CN106806094A - Lower limb walk-aiding exoskeleton and its walk help method - Google Patents
Lower limb walk-aiding exoskeleton and its walk help method Download PDFInfo
- Publication number
- CN106806094A CN106806094A CN201710041993.0A CN201710041993A CN106806094A CN 106806094 A CN106806094 A CN 106806094A CN 201710041993 A CN201710041993 A CN 201710041993A CN 106806094 A CN106806094 A CN 106806094A
- Authority
- CN
- China
- Prior art keywords
- joint
- thigh
- electric pushrod
- crotch
- ankle
- 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.)
- Pending
Links
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
- A61H2003/007—Appliances for aiding patients or disabled persons to walk about secured to the patient, e.g. with belts
Abstract
The present invention relates to lower limb walk-aiding exoskeleton and its walk help method.Existing walk help equipment can not meet the problem of the multifreedom motion of lower limb.Lower limb walk-aiding exoskeleton, crotch's rotary joint（8）Connected legs integral-rotation joint（9）, leg integral-rotation joint（9）By big leg joint electric pushrod（10）It is hinged thigh mechanical joint（1）, thigh mechanical joint（1）By knee joint electric pushrod（11）It is hinged shank mechanical joint（2）, shank mechanical joint（2）By ankle arthrosis electric pushrod（17）It is hinged and drives ankle rotary joint（12）Swing, ankle rotary joint（12）Connection foot supporting plate（3）, foot's supporting plate（3）Upper surface sets foot pressure sensor（18）；The present invention has, the advantage of power-assisted Capacity Coordination tight with wearer's cooperation.
Description
Technical field：
The present invention relates to a kind of lower limb walk-aiding exoskeleton and its walk help method.
Background technology：
The concept of " ectoskeleton " initially comes from the ectoskeleton of insect, refers to the biological strong outside knot for providing protection and supporting
Structure.People utilize bionics principle, and being put on outside human body can provide certain corresponding equipment for helping, and such as offer is protected from external
Enhancing human body certain technical ability etc. is born a heavy burden or is provided in injury, walk help.In rehabilitation field, then simplify construction, it is only necessary to mechanical dermoskeleton
Bone lower extremities help the people of those lower limb disorders, allow them to stand up again and mobile.But existing ectoskeleton
Have the following disadvantages：The free degree is not enough with existing human body lower limbs matching degree, and the conventional action of some human bodies cannot be completed, and such as separates
Leg, leg rotate around heel, and using decelerator costly, precision, the manufacturing process requirement to each rotary joint are higher, complete
The Motor torque needed during into same torque rotation is larger.
The content of the invention：
It is an object of the invention to provide a kind of lower limb walk-aiding exoskeleton and its walk help method.
Above-mentioned purpose is realized by following technical scheme：
Lower limb walk-aiding exoskeleton, its composition includes：Symmetrically arranged thigh mechanical joint, shank mechanical joint and foot's supporting plate,
The lower limb walk-aiding exoskeleton also includes master control integrator, battery, back fixation supporting plate, a pair of crotch's electric pushrods, crotch
Rotary joint, leg integral-rotation joint, big leg joint electric pushrod, knee joint electric pushrod, ankle rotary joint, crotch angle
Degree detection sensor, thigh joint angles detection sensor, calf joint angle detecting sensor, ankle joint angle detection sensing
Device and foot pressure sensor；
Two thigh mechanical joints are connected by back fixation supporting plate, and junction is located at the corresponding position of human body crotch, and back is solid
Determine supporting plate top and master control integrator and battery are installed, back fixation two ends of bearing plate is respectively mounted crotch's electric pushrod and crotch's rotation
Turn joint, crotch's electric pushrod is fixedly mounted on back fixation supporting plate, and crotch's rotary joint is inserted on back fixation supporting plate,
Crotch's electric pushrod drive respectively the force side of corresponding crotch's rotary joint carry out with wearer nature stance be adapted
Swing, and both sides setting gradually of being respectively symmetrically of crotch rotary joint lower section：
Crotch's rotary joint is installed downwards with leg integral-rotation articulation, and leg integral-rotation joint passes downwardly through thigh pass
Section electric push rod is hinged thigh mechanical joint, and big leg joint electric pushrod driving thigh mechanical joint stood naturally with wearer
The adaptable swing of standing position gesture, thigh mechanical joint passes downwardly through knee joint electric pushrod and is hinged shank mechanical joint, knee
Joint electric pushrod driving shank mechanical joint carries out the swing adaptable with wearer's nature stance, shank machinery
Joint lower end is hinged ankle rotary joint, and shank mechanical joint is hinged ankle and rotates pass by ankle arthrosis electric pushrod
Section, ankle arthrosis electric pushrod driving ankle rotary joint carries out the swing adaptable with wearer's nature stance,
Ankle rotary joint connection foot supporting plate, foot's splint upper surface sets foot pressure sensor；Also, stood naturally with wearer
Standing position gesture is adapted：Knee joint electric pushrod is located at the front of thigh mechanical joint, and big leg joint electric pushrod is located at thigh machine
The rear in tool joint；Ankle arthrosis electric pushrod is located at the front of shank mechanical joint；Here front refers to that human body natural stands
Immediately, face before direction is defined as；Wherein,
In crotch's rotary joint and crotch's electric pushrod junction, crotch's angle detecting sensor is set；
Thigh joint angles detection sensor is set with big leg joint electric pushrod hinged place in leg integral-rotation joint；And it is big
Leg joint electric pushrod drives thigh mechanical joint to be swung around thigh joint angles detection sensor；
In thigh mechanical joint and shank mechanical joint hinged place, calf joint angle detecting sensor is set；
In shank mechanical joint and ankle rotary joint hinged place, ankle joint angle detection sensor is set.
The lower limb walk help method of lower limb walk-aiding exoskeleton, back fixation supporting plate is fixed with wearer, using master control collection
Is grown up to be a useful person and the walking of whole lower limb walk-aiding exoskeleton device is controlled, be whole lower limb walk-aiding exoskeleton device using battery
Power resources are provided, lower limb walk-aiding exoskeleton carries out walk help process to wearer：
After crotch's electric pushrod of back fixation two ends of bearing plate receives the signal that master control integrator sends, the rotation of homonymy crotch is driven
Turn articulation, make crotch's rotary joint that there is the crotch adaptable with wearer's nature stance to rotate during walk help
Function；Meanwhile, crotch's angle detecting sensor is set by crotch's rotary joint and crotch's electric pushrod junction, detected
The angle of crotch's rotation simultaneously passes signal to master control integrator back；
Crotch's rotary joint by leg integral-rotation joint connect big leg joint electric pushrod and thigh mechanical joint the two
Structure, big leg joint electric pushrod drives thigh mechanical joint to rotate after receiving the signal that master control integrator sends, and makes thigh
Mechanical joint has the swing function adaptable with wearer's nature stance during walk help, while, moreover it is possible to root
According to the length at wearer's thigh position, by the leg portion length adjustment joint being inserted into thigh mechanical joint guide rail, adjust
The elongatedness of the thigh mechanical joint that section is adapted with wearer；By leg integral-rotation joint and big leg joint electric pushrod
Hinged place sets thigh joint angles detection sensor, and the angle that detection thigh mechanical joint is rotated simultaneously passes signal to master control back
Integrator；
Knee joint electric pushrod is hinged between thigh mechanical joint and shank mechanical joint, and knee joint electric pushrod receives master control
Drive shank mechanical joint to rotate after the signal that integrator processed sends, shank mechanical joint is had and is worn during walk help
The adaptable swing function of person's nature stance, while, moreover it is possible to according to the length at wearer's shank position, by inserting
Lower leg portion length adjustment joint in shank mechanical joint guide rail, the shank mechanical joint that regulation is adapted with wearer
Elongatedness；And calf joint angle detecting sensor, detection are set by thigh mechanical joint and shank mechanical joint hinged place
The angle of shank mechanical joint rotation simultaneously passes signal to master control integrator back；And by thigh mechanical joint near human body one
The thigh joint pressure sensor and fixing device installed on the surface of side, walk-aiding exoskeleton is fixed on the huckle of wearer
Position, and the signal in walking process is detected, make the overall system control of lower limb walk-aiding exoskeleton more complete；
Ankle arthrosis electric pushrod is hinged between shank mechanical joint and ankle rotary joint, and ankle arthrosis electric pushrod is received
Drive ankle rotary joint to rotate after the signal that master control integrator sends, make to carry out ankle rotary joint to have during walk help
There is the swing function adaptable with wearer's nature stance, then ankle rotary joint drives foot's supporting plate also with preceding
The function of swinging afterwards, the foot pressure sensor set by foot's splint upper surface detects human foot base pressure in walking process
Power, foot bottom pressure sensor sends signal and is transferred directly to master control integrator, for being intended to sentence with gait to human body walking
It is fixed；And ankle joint angle detection sensor, detection ankle rotation are set by shank mechanical joint and ankle rotary joint hinged place
Turn the angle of articulation and pass signal to master control integrator back；And by shank mechanical joint in the table near human body side
The calf joint pressure sensor and fixing device installed on face, walk-aiding exoskeleton is fixed on the thigh position of wearer, and
Signal in detection walking process, makes the overall system control of lower limb walk-aiding exoskeleton more complete.
Wearer is natural, and stance refers to：When human body natural stands, face before direction is defined as.
Beneficial effects of the present invention：
Crotch's rotary joint is rotated, and meets the rotation demand of crotch in walk-aiding exoskeleton walking；Crotch's angle detecting sensor, inspection
Survey the angle of crotch's rotation and pass signal back；Leg portion length adjustment joint can be placed in big leg joint, can be closed in thigh
Move and fix in the guide rail of section, with this adjustment length, and in leg portion length adjustment joint and leg integral-rotation joint
Between add big leg joint electric pushrod, big leg joint electric pushrod can promote thigh joint relative to crotch after signal is received
Rotation, the rotation of demand, is connected in big leg joint electric pushrod with leg integral-rotation joint when realizing that walk-aiding exoskeleton is walked
Thigh joint angles detection sensor is laid at place, detects that the angle of thigh articulation passes signal back simultaneously；Big leg joint end
It is connected with lower leg portion length adjustment joint, knee joint electric pushrod is also connected between the two to drive big leg joint to be closed with shank
The rotation in walking is saved, the inspection of calf joint angle is laid in big leg joint and lower leg portion length adjustment articulation junction
Sensor is surveyed, the angle that detection calf joint is rotated passes signal back simultaneously；Lower leg portion length adjustment joint is placed in shank pass
In section, the length of lower leg portion is adjusted by the guide rail in calf joint；Calf joint end is connected with ankle rotary joint, together
When can relatively rotate, meet the rotation demand of ankle portion in walk-aiding exoskeleton row walking process, and ankle is laid at rotation
Joint angles detection sensor, the angle of detection ankle-joint rotation simultaneously passes signal back；Ankle rotary joint fixes supporting plate with foot
Connection, to the foot of regular user, fixes in foot and foot pressure sensor is laid on supporting plate, and detection foot is outside walk help
State in bone walking；Calf joint pressure sensor and fixing device and thigh joint pressure sensor and fixing device point
It is not placed on calf joint and big leg joint, to regular user and walk-aiding exoskeleton, and detects the signal of walking, makes to help
Exoskeleton overall system control is more complete.
Crotch's electric pushrod is fixed on back fixation supporting plate, and crotch's rotary joint is also connected with back fixation supporting plate, hip
Portion's electric pushrod can promote crotch's rotary joint to be rotated, and meet crotch's rotation, and leg integral-rotation joint rotates with crotch
Joint connects, and is capable of achieving rotation of the leg relative to crotch, and user is more comfortable in making ectoskeleton walking process.
Leg integral-rotation joint is connected with leg portion length adjustment joint, and big leg joint electric pushrod is fixed on two
Between person, both can be promoted to be relatively rotated, leg portion length adjustment joint is with big leg joint by leading in big leg joint
Rail is fixed, and can move up and down adjustment length, and big leg joint is connected with lower leg portion length adjustment joint, and knee joint is electronic
Push rod is fixed therebetween, and both can be promoted to relatively rotate, and realizes the connection and rotation of big leg joint and calf joint.Shank
Joint length Principles of Regulation are identical with thigh joint length Principles of Regulation.
Calf joint is connected with ankle-joint rotary joint, and lower leg portion electric pushrod is fixed therebetween, can be promoted
Both relatively rotate, and realize rotation of the ankle-joint in walking, and ankle-joint rotary joint is fixed supporting plate and fixed with foot simultaneously, nothing
Method is relatively rotated, it is ensured that the compactness between user and walk-aiding exoskeleton, lifts security.
Brief description of the drawings：
Accompanying drawing 1 is structural representation of the invention；
Accompanying drawing 2 is the structural representation of crotch's rotary joint of the present invention；
Accompanying drawing 3 is the structural representation in integral-rotation joint in leg of the present invention；
Specific embodiment：
Specific embodiment one：
The lower limb walk-aiding exoskeleton of present embodiment, as shown in Figure 1-Figure 3,
A kind of lower limb walk-aiding exoskeleton, its composition includes：Symmetrically arranged thigh mechanical joint 1, shank mechanical joint 2 and foot
Supporting plate 3, the lower limb walk-aiding exoskeleton also includes battery 4, master control integrator 5, back fixation supporting plate 6, and a pair of crotch are electronic
Push rod 7, crotch's rotary joint 8, leg integral-rotation joint 9, big leg joint electric pushrod 10, knee joint electric pushrod 11, pin
Ankle rotary joint 12, crotch's angle detecting sensor 13, the detection of thigh joint angles detection sensor 14, calf joint angle are passed
Sensor 15, ankle joint angle detection sensor 16, ankle arthrosis electric pushrod 17 and foot pressure sensor 18；
Two thigh mechanical joints 1 are connected by back fixation supporting plate 6, and junction is located at the corresponding position of human body crotch, back
Master control integrator 5 and battery 4 are installed in the fixed top of supporting plate 6, and the two ends of back fixation supporting plate 6 are respectively mounted crotch's electric pushrod 7
With crotch rotary joint 8, crotch's electric pushrod 7 is fixedly mounted on back fixation supporting plate 6, and crotch's rotary joint 8 is inserted into the back of the body
Portion fix supporting plate 6 on, crotch's electric pushrod 7 drives corresponding crotch's rotary joint 8 to rotate respectively, and both sides crotch's rotary joint
What 8 lower sections were respectively symmetrically sets gradually：
Crotch's rotary joint 8 rotates with leg integral-rotation joint 9 install downwards, and leg integral-rotation joint 9 passes downwardly through greatly
Leg joint electric pushrod 10 is hinged thigh mechanical joint 1, and the big driving thigh of leg joint electric pushrod 10 mechanical joint 1 is carried out and pendant
The adaptable swing of wearer's nature stance, thigh mechanical joint 1 pass downwardly through knee joint electric pushrod 11 be hinged it is small
Leg mechanical joint 2, the driving shank of knee joint electric pushrod 11 mechanical joint 2 carries out adaptable with wearer's nature stance
Swing, the lower end of shank mechanical joint 2 is hinged ankle rotary joint 12, and shank mechanical joint 2 passes through ankle arthrosis
Electric pushrod 17 is hinged ankle rotary joint 12, and the driving ankle of ankle arthrosis electric pushrod 17 rotary joint 12 is carried out and wearer
The adaptable swing of natural stance, the connection of ankle rotary joint 12 foot supporting plate 3, the upper surface of foot's supporting plate 3 is set
Foot pressure sensor 18；Also, it is adapted with wearer's nature stance：Knee joint electric pushrod 11 is located at thigh machinery
The front in joint 1, big leg joint electric pushrod 10 is located at the rear of thigh mechanical joint 1；Ankle arthrosis electric pushrod 17 is located at
The front of shank mechanical joint 2；Here front refers to, when human body natural stands, faces before direction is defined as；Wherein,
In crotch's rotary joint 8 and the junction of crotch's electric pushrod 7, crotch's angle detecting sensor 13 is set；
Thigh joint angles detection sensor is set with the big hinged place of leg joint electric pushrod 10 in leg integral-rotation joint 9
14；And big leg joint electric pushrod 10 drives thigh mechanical joint 1 to be swung around thigh joint angles detection sensor 14；
In thigh mechanical joint 1 and the hinged place of shank mechanical joint 2, calf joint angle detecting sensor 15 is set；
In shank mechanical joint 2 and the hinged place of ankle rotary joint 12, ankle joint angle detection sensor 16 is set.
Wearer is natural, and stance refers to：When human body natural stands, face before direction is defined as.
Specific embodiment two：
From unlike specific embodiment one, the lower limb walk-aiding exoskeleton of present embodiment, described lower limb walk-aiding exoskeleton
Also include leg portion length adjustment joint 19, guide rail is set in described thigh mechanical joint 1, leg portion length adjustment is closed
During section 19 is by the top of thigh mechanical joint 1 insertion guide rail, thigh mechanical joint 1 is upward by leg portion length adjustment joint 19
It is hinged with leg integral-rotation joint 9；And the connection reality in big leg joint electric pushrod 10 and leg portion length adjustment joint 19
The now rotation to thigh mechanical joint 1 is driven.
Specific embodiment three：
From unlike specific embodiment one or two, the lower limb walk-aiding exoskeleton of present embodiment, outside described lower limb walk help
Bone also includes lower leg portion length adjustment joint 20, and guide rail is set in described shank mechanical joint 2, and lower leg portion length is adjusted
During section joint 20 is by the top of shank mechanical joint 2 insertion guide rail, shank mechanical joint 2 passes through lower leg portion length adjustment joint 20
It is hinged with thigh mechanical joint 1 upwards；And knee joint electric pushrod 11 is realized with the connection in lower leg portion length adjustment joint 20
Rotation to shank mechanical joint 2 is driven.
Specific embodiment four：
From unlike specific embodiment three, the lower limb walk-aiding exoskeleton of present embodiment, described thigh mechanical joint 1 exists
Thigh joint pressure sensor and fixing device 21 are also installed on the surface of human body side, for walk-aiding exoskeleton to be fixed
In the thigh position of wearer, and the pressure signal in walking process is detected, make the overall system control of lower limb walk-aiding exoskeleton
It is more complete.Pressure signal, thigh mechanical joint 1 forward when compressing thigh joint pressure sensor and fixing device 21 receive
Power, returning pressure signal, thigh mechanical joint 1 is moved, and reduces pressure signal；Thigh mechanical joint 1 will be transported with human thigh
Dynamic, the numerical value of holding thigh joint pressure sensor and fixing device 21 is in fixed range.
Thigh joint pressure sensor and the positive compression of fixing device, thigh mechanical joint 1 travel forward, are reversely pressurized big
Leg mechanical joint 1 is moved backward, is the sensor that the walking for detecting people is intended to, and according to thigh joint pressure sensor and
The fixing device numerical values recited change speed of service of leg joint electric pushrod 10 greatly.
Specific embodiment five：
From unlike specific embodiment one, two or four, the lower limb walk-aiding exoskeleton of present embodiment, described shank is mechanical
Calf joint pressure sensor and fixing device 22 are also being installed in joint 2 on the surface of human body side, for by outside walk help
Skeletal fixation detects the pressure signal in walking process in the thigh position of wearer, makes the entirety of lower limb walk-aiding exoskeleton
Control system is more complete.
Specific embodiment six：
From unlike specific embodiment five, the lower limb walk-aiding exoskeleton of present embodiment, described crotch's rotary joint 8 is gone back
Including stress section and force section, the L-type of one end formula that is connected to form one vertical with one end of force section of stress section, the hip of L-type
The force side of portion's rotary joint 8 has a clamp structure 23 being hinged with crotch electric pushrod 7, and crotch's rotary joint 8 of L-type is applied
Power end has the plug-in opening 24 being fixedly connected with leg integral-rotation joint 9.
Specific embodiment seven：
From unlike specific embodiment one, two, four or six, the lower limb walk-aiding exoskeleton of present embodiment, described shank
Partial-length regulation joint 20 also includes flat segments and vertical section, and the middle part that vertical section is vertically fixed on flat segments forms integral type
T-shaped, the flat segments two ends in T-shaped lower leg portion length adjustment joint 20 connect thigh mechanical joint 1 respectively and shank machinery is closed
Section 2, the vertical section in T-shaped lower leg portion length adjustment joint 20 is used to install knee joint electric pushrod 11；Wherein, flat segments with
Shank mechanical joint 2 is parallel, flat segments towards the front side adaptable with wearer's nature stance, vertical section towards with wear
The adaptable rear side of person's nature stance.
Specific embodiment eight：
From unlike specific embodiment seven, the lower limb walk-aiding exoskeleton of present embodiment, described thigh mechanical joint 1 with
Angle α between shank mechanical joint 2 is 3-177 °, and the angle opening for being formed mutually is fitted towards with wearer's nature stance
The rear answered.
Specific embodiment nine：
From unlike specific embodiment one, two, four, six or eight, the lower limb walk-aiding exoskeleton of present embodiment, described pin
Ankle rotary joint 12 is shaped as L-type, and the corner of the ankle rotary joint 12 of L-type is connected with foot supporting plate 3, the ankle of L-type
One free end and the shank mechanical joint 2 of rotary joint 12 are hinged, and another free end of the ankle rotary joint 12 of L-type is used
In installation ankle arthrosis electric pushrod 17.
Specific embodiment ten：
The lower limb walk help method of the lower limb walk-aiding exoskeleton of present embodiment,
Back fixation supporting plate 6 is fixed with wearer, using 5 pairs of rows of whole lower limb walk-aiding exoskeleton device of master control integrator
Walk to be controlled, be the offer power resources of whole lower limb walk-aiding exoskeleton device using battery 4, lower limb walk-aiding exoskeleton is to wearing
Wearer carries out walk help process：
After crotch's electric pushrod 7 at the two ends of back fixation supporting plate 6 receives the signal that master control integrator 5 sends, homonymy hip is driven
Portion's rotary joint 8 is rotated, and crotch's rotary joint 8 is had the hip adaptable with wearer's nature stance during walk help
Portion's rotating function；Meanwhile, crotch's angle detecting sensor is set by crotch's rotary joint 8 and the junction of crotch's electric pushrod 7
13, obtain the angle of detection crotch rotation and pass signal to master control integrator 5 back；
Crotch's rotary joint 8 by leg integral-rotation joint 9 connect big leg joint electric pushrod 10 and thigh mechanical joint 1 this
Two structures, big leg joint electric pushrod 10 drives 1 turn of thigh mechanical joint after receiving the signal that master control integrator 5 sends
It is dynamic, make thigh mechanical joint 1 that there is the swing function adaptable with wearer's nature stance during walk help, together
When, moreover it is possible to according to the length at wearer's thigh position, adjusted by the leg portion length being inserted into the guide rail of thigh mechanical joint 1
Section joint 19, the elongatedness of the thigh mechanical joint 1 that regulation is adapted with wearer；By leg integral-rotation joint 9 with it is big
The hinged place of leg joint electric pushrod 10 sets thigh joint angles detection sensor 14, the angle that detection thigh mechanical joint 1 is rotated
Spend and pass back signal to master control integrator 5；
Knee joint electric pushrod 11 is hinged between thigh mechanical joint 1 and shank mechanical joint 2, and knee joint electric pushrod 11 connects
Drive shank mechanical joint 2 to rotate after receiving the signal that master control integrator 5 sends, make shank mechanical joint 2 during walk help
With the swing function adaptable with wearer's nature stance, while, moreover it is possible to according to the length at wearer's shank position
Degree, by the lower leg portion length adjustment joint 20 being inserted into the guide rail of shank mechanical joint 2, regulation is adapted with wearer
The elongatedness of shank mechanical joint 2；And calf joint angle is set by thigh mechanical joint 1 and the hinged place of shank mechanical joint 2
Degree detection sensor 15, the angle of the rotation of detection shank mechanical joint 2 simultaneously passes signal to master control integrator 5 back；And by big
Leg mechanical joint 1 is being close to the thigh joint pressure sensor and fixing device 21 of installation on the surface of human body side, by walk help
Ectoskeleton is fixed on the thigh position of wearer, and detects the pressure signal in walking process, makes the whole of lower limb walk-aiding exoskeleton
Body control system is more complete；
Ankle arthrosis electric pushrod 17 is hinged between shank mechanical joint 2 and ankle rotary joint 12, and ankle arthrosis are electronic to be pushed away
Bar 17 drives ankle rotary joint 12 to rotate after receiving the signal that master control integrator 5 sends, and makes to carry out ankle rotary joint 12
There is the swing function adaptable with wearer's nature stance during walk help, then ankle rotary joint 12 drives
Foot's supporting plate 3 also has the function of swing, and the foot pressure sensor 18 set by the upper surface of foot's supporting plate 3 detects row
Human body sole pressure during walking, foot bottom pressure sensor 18 sends signal and is transferred directly to master control integrator 5, for people
Body walking is intended to the judgement with gait；And ankle-joint angle is set by shank mechanical joint 2 and the hinged place of ankle rotary joint 12
Degree detection sensor 16, the angle of the rotation of detection ankle rotary joint 12 simultaneously passes signal to master control integrator 5 back；And by small
Leg mechanical joint 2 is being close to the calf joint pressure sensor and fixing device 22 of installation on the surface of human body side, by walk help
Ectoskeleton is fixed on the thigh position of wearer, and detects the pressure signal in walking process, makes the whole of lower limb walk-aiding exoskeleton
Body control system is more complete.
Claims (10)
1. a kind of lower limb walk-aiding exoskeleton, its composition includes：Symmetrically arranged thigh mechanical joint（1）, shank mechanical joint（2）
With foot's supporting plate（3）, it is characterized in that：The lower limb walk-aiding exoskeleton also includes battery（4）, master control integrator（5）, back it is solid
Determine supporting plate（6）, a pair of crotch's electric pushrods（7）, crotch's rotary joint（8）, leg integral-rotation joint（9）, big leg joint electricity
Dynamic push rod（10）, knee joint electric pushrod（11）, ankle rotary joint（12）, crotch's angle detecting sensor（13）, thigh close
Section angle detecting sensor（14）, calf joint angle detecting sensor（15）, ankle joint angle detection sensor（16）, ankle
Joint electric pushrod（17）And foot pressure sensor（18）；
Two thigh mechanical joints（1）By back fixation supporting plate（6）Connection, junction is located at the corresponding position of human body crotch,
Back fixation supporting plate（6）Top is installed by master control integrator（5）And battery（4）, back fixation supporting plate（6）Two ends are respectively mounted hip
Portion's electric pushrod（7）With crotch's rotary joint（8）, crotch's electric pushrod（7）It is fixedly mounted on back fixation supporting plate（6）On, hip
Portion's rotary joint（8）It is inserted into back fixation supporting plate（6）On, crotch's electric pushrod（7）Corresponding crotch's rotary joint is driven respectively
（8）Rotate, and both sides crotch's rotary joint（8）What lower section was respectively symmetrically sets gradually：
Crotch's rotary joint（8）Downwards with leg integral-rotation joint（9）Rotate and install, leg integral-rotation joint（9）Downwards
By big leg joint electric pushrod（10）It is hinged thigh mechanical joint（1）, big leg joint electric pushrod（10）Drive thigh machinery
Joint（1）Carry out the swing adaptable with wearer's nature stance, thigh mechanical joint（1）Pass downwardly through knee joint
Electric pushrod（11）It is hinged shank mechanical joint（2）, knee joint electric pushrod（11）Drive shank mechanical joint（2）Carry out and pendant
The adaptable swing of wearer's nature stance, shank mechanical joint（2）Lower end is hinged ankle rotary joint（12）,
And shank mechanical joint（2）By ankle arthrosis electric pushrod（17）It is hinged ankle rotary joint（12）, ankle arthrosis are electronic to be pushed away
Bar（17）Drive ankle rotary joint（12）The swing adaptable with wearer's nature stance is carried out, ankle rotation is closed
Section（12）Connection foot supporting plate（3）, foot's supporting plate（3）Upper surface sets foot pressure sensor（18）；Also, knee joint is electronic
Push rod（11）Positioned at thigh mechanical joint（1）Front, big leg joint electric pushrod（10）Positioned at thigh mechanical joint（1）After
Side；Ankle arthrosis electric pushrod（17）Positioned at shank mechanical joint（2）Front；Here front refers to that human body natural stands
When, face before direction is defined as；Wherein,
In crotch's rotary joint（8）With crotch's electric pushrod（7）Junction sets crotch's angle detecting sensor（13）；
In leg integral-rotation joint（9）With big leg joint electric pushrod（10）Hinged place sets thigh joint angles detection sensing
Device（14）；And big leg joint electric pushrod（10）Drive thigh mechanical joint（1）Around thigh joint angles detection sensor
（14）Swing；
In thigh mechanical joint（1）With shank mechanical joint（2）Hinged place sets calf joint angle detecting sensor（15）；
In shank mechanical joint（2）With ankle rotary joint（12）Hinged place sets ankle joint angle detection sensor（16）；
Wearer is natural, and stance refers to：When human body natural stands, face before direction is defined as.
2. lower limb walk-aiding exoskeleton according to claim 1, it is characterized in that：Described lower limb walk-aiding exoskeleton also includes big
Leg section length adjustment joint（19）, described thigh mechanical joint（1）Interior setting guide rail, leg portion length adjustment joint
（19）By thigh mechanical joint（1）In top insertion guide rail, thigh mechanical joint（1）By leg portion length adjustment joint
（19）Upwards with leg integral-rotation joint（9）It is hinged；And big leg joint electric pushrod（10）Closed with leg portion length adjustment
Section（19）Connection realize to thigh mechanical joint（1）Rotation be driven.
3. lower limb walk-aiding exoskeleton according to claim 1 and 2, it is characterized in that：Described lower limb walk-aiding exoskeleton is also wrapped
Include lower leg portion length adjustment joint（20）, described shank mechanical joint（2）Interior setting guide rail, lower leg portion length adjustment is closed
Section（20）By shank mechanical joint（2）In top insertion guide rail, shank mechanical joint（2）By lower leg portion length adjustment joint
（20）Upwards with thigh mechanical joint（1）It is hinged；And knee joint electric pushrod（11）With lower leg portion length adjustment joint（20）
Connection realize to shank mechanical joint（2）Rotation be driven.
4. lower limb walk-aiding exoskeleton according to claim 3, it is characterized in that：Described thigh mechanical joint（1）It is being close to
Thigh joint pressure sensor and fixing device are also installed on the surface of human body side（21）, for walk-aiding exoskeleton to be fixed on
The thigh position of wearer, and the pressure signal in walking process is detected, make the overall system control of lower limb walk-aiding exoskeleton more
Add whole.
5. the lower limb walk-aiding exoskeleton according to claim 1,2 or 4, it is characterized in that：Described shank mechanical joint（2）
Calf joint pressure sensor and fixing device are also installed on the surface of human body side（22）, for walk-aiding exoskeleton to be consolidated
Due to the thigh position of wearer, and the pressure signal in walking process is detected, make the overall control system of lower limb walk-aiding exoskeleton
System is more complete.
6. lower limb walk-aiding exoskeleton according to claim 5, it is characterized in that：Described crotch's rotary joint（8）Also include
Stress section and force section, the L-type of one end formula that is connected to form one vertical with one end of force section of stress section, crotch's rotation of L-type
Turn joint（8）Force side have and crotch's electric pushrod（7）The clamp structure being hinged（23）, crotch's rotary joint of L-type（8）
Force side have and leg integral-rotation joint（9）The plug-in opening being fixedly connected（24）.
7. the lower limb walk-aiding exoskeleton according to claim 1,2,4 or 6, it is characterized in that：Described lower leg portion length is adjusted
Section joint（20）Also include flat segments and vertical section, the middle part formation integral type that vertical section is vertically fixed on flat segments is T-shaped, T-shaped
Lower leg portion length adjustment joint（20）Flat segments two ends connect thigh mechanical joint respectively（1）With shank mechanical joint
（2）, T-shaped lower leg portion length adjustment joint（20）Vertical section be used for knee joint electric pushrod is installed（11）；Wherein, it is straight
Section and shank mechanical joint（2）It is parallel, the flat segments direction front side adaptable with wearer's nature stance, vertical section direction
The rear side adaptable with wearer's nature stance.
8. lower limb walk-aiding exoskeleton according to claim 7, it is characterized in that：Described thigh mechanical joint（1）With shank
Mechanical joint（2）Between angle α be 3-177 °.
9. the lower limb walk-aiding exoskeleton according to claim 1,2,4,6 or 8, it is characterized in that：Described ankle rotary joint
（12）Be shaped as L-type, the ankle rotary joint of L-type（12）Corner and foot's supporting plate（3）Connection, the ankle rotation of L-type
Joint（12）A free end and shank mechanical joint（2）It is hinged, the ankle rotary joint of L-type（12）Another free end
For installing ankle arthrosis electric pushrod（17）.
10. the lower limb walk help method of the lower limb walk-aiding exoskeleton described in a kind of claim 9, it is characterized in that：
By back fixation supporting plate（6）Fixed with wearer, using master control integrator（5）To whole lower limb walk-aiding exoskeleton device
Walking be controlled, using battery（4）It is the offer power resources of whole lower limb walk-aiding exoskeleton device, lower limb walk help dermoskeleton
Bone carries out walk help process to wearer：
Back fixation supporting plate（6）Crotch's electric pushrod at two ends（7）Receive master control integrator（5）After the signal for sending, drive
Homonymy crotch rotary joint（8）Rotate, make crotch's rotary joint（8）Have during walk help and wearer's nature stance
Adaptable crotch's rotating function；Meanwhile, by crotch's rotary joint（8）With crotch's electric pushrod（7）Junction sets crotch
Angle detecting sensor（13）, obtain the angle of detection crotch rotation and pass signal to master control integrator back（5）；
Crotch's rotary joint（8）By leg integral-rotation joint（9）Connect big leg joint electric pushrod（10）With thigh machinery
Joint（1）The two structures, big leg joint electric pushrod（10）Receive master control integrator（5）Thigh is driven after the signal for sending
Mechanical joint（1）Rotate, make thigh mechanical joint（1）During walk help have with wearer nature stance be adapted
Swing function, while, moreover it is possible to according to the length at wearer's thigh position, by being inserted into thigh mechanical joint（1）Guide rail
Interior leg portion length adjustment joint（19）, the thigh mechanical joint that regulation is adapted with wearer（1）Elongatedness；Pass through
Leg integral-rotation joint（9）With big leg joint electric pushrod（10）Hinged place sets thigh joint angles detection sensor
（14）, detect thigh mechanical joint（1）The angle of rotation simultaneously passes signal to master control integrator back（5）；
Knee joint electric pushrod（11）It is hinged on thigh mechanical joint（1）With shank mechanical joint（2）Between, knee joint is electronic to be pushed away
Bar（11）Receive master control integrator（5）Shank mechanical joint is driven after the signal for sending（2）Rotate, make shank mechanical joint
（2）There is the swing function adaptable with wearer's nature stance during walk help, while, moreover it is possible to according to wearing
The length at person's shank position, by being inserted into shank mechanical joint（2）Lower leg portion length adjustment joint in guide rail（20）, adjust
The shank mechanical joint that section is adapted with wearer（2）Elongatedness；And by thigh mechanical joint（1）With shank mechanical joint
（2）Hinged place sets calf joint angle detecting sensor（15）, detect shank mechanical joint（2）The angle of rotation simultaneously passes letter back
Number to master control integrator（5）；And by thigh mechanical joint（1）In the big leg joint installed on the surface of human body side
Pressure sensor and fixing device（21）, walk-aiding exoskeleton is fixed on the thigh position of wearer, and detect walking process
Pressure signal, make the overall system control of lower limb walk-aiding exoskeleton more complete；
Ankle arthrosis electric pushrod（17）It is hinged on shank mechanical joint（2）With ankle rotary joint（12）Between, ankle arthrosis
Electric pushrod（17）Receive master control integrator（5）Ankle rotary joint is driven after the signal for sending（12）Rotate, make into traveling far and wide
Ankle rotary joint（12）There is the swing function adaptable with wearer's nature stance during walk help, then ankle
Rotary joint（12）Drive foot's supporting plate（3）Also there is the function of swing, by foot's supporting plate（3）The pin that upper surface is set
Portion's pressure sensor（18）Human body sole pressure, foot bottom pressure sensor in detection walking process（18）Signal is sent directly to transmit
To master control integrator（5）, for being intended to the judgement with gait to human body walking；And by shank mechanical joint（2）With ankle
Rotary joint（12）Hinged place sets ankle joint angle detection sensor（16）, detect ankle rotary joint（12）The angle of rotation
And pass signal to master control integrator back（5）；And by shank mechanical joint（2）What is installed on the surface of human body side
Calf joint pressure sensor and fixing device（22）, walk-aiding exoskeleton is fixed on the thigh position of wearer, and detect row
Pressure signal during walking, makes the overall system control of lower limb walk-aiding exoskeleton more complete；
Wearer is natural, and stance refers to：When human body natural stands, face before direction is defined as.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710041993.0A CN106806094A (en) | 2017-01-20 | 2017-01-20 | Lower limb walk-aiding exoskeleton and its walk help method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710041993.0A CN106806094A (en) | 2017-01-20 | 2017-01-20 | Lower limb walk-aiding exoskeleton and its walk help method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106806094A true CN106806094A (en) | 2017-06-09 |
Family
ID=59111561
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710041993.0A Pending CN106806094A (en) | 2017-01-20 | 2017-01-20 | Lower limb walk-aiding exoskeleton and its walk help method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106806094A (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107127739A (en) * | 2017-06-23 | 2017-09-05 | 电子科技大学中山学院 | The ankle-joint boosting mechanism that a kind of ectoskeleton is used |
| CN109009891A (en) * | 2018-08-14 | 2018-12-18 | 浙江大学 | Wearable electricity drives assistance exoskeleton lower limb mechanism |
| CN109676585A (en) * | 2018-12-19 | 2019-04-26 | 江苏集萃智能制造技术研究所有限公司 | A kind of hip based on booster, knee joint assistance exoskeleton mechanism |
| CN109907836A (en) * | 2019-03-16 | 2019-06-21 | 韩志勇 | A kind of adjustment device for Minimally Invasive Surgery body surface projection |
| CN109907837A (en) * | 2019-03-16 | 2019-06-21 | 韩志勇 | A kind of method of adjustment for Minimally Invasive Surgery body surface projection |
| CN110279561A (en) * | 2019-07-03 | 2019-09-27 | 河南翔宇医疗设备股份有限公司 | A kind of wearable multipurpose leg brace |
| CN110721084A (en) * | 2019-11-27 | 2020-01-24 | 肖鹏 | Integrated nursing device for mental patients |
| CN111449906A (en) * | 2020-04-10 | 2020-07-28 | 黑龙江省医院 | Recovered branch of academic or vocational study is with recovered ware of limbs |
| CN112775932A (en) * | 2019-11-08 | 2021-05-11 | 远也科技 | Ankle assisting exoskeleton device |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003284751A (en) * | 2002-03-27 | 2003-10-07 | Tama Tlo Kk | Stretching crutch and upright equipment for movement using the crutch |
| CN2730338Y (en) * | 2004-08-10 | 2005-10-05 | 浙江大学 | Wearable lower limb dermoskeleton for walking use |
| US20090312677A1 (en) * | 2008-06-13 | 2009-12-17 | Honda Motor Co., Ltd. | Control device for walking assist device |
| US20110105966A1 (en) * | 2008-07-23 | 2011-05-05 | Berkeley Bionics | Exoskeleton and Method for Controlling a Swing Leg of the Exoskeleton |
| JP4987148B1 (en) * | 2011-07-22 | 2012-07-25 | 圭治郎 山本 | Joint motion assist device |
| CN104490568A (en) * | 2014-12-25 | 2015-04-08 | 北京航空航天大学 | Human lower extremity exoskeleton walking aid rehabilitation robot |
| CN105105973A (en) * | 2015-08-14 | 2015-12-02 | 浙江大学 | Wearable power-assisted exoskeleton lower limb mechanism |
| CN105943316A (en) * | 2016-05-23 | 2016-09-21 | 成都润惠科技有限公司 | Human lower extremity exoskeleton having force-returning structures |
-
2017
- 2017-01-20 CN CN201710041993.0A patent/CN106806094A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003284751A (en) * | 2002-03-27 | 2003-10-07 | Tama Tlo Kk | Stretching crutch and upright equipment for movement using the crutch |
| CN2730338Y (en) * | 2004-08-10 | 2005-10-05 | 浙江大学 | Wearable lower limb dermoskeleton for walking use |
| US20090312677A1 (en) * | 2008-06-13 | 2009-12-17 | Honda Motor Co., Ltd. | Control device for walking assist device |
| US20110105966A1 (en) * | 2008-07-23 | 2011-05-05 | Berkeley Bionics | Exoskeleton and Method for Controlling a Swing Leg of the Exoskeleton |
| JP4987148B1 (en) * | 2011-07-22 | 2012-07-25 | 圭治郎 山本 | Joint motion assist device |
| CN104490568A (en) * | 2014-12-25 | 2015-04-08 | 北京航空航天大学 | Human lower extremity exoskeleton walking aid rehabilitation robot |
| CN105105973A (en) * | 2015-08-14 | 2015-12-02 | 浙江大学 | Wearable power-assisted exoskeleton lower limb mechanism |
| CN105943316A (en) * | 2016-05-23 | 2016-09-21 | 成都润惠科技有限公司 | Human lower extremity exoskeleton having force-returning structures |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107127739A (en) * | 2017-06-23 | 2017-09-05 | 电子科技大学中山学院 | The ankle-joint boosting mechanism that a kind of ectoskeleton is used |
| CN109009891A (en) * | 2018-08-14 | 2018-12-18 | 浙江大学 | Wearable electricity drives assistance exoskeleton lower limb mechanism |
| CN109676585A (en) * | 2018-12-19 | 2019-04-26 | 江苏集萃智能制造技术研究所有限公司 | A kind of hip based on booster, knee joint assistance exoskeleton mechanism |
| CN109907836B (en) * | 2019-03-16 | 2021-07-02 | 吉林大学 | Adjusting device for minimally invasive surgery body surface projection |
| CN109907837A (en) * | 2019-03-16 | 2019-06-21 | 韩志勇 | A kind of method of adjustment for Minimally Invasive Surgery body surface projection |
| CN109907836A (en) * | 2019-03-16 | 2019-06-21 | 韩志勇 | A kind of adjustment device for Minimally Invasive Surgery body surface projection |
| CN109907837B (en) * | 2019-03-16 | 2021-09-07 | 青岛市城阳区人民医院 | Adjusting method for minimally invasive surgery body surface projection |
| CN110279561A (en) * | 2019-07-03 | 2019-09-27 | 河南翔宇医疗设备股份有限公司 | A kind of wearable multipurpose leg brace |
| CN110279561B (en) * | 2019-07-03 | 2024-03-01 | 河南翔宇医疗设备股份有限公司 | Wearable multipurpose leg brace |
| CN112775932A (en) * | 2019-11-08 | 2021-05-11 | 远也科技 | Ankle assisting exoskeleton device |
| CN110721084A (en) * | 2019-11-27 | 2020-01-24 | 肖鹏 | Integrated nursing device for mental patients |
| CN110721084B (en) * | 2019-11-27 | 2021-08-24 | 肖鹏 | Integrated nursing device for mental patients |
| CN111449906A (en) * | 2020-04-10 | 2020-07-28 | 黑龙江省医院 | Recovered branch of academic or vocational study is with recovered ware of limbs |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106806094A (en) | Lower limb walk-aiding exoskeleton and its walk help method | |
| Lerner et al. | A robotic exoskeleton for treatment of crouch gait in children with cerebral palsy: Design and initial application | |
| CN105686927B (en) | Collapsible mobile lower limb exoskeleton | |
| CN104552276B (en) | The ectoskeleton servomechanism that pneumatic muscles drives | |
| CN204450526U (en) | The ectoskeleton servomechanism that a kind of pneumatic muscles drives | |
| US10441444B2 (en) | Motion reproducing system and motion reproducing apparatus | |
| CN104758142B (en) | A kind of assistance exoskeleton robot | |
| CN109568089A (en) | A kind of trailing type lower limb recovery robot by training paces system | |
| Jefferson et al. | Performance of three walking orthoses for the paralysed: a case study using gait analysis | |
| CN203861522U (en) | Wearable ankle rehabilitation training robot device | |
| Kilbreath et al. | Gluteal taping improves hip extension during stance phase of walking following stroke | |
| Dixon et al. | Gait dynamics on a cross-slope walking surface. | |
| KR102360981B1 (en) | Leg orthosis and orthosis | |
| KR101494685B1 (en) | Apparatus for training the lower extremities | |
| CN103230334B (en) | Ankle flexion and extension rehabilitation training machine | |
| CN104490563A (en) | Pneumatic muscle based intelligent wearable lower limb | |
| CN111571572B (en) | Wearable power-assisted flexible exoskeleton | |
| CN106859928B (en) | Gait rehabilitation training robot and force-feedback control method for the robot | |
| JP2015532175A (en) | Robot for walking rehabilitation of stroke patients | |
| CN103126851A (en) | Gait training mechanical leg | |
| CN106901949A (en) | Full lower limb exoskeleton and its operating method | |
| Xia et al. | Design of a multi-functional soft ankle exoskeleton for foot-drop prevention, propulsion assistance, and inversion/eversion stabilization | |
| CN106726360A (en) | Traveling lower limb of helping the disabled dress ectoskeleton and its mode of progression of helping the disabled | |
| CN115137618A (en) | Wearable lower limb exoskeleton rehabilitation and power-assisted robot | |
| CN108938325A (en) | Lower limb body recovery exercising robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20181226 Address after: 311100 7F-01B 2, 1326 West Wen Yi Road, Cang Qian street, Yuhang District, Hangzhou, Zhejiang. Applicant after: Hangzhou Cheng Tian Technology Development Co., Ltd. Address before: 150001 Navigation Activity Center 017, Harbin Engineering University, 145 Nantong Street, Nangang District, Harbin City, Heilongjiang Province Applicant before: Harbin Chengtian Technology Development Co., Ltd. |
|
| TA01 | Transfer of patent application right |