CN108743250A - A kind of flexibility hip joint assistance exoskeleton - Google Patents
A kind of flexibility hip joint assistance exoskeleton Download PDFInfo
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- CN108743250A CN108743250A CN201810613278.4A CN201810613278A CN108743250A CN 108743250 A CN108743250 A CN 108743250A CN 201810613278 A CN201810613278 A CN 201810613278A CN 108743250 A CN108743250 A CN 108743250A
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- negative pressure
- hip joint
- elastic actuator
- flexibility
- assisted
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- 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
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
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- 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
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H2003/007—Appliances for aiding patients or disabled persons to walk about secured to the patient, e.g. with belts
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- 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
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- 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
- A61H2201/1657—Movement of interface, i.e. force application means
- A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot
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- 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
- A61H2201/50—Control means thereof
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- 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
- A61H2201/50—Control means thereof
- A61H2201/5097—Control means thereof wireless
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- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of flexible hip joint assistance exoskeletons, including vacuum control system, hip joint flexibility power-assisted component and Inertial Measurement Unit component etc..Hip joint flexibility power-assisted component shrinks elastic actuator as the power-assisted actuator of hip joint using negative pressure, negative pressure, which shrinks elastic actuator, can receive the negative pressure input and unloading of vacuum control system, and linear displacement occurs when there is negative pressure input and shortens and has pulling force；When negative pressure unloads, during itself is restored to own nature state by contraction state, there is reverse linear displacement and restoring force.User's gait data that vacuum control system acquires Inertial Measurement Unit component and feeds back is handled in real time, the input of elastic actuator negative pressure and uninstall process real-time control are shunk to the negative pressure in hip joint flexibility power-assisted component, power-assisted is provided for the hip joint of user according to gait rule in the process of walking, achievees the purpose that walk help.
Description
Technical field
The invention belongs to flexible hip joint assistance exoskeleton, lower limb exoskeleton technical field, more particularly to a kind of flexible hip
Joint assistance ectoskeleton.
Background technology
Since 21st century, how China human mortality ageing phenomenon getting worse improves life of elderly person quality
Receive the common concern of society.Ectoskeleton technology is a kind of novel human motion auxiliary robot technology, by ectoskeleton skill
Art is applied to the elderly's walk help field, it will enhancing the elderly's the exercise ability of lower limbs, and it is advantageous in cost, practicability, be
The new direction of the elderly's walking aid device research.
Lower limb exoskeleton can give the people of wearing ectoskeleton to carry based on rigid frame armor structure type both at home and abroad at present
For supporting and enhancing locomitivity.To be primarily present component more for lower limb exoskeleton both at home and abroad at present, and dead weight is heavier, comfort with
Convenience is not good enough, cannot quickly wear off.Rigid frame structure machinery inertial is dangerous with the presence of being exactly again, and rigid armor form
User is set to lack psychological identity.Most of all, rigidity armor lower limb exoskeleton is the solution of bearing-type at present, mainly
Soldier is prudent and heavy burden ability for enhancing, and support is provided for paralysis or the not walking sufferer of lower-limb ailments, to equip band
Dynamic sufferer lower limb walking is not appropriate for needing the elderly group of the weak locomotor activity of part walking auxiliary.Weak locomotor activity
Although the elderly group is due to the decline of physiological function, there is joints' movement range reduction and ligament elasticity and absolute myodynamias
Phenomena such as decline, but still there is certain locomotor activity, there is the lower limb exoskeleton of part walking miscellaneous function can increase
Strong the elderly's the exercise ability of lower limbs, keeps muscle activity, delays muscle deterioration process, improve the quality of living.
Invention content
In view of the above-mentioned drawbacks of the prior art, It is an object of the present invention to provide a kind of flexible hip joint assistance exoskeleton,
Including vacuum control system, hip joint flexibility power-assisted component and Inertial Measurement Unit component etc..Hip joint flexibility power-assisted component
Elastic actuator is shunk as hip joint flexibly direct writing device using negative pressure, and negative pressure, which shrinks elastic actuator, can receive vacuum cavitations
The negative pressure of system inputs and unloading, and linear displacement occurs when there is negative pressure input and shortens and has pulling force, when negative pressure unloads, from
During body is restored to own nature state by contraction state, there is reverse linear displacement and restoring force.Vacuum control system
The user's gait data for acquiring and feeding back to Inertial Measurement Unit component is handled in real time, to negative in hip joint flexibility power-assisted component
Pressure shrinks the input of elastic actuator negative pressure and uninstall process carries out real-time control, is in the process of walking to use according to gait rule
The hip joint at family provides assist torque, achievees the purpose that walk help.
To achieve the goals above, the technical solution adopted by the present invention is that：
A kind of flexibility hip joint assistance exoskeleton, including：
Hip joint flexibility power-assisted component provides the power-assisted for assisting left and right leg thigh to swing, auxiliary hip joint movement；
Vacuum control system is the flexible hip joint assistance exoskeleton control axis, is responsible for the flexible hip joint and helps
Data processing, drive control and the negative pressure output control of power ectoskeleton, are in time that the hip joint is soft according to gait rule
Property power-assisted component negative pressure input and negative pressure unloading are provided, provide the power-assisted that consistent with gait auxiliary hip joint moves to the user.
Inertial Measurement Unit component obtains thigh with respect to parameters such as swing angle and the angular speed variations on ground in real time
It takes, and the vacuum control system is fed back to by wireless transmission mode.
Preferably, the kinematic parameter includes that thigh changes with respect to the swing angle and angular speed on ground；
Preferably, the Inertial Measurement Unit component has two groups, is fixed on respectively positioned at left leg and right leg by velcro
The leg of thigh is fixed and is taken.
Preferably, the vacuum control system includes：Box body, control module, air pump drive module, information is controlled to receive
Module, lithium battery group, switch, micro vacuum negative pressure pump, mounting plate, threeway adapter, three-way magnetic valve A, three-way magnetic valve B,
Two three-way electromagnetic valve A, two three-way electromagnetic valve B, tracheae A, tracheae B and protection cap etc..
The vacuum control system can carry the waist in user by fixing strap of waist.
Preferably, the control module can locate the kinematic parameter that Inertial Measurement Unit component is fed back in real time
Reason, and switched by the output flow of the air pump drive module real-time control micro vacuum negative pressure pump and gas circuit, to described
Hip joint flexibility power-assisted component carries out vacuum cavitations, and power-assisted is provided for hip joint.
Preferably, the micro vacuum negative pressure pump is the negative pressure power source of the flexible hip joint assistance exoskeleton, for institute
It states hip joint flexibility power-assisted component and variable negative pressure input is provided.
The lithium battery group is powered for vacuum control system.
The control box body is that the micro vacuum negative pressure pump, control module, air pump drive module, switch, information connect
Receive the installation carrier of the parts such as module, lithium battery group, mounting plate and protection cap.
The mounting plate is the threeway adapter, three-way magnetic valve A, three-way magnetic valve B, two three-way electromagnetic valve A, two energizations
The installation carrier of magnet valve B, tracheae A and tracheae B realize transition installation of the above-mentioned device on control box body.
Preferably, the hip joint flexibility power-assisted component includes that negative pressure shrinks elastic actuator, fixing strap of waist, leg
Fixed band etc..
Preferably, the negative pressure shrinks the power-assisted execution unit that elastic actuator is hip joint flexibility power-assisted component, tool
Have the venthole with extraneous unicom, for connecting tracheae, realize to entire negative pressure shrink elastic actuator negative pressure input or
Person unloads.When there is negative pressure input, negative pressure shrinks elastic actuator generation linear displacement and shortens and have pulling force, negative pressure unloading
When, itself is restored to own nature state, process control by contraction state.
Preferably, the negative pressure is shunk elastic actuator and is fixed on the fixing strap of waist by connector one end,
The other end is fixed on leg fixation and takes, and hipbone, thigh and negative pressure shrink elastic actuator three and form triangular structure
Form, wherein hipbone, two edge lengths of thigh are substantially stationary, and it is variable that another side negative pressure shrinks elastic actuator length.Pass through
The length that control negative pressure shrinks elastic actuator changes angle change namely the hip pass that can be controlled between hipbone and thigh
Section forward swing and the angle put afterwards.Linear displacement occurs when negative pressure contraction elastic actuator has negative pressure input to shorten and have
There is pulling force, it can be by driving leg to fix with the pulling force for providing upper pendulum for thigh, auxiliary hip joint movement；When negative pressure shrinks bullet
Property body driver negative pressure unloading when, during itself is restored to own nature state by contraction state, negative pressure shrink elastomer
Driver gradually discharges pulling force and controls putting process after thigh.Negative pressure contraction elasticity can be controlled by controlling negative pressure flow
The variation of body driver length provides power-assisted to control the variation of angle between hipbone and thigh for hip joint.
Preferably, the negative pressure is shunk elastic actuator and is made of cuboid gas chamber unit, adjacent cuboid gas chamber list
There is through-hole between member, forms negative pressure and shrink gas channel inside elastic actuator, the adjacent cross of the cuboid gas chamber unit
To variant with longitudinal gas chamber wall thickness, wherein the thickness of lateral air chamber wall is not less than 4 times of longitudinal air chamber wall.When gas chamber is negative
When pressure, due to the difference in thickness of lateral air chamber wall and longitudinal air chamber wall, the longitudinal direction air chamber wall is deformed by vacuum force, laterally
Air chamber wall is indeformable, and lateral air chamber wall is wedged into cuboid gas chamber unit, is no longer sent out until being docked with adjacent transverse air chamber wall
Raw lateral displacement, so under the action of negative pressure, negative pressure, which shrinks elastic actuator, can form lateral displacement, and have pulling force；When
When extraneous negative pressure unloading, the longitudinal direction air chamber wall is disappeared by vacuum force, is gradually restored to the original state not stressed, herein
The lateral displacement with opposite direction under suction function is formed in the process, and process control, negative pressure shrinks bullet in negative pressure uninstall process
Property body driver can form the linear displacement with suction function opposite direction.
Preferably, the negative pressure shrinks elastic actuator using silica gel material or rubber material.
Preferably, the tracheae A and tracheae B uses pvc pipe.
Preferably, the three-way magnetic valve A and three-way magnetic valve B can realize that micro vacuum negative pressure pump is input to the hip
Flexibility of joint power-assisted component is located at the pressure contraction elastic actuator of left leg position and the pressure of right leg position is shunk elastomer and driven
Switching between dynamic device difference gas circuit；The two three-way electromagnetic valves A and two three-way electromagnetic valve B can realize the hip joint flexibility power-assisted
The pressure that component is located at left leg position shrinks negative pressure in elastic actuator and the pressure contraction elastic actuator of right leg position
Uninstall process controls.
The excellent effect of the present invention is：
Compared with prior art, conventional rigid exoskeleton robot generally uses hydraulic-driven, motor to drive, both drivings
Mode all low, complicated, essential compliances of shortage in the presence of such as noise, power density, it is difficult to the shortcomings of realizing Shared control, this
Invention, as flexible drive member, has higher power density ratio, power to volume ratio using negative pressure telescopic resilience body driver
The features such as, it is easy to accomplish the Shared control of ectoskeleton, and overcome general leg power-assisted equipment or exoskeleton robot etc.
The shortcomings of rigid mechanism inertia is big, be easy to cause the damage of people's joint of lower extremity machinery inertial, and safety is poor, comfort is poor, significantly carries
The safety of high equipment and comfort.
Compared with prior art, flexible hip joint assistance exoskeleton of the present invention overcomes conventional rigid ectoskeleton machine in addition
Device people is from great, the shortcomings of cannot quickly wearing off, has simple in structure, component is few, and especially execution unit is flexible using negative pressure
For elastic actuator as actuator, dead weight is small, significantly mitigates leg burden, and easy to wear.
Description of the drawings
Fig. 1 is the shape and composition figure of flexible hip joint assistance exoskeleton of the invention；
Fig. 2 is the composition figure of vacuum control system in Fig. 1；
Fig. 3 is hip joint flexibility power-assisted component composition figure in Fig. 1；
Fig. 4 is that negative pressure shrinks elastic actuator structure chart in Fig. 3.
Wherein each reference numeral meaning is as follows：
1. vacuum control system；2. hip joint flexibility power-assisted component；3. Inertial Measurement Unit component.
101. controlling box body；102. micro vacuum negative pressure pump；103. control module；104. air pump drive module；105.
Switch；106. information receiving module；107. lithium battery group；108. mounting plate；109. threeway adapter；110. three-way magnetic valve A；
111. three-way magnetic valve B；112. liang three-way electromagnetic valve A；113. liang three-way electromagnetic valve B；114. tracheae A；115. tracheae B；116. protection
Lid.
201. negative pressure shrink elastic actuator；202. fixing strap of waist；Band is fixed in 203. legs.
Specific implementation mode
The invention will be further described with specific implementation case below in conjunction with the accompanying drawings, but not as the limit to the present invention
It is fixed.
As shown in Figure 1, a kind of flexibility hip joint assistance exoskeleton, mainly by vacuum control system 1, hip joint flexibility power-assisted
Component 2 and Inertial Measurement Unit component 3 form.
The vacuum control system 1 is the flexible hip joint assistance exoskeleton control axis, is responsible for the flexible hip and closes
Data processing, drive control and the negative pressure output control for saving assistance exoskeleton are in time that the hip is closed according to gait rule
The flexible power-assisted component of section provides negative pressure input and negative pressure unloading, provides helping for the auxiliary hip joint movement consistent with gait to the user
Power.
The hip joint flexibility power-assisted component 2 is left and right leg hip joint flexibility power-assisted execution part, provides hip pass to the user
Save power-assisted.
The Inertial Measurement Unit component 3 changes the thigh of left leg and right leg with respect to the swing angle and angular speed on ground
Etc. parameters obtained in real time, and the vacuum control system is fed back to by wireless transmission mode.
Fig. 2 is the composition figure of vacuum control system 1 in Fig. 1.As shown in Fig. 2, vacuum control system 1 includes mainly control cabinet
Babinet 101, micro vacuum negative pressure pump 102, control module 103, air pump drive module 104, switch 105, information receiving module
106, lithium battery group 107, mounting plate 108, threeway adapter 109, three-way magnetic valve A 110, three-way magnetic valve B 111, two are logical
Solenoid valve A 112, two three-way electromagnetic valve B 113, tracheae A 114, tracheae B 115 and protection cap 116 etc..
The gait data that the control module 103 can feed back Inertial Measurement Unit component 3 is handled in real time, and
Switched by the output flow and gas circuit of 104 real-time control micro vacuum negative pressure pump 102 of the air pump drive module, to described
Hip joint flexibility power-assisted component 2 carries out vacuum cavitations, and power-assisted is provided for hip joint.
The micro vacuum negative pressure pump 102 is the negative pressure power source of the flexible hip joint assistance exoskeleton, is the hip
Flexibility of joint power-assisted component 2, which provides, can be changed negative pressure input.
The three-way magnetic valve A110, three-way magnetic valve B 111, two three-way electromagnetic valve A 112 and two three-way electromagnetic valve B 113 are used
In the process control of load and unloading to 2 negative pressure of hip joint flexibility power-assisted component.Wherein, 110 Hes of three-way magnetic valve A
Three-way magnetic valve B 111 can realize that micro vacuum negative pressure pump is input to the hip joint flexibility power-assisted component and is located at left leg position
Pressure shrinks the switching between elastic actuator and the pressure contraction elastic actuator difference gas circuit of right leg position；Described two is logical
Solenoid valve A 112 and two three-way electromagnetic valve B 113 can realize that the hip joint flexibility power-assisted component is located at the pressure contraction of left leg position
The pressure of elastic actuator and right leg position shrinks the uninstall process control of negative pressure in elastic actuator.
The control box body 101 be the micro vacuum negative pressure pump 102, control module 103, air pump drive module 104,
The installation carrier of the parts such as switch 105, information receiving module 106, lithium battery group 107, mounting plate 108 and protection cap 116.
The mounting plate 108 is the threeway adapter 109, three-way magnetic valve A 110, three-way magnetic valve B 111, two logical
The installation carrier of solenoid valve A 112, two three-way electromagnetic valve B 113, tracheae A 114, tracheae B 115 realize that above-mentioned device is controlling
Transition installation on box body 101.
The lithium battery group 107 is powered for vacuum control system 1.
As shown in Figs. 1-2, the Inertial Measurement Unit component 3 can be to the angle of oscillation on the opposite ground of the thigh of user's both legs
The gait datas such as degree and angular speed variation are obtained in real time, and wirelessly return to information receiving module 106, information
Receiving module 106 feeds back information to the control module 103 in the vacuum control system 1, and control module 103 being capable of above-mentioned step
State data are handled, and are then exported by micro vacuum negative pressure pump 102 described in 104 real-time control of air pump drive module, simultaneously
The three-way magnetic valve A 110, three-way magnetic valve B 111, two three-way electromagnetic valve A 112 and two three-way electromagnetic valve B 113 are controlled to open
It closes, realizes to having respectively entered two negative pressure in the hip joint flexibility power-assisted component 2 via tracheae A 114 and tracheae B 115
Shrink break-make and the flow control of the different gas circuits of elastic actuator 201.
Fig. 3 is hip joint flexibility power-assisted component composition figure in Fig. 1, and hip joint flexibility power-assisted component 2 includes big positioned at left leg
Two negative pressure of leg side and right leg thigh side shrink elastic actuator 201, fixing strap of waist 202 and two legs and fix band
203 etc..The negative pressure shrinks the driving unit that elastic actuator 201 is the hip joint flexibility power-assisted component 2.The negative pressure
Shrinking elastic actuator 201 has the venthole with extraneous unicom to realize for connecting tracheae and shrink elastomer to entire negative pressure
The negative pressure of driver 201 inputs or unloading.When there is negative pressure input, negative pressure shrinks the generation linear displacement of elastic actuator 201
It shortens and there is pulling force；When negative pressure shrinks the unloading of elastic actuator negative pressure, itself is restored to own nature by contraction state
State, process control.The vacuum control system 1 is mounted on the fixing strap of waist 202, is fastened in user's waist.It is described
Hip joint flexibility power-assisted component 2 includes that two negative pressure contraction elastic actuators 201, fixing strap of waist 202 and two legs are solid
Determine band 203.Two legs are fixed band 203 and are fastened above the knee joint of left leg thigh and right leg thigh respectively.One of them is negative
Pressure is shunk 201 one end of elastic actuator and is fixed on the left side connector of the fixing strap of waist 202, and the other end is fixed on a left side
The leg of leg is fixed on band 203, and power-assisted is provided for left leg hip joint；It is solid that another negative pressure shrinks 201 one end of elastic actuator
It is scheduled on the right side connector of the fixing strap of waist 202, the leg that the other end is fixed on right leg is fixed on band 203, is right leg
Hip joint provides power-assisted.This wearing mode makes hipbone, thigh and negative pressure shrink 201 three of elastic actuator formation triangle
Shape structure type, wherein hipbone, this two edge lengths of thigh are substantially stationary, and another side negative pressure is shunk elastic actuator 201 and grown
Degree is variable.The variation that negative pressure shrinks 201 length of elastic actuator can be controlled by the input or unloading that control negative pressure, to
The variation for controlling angle between hipbone and thigh, power-assisted is provided for hip joint.When the negative pressure shrinks elastic actuator 201
It shortens when by negative pressure activation force, thigh is lifted by thigh fixed belt 203, the power-assisted of forward swing is provided for thigh, namely
Assist hip joint movement；When acting on the negative pressure unloading on the negative pressure contraction elastic actuator 201, negative pressure shrinks elasticity
Body driver 201 gradually discharges control of the pulling force realization to thigh bottom process.
Fig. 4 is that negative pressure shrinks 201 structure chart of elastic actuator in Fig. 3, the negative pressure shrink elastic actuator 201 by
Cuboid gas chamber unit forms, and has through-hole between adjacent cuboid gas chamber unit, forms negative pressure and shrinks in elastic actuator 201
The gas channel in portion.The rectangular parallelepiped structure gas chamber unit adjacent transverse and longitudinal gas chamber wall thickness are variant, wherein lateral gas
The thickness of locular wall (X-direction) is not less than 4 times of longitudinal air chamber wall (Y-direction)；When gas chamber is that negative pressure increases, due to lateral gas chamber
The difference in thickness of wall and longitudinal air chamber wall, the longitudinal direction air chamber wall are deformed by vacuum force, and lateral air chamber wall is indeformable, laterally
Air chamber wall is wedged into cuboid gas chamber unit, and lateral displacement no longer occurs until being docked with adjacent transverse air chamber wall.So
Under suction function, negative pressure, which shrinks elastic actuator, can form lateral displacement, and have pulling force.So under the action of negative pressure, bearing
Pressure, which shrinks elastic actuator 201, can form transverse direction (X-direction) displacement, and have pulling force.It is described vertical when extraneous negative pressure unloads
It is disappeared to air chamber wall by vacuum force, is gradually restored to the original state not stressed, in the process formation and suction function
The lateral displacement of lower opposite direction, process control, in negative pressure uninstall process negative pressure shrink elastic actuator 201 can be formed with
The linear displacement of suction function opposite direction.
The Inertial Measurement Unit component 3 shares two groups, is fixed on respectively positioned at left leg and right leg thigh by velcro
Leg fix band 203 on.
In conjunction with Fig. 1-4, operation principle of the flexible hip joint assistance exoskeleton in a gait cycle is explained
It states.User in the process of walking, needs most power-assisted during lifting leg, and from lift leg to this stage of the bottom to the bottom
Control it is also particularly significant, need the inertia for overcoming the thigh bottom, be related to the stability of walking.
By taking left leg starts to take a step as an example, when the left leg of user starts to take a step, following two gait phases are undergone：Left leg thigh
Gradually upper pendulum is lifted along with the shank bottom, and the gradual bottom of subsequent thigh is simultaneously taken a step along with pendulum on shank, until left foot lands,
Right rear right-leg lifts, and gait process is identical as left leg.
It is that gradually upper pendulum lifts the stage to left leg thigh first.In this stage, the vacuum control system 1 is according to inertia measurement
Unit block 3 detects and the left leg thigh that returns gait datas, the control mould such as changes with respect to the swing angle and angular speed on ground
Block 103 handles above-mentioned gait data in real time, then by miniature true described in 104 real-time control of air pump drive module
Idling press pump 102 starts, while controlling the three-way magnetic valve A 110 and opening, and closes three-way magnetic valve B 111, two energization magnetic
Valve A 112 and two three-way electromagnetic valve B 113.102 vacuum force of micro vacuum negative pressure pump is through threeway adapter A 109, three
The negative pressure that three-way electromagnetic valve A 110, tracheae A 115 enter left leg position in hip joint flexibility power-assisted component 2 shrinks elastomer drive
In dynamic device 201, the negative pressure contraction elastic actuator 201 is shunk under the action of negative pressure to shorten and has pulling force.Due to described
Negative pressure shrinks elastic actuator 201 and is mounted on the fixing strap of waist 202 by connector one end, and the other end is mounted on described
On the thigh fixed belt 203 of left leg, hipbone, thigh and the negative pressure of left leg shrink 201 three of elastic actuator and form triangle
Shape structure type, wherein hipbone, this two edge lengths of thigh are substantially stationary, and third side negative pressure shrinks elastic actuator 201
Length is variable.The negative pressure shrinks the drawing that elastic actuator 201 provides upper lift by thigh fixed belt 203 for left leg thigh
Power provides power-assisted for left leg hip joint in real time.
It is followed by left leg thigh gradually to fall and take a step along with toe raise, until left foot lands.In the process, greatly
Leg only needs that the thigh bottom can be completed by its own gravity, but needs to control thigh bottom process.The control module 103
Swing angle and angular speed variation etc. of the left leg thigh and shank that Inertial Measurement Unit component 3 is detected and returned with respect to ground
Gait data is handled in real time, then closes vacuum and negative pressure pump 102 by the air pump drive module 104, while controlling described two
Three-way electromagnetic valve A 112 is opened, and closes three-way magnetic valve A 110, three-way magnetic valve B 111 and two three-way electromagnetic valve B 113.It is extraneous
Atmospheric pressure enters the hip joint flexibility power-assisted component through two three-way electromagnetic valve A 112, three-way magnetic valve A 110, tracheae A 115
The negative pressure of 2 left leg sides is shunk in elastic actuator 201, and negative pressure shrinks the unloading of 201 negative pressure of elastic actuator, and negative pressure shrinks bullet
Property body driver nature is restored to by contraction state, by control two three-way electromagnetic valve A112 switch durations can be realized
The control that elastic actuator 201 negative pressure discharge time and process are shunk to negative pressure carries out thigh bottom process to realize
Control.
After the landing of user's left foot, right leg starts to take a step, and gradually upper pendulum is lifted along with the right leg shank bottom right leg thigh, with
The gradual bottom of rear right-leg thigh is taken a step, until right crus of diaphragm lands.
It is that gradually upper pendulum lifts process to right leg thigh first, in this stage, the vacuum control system 1 is according to inertia measurement
Unit block 203 detects and the right leg thigh that returns the gait datas such as changes with respect to the swing angle and angular speed on ground, controls
Module 103 handles above-mentioned gait data in real time, then by miniature described in 104 real-time control of air pump drive module
Vacuum and negative pressure pump 102 starts, while controlling the three-way magnetic valve B 111 and opening, and closes three-way magnetic valve A 110, two and is powered
Magnet valve A112 and two three-way electromagnetic valve B 113.102 vacuum force of micro vacuum negative pressure pump is through threeway adapter 109, threeway
Solenoid valve B111, tracheae B114 enter the negative pressure in the hip joint flexibility power-assisted component 2 positioned at right leg side and shrink elasticity
In body driver 201, the negative pressure contraction elastic actuator 201 is shunk under the action of negative pressure to shorten, and passes through the thigh of right leg
Fixed band 203, the pulling force of upper pendulum is provided for right leg thigh, and also as right leg hip joint provides power-assisted.
Being followed by right leg thigh, gradually whereabouts is taken a step, until right crus of diaphragm lands.The control module 103 is to Inertial Measurement Unit
Component 3 detects and the right leg thigh returned is handled in real time with respect to gait datas such as swing angle and the angular speed variations on ground, so
Vacuum and negative pressure pump 102 is closed by the air pump drive module 104 afterwards, while controlling the two three-way electromagnetic valves B 113 and opening, is closed
Close three-way magnetic valve A110, three-way magnetic valve B 111 and two three-way electromagnetic valve B 112.External atmosphere pressure is through two three-way electromagnetic valve B
113, three-way magnetic valve B 111 and tracheae B 114 is entered in the hip joint flexibility power-assisted component 2 positioned at right leg side
Negative pressure is shunk in elastic actuator 201, and negative pressure shrinks the unloading of 201 negative pressure of elastic actuator, and negative pressure shrinks elastomer driving
Device is restored to nature by contraction state, can be realized to negative pressure by controlling two three-way electromagnetic valve B, 113 switch durations
The control for shrinking elastic actuator 201 negative pressure discharge time and process controls right leg thigh bottom process to realize
System.
It is the flexibility to left and right leg hip joint that the flexible hip joint assistance exoskeleton realizes a gait cycle above
Power-assisted process.It so moves in circles, in the process of walking, the vacuum control system 1 of flexible hip joint assistance exoskeleton is to inertia
Measuring unit component 3 acquires and user's gait data of feedback is handled in real time, in time in hip joint flexibility power-assisted component 2
Two negative pressure shrink elastic actuator 201 and carry out flow control, are closed in the process of walking according to the hip that gait rule is user
Section provides assist torque, achievees the purpose that walk help.
Embodiment described above, only one kind of the present invention more preferably specific implementation mode, those skilled in the art
The usual variations and alternatives that member carries out within the scope of technical solution of the present invention should be all included within the scope of the present invention.
Claims (10)
1. a kind of flexibility hip joint assistance exoskeleton, including：
Hip joint flexibility power-assisted component provides the power-assisted for assisting left and right leg thigh to swing, auxiliary hip joint movement；
Vacuum control system, data processing, drive control and the negative pressure for being responsible for the flexible hip joint assistance exoskeleton are defeated
Go out control；In time negative pressure input can be provided for the hip joint flexibility power-assisted component and negative pressure is unloaded according to gait rule,
Provide the power-assisted of the auxiliary hip joint movement consistent with gait to the user.
Inertial Measurement Unit component can obtain the kinematic parameter of thigh in real time, and feed back to the vacuum cavitations
System；
Preferably, the kinematic parameter includes that thigh changes with respect to the swing angle and angular speed on ground；
Preferably, the Inertial Measurement Unit component has two groups, is fixed on respectively positioned at left leg and right leg thigh by velcro
Leg fix take.
2. flexibility hip joint assistance exoskeleton according to claim 1, which is characterized in that the vacuum control system packet
It includes：Control box body, control module, air pump drive module, information receiving module, lithium battery group, switch, micro vacuum negative pressure
Pump, mounting plate, threeway adapter, three-way magnetic valve A, three-way magnetic valve B, two three-way electromagnetic valve A, two three-way electromagnetic valve B, tracheae A, gas
Pipe B and protection cap；
Preferably, the vacuum control system is fixed on the waist of user by fixing strap of waist.
3. flexibility hip joint assistance exoskeleton according to claim 2, which is characterized in that the control module can be to used
The kinematic parameter that property measuring unit component is fed back is handled in real time, and miniature by the air pump drive module real-time control
The output flow and gas circuit of vacuum and negative pressure pump switch, and carry out vacuum cavitations to the hip joint flexibility power-assisted component, are closed for hip
Section provides power-assisted.
4. flexibility hip joint assistance exoskeleton according to claim 2, which is characterized in that the micro vacuum negative pressure pump is
The negative pressure power source of the flexibility hip joint assistance exoskeleton, it is defeated to provide variable negative pressure for the hip joint flexibility power-assisted component
Enter；
The lithium battery group is powered for vacuum control system.
5. flexibility hip joint assistance exoskeleton according to claim 2, which is characterized in that the control box body is described
Micro vacuum negative pressure pump, control module, air pump drive module, switch, information receiving module, lithium battery group, mounting plate and protection
The installation carrier of lid；
The mounting plate is the threeway adapter, three-way magnetic valve A, three-way magnetic valve B, two three-way electromagnetic valve A, two three-way electromagnetic valves
B, the installation carrier of tracheae A and tracheae B realizes transition installation of the above-mentioned device on control box body.
6. flexibility hip joint assistance exoskeleton according to claim 1, which is characterized in that the hip joint flexibility power-assisted group
Part includes that negative pressure shrinks elastic actuator, fixing strap of waist, leg fixation band；It is hip that the negative pressure, which shrinks elastic actuator,
The power-assisted execution unit of flexibility of joint power-assisted component.
7. flexibility hip joint assistance exoskeleton according to claim 6, which is characterized in that the negative pressure is shunk elastomer and driven
Dynamic device includes the venthole being in communication with the outside, and for connecting tracheae, realizes the negative pressure that elastic actuator is shunk to entire negative pressure
Input or unloading.
8. the flexible hip joint assistance exoskeleton described according to claim 6 or 7, which is characterized in that the negative pressure shrinks elasticity
One end of body driver is fixed on the fixing strap of waist, and the other end, which is fixed on leg, to be fixed and take, hipbone, thigh and negative
Pressure shrinks elastic actuator three and forms triangular structure form, and wherein hipbone, two edge lengths of thigh are substantially stationary, another
It is variable that side negative pressure shrinks elastic actuator length；The length variation control hipbone of elastic actuator is shunk by controlling negative pressure
Angle change between thigh；When there is negative pressure input, the negative pressure shrinks elastic actuator and linear displacement change occurs
Short and have pulling force, by driving leg to fix the pulling force that band provides for thigh upper pendulum, auxiliary hip joint moves；When negative pressure unloads
When, negative pressure shrinks elastic actuator itself and is restored to own nature state by contraction state, and negative pressure shrinks elastic actuator
Gradually release pulling force is controlled putting process after thigh.
9. the flexible hip joint assistance exoskeleton described according to claim 6 or 7, which is characterized in that the negative pressure shrinks elasticity
Body driver is made of cuboid gas chamber unit, there is through-hole between adjacent cuboid gas chamber unit, is formed negative pressure and is shunk elastomer
The gas channel of internal drive；The cuboid gas chamber unit adjacent transverse and longitudinal gas chamber wall thickness are variant, wherein horizontal
It is not less than 4 times of longitudinal air chamber wall to the thickness of air chamber wall；
When gas chamber be negative pressure when, lateral air chamber wall can be wedged into cuboid gas chamber unit, until with adjacent transverse air chamber wall
Lateral displacement no longer occurs for docking；When extraneous negative pressure unloads, the longitudinal direction air chamber wall is disappeared by vacuum force, is gradually restored
To the original state not stressed, the lateral displacement with opposite direction under suction function is formed in the process；
Preferably, the negative pressure shrinks elastic actuator using silica gel material or rubber material.
10. flexibility hip joint assistance exoskeleton according to claim 2 or 3, which is characterized in that the three-way magnetic valve A
It can realize that micro vacuum negative pressure pump is input to the hip joint flexibility power-assisted component and is located at left leg position with three-way magnetic valve B
Pressure shrinks the switching between elastic actuator and the pressure contraction elastic actuator difference gas circuit of right leg position；Described two is logical
Solenoid valve A and two three-way electromagnetic valve B can realize that the hip joint flexibility power-assisted component is located at the pressure contraction elastomer of left leg position
The pressure of driver and right leg position shrinks the uninstall process control of negative pressure in elastic actuator.
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