present embodiment is lifted by drive or puts down, and it is servo-actuated shape that ankle stretches degree of freedom
State, ankle backplate 1 and pedal 2 can do no more than 90 degree relatively rotate in the presence of gravity and other external force；
If running into up step during human body walking, the preceding object distance that ultrasonic distance measuring apparatus 32 detect will reduce, control
System processed, by the data-triggered of diastimeter 32, drives ectoskeleton joint to lift foot；After lift foot, under ultrasonic distance measuring apparatus 32 will detect
One-level step and the horizontal range of human foot, preceding object distance values increase suddenly, and control system thus triggers, and drive outer
The foot having lifted is translated forward by skeletal joint, until the distance that ultrasonic distance measuring apparatus 33 detect lower section barrier is subtracted suddenly
Little, now human foot has reached above step, and external control system can control simultaneously after receiving the signal that diastimeter is sent
This foot bionic exoskeleton system is driven to put down foot；
If running into descending step during human body walking, the distance that when forwards stretching foot, ultrasonic distance measuring apparatus 33 detect will be suddenly
Increase, now human foot has reached above next stage step, and external control system is receiving the signal that ultrasonic distance measuring apparatus are sent
Can control afterwards and drive this foot bionic exoskeleton system to put down foot.
Human foot's bionic exoskeleton system according to embodiments of the present invention, can be using between ankle backplate and pedal
Relatively rotate realize human foot's bionic exoskeleton ankle joint stretch degree of freedom follow-up motion, and by stopping means with general
Trading product footwear are adapted to, and can carry out information of road surface collection by range unit simultaneously, level land and step are identified, and then in fact
Now continuous up/down steps pattern is laid a foundation.This system design is simple, it is easy to accomplish, and suitability is strong, experience comfort level is high.
Although embodiments of the invention have been shown and described above it is to be understood that above-described embodiment is example
Property it is impossible to be interpreted as limitation of the present invention, those of ordinary skill in the art within the scope of the invention can be to above-mentioned
Embodiment is changed, changes, replacing and modification.
Claims (5)
1. a kind of human foot's bionic exoskeleton system is it is characterised in that this exoskeleton system includes stopping means and range finding dress
Put；Described stopping means are connected with human leg's bionic exoskeleton, and this stopping means is wrapped in outside human foot and city shoe,
For limiting the relative motion between human foot and city shoe and this human foot's bionic exoskeleton system；Described range unit
It is fixed on stopping means side, for measuring the distance of this human foot's bionic exoskeleton system and front, lower section barrier, and
Carry out signal transmission with outside control system.
2. human foot's bionic exoskeleton system according to claim 1 is it is characterised in that described stopping means include ankle
Portion's backplate and be located at pedal on the downside of it, connects for rotating between the two, realize respectively to before and after human foot/left and right is spacing
Spacing up and down, the stretching, extension degree of freedom realizing model of human ankle relatively rotated by ankle backplate and pedal.
3. human foot's bionic exoskeleton system according to claim 2 is it is characterised in that described ankle backplate is integrated
The shell structure of molding, this shell structure is in u-shaped, its arc section inner surface is fitted with human body carpus, in this shell structure respectively
It is provided with the interface connecting with human leg's bionic exoskeleton and the interface connecting with pedal.
4. human foot's bionic exoskeleton system according to claim 2 is it is characterised in that described pedal is formed in one
Shell structure, this shell structure is faced in u-shaped, side-looking be in be inverted y type, this shell structure top is provided with and is connected with ankle backplate
Interface, side wall be provided with the interface of fixing range unit, bottom be provided with support city shoe arch of foot at arch of foot seat and clamp
The heel interface of city shoe heel；The banding holes of fixing bandage is additionally provided with described pedal two side, bandage passes through this band
Human foot and city shoe are fixed on pedal in hole.
5. human foot's bionic exoskeleton system according to claim 1 is it is characterised in that described range unit includes surveying
Distance meter holder and two ultrasonic distance measuring apparatus being located on this diastimeter holder；Wherein, described in diastimeter holder is fixed on
Stopping means side；The orthogonal setting of two ultrasonic distance measuring apparatus, measure respectively described human foot's bionic exoskeleton system with
Front, the distance of lower section barrier, and carry out signal transmission with outside control system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610842313.0A CN106344344B (en) | 2016-09-22 | 2016-09-22 | A kind of human foot's bionic exoskeleton system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610842313.0A CN106344344B (en) | 2016-09-22 | 2016-09-22 | A kind of human foot's bionic exoskeleton system |
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| CN106344344B CN106344344B (en) | 2018-08-28 |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101548925A (en) * | 2009-05-05 | 2009-10-07 | 浙江大学 | Gait phase detection apparatus with ankle joint angle self-rectification function |
| CN101897641A (en) * | 2009-06-01 | 2010-12-01 | 南京理工大学 | Dual-purpose travel-aided device for flat ground and stairs |
| US20150190249A1 (en) * | 2012-06-27 | 2015-07-09 | Hitachi, Ltd. | Wearable Power Assist System |
| CN205073233U (en) * | 2015-09-17 | 2016-03-09 | 上海理工大学 | Recovered robot of low limbs is with rotatable formula ectoskeleton mechanical legs |
| CN105769513A (en) * | 2014-12-23 | 2016-07-20 | 北京大学深圳研究生院 | Power-assisted mechanical exoskeleton system with automatic obstacle-avoiding function and footing-losing-preventing function |
| CN105943319A (en) * | 2016-05-26 | 2016-09-21 | 成都润惠科技有限公司 | An exoskeleton self-adaptive lower limb assisting device |
-
2016
- 2016-09-22 CN CN201610842313.0A patent/CN106344344B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101548925A (en) * | 2009-05-05 | 2009-10-07 | 浙江大学 | Gait phase detection apparatus with ankle joint angle self-rectification function |
| CN101897641A (en) * | 2009-06-01 | 2010-12-01 | 南京理工大学 | Dual-purpose travel-aided device for flat ground and stairs |
| US20150190249A1 (en) * | 2012-06-27 | 2015-07-09 | Hitachi, Ltd. | Wearable Power Assist System |
| CN105769513A (en) * | 2014-12-23 | 2016-07-20 | 北京大学深圳研究生院 | Power-assisted mechanical exoskeleton system with automatic obstacle-avoiding function and footing-losing-preventing function |
| CN205073233U (en) * | 2015-09-17 | 2016-03-09 | 上海理工大学 | Recovered robot of low limbs is with rotatable formula ectoskeleton mechanical legs |
| CN105943319A (en) * | 2016-05-26 | 2016-09-21 | 成都润惠科技有限公司 | An exoskeleton self-adaptive lower limb assisting device |
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| Publication number | Publication date |
|---|---|
| CN106344344B (en) | 2018-08-28 |
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