CN108743250B - Flexible hip joint assistance exoskeleton - Google Patents
Flexible hip joint assistance exoskeleton Download PDFInfo
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- CN108743250B CN108743250B CN201810613278.4A CN201810613278A CN108743250B CN 108743250 B CN108743250 B CN 108743250B CN 201810613278 A CN201810613278 A CN 201810613278A CN 108743250 B CN108743250 B CN 108743250B
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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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Abstract
The invention discloses a flexible hip joint assistance exoskeleton which comprises a negative pressure control system, a hip joint flexible assistance assembly, an inertia measurement unit assembly and the like. The hip joint flexible power assisting assembly takes a negative pressure contraction elastic body driver as a power assisting actuator of a hip joint, the negative pressure contraction elastic body driver can receive negative pressure input and unloading of a negative pressure control system, and when negative pressure is input, linear displacement is shortened and pulling force is provided; when the negative pressure is unloaded, the self-contraction state is recovered to the self natural state, and the reverse linear displacement and the restoring force are realized. The negative pressure control system processes the gait data of the user collected and fed back by the inertia measurement unit assembly in real time, controls the negative pressure input and unloading processes of the negative pressure shrinkage elastomer driver in the hip joint flexible power-assisted assembly in real time, and provides power assistance for the hip joint of the user according to the gait rule in the walking process so as to achieve the purpose of assisting the walking.
Description
Technical Field
The invention belongs to the technical field of flexible hip joint assistance exoskeletons and lower limb exoskeletons, and particularly relates to a flexible hip joint assistance exoskeleton.
Background
Since the twenty-first century, the aging phenomenon of the population in China is increasingly serious, and how to improve the life quality of the old people is generally concerned by the society. The exoskeleton technology is a novel human motion assisting robot technology, is applied to the field of walking aid of the old, can enhance the lower limb motion capability of the old, has advantages in cost and practicability, and is a new direction for the research of the walking aid device of the old.
At present, the lower limb exoskeleton at home and abroad is mainly in a rigid frame armor structure form, and can provide support for people wearing the exoskeleton and enhance the motion capability. At present, the exoskeleton of the lower limbs at home and abroad mainly has more parts, heavier dead weight, poor comfort and convenience and incapability of being worn and taken off quickly. Again, the rigid frame structure presents a mechanical inertia hazard and the rigid armor format lacks psychological acceptance by the user. Most importantly, the existing rigid armor type lower limb exoskeleton is a bearing type solution, is mainly used for enhancing the weight-bearing capacity and the load-bearing capacity of soldiers, provides support for patients who are paralyzed or have lower limb diseases and can not walk, drives the lower limbs of the patients to walk by equipment, and is not suitable for the elderly groups with weak walking capacity needing partial walking assistance. The lower limb exoskeleton with partial walking auxiliary function can enhance the lower limb movement ability of the old, maintain the muscle activity, delay the muscle degeneration process and improve the life quality.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a flexible hip joint assistance exoskeleton which comprises a negative pressure control system, a hip joint flexible assistance assembly, an inertia measurement unit assembly and the like. The hip joint flexible power assisting assembly takes a negative pressure contraction elastic body driver as a hip joint flexible actuator, the negative pressure contraction elastic body driver can receive negative pressure input and unloading of a negative pressure control system, linear displacement is shortened and tensile force is provided when negative pressure is input, and reverse linear displacement and restoring force are provided in the process that the hip joint flexible power assisting assembly is restored to the natural state from the contraction state when the negative pressure is unloaded. The negative pressure control system processes the gait data of the user collected and fed back by the inertia measurement unit assembly in real time, controls the negative pressure input and unloading process of the negative pressure shrinkage elastomer driver in the hip joint flexible power-assisted assembly in real time, and provides auxiliary torque for the hip joint of the user according to the gait rule in the walking process so as to achieve the purpose of walking aid.
In order to achieve the purpose, the invention adopts the technical scheme that:
a flexible hip-assisted exoskeleton comprising:
the hip joint flexible power-assisted assembly provides power for assisting the thigh swing of the left leg and the thigh swing of the right leg to assist the movement of the hip joint;
the negative pressure control system is a control center of the flexible hip joint power-assisted exoskeleton and is responsible for data processing, drive control and negative pressure output control of the flexible hip joint power-assisted exoskeleton, provides negative pressure input and negative pressure unloading for the hip joint flexible power-assisted assembly in time according to a gait rule, and provides power assistance for assisting hip joint movement consistent with gait for a user.
And the inertia measurement unit assembly is used for acquiring parameters such as the swing angle and the angular speed change of the thigh relative to the ground in real time and feeding back the parameters to the negative pressure control system in a wireless transmission mode.
Preferably, the motion parameters comprise the swing angle and the angular speed change of the thigh relative to the ground;
preferably, there are two sets of the inertia measurement unit components, which are respectively fixed on leg fixing belts on thighs of the left leg and the right leg through magic tapes.
Preferably, the negative pressure control system includes: the device comprises a control box body, a control module, an air pump driving module, an information receiving module, a lithium battery pack, a switch, a miniature vacuum negative pressure pump, a mounting plate, a three-way adapter, a three-way electromagnetic valve A, a three-way electromagnetic valve B, a two-way electromagnetic valve A, a two-way electromagnetic valve B, an air pipe A, an air pipe B, a protective cover and the like.
The negative pressure control system can be carried at the waist of the user through a waist fixing belt.
Preferably, the control module can process the motion parameters fed back by the inertia measurement unit assembly in real time, and controls the output flow and the gas circuit switching of the micro vacuum negative pressure pump in real time through the air pump driving module, so as to perform negative pressure control on the hip joint flexible power assisting assembly and provide power assistance for the hip joint.
Preferably, the micro vacuum negative pressure pump is a negative pressure power source of the flexible hip joint power-assisted exoskeleton and provides variable negative pressure input for the hip joint flexible power-assisted assembly.
The lithium battery pack supplies power to the negative pressure control system.
The control box body is an installation carrier for the parts such as the miniature vacuum negative pressure pump, the control module, the air pump driving module, the switch, the information receiving module, the lithium battery pack, the installation plate and the protective cover.
The mounting panel is three way adapter, three way solenoid valve A, three way solenoid valve B, two way solenoid valve A, two way solenoid valve B, trachea A and trachea B's installation carrier realizes the transition installation of above-mentioned device on the control box.
Preferably, the hip joint flexible power-assisted assembly comprises a negative pressure contraction elastomer driver, a waist fixing belt, a leg fixing belt and the like.
Preferably, the negative pressure contraction elastic body driver is a power assisting execution unit of the hip joint flexible power assisting assembly, and is provided with a vent hole communicated with the outside for connecting an air pipe to realize negative pressure input or unloading of the whole negative pressure contraction elastic body driver. When negative pressure is input, the negative pressure shrinkage elastomer driver linearly displaces to shorten and has tensile force, and when the negative pressure is unloaded, the elastic body driver is recovered to the natural state from the shrinkage state, and the process is controllable.
Preferably, the negative pressure contraction elastomer driver is fixed on the waist fixing belt through one end of the connecting piece, the other end of the connecting piece is fixed on the leg fixing belt, the hip bone, the thigh bone and the negative pressure contraction elastomer driver form a triangular structure, wherein the length of the hip bone and the thigh bone is basically fixed, and the length of the negative pressure contraction elastomer driver on the other side is variable. The angle change between the hip bone and the thigh bone, namely the angle of the hip joint forward swing and the hip joint backward swing can be controlled by controlling the length change of the negative pressure contraction elastic body driver. When negative pressure is input into the negative pressure contraction elastic body driver, the negative pressure contraction elastic body driver can linearly displace to shorten and has pulling force, and the leg fixing belt can be driven to provide upward swinging pulling force for thighs to assist hip joint movement; when the negative pressure shrinkage elastomer driver unloads the negative pressure, the negative pressure shrinkage elastomer driver gradually releases the pulling force to control the back swing process of the thigh in the process of recovering the self natural state from the shrinkage state. The length change of the negative pressure contraction elastic body driver can be controlled by controlling the negative pressure flow, so that the change of the included angle between the hip bone and the thigh bone is controlled, and the assistance is provided for the hip joint.
Preferably, the negative pressure contraction elastomer driver is composed of cuboid air chamber units, through holes are formed between adjacent cuboid air chamber units to form an air flow channel inside the negative pressure contraction elastomer driver, the thicknesses of adjacent transverse air chamber walls and longitudinal air chamber walls of the cuboid air chamber units are different, and the thickness of the transverse air chamber wall is not less than 4 times of that of the longitudinal air chamber wall. When the air chamber is under negative pressure, the longitudinal air chamber wall deforms under the action of the negative pressure due to the thickness difference between the transverse air chamber wall and the longitudinal air chamber wall, the transverse air chamber wall does not deform, the transverse air chamber wall is wedged into the cuboid air chamber unit until no transverse displacement occurs when the transverse air chamber wall is butted with the adjacent transverse air chamber wall, so that the negative pressure shrinkage elastomer driver can form transverse displacement under the action of the negative pressure and has tensile force; when the external negative pressure is unloaded, the acting force of the negative pressure on the longitudinal air chamber wall disappears, the longitudinal air chamber wall gradually recovers to the original state without being stressed, in the process, the transverse displacement in the direction opposite to the direction under the action of the negative pressure is formed, the process is controllable, and in the negative pressure unloading process, the negative pressure shrinkage elastic body driver can form the linear displacement in the direction opposite to the direction under the action of the negative pressure.
Preferably, the negative pressure shrinkage elastomer driver is made of a silicone material or a rubber material.
Preferably, the air pipe A and the air pipe B are made of PVC pipes.
Preferably, the three-way electromagnetic valve a and the three-way electromagnetic valve B can realize the switching between different air paths when the micro vacuum negative pressure pump inputs the negative pressure contraction elastic body driver of the hip joint flexible power assisting assembly at the left leg position and the negative pressure contraction elastic body driver of the right leg position; the two-way electromagnetic valve A and the two-way electromagnetic valve B can realize the control of the unloading process of negative pressure in the negative pressure contraction elastic body driver of the hip joint flexible power-assisting assembly at the left leg position and the negative pressure contraction elastic body driver at the right leg position.
The invention has the following excellent effects:
compared with the prior art, the traditional rigid exoskeleton robot generally adopts hydraulic drive and motor drive, the two drive modes have the defects of noise, low power density, complex structure, lack of essential flexibility, difficulty in realizing flexible control and the like, the negative pressure telescopic elastic body driver adopted by the invention as the flexible drive element has the characteristics of higher power density ratio, power volume ratio and the like, is easy to realize flexible control of the exoskeleton, overcomes the defects of large inertia of rigid mechanisms such as general leg power-assisted equipment or exoskeleton robots, easiness in causing mechanical inertial damage of lower limb joints of people, poor safety, poor comfort and the like, and remarkably improves the safety and comfort of the equipment.
Compared with the prior art, the flexible hip joint assisting exoskeleton overcomes the defects that a conventional rigid exoskeleton robot is heavy in self weight and cannot be put on or taken off quickly, and the like, and has the advantages of simple structure and few parts, particularly, an execution part adopts a negative pressure telescopic elastic body driver as an actuator, the self weight is small, the burden of legs is remarkably reduced, and the wearing is convenient.
Drawings
FIG. 1 is a schematic view of the configuration and construction of the flexible hip-assisted exoskeleton of the present invention;
FIG. 2 is a block diagram of the negative pressure control system of FIG. 1;
FIG. 3 is a component view of the hip joint compliance assist assembly of FIG. 1;
FIG. 4 is a block diagram of the negative pressure constricting elastomeric actuator of FIG. 3.
Wherein the reference symbols have the following meanings:
1. a negative pressure control system; 2. a hip joint flexible power-assisted assembly; 3. an inertial measurement unit assembly.
101. A control box body; 102. a micro vacuum negative pressure pump; 103. a control module; 104. an air pump driving module; 105. a switch; 106. an information receiving module; 107. a lithium battery pack; 108. mounting a plate; 109. a three-way adapter; 110. a three-way electromagnetic valve A; 111. a three-way electromagnetic valve B; 112. a two-way solenoid valve A; 113. a two-way electromagnetic valve B; 114. a trachea A; 115. a trachea B; 116. a protective cover.
201. A negative pressure contracting elastomer driver; 202. waist fixing belts; 203. leg fixing straps.
Detailed Description
The invention is further described below with reference to the drawings and the specific embodiments, but the invention is not limited thereto.
As shown in figure 1, the flexible hip joint assistance exoskeleton mainly comprises a negative pressure control system 1, a hip joint flexible assistance assembly 2 and an inertia measurement unit assembly 3.
The negative pressure control system 1 is the flexible hip joint power-assisted exoskeleton control center, is responsible for data processing, drive control and negative pressure output control of the flexible hip joint power-assisted exoskeleton, provides negative pressure input and negative pressure unloading for the hip joint flexible power-assisted assembly in time according to a gait rule, and provides power assistance for assisting hip joint movement consistent with gait for a user.
The hip joint flexible power-assisted assembly 2 is a hip joint flexible power-assisted execution part of left and right legs, and provides hip joint power assistance for a user.
The inertia measurement unit assembly 3 acquires parameters such as the swing angle and the angular velocity change of the thighs of the left leg and the right leg relative to the ground in real time and feeds back the parameters to the negative pressure control system in a wireless transmission mode.
Fig. 2 is a block diagram of the negative pressure control system 1 in fig. 1. As shown in fig. 2, the negative pressure control system 1 mainly includes a control box 101, a micro vacuum negative pressure pump 102, a control module 103, an air pump driving module 104, a switch 105, an information receiving module 106, a lithium battery pack 107, an installation plate 108, a three-way adapter 109, a three-way electromagnetic valve a 110, a three-way electromagnetic valve B111, a two-way electromagnetic valve a 112, a two-way electromagnetic valve B113, an air pipe a 114, an air pipe B115, a protection cover 116, and the like.
The control module 103 can process the gait data fed back by the inertia measurement unit assembly 3 in real time, and controls the output flow and the gas circuit switching of the micro vacuum negative pressure pump 102 in real time through the air pump driving module 104, so as to control the negative pressure of the hip joint flexible power assisting assembly 2 and provide power assistance for the hip joint.
The micro vacuum negative pressure pump 102 is a negative pressure power source of the flexible hip joint power-assisted exoskeleton and provides variable negative pressure input for the hip joint flexible power-assisted assembly 2.
The three-way electromagnetic valve A110, the three-way electromagnetic valve B111, the two-way electromagnetic valve A112 and the two-way electromagnetic valve B113 are used for controlling the process of loading and unloading the negative pressure of the hip joint flexible power assisting assembly 2. The three-way electromagnetic valve A110 and the three-way electromagnetic valve B111 can realize the switching of different air paths of the negative pressure contraction elastic body driver positioned at the left leg position and the negative pressure contraction elastic body driver positioned at the right leg position, which are input into the hip joint flexible power assisting assembly by the miniature vacuum negative pressure pump; the two-way electromagnetic valve A112 and the two-way electromagnetic valve B113 can realize the control of the unloading process of the negative pressure in the negative pressure contraction elastic body driver of the hip joint flexible power assisting assembly at the left leg position and the negative pressure contraction elastic body driver at the right leg position.
The control box 101 is an installation carrier for the parts such as the micro vacuum negative pressure pump 102, the control module 103, the air pump driving module 104, the switch 105, the information receiving module 106, the lithium battery pack 107, the installation plate 108, the protection cover 116, and the like.
The mounting plate 108 is a mounting carrier of the three-way adapter 109, the three-way electromagnetic valve a 110, the three-way electromagnetic valve B111, the two-way electromagnetic valve a 112, the two-way electromagnetic valve B113, the air pipe a 114 and the air pipe B115, and transitional mounting of the devices on the control box body 101 is achieved.
The lithium battery pack 107 supplies power to the negative pressure control system 1.
As shown in fig. 1-2, the inertial measurement unit assembly 3 can acquire gait data such as swing angle and angular velocity change of thighs of both legs of a user relative to the ground in real time, and wirelessly transmits the information back to the information receiving module 106, the information receiving module 106 feeds the information back to the control module 103 in the negative pressure control system 1, the control module 103 can process the gait data, then the output of the micro vacuum negative pressure pump 102 is controlled in real time through the air pump driving module 104, and meanwhile, the three-way electromagnetic valve A110, the three-way electromagnetic valve B111, the two-way electromagnetic valve A112 and the two-way electromagnetic valve B113 are controlled to be switched on and off, so that the on-off and flow control of different air paths of the two negative pressure shrinkage elastomer drivers 201 which respectively enter the hip joint flexible power-assisted assembly 2 through the air pipe A114 and the air pipe B115 are realized.
Fig. 3 is a composition diagram of the hip joint flexibility assisting assembly in fig. 1, and the hip joint flexibility assisting assembly 2 comprises two negative pressure contraction elastomer drivers 201, a waist fixing band 202, two leg fixing bands 203 and the like which are positioned on the left leg thigh side and the right leg thigh side. The negative pressure contraction elastomer driver 201 is a driving unit of the hip joint flexible power assisting assembly 2. The negative pressure contraction elastic body driver 201 is provided with a vent hole communicated with the outside for connecting an air pipe, so that negative pressure input or unloading of the whole negative pressure contraction elastic body driver 201 is realized. When negative pressure is input, the negative pressure shrinkage elastomer driver 201 linearly displaces to shorten and has tensile force; when the negative pressure of the negative pressure contraction elastic body driver is unloaded, the self is recovered to the self natural state from the contraction state, and the process is controllable. The negative pressure control system 1 is mounted on the waist fixing belt 202 and tightened around the waist of the user. The hip joint flexible power assisting assembly 2 comprises two negative pressure contraction elastomer drivers 201, a waist fixing belt 202 and two leg fixing belts 203. Two leg securing straps 203 are fastened over the knee joints of the thigh of the left leg and the thigh of the right leg, respectively. One end of one negative pressure contraction elastic body driver 201 is fixed on a left connecting piece of the waist fixing band 202, and the other end of the one negative pressure contraction elastic body driver is fixed on a leg fixing band 203 of a left leg to provide power assistance for hip joints of the left leg; one end of another negative pressure contraction elastic body driver 201 is fixed on the right connecting piece of the waist fixing band 202, and the other end is fixed on the leg fixing band 203 of the right leg, so as to provide assistance for the hip joint of the right leg. The wearing mode enables the hip bone, the thigh bone and the negative pressure contraction elastic body driver 201 to form a triangular structure, wherein the length of the hip bone and the thigh bone is basically fixed, and the length of the other side of the negative pressure contraction elastic body driver 201 is variable. The length change of the negative pressure contraction elastic body driver 201 can be controlled by controlling the input or the unloading of the negative pressure, so that the change of the included angle between the hip bone and the thigh bone is controlled, and the assistance is provided for the hip joint. When the negative pressure contraction elastic body driver 201 is shortened under the action of the negative pressure driving force, the thigh is lifted through the thigh fixing band 203, and the power of the front swing is provided for the thigh, namely the hip joint movement is assisted; when the negative pressure acting on the negative pressure contraction elastic body driver 201 is unloaded, the negative pressure contraction elastic body driver 201 gradually releases the pulling force to realize the control of the lower thigh swing process.
Fig. 4 is a structural diagram of the negative pressure contraction elastic body driver 201 in fig. 3, wherein the negative pressure contraction elastic body driver 201 is composed of rectangular parallelepiped air chamber units, and through holes are formed between adjacent rectangular parallelepiped air chamber units to form an air flow channel inside the negative pressure contraction elastic body driver 201. The thicknesses of the adjacent transverse air chamber walls and the longitudinal air chamber walls of the air chamber units with the cuboid structures are different, wherein the thickness of the transverse air chamber wall (X direction) is not less than 4 times that of the longitudinal air chamber wall (Y direction); when the air chamber is under negative pressure, the vertical air chamber wall deforms under the action of the negative pressure due to the thickness difference between the horizontal air chamber wall and the vertical air chamber wall, the horizontal air chamber wall does not deform, and the horizontal air chamber wall is wedged into the cuboid air chamber unit until the horizontal air chamber wall is butted with the adjacent horizontal air chamber wall and does not generate horizontal displacement. Therefore, under the action of negative pressure, the negative pressure shrinks the elastic body driver to form transverse displacement and has tensile force. Therefore, under the action of the negative pressure, the negative pressure contracting elastic body driver 201 can be displaced in the transverse direction (X direction) and has a tensile force. When the external negative pressure is unloaded, the acting force of the negative pressure on the longitudinal air chamber wall disappears, and the longitudinal air chamber wall gradually recovers to the original state without being stressed, and in the process, the transverse displacement in the direction opposite to the direction under the action of the negative pressure is formed, the process is controllable, and in the negative pressure unloading process, the negative pressure shrinkage elastic body driver 201 can form the linear displacement in the direction opposite to the direction under the action of the negative pressure.
The inertia measurement unit assemblies 3 are two groups in total and are respectively fixed on leg fixing belts 203 of thighs of the left leg and the right leg through magic tapes.
The working principle of the flexible hip joint assistance exoskeleton in one gait cycle is explained in conjunction with fig. 1-4. In the walking process, the user needs assistance most in the leg lifting process, the control of the lower hem in the stage from leg lifting to lower hem is also very important, and the inertia of the lower hem of the thigh needs to be overcome, so that the walking stability is related.
Taking the left leg to take a step as an example, when the left leg of the user takes a step, the following two gait phases are experienced: the left leg is gradually lifted upwards along with the lower hem, then the thigh is gradually lifted downwards along with the upper hem to take a step until the left foot falls to the ground, then the right leg is lifted, and the gait process is the same as that of the left leg.
Firstly, the thigh of the left leg is gradually swung upwards and lifted. At this stage, the negative pressure control system 1 processes the gait data in real time by the control module 103 according to the gait data such as the swing angle and the angular velocity change of the thigh of the left leg relative to the ground detected and transmitted back by the inertia measurement unit assembly 3, and then controls the micro vacuum negative pressure pump 102 to start in real time by the air pump driving module 104, and controls the three-way electromagnetic valve a 110 to open, and closes the three-way electromagnetic valve B111, the two-way electromagnetic valve a 112 and the two-way electromagnetic valve B113. The negative pressure acting force of the miniature vacuum negative pressure pump 102 enters the negative pressure contraction elastic body driver 201 at the left leg position in the hip joint flexible power assisting assembly 2 through the three-way adapter A109, the three-way electromagnetic valve A110 and the air pipe A115, and the negative pressure contraction elastic body driver 201 contracts and shortens under the action of negative pressure and has pulling force. Because the negative pressure contraction elastic body driver 201 is installed on the waist fixing band 202 through one end of the connecting piece, and the other end is installed on the thigh fixing band 203 of the left leg, the hip bone, the thigh bone and the negative pressure contraction elastic body driver 201 of the left leg form a triangular structure form, wherein the length of two sides of the hip bone and the thigh bone is basically fixed, and the length of the third side negative pressure contraction elastic body driver 201 is variable. The negative pressure contraction elastic body driver 201 provides lifting pulling force for the thigh of the left leg through the thigh fixing band 203, and provides assistance for the hip joint of the left leg in real time.
The left leg then gradually descends the thigh with the calf shank extending and strides until the left foot lands. In the process, the thigh can be swung downwards only by means of the gravity of the thigh, but the swinging downwards process of the thigh needs to be controlled. The control module 103 processes gait data, such as swing angles and angular velocity changes of thighs and shanks of the left leg relative to the ground, detected and transmitted back by the inertia measurement unit assembly 3 in real time, and then closes the vacuum negative pressure pump 102 through the air pump driving module 104, and controls the two-way electromagnetic valve a 112 to be opened, and closes the three-way electromagnetic valve a 110, the three-way electromagnetic valve B111 and the two-way electromagnetic valve B113. The external atmospheric pressure enters the negative pressure contraction elastic body driver 201 at the left leg side of the hip joint flexible power assisting assembly 2 through the two-way electromagnetic valve A112, the three-way electromagnetic valve A110 and the air pipe A115, the negative pressure contraction elastic body driver 201 is unloaded in a negative pressure mode, the negative pressure contraction elastic body driver is recovered to a natural state from a contraction state, the negative pressure unloading time and the negative pressure unloading process of the negative pressure contraction elastic body driver 201 can be controlled by controlling the on-off duration time of the two-way electromagnetic valve A112, and therefore the thigh lower swing process is controlled.
After the left foot of the user falls to the ground, the right leg starts to step, the thigh of the right leg gradually swings upwards and lifts along with the lower swing of the shank of the right leg, and then the thigh of the right leg gradually swings downwards to step until the right foot falls to the ground.
Firstly, the process of gradually swinging up and lifting up the thigh of the right leg is carried out, at this stage, the negative pressure control system 1 processes gait data such as the swing angle and the angular velocity change of the thigh of the right leg relative to the ground, which are detected and transmitted back by the inertia measurement unit component 203, in real time by the control module 103, then controls the micro vacuum negative pressure pump 102 to start in real time by the air pump driving module 104, and controls the three-way electromagnetic valve B111 to open and close the three-way electromagnetic valve A110, the two-way electromagnetic valve A112 and the two-way electromagnetic valve B113. The miniature vacuum negative pressure pump 102 negative pressure effort enters into through three-way adapter 109, three-way solenoid valve B111, trachea B114 in the flexible helping hand subassembly 2 of hip joint lie in the negative pressure shrink elastomer driver 201 of right leg one side, the shrink of negative pressure shrink elastomer driver 201 shortens under the negative pressure effect, through the thigh fixed band 203 of right leg, provides the pulling force of upper hem for the thigh of right leg, also provides the helping hand for right leg hip joint.
The thigh of the right leg then gradually falls to take a step until the right foot falls to the ground. The control module 103 processes gait data such as the swing angle and the angular velocity change of the thigh of the right leg relative to the ground, which are detected and transmitted back by the inertia measurement unit assembly 3, in real time, and then closes the vacuum negative pressure pump 102 through the air pump driving module 104, and controls the two-way electromagnetic valve B113 to open, and closes the three-way electromagnetic valve a 110, the three-way electromagnetic valve B111 and the two-way electromagnetic valve B112. The external atmospheric pressure enters the negative pressure contraction elastic body driver 201 which is positioned on one side of the right leg in the hip joint flexible power assisting assembly 2 through the two-way electromagnetic valve B113, the three-way electromagnetic valve B111 and the air pipe B114, the negative pressure contraction elastic body driver 201 is subjected to negative pressure unloading, the negative pressure contraction elastic body driver is recovered to a natural state from a contraction state, the control of the negative pressure unloading time and the negative pressure unloading process of the negative pressure contraction elastic body driver 201 can be realized by controlling the on-off duration time of the two-way electromagnetic valve B113, and therefore the control of the thigh downward swinging process of the right leg is realized.
The flexible power-assisted process of the hip joints of the left leg and the right leg in one gait cycle is realized by the flexible hip joint power-assisted exoskeleton. The steps are repeated in such a circulating way, in the walking process, the negative pressure control system 1 of the flexible hip joint assistance exoskeleton processes user gait data collected and fed back by the inertia measurement unit component 3 in real time, flow control is carried out on the two negative pressure shrinkage elastomer drivers 201 in the hip joint flexible assistance component 2 in due time, and auxiliary torque is provided for the hip joint of the user according to a gait rule in the walking process, so that the purpose of assisting walking is achieved.
The above-described embodiment is only one of the preferred embodiments of the present invention, and general changes and substitutions by those skilled in the art within the technical scope of the present invention are included in the protection scope of the present invention.
Claims (11)
1. A flexible hip-assisted exoskeleton comprising:
the hip joint flexible power-assisted assembly provides power for assisting the thigh swing of the left leg and the thigh swing of the right leg to assist the movement of the hip joint;
a negative pressure control system which is responsible for data processing, drive control and negative pressure output control of the flexible hip joint assistance exoskeleton; the device can provide negative pressure input and negative pressure unloading for the hip joint flexible power-assisted assembly in time according to a gait rule, and provides power-assisted for assisting hip joint movement consistent with gait for a user;
the inertia measurement unit assembly can acquire motion parameters of thighs in real time and feed back the motion parameters to the negative pressure control system;
the hip joint flexible power-assisted assembly is characterized by comprising a negative pressure contraction elastic body driver, a waist fixing belt and a leg fixing belt; the negative pressure contraction elastic body driver is a power-assisted execution unit of the hip joint flexible power-assisted assembly;
the negative pressure contraction elastic body driver comprises a vent hole communicated with the outside and used for connecting an air pipe to realize negative pressure input or unloading of the whole negative pressure contraction elastic body driver;
the negative pressure contraction elastomer driver consists of cuboid air chamber units, and through holes are formed between adjacent cuboid air chamber units to form an airflow channel inside the negative pressure contraction elastomer driver; the thicknesses of the adjacent transverse air chamber walls and the longitudinal air chamber walls of the cuboid air chamber units are different, wherein the thickness of the transverse air chamber wall is not less than 4 times of that of the longitudinal air chamber wall;
when the air chamber is under negative pressure, the transverse air chamber wall can be wedged into the cuboid air chamber unit until the transverse air chamber wall is butted with the adjacent transverse air chamber wall and does not generate transverse displacement; when the external negative pressure is unloaded, the acting force of the negative pressure on the longitudinal air chamber wall disappears, and the longitudinal air chamber wall is gradually restored to the original state without the action of the force, and in the process, the transverse displacement in the opposite direction to the action of the negative pressure is formed.
2. The flexible hip-assisted exoskeleton of claim 1 wherein said motion parameters include the angle of swing and the change in angular velocity of the thigh relative to the ground.
3. The flexible hip-assisted exoskeleton of claim 1 wherein there are two sets of inertial measurement unit assemblies, each set of inertial measurement unit assemblies being secured to leg straps located on the thighs of the left and right legs by velcro strips.
4. The flexible hip-assisted exoskeleton of claim 1 wherein said negative pressure control system comprises: the device comprises a control box body, a control module, an air pump driving module, an information receiving module, a lithium battery pack, a switch, a miniature vacuum negative pressure pump, a mounting plate, a three-way adapter, a three-way electromagnetic valve A, a three-way electromagnetic valve B, a two-way electromagnetic valve A, a two-way electromagnetic valve B, an air pipe A, an air pipe B and a protective cover.
5. The flexible hip-assisted exoskeleton of claim 4 wherein said negative pressure control system is secured to the waist of the user by a waist securing strap.
6. The flexible hip joint assistance exoskeleton of claim 4, wherein the control module can process motion parameters fed back by the inertia measurement unit assembly in real time, and controls the output flow of the micro vacuum negative pressure pump and the air circuit switching in real time through the air pump driving module to perform negative pressure control on the hip joint flexible assistance assembly so as to provide assistance for a hip joint.
7. The flexible hip-assisted exoskeleton of claim 4 wherein said micro vacuum negative pressure pump is a negative pressure power source for said flexible hip-assisted exoskeleton providing a variable negative pressure input to said hip-flexible power assist assembly;
the lithium battery pack supplies power to the negative pressure control system.
8. The flexible hip-assisted exoskeleton of claim 4, wherein the control box body is a mounting carrier for the micro vacuum negative pressure pump, the control module, the air pump driving module, the switch, the information receiving module, the lithium battery pack, the mounting plate and the protective cover;
the mounting panel is three way connection head, three way solenoid valve A, three way solenoid valve B, two solenoid valve A, two solenoid valve B, trachea A and trachea B's installation carrier realizes three way connection head, three way solenoid valve A, three way solenoid valve B, two solenoid valve A, two solenoid valve B, trachea A and trachea B transition installation on the control box.
9. The flexible hip-assisted exoskeleton of claim 1 wherein the vacuum contracting elastomer driver has one end fixed to the waist strap and the other end fixed to the leg strap, and the hip bone, the thigh bone and the vacuum contracting elastomer driver form a triangular structure, wherein the hip bone and the thigh bone have substantially fixed lengths on both sides and the vacuum contracting elastomer driver has a variable length on the other side; the angle change between the hip bone and the femur is controlled by controlling the length change of the negative pressure contraction elastic body driver; when negative pressure is input, the negative pressure contraction elastic body driver is linearly displaced to shorten and has pulling force, and the leg fixing belt is driven to provide upward swinging pulling force for thighs to assist hip joint movement; when the negative pressure is unloaded, the negative pressure contraction elastic body driver restores to the natural state from the contraction state, and the negative pressure contraction elastic body driver gradually releases the pulling force to control the back swing process of the thigh.
10. The flexible hip-assisted exoskeleton of claim 1 wherein said negative-pressure contracting elastomer actuator is a silicone or rubber material.
11. The flexible hip joint assistance exoskeleton of claim 4 or 6, wherein the three-way solenoid valve A and the three-way solenoid valve B can realize switching of input of a miniature vacuum negative pressure pump to different air paths of the negative pressure contraction elastomer driver at a left leg position and the negative pressure contraction elastomer driver at a right leg position of the hip joint flexible assistance assembly; the two-way electromagnetic valve A and the two-way electromagnetic valve B can realize the control of the unloading process of negative pressure in the negative pressure contraction elastic body driver of the hip joint flexible power-assisting assembly at the left leg position and the negative pressure contraction elastic body driver at the right leg position.
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| CN111347397A (en) * | 2018-12-21 | 2020-06-30 | 沈阳新松机器人自动化股份有限公司 | Wearable flexible transmission walking-aid robot |
| CN113559353B (en) * | 2021-07-16 | 2023-03-14 | 四川大学华西第二医院 | Intelligent blood product infusion auxiliary system for preventing platelet aggregation |
| CN115016561B (en) * | 2022-06-07 | 2024-04-19 | 深圳市英汉思动力科技有限公司 | Walking auxiliary device control method and related equipment thereof |
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