CN107921628A - Ectoskeleton machine clothing - Google Patents
Ectoskeleton machine clothing Download PDFInfo
- Publication number
- CN107921628A CN107921628A CN201680040372.4A CN201680040372A CN107921628A CN 107921628 A CN107921628 A CN 107921628A CN 201680040372 A CN201680040372 A CN 201680040372A CN 107921628 A CN107921628 A CN 107921628A
- Authority
- CN
- China
- Prior art keywords
- cable
- spool
- machine clothing
- limbs
- lower section
- 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.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
-
- 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
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P3/00—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters
- H02P3/06—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter
- H02P3/08—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter for stopping or slowing a dc motor
- H02P3/14—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter for stopping or slowing a dc motor by regenerative braking
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P3/00—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters
- H02P3/06—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter
- H02P3/18—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter for stopping or slowing an ac motor
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Power Engineering (AREA)
- Manipulator (AREA)
Abstract
A kind of ectoskeleton machine clothing, for promoting limb motion, the limbs include the upper segment and lower section being pivotally connected via joint, and the ectoskeleton machine clothing includes：It is configured as the soft frame being worn on by user on limbs；The actuator of the soft frame is attached to, the actuator includes：Can be with first direction and the rotating spool of second direction, the spool, which is connected to, to be configured so that the axis of the rotating motor of the spool；First cable, a part for first cable is wound around the Part I of the spool, first cable extends along the soft frame from the spool, first cable terminates at the front portion of the lower section, so that when first cable is wrapped in during the spool is rotated with first direction on the spool, the limbs are caused to bend；Second cable, a part for second cable is wound around the Part II of the spool, second cable extends along the soft frame from the spool, second cable termination is in the rear portion of the lower section, so that when second cable is wrapped in during the spool is rotated with second direction on the spool, the limbs are caused to stretch.
Description
Technical field
The present invention relates to a kind of wearable device for promoting limb motion.More specifically, the present invention is adapted to carry out/promotees
Into the movement of upper limb, and lower limb can be suitable for using identical transmission technology.
Background technology
Number of storage tanks produced per day needs enough muscle of upper extremity strength and nerve to control.With due to such as muscular atrophy, god
Through damage and other diseases and degenerative disease etc., the personnel of neurimotor disturbance caused by various situations are difficult to so
Activity.This may make dependence, and other people carry out these people generation Mental health problem of basic activity.What kinsfolk can not assist
In the case of, specialty helps with high costs.
Technical solution includes the device using actuation frame (i.e. power exoskeleton), to help user and imparting to make
User's ability.The rigidity or semirigid structure of these devices person of including the use of wearing.These structures undertake load and guide use
Person performs desired movement.However, these devices are except limiting the biomethanics ability of user and producing unnatural posture
It is also bulky, heavy and uncomfortable outside action.Due to these problems, most known solution is not suitable for reality
Test the application outside room.
Most known solution is not also energy saving in addition to not meeting the particular demands of each user：No matter
When dress, can mean that ectoskeleton is powered, cause high power consumption, therefore limited battery life.
The content of the invention
The ectoskeleton machine clothing disclosed in the application provides more preferable ergonomics performance, and prevents unnatural fortune
It is dynamic.In terms of energy efficiency, soft ectoskeleton machine clothing can also reduce energy consumption.
According to first aspect, there is provided a kind of ectoskeleton machine clothing, for promoting limb motion, the limbs are included via pass
The upper segment and lower section being pivotally connected are saved, the ectoskeleton machine clothing includes：Soft frame, it is configured as being dressed by user
On limbs；The actuator of the soft frame is attached to, the actuator includes to rotate with first direction and second direction
Spool, the spool, which is connected to, to be configured so that the axis of the rotating motor of the spool；First cable, first cable
A part is wound around the Part I of the spool, and first cable extends along the soft frame from the spool, institute
The front portion that the first cable terminates at the lower section is stated, so that first cable rotates the phase in the spool with first direction
Between when being wrapped on the spool, cause the limbs to bend；Second cable, a part for second cable surround the line
The Part II winding of axis, second cable extends along the soft frame from the spool, second cable termination in
The rear portion of the lower section, so that second cable is wrapped in the spool during the spool is rotated with second direction
When upper, the limbs were caused to stretch.
The Part II of the spool has the diameter of the Part I bigger than the spool.
The actuator can also include first pair of roller and second pair of roller, and first cable prolongs from the spool
Stretch, through first pair of roller, to the lower section, the second cable extends from the spool, through described second pair
Between roller, to the lower section, first pair of roller and second pair of roller each pair all include unidirectional roller and can
The conventional tumble rotated freely with both direction；Wherein each unidirectional roller only can be to be sent into the First Line from the spool
The direction of cable or second cable rotates freely, and wherein when first cable or second cable winds are described in
When on spool, each one-way rolling is locked without rotating.
First cable is connected via the first flexible member being connected at the first end effector of the lower section
To the front portion of the lower section, and wherein, second cable is via the second end effector for being connected to the lower section
Second flexible member at place is connected to the rear portion of the lower section.
First flexible member and the second flexible member each include compression spring.
First cable and second cable can be extended through respectively along the soft frame be attached to it is described soft
The the first Bowden sheath and the second Bowden sheath of frame, the first Bowden sheath terminate at the front portion of first section, and
And the second Bowden sheath terminates at the rear portion of the first section.
The actuator can also include dynamo-electric clutch, it is connected on the axis of the motor, the electromechanics
Clutch is configured to, when the dynamo-electric clutch is actuated to the joint being maintained at fixed angle, described first
Apply on cable and second cable and keep moment of torsion.
The motor can be connected to battery via regenerative braking circuit, and the regenerative braking circuit is configured to, in institute
State limbs proper motion pull it is at least one in first cable and second cable, by first cable and institute
State described at least one when being unfolded from the spool in the second cable, cause the motor to be transported in the rotation by the spool
During dynamic, the regenerative braking circuit charges the battery.
The component of the actuator can be contained in housing, and the housing is attached to the soft frame and is configured to
It is worn on the back of the user.
The ectoskeleton machine clothing further includes sensor, the sensor be configured to detect it is following in it is at least one：
The directed movement of the limbs, the acceleration of the upper segment, the acceleration of the lower section, the orientation of the upper segment, institute
State the orientation of lower section, the power in the limbs, the electrical activity of the muscle in the limbs and the muscle in the limbs
Vibration, it is at least one of following to perform for providing feedback to the controller of the actuator：Detect the movement meaning of user
Figure, controls the actuating of the movement locus and the triggering ectoskeleton machine clothing of the limbs.
The ectoskeleton machine clothing further includes tension sensor, the tension sensor be configured to detect be applied to it is described
The size of the power of first cable and second cable, for providing feedback to the controller of the actuator.
The ectoskeleton machine clothing can also include force snesor, and the force snesor is configured to detect the soft frame
The generation of contact with external environment condition, for providing feedback to the controller of the actuator, to adjust by the ectoskeleton machine
The power that device clothing applies.
Brief description of the drawings
In order to be well understood the present invention and easy practical application, it will only pass through non-limiting example now
Mode come describe the present invention exemplary embodiment, the description is with reference to appended schematic figures.
Fig. 1 is the forward sight and schematic rear view of the exemplary embodiment of the ectoskeleton machine clothing of the present invention；
Fig. 2 is the perspective cross-sectional view of the example actuator of the ectoskeleton machine clothing of Fig. 1；
Fig. 3 is the functional schematic of the example actuator of the ectoskeleton machine clothing；
Fig. 4 is the schematic diagram for the feeding device assembly for including one-way clutch and roller pair, and the roller is to adapting to be sent to
Spool and the cable being sent into from spool；
Fig. 5 is the perspective view of the exemplary feed device system of actuator；
Fig. 6 shows side view, forward sight and the backsight signal of the soft frame for the ectoskeleton machine clothing being worn on user's arm
Figure；
Fig. 7 is the schematic rear view of the preferred embodiment of ectoskeleton machine clothing；
Fig. 8 is the front schematic view of the ectoskeleton machine clothing in Fig. 7；
Fig. 9 is two photographs of the series elastic component at the end-effector of cable；
Figure 10 is the schematic diagram of the flexor tendons with series elastic component；
Figure 11 is theory curve of the torsion stiffness [Nm/rad] in the range of θ=[2 α-π], corresponding to angle of bend from
26 ° drop to 0 °；
The agonist/antagonist in joints of the Figure 12 in R.M.Murray " the mathematics introduction of robot manipulation " causes
Dynamic diagram；
Figure 13 is the cable stretch amount and difference and joint angle of the same spool diameter for extensor cable and musculus flexor cable
The curve map of the relation of degree；
Figure 14 is the graph of relation of cable stretch amount and difference and joint angles, wherein the spool diameter of extensor cable by
Coefficient correction, the coefficient are equal to the oblique of the single order matched curve of musculus flexor cable stretch amount of the joint angles in the range of 0 ° to 90 °
Degree.
Figure 15 is the simulation photo of the actuator on testboard；
Figure 16 is the curve map of iwth sine chirp track following test；
Figure 17 is exemplary regenerative circuit, to the electric current flowing during operation before showing；
Figure 18 is the regenerative circuit of Figure 17, to the electric current flowing during braking before showing.
It is described in detail
The exemplary embodiment of ectoskeleton machine clothing 99 is described below with reference to attached drawing 1-18.In all these figures, make
The same or similar part in each embodiment is denoted by the same reference numerals.
As shown in Figure 1, ectoskeleton machine clothing 99 includes actuation means or actuator 100 and soft frame 200.Below with reference to
The ectoskeleton machine clothing 99 implemented on the upper limb (arm) of the body of user is described, which is included via joint 10
The upper segment 11 (upper arm) and lower section 12 (forearm) that (ancon) is pivotally connected.Ectoskeleton machine clothing 99 can be applicable under
Implement on limb or leg, to promote the movement of lower limb or any two body part being pivotally connected via joint 10.
Actuating
In general, as shown by the cross-sectional view in fig. 2 and the actuator 100 that schematically shows in figure 3 includes shell
Body 80, is provided with conventional actuator devices, such as electromechanical direct current generator 20, it can subtract with such as gear in housing 80
The deceleration device 30 of speed, belt deceleration etc. couples.The motor 20 is configured to rotate with first direction and second direction, and excellent
Selection of land is powered by battery 22.Deceleration device 30 is connected on spool 40, one group of at least two first and second cable volume 51,52
It is wound on spool 40 and (is referred to as electric machine assembly).Spool 40 can be rotated by motor 20 with first direction and second direction.Phase
For spool 40, at least one first cable 51 surrounds the Part I clockwise of spool 40, and at least one second
Cable 52 is wound counterclockwise around the Part II of spool 40 so that no matter spool 40 is rotated with first direction or with second party
To rotation, the first and second cables 51,52 are worked in a manner of agonists-antagonists respectively, and it's similar to human arm
In tendon.Actuator 100 further includes the feeder system 60 for being used for the first and second cables 51,52 in housing 80, to prevent
The only relaxation of the first and second cables 51,52, and prevent 51,52 uncoiling from spool 40 of the first and second cables.Provide to
Few two Bowden (Bowden) sheaths 81,82 being connected with soft frame 200, the first and second cables 51,52 are disposed in the Bao
Step on the inside of sheath 81,82, and at least two flexible members, 91,92 such as metal spring, gas spring, composite material spring etc.
Be placed near joint 90, respectively with the Bowden driver including Bowden sheath 81,82 and the first and second cables 51,52
Structure is connected.The locking system 25 of dynamo-electric clutch, brake etc., which is arranged on parallel to electrical axis in housing 80, (to be claimed
For clutch pack), positioned at the front of gear reduction unit 30.
One possible embodiment of electric machine assembly includes brshless DC motor 20, which does not have gearhead deceleration, its
(the speed reducing ratio 5 of deceleration device 30 is used as with planetary gear coupling:1).Spool 40 is arranged on reduction gearing 30 relative to motor 20
Rear.The planet wheel drive of gear 30 winds the spool 40 of the first and second cable of tendon 51,52 thereon.
In feeder system or component 60, unidirectional roller (such as one-way clutch) 61,62 and can be with two-way freedom
It is (including unidirectional to P1 (including unidirectional roller 61 and conventional tumble 71) or P2 that rotating conventional tumble 71,72 is configured to roller
Roller 62 and conventional tumble 72), every cable 51 or 52 is respectively used to, as shown in Figure 4.In the exemplary embodiment, from line
The every cable 51,52 of axis 40, to being passed through between P1, P2, and is directed into Bowden sheath 81,82 from roller, to lead to respectively
Cross serial spring 91,92 and be connected to lower section 12, as shown in Figure 3.3 and 5 can be seen that the first cable 51 from spool 40 from figure
Side be fed to the first roller between P1, and the second cable 52 is fed from the opposite side in the diametric(al) of spool 40
To second tin roller between P2.
Unidirectional roller 61,62 is oriented to, and the direction that rotates freely for making them is respective first and second along them
The direction (as shown in the curved arrow in Fig. 3 to Fig. 5) that the slave spool 40 of cable 51,52 is sent into, meanwhile, when their own the
One and second cable 51,52 by rollback or when being wound up on spool 40, they are locked against rotating.This prevent feeder
Any relaxation in the first and second cables 51,52 after in-house transmission：Therefore, though the first and second cables 51,
52 relaxations, the first and second cables 51,52 are also always suitably wound around spool 40.Since unidirectional roller 61,62 is with feeding
Direction rotates freely, so when cable 51 or 52 is unfolded by spool 40, therefore the effect of each pair roller P1, P2 shows close
Zero friction.Meanwhile when cable 51 or 52 is by rollback to spool 40, since unidirectional roller 61 or 62 is locked, and line
Cable 51 or 52 is respectively relative to unidirectional roller 61 or 62 and slides, so, roller provides a certain amount of frictional force to P1, P2.Due to
The axial force that loose cable 51 or 52 is applied is not enough to respectively overcome the stiction produced with unidirectional roller 61 or 62, because
This this frictional force is enough to prevent loose cable 51 or 52 by feeder 60, so that it is guaranteed that cable 51,52 is whole in rollback
It is wound up into together on spool 40.However, this frictional force is very small, so that when motor 20 drives spool 40 to rotate and by cable
51 or 52 when being wound into spool 40, it is easy to is overcome by the effect of motor 20.If desired or if necessary, it is this quiet in order to increase
Frictional force, can increase by one layer of synthetic coating on the metal surface of unidirectional roller 61,62.
Figure 5 illustrates including roller to P1, the exemplary embodiment of the feeding device assembly 60 of P2.As can be seen that show
Example property feeding device assembly 60 includes three stubs 63,64,65：Central stub 63, it is protected along identical first rotation L1
Hold two unidirectional rollers 61,62；And two side stubs 64,65, in side, each conventional tumble 71,72 is maintained at respectively
On second rotation axis L2 and the 3rd rotation axis L3, central stub 63 is positioned between two side stubs 64,65.Second He
Therefore 3rd rotation axis L2, L3 is spaced apart with first rotation L1, and be preferably in phase with first rotation L1
In same plane.Spool 40 is on identical rotation axis Lx with motor shaft 21.Motor shaft axis Lx and central stub 63
First rotation L1 is spaced apart, and is in from the second rotation axis L2 and the 3rd rotation axis L3 in different planes.
As shown in Fig. 2, the axis 21 of motor 20 couples through spool 40 and with electromechanical (EM) clutch 70.Clutch pack bag
EM clutches 70 are included, keep the frame or housing 80 and the stub 72 for anchoring to housing 80 of the actuator 100 of EM clutches 70,
EM clutches 70 are engaged by the stub 72 with frame 80.When clutch 70 works, the moment of torsion applied by motor shaft 21 passes through
Housing 80 (rather than being delivered to spool 40) is delivered to by clutch 70, and is delivered to and acts on the first and second cables 51,
Any external force on 52.
In the normal operation period, clutch 70 disconnects, therefore the moment of torsion of motor 20 is passed to line after braking section 30
Axis 40.Spool 40 pulls single line cable 51 (excited tendon) to discharge another cable 52 on spool 40, and from spool 40
(antagonism tendon).This moment of torsion is delivered to limbs by the first and second cables 51,52 guided by Bowden sheath 81,82 respectively.
When joint position needs static, substitution applies guarantor using direct current generator 20 on the first and second cables 51,52
Moment of torsion is held, and dynamo-electric clutch/brake 70 can be utilized.Dynamo-electric clutch/brake 70 is preferably rested in braking section 30
Before so that required necessary moment of torsion is minimized.Dynamo-electric clutch 70 is better than motor because of its low-power consumption.
Soft frame
In order to which the moment of torsion produced by actuator 100 is delivered to limbs 11,12, soft frame 200 is used.Soft frame 200 by
Different fabric (have different intensity/flexible stretchable and non-stretchable) is made, to maximize durability, soft
Toughness and ergonomics, while keep bearing to load and transferring power to the ability of limbs 11,12.Can change design and
Fabric type is come for different environment and operating condition custom design.For example, dry personal material can be used in hot and tide
In wet weather.Figure 6 illustrates a kind of example of possible embodiment of soft frame 200, wherein, solid can not draw
The fabric 210 stretched is shown as black bar, and solid stretchable fabric 220 is shown as Dark grey, and soft is stretchable
Fabric 230 be shown as light gray, and rigid ancon protective device 240 is shown as black.Set in machine clothing 99
Window 250, to allow to contact skin to place EMG electrodes or other sensors, if necessary.
At the position where point of application (installation/fixing points of the first and second cables 51,52) in tendon (i.e., directly
Close to joint) use solid and non-stretchable fabric 210.This means by the effect of tendon 51,52 be assigned to limbs 11,
12.Due to it is non-stretchable and be close to body part binding, this also prevents caused by the power applied as tendon 51,52 it is any not
Desired and uncertain deformation.Its purposes, which also aims to, makes tendon 51,52 be maintained at suitable relative to the limbs 11,12 of user
Work as position, and therefore avoid the undesirable dislocation that may cause the system failure.
Other parts use solid and stretchable fabric 220, and are used for following purpose：Its carrying tendon sheath 81,
82 and any relative motion between limbs 11,12 and non-stretchable fabric 210 is prevented, so that by non-stretchable fabric
210 are snugly held in appropriate location.Its shape follows the biological structure (bone, muscle and ligament) of limbs 11,12, for increasing
Add ergonomics performance and therefore optimization load distribution.Soft fabric 230 is used to connect aforementioned structure 210,220
As continuous clothes.This enables a user to easily wear machine clothing 99 as wearing dress, without by outside
The different piece of bone machine clothing 99 is assembled individually or is bundled on body.One or more special windows 250 allow to
Muscle is touched, to place an electrode within the skin for needing EEG to control.
Special ancon protective device 240 can be used for avoiding the peak tension caused by the effect of extensor tendon 52.
It is located in the outer rigid housing on joint 10, and is provided with the particular groove for guiding tendon 52.It is glued by appropriate
Close and suture is combined with fabric 220.
Finally, the shoulder strap 260 as shown in Fig. 7 and 8 can be preferably used for machine clothing 99 being connected to the body of user
It is dry, the weight of carrying and the actuator 100 on distribution user back.Semirigid structure 262 can be embedded in the back of the body of shoulder strap 260
In side, to avoid the peak tension on trunk.
Bowden sheath 81,82 is disposed in machine clothing 99：Their (i.e. at back) and joints 10 near actuator 100
Nearby expose from fabric.Bowden sheath 81,82 extends along soft frame 200 from the housing 80 of actuator 100, in the upper of limbs
Section 11 terminates.First and second cables 51,52 are each passed through Bowden sheath 81,82, and terminate at the lower section 12 of limbs
The first and second end-effectors 53,54.Therefore, the first and second cables 51,52 extend beyond the Bowden in upper segment 11
The terminal of sheath 81,82, crosses pivoting articulation 10.In the exemplary embodiment, before the first cable 51 is arranged on ancon 10
Side, terminates at the front portion of lower section 12, to cause bending when cable 51 is wrapped on spool 40, and the second cable 52 is set
The rear portion at the rear of ancon 10, terminating at lower section 12 is put, to cause stretching when cable 52 is wrapped on spool 40.
Elasticity at end-effector
(and schematically showing in figure 3) as shown in Figure 9, the spring being placed in series with the first and second cables 51,52
Or elastic device or flexible member 91,92 produce compliance at end effect device 53,54 respectively.In this way, the first and second lines
Cable 51,52 acts on the first and second end effects being connected with soft machine clothing or frame 200 by serial spring 91,92 respectively
Device element 53,54.First and second cables 51,52 are preferably by the way that the end 56,57 of the first and second cables 51,52 is distinguished
Engaged through spring 91,92 and by cable and damper ends 56,57 with the distal end 96,97 of spring 91,92 (for example, by by cable end
Portion 56,57 is expanded to the internal diameter more than spring 91,92) and be connected with spring 91,92.By this way, when cable 51,52 is drawn
When dynamic, it compresses spring 91,92, then loads and is delivered to end-effector 53,54 via spring 91,92 respectively, and therefore passes
It is delivered to joint 10.
This spring 91,92 advantageously further increase machine clothing 99 is connected at the position of body by user
The natural compliance that muscle and soft tissue produce is complied with：However, natural compliance be it is difficult to predict because it is with different
User and change, and be also muscle tone function.Spring 91,92 is connected, the movement applied by motor 20 is not firm
Property：If any barrier hinders the track, spring 91,92 advantageously absorbs the deformation, and damages user or damage
The risk of bad system is lowered.Moreover, in the event of any impact, it is absorbed or is partially absorbed by elastic device 91,92, and
Directly impacting to motor 20 is reduced, uses to avoid damage motor or excessively motor.
In order to which ectoskeleton machine clothing 99 to be applied to the upper segment 11 and lower section 12 around elbow joint 10, as shown in Figure 10
Meaning property show and (wherein, show by tendon 51 (activator) curved joint 10 with serial spring 91), can calculate with
The corresponding caused torsional stiffnesses of linear rigidity of used spring 91, as described below.
In view of Hooke's law and the fact, unique component F t perpendicular to the cable strain of section r produces torsion
Square M：
M=Ft*r (1)
And consider that (the first anchor point is located at top as the string of the circumference of two anchor points of interception by the length l of cable 51
The end of Bowden sheath 81 in section 11, and the second anchor point is located at the end-effector 53 of lower section), and with joint
Centered on 10：
Elastic torque can be expressed as：
In order to calculate caused torsion stiffness, it is assumed that general formulae (7), can be denoted as (8)：
Using the spring 91 with elastic constant k=4.9N/mm and following parameter, the somatometry based on elbow joint
According to a=50mm, b=00mm, the caused rigidity of the system is as shown in figure 11.
Cable is wound
In the actuator 100 proposed, spool 40 in two directions pulls the first and second cables 51,52：To swash
The mode of dynamic agent-antagonist bends and stretches joint 10.When cable 51 is wrapped on spool 40, and cable 52 is sent from spool 40
When going out, bend, and when cable 52 is wrapped on spool 40, and cable 51 from spool 40 send out when, stretch.According to
(1) joint angles described in, cable wiring cause the nonlinear cable stretch of flexor tendons or cable 51, and extensor tendon or cable
52 elongation and the joint angles described in (2) are linear.The predictable linear component of this species diversity can be by special
In being mended relative to the different-diameter for being exclusively used in stretching the spool (for cable 52) for spool 40 of the bending (for cable 51)
Repay.(and due to such as misalignment, fabric is relative to many reasons such as the relative motions of body for the nonlinear component of this species diversity
Caused by uncertain result) by being actively engaged in the serial spring of correct function and being inhaled by the soft fabric of soft frame 200
Receive.
Following equation (8) and (9) describe the different elongations of the first and second cables 51,52, as shown in figure 12,
It is selected from mathematics introduction (the A Mathematical Introduction to Robotic of the robot manipulation of R.M.Murray
Manipulation)。
h2(θ)=l2+ R θ θ ＞ 0, (9)
In figure 12 it can be seen that during bending, the shortening of flexor tendons (h1) 51 is more than the elongation of extensor 52.On the contrary,
, it is necessary to which the extensor cable 52 sent out from spool 40 is more than the quantity for the musculus flexor cable 51 being wound on spool 40 during stretching.
First and second cables 51,52 cause the series connection for being connected to musculus flexor cable 51 in the difference of this length change of activating
The tension force (particularly during stretching, extension) of spring 91, then the tension force is passed to articulated joint 10.This inherent tension force
Sense of discomfort and pain be may result in when excessive, and cause mechanical breakdown.
With reference to Figure 12, use following parameter (anthropometric data based on elbow joint 10)：A=50mm, b=100mm, R
=50mm,Figure 13 illustrates the caused extension of the first and second cables 51,52, wherein first
It is more than 50mm with the maximum difference of the extension of the second cable 51,52.In the case where the rigidity of serial spring 91 is 5N/mm, this
The tension force of undesirable 250N will be produced in musculus flexor cable 51.
By being fitted the non-linear shortening of musculus flexor cable 51, and do not apply when moving and starting pretension (this means
When joint full extension, the first cable 51 and the second cable 52 are loose), the extensor wound for extensor cable 52 around it
The diameter of wheel or spool 40, can obtain about 1.51 correction factor so that inner tensions minimize.Figure 14 shows that spool is straight
By the elongation and their difference of the first and second cables 51,52 during factor correction, which is equal to joint angles model in footpath
It is trapped among the gradient for the single order matched curve that the musculus flexor 51 in the range of 0 ° to 90 ° extends.The difference of caused non-linear elongation is (most
Big value is about 10mm) absorbed by soft fabric and serial spring, without producing any pain or discomfort.In fig. 14 can be with
See initial positive difference, wherein, during bending, the elongation of extensor cable 52 is more than musculus flexor cable 51, causes stretching, extension cable on the contrary
52 relaxation, but the presence of feeder system 60 allows this relaxation, without allowing cable 52 from uncoiling on spool 40.Uncoiling
It should be avoided by, because if this thing happens, which will break down.
In a manner of agonists-antagonists using the first and second two cables 51,52, therefore can also be in joint
Applying movement during 10 no orientation in a specific way, (for example, limbs can be inverted, or user lies on the back, and joint still may be used
Normally to start).This technical characteristic is especially important for manipulating.Two sides are activated due to only needing a motor 20
To, therefore also produce actuating more efficiently.
Track following is tested
As shown in figure 15, the test of iwth sine chirp track following is performed using the actuator 100 for being connected to testboard, wherein logical
Cross rotary encoder 400 and measure the joint angles being modeled.In the test, without considering extensor cable 52 and musculus flexor cable 51
Different elongations.
The result of iwth sine chirp track following test shown in Figure 16 is highlighted the ectoskeleton machine clothing of the present invention
The 99 good track following performance in terms of bidirectional-movement (that is, gravity opposite direction and gravity direction).This movement is can not
It can be realized by unidirectionally activating (i.e. single direction of actuation).
Regenerative braking
System 99 can be integrated with the module for regenerative braking.In such implementation, lost during active brake
Energy can be stored, to extend battery life.When movement is applied on their axis 21, in ectoskeleton machine clothing 99
Each actuator 100 DC motors 20 may be configured to by sense produce electric current.This electric current is usually dissipated, but phase
It can instead store.Since system can reverse drive, it is possible to collect energy using several situations.During walking,
For example, naturally arm motion can be converted into electric energy to charge the battery.Alternatively, in another case, when making
When user wants to reduce load (that is, being moved up in the side that gravity pulls), substitute and active drive is carried out to end-effector 53,54
It is dynamic, regenerative braking can be carried out so that potential energy is converted to electric energy.
Figure 17 and Figure 18 shows an example of regenerative braking circuit 25, wherein in the connection of motor 20 and battery 22
Four pairs of power transistors and power diode (T1 and D1, T2 and D2, T3 and D3, T4 and D4) are provided.Regenerative braking circuit 25 has
There is the form of bridgt circuit, wherein motor 20 is bridged in the two pairs of power transistors and power diode being arranged in parallel with battery 22
Between, as shown in FIG. 17 and 18.During forward acts on, as shown in figure 17, electric current leads to from 22 flow direction motor 20 of battery pack
Crossing two the power transistors T1 and T4 bridged by motor 20, (i.e. clockwise) drives motor forward.In the forward direction braking action phase
Between, as shown in figure 18, due to power diode D1 and D4 that motor 20 bridges, electric current from motor 20 forward (i.e. clockwise direction)
It flow to battery 22.
Sensor (not shown) can be merged in machine clothing 99, and to detect the movement of body, (directed movement or power are examined
Survey), and bio signal (electrical activity of muscle or their vibration) is extracted, so that proposed system is utilized, the actuating
The correspondence startup of device can strengthen the movement.This sensor may be used as feedback to increase the sane of control architecture
Property, and detect the motion intention of user.In a particular embodiment, in order to be finely controlled movement locus, Inertial Measurement Unit
(IMU) acceleration of these sections in space and orientation are detected to extract anthropometric kinematics information.First and second cables 51,
The size for the power that tension sensor detection in 52 is applied by the system, (is not shown with being fed back to the controller of actuator 100
Go out).In another embodiment, can be used for using electromyography transducer (EMG) to detect muscle activation and be converted into
The trigger of the system.In other embodiments, sensed using with the corresponding dither of muscle activation, usable myograph
Device (MMG) extracts motion intention.The force snesor being embedded in fabric 200 detects the generation of the contact with external environment condition, and
The power that is applied by system 99 is adjusted, to prevent from damaging user and the damage to system 99.
Ectoskeleton machine clothing 99 further includes other remaining hardware, such as battery, (it can be with for motor driver and controller
It is microcontroller), actuator 100 is preferably disposed at nearby so that connecting line minimizes.When user needs to move auxiliary
When, microcontroller is exclusively used in the connected motor driver to power to actuator 100 of control.Microcontroller may be coupled to biography
Sensor is intended to detect user：These sensors can detect the fortune for representing user from muscle activity, pressure and strain
The dynamic electromyogram signal attempted.These signals and micro-controller communications detected by sensor, and with triggering microcontroller
Device and the effect that actuator 100 is therefore driven via motor driver.
The distinctive feature of the present invention
● ectoskeleton machine clothing 99 aids in them without limiting kinematics performance by applying moment of torsion to upper limb joint 10.
Ectoskeleton machine clothing 99 is applicable to joint of lower extremity.
● ectoskeleton machine clothing 99 is soft, light, meets ergonomics and bionical.
● when muscle strength is not enough to execution action, device 99 can be actuated to produce auxiliary force.
● due to actuator 100 can reverse drive, user can move freely through target when extra power is not required
Joint 10.
● burden is shunk in order to mitigate the equidistant of user, clutch 70 can be used to lock first and second with low-power consumption
Cable 51,52.
● natural vibration/movement of arm or limbs can be used for charging to battery 22.
Technical advantage
● the damage the wounded almost without ability autonomous joint can be got help by ectoskeleton machine clothing 99
With acquire strength.User activates ectoskeleton machine clothing 99, it will mobile target joint.
● the healthy user (such as rescue personnel or labourer) for performing fatigue operation can be from ectoskeleton machine clothing 99
Be benefited：When particularly making great efforts tiresome, user activates ectoskeleton machine clothing, it will bear part or all of load.When
When extra power is not required, ectoskeleton machine clothing 99 is stopped, and does not have any restrictions to user.
● ectoskeleton machine clothing 99 can be through under normal clothes.Damage the wounded is benefited from terms of comfort and aesthetics
This feature.Healthy user is also benefited in terms of the adaptability of specific environment.For example, rescue personnel and labourer can wear just
Normal individual protective equipment (PPE), such as insulated cold wear, without making them be adapted to ectoskeleton machine clothing 99.
● when needing equidistant contraction (such as carry load), user can use the locking of bi-directional electromechanical clutch 70 to cause
It is dynamic, so that therefore the muscle of user does not have load on.Clutch 70 is with low power operation, so as to extend ectoskeleton machine
The battery life of clothing 99.
● when undesirable movement occurs, when needing brake force or only needing extra battery to charge, ectoskeleton
Machine clothing 99 can inversion energy stream, charged using the mechanical energy from joint to battery 20.This causes longer cell life.
Although the exemplary embodiment of the present invention has been described in description above, those skilled in the art will
It will be appreciated that, many changes and combination can be carried out to the details for designing, constructing and/or operate without departing from the present invention.
Claims (12)
1. a kind of ectoskeleton machine clothing, for promoting limb motion, the limbs include the upper segment being pivotally connected via joint
And lower section, the ectoskeleton machine clothing include：
Soft frame, it is configured as being worn on the limbs by user；
The actuator of the soft frame is attached to, the actuator includes：
Can be with first direction and the rotating spool of second direction, the spool, which is connected to, to be configured so that the spool is rotating
The axis of motor；
First cable, the part of first cable are wound around the Part I of the spool, first cable along
The soft frame extends from the spool, and first cable terminates at the front portion of the lower section, so that the First Line
When cable is wrapped in during the spool is rotated with first direction on the spool, the limbs are caused to bend；
Second cable, the part of second cable are wound around the Part II of the spool, second cable along
The soft frame extends from the spool, and second cable termination is in the rear portion of the lower section, so that second line
When cable is wrapped in during the spool is rotated with second direction on the spool, the limbs are caused to stretch.
2. ectoskeleton machine clothing according to claim 1, wherein, the Part II of the spool has than the line
The diameter of the Part I bigger of axis.
3. ectoskeleton machine clothing according to claim 1 or 2, wherein, the actuator further includes first pair of roller and
Two pairs of rollers, first cable extend from the spool, through first pair of roller, to the lower section, and
Second cable extends from the spool, through second pair of roller, to the lower section, first pair of roller and institute
Stating second pair of roller each pair all includes unidirectional roller and the conventional tumble that can be rotated freely with both direction；It is wherein each unidirectional
Roller can only be rotated freely with being sent into the direction of first cable or second cable from the spool, and wherein when
When first cable or second cable are wound onto on the spool, each one-way rolling is locked without rotating.
4. the ectoskeleton machine clothing according to foregoing any claim, wherein, first cable is described via being connected to
The first flexible member at the first end effector of lower section is connected to the front portion of the lower section, and wherein, described
Two cables are connected to the lower section via the second flexible member being connected at the second end effector of the lower section
Rear portion.
5. ectoskeleton machine clothing according to claim 4, wherein, first flexible member and second flexible member
Each include compression spring.
6. the ectoskeleton machine clothing according to foregoing any claim, wherein, first cable and second cable
Extend through the first Bowden sheath and the second Bowden sheath for being attached to the soft frame respectively along the soft frame, described
After one Bowden sheath terminates at the front portion of first section, and the second Bowden sheath terminates at first section
Portion.
7. the ectoskeleton machine clothing according to foregoing any claim, wherein, the actuator further includes dynamo-electric clutch,
It is connected on the axis of the motor, and the dynamo-electric clutch is configured to, when the dynamo-electric clutch is activated
During the joint being maintained at fixed angle, apply on first cable and second cable and keep moment of torsion.
8. the ectoskeleton machine clothing according to foregoing any claim, wherein, the motor connects via regenerative braking circuit
Battery is connected to, the regenerative braking circuit is configured to, and first cable and described is pulled in the proper motion of the limbs
It is at least one with will be described at least one from the spool in first cable and second cable in second cable
During expansion, during the motor movement is caused by the rotation of the spool, the regenerative braking circuit charges the battery.
9. the ectoskeleton machine clothing according to foregoing any claim, wherein, the component of the actuator is accommodated in shell
In vivo, the housing is attached to the soft frame and is configured to be worn on the back of the user.
10. the ectoskeleton machine clothing according to foregoing any claim, further includes sensor, the sensor is configured to
Detect it is following in it is at least one：The directed movement of the limbs, the acceleration of the upper segment, the acceleration of the lower section
Spend, the orientation of the upper segment, the orientation of the lower section, the power in the limbs, the electrical activity of the muscle in the limbs,
And the vibration of the muscle in the limbs, for providing feedback to the controller of the actuator, to perform following at least one
：The motion intention of user is detected, controls the actuating of the movement locus and the triggering ectoskeleton machine clothing of the limbs.
11. the ectoskeleton machine clothing according to foregoing any claim, further includes tension sensor, the tension sensor
The size for the power for being applied to first cable and second cable is configured to detect, with to the controller of the actuator
Feedback is provided.
12. the ectoskeleton machine clothing according to foregoing any claim, further include force snesor, the force snesor by with
Put to detect generation of the soft frame with the contact of external environment condition, for providing feedback to the controller of the actuator, with
The power that adjustment is applied by the ectoskeleton machine clothing.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| SG10201506263R | 2015-08-11 | ||
| SG10201506263R | 2015-08-11 | ||
| PCT/SG2016/050383 WO2017026943A1 (en) | 2015-08-11 | 2016-08-11 | Exosuit |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107921628A true CN107921628A (en) | 2018-04-17 |
Family
ID=57983385
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201680040372.4A Pending CN107921628A (en) | 2015-08-11 | 2016-08-11 | Ectoskeleton machine clothing |
Country Status (4)
| Country | Link |
|---|---|
| EP (1) | EP3334572A4 (en) |
| CN (1) | CN107921628A (en) |
| SG (1) | SG10201912505YA (en) |
| WO (1) | WO2017026943A1 (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109124982A (en) * | 2018-06-29 | 2019-01-04 | 燕山大学 | A kind of wearable rehabilitation power-assisted flexible pneumatic joint |
| CN109176469A (en) * | 2018-09-13 | 2019-01-11 | 天津大学 | Stiffness variable flexible exoskeleton system based on line driving and Pneumatic clamping principle |
| CN111012627A (en) * | 2019-12-30 | 2020-04-17 | 吉林大学 | Active upper limb movement rehabilitation assistance exoskeleton |
| IT201900010026A1 (en) | 2019-06-26 | 2020-12-26 | Scuola Superiore Di Studi Univ E Di Perfezionamento Santanna | Apparatus capable of implementing a distal joint and transferring constraint reactions to an under-implemented shoulder exoskeleton |
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|---|---|---|---|---|
| SE541434C2 (en) * | 2016-10-05 | 2019-10-01 | Bioservo Tech Aktiebolag | Arm lifting support device |
| US20200179213A1 (en) * | 2017-03-08 | 2020-06-11 | Abilitech Medical, Inc. | Upper torso augmentation system and method |
| SE542072C2 (en) * | 2017-06-19 | 2020-02-18 | Tendo Ab | A device for pivoting a body member around a joint |
| CN107297738B (en) * | 2017-08-22 | 2023-05-12 | 北京铁甲钢拳科技有限公司 | Mechanical arm control system |
| US11192237B2 (en) | 2017-11-28 | 2021-12-07 | Seismic Holdings, Inc. | Exosuit systems and methods |
| FR3074078B1 (en) * | 2017-11-28 | 2019-11-08 | Commissariat A L`Energie Atomique Et Aux Energies Alternatives | LOWER MEMBER OF EXOSQUELETTE |
| CA3108611A1 (en) * | 2018-09-06 | 2020-03-12 | Alejandro Sancho PUCHADES | Wearable active assisting device |
| FR3085838B1 (en) | 2018-09-19 | 2023-06-30 | Lilas Deville | DEVICE AND METHOD FOR ASSISTING THE MOBILIZATION OF A JOINT |
| CN110328656B (en) * | 2019-08-12 | 2024-04-12 | 河北工业大学 | Bowden wire pre-tightening mechanism of flexible exoskeleton power-assisted robot |
| FR3108545B1 (en) * | 2020-03-25 | 2023-01-06 | Human Mechanical Tech | Cuff for fixing an arm of an exoskeleton to a user's upper limb |
| IT202100022091A1 (en) | 2021-08-19 | 2023-02-19 | Eta Bioengineering S R L | Under-actuated soft exoskeleton with cable actuation system for upper limb assistance |
| IT202100023081A1 (en) * | 2021-09-07 | 2023-03-07 | Milano Politecnico | Movement assistance device for the elbow joint |
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- 2016-08-11 WO PCT/SG2016/050383 patent/WO2017026943A1/en active Application Filing
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| CN109176469A (en) * | 2018-09-13 | 2019-01-11 | 天津大学 | Stiffness variable flexible exoskeleton system based on line driving and Pneumatic clamping principle |
| CN109176469B (en) * | 2018-09-13 | 2021-07-06 | 天津大学 | Variable-rigidity flexible exoskeleton system based on line driving and pneumatic clamping principle |
| IT201900010026A1 (en) | 2019-06-26 | 2020-12-26 | Scuola Superiore Di Studi Univ E Di Perfezionamento Santanna | Apparatus capable of implementing a distal joint and transferring constraint reactions to an under-implemented shoulder exoskeleton |
| CN111012627A (en) * | 2019-12-30 | 2020-04-17 | 吉林大学 | Active upper limb movement rehabilitation assistance exoskeleton |
Also Published As
| Publication number | Publication date |
|---|---|
| SG10201912505YA (en) | 2020-02-27 |
| EP3334572A4 (en) | 2019-04-10 |
| WO2017026943A1 (en) | 2017-02-16 |
| EP3334572A1 (en) | 2018-06-20 |
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