CN108340360B - Wearable pneumatic skiing exoskeleton power assisting device - Google Patents
Wearable pneumatic skiing exoskeleton power assisting device Download PDFInfo
- Publication number
- CN108340360B CN108340360B CN201810469461.1A CN201810469461A CN108340360B CN 108340360 B CN108340360 B CN 108340360B CN 201810469461 A CN201810469461 A CN 201810469461A CN 108340360 B CN108340360 B CN 108340360B
- Authority
- CN
- China
- Prior art keywords
- thigh
- assembly
- air spring
- skiing
- valve
- 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
- 210000000689 upper leg Anatomy 0.000 claims abstract description 68
- 210000000629 knee joint Anatomy 0.000 claims abstract description 20
- 239000004744 fabric Substances 0.000 claims abstract description 5
- 230000035939 shock Effects 0.000 claims description 12
- 239000006096 absorbing agent Substances 0.000 claims description 11
- 230000006835 compression Effects 0.000 claims description 9
- 238000007906 compression Methods 0.000 claims description 9
- 210000001624 hip Anatomy 0.000 claims description 4
- 238000004891 communication Methods 0.000 claims description 3
- 210000004394 hip joint Anatomy 0.000 claims description 3
- 206010049565 Muscle fatigue Diseases 0.000 abstract description 3
- 230000009471 action Effects 0.000 abstract description 3
- 238000005265 energy consumption Methods 0.000 abstract description 3
- 230000003993 interaction Effects 0.000 abstract description 3
- 210000003127 knee Anatomy 0.000 abstract description 3
- 230000005484 gravity Effects 0.000 abstract description 2
- 230000008859 change Effects 0.000 description 8
- 238000010586 diagram Methods 0.000 description 8
- 238000000034 method Methods 0.000 description 8
- 230000008569 process Effects 0.000 description 8
- 244000309466 calf Species 0.000 description 4
- 238000013016 damping Methods 0.000 description 4
- 238000006073 displacement reaction Methods 0.000 description 4
- 230000006870 function Effects 0.000 description 4
- 230000003068 static effect Effects 0.000 description 4
- 239000007788 liquid Substances 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 208000006820 Arthralgia Diseases 0.000 description 1
- 206010017577 Gait disturbance Diseases 0.000 description 1
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000004217 heart function Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 210000002414 leg Anatomy 0.000 description 1
- 210000003141 lower extremity Anatomy 0.000 description 1
- 230000004199 lung function Effects 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 210000000653 nervous system Anatomy 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000009941 weaving Methods 0.000 description 1
- 239000002759 woven fabric Substances 0.000 description 1
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
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
Abstract
The invention discloses a wearable pneumatic skiing exoskeleton power assisting device which comprises a thigh assembly, a shank assembly and a control device, wherein the lower end of the thigh assembly is connected with the shank assembly through a rotating assembly and an air spring damper, and a thigh fixing pad is arranged at the upper end of the thigh assembly. The impact on the knee joint in the skiing exercise is reduced by the combined action of the telescopic movement of the air spring and the variable damper, the auxiliary force is provided for the knee joint, the gravity is compensated, and the muscle fatigue in the exercise is avoided; the embedded control system based on the ARM board and the PC is designed and utilized, so that man-machine interaction and real-time control on the robot are better realized; in addition, the intention of the user is detected using the human body motion parameters acquired by the gyroscope and the accelerometer, and the auxiliary torque of the knee part is automatically adjusted using the air spring and the fabric. The invention can be well applied to a wearable skiing exoskeleton robot, reduces the energy consumption during skiing, improves the comfort and has great application value.
Description
Technical Field
The invention relates to a lower limb exoskeleton robot, in particular to a wearable pneumatic skiing exoskeleton assisting device.
Background
Skiing exercise is an interesting exercise which can enhance the heart and lung functions, improve the nervous system conditions and strengthen the body. Because the human knee joint is required to bend for a long time and keep a certain angle in the skiing process, and a great deal of physical strength is consumed in the skiing process, the problems of muscle fatigue, knee joint ache and the like can occur in the long-time skiing process. The conventional power-assisted walking device is mainly used for assisting people with difficulty in walking on flat ground, and cannot be applied to high-speed snow sliding. At present, no device capable of reasonably solving the problems exists.
Disclosure of Invention
The invention aims to provide a wearable pneumatic skiing exoskeleton assisting device.
The invention aims at realizing the following technical scheme:
the invention discloses a wearable pneumatic skiing exoskeleton power assisting device, which comprises a thigh assembly, a shank assembly and a control device, wherein the lower end of the thigh assembly is connected with the shank assembly through a rotating assembly and an air spring damper, and a thigh fixing pad is arranged at the upper end of the thigh assembly;
the upper end of the air spring damper is connected with the lower end of the thigh assembly through a mounting plate, the lower end of the air spring damper is fixedly connected with the shank assembly, the air spring damper is connected with a miniature air pump, and the miniature air pump is mounted on a disc at the upper end of the shank assembly;
the control device is fixed in the waist knapsack of the human body.
According to the technical scheme provided by the invention, the wearable pneumatic skiing exoskeleton assisting device provided by the embodiment of the invention has the advantages of compact structure, light weight and low power consumption, and can well meet the application requirements of the skiing assisting device; can be well applied to skiing sports, reduces power consumption, improves applicability, and has great application value.
Drawings
Fig. 1 is a schematic diagram of the overall structure of a wearable pneumatic skiing exoskeleton assisting device according to an embodiment of the present invention;
FIG. 2 is an isometric view of a wearable pneumatic ski exoskeleton booster provided in an embodiment of the present invention;
FIG. 3 is a schematic view of an air damper assembly according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a bypass solenoid valve according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of an operation mechanism of an upper computer according to an embodiment of the present invention;
FIG. 6 is a diagram illustrating a lower computer operating mechanism according to an embodiment of the present invention;
FIG. 7 is a block diagram of a robot motion/assistance control based on joint angle error in accordance with an embodiment of the present invention;
FIG. 8 is a schematic diagram illustrating the operation of the air spring shock absorber of an embodiment of the present invention when the knee joint is flexed;
FIG. 9 is a schematic diagram of the working principle of the air spring shock absorber according to the embodiment of the present invention when the knee joint is erected;
FIG. 10 is a schematic diagram of an air spring model according to an embodiment of the present invention.
In the figure:
the device comprises a thigh fixing pad 1, a pressure sensor 2, an air spring shock absorber 3, a shank accelerometer 4, a shank component 5, a shank gyroscope 6, a miniature air pump 7, an absolute value encoder 8, a rotating component 9, a thigh component 10, a thigh accelerometer 11, a thigh gyroscope 12, a contact force sensor 13, an air spring 3-1, a piston rod 3-2, a guide pipe 3-3, a stretching valve 3-4, a compression valve 3-5, an oil storage cylinder 3-6, a lifting ring 3-7, a compensation valve 3-8, a bypass electromagnetic valve 3-9, a circulation valve 3-10, an inner cylinder 3-11, an outer cylinder 3-12, a main valve 3-9-1, a constant orifice 3-9-2, a spring element 3-9-3, a pilot cavity 3-9-4 and a variable orifice 3-9-5.
Detailed Description
Embodiments of the present invention will be described in further detail below. What is not described in detail in the embodiments of the present invention belongs to the prior art known to those skilled in the art.
The invention relates to a wearable pneumatic skiing exoskeleton assisting device, which comprises the following preferred specific embodiments:
the thigh assembly is connected with the shank assembly through a rotating assembly and an air spring shock absorber, and a thigh fixing pad is arranged at the upper end of the thigh assembly;
the upper end of the air spring damper is connected with the lower end of the thigh assembly through a mounting plate, the lower end of the air spring damper is fixedly connected with the shank assembly, the air spring damper is connected with a miniature air pump, and the miniature air pump is mounted on a disc at the upper end of the shank assembly;
the control device is fixed in the waist knapsack of the human body.
The thigh assembly is provided with a thigh accelerometer and a thigh gyroscope, and the thigh gyroscope is fixed between the knee joint and the hip joint of the human body and at the middle position of the front side of the thigh of the human body.
The shank assembly is provided with a shank accelerometer and a shank gyroscope, and the shank gyroscope and the shank accelerometer are fixed at the lower part of the disc at the upper end of the shank assembly.
The rotating assembly comprises an angular contact ball bearing, a bearing end cover and an absolute value encoder.
The air spring shock absorber comprises an air spring, a piston rod, a guide pipe, an extension valve, a compression valve, a storage cylinder, a lifting ring, a compensation valve, a circulation valve, an inner cylinder and an outer cylinder;
and a bypass electromagnetic valve is connected between the top and the bottom of the oil storage cylinder.
The bypass solenoid valve adopts a pilot solenoid valve, a constant orifice and a variable orifice are arranged in an orifice channel of the pilot solenoid valve, a pilot cavity is arranged between the two orifices, and a main valve and a spring element are arranged in a main channel of the pilot solenoid valve.
The rubber air bag of the air spring is formed by vulcanizing curtain cloth and rubber, a pressure sensor is arranged in the air spring, and the miniature air pump is connected with an air outlet of the air spring.
The thigh fixing pad is fixed with the thigh of a human body through an externally-added woven strap, and a contact force sensor is arranged on the inner side of the thigh fixing pad.
The control device is an embedded control system comprising an upper computer and a lower computer, wherein the upper computer is connected with the lower computer through WiFI communication, the upper computer is a client, and the lower computer is a server.
The upper computer comprises a mobile phone.
The wearable pneumatic skiing exoskeleton assisting device is compact in structure, light in weight and low in power consumption, and can well meet the application requirements of the skiing assisting device; the thigh module of the device is provided with the fixing device, so that the thigh can be well fixed and the safety protection function can be realized; the device is designed to be integrated into a variable-rigidity and variable-damping air spring shock absorber, and impact on knees in skiing is reduced through combined action of telescopic movement of an air spring and the variable damper; meanwhile, the cooperative operation of the electromagnetic valves can provide auxiliary force for the knee joint, so that muscle fatigue in exercise is avoided; the embedded control system based on the ARM board and the PC is designed and utilized, so that man-machine interaction and real-time control on the robot are better realized; the intention of the user is detected by utilizing the human body motion parameters acquired by the accelerometer and the gyroscope, and the auxiliary torque of the knee part is automatically adjusted through the air spring and the fabric. Through inspection, the wearable pneumatic skiing exoskeleton device can be well applied to skiing sports, reduces power consumption, improves applicability, and has great application value.
The invention has the advantages and positive effects that:
1. the invention provides a rigidity-variable damping-variable air spring shock absorber, which utilizes the elasticity of an air spring and the effect of resistance generated when oil liquid in the damper flows through a valve to absorb the impact influence of the ground on the knee joint in the skiing process, so as to avoid the damage of the knee joint.
2. According to the invention, the included angle between the human body and the vertical direction is measured through the gyroscope module, and the control device calculates the included angle between the human body and the expected included angle to perform moment compensation control. The accelerometer and the gyroscope are utilized to acquire human motion parameters in real time, and the intention of a user is detected, so that the auxiliary moment is adjusted.
3. According to the invention, through knee joint angle feedback, the air spring inflation amount is timely adjusted by utilizing the miniature air pump, so that the optimal auxiliary torque is provided for a wearer, and a certain knee joint rotation angle can be kept for a long time to perform skiing movement.
4. According to the thigh fixing device, the thigh is fixed by additionally adding the woven fabric binding band and the thigh fixing pad, so that the equipment is more fit and safer to wear. The contact force measured by the contact force sensor module is designed to feed back the wearing feeling of the human body, so that the wearing comfort of the equipment is improved.
5. The control device of the invention is an embedded control system based on an ARM board and a PC, wherein an upper computer is a client, and a lower computer is a server. The control system has the advantages of low energy consumption, high reliability, strong functions, strong real-time performance and small occupied space.
Specific embodiments are shown in fig. 1 to 10:
as shown in fig. 1 and 2, the device comprises a thigh fixing pad 1, a pressure sensor 2, an air spring damper 3, a shank accelerometer 4, a shank module 5, a shank gyroscope 6, a micro air pump 7, an absolute value encoder 8, a rotating module 9, a thigh module 10, a thigh accelerometer 11, a thigh gyroscope 12 and a contact force sensor 13. The thigh fixing pad 1 is connected with the upper end of the thigh component 10 through bolts, and the lower end of the thigh component 10 is connected with the shank component 5 through the installation rotating component 9 and can rotate relatively. The upper end air spring 3-1 of the air spring damper 3 is connected with the lower end of the thigh component 10 through a mounting plate, and the lower end of the air spring damper is fixedly connected with the shank component 5. The miniature air pump 7 is mounted on the calf assembly 5 by a bolted connection. The control device is fixed in the waist knapsack of the human body.
Referring to fig. 1, a thigh assembly 10 includes a thigh accelerometer 11 and a thigh gyroscope 12. The thigh gyroscope 12 is fixed between the knee joint and the hip joint of the human body and at the middle position of the front side of the thigh of the human body. The human motion information is acquired in real time by using the acceleration sensor and the gyroscope, and the human motion intention is considered as the compensation quantity of the joint angle. When a wearer feels tired in the skiing process, legs are bent downwards under the action of gravity, man-machine interaction force measured by the contact force sensor 13 is increased, displacement change of the contact point is obtained by utilizing the impedance model, and due to the structural design of the device, the displacement and the joint angle have a fixed cosine theorem mapping relation, and the input quantity expected joint angle is obtained by integrating the compensation joint angle and the joint angle obtained by the impedance model. And the error obtained by the actual joint angle measured by the absolute value encoder 8 is sent into an ARM board, and whether the air spring 3-1 needs to be inflated or deflated under the current condition is judged. And a high-low level signal is output so as to control the opening and closing of the electromagnetic valve to realize the inflation and deflation of the air spring 3-1. Thereby realizing the function of providing assistance to the wearer by changing the pressure feedback inside the air spring 3-1 to compensate the displacement that would occur at the contact point. The lower computer ARM board and the upper computer mobile phone are kept in WiFi connection at all times in the running process of the device, and parameters such as human motion information, auxiliary force and the like are transmitted to the mobile phone in real time for display.
As shown in fig. 1, the calf assembly 5 includes a calf accelerometer 4 and a calf gyroscope 6. The shank gyroscope 6 and the shank accelerometer 4 are fixed on a disc of the shank assembly 5.
As shown in fig. 1, the rotating assembly 9 comprises an angular contact ball bearing, a bearing end cover and an absolute value encoder 8, so that the thigh assembly 10 and the shank assembly 5 do not move relatively while rotating. The joint angle is measured using an absolute value encoder 8 for feedback control. The bearing end cover can not only ensure that the angular contact ball bearing does not fall off when rotating, but also prevent dust from entering the knee joint revolute pair.
As shown in FIG. 3, the air spring damper 3 is composed of an air spring 3-1, a piston rod 3-2, a guide tube 3-3, an extension valve 3-4, a compression valve 3-5, an oil storage cylinder 3-6, a lifting ring 3-7, a compensation valve 3-8, a bypass electromagnetic valve 3-9, a circulation valve 3-10, an inner cylinder 3-11 and an outer cylinder 3-12. The elasticity of the air spring 3-1 and the resistance generated when the oil liquid in the damper flows through the valve are utilized to buffer the shock absorption. When the knee joint is bent, the thigh assembly 10 compresses the air spring 3-1 to absorb impact energy while pushing the inner piston rod 3-2 to compress downward, and the oil at the bottom of the working cylinder flows into the reservoir cylinder 3-6 through the bypass solenoid valve 3-9 and the compression valve 3-5 via the extension valve 3-4 on the piston, as shown in fig. 8. When the knee joint stands up, the air spring 3-1 resumes its deformation, the piston rod 3-2 moves upward, and the oil at the upper part of the working cylinder flows into the reservoir cylinder 3-6 through the compensation valve 3-8, the bypass solenoid valve 3-9 and the flow valve 3-10, as shown in fig. 9.
As shown in fig. 3, the area of the orifice is controlled by a solenoid valve through a bore diameter-regulated damping continuously variable shock absorber. The electromagnetic valve controls the shock absorber to adopt a bypass valve mode, a bypass electromagnetic valve 3-9 is added to serve as a pilot pressure relief valve, and the area of a variable orifice 3-9-5 in the electromagnetic valve is adjusted to realize continuous adjustable damping.
As shown in FIG. 4, the bypass solenoid valve 3-9 is a pilot solenoid valve, oil at the upper end of the cylinder flows into the reservoir 3-6 through an orifice passage and a main passage, the orifice passage is composed of a constant orifice 3-9-2, a variable orifice 3-9-5 and a pilot chamber 3-9-4 between the two orifices, the main passage is composed of a main valve 3-9-1 and a spring element 3-9-3, and when the oil pressure is lower than a predetermined value, the spring element 3-9-3 can prevent the main valve 3-9-1 from opening. The pilot chamber 3-9-4 oil pressure is limited by the size of the variable orifice 3-9-5 as the back pressure of the main valve 3-9-1, while the main valve 3-9-1 opens with increasing pilot chamber 3-9-4 pressure at high oil pressures. The damping force generated by the shock absorber during the extension stroke and the compression stroke can be adjusted by changing the area of the variable orifice 3-9-5 of the bypass solenoid valve 3-9.
As shown in fig. 3 and 10, the rubber air bag of the air spring 3-1 is a complex structure body formed by vulcanizing curtain cloth and rubber, and has strong nonlinear characteristics. The air spring 3-1 is internally provided with a pressure sensor 2 for acquiring the air pressure inside. The principle of variable stiffness of the air spring 3-1 is as follows:
assuming that the air spring 3-1 is subjected to a vertical load F, the absolute internal air pressure after inflation of the air bag is P, the following is:
F＝(P-P a )A c (1)
wherein: p (P) a -external atmospheric pressure, generally 0.1MPa;
A c the effective area of the air bag changes along with the height change of the air bag.
When the vertical load applied to the air bag changes and causes the height of the air bag to change (namely, the air spring 3-1 is compressed or stretched), the volume and the pressure in the air bag also change, and the change rule can be determined by a gas state equation:
wherein: p, V absolute pressure and volume of internal gas when the balloon is in any position;
P 0 、V 0 -absolute pressure and volume of internal gas when the balloon is in a static equilibrium position;
k-polytropic exponent, k=1 when moving slowly, depending on the flow rate of the gas change process; during strenuous exercise, k=1.4.
Substituting the formula (2) into the formula (1) to obtain:
the vertical load F is derived from the vertical displacement F to obtain the vertical stiffness K of the air spring 3-1.
Because the air spring 3-1 is reduced in volume when compressedIs negative, i.e.)>In the static equilibrium position, f=0, v=v 0 ，P＝P 0 Substituting into formula (3) to obtain rigidity K at static balance position 0 Is represented by the expression:
wherein: a is that c0 -the effective area of the air spring 3-1 in the static equilibrium position.
From this, the effective area change rate when the airbag is deformedHas a decisive influence on the stiffness K of the air spring 3-1, whereas the internal pressure directly influences the effective area rate of change. In the design, the air pressure inside the air bag is changed by inflating and deflating the air spring 3-1 by utilizing the micro air pump 7, so that the rigidity of the air bag is changed.
As shown in figure 3, the micro air pump 7 is utilized to realize the exhaust of the air spring 3-1, the bypass electromagnetic valve 3-9, the extension valve 3-4 and the compression valve 3-5 are electrically controlled to be closed, so that the thigh component 10 and the shank component 5 keep a certain rotation angle unchanged, an auxiliary moment is provided for a human body in the skiing process, and the energy consumption is reduced. The air spring 3-1 is timely adjusted to charge through knee joint angle feedback, so that the optimal auxiliary torque is provided for the wearer.
As shown in figure 1, the thigh fixing pad 1 is used for fixing the thigh of a human body by additionally arranging a weaving band, so that the device and the thigh are more comfortable to be fitted, and the thigh fixing pad also has a safety protection function. The thigh fixing pad 1 is provided with a contact force sensor 13 which is electrically connected with the control device and is positioned between the thigh of the human body and the thigh fixing pad 1 in use. The contact force measured by the contact force sensor 13 is designed to feed back the wearing feeling of the human body, so that the wearing comfort of the equipment is improved.
As shown in fig. 5 and 6, the control device is an embedded control system including an upper computer and a lower computer, where the upper computer (mobile phone) and the lower computer (ARM board) communicate via WiFi, and the upper computer is a client and the lower computer is a server during communication. The operator sends a target instruction to the lower computer through the upper computer, the lower computer controls the robot in real time according to the information sent by the upper computer, and sends the relevant state sent back by the robot to the upper computer, and finally the relevant state is displayed to an operator. Meanwhile, the upper computer can also display the real-time running state and various information (position, speed and the like) of the current robot system, and can also send out an alarm in real time when errors occur.
The foregoing is only a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions easily contemplated by those skilled in the art within the scope of the present invention should be included in the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.
Claims (8)
1. The wearable pneumatic skiing exoskeleton assisting device is characterized by comprising a thigh assembly (10), a shank assembly (5) and a control device, wherein the lower end of the thigh assembly (10) is connected with the shank assembly (5) through a rotating assembly (9) and an air spring damper (3), and a thigh fixing pad (1) is arranged at the upper end of the thigh assembly (10);
the upper end of the air spring damper (3) is connected with the lower end of the thigh assembly (10) through a mounting plate, the lower end of the air spring damper (3) is fixedly connected with the shank assembly (5), the air spring damper (3) is connected with a miniature air pump (7), and the miniature air pump (7) is mounted on a disc at the upper end of the shank assembly (5);
the control device is fixed in the waist knapsack of the human body;
the air spring shock absorber (3) comprises an air spring (3-1), a piston rod (3-2), a guide pipe (3-3), an extension valve (3-4), a compression valve (3-5), an oil storage cylinder (3-6), a lifting ring (3-7), a compensation valve (3-8), a circulation valve (3-10), an inner cylinder (3-11) and an outer cylinder (3-12);
a bypass electromagnetic valve (3-9) is connected between the top and the bottom of the oil storage cylinder (3-6);
the bypass electromagnetic valve (3-9) adopts a pilot electromagnetic valve, a constant orifice (3-9-2) and a variable orifice (3-9-5) are arranged in an orifice channel of the pilot electromagnetic valve, a pilot cavity (3-9-4) is arranged between the two orifices, and a main valve (3-9-1) and a spring element (3-9-3) are arranged in a main channel of the pilot electromagnetic valve;
when the knee joint is bent, the thigh assembly (10) compresses the air spring (3-1) and can absorb impact energy, meanwhile, the piston rod (3-2) in the thigh assembly is pushed to move downwards in a compression mode, and oil at the bottom of the working cylinder flows into the oil storage cylinder (3-6) through the bypass electromagnetic valve (3-9) and the compression valve (3-5) through the extension valve (3-4) on the piston;
when the knee joint is upright, the air spring (3-1) recovers deformation, the piston rod (3-2) moves upwards, and oil at the upper part of the working cylinder flows into the oil storage cylinder (3-6) through the compensation valve (3-8), the bypass electromagnetic valve (3-9) and the circulation valve (3-10).
2. The wearable pneumatic skiing exoskeleton assistance device as claimed in claim 1, wherein the thigh assembly (10) is provided with a thigh accelerometer (11) and a thigh gyroscope (12), and the thigh gyroscope (12) is fixed at a position between the knee joint and the hip joint of the human body and at a middle position of the front side of the thigh of the human body.
3. The wearable pneumatic skiing exoskeleton assistance device as claimed in claim 2, wherein the shank assembly (5) is provided with a shank accelerometer (4) and a shank gyroscope (6), and the shank gyroscope (6) and the shank accelerometer (4) are fixed to the lower part of the disc at the upper end of the shank assembly (5).
4. A wearable pneumatic ski exoskeleton assistance device as claimed in claim 3, characterized in that the rotation assembly (9) comprises angular contact ball bearings, bearing end caps and an absolute value encoder (8).
5. The wearable pneumatic skiing exoskeleton booster device of claim 4, wherein the rubber air bag of the air spring (3-1) is formed by vulcanizing a curtain cloth and rubber, the pressure sensor (2) is installed inside the air spring (3-1), and the miniature air pump (7) is connected with an air outlet of the air spring (3-1).
6. The wearable pneumatic skiing exoskeleton assisting device as claimed in claim 1, wherein the thigh fixing pad (1) is fixed with the thigh of the human body by externally adding a woven strap, and a contact force sensor (13) is installed on the inner side of the thigh fixing pad (1).
7. The wearable pneumatic skiing exoskeleton assistance device of any one of claims 1 to 6, wherein the control device is an embedded control system comprising an upper computer and a lower computer, the upper computer and the lower computer are connected through a WiFI communication, the upper computer is a client, and the lower computer is a server.
8. The wearable pneumatic ski exoskeleton assistance device of claim 7, wherein the host computer comprises a cell phone.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810469461.1A CN108340360B (en) | 2018-05-16 | 2018-05-16 | Wearable pneumatic skiing exoskeleton power assisting device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810469461.1A CN108340360B (en) | 2018-05-16 | 2018-05-16 | Wearable pneumatic skiing exoskeleton power assisting device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108340360A CN108340360A (en) | 2018-07-31 |
| CN108340360B true CN108340360B (en) | 2024-02-23 |
Family
ID=62956220
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810469461.1A Active CN108340360B (en) | 2018-05-16 | 2018-05-16 | Wearable pneumatic skiing exoskeleton power assisting device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108340360B (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109108939A (en) * | 2018-08-10 | 2019-01-01 | 中国科学院合肥物质科学研究院 | A kind of lower limb exoskeleton is help the disabled the embedded control system of healing robot |
| CN110173477A (en) * | 2019-05-31 | 2019-08-27 | 泸州力变液压机械有限公司 | A kind of miniature hydraulic cylinder assembly for mechanical bone |
| CN111820904B (en) * | 2020-08-05 | 2023-07-04 | 南昌大学第二附属医院 | Diabetes cardiomyopathy patient's motion control reminding device |
| CN113510702B (en) * | 2021-06-16 | 2022-08-02 | 扬州鹏顺散热器有限公司 | Industrial robot based on laser vision guide |
| CN114795850B (en) * | 2022-07-01 | 2022-10-11 | 南昌大学第二附属医院 | Knee joint auxiliary movement device and control method thereof |
| CN115256357B (en) * | 2022-09-28 | 2022-12-06 | 山东中医药大学附属医院 | Lower limb exoskeleton robot for relieving knee joint cartilage injury and using method |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH09206347A (en) * | 1996-02-02 | 1997-08-12 | Toyoda Mach Works Ltd | Short lower limb orthosis and evaluation device therefor |
| CN106137686A (en) * | 2016-08-02 | 2016-11-23 | 鹰普（中国）有限公司 | A kind of knee joint power assisting device |
| CN106491319A (en) * | 2016-12-01 | 2017-03-15 | 北京理工大学 | A kind of wearable knee joint power-assisting robot |
| CN106821686A (en) * | 2016-12-30 | 2017-06-13 | 北京林业大学 | A kind of hydraulic damper for ectoskeleton KAFO |
| CN206304090U (en) * | 2016-08-25 | 2017-07-07 | 山西澳瑞特健康产业股份有限公司 | A kind of partition type knee joint of use compressed air damping bends and stretches recovery training appliance for recovery |
| CN107669446A (en) * | 2017-08-24 | 2018-02-09 | 深圳市罗伯医疗机器人研究所 | A kind of end damping hydraulic cylinder applied to knee joint recovery robot |
| CN208409865U (en) * | 2018-05-16 | 2019-01-22 | 中国科学技术大学 | A kind of wearable pneumatic skiing ectoskeleton power assisting device |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9149938B1 (en) * | 2014-04-11 | 2015-10-06 | Harris Corporation | Robotic exoskeleton with adaptive viscous user coupling |
-
2018
- 2018-05-16 CN CN201810469461.1A patent/CN108340360B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH09206347A (en) * | 1996-02-02 | 1997-08-12 | Toyoda Mach Works Ltd | Short lower limb orthosis and evaluation device therefor |
| CN106137686A (en) * | 2016-08-02 | 2016-11-23 | 鹰普（中国）有限公司 | A kind of knee joint power assisting device |
| CN206304090U (en) * | 2016-08-25 | 2017-07-07 | 山西澳瑞特健康产业股份有限公司 | A kind of partition type knee joint of use compressed air damping bends and stretches recovery training appliance for recovery |
| CN106491319A (en) * | 2016-12-01 | 2017-03-15 | 北京理工大学 | A kind of wearable knee joint power-assisting robot |
| CN106821686A (en) * | 2016-12-30 | 2017-06-13 | 北京林业大学 | A kind of hydraulic damper for ectoskeleton KAFO |
| CN107669446A (en) * | 2017-08-24 | 2018-02-09 | 深圳市罗伯医疗机器人研究所 | A kind of end damping hydraulic cylinder applied to knee joint recovery robot |
| CN208409865U (en) * | 2018-05-16 | 2019-01-22 | 中国科学技术大学 | A kind of wearable pneumatic skiing ectoskeleton power assisting device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108340360A (en) | 2018-07-31 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108340360B (en) | Wearable pneumatic skiing exoskeleton power assisting device | |
| CN101132753B (en) | Lower extremity exoskeleton | |
| US7753146B2 (en) | Leg type mobile robot | |
| CA2724062C (en) | Device and method for decreasing oxygen consumption of a person during steady walking by use of a load-carrying exoskeleton | |
| WO2018077256A1 (en) | Lower limb movement-assisting machine skeleton having center-of-gravity self-adjustment and balancing function | |
| CN106821684B (en) | A kind of passive energy storage ankle-joint and foot mechanism for lower limb assistance exoskeleton | |
| CN106420277B (en) | A kind of Portable flexible walking auxiliary equipment | |
| CN1980580A (en) | Dynamically adjustable impact-buffering sports shoe | |
| CN101712156A (en) | Gasbag robot leg buffer mechanism with adjustable rigidity | |
| CN107539387A (en) | A kind of gasbag robot leg buffer mechanism of adjustable rigidity | |
| CN111452026A (en) | Passive knee joint exoskeleton | |
| EP1953071B1 (en) | Leg type mobile robot with schock absorber | |
| CN208409865U (en) | A kind of wearable pneumatic skiing ectoskeleton power assisting device | |
| CN113018766B (en) | Running board and running machine capable of realizing self adjustment of hardness of running board | |
| CN108214457B (en) | Passive trunk labor-saving device for lower limb exoskeleton | |
| CN112402895A (en) | Space walker with self-locking function according to gravity adjusting strength | |
| CN109630481A (en) | A kind of active knee joint artificial limb of single-degree-of-freedom based on Closed Hydraulic Driving circuit | |
| CN108553263A (en) | A kind of fluid power assistant robot and its control method | |
| CN212352009U (en) | Passive knee joint exoskeleton | |
| CN209925494U (en) | Pressure regulating air reset spring | |
| JP2009233355A (en) | Artificial leg device | |
| CN111297633A (en) | Hard traction weight-reduction all-directional walking rehabilitation training device | |
| CN112518723A (en) | Active and passive combined walking-aid lower limb exoskeleton | |
| CN108210254B (en) | Pump-free double-push-rod hydraulic walking-assisting robot and control method thereof | |
| CN108081243B (en) | Walking-aid knee joint actuator and walking-aid robot |
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 |