CN107126348A - A kind of accurate passive knee ankle-joint coupling lower limb exoskeleton and its control method - Google Patents
A kind of accurate passive knee ankle-joint coupling lower limb exoskeleton and its control method Download PDFInfo
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- CN107126348A CN107126348A CN201710208363.8A CN201710208363A CN107126348A CN 107126348 A CN107126348 A CN 107126348A CN 201710208363 A CN201710208363 A CN 201710208363A CN 107126348 A CN107126348 A CN 107126348A
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- 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
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H2003/005—Appliances for aiding patients or disabled persons to walk about with knee, leg or stump rests
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Abstract
The present invention relates to Wearable robotic technology field, more particularly to a kind of accurate passive knee ankle-joint coupling lower limb exoskeleton and its control method.The lower limb exoskeleton includes lower limb wearing mechanism, stored energy mechanism and controlling organization, wherein described stored energy mechanism includes fixing axle, knee joint clutch and ankle-joint clutch are provided with the two ends of the fixing axle, the knee joint clutch connection thigh wearing portion, ankle-joint clutch connecting pin bottom wearing portion, energy storage torsion spring is provided between the knee joint clutch and the ankle-joint clutch, the two ends of the energy storage torsion spring are connected with the knee joint clutch, the ankle-joint clutch respectively.The present invention is coupled human body lower limbs knee joint and ankle-joint, pass through the collection to SCID Mice energy, storage and release, in the case where being inputted without external energy, power-assisted human body walking, realize lightweight and the energy economy of exoskeleton device so that metabolic energy consumption is possibly realized in reduction human body walking.
Description
Technical field
The present invention relates to Wearable robotic technology field, more particularly to a kind of accurate passive knee ankle-joint coupling lower limb dermoskeleton
Bone and its control method.
Background technology
Ectoskeleton is a kind of wearable device that can be maintained or strengthen human physiological functions, in military, medical treatment, helps the elderly and helps the disabled
In terms of have broad prospect of application.Lower limb exoskeleton is used as one of which, it is intended to power-assisted human body walking.In military field,
Lower limb exoskeleton can increase distance on foot, lift heavy burden ability, muscle damage risk be reduced, so as to lift capacity for individual action.
In medical field, lower limb exoskeleton can be used for the gait rehabilitation of patient and the auxiliary walking of disabled person.In the field of helping the elderly, lower limb
Ectoskeleton can help the elderly to recover locomotor activity.
Human body needs to consume big energy in the process of walking, and wherein most energy expenditure is in support phase later stage ankle-joint
In plantar flexion leg thrust.Lower limb exoskeleton pedals ground moment in ankle-joint and provides outside power-assisted, alternative lower leg portion muscle function,
Realize the reduction of human body walking power consumption.
However, existing lower limb exoskeleton is generally active ectoskeleton, it is necessary to be helped by heavy-duty motor ankle-joint
Power, it is therefore desirable to big quality drive device and Large Copacity power supply, the energy expenditure that human body can be caused extra, and it is removable
Dynamic property and endurance are poor.Moreover, current ectoskeleton principle is all confined to carry out power-assisted with pedaling ankle-joint plantar flexion, but
The walking of people is highly complex process, and the negative work that knee ankle-joint is done in the process will also result in very big energy expenditure,
The effect only reached to ankle-joint progress power-assisted is relatively limited.
The content of the invention
(1) technical problem to be solved
It is an object of the invention to provide a kind of accurate passive knee ankle-joint coupling lower limb exoskeleton and its control method, solve existing
With the presence of the meeting of active ectoskeleton cause the extra energy expenditure of human body, mobility and endurance are poor, and only
Power-assisted, the problem of effect reached is relatively limited are carried out to ankle-joint.
(2) technical scheme
In order to solve the above-mentioned technical problem, the invention provides a kind of accurate passive knee ankle-joint coupling lower limb exoskeleton, bag
Include lower limb wearing mechanism, stored energy mechanism and controlling organization；
Wherein, the lower limb wearing mechanism includes thigh wearing portion, shank wearing portion and sole wearing portion；
The stored energy mechanism includes the fixing axle being arranged in the shank wearing portion, symmetrical at the two ends of the fixing axle
Knee joint clutch and ankle-joint clutch are provided with, wherein the knee joint clutch connects the thigh by the first rope
Wearing portion, the ankle-joint clutch connects the sole wearing portion by the second rope；Described knee joint clutch and ankle
Joint clutch includes ratchet, ratchet and driving gear, and the ratchet is set in the fixing axle by bearing, the spine
Pawl is rotationally connected with the end face of the fixing axle, and the ratchet includes stop claw and driven teeth portion, wherein the lock pawl
Portion is engaged with the inner edge teeth groove of the ratchet, and the driven teeth portion is meshed with the driving gear；The knee joint from
Be provided with energy storage torsion spring between clutch and the ankle-joint clutch, the two ends of the energy storage torsion spring respectively with the knee joint clutch
Device, the ankle-joint clutch are connected；
The controlling organization includes being used for two that control the knee joint clutch and the ankle-joint clutch respectively
Steering wheel, the steering wheel is fixedly connected with the fixing axle, and steering wheel axle sleeve is fixedly connected with the power output shaft of the steering wheel,
The steering wheel axle sleeve is fixedly connected with the driving gear；The power output shaft of the steering wheel controls institute by the steering wheel axle sleeve
The rotation of driving gear is stated, disengaging or lock between the ratchet and the ratchet are realized by the rotation of the driving gear
Extremely.
Further, described knee joint clutch and ankle-joint clutch are equipped with compression spring, the compression spring
One end be connected with the steering wheel axle sleeve, the other end of the compression spring is connected with the driving gear.
Further, the controlling organization also includes plantar pressure sensor, single-chip microcomputer and sample circuit, the vola
Pressure sensor is connected by the sample circuit with the single-chip microcomputer, and the single-chip microcomputer is connected with the steering wheel.
Specifically, connection is rotated between the shank wearing portion and the sole wearing portion, wherein the shank wearing portion
Leg support frame is provided with, the fixing axle is fixedly connected with the leg support frame；The sole wearing portion is provided with foot stand,
The ankle-joint clutch is connected by the rope with the foot stand.
Specifically, steering wheel mounting hole is provided with the middle of the fixing axle, the steering wheel is installed in the steering wheel mounting hole.
Specifically, grooving is provided with the outside of the ratchet, the rope winding is arranged in the grooving.
Specifically, the shank wearing portion and the sole wearing portion not Cai Yong rigid material be made, wherein described small
Leg wearing portion is provided with the VELCRO for being used for being fastened with human calf part；The thigh wearing portion uses flexible material system
Into the thigh wearing portion is provided with safety belt.
Specifically, lid, the lid are respectively equipped with the outside of the knee joint clutch and the ankle-joint clutch
Son is provided with rope throughhole.
In order to solve the above-mentioned technical problem, present invention also offers a kind of accurate passive knee ankle-joint coupling lower limb exoskeleton control
Method processed, this method carries out auxiliary ankle-joint plantar flexion using the described passive knee ankle-joint coupling lower limb exoskeleton of standard and controlled with pedaling
System, comprises the following steps：
Measure plantar pressure by the plantar pressure sensor in controlling organization and export and believe on the resistance of plantar pressure
Number, the resistance signal is gathered by sample circuit, the resistance signal is converted into voltage signal by the sample circuit, and will
The voltage signal is exported to single-chip microcomputer；
The single-chip microcomputer receives the voltage signal, and the gait cycle of human body walking is determined according to the voltage signal；
The single-chip microcomputer, to two steering wheel output pwm signals, controls two steering wheel power respectively according to the gait cycle
The rotational angle of output shaft；
According to the rotation of two steering wheel power output shafts, the opening of knee joint clutch and ankle-joint clutch is controlled respectively
Or it is locked.
Further, the gait cycle of the human body walking include swing phase initial stage, swing phase mid-term, the swing phase later stage,
Support phase initial stage, support phase mid-term and support phase later stage, wherein,
At the swing phase initial stage, the knee joint clutch and the ankle-joint clutch are in open mode；
In the swing phase mid-term, the ankle-joint clutch is in locking state, and the knee joint clutch keeps beating
Open state, kneed stretching routine pulls the first rope, and first rope pulls the ratchet in the knee joint clutch
Rotated around fixing axle, energy storage torsion spring deformation quantity increase, knee joint does negative work and is collected into energy storage torsion spring；
In the swing phase later stage, before heel is contacted with ground, the knee joint clutch is in locking state, described
Ankle-joint clutch keeps locking state；
At the support phase initial stage, heel is touched with ground, the knee joint clutch and the ankle-joint clutch
Keep locking state；
In the support phase mid-term, the ankle-joint clutch is in open mode, and the knee joint clutch keeps lock
Death situation state, the dorsiflex campaign of ankle-joint pulls the second rope, and second rope pulls the ratchet in the ankle-joint clutch
Rotated around fixing axle, energy storage torsion spring deformation quantity increase, ankle-joint does negative work and is collected into energy storage torsion spring；
In the support phase later stage, ankle-joint pedals ground state into plantar flexion, and the knee joint clutch keeps locking state,
The ankle-joint clutch is remained on, and the power in the energy storage torsion spring is passed to second rope, to ankle-joint
Apply the moment of torsion in plantar flexion direction, auxiliary ankle-joint pedals ground.
(3) beneficial effect
The above-mentioned technical proposal of the present invention has the following advantages that：
The present invention is coupled human body lower limbs knee joint and ankle-joint, collects knee joint respectively using stored energy mechanism in pendulum
The negative work that the done negative work of dynamic phase period swing and ankle-joint are done in support phase period dorsiflex, and the energy being collected into is led to
Cross energy storage torsion spring to be stored, finally released energy when ankle-joint plantar flexion pedals ground, ground is pedaled for aiding in ankle-joint to carry out plantar flexion,
The power that the moment of torsion applied so as to reduce thigh Hou Ce hamstrings to knee joint applies with posterior leg gastrocnemius to tendon, is optimized
Human walking procedure, realizes energy economy so that metabolic energy consumption is possibly realized in human body walking.
The present invention need not set this big quality drive device of heavy-duty motor, enter only with the steering wheel of two low-power
Row control, with lightweight, small volume, cruising time is long, and light weight is portable, the low advantage of cost, while realizing external energy
Injection, reduce the power consumption of human body walking.
Brief description of the drawings
Fig. 1 is the structural representation that the accurate passive knee ankle-joint of the embodiment of the present invention couples lower limb exoskeleton；
Fig. 2 is the sectional view of stored energy mechanism in the accurate passive knee ankle-joint coupling lower limb exoskeleton of the embodiment of the present invention；
Fig. 3 is that clutch open state is faced in the accurate passive knee ankle-joint coupling lower limb exoskeleton of the embodiment of the present invention
Figure；
Fig. 4 is that clutch locking state is faced in the accurate passive knee ankle-joint coupling lower limb exoskeleton of the embodiment of the present invention
Figure；
Fig. 5 is the structured flowchart of controlling organization in the accurate passive knee ankle-joint coupling lower limb exoskeleton of the embodiment of the present invention；
Fig. 6 be in the embodiment of the present invention on accurate passive knee ankle-joint coupling lower limb exoskeleton operationally with gait cycle
Corresponding ectoskeleton state, Plantar force, knee joint clutch state, ankle-joint clutch state and ectoskeleton state diagram
Form schematic diagram.
In figure：1：Thigh wearing portion；2：Shank wearing portion；3：Sole wearing portion；4：Fixing axle；5：Knee joint clutch；
6：Ankle-joint clutch；7：First rope；8：Second rope；9：Ratchet；901：Inner edge teeth groove；10：Ratchet；101：Lock pawl
Portion；102：Driven teeth portion；11：Driving gear；12：Needle bearing；13：Energy storage torsion spring；14：Steering wheel；141：Power output shaft；
15：Steering wheel axle sleeve；16：Compression spring；17：Leg support frame；18：Foot stand；19：VELCRO；20：Lid；21：Bolt.
Embodiment
To make the purpose, technical scheme and 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 whole embodiments.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.
As Figure 1-5, accurate passive knee ankle-joint coupling lower limb exoskeleton provided in an embodiment of the present invention, including lower limb are worn
Wear mechanism, stored energy mechanism and controlling organization.
The lower limb wearing mechanism includes thigh wearing portion 1, shank wearing portion 2 and sole wearing portion 3, wherein the shank
Connection is rotated between wearing portion 2 and the sole wearing portion 3.
Fixing axle 4, knee joint clutch 5 and the ankle that the stored energy mechanism includes being arranged in the shank wearing portion 2 are closed
Clutch 6 is saved, the knee joint clutch 5 and the ankle-joint clutch 6 are symmetricly set on the two ends of the fixing axle 4, its
Described in knee joint clutch 5 the thigh wearing portion 1 is connected by the first rope 7, the ankle-joint clutch 6 passes through second
Rope 8 connects the sole wearing portion 3.
Described knee joint clutch 5 and ankle-joint clutch 6 include ratchet 9, ratchet 10 and driving gear 11, described
Ratchet 9 is set in the fixing axle 4 by needle bearing 12, and the ratchet 10 is rotationally connected with the fixation by bolt 21
On the end face of axle 4, the ratchet 10 include stop claw 101 and driven teeth portion 102, wherein the lock pawl portion 101 with it is described
The inner edge teeth groove 901 of ratchet 9 is engaged, and the driven teeth portion 102 is meshed with the driving gear 11.The knee joint from
Energy storage torsion spring 13 is provided between clutch 5 and the ankle-joint clutch 6, the main body of the energy storage torsion spring 13 is set in the fixation
On axle 4, and the two ends of the energy storage torsion spring 13 are connected with the knee joint clutch 5, the ankle-joint clutch 6 respectively.
The controlling organization include be arranged in the sole wearing portion 3 plantar pressure sensor, be arranged on it is described small
Single-chip microcomputer in leg wearing portion 2 and two for controlling the knee joint clutch 5 and the ankle-joint clutch 6 respectively
Individual steering wheel 14, wherein the plantar pressure sensor is connected by sample circuit with the single-chip microcomputer, the single-chip microcomputer with it is described
Steering wheel 14 is connected.The steering wheel mounting hole for being used for installing the steering wheel 14 is provided with the middle of the fixing axle, the steering wheel 14 is fixed
It is installed in the steering wheel mounting hole.Steering wheel axle sleeve 15 is fixedly connected with the power output shaft 141 of the steering wheel 14, it is described
Steering wheel axle sleeve 15 is fixedly connected with the driving gear 11.
Operationally, gather plantar pressure by the plantar pressure sensor and export and believe on the resistance of plantar pressure
Number, the sample circuit gathers the resistance signal, and the resistance signal is converted into voltage signal by the sample circuit, and will
The voltage signal is exported to single-chip microcomputer, and the single-chip microcomputer obtains plantar pressure information according to the change of voltage signal, then passes through
The single-chip microcomputer output pwm signal controls the rotational angle of the power output shaft 141 of two steering wheels 14, the steering wheel 14
Power output shaft 141 rotation of the driving gear 11 is controlled by the steering wheel axle sleeve 15 again, and then realize the ratchet
Disengaging or locked between 10 and the ratchet 9.In this course, by compact lithium cell to the single-chip microcomputer and the rudder
Machine 14 is powered.As shown in figure 3, when the inner edge teeth groove 901 of the stop claw 101 and the ratchet 9 of the ratchet 10 mutually takes off
From when, the ratchet 9 can be with Double-directional rotary, and now described clutch is in open mode.As shown in figure 4, when the ratchet
When the inner edge teeth groove 901 of 10 stop claw 101 and the ratchet 9 fastens locked, the ratchet 9 can only one-directional rotation, now
Described clutch is in locking state.
Furthermore, it is understood that described knee joint clutch 5 and ankle-joint clutch 6 is equipped with compression spring 16, the pressure
One end of contracting spring 16 is connected with the steering wheel axle sleeve 15, the other end of the compression spring 16 and the phase of driving gear 11
Even.The effect of wherein described compression spring 16 is：In the case where described clutch is locked, when the ratchet 9 turns over one
After teeth groove, the ratchet 10 can in the presence of the compression spring 16 return, the teeth groove of the ratchet 9 is fastened on again
On 901.
Furthermore, it is understood that leg support frame 17 is provided with the shank wearing portion 2, the fixing axle 4 and the leg branch
Frame 17 is fixedly connected.Foot stand 18 is provided with the sole wearing portion 3, the ankle-joint clutch 6 passes through the second rope 8
It is connected with the foot stand 18.
Furthermore, it is understood that the two ends of energy storage torsion spring 13 are threaded, mounting hole is provided with the ratchet 9, it is described
The two ends of the energy storage torsion spring 13 are each passed through the mounting hole of two ratchets 9, and realize threaded connection by nut.Work as institute
When stating ratchet 9 and being rotated forward or backwards relative to the fixing axle 4, it can stretch or discharge the energy storage torsion spring 13, so that
Realize the storage or release of energy.
For further, grooving, first rope 7 and described are respectively equipped with the outside of two ratchets 9
Two ropes 8 wind be arranged in the grooving of two ratchets 9 respectively.When knee joint angle change so that the thigh wearing
When rope tie point A in portion 1 is elongated relative to the distance of the stored energy mechanism, first rope 7 can pull the knee to close
The pawl wheel in clutch 5 is saved, the ratchet is rotated to the direction that energy storage torsion spring deformation quantity increases, and then make the energy storage
The storage energy of torsion spring 13.Similarly, when ankle joint angle changes so that rope tie point B in the sole wearing portion 3 relative to
When the distance of the stored energy mechanism is elongated, second rope 8 can pull the pawl wheel in the ankle-joint clutch 6, make
The ratchet is rotated to the direction that energy storage torsion spring deformation quantity increases, and then makes the storage energy of energy storage torsion spring 13.When the knee
When joint clutch 5 or the ankle-joint clutch 6 are in locking state, the ratchet 9 can only increase to energy storage torsion spring deformation quantity
Big direction is rotated, and can not be rotated to the direction for reducing torsion spring deformation quantity, and now the energy storage torsion spring 13 can only store energy
Amount can not release energy.When the ankle-joint clutch 6 is in open mode, now the energy storage torsion spring 13 can discharge energy
Amount, acts on the foot stand 18, so as to aid in ankle-joint to pedal ground by pulling second rope 8 by power.
Specifically, the shank wearing portion 2 and the sole wearing portion 3 are respectively adopted rigid material and are made, wherein institute
State shank wearing portion 2 and be provided with the VELCRO 19 for being used for being fastened with human calf part.And the thigh wearing portion 1 is using soft
Property material be made, by setting safety belt to improve the rigidity in the thigh wearing portion 1 in the thigh wearing portion 1.
In addition, further respectively having lid 20, institute in the outside of the knee joint clutch 5 and the ankle-joint clutch 6
Lid 20 is stated provided with rope throughhole.
As shown in fig. 6, the embodiment of the present invention also provides a kind of accurate passive knee ankle-joint coupling lower limb exoskeleton control method,
This method carries out auxiliary ankle-joint plantar flexion using the above-mentioned passive knee ankle-joint coupling lower limb exoskeleton of standard and controlled with pedaling.Due to people
In the process of walking, the plantar pressure of shaking peroid is zero, and support phase sole pressure center is moved to sole by heel, therefore can be with
Pass through plantar pressure information dividing gait cycles.Then this method specifically includes following steps：
The resistance signal of plantar pressure and output on plantar pressure is measured by the plantar pressure sensor in real time, led to
Over-sampling circuit gathers the resistance signal, and the resistance signal is converted into voltage signal by the sample circuit, and will be described
Voltage signal is exported to single-chip microcomputer.
The single-chip microcomputer is received and handles the voltage signal, and human body is determined according to the result to the voltage signal
Current gait cycle.
The single-chip microcomputer distinguishes output pwm signal according to the gait cycle to two steering wheels, for controlling two respectively
The rotational angle of steering wheel power output shaft.
According to the rotation of two steering wheel power output shafts, the knee joint clutch and the ankle-joint clutch are controlled respectively
The opening of device is locked.
Furthermore, it is understood that at the beginning of the gait cycle includes swing phase initial stage, swing phase mid-term, swing phase later stage, support phase
Phase, support phase mid-term and support phase later stage.
At the swing phase initial stage, the knee joint clutch and the ankle-joint clutch are in open mode.
In the swing phase mid-term, when knee joint will start to stretch, knee joint is in the maximum state of angle of bend, and
Ankle is in physical slot.Now the ankle-joint clutch is locked, and the knee joint clutch is remained on.In knee
During joint extension, kneed stretching routine pulls first rope, connects the rope in the thigh wearing portion
Point A is elongated relative to the distance of the stored energy mechanism, and first rope pulls the ratchet in the knee joint clutch around solid
Fixed-axis rotation, the deformation quantity increase of the energy storage torsion spring, knee joint does negative work and is collected into the energy storage torsion spring, in the mistake
Ectoskeleton is auxiliary in journey helps hamstring to slow down knee joint.
In the swing phase later stage, before heel is contacted with ground, the knee joint clutch is locked, the ankle-joint from
Clutch keeps locking state so that the energy in the energy storage torsion spring will not be discharged in advance.
At the support phase initial stage, heel is contacted with ground, ankle-joint by plantar flexion state gradually dorsiflex to nature, this
Shi Suoshu knee joints clutch and the ankle-joint clutch keep locking state.
In the support phase mid-term, ankle-joint continues dorsiflex, and now the ankle-joint clutch is opened, the knee joint from
Clutch keeps locking state.The dorsiflex campaign of ankle-joint pulls the second rope, makes the rope tie point B in the sole wearing portion
Distance relative to the stored energy mechanism is elongated, and second rope pulls the ratchet in the ankle-joint clutch around fixing axle
Rotate, energy storage torsion spring deformation quantity further increases, and ankle-joint does negative work and is collected into the energy storage torsion spring.
In the support phase later stage, ankle-joint pedals ground state into plantar flexion, and now the knee joint clutch keeps locked
State, the ankle-joint clutch is remained on, and the energy storage torsion spring releases energy, and the power in the energy storage torsion spring is passed
Second rope is handed to, applies the moment of torsion in plantar flexion direction to ankle-joint by second rope, auxiliary ankle-joint pedals ground.
During being somebody's turn to do, ectoskeleton can partly substitute triceps and the effect of Achilles's tendon.
After terminating with pedaling, the knee joint clutch is opened, and the ratchet is returned to initial bit with the energy storage torsion spring
Put, namely re-enter into swing phase initial stage, it is reciprocal with this.
Wherein, Fig. 6 be on the accurate passive knee ankle-joint coupling lower limb exoskeleton operationally with the gait cycle
Corresponding ectoskeleton state, Plantar force, knee joint clutch state, ankle-joint clutch state and ectoskeleton state diagram
Form schematic diagram, wherein, (a), (b), (c), (d), (e) and (f) in ectoskeleton state diagram respectively with the gait cycle
Swing phase initial stage, swing phase mid-term, swing phase later stage, support phase initial stage, support phase mid-term and support phase later stage correspond.
In summary, the present invention is coupled human body lower limbs knee joint and ankle-joint, is collected respectively using stored energy mechanism
The negative work that knee joint is done in the done negative work of swing phase period swing and ankle-joint in support phase period dorsiflex, and will collect
To energy stored by energy storage torsion spring, finally ankle-joint plantar flexion pedal ground when release energy, for aiding in ankle-joint to enter
Row plantar flexion pedals ground, so as to reduce moment of torsion that thigh Hou Ce hamstrings apply to knee joint with posterior leg gastrocnemius to tendon application
Power, optimize the walking process of people, realize energy economy so that metabolic energy consumption is possibly realized in human body walking,
The power consumption of human body walking is reduced, with lightweight, small volume, cruising time is long, and light weight is portable, the low advantage of cost.
Finally it should be noted that：The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
The present invention is 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 be modified to the technical scheme described in foregoing embodiments, or equivalent substitution 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 accurate passive knee ankle-joint coupling lower limb exoskeleton, it is characterised in that：Including lower limb wearing mechanism, stored energy mechanism and
Controlling organization；
Wherein, the lower limb wearing mechanism includes thigh wearing portion, shank wearing portion and sole wearing portion；
The stored energy mechanism includes the fixing axle being arranged in the shank wearing portion, is symmetrical arranged at the two ends of the fixing axle
There are knee joint clutch and ankle-joint clutch, dressed wherein the knee joint clutch connects the thigh by the first rope
Portion, the ankle-joint clutch connects the sole wearing portion by the second rope；Described knee joint clutch and ankle-joint
Clutch includes ratchet, ratchet and driving gear, and the ratchet is set in the fixing axle by bearing, and the ratchet turns
Dynamic to be connected on the end face of the fixing axle, the ratchet includes stop claw and driven teeth portion, wherein the lock pawl portion with
The inner edge teeth groove of the ratchet is engaged, and the driven teeth portion is meshed with the driving gear；In the knee joint clutch
Be provided with energy storage torsion spring between the ankle-joint clutch, the two ends of the energy storage torsion spring respectively with the knee joint clutch,
The ankle-joint clutch is connected；
The controlling organization includes two steering wheels for being used to control the knee joint clutch and the ankle-joint clutch respectively,
The steering wheel is fixedly connected with the fixing axle, and steering wheel axle sleeve is fixedly connected with the power output shaft of the steering wheel, described
Steering wheel axle sleeve is fixedly connected with the driving gear；The power output shaft of the steering wheel controls the master by the steering wheel axle sleeve
The rotation of moving gear, the disengaging or locked between the ratchet and the ratchet is realized by the rotation of the driving gear.
2. accurate passive knee ankle-joint coupling lower limb exoskeleton according to claim 1, it is characterised in that：Described knee joint
Clutch and ankle-joint clutch are equipped with compression spring, and one end of the compression spring is connected with the steering wheel axle sleeve, described
The other end of compression spring is connected with the driving gear.
3. accurate passive knee ankle-joint coupling lower limb exoskeleton according to claim 1, it is characterised in that：The controlling organization
Also include plantar pressure sensor, single-chip microcomputer and sample circuit, the plantar pressure sensor by the sample circuit with
The single-chip microcomputer is connected, and the single-chip microcomputer is connected with the steering wheel.
4. accurate passive knee ankle-joint coupling lower limb exoskeleton according to claim 1, it is characterised in that：The shank wearing
Between portion and the sole wearing portion rotate connection, wherein the shank wearing portion be provided with leg support frame, the fixing axle with
The leg support frame is fixedly connected；The sole wearing portion is provided with foot stand, and the ankle-joint clutch passes through the rope
Rope is connected with the foot stand.
5. accurate passive knee ankle-joint coupling lower limb exoskeleton according to claim 1, it is characterised in that：In the fixing axle
Between be provided with steering wheel mounting hole, the steering wheel is installed in the steering wheel mounting hole.
6. accurate passive knee ankle-joint coupling lower limb exoskeleton according to claim 1, it is characterised in that：On the outside of the ratchet
Provided with grooving, the rope winding is arranged in the grooving.
7. accurate passive knee ankle-joint coupling lower limb exoskeleton according to claim 1, it is characterised in that：The shank wearing
Portion and the sole wearing portion not Cai Yong rigid material be made, wherein the shank wearing portion be provided be used for and human calf portion
Divide the VELCRO fastened；The thigh wearing portion is made of flexible material, and the thigh wearing portion is provided with safety belt.
8. accurate passive knee ankle-joint coupling lower limb exoskeleton according to claim 1, it is characterised in that：In the knee joint
The outside of clutch and the ankle-joint clutch is respectively equipped with lid, and the lid is provided with rope throughhole.
9. a kind of accurate passive knee ankle-joint coupling lower limb exoskeleton control method, it is characterised in that：Appointed using such as claim 1-8
The passive knee ankle-joint coupling lower limb exoskeleton of standard described in one carries out auxiliary ankle-joint plantar flexion and controlled with pedaling, including following step
Suddenly：
The resistance signal of plantar pressure and output on plantar pressure is measured by the plantar pressure sensor in controlling organization, led to
Over-sampling circuit gathers the resistance signal, and the resistance signal is converted into voltage signal by the sample circuit, and will be described
Voltage signal is exported to single-chip microcomputer；
The single-chip microcomputer receives the voltage signal, and the gait cycle of human body walking is determined according to the voltage signal；
The single-chip microcomputer, to two steering wheel output pwm signals, controls two steering wheel power outputs respectively according to the gait cycle
The rotational angle of axle；
According to the rotation of two steering wheel power output shafts, the opening or lock of knee joint clutch and ankle-joint clutch are controlled respectively
Extremely.
10. accurate passive knee ankle-joint coupling lower limb exoskeleton control method according to claim 9, it is characterised in that：Institute
Stating the gait cycle of human body walking is included in swing phase initial stage, swing phase mid-term, swing phase later stage, support phase initial stage, support phase
Phase and support phase later stage, wherein,
At the swing phase initial stage, the knee joint clutch and the ankle-joint clutch are in open mode；
In the swing phase mid-term, the ankle-joint clutch is in locking state, and the knee joint clutch stays open shape
State, kneed stretching routine pulls the first rope, and first rope pulls the ratchet in the knee joint clutch around solid
Fixed-axis rotation, energy storage torsion spring deformation quantity increase, knee joint does negative work and is collected into energy storage torsion spring；
In the swing phase later stage, before heel is contacted with ground, the knee joint clutch is in locking state, and the ankle is closed
Save clutch and keep locking state；
At the support phase initial stage, heel is touched with ground, and the knee joint clutch and the ankle-joint clutch are protected
Hold locking state；
In the support phase mid-term, the ankle-joint clutch is in open mode, and the knee joint clutch keeps locked shape
State, the dorsiflex campaign of ankle-joint pulls the second rope, and second rope pulls the ratchet in the ankle-joint clutch around solid
Fixed-axis rotation, energy storage torsion spring deformation quantity increase, ankle-joint does negative work and is collected into energy storage torsion spring；
In the support phase later stage, ankle-joint pedals ground state into plantar flexion, and the knee joint clutch keeps locking state, described
Ankle-joint clutch is remained on, and the power in the energy storage torsion spring is passed to second rope, and ankle-joint is applied
The moment of torsion in plantar flexion direction, auxiliary ankle-joint pedals ground.
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