CN107854279B - 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 PDFInfo
- Publication number
- CN107854279B CN107854279B CN201711194266.4A CN201711194266A CN107854279B CN 107854279 B CN107854279 B CN 107854279B CN 201711194266 A CN201711194266 A CN 201711194266A CN 107854279 B CN107854279 B CN 107854279B
- Authority
- CN
- China
- Prior art keywords
- pedestal
- ectoskeleton
- connecting rod
- thigh
- compliant member
- 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.)
- Active
Links
Images
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
Landscapes
- Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- General Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- Life Sciences & Earth Sciences (AREA)
- Biophysics (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Rehabilitation Therapy (AREA)
- Animal Behavior & Ethology (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
A kind of knee joint exoskeleton mechanism in parallel of rehabilitation, including shank ectoskeleton, the top of shank ectoskeleton is connected with pedestal, the side of pedestal is connected by compliant member with the side of thigh ectoskeleton, the other side of pedestal is connected by rigid element with the other side of thigh ectoskeleton, and pedestal, 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, support force is provided using rigid element for ectoskeleton, so that ectoskeleton movement is matched with motion of knee joint using the soft hinge body of four bars, while making ectoskeleton that there is effective energy-saving effect using the elastic deformation of flexible hinge.
Description
Technical field
The present invention relates to rehabilitation ectoskeleton technical fields, and in particular to a kind of knee joint ectoskeleton machine in parallel of rehabilitation
Structure.
Background technique
Existing knee joint recovery exoskeleton mechanism is mostly the four bar machine of rigid body link mechanism or rigid body of System of Rotating about Fixed Axis
The characteristic of structure, big rigidity can well play a supportive role to human body, but its mechanism kinematic and human body knee joint anatomical motion are not
It can fit like a glove, ectoskeleton is made not have friendly wearable property.
Summary of the invention
In order to overcome the disadvantages of the above prior art, the purpose of the present invention is to provide a kind of knee joints in parallel of rehabilitation
Exoskeleton mechanism can fit like a glove with human body knee joint anatomical motion, and ectoskeleton has friendly wearable property.
In order to achieve the above object, the technical solution adopted by the present invention is that:
A kind of knee joint exoskeleton mechanism in parallel of rehabilitation, including shank ectoskeleton 2, the top of shank ectoskeleton 2 and
Pedestal 4 connects, and the side of pedestal 4 is connected by compliant member with the side of thigh ectoskeleton 3, and the other side of pedestal 4 passes through rigid
Property component is connected with the other side of thigh ectoskeleton 3, and pedestal 4, compliant member, rigid element are externally provided with shell 1；
The compliant member includes left side connecting rod 7 and right side connecting rod 8, and the upper end of left side connecting rod 7 passes through bolt
It is hinged with the lower end of thigh ectoskeleton 3, the lower end of left side connecting rod 7 is sliding by left side helical flexible hinge 9 and left side rack
Block 10 is connected；The upper end of right side connecting rod 8 is hinged by the lower end of bolt and thigh ectoskeleton 3, under right side connecting rod 8
End is connected by right side helical flexible hinge 11 with right side rack sliding block 12；Left side rack sliding block 10 and right side rack sliding block 12
It is mounted in the sliding slot of pedestal 4, can be slided in 4 sliding slot of pedestal；Pedestal 4, left side connecting rod 7, right side connecting rod 8, left side
Helical flexible hinge 9, left side rack sliding block 10, right side helical flexible hinge 11 and right side rack sliding block 12 connect and compose flexible part
Part, compliant member determine the rotation path of thigh ectoskeleton 3.
The rigid element includes supporting element 13, and 13 upper end of supporting element passes through the lower end phase of bolt and thigh ectoskeleton 3
Hingedly, supporting element 13 is hinged by bolt with support slipper 14, and support slipper 14 is supported by big rigidity compressed spring 15, can
It is slided in the sliding slot of pedestal 4；Supporting element 13 is swung in V-groove 16, does not constrain the motion path of thigh ectoskeleton 3, pedestal
4, supporting element 13, support slipper 14 and big rigidity compressed spring 15 connect and compose rigid element, compliant member not restraint rigidity portion
Part is the vertical displacement generated when thigh ectoskeleton 3 provides support force in vertical direction.
Compared with the background art, the invention has the advantages that:
The present invention provides support force using rigid element using the soft hinge of four bars and rigid element parallel institution for ectoskeleton,
So that ectoskeleton movement is matched with motion of knee joint using the soft hinge body of four bars, while being made outside using the elastic deformation of flexible hinge
Bone has effective energy-saving effect, and ectoskeleton has friendly wearable property.
Detailed description of the invention
Fig. 1 is exoskeleton mechanism overall appearance axonometric drawing.
Fig. 2 is exoskeleton mechanism compliant member axonometric drawing.
Fig. 3 is exoskeleton mechanism rigid element axonometric drawing.
Specific embodiment
Present invention will be further explained below with reference to the attached 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 pedestal 4 connect, and the side of pedestal 4 is connected by compliant member with the side of thigh ectoskeleton 3,
The other side of pedestal 4 is connected with the other side of thigh ectoskeleton 3 by rigid element, pedestal 4, compliant member, outside rigid element
Equipped with shell 1.
As shown in Fig. 2, the compliant member includes left side connecting rod 7 and right side connecting rod 8, left side connecting rod 7 it is upper
End is hinged by the lower end of bolt and thigh ectoskeleton 3, the lower end of left side connecting rod 7 pass through left side helical flexible hinge 9 and
Left side rack sliding block 10 is connected；The upper end of right side connecting rod 8 is hinged by the lower end of bolt and thigh ectoskeleton 3, right side
The lower end of connecting rod 8 is connected by right side helical flexible hinge 11 with right side rack sliding block 12；Left side rack sliding block 10 and the right side
Side frame sliding block 12 is mounted in the sliding slot of pedestal 4, can be slided in 4 sliding slot of pedestal；Pedestal 4, left side connecting rod 7, right side
Connecting rod 8, left side helical flexible hinge 9, left side rack sliding block 10, right side helical flexible hinge 11 and right side rack sliding block 12 connect
Composition compliant member is connect, compliant member determines the rotation path of thigh ectoskeleton 3.
As shown in figure 3, the rigid element includes supporting element 13,13 upper end of supporting element passes through bolt and thigh ectoskeleton
3 lower end is hinged, and supporting element 13 is hinged by bolt with support slipper 14, and support slipper 14 is by big rigidity compressed spring 15
Support, can slide in the sliding slot of pedestal 4；Supporting element 13 is swung in V-groove 16, does not constrain the movement of thigh ectoskeleton 3
Path, pedestal 4, supporting element 13, support slipper 14 and big rigidity compressed spring 15 connect and compose rigid element, and compliant member is not about
Beam rigid element is the vertical displacement generated when thigh ectoskeleton 3 provides support force in vertical direction.
The operation principle of the present invention is that:
When ectoskeleton is in stance, thigh ectoskeleton 3 keeps vertical.In the side of 3 lower end of thigh ectoskeleton, rigidity
Supporting element 13 in component bears the support force of vertical direction, and big rigidity compressed spring 15 is compressed, and support slipper 14 is in vertical side
To sliding；At the same time, the left side rack sliding block 10 in the other side of 3 lower end of thigh ectoskeleton, compliant member and right side machine
Frame sliding block 12 is slided respectively along the sliding slot of pedestal 4, and the left side helical flexible hinge 9 in compliant member is soft with right side spiral at this time
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 of 3 lower end side of ectoskeleton moves, and the forms of motion of thigh ectoskeleton 3 is determined by compliant member；In compliant member
In motion process, left side helical flexible hinge 9 and right side helical flexible hinge 11 generate deformation；At the same time, thigh ectoskeleton 3
Supporting element 13 in the rigid element of the lower end other side follows the movement of thigh ectoskeleton 3, is swung in V-groove 16, together
When support slipper 14 be also supported part 13 drive and slided in the sliding slot of pedestal 4.
Claims (1)
1. a kind of knee joint exoskeleton mechanism in parallel of rehabilitation, including shank ectoskeleton (2), thigh ectoskeleton (3) and pedestal
(4), it is characterised in that: the top of shank ectoskeleton (2) and pedestal (4) connection, the side of pedestal (4) is by compliant member and greatly
The side of leg ectoskeleton (3) lower end connects, and the other side of pedestal (4) is another by rigid element and thigh ectoskeleton (3) lower end
Side connection, pedestal (4), compliant member, rigid element are externally provided with shell (1)；
The compliant member includes left side connecting rod (7) and right side connecting rod (8) arranged in a crossed manner, left side connecting rod (7)
Upper end is hinged by the lower end of bolt and thigh ectoskeleton (3), and the lower end of left side connecting rod (7) is cut with scissors by left side helical flexible
Chain (9) is connected with left side rack sliding block (10)；The upper end of right side connecting rod (8) passes through under bolt and thigh ectoskeleton (3)
End is hinged, and the lower end of right side connecting rod (8) is connected by right side helical flexible hinge (11) with right side rack sliding block (12)；
Pedestal (4) side the right and left is respectively provided with 1 sliding slot, and left side rack sliding block (10) and right side rack sliding block (12) are mounted on pedestal
It (4), being capable of the sliding in the sliding slot of pedestal (4) side the right and left in corresponding sliding slot；Pedestal (4), left side connecting rod (7),
Right side connecting rod (8), left side helical flexible hinge (9), left side rack sliding block (10), right side helical flexible hinge (11) and right side
Rack sliding block (12) connects and composes compliant member, and compliant member determines the rotation path of thigh ectoskeleton (3)；
The rigid element includes supporting element (13), and supporting element (13) upper end passes through the lower end of bolt and thigh ectoskeleton (3)
It is hinged, supporting element (13) is hinged by bolt with support slipper (14), and support slipper (14) is by big rigidity compressed spring
(15) it supports, pedestal (4) other side is equipped with 1 sliding slot, sliding slot is equipped with V-groove (16), and support slipper (14) can be in pedestal
(4) it is slided in the sliding slot of the other side；Supporting element (13) is swung in V-groove (16), does not constrain the movement road of thigh ectoskeleton (3)
Diameter, pedestal (4), supporting element (13), support slipper (14) and big rigidity compressed spring (15) connect and compose rigid element, flexible part
The part vertical displacement that restraint rigidity component is not generated when vertical direction is thigh ectoskeleton (3) offer support force.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711194266.4A CN107854279B (en) | 2017-11-24 | 2017-11-24 | A kind of knee joint exoskeleton mechanism in parallel of rehabilitation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711194266.4A CN107854279B (en) | 2017-11-24 | 2017-11-24 | A kind of knee joint exoskeleton mechanism in parallel of rehabilitation |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107854279A CN107854279A (en) | 2018-03-30 |
| CN107854279B true CN107854279B (en) | 2019-10-15 |
Family
ID=61703420
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711194266.4A Active CN107854279B (en) | 2017-11-24 | 2017-11-24 | A kind of knee joint exoskeleton mechanism in parallel of rehabilitation |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107854279B (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN112549001B (en) * | 2020-12-22 | 2022-06-10 | 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 |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| NL9401975A (en) * | 1994-11-25 | 1996-07-01 | P G Van De Veen Consultancy B | Device for pivotally connecting parts of an orthopedic device. |
| US7066964B2 (en) * | 2004-03-12 | 2006-06-27 | Hosmer-Dorrance Corporation | Prosthetic knee and rotary hydraulic chamber |
| CN101647736A (en) * | 2009-09-21 | 2010-02-17 | 上海交通大学 | Parallel-connection ectoskeleton knee joint |
| CN104337668A (en) * | 2013-08-10 | 2015-02-11 | 黄振明 | Portable human exoskeleton system |
| CN205494087U (en) * | 2016-03-31 | 2016-08-24 | 北京东方瑞盛假肢矫形器技术发展有限公司 | Spring homing lock knee hinge |
| CN106420278B (en) * | 2016-12-01 | 2019-04-09 | 北京理工大学 | One kind acting on kneed portable auxiliary propelling machine |
| CN106491317B (en) * | 2016-12-01 | 2018-12-25 | 北京理工大学 | A kind of wearable knee joint walk help equipment from the adaptive gait of driving |
-
2017
- 2017-11-24 CN CN201711194266.4A patent/CN107854279B/en active Active
Non-Patent Citations (4)
| Title |
|---|
| 下肢康复用并联式外骨骼膝关节的设计;印松、殷跃红;《高技术通讯》;20090825;全文 * |
| 仿生灵感下的弹性驱动器的研究综述;魏敦文、葛文杰、高涛;《机器人》;20170715;全文 * |
| 外骨骼型下肢康复机器人结构设计与动力学分析;史小华、王洪波、孙利、高峰、徐震;《机械工程学报》;20131220;全文 * |
| 并联式下肢康复外骨骼运动学及工作空间分析;陈伟海、徐颖俊、王建华、张建斌;《机械工程学报》;20150608;全文 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107854279A (en) | 2018-03-30 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107854279B (en) | A kind of knee joint exoskeleton mechanism in parallel of rehabilitation | |
| KR101937012B1 (en) | Exoskeleton system for assisting lower limb joints | |
| CN106821684B (en) | A kind of passive energy storage ankle-joint and foot mechanism for lower limb assistance exoskeleton | |
| KR101059828B1 (en) | Recovery device for fracture patients | |
| KR101794703B1 (en) | A wearable hand rehabilitation system | |
| KR102221669B1 (en) | Exoskeletal structure suitable for the shoulder | |
| JP5908983B2 (en) | Lower extremity exoskeleton | |
| CN106901947A (en) | Wearable lower limb exoskeleton assisted walk robot mechanism | |
| CN201920941U (en) | Human body exoskeleton walking-aid device with four exoskeleton lower limbs | |
| CN101589983A (en) | Wearable lower limb exoskeleton device | |
| CN103536400B (en) | Lower limb rehabilitation training wheelchair | |
| CN106806089B (en) | A kind of wearable power joint recovering device of gear-rack drive | |
| CN111012629B (en) | Knee joint rehabilitation training device | |
| JP2009291502A5 (en) | ||
| CN210551190U (en) | Waist boosting device | |
| CN104523405A (en) | Energy storing type front-mounted rigid bracket walking aided exoskeleton | |
| CN108236559A (en) | Exercise aid device | |
| RU2665386C1 (en) | Passive rehabilitation exoskeleton | |
| CN112972211A (en) | Lower limb exoskeleton device | |
| CN106625597B (en) | A kind of knee joint power assisting device of rigidity auto-changing | |
| ATE537768T1 (en) | ORTHOPEDIC RETAINER FOR THE KNEE JOINT | |
| KR101497672B1 (en) | Multi-dof ring typed leg supporting structure for robot suit | |
| JP6314058B2 (en) | Enlarged suit | |
| CN106726362A (en) | For the hip knee integral joint device and exoskeleton robot of exoskeleton robot | |
| CN106821687B (en) | A kind of wearable power joint recovering device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |