CN106420279B - A kind of wearable flexible knee joint robotic exoskeleton equipment based on gait - Google Patents
A kind of wearable flexible knee joint robotic exoskeleton equipment based on gait Download PDFInfo
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- CN106420279B CN106420279B CN201611095059.9A CN201611095059A CN106420279B CN 106420279 B CN106420279 B CN 106420279B CN 201611095059 A CN201611095059 A CN 201611095059A CN 106420279 B CN106420279 B CN 106420279B
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- knee joint
- air bag
- air pump
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- leg knee
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- 230000008569 process Effects 0.000 claims abstract description 26
- 210000002414 leg Anatomy 0.000 claims abstract description 19
- 238000005452 bending Methods 0.000 claims abstract description 8
- 210000000689 upper leg Anatomy 0.000 claims description 14
- 210000003127 knee Anatomy 0.000 claims description 12
- 239000000463 material Substances 0.000 claims description 12
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- 230000033001 locomotion Effects 0.000 claims description 6
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- 239000004917 carbon fiber Substances 0.000 claims description 3
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Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
-
- 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
-
- 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
- A61B5/6802—Sensor mounted on worn items
-
- 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
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B2505/00—Evaluating, monitoring or diagnosing in the context of a particular type of medical care
- A61B2505/09—Rehabilitation or training
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- 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
- A61H2201/12—Driving means
- A61H2201/1238—Driving means with hydraulic or pneumatic drive
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- 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
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- 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
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/10—Leg
- A61H2205/102—Knee
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2230/00—Measuring physical parameters of the user
- A61H2230/62—Posture
- A61H2230/625—Posture used as a control parameter for the apparatus
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Abstract
The invention discloses a kind of, and the wearable flexible knee joint robotic exoskeleton based on gait is equipped, including power and control system (4), left leg knee joint air bag executive module (5), right leg knee joint air bag executive module (6), left foot pressure switch component (7), right crus of diaphragm pressure switch component (8), left foot attitude transducer (9), right crus of diaphragm attitude transducer (10) and tracheae component (11)；The control circuit system (205) carries out real-time control to the output flow of micro air pump A (203) and micro air pump B (204), rule according to gait is that the left leg knee joint executive module (5) and the right leg knee joint executive module (6) provide positive pressure and negative pressure, provides the torque with the consistent auxiliary knee joint bending and stretching, extension of gait for left and right leg in the process of walking.
Description
Technical field
The invention belongs to flexible exoskeleton robot technology and flexible walking auxiliary equipment field, in particular to one kind is based on
The wearable flexible knee joint robotic exoskeleton equipment of gait.
Background technique
Wearable walking auxiliary equipment is conducive to improve the motion function of the elderly, changes preventing degenerative with important
Medical science of recovery therapy meaning.With the development of robot technology and the rapid evolution of population in the world aging process, knee joint machine
People's ectoskeleton technology gradually shows boundless market application prospect, and has become the research of international robot field
Hot spot.The research of knee joint robotic exoskeleton the relevant technologies is not only helping the elderly to recapture self-care ability, independent participation society
Can activity, improve the quality of living etc. help the elderly problem of helping the disabled in terms of there is important social effect, and to Chinese all-round construction and
Humorous society has more significant economic and social benefit.
The component of most of joint exoskeleton robot equipments is more at present, is self-possessed than heavier.And current battery power
Several hours can only be at most maintained, once dead battery cannot bear so so many add for the elderly at all
Object.In addition, the exploitation of this kind of robot concentrates in the realization of function, and the design in terms of the comfort of wearing and convenience
It is also not good enough, it cannot quickly wear off freely.Further more, it seems a huge " steel that this kind of exoskeleton robot appearance, which looks over,
It is chivalrous ", such as Univ California-Berkeley's lower limb end exoskeleton robot (Berkeley Lower Extremity
Exoskeleton) and the ectoskeleton mechanical device Sarcos XOS series of Raytheon (Ray Thcon) etc., rather than being one
The auxiliary instrument being worn on the person.Auxiliary instrument substantially will provide help to user in psychology and physiologically, if
Not accepting on user psychology certainly will be will cause by wearing a numerous and jumbled mechanical mechanism.
Summary of the invention
The wearable flexible knee that in view of the above-mentioned drawbacks of the prior art, It is an object of the present invention to provide a kind of based on gait
Articulated robot ectoskeleton equipment.Flexible knee joint robotic exoskeleton equipment is mainly using two micro air pumps as pneumatic power
Source, according to two groups of Miniature posture sensors to the Real-time Feedback of people's walking step state parameter, control circuit system is to two miniature gas
The real-time control of pump output flow, the rule according to gait are that left leg knee joint executive module and right leg knee joint executive module mention
For positive pressure and negative pressure, the torque of auxiliary knee joint bending and stretching, extension is provided for left and right leg in the process of walking, is reached for lower limb fortune
Kinetic force decline or lower extremity movement part disability crowd provide the purpose of flexible walking auxiliary, and can help the elderly and
Lower extremities disability patient improves muscle vitality, improves their self-care ability and health status.
To achieve the goals above the technical solution adopted by the present invention is that:
A kind of wearable flexible knee joint robotic exoskeleton equipment based on gait, comprising:
Power and control system, including ontology, upper cover, micro air pump A, micro air pump B, control circuit system, direct current
Pond component, flexible fixing strap and PVC hose, the fixed bracket of air pump and the fixed bracket of battery pack；
Left leg knee joint air bag executive module is that equipment acts on the kneed torque execution unit of left leg, is left leg knee
Joint provides assist extension and curved torque.
Right leg knee joint air bag executive module is that equipment acts on right kneed torque execution unit, closes for right leg knee
Section provides assist extension and curved torque.
Left foot pressure switch component, control micro air pump (A) switch on and off.
Right crus of diaphragm pressure switch component, control micro air pump (B) switch on and off.
Left foot Miniature posture sensor, it is (in walking process heelstrike liftoff to toe from left foot to walking movement
Process) measure, identify gait cycle, include left foot and ground face contact the support phase and empty the shaking peroid moved,
Gait parameter is provided for control circuit system.
Right crus of diaphragm Miniature posture sensor is used cooperatively with left foot Miniature posture sensor, (is walked to a walking movement
Cheng Zhongcong right crus of diaphragm heelstrike arrives the liftoff process of toe) it measures, it identifies gait cycle, includes right crus of diaphragm and ground face contact
The support phase and empty the shaking peroid moved, provide gait parameter for control circuit system.
Tracheae component is the air pressure transfer passage of air pump and air bag, connection micro air pump component and left leg knee joint air bag
Executive module and right leg knee joint air bag executive module.
Wherein, control circuit system is the control axis of Pneumatic flexible walking auxiliary equipment, to micro air pump component,
Left foot pressure switch component, right crus of diaphragm pressure switch component, left foot Miniature posture sensor and right crus of diaphragm Miniature posture sensor etc.
Carry out comprehensively control.
Micro air pump component, including two groups of micro air pumps, during striding according to real-time gait parameter information be a left side
Leg knee joint air bag executive module and right leg knee joint air bag executive module provide positive pressure or negative pressure.
Dc-battery component, using lithium battery, the predominantly described Mini-size direct current air pump component, the pressure switch component with
And the control circuit system power supply.
Preferably, the left leg knee joint air bag executive module and the right leg knee joint air bag executive module include thigh
Fixed plate, shank fixed plate, flexible fixing strap, outside air bag and inboard air bag.The outside air bag and inboard air bag use TPU
High-strength composite cloth is made the columnar structures form that cross section is quadrangle through heat bonding welding setting process, has after inflation
Fixed angle moulding, and stronger pressure can be formed.The outside air bag corresponds to knee side, as the air pump input pressure increases
Big outside air bag can be become 180 ° of fixed angle by no pressure without fixed angle state, and have stronger pressure, that is, be assisted
Knee joint is exceptionally straight.Inboard air bag corresponds to knee joint nest side, as the inboard air bag of air pump input pressure increase can be by no pressure
No fixed angle state becomes 120 ° of fixed angle, and has stronger pressure.120 ° of the fixed angle is that people is walking
The generally curved maximum angle of knee joint in course of a step, the angle can according to the difference of user, by thigh fixed plate and
Limit fastener between shank fixed plate is correspondingly adjusted.
Preferably, the thigh fixed plate, shank fixed plate are made of high intensity carbon fiber material, can also be used than rigid
Spend the materials such as higher magnesium alloy gold, duralumin, hard alumin ium alloy, respectively by rivet be fixed on the outside air bag and inboard air bag it
Between TPU high-strength composite cloth mounting surface on.
Preferably, the preferable nylon material of flexible fixing strap flexibility, by rivet be fixed on thigh fixed plate,
In shank fixed plate.
Preferably, the knee joint air bag executive module is consolidated by the flexible fixing strap in knee joint corresponding position
It is fixed, it primarily serves support and transmits the effect of torque.
Preferably, the air pump in the micro air pump component is minisize dc reciprocating air pump, is the left leg knee joint
Air bag executive module and right leg knee joint air bag executive module provide positive pressure and negative pressure, be reached for knee joint provide assist extension and
The function of curved torque.
Preferably, the pressure switch component, including left foot pressure switch and right crus of diaphragm pressure switch, respectively two sets miniature
The control switch of direct current air pump, when left foot pressure switch is closed by after the power of left foot, corresponding Mini-size direct current air pump work
Make, left foot pressure switch is opened when without pressure, and corresponding Mini-size direct current air pump does not work；Similarly, when right crus of diaphragm pressure switch by
It is closed to after the pressure of right crus of diaphragm, corresponding Mini-size direct current air pump work, right crus of diaphragm pressure switch is opened when without pressure, and institute is right
Mini-size direct current air pump is answered not work.
Preferably, the tracheae component uses PVC hose or silicone tube.
Preferably, the dc-battery component provides electric energy using the lithium battery of repeatable charging.
The excellent effect of the present invention is:
Compared with prior art, the present invention is based on the wearable flexible knee joint robotic exoskeletons of gait to equip execution part
Using the Pneumatic flexible mode of action, existed using TPU high-strength composite cloth material through air bag made of heat bonding welding setting process
The spies such as plasticity and pressure adjustable control, pressure distributing homogeneity, pressure after inflation with shape and angle is persistently soft
Property, and the disadvantages of rubber pneumatic bag inflates hysteresis is overcome, achieve the purpose that flexible auxiliary walking.The present invention overcomes general legs
The rigid mechanisms inertia such as portion's power-assisted equipment or exoskeleton robot is big, and human knee joint is be easy to cause to damage, and safety is poor, comfortable
The disadvantages of property is poor, significantly improves safety and the comfort of equipment.
Compared with prior art, wearable flexible knee joint robotic exoskeleton equipment execution part uses plasticity air bag,
Lighter weight overcomes the rigid mechanisms executive item volumes such as general leg power-assisted equipment or exoskeleton robot greatly and quality is big
The shortcomings that, it effectively reduces due to the necessary additional executing agency in leg and bring load, and reduce this portion in walking process
Divide load bring energy consumption；Meanwhile wearable, light simple shape can also increase on user psychology to a certain extent
Acceptance.
Therefore, the present invention provides pneumatic power source using Mini-size direct current air pump component as knee air bag executive module, according to
Miniature posture sensor is to the Real-time Feedback of people's walking step state parameter, and control circuit system is to micro air pump component output flow
Real-time control provides positive pressure and bears according to the rule of gait for left leg knee joint executive module and right leg knee joint executive module
Pressure provides the torque of auxiliary knee joint bending and stretching, extension in the process of walking for left and right leg, to reach flexible auxiliary walking
Purpose.Disable patient present invention is especially suited for the elderly and lower extremities, walking process be knee joint provide assist extension with
Curved torque to achieve the purpose that assist the elderly and lower extremities disability patient's walking, and can help the elderly
Disability patient improves muscle vitality with lower extremities, improves their self-care ability and health status.
Detailed description of the invention
Fig. 1 is the composition figure of wearable flexible knee joint robotic exoskeleton equipment of the invention；
Fig. 2 is the left leg knee joint air bag executive module composition figure in Fig. 1.
Fig. 3 is the right leg knee joint air bag executive module composition figure in Fig. 1.
Fig. 4 is power and control system composition figure in Fig. 1；
Fig. 5 is that wearable flexible knee joint robotic exoskeleton of the present invention equips in a gait cycle right crus of diaphragm
Working principle diagram when ground；
Fig. 6 is that wearable flexible knee joint robotic exoskeleton of the present invention equips right crus of diaphragm lift in a gait cycle
Working principle diagram when rising；
Wherein each appended drawing reference meaning is as follows:
1. user's (rearview)；2. left leg；3. right leg；4. power and control system；5. left leg knee joint air bag execution group
Part；6. right leg knee joint air bag executive module；7. left foot pressure switch component；8. right crus of diaphragm pressure switch component；9. left foot is miniature
Attitude transducer；10. right crus of diaphragm Miniature posture sensor；11. tracheae component.
101. thigh fixed plate；102. shank fixed plate；103. outside air bag；104. inboard air bag；105. flexibility is fixed
Band.
201. ontology；202. upper cover；203. micro air pumps (A)；204. micro air pumps (B)；205. control circuit systems；
206. dc-battery components；207. flexible fixing strap；208. tracheae；209. air pumps fix bracket；210. battery packs fix bracket.
The gas tube of 301. micro air pumps (A)；The exhaust tube of 302. micro air pumps (A)；The inflation of 303. micro air pumps (B)
Pipe；The exhaust tube of 304. micro air pumps (B).
Specific embodiment
The invention will be further described with specific implementation case with reference to the accompanying drawing, but not as to limit of the invention
It is fixed.
As shown in Figure 1-3, a kind of wearable flexible knee joint robotic exoskeleton equipment based on gait, the equipment are main
It is opened by power and control system 4, left leg knee joint air bag executive module 5, right leg knee joint air bag executive module 6, left foot pressure
Close component 7, right crus of diaphragm pressure switch component 8, left foot Miniature posture sensor 9, right crus of diaphragm Miniature posture sensor 10 and tracheae group
The composition such as part 11.
As shown in Figures 2 and 3, left leg knee joint air bag executive module 5 and right leg knee joint air bag executive module 6 are mainly by big
Leg fixed plate 101, shank fixed plate 102, outside air bag 103, the inboard composition such as air bag 104 and flexible fixing strap 105.It is described
Thigh fixed plate 101, shank fixed plate 102 are made of high intensity carbon fiber material, are fixed on respectively by rivet described outer
On the mounting surface of TPU high-strength composite cloth between side air bag 103 and inboard air bag 104.In addition, the thigh in above embodiments
The materials such as the higher magnesium alloy of specific stiffness, duralumin, hard alumin ium alloy also can be selected in fixed plate, shank fixed plate.The flexible fixing strap
105 use the preferable nylon materials of flexibility, are fixed on thigh fixed plate, in shank fixed plate by rivet.In addition, above real
The materials such as terylene, blended (40% terylene, 60% nylon) also can be selected in the flexible fixing strap applied in example.
The outside air bag 103 and inboard air bag 104 use TPU high-strength composite cloth, weld setting process through heat bonding
The columnar structures form that cross section is quadrangle is made, has fixed angle after inflation, and form stronger pressure.Specifically, such as
Shown in Fig. 2 and 3, the left leg knee joint air bag executive module 5 and right leg knee joint air bag executive module 6 are solid by the flexibility
Determine band to be fixed in the thigh of user 1, knee joint and shank corresponding position.Outside air bag 103 corresponds to knee side, with described
The increase of air pump input pressure can become 180 ° of fixed angle by no pressure, without fixed angle state, and have stronger pressure,
That is auxiliary knee joint is exceptionally straight.The corresponding knee joint nest side of inboard air bag 104, as the increase of air pump input pressure can be by no pressure without solid
Determine the fixed angle that angle state becomes 120 °, and there is stronger pressure.120 ° of fixed angle are people in walking course of a step
The generally curved maximum angle of middle knee joint, the angle can be fixed according to the difference of user by thigh fixed plate and shank
Limit fastener between plate is correspondingly adjusted.Since left leg knee joint air bag executive module 5 and right leg knee joint air bag are held
Row component 6 is fixed by the flexible fixing strap 105 in knee joint corresponding position, is primarily served support and is transmitted torque
Effect, so, outside air bag 103, inboard air bag 104 pressure people is transmitted to by thigh fixed plate 101 and shank fixed plate 102
Thigh and shank on, ultimately form the torque for acting on kneed bending and stretching, achieve the purpose that auxiliary walking.
As shown in figure 4, power and control system 4 are mainly by ontology 201, upper cover 202, micro air pump (A) 203, miniature gas
It is solid to pump (B) 204, control circuit system 205, dc-battery component 206, flexible fixing strap 207 and PVC hose 208, air pump
The composition such as fixed rack 209 and the fixed bracket 210 of battery pack.As shown in Figs 1-4, wearable flexible knee joint robotic exoskeleton
Equipment mainly uses micro air pump (A) 203, micro air pump (B) 204, using tracheae component 9 as connection and air pressure transfer passage,
Positive pressure and negative pressure are provided for left leg knee joint air bag executive module 5, right leg knee joint air bag executive module 6, auxiliary knee is provided and is closed
The torque of bent-segment and stretching, extension.The tracheae component 11 is mainly made of PVC hose 208, and silica gel tube material can also be used in tracheae.
The control circuit system 205 is the control axis of the wearable flexible knee joint robotic exoskeleton equipment,
To the micro air pump (A) 203, micro air pump (B) 204, left foot pressure switch component 7, right crus of diaphragm pressure switch component 8, left foot
Miniature posture sensor 9 and right crus of diaphragm Miniature posture sensor 10 etc. are controlled.Micro air pump (A) 203, micro air pump (B) 204
It is the pneumatic generation part of the equipment for direct-current piston type air pump.The dc-battery component 206, using repeatable charging
Lithium battery, the predominantly described micro air pump (A) 203, micro air pump (B) 204, left foot pressure switch component 7, right crus of diaphragm pressure are opened
It closes component 8, left foot Miniature posture sensor 9 and right crus of diaphragm Miniature posture sensor 10 and control circuit system 205 is powered.It is described
Control circuit system 205 by acquiring the number from left foot Miniature posture sensor 9 and right crus of diaphragm Miniature posture sensor 10 in real time
According to, a walking is acted and is measured (from process heelstrike liftoff to toe in walking process), identification gait week
Phase includes that the support phase an of foot and ground face contact and a foot empty the shaking peroid moved, and then to micro air pump (A)
203 and the flow of micro air pump (B) 204 controlled, to realize that the output synchronous with people's walking step state controls.
Fig. 5 and Fig. 6 is the basic functional principle figure of the wearable flexible knee joint robotic exoskeleton equipment.At one
It in gait cycle, is landed with right crus of diaphragm, left foot is liftoff to be started for taking a step, as shown in figure 5, when left foot is liftoff, due to not having pressure
Effect, left foot pressure switch component 7 disconnect, and under the control of control circuit system 205, micro air pump (A) 203 does not work.At this time
Right crus of diaphragm lands, and due to there is pressure effect, right crus of diaphragm pressure switch component 7 is connected, under the control of control circuit system 205, miniature gas
Pump (B) 204 starts running.People's walking step state is joined according to left foot Miniature posture sensor 9 and right crus of diaphragm Miniature posture sensor 10
Several Real-time Feedbacks, control circuit system 205 carry out real-time control to 204 output flow of micro air pump (B), are believed according to gait
Breath, the gas tube 303 of micro air pump (B) 204 are that the outside air bag 103 of left leg knee joint air bag executive module 5 is inflated, and are mentioned
For positive pressure power；The exhaust tube 304 of micro air pump (B) 204 is the inboard air bag 104 of left leg knee joint air bag executive module 5
It is evacuated, vacuum force is provided.Under negative pressure and positive pressure comprehensive function, left leg knee joint air bag executive module 5 is left leg
Knee joint provides bending torque, and offer in the process of walking and the consistent auxiliary bend torque of left leg gait assist left leg knee to close
Bent-segment strides.Meanwhile the gas tube 303 of micro air pump (B) 204 is the inboard air bag of right leg knee joint air bag executive module 6
104 carry out fast aeration, provide positive pressure power；The exhaust tube 304 of micro air pump (B) 204 is the execution of right leg knee joint air bag
The outside air bag 103 of component 6 is evacuated, and vacuum force is provided.Under negative pressure and positive pressure comprehensive function, right leg knee joint gas
Capsule executive module 6 provides the torque of stretching, extension for right leg knee joint, provides stretch with the consistent auxiliary of right leg gait in the process of walking
It tosses about in bed square, assists right leg knee extension, namely the right leg knee joint of auxiliary is exceptionally straight has an effect.
As shown in fig. 6, then, left foot lands, since pressure acts on, left foot pressure switch component 6 is connected, in control circuit
Under system 205 controls, micro air pump (A) 203 works.Right crus of diaphragm, which lifts, at this time takes a step, due to losing pressure effect, right crus of diaphragm pressure
Switch block 7 disconnects, and under the control of control circuit system 205, micro air pump (B) 204 shuts down.According to left foot Miniature posture
Sensor 9 and right crus of diaphragm Miniature posture sensor 10 are to the Real-time Feedback of people's walking step state parameter, and control circuit system 205 is to miniature
203 output flow of air pump (A) carries out real-time control, and according to gait information, the gas tube 301 of micro air pump (A) 203 is left leg knee
The inboard air bag 104 of joint air bag executive module 5 is inflated, and provides positive pressure power；The exhaust tube of micro air pump (A) 203
301 are evacuated for the outside air bag 103 of left leg knee joint air bag executive module 5, provide vacuum force.In negative pressure and positive pressure
Under comprehensive function, left leg knee joint air bag executive module 5 provides for left leg knee joint to be turned with the left consistent assist extension of leg gait
Square assists left leg knee extension is exceptionally straight to have an effect in the process of walking.Meanwhile the exhaust tube 302 of micro air pump (A) 203 is the right side
The inboard air bag 104 of leg knee joint air bag executive module 6 is evacuated, and vacuum force is provided；Micro air pump (A) 203 fills
Tracheae 301 is that the outside air bag 103 of right leg knee joint air bag executive module 6 is inflated, and provides positive pressure power.In negative pressure and
Under positive pressure comprehensive function, right leg knee joint air bag executive module 6 provides curved with the consistent auxiliary of right leg gait for right leg knee joint
Bent torque assists right leg knee joint bending to stride in the process of walking.It is wearable flexible knee joint robotic exoskeleton above
Equipment realizes the walking auxiliary function in the period that strides.It loops back and forth like this, outside the wearable flexible knee joint robot
Bone equipment may be implemented in people's walking process, and left and right foot alternately jams on respective underfooting pressure switch respectively in the equipment
Two Mini-size direct current air pumps controlled, be that left leg knee joint executive module and right leg knee joint executive module mention according to gait
For positive pressure and negative pressure, and the torque for acting on kneed bending and stretching is ultimately formed, reaches in the process of walking, closed for knee
Section provides the stretching, extension and curved torque that the gait of people synchronizes, and realizes Pneumatic flexible walking auxiliary.
Since the wearable flexible knee joint robotic exoskeleton equipment execution part the present invention is based on gait uses air pressure
There is pressure adjustable control, pressure to be distributed for the flexible mode of action, left leg knee joint executive module and right leg knee joint executive module
Persistently soft and air bag has the characteristics such as plasticity for uniformity, pressure, overcomes general leg power-assisted equipment or ectoskeleton
The disadvantages of rigid mechanisms inertia such as robot is big, and human knee joint is be easy to cause to damage, and safety is poor, comfort is poor, significantly improves
The safety of equipment and comfort.Meanwhile knee joint executive module air bag of the present invention, using TPU high-strength composite cloth material,
The columnar structures form that cross section is quadrangle is made through heat bonding welding setting process, has fixed angle after inflation, and have
Stronger pressure overcomes the disadvantages of rubber pneumatic bag inflates hysteresis；And air bag lighter weight overcomes general leg power-assisted
The disadvantage that the rigid mechanisms executive item volume such as equipment or exoskeleton robot is big and quality is big, effectively reduces since leg must
Must additional executing agency and bring load, and reduce this sub-load bring energy consumption in walking process.Meanwhile it can
Wearing, light simple shape can also increase the acceptance on user psychology to a certain extent.
Embodiment described above, only one kind of the present invention more preferably specific embodiment, those skilled in the art
The usual variations and alternatives that member carries out within the scope of technical solution of the present invention should be all included within the scope of the present invention.
Claims (10)
1. a kind of wearable flexible knee joint robotic exoskeleton equipment based on gait, comprising:
Power and control system (4), including ontology (201), upper cover (202), micro air pump component, control circuit system (205),
Dc-battery component (206), the second flexible fixing strap (207) and PVC hose (208), air pump fixed bracket (209) and
Battery pack is fixed bracket (210)；The micro air pump component includes micro air pump A (203) and micro air pump B (204)；
Left leg knee joint air bag executive module (5) provides assist extension and curved torque for left leg knee joint；
Right leg knee joint air bag executive module (6) provides assist extension and curved torque for right leg knee joint；
Left foot pressure switch component (7), control micro air pump A (203) switch on and off；
Right crus of diaphragm pressure switch component (8), control micro air pump B (204) switch on and off；
Left foot attitude transducer (9), measures walking movement, provides gait parameter for control circuit system (205)；
Right crus of diaphragm attitude transducer (10) is used cooperatively with left foot attitude transducer (9), is measured to walking movement, for control
Circuit system (205) provides gait parameter；And
Tracheae component (11), connection micro air pump component and left leg knee joint air bag executive module (5) and right leg knee joint air bag
Executive module (6)；
Wherein, the control circuit system (205) carries out the output flow of micro air pump A (203) and micro air pump B (204)
Real-time control, the rule according to gait are that the left leg knee joint air bag executive module (5) and the right leg knee joint air bag are held
Row component (6) provides positive pressure and negative pressure, in the process of walking for left and right leg provide with the consistent auxiliary knee joint bending of gait and
The torque of stretching, extension；The left leg knee joint air bag executive module (5) and right leg knee joint air bag executive module (6) respectively include outer
Side air bag (103), inboard air bag (104) and the first flexible fixing strap (105)；When right crus of diaphragm lands, and left foot is liftoff, micro air pump
A (203) does not work, and micro air pump B (204) inflates the outside air bag (103) of left leg knee joint air bag executive module (5), right
The inboard air bag (104) of left leg knee joint air bag executive module (5) is evacuated, so that left leg knee joint air bag executive module
(5) curved torque is provided for left leg knee joint, meanwhile, the outside air bag of right leg knee joint air bag executive module (6) is evacuated
(103), the inboard air bag (104) of right leg knee joint air bag executive module (6) is inflated, so that right leg knee joint air bag execution group
Part (6) provides the torque of stretching, extension for right leg knee joint；It is then that micro air pump A (203) carry out when left foot lands, and right crus of diaphragm is liftoff
Corresponding work, micro air pump B (204) do not work.
2. wearable flexible knee joint robotic exoskeleton equipment according to claim 1, which is characterized in that the left side
Foot attitude transducer (9) and the right crus of diaphragm attitude transducer (10) are used cooperatively, in walking process from heelstrike to toe
Liftoff process measures, and identifies gait cycle, includes that the support phase an of foot and ground face contact and a foot are emptied and moved
Dynamic shaking peroid, provides gait parameter for control circuit system (205).
3. wearable flexible knee joint robotic exoskeleton equipment according to claim 1 or 2, which is characterized in that described
Micro air pump A (203), micro air pump B (204) are during striding according to the left foot Miniature posture sensor (9) and the right side
The gait parameter information of foot Miniature posture sensor (10) Real-time Feedback, via the control circuit system (205) to miniature gas
Pump A (203), micro air pump B (204) output flow carries out real-time control.
4. wearable flexible knee joint robotic exoskeleton equipment according to claim 1 or 2, which is characterized in that described
Left foot pressure switch component (7) and the right crus of diaphragm pressure switch component (8) perceive in the process of walking left and right foot land or from
Ground, control micro air pump A (203), micro air pump B (204) switch on and off；
When left foot pressure switch component (7) is closed by after the power of left foot, corresponding micro air pump A (203) work does not have
Left foot pressure switch component (7) is opened when having pressure, and corresponding micro air pump A (203) does not work；Similarly, when right crus of diaphragm pressure
Switches component (8) is closed by after the pressure of right crus of diaphragm, corresponding micro air pump B (204) work, when not having pressure
Right crus of diaphragm pressure switch component (8) is opened, and corresponding micro air pump B (204) does not work.
5. wearable flexible knee joint robotic exoskeleton equipment according to claim 1 or 2, which is characterized in that described
Left leg knee joint air bag executive module (5) and right leg knee joint air bag executive module (6) respectively further comprise that thigh is fixed
Plate (101), shank fixed plate (102)；
The outside air bag (103) and inboard air bag (104) use TPU high-strength composite cloth, weld setting process through heat bonding
The columnar structures form that cross section is quadrangle is made, has fixed angle after inflation, and there is stronger pressure；
The corresponding knee side of the outside air bag (103), the corresponding knee joint nest side of inboard air bag (104).
6. wearable flexible knee joint robotic exoskeleton equipment according to claim 5, which is characterized in that described is big
Leg fixed plate (101), shank fixed plate (102) are made of high intensity carbon fiber material, or use magnesium alloy or duralumin
Alloy material, the TPU high-strength complex being fixed on respectively by rivet between the outside air bag (103) and inboard air bag (104)
On the mounting surface for closing cloth.
7. wearable flexible knee joint robotic exoskeleton equipment according to claim 5, which is characterized in that described first
Flexible fixing strap (105) nylon material is fixed on thigh fixed plate (101), in shank fixed plate (102) by rivet.
8. wearable flexible knee joint robotic exoskeleton equipment according to claim 1 or 2, which is characterized in that described
Left leg knee joint air bag executive module (5) and right leg knee joint air bag executive module (6) pass through first flexible fixing strap
(105) it is fixed in knee joint corresponding position, plays the role of support and transmitting torque.
9. wearable flexible knee joint robotic exoskeleton equipment according to claim 1 or 2, which is characterized in that described
Dc-battery component (206) using repeatable charging lithium battery, for entire wearable flexible knee joint robotic exoskeleton
Equipment provides electric energy.
10. wearable flexible knee joint robotic exoskeleton equipment according to claim 1 or 2, which is characterized in that described
Tracheae component (11) use PVC hose or silicone tube, be connection micro air pump component and left leg knee joint air bag execution group
The channel of part (5) and right leg knee joint air bag executive module (6).
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| CN201611095059.9A CN106420279B (en) | 2016-12-01 | 2016-12-01 | A kind of wearable flexible knee joint robotic exoskeleton equipment based on gait |
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| CN201611095059.9A CN106420279B (en) | 2016-12-01 | 2016-12-01 | A kind of wearable flexible knee joint robotic exoskeleton equipment based on gait |
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| CN107468488B (en) * | 2017-08-05 | 2019-11-05 | 瑞安市嘉盛机械有限公司 | Apparatus assistant to walking |
| US11351083B2 (en) | 2017-08-29 | 2022-06-07 | Roam Robotics Inc. | Semi-supervised intent recognition system and method |
| CN108014001B (en) * | 2018-01-02 | 2020-03-17 | 北京理工大学 | Flexible walking aid exoskeleton |
| CN108161929B (en) * | 2018-01-02 | 2020-06-26 | 北京理工大学 | Negative pressure driven pneumatic artificial muscle |
| CN108186293B (en) * | 2018-01-02 | 2019-10-15 | 北京理工大学 | A kind of negative pressure shrinks the flexible knee joint ectoskeleton of elastomer driving |
| CN108542718B (en) * | 2018-04-25 | 2019-07-26 | 张连存 | A kind of wearable flexible lower limb exoskeleton based on negative pressure rotary pneumatic artificial-muscle |
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| CN108852364A (en) * | 2018-07-09 | 2018-11-23 | 深圳德创健康科技有限责任公司 | Monitor the object wearing device of movement information of knee |
| CN109623779B (en) * | 2018-11-23 | 2022-03-15 | 天津大学 | Full-flexible driving power-assisted buffering exoskeleton system based on air bag bending principle |
| CN109333512B (en) * | 2018-11-29 | 2024-08-02 | 成都云鼎康德科技有限公司 | Knee joint power assisting mechanism |
| CN109589496B (en) * | 2019-01-18 | 2023-06-16 | 吉林大学 | Wearable bionic rehabilitation system for whole process of human body movement |
| CN110638605B (en) * | 2019-09-09 | 2024-03-22 | 上海交通大学 | Rigid and soft integrated lower limb exoskeleton |
| CN110786862B (en) * | 2019-11-05 | 2022-04-26 | 臻行科技(湖州)有限公司 | Gait cycle identification method based on torque and angle feedback fusion |
| US20210177686A1 (en) | 2019-12-13 | 2021-06-17 | Roam Robotics Inc. | Powered device to benefit a wearer during skiing |
| CN111312361B (en) * | 2020-01-20 | 2024-05-10 | 深圳市丞辉威世智能科技有限公司 | Exercise gait control method, device, terminal and storage medium |
| US11642857B2 (en) | 2020-02-25 | 2023-05-09 | Roam Robotics Inc. | Fluidic actuator manufacturing method |
| CN111687820B (en) * | 2020-05-12 | 2022-11-08 | 天津大学 | Rigidity-variable exoskeleton structure based on positive pressure friction principle |
| CN112605979B (en) * | 2020-12-14 | 2024-07-19 | 何学谦 | Exoskeleton |
| CN112891144B (en) * | 2021-01-28 | 2022-11-08 | 北京理工大学 | Positive-negative pressure hybrid drive flexible knee joint exoskeleton |
| CN113304017A (en) * | 2021-05-28 | 2021-08-27 | 北京理工大学 | Flexible lower limb power-assisted garment with multiple walking assistance modes |
| CN113786313A (en) * | 2021-09-17 | 2021-12-14 | 安徽工程大学 | Wearable lower limb rehabilitation device |
| CN116198627A (en) * | 2023-03-24 | 2023-06-02 | 联想(北京)有限公司 | Machine leg and robot |
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