CN107928979A - A kind of human synovial active boosting mechanism based on intellectual material - Google Patents
A kind of human synovial active boosting mechanism based on intellectual material Download PDFInfo
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- CN107928979A CN107928979A CN201711125815.2A CN201711125815A CN107928979A CN 107928979 A CN107928979 A CN 107928979A CN 201711125815 A CN201711125815 A CN 201711125815A CN 107928979 A CN107928979 A CN 107928979A
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- ribbon
- latitude
- fibrous ring
- intelligent
- boosting mechanism
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- 239000000463 material Substances 0.000 title claims abstract description 33
- 239000000835 fiber Substances 0.000 claims abstract description 35
- 238000005452 bending Methods 0.000 claims abstract description 13
- 230000033001 locomotion Effects 0.000 claims abstract description 13
- 238000009954 braiding Methods 0.000 claims abstract description 10
- 229920001971 elastomer Polymers 0.000 claims abstract description 5
- 239000000806 elastomer Substances 0.000 claims abstract description 5
- 229920002521 macromolecule Polymers 0.000 claims abstract description 5
- 239000002131 composite material Substances 0.000 claims description 4
- 229910003460 diamond Inorganic materials 0.000 claims description 4
- 239000010432 diamond Substances 0.000 claims description 4
- -1 by marmem Substances 0.000 claims description 2
- 239000004753 textile Substances 0.000 abstract description 5
- 230000009975 flexible effect Effects 0.000 description 7
- 239000004744 fabric Substances 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 3
- 206010016654 Fibrosis Diseases 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 210000003414 extremity Anatomy 0.000 description 2
- 230000004761 fibrosis Effects 0.000 description 2
- 230000037431 insertion Effects 0.000 description 2
- 238000003780 insertion Methods 0.000 description 2
- 210000000629 knee joint Anatomy 0.000 description 2
- 206010039203 Road traffic accident Diseases 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000000988 bone and bone Anatomy 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- PCHJSUWPFVWCPO-UHFFFAOYSA-N gold Chemical compound [Au] PCHJSUWPFVWCPO-UHFFFAOYSA-N 0.000 description 1
- 239000010931 gold Substances 0.000 description 1
- 229910052737 gold Inorganic materials 0.000 description 1
- 230000035876 healing Effects 0.000 description 1
- 238000009940 knitting Methods 0.000 description 1
- 230000036244 malformation Effects 0.000 description 1
- 230000001012 protector Effects 0.000 description 1
- 230000035882 stress Effects 0.000 description 1
- 239000002023 wood Substances 0.000 description 1
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
- A41—WEARING APPAREL
- A41D—OUTERWEAR; PROTECTIVE GARMENTS; ACCESSORIES
- A41D13/00—Professional, industrial or sporting protective garments, e.g. surgeons' gowns or garments protecting against blows or punches
- A41D13/05—Professional, industrial or sporting protective garments, e.g. surgeons' gowns or garments protecting against blows or punches protecting only a particular body part
- A41D13/06—Knee or foot
- A41D13/065—Knee protectors
-
- A—HUMAN NECESSITIES
- A41—WEARING APPAREL
- A41D—OUTERWEAR; PROTECTIVE GARMENTS; ACCESSORIES
- A41D31/00—Materials specially adapted for outerwear
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F5/00—Orthopaedic methods or devices for non-surgical treatment of bones or joints; Nursing devices; Anti-rape devices
-
- D—TEXTILES; PAPER
- D03—WEAVING
- D03D—WOVEN FABRICS; METHODS OF WEAVING; LOOMS
- D03D1/00—Woven fabrics designed to make specified articles
-
- D—TEXTILES; PAPER
- D03—WEAVING
- D03D—WOVEN FABRICS; METHODS OF WEAVING; LOOMS
- D03D13/00—Woven fabrics characterised by the special disposition of the warp or weft threads, e.g. with curved weft threads, with discontinuous warp threads, with diagonal warp or weft
-
- D—TEXTILES; PAPER
- D03—WEAVING
- D03D—WOVEN FABRICS; METHODS OF WEAVING; LOOMS
- D03D15/00—Woven fabrics characterised by the material, structure or properties of the fibres, filaments, yarns, threads or other warp or weft elements used
- D03D15/40—Woven fabrics characterised by the material, structure or properties of the fibres, filaments, yarns, threads or other warp or weft elements used characterised by the structure of the yarns or threads
- D03D15/44—Woven fabrics characterised by the material, structure or properties of the fibres, filaments, yarns, threads or other warp or weft elements used characterised by the structure of the yarns or threads with specific cross-section or surface shape
-
- D—TEXTILES; PAPER
- D03—WEAVING
- D03D—WOVEN FABRICS; METHODS OF WEAVING; LOOMS
- D03D3/00—Woven fabrics characterised by their shape
- D03D3/02—Tubular fabrics
-
- 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
- Engineering & Computer Science (AREA)
- Textile Engineering (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Veterinary Medicine (AREA)
- Public Health (AREA)
- Animal Behavior & Ethology (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Pain & Pain Management (AREA)
- Epidemiology (AREA)
- Nursing (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Vascular Medicine (AREA)
- Orthopedics, Nursing, And Contraception (AREA)
Abstract
The invention discloses a kind of human synovial active boosting mechanism based on intellectual material, formed after being refined to intelligent fiber by marmem, intelligent macromolecule material, piezoelectric and elastomer intelligent material, braiding body is hollow cylindrical, and edge is intelligent fiber texture.Intelligent fiber is included through ribbon and latitude fibrous ring, through ribbon mutually embedding structure is woven in right-angled intersection with the vertical and horizontal direction in latitude fibrous ring junction, structure upper and lower ends latitude fibrous ring by it is all through ribbon both ends reversely the folded button of 180 ° of bending its it is lower in a manner of fix, upper and lower ends are seamlessly transitted without prominent through ribbon end, realization.Knot is formed close to the wearable personal clothes including each joint of human body.Intelligent fiber stretching motion is controlled, every produces deformation different degrees of on warp and weft direction respectively through ribbon and latitude fibrous ring, and active boosting mechanism reaches different degrees of bending, while structure drives ordinary textile fibers to stretch, and realizes active power-assisted.
Description
Technical field
The present invention relates to biomedical engineering and robotic technology field, specifically, is related to one kind and is based on intellectual material
Human synovial active boosting mechanism.
Background technology
With the quickening of aging of population and the increase of traffic accident, caused by human body disability problem also increase year by year, make
The problem of helping the disabled that must help the elderly increasingly highlights.At present, helping the mode that residual, weak personage recovers daily routines has bionical artificial limb, bionical vacation
Limb robot, healing robot, exoskeleton robot etc..Major part auxiliary equipment of the prior art is attached at using ectoskeleton
User's body, while ectoskeleton joint is arranged to have identical rotation axis with depending on joint.
A kind of artificial intelligence auxiliary equipment is disclosed in patent of invention CN105213155A, it is outer by being dressed to user
Bone booster passes on instruction to control its help to move；But the auxiliary equipment that its hard structure is formed is more heavy, wearing is flexible
Property it is uncomfortable, the pin connector of ectoskeleton and the axis misalignment of human synovial are higher, this to be produced feeling of pain by user, even
It is injured.
One kind is disclosed in patent CN104869969A by multiple flexible linking members, anchor point, sensor, actuator
Passive soft exterior protector is formed to aid in human motion with semi rigid components, it makees on the basis of ectoskeleton booster
With partially flexible, to a certain extent in the raising of flexibility, comfort and convenient wearing, but the mesh of active power-assisted is unable to reach
's.
The content of the invention
In order to avoid the shortcomings of the prior art, the present invention proposes that a kind of human synovial based on intellectual material actively helps
Power structure；The boosting mechanism realizes the flexible deformation of active boosting mechanism, while structure is embedded in by controlling intellectual material to stretch
Clothes the characteristics of being more bonded human motion, adapt to motion of knee joint mechanism, help improve weak, residual as personal joint structure
The action of person.
The technical solution adopted by the present invention to solve the technical problems is:By marmem, shape memory composite wood
Material, intelligent macromolecule material, piezoelectric and elastomer intelligent material form after being refined to intelligent fiber, and braiding body is hollow
Cylindric, edge is intelligent fiber texture, it is characterised in that if intelligent fiber includes xeromenia ribbon, some latitude fibrous rings, warp
Ribbon and latitude fibrous ring cross-sectional diameter are 0.1~1mm, are strip through ribbon, and latitude fibrous ring is hollow round structure,
Through ribbon around the equidistant annular distribution of latitude fibrous ring, ribbon both ends of hanging oneself are risen equidistantly to be distributed layer by layer, through between ribbon
Gap is 1.5~2 times of fibre diameters between latitude fibrous ring；Handed over through ribbon and the vertical and horizontal direction in latitude fibrous ring junction in cross
Fork weaves mutually embedding structure, and upper and lower ends latitude fibrous ring is consolidated in a manner of reversely the folded button of 180 ° of bending is under it by all through ribbon both ends
Fixed, upper and lower ends are seamlessly transitted without prominent through ribbon end, realization；When controlling intellectual material stretching motion, every through ribbon
Deformation different on warp and weft direction is produced respectively from latitude fibrous ring, and the difference of deflection causes through ribbon and latitude fiber
Relative deformation between ring, realizes the bending active power-assisted of braiding body.
It is described through gap shape is rectangle or triangle or diamond shape between the latitude fibrous ring between ribbon.
Beneficial effect
A kind of human synovial active boosting mechanism based on intellectual material proposed by the present invention, by controlling intellectual material to stretch
Contracting, realizes the flexible deformation of active boosting mechanism, while structure insertion clothes are bonded human motion as personal joint structure,
The characteristics of adapting to motion of knee joint mechanism, helps improve the action of weak, residual person.
Compared with existing structure technology:
Human synovial active boosting mechanism of the present invention be on the basis of traditional biological mechanics, joint mass motion is micro
It is allocated in the grid of active boosting mechanism with changing, establishes the personal structure for adapting to human synovial.
Human synovial active boosting mechanism of the present invention, by intellectual material fibrosis to through ribbon and latitude wire/fiber ring, two
Person keeps equidistant ring-type with being distributed layer by layer respectively, the connection mode woven by the vertical direction right-angled intersection, and structure is light
Ingeniously, fine fiber mesh, forms the human synovial active boosting mechanism based on intellectual material.
Human synovial active boosting mechanism of the present invention, flexibly it is light, by structure equidistant gap with commonly knitting
Fibres repeat right-angled intersection braiding mode be embedded in clothes, by the use of mechanical back-pressure and elastic restraint make structure be embedded in clothes as
Personal joint structure, is close to skin, reduces longitudinal stress to greatest extent and improves the flexibility in joint, by controlling through fiber
Bar drives active boosting mechanism to deform with latitude fibrous ring, while active boosting mechanism drives and stretches with ordinary textile fibers, completes
The real-time or advanced movement of human synovial active power-assisted clothes.
Brief description of the drawings
Below in conjunction with the accompanying drawings with embodiment to a kind of human synovial active boosting mechanism based on intellectual material of the present invention
It is described in further detail.
Fig. 1 is human synovial active boosting mechanism network figure of the present invention
Scheme a intelligent fiber layout b main structure body figure figure c malformation figures.
Fig. 2 is human synovial active boosting mechanism of the present invention and embedded clothes block diagram.
In figure
1. weave body through 2. latitude fibrous ring 3. of ribbon
Embodiment
The present embodiment is a kind of human synovial active boosting mechanism based on intellectual material, passes through intellectual material fibrosis ten
Word, which is cross-woven, forms human synovial active boosting mechanism, while is embedded in human clothing in a manner of repeated overlapping weaves, and passes through
The flexible case of bending for realizing clothes of intelligent fiber is controlled, helps residual, weak personage to recover daily exercise.
Refering to Fig. 1, Fig. 2, human synovial active boosting mechanism of the present embodiment based on intellectual material, is closed by shape memory
Gold, composite material of shape memory, intelligent macromolecule material, piezoelectric and elastomer intelligent material are refined to group after intelligent fiber
Into braiding body 3 is hollow cylindrical, and edge is intelligent fiber texture；If if wherein intelligent fiber include xeromenia ribbon 1 with
Dry latitude fibrous ring 2, is 0.1~1mm through ribbon and latitude fibrous ring cross-sectional diameter, is strip through ribbon 1, latitude fiber
Ring 2 is hollow round structure, and through ribbon around the equidistant annular distribution of latitude fibrous ring, ribbon both ends of hanging oneself are risen equidistantly to be divided layer by layer
Cloth, through gap is 1.5~2 times of fibre diameters between latitude fibrous ring between ribbon；Through between ribbon with latitude fibrous ring it
Between gap shape be rectangle or triangle or diamond shape.
In the present embodiment, mutually embedding structure is woven in right-angled intersection with the vertical and horizontal direction in 2 junction of latitude fibrous ring through ribbon 1,
Upper and lower ends latitude fibrous ring by it is all through ribbon both ends reversely the folded button of 180 ° of bending its it is lower in a manner of fix, upper and lower ends are without prominent
Go out and seamlessly transitted through ribbon end, realization.It is not fully locked between ribbon ring, similar clothes are woven with right-angled intersection and are woven
Mode combine, when controlling intellectual material stretching motion, every produces warp and weft side respectively through ribbon and latitude fibrous ring
Different degrees of deformation upwards, the difference of deflection cause different through relative deformation effect between ribbon and latitude fibrous ring, make
Structure reaches different degrees of bending, realizes the bending active power-assisted of braiding body.
Embodiment:
First step the present embodiment is based on intellectual material, structure delicate structure, active power-assisted that is small and can bearing pressure
Personal softly turn-off structure.The structure is hollow for body, the basic cylindrical structure of border mesh；Marginal texture by rectangular mesh or
Other shapes grid forms cylindrical wall, overall to be similar to one layer of net fibric around parcel joint.
Second step is by marmem, composite material of shape memory, intelligent macromolecule material, piezoelectric, elastomer
Intellectual material is refined to a diameter of 1mm intelligent fibers, the adjoining dimensions of the intelligent fiber and general clothing textile fabric.Intelligence is fine
It is 0.1~1mm through ribbon and latitude fibrous ring diameter of section, through fiber if dimension is made of xeromenia ribbon and latitude fibrous ring
Bar is strip, there is 80, and latitude fibrous ring is hollow round structure, there is 51, through ribbon around latitude fibrous ring equidistant ring-type point
Cloth；Hang oneself ribbon both ends rise equidistantly be distributed layer by layer, through between ribbon between latitude fibrous ring keep gap be 1.5~2
Times fibre diameter, gap shape are rectangle, or triangle or diamond shape.The vertical and horizontal direction in inside configuration longitude and latitude fiber junction is in ten
Word is cross-woven mutually embedding shape, and with all fibres bar both ends, reversely the side detained under it is folded in 180 ° of bending to structure upper and lower ends latitude fibrous ring
Formula is fixed.
Human synovial active boosting mechanism based on intellectual material is embedded in human clothing by the 3rd step, in the garment fabric
Portion includes human synovial active boosting mechanism and ordinary textile fibers, and human synovial active boosting mechanism is by fine through ribbon and latitude
Dimension ring right-angled intersection is knitted to form, and ordinary textile fibers are the good clothing material of elasticity, repeatedly right-angled intersection braiding between the two
Human synovial active power-assisted clothes are formed, form microcosmic multilayer fabric shape and macroscopical model.
After 4th step human synovial actives boosting mechanism insertion clothes, by controlling different intelligent fiber in different directions
It is upper to carry out different degrees of diastole with shrinking drive active boosting mechanism deformation, while active boosting mechanism drives common fabric fine
Dimension is flexible, completes the bending of human synovial active power-assisted clothes different conditions, reach with human body similar in bending effect, realize same
When or be ahead of the curved movement of human body.Weak, residual personage is more docile laborsaving by dressing the human synovial active power-assisted clothes
Complete joint motions in ground.
Claims (2)
1. a kind of human synovial active boosting mechanism based on intellectual material, by marmem, composite material of shape memory,
Intelligent macromolecule material, piezoelectric and elastomer intelligent material form after being refined to intelligent fiber, and braiding body is hollow circle
Column, edge are intelligent fiber texture, it is characterised in that:If intelligent fiber includes xeromenia ribbon, some latitude fibrous rings, through fibre
It is 0.1~1mm that bar, which is tieed up, with latitude fibrous ring cross-sectional diameter, is strip through ribbon, and latitude fibrous ring is hollow round structure, warp
Around the equidistant annular distribution of latitude fibrous ring, ribbon both ends of hanging oneself are risen equidistantly to be distributed ribbon layer by layer, through between ribbon and
Gap is 1.5~2 times of fibre diameters between latitude fibrous ring；It is in right-angled intersection through ribbon and the vertical and horizontal direction in latitude fibrous ring junction
The mutually embedding structure of braiding, upper and lower ends latitude fibrous ring are consolidated in a manner of reversely the folded button of 180 ° of bending is under it by all through ribbon both ends
Fixed, upper and lower ends are seamlessly transitted without prominent through ribbon end, realization；When controlling intellectual material stretching motion, every through ribbon
Deformation different on warp and weft direction is produced respectively from latitude fibrous ring, and the difference of deflection causes through ribbon and latitude fiber
Relative deformation between ring, realizes the bending active power-assisted of braiding body.
2. the human synovial active boosting mechanism according to claim 1 based on intellectual material, it is characterised in that:The warp
Gap shape is rectangle or triangle or diamond shape between the latitude fibrous ring between ribbon.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711125815.2A CN107928979A (en) | 2017-11-15 | 2017-11-15 | A kind of human synovial active boosting mechanism based on intellectual material |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711125815.2A CN107928979A (en) | 2017-11-15 | 2017-11-15 | A kind of human synovial active boosting mechanism based on intellectual material |
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| Publication Number | Publication Date |
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| CN107928979A true CN107928979A (en) | 2018-04-20 |
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ID=61932176
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| Application Number | Title | Priority Date | Filing Date |
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| CN201711125815.2A Pending CN107928979A (en) | 2017-11-15 | 2017-11-15 | A kind of human synovial active boosting mechanism based on intellectual material |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108858136A (en) * | 2018-05-16 | 2018-11-23 | 大连交通大学 | A kind of variation rigidity joint assistance mechanism of distributed driving |
| CN109107082A (en) * | 2018-08-02 | 2019-01-01 | 西北工业大学 | A kind of intelligence assist exercise trousers |
| CN111347459A (en) * | 2018-12-20 | 2020-06-30 | 哈尔滨工业大学 | Spatial telescopic mechanical arm based on 4D printing and telescopic method thereof |
| CN114288072A (en) * | 2021-09-09 | 2022-04-08 | 安徽中医药大学 | Knee joint rehabilitation device |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108858136A (en) * | 2018-05-16 | 2018-11-23 | 大连交通大学 | A kind of variation rigidity joint assistance mechanism of distributed driving |
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| CN109107082A (en) * | 2018-08-02 | 2019-01-01 | 西北工业大学 | A kind of intelligence assist exercise trousers |
| CN111347459A (en) * | 2018-12-20 | 2020-06-30 | 哈尔滨工业大学 | Spatial telescopic mechanical arm based on 4D printing and telescopic method thereof |
| CN114288072A (en) * | 2021-09-09 | 2022-04-08 | 安徽中医药大学 | Knee joint rehabilitation device |
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Application publication date: 20180420 |