CN107127736B - Exoskeleton device with human hip assistance function - Google Patents
Exoskeleton device with human hip assistance function Download PDFInfo
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- CN107127736B CN107127736B CN201710196409.9A CN201710196409A CN107127736B CN 107127736 B CN107127736 B CN 107127736B CN 201710196409 A CN201710196409 A CN 201710196409A CN 107127736 B CN107127736 B CN 107127736B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
Abstract
The invention relates to the technical field of exoskeletons, and discloses an exoskeletons device with a human hip boosting function, which comprises a waist-hip frame (1), hip joint parts (2) and thigh supports (3), wherein the waist-hip frame (1) comprises a back support (11), a waist support (12) and a first support (13) connected with the waist support (12), the hip joint parts (2) are arranged on the first support (13), the thigh supports (3) comprise a second support (31) and a cushion plate (32), and an angle adjusting part (33) is arranged between the second support (31) and the cushion plate (32); the back support (11) is provided with a length adjusting device (14). The waist and thigh exercise belt has the main functions of enhancing the exercise capacity of the waist and thigh of the human body, being fixed with the waist and thigh of the human body through the binding belt, and driving the waist and thigh of the human body to move by means of external assistance brought by equipment, so that a wearer can complete the action to be completed with small force, and the burden of the corresponding part of the human body is relieved.
Description
Technical Field
The invention relates to the technical field of exoskeletons, in particular to an exoskeletons device with a human hip power assisting function.
Background
Along with the aggravation of the aging of the population, the aging of the labor force is more and more serious, the elderly live more and more in a solitary condition due to the office workers, and meanwhile, a large number of lumbar vertebra disease patients exist in the society. Old man and the crowd who suffers from lumbar vertebra disease can't independent work and life because the lumbar vertebrae can't bear a burden in daily work and life, in order to make the old man and the crowd who suffers from lumbar vertebra disease can be better participate in work, more convenient life, need a equipment can strengthen the lumbar vertebrae ability of bearing a burden now urgently.
Disclosure of Invention
The invention provides an exoskeleton device with a human body hip power assisting function, aiming at the existing problems.
In order to solve the technical problem, the invention is solved by the following technical scheme:
an exoskeleton device with a human hip boosting function comprises a waist and hip frame, hip joint parts and thigh supports, wherein the waist and hip frame comprises a back support, a waist support and a first support connected with the waist support, the first support is provided with the hip joint parts, the thigh supports comprise a second support and a base plate, and an angle adjusting part is arranged between the second support and the base plate; the back support is provided with a length adjusting device.
The invention has the main function of enhancing the movement capability of the waist and the thighs of the human body. The waist and the thighs of the human body are fixed together through the binding bands, the waist and the thighs of the human body are driven to move by means of external assistance brought by the equipment, a wearer can complete the required actions with small force, and the burden of the corresponding parts of the human body is relieved.
The hip joint part comprises a rotating shaft which is vertical to the first support, the invention simulates the freedom degrees of two hip joints, the freedom degree of a motor shaft can allow and assist the flexion and extension of thighs to complete walking, bending, lifting and other actions, and the hinge mechanism between the rotating piece and the second support 31 can allow the thighs to abduct and to be converged inwards.
In the actual use process, because the influence such as the precision of wearing, human soft characteristic, inevitable equipment second support can't keep parallel motion with the thigh all the time when loading, if unable activity between second support and the backing plate, then the contact between backing plate and the human thigh will become the line contact, and the lifting surface area is minimum, will cause painful sense to the people, harms the human body even. The angle adjusting piece is arranged between the second support and the backing plate to form a rotational degree of freedom, the rotational degree of freedom enables the front half leg of the device to be in flexible connection with the thigh of the human body, and the stress surface of the thigh of the human body and the device can be guaranteed to be the whole backing plate plane instead of one edge of the backing plate, so that the pressure intensity of the stress surface of the thigh of the human body is greatly reduced, and the oppression feeling is reduced.
The waist and hip frame has adjustable width to adapt to people with different body types. When the size of the waist and hip frame of the equipment needs to be adjusted, the length adjusting device is adjusted.
Preferably, the back support further comprises back supports respectively arranged on the left side and the right side, and the two back supports are connected through a length adjusting device.
Preferably, the length adjusting device comprises a pressing plate, a connecting plate and a cam handle, the pressing plate is provided with a groove, a back side support and the connecting plate are sequentially arranged in the groove from inside to outside, the back side support is provided with an adjusting groove, the connecting plate is provided with a through hole, and the cam handle penetrates through the through hole and the adjusting groove to be connected with the pressing plate. The waist and hip frame has adjustable width to adapt to people with different body types. The waist and hip frame is divided into a left part and a right part (namely two back side frames), the middle parts are connected by a connecting plate and are respectively fixed by a pressing mechanism consisting of a pair of pressing plates and a cam handle. The back side support and the connecting plate are arranged between the pressing plate and the cam handle at the same time, the pressing plate is provided with a groove, the middle of the groove is sunken, two sides of the groove are raised, the sunken part is just as wide as the back side support and the connecting plate, the back side support and the connecting plate are matched with the sunken part of the pressing plate, the back side support is close to the connecting plate, the back side support is provided with an adjusting groove, the connecting plate is provided with a small hole, a stud of the cam handle penetrates through the small hole of the connecting plate and the adjusting groove of the back side support to be in threaded connection with the pressing plate, the cam handle is pressed after connection is completed, the waist hip support and the connecting plate generate larger pressure and friction force by utilizing the characteristics of the cam handle, the waist hip support and the connecting plate are firmly fixed together and cannot slide relatively, and meanwhile, the waist hip. When the size of the waist and hip frame of the equipment needs to be adjusted, the cam handle is loosened, the back side bracket and the connecting plate of the waist and hip frame are adjusted to proper positions, and then the cam handle is fixed.
Preferably, the length adjusting device comprises a pressing plate, a connecting plate and a cam handle, the pressing plate is provided with a groove, a connecting plate back side support is sequentially arranged in the groove from inside to outside, an adjusting groove is formed in the back side support, the connecting plate is provided with a through hole, and the cam handle penetrates through the adjusting groove and the through hole to be connected with the pressing plate. Preferably, the angle adjuster is a hinge. The pad plate is attached to the thighs of a human body, the pad plate is hinged to the second support through the hinge mechanism, the pad plate can rotate relative to the second support through the hinge, the pad plate can be attached to the thighs all the time without being influenced by the fact that the second support does not move parallel to the thighs in the operation process of the device, a large contact area is kept, and a user cannot feel pain when wearing the device.
Preferably, the hip joint component comprises a rotating shaft and a rotating piece, the first support is connected with the rotating piece through the rotating shaft, and the rotating piece is connected with the second support through a hinge. According to the invention, the rotating piece is connected with the second bracket through the hinge, and the angle adjusting piece is arranged between the second bracket and the backing plate, so that a rotational degree of freedom is formed, the rotational degree of freedom enables the contact between the front half leg of the equipment and the thigh of the human body to be in flexible connection, and the stress surface of the thigh of the human body and the equipment can be ensured to be the whole backing plate plane rather than one edge of the backing plate, thereby greatly reducing the pressure intensity of the stress surface of the thigh of the human body and reducing the pressure feeling.
Preferably, the thigh support includes a left leg and a right leg.
Preferably, the hip joint device further comprises a power system, wherein the power system comprises a motor driver, a reduction gearbox connected with the hip joint part, and a motor coaxially connected with the reduction gearbox. Two reduction boxes are respectively arranged on two sides of the waist and hip frame and are respectively connected with the first support to simulate the rotating freedom of the hip joint of a human body, and the freedom can allow actions such as leg lifting, leg putting, bending, rising and the like.
Preferably, the device also comprises a sensing system, wherein the sensing system comprises a pressure sensor, a position sensor and an accelerometer, the pressure sensors are arranged at the contact positions of the waist and hip frame, the cushion plate and the human body, and the pressure sensors are used for sensing the pressure change between the human body and the device; the motor is provided with a position sensor, the position sensor is connected with the motor driver, and the position sensor is used for detecting the rotating angle and speed of the motor; the accelerometers are respectively arranged at the contact positions of the waist and hip frame and the cushion plate with the human body, and the position accelerometers are used for detecting the acceleration of the human body movement.
Preferably, the waist and hip frame is fixed on the waist of the human body through a bandage, and the backing plates are respectively fixed on the thighs at the two sides of the human body through the bandage; the contact position of the bandage and the human body is provided with a pressure sensor.
Preferably, the pressure sensor further comprises a central processing system, the central processing system is connected with the pressure sensor, and the central processing system receives signal data transmitted back when the pressure sensor is used; the central processing system is connected with the accelerometer and the motor driver, and the central processing unit outputs instructions to the motor driver to control the motor to work. The central processing system comprises a central processing unit, a chip, a capacitor, a resistor, an inductor and a switch.
The invention is fixed with human waist and thigh through bandage, the skeleton system and human contact part have pressure sensor and accelerometer, when human thigh or waist have move will, only need human body slight movement (or muscle contraction) can cause pressure sensor pressure value to change, the slight movement of human body also can make accelerometer produce new numerical value, these changes and numerical value are converted into signal and transmitted to the central processing system rapidly, the central processing system controls the power system through special algorithm to drive skeleton system movement, thus drive human waist and thigh movement. By means of the additional assistance brought by the equipment, a human body can finish the action to be finished by using smaller force, and the burden of the corresponding part of the human body is lightened.
Preferably, the power system further comprises a battery pack, and the battery pack is connected with the central control system and the motor driver. The battery pack is connected with the central control system and the motor driver to provide power for the whole set of equipment.
Compared with the prior art, the invention has the beneficial effects that: the invention has the main function of enhancing the movement capability of the waist and the thighs of the human body. The waist and the thighs of the human body are fixed together through the binding bands, the waist and the thighs of the human body are driven to move by means of external assistance brought by the equipment, a wearer can complete the required actions with small force, and the burden of the corresponding parts of the human body is relieved.
The angle adjusting piece is arranged between the second support and the backing plate to form a rotational degree of freedom, the rotational degree of freedom enables the front half leg of the device to be in flexible connection with the thigh of the human body, and the stress surface of the thigh of the human body and the device can be guaranteed to be the whole backing plate plane instead of one edge of the backing plate, so that the pressure intensity of the stress surface of the thigh of the human body is greatly reduced, and the oppression feeling is reduced.
The waist and hip frame has adjustable width to adapt to people with different body types. When the size of the waist and hip frame of the equipment needs to be adjusted, the length adjusting device is adjusted.
Drawings
Fig. 1 is a schematic structural view of the present invention.
Fig. 2 is a side view of fig. 1.
FIG. 3 is a schematic illustration of the location of the power system.
Fig. 4 is a side view of fig. 3.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples.
Example 1
An exoskeleton device with a human hip assistance function comprises a waist-hip frame 1, a hip joint part 2 and a thigh support 3, as shown in fig. 1-2, wherein the waist-hip frame 1 comprises a back support 11, a waist support 12 and a first support 13 connected with the waist support 12, the hip joint part 2 is arranged on the first support 13, the thigh support 3 comprises a second support 31 and a cushion plate 32, and an angle adjusting part 33 is arranged between the second support 31 and the cushion plate 32; the back support 11 is provided with a length adjustment device 14.
Example 2
An exoskeleton device with a human hip assistance function comprises a waist-hip frame 1, a hip joint part 2 and a thigh support 3, as shown in figures 1-2, wherein the waist-hip frame 1 comprises a back support 11, a waist support 12 and a first support 13 connected with the waist support 12, the hip joint part 2 is arranged on the first support 13, the thigh support 3 comprises a second support 31 and a cushion plate 32, and an angle adjusting part 33 is arranged between the second support 31 and the cushion plate 32. The back support 11 further includes back supports 111 respectively provided on the left and right sides, and the two back supports 111 are connected by a length adjusting device 14.
Example 3
An exoskeleton device with a human hip assistance function comprises a waist-hip frame 1, a hip joint part 2 and a thigh support 3, as shown in figures 1-2, wherein the waist-hip frame 1 comprises a back support 11, a waist support 12 and a first support 13 connected with the waist support 12, the hip joint part 2 is arranged on the first support 13, the thigh support 3 comprises a second support 31 and a cushion plate 32, and an angle adjusting part 33 is arranged between the second support 31 and the cushion plate 32.
The back support 11 further includes back supports 111 respectively provided on the left and right sides, and the two back supports 111 are connected by a length adjusting device 14. The length adjusting device 14 comprises a pressing plate 141, a connecting plate 142 and a cam handle 143, the pressing plate 141 is provided with a groove, the back side support 111 and the connecting plate 142 are sequentially arranged in the groove from inside to outside, the back side support 111 is provided with an adjusting groove 1111, the connecting plate 142 is provided with a through hole, and the cam handle 143 penetrates through the through hole and the adjusting groove 1111 to be connected with the pressing plate 141.
Example 4
An exoskeleton device with a human hip assistance function comprises a waist and hip frame 1, a hip joint part 2 and a thigh support 3, as shown in figure 1, wherein the waist and hip frame 1 comprises a back support 11, a waist support 12 and a first support 13 connected with the waist support 12, the hip joint part 2 is arranged on the first support 13, the thigh support 3 comprises a second support 31 and a cushion plate 32, and an angle adjusting part 33 is arranged between the second support 31 and the cushion plate 32. The back support 11 further includes back supports 111 respectively provided on the left and right sides, and the two back supports 111 are connected by a length adjusting device 14.
The length adjusting device 14 comprises a pressing plate 141, a connecting plate 142 and a cam handle 143, the pressing plate 141 is provided with a groove, the connecting plate 142 and the back side support 111 are sequentially arranged in the groove from inside to outside, the back side support 111 is provided with an adjusting groove 1111, the connecting plate 142 is provided with a through hole, and the cam handle 143 penetrates through the adjusting groove 1111 and the through hole to be connected with the pressing plate 141.
Example 5
An exoskeleton device with a human hip assistance function comprises a waist-hip frame 1, a hip joint part 2 and a thigh support 3, wherein the waist-hip frame 1 comprises a back support 11, a waist support 12 and a first support 13 connected with the waist support 12, the hip joint part 2 is arranged on the first support 13, the thigh support 3 comprises a second support 31 and a cushion plate 32, an angle adjusting part 33 is arranged between the second support 31 and the cushion plate 32, and the angle adjusting part 33 is a hinge. The back support 11 is provided with a length adjustment device 14.
Example 6
An exoskeleton device with a human hip assistance function comprises a waist-hip frame 1, a hip joint part 2 and a thigh support 3, as shown in fig. 1-2, wherein the waist-hip frame 1 comprises a back support 11, a waist support 12 and a first support 13 connected with the waist support 12, the hip joint part 2 is arranged on the first support 13, the thigh support 3 comprises a second support 31 and a cushion plate 32, and an angle adjusting part 33 is arranged between the second support 31 and the cushion plate 32; the back support 11 is provided with a length adjustment device 14.
The hip joint component 2 comprises a rotating shaft 21 and a rotating piece 22, the first bracket 13 is connected with the rotating piece 22 through the rotating shaft 21, and the rotating piece 22 is connected with the second bracket 31 through a hinge.
Example 7
An exoskeleton device with a human hip assistance function comprises a waist-hip frame 1, a hip joint part 2 and a thigh support 3, as shown in fig. 1-4, wherein the waist-hip frame 1 comprises a back support 11, a waist support 12 and a first support 13 connected with the waist support 12, the hip joint part 2 is arranged on the first support 13, the thigh support 3 comprises a second support 31 and a cushion plate 32, and an angle adjusting part 33 is arranged between the second support 31 and the cushion plate 32; the back support 11 is provided with a length adjustment device 14.
The hip joint component is characterized by further comprising a power system, wherein the power system comprises a motor driver 6, a reduction gearbox 4 connected with the hip joint component, and a motor 5 coaxially connected with the reduction gearbox 4.
Example 8
An exoskeleton device with a human hip assistance function comprises a waist-hip frame 1, a hip joint part 2 and a thigh support 3, as shown in fig. 1-4, wherein the waist-hip frame 1 comprises a back support 11, a waist support 12 and a first support 13 connected with the waist support 12, the hip joint part 2 is arranged on the first support 13, the thigh support 3 comprises a second support 31 and a cushion plate 32, and an angle adjusting part 33 is arranged between the second support 31 and the cushion plate 32; the back support 11 is provided with a length adjustment device 14.
The hip joint component is characterized by further comprising a power system, wherein the power system comprises a motor driver 6, a reduction gearbox 4 connected with the hip joint component, and a motor 5 coaxially connected with the reduction gearbox 4. The waist and hip frame comprises a waist and hip frame body 1, a cushion plate 32 and a sensing system, wherein the sensing system comprises a pressure sensor, a position sensor and an accelerometer, the positions of the waist and hip frame body 1 and the cushion plate 32, which are in contact with a human body, are provided with the pressure sensor, and the pressure sensor is used for sensing pressure change between the human body and equipment; the motor 5 is provided with a position sensor, the position sensor is connected with a motor driver, and the position sensor is used for detecting the rotating angle and speed of the motor 5; the accelerometers are respectively arranged at the contact positions of the waist and hip frame 1 and the cushion plate 2 and the human body, and the position accelerometers are used for detecting the acceleration of the human body movement.
Example 9
An exoskeleton device with a human hip assistance function comprises a waist-hip frame 1, a hip joint part 2 and a thigh support 3, as shown in fig. 1-4, wherein the waist-hip frame 1 comprises a back support 11, a waist support 12 and a first support 13 connected with the waist support 12, the hip joint part 2 is arranged on the first support 13, the thigh support 3 comprises a second support 31 and a cushion plate 32, and an angle adjusting part 33 is arranged between the second support 31 and the cushion plate 32; the back support 11 is provided with a length adjustment device 14.
The hip joint component is characterized by further comprising a power system, wherein the power system comprises a motor driver 6, a reduction gearbox 4 connected with the hip joint component, and a motor 5 coaxially connected with the reduction gearbox 4.
The waist and hip frame comprises a waist and hip frame body 1, a cushion plate 32 and a sensing system, wherein the sensing system comprises a pressure sensor, a position sensor and an accelerometer, the positions of the waist and hip frame body 1 and the cushion plate 32, which are in contact with a human body, are provided with the pressure sensor, and the pressure sensor is used for sensing pressure change between the human body and equipment; the motor 5 is provided with a position sensor, the position sensor is connected with a motor driver, and the position sensor is used for detecting the rotating angle and speed of the motor 5; the accelerometers are respectively arranged at the contact positions of the waist and hip frame 1 and the cushion plate 2 and the human body, and the position accelerometers are used for detecting the acceleration of the human body movement.
The waist and hip frame 1 is fixed on the waist of the human body through the bandage, and the backing plates 2 are respectively fixed on the thighs on the two sides of the human body through the bandage; the contact position of the bandage and the human body is provided with a pressure sensor.
Example 10
An exoskeleton device with a human hip assistance function comprises a waist-hip frame 1, a hip joint part 2 and a thigh support 3, as shown in fig. 1-4, wherein the waist-hip frame 1 comprises a back support 11, a waist support 12 and a first support 13 connected with the waist support 12, the hip joint part 2 is arranged on the first support 13, the thigh support 3 comprises a second support 31 and a cushion plate 32, and an angle adjusting part 33 is arranged between the second support 31 and the cushion plate 32; the back support 11 is provided with a length adjustment device 14.
The hip joint component is characterized by further comprising a power system, wherein the power system comprises a motor driver 6, a reduction gearbox 4 connected with the hip joint component, and a motor 5 coaxially connected with the reduction gearbox 4.
The waist and hip frame comprises a waist and hip frame body 1, a cushion plate 32 and a sensing system, wherein the sensing system comprises a pressure sensor, a position sensor and an accelerometer, the positions of the waist and hip frame body 1 and the cushion plate 32, which are in contact with a human body, are provided with the pressure sensor, and the pressure sensor is used for sensing pressure change between the human body and equipment; the motor 5 is provided with a position sensor, the position sensor is connected with a motor driver, and the position sensor is used for detecting the rotating angle and speed of the motor 5; the accelerometers are respectively arranged at the contact positions of the waist and hip frame 1 and the cushion plate 2 and the human body, and the position accelerometers are used for detecting the acceleration of the human body movement.
The central processing system is connected with the pressure sensor and receives signal data transmitted back by the pressure sensor in real time; the central processing system is connected with the accelerometer and the motor driver, and the central processing unit outputs instructions to the motor driver to control the motor 5 to work.
Example 11
An exoskeleton device with a human hip assistance function comprises a waist-hip frame 1, a hip joint part 2 and a thigh support 3, as shown in fig. 1-4, wherein the waist-hip frame 1 comprises a back support 11, a waist support 12 and a first support 13 connected with the waist support 12, the hip joint part 2 is arranged on the first support 13, the thigh support 3 comprises a second support 31 and a cushion plate 32, and an angle adjusting part 33 is arranged between the second support 31 and the cushion plate 32; the back support 11 is provided with a length adjustment device 14.
The hip joint component is characterized by further comprising a power system, wherein the power system comprises a motor driver 6, a reduction gearbox 4 connected with the hip joint component, and a motor 5 coaxially connected with the reduction gearbox 4. The power system also comprises a battery pack 7, and the battery pack 7 is connected with the central control system.
The waist and hip frame comprises a waist and hip frame body 1, a cushion plate 32 and a sensing system, wherein the sensing system comprises a pressure sensor, a position sensor and an accelerometer, the positions of the waist and hip frame body 1 and the cushion plate 32, which are in contact with a human body, are provided with the pressure sensor, and the pressure sensor is used for sensing pressure change between the human body and equipment; the motor 5 is provided with a position sensor, the position sensor is connected with a motor driver, and the position sensor is used for detecting the rotating angle and speed of the motor 5; the accelerometers are respectively arranged at the contact positions of the waist and hip frame 1 and the cushion plate 2 and the human body, and the position accelerometers are used for detecting the acceleration of the human body movement.
The central processing system is connected with the pressure sensor and receives signal data transmitted back by the pressure sensor in real time; the central processing system is connected with the accelerometer and the motor driver, and the central processing unit outputs instructions to the motor driver to control the motor 5 to work.
In summary, the above-mentioned embodiments are only preferred embodiments of the present invention, and all equivalent changes and modifications made in the claims of the present invention should be covered by the claims of the present invention.
Claims (6)
1. An exoskeleton device having a human hip assist function, comprising: the hip frame comprises a hip frame (1), hip joint parts (2) and thigh supports (3), wherein the hip frame (1) comprises a back support (11), a waist support (12) and a first support (13) connected with the waist support (12), the hip joint parts (2) are arranged on the first support (13), the thigh supports (3) comprise a second support (31) and a cushion plate (32), and an angle adjusting part (33) is arranged between the second support (31) and the cushion plate (32); the back support (11) is provided with a length adjusting device (14);
the hip joint component (2) comprises a rotating shaft (21) and a rotating sheet (22), the first support (13) is connected with the rotating sheet (22) through the rotating shaft (21), and the rotating sheet (22) is connected with the second support (31) through a hinge;
the hip joint component is characterized by further comprising a power system, wherein the power system comprises a motor driver (6), a reduction gearbox (4) connected with the hip joint component, and a motor (5) coaxially connected with the reduction gearbox (4);
the waist and hip frame is characterized by further comprising a sensing system, wherein the sensing system comprises a pressure sensor, a position sensor and an accelerometer, the pressure sensors are arranged at the positions where the waist and hip frame (1) and the base plate (32) are in contact with the human body, and the pressure sensors are used for sensing pressure change between the human body and equipment; the motor (5) is provided with a position sensor, the position sensor is connected with a motor driver, and the position sensor is used for detecting the rotating angle and speed of the motor (5); the accelerometers are respectively arranged at the contact positions of the waist and hip frame (1) and the cushion plate (2) and the human body, and the position accelerometers are used for detecting the acceleration of the human body movement;
the central processing system is connected with the pressure sensor and receives signal data transmitted back by the pressure sensor in real time; the central processing system is connected with the accelerometer and the motor driver, and the central processing unit outputs instructions to the motor driver to control the motor (5) to work.
2. The exoskeleton device with human hip assist functionality of claim 1, wherein: the back support (11) further comprises back supports (111) respectively arranged on the left side and the right side, and the two back supports (111) are connected through a length adjusting device (14).
3. The exoskeleton device with human hip assist functionality of claim 2, wherein: the length adjusting device (14) comprises a pressing plate (141), a connecting plate (142) and a cam handle (143), the pressing plate (141) is provided with a groove, a back side support (111) and the connecting plate (142) are sequentially arranged in the groove from inside to outside, the back side support (111) is provided with an adjusting groove (1111), the connecting plate (142) is provided with a through hole, and the cam handle (143) penetrates through the through hole and the adjusting groove (1111) to be connected with the pressing plate (141).
4. The exoskeleton device with human hip assist functionality of claim 2, wherein: the length adjusting device (14) comprises a pressing plate (141), a connecting plate (142) and a cam handle (143), the pressing plate (141) is provided with a groove, the connecting plate (142) and the back side support (111) are sequentially arranged in the groove from inside to outside, the back side support (111) is provided with an adjusting groove (1111), the connecting plate (142) is provided with a through hole, and the cam handle (143) penetrates through the adjusting groove (1111) and the through hole to be connected with the pressing plate (141).
5. The exoskeleton device with human hip assist functionality of claim 1, wherein: the angle adjusting member (33) is a hinge.
6. The exoskeleton device with human hip assist functionality of claim 1, wherein: the waist and hip frame (1) is fixed on the waist of the human body through the bandage, and the backing plates (2) are respectively fixed on the thighs on the two sides of the human body through the bandage; the contact position of the bandage and the human body is provided with a pressure sensor.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710196409.9A CN107127736B (en) | 2017-03-29 | 2017-03-29 | Exoskeleton device with human hip assistance function |
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| CN201710196409.9A CN107127736B (en) | 2017-03-29 | 2017-03-29 | Exoskeleton device with human hip assistance function |
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| CN107127736A CN107127736A (en) | 2017-09-05 |
| CN107127736B true CN107127736B (en) | 2020-02-21 |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108283568A (en) * | 2017-12-22 | 2018-07-17 | 北京精密机电控制设备研究所 | Wearable hip joint exoskeleton rehabilitation device |
| CN109015599B (en) * | 2018-08-01 | 2022-04-15 | 武汉理工大学 | Waist assistance exoskeleton robot based on hybrid drive |
| CN110170986B (en) * | 2019-05-14 | 2022-11-01 | 北京铁甲钢拳科技有限公司 | Exoskeleton system |
| CN110842896B (en) * | 2019-12-10 | 2020-11-10 | 合肥工业大学 | Wearable waist assistance exoskeleton mechanism and control method thereof |
| CN113797064B (en) * | 2020-06-16 | 2023-10-10 | 深圳市肯綮科技有限公司 | Walking auxiliary device and device control method |
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| CN104257490A (en) * | 2013-06-26 | 2015-01-07 | 中国科学院合肥物质科学研究院 | Method for folding wearable lower limb assisting robots |
| CN103610524A (en) * | 2013-12-16 | 2014-03-05 | 哈尔滨工业大学 | Portable energy-storage type external skeleton assisting robot |
| CN105965483A (en) * | 2016-06-30 | 2016-09-28 | 西南交通大学 | Lower-limb-boosting exoskeleton robot |
| CN106426097A (en) * | 2016-10-26 | 2017-02-22 | 北京航空航天大学 | Exoskeleton assisting mechanism for lower limb |
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