CN106618830A - Single-lower-limb exoskeleton orthopedic apparatus and orthopedic control method - Google Patents
Single-lower-limb exoskeleton orthopedic apparatus and orthopedic control method Download PDFInfo
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- CN106618830A CN106618830A CN201611265540.8A CN201611265540A CN106618830A CN 106618830 A CN106618830 A CN 106618830A CN 201611265540 A CN201611265540 A CN 201611265540A CN 106618830 A CN106618830 A CN 106618830A
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- 238000000034 method Methods 0.000 title claims abstract description 33
- 230000000399 orthopedic effect Effects 0.000 title claims abstract description 25
- 210000000689 upper leg Anatomy 0.000 claims abstract description 49
- 210000000629 knee joint Anatomy 0.000 claims abstract description 33
- 244000309466 calf Species 0.000 claims abstract description 22
- 230000033001 locomotion Effects 0.000 claims abstract description 20
- 230000007246 mechanism Effects 0.000 claims abstract description 13
- 210000003141 lower extremity Anatomy 0.000 claims description 39
- 210000002414 leg Anatomy 0.000 claims description 24
- 210000003127 knee Anatomy 0.000 claims description 17
- 230000009471 action Effects 0.000 claims description 13
- 238000011897 real-time detection Methods 0.000 claims description 9
- 230000008569 process Effects 0.000 claims description 8
- 239000012530 fluid Substances 0.000 claims description 7
- 230000008520 organization Effects 0.000 claims description 6
- 238000004458 analytical method Methods 0.000 claims description 5
- 238000004364 calculation method Methods 0.000 claims description 3
- 230000005021 gait Effects 0.000 claims description 3
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 claims description 2
- 229910052799 carbon Inorganic materials 0.000 claims description 2
- 239000003921 oil Substances 0.000 description 55
- 239000010720 hydraulic oil Substances 0.000 description 12
- 230000001276 controlling effect Effects 0.000 description 6
- 206010033799 Paralysis Diseases 0.000 description 4
- 238000005452 bending Methods 0.000 description 3
- 230000008901 benefit Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000005611 electricity Effects 0.000 description 3
- 230000007704 transition Effects 0.000 description 3
- 229920000049 Carbon (fiber) Polymers 0.000 description 2
- 206010008190 Cerebrovascular accident Diseases 0.000 description 2
- 208000006011 Stroke Diseases 0.000 description 2
- 239000004917 carbon fiber Substances 0.000 description 2
- 206010008129 cerebral palsy Diseases 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 2
- 208000020431 spinal cord injury Diseases 0.000 description 2
- 206010033892 Paraplegia Diseases 0.000 description 1
- 206010044565 Tremor Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 125000004122 cyclic group Chemical group 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 208000035475 disorder Diseases 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 210000003414 extremity Anatomy 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000003387 muscular Effects 0.000 description 1
- 230000001769 paralizing effect Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 230000009885 systemic effect Effects 0.000 description 1
- 210000001519 tissue Anatomy 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F5/00—Orthopaedic methods or devices for non-surgical treatment of bones or joints; Nursing devices; Anti-rape devices
- A61F5/01—Orthopaedic devices, e.g. splints, casts or braces
- A61F5/0102—Orthopaedic devices, e.g. splints, casts or braces specially adapted for correcting deformities of the limbs or for supporting them; Ortheses, e.g. with articulations
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F5/00—Orthopaedic methods or devices for non-surgical treatment of bones or joints; Nursing devices; Anti-rape devices
- A61F5/01—Orthopaedic devices, e.g. splints, casts or braces
- A61F5/0102—Orthopaedic devices, e.g. splints, casts or braces specially adapted for correcting deformities of the limbs or for supporting them; Ortheses, e.g. with articulations
- A61F2005/0132—Additional features of the articulation
- A61F2005/0165—Additional features of the articulation with limits of movement
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F5/00—Orthopaedic methods or devices for non-surgical treatment of bones or joints; Nursing devices; Anti-rape devices
- A61F5/01—Orthopaedic devices, e.g. splints, casts or braces
- A61F5/0102—Orthopaedic devices, e.g. splints, casts or braces specially adapted for correcting deformities of the limbs or for supporting them; Ortheses, e.g. with articulations
- A61F2005/0132—Additional features of the articulation
- A61F2005/0172—Additional features of the articulation with cushions
- A61F2005/0176—Additional features of the articulation with cushions supporting the patella
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F5/00—Orthopaedic methods or devices for non-surgical treatment of bones or joints; Nursing devices; Anti-rape devices
- A61F5/01—Orthopaedic devices, e.g. splints, casts or braces
- A61F5/0102—Orthopaedic devices, e.g. splints, casts or braces specially adapted for correcting deformities of the limbs or for supporting them; Ortheses, e.g. with articulations
- A61F2005/0181—Protectors for articulations
Landscapes
- Health & Medical Sciences (AREA)
- Nursing (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Vascular Medicine (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
- Prostheses (AREA)
Abstract
The invention relates to the technical field of orthopedic apparatuses, and in particular to a single-lower-limb exoskeleton orthopedic apparatus and an orthopedic control method. The orthopedic apparatus comprises a supporting mechanism, an adjusting mechanism and a control mechanism, wherein the supporting mechanism comprises a thigh supporting part, a calf supporting part and a planta supporting mechanism; the thigh supporting part and the calf supporting part are connected by virtue of a knee joint rotating shaft; the calf supporting part and the planta supporting part are connected; the adjusting mechanism comprises a hydraulic damper; two ends of the hydraulic damper are connected to the thigh supporting part and the calf supporting part; and the control mechanism comprises plantar pressure sensors, a knee joint angle sensor, a piston rod thrust sensor and a controller. The orthopedic apparatus provided by the invention can timely sense a human walking state and adjust the stretching rate of the hydraulic damper , so that piston motions of the hydraulic damper can passively adapt to the human walking status and can be adjusted in accordance with a walking speed; therefore, free walking of a human body can be kept to the greatest extent, and stability can be guaranteed.
Description
Technical field
The present invention relates to orthosiss technical field, more particularly to a kind of single lower limb exoskeleton orthosiss and orthopedic controlling party
Method.
Background technology
Human body lower limbs ectoskeleton orthosiss are a wearable mechanically aided devices, are mainly used in military and medical treatment neck
Domain, wherein be the weapon for assisting soldier to carry superman's Systemic Burden in military field, and in medical field, mainly as doctor
Rehabilitation apparatus is treated, auxiliary patient carries out rehabilitation.Therefore, based on above-mentioned application, human body lower limbs ectoskeleton orthosiss need to have to be worn
Wear flexibly, it is comfortable and easy to wear, the features such as light quality, after wearing ectoskeleton orthosiss, human body walking, or human body can be aided in
Can walk under over loading.
The existing lower limb exoskeleton orthosiss of existing lower limb exoskeleton are generally carried out orthotic using Motor drive hydraulic cylinder
Control is adjusted, wherein motor drives rotating disk to rotate, and then promotes piston to move back and forth in hydraulic cylinder by connecting rod, so as to
Drive expansion link to carry out stretching motion, realize the control and regulation of limb motion scope.Therefore, the orthosiss of this structure need to adopt
With overweight power supply and motor, cause orthotic overall dimensions and quality larger, be not easy to be used as outdoor medical rehabilitation, for
Single lower limb knee joint stretch muscular tissue paralyse completely or partial paralysis wearer, the orthosiss of structure excessively redundancy in this.Simultaneously
The orthosiss of this structure, due to needing Motor drive hydraulic cylinder to carry out piston movement so that human motion must coordinate hydraulic pressure
The stretching motion of cylinder expansion link, by force with moving walking under the drive of hydraulic cylinder, and cannot voluntarily adjust and control walking
Speed, but Human Height having differences property of size, this active adjustment control method cannot adapt to human body itself walking to be needed
Ask, easily cause crank, the problem of left rigid posture.
The content of the invention
(1) technical problem to be solved
It is an object of the invention to provide a kind of single lower limb exoskeleton orthosiss and orthopedic control method, solve existing orthosiss
The size and quality of presence is larger, by force with moving walking when Motor drive hydraulic cylinder carries out piston movement, easily causes center of gravity
Shakiness, the problem of left rigid posture.
(2) technical scheme
In order to solve above-mentioned technical problem, the invention provides a kind of single lower limb exoskeleton orthosiss, including supporting mechanism,
Governor motion and controlling organization；
The supporting mechanism includes thigh support portion, calf support and vola supporting part, wherein the thigh support portion
It is connected by knee joint rotating shaft with the calf support, the calf support is connected with the vola supporting part by scalable
Fitting connects；
The governor motion includes hydraulic damper, and the two ends of the hydraulic damper connect respectively the thigh support portion
With the calf support, the hydraulic damper includes piston cylinder and the proportioning valve that is connected with the piston cylinder, wherein institute
State and be provided with piston cylinder the first oil pocket and the second oil pocket, first piston, the first piston connection are provided with first oil pocket
Stretch out the outside of the piston cylinder in the first end of piston rod, the second end of the piston rod；Second is provided with second oil pocket
Piston, the first end of the second piston connecting spring, the second end of the spring connects the inwall of second oil pocket；It is described
The logical hydraulic fluid port of the first oil pocket connects the first oil duct, and the logical hydraulic fluid port of second oil pocket connects the second oil duct, and the proportioning valve is arranged
Between first oil duct and second oil duct；
The controlling organization includes being arranged on some plantar pressure sensor of the vola supporting part, is arranged on the knee joint
Knee joint angle sensor in the rotating shaft of joint, the piston rod thrust sensor being arranged on the hydraulic damper and control
Device processed, wherein the controller connects respectively the plantar pressure sensor, the knee joint angle sensor, the piston rod
Thrust pickup and the proportioning valve.
Further, the thigh support portion includes two thigh support plates be arrangeding in parallel, in two thighs
Some big leg cuff plates are connected between fagging, the big leg cuff plate is the arc-shaped structure being adapted with the shape of thigh, two
Some thigh bandage folders are additionally provided with the individual thigh support plate, thigh are removably connected with the thigh bandage folder and are tied up
Band, the controller is arranged on the outside of the big leg cuff plate.
Further, the calf support includes two shin support panels be arrangeding in parallel, in two shanks
Some little leg cuff plates are connected between fagging, the little leg cuff plate is the arc-shaped structure being adapted with the shape of shank, two
Some shank bandage folders are additionally provided with the individual shin support panel, shank are removably connected with the shank bandage folder and are tied up
Band；The thigh support plate is connected with the shin support panel by the knee joint rotating shaft.
Further, the vola supporting part includes vola gripper shoe, and the adjustable connecting piece is connection gripper shoe, institute
State vola gripper shoe to be connected with the little leg cuff plate by the connection gripper shoe；Clamp institute is provided with the outside of the little leg cuff plate
The card holding trough of connection gripper shoe is stated, the card holding trough is provided with the locking member of the locking connection gripper shoe.
Specifically, the connection gripper shoe adopts carbon fiber elastic plate, the connection gripper shoe to be provided with multiple equidistant
The location hole of arrangement, the locking member is connected through the location hole with card holding trough locking.
Specifically, the shin support panel is provided with the knee joint postive stop baffle for limiting the knee flexion angles.
Specifically, the piston cylinder is respectively arranged at two ends with end cap and cylinder cap, sets respectively on the end cap and the cylinder cap
There are some passages.
In order to solve above-mentioned technical problem, present invention also offers a kind of orthotic orthopedic controlling party of single lower limb exoskeleton
Method, the method carries out orthopedic control using above-mentioned single lower limb exoskeleton orthosiss, and the method specifically includes following steps：
The plantar pressure sensor real-time detection plantar pressure data, and by the plantar pressure data transfer for detecting extremely
The controller；
The knee joint angle sensor real-time detection knee angle of bend data, and by the knee angle of bend for detecting
Data transfer is to the controller；
The piston rod thrust data of hydraulic damper described in the piston rod thrust sensor real-time detection, and will detect
Piston rod thrust data transfer to the controller；
Plantar pressure data, knee angle of bend data and piston rod described in the controller real-time reception and process are pushed away
Force data, according to result the current walking states of human body are obtained, by the current walking states of the human body of acquisition be pre-stored in it is described
Human body walking gait law curve in controller is fitted analysis, obtains corresponding with the current walking states of the human body
Flow control signal；
The controller sends the flow control signal for obtaining to the proportioning valve of the hydraulic damper, according to the flow
Control signal controls the proportioning valve.
Further, the controller controls the proportioning valve of hydraulic damper, specifically includes following steps：
The controller is to the driving amplifier transmitted traffic control signal in the proportioning valve；
The driving amplifier receives the flow control signal, and the flow control signal is converted into into control electricity
Stream, and the control electric current is sent into the electric magnet into the proportioning valve；
The electric magnet receives the control electric current, by the magnet control magnetic core action, by the magnetic core
Action control described in valve port opening between the first oil duct and second oil duct.
Specifically, the controller adopts control algolithm respectively to described plantar pressure data, knee angle of bend number
Calculating process is carried out according to piston rod thrust data, action anticipation is made according to result of calculation, obtain the current walking states of human body；
Wherein described control algolithm is finite states machine control algorithm, Iterative Learning Control Algorithm, fuzzy adaptivecontroller algorithm or special
Family's pid control algorithm.
(3) beneficial effect
The above-mentioned technical proposal of the present invention has the advantage that：
Single lower limb exoskeleton orthosiss and orthopedic control method that the present invention is provided, by thigh support portion, leg support
Portion and vola supporting part are fixed on orthosiss on human body lower limbs, and by the stretching motion of piston rod in hydraulic damper people is coordinated
Body walking states, by plantar pressure sensor vola pressure is measured in real time, is surveyed in real time by knee joint angle sensor
Amount knee flexion angles, measure in real time the thrust of damper rod, by controller reality by piston rod thrust sensor
When receive the measured value of each sensor, and measured value be analyzed make action anticipation, and to the ratio of hydraulic damper
Valve transmitted traffic control signal, the proportioning valve adjusts the according to the aperture size of the flow control signal control valve port for receiving
The flow of hydraulic oil between one oil duct and the second oil duct, and then control the flexible speed of piston rod so that during human body walking more
Steadily.
Single lower limb exoskeleton orthosiss and orthopedic control method that the present invention is provided, can at any time sense human body walking shape
State, adjusts at any time the flexible speed of hydraulic damper, allows user no longer to worry the speed of travel of oneself so that hydraulic damper
Piston movement can be passive cooperation human body walking states, adjusted at any time according to the speed of the user speed of travel
Section, keeps human body walking freely, it is ensured that stability to greatest extent.
Single lower limb exoskeleton orthosiss and orthopedic control method that the present invention is provided, with existing orthosiss overweight electricity is adopted
Source is compared with the version of Motor drive hydraulic cylinder, eliminates the driving original paper of hydraulic damper, at utmost mitigates weight,
Light structure, is easy to dress out of doors.
Single lower limb exoskeleton orthosiss and orthopedic control method that the present invention is provided, are mainly used in paraplegia and suffer from medical field
The orthopedic rehabilitation treatment of person, apoplexy, spinal cord injury and patients with cerebral palsy, by the present invention lower extremity paralysiss patient can be thoroughly changed
Rehabilitation and daily life, help user rehabilitation as early as possible, realize self-service walking.
Description of the drawings
Fig. 1 is the orthotic structural representation of the single lower limb exoskeleton of the embodiment of the present invention one；
Fig. 2 is the orthotic three-dimensional structure diagram of the single lower limb exoskeleton of the embodiment of the present invention one；
Fig. 3 is the extended configuration schematic diagram of hydraulic damper in the single lower limb exoskeleton orthosiss of the embodiment of the present invention one；
Fig. 4 is the compressive state schematic diagram of hydraulic damper in the single lower limb exoskeleton orthosiss of the embodiment of the present invention one.
In figure：1：Thigh support portion；101：Thigh support plate；102：Big leg cuff plate；103：Thigh bandage is pressed from both sides；104：First
Installed part；2：Calf support；201：Shin support panel；202：Little leg cuff plate；203：Shank bandage is pressed from both sides；204：Card holding trough；
205：Second installed part；3：Vola supporting part；301：Vola gripper shoe；302：Connection gripper shoe；4：Knee joint rotating shaft；5：Hydraulic pressure
Antivibrator；501：Piston cylinder；502：Proportioning valve；503：First oil pocket；504：Second oil pocket；505：First piston；506：Piston
Bar；507：Second piston；508：Spring；509：First oil duct；510：Second oil duct；511：End cap；512：Cylinder cap；513：First
Connector；514：Second connector；6：Plantar pressure sensor；7：Knee joint angle sensor；8：Piston rod thrust sensor；
9：Controller；10：Knee joint postive stop baffle.
Specific embodiment
To make purpose, technical scheme and the advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention
In accompanying drawing, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is
A part of embodiment of the present invention, rather than the embodiment of whole.Based on the embodiment in the present invention, ordinary skill people
The every other embodiment that member is obtained on the premise of creative work is not made, belongs to the scope of protection of the invention.
Embodiment one
As Figure 1-4, single lower limb exoskeleton orthosiss provided in an embodiment of the present invention, including supporting mechanism, regulation machine
Structure and controlling organization.
The supporting mechanism includes thigh support portion 1, calf support 2 and vola supporting part 3, wherein the thigh support
Portion 1 is connected with the calf support 2 by knee joint rotating shaft 4, and the calf support 2 passes through with the vola supporting part 3
Adjustable connecting piece connects.
The governor motion includes hydraulic damper 5, and the two ends of the hydraulic damper 5 connect respectively the thigh support
Portion 1 and the calf support 2.As shown in Figure 3-4, the hydraulic damper 5 include piston cylinder 501 and with the piston cylinder
The proportioning valve 502 of 501 connections, wherein being provided with the first oil pocket 503 and the second oil pocket 504 in the piston cylinder 501, described first is oily
It is provided with first piston 505 in chamber 503, the first piston 505 connects the first end of piston rod 506, the of the piston rod 506
Stretch out the outside of the piston cylinder 501 in two ends.Second piston 507, the second piston 507 are provided with second oil pocket 504
The first end of connecting spring 508, the second end of the spring 508 connects the inwall of second oil pocket 504.First oil pocket
503 logical hydraulic fluid port connects the first oil duct 509, and the logical hydraulic fluid port of second oil pocket 504 connects the second oil duct 510, the proportioning valve
502 are arranged between first oil duct 509 and second oil duct 510, first oil duct 509 and second oil duct
510 are connected by the proportioning valve 502.
The controlling organization include being arranged on the vola supporting part 3 some plantar pressure sensor 6, be arranged on it is described
Knee joint angle sensor 7 in knee joint rotating shaft 4, the piston rod thrust sensor 8 being arranged on the hydraulic damper 5,
And controller 9, wherein the controller 9 connect respectively the plantar pressure sensor 6, the knee joint angle sensor 7,
The piston rod thrust sensor 8 and the proportioning valve 502.Wherein described plantar pressure sensor 6, knee joint angle sensing
The measurement data of collection is sent in real time the controller 9 by device 7 and piston rod thrust sensor 8, at controller 9
After reason analysis, to the proportioning valve 502 damping control signal is fed back.
In embodiments of the present invention, orthosiss are fixed by thigh support portion 1, calf support 2 and vola supporting part 3
On human body lower limbs, human body walking state is coordinated by the stretching motion of piston rod 506 in hydraulic damper 5, pressed by vola
Force transducer 6 measures in real time vola pressure, and by knee joint angle sensor 7 knee flexion angles are measured in real time, leads to
The thrust of the real-time measurement damper rod of piston rod thrust pickup 8 is crossed, by real-time reception each sensor of controller 9
Measured value, controller 9 carries out analysis in real time to each measured value and makes action anticipation, and to the proportioning valve 502 of hydraulic damper 5
The flow control signal corresponding with anticipation action is sent, the proportioning valve 502 is according to the flow control signal control oil for receiving
Mouthful size adjusting the flow of hydraulic oil, and then control the flexible speed of piston rod 506, enable hydraulic damper 5 more preferable
Cooperation human body walking, it is more steady when making human body walking.
Furthermore, it is understood that the thigh support portion 1 includes two thigh support plates 101 be arrangeding in parallel, described in two
Some big leg cuff plates 102 are connected between thigh support plate 101, the big leg cuff plate 102 is to be adapted with the shape of thigh
Arc-shaped structure, is additionally provided with some thigh bandage folders 103, the thigh bandage folder 103 on two thigh support plates 101
On be removably connected with thigh bandage (not shown), colligation is carried out to thigh by thigh bandage and is fixed.
The calf support 2 includes two shin support panels 201 be arrangeding in parallel, the thigh support plate 101 and institute
State shin support panel 201 to connect by the knee joint rotating shaft 4.Some shanks are connected between two shin support panels
Hoop plate 202, the little leg cuff plate 202 is the arc-shaped structure being adapted with the shape of shank, in two shin support panels
Some shank bandage folders 203 are additionally provided with 201, shank bandage is removably connected with (in figure not on the shank bandage folder 203
Show), colligation is carried out to shank by shank bandage and is fixed.
The vola supporting part 3 includes vola gripper shoe 301, and the adjustable connecting piece is using connection gripper shoe 302, institute
State vola gripper shoe 301 to be connected with the little leg cuff plate 202 by the connection gripper shoe 302.Outside the little leg cuff plate 202
Side is provided with the card holding trough 204 for connecting gripper shoe 302 described in clamp, and the card holding trough 204 is provided with the locking connection gripper shoe 302
Locking member, because the height of user has differences, can by adjustment it is described connection gripper shoe 302 in the card holding trough
Clamping position in 302 is locked adjusting optimum fixation position by locking member.
Specifically, the connection gripper shoe 302 adopts carbon fiber elastic plate, fine by carbon during foot landing
Tie up elastic plate to store part energy, release energy when liftoff, make human body walking laborsaving, rigidity when landing is avoided in addition
Contact.
It is different in view of user height, in order that orthosiss can preferably adapt to the user of different heights, and then
Orthopedic purpose is reached, multiple location holes being equally spaced is set in the connection gripper shoe 302, when the connection gripper shoe
302 are attached with the little leg cuff plate 202, according to the height demand of user, pass through the locking member appropriate
Location hole is locked with the card holding trough 302.
In view of human body kneed angle of bend in the process of walking, restriction is provided with the shin support panel 201
The knee joint postive stop baffle 10 of the knee flexion angles, so as to avoid knee joint bending transition caused by walking disorder.
In embodiments of the present invention, the controller 9 is preferably mounted at the outside of the big leg cuff plate 101, it is to avoid control
Device 9 is interfered in human walking procedure.
Specifically, the piston cylinder 501 of the hydraulic damper 5 is respectively arranged at two ends with end cap 511 and cylinder cap 512, described
Some passages are respectively equipped with end cap 511 and the cylinder cap 512, it is to avoid the impact of compressed air during piston movement.Institute
The first end for stating piston rod 506 is provided with the first connector 513, and the cylinder cap 512 is provided with the second connector 514, corresponding,
The first installed part 104 is provided with the thigh support plate 101, the shin support panel 201 is provided with the second installed part 205,
First connector 513 is connected with first installed part 104, second connector 514 and second installed part
205 are connected, so as to realize installation operation of the hydraulic damper on orthosiss.
Especially, the oil pocket 504 of first oil pocket 503 and second is separately positioned on the left and right sides of the proportioning valve 502,
Cross section of the cross section of second oil pocket 504 more than first oil pocket 503.
More particularly, the proportioning valve 502 includes signal input part and flow-control outfan, wherein the signal is defeated
Enter end to be arranged on outside the piston cylinder 501, the signal input part includes driving amplifier, the driving amplifier and outside
Controller connects, for receiving the flow control signal that the controller 9 sends.The flow-control outfan is arranged on described
In piston cylinder 501, first oil duct 509 is connected respectively with second oil duct 510 with the flow-control outfan, institute
Flow-control outfan is stated including electric magnet and the magnetic core being engaged with the electric magnet, the driving amplifier drive connection
The electric magnet, magnetic core carries out expanding-contracting action described in the magnet control, by the expanding-contracting action of the magnetic core to control
State the aperture of valve port between the first oil duct 509 and second oil duct 510.
Embodiment two
Present invention also offers the single lower limb exoskeleton orthosiss described in a kind of employing above-described embodiment one carry out orthopedic control
Single lower limb exoskeleton orthosiss are fixed on people by the method for system by thigh support portion 1, calf support 2 and vola supporting part 3
On body lower limb, in human walking procedure, piston rod can coordinate human body walking state to carry out accordingly in the hydraulic damper 5
Stretching motion.Then the control method specifically includes following steps：
The real-time detection plantar pressure data of the plantar pressure sensor 6, and by the plantar pressure data transfer for detecting
To the controller 9.
The real-time detection knee angle of bend data of the knee joint angle sensor 7, and by the knee bends angle for detecting
Degrees of data is transmitted to the controller 9.
The piston rod thrust data of hydraulic damper described in the real-time detection of piston rod thrust sensor 8, and will detection
The piston rod thrust data transfer for arriving is to the controller 9.
Plantar pressure data, knee angle of bend data and piston rod thrust number described in the real-time reception of the controller 9
According to, and using control algolithm described plantar pressure data, knee angle of bend data and piston rod thrust data are entered respectively
Row calculating is processed, and according to result of calculation action anticipation is made, and obtains the current walking states of human body, such as upright phase, upright arriving are put
Dynamic phase transition, swing phase, swing phase to upright phase transition etc..Wherein described control algolithm can according to the actual requirements using limited
State machine control algolithm, Iterative Learning Control Algorithm, fuzzy adaptivecontroller algorithm or expert PID control algorithm.
The controller 9 will calculate the current walking states of human body for obtaining with the human body walking being pre-stored in controller 9 step
State law curve is fitted analysis, obtains the flow control signal corresponding with the current walking states of human body.
The controller 9 to the transmitted traffic control signal of proportioning valve 502 in the hydraulic damper 5, according to the stream
Amount control signal controls the proportioning valve 502.
In embodiments of the present invention, the kneed walking shape of human body lower limbs can constantly be corrected by above-mentioned control method
State, realizes passive control of the orthosiss with control, it is to avoid drive human body walking by force, cause crank, walking posture is stiff
Problem.
Wherein, when carrying out the proportional valve control of hydraulic damper by the controller 9, comprise the steps：
The controller 9 is to the driving amplifier transmitted traffic control signal in the proportioning valve 502.
The driving amplifier receives the flow control signal, and the flow control signal is converted into into control electricity
Stream, and the control electric current is sent into the electric magnet into the proportioning valve.
The electric magnet receives the control electric current, and the magnetic core is stretched under the magneticaction of the electric magnet
Action, by the valve port opening described in the action control of the magnetic core between the first oil duct 509 and second oil duct 510, from
And the flow of hydraulic oil between first oil duct 509 and second oil duct 510 is controlled, realize to living in hydraulic damper 5
The adjustment of the flexible speed of stopper rod.
Wherein, the concrete control process of hydraulic damper 5 is as follows：
When human body walking state is in upright phase, hydraulic damper is in the fully extended state as shown in Figure 3, described
The fully extended outside in the piston cylinder 501 of piston rod 506, the first piston 505 is in first oil pocket 503 most
Left end, the second piston 507 is also at the high order end of second oil pocket 504, and the spring 508 is in extended configuration.This
When controller 9 need control hydraulic damper proportioning valve 502 it is completely that hydraulic fluid port is locked, it is to avoid knee joint bending.
When human body walking state is transitioned into swing phase from upright phase, human body heel is liftoff, in human walking procedure, thigh
Whipping drives the bending of knee joint inertia, and then applies certain pressure to the piston rod 506, promotes piston rod 506 to be shunk,
The first piston 505 is driven to move right, and then the hydraulic oil compressed in first oil pocket 503 flows to the right, hydraulic oil
Second oil duct 510 is flowed into after the regulation of the proportioning valve 502 from the first oil duct 509, hydraulic oil is oily from described second
Road 510 enters into second oil pocket 504, promotes the second piston 507 to move right, and then compresses the spring 508, directly
Extremely the shape body of the hydraulic damper as shown in figure 4, in the process, by controller 9 regulating valve of the proportioning valve 502 is controlled
Mouthful size adjusting the flow of hydraulic oil, and then the contraction rate of the piston rod 506 is controlled, to be fitted human body knee joint
Movement velocity so that it is more steady during human body walking.
In the same manner, when human body walking state is transitioned into upright phase from swing phase, namely in hydraulic damper as shown in Figure 4
Compressive state on the basis of, human body walking state changes, and the pressure being applied on the piston rod 506 is gradually reduced, then
Under the elastic force effect of the spring 508, promote the second piston 507 to be moved to the left, and then compress second oil pocket 504
In hydraulic oil flow to the left, hydraulic oil flows into described from second oil duct 510 after the regulation of the proportioning valve 502
One oil duct 509, hydraulic oil enters into first oil pocket 503 from first oil duct 509, promote the first piston 505 to
Move left, drive the piston rod 506 to stretch out to left end, until the shape body of the hydraulic damper is as shown in figure 3, in this process
In, the proportioning valve 502 is controlled by controller 9 and adjusts the size of valve port adjusting the flow of hydraulic oil, and then control described
The stretching, extension speed of piston rod 506, to the movement velocity for being fitted human body knee joint so that more steady during human body walking.Work as bullet
It is now again by the control proportioning valve 502 of controller 9 that valve port is locked when spring is discharged into the fully extended state, complete once to follow
Ring, in whole cyclic process, each sensor does not stop to detect gait state, so as to pass through the stream of controller real-time control hydraulic oil
Fast size.
In sum, the single lower limb exoskeleton orthosiss and orthopedic control method described in the embodiment of the present invention, with as follows
Advantage：
1st, the present invention can at any time sense human body walking state, and the flexible speed of hydraulic damper is adjusted at any time, allow and use
Person no longer worries the speed of travel of oneself so that the walking shape of the cooperation human body that the piston movement of hydraulic damper can be passive
State, is adjusted at any time according to the speed of the user speed of travel, keeps human body walking freely to greatest extent, it is ensured that stable
Property.
2nd, it is of the invention to be compared with the version of Motor drive hydraulic cylinder using overweight power supply with existing orthosiss, save
The driving original paper of hydraulic damper, at utmost mitigates weight, and light structure is easy to dress walking out of doors.
3rd, the present invention can be used in the orthopedic health of paralytic patient in medical field, apoplexy, spinal cord injury and patients with cerebral palsy
Multiple treatment, by the present invention rehabilitation and the daily life of lower extremity paralysiss patient can be thoroughly changed, and help user as early as possible
Rehabilitation, realizes self-service walking.
In describing the invention, it should be noted that unless otherwise clearly defined and limited, term " connected ", " company
Connect " should be interpreted broadly, for example, it may be being fixedly connected, or being detachably connected, or it is integrally connected；It can be machine
Tool connects, or electrically connects；Can be joined directly together, it is also possible to be indirectly connected to by intermediary.For this area
For those of ordinary skill, above-mentioned term concrete meaning in the present invention can be understood with concrete condition.
In describing the invention, unless otherwise stated, " some " are meant that one or more；" multiple " are meant that
Two or more；Term " on ", D score, "left", "right", " interior ", the orientation of the instruction such as " outward " or position relationship be based on
Orientation shown in the drawings or position relationship, are for only for ease of the description present invention and simplify description, rather than indicate or imply institute
The machine or element of finger must have specific orientation, with specific azimuth configuration and operation, therefore it is not intended that to the present invention
Restriction.
Finally it should be noted that：Above example only to illustrate technical scheme, rather than a limitation；Although
The present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those within the art that：It still may be used
To modify to the technical scheme described in foregoing embodiments, or equivalent is carried out to which part technical characteristic；
And these modification or replace, do not make appropriate technical solution essence depart from various embodiments of the present invention technical scheme spirit and
Scope.
Claims (10)
1. a kind of single lower limb exoskeleton orthosiss, it is characterised in that：Including supporting mechanism, governor motion and controlling organization；
The supporting mechanism includes thigh support portion, calf support and vola supporting part, wherein the thigh support portion and institute
State calf support to connect by knee joint rotating shaft, the calf support passes through adjustable connecting piece with the vola supporting part
Connection；
The governor motion includes hydraulic damper, and the two ends of the hydraulic damper connect respectively the thigh support portion and institute
Calf support is stated, the hydraulic damper includes piston cylinder and the proportioning valve being connected with the piston cylinder, wherein the work
The first oil pocket and the second oil pocket are provided with plug cylinder, first piston is provided with first oil pocket, the first piston connects piston
Stretch out the outside of the piston cylinder in the first end of bar, the second end of the piston rod；Second piston is provided with second oil pocket,
The first end of the second piston connecting spring, the second end of the spring connects the inwall of second oil pocket；Described first
The logical hydraulic fluid port of oil pocket connects the first oil duct, and the logical hydraulic fluid port of second oil pocket connects the second oil duct, and the proportioning valve is arranged on institute
State between the first oil duct and second oil duct；
The controlling organization includes being arranged on some plantar pressure sensor of the vola supporting part, is arranged on the knee joint
Knee joint angle sensor in rotating shaft, the piston rod thrust sensor being arranged on the hydraulic damper and controller,
Wherein described controller connects respectively the plantar pressure sensor, the knee joint angle sensor, the piston rod thrust
Sensor and the proportioning valve.
2. single lower limb exoskeleton orthosiss according to claim 1, it is characterised in that：The thigh support portion includes two
The thigh support plate be arrangeding in parallel, is connected with some big leg cuff plates, the big leg cuff plate between two thigh support plates
It is the arc-shaped structure being adapted with the shape of thigh, some thigh bandage folders is additionally provided with two thigh support plates,
Thigh bandage is removably connected with the thigh bandage folder；Wherein described controller is arranged on the outer of the big leg cuff plate
Side.
3. single lower limb exoskeleton orthosiss according to claim 2, it is characterised in that：The calf support includes two
The shin support panel be arrangeding in parallel, is connected with some little leg cuff plates, the little leg cuff plate between two shin support panels
It is the arc-shaped structure being adapted with the shape of shank, some shank bandage folders is additionally provided with two shin support panels,
Shank bandage is removably connected with the shank bandage folder；The thigh support plate is with the shin support panel by described
Knee joint rotating shaft connects.
4. single lower limb exoskeleton orthosiss according to claim 3, it is characterised in that：The vola supporting part includes vola
Gripper shoe, the adjustable connecting piece is connection gripper shoe, and the vola gripper shoe is little with described by the connection gripper shoe
Leg cuff plate connects；The card holding trough for connecting gripper shoe described in clamp is provided with the outside of the little leg cuff plate, the card holding trough is provided with lock
The locking member of the tight connection gripper shoe.
5. single lower limb exoskeleton orthosiss according to claim 4, it is characterised in that：The connection gripper shoe is fine using carbon
Dimension elastic plate, the connection gripper shoe is provided with multiple location holes being equally spaced, and the locking member passes through the location hole
It is connected with card holding trough locking.
6. single lower limb exoskeleton orthosiss according to claim 3, it is characterised in that：The shin support panel is provided with limit
Make the knee joint postive stop baffle of the knee flexion angles.
7. single lower limb exoskeleton orthosiss according to claim 1, it is characterised in that：The two ends of the piston cylinder set respectively
There are end cap and cylinder cap, on the end cap and the cylinder cap some passages are respectively equipped with.
8. the orthotic orthopedic control method of a kind of single lower limb exoskeleton, it is characterised in that：The method is using such as claim 1-7
Single lower limb exoskeleton orthosiss described in any one carry out orthopedic control, and the method specifically includes following steps：
The plantar pressure sensor real-time detection plantar pressure data, and by the plantar pressure data transfer for detecting to described
Controller；
The knee joint angle sensor real-time detection knee angle of bend data, and by the knee angle of bend data for detecting
Transmit to the controller；
The piston rod thrust data of hydraulic damper described in the piston rod thrust sensor real-time detection, and by the work for detecting
Stopper rod thrust data is transmitted to the controller；
The controller real-time reception simultaneously processes described plantar pressure data, knee angle of bend data and piston rod thrust number
According to, the current walking states of human body are obtained according to result, by the current walking states of the human body of acquisition be pre-stored in the control
Human body walking gait law curve in device is fitted analysis, obtains the flow corresponding with the current walking states of the human body
Control signal；
The controller sends the flow control signal for obtaining to the proportioning valve of the hydraulic damper, according to the flow-control
Signal controls the proportioning valve.
9. the orthotic orthopedic control method of single lower limb exoskeleton according to claim 8, it is characterised in that：The control
Device controls the proportioning valve of hydraulic damper, specifically includes following steps：
The controller is to the driving amplifier transmitted traffic control signal in the proportioning valve；
The driving amplifier receives the flow control signal, and the flow control signal is converted into into control electric current, and
The control electric current is sent into the electric magnet into the proportioning valve；
The electric magnet receives the control electric current, by the magnet control magnetic core action, by the dynamic of the magnetic core
Make to control the valve port opening between first oil duct and second oil duct.
10. the orthotic orthopedic control method of single lower limb exoskeleton according to claim 8, it is characterised in that：The control
Device processed is carried out respectively using control algolithm to described plantar pressure data, knee angle of bend data and piston rod thrust data
Calculating is processed, and according to result of calculation action anticipation is made, and obtains the current walking states of human body；Wherein described control algolithm is limited
State machine control algolithm, Iterative Learning Control Algorithm, fuzzy adaptivecontroller algorithm or expert PID control algorithm.
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| CN201611265540.8A CN106618830B (en) | 2016-12-30 | 2016-12-30 | A kind of list lower limb exoskeleton orthoses and orthopedic control method |
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| CN107669446A (en) * | 2017-08-24 | 2018-02-09 | 深圳市罗伯医疗机器人研究所 | A kind of end damping hydraulic cylinder applied to knee joint recovery robot |
| CN107669447A (en) * | 2017-08-24 | 2018-02-09 | 深圳市罗伯医疗科技有限公司 | A kind of control method of knee joint recovery robot hydraulic system |
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| CN107669446A (en) * | 2017-08-24 | 2018-02-09 | 深圳市罗伯医疗机器人研究所 | A kind of end damping hydraulic cylinder applied to knee joint recovery robot |
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| CN108742973A (en) * | 2018-08-08 | 2018-11-06 | 浙江海洋大学 | A kind of leg type rectifier |
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| CN110037891A (en) * | 2019-04-22 | 2019-07-23 | 哈工大机器人（合肥）国际创新研究院 | Lower limb knee ankle recovery training appliance for recovery based on plantar pressure Gait Recognition |
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| CN112603623B (en) * | 2020-12-29 | 2022-09-02 | 温州医科大学附属第一医院 | Noninvasive knee joint osteoarthropathy correcting device |
| CN112603623A (en) * | 2020-12-29 | 2021-04-06 | 温州医科大学附属第一医院 | Noninvasive knee joint osteoarthropathy correcting device |
| CN112807194A (en) * | 2021-02-07 | 2021-05-18 | 深圳市罗伯医疗科技有限公司 | Wearable lower limb rehabilitation exercise trainer |
| CN113146579A (en) * | 2021-04-20 | 2021-07-23 | 华中科技大学 | Trans-joint load supporting device based on passive variable stiffness damper |
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| CN113153951B (en) * | 2021-04-27 | 2022-06-14 | 吉林大学 | Gas-liquid mixed damping cylinder for passive mechanical joint |
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| CN117679229A (en) * | 2024-02-01 | 2024-03-12 | 佳木斯大学 | High polymer material knee joint support of adjustable holding power |
| CN117679229B (en) * | 2024-02-01 | 2024-04-16 | 佳木斯大学 | High polymer material knee joint support of adjustable holding power |
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