CN106562869B - 穿戴式肌肉力量辅助装置 - Google Patents

穿戴式肌肉力量辅助装置 Download PDF

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CN106562869B
CN106562869B CN201610053244.5A CN201610053244A CN106562869B CN 106562869 B CN106562869 B CN 106562869B CN 201610053244 A CN201610053244 A CN 201610053244A CN 106562869 B CN106562869 B CN 106562869B
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高勋建
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Hyundai Motor Co
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Abstract

一种穿戴式肌肉力量辅助装置，包括：基部，用于支撑穿戴者的背面；腿部件，可旋转地耦接至基部，并连接至穿戴者的身体的下部；缆线部，耦接至每个基部和每个腿部件；以及驱动部，设置在基部和腿部件的至少一个中，耦接至缆线部，并且被驱动以根据控制来拉动或释放缆线部，以便向穿戴者的腰部肌肉力量提供辅助力。

Description

穿戴式肌肉力量辅助装置
技术领域
本公开涉及一种穿戴式肌肉力量辅助装置，并且更具体地，涉及一种能够支撑穿戴者的背部及腰部肌肉力量的穿戴式肌肉力量辅助装置。
背景技术
虽然已开发了多种工作设备，但是在各种工业领域中仍然存在有应当由人直接执行的工作或者由人执行工作时效率能增加的工作。
然而，在这类工作中，可能出现身体需求超过人的身体极限的情况。在这种情况下，大量人员可能一起执行工作或少量人员可能执行超越他们能力的工作，这使得工作效率降低，并且使工人的身体受伤的风险增加。
为了解决这一问题，已开发了可由工人直接穿戴且增强工人移动的辅助力的穿戴式机器人。在根据相关技术的穿戴式机器人的情况下，为了机器人的稳健性以及操作稳定性的目的，工人的整个身体被金属包围，以便全部或部分地向机器人而非向工人施加负载。
然而，在具有上述形式的穿戴式机器人中使用了多个金属连杆，这由于重量增加而导致工人疲劳增加，或者由于运动自由度的限制而导致工作不稳定性增加。此外，可增加机器人的尺寸以便使得向机器人而非向工人施加负载。
相关技术描述的内容仅用于帮助理解本公开的背景，而不应被认为与本领域技术人员已知的现有技术相对应。
发明内容
本公开的目的是提供一种穿戴式肌肉力量辅助装置，该装置能够提供用于穿戴者的腰部移动的辅助力并且通过去除不必要的连杆结构而具有简化结构。
根据本公开的示例性实施方式，提供了一种穿戴式肌肉力量辅助装置，该装置包括：基部，支撑穿戴者的背面；腿部件，可旋转地耦接至基部，并且连接至穿戴者的身体的下部；缆线部，耦接至每个基部和每个腿部件；以及驱动部，设置在基部和腿部件的至少任何一个中，耦接至缆线部，并且被驱动以根据控制来拉动或释放缆线部，以便向穿戴者的腰部肌肉力量提供辅助力。
穿戴式肌肉力量辅助装置可进一步包括：感测部，检测施加至缆线部的负载；以及控制部，控制驱动部，以便根据感测部所检测的值维持缆线部中的设定负载。
基部可包括支撑板，支撑板具有预定长度以便支撑穿戴者的背部和腰部，并且支撑板的对应于穿戴者的腰部的部分可被弯曲以便沿着腰部的曲率接触腰部。
腿部件的一个端部可在穿戴者的前方与大腿接触，腿部件的另一端部可旋转地耦接至基部，并且腿部件的一个端部可旋转以便在拉动缆线部时按压大腿。
可设置有一对腿部件，基部可包括一对延伸件，该延伸件向穿戴者的两侧延伸且具有向腿部件弯曲的端部，并且延伸件的弯曲端部可铰接耦接至腿部件。
可设置有一对腿部件，并且缆线部可包括：腿部件侧缆线具有的两个端部均耦接至一对腿部件；以及驱动部侧缆线，将腿部件侧缆线的两个端部与驱动部之间的部分彼此连接。
缆线部可进一步包括：滑轮，悬挂在腿部件侧缆线上且耦接至腿部件侧缆线，该滑轮耦接至驱动部侧缆线的端部。
在驱动部侧缆线的端部与滑轮之间可设置有用于检测施加至驱动部侧缆线的负载的感测部。
根据本公开的另一示例性实施方式，提供了一种穿戴式肌肉力量辅助工具，该工具包括：驱动部，在穿戴者的身体的上部弯曲或伸展时拉动或释放缆线部以在身体的上部和下部的相对移动过程中提供辅助力，该缆线部将穿戴者的身体的上部和下部彼此连接。
穿戴式肌肉力量辅助工具可进一步包括：感测部，检测缆线部的张力；以及控制部，控制驱动部以使得缆线部维持设定的张力。
附图说明
图1是示出了根据本公开的示例性实施方式的穿戴式肌肉力量辅助装置的构造的视图。
图2是示出了根据本公开的示例性实施方式的在穿着穿戴式肌肉力量辅助装置时的形式的视图。
图3是示出了根据本公开的示例性实施方式的在穿戴式肌肉力量辅助装置的穿戴者行走时的操作形式的视图。
具体实施方式
在下文中，将参考附图描述根据本公开的示例性实施方式的穿戴式肌肉力量辅助装置。
图1是示出了根据本公开的示例性实施方式的穿戴式肌肉力量辅助装置的构造的视图，并且图2是示出了根据本公开的示例性实施方式的在穿着穿戴式肌肉力量辅助装置时的形式的视图。根据本公开的示例性实施方式的穿戴式肌肉力量辅助装置可被构造为包括：基部100，支撑穿戴者的背面；腿部件200，可旋转地耦接至基部100，并且连接至穿戴者的身体的下部；缆线部300，耦接至基部100和腿部件200中的每一个；以及驱动部400，设置在基部100和腿部件200中的至少一个上，耦接至缆线部300，并且该驱动部被驱动以便根据控制来拉动或释放缆线部300，以向穿戴者的腰部肌肉力量提供辅助力。
此外，根据本公开的示例性实施方式的穿戴式肌肉力量辅助装置可进一步包括：感测部600，检测施加至缆线部300的负载；以及控制部500，控制驱动部400，以根据感测部600所检测的值维持缆线部300中的设定负载。
详细地，基部100可包括具有预定长度的支撑板110以支撑穿戴者的背部和腰部，并且支撑板110对应于穿戴者的腰部的部分可被弯曲以便沿着腰部的曲率接触腰部。
优选地，支撑板110可形成为具有沿着穿戴者的脊椎的预定长度，并且可直接或间接接触穿戴者的背部和腰部以支撑穿戴者的背部和腰部。在支撑板110与穿戴者的背面之间还可设置有耦接至支撑板110的垫子等。
此外，支撑板110可使用诸如背带、皮带等的弯曲手段固定至穿戴者的身体的上部，但是不限于此。就是说，支撑板110可通过将支撑板110固定至穿戴者的身体的上部的各种耦接方法而固定至穿戴者的身体的上部。可选地，在不使用任何耦接装置的情况下，穿戴者的背面可根据缆线部300的拉动以按压方式支撑。
支撑板110对应于穿戴者腰部的部分可被弯曲以便沿着腰部的曲率接触腰部，使得支撑板110可稳健地支撑穿戴者的腰部，并且可增加与穿戴者背面接触的区域以提供背面支撑效果。
同时，基部100可进一步包括向穿戴者的两侧延伸一对延伸件120，且该对延伸件具有向腿部件200弯曲的端部。延伸件120的弯曲端部可铰接耦接至腿部件200。优选地，每个延伸件120的一个端部均耦接至支撑板110且由支撑板支撑，并且另一端部延伸至穿戴者的左侧和右侧并随后弯曲从而铰接耦接至腿部件200。
延伸件120可被构造为各种形成，诸如杆形式、板形式、框架形式等，并且腿部件200与基部100之间的耦接点可根据延伸件120而进行各种设置。例如，可设置腿部件200与基部100之间的耦接位置，使得腿部件200的旋转中心与穿戴者的大腿和腰部的弯曲的旋转中心一致。可选地，铰接耦接点可形成在不同的点处，使得当腰部弯曲时能够自由进行旋转。
同时，优选地，腿部件200的一个端部在穿戴者的前方接触大腿，腿部件200的另一端部可旋转地耦接至延伸件120，并且腿部件200的一个端部旋转以便在拉动缆线部300时按压大腿。此外，优选地，可设置一对腿部件200并且该对腿部件分别接触穿戴者的左大腿和右大腿，并且该对腿部件200的另一端部可旋转地分别耦接至一对延伸件120。腿部件200可不仅耦接至大腿，而且也可通过各种耦接手段耦接至穿戴者的身体的下部的各个位置。
类似于支撑板110，尽管腿部件200可弯曲且耦接至穿戴者的大腿从而与大腿整体移动，一对腿部件200中的每一个的一个端部可在它们彼此相对的方向上弯曲并接触大腿，以使得腿部件200可用作支撑件，从而使基部100可支撑穿戴者的背面。
此外，腿部件200可具有各种结构，诸如杆结构、板结构、框架结构等，并且优选地，缆线部300可向腿部件200施加向后的拉动力，使得腿部件相对于铰链旋转的中心向后旋转，以便在拉动缆线部300时按压大腿。
同时，缆线部300可进一步包括：腿部件侧缆线320，具有两个均耦接至一对腿部件200的端部；以及驱动部侧缆线310，将腿部件侧缆线320的两个端部之间的部分与驱动部400彼此连接。此外，缆线部300可进一步包括：滑轮330，悬挂在腿部件侧缆线320上且耦接至腿部件侧缆线。滑轮330可耦接至驱动部侧缆线310的端部。
腿部件侧缆线320的两个端部可分别耦接至一对腿部件200，以使得穿戴者能够行走，驱动部侧缆线310的一个端部可连接至腿部件侧缆线320，并且驱动部侧缆线310的另一端部可连接至驱动部400。详细地，腿部件侧缆线320和驱动部侧缆线310可通过布置在它们之间的滑轮330而彼此连接，以使得驱动部侧缆线310的拉动力可被传递至腿部件200，并且腿部件侧缆线320也可独立移动，以能够腰部支撑并能够使穿戴者的行走。
同时，感测部600可设置在驱动部侧缆线310的端部与滑轮330之间，以便检测施加至驱动部侧缆线310的负载。
可使用测压元件作为感测部600，该测压元件在产生驱动部侧缆线310的拉动时可被按压以便检测张力的增加。可选地，应变仪可用于检测驱动部侧缆线310的张力。在使用测压元件的情况下，测压元件的一个表面可由腿部件侧缆线320支撑，测压元件的另一表面可接触驱动部侧缆线310以便由此由驱动部侧缆线310支撑，并且在拉动驱动部侧缆线310时，可在测压元件的一个表面侧方向上拉动测压元件，以使得测压元件可被按压并且可检测到张力的增加。这仅是一个实施例：使用测压元件的连接结构可进行各种设置，并且可使用除了测压元件或应变仪外的各类张力检测手段。
此外，驱动部400可是电机，并且可被驱动以通过控制部500的控制来缠绕或展开驱动部侧缆线310。除了电机以外，可拉动或释放驱动部侧缆线310的各种手段可用作驱动部400。例如，具有诸如液压缸的气缸形式的驱动手段可用来根据压缩或延伸而拉动或释放驱动部侧缆线310。各种示例可应用至驱动部400。
然后，将参考上述组件描述根据本公开的示例性实施方式的穿戴式肌肉力量辅助装置的操作过程。在穿戴者弯曲他/她的腰部的情况下，可通过大腿来使腿部件200的向后旋转停止，从而使得在驱动部侧缆线310中产生拉伸力。这可增加驱动部侧缆线310的张力，并且感测部600可感应张力值并向控制部500传输感应的张力值。控制部500可检测驱动部侧缆线310的张力的增加，并且可控制驱动部400以释放驱动部侧缆线310，使得驱动部侧缆线310的张力始终维持为设定的张力值。
另一方面，在穿戴者伸展他/她的腰部的情况下，驱动部侧缆线310的张紧状态可能变松，并且驱动部400可缠绕驱动部侧缆线310以便增加减小的张力。驱动部侧缆线310可被缠绕进而被拉动，使得滑轮330向驱动部400移动，并且悬挂在滑轮330上的腿部件侧缆线320向驱动部400拉动，这使相应的腿部件200向后旋转。在腿部件200向后旋转时大腿使腿部件200的旋转停止，基部100可通过使旋转停止的反作用力而向穿戴者的背面施加向前负载，并且张力可保持为设定的张力值，以使得基部100支撑穿戴者的背面。因此，设置了可相对于身体的上部和下部相对移动的辅助力。
同时，图3是示出了根据本公开的示例性实施方式的在穿戴式肌肉力量辅助装置的穿戴者行走时的操作形式的视图。由于腿部件侧缆线320可彼此连接并且可通过滑轮330连接至驱动部侧缆线310，所以不管拉动腿部件侧缆线320的驱动部侧缆线310的操作如何，穿戴者都可在维持张力的状态下行走。例如，在穿戴者向前移动左腿的情况下，连接至左腿的左腿部件200a也可向前旋转，并且连接至左腿部件200a的腿部件侧缆线320的一个端部可拉动另一端部。这个拉动力可传递至右腿部件200b，并且右腿部件200b可接收向后的旋转力，以便向右腿提供向后的压缩力。因此，穿戴者可在通过驱动部侧缆线310维持张力的状态下行走，以便可提供诸如穿戴者的自由移动以及向穿戴者的腰部提供辅助力的效果。
在具有上述的结构的根据本公开的示例性实施方式的穿戴式肌肉力量辅助装置中，向穿戴者的腰部的弯曲或伸展提供辅助力，使得施加至穿戴者的腰部的负担可减轻，并且可防止由于冲击力而产生对腰部的伤害。
此外，根据本公开的示例性实施方式的穿戴式肌肉力量辅助装置可具有比围绕穿戴者的整个身体的机器人更简单的结构，并且组件的数量可降低，使得重量可降低，并且施加至穿戴者的负荷可减轻，由此使得有可能产生诸如工作疲劳降低的效果。
此外，由于穿戴者可自由行走，所以可以减轻工作难度。
虽然已经相对于具体示例性实施方式示出并描述了本公开，但对于本领域内的技术人员显而易见的是，在不背离由所附权利要求限定的精神和范围的前提下，可对本公开进行各种修改和改变。

Claims (10)

1.一种穿戴式肌肉力量辅助装置，所述穿戴式肌肉力量辅助装置包括：
基部，用于支撑穿戴者的背面；
腿部件，能够旋转地耦接至所述基部，并连接至所述穿戴者的身体的下部；
缆线部，耦接至每个所述基部和每个所述腿部件；以及
驱动部，设置在所述基部和所述腿部件的至少一个中，所述驱动部耦接至所述缆线部，并且所述驱动部被驱动以根据控制来拉动或释放所述缆线部，以便向所述穿戴者的腰部肌肉力量提供辅助力，
其中，所述穿戴式肌肉力量辅助装置设置有一对所述腿部件，并且所述缆线部包括：腿部件侧缆线，所述腿部件侧缆线具有两个端部，所述腿部件侧缆线的一个端部耦接至一对所述腿部件中的一个腿部件，而所述腿部件侧缆线的另一个端部耦接至一对所述腿部件中的另一个腿部件；以及驱动部侧缆线，所述驱动部侧缆线使所述腿部件侧缆线的两个端部之间的部分与所述驱动部彼此连接。
2.根据权利要求1所述的穿戴式肌肉力量辅助装置，进一步包括：感测部，用于检测施加至所述缆线部的负载；以及控制部，用于控制所述驱动部，以便根据所述感测部所检测的值维持所述缆线部中的设定负载。
3.根据权利要求1所述的穿戴式肌肉力量辅助装置，其中，所述基部包括支撑板，所述支撑板具有预定长度以便支撑所述穿戴者的背部和腰部，并且所述支撑板的对应于所述穿戴者的所述腰部的部分被弯曲以便沿着所述腰部的曲率接触所述腰部。
4.根据权利要求1所述的穿戴式肌肉力量辅助装置，其中，所述腿部件的一个端部在所述穿戴者的前方与大腿接触，所述腿部件的另一端部能够旋转地耦接至所述基部，并且所述腿部件的所述一个端部旋转以便在拉动所述缆线部时按压所述大腿。
5.根据权利要求1所述的穿戴式肌肉力量辅助装置，其中，设置有一对所述腿部件，所述基部包括一对延伸件，所述延伸件向所述穿戴者的两侧延伸且具有向所述腿部件弯曲的端部，并且所述延伸件的弯曲的端部铰接耦接至所述腿部件。
6.根据权利要求1所述的穿戴式肌肉力量辅助装置，其中，所述缆线部进一步包括：滑轮，悬挂在所述腿部件侧缆线上且耦接至所述腿部件侧缆线，所述滑轮耦接至所述驱动部侧缆线的端部。
7.根据权利要求1所述的穿戴式肌肉力量辅助装置，其中，在所述驱动部侧缆线的端部与滑轮之间设置有用于检测施加至所述驱动部侧缆线的负载的感测部。
8.一种穿戴式肌肉力量辅助工具，所述穿戴式肌肉力量辅助工具包括：
驱动部，所述驱动部在穿戴者的身体的上部弯曲或伸展时拉动或释放缆线部以在身体的上部和下部的相对移动过程中提供辅助力，所述缆线部将所述穿戴者的身体的所述上部和所述下部彼此连接，
其中，所述穿戴式肌肉力量辅助工具设置有一对腿部件，并且所述缆线部包括：腿部件侧缆线，所述腿部件侧缆线具有两个端部，所述腿部件侧缆线的一个端部耦接至一对所述腿部件中的一个腿部件，而所述腿部件侧缆线的另一个端部耦接至一对所述腿部件中的另一个腿部件；以及驱动部侧缆线，所述驱动部侧缆线使所述腿部件侧缆线的两个端部之间的部分与所述驱动部彼此连接。
9.根据权利要求8所述的穿戴式肌肉力量辅助工具，进一步包括：感测部，用于检测所述缆线部的张力；以及控制部，用于控制所述驱动部以使得所述缆线部维持设定的张力。
10.一种穿戴式肌肉力量辅助装置，所述穿戴式肌肉力量辅助装置包括：
基部，用于支撑穿戴者的背面；
一对腿部件，能够旋转地耦接至所述基部，并且一对腿部件中的一个腿部件连接至所述穿戴者的身体的左下部，而一对腿部件中的另一个腿部件连接至所述穿戴者的身体的右下部；
腿部件侧缆线，所述腿部件侧缆线具有两个端部，所述腿部件侧缆线的一个端部耦接至一对所述腿部件中的一个腿部件，而所述腿部件侧缆线的另一个端部耦接至一对所述腿部件中的另一个腿部件；
驱动部侧缆线，所述驱动部侧缆线的一个端部耦接在所述腿部件侧缆线的所述两个端部之间；
驱动部，耦接至所述驱动部侧缆线的另一端部，并且所述驱动部被驱动以根据控制来拉动或释放所述驱动部侧缆线，以便向所述穿戴者的腰部肌肉力量提供辅助力；
感测部，用于检测所述驱动部侧缆线的张力；以及
控制部，用于控制所述驱动部以使得所述驱动部侧缆线维持设定的张力。
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