CN106924015A - A kind of walking apparatus - Google Patents
A kind of walking apparatus Download PDFInfo
- Publication number
- CN106924015A CN106924015A CN201710251164.5A CN201710251164A CN106924015A CN 106924015 A CN106924015 A CN 106924015A CN 201710251164 A CN201710251164 A CN 201710251164A CN 106924015 A CN106924015 A CN 106924015A
- Authority
- CN
- China
- Prior art keywords
- motor
- leg device
- electromyographic signal
- arm
- signal sensor
- 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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/165—Wearable interfaces
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/10—Leg
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2230/00—Measuring physical parameters of the user
- A61H2230/08—Other bio-electrical signals
- A61H2230/085—Other bio-electrical signals used as a control parameter for the apparatus
Abstract
A kind of walking apparatus, are related to wearable device field, more particularly to a kind of walking apparatus for helping people to walk；Including left leg device, right leg device, Lap belt anchorages, controller and battery.The left leg device and right leg device are symmetrically distributed in Lap belt anchorages both sides；The controller and battery are arranged on Lap belt anchorages.The left leg device is identical with right leg device 26S Proteasome Structure and Function；The left leg device includes the first left leg device and the second left leg device；The first left leg device includes thigh arm, shank arm, upper electromyographic signal sensor, lower electromyographic signal sensor, upper motor and lower motor；The second left leg device includes thigh inner arm, interior motor and shank inner arm.The present invention recognizes the motion intention of wearer using the walking habits of wearer and the electromyographic signal of leg, and leg exercise is driven by motor, and auxiliary wearer's walking, is that wearer has saved extremely many strength, more facilitates the trip of wearer.
Description
Technical field
A kind of walking apparatus, are related to wearable device field, more particularly to a kind of walking apparatus for helping people to walk.
Technical background
People when on foot, the mesh for mainly using the muscle on leg to control the motion mode of whole piece leg to reach mobile
, this mode efficiency is slow, and easily tires out, and is not suitable for prolonged trip.Somebody selects to be ridden instead of walk with car, but
The peak period on and off duty in some cities, road is crowded, dumb, and the too many time is all wasted in wait.
The content of the invention
The invention aims to overcome the shortcomings of above-mentioned present situation, there is provided a kind of walking apparatus for being convenient for people to trip.
A kind of walking apparatus, including left leg device, right leg device, Lap belt anchorages, controller and battery.The left leg dress
Put and be symmetrically distributed in Lap belt anchorages both sides with right leg device；The controller and battery are arranged on Lap belt anchorages.
The left leg device is identical with right leg device 26S Proteasome Structure and Function.Now it is illustrated with left leg device, the left leg device includes the
One left leg device and the second left leg device；The first left leg device include thigh arm, shank arm, upper electromyographic signal sensor,
Lower electromyographic signal sensor, upper motor and lower motor；The second left leg device is included in thigh inner arm, interior motor and shank
Arm.Installed in the upper motor of Lap belt anchorages both sides, lower end connects lower motor for the thigh arm upper end connection；The shank arm
The lower motor of upper end connection, lower end extends to the latter half position of shank；The upper electromyographic signal of thigh inner arm upper end connection is passed
Sensor, motor in the connection of lower end；Motor in the lower shank inner arm upper end connection, lower end extends to the latter half of shank；Institute
Motor, lower motor and interior motor are stated for controlling the motion morphology of thigh arm, shank arm, thigh inner arm and shank inner arm, greatly
Leg arm, shank arm, thigh inner arm and shank inner arm drive thigh and shank motion.The upper electromyographic signal sensor is arranged on big
On leg arm；The lower electromyographic signal sensor is arranged on shank arm；Upper electromyographic signal sensor and lower electromyographic signal sensor
26S Proteasome Structure and Function is identical.Now above electromyographic signal sensor is illustrated, and upper electromyographic signal sensor is by left veneer and right veneer
Composition, left veneer is first drawn to the right be covered on thigh when using, and then right veneer is covered on left veneer to Zola, left patch
Face and right veneer are pasted mutually using VELCRO or magic tape, and it is single that left veneer and right veneer are equipped with multiple sensings inside it
Unit changes to the surface electromyogram signal of real-time monitoring leg muscle, and the surface electromyogram signal amplitude of each muscle is changed into feedback
To controller.The controller connects motor, lower motor, interior motor, upper electromyographic signal sensor and lower electromyographic signal respectively
Sensor, controller is the control centre of walking apparatus；The battery is mainly controller, upper motor, lower motor and interior motor and carries
Power supply source.
Left veneer and right veneer can also be held together with rope through thigh inner arm.
When using, Lap belt anchorages, thigh arm, lower motor, shank arm, thigh inner arm, interior motor and shank inner arm according to
Secondary waist positioned at human body, big leg outer side, knee joint outside, small leg outer side, femoribus internus, knee joint inner side and medial leg,
Upper electromyographic signal sensor left veneer and right veneer are around thigh and are fitted on thigh inner arm, in fixed thigh arm and thigh
Arm in the position of thigh, lower electromyographic signal sensor left veneer and right veneer are around shank and are fitted on shank inner arm, Gu
Determine shank arm and shank inner arm in the position of shank, upper electromyographic signal sensor and lower electromyographic signal sensor respectively with thigh and
The surface muscle laminating of shank.
When wearer will using walking apparatus of the invention when, wearer need to put on walking apparatus of the invention get ahead it is a bit of
Road, during this section of way of walking, the electromyographic signal of upper electromyographic signal sensor and lower electromyographic signal sensor detection leg
And feeding back to controller, upper motor, lower motor and interior motor to controller, then control the rotational angle data feedback of motor
Device preserves the data that upper electromyographic signal sensor, lower electromyographic signal sensor, upper motor, lower motor and interior motor are transmitted through coming simultaneously
The exercise habit of wearer's lower limb is calculated, after this segment road is covered, walking apparatus of the invention start formal auxiliary wearing
Person walks, and when wearer lifts left leg, the upper electromyographic signal sensor and lower electromyographic signal sensor of left leg detect left leg
The electromyographic signal of leg simultaneously feeds back to controller, and then controller is according to upper electromyographic signal sensor and lower electromyographic signal sensor
Feedack and the walking data for preserving before calculate the motion intention of the left leg of wearer, and controller controls left leg device
The rotational angle of upper motor, lower motor and interior motor, completes the lift leg of left leg to the action for striding, in this process, right leg
The upper electromyographic signal sensor of device and lower electromyographic signal sensor detect the electromyographic signal of right leg and feed back to controller, control
Device calculates the motion intention of right leg according to real-time electromyographic signal and the walking data for preserving before, then controls right leg device
Upper motor, lower motor and interior motor rotational angle, the lift leg of right leg is completed to the process for striding, in the process that right leg strides
In, left leg device performs the course of work of above-mentioned right leg device, and with this repeatedly, walking apparatus of the invention can just aid in wearer
Walk.Walking data can be emptied, and then walked or run out of new walking data again and be saved in controller.
The present invention recognizes the motion intention of wearer using the walking habits of wearer and the electromyographic signal of leg, by electricity
Machine drives leg exercise, and auxiliary wearer's walking based on wearer, supplemented by machine, controls man-machine movement locus one well
The problem of cause property, is that wearer has saved extremely many strength, more facilitates the trip of wearer.
Brief description of the drawings
Fig. 1 is the structural representation of walking apparatus of the invention；Fig. 2 is the schematic side view of walking apparatus of the invention；Fig. 3 is
The structural representation of thigh arm and upper electromyographic signal sensor.
Label in figure：1- controllers, 2- Lap belt anchorages, 3- batteries, the upper motors of 4-, 5- thigh arms, the upper myoelectricities of 110-
The sensor of signal transducer, motor under 7-, 8- shank arms, electromyographic signal sensor under 9-, electromyographic signal sensor under 90-
Sensor, the left veneer of electromyographic signal sensor under 91-, the right veneer of electromyographic signal sensor under 92-, the right leg devices of 10-,
The upper electromyographic signal sensors of 11-, the left veneer of the upper electromyographic signal sensors of 111-, the right patch of the upper electromyographic signal sensors of 112-
Face, the sticking veneer of the left veneers of 1111-, the sticking veneer of the right veneers of 1121-, the left leg devices of 12-, the upper motor of the right leg devices of 13-,
The upper electromyographic signal sensor of the right leg devices of 14-, the lower motor of the right leg devices of 15-, the lower electromyographic signal sensing of the right leg devices of 16-
Device, 35- shank inner arms, motor in 36-, 37- thigh inner arms, the interior motor of the right leg devices of 38-, in the thigh of the right leg devices of 39-
Arm, the shank inner arm of the right leg devices of 40-.
Specific embodiment
The present invention is illustrated below in conjunction with the accompanying drawings.
A kind of walking apparatus, including left leg device 12, right leg device 10, Lap belt anchorages 2, controller 1 and battery 3.Institute
State left leg device 12 and right leg device 10 is symmetrically distributed in the both sides of Lap belt anchorages 2；The controller 1 and battery 3 are arranged on
On Lap belt anchorages 2.
The left leg device 12 is identical with the 26S Proteasome Structure and Function of right leg device 10, is now illustrated with left leg device 12, described
Left leg device 12 includes the first left leg device 50 and the second left leg device 60；The first left leg device includes 50 thigh arms 5, small
Leg arm 8, upper electromyographic signal sensor 11, lower electromyographic signal sensor 9, upper motor 4 and lower motor 7；The second left leg device
60 include thigh inner arm 37, interior motor 36 and shank inner arm 35.The upper end of thigh arm 5 connection is arranged on Lap belt anchorages 2
The upper motor 4 of both sides, the lower motor 7 of lower end connection；The lower motor 7 of the upper end of shank arm 8 connection, lower end extends to the lower half of shank
Portion；The upper electromyographic signal sensor 11 of the upper end of thigh inner arm 37 connection, motor 36 in the connection of lower end；The lower shank
Motor 36 in the connection of the upper end of inner arm 35, lower end extends to the latter half of shank；The upper motor 4, lower motor 7 and interior motor 36
For controlling thigh arm 5, shank arm 8, thigh inner arm 37 and the motion morphology of shank inner arm 35, thigh arm 5, shank arm 8, thigh
Inner arm 37 and shank inner arm 35 drive thigh and shank motion.
The upper electromyographic signal sensor 11 is arranged on thigh arm 5；The lower electromyographic signal sensor 9 is arranged on shank
On arm 8；Upper electromyographic signal sensor 11 is identical with 9 26S Proteasome Structure and Functions of lower electromyographic signal sensor, now above electromyographic signal sensing
Device 11 is illustrated, and upper electromyographic signal sensor 11 is made up of left veneer 111 and right veneer 112, first by left veneer 111 when using
Draw to the right and be covered on thigh, then right veneer 112 is covered on left veneer 111 to Zola, left veneer 111 and right veneer
112 are pasted mutually using VELCRO or magic tape, and it is single that left veneer 111 and right veneer 112 are equipped with multiple sensings inside it
Unit, the surface electromyogram signal to real-time monitoring leg muscle changes, and the surface electromyogram signal amplitude change of each muscle is anti-
Feed controller 1.
The controller 1 connects motor 4, lower motor 7, interior motor 36, upper electromyographic signal sensor 11 and lower flesh respectively
Electric signal sensor 9, controller 1 is the control centre of walking apparatus；The battery 3 is mainly controller 1, upper motor 4, lower motor
7 and interior motor 36 provide power supply.
Left veneer 111 and right veneer 112 can also be held together with rope through thigh inner arm 37.
When using, Lap belt anchorages 2, thigh arm 5, lower motor 7, shank arm 8, thigh inner arm 37, interior motor 36 and small
Leg inner arm 35 be sequentially located at human body waist, big leg outer side, knee joint outside, small leg outer side, femoribus internus, knee joint inner side and it is small
Inboard leg, upper electromyographic signal sensor 11 left veneer 111 and right veneer 112 are around thigh and are fitted on thigh inner arm 37,
Fixed thigh arm 5 and thigh inner arm 37 in the position of thigh, the left veneer 91 and right veneer 92 of lower electromyographic signal sensor 9 around
Shank is simultaneously fitted on shank inner arm 35, and fixed shank arm 8 and shank inner arm 35 are in the position of shank, upper electromyographic signal sensor
11 and surface muscle of the lower electromyographic signal sensor 9 respectively with thigh and shank fit.
When wearer will using walking apparatus of the invention when, wearer need to put on walking apparatus of the invention get ahead it is a bit of
Road, during this section of way of walking, the myoelectricity letter of upper electromyographic signal sensor 11 and lower electromyographic signal sensor 9 detection leg
Number and feed back to controller 1, upper motor 4, lower motor 7 and interior motor 36 the rotational angle data feedback of motor to controller 1,
Then controller 1 passes upper electromyographic signal sensor 11, lower electromyographic signal sensor 9, upper motor 4, lower motor 7 and interior motor 36
The data for coming over are preserved and calculate the exercise habit of wearer's lower limb, after this segment road is covered, walking apparatus of the invention
Start formal auxiliary wearer walking, when wearer lifts left leg, the upper electromyographic signal sensor 11 of left leg and lower myoelectricity are believed
Number sensor 9 detects the electromyographic signal of left leg leg and feeds back to controller 1, and then controller 1 is passed according to upper electromyographic signal
Sensor 11 and the lower feedack of electromyographic signal sensor 9 and the walking data for preserving before calculate the motion of the left leg of wearer
It is intended to, controller 1 controls the rotational angle of the upper motor 4, lower motor 7 and interior motor 36 of left leg device 12, completes the lift of left leg
Leg to the action for striding, in this process, examine by the upper electromyographic signal sensor of right leg device 10 and lower electromyographic signal sensor
Survey the electromyographic signal of right leg and feed back to controller 1, controller 1 is according to real-time electromyographic signal and the walking data for preserving before
The motion intention of right leg is calculated, the rotational angle of the upper motor, lower motor and interior motor of right leg device 10 is then controlled, completed
To the process for striding, during right leg strides, left leg device 12 performs the worked of above-mentioned right leg device to the lift leg of right leg
Journey, with this repeatedly, walking apparatus of the invention can just aid in wearer to walk.Walking data can be emptied, and then be walked again
Or run out of new walking data and be saved in controller 1.
Claims (2)
1. a kind of walking apparatus, it is characterised in that：Including left leg device（12）, right leg device（10）, Lap belt anchorages（2）, control
Device processed（1）And battery（3）；The left leg device（12）With right leg device（10）It is symmetrically distributed in Lap belt anchorages（2）Both sides；
The controller（1）And battery（3）Installed in Lap belt anchorages（2）On；The left leg device（12）With right leg device（10）
26S Proteasome Structure and Function is identical；
Left leg device（12）Concrete structure be：Including the first left leg device（50）With the second left leg device（60）；Described first
Left leg device（50）Including thigh arm（5）, shank arm（8）, upper electromyographic signal sensor（11）, lower electromyographic signal sensor（9）、
Upper motor（4）With lower motor（7）；The second left leg device（60）Including thigh inner arm（37）, interior motor（36）In shank
Arm（35）；The thigh arm（5）Upper end connection is arranged on Lap belt anchorages（2）The upper motor of both sides（4）, the lower electricity of lower end connection
Machine（7）；The shank arm（8）The lower motor of upper end connection（7）, lower end extends to the latter half position of shank；In the thigh
Arm（37）The upper electromyographic signal sensor of upper end connection（11）, motor in the connection of lower end（36）；The lower shank inner arm（35）Upper end
Motor in connection（36）, lower end extends to the latter half of shank；The upper electromyographic signal sensor（11）Installed in thigh arm
（5）On；The lower electromyographic signal sensor（9）Installed in shank arm（8）On；Upper electromyographic signal sensor（11）Believe with lower myoelectricity
Number sensor（9）26S Proteasome Structure and Function is identical；Upper electromyographic signal sensor（11）By left veneer（111）With right veneer（112）Composition,
Left veneer（111）With right veneer（112）Multiple sensing units, the controller are equipped with inside it（1）Upper electricity is connected respectively
Machine（4）, lower motor（7）, interior motor（36）, upper electromyographic signal sensor（11）With lower electromyographic signal sensor（9）；The battery
（3）Predominantly controller（1）, upper motor（4）, lower motor（7）With interior motor（36）Power supply.
2. a kind of walking apparatus according to claim 1, it is characterised in that：Left veneer（111）With right veneer（112）Using evil spirit
Art is pasted or magic tape（1111）Paste mutually, or thigh inner arm is passed through with rope（37）It is held together.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710251164.5A CN106924015A (en) | 2017-04-18 | 2017-04-18 | A kind of walking apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710251164.5A CN106924015A (en) | 2017-04-18 | 2017-04-18 | A kind of walking apparatus |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106924015A true CN106924015A (en) | 2017-07-07 |
Family
ID=59437541
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710251164.5A Pending CN106924015A (en) | 2017-04-18 | 2017-04-18 | A kind of walking apparatus |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106924015A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111419632A (en) * | 2020-03-31 | 2020-07-17 | 合肥工业大学 | Redundant constraint flexible cable driven lower limb training parallel rehabilitation robot and control method thereof |
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| CN1838933A (en) * | 2003-08-21 | 2006-09-27 | 山海嘉之 | Wearable action-assist device, and method and program for controlling wearable action-assist device |
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Application publication date: 20170707 |
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