CN106491319B - A kind of wearable knee joint power-assisting robot - Google Patents
A kind of wearable knee joint power-assisting robot Download PDFInfo
- Publication number
- CN106491319B CN106491319B CN201611092908.5A CN201611092908A CN106491319B CN 106491319 B CN106491319 B CN 106491319B CN 201611092908 A CN201611092908 A CN 201611092908A CN 106491319 B CN106491319 B CN 106491319B
- Authority
- CN
- China
- Prior art keywords
- knee joint
- air pump
- direct writing
- fixed plate
- writing mechanism
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 210000000629 knee joint Anatomy 0.000 title claims abstract description 81
- 230000007246 mechanism Effects 0.000 claims abstract description 73
- 230000005021 gait Effects 0.000 claims abstract description 32
- 238000005452 bending Methods 0.000 claims abstract description 12
- 210000001699 lower leg Anatomy 0.000 claims description 65
- 210000000689 upper leg Anatomy 0.000 claims description 37
- 210000002414 leg Anatomy 0.000 claims description 36
- 230000000694 effects Effects 0.000 claims description 8
- 230000001681 protective effect Effects 0.000 claims description 8
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 claims description 3
- 229910052799 carbon Inorganic materials 0.000 claims description 3
- 239000000835 fiber Substances 0.000 claims description 3
- 239000000463 material Substances 0.000 claims description 3
- 229910000838 Al alloy Inorganic materials 0.000 claims description 2
- 229910000861 Mg alloy Inorganic materials 0.000 claims description 2
- 239000000956 alloy Substances 0.000 claims description 2
- 210000003141 lower extremity Anatomy 0.000 abstract description 15
- 238000000034 method Methods 0.000 abstract description 14
- 230000008569 process Effects 0.000 abstract description 13
- 230000009471 action Effects 0.000 abstract description 9
- 238000009825 accumulation Methods 0.000 abstract description 6
- 230000007423 decrease Effects 0.000 abstract description 4
- 239000000203 mixture Substances 0.000 description 11
- 210000003127 knee Anatomy 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 239000002360 explosive Substances 0.000 description 4
- 230000003862 health status Effects 0.000 description 3
- 238000005259 measurement Methods 0.000 description 3
- 210000003205 muscle Anatomy 0.000 description 3
- 239000002775 capsule Substances 0.000 description 2
- 238000005265 energy consumption Methods 0.000 description 2
- 230000001965 increasing effect Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 229910000737 Duralumin Inorganic materials 0.000 description 1
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 1
- 241000486406 Trachea Species 0.000 description 1
- 239000000654 additive Substances 0.000 description 1
- 230000002612 cardiopulmonary effect Effects 0.000 description 1
- 239000012141 concentrate Substances 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000007850 degeneration Effects 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000004146 energy storage Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- PCHJSUWPFVWCPO-UHFFFAOYSA-N gold Chemical compound [Au] PCHJSUWPFVWCPO-UHFFFAOYSA-N 0.000 description 1
- 229910052737 gold Inorganic materials 0.000 description 1
- 239000010931 gold Substances 0.000 description 1
- 230000009916 joint effect Effects 0.000 description 1
- 229910052744 lithium Inorganic materials 0.000 description 1
- 230000003387 muscular Effects 0.000 description 1
- 238000005086 pumping Methods 0.000 description 1
- 210000003437 trachea Anatomy 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H2003/005—Appliances for aiding patients or disabled persons to walk about with knee, leg or stump rests
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H2003/007—Appliances for aiding patients or disabled persons to walk about secured to the patient, e.g. with belts
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1238—Driving means with hydraulic or pneumatic drive
Landscapes
- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a kind of wearable knee joint power-assisting robots, including control system component (1), flexibly direct writing mechanism (2,3), vola diaphragm pressure sensor group (4,5) etc..The wearable knee joint power-assisting robot is using micro air pump as pneumatic power source, act on kneed flexibly direct writing mechanism (2, 3) the flexible mode of action combined using airbag boost air with torque spring accumulation of energy, based on vola diaphragm pressure sensor group (4, 5) to the real-time acquisition of gait parameter and feedback, knee joint power-assisting robot control system component (1) is to flexibly direct writing mechanism (2, 3) real-time control is carried out, the flexible torque for acting on auxiliary knee joint bending and stretching, extension is provided in people's walking process according to gait cycle, it is reached for the exercise ability of lower limbs decline or lower extremity movement part disability crowd provides the purpose of flexible walking auxiliary.
Description
Technical field
The invention belongs to flexible exoskeleton robot technology and wearable power-assisting robot field, in particular to one kind can
Wearable type knee joint power-assisting robot.
Background technique
With the degeneration of the elderly's muscular strength function, cardio-pulmonary function, the ratio of daily routines shared by walking is gradually reduced, thus
Various disease attack rates are caused to be substantially increased, such vicious circle eventually leads to completely losing for locomitivity.In addition, in slight
Wind patient will also result in the part disability of the exercise ability of lower limbs, influence the ability to act of patient.Decline for the exercise ability of lower limbs
Old man or lower extremity movement part disability crowd particular/special requirement, wearable knee joint robot can easily be worn on
With them, when people walking when robot can provide power-assisted for people, with this come increase the exercise ability of lower limbs decline old man or
The strength and endurance of person's lower extremity movement part disability crowd.
The exploitation of current most of wearable knee joint robotic equipments concentrates in the realization of function, and in wearing
There is very big deficiency in the design in terms of convenience, cannot quickly wear off freely, and the comfort dressed is not good enough yet.Separately
Outside, the component of this kind of robot is more, is self-possessed than heavier.And current battery power can only at most maintain several hours, once
Dead battery cannot bear so so many additives for the elderly at all.Further more, this kind of exoskeleton robot
It is huge and many and diverse, rather than being the auxiliary instrument being worn on the person, it is extremely difficult to the psychological identity sense of user.
Summary of the invention
In view of the above-mentioned drawbacks of the prior art, It is an object of the present invention to provide a kind of wearable knee joint power-assisted machines
People.Wearable knee joint power-assisting robot acts on kneed executing agency mainly using micro air pump as pneumatic power source
The flexible mode of action combined using airbag boost air with torque spring accumulation of energy, based on vola diaphragm pressure sensor group to step
The Real-time Feedback in state period, control system component carry out real-time control to wearable knee joint power-assisting robot executing agency,
The torque for acting on auxiliary knee joint bending and stretching, extension is provided in people's walking process according to gait cycle, lower extremity movement is reached for
Ability decline or lower extremity movement part disability crowd provide the purpose of flexible walking auxiliary, and can improve muscle vitality,
Improve 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 knee joint power-assisting robot, comprising:
Control system component, including air pump system, electric control system, battery component and tracheae component；
Flexibly direct writing mechanism is suitble to be worn on the knee joint of the left leg of user and/or right leg, can for left leg and/or
The knee joint of right leg provides assist extension and curved torque；
Vola diaphragm pressure sensor group is suitble to be worn on the left foot and/or right crus of diaphragm of the user, left for identification
The gait cycle of foot and/or right crus of diaphragm, including foot and ground face contact the support phase and empty the shaking peroid moved, be the control system
Electric control system in system component provides gait parameter；The electric control system controls the gas according to the gait parameter
Pumping system work.
Preferably, the flexibly direct writing mechanism include thigh fixed plate, shank fixed plate, air bag, shaft, torque spring,
Spring fixation clip, spring mountings；
The thigh fixed plate, shank fixed plate are using carbon fibre material, magnesium alloy gold or duralumin, hard alumin ium alloy material system
At.
Preferably, the air bag of the flexibly direct writing mechanism includes internal rubber liner and and external canvas protection
Set, rubber liner is in the inside of canvas protective case；The air bag is the columnar structures that cross section is quadrangle, as input is pressed
Power increases, and the air bag becomes 180 ° of fixed angle by no pressure, without fixed angle state, to assist knee joint exceptionally straight.
Preferably, there are canvas stylolites, velcro fixing belt to sew in institute for the canvas protective case two of them adjacent side
State canvas stylolite；The air bag is fixed in the thigh fixed plate and shank fixed plate by the velcro fixing belt, gas
Capsule gas pressure power will be directly transferred in thigh fixed plate and shank fixed plate.
Preferably, the gait parameter information that the vola diaphragm pressure sensor group is acquired and fed back in real time, it is described electrical
Control system controls air pump system work, and carries out real-time closed-loop control into and out of flow to the air pump system, according to gait
Period provides positive pressure or negative pressure for the air bag in the flexibly direct writing mechanism.
Preferably, when the leg for having dressed the flexibly direct writing mechanism is in the support phase, the air pump system is the leg
The air bag of flexibly direct writing mechanism provides negative pressure；When the leg is in shaking peroid, the air pump system is the flexibly direct writing machine of the leg
The air bag of structure provides positive pressure.
Preferably, the air bag forms a pair for rotating shank fixed plate relative to thigh fixed plate with the torque spring
Active force and reaction force, when the air pump system inflates the air bag by the tracheae component, in the air bag
Air pressure constantly increases and overcomes the twisting resistance of torque spring, progressivelyes reach fixed angle by no pressure, without fixed angle state
It 180 °, rotates shank fixed plate relative to thigh fixed plate and keeps knee joint exceptionally straight, provide the torque of stretching, extension for knee joint.
Preferably, when the air pump system is evacuated the air bag by the tracheae component, pressure becomes rapidly in air bag
Small, torque spring is restored to free position by the effect of itself torsional return；It is acted on by torque spring torsional return, shank
Fixed plate does rotation counterclockwise relative to thigh fixed plate, and can reach auxiliary knee joint and stride required angle, closes for right leg knee
Section provides the curved torque that strides.
Preferably, the flexibly direct writing mechanism is fixed on the thigh, knee joint and shank of user by flexible fixing strap
Corresponding site, to provide the torque of knee joint bending and stretching, extension.
Preferably, the air pump system includes air pump A and air pump B；The flexibly direct writing mechanism includes being suitable for being worn on a left side
First flexibly direct writing mechanism of leg and the second flexibly direct writing mechanism suitable for being worn on right leg；
The air pump A can provide positive pressure by the tracheae component for first flexibly direct writing mechanism, and be institute
It states the second flexibly direct writing mechanism and negative pressure is provided；
The air pump B can provide positive pressure by the tracheae component for second flexibly direct writing mechanism, and be institute
It states the first flexibly direct writing mechanism and negative pressure is provided；
The control system component controls the air pump A and air pump B according to the vola diaphragm pressure sensor group
System empties the shaking peroid moved, when right crus of diaphragm be in the support phase so that being in left foot, the air pump B works, the air pump A not
Work；It is in right crus of diaphragm and empties the shaking peroid moved, when left foot be in the support phase, the air pump A works, the air pump B not work
Make.
The excellent effect of the present invention is:
Compared with prior art, wearable knee joint power-assisting robot of the present invention is soft using Mini-size direct current air pump as knee joint
Property executing agency pneumatic power source is provided, act on kneed Zuo Tui flexibly direct writing mechanism and You Tui flexibly direct writing mechanism and use
Airbag boost air combines the flexible mode of action with torque spring accumulation of energy, based on vola diaphragm pressure sensor group to gait parameter
Real-time Feedback, control system component to robot flexibility executing agency carry out real-time control, enhance robot execution movement with
The harmony of people's natural gait improves the execution efficiency of robot and the efficiency of human-computer interaction.
Compared with prior art, wearable knee joint power-assisting robot execution part of the present invention uses airbag boost air and torsion
Spring energy-storage combines the flexible mode of action, and lighter weight overcomes general leg power-assisted equipment or exoskeleton robot etc.
The disadvantage that rigid mechanism executive item volume is big and quality is big, effectively reduce due to leg must additional executing agency and bring
Load, and reduce this sub-load bring energy consumption in walking process.Also, airbag boost air and torque spring accumulation of energy phase
It is big that the rigid mechanisms inertia such as general leg power-assisted equipment or exoskeleton robot are overcome in conjunction with the flexible mode of action, are easy to make
The disadvantages of adult knee damage, safety is poor, comfort is poor, significantly improve safety and the comfort of equipment.
Present invention is especially suited for the elderlys and lower extremities disability patient, provide assist extension in walking process for knee joint
With curved torque, to achieve the purpose that assist the elderly and lower extremities disability patient's walking, and can help old age
People and lower extremities disability patient improve muscle vitality, improve their self-care ability and health status.
Detailed description of the invention
Fig. 1 is the composition figure of wearable knee joint power-assisting robot of the present invention；
Fig. 2 is control system component composition figure of the present invention；
Fig. 3 is Zuo Tui flexibly direct writing of the present invention mechanism outline drawing (extended state).
Fig. 4 is Zuo Tui flexibly direct writing of the present invention mechanism explosive view (composition figure, extended state).
Fig. 5 is You Tui flexibly direct writing of the present invention mechanism outline drawing (bending state).
Fig. 6 is You Tui flexibly direct writing of the present invention mechanism explosive view (composition figure, bending state).
Fig. 7 be in one gait cycle of knee joint power-assisting robot of the present invention left foot be in empty the swing moved
Phase, right crus of diaphragm are in the working principle diagram of support phase；
Fig. 8 is that left foot is in the support phase in one gait cycle of knee joint power-assisting robot of the present invention, at right crus of diaphragm
In the working principle diagram for emptying the shaking peroid moved；
Wherein each appended drawing reference meaning is as follows:
1. control system component；2. Zuo Tui flexibly direct writing mechanism；3. You Tui flexibly direct writing mechanism；4. left foot vola film pressure
Force snesor group；5. right crus of diaphragm vola diaphragm pressure sensor group.
101. ontology；102. upper cover；103. micro air pump (A)；104. micro air pump (B)；105. electric control system；
106. dc-battery component；107. flexible fixing strap；108. air pump fixes bracket；109. battery pack fixes bracket；110. fastening
Part；111. tracheae；112. tracheae；113. tracheae；114. tracheae.
201. left leg thigh fixed plates；202. left leg shank fixed plates；203. air bag；204. shaft；205. torque spring；
206. spring fixation clips；207. spring mountings；208. spring protection covers；209. flexible fixing strap；210. velcro are fixed
Band；111. tracheae；112 tracheaes；213. fastener；214. rivet.
301. right leg thigh fixed plates；302. right leg shank fixed plates；303. air bag；304. shaft；305. torque spring；
306. spring fixation clips；307. spring mountings；308. spring protection covers；309. flexible fixing strap；310. velcro are fixed
Band；113. tracheae；114. tracheae；313. fastener；314. rivet.
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.
Fig. 1 is the composition figure of wearable knee joint power-assisting robot of the present invention.As shown in Figure 1, a kind of wearable
Type knee joint power-assisting robot, mainly by control system component 1, Zuo Tui flexibly direct writing mechanism 2, You Tui flexibly direct writing mechanism 3, a left side
The composition such as foot vola diaphragm pressure sensor group 4, right crus of diaphragm vola diaphragm pressure sensor group 5.As shown, left leg flexibly direct writing
Mechanism 2 and You Tui flexibly direct writing mechanism 3 are respectively acting on left and right leg knee joint, and the two is stored using airbag boost air and torque spring
The mode of action that can be combined.Control system component 1 is according to left foot vola diaphragm pressure sensor group 4 and right crus of diaphragm vola film pressure
Force snesor group 5 provides gait cycle parameter to the air bag pressure of Zuo Tui flexibly direct writing mechanism 2 and You Tui flexibly direct writing mechanism 3
It is controlled, provides positive pressure and negative pressure for Zuo Tui flexibly direct writing mechanism and You Tui flexibly direct writing mechanism, mentioned in people's walking process
For acting on the flexible torque of auxiliary knee joint bending and stretching, extension.
Fig. 2 is 1 composition figure of control system component of the present invention.As shown in Fig. 2, the control system component includes
Ontology 101, upper cover 102, micro air pump (A) 103, micro air pump (B) 104, electric control system 105, dc-battery component
106, the fixed bracket 108 of flexible fixing strap 107, air pump, battery pack fixed bracket 109, fastener 110, tracheae 111, tracheae
112, tracheae 113 and tracheae 114 etc. form.The ontology 101 is the load bearing unit of the control system component 1, by upper
Lid 102 is sealed and protects to the components inside ontology 101.The electric control system 105 is solid by fastener 110
It is scheduled on ontology 101, is the control unit of the knee joint power-assisting robot, to the micro air pump (A) 103, micro air pump
(B) 104, left foot vola diaphragm pressure sensor group 4 and right crus of diaphragm vola diaphragm pressure sensor group 5 etc. are controlled.Miniature gas
(A) 103, micro air pump (B) 104 are pumped as direct-current piston type air pump, is fixed on ontology 101 by fastener 110, is the knee
The pneumatic generation part of joint assistance robot.Tracheae 111, tracheae 112, tracheae 113 and tracheae 114 are air pressure transfer passage.
The dc-battery component 106 is fixed on ontology 101 by the fixed bracket 109 of battery pack using the lithium battery of repeatable charging
On, the predominantly described micro air pump (A) 103, micro air pump (B) 104, left foot diaphragm pressure sensor group 4, right crus of diaphragm vola film
Pressure sensor group 5 and electric control system 105 are powered.The left foot vola diaphragm pressure sensor group 4 and right crus of diaphragm vola
Diaphragm pressure sensor group 5 is measured in the process of walking from heelstrike to the liftoff process of toe (a walking movement), knowledge
Other gait cycle empties the shaking peroid moved including both feet and the support phase of ground face contact and foot, mentions for electric control system 105
For gait data, and then the electric control system 105 is to the positive pressure of micro air pump (A) 103 and micro air pump (B) 104 and negative
Pressure carries out real-time control, to realize the output control synchronous with people's walking step state.
Fig. 3 is 2 outline drawing (extended state) of Zuo Tui flexibly direct writing of the present invention mechanism, and Fig. 4 is of the present invention
2 explosive view of Zuo Tui flexibly direct writing mechanism (composition figure, extended state).Zuo Tui flexibly direct writing mechanism 2 is mainly by left leg thigh
Fixed plate 201, left leg shank fixed plate 202, air bag 203, shaft 204, torque spring 205, spring fixation clip 206, spring
Fixing piece 207, spring protection cover 208, flexible fixing strap 209, velcro fixing belt 210, tracheae 111, tracheae 112, fastener
The composition such as 213 and rivet 214.
Left leg thigh fixed plate 201, left leg shank fixed plate 202 are made of light-high-strength carbon fibre material, play power
Conduction and support effect.Left leg shank fixed plate 202 is mounted in the shaft 204 of left leg thigh fixed plate 201, and left leg is big
There are the adjustable limit platform to left leg shank fixed plate 202, knee joint during can striding according to user in leg fixed plate 201
Stretching, extension and curved minimum and maximum angle are adjusted, and are fixed by screw fastener, to realize that left leg shank is fixed
The rotation within the scope of fixed angle around the shaft of plate 202.Torque spring 205 is mounted on 204 in shaft, and passes through spring mountings
207, spring fixation clip 206 and fastener 213 etc. are separately fixed at left leg thigh fixed plate 201 and left leg shank fixed plate
It is then external to there is spring protection cover 208 to carry out closed protective on 202.Free angle (the free position of the torque spring 205
When angle value) be 120 °, 200 ° of maximum defluxion.120 ° of the free angle angle is people's knee joint in walking course of a step
Generally curved maximum angle, the angle can choose the torque spring of different free angles according to the difference of user.
The air bag 203 includes internal rubber liner and protects with external canvas protective case, rubber liner in canvas
The inside of set.203 cross section of air bag is the columnar structures form of quadrangle, as the air pump input pressure increases, institute
180 ° of fixed angle can be become by no pressure, without fixed angle state by stating air bag 203, and have stronger pressure, that is, be assisted
Knee joint is exceptionally straight.There are canvas stylolite, velcro fixing belts 210 can sew in canvas for canvas protective case two of them adjacent side
Face suture.The air bag 203 can be fixed on to left leg thigh fixed plate 201 and left leg shank by velcro fixing belt 210
Fixed plate 202,203 gas pressure power of air bag will be passed directly in left leg thigh fixed plate 201 and left leg shank fixed plate 202.
The flexible fixing strap 209 is preferably made from sticky cloth and elastic band with flexibility, and is fixed on the left leg by rivet 214
Thigh fixed plate 201 and left leg shank fixed plate 202.Zuo Tui flexibly direct writing mechanism 2 is fixed on by flexible fixing strap 209
The left leg thigh of user, knee joint and shank corresponding site provide the torque of left leg knee joint bending and stretching, extension for user.
Zuo Tui flexibly direct writing mechanism 2 mainly relies on and is mounted on the left leg thigh fixed plate 201 and left leg shank
203 air pressure of air bag in fixed plate 202 and 205 twisting resistance of torque spring realize auxiliary knee extension and curved.Specifically,
Air bag 203 and torque spring 205 form a pair of of the work for rotating left leg shank fixed plate 202 relative to left leg thigh fixed plate 201
Firmly and reaction force, when 103 pairs of air bags 203 of the micro air pump (A) are inflated, when the air pressure in air bag 203 constantly increases,
And overcome the twisting resistance of torque spring 205,180 ° of air bag fixed angle are progressivelyed reach by no pressure, without fixed angle state, are made
The relatively left leg thigh fixed plate 201 of left leg shank fixed plate 202 rotates clockwise and reaches 180 ° for keeping knee joint exceptionally straight, for a left side
Leg knee joint provides the torque of stretching, extension, that is, assists left leg knee joint exceptionally straight, and the twisting resistance of torque spring is maximum at this time.Micro air pump
(B) when 104 pairs of air bags 203 are evacuated, pressure becomes smaller rapidly in air bag 203, effect of the torque spring 205 by itself torsional return
It is restored to free position.It is acted on by 205 torsional return of torque spring, the left relatively left leg thigh of leg shank fixed plate 202 is fixed
Plate 201 does rotation counterclockwise, and can reach auxiliary knee joint 120 ° of extreme angles striding required, for left leg knee joint provide across
Walk curved torque.
Fig. 5 is 3 outline drawing of You Tui flexibly direct writing of the present invention mechanism (bending state when negative pressure), and Fig. 6 is this hair
Bright 3 explosive view of You Tui flexibly direct writing mechanism (composition figure, bending state when negative pressure).You Tui flexibly direct writing mechanism
3 is mainly solid by right leg thigh fixed plate 301, right leg shank fixed plate 302, air bag 303, shaft 304, torque spring 305, spring
Fixed pressuring plate 306, spring mountings 307, spring protection cover 308, flexible fixing strap 309, velcro fixing belt 310, tracheae 113,
The composition such as tracheae 114, fastener 313 and rivet 314.You Tui flexibly direct writing mechanism 3 is fixed on by flexible fixing strap 309
The right leg thigh of user, knee joint and shank corresponding site provide the torque of right leg knee joint bending and stretching, extension for user.
In You Tui flexibly direct writing mechanism 3 in addition to right leg thigh fixed plate 301, right leg shank fixed plate 302, spring
Left leg thigh fixed plate 201, left leg shank fixed plate 202 and spring in protective cover 308 and Zuo Tui flexibly direct writing mechanism 2 are protected
308 form of shield is variant outer, and You Tui flexibly direct writing mechanism 3 and the components of corresponding position in Zuo Tui flexibly direct writing mechanism 2 are
General, there is interchangeability.In addition, as shown in Fig. 3,4,5 and 6, You Tui flexibly direct writing mechanism 3 and Zuo Tui flexibly direct writing mechanism 2
It compares, in addition to right 302 swaying direction of leg shank fixed plate is on the contrary, other components installation relations of the two are identical.So herein
No longer 3 components installation relation of You Tui flexibly direct writing mechanism and Structure Mechanism are repeated.
Fig. 7 be in one gait cycle of knee joint power-assisting robot of the present invention left foot be in empty the swing moved
Phase, right crus of diaphragm are in the working principle diagram of support phase；Fig. 8 is in one gait cycle of knee joint power-assisting robot of the present invention
Left foot is in the support phase, and right crus of diaphragm is in the working principle diagram for emptying the shaking peroid moved.In a gait cycle, first with a left side
Foot empties the shaking peroid moved, for the right crus of diaphragm support phase, as shown in fig. 7, when left foot is in and empties the shaking peroid moved, left foot
The measurement of vola diaphragm pressure sensor group 4 is from the left foot toeoff process (walking movement) to left foot heelstrike, identification step
The state period；Equally, the measurement of right crus of diaphragm vola diaphragm pressure sensor group 5 is from right crus of diaphragm heelstrike to the liftoff process of a toe (step
Action is made), it identifies gait cycle, to realize the measurement and identification of left and right foot gait cycle, is provided for electric control system 105
The gait data of left leg and right leg.And then the electric control system 105 carries out output real-time control to micro air pump (B) 104,
Micro air pump (B) 104 is evacuated (negative pressure control by tracheae 112 for the air bag 203 in Zuo Tui flexibly direct writing mechanism 2
System), pressure becomes smaller rapidly in air bag 203, and torque spring 205 is restored to free position by the effect of itself torsional return.By
The effect of 205 torsional return of torque spring, left leg shank fixed plate 202 do rotation counterclockwise relative to left leg thigh fixed plate 201,
The curved torque that strides is provided for left leg knee joint.Micro air pump (B) 104 is the right leg flexibly direct writing machine by tracheae 113
Air bag 303 in structure 3 is inflated (over-pressure control), when 104 pairs of air bags 303 of the micro air pump (B) are inflated, in air bag 303
Air pressure when constantly increasing, and overcome the twisting resistance of torque spring 305, progressively reach gas by no pressure, without fixed angle state
180 ° of capsule fixed angle, so that the relatively right leg thigh fixed plate 301 of right leg shank fixed plate 302 is rotated counterclockwise and is reached closes knee
Exceptionally straight 180 ° are saved, the torque of stretching, extension is provided for right leg knee joint, that is, assists right leg knee joint exceptionally straight, at this time the torsion of torque spring
Turn power maximum.The shaking peroid micro air pump A (103) moved is emptied in left foot not work.
Then, left foot progresses into the support phase, and right crus of diaphragm progresses into the shaking peroid emptied and moved.As shown in figure 8, the electricity
Gas control system 105 carries out real-time traffic disengaging control to micro air pump (A) 103, is that the left leg flexibility is held by tracheae 111
Air bag 203 in row mechanism 2 is inflated (over-pressure control), and pressure increases rapidly in air bag 203, and overcomes torque spring 205
Twisting resistance, 180 ° of air bag fixed angle are progressivelyed reach by no pressure, without fixed angle state, makes left leg shank fixed plate 202
Relatively left leg thigh fixed plate 201 rotates clockwise and keeps knee joint exceptionally straight, provides the torque of stretching, extension for right leg knee joint, at this time
The twisting resistance of torque spring is maximum.Meanwhile micro air pump (A) 103 is in You Tui flexibly direct writing mechanism 3 by tracheae 114
Air bag 303 be evacuated (vacuum cavitations), pressure becomes smaller rapidly in air bag 303, and torque spring 305 is by itself torsional return
Effect be restored to free position.It is acted on by 305 torsional return of torque spring, the relatively right leg of right leg shank fixed plate 302 is big
Leg fixed plate 301 rotates clockwise, and provides the curved torque that strides for right leg knee joint.The shaking peroid moved is emptied in right crus of diaphragm
Micro air pump B (104) does not work.
It is the walking auxiliary function that the knee joint power-assisting robot realizes the period that strides above.It so recycles past
It is multiple, the left foot vola diaphragm pressure sensor group 4 and right crus of diaphragm vola diaphragm pressure sensor group of the knee joint power-assisting robot
5, gait cycle is identified in walking process, provides gait data, and then the electric control system for electric control system 105
105 pairs of micro air pumps (A) 103 and micro air pump (B) 104 carry out real-time control, are in due course left leg flexibly direct writing machine according to gait
The air bag 203 of structure 2 and the air bag 303 of You Tui flexibly direct writing mechanism 3 provide positive pressure and negative pressure, and ultimately form and act on knee joint
Bending and stretching torque, reach in the process of walking, the synchronous stretching, extension of the gait for providing people for knee joint and curved soft
Property torque, realize Pneumatic flexible walking auxiliary.
Wearable knee joint power-assisting robot of the present invention is mentioned using Mini-size direct current air pump as knee joint flexibly direct writing mechanism
For pneumatic power source, the flexible mode of action is combined with torque spring accumulation of energy using airbag boost air, is passed based on vola diaphragm pressure
Sensor group is to the Real-time Feedback of gait parameter, and control system component is to robot flexibility executing agency progress real-time control, enhancing
The harmony of robot execution movement and people's natural gait, improves the execution efficiency of robot and the efficiency of human-computer interaction.
Also, wearable knee joint power-assisting robot execution part of the present invention is combined using airbag boost air with torque spring accumulation of energy soft
Property the mode of action, overcome that the rigid mechanisms inertia such as general leg power-assisted equipment or exoskeleton robot are big, volume is big and matter
Big disadvantage is measured, safety and the comfort of equipment are significantly improved, and is effectively reduced since leg additional must be held
Row mechanism and bring load, and reduce this sub-load bring energy consumption in walking process.Present invention is especially suited for old
Year people and lower extremities disable patient, assist extension and curved torque are provided in walking process for knee joint, to reach auxiliary
The purpose of the elderly and lower extremities disability patient's walking are helped, and the elderly and lower extremities disability patient can be helped to improve
Muscle vitality improves their self-care ability and health status.
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 knee joint power-assisting robot, including control system component (1), flexibly direct writing mechanism (2,3), vola
Diaphragm pressure sensor group (4,5)；It is characterized in that,
The control system component (1), including air pump system (103,104), electric control system (105), battery component
(106) and tracheae component (111,112,113,114)；
The flexibly direct writing mechanism (2,3) is suitble to be worn on the knee joint of the left leg of user and/or right leg, can be left leg
And/or the knee joint of right leg provides assist extension and curved torque；
The vola diaphragm pressure sensor group (4,5) is suitble to be worn on the left foot and/or right crus of diaphragm of the user, be used for
The gait cycle for identifying left foot and/or right crus of diaphragm, support phase including foot and ground face contact and empties the shaking peroid moved, and is described
Electric control system (105) in control system component (1) provides gait parameter；The electric control system (105) is according to institute
It states gait parameter and controls air pump system (103, the 104) work.
2. wearable knee joint power-assisting robot according to claim 1, which is characterized in that the flexibly direct writing mechanism
(2) include thigh fixed plate (201,301), shank fixed plate (202,302), air bag (203,303), shaft (204,304), turn round
Power spring (205,305), spring fixation clip (206,306), spring mountings (207,307)；
The thigh fixed plate (201,301), shank fixed plate (202,302) are using carbon fibre material, magnesium alloy or hard
Aluminum alloy materials are made.
3. wearable knee joint power-assisting robot according to claim 2, which is characterized in that the flexibly direct writing machine
The air bag (203,303) of structure (2,3) includes internal rubber liner and protects with external canvas protective case, rubber liner in canvas
The inside of sheath；The air bag (203,303) is the columnar structures that cross section is quadrangle, as input pressure increases, institute
It states air bag (203,303) and becomes 180 ° of fixed angle by no pressure, without fixed angle state, to assist knee joint exceptionally straight.
4. wearable knee joint power-assisting robot according to claim 3, which is characterized in that the canvas protective case its
In two adjacent sides there are canvas stylolite, velcro fixing belt (210,310) is sewed in the canvas stylolite；The velcro
The air bag (203,303) is fixed on the thigh fixed plate (201,301) and shank fixed plate by fixing belt (210,310)
On (202,302), air bag (203) gas pressure power will be directly transferred to thigh fixed plate (201,301) and shank fixed plate
On (202,302).
5. wearable knee joint power-assisting robot according to claim 4, which is characterized in that the vola diaphragm pressure
Sensor group (4,5) acquires in real time and the gait parameter information of feedback, and the electric control system (105) controls air pump system work
Make, and real-time closed-loop control is carried out into and out of flow to the air pump system, is the flexibly direct writing mechanism according to gait cycle
(2) air bag (203,303) in provides positive pressure or negative pressure.
6. wearable knee joint power-assisting robot according to claim 5, which is characterized in that when having dressed the flexibility
When the leg of executing agency is in the support phase, the air pump system provides negative pressure for the air bag of the flexibly direct writing mechanism of the leg；When this
When leg is in shaking peroid, the air pump system provides positive pressure for the air bag of the flexibly direct writing mechanism of the leg.
7. wearable knee joint power-assisting robot according to claim 6, which is characterized in that the air bag (203,
303) being formed with the torque spring (205,305) turns shank fixed plate (202,302) with respect to thigh fixed plate (201,301)
Dynamic a pair of of active force and reaction force, when the air pump system fills the air bag (203,303) by the tracheae component
When gas, the air pressure in the air bag (203,303) constantly increases and overcomes the twisting resistance of torque spring (205), by no pressure, nothing
Fixed angle state progressivelyes reach 180 ° of fixed angle, makes shank fixed plate (202,302) with respect to thigh fixed plate (201,301)
It rotates and keeps knee joint exceptionally straight, provide the torque of stretching, extension for knee joint.
8. wearable knee joint power-assisting robot according to claim 7, which is characterized in that the air pump system passes through
When the tracheae component is evacuated the air bag, air bag (203,303) interior pressure becomes smaller rapidly, and torque spring (305) is by itself
The effect of torsional return is restored to free position；It is acted on by torque spring (305) torsional return, shank fixed plate (202,
302) opposite thigh fixed plate (201,301) do rotation counterclockwise, and can reach auxiliary knee joint and stride required angle, for the right side
Leg knee joint provides the curved torque that strides.
9. wearable knee joint power-assisting robot according to claim 1 or 4, which is characterized in that the flexibly direct writing
Mechanism (2,3) is fixed on the thigh, knee joint and shank corresponding site of user by flexible fixing strap (209,309), thus
The torque of knee joint bending and stretching, extension is provided.
10. wearable knee joint power-assisting robot according to claim 6, which is characterized in that the air pump system packet
Include air pump A and air pump B；The flexibly direct writing mechanism includes being suitable for being worn on the first flexibly direct writing mechanism of left leg and being suitable for dressing
In the second flexibly direct writing mechanism of right leg；
The air pump A can provide positive pressure by the tracheae component for first flexibly direct writing mechanism, and be described the
Two flexibly direct writing mechanisms provide negative pressure；
The air pump B can provide positive pressure by the tracheae component for second flexibly direct writing mechanism, and be described the
One flexibly direct writing mechanism provides negative pressure；
The electric control system controls the air pump A and air pump B according to the vola diaphragm pressure sensor group, makes
Be in left foot and empty the shaking peroid moved, when right crus of diaphragm be in the support phase, the air pump B works, the air pump A does not work；
It is in right crus of diaphragm and empties the shaking peroid moved, when left foot be in the support phase, the air pump A works, the air pump B does not work.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611092908.5A CN106491319B (en) | 2016-12-01 | 2016-12-01 | A kind of wearable knee joint power-assisting robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611092908.5A CN106491319B (en) | 2016-12-01 | 2016-12-01 | A kind of wearable knee joint power-assisting robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106491319A CN106491319A (en) | 2017-03-15 |
| CN106491319B true CN106491319B (en) | 2018-12-25 |
Family
ID=58329555
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611092908.5A Expired - Fee Related CN106491319B (en) | 2016-12-01 | 2016-12-01 | A kind of wearable knee joint power-assisting robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106491319B (en) |
Families Citing this family (28)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107184373B (en) * | 2017-06-22 | 2020-07-07 | 国家康复辅具研究中心 | Auxiliary tool for rehabilitation walking aid |
| CN107669447B (en) * | 2017-08-24 | 2020-07-21 | 深圳市罗伯医疗科技有限公司 | Control method of hydraulic system of knee joint rehabilitation robot |
| JP7228830B2 (en) * | 2017-10-31 | 2023-02-27 | パナソニックＩｐマネジメント株式会社 | Assist device, operating method and program for assist device |
| CN108014001B (en) * | 2018-01-02 | 2020-03-17 | 北京理工大学 | Flexible walking aid exoskeleton |
| 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 |
| CN108161905A (en) * | 2018-01-10 | 2018-06-15 | 安徽工程大学 | A kind of stiffness variable lower limb exoskeleton power-assisting robot |
| CN108340360B (en) * | 2018-05-16 | 2024-02-23 | 中国科学技术大学 | Wearable pneumatic skiing exoskeleton power assisting device |
| CN108938340B (en) * | 2018-06-14 | 2020-06-26 | 北京理工大学 | Flexible exoskeleton robot assisting movement of hip joint and knee joint |
| CN108743250B (en) * | 2018-06-14 | 2020-05-05 | 北京理工大学 | Flexible hip joint assistance exoskeleton |
| CN109223455A (en) * | 2018-10-17 | 2019-01-18 | 哈尔滨工业大学 | Unpowered type device of walking aid |
| 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 |
| CN109662869B (en) * | 2019-01-21 | 2024-02-02 | 中国科学院沈阳自动化研究所 | Wearable flexible lower limb power-assisted robot |
| CN109605337A (en) * | 2019-01-22 | 2019-04-12 | 京东方科技集团股份有限公司 | Intelligent wearable joint auxiliary system and its control method |
| CN110303478B (en) * | 2019-07-29 | 2023-05-05 | 北京理工大学 | Walking-assisting flexible exoskeleton and control method thereof |
| CN110638605B (en) * | 2019-09-09 | 2024-03-22 | 上海交通大学 | Rigid and soft integrated lower limb exoskeleton |
| CN110587613B (en) * | 2019-10-15 | 2023-10-24 | 北京理工大学 | Real-time feedback and closed-loop control method for negative-pressure pneumatic flexible knee joint exoskeleton |
| CN110840700A (en) * | 2019-11-22 | 2020-02-28 | 苏州软体机器人科技有限公司 | Prefabricated air bag actuator structure |
| US11298287B2 (en) | 2020-06-02 | 2022-04-12 | Dephy, Inc. | Systems and methods for a compressed controller for an active exoskeleton |
| US11147733B1 (en) | 2020-06-04 | 2021-10-19 | Dephy, Inc. | Systems and methods for bilateral wireless communication |
| US11148279B1 (en) | 2020-06-04 | 2021-10-19 | Dephy, Inc. | Customized configuration for an exoskeleton controller |
| US11389367B2 (en) | 2020-06-05 | 2022-07-19 | Dephy, Inc. | Real-time feedback-based optimization of an exoskeleton |
| US11173093B1 (en) | 2020-09-16 | 2021-11-16 | Dephy, Inc. | Systems and methods for an active exoskeleton with local battery |
| CN112605976B (en) * | 2020-12-10 | 2022-07-22 | 吉林大学 | Lower limb exoskeleton booster |
| 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 |
| CN115256357B (en) * | 2022-09-28 | 2022-12-06 | 山东中医药大学附属医院 | Lower limb exoskeleton robot for relieving knee joint cartilage injury and using method |
| CN117838484A (en) * | 2023-03-23 | 2024-04-09 | 田大为 | Flexible exoskeleton assisting hip joint and knee joint movement |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP5326391B2 (en) * | 2008-07-14 | 2013-10-30 | 大日本印刷株式会社 | Walking assist device |
| JP6284879B2 (en) * | 2014-12-26 | 2018-02-28 | 本田技研工業株式会社 | Exercise assistance device |
| EP3240518A4 (en) * | 2014-12-30 | 2018-11-21 | Ekso Bionics, Inc. | Exoskeleton and method of transferring a weight of a load from the exoskeleton to a support surface |
| CN205019354U (en) * | 2015-07-03 | 2016-02-10 | 深圳市肯綮科技有限公司 | Booster unit actuating mechanism lightly moves |
| CN204814712U (en) * | 2015-07-24 | 2015-12-02 | 黄河科技学院 | Power driven type low limbs joint pressure relief device's knee joint drive mechanism |
| CN105560018A (en) * | 2016-03-07 | 2016-05-11 | 中国矿业大学 | Self-weight pneumatic type power-assisted human skeleton |
-
2016
- 2016-12-01 CN CN201611092908.5A patent/CN106491319B/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| CN106491319A (en) | 2017-03-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106491319B (en) | A kind of wearable knee joint power-assisting robot | |
| CN106420279B (en) | A kind of wearable flexible knee joint robotic exoskeleton equipment based on gait | |
| CN106420277B (en) | A kind of Portable flexible walking auxiliary equipment | |
| JP6889187B2 (en) | Flexible exoskeleton suit to assist human movement | |
| CN106491318B (en) | A kind of unpowered wearable auxiliary walking servomechanism | |
| Bae et al. | A lightweight and efficient portable soft exosuit for paretic ankle assistance in walking after stroke | |
| CN107411939B (en) | A kind of dedicated power-assisted healing robot of single lower limb individuals with disabilities | |
| CN106956243B (en) | A kind of bionical lower limb exoskeleton robot driven based on rope | |
| CN109662869B (en) | Wearable flexible lower limb power-assisted robot | |
| CN107126348A (en) | A kind of accurate passive knee ankle-joint coupling lower limb exoskeleton and its control method | |
| Zhao et al. | Development of a soft knee exosuit with twisted string actuators for stair climbing assistance | |
| CN208729781U (en) | Lower limb exoskeleton power-assisted mechanism | |
| CN103892943A (en) | Driving-and-driven combined boosting type flexible lower limb exoskeleton | |
| CN111571572B (en) | Wearable power-assisted flexible exoskeleton | |
| CN112518715A (en) | Flexible wearable ankle joint power-assisted robot | |
| US20200179741A1 (en) | Methods and systems for an exoskeleton to reduce a runners metabolic rate | |
| CN106491317A (en) | A kind of wearable knee joint walk help equipment of self-driven self adaptation gait | |
| CN111230840A (en) | Flexible functional coat body for assisting lower limbs | |
| CN111452026A (en) | Passive knee joint exoskeleton | |
| CN108743224A (en) | Leg rehabilitation training and body-building exoskeleton robot | |
| Meng et al. | Flexible lower limb exoskeleton systems: A review | |
| CN209154412U (en) | A kind of device of walking aid | |
| Wu et al. | A pneumatically-actuated lower-limb orthosis | |
| CN114845680A (en) | Walking assisting exoskeleton device | |
| CN209770820U (en) | Lower limb auxiliary walking device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20181225 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |