CN109202867B - Light excitation friction type clutch assisting exoskeleton device and control method thereof - Google Patents
Light excitation friction type clutch assisting exoskeleton device and control method thereof Download PDFInfo
- Publication number
- CN109202867B CN109202867B CN201810969488.7A CN201810969488A CN109202867B CN 109202867 B CN109202867 B CN 109202867B CN 201810969488 A CN201810969488 A CN 201810969488A CN 109202867 B CN109202867 B CN 109202867B
- Authority
- CN
- China
- Prior art keywords
- joint
- knee joint
- hip joint
- knee
- hip
- 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
- 230000005284 excitation Effects 0.000 title claims abstract description 84
- 238000000034 method Methods 0.000 title claims abstract description 11
- 210000000629 knee joint Anatomy 0.000 claims abstract description 212
- 210000004394 hip joint Anatomy 0.000 claims abstract description 191
- 210000000544 articulatio talocruralis Anatomy 0.000 claims abstract description 63
- 210000002683 foot Anatomy 0.000 claims abstract description 37
- 230000033001 locomotion Effects 0.000 claims abstract description 23
- 230000008093 supporting effect Effects 0.000 claims abstract description 18
- 210000002414 leg Anatomy 0.000 claims abstract description 8
- 230000004888 barrier function Effects 0.000 claims description 3
- 230000009286 beneficial effect Effects 0.000 abstract 1
- 230000010354 integration Effects 0.000 abstract 1
- 210000001503 joint Anatomy 0.000 abstract 1
- 210000003127 knee Anatomy 0.000 description 34
- 210000001624 hip Anatomy 0.000 description 13
- 230000005540 biological transmission Effects 0.000 description 7
- 238000013461 design Methods 0.000 description 6
- 230000007246 mechanism Effects 0.000 description 6
- 230000007704 transition Effects 0.000 description 4
- 210000000689 upper leg Anatomy 0.000 description 3
- 229910000831 Steel Inorganic materials 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000000926 separation method Methods 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 229910001095 light aluminium alloy Inorganic materials 0.000 description 1
- 210000003141 lower extremity Anatomy 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 235000001968 nicotinic acid Nutrition 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000012549 training Methods 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1615—Programme controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a light excitation friction type clutch assisting exoskeleton device and a control method thereof, which can simulate human body movement, provide supporting force when the human body moves or carries heavy objects, and provide certain protection for joints. The hip joint and the knee joint of a single leg of the exoskeleton device respectively provide one degree of freedom, and the ankle joint provides two degrees of freedom; the excitation friction clutch is adopted to control the movement of the joint, the sensor on the foot surface is used for providing signals required by the clutch control, the control is convenient, the requirement on sensing hardware is low, and the control is convenient to realize. The invention utilizes the existing commercial excitation friction clutch, has simple and reliable structure, high integration level and simple and convenient control, is beneficial to improving the man-machine efficiency, is well matched with a human body, is convenient to wear, improves the load bearing capacity of a wearer, and effectively reduces the fatigue feeling of the load bearing movement of the human body.
Description
Technical Field
The invention belongs to the technical field of bionics, and particularly relates to a light excitation friction type clutch assisting exoskeleton device and a control method thereof.
Background
The wearable exoskeleton power assisting system is accompanying intelligent equipment which can be worn on a human body, and assists or replaces the bearing and maneuvering of the human body by synchronously following the human body, so that the physical ability limit of the human body is broken through, and the weight bearing mechanical capacity/durable combat capacity of the human body is greatly improved. At present, the system is mainly applied to human lower limb rehabilitation training and assisting a human body to bear load, and can be widely applied and popularized in the fields of anti-terrorism maintenance stability, rescue and relief work, disability assistance, rehabilitation and the like. To date, although research has been partially advanced on similar wearable exoskeleton boosting systems, a long path is taken from practical use.
For the requirements of the exoskeleton knee joint part, firstly, the knee joint is used as a connecting part between thighs and shanks, the weight of the upper body and the carrying equipment is needed to bear, and simultaneously, a large amount of torque is generated due to the weight of the upper body and the equipment and during movement when the joint moves. The knee joint has a large movement angle ranging from 0 DEG to 140 DEG, and the movement range is usually 0 DEG to 70 DEG when walking and going up and down stairs. The knee joint needs to bear larger pressure and torque during exercise, especially when going up and down stairs. This increases the difficulty of knee joint design.
The chinese patent application of application No. 201610335226.6 discloses a knee joint assisting exoskeleton device in which a hydraulic mechanism is used to provide power when the lower leg stretches, but the hydraulic mechanism itself is heavy in volume and weight, and at the same time, a matching motor is required, or the overall quality of the exoskeleton is increased, and the comfort of the wearer is reduced. Another example is the chinese patent application with application number 201280030701.9, which discloses an exoskeleton design for rehabilitation, but the overall size is large, which is inconvenient to wear and apply to daily life. At present, most exoskeleton structures are designed for foot shoes, and at least three degrees of freedom of rotation are required to be completed, so that the structure is complex, and the control difficulty is increased. .
Disclosure of Invention
The invention aims to provide a light excitation friction type clutch assisting exoskeleton device and a control method thereof, which solve the problems of complex mechanism design and low reliability of the exoskeleton.
In order to achieve the above object, the technical scheme of the present invention is as follows:
a light excitation friction type clutch assisting exoskeleton device comprises a back frame, a hip joint structure, a knee joint structure, an ankle joint structure and a control system, wherein the back frame, the hip joint structure, the knee joint structure and the ankle joint structure are sequentially and fixedly connected from top to bottom,
the hip joint structure comprises a hip joint limiting plate, a hip joint upper side connecting piece, a hip joint output gear bearing, a first hip joint middle gear bearing, a hip joint input gear bearing, a hip joint middle gear sleeve, a hip joint input gear sleeve, a hip joint output gear, a hip joint middle gear, a hip joint input gear, a hip joint baffle plate, a hip joint lower side connecting piece, a hip joint one-way bearing, a hip joint excitation friction clutch and a second hip joint middle gear bearing, wherein the hip joint limiting plate is fixedly connected with the hip joint lower side connecting piece through screws, a circular protrusion on the side surface of the hip joint limiting plate is embedded into a lower round hole of the hip joint upper side connecting piece, the hip joint input gear bearing, the first hip joint middle gear bearing and the hip joint input gear bearing are sequentially and matched and installed in the round holes corresponding to the hip joint upper side connecting piece from top to bottom, the second hip joint middle gear bearing is mounted on the hip joint baffle in a matched manner, the hip joint middle gear sleeve is mounted between the hip joint middle gear and the first hip joint middle gear bearing, the hip joint output gear sleeve is mounted between the hip joint output gear and the hip joint output gear bearing, the hip joint input gear sleeve is mounted between the hip joint input gear and the hip joint input gear bearing, the hip joint input gear is fixedly connected with the hip joint one-way bearing, the hip joint output gear is fixedly connected with the hip joint excitation friction clutch, the hip joint baffle is matched with the lower side connecting piece of the hip joint through a key slot, the hip joint excitation friction clutch is fixedly connected with the hip joint baffle, the upper side connecting piece of the hip joint is fixedly connected with the lower side connecting piece of the hip joint through a screw,
the knee joint comprises a knee joint excitation friction clutch, a knee joint one-way bearing, a knee joint lower side connecting piece, a first knee joint middle gear bearing, a knee joint baffle, a knee joint middle gear, a knee joint input gear, a knee joint output gear, a knee joint input gear sleeve, a knee joint output gear bearing, a second knee joint middle gear bearing, a knee joint middle gear sleeve, a knee joint upper side connecting piece, a knee joint input gear bearing and a knee joint positioning plate, wherein the knee joint positioning plate is fixedly connected with the knee joint lower side connecting piece through a screw, a side circular protrusion of the knee joint positioning plate is embedded into a lower round hole of the knee joint upper side connecting piece, the knee joint input gear bearing, the first knee joint middle gear bearing and the knee joint input gear bearing are sequentially matched and installed in the round holes corresponding to the knee joint upper side connecting piece from top to bottom, the first knee joint middle gear bearing is arranged on the knee joint baffle in a matched manner, the knee joint middle gear sleeve is arranged between the knee joint middle gear and the second knee joint middle gear bearing, the knee joint output gear sleeve is arranged between the knee joint output gear and the knee joint output gear bearing, the knee joint input gear sleeve is arranged between the knee joint input gear and the knee joint input gear bearing, the knee joint input gear is fixedly connected with the knee joint one-way bearing, the knee joint output gear is fixedly connected with the knee joint excitation friction clutch, the knee joint baffle is matched with the knee joint lower side connecting piece through a key slot, the knee joint excitation friction clutch is fixedly connected with the knee joint baffle, the knee joint one-way bearing is fixedly connected with the knee joint lower side connecting piece through a screw,
the ankle joint structure comprises an ankle joint upper connecting piece, an ankle joint supporting piece, a first ankle joint spring seat, a second ankle joint spring seat, an ankle joint spring, an ankle joint shaft pin, an instep baffle and a foot back pressure sensor, wherein the ankle joint upper connecting piece is rotationally connected with the ankle joint supporting piece positioned at the lower part of the ankle joint upper connecting piece, the ankle joint supporting piece is connected with the instep baffle through the shaft pin, the ankle joint spring is arranged between the ankle joint supporting piece and the instep baffle through the first ankle joint spring seat and the second ankle joint spring seat, the foot back pressure sensor is arranged at the inner side of the front part of the instep baffle,
the control system is connected with the hip joint excitation friction clutch, the knee joint excitation friction clutch and the foot back pressure sensor.
Further, the hip joint input gear bearing, the first hip joint middle gear bearing and the hip joint input gear bearing are sequentially installed in corresponding round holes on the upper side connecting piece of the hip joint in an interference fit mode from top to bottom.
Further, the knee joint input gear bearing, the first knee joint middle gear bearing and the knee joint input gear bearing are sequentially installed in corresponding round holes on the knee joint upper side connecting piece in an interference fit mode from top to bottom.
Further, the hip joint excitation friction clutch is fixedly connected with the hip joint baffle plate through a screw, and the knee joint excitation friction clutch is fixedly connected with the knee joint baffle plate through a screw.
Further, the back frame comprises a back frame main body part and a back frame hip joint connector, wherein the back frame main body part comprises a vertical rectangular plate and a C-shaped plate which is connected with the bottom of the rectangular plate and extends forwards transversely, the back frame hip joint connector is fixedly connected with the outer side of the C-shaped plate, and the back frame hip joint connector is fixedly connected with the hip joint structure.
Further, the knee joint downside connecting piece is formed by combining a cylindrical wafer and a rectangular long plate positioned below the cylindrical wafer, a circular through hole is formed in the middle of the wafer and used for installing a knee joint unidirectional bearing, and the rectangular long plate is fixedly connected with a knee joint positioning plate through a screw.
Further, the knee joint baffle comprises a main body part and a rectangular plate which is positioned on the upper part of the main body part and connected with the knee joint upper side connecting piece, the main body part comprises three round holes, the three round holes are sequentially matched with the knee joint excitation friction clutch, the first knee joint middle gear bearing and the knee joint lower side connecting piece from top to bottom, and arc-shaped bulges on the lower side of the knee joint baffle are embedded into circular tracks of the knee joint lower side connecting piece.
The control method of the light excitation friction type clutch assisting exoskeleton device comprises the following steps:
step 1: the wearer wears the light clutch type power assisting exoskeleton device, the back of the wearer is abutted against the back frame, the hip joint is positioned at the hip joint structure, the knee joint is positioned at the knee joint structure, the feet are positioned below the instep baffle, and the step 2 is performed;
step 2: the control system sets a certain pressure threshold in advance, detects pressure signal values of the two foot back pressure sensors in real time, compares the pressure signal values with the set threshold, and shifts to step 3;
step 3: when the signal values of the two foot back pressure sensors are smaller than the set threshold value, the step 4 is carried out; when the pressure signal value of only one foot back pressure sensor is smaller than the set threshold value, the step 5 is shifted to; when the signal values of the two foot back pressure sensors are both larger than the set threshold value, turning to step 6;
step 4: the control system controls the hip joint excitation friction clutch and the knee joint excitation friction clutch to be connected, and the step 7 is carried out;
step 5: the control system controls the hip joint excitation friction clutch and the knee joint excitation friction clutch on the side with the instep pressure signal smaller than the threshold value to keep being connected, and the hip joint excitation friction clutch and the knee joint excitation friction clutch on the side with the signal larger than the threshold value are separated and then the step 7 is carried out;
step 6: the control system controls the hip joint excitation friction clutch and the knee joint excitation friction clutch of the two legs to be respectively separated, and the step 7 is carried out;
step 7: returning to the step 2, the coordination movement between the wearer and the light excitation friction type clutch assisting exoskeleton device is realized.
Compared with the prior art, the invention has the remarkable advantages that:
(1) The invention has simple structure, most parts can be made of high-strength and light aluminum alloy, the processing and the assembly are easy, the cost of the whole device is reduced, the quality of the device is effectively lightened, and the burden of a wearer in the movement process is reduced;
(2) The invention reduces the torque through gear transmission, thereby reducing the requirement on the excitation clutch, reducing the volume and the mass of the clutch, simultaneously providing higher reliability and better stability through gear transmission, and having longer service life;
(3) The invention solves the problem that the transmission of two state transitions, namely movement and stop, can not be accurately completed when the excitation clutch works independently, and deviation can occur in the transmission process through other parts, and solves the problem through the gears and the one-way bearings;
(4) The control thought is simple and easy to realize, the requirement on sensing hardware required by control is low, the quantity is small, and the complexity of control can be effectively reduced;
(5) The combination of the excitation clutch and the one-way bearing is selected to protect the knee joint, and the required action is completed while the structural quality and the volume are reduced;
(6) The ankle joint cancels the design of the bottom plate, the rotation freedom degree which is not designed is completed through the rotation of the foot, the structure is simplified, the control is convenient, the structural stability is improved, the wearer can conveniently and directly acquire the ground feedback information through the sole in direct contact with the body, the intuitive judgment and decision-making operation state are convenient, and the wearer can conveniently control the exoskeleton. And simultaneously, the ankle joint supporting piece ensures the supporting function of the exoskeleton.
Drawings
FIG. 1 is a schematic diagram of the overall structure of a light-duty excitation friction type clutch assisting exoskeleton device of the present invention.
Fig. 2 is a schematic view of the structure of the back frame of the present invention.
Fig. 3 is an exploded view of the hip joint structure of the present invention.
Fig. 4 is an exploded view of the knee joint structure of the present invention.
Fig. 5 is a schematic view of the ankle joint structure of the present invention.
Detailed Description
The invention will be further described with reference to the drawings.
The light excitation friction type clutch assisting exoskeleton device shown in fig. 1 comprises a back frame 1, a hip joint structure 2, a knee joint structure 3 and an ankle joint structure 4, wherein all the mechanisms are sequentially and fixedly connected from top to bottom.
Fig. 2 is a schematic structural view of a back frame 1, wherein the back frame 1 is formed by fixedly connecting a rectangular steel plate and a C-shaped steel plate to form a back frame main body part 101, and is connected with a hip joint upper side connecting piece 202 in parallel movement through a back frame hip joint connection 102. The back frame body part 101 is fixedly connected with the back frame hip joint connector 102 through screws.
Fig. 3 is a structural exploded view of the hip joint structure 2, which is composed of a hip joint limiting plate 201, a hip joint upper side connecting piece 202, a hip joint output gear bearing 203, a first hip joint intermediate gear bearing 204, a hip joint input gear bearing 205, a hip joint intermediate gear sleeve 206, a hip joint input gear sleeve 207, a hip joint output gear sleeve 208, a hip joint output gear 209, a hip joint intermediate gear 210, a hip joint input gear 211, a hip joint baffle 212, a hip joint lower side connecting piece 213, a hip joint one-way bearing 214, a hip joint excitation friction clutch 215, and a second hip joint intermediate gear bearing 216. The hip joint limiting plate 201 is fixedly connected with the hip joint lower side connecting piece 213 through screws, and circular protrusions (not visible in the drawing, the structure is similar to that of the circular protrusions of the knee joint positioning plate 316 in fig. 3) of the hip joint limiting plate 201 are embedded into circular holes on the hip joint upper side connecting piece 202. The hip joint output gear bearing 203, the first hip joint intermediate gear bearing 204, and the hip joint input gear bearing 205 are mounted in corresponding circular holes on the hip joint upper side connecting piece 202 in an interference fit, and the second hip joint intermediate gear bearing 216 is mounted on the hip joint baffle 212 in an interference fit. The hip intermediate gear sleeve 206 is mounted between the hip intermediate gear 210 and the first hip intermediate gear bearing 204, the hip output gear sleeve 208 is mounted between the hip output gear 209 and the hip output gear bearing 203, and the hip input gear sleeve 207 is mounted between the hip input gear 211 and the hip input gear bearing 205. The hip joint input gear 211 is fixedly connected with a hip joint one-way bearing 214, and the hip joint output gear 209 is fixedly connected with a hip joint excitation friction clutch 215. The hip shield 212 mates with the hip underside connector 213 via a keyway. The hip joint excitation friction clutch 215 is fixedly connected with the hip joint baffle 212 through screws, and the hip joint one-way bearing 214 is fixedly connected with the hip joint lower side connecting piece 213. The hip superior connector 202 is screwed to the hip shield 212.
Fig. 4 is a structural exploded view of the knee joint structure 3, which is composed of a knee joint excitation friction clutch 301, a knee joint one-way bearing 302, a knee joint lower side connector 303, a first knee joint intermediate gear bearing 304, a knee joint shutter 305, a knee joint intermediate gear 306, a knee joint input gear 308, a knee joint output gear 307, a knee joint input gear sleeve 309, a knee joint output gear sleeve 310, a knee joint output gear bearing 312, a second knee joint intermediate gear bearing 311, a knee joint intermediate gear sleeve 313, a knee joint upper side connector 314, a knee joint input gear bearing 315, and a knee joint positioning plate 316. The knee joint locating plate 316 is fixedly connected with the knee joint lower side connecting piece 303 through screws, and the round protrusions of the knee joint locating plate 316 are embedded into round holes below the knee joint upper side connecting piece 314. The knee input gear bearing 315, the second knee intermediate gear bearing 311, the knee output gear bearing 312 are interference fit mounted in corresponding circular holes on the knee upper side connector 314, and the first knee intermediate gear bearing 304 is interference fit mounted on the knee stop 305. A knee intermediate gear sleeve 313 is mounted between the knee intermediate gear 306 and the second knee intermediate gear bearing 311, a knee output gear sleeve 310 is mounted between the knee output gear 307 and the knee output gear bearing 312, and a knee input gear sleeve 309 is mounted between the knee input gear 308 and the knee input gear bearing 315. The knee joint input gear 308 is fixedly connected with the knee joint one-way bearing 302, and the knee joint output gear 307 is fixedly connected with the knee joint excitation friction clutch 301. The knee stop 305 mates with the knee underside connector 314 via a keyway. The knee joint excitation friction clutch 301 is fixedly connected with the knee joint baffle 305 through screws, and the knee joint unidirectional bearing 302 is fixedly connected with the knee joint lower side connecting piece 303. The knee superior connector 314 is screwed to the knee shield 305.
The combined excitation friction clutch and the one-way bearing work jointly. The exciting friction clutch and the unidirectional bearing are driven by the gear set.
The knee superior connector 314 is formed of a rectangular elongated plate with ends bent at an angle to the direction of motion and the bent structure provides some cushioning to the mechanism during support.
The knee underside connector 303 is formed by combining a rectangular long plate with a cylindrical disc. The cylindrical disc mainly plays a role of axial limiting, and the knee joint one-way bearing 302 and the one-way bearing outer ring are installed in the middle of the disc and keep the same motion state. The other side is screwed to the knee positioning plate 316, and the housing of the drive gear, the knee connector and the knee stop is sandwiched between the axial positioning tabs and the cylindrical portion of the below-knee connector.
The knee joint baffle 305 comprises a main body part and a rectangular plate which is positioned at the upper part of the main body part and is connected with the knee joint upper side connecting piece 314, the main body part comprises three round holes, the three round holes are sequentially matched with the knee joint excitation friction clutch 301, the first knee joint middle gear bearing 304 and the knee joint lower side connecting piece 303 from top to bottom, and arc-shaped bulges at the lower side of the knee joint baffle 305 are embedded into circular tracks of the knee joint lower side connecting piece 303, so that the knee joint baffle can rotate around the center of a cylinder at the upper end of the knee joint lower side connecting piece 303. The location of the openings in the knee stop 305 corresponds to the installation of bearing sleeves and gear sets between the knee upper link 314 and the knee stop 305. The knee superior connector 314 and the knee shield 305 design the housing to enclose the gears according to the gear profile and shape itself.
The gear set is a secondary gear transmission and consists of three shafts and four gears, and the total transmission ratio is 1:10. is connected to the knee superior connector 314 and the knee barrier 305 by corresponding bearings, and is axially positioned by each sleeve. The input is the first pair of motion that produces when knee joint crooked, and the output is excitation friction clutch, and the input is connected with knee connecting piece and one-way bearing, and the output is connected with knee connecting piece and excitation friction clutch, drives gear input gear rotation when knee rotates, and input gear transmits the motion to the intermediate transition axle, and the transition axle rotates and passes through the epaxial gear transmission of transition to the output wheel, and the output wheel transmits the motion to excitation friction clutch.
As shown in fig. 5, the ankle joint structure is composed of an ankle joint upper connector 401, an ankle joint support 402, a first ankle joint spring seat 403, a second ankle joint spring seat 405, an ankle joint spring 404, an ankle joint shaft pin 406, an instep shield 407, and a foot back pressure sensor 408. The ankle joint upper connecting piece 401 is rotatably connected with the ankle joint support piece 402, the ankle joint support piece 402 is connected with the instep baffle 407 through a shaft pin, the degree of freedom of axial rotation along the shaft pin is provided, the ankle joint spring 404 is installed between the ankle joint support piece 402 and the instep baffle 407 through the first ankle joint spring seat 403 and the second ankle joint spring seat 405, the relative displacement between the two parts is regulated, the foot back pressure sensor 408 is installed on the inner side of the instep baffle 407 and used for measuring the pressure value of the foot facing the inner side of the instep baffle when the foot is lifted, and the instep baffle 407 consists of a rectangular plate and a U-shaped plate. The structure cancels the design of the pedal, directly contacts the ground through the sole directly connected with the human body, and achieves the control of the excitation friction clutch through the contact of the instep and the sensor on the instep baffle. The lateral links are directly connected to the lower leg members to assist the body in supporting the foot. The ankle joint spring can assist the instep baffle to keep in a horizontal position, can provide buffering for the ankle joint in the motion, reduces ankle joint atress, guarantees the ankle joint sensor normal and the contact of instep. The ankle joint upper connecting piece is connected with the ankle joint support piece, provides shank axial rotation freedom degree, and the ankle joint support piece is connected with the instep baffle through a shaft pin, provides axial rotation freedom degree along the shaft pin, and the spring is installed between the ankle joint support piece and the instep baffle through an ankle joint spring seat, adjusts relative displacement between the two parts, and the foot back pressure sensor is installed on the inner side of the instep baffle and is used for measuring the pressure value of the foot facing the inner side of the instep baffle when the foot is lifted
The control system detects the pressure values received by the sensors at the instep in real time and compares the pressure values with a set threshold value, so that the fitting and the separation of the excitation clutch at the knee joint are judged. When the signal values of the two foot back pressure sensors are smaller than the set threshold value, the corresponding legs are in a supporting state, the exciting clutch is engaged, the torque generated by the knee joint is reduced by the gear set and is transmitted to the clutch to limit further movement by the clutch, and the movement of the knee joint is limited and cannot bend backwards, so that a certain supporting effect is provided. The one-way bearing at the knee joint ensures that the knee joint cannot bend inwards, but can straighten further within the allowed range. When the excitation clutch is separated, namely the signal of the foot back pressure sensor is larger than a set threshold value, the knee joint can be freely bent and stretched when the corresponding leg is suspended and does not play a supporting role. A control method of a light clutch type power assisting exoskeleton device according to any one of the preceding claims, characterized in that: the control system detects the pressure values received by the sensors at the instep in real time and compares the pressure values with a set threshold value, so that the fitting and the separation of the excitation clutch at the knee joint are judged, and the set threshold value is used for avoiding that smaller pressure generated by touching during movement or stillness influences the judgment of the control system. When the signal values of the two foot back pressure sensors are smaller than the set threshold value, the corresponding legs are in a supporting state, the exciting clutch is engaged, the torque generated by the knee joint is reduced by the gear set and is transmitted to the clutch to limit further movement by the clutch, and the movement of the knee joint is limited and cannot bend backwards, so that a certain supporting effect is provided. The one-way bearing at the knee joint ensures that the knee joint cannot bend inwards, but can straighten further within the allowed range. When the excitation clutch is separated, namely the signal of the foot back pressure sensor is larger than a set threshold value, the knee joint can be freely bent and stretched when the corresponding leg is suspended and does not play a supporting role.
The rotation mode of the hip joint structure 2 is as follows: the hip joint limiting plate 201 and the hip joint lower side connecting piece 213 rotate together around the hip joint upper side connecting piece 202 and the hip joint lower side connecting piece 213 to drive the internal gear to rotate, the hip joint one-way bearing 214 is locked when the thigh is lifted, the hip joint lower side connecting piece 213 and the hip joint one-way bearing 214 rotate together to drive the gear set to rotate, the hip joint excitation friction clutch 215 is separated, the hip joint one-way bearing 214 is unlocked when the thigh is put down and is equivalent to a common bearing, and the hip joint limiting plate 201 and the hip joint lower side connecting piece 213 rotate around the hip joint one-way bearing 214, so that the gear set does not rotate; the rotation process and mechanism of the knee joint in the knee joint structure 3 are similar.
The control method of the light excitation friction type clutch assisting exoskeleton device comprises the following steps:
step 1: the wearer wears the light clutch type power assisting exoskeleton device, the back of the wearer is abutted against the back frame 1, the hip joint is positioned at the hip joint structure 2, the knee joint is positioned at the knee joint structure 3, the feet are positioned below the instep baffle 407, and the step 2 is performed;
step 2: the control system sets a certain pressure threshold in advance, and the control system detects the pressure signal values of the two foot back pressure sensors 408 in real time and compares the pressure signal values with the set threshold, and the step 3 is shifted to;
step 3: when the signal values of the two foot back pressure sensors 408 are smaller than the set threshold value, the step 4 is shifted to; when the pressure signal value of only one foot back pressure sensor 408 is smaller than the set threshold value, go to step 5; when the signal values of the two foot back pressure sensors 408 are both larger than the set threshold value, the step 6 is shifted to;
step 4: the control system controls the hip joint excitation friction clutch 215 and the knee joint excitation friction clutch 301 to be engaged, and the step 7 is carried out;
step 5: the control system controls the hip joint excitation friction clutch 215 and the knee joint excitation friction clutch 301 on the side with the instep pressure signal smaller than the threshold value to be kept engaged, and the hip joint excitation friction clutch 215 and the knee joint excitation friction clutch 301 on the side with the signal larger than the threshold value are separated, so that the step 7 is carried out;
step 6: the control system controls the hip joint excitation friction clutch 215 and the knee joint excitation friction clutch 301 of the two legs to be separated equally, and the step 7 is carried out;
step 7: returning to the step 2, the coordination movement between the wearer and the light excitation friction type clutch assisting exoskeleton device is realized.
The foregoing has outlined and described the basic principles, features, and advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that the above embodiments and descriptions are merely illustrative of the principles of the present invention, and various changes and modifications may be made without departing from the spirit and scope of the invention, which is defined in the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (6)
1. The light excitation friction type clutch assisting exoskeleton device is characterized by comprising a back frame (1), a hip joint structure (2), a knee joint structure (3), an ankle joint structure (4) and a control system, wherein the back frame (1), the hip joint structure (2), the knee joint structure (3) and the ankle joint structure (4) are fixedly connected from top to bottom in sequence,
the hip joint structure (2) comprises a hip joint limiting plate (201), a hip joint upper side connecting piece (202), a hip joint output gear bearing (203), a first hip joint middle gear bearing (204), a hip joint input gear bearing (205), a hip joint middle gear sleeve (206), a hip joint input gear sleeve (207), a hip joint output gear sleeve (208), a hip joint output gear (209), a hip joint middle gear (210), a hip joint input gear (211), a hip joint baffle plate (212), a hip joint lower side connecting piece (213), a hip joint one-way bearing (214), a hip joint excitation friction clutch (215) and a second hip joint middle gear bearing (216), wherein the hip joint limiting plate (201) is fixedly connected with the hip joint lower side connecting piece (213) through screws, round protrusions on the side surface of the hip joint limiting plate (201) are embedded into lower round holes of the hip joint upper side connecting piece (202), the hip joint output gear bearing (203), the first hip joint middle gear bearing (204) and the hip joint input gear bearing (205) are sequentially matched and installed in the hip joint upper side connecting piece (202) from top to bottom, the hip joint limiting plate is matched with the second hip joint middle gear bearing (216), the hip joint intermediate gear sleeve (206) is arranged between the hip joint intermediate gear (210) and the first hip joint intermediate gear bearing (204), the hip joint output gear sleeve (208) is arranged between the hip joint output gear (209) and the hip joint output gear bearing (203), the hip joint input gear sleeve (207) is arranged between the hip joint input gear (211) and the hip joint input gear bearing (205), the hip joint input gear (211) is fixedly connected with the hip joint one-way bearing (214), the hip joint output gear (209) is fixedly connected with the hip joint excitation friction clutch (215), the hip joint baffle plate (212) is matched with the hip joint lower side connecting piece (213) through a key slot, the hip joint excitation friction clutch (215) is fixedly connected with the hip joint baffle plate (212), the hip joint one-way bearing (214) is fixedly connected with the hip joint lower side connecting piece (213), the hip joint upper side connecting piece (202) is fixedly connected with the hip joint baffle plate (212) through a screw,
the knee joint structure (3) comprises a knee joint excitation friction clutch (301), a knee joint unidirectional bearing (302), a knee joint lower side connecting piece (303), a first knee joint middle gear bearing (304), a knee joint baffle plate (305), a knee joint middle gear (306), a knee joint input gear (308), a knee joint output gear (307), a knee joint input gear sleeve (309), a knee joint output gear sleeve (310), a knee joint output gear bearing (312), a second knee joint middle gear bearing (311), a knee joint middle gear sleeve (313), a knee joint upper side connecting piece (314), a knee joint input gear bearing (315) and a knee joint positioning plate (316), wherein the knee joint positioning plate (316) is fixedly connected with the knee joint lower side connecting piece (303) through screws, a side circular protrusion of the knee joint positioning plate (316) is embedded into a lower round hole of the knee joint upper side connecting piece (314), the knee joint output gear bearing (312), the second knee joint middle gear bearing (311) and the knee joint input gear bearing (315) are sequentially matched and installed in the knee joint middle round hole (305) from top to bottom, a knee joint intermediate gear sleeve (313) is arranged between a knee joint intermediate gear (306) and a second knee joint intermediate gear bearing (311), a knee joint output gear sleeve (310) is arranged between a knee joint output gear (307) and a knee joint output gear bearing (312), a knee joint input gear sleeve (309) is arranged between a knee joint input gear (308) and a knee joint input gear bearing (315), the knee joint input gear (308) is fixedly connected with a knee joint one-way bearing (302), the knee joint output gear (307) is fixedly connected with a knee joint excitation friction clutch (301), a knee joint baffle plate (305) is matched with a knee joint lower side connecting piece (303) through a key slot, the knee joint excitation friction clutch (301) is fixedly connected with the knee joint baffle plate (305), the knee joint one-way bearing (302) is fixedly connected with the knee joint lower side connecting piece (303), the knee joint upper side connecting piece (314) is fixedly connected with the knee joint baffle plate (305) through a screw,
the ankle joint structure (4) comprises an ankle joint upper connecting piece (401), an ankle joint supporting piece (402), a first ankle joint spring seat (403), a second ankle joint spring seat (405), an ankle joint spring (404), an ankle joint shaft pin (406), an instep baffle (407) and a foot back pressure sensor (408), wherein the ankle joint upper connecting piece (401) is rotationally connected with the ankle joint supporting piece (402) positioned at the lower part of the ankle joint upper connecting piece, the ankle joint supporting piece (402) is connected with the instep baffle (407) through the ankle joint shaft pin (406), the ankle joint spring (404) is arranged between the ankle joint supporting piece (402) and the instep baffle (407) through the first ankle joint spring seat (403) and the second ankle joint spring seat (405), the foot back pressure sensor (408) is arranged at the inner side of the front part of the instep baffle (407),
the control system is connected with the hip joint excitation friction clutch (215), the knee joint excitation friction clutch (301) and the foot back pressure sensor (408);
the hip joint output gear bearing (203), the first hip joint middle gear bearing (204) and the hip joint input gear bearing (205) are sequentially installed in corresponding round holes on the hip joint upper side connecting piece (202) in an interference fit manner from top to bottom;
the knee joint output gear bearing (312), the second knee joint middle gear bearing (311) and the knee joint input gear bearing (315) are sequentially installed in corresponding round holes on the knee joint upper side connecting piece (314) in an interference fit mode from top to bottom.
2. The light-duty excitation friction type clutch assisting exoskeleton device as claimed in claim 1, wherein said hip joint excitation friction type clutch (215) is fixedly connected with a hip joint baffle plate (212) by a screw, and said knee joint excitation friction type clutch (301) is fixedly connected with a knee joint baffle plate (305) by a screw.
3. The light excitation friction type clutch assisting exoskeleton device as claimed in claim 1, wherein the back frame (1) comprises a back frame main body part (101) and a back frame hip joint connector (102), the back frame main body part (101) comprises a vertical rectangular plate and a C-shaped plate which is connected with the bottom of the rectangular plate and extends forwards transversely, the back frame hip joint connector (102) is fixedly connected with the outer side of the C-shaped plate, and the back frame hip joint connector (102) is fixedly connected with the hip joint structure (2).
4. A lightweight friction-exciting clutch assisting exoskeleton device as claimed in any one of claims 1 to 3 wherein said knee joint underside connector (303) is formed by a cylindrical disc and a rectangular long plate located below it, said disc comprising a circular through hole in the middle for mounting a knee joint one-way bearing (302), the rectangular long plate being fixedly connected to a knee joint locating plate (316) by screws.
5. The light weight friction-exciting clutch assisting exoskeleton apparatus as set forth in claim 4, wherein the knee joint barrier (305) comprises a main body portion and a rectangular plate connected with the knee joint upper side connecting member (314) at an upper portion of the main body portion, the main body portion comprises three round holes, the three round holes are sequentially matched with the knee joint friction-exciting clutch (301), the first knee joint middle gear bearing (304) and the knee joint lower side connecting member (303) from top to bottom, and the arc-shaped protrusions of the knee joint barrier (305) are embedded in the circular track of the knee joint lower side connecting member (303).
6. A method of controlling a lightweight friction-exciting clutch booster exoskeleton device as claimed in any one of claims 1 to 5, comprising the steps of:
step 1: the wearer wears the light excitation friction type clutch assisting exoskeleton device, the back supports against the backrest frame (1), the hip joint is located at the hip joint structure (2), the knee joint is located at the knee joint structure (3), the feet are located below the instep baffle (407), and the step 2 is performed;
step 2: the control system sets a certain pressure threshold in advance, detects pressure signal values of the two foot back pressure sensors (408) in real time, compares the pressure signal values with the set threshold, and shifts to step 3;
step 3: when the pressure signal values of the two foot back pressure sensors (408) are smaller than the set threshold value, the step 4 is shifted to; when the pressure signal value of only one foot back pressure sensor (408) is smaller than the set threshold value, the step 5 is shifted to; when the pressure signal values of the two foot back pressure sensors (408) are both larger than the set threshold value, the step 6 is shifted to;
step 4: the control system controls the hip joint excitation friction clutch (215) and the knee joint excitation friction clutch (301) to be connected, and the step 7 is carried out;
step 5: the control system controls the hip joint excitation friction clutch (215) and the knee joint excitation friction clutch (301) on the side, with the pressure signal value smaller than the set threshold value, of the foot back pressure sensor (408) to be kept engaged, and the hip joint excitation friction clutch (215) and the knee joint excitation friction clutch (301) on the side, with the pressure signal value larger than the set threshold value, are separated, so that the step 7 is performed;
step 6: the control system controls the hip joint excitation friction clutch (215) and the knee joint excitation friction clutch (301) of the two legs to be separated, and the step 7 is carried out;
step 7: returning to the step 2, the coordination movement between the wearer and the light excitation friction type clutch assisting exoskeleton device is realized.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810969488.7A CN109202867B (en) | 2018-08-23 | 2018-08-23 | Light excitation friction type clutch assisting exoskeleton device and control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810969488.7A CN109202867B (en) | 2018-08-23 | 2018-08-23 | Light excitation friction type clutch assisting exoskeleton device and control method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109202867A CN109202867A (en) | 2019-01-15 |
| CN109202867B true CN109202867B (en) | 2024-03-19 |
Family
ID=64989707
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810969488.7A Active CN109202867B (en) | 2018-08-23 | 2018-08-23 | Light excitation friction type clutch assisting exoskeleton device and control method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109202867B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112873174A (en) * | 2020-12-03 | 2021-06-01 | 中国科学院深圳先进技术研究院 | Exoskeleton robot knee joint based on electromagnetic clutch |
| CN113319824B (en) * | 2021-06-01 | 2022-06-24 | 西安航空学院 | Flexible exoskeleton with energy clutch management device |
| CN115229765A (en) * | 2022-06-30 | 2022-10-25 | 吉林大学 | External power-free exoskeleton capable of assisting ankle joint movement |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104548608A (en) * | 2015-01-21 | 2015-04-29 | 北京工业大学 | Bionic kangaroo robot |
| JP2015180236A (en) * | 2014-03-03 | 2015-10-15 | 株式会社東芝 | Knee joint movement support device |
| CN106109186A (en) * | 2016-08-31 | 2016-11-16 | 中国科学院深圳先进技术研究院 | Wearable lower limb exoskeleton robot |
| CN107126348A (en) * | 2017-03-31 | 2017-09-05 | 清华大学 | A kind of accurate passive knee ankle-joint coupling lower limb exoskeleton and its control method |
| CN107510575A (en) * | 2017-09-22 | 2017-12-26 | 南京理工大学 | A kind of light-duty disengaging type assistance exoskeleton device and its control method |
| CN209380727U (en) * | 2018-08-23 | 2019-09-13 | 南京理工大学 | A kind of light-duty excitation friction type clutch assistance exoskeleton device |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7393335B2 (en) * | 2004-05-06 | 2008-07-01 | Carvey Matthew R | Metabolically efficient leg brace |
-
2018
- 2018-08-23 CN CN201810969488.7A patent/CN109202867B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2015180236A (en) * | 2014-03-03 | 2015-10-15 | 株式会社東芝 | Knee joint movement support device |
| CN104548608A (en) * | 2015-01-21 | 2015-04-29 | 北京工业大学 | Bionic kangaroo robot |
| CN106109186A (en) * | 2016-08-31 | 2016-11-16 | 中国科学院深圳先进技术研究院 | Wearable lower limb exoskeleton robot |
| CN107126348A (en) * | 2017-03-31 | 2017-09-05 | 清华大学 | A kind of accurate passive knee ankle-joint coupling lower limb exoskeleton and its control method |
| CN107510575A (en) * | 2017-09-22 | 2017-12-26 | 南京理工大学 | A kind of light-duty disengaging type assistance exoskeleton device and its control method |
| CN209380727U (en) * | 2018-08-23 | 2019-09-13 | 南京理工大学 | A kind of light-duty excitation friction type clutch assistance exoskeleton device |
Non-Patent Citations (1)
| Title |
|---|
| Design and Characterization of an Exoskeleton for Perturbing the Knee During Gait;Michael R. Tucker 等;IEEE TRANSACTIONS ON BIOMEDICAL ENGINEERING;20171031;第64卷(第10期);全文 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109202867A (en) | 2019-01-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109202867B (en) | Light excitation friction type clutch assisting exoskeleton device and control method thereof | |
| CN105643598B (en) | The semi-passive lower limb exoskeleton of energy-conservation driven based on lasso trick | |
| CN107811805B (en) | Wearable lower limb exoskeleton rehabilitation robot | |
| CN106109181B (en) | Reduction exoskeleton joint and exoskeleton power assisting device thereof | |
| CN107510575B (en) | Light clutch type power-assisted exoskeleton device and control method thereof | |
| US20160113831A1 (en) | System and Method of Bidirectional Compliant Joint Torque Actuation | |
| CN106901947B (en) | Wearable lower limb exoskeleton assisted walking robot mechanism | |
| KR101368817B1 (en) | Walk assist apparatus | |
| CN108555890B (en) | Wearable body weight supporting type walking assisting device | |
| CN105835041B (en) | A kind of exoskeleton robot hip joint, exoskeleton robot and its control method | |
| CN104758099B (en) | Lower limb assistance exoskeleton based on gravitational equilibrium | |
| AU2019456345B2 (en) | Cam and non-circular gear pair for unpowered multi-joint synchronous training device, manufacturing method thereof, transmission mechanism using the same, and unpowered multi-joint synchronous training device | |
| CN111096876B (en) | Lower limb load moving exoskeleton | |
| CN107874933A (en) | A kind of electric stair climbing wheelchair | |
| CN105943312A (en) | Hip joint recovery assisting device based on sensing and driving integration | |
| KR20100044359A (en) | Exoskeletal robot for power assistance | |
| CN111658445A (en) | Hip joint structure for lower limb rehabilitation training and passive gait coordination control method | |
| CN106798627A (en) | A kind of hand knee-joint rehabilitation training mechanism | |
| EP3995113B1 (en) | Hybrid-type artificial limb device and control method therefor | |
| KR102162485B1 (en) | Controlling method of lower body assisting robot | |
| CN111494167A (en) | Walking-following and stopping walking-following type step-speed-adjustable power-assisted walking device | |
| CN115533881B (en) | Ankle joint power-assisted exoskeleton based on self-adaptive nonlinear parallel elastic driver and control method thereof | |
| CN107486839A (en) | A kind of mechanical device | |
| Hasegawa et al. | First report on passive exoskeleton for easy running: PEXER IV | |
| CN209380727U (en) | A kind of light-duty excitation friction type clutch assistance exoskeleton device |
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 |