CN107854279A - A kind of knee joint exoskeleton mechanism in parallel of rehabilitation - Google Patents

A kind of knee joint exoskeleton mechanism in parallel of rehabilitation Download PDF

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Publication number
CN107854279A
CN107854279A CN201711194266.4A CN201711194266A CN107854279A CN 107854279 A CN107854279 A CN 107854279A CN 201711194266 A CN201711194266 A CN 201711194266A CN 107854279 A CN107854279 A CN 107854279A
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CN
China
Prior art keywords
base
ectoskeleton
sliding block
frame sliding
thigh
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.)
Granted
Application number
CN201711194266.4A
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Chinese (zh)
Other versions
CN107854279B (en
Inventor
徐光华
梁仍昊
郑小伟
吴帆
吴一帆
张四聪
罗爱玲
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
GUANGDONG XI'AN JIAOTONG UNIVERSITY ACADEMY
Xian Jiaotong University
Original Assignee
GUANGDONG XI'AN JIAOTONG UNIVERSITY ACADEMY
Xian Jiaotong University
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Priority to CN201711194266.4A priority Critical patent/CN107854279B/en
Publication of CN107854279A publication Critical patent/CN107854279A/en
Application granted granted Critical
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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
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
    • A61H1/024—Knee
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
    • A63B21/00181—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices comprising additional means assisting the user to overcome part of the resisting force, i.e. assisted-active exercising
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B23/00—Exercising apparatus specially adapted for particular parts of the body
    • A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
    • A63B23/04—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs
    • A63B23/0494—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs primarily by articulating the knee joints
    • 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
    • A61H2201/12—Driving means
    • A61H2201/1253—Driving means driven by a human being, e.g. hand driven
    • 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
    • A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
    • 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
    • A61H2201/164—Feet or leg, e.g. pedal
    • A61H2201/1642—Holding means therefor
    • 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
    • A61H2205/00—Devices for specific parts of the body
    • A61H2205/10—Leg
    • A61H2205/102—Knee

Abstract

A kind of knee joint exoskeleton mechanism in parallel of rehabilitation, including shank ectoskeleton, the top of shank ectoskeleton connects with base, the side of base is connected by the side of compliant member with thigh ectoskeleton, the opposite side of base is connected by rigid element with the opposite side of thigh ectoskeleton, and base, compliant member, rigid element are externally provided with shell；The present invention is using the soft hinge of four bars and rigid element parallel institution, using rigid element support force is provided for ectoskeleton, ectoskeleton motion is matched with motion of knee joint using the soft hinge body of four bars, while make ectoskeleton that there is effective energy-saving effect using the elastic deformation of flexible hinge.

Description

A kind of knee joint exoskeleton mechanism in parallel of rehabilitation
Technical field
The present invention relates to rehabilitation ectoskeleton technical field, and in particular to a kind of knee joint ectoskeleton machine in parallel of rehabilitation Structure.
Background technology
Existing knee joint recovery exoskeleton mechanism is mostly the rigid body linkage of System of Rotating about Fixed Axis, or the bar machine of rigid body four Structure, the characteristic of its big rigidity can play a supportive role to human body well, but its mechanism kinematic and human body knee joint anatomical motion are not It can fit like a glove, make ectoskeleton without friendly wearable property.
The content of the invention
The shortcomings that in order to overcome above-mentioned prior art, it is an object of the invention to provide a kind of knee joint in parallel of rehabilitation Exoskeleton mechanism, it can be fitted like a glove with human body knee joint anatomical motion, ectoskeleton has friendly wearable property.
In order to achieve the above object, the technical solution adopted by the present invention is：
A kind of knee joint exoskeleton mechanism in parallel of rehabilitation, including shank ectoskeleton 2, the top of shank ectoskeleton 2 and Base 4 is connected, and the side of base 4 is connected by the side of compliant member with thigh ectoskeleton 3, and the opposite side of base 4 passes through firm Property part connects with the opposite side of thigh ectoskeleton 3, and base 4, compliant member, rigid element are externally provided with shell 1；
Described compliant member includes left side side link 7 and right side side link 8, and the upper end of left side side link 7 passes through bolt It is hinged with the lower end of thigh ectoskeleton 3, the lower end of left side side link 7 is slided by left side helical flexible hinge 9 and left side frame Block 10 is connected；The upper end of right side side link 8 is hinged by the lower end of bolt and thigh ectoskeleton 3, under right side side link 8 End is connected by right side helical flexible hinge 11 with right side frame sliding block 12；Left side frame sliding block 10 and right side frame sliding block 12 In the chute of base 4, it can be slided in the chute of base 4；Base 4, left side side link 7, right side side link 8, left side Helical flexible hinge 9, left side frame sliding block 10, right side helical flexible hinge 11 and right side frame sliding block 12 connect and compose flexible part Part, compliant member determine the rotation path of thigh ectoskeleton 3.
Described rigid element includes support member 13, the lower end phase that the upper end of support member 13 passes through bolt and thigh ectoskeleton 3 Be hinged, support member 13 is hinged by bolt and support slipper 14, and support slipper 14 is supported by big rigidity compression spring 15, can Slided in the chute of base 4；Support member 13 is swung in V-groove 16, does not constrain the motion path of thigh ectoskeleton 3, base 4th, support member 13, support slipper 14 and big rigidity compression spring 15 connect and compose rigid element, compliant member not restraint rigidity portion Part is that thigh ectoskeleton 3 provides vertical displacement caused by support force in vertical direction.
Compared with background technology, the invention has the advantages that：
The present invention uses the soft hinge of four bars and rigid element parallel institution, and support force is provided for ectoskeleton using rigid element, Ectoskeleton motion is matched with motion of knee joint using the soft hinge body of four bars, while made outside using the elastic deformation of flexible hinge Bone has effective energy-saving effect, and ectoskeleton has friendly wearable property.
Brief description of the drawings
Fig. 1 is exoskeleton mechanism bulk shape axonometric drawing.
Fig. 2 is exoskeleton mechanism compliant member axonometric drawing.
Fig. 3 is exoskeleton mechanism rigid element axonometric drawing.
Embodiment
The invention will be further described with reference to the accompanying drawings and examples.
As shown in Figure 1, Figure 2 and Figure 3, the knee joint exoskeleton mechanism in parallel of a kind of rehabilitation, including shank ectoskeleton 2, The top of shank ectoskeleton 2 and base 4 are connected, and the side of base 4 is connected by the side of compliant member with thigh ectoskeleton 3, The opposite side of base 4 is connected by rigid element with the opposite side of thigh ectoskeleton 3, base 4, compliant member, outside rigid element Provided with shell 1.
As shown in Fig. 2 described compliant member includes left side side link 7 and right side side link 8, left side side link 7 it is upper End is hinged by the lower end of bolt and thigh ectoskeleton 3, the lower end of left side side link 7 by left side helical flexible hinge 9 and Left side frame sliding block 10 is connected；The upper end of right side side link 8 is hinged by the lower end of bolt and thigh ectoskeleton 3, right side The lower end of side link 8 is connected by right side helical flexible hinge 11 with right side frame sliding block 12；Left side frame sliding block 10 and the right side Side frame sliding block 12 is arranged in the chute of base 4, can be slided in the chute of base 4；Base 4, left side side link 7, right side Side link 8, left side helical flexible hinge 9, left side frame sliding block 10, right side helical flexible hinge 11 and right side frame sliding block 12 connect Composition compliant member is connect, compliant member determines the rotation path of thigh ectoskeleton 3.
As shown in figure 3, described rigid element includes support member 13, the upper end of support member 13 passes through bolt and thigh ectoskeleton 3 lower end is hinged, and support member 13 is hinged by bolt and support slipper 14, and support slipper 14 is by big rigidity compression spring 15 Support, can be slided in the chute of base 4；Support member 13 is swung in V-groove 16, does not constrain the motion of thigh ectoskeleton 3 Path, base 4, support member 13, support slipper 14 and big rigidity compression spring 15 connect and compose rigid element, and compliant member is not about Beam rigid element is that thigh ectoskeleton 3 provides vertical displacement caused by support force in vertical direction.
The present invention operation principle be：
When ectoskeleton is in stance, thigh ectoskeleton 3 keeps vertical.In the side of the lower end of thigh ectoskeleton 3, rigidity Support member 13 in part bears the support force of vertical direction, and big rigidity compression spring 15 is compressed, and support slipper 14 is in vertical side To slip；At the same time, the left side frame sliding block 10 in the opposite side of the lower end of thigh ectoskeleton 3, compliant member and right side machine Frame sliding block 12 is respectively along the slide of base 4, and now the left side helical flexible hinge 9 in compliant member is soft with right side spiral The effect that property hinge 11 does not stress；When ectoskeleton is in walking phase, thigh ectoskeleton 3 is bent, and thigh ectoskeleton 3 drives thigh The compliant member motion of the lower end side of ectoskeleton 3, the forms of motion of thigh ectoskeleton 3 are determined by compliant member；In compliant member In motion process, left side helical flexible hinge 9 produces deformation with right side helical flexible hinge 11；At the same time, thigh ectoskeleton 3 Support member 13 in the rigid element of lower end opposite side follows the motion of thigh ectoskeleton 3, is swung in V-groove 16, together When support slipper 14 also driven by support member 13 and slided in the chute of base 4.

Claims (2)

1. a kind of knee joint exoskeleton mechanism in parallel of rehabilitation, including shank ectoskeleton (2), it is characterised in that：Shank dermoskeleton The top of bone (2) and base (4) connection, the side of base (4) are connected by the side of compliant member with thigh ectoskeleton (3), The opposite side of base (4) is connected by rigid element with the opposite side of thigh ectoskeleton (3), base (4), compliant member, rigidity Part is externally provided with shell (1)；
Described compliant member includes left side side link (7) and right side side link (8), and the upper end of left side side link (7) passes through spiral shell Bolt and the lower end of thigh ectoskeleton (3) are hinged, and the lower end of left side side link (7) passes through left side helical flexible hinge (9) and a left side Side frame sliding block (10) is connected；The upper end of right side side link (8) is hinged by the lower end of bolt and thigh ectoskeleton (3), The lower end of right side side link (8) is connected by right side helical flexible hinge (11) with right side frame sliding block (12)；Left side frame Sliding block (10) and right side frame sliding block (12) are arranged in the chute of base (4), can be slided in base (4) chute；Base (4), left side side link (7), right side side link (8), left side helical flexible hinge (9), left side frame sliding block (10), right side spiral Flexible hinge (11) and right side frame sliding block (12) connect and compose compliant member, and compliant member determines turning for thigh ectoskeleton (3) Dynamic path.
A kind of 2. knee joint exoskeleton mechanism in parallel of rehabilitation according to claim 1, it is characterised in that：Described is firm Property part includes support member (13), and support member (13) upper end is hinged by the lower end of bolt and thigh ectoskeleton (3), support member (13) it is hinged by bolt and support slipper (14), support slipper (14) is supported by big rigidity compression spring (15), Neng Gou Slided in the chute of base (4)；Support member (13) is swung in V-groove (16), does not constrain the motion road of thigh ectoskeleton (3) Footpath, base (4), support member (13), support slipper (14) and big rigidity compression spring (15) connect and compose rigid element, flexible part Restraint rigidity part does not provide vertical displacement caused by support force to part in vertical direction for thigh ectoskeleton (3).
CN201711194266.4A 2017-11-24 2017-11-24 A kind of knee joint exoskeleton mechanism in parallel of rehabilitation Active CN107854279B (en)

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Publication number Priority date Publication date Assignee Title
CN109011390A (en) * 2018-08-27 2018-12-18 河南省洛阳正骨医院（河南省骨科医院） The equipment for preventing climacteric joint motions damage
CN109248048A (en) * 2018-11-27 2019-01-22 方楚持 A kind of leg surgery rehabilitation is with facilitating fixed flexible sleep thigh support
CN110302036A (en) * 2019-07-30 2019-10-08 上海理工大学 A kind of motion of knee joint bio-mechanism that instant center of rotation is variable
CN112549001A (en) * 2020-12-22 2021-03-26 上海航天控制技术研究所 Exoskeleton joint force position composite compliance control method and system based on elastic element
CN112870021A (en) * 2021-01-19 2021-06-01 西安交通大学 Hip and knee ankle active and passive training rehabilitation device based on four-bar linkage mechanism

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Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109011390A (en) * 2018-08-27 2018-12-18 河南省洛阳正骨医院（河南省骨科医院） The equipment for preventing climacteric joint motions damage
CN109011390B (en) * 2018-08-27 2020-01-31 河南省洛阳正骨医院（河南省骨科医院） Equipment for preventing climacteric joint motion injury
CN109248048A (en) * 2018-11-27 2019-01-22 方楚持 A kind of leg surgery rehabilitation is with facilitating fixed flexible sleep thigh support
CN110302036A (en) * 2019-07-30 2019-10-08 上海理工大学 A kind of motion of knee joint bio-mechanism that instant center of rotation is variable
CN112549001A (en) * 2020-12-22 2021-03-26 上海航天控制技术研究所 Exoskeleton joint force position composite compliance control method and system based on elastic element
CN112870021A (en) * 2021-01-19 2021-06-01 西安交通大学 Hip and knee ankle active and passive training rehabilitation device based on four-bar linkage mechanism

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