CN109927016B - Lower limb exoskeleton with variable axis knee joint - Google Patents
Lower limb exoskeleton with variable axis knee joint Download PDFInfo
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- CN109927016B CN109927016B CN201910297932.XA CN201910297932A CN109927016B CN 109927016 B CN109927016 B CN 109927016B CN 201910297932 A CN201910297932 A CN 201910297932A CN 109927016 B CN109927016 B CN 109927016B
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- 210000000629 knee joint Anatomy 0.000 title claims abstract description 137
- 210000003141 lower extremity Anatomy 0.000 title claims abstract description 15
- 210000000689 upper leg Anatomy 0.000 claims abstract description 43
- 210000001699 lower leg Anatomy 0.000 claims abstract description 39
- 210000002683 foot Anatomy 0.000 claims abstract description 32
- 238000004146 energy storage Methods 0.000 claims abstract description 20
- 210000004394 hip joint Anatomy 0.000 claims abstract description 16
- 210000000544 articulatio talocruralis Anatomy 0.000 claims abstract description 13
- 210000001624 hip Anatomy 0.000 claims description 13
- 230000036316 preload Effects 0.000 claims 1
- 210000002414 leg Anatomy 0.000 abstract description 13
- 238000005457 optimization Methods 0.000 abstract description 2
- 238000005381 potential energy Methods 0.000 description 9
- 210000003127 knee Anatomy 0.000 description 6
- 230000033001 locomotion Effects 0.000 description 6
- 230000005540 biological transmission Effects 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 210000002303 tibia Anatomy 0.000 description 3
- 244000309466 calf Species 0.000 description 2
- 230000005021 gait Effects 0.000 description 2
- 210000003041 ligament Anatomy 0.000 description 2
- 210000003423 ankle Anatomy 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000000988 bone and bone Anatomy 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 239000000306 component Substances 0.000 description 1
- 239000008358 core component Substances 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 238000013178 mathematical model Methods 0.000 description 1
- 238000011089 mechanical engineering Methods 0.000 description 1
- 239000011664 nicotinic acid Substances 0.000 description 1
- 210000004417 patella Anatomy 0.000 description 1
Abstract
The application discloses a lower limb exoskeleton with a variable axis knee joint, which comprises a backpack module, a left part and a right part; the left part and the right part have the same structure and are symmetrically arranged at the lower part of the knapsack module; the left part comprises a hip joint module, a thigh module, a knee joint module, a shank module, an ankle joint module, a foot module, a rear connecting rod and an energy storage module; the knee joint module comprises a knee joint upper connecting rod, a knee joint rear connecting rod, a knee joint lower connecting rod, a knee joint left rocker and a knee joint right rocker. The exoskeleton adopts the knee joint with the variable axis as the knee joint module, not only meets the single degree of freedom requirement of the knee joint of a human body, but also realizes the variable instantaneous rotation center through the structural design and the dimensional parameter optimization of the knee joint module, the instantaneous center track of the knee joint lower connecting rod relative to the knee joint upper connecting rod is close to the theoretical instantaneous center track of the knee joint of the human body, and the coordination of the exoskeleton and the human legs is improved.
Description
Technical Field
The application relates to the field of mechanical engineering, in particular to a lower limb exoskeleton with a variable axis knee joint.
Background
In recent years, more and more human-assisted exoskeleton devices are beginning to be applied in the military and civilian fields. In the military field, soldiers need to bear packages during individual combat, including body armor, rifle ammunition, communication equipment and the like, and face complex terrains, so in order to improve the load of the soldiers and increase the walking duration of the soldiers, auxiliary load exoskeleton is more and more important. In the civil field, the labor intensity of the logistics industry is greatly reduced by the containers, the forklift and the crane. But such large equipment may not be used in all situations where a reasonable planning of the site and the material system associated therewith is required during use. In terms of cost input and output, a large material system is adopted for carrying low-weight and low-cost materials, so that resources are wasted, for example, the weight of bagged grains is less than 100kg, but the human body is hard to carry. Therefore, the exoskeleton can assist the load of a human body in both civil and military fields.
The knee joint consists of a femur medial and lateral condyle, a tibia platform, a patella, an ACL ligament of anterior and posterior cruciate and a PCL ligament, and is the largest and most complex joint of a human body. The upper ends of the thigh and the tibia are in irregular contact with the surface, and both surfaces roll and slide during flexion and extension activities. The knee joint horizontal rotation axis curvature center, i.e., the instantaneous rotation center (Instant Centre of Rotation, ICR), is variable, and its movement locus is a J-curve.
Knee joint components are widely studied as core components of lower extremity exoskeletons. Because the instantaneous center track of the knee joint of the human body has the characteristic of variability, the rotation center of the single-axis knee joint is fixed, namely, the fixed-axis knee joint inevitably leads the coordination of the exoskeleton and the human leg to be poor, and the similarity of the motion track of the knee joint part and the motion track of the knee joint of the human body directly influences the compatibility of the exoskeleton and the human body, therefore, the knee joint mechanism and the motion track thereof need to be improved.
Disclosure of Invention
Aiming at the defects of the prior art, the application aims to provide the lower limb exoskeleton with the variable axis knee joint.
The technical scheme for solving the technical problems is that the lower limb exoskeleton with the variable axis knee joint is provided, and is characterized by comprising a backpack module, a left part and a right part; the left part and the right part have the same structure and are symmetrically arranged at the lower part of the knapsack module; shoulder straps and waist straps are fixed on the backpack module;
the left part comprises a hip joint module, a thigh module, a knee joint module, a shank module, an ankle joint module, a foot module, a rear connecting rod and an energy storage module; the knee joint module comprises a knee joint upper connecting rod, a knee joint rear connecting rod, a knee joint lower connecting rod, a knee joint left rocker and a knee joint right rocker;
one end of the hip joint module is connected with the backpack module in a revolute pair mode, and the other end of the hip joint module is connected with one end of the thigh module in a revolute pair mode; the other end of the thigh module is fixedly connected with one end of the knee joint upper connecting rod; thigh straps are fixed on the thigh modules; the other end of the knee joint upper connecting rod is respectively connected with one end of the knee joint left rocker and one end of the knee joint right rocker in a revolute pair mode; one end of the knee joint lower connecting rod is fixedly connected with one end of the lower leg module, and the other end of the knee joint lower connecting rod is respectively connected with the other end of the knee joint left rocker and the other end of the knee joint right rocker in a revolute pair mode; the other end of the shank module is connected with one end of the ankle joint module in a revolute pair mode; the shank module is fixedly provided with a shank binding band; the other end of the ankle joint module is fixedly connected with the foot module; the foot module is fixed with a foot binding band; one end of the rear connecting rod is connected with the backpack module in a revolute pair mode, and the other end of the rear connecting rod is respectively connected with one end of the energy storage module and one end of the knee joint rear connecting rod in a revolute pair mode; the other end of the knee joint rear connecting rod is connected with the knee joint left rocker in a revolute pair mode; the other end of the energy storage module is fixedly connected with the foot module.
Compared with the prior art, the application has the beneficial effects that:
(1) The exoskeleton adopts the knee joint with the variable axis as the knee joint module, not only meets the single degree of freedom requirement of the knee joint of a human body, but also realizes the variable instantaneous rotation center through the structural design and the dimensional parameter optimization of the knee joint module, realizes the J-shaped curve of the instantaneous center track, and improves the coordination of the exoskeleton and the human legs by the approaching of the instantaneous center track of the knee joint lower connecting rod relative to the knee joint upper connecting rod and the theoretical instantaneous center track of the knee joint of the human body. Meanwhile, the knee joint module is simple in structure and convenient to adjust and detach.
(2) The energy storage module stores elastic potential energy when the swing phase changes into a supporting phase; when the support phase changes into the swing phase, the stored elastic potential energy is released, the energy required to be provided by a human body in the leg lifting process is reduced, the leg lifting device can be normally used under the condition of no external driving, is suitable for human gait, simultaneously reduces the stress of human bones and the load torque of each joint, and achieves the effect of assisting the human body in loading.
(3) The exoskeleton is a closed chain mechanism, and has the advantages of large bearing capacity, simple structure, stability and controllability.
Drawings
FIG. 1 is an isometric view of an overall structure of an embodiment of the application;
FIG. 2 is a schematic left-hand view of the overall structure of an embodiment of the present application;
FIG. 3 is an isometric view of a knee module according to one embodiment of the present application;
fig. 4 is a diagram showing a comparison of a knee joint module instant center locus and a human knee joint theoretical instant center locus according to an embodiment of the present application.
In the figure: 1. a backpack module; 2. a hip joint module; 3. a thigh module; 4. a knee joint module; 5. a lower leg module; 6. an ankle joint module; 7. a foot module; 8. a rear link; 9. an energy storage module; 10. shoulder straps; 11. thigh strap connectors; 12. a shank strap connector; 13. a foot strap attachment aperture; 14. waist strap connection holes; 41. a knee joint upper link; 42. a knee joint posterior connecting rod; 43. a knee joint lower link; 44. a knee joint left rocker; 45. a knee joint right rocker;
Detailed Description
Specific examples of the present application are given below. The specific examples are provided only for further details of the present application and do not limit the scope of the claims.
The application provides a lower limb exoskeleton (exoskeleton for short, see fig. 1-3) with a knee joint with a variable axis, which is characterized in that the exoskeleton comprises a backpack module 1, a left part and a right part; the left part and the right part are identical and symmetrically arranged at the lower part of the knapsack module 1; shoulder straps 10 are fixed on the backpack module 1 and are used for fixing shoulders of a human body; the knapsack module 1 is fixed with a waist binding band;
the left part comprises a hip joint module 2, a thigh module 3, a knee joint module 4, a shank module 5, an ankle joint module 6, a foot module 7, a rear connecting rod 8 and an energy storage module 9; the knee joint module 4 comprises a knee joint upper connecting rod 41, a knee joint rear connecting rod 42, a knee joint lower connecting rod 43, a knee joint left rocker 44 and a knee joint right rocker 45;
one end of the hip joint module 2 is connected with the knapsack module 1 in a revolute pair mode (the revolute pair is formed by matching a shaft with a shaft sleeve or matching the shaft with a bearing, the shaft is matched with the shaft sleeve, particularly, a hole at the end part of the hip joint module 2 is in interference fit with the outer surface of the shaft sleeve, the inner surface of the shaft sleeve is in clearance fit with the shaft, the shaft is in interference fit with the hole at the end part of the knapsack module 1, the relative rotation of the hip joint module 2 and the knapsack module 1 is realized, or the hole at the end part of the knapsack module 1 is in interference fit with the outer surface of the shaft sleeve, the inner surface of the shaft sleeve is in clearance fit with the shaft, the shaft is in interference fit with the hole at the end part of the hip joint module 2, the relative rotation of the hip joint module 2 and the knapsack module 1 is realized, and the other end of the thigh module 3 is connected in a revolute pair mode; the other end of the thigh module 3 is fixedly connected with one end of the knee joint upper connecting rod 41; thigh straps are fixed on the thigh module 3; the other end of the knee joint upper connecting rod 41 is respectively connected with one end of a knee joint left rocker 44 and one end of a knee joint right rocker 45 in a revolute pair mode; one end of the knee joint lower connecting rod 43 is fixedly connected with one end of the lower leg module 5, and the other end is respectively connected with the other end of the knee joint left rocker 44 and the other end of the knee joint right rocker 45 in a revolute pair mode; the other end of the lower leg module 5 is connected with one end of the ankle joint module 6 in a revolute pair mode; a shank strap is fixed on the shank module 5; the other end of the ankle joint module 6 is fixedly connected with the foot module 7; the foot module 7 is fixed with a foot binding band; one end of the rear connecting rod 8 is connected with the backpack module 1 in a revolute pair mode, and the other end of the rear connecting rod is respectively connected with one end of the energy storage module 9 and one end of the knee joint rear connecting rod 42 in a revolute pair mode; the other end of the knee joint rear connecting rod 42 is connected with the middle part of the knee joint left rocker 44 in a revolute pair mode; the other end of the energy storage module 9 is fixedly connected with the foot module 7.
The knapsack module 1 is used for placing a weight to be carried; the waist strap is fixed on the knapsack module 1 through the waist strap connecting hole 14 and the screw and is used for fixing the waist of a human body;
the thigh module 3 is of a telescopic structure, and can be connected by two connecting plates through waist-shaped holes to realize adjustable length so as to adapt to the thigh length of a user; the thigh binding belt is fixed on the thigh module 3 through thigh binding belt connecting pieces 11 and screws and is used for fixing human thighs;
the knee joint module 4 forms a double-rocker structure, and the instantaneous center track of the knee joint lower connecting rod 43 relative to the knee joint upper connecting rod 41 is the instantaneous center track of the lower leg module 5 relative to the thigh module 3, and the instantaneous center track of the lower leg module 5 relative to the thigh module 3 is close to the ideal instantaneous center track of a human body. In fig. 4, the dashed line represents the instantaneous locus of the knee joint module 4 of the present application, and the straight line represents the theoretical instantaneous locus of the knee joint of the human body. As can be seen from fig. 4, the instant center track of the knee joint module 4 of the present application fits well with the theoretical instant center track of the knee joint of the human body, and the coordination between the exoskeleton and the leg of the human body is improved.
The rod lengths of the knee upper link 41, the knee rear link 42, the knee lower link 43, the knee left rocker 44 and the knee right rocker 45 are optimized, specifically:
1. establishing an exoskeleton mathematical model, and calculating the functional relation between the instantaneous center track of the knee joint with the rod length parameters of the knee joint upper connecting rod 41, the knee joint rear connecting rod 42, the knee joint lower connecting rod 43, the knee joint left rocker 44 and the knee joint right rocker 45;
2. converting the coordinate system, and converting the functional relation in the absolute coordinate system into a local coordinate system;
3. the sum of the coordinate square difference of the theoretical instantaneous center track and the calculated track of the knee joint of the human body is taken as an objective function, standing stability conditions, double-rocker kinematic conditions, bionic conditions and transmission angle constraints are taken as constraint conditions, and the rod length parameters are taken as variables to be optimized, so that the rod length parameters with the minimum objective function are calculated.
(1) Standing stability condition: the lower limb exoskeleton needs to meet the following conditions: the supporting legs are positioned in the supporting phase, so that stability is required; the swing legs are located in the swing phase and need to be bent and stretched. Therefore, the instant center of the knee joint with variable axis needs to be higher than the physiological anatomic axis of the knee joint and located at a position behind the hip ankle line when the knee joint is in the fully extended position, so as to improve the stability of the knee joint. The tibia point height data is 444mm and the shank length is restrained by referring to the human body size parameters of the Chinese adult of the national supervision of the people's republic of China, GB/T10000-1988.
(2) Double rocker kinematic conditions: the kinematic characteristics of the double rocking bars are as follows: (1) the opposite pole of the shortest pole is a frame, and the sum of the lengths of the shortest pole and the longest pole is less than or equal to the sum of the lengths of the other two poles; (2) the sum of the lengths of the shortest rod and the longest rod is greater than the sum of the lengths of the other two rods.
(3) Imitative conditions: in the process of putting on the exoskeleton for movement of a human body, the instant center of the exoskeleton knee joint should not always exceed the knee joint space (in the sagittal plane) corresponding to the normal human leg, so that the requirement is met by limiting the rod length of the double-rocker mechanism and the thigh rod in combination with the structural size of the knee joint of the human body.
(4) Drive angle constraint: the size of the transmission angle varies during movement of the mechanism, but in order to ensure good transmissibility of the mechanism, a lower limit for the minimum transmission angle must be specified. The allowable drive angle of a typical machine is typically 40 °, the high speed high power machine is 50 °, and the low power machine is less than 40 °. The exoskeleton is not driven and has low speed, so the allowable transmission angle is 30 degrees.
The shank module 5 is of a telescopic structure, and can be connected by two connecting plates through waist-shaped holes to realize adjustable length so as to adapt to the shank length of a user; the shank strap is fixed on the shank module 5 through a shank strap connector 12 and screws and is used for fixing the shank of a human body;
the foot strap is fastened to the foot module 7 by means of the foot strap attachment holes 13 and screws for fastening the foot of a person.
The rear connecting rod 8 is of a telescopic structure, and can be connected by two connecting plates through kidney-shaped holes to realize adjustable length.
In the walking process, when the swing phase is changed into the support phase, the energy storage module 9 converts gravitational potential energy of the weight in the backpack module 1 and the human body into elastic potential energy for storage; when the next gait is changed from the supporting phase to the swinging phase, the energy storage module 9 releases the stored elastic potential energy, so that the energy required by the human body in the leg lifting process is reduced, and the effect of assisting the human body in loading is achieved. The energy storage module 9 is a variable stiffness spring with pretightening force.
The working principle and the working flow of the application are as follows:
starting to wear, adjusting the length of the thigh module 3 to be matched with the thigh length of a user; adjusting the length of the calf module 5 to match the calf length of the user; the sole of the user is placed on the foot module 7, and the foot binding band is fixed with the foot of the user through the foot binding band connecting holes 13; the thigh strap connecting piece 11 is provided with thigh straps which are fixed with thighs of a user, and the shank strap connecting piece 12 is provided with shank straps which are fixed with shanks of the user; the shoulder binding belt 10 is worn on the shoulders of a user, the waist binding belt connecting hole 14 is provided with a waist binding belt which is fixed with the waist of the user, the hip joint module 2 corresponds to the hip joint of the human body, the knee joint module 4 corresponds to the knee joint of the human body, the ankle joint module 6 corresponds to the ankle joint of the human body, and the correct position of the exoskeleton relative to the human body is ensured.
After the wearing is finished, the backpack is in a standing posture at present, and the energy storage module 9 converts gravitational potential energy of the weight in the backpack module 1 and the human body into elastic potential energy for storage. The user starts walking and relies on the human body to provide torque, taking the example of taking the left leg as an initial step, the left foot is lifted, the phase change is changed into swing phase change by the support, meanwhile, the energy storage module 9 releases elastic potential energy, the thigh module 3 and the shank module 5 are respectively driven by the thigh binding 11 and the shank binding 12 to start moving, the thigh module 3 drives the knee joint upper connecting rod 41 to move, and the shank module 5 drives the knee joint lower connecting rod 43 to move. The knee joint upper connecting rod 41 and the knee joint lower connecting rod 43 move simultaneously, the knee joint left rocking rod 44 and the knee joint right rocking rod 45 are driven to move, the knee joint left rocking rod 44 drives the knee joint rear connecting rod 42 to move, and the knee joint rear connecting rod 42 drives the rear connecting rod 8 to move together with the energy storage element 9. The left foot falls to the ground, the swing phase is changed into the supporting phase, and the energy storage module 9 stores elastic potential energy to realize forward stepping of the left leg. The right leg is the same, so that the whole exoskeleton can drive the human body to move forward.
The application is applicable to the prior art where it is not described.
Claims (6)
1. A lower extremity exoskeleton with a variable axis knee joint, characterized in that the exoskeleton comprises a backpack module, a left portion and a right portion; the left part and the right part have the same structure and are symmetrically arranged at the lower part of the knapsack module; shoulder straps and waist straps are fixed on the backpack module;
the left part comprises a hip joint module, a thigh module, a knee joint module, a shank module, an ankle joint module, a foot module, a rear connecting rod and an energy storage module; the knee joint module comprises a knee joint upper connecting rod, a knee joint rear connecting rod, a knee joint lower connecting rod, a knee joint left rocker and a knee joint right rocker;
one end of the hip joint module is connected with the backpack module in a revolute pair mode, and the other end of the hip joint module is connected with one end of the thigh module in a revolute pair mode; the other end of the thigh module is fixedly connected with one end of the knee joint upper connecting rod; thigh straps are fixed on the thigh modules; the other end of the knee joint upper connecting rod is respectively connected with one end of the knee joint left rocker and one end of the knee joint right rocker in a revolute pair mode; one end of the knee joint lower connecting rod is fixedly connected with one end of the lower leg module, and the other end of the knee joint lower connecting rod is respectively connected with the other end of the knee joint left rocker and the other end of the knee joint right rocker in a revolute pair mode; the other end of the shank module is connected with one end of the ankle joint module in a revolute pair mode; the shank module is fixedly provided with a shank binding band; the other end of the ankle joint module is fixedly connected with the foot module; the foot module is fixed with a foot binding band; one end of the rear connecting rod is connected with the backpack module in a revolute pair mode, and the other end of the rear connecting rod is respectively connected with one end of the energy storage module and one end of the knee joint rear connecting rod in a revolute pair mode; the other end of the knee joint rear connecting rod is connected with the knee joint left rocker in a revolute pair mode; the other end of the energy storage module is fixedly connected with the foot module;
the thigh module is of a telescopic structure, and can be connected by two connecting plates through waist-shaped holes to realize adjustable length so as to adapt to the thigh length of a user; the shank module is of a telescopic structure, and can be connected by two connecting plates through waist-shaped holes to realize adjustable length so as to adapt to the shank length of a user; the rear connecting rod is of a telescopic structure, and the length of the rear connecting rod can be adjusted by adopting two connecting plates to be connected through kidney-shaped holes.
2. The lower extremity exoskeleton with the variable axis knee joint of claim 1 wherein the waist strap is secured to the backpack module through the waist strap attachment hole.
3. The lower extremity exoskeleton with the variable axis knee joint of claim 1 wherein said shank strap is secured to said shank module by a shank strap connector for securing a human shank.
4. The lower extremity exoskeleton with the variable axis knee joint of claim 1 wherein said thigh strap is secured to said thigh module with thigh strap connectors for securing the human thigh.
5. The lower extremity exoskeleton with the variable axis knee joint of claim 1 wherein the foot straps are secured to the foot module through the foot strap attachment holes for securing the human foot.
6. The lower extremity exoskeleton with the variable axis knee joint of claim 1 wherein said energy storage module is a variable stiffness spring with a preload.
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| CN111015726A (en) * | 2019-12-10 | 2020-04-17 | 长春工业大学 | But bionical machinery knee joint of auto-lock based on tension structure |
| CN113545956B (en) * | 2021-06-01 | 2023-10-20 | 深圳大学 | Personalized and customized high-compliance knee exoskeleton design method |
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| CN209850913U (en) * | 2019-04-15 | 2019-12-27 | 河北工业大学 | Lower limb exoskeleton with variable-axis knee joint |
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