CN106420279A - Gait-based wearable flexible knee joint robot exoskeleton facility - Google Patents

Gait-based wearable flexible knee joint robot exoskeleton facility Download PDF

Info

Publication number
CN106420279A
CN106420279A CN201611095059.9A CN201611095059A CN106420279A CN 106420279 A CN106420279 A CN 106420279A CN 201611095059 A CN201611095059 A CN 201611095059A CN 106420279 A CN106420279 A CN 106420279A
Authority
CN
China
Prior art keywords
knee
li
airbag
pressure
right
Prior art date
Application number
CN201611095059.9A
Other languages
Chinese (zh)
Other versions
CN106420279B (en
Inventor
张连存
黄强
王文康
王志恒
Original Assignee
北京理工大学
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 北京理工大学 filed Critical 北京理工大学
Priority to CN201611095059.9A priority Critical patent/CN106420279B/en
Priority claimed from CN201611095059.9A external-priority patent/CN106420279B/en
Publication of CN106420279A publication Critical patent/CN106420279A/en
Application granted granted Critical
Publication of CN106420279B publication Critical patent/CN106420279B/en

Links

Classifications

    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00Detecting, measuring or recording for diagnostic purposes; Identification of persons
    • A61B5/103Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/11Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
    • A61B5/112Gait analysis
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00Detecting, measuring or recording for diagnostic purposes; Identification of persons
    • A61B5/68Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
    • A61B5/6801Arrangements 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
    • A61B5/6802Sensor mounted on worn items
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H1/00Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02Stretching or bending or torsioning apparatus for exercising
    • A61H1/0237Stretching or bending or torsioning apparatus for exercising for the lower limbs
    • A61H1/0255Both knee and hip of a patient, e.g. in supine or sitting position, the feet being moved in a plane substantially parallel to the body-symmetrical-plane
    • A61H1/0262Walking movement; Appliances for aiding disabled persons to walk
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H3/00Appliances for aiding patients or disabled persons to walk about
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B2505/00Evaluating, monitoring or diagnosing in the context of a particular type of medical care
    • A61B2505/09Rehabilitation or training
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H3/00Appliances for aiding patients or disabled persons to walk about
    • A61H2003/005Appliances for aiding patients or disabled persons to walk about with knee, leg or stump rests
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H3/00Appliances for aiding patients or disabled persons to walk about
    • A61H2003/007Appliances for aiding patients or disabled persons to walk about secured to the patient, e.g. with belts
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H2201/00Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/12Driving means
    • A61H2201/1238Driving means with hydraulic or pneumatic drive
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H2201/00Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16Physical interface with patient
    • A61H2201/1602Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/164Feet or leg, e.g. pedal
    • A61H2201/1642Holding means therefor
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H2201/00Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16Physical interface with patient
    • A61H2201/1602Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/165Wearable interfaces
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H2201/00Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50Control means thereof
    • A61H2201/5058Sensors or detectors
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H2205/00Devices for specific parts of the body
    • A61H2205/10Leg
    • A61H2205/102Knee
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H2230/00Measuring physical parameters of the user
    • A61H2230/62Posture
    • A61H2230/625Posture used as a control parameter for the apparatus

Abstract

The invention discloses a gait-based wearable flexible knee joint robot exoskeleton facility which comprises a power and control system (4), a left knee joint airbag executing component (5), a right knee joint airbag executing component (6), a left foot pressure switch component (7), a right foot pressure switch component (8), a left foot posture sensor (9), a right foot posture sensor (10) and an air tube component (11), wherein a control circuit system (205) is used for controlling the output flow of a micro air pump A (203) and a micro air pump B (204) in real time, positive pressure and negative pressure are provided for the left knee joint airbag executing component (5) and the right knee joint airbag executing component (6) according to rules of gaits, and torque for assisting knee joints to bend and stretch in accordance with the gaits is provided for left and right legs in the walking process.

Description

一种基于步态的可穿戴柔性膝关节机器人外骨骼装备 Based outside the gait of a wearable robotic exoskeleton equipped with a flexible knee

技术领域 FIELD

[0001] 本发明属于柔性外骨骼机器人技术和柔性行走辅助装备领域,特别涉及一种基于步态的可穿戴柔性膝关节机器人外骨骼装备。 [0001] The present invention pertains to a flexible flexible exoskeleton robotics field and walking assistance equipment, in particular, relates to a gait based outer flexible wearable robotic knee bone equipment.

背景技术 Background technique

[0002]穿戴式步行辅助装备有利于改善老年人的运动机能,对预防退行性改变具有重要的康复医学意义。 [0002] wearable walking auxiliary equipment will help to improve motor function of the elderly, rehabilitation medicine has important implications for the prevention of degenerative changes. 伴随机器人技术的发展和全球人口老龄化进程的快速演化,膝关节机器人外骨骼技术逐渐显现出非常广阔的市场应用前景,并已成为国际机器人领域的一个研究热点。 With the rapid development and evolution of the global population aging process robot technology, robotics outside of the knee bone is gradually emerging technology a very broad market prospects, and has become a focus of international research in the field of robotics. 膝关节机器人外骨骼相关技术的研究不仅在帮助老年人重获自理能力、独立参与社会活动、提高生活质量等助老助残问题方面具有重要的社会意义,而且对中国全面建设和谐社会更具有显著的经济和社会效益。 Study skeletal-related technologies not only in the outer knee joint robot to help the elderly regain self-care ability, independent participation in social activities, improve the quality of life and so help the old and disabled issues has important social significance, but also for China to build a harmonious society is more significant economic and social benefits.

[0003]目前大多数关节外骨骼机器人装备的部件较多,自重比较重。 [0003] Currently many parts outside most of the bone joints of the robot equipment, the weight of heavy. 而当前的电池能源最多只能维持几个小时,一旦电池没电,对于老年人来讲,根本不能承受那么如此多的附加物。 The current battery energy can only be maintained up to several hours, once the battery is dead, for the elderly is concerned, simply can not afford that so many additions. 另外,这类机器人的开发集中于功能的实现上,而在穿戴的舒适性与便利性方面的设计还欠佳,不能自如快速的穿脱。 In addition, the development of such robots is focused on the realization of the function, and in wearing comfort and convenience in terms of design also poor, can not be comfortable to wear off quickly. 再有,这类外骨骼机器人外表看过去像是一个庞大的“钢铁侠”,如美国加州大学伯克利分校下肢末端外骨骼机器人(Berkeley Lower ExtremityExoskeleton)和Raytheon (雷神公司)的外骨骼机械装置Sarcos XOS系列等,而不像是一个穿戴在人身上的辅助器械。 Again, this type of exoskeleton robot appearance in the past like a huge "Iron Man", outside the lower extremities such as the University of California, Berkeley skeletal robot (Berkeley Lower ExtremityExoskeleton) and Raytheon (Raytheon) is a mechanical device Sarcos XOS exoskeleton series, not like a person who's worn on assistive devices. 辅助器械本质上要在心理与生理上给使用者提供帮助的,若是戴一个庞杂的机械机构势必会造成用户心理上的不认同。 Auxiliary equipment is essentially to provide help to the user on the mental and physical, if wearing a complex mechanical structure is bound to cause psychological users do not agree.

发明内容 SUMMARY

[0004] 本发明的目的是针对上述现有技术的缺陷,提供了一种基于步态的可穿戴柔性膝关节机器人外骨骼装备。 [0004] The object of the present invention is directed to above-mentioned drawbacks of the prior art, there is provided a gait based outer flexible wearable robotic knee bone equipment. 柔性膝关节机器人外骨骼装备主要以两个微型气栗为气动动力源,根据两组微型姿态传感器对人行走步态参数的实时反馈,控制电路系统对两个微型气栗输出流量的实时控制,按照步态的规律为左腿膝关节执行组件和右腿膝关节执行组件提供正压和负压,在行走过程中为左、右腿提供辅助膝关节弯曲和伸展的转矩,达到为下肢运动能力下降或者下肢运动部分失能人群提供柔性行走辅助的目的,并且可以帮助老年人和下肢部分失能患者改善肌肉活力,提高他们的自理能力和健康状况。 The flexible knee robot exoskeleton equipped mainly two micro gas Li pneumatic power source, according to two micro posture sensor human gait parameters of real-time feedback, the real-time control of the control circuitry Li two micro gas output flow, gait accordance with the laws of the left leg and the right leg knee joint actuator assembly knee joint actuator assembly provides positive and negative pressure, to provide torque assist knee flexion and extension of the left and right leg during walking, to achieve lower limb movement decreased ability to lose part or lower limb movement can crowd the purpose of providing a flexible walking aid, and may help the elderly and patients with lower limb portion of the loss can improve muscle activity, improve their self-care ability and health.

[0005] 为了实现上述目的本发明采取的技术方案是: [0005] To achieve the above object of the present invention takes the following technical solution:

[0006] —种基于步态的可穿戴柔性膝关节机器人外骨骼装备,包括: [0006] - the kind of gait based outer flexible wearable robotic knee bone equipment, comprising:

[0007] 动力及控制系统,包括本体、上盖、微型气栗A、微型气栗B、控制电路系统、直流电池组件、柔性固定带、以及PVC软管、气栗固定支架以及电池组固定支架; [0007] Power and control system, comprising a body, an upper cover, micro gas Li A, B Li micro gas, the control circuitry, DC battery assembly, a flexible strap, and PVC hoses, gas Li fixing bracket and a battery pack fixing bracket ;

[0008]左腿膝关节气囊执行组件,是装备作用于左腿膝关节的转矩执行部件,为左腿膝关节提供辅助伸展和弯曲的转矩。 [0008] The left leg knee airbag assembly execution, execution unit is equipped with a torque acting on the left leg of the knee, there is provided an auxiliary extension and flexion of the knee joint of the left leg torque.

[0009] 右腿膝关节气囊执行组件,是装备作用于右膝关节的转矩执行部件,为右腿膝关节提供辅助伸展和弯曲的转矩。 [0009] right leg knee airbag assembly execution, execution unit is equipped with a torque acting on the right knee, providing auxiliary torque stretch the right leg and knee bending.

[0010] 左脚压力开关组件,控制微型气栗(A)的接通和断开。 [0010] Pressure foot switch assembly, gas control microcomputer Li (A) on and off.

[0011] 右脚压力开关组件,控制微型气栗⑶的接通和断开。 [0011] Pressure foot switch assembly, the control microcomputer ⑶ Li gas on and off.

[0012] 左脚微型姿态传感器,对一个步行动作(行走过程中从左脚脚跟着地到脚趾离地的过程)进行测量,识别步态周期,包括了左脚与地面接触的支撑期和腾空挪动的摆动期,为控制电路系统提供步态参数。 [0012] Micro foot posture sensor, to a walking motion (walking from left heel strike to toe off the process) is measured, identify gait cycle, including the support of the left foot in contact with the ground and move vacated the swing phase, to provide control circuitry for the gait parameters.

[0013] 右脚微型姿态传感器,与左脚微型姿态传感器配合使用,对一个步行动作(行走过程中从右脚脚跟着地到脚趾离地的过程)进行测量,识别步态周期,包括了右脚与地面接触的支撑期和腾空挪动的摆动期,为控制电路系统提供步态参数。 [0013] Micro right attitude sensors, attitude sensors and micro left with the use of a walking motion was measured, to identify gait cycle (during walking from right heel strike to toe off process), comprising a foot moving the support of the swing phase and vacated contact with the ground, providing the control circuitry for the gait parameters.

[0014]气管组件,是气栗与气囊的气压输送通道,连接微型气栗组件与左腿膝关节气囊执行组件和右腿膝关节气囊执行组件。 [0014] pipe assembly, the airbag is Li pressure gas delivery channel connecting micro gas Li knee airbag assembly and the left leg and the right leg knee airbag execution component executing component.

[0015] 其中,控制电路系统是所述气动柔性行走辅助装备的控制中枢,对微型气栗组件、左脚压力开关组件、右脚压力开关组件、左脚微型姿态传感器以及右脚微型姿态传感器等进行综合控制。 [0015] wherein the control circuitry is the control center of the walking assistance flexible pneumatic equipment, assembly of the micro gas Li, the pressure switch assembly of the left foot, right foot pressure switch assembly, left and right attitude sensors micro miniature posture sensor integrated control.

[0016] 微型气栗组件,包括两组微型气栗,在跨步过程中根据实时的步态参数信息为左腿膝关节气囊执行组件和右腿膝关节气囊执行组件提供正压或者负压。 [0016] micro gas Li assembly comprising two micro gas Li, stride provided during the positive or negative pressure to the left leg and the right leg knee airbag performing knee airbag assembly components that perform real-time gait parameter information.

[0017] 直流电池组件,采用锂电池,主要为所述微型直流气栗组件、所述压力开关组件以及所述控制电路系统供电。 [0017] DC battery pack, lithium batteries, primarily the gas Li micro DC component, the pressure switch assembly of the control system and the power supply circuit.

[0018] 优选地,所述左腿膝关节气囊执行组件和所述右腿膝关节气囊执行组件包括大腿固定板、小腿固定板,柔性固定带、外侧气囊和里侧气囊。 [0018] Preferably, the knee joint of the left leg and the right leg assembly airbag executed perform knee airbag comprises a thigh plate assembly, the lower leg fixing plate, a flexible strap, and the outside of the airbag in the side air bag. 所述外侧气囊和里侧气囊采用TPU高强度复合布,经热粘合焊接定型工艺制成横截面为四边形的柱型结构形式,充气后具有固定角度造型,并可形成较强的压力。 The outside of the airbag and the side airbag in a TPU high strength composite fabric, thermally bonded welding setting process is made in cross-section quadrangular columnar structure when inflated shape having a fixed angle, and form a strong pressure. 所述外侧气囊对应膝盖侧,随着所述气栗输入压力增大外侧气囊可由无压力无固定角度状态变成180°的固定角度,并具有较强的压力,即辅助膝关节绷直。 Knee airbag corresponding to the outer side, as the gas input pressure is increased Li no pressure outside of the airbag may be no fixed-angle state to a fixed angle of 180 °, and with a strong pressure, i.e. the knee auxiliary Bengzhi. 里侧气囊对应膝关节窝侧,随着所述气栗输入压力增大里侧气囊可由无压力无固定角度状态变成120°的固定角度,并具有较强的压力。 Corresponding to the back side of knee airbag nest side, as the air pressure is increased in the Li input of the airbag may be stress-free state to a fixed angle of 120 ° fixed angle, and with a strong pressure. 所述固定角度120°是人在行走迈步过程中膝关节通常弯曲的最大角度,该角度可以根据用户的差异,通过大腿固定板和小腿固定板之间的限位卡扣进行相应地调整。 The fixed angle is 120 ° in the human knee joint during walking stride generally the maximum bending angle, which can be adjusted accordingly by the stopper plate snap between the thigh and the calf plate according to the difference of the user.

[0019] 优选地,所述大腿固定板、小腿固定板采用高强度碳纤维材料制成,也可采用比刚度较高的镁铝合金金、硬铝合金等材料,分别通过铆钉固定在所述外侧气囊和里侧气囊之间的THJ高强度复合布安装面上。 [0019] Preferably, the thigh panel, calf plate made of high-strength carbon fiber material, may also be higher than the rigidity magnesium alloy of gold, aluminum and other hard materials, respectively, by a rivet fixed to the outer THJ strength between the balloon and the back side airbag compound cloth mounting surface.

[0020] 优选地,所述柔性固定带用柔韧性较好的尼龙材料,通过铆钉固定在大腿固定板、小腿固定板上。 [0020] Preferably, the flexible strap with a flexible nylon material is preferably fixed to the fixing plate by rivets in the thigh, calf panel.

[0021] 优选地,所述膝关节气囊执行组件通过所述柔性固定带在膝关节相应位置进行固定,主要起到支撑和传递扭矩的作用。 [0021] Preferably, the knee airbag assembly performed by fixing the flexible tape is fixed in the corresponding position of the knee, and mainly play a supporting role in the transmission torque.

[0022] 优选地,所述微型气栗组件中的气栗为微型直流活塞式气栗,为所述左腿膝关节气囊执行组件和右腿膝关节气囊执行组件提供正压和负压,达到为膝关节提供辅助伸展和弯曲的转矩的功用。 [0022] Preferably, the micro-air gas Li Li miniature DC component of the gas piston Li, providing positive and negative components for the implementation of the right leg and the left leg knee airbag knee airbag assembly performed, to achieve providing auxiliary torque stretch bending and the function of the knee joint.

[0023] 优选地,所述压力开关组件,包括左脚压力开关和右脚压力开关,分别为两套微型直流气栗的控制开关,当左脚压力开关受到来自左脚的力后闭合,所对应微型直流气栗工作,没有压力时左脚压力开关打开,所对应微型直流气栗不工作;同理,当右脚压力开关受到来自右脚的压力后闭合,所对应微型直流气栗工作,没有压力时右脚压力开关打开,所对应微型直流气栗不工作。 [0023] Preferably, the pressure switch assembly, comprising a pressure switch left foot and the right foot pressure switches, two control switches are micro DC gas chestnut, when the left foot receives a force from the pressure switch closes the left foot, the Li working gas for micro current, when no pressure foot pressure switch is open, the gas corresponding miniature DC Li does not work; Similarly, when the right foot by the pressure switch is closed after the pressure from the foot, miniature DC working gas corresponding Li, when no pressure foot pressure switch is open, the gas corresponding miniature DC Li does not work.

[0024] 优选地,所述气管组件采用PVC软管或者硅胶管。 [0024] Preferably, the pipe or hose assembly with PVC silicone tube.

[0025] 优选地,所述直流电池组件采用可重复充电的锂电池提供电能。 [0025] Preferably, the DC battery assembly using a rechargeable lithium battery providing electrical energy.

[0026] 本发明优异的效果是: The invention is excellent in the effect of [0026] this is:

[0027] 相比现有技术,本发明基于步态的可穿戴柔性膝关节机器人外骨骼装备执行部分采用气动柔性作用方式,采用THJ高强度复合布材料经热粘合焊接定型工艺制成的气囊在充气后具有形状和角度的可塑性,以及压力可调控性、压力分布均匀性、压力持久柔和等特性,并克服了橡胶气囊充气迟滞性等缺点,达到柔性辅助行走的目的。 [0027] Compared with the prior art, the present invention is the pneumatic mode of action based on a flexible outer portion of the gait performed flexible wearable robotic knee bone equipment, high-strength composite fabric THJ using heat bonding material is made from welding setting process airbag plasticity when inflated has a shape and angle, and the pressure can be regulated, stress distribution uniformity, long-lasting soft pressure properties, and overcomes the disadvantages of inflatable rubber balloon hysteresis, etc., to achieve the purpose of the flexible walking aids. 本发明克服了一般腿部助力装备或者外骨骼机器人等刚性机构惯性大,容易造成人膝关节损伤,安全性差、舒适性差等缺点,显著提高了装备的安全性和舒适性。 The present invention overcomes the general leg power equipment or rigid exoskeleton robot mechanism inertia, people likely to cause knee injuries, poor security, comfort and poor disadvantages, significantly improves the safety and comfort equipment.

[0028] 相比现有技术,可穿戴柔性膝关节机器人外骨骼装备执行部分采用可塑性气囊,质量较轻,克服了一般腿部助力装备或者外骨骼机器人等刚性机构执行件体积大和质量大的缺点,有效减少了由于腿部必须附加的执行机构而带来的负荷,并减少行走过程中这部分负荷带来的能量消耗;同时,可穿戴、轻便简单的外形也能一定程度上增加用户心理上的认同感。 [0028] compared to the prior art, the wearable outer flexible portion equipped performed using robotic exoskeleton knee airbag plasticity, light quality, large ships to overcome the exoskeleton leg power equipment or robots, a rigid member bulky mechanism performs disadvantages and mass , effectively reduces the load due to the additional leg must be brought to the actuator, and to reduce the energy caused by this process of traveling part load consumption; the same time, wearable, lightweight simple appearance can be increased to some extent on the user psychologically identity.

[0029]因此,本发明以微型直流气栗组件作为膝部气囊执行组件提供气动动力源,根据微型姿态传感器对人行走步态参数的实时反馈,控制电路系统对微型气栗组件输出流量的实时控制,按照步态的规律为左腿膝关节执行组件和右腿膝关节执行组件提供正压和负压,在行走过程中为左、右腿提供辅助膝关节弯曲和伸展的转矩,从而达到柔性辅助行走的目的。 [0029] Accordingly, the present invention is to chestnut miniature DC component as a gas component to provide a knee airbag perform pneumatic power source, in accordance with the posture sensor miniature human gait parameters of real-time feedback, the real-time control circuitry for micro gas output flow component chestnut control, according to the laws of gait leg knee joint actuator assembly and the right leg knee joint actuator assembly provides positive and negative pressure, to provide torque assist knee flexion and extension of the left and right leg during walking, to achieve Objective of the flexible walking aids. 本发明特别适合老年人和下肢部分失能患者,在行走过程为膝关节提供辅助伸展和弯曲的转矩,从而达到辅助老年人和下肢部分失能患者行走的目的,并且可以帮助老年人和下肢部分失能患者改善肌肉活力,提高他们的自理能力和健康状况。 The present invention is particularly suitable for the elderly and patients with lower limb disability portion providing an auxiliary torque to extension and flexion of the knee joint during walking, so as to assist elderly and disabled object of the lower limb portion of the patient to walk, and may help the elderly and lower limbs part of the loss can improve patient muscle activity, improve their self-care ability and health.

附图说明 BRIEF DESCRIPTION

[0030]图1是本发明的可穿戴柔性膝关节机器人外骨骼装备的组成图; [0030] FIG. 1 is a composition diagram of the flexible outer wearable robotic knee of the present invention is equipped with bone;

[0031]图2是图1中的左腿膝关节气囊执行组件组成图。 [0031] FIG. 2 is a left leg knee airbag assembly in FIG 1 performs FIG composition.

[0032]图3是图1中的右腿膝关节气囊执行组件组成图。 [0032] FIG. 3 is a right leg knee airbag assembly of FIG. 1 performs FIG composition.

[0033]图4是图1中的动力及控制系统组成图; [0033] FIG. 4 is a composition diagram of FIG. 1 and a power control system;

[0034]图5是本发明所述的可穿戴柔性膝关节机器人外骨骼装备一个步态周期内右脚着地时的工作原理图; [0034] FIG. 5 is an outer flexible wearable robotic knee bone is equipped with a gait cycle when the right foot of the operating principle of the present invention;

[0035]图6是本发明所述的可穿戴柔性膝关节机器人外骨骼装备一个步态周期内右脚抬起时的工作原理图; [0035] FIG. 6 is a wearable working principle of the present invention is an outer view of the flexible bone robot equipped with a knee lift the right foot gait cycle;

[0036] 其中各附图标记含义如下: [0036] wherein each of the reference numerals have the following meanings:

[0037] 1.用户(后视图);2.左腿;3.右腿;4.动力及控制系统;5.左腿膝关节气囊执行组件;6.右腿膝关节气囊执行组件;7.左脚压力开关组件;8.右脚压力开关组件;9.左脚微型姿态传感器;1.右脚微型姿态传感器;11.气管组件。 [0037] 1. The user (rear view); 2. leg;. 3 right leg; 4. Power and control system; 5 perform leg knee airbag assembly; right leg knee airbag perform assembly 6; 7. pressure foot switch assembly;. right pressure switch assembly 8; 9 foot micro posture sensor; 1 micro right attitude sensor;. 11 pipe assembly.

[0038] 101.大腿固定板;102.小腿固定板;103.外侧气囊;104.里侧气囊;105.柔性固定带。 [0038] 101. thigh plate;. 102 calf plate; outside of the airbag 103;.. Where the side airbag 104; 105 of the flexible strap.

[0039] 201.本体;202.上盖;203.微型气栗(A) ; 204.微型气栗(B) ; 205.控制电路系统;206.直流电池组件;207.柔性固定带;208.气管;209.气栗固定支架;210.电池组固定支架。 [0039] 201. The main body;. Cover 202; 203 micro gas Li (A);. 204. Li micro gas (B); 205. Control circuitry;. DC battery assembly 206; 207 of the flexible strap; 208. trachea; 209 gas Li fixing bracket; 210 fixed to the battery holder.

[0040] 301.微型气栗(K)的充气管;302.微型气栗(K)的抽气管;303.微型气栗⑶的充气管;304.微型气栗⑶的抽气管。 [0040] 301. The micro gas Li (K) of the inflatable tube;. 302 micro gas Li (K) of the exhaust tube;. 303 micro gas inflation tube ⑶ Li; 304 Li ⑶ the micro gas exhaust tube.

具体实施方式 Detailed ways

[0041]下面结合附图和具体实施案例对本发明作进一步说明,但不作为对本发明的限定。 [0041] The following embodiments in conjunction with the accompanying drawings and the specific case of the present invention is further illustrated, but not limit the present invention.

[0042]如图1-3所示,一种基于步态的可穿戴柔性膝关节机器人外骨骼装备,该装备主要由动力及控制系统4、左腿膝关节气囊执行组件5、右腿膝关节气囊执行组件6、左脚压力开关组件7、右脚压力开关组件8、左脚微型姿态传感器9、右脚微型姿态传感器10以及气管组件11等组成。 [0042] As shown, the outer gait based on the flexible wearable robotic knee bone equipment, which equipment is mainly composed of a power and control system 4, the left leg of the knee airbag module 5 performed, the right leg knee 1-3 performing airbag assembly 6, a pressure foot switch assembly 7, the pressure switch assembly 8 foot, left foot miniature attitude sensor 9, the posture sensor 10 and the right foot miniature tube assembly 11 and other components.

[0043] 如图2和3所示,左腿膝关节气囊执行组件5和右腿膝关节气囊执行组件6主要由大腿固定板101、小腿固定板102、外侧气囊103、里侧气囊104以及柔性固定带105等组成。 [0043] Figures 2 and 3, left leg, and the knee airbag module 5 performs the right leg knee airbag assembly 6 mainly performed by a thigh plate 101, the lower leg fixing plate 102, outside of the airbag 103, the airbag 104 and a flexible back side fixing belt 105 and other components. 所述大腿固定板101、小腿固定板102采用高强度碳纤维材料制成,分别通过铆钉固定在所述外侧气囊103和里侧气囊104之间的TPU高强度复合布的安装面上。 The thigh panel 101, lower leg fixing plate 102 made of high-strength carbon fiber material, are fixed by a rivet mounting surface TPU high strength composite fabric between the outside of the airbag 103 and the airbag 104 in the back side. 另外,以上实施例中的大腿固定板、小腿固定板也可选用比刚度较高的镁铝合金、硬铝合金等材料。 Further, in the embodiment above embodiment plate thigh, calf plate can also be used a higher rigidity than the magnesium alloy, the hard aluminum alloy material. 所述柔性固定带105采用柔韧性较好的尼龙材料,通过铆钉固定在大腿固定板、小腿固定板上。 The use of flexible strap 105 is preferably flexible nylon material, is fixed by the fixing plate rivet thigh, calf panel. 另外,以上实施例中的柔性固定带也可选用涤纶、混纺(40%涤纶60%尼龙)等材料。 Further, in the embodiment of flexible straps above embodiments can also be used polyester blend (40% polyester 60% nylon) and other materials.

[0044] 所述外侧气囊103和里侧气囊104采用TPU高强度复合布,经热粘合焊接定型工艺制成横截面为四边形的柱型结构形式,充气后有固定角度,并形成较强的压力。 [0044] The inside and outside of the airbag 103 of the airbag 104 using TPU high strength composite fabric, thermally bonded welding setting process is made cylindrical in cross-section of a quadrangular structure, with a fixed angle after inflation, and the formation of a strong pressure. 具体的,如图2和3所示,所述左腿膝关节气囊执行组件5和右腿膝关节气囊执行组件6通过所述柔性固定带在用户I的大腿、膝关节和小腿相应位置进行固定。 Specifically, as shown in Figures 2 and 3, the left leg and the knee airbag module 5 performs execution right leg knee airbag module 6 by a flexible strap in the thigh of the user I, the knee and lower leg position of the respective fixed . 外侧气囊103对应膝盖侧,随着所述气栗输入压力增大可由无压力、无固定角度状态变成180°的固定角度,并具有较强的压力,即辅助膝关节绷直。 Knee airbag 103 corresponds to the outer side, as the air pressure is increased by the input Li no pressure, no fixed-angle state to a fixed angle of 180 °, and with a strong pressure, i.e. the knee auxiliary Bengzhi. 里侧气囊104对应膝关节窝侧,随着气栗输入压力增大可由无压力无固定角度状态变成120°的固定角度,并具有较强的压力。 Knee airbag 104 corresponds to the back side of the socket side, with the input air pressure is increased by Li unpressurized fixed-angle state to the non-fixed angle of 120 °, and with a strong pressure. 固定角度120°是人在行走迈步过程中膝关节通常弯曲的最大角度,该角度可以根据用户的差异,通过大腿固定板和小腿固定板之间的限位卡扣进行相应地调整。 Fixed angle of 120 ° in a human knee joint during walking stride generally the maximum bending angle, which can be adjusted accordingly by the stopper plate snap between the thigh and the calf plate according to the difference of the user. 由于左腿膝关节气囊执行组件5和右腿膝关节气囊执行组件6通过所述柔性固定带105在膝关节相应位置进行固定,主要起到支撑和传递扭矩的作用,所以,外侧气囊103、里侧气囊104的压强由大腿固定板101和小腿固定板102传递到人的大腿和小腿上,最终形成作用于膝关节的弯曲和伸展的转矩,达到辅助行走的目的。 Since the left leg and the knee airbag module 5 performs the right leg knee airbag assembly 6 is performed by the flexible fixing belt 105 at a position corresponding knee joint, primarily as support and torque transmission effect, so, outside of the airbag 103, in pressure side airbag 104 is transmitted by a thigh plate 102 and the leg 101 is fixed to the plate human thighs and calves, forming the torque acting on the knee flexion and extension, the purpose of walking aids.

[0045] 如图4所示,动力及控制系统4主要由本体201、上盖202、微型气栗(A) 203、微型气栗⑶204、控制电路系统205、直流电池组件206、柔性固定带207、以及PVC软管208、气栗固定支架209以及电池组固定支架210等组成。 [0045] As shown, the power and control system 4 mainly by the body 201, cover 202, micro gas Li (A) 203, micro gas Li ⑶204, control circuitry 205, DC battery assembly 206, the flexible fixing band 2074 and a PVC hose 208, air bracket 209 fixed to Li and a battery pack fixing bracket 210 and other components. 如图1-4所示,可穿戴柔性膝关节机器人外骨骼装备主要采用微型气栗(A) 203、微型气栗(B) 204,以气管组件9作为连接和气压输送通道,为左腿膝关节气囊执行组件5、右腿膝关节气囊执行组件6提供正压和负压,提供辅助膝关节弯曲和伸展的转矩。 1-4, the outer flexible wearable robotic knee bone miniature equipment main gas Li (A) 203, micro gas chestnut (B) 204, as the assembly 9 is connected to the trachea and pneumatic conveying path for the left leg knee performing joint assembly 5 airbag, knee airbag performed leg assembly 6 provides positive and negative pressure, to provide torque assist knee flexion and extension. 所述气管组件11主要由PVC软管208组成,气管也可采用硅胶管材料。 The pipe assembly 11 is mainly composed of a PVC tube 208, airway tube silicone materials may also be employed.

[0046] 所述控制电路系统205,是所述可穿戴柔性膝关节机器人外骨骼装备的控制中枢,对所述微型气栗(A) 203、微型气栗(B) 204、左脚压力开关组件7、右脚压力开关组件8、左脚微型姿态传感器9和右脚微型姿态传感器10等进行控制。 [0046] The control circuitry 205, is the control hub outer flexible wearable robotic knee bone equipment, (A) 203, the micro gas micro gas Li Li (B) 204, the pressure switch assembly left 7, the pressure switch assembly 8 foot, left foot and right foot micro miniature attitude sensor 9 controls the posture sensor 10 and the like. 微型气栗㈧203、微型气栗⑶204为直流活塞式气栗,是所述装备的气动发生部件。 ㈧203 micro gas Li, Li ⑶204 DC micro gas piston gas Li, said pneumatic equipment generating member. 所述直流电池组件206,采用可重复充电的锂电池,主要为所述微型气栗㈧203、微型气栗⑶204、左脚压力开关组件7、右脚压力开关组件8、左脚微型姿态传感器9和右脚微型姿态传感器10以及控制电路系统205供电。 The DC battery assembly 206, the use of rechargeable lithium batteries, primarily the micro gas ㈧203 Li, Li micro gas ⑶204, a pressure foot switch assembly 7, a pressure foot switch assembly 8, 9 and left attitude sensor miniature 205 micro-power right attitude sensors 10 and a control circuitry. 所述控制电路系统205通过实时采集来自左脚微型姿态传感器9和右脚微型姿态传感器10的数据,对一个步行动作(行走过程中从脚跟着地到脚趾离地的过程)进行测量,识别步态周期,包括了一个脚与地面接触的支撑期和一个脚腾空挪动的摆动期,进而对微型气栗(A)203和微型气栗⑶204的流量进行控制,从而实现与人行走步态同步的输出控制。 The control circuitry 205 from the real-time data acquisition 9 left and right attitude sensors micro miniature posture sensor 10, to a walking motion (walking from heel strike to toe off the process) is measured, gait recognition cycle, including the swinging of the support of a foot and a foot contact with the ground vacated move, thereby to micro gas Li (a) and flow control 203 Li ⑶204 micro gas in order to achieve synchronization with the human gait output control.

[0047]图5和图6为所述可穿戴柔性膝关节机器人外骨骼装备的基本工作原理图。 [0047] FIG. 5 and FIG. 6 is a basic principle of the wearable FIG outer flexible knee bone robot equipment. 在一个步态周期内,以右脚着地,左脚离地开始迈步为例,如图5所示,当左脚离地,由于没有压力作用,左脚压力开关组件7断开,在控制电路系统205控制下,微型气栗(A) 203不工作。 In a gait cycle, the right foot, the left foot off the ground began to move, for example, shown in Figure 5, when the left foot off the ground, because there is no pressure, the pressure switch assembly 7 left turned off, the control circuit control system 205, micro gas Li (A) 203 inoperative. 此时右脚着地,由于有压力作用,右脚压力开关组件7接通,在控制电路系统205控制下,微型气栗(B) 204开始运转。 At this time, right foot forward, because of pressure, the pressure switch assembly 7 is turned right, under the control of the control circuitry 205, micro gas chestnut (B) 204 starts to operate. 根据左脚微型姿态传感器9和右脚微型姿态传感器10对人行走步态参数的实时反馈,控制电路系统205对微型气栗(B) 204输出流量进行实时控制,根据步态信息,微型气栗⑶204的充气管303为左腿膝关节气囊执行组件5的外侧气囊103进行充气,提供正压作用力;微型气栗(B) 204的抽气管304为左腿膝关节气囊执行组件5的里侧气囊104进行抽气,提供负压作用力。 The left foot and the right foot micro miniature posture sensor 9 posture sensor 10 on the gait parameters of the real-time feedback control circuit system 205 for micro gas Li (B) 204 in real-time output flow control information according to the gait, micro gas Li ⑶204 inflatable tube component 303 to perform leg knee airbag outward inflation of the airbag 1035, positive pressure force; Li micro gas (B) is a suction tube 304 in side leg 204 performs knee airbag assembly 5 the balloon 104 is evacuated, a negative pressure force. 在负压和正压综合作用下,左腿膝关节气囊执行组件5为左腿膝关节提供弯曲转矩,在行走过程中提供与左腿步态一致的辅助弯曲转矩,辅助左腿膝关节弯曲跨步。 Under the combined action of negative pressure and positive pressure, left leg knee airbag assembly 5 performs provide a curved leg knee torque, and provide consistent leg gait secondary bending torque during walking, the auxiliary leg knee bent stride. 同时,微型气栗(B) 204的充气管303为右腿膝关节气囊执行组件6的里侧气囊104进行快速充气,提供正压作用力;微型气栗(B) 204的抽气管304为右腿膝关节气囊执行组件6的外侧气囊103进行抽气,提供负压作用力。 Meanwhile, Li micro gas inflation tube 303 (B) 204 is rapidly inflated knee airbag execution right leg assembly 1046 in a side air bag, there is provided a positive pressure force; Li micro gas exhaust pipe 304 (B) 204 to the right leg knee airbag performed outside of the airbag assembly 1036 is evacuated, a negative pressure force. 在负压和正压综合作用下,右腿膝关节气囊执行组件6为右腿膝关节提供伸展的转矩,在行走过程中提供与右腿步态一致的辅助伸展转矩,辅助右腿膝关节伸展,也即辅助右腿膝关节绷直发力。 Under the combined action of negative pressure and positive pressure, the right leg knee airbag performing component 6 provided right leg knee extension torque, and provide consistent stretch the right leg auxiliary torque gait for walking, the auxiliary leg knee extension joint, i.e. the right leg knee Bengzhi auxiliary force.

[0048]如图6所示,随后,左脚着地,由于压力作用,左脚压力开关组件6接通,在控制电路系统205控制下,微型气栗㈧203工作。 [0048] As shown in FIG 6, and then, left foot, due to pressure, the pressure switch assembly 6 is turned left, under the control of the control circuitry 205, micro gas Li ㈧203 work. 此时右脚抬起迈步,由于失去压力作用,右脚压力开关组件7断开,在控制电路系统205控制下,微型气栗⑶204停止运转。 At this time, lift the right foot move, due to loss of pressure, the pressure switch assembly 7 foot off under control of the control circuitry 205, micro gas Li ⑶204 stopped. 根据左脚微型姿态传感器9和右脚微型姿态传感器10对人行走步态参数的实时反馈,控制电路系统205对微型气栗㈧203输出流量进行实时控制,根据步态信息,微型气栗㈧203的充气管301为左腿膝关节气囊执行组件5的里侧气囊104进行充气,提供正压作用力;微型气栗(A) 203的抽气管301为左腿膝关节气囊执行组件5的外侧气囊103进行抽气,提供负压作用力。 The left foot and the right foot micro miniature posture sensor 9 posture sensor 10 on the gait parameters of the real-time feedback, control circuitry 205 pairs ㈧203 Li micro gas output flow real-time control, in accordance with the gait information, the micro gas Li inflatable ㈧203 Li were micro gas (a) exhaust pipe 301 left leg knee airbag 203 is performed outside of the airbag assembly 1035; the left leg tube 301 is a knee airbag assembly performing the back side 1045 inflating airbag, positive pressure force suction, a negative pressure force. 在负压和正压综合作用下,左腿膝关节气囊执行组件5为左腿膝关节提供与左腿步态一致的辅助伸展转矩,在行走过程中辅助左腿膝关节伸展绷直发力。 Under the combined action of negative pressure and positive pressure, left leg knee airbag assembly 5 provided with the left leg performs the same gait assist torque leg knee extension, knee auxiliary leg during walking stretching force Bengzhi . 同时,微型气栗(A) 203的抽气管302为右腿膝关节气囊执行组件6的里侧气囊104进行抽气,提供负压作用力;微型气栗(A) 203的充气管301为右腿膝关节气囊执行组件6的外侧气囊103进行充气,提供正压作用力。 Meanwhile, the micro gas Li (A) of the suction pipe 203 right leg knee airbag 302 is executed in a side air bag assembly 1046 is evacuated to provide vacuum force; micro gas Li (A) 203 is a pneumatic tube 301 and right leg knee airbag performed outside of the airbag assembly 1036 is inflated, positive pressure force. 在负压和正压综合作用下,右腿膝关节气囊执行组件6为右腿膝关节提供与右腿步态一致的辅助弯曲转矩,在行走过程中辅助右腿膝关节弯曲跨步。 Under the combined action of negative pressure and positive pressure, the right leg knee airbag assembly 6 provided consistent with the implementation of the right leg of the secondary bending torque gait knee leg, the right leg in the knee joint during walking auxiliary curved striding. 以上是可穿戴柔性膝关节机器人外骨骼装备实现一个跨步周期的行走辅助功用。 These are the outer flexible wearable robotic knee bone walking assist equipment to achieve a function of the stride cycle. 如此循环往复,所述可穿戴柔性膝关节机器人外骨骼装备可实现在人行走过程中,左、右脚交替踩压各自脚下压力开关分别对所述装备中的两个微型直流气栗进行控制,按照步态为左腿膝关节执行组件和右腿膝关节执行组件提供正压和负压,并最终形成作用于膝关节的弯曲和伸展的转矩,达到在行走过程中,为膝关节提供人的步态同步的伸展和弯曲的转矩,实现气动柔性行走辅助。 So the cycle, the outer flexible wearable robotic knee bone equipment may be implemented in human walking, the left and right foot alternately depressing the pressure switch, respectively, are each equipped in the two miniature DC control gas Li, to provide in accordance with the gait leg knee joint actuator assembly and the right leg knee joint actuator assembly positive and negative, and eventually acts on the bending and stretching the knee joint torque reached during walking, the knee provider gait extension and flexion torque synchronization, to achieve flexible pneumatic walking aid.

[0049]由于本发明基于步态的可穿戴柔性膝关节机器人外骨骼装备执行部分采用气压柔性作用方式,左腿膝关节执行组件和右腿膝关节执行组件具有压力可调控性、压力分布均匀性、压力持久柔和以及气囊具有可塑性等特性,克服了一般腿部助力装备或者外骨骼机器人等刚性机构惯性大,容易造成人膝关节损伤,安全性差、舒适性差等缺点,显著提高了装备的安全性和舒适性。 [0049] In this invention, a flexible mode of action of pressure on the outer portion of the gait performed flexible wearable robotic knee bone equipment, left leg and right leg knee joint actuator assembly having a knee joint actuator assembly of regulated pressure, the pressure distribution uniformity , pressure lasting soft, and balloon plasticity and other characteristics, to overcome the general leg power equipment or exoskeleton robot, rigid bodies inertia, likely to cause human knee injuries, poor security, comfort and poor disadvantages, significantly improves safety equipment and comfort. 同时,本发明膝关节执行组件气囊,采用THJ高强度复合布材料,经热粘合焊接定型工艺制成横截面为四边形的柱型结构形式,充气后有固定角度,并具有较强的压力,克服了橡胶气囊充气迟滞性等缺点;并且气囊质量较轻,克服了一般腿部助力装备或者外骨骼机器人等刚性机构执行件体积大和质量大的缺点,有效减少了由于腿部必须附加的执行机构而带来的负荷,并减少行走过程中这部分负荷带来的能量消耗。 Meanwhile, the present invention performs knee airbag assembly, use high-strength composite fabric material THJ, welding by heat bonding process setting is made in the form of a cross section of quadrangular columnar structure, a fixed angle after inflation, and a strong pressure, overcome the shortcomings of the airbag inflator hysteresis rubber or the like; and lighter airbag quality, large ships to overcome the exoskeleton leg power equipment or robots, a rigid member mechanism performs bulky and quality shortcomings, reduce leg because of the necessary additional actuator and bring the load, and the energy caused by this process reduces partial load running consumption. 同时,可穿戴、轻便简单的外形也能一定程度上增加用户心理上的认同感。 Meanwhile, wearable, simple and lightweight form factor can increase the user's identity to some extent psychologically.

[0050]以上所述的实施例,只是本发明较优选的具体实施方式的一种,本领域的技术人员在本发明技术方案范围内进行的通常变化和替换都应包含在本发明的保护范围内。 [0050] The above-described embodiment, but a more preferred embodiment of the present invention, changes and substitutions typically skilled in the art will be within the technical scope of the present invention should be included in the scope of the present invention Inside.

Claims (10)

1.一种基于步态的可穿戴柔性膝关节机器人外骨骼装备,包括: 动力及控制系统⑷,包括本体(201)、上盖(202)、微型气栗A (203)、微型气栗B (204)、控制电路系统(205)、直流电池组件(206)、柔性固定带(207)、以及PVC软管(208)、气栗固定支架(209)以及电池组固定支架(210); 左腿膝关节气囊执行组件⑶,为左腿膝关节提供辅助伸展和弯曲的转矩; 右腿膝关节气囊执行组件(6),为右腿膝关节提供辅助伸展和弯曲的转矩; 左脚压力开关组件⑵,控制微型气栗A (203)的接通和断开; 右脚压力开关组件⑶,控制微型气栗B (204)的接通和断开; 左脚姿态传感器(9),对一个步行动作进行测量,为装备控制系统提供步态参数; 右脚姿态传感器(10),与左脚姿态传感器配合使用,对一个步行动作进行测量,为装备控制系统提供步态参数;以及气管组件(11),连接微型气栗组件与左腿膝 1. Based on the gait outer flexible wearable robotic knee bone equipment, comprising: a power and control system ⑷, comprising a body (201), the cover (202), Li micro gas A (203), micro gas Li B (204), the control circuitry (205), a DC battery pack (206), a flexible strap (207), and a PVC hose (208), gas Li fixing bracket (209) and a battery pack fixing bracket (210); left performing leg knee airbag assembly ⑶, providing auxiliary torque for the extension and flexion of the knee left leg; right leg knee airbag execution component (6), to provide an auxiliary torque to bend and stretch the right leg knee; left pressure switch assembly ⑵, Li control microcomputer gas a (203) on and off; right pressure switch assembly ⑶, Li control microcomputer gas B (204) on and off; left attitude sensor (9), of a walking motion is measured to provide a control system for the equipment gait parameters; right attitude sensor (10), and attitude sensors used in conjunction with the left foot, to a walking motion is measured to provide a control system for the equipment gait parameters; and a tube assembly (11), connected to the left leg assembly and the micro gas knee Li 关节气囊执行组件(5)和右腿膝关节气囊执行组件(6); 其中,所述控制电路系统(205)对微型气栗A (203)和微型气栗B (204)的输出流量进行实时控制,按照步态的规律为所述左腿膝关节执行组件⑶和所述右腿膝关节执行组件(6)提供正压和负压,在行走过程中为左、右腿提供与步态一致的辅助膝关节弯曲和伸展的转矩。 Performing joint airbag assembly (5) and right knee airbag execution component (6); wherein said control circuitry (205) in real-time output of the micro gas flow chestnut A (203) and the micro gas Li B (204) of control, to provide the right leg and consistent gait is the gait according to the law of the left leg and the knee joint actuator assembly ⑶ right leg knee joint actuator assembly (6) to provide positive and negative pressure, during walking to the left, the torque assist knee flexion and extension.
2.根据权利要求1所述的可穿戴柔性膝关节机器人外骨骼装备,其特征在于,所述的左脚姿态传感器(9)和所述右脚姿态传感器(10)配合使用,对行走过程中从脚跟着地到脚趾离地的过程进行测量,识别步态周期,包括了一个脚与地面接触的支撑期和一个脚腾空挪动的摆动期,为控制电路系统(205)提供步态参数。 The outside of the knee joint 1, the flexible wearable robotic exoskeleton equipment as claimed in claim wherein the posture sensor foot (9) of the right foot and the posture sensor (10) with the use of the walking process from heel strike to toe off process measurement, identification gait cycle, comprising of emptying the swing move of the support and a foot of a foot contact with the ground, the control circuitry provides for the gait parameters (205).
3.根据权利要求1或2所述的可穿戴柔性膝关节机器人外骨骼装备,其特征在于,所述微型气栗A (203)、微型气栗B (204)在跨步过程中根据所述的左脚微型姿态传感器(9)和右脚微型姿态传感器(10)实时反馈的步态参数信息,经由所述控制电路系统(205)对微型气栗A (203)、微型气栗B (204)输出流量进行实时控制,按照步态的规律为左腿膝关节执行组件⑶和右腿膝关节执行组件(6)提供正压和负压。 The outer or claim 12 flexible wearable robotic knee bone equipment as claimed in claim, wherein said micro gas Li A (203), micro gas Li B (204) in accordance with the process stride miniature foot gait parameter information attitude sensors (9) and right attitude sensors microcomputer (10) real-time feedback, via the control circuitry (205) (203), micro gas for micro gas B Li Li a (204 ) output traffic real-time control, to provide positive and negative pressure in accordance with the law of gait for the left leg and the right leg knee joint actuator assembly ⑶ knee joint actuator assembly (6).
4.根据权利要求1或2所述的可穿戴柔性膝关节机器人外骨骼装备,其特征在于,所述的左脚压力开关组件(7)和所述右脚压力开关组件(8)在行走过程中感知左、右脚着地或离地,控制微型气栗A (203)、微型气栗B (204)的接通和断开; 当左脚压力开关组件(7)受到来自左脚的力后闭合,所对应微型直流气栗工作,没有压力时左脚压力开关组件(7)打开,所对应微型直流气栗不工作;同理,当右脚压力开关开关组件⑶受到来自右脚的压力后闭合,所对应微型直流气栗工作,没有压力时右脚压力开关组件(8)打开,所对应微型直流气栗不工作。 According to claim 1 or 2 or the outer flexible wearable robotic knee bone equipment, characterized in that the pressure foot switch assembly (7) of the pressure switch assembly and the right (8) while walking perception left, or right foot off the ground, Li control microcomputer gas a (203), micro gas Li B (204) on and off; the left foot when the pressure switch assembly (7) receives a force from the left closed, miniature DC working gas corresponding to Li, there is no pressure in the pressure switch assembly of the left foot (7) is opened, the gas corresponding miniature DC Li does not work; Similarly, the pressure switch when the foot switch assembly under pressure from the right foot ⑶ closed, miniature DC working gas corresponding to Li, there is no pressure in the pressure switch assembly foot (8) is opened, the gas corresponding miniature DC Li does not work.
5.根据权利要求1或2所述的可穿戴柔性膝关节机器人外骨骼装备,其特征在于,所述的左腿膝关节气囊执行组件(5)和右腿膝关节气囊执行组件(6)包括大腿固定板(101)、小腿固定板(102)、外侧气囊(103)、里侧气囊(104)和柔性固定带(105); 所述外侧气囊(103)和里侧气囊(104)采用TPU高强度复合布,经热粘合焊接定型工艺制成横截面为四边形的柱型结构形式,充气后有固定角度,并具有较强的压力; 外侧气囊(103)对应膝盖侧,随着所述气栗输入压力增大外侧气囊可由无压力无固定角度状态变成180°的固定角度,并具有较强的压力,即辅助膝关节绷直;里侧气囊对应膝关节窝侧,随着所述气栗输入压力增大里侧气囊可由无压力无固定角度状态变成120°的固定角度,并具有较强的压力。 According to claim 12 or an outer wearable robotic knee bone flexible equipment as claimed in claim, wherein the execution leg knee airbag assembly (5) of the right leg and the knee airbag execution component (6) comprises thigh plate (101), calf panel (102), outside of the airbag (103), the back side of the airbag (104) and a flexible strap (105); the outside of the airbag (103) and the back side air bag (104) a TPU high-strength composite fabric, thermally bonded welding setting process is made cylindrical in cross-section of a quadrangular structure, with a fixed angle when inflated, and with a strong pressure; outside of the airbag (103) corresponding to the side of the knee, as the Li input gas pressure increases the pressure outside of the airbag may be no fixed-angle state to the non-fixed angle of 180 °, and with a strong pressure, i.e. the knee auxiliary Bengzhi; corresponding to the back side of the knee airbag nest side, as the Li input gas pressure is increased in pressure of the airbag may be no fixed-angle state to the non-fixed angle of 120 °, and with a strong pressure.
6.根据权利要求5所述的可穿戴柔性膝关节机器人外骨骼装备,其特征在于,所述的大腿固定板(101)、小腿固定板(102)采用高强度碳纤维材料制成,或者采用镁铝合金金、硬铝合金材料,分别通过铆钉固定在所述外侧气囊(103)和里侧气囊(104)之间的TPU高强度复合布的安装面上。 The outer flexible wearable robotic knee as claimed in claim 5, wherein the bone equipment, characterized in that said thigh panel (101), the lower leg fixing plate (102) made of high strength carbon fiber material, or magnesium gold alloy, hard aluminum alloy material, are fixed by rivets to the outside of the airbag (103) and the mounting surface of the composite fabric between high-strength TPU's side air bag (104).
7.根据权利要求5所述的可穿戴柔性膝关节机器人外骨骼装备,其特征在于,所述柔性固定带(105)用尼龙材料,通过铆钉固定在大腿固定板(101)、小腿固定板(102)上。 An outer flexible wearable robotic knee bone equipment according to claim 5, characterized in that the flexible strap (105) with a nylon material, fixed to the thigh plate (101) by rivets, calf plate ( 102).
8.根据权利要求1或2所述的可穿戴柔性膝关节机器人外骨骼装备,其特征在于,所述膝关节气囊执行组件通过所述柔性固定带(105)在膝关节相应位置进行固定,起到支撑和传递扭矩的作用。 According to claim 12 or an outer wearable robotic knee bone flexible equipment as claimed in claim, wherein said fixing knee airbag assembly performed at corresponding positions of the knee joint by fixing the flexible tape (105), from and transmitting torque to the supporting role.
9.根据权利要求1或2所述的可穿戴柔性膝关节机器人外骨骼装备,其特征在于,所述的直流电池组件(206)采用可重复充电的锂电池,为整个可穿戴柔性膝关节机器人外骨骼装备提供电能。 An outer flexible wearable robotic knee bone equipment according to claim 1 or 2, wherein said DC battery assembly (206) uses a rechargeable lithium battery, the entire flexible wearable robotic knee exoskeleton equipment to provide power.
10.根据权利要求1或2所述的可穿戴柔性膝关节机器人外骨骼装备,其特征在于,所述的气管组件(II)采用PVC软管或者硅胶管,是气栗与气囊的气压输送通道,也即连接微型气栗组件与左腿膝关节气囊执行组件(5)和右腿膝关节气囊执行组件(6)的通道。 An outer flexible wearable robotic knee bone 10. The equipment according to claim 1 or 2, characterized in that said pipe assembly (II) with PVC hose or silicone tube, Li is the gas pressure of the airbag conveyance path , i.e. the channel is connected with the micro gas Li leg knee airbag assembly execution component (5) and right knee airbag execution component (6).
CN201611095059.9A 2016-12-01 A kind of wearable flexible knee joint robotic exoskeleton equipment based on gait CN106420279B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201611095059.9A CN106420279B (en) 2016-12-01 A kind of wearable flexible knee joint robotic exoskeleton equipment based on gait

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201611095059.9A CN106420279B (en) 2016-12-01 A kind of wearable flexible knee joint robotic exoskeleton equipment based on gait

Publications (2)

Publication Number Publication Date
CN106420279A true CN106420279A (en) 2017-02-22
CN106420279B CN106420279B (en) 2019-04-09

Family

ID=

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107468488A (en) * 2017-08-05 2017-12-15 瑞安市嘉盛机械有限公司 Walking power assisting device

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20060086233A (en) * 2005-01-26 2006-07-31 삼성전자주식회사 Method and apparatus for tinnitus therapy
WO2015130855A1 (en) * 2014-02-25 2015-09-03 Jumpsport, Inc. Knee and joint rehabilitation exercise device
CN105193594A (en) * 2015-05-18 2015-12-30 重庆倍精科技研发有限公司 Weight-bearing walking speed-up boosting device
WO2016104330A1 (en) * 2014-12-26 2016-06-30 本田技研工業株式会社 Movement assistance device

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20060086233A (en) * 2005-01-26 2006-07-31 삼성전자주식회사 Method and apparatus for tinnitus therapy
WO2015130855A1 (en) * 2014-02-25 2015-09-03 Jumpsport, Inc. Knee and joint rehabilitation exercise device
WO2016104330A1 (en) * 2014-12-26 2016-06-30 本田技研工業株式会社 Movement assistance device
CN105193594A (en) * 2015-05-18 2015-12-30 重庆倍精科技研发有限公司 Weight-bearing walking speed-up boosting device

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107468488A (en) * 2017-08-05 2017-12-15 瑞安市嘉盛机械有限公司 Walking power assisting device

Similar Documents

Publication Publication Date Title
Kawamoto et al. Power assist method based on phase sequence and muscle force condition for HAL
Walsh et al. Development of a lightweight, underactuated exoskeleton for load-carrying augmentation
JP6466420B2 (en) Soft exoskeleton suit to assist human behavior
EP2296602B1 (en) Device and method for decreasing oxygen consumption of a person during steady walking by use of a load-carrying exoskeleton
US9492258B2 (en) Portable system for assisting body movement
US5476441A (en) Controlled-brake orthosis
Kawamoto et al. Voluntary motion support control of Robot Suit HAL triggered by bioelectrical signal for hemiplegia
CN104869969B (en) Soft exterior supporter for human assisted movement
CN102499859B (en) Lower limb exoskeleton walking rehabilitation robot
Kawamoto et al. Development of single leg version of HAL for hemiplegia
Wang et al. Design and control of the MINDWALKER exoskeleton
US7549969B2 (en) Apparatus for assisting body movement
EP2621416B1 (en) Movement assistance device
CN101786478B (en) Fictitious force-controlled lower limb exoskeleton robot with counter torque structure
CN103054692B (en) Wearable lower limb exoskeleton walking-assisted robot
Ferris et al. Robotic lower limb exoskeletons using proportional myoelectric control
Farris et al. Preliminary evaluation of a powered lower limb orthosis to aid walking in paraplegic individuals
CN101094640B (en) Body weight support device and body weight support program
Asbeck et al. Stronger, smarter, softer: next-generation wearable robots
Viteckova et al. Wearable lower limb robotics: A review
Asbeck et al. A biologically inspired soft exosuit for walking assistance
Dollar et al. Lower extremity exoskeletons and active orthoses: challenges and state-of-the-art
CN102098986A (en) An exoskeleton and method for controlling a swing leg of the exoskeleton
Dollar et al. Design of a quasi-passive knee exoskeleton to assist running
US9682006B2 (en) Movement assistance devices

Legal Events

Date Code Title Description
C06 Publication
SE01