CN110022799B - 单向致动的外骨骼设备 - Google Patents
单向致动的外骨骼设备 Download PDFInfo
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- CN110022799B CN110022799B CN201780074070.3A CN201780074070A CN110022799B CN 110022799 B CN110022799 B CN 110022799B CN 201780074070 A CN201780074070 A CN 201780074070A CN 110022799 B CN110022799 B CN 110022799B
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Abstract
本发明涉及一种自主外骨骼设备(30),该自主外骨骼设备包括一个或多个致动器、一个或多个控制器(15)、具有一个或多个单向传动机构的一个或多个传感器(7,8,16,17)。本发明提供了一种与生物关节平行的机械关节。所述外骨骼设备(30)优选地包括电机(1)和绞盘、链条、皮带、凸轮传动机构或其他机构(3),以用于提供单向力来帮助绕生物关节旋转。而且,控制器(15)、电机角度传感器(16,17)、关节角度传感器(7,8)和/或力传感器可以用于附加控制和监控设备(30)。电机(1)可以是任何类型的电机,但是在电机的直径大于电机的长度的构型中优选是无刷的,以提供紧凑且重量轻的外骨骼设备(30)。
Description
相关申请的交叉引用
本专利文件要求2016年10月13日提交的美国临时专利申请第62/407,671号和2016年12月13日提交的美国临时专利申请第62/433,357号的优先权,它们的全部内容通过援引并入本文。
政府支持
本发明是在美国陆军的W911QY-16-C-0072下由美国政府支持下做出的。
发明背景
本发明总体上涉及一种外骨骼,一种由人穿戴以增强身体能力的设备。外骨骼可以被认为是被动的或主动的。被动设备不需要能源,诸如电池。主动设备需要能源以向电子装置(并且通常是一个或多个致动器)提供动力。期望的是,外骨骼尽可能重量轻,因为使用者必须随身携带并移动设备。还期望的是,这些设备能够向人体提供大量的力、扭矩和/或动力,以帮助运动。低质量与高力/扭矩/动力的这两个要求通常是竞争性需求,并且必须作出设计上的折衷。另外,很难对人体施加大的力和扭矩。人体的肌肉骨骼系统能够经受难以置信的扭矩量和力量,但是身体的外部不习惯承受类似量级的力/扭矩。除了重量轻且能够产生高的力/扭矩/动力,外骨骼还应该在向人类传递能量方面是舒适并高效的。另外,该设备不应干扰身体的自然运动范围。
还期望的是,主动外骨骼的能量效率高且易于控制。主动外骨骼需要能源来向电子装置、传感器、以及通常是致动器提供动力。通常,电池与电机一起使用。然而,压缩空气也可以用来向气动外骨骼提供动力。外骨骼应该尽可能高效地将能源转化为有用的机械力/扭矩/动力。由于使用者也经常需要携带能量源,所以高效的设备使设备较轻,是主要的设计目标。机载电子装置允许设计者控制外骨骼,但可以机械地设计设备以允许更容易控制。例如,具有较低传动比的主动设备通常更容易控制和反向驱动。输出力和扭矩传感器也可以用于使控制更容易。
发明内容
本发明保留了现有技术外骨骼设备的优点。此外,本发明提供了在目前可获得的外骨骼设备中没有发现的新优点,并克服了目前可获得的这种外骨骼设备的许多缺点。
本发明总体上涉及新颖且独特的外骨骼设计,其解决了与已知外骨骼设备相关的问题,这些问题涉及设备质量、力/扭矩/动力输出、舒适性、效率和可控性等设计挑战。
本发明提供了一种自主外骨骼,该自主外骨骼包括一个或多个致动器、一个或多个控制器、一个或多个具有一个或多个单向传动装置的传感器。本发明还提供了一种与生物关节平行的机械关节。外骨骼设备优选包括电机和绞盘、链条、皮带、凸轮传动装置或其他用于提供单向力的机构。而且,可以提供控制器、电机角度传感器、关节角度传感器和/或力传感器。电机可以是任何类型的电机,但是优选地在它的直径大于它的长度的构型中是无刷的。
因此,本发明的目的是提供一种新颖外骨骼设备,该外骨骼设备紧凑、重量轻且制造成本低,但动力强大且易于控制,以解决与现有技术外骨骼设备相关联的问题。
附图说明
所附权利要求中阐述了本发明特有的新颖特征。然而,通过参考以下结合附图的详细说明,将最好地理解本发明的优选实施例连同进一步的目的和伴随的优点,在附图中:
图1是本发明的外骨骼设备的透视图;
图2是图1的本发明的外骨骼设备的反向透视图;
图3是图1的本发明外骨骼设备的反向透视图,其中出于说明目的移除了各种部件,以示出在踝关节处传动皮带与传动卷轴的附接;
图4是图1的本发明的外骨骼设备的分解透视图;
图5A至图5C示出了本发明的外骨骼设备的正视图,其中踝关节的外翻和内翻程度不同;
图6A至图6C示出了本发明的外骨骼设备的正视图,其中踝关节背屈程度不同;
图7是图1的本发明的外骨骼设备的反向透视图,其中出于说明目的移除了各种部件以示出驱动传动卷轴的电机;以及
图8是用于膝关节处的本发明的外骨骼设备的替代性实施例的透视图。
具体实施方式
首先参照图1至图4和图7,示出了本发明的外骨骼30的细节。图1和图2从外部示出了外骨骼30的两个不同的透视图。在图3和图7中示出了不同部件的细节,其中出于说明的目的移除了各种部件。
参考图1和图2,外骨骼30总体上示出了柄管24,该柄管24具有位于下端部的内侧踝关节轴承壳体26和位于在其顶部的内侧致动器壳体22。如将结合图2讨论的那样,电机1位于在其上包括控制电子装置盖20的外侧致动器壳体19中。小腿附件11附接到内侧致动器壳体22,以将外骨骼的上部部分固定到使用者腿部的小腿部分上。这种附件的细节结合下面的图5A至图5C和图6A至图6C示出。小腿附件11优选地包括用于附加定制调节的胫骨垫14以及胫骨滑动件12和胫骨防护件13,以为使用者提供更好的缓冲和舒适性。如在所本领域公知的,小腿附件的部件可以调节以提供紧密但不收缩的配合。
结果,这种附接向腿的前部部分传递法向力,其重量轻、容易且快速地固定及调节,能够适应于许多腿的大小和形状,具有最小的体积以避免干扰其他装备的部件,不限制运动范围(最小的内侧突、前突和后突),可以用覆盖裤子,并且对使用者来说是舒适的。
内侧踝关节轴承壳体26包括外侧踝关节轴承壳体25,该外侧踝关节轴承壳体枢转地将踝关节横向构件5容纳在其中。杠杆臂4的自由端固定至关节横向构件5上。因此,踝关节的背屈运动引起踝关节杠杆臂4相应地移动,即在图2中示出的方向A上移动。总体上附图标记为6的复合脚踏板具有多个部件。该复合脚踏板包括承窝部分6a、竖直连接器部分6b和复合柄6c。通过复合脚踏板6的圆形自由端6a以圆柱形轴与承窝型枢转互连6a的方式而在踝关节横向构件5内的枢转动作(即在图1和图2示出的方向B上)可以使踝关节外翻和内翻。
杠杆臂4的下自由端4b固定连接至踝关节横向构件5,而杠杆臂4的上自由端4a连接至传动皮带3。杠杆臂4优选具有成50度角的向上角度,从而它不会突出超过在脚跟后部处的竖直平面。这种角度调节也改进了可变传动曲线。
传动皮带3绕由电机1驱动的传动卷轴2缠绕和退绕,如在图3所示,为了说明的目的,已经移除了内侧致动器壳体22。随着在图3中移除壳体22,可以看到控制电子装置15和电源插口18驻留在其中。
现在参考图4,示出了本发明的外骨骼30的分解图。脚踝电机1安装在内侧致动器壳体22与外侧致动器壳体19之间,即在外侧致动器壳体19的座19a内。控制电子装置15安装在外侧致动器壳体19的外表面上并且盖20固定在其上。提供电机角度传感器磁体座16以携带电机角度传感器磁体17。电源插口18也安装至外侧致动器壳体19。传动卷轴2固定在电机1上,从而电机1的旋转使传动卷轴2旋转。内侧电机轴承21也设置在卷轴2与内侧致动器壳体22之间,以用于改进平滑操作。自由端2a延伸但与内侧致动器壳体的内表面22a留出间隙,其中传动皮带3的自由端3a附着在该自由端2a上。因此,如以下将描述的,传动卷轴2的旋转引起传动皮带3在绕传动卷轴2缠绕和退绕时被缠绕和拉出。如需要的话,可以改变传动卷轴2的配置。例如,可以根据需要而改变传动卷轴2的直径、长度、轮廓和偏心率,以实现传动皮带3所需的缠绕和退绕动作。
小腿附件11通过紧固件11a而紧固至内侧致动器壳体22。胫骨缓冲垫14、胫骨防护件13和胫骨滑动件12可调节地彼此相互连接,以将外骨骼30的上部部分固定到使用者的身体,诸如腿部的小腿。可以可替换地使用其他结构和配置来固定外骨骼30,如所期望的那样。
仍然参照图4,柄管24包括柄管上套圈23A,以使柄管能够安装在外侧致动器壳体19与内侧致动器壳体22之间。部柄管下套圈23B使得柄管24的下部部分能够固定在外侧踝关节轴承壳体25与内侧踝关节轴承壳体26之间。
踝关节横向件5包括底部承窝5c和在其顶部处的枢轴构件5b。当柄管24固定至外侧踝关节轴承壳体25和内侧踝关节轴承壳体26上时,踝关节横向件5枢转地连接至外侧踝关节轴承壳体25和内侧踝关节轴承壳体26,其中枢轴凸起部5b经由内侧踝关节轴承10位于关节轴承壳体26的座26a内。在相反侧提供另一枢轴凸起部5c,其经由外侧踝关节轴承9而与外侧踝关节轴承壳体枢转地连通。提供了踝关节角度传感器7和踝关节角度传感器磁体8,以用于感测脚踝杠杆臂4相对于柄管24和使用者的小腿位置的旋转移动。
踝关节横向件还包括承窝5a,以枢转地收纳复合脚踏板6的圆柱体6a,该复合脚踏板还包括连接器构件6b和复合柄6c,该复合柄可以收纳鞋类的鞋底或者可以直接结合到鞋类的鞋底中(在图4中未示出)。踝关节横帽27设置在其自由端上。如以上在图1和图2中所讨论的,这种圆柱体与承窝配置允许踝关节外翻和内翻。这种能力的进一步的细节在图5A至图5C中示出,其中由于圆柱体与承窝装置在箭头所示方向上的移动而允许踝关节的外翻和内翻移动以及进而鞋类32的外翻和内翻移动。
图7示出了根据本发明的外骨骼的替代性实施例230,其为了说明的目的,已经移除了许多部件的。例如,相对于脚踏板206旋转的外翻和内翻旋转关节205可以被配置为叉形关节,其中脚踏板206接纳带有传感器207的柄208的自由端。踝电机201可以并入到柄208的相反自由端,以使传动卷轴202旋转。杠杆臂204可以枢转地连接至脚踏板的区域,以随着身体关节的移动提供期望的旋转方向,其中传动皮带203从传动卷轴202缠绕和退绕。
图8示出了本发明的提供了适合在膝关节处使用的外骨骼的进一步替代性实施例。设有传动卷轴101的电机100通过大腿附件110和柄附件111固定至使用者。刚性柄壳体109连接至柄附件111,其中柄壳体109枢转地连接至与膝关节的旋转轴线114同轴的关节滑轮105。刚性大腿壳体102将电机100枢转地连接至关节滑轮105。提供膝弯曲皮带104,其在113处连接至传动卷轴101并且在115处连接至关节滑轮。还提供了膝伸展皮带108,该膝伸展皮带在112处连接至传动卷轴并且在116处连接至关节滑轮。当膝伸展皮带108接合时,膝弯曲皮带104表现为松弛。当膝伸展皮带108脱离并松弛时,膝弯曲皮带103接合,如在虚线所示。因此,在该实施例中,可以实现在伸展和弯曲方向上的双单向控制。
根据本发明,在可以在图5A至图5B中最清楚地看到的操作和使用中,如上所述,小腿附件11附接至使用者腿部212的胫骨210,以固定至位于腿部212的外侧的刚性结构(诸如柄管24)。可以提供经集成应变计(或任何其他力传感器),以用于测量施加到腿部212的力。在图1至图3和图4中详细示出的关节结构可以是简单的旋转关节或更复杂的关节组合,诸如具有不同旋转轴线的两个旋转关节,以允许自然的脚移动,诸如跖屈、背屈、旋转、外翻和内翻。优选的实施例30包括具有不同旋转轴线的这样多个关节。复合脚踏板6的复合柄6c优选地集成到鞋类(诸如靴子32)中,其中具有允许在背屈和跖屈方向上绕踝关节施加力矩的外部结构。复合柄6c还可以直接集成到鞋的鞋底中。例如,碳纤维复合柄6c可以集成到靴子的鞋后跟等中。可替代地,一体脚后跟板也可以具有从脚后跟伸展到前脚的延伸部(未示出),允许向脚施加大的力矩。
复合脚踏板6的复合柄6c优选地直接集成到鞋的鞋底32中。复合脚踏板6将致动器产生的力传递到地面和使用者的脚33中。脚踏板6的功能可以分离成两个一般功能,1)与脚33相互作用,2)与外骨骼30的致动器相互作用。
优选地,复合脚踏板6直接集成到鞋底34中,位于与地面相连接的橡胶外鞋底与将脚踏板6和脚33分离的软泡沫鞋底35之间。脚踏板6必须将致动器的力传递到地面和使用者的脚33中,同时保持柔性和舒适。这是利用厚度可变的碳纤维复合脚踏板6来实现的。脚踏板6优选地在脚33的脚后跟下大约3mm厚,并且在脚趾下变薄至大约1毫米。脚踏板6的变薄允许脚趾弯曲,同时也储存和释放弹性能量。单向碳纤维层沿着脚33的长轴铺设,以提供强度。编织碳纤维外层用于获得复合材料稳定性并且用于适应扭曲负荷。
脚踏板6的厚度可以调节以适合当下的应用。脚踏板6、特别地是复合柄部分6c应该尽可能坚硬,以有效地将外骨骼扭矩传递给脚33,但是它也必须具有足够的柔性,以保持脚的自然运动范围。目前的标准军用靴,诸如McRae热天气用靴,比典型的标准民用靴坚硬得多。这部分是由于集成到鞋底中的复合柄产生的。复合柄提供刚性拱形支撑并保护脚33避免反复接触锋利物品。定制的碳纤维脚踏板集成到更轻且更灵活的战术靴中,诸如RockyElements ofService。根据本发明,本发明的碳纤维柄插入件6c替代了已知的复合柄,并且将提供许多与在McRae靴中的复合柄相同的功能,同时还与外骨骼30相连接。因此,本发明的外骨骼30可以容易地并入到现有鞋类32中。
此外,概括称为6的复合脚踏板的第二功能是连接外骨骼30并与其相互作用。如上文讨论的,外骨骼30包括电机1、电子装置15、传动卷轴2以及杠杆4。竖直连接构件6b在脚后跟下方从脚踏板柄6c的外侧延伸。竖直连接件6b还包括用于背屈和跖屈的轴承。因此,复合脚踏板6优选地被制造为在脚踏板6c与竖直连接构件6b之间具有限定的角度的实心整体构件。这种角度可以如所期望的那样改变,以适合给定的解剖学并提供最佳对齐。可以提供定制的复合脚踏板构型来适应任何单一使用者。
因为竖直连接构件6b包括圆柱体和承窝接合连接,所以可以提供外翻和内翻移动以及适应这种外翻和内翻运动的自由度,如图5A至图5C中最佳看到的。踝关节横向构件5还刚性地连接至杠杆4。根据本发明,这使得电机1能够驱动传动卷轴2以缠绕传动皮带3,这进而致动杠杆4,引起杠杆4和连接的踝关节横向件5跖屈。然后,跖屈踝关节横向件5在脚踏板6c上施加这些力,同时仍然允许脚踏板6c外翻或内翻。铰接式外翻/内翻关节增大了一些质量和复杂性,但它允许所期望的自由外翻/内翻运动,并适于任何使用者,而不会施加中性位置力。这种铰接式外翻/内翻关节也简化了竖直连接构件6b的几何结构,因为它不再需要在外翻/内翻方向上是柔性的。另外,杠杆臂4集成到踝关节横向构件5中/与其连接,而不集成到复合脚踏板6中,从而简化了脚踏板的制造过程。外翻/内翻铰接式关节可以适应由人的踝实现的全部运动范围。
铰接式外翻/内翻能够使外骨骼迅速被除去。踝关节横向件5滑入竖直连接构件6b中,然后用几个固定螺钉来固定。螺钉可以用锁定特征(诸如拇指螺钉、磁性锁定特征等(未示出))来代替。一旦锁定特征脱离,脚踏板部分6可以脱离。由于杠杆臂4和背屈/跖屈关节不再集成到复合脚踏板6中,所以脚踏板6与常规靴子的不同之处仅在于它包括竖直连接构件6b,该竖直连接构件可以是大约70mm高、35mm宽、5mm厚,并且位于背离脚的外侧大约20mm远。如果不需要外骨骼能力,可以仅穿着具有最小的效果的具有复合踏板6的鞋32。快速地将外骨骼30的上部部分与鞋分开并且保持脚踏板6完好在操作者需要快速移除外骨骼的情况下是有价值的。
外骨骼30使用在图4中和图7的201所示的电机1来驱动单向致动器。电机由电源驱动,诸如电池(未示出)。这种单向致动器是可以在一个方向上施加力或扭矩而在相反方向上施加很小或不施加力或扭矩的致动器。如果期望的话,本发明的单向致动器可以仅对某个运动范围是单向的。如在图1至图4所示,脚踝传动皮带3是单向致动器的一个优选实施例,因为当这种传动皮带3缠绕到传动卷轴2上时其仅能拉动,并且随着其从传动卷轴2被放出而不能推动。可以与本发明一起采用的单向致动器(未示出)的其他示例是绞盘、5杆联动装置、具有5个或更多杆的联动装置、其中一个连杆是线弦或缆绳的4杆联动装置、其中一个连杆是线或缆绳的5杆联动装置、具有未捕获随动件的凸轮、具有滑动离合器的旋转致动器、机械特征在一个方向上干扰传递扭矩但在相反方向上不干扰传递扭矩的旋转致动器、拉动线或缆绳的线性致动器以及推动机械特征而不连接的线性致动器等。这些替代方案被认为在本发明的范围内。
根据本发明,传动皮带3增加了单向性的范围,但是不要求是柔性的。另外,传动皮带3可以本质上是弹性的,储存张力能量。虽然电机1被示出为直接驱动传动卷轴2以收紧传动皮带3,但是也可以在电机和卷轴之间使用传动机构。例如,在许多活动期间,当关节伸展或弯曲时,人体施加更大的扭矩。可变的传动机构可以用于在典型地需要更大扭矩水平的角度区域期间增大传动比。例如,在踝外骨骼的情况下,联动装置可以被设计成具有与踝背屈相比更高的传动比。可以使用各种其他传动机构,并且仍然在本发明的范围内。这些包括具有可变的半径卷轴的绞盘、具有可变的半径的正时皮带滑轮、具有可变半径的链条和链轮以及凸轮和跟随器配置。
参照图5A至5C和图6A至6C,可以看出的是外骨骼30没有从主体的前部表面突出。嵌入式脚踏板6在足跟的下方施加力,并抵靠前足旁边的地面。如上文描述的,皮带和链条可以以类似于使用绞盘的方式使用。在本发明的优选的实施例30中,采用了传动装置3。更具体地,传动皮带3绕由电机1驱动的传动卷轴2缠绕。电机1以单向的方式向传动皮带3施加张力,即,当传动皮带3绕传动卷轴被收紧时。另外,传动卷轴2的半径可以被配置用于实现特定的力分布。这些仅仅是可以用于实行本发明的许多不同配置和机制中的一个。
更具体地,本发明的外骨骼30使用单向传动卷轴致动器,其中传动卷轴2收紧皮带。虽然传动卷轴2优选地为非偏心的,但是它可以被偏心地配置代替。如果使用传动卷轴的偏心旋转中心,在经缠绕的传动皮带3变得越来越大和越来越小时,可变传动比可以实现而超过传动比的改变(如果期望的话)。
图6A示出了本发明的外骨骼30的优选实施例的侧视图。杠杆臂4的在外侧踝关节轴承壳体25和内侧踝关节轴承壳体26内的致动器区域处于最极端的背屈角度。传动皮带3用销连接或刚性地连接至传动卷轴20。图6B示出了本发明的外骨骼30的侧视图。致动器处于小背屈角度或无背屈角度。图6C是外骨骼30的侧视图,其中外骨骼30在传动皮带3绕传动卷轴2部分地缠绕的情况下致动了某一跖屈角。由于传动皮带3用销连接或刚性地连接至传动卷轴2,因此它只能施加跖屈扭矩,而不能施加背屈扭矩。作为电机1接合的结果,传动皮带3绕传动卷轴缠绕以收紧传动皮带3。当传动皮带3绕传动卷轴2缠绕时,传动比可以被配置为在传动卷轴2旋转时减小。
进一步应当注意的是,图6A示出了外骨骼30和靴子32的侧视图,其中外骨骼被致动处于最极端的背屈角度。单向传动皮带3固定至半径可变的传动卷轴2,并且仅可以施加张力。在半径可变的传动卷轴2旋转时,最终的卷轴的半径增大,从而减小总传动比。半径可变的传动卷轴2由优选地无刷电机1驱动。单向传动皮带3被示出为皮带,但是它也可以是正时皮带、绳子、一系列平行绳子、扁平纤维增强皮带(纤维被诸如氨基甲酸酯、聚氨酯、硅树脂或氯丁橡胶的耐磨橡胶包围)、扁平钢带或能够缠绕在小直径卷轴(诸如小于50mm的卷轴)上并且能够承受高张力(诸如大于200N)的任何其他柔性结构。在图6B中,外骨骼30和靴子32被定位成处于中性角度。图6C示出了处于最极端跖屈角度的外骨骼。
由于使用了缠绕在自身上的皮带,因此增大了整个卷轴的直径,这减小了传动比。因此,减小皮带的厚度也减小了对传动比的影响,但是它总体上也减小了皮带的强度。因此,由于峰值扭矩出现在最大背屈期间并且在跖屈期间减小,因此在设备跖屈时减小传动比可以提高效率。
总体上来说,电机1可以直接连接至传动卷轴3或者首先连接至减速传动机构,诸如齿轮传动机构、滑轮传动机构、正时皮带传动机构、摆线传动机构、摩擦传动机构或谐波传动机构。虽然本发明可以使用任何类型的电机,但优选使用定制的电机1,诸如具有FlexSEA-Rigid电子装置的D8.0电机。定制的D8.0电机具有在17.2mm的范围内的厚度,非常适合用于本发明使用。另外,该电机包括减小传动卷轴2的长度和电子装置15的厚度的特征。D8.0电机已经增大了致动器的功率密度,以限制设备的侧向突出,这对于本外骨骼30特别有利。电机1的轴线值得注意地是垂直于腿部的主轴线,并且垂直于矢状平面。电子装置(诸如FlexSEA-Rigid电子装置)附接至电机1的侧向侧。
在使用中,电机1由机载控制电子装置15和电池(未示出)供电并控制。电机1的角度利用电机角度传感器16、17测量,并且踝输出关节的角度优选利用分离的角度关节传感器7、8测量。传感器可以是任何类型的传感器,诸如光学编码器、磁角度传感器、霍尔效应传感器、电位计、电容传感器、电感传感器或线性可变差动变压器(LVDT)。
当致动器接合并施加扭矩时,电机角度传感器16、17和脚踝角度传感器7、8优选地相关,但是当致动器未接合时,是独立的。因此,在操作期间,控制电子装置15控制绕传动卷轴的传动皮带的收紧和松开。外骨骼30的不同部件电互连至控制电子装置15,因此它们可以根据需要被控制和监控。例如,传感器、电机1和电源(诸如电池(未示出))均电连接至控制电子装置15,由此,在传感器的辅助下,经由电机1的传动皮带3的这种收紧和松开可以正时或与使用者的步态同步,使得跖屈扭矩可以由外骨骼在适当的时间施加,以使用扭矩所产生的功来辅助关节的跖屈,进而又促进了行走。
例如,控制电子装置15可以被编程为执行不同的任务,诸如惯性传感器读数、在微控制器之间的时钟同步、串行和I2C通信、非易失性存储器接口等。这些特征使更好的高级控制器成为可能。例如,168MHz Cortex-M4F STM32F427控制器可以用于实施可用于执行与外骨骼30的控制相关的高级算法的计算循环。现场可编程门阵列(FPGA)、复杂可编程逻辑器件(CPLD)、专用集成电路(ASIC)和图形处理单元(GPU)也可以用于硬件数学加速和控制。这也使得能够实时使用机器学习技术。
所描述的外骨骼可以穿戴在一条腿上或两条腿上。当外骨骼以双向构型穿戴时,两个外骨骼可以利用有线或无线通信协议进行通信,出于控制和遥测的目的来共享状态信息。
本领域技术人员应当理解,在不脱离本发明精神的情况下,可以对所示实施例进行各种改变和修改。所有这些修改和变化的意图是由所附权利要求覆盖。
Claims (17)
1.一种用于绕身体关节的轴线产生扭矩的生物力学关节,所述生物力学关节包括:
柄管(24),所述柄管(24)具有位于其第一端内侧的内侧致动器壳体(22)、位于其第一端外侧的外侧致动器壳体(19)、位于其第二端内侧的内侧踝关节轴承壳体(26)和位于其第二端外侧的外侧踝关节轴承壳体(25),其中所述内侧致动器壳体(22)附接到小腿附件(11)用于连接到使用者腿部(212)的胫骨(210);
脚踏板(6);
其中所述柄管(24)和所述脚踏板(6)通过踝关节横向构件(5)枢转地彼此连接;
电机(1),所述电机(1)具有电机旋转轴线;所述电机附接至所述柄管(24);所述电机旋转轴线竖直于所述胫骨(210)的主轴线;所述电机被配置和布置为具有单向传动机构;
连接到所述踝关节横向构件(5)的杠杆臂(4);
其中所述单向传动机构连接在所述电机(1)和所述杠杆臂(4)之间;
其中所述内侧踝关节轴承壳体(26)通过具有第一旋转轴的第一旋转关节枢转的连接到所述踝关节横向构件(5),并且其中所述脚踏板(6)通过具有第二旋转轴的第二旋转关节枢转的连接到所述踝关节横向构件(5),所述第二旋转轴垂直于所述第一旋转轴。
2.如权利要求1所述的生物力学关节,其中,所述第一旋转关节包括旋转编码器。
3.如权利要求1所述的生物力学关节,其中,所述第一旋转关节包括多个轴承。
4.如权利要求1所述的生物力学关节,其中,所述生物力学关节的质量被配置位于胫骨和脚的外侧、前侧和/或后侧。
5.如权利要求1所述的生物力学关节,其中,所述单向传动机构包括绞盘和绳子,其中,所述绞盘被配置为缠绕所述绳子。
6.如权利要求5所述的生物力学关节,其中,所述绳子具有平行或加捻纤维。
7.如权利要求5所述的生物力学关节,其中,所述绳子由以下材料制成:UHMWPE。
8.如权利要求5所述的生物力学关节,其中,所述绳子是纤维的复合材料并且携带橡胶或塑料的柔性涂层。
9.如权利要求5所述的生物力学关节,其中,所述绳子由卷轴缠绕和携带。
10.如权利要求9所述的生物力学关节,其中,所述卷轴是可拆卸的,并且所述绳子是可替换的。
11.如权利要求5所述的生物力学关节,其中,所述绳子被配置为带。
12.如权利要求5所述的生物力学关节,其中,所述绳子被配置为皮带。
13.如权利要求1所述的生物力学关节,其中:
所述踝关节横向构件(5)包括承窝(5a)和枢轴构件(5b);
所述脚踏板(6)包括承窝部分(6a);
所述脚踏板(6)的承窝部分(6a)枢转的连接到所述踝关节横向构件(5)的所述承窝(5a),形成所述第二旋转关节;并且
所述杠杆臂(4)连接到所述踝关节横向构件(5)的枢轴构件(5b),形成所述第一旋转关节。
14.如权利要求5所述的生物力学关节,其中,所述绳子由以下材料制成:DYNEEMA。
15.如权利要求5所述的生物力学关节,其中,所述绳子由以下材料制成:KEVLAR。
16.如权利要求5所述的生物力学关节,其中,所述绳子由以下材料制成:SPECTRA。
17.如权利要求5所述的生物力学关节,其中,所述绳子由以下材料制成:VECTRAN。
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EP4257106A2 (en) | 2023-10-11 |
KR102258571B1 (ko) | 2021-05-31 |
EP4257106A3 (en) | 2024-05-08 |
JP6945637B2 (ja) | 2021-10-06 |
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