CN110638605B - Rigid and soft integrated lower limb exoskeleton - Google Patents
Rigid and soft integrated lower limb exoskeleton Download PDFInfo
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- CN110638605B CN110638605B CN201910846107.0A CN201910846107A CN110638605B CN 110638605 B CN110638605 B CN 110638605B CN 201910846107 A CN201910846107 A CN 201910846107A CN 110638605 B CN110638605 B CN 110638605B
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Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0218—Drawing-out devices
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/01—Constructive details
- A61H2201/0192—Specific means for adjusting dimensions
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1238—Driving means with hydraulic or pneumatic drive
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/164—Feet or leg, e.g. pedal
- A61H2201/1642—Holding means therefor
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- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/165—Wearable interfaces
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/10—Leg
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A50/00—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE in human health protection, e.g. against extreme weather
- Y02A50/30—Against vector-borne diseases, e.g. mosquito-borne, fly-borne, tick-borne or waterborne diseases whose impact is exacerbated by climate change
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- Pain & Pain Management (AREA)
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- General Health & Medical Sciences (AREA)
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Abstract
The invention provides a rigid-soft integrated lower limb exoskeleton, which comprises a hip joint pneumatic soft driver, a knee joint pneumatic soft driver, an ankle joint pneumatic soft driver, a waist rigid connecting rod, a thigh rigid connecting rod, a shank rigid connecting rod, a foot rigid connecting rod, a waist wearing mechanism, a thigh wearing mechanism, a shank wearing mechanism and a foot wearing mechanism, wherein: each joint pneumatic soft driver adopts an elliptic cylindrical or elliptic annular structure with double-layer air bags to inflate different air bags to realize bidirectional bending deformation; the rigid connecting rod connects the pneumatic soft drivers of all joints, and a wearing mechanism is arranged on the rigid connecting rod and is used for wearing the exoskeleton on a human body; the bending deformation and bending moment of the joint pneumatic soft driver are transmitted to the lower limbs of the human body through the rigid connecting rod and the wearing mechanism, so that the rotation of the joints of the lower limbs of the human body is driven, and the aim of assisting the movement of the lower limbs of the human body is fulfilled.
Description
Technical Field
The invention relates to a wearable auxiliary robot in the technical field of soft robots, in particular to a rigid-soft integrated lower limb exoskeleton.
Background
In recent years, soft robots are becoming hot research objects in the technical field of robots, and compared with traditional rigid robots, soft robots have good flexibility, can realize self-adaption to environments and operation objects without complex control algorithms, can avoid human injury caused by collision and damage to articles and robots, and have great application prospects in the medical fields of minimally invasive surgery, rehabilitation and the like.
The wearable auxiliary robot is mainly used for being worn on a human body to assist the human body to exercise, for example, assisting a stroke patient to perform long-term autonomous limb rehabilitation training, and has a good application prospect in the aspect of rehabilitation. The traditional wearable Kang Fuchu robot is of a full-rigid structure and driven by a motor, and has the problems of heavy weight, poor flexibility, joint axis alignment and the like although the driving force is large. Recently developed soft robots provide a good solution for wearable auxiliary robots, and a soft exoskeleton which is light, high in flexibility, comfortable to wear and adaptive to joint axes is formed.
The soft exoskeleton is made of soft materials such as silicone rubber, fiber, bowden wire and shape memory alloy, and is driven by air pressure, wire tension or electric heating effect. A lower limb soft exoskeleton exoscreen based on pneumatic artificial muscle driving and line driving, which is developed by Wehner et al at the university of Harvard in the United states, respectively simulates human tendons by using pneumatic artificial muscles and Bowden wires to drive human joints to move; a modularized air bag type elbow joint soft exoskeleton studied by Thalman et al at state university of Aristolochia in America adopts the inflation effect of an air bag to drive the bending of elbow joints of a human body, so that the robot can assist the human body in carrying out weight training; a pneumatic soft finger exoskeleton which is made of hot glued TPU synthetic cloth and is researched by the Yap et al of the national university of Singapore has the size and weight close to those of common gloves, is worn on the fingers of a stroke patient, and can assist the stroke patient to carry out rehabilitation training on the fingers. Based on pneumatic artificial muscle driving or wire driving soft exoskeleton, axial tension of up to 200N can be generated on limbs of a wearer, so that the joints of the wearer are pressed, and discomfort and even joint damage are easily caused. The bending driving soft exoskeleton with the full soft structure has the problems that the bending outline is inconsistent with the outline of the limb of the human body, larger constraint force is generated at the non-joint position, but the effective driving force at the joint position is smaller, the wearing comfort is poor, and the driving efficiency is low.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide the rigid and soft integrated lower limb exoskeleton, which can assist a wearer to perform joint movement and adapt to the change of the axis of the human joint at the joint of the human body through the combination of the joint pneumatic soft driver and the rigid connecting rod, and can enable the deformation profile of the lower limb exoskeleton to be consistent with the movement profile of the lower limb of the human body at the non-joint position, thereby improving wearing comfort and driving efficiency.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
the invention provides a rigid-soft integrated lower limb exoskeleton, which consists of a joint pneumatic soft driver, a rigid connecting rod and a wearing mechanism, wherein:
the soft driver comprises a hip joint pneumatic soft driver, a knee joint pneumatic soft driver and an ankle joint pneumatic soft driver;
the rigid connecting rod comprises a waist rigid connecting rod, a thigh rigid connecting rod, a shank rigid connecting rod and a foot rigid connecting rod;
the wearing mechanism comprises a waist wearing mechanism, a thigh wearing mechanism, a shank wearing mechanism and a foot wearing mechanism;
the hip joint pneumatic soft driver is connected between the waist rigid connecting rod and the thigh rigid connecting rod, the knee joint pneumatic soft driver is connected between the thigh rigid connecting rod and the shank rigid connecting rod, and the ankle joint pneumatic soft driver is connected between the shank rigid connecting rod and the foot rigid connecting rod; the waist wearing mechanism, the thigh wearing mechanism, the shank wearing mechanism and the foot wearing mechanism are respectively correspondingly arranged on the waist rigid connecting rod, the thigh rigid connecting rod, the shank rigid connecting rod and the foot rigid connecting rod and are used for wearing the exoskeleton on a human body; the hip joint pneumatic soft driver, the joint pneumatic soft driver and the ankle joint pneumatic soft driver can bend, deform and bend moment and respectively transmit the bending moment to the lower limb of the human body through the corresponding rigid connecting rod and the wearing mechanism, so that the lower limb joint of the human body is driven to rotate.
Preferably, the hip pneumatic soft driver assists the wearer in performing hip bending motions when bending forward of the wearer and assists the wearer in performing hip extension motions when bending rearward of the wearer; assisting the wearer in performing extension movements of the knee joint when the knee joint pneumatic soft driver is flexed forward of the wearer, and assisting the wearer in performing flexion movements of the knee joint when it is flexed rearward of the wearer; the pneumatic ankle soft driver assists the wearer in performing an ankle flexion movement when flexed toward the front of the wearer and assists the wearer in performing an ankle extension movement when flexed toward the rear of the wearer.
Preferably, the hip joint pneumatic soft driver, the knee joint pneumatic soft driver and the ankle joint pneumatic soft driver are respectively provided with double-layer air bags, and bidirectional bending deformation is realized by respectively inflating the air bags in the hip joint pneumatic soft driver, namely, one layer of air bags are inflated to enable the joint pneumatic soft driver to bend towards the other side of the air bags, so that the bending and stretching movement of the lower limb tube joint of a wearer is assisted.
Further preferably, the hip joint pneumatic soft driver and the knee joint pneumatic soft driver adopt elliptic cylinder structures, the ankle joint pneumatic soft driver adopts elliptic ring structures, and the natural bending angle of each joint pneumatic soft driver is adapted to the natural bending angle of each joint of a human body.
Preferably, a flexible non-stretchable layer is arranged on the adjacent surface between the two layers of air bags and used for limiting the elongation and the deformation of the hip joint pneumatic soft driver, the knee joint pneumatic soft driver and the ankle joint pneumatic soft driver.
Further preferably, the waist rigid link, the thigh rigid link, the shank rigid link and the foot rigid link are each internally provided with a length adjustment mechanism for adjusting the length of the rigid link to fit the body size of the wearer.
Still preferably, the waist rigid connecting rod, the thigh rigid connecting rod, the shank rigid connecting rod and the foot rigid connecting rod are respectively provided with a worm gear and worm screw type length adjusting mechanism, and the length of each rigid connecting rod is continuously adjusted by extending a worm gear driving worm so as to adapt to the body size of a wearer. The turbine can be driven by connecting an operation knob.
Preferably, the waist wearing mechanism, the thigh wearing mechanism, the shank wearing mechanism and the foot wearing mechanism are respectively mounted on the waist rigid connecting rod, the thigh rigid connecting rod, the shank rigid connecting rod and the foot rigid connecting rod, and respectively worn on the waist, the thigh, the shank and the foot of the lower limb of the human body.
Preferably, the pneumatic interfaces of the hip pneumatic soft driver, the knee pneumatic soft driver and the ankle pneumatic soft driver are respectively fixed on the waist rigid connecting rod, the thigh rigid connecting rod and the shank rigid connecting rod and are used for being connected with an external air source in an inserting mode.
Preferably, quick connectors are provided at the ends of each rigid link for interconnecting and disconnecting each rigid link to and from a corresponding pneumatic soft actuator of each joint.
Further preferably, the quick connector is a steel ball ferrule type quick connector installed at the end part of each rigid connecting rod, and quick connection and separation between each rigid connecting rod and each soft driver are realized through sliding of ferrules.
Compared with the prior art, the invention has at least one of the following beneficial effects:
1) The invention adopts the bending deformation of the pneumatic soft driver to drive the human body joint to move, has the advantages of light weight, high flexibility, good safety and self-adaption to the axis change of the human body joint, and overcomes the defect that the line driving generates pressing force on the human body joint and the problem of the alignment of the rigid exoskeleton axis.
2) The pneumatic soft drivers of all joints are connected through the rigid connecting rod, so that the outline of the whole rigid and soft integrated lower limb exoskeleton is consistent with that of the lower limb of a human body, the defect that the bending outline of the whole soft exoskeleton is inconsistent with that of the human body is overcome, and the wearing comfort and the driving efficiency of the exoskeleton are improved.
3) The invention realizes the bidirectional driving of the joints of the lower limbs of the human body through the double-air-bag structure of the pneumatic soft driver of each joint, can assist the joints of the lower limbs of the human body to carry out bending and stretching movements, and overcomes the defect that the linear driving soft exoskeleton can only drive unidirectionally.
4) According to the invention, the ankle pneumatic soft driver is designed into an elliptical ring shape different from the hip pneumatic soft driver and the knee pneumatic soft driver, so that the natural bending of the ankle pneumatic soft driver is consistent with the natural bending of the human ankle, and the wearing comfort of the exoskeleton is further improved.
5) According to the invention, through the quick connector, quick butt joint and separation of all modules of the exoskeleton are realized, the mounting difficulty of the exoskeleton is reduced, the mounting time of the exoskeleton is shortened, and the maintenance and replacement of all modules of the exoskeleton are convenient;
6) According to the invention, through the length adjusting mechanism, the continuous adjustment of the lengths of the rigid connecting rods of the exoskeleton is realized, so that the exoskeleton can adapt to wearers with different heights, and the universality of the exoskeleton is improved.
Drawings
Other features, objects and advantages of the present invention will become more apparent upon reading of the detailed description of non-limiting embodiments, given with reference to the accompanying drawings in which:
fig. 1 is a schematic overall structure of a rigid-soft integrated lower limb exoskeleton according to a preferred embodiment of the present invention:
in the figure: 1 is a waist rigid connecting rod, 2 is a hip joint pneumatic soft driver, 3 is a thigh rigid connecting rod, 4 is a knee joint pneumatic soft driver, 5 is a shank rigid connecting rod, 6 is an ankle joint pneumatic soft driver, 7 is a foot rigid connecting rod, 8A and 9A are respectively an upper waist wearing mechanism and a lower waist wearing mechanism, 9A and 9B are respectively an upper thigh wearing mechanism and a lower thigh wearing mechanism, 10A and 10B are respectively an upper calf wearing mechanism and a lower calf wearing mechanism, 11A and 11B are respectively a front foot wearing mechanism and a rear foot wearing mechanism, 3-2A is a quick connector ferrule at the upper end part of a thigh rigid connecting rod, and 3-9 is a length adjusting knob of the leg rigid connecting rod.
Fig. 2 is a schematic view of a knee pneumatic software driver 4 according to a preferred embodiment of the present invention, wherein (a) is a front view, (b) is a sectional view of A-A,
in the figure: 4-1A, 4-1B, 4-1C and 4-1D are respectively a left upper end cover, a right upper end cover, a left lower end cover and a right lower end cover, 4-2 is a non-telescopic layer, 4-3A and 4-3B are respectively a left elastic textile material and a right elastic textile material, 4-4A and 4-4B are respectively a left inner core and a right inner core, and 4-5A and 4-5B are respectively upper and lower lacing bands.
In figure 3 is a schematic view of the structure of a thigh rigid link 3 according to a preferred embodiment of the invention,
in the figure: 3-1 is a steel ball, 3-2A is an upper ferrule, 3-2B is a lower ferrule, 3-3A is a left upper connecting rod, 3-3B is a right upper connecting rod, 3-4A is a left lower connecting rod, 3-4B is a right lower connecting rod, 3-5 is a fixing bolt, 3-6A is a left worm wheel, 3-6B is a right worm wheel, 3-7 is a worm, 3-8A is a left screw, 3-8B is a right screw, 3-9 is a knob, 3-10 is a fixing nut, 3-11A is a left pneumatic interface and 3-11B is a right pneumatic interface.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the present invention, but are not intended to limit the invention in any way. It should be noted that variations and modifications could be made by those skilled in the art without departing from the inventive concept. These are all within the scope of the present invention.
As shown in fig. 1, in a preferred embodiment of the present invention, a rigid-soft integrated lower limb exoskeleton comprises: waist rigidity connecting rod 1, hip joint pneumatic soft driver 2, thigh rigidity connecting rod 3, knee joint pneumatic soft driver 4, shank rigidity connecting rod 5, ankle joint pneumatic soft driver 6, foot rigidity connecting rod 7, upper and lower waist wearing mechanism 8A, 8B, upper and lower thigh wearing mechanism 9A, 9B, upper and lower shank wearing mechanism 10A, 10B, front and rear foot wearing mechanism 11A, 11B. The hip pneumatic soft driver 2, the knee pneumatic soft driver 4 and the ankle pneumatic soft driver 6 are identical in structure, the hip pneumatic soft driver 2 and the knee pneumatic soft driver 4 are identical in shape but different in size, the ankle pneumatic soft driver 6 is different in shape from the hip pneumatic soft driver 2 and the knee pneumatic soft driver 4, the upper and lower waist wearing mechanisms 8A and 8B are identical in structure and size, the upper and lower thigh wearing mechanisms 9A and 9B are identical in structure and size, the upper and lower calf wearing mechanisms 10A and 10B are identical in structure and size, the front foot wearing mechanism 11A is slightly wider than the rear foot wearing mechanism 11B, and the length and width of each joint pneumatic soft driver and each rigid link are determined according to the size of the lower limbs of a human body.
The waist rigid connecting rod 1, the thigh rigid connecting rod 3, the shank rigid connecting rod 5 and the foot rigid connecting rod 7 can all realize length adjustment, taking the length adjustment of the thigh rigid connecting rod 3 as an example, the thigh rigid connecting rod 3 mainly comprises an upper half connecting rod and a lower half connecting rod, and the gap between the upper half connecting rod and the lower half connecting rod is increased by rotating the knob 3-9 anticlockwise, so that the elongation of the thigh rigid connecting rod 3 is realized; the gap between the upper half connecting rod and the lower half connecting rod is reduced by rotating the knob 3-9 clockwise, so that the thigh rigid connecting rod 3 is shortened;
the hip joint pneumatic soft driver 2 is connected between the waist rigid connecting rod 1 and the thigh rigid connecting rod 3, the knee joint pneumatic soft driver 4 is connected between the thigh rigid connecting rod 3 and the shank rigid connecting rod 5, and the ankle joint pneumatic soft driver 6 is connected between the shank rigid connecting rod 5 and the foot rigid connecting rod 7;
the connection between the rigid connecting rods and the pneumatic soft drivers of the joints is realized through quick connectors, and the connection between the pneumatic soft drivers of the hip joints 2 and the rigid connecting rods 3 of the thighs is taken as an example, the ferrules 3-2A are upwards slid, so that the quick connectors at the upper ends of the rigid connecting rods 3 of the thighs are locked, and the connection between the pneumatic soft drivers 2 of the hip joints and the rigid connecting rods 3 of the thighs is realized; the ferrule 3-2A is slid downwards to release the quick connector at the upper end part of the thigh rigid connecting rod 3, so that the hip joint pneumatic soft driver 2 and the thigh rigid connecting rod 3 are separated;
the waist wearing mechanisms 8A and 8B, the thigh wearing mechanisms 9A and 9B, the shank wearing mechanisms 10A and 10B and the foot wearing mechanisms 11A and 11B are all of annular binding structures, are respectively arranged on the waist rigid connecting rod 1, the thigh rigid connecting rod 3, the shank rigid connecting rod 5 and the foot rigid connecting rod 7 and are used for wearing the rigid and soft integrated lower limb exoskeleton on a human body.
In the embodiment of fig. 1, the upper and lower waist wearing mechanisms 8A, 8B, the upper and lower thigh wearing mechanisms 9A, 9B, the upper and lower calf wearing mechanisms 10A, 10B, and the front and rear foot wearing mechanisms 11A, 11B use annular belts as wearing mechanisms, the diameters of the annular belts are matched with the size of the lower limbs of the human body, the annular belts can be customized according to the size of the lower limbs of the human body, or are made of elastic materials, or telescopic structures capable of changing the sizes of the annular belts are arranged on the annular belts to enable the annular belts to be matched with the size of the lower limbs of the human body, so that the joint pneumatic soft driver and the rigid connecting rod can be firmly fixed on the human body.
The bending deformation and bending moment of each joint pneumatic soft driver are transmitted to the lower limbs of the human body through each rigid connecting rod and each wearing mechanism, so that the rotation of the joints of the lower limbs of the human body is driven, and the function of assisting the movement of the lower limbs of the human body is realized.
The rigid-soft integrated lower limb exoskeleton adopts a rigid-soft hybrid structure of the joint pneumatic soft driver and the rigid connecting rod, so that the deformation profile of the rigid-soft integrated lower limb exoskeleton is consistent with the motion profile of the lower limb of a human body, the restraining force of a non-joint part is reduced, and meanwhile, the driving force of the joint part is increased, thereby improving the wearing comfort and the driving efficiency.
The ankle joint pneumatic soft driver 6 of the rigid and soft integrated lower limb exoskeleton is designed to be different from the hip joint pneumatic soft driver and the knee joint pneumatic soft driver in an elliptical ring shape, so that the natural bending of the ankle joint pneumatic soft driver is consistent with the natural bending of the human ankle joint, and the wearing comfort of the exoskeleton is further improved.
In a preferred embodiment, as shown in fig. 2 (a) and (b), a schematic structural diagram of the knee pneumatic software driver 4 is shown, and the knee pneumatic software driver 4 includes: the left upper end cover 4-1A, the right upper end cover 4-1B, the left lower end cover 4-1C, the right lower end cover 4-1D, the non-stretchable layer 4-2, the left elastic textile material 4-3A, the right elastic textile material 4-3B, the left inner core 4-4A, the right inner core 4-4B, the upper lacing tape 4-5A and the lower lacing tape 4-5B; wherein:
the knee joint pneumatic soft driver 4 is an elliptic cylindrical bending driver which consists of elastic textile materials 4-3A and 4-3B and has a two-layer air bag structure, and each layer of air bag is internally provided with an inner core 4-4A and 4-4B so as to ensure air tightness.
The left inner core 4-4A and the right inner core 4-4B are respectively provided with an air tap which extends upwards, and the air taps respectively penetrate through the through holes of the left upper end cover 4-1A and the right upper end cover 4-1B when being installed.
The left upper end cover 4-1A and the right upper end cover 4-1B are respectively inserted into the inner cavities of the left elastic textile material 4-3A and the right elastic textile material 4-3B when being installed, and then are fastened by an upper fastening belt 4-5A; the left lower end cover 4-1C and the right lower end cover 4-1D are respectively inserted into the inner cavities of the left elastic textile material 4-3A and the right elastic textile material 4-3B when being installed, and then are fastened by the lower fastening belt 4-5B.
The upper parts of the left upper end cover 4-1A and the right upper end cover 4-1B are respectively provided with an annular groove which is used for being connected with a quick connector at the lower end part of the thigh rigid connecting rod 3; the lower parts of the left lower end cover 4-1C and the right lower end cover 4-1D are respectively provided with an annular groove which is used for being connected with the upper end part quick connector of the lower leg rigid connecting rod 5.
The knee joint pneumatic soft driver 4 adopts elastic textile materials 4-3A and 4-3B, so that the knee joint pneumatic soft driver has good flexibility, can automatically adapt to the axis change in the process of human joint rotation, and is safer in the process of assisting human lower limb movement.
The knee joint pneumatic soft driver 4 can realize bidirectional bending, and when one layer of air bags of the knee joint pneumatic soft driver 4 are inflated, the knee joint pneumatic soft driver 4 bends towards the other layer of air bags; a flexible non-stretchable layer 4-2 is arranged on the abutting surface of the two layers of air bags so as to limit the elongation deformation of the knee joint pneumatic soft driver 4. The non-stretchable layer 4-2 may be made of cotton and hemp textile cloth or the like.
The knee joint pneumatic soft driver 4 bends towards the front of the body of the wearer to realize the extension movement assistance of the knee joint; the knee joint pneumatic soft driver 4 bends towards the back of the body of the wearer, thereby realizing the auxiliary bending motion of the knee joint.
In a preferred embodiment, as shown in fig. 3, which is a schematic structural view of the thigh rigid link 3, the thigh rigid link 3 includes: the steel ball 3-1, the upper ferrule 3-2A, the lower ferrule 3-2B, the left upper connecting rod 3-3A, the right upper connecting rod 3-3B, the left lower connecting rod 3-4A, the right lower connecting rod 3-4B, the fixing bolt 3-5, the left worm wheel 3-6A, the right worm wheel 3-6B, the worm 3-7, the left screw rod 3-8A, the right screw rod 3-8B, the knob 3-9, the fixing nut 3-10, the left pneumatic interface 3-11A and the right pneumatic interface 3-11B.
The thigh rigid connecting rod 3 is processed into four parts of an upper left connecting rod 3-3A, an upper right connecting rod 3-3B, a lower left connecting rod 3-4A and a lower right connecting rod 3-4B by adopting a metal 3D printing technology, and when the thigh rigid connecting rod is assembled, the upper left connecting rod 3-3A and the upper right connecting rod 3-3B are connected into an upper half connecting rod 3-3 through a fixing bolt 3-5 and a fixing nut 3-10, and the lower left connecting rod 3-4A and the lower right connecting rod 3-4B are connected into an upper half connecting rod 3-4 through the fixing nut 3-5 and the fixing nut 3-10.
The upper end part of the upper half connecting rod 3-3 and the lower end part of the lower half connecting rod 3-4 are both formed into an oval countersunk groove structure, a plurality of small holes are circumferentially distributed on the wall surface of the oval countersunk groove, and steel balls 3-1 are arranged in each small hole; the upper end part of the upper half connecting rod 3-3 and the lower end part of the lower half connecting rod 3-4 are respectively sleeved with an upper ferrule 3-2A and a lower ferrule 3-2B, the steel ball 3-1 of the upper half connecting rod 3-3 and the ferrule 3-2A, and the steel ball 3-1 of the lower half connecting rod 3-4 and the ferrule 3-2B respectively form an upper end part quick connector and a lower end part quick connector of the thigh rigid connecting rod 3, which are respectively used for being connected with the lower end part of the hip joint pneumatic soft driver 2 and the upper end part of the knee joint pneumatic soft driver 4.
Taking the quick connector at the lower end part of the thigh rigid connecting rod 3 as an example, when the lower ferrule 3-2B slides downwards, the steel ball 3-1 in the small hole is radially extruded by the lower ferrule 3-2B and moves towards the center of the oval countersunk head groove, if the upper end cover 4-1 of the knee joint pneumatic soft driver 4 is inserted into the oval countersunk head groove at the moment, the steel ball 3-1 moves into the annular groove of the upper end cover 4-1, so that the lower end part of the thigh rigid connecting rod 3 is locked with the upper end part of the knee joint pneumatic soft driver 4 to realize connection; when the lower ferrule 3-2B is slid upwards, the radial extrusion constraint of the steel ball 3-1 is released, so that the thigh rigid connecting rod 3 is easily separated from the knee joint pneumatic soft driver 4, and the steel ball 3-1 moves in a direction away from the center of the oval countersunk head groove.
Two left and right symmetrical parallel vertical threaded holes are drilled near the interface of the left lower connecting rod 3-4A and the right lower connecting rod 3-4B of the thigh rigid connecting rod 3, and are respectively screwed into the left screw rod 3-8A and the right screw rod 3-8B; two vertical through holes which are bilaterally symmetrical and parallel to each other are drilled near the interface of the left upper connecting rod 3-3A and the right upper connecting rod 3-3B and are respectively used for passing through unthreaded parts of the left screw rod 3-8A and the right screw rod 3-8B.
The upper ends of the left screw rod 3-8A and the right screw rod 3-8B are respectively fixedly connected with a left worm wheel 3-6A and a right worm wheel 3-6B, a worm 3-7 is matched between the left worm wheel 3-6A and the right worm wheel 3-6B to form a worm and gear transmission mechanism, and the worm and gear transmission mechanism is accommodated in a cavity between the left upper connecting rod 3-3A and the right upper connecting rod 3-3B; the left end of the worm 3-7 is fixedly connected with a knob 3-9, and the knob 3-9 passes through a horizontal through hole of the upper left connecting rod 3-3A for a user to rotate.
When the knob 3-9 is rotated anticlockwise, the worm 3-7 also rotates anticlockwise, the left worm wheel 3-6A rotates anticlockwise and the right worm wheel 3-6B rotates clockwise through worm and gear pair transmission, so that the left screw 3-8A fixedly connected with the worm wheel is driven to rotate anticlockwise, the right screw 3-8B rotates clockwise, and the lower end of the left screw 3-8A is provided with a right-handed thread, and the lower end of the right screw 3-8B is provided with a left-handed thread, so that the left screw 3-8A and the right screw 3-8B move upwards relative to the lower half connecting rod 3-4, the gap between the upper half connecting rod 3-3 and the lower half connecting rod 3-4 is increased, and the whole thigh rigid connecting rod 3 is lengthened; conversely, when the knob 3-9 is rotated clockwise, the thigh rigid link 3 shortens, thereby realizing the length adjustment of the thigh rigid link 3;
the left lower connecting rod 3-4A and the right lower connecting rod 3-4B of the thigh rigid connecting rod 3 are respectively provided with a groove with a certain size near the interface for placing the left pneumatic interface 3-11A and the right pneumatic interface 3-11B.
The right pneumatic interface 3-11A and the left pneumatic interface 3-11B are straight-through L-shaped pneumatic interfaces, downward ports of the right pneumatic interfaces are respectively connected with air nozzles of the right inner core 4-4B and the left inner core 4-4A of the knee joint pneumatic soft driver 4, and horizontally oriented ports of the right pneumatic interfaces respectively penetrate through two through holes of the left lower connecting rod 3-4A when being installed and are used for being connected with an external air source, and the pneumatic interfaces 3-11A and 3-11B are fixed on the thigh rigid connecting rod 3, so that the problem of unstable pneumatic connection caused by frequent air pipe insertion and extraction can be solved.
The back of the right upper connecting rod 3-3B and the right lower connecting rod 3-4B are provided with through grooves for installing thigh wearing mechanisms 9A and 9B respectively, and the thigh rigid connecting rods can be reliably fixed on the thighs of a wearer through the thigh wearing mechanisms 9A and 9B, so that the driving force of the exoskeleton is effectively transmitted to the lower limbs of a human body.
The embodiment is implemented in specific: assisting the wearer in performing a bending motion of the hip joint when the hip joint pneumatic soft driver is bent toward the front of the wearer, and assisting the wearer in performing an extension motion of the hip joint when it is bent toward the rear of the wearer; assisting the wearer in performing extension movements of the knee joint when the knee joint pneumatic soft driver is flexed forward of the wearer, and assisting the wearer in performing flexion movements of the knee joint when it is flexed rearward of the wearer; the pneumatic soft actuator assists the wearer in performing bending motions of the ankle when the ankle is bent toward the front of the wearer, and assists the wearer in performing stretching motions of the ankle when the pneumatic soft actuator is bent toward the rear of the wearer.
The invention has the advantages of light weight, high flexibility, good safety, bidirectional driving, self-adaption to the axis change of human joints, consistent motion profile with human lower limbs, adjustable length and convenient installation, overcomes the defect that the line driving generates compression force on human joints and the problem of alignment of the axis of the rigid exoskeleton, overcomes the defect that the bending profile of the full-soft exoskeleton is inconsistent with that of the human body, improves the wearing comfort and driving efficiency of the exoskeleton, can assist the human lower limb joints to carry out bending and stretching motions, and overcomes the defect that the line driving soft exoskeleton can only carry out unidirectional driving.
The above is a preferred structural design in the present invention, and of course, in other embodiments, each preferred structure may be used alone, or may be used in any combination on the premise of not conflicting with each other, and the effect will be better when used in combination.
In the description of the present invention, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on the drawings, are merely for convenience in simplifying the description of the present invention, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature.
The foregoing describes specific embodiments of the present invention. It is to be understood that the invention is not limited to the particular embodiments described above, and that various changes and modifications may be made by one skilled in the art within the scope of the claims without affecting the spirit of the invention.
Claims (5)
1. The utility model provides a just soft integral type low limbs ectoskeleton which characterized in that: consists of a joint pneumatic soft driver, a rigid connecting rod and a wearing mechanism, wherein:
the soft driver comprises a hip joint pneumatic soft driver, a knee joint pneumatic soft driver and an ankle joint pneumatic soft driver;
the rigid connecting rod comprises a waist rigid connecting rod, a thigh rigid connecting rod, a shank rigid connecting rod and a foot rigid connecting rod;
the wearing mechanism comprises a waist wearing mechanism, a thigh wearing mechanism, a shank wearing mechanism and a foot wearing mechanism;
the hip joint pneumatic soft driver is connected between the waist rigid connecting rod and the thigh rigid connecting rod, the knee joint pneumatic soft driver is connected between the thigh rigid connecting rod and the shank rigid connecting rod, and the ankle joint pneumatic soft driver is connected between the shank rigid connecting rod and the foot rigid connecting rod; the waist wearing mechanism, the thigh wearing mechanism, the shank wearing mechanism and the foot wearing mechanism are respectively correspondingly arranged on the waist rigid connecting rod, the thigh rigid connecting rod, the shank rigid connecting rod and the foot rigid connecting rod and are used for wearing the exoskeleton on a human body; the hip joint pneumatic soft driver, the knee joint pneumatic soft driver and the ankle joint pneumatic soft driver can bend, deform and bend moment and respectively transmit the bending moment to the lower limb of the human body through the corresponding rigid connecting rod and the wearing mechanism, so that the lower limb joint of the human body is driven to rotate;
the hip joint pneumatic soft driver, the knee joint pneumatic soft driver and the ankle joint pneumatic soft driver are internally provided with double-layer air bags, and bidirectional bending deformation is realized by respectively inflating the double-layer air bags, namely, one layer of air bags are inflated to bend each joint pneumatic soft driver to the other side air bag;
assisting the wearer in performing a bending motion of the hip joint when the hip joint pneumatic soft driver is bent toward the front of the wearer; assisting the wearer in performing hip extension motions when the hip pneumatic soft driver is flexed rearward of the wearer;
assisting the wearer in performing extension movements of the knee joint when the knee joint pneumatic soft driver is bent toward the front of the wearer, and assisting the wearer in performing flexion movements of the knee joint when the knee joint pneumatic soft driver is bent toward the rear of the wearer;
assisting the wearer in performing bending motions of the ankle when the ankle pneumatic soft driver is bent toward the front of the wearer, and assisting the wearer in performing stretching motions of the ankle when the ankle pneumatic soft driver is bent toward the rear of the wearer;
the hip joint pneumatic soft driver and the knee joint pneumatic soft driver adopt elliptic cylinder structures, the ankle joint pneumatic soft driver adopts an elliptic ring structure, and the natural bending angle of each joint pneumatic soft driver is adapted to the natural bending angle of each joint of a human body;
the waist rigid connecting rod, the thigh rigid connecting rod, the shank rigid connecting rod and the foot rigid connecting rod are internally provided with worm gear and worm screw type length adjusting mechanisms, and the length of each rigid connecting rod is continuously adjusted by extending a worm gear driving worm so as to adapt the length of each rigid connecting rod to the body size of a wearer; the length adjusting mechanism is provided with a double-device structure which is distributed symmetrically left and right;
the knee joint pneumatic soft driver is an elliptic cylindrical bending driver which consists of a left elastic textile material and a right elastic textile material and has a two-layer air bag structure, and a left inner core and a right inner core are respectively arranged in the two-layer air bags to ensure air tightness; the left inner core and the right inner core are respectively provided with an air tap which extends upwards, and the left inner core and the right inner core respectively penetrate through the through holes of the left upper end cover and the right upper end cover when being installed; the left upper end cover and the right upper end cover are respectively inserted into the inner cavities of the left elastic textile material and the right elastic textile material when being installed, and then are fastened by an upper fastening belt; the left lower end cover and the right lower end cover are respectively partially inserted into the inner cavities of the left elastic textile material and the right elastic textile material when being installed, and then are fastened by using a lower fastening belt; the upper parts of the left upper end cover and the right upper end cover are respectively provided with an annular groove which is used for being connected with a quick connector at the lower end part of the thigh rigid connecting rod; the lower parts of the left lower end cover and the right lower end cover are respectively provided with an annular groove which is used for being connected with the upper end part quick connector of the lower leg rigid connecting rod;
the left lower connecting rod and the right lower connecting rod of the thigh rigid connecting rod are drilled with two vertical threaded holes which are bilaterally symmetrical and parallel to each other near the interface, and are respectively screwed into the left screw rod and the right screw rod; two vertical through holes which are bilaterally symmetrical and parallel to each other are drilled near the interface of the left upper connecting rod and the right upper connecting rod and are respectively used for passing through the unthreaded parts of the left screw rod and the right screw rod; the upper ends of the left screw rod and the right screw rod are respectively fixedly connected with a left worm wheel and a right worm wheel, and a worm is matched between the left worm wheel and the right worm wheel to form a worm and gear transmission mechanism which is accommodated in a cavity between the left upper connecting rod and the right upper connecting rod; the left end of the worm is fixedly connected with a knob, and the knob passes through a horizontal through hole of the left upper connecting rod to be rotated by a user; when the knob is rotated anticlockwise, the worm is also rotated anticlockwise, the left worm wheel is rotated anticlockwise, the right worm wheel is rotated clockwise through worm wheel and worm pair transmission, so that the left screw rod fixedly connected with the left worm wheel is driven to rotate anticlockwise, the right screw rod is driven to rotate clockwise, and as the lower end of the left screw rod is provided with a right-handed thread and the lower end of the right screw rod is provided with a left-handed thread, the left screw rod and the right screw rod move upwards relative to the lower half connecting rod, so that the gap between the upper half connecting rod and the lower half connecting rod is increased, and the whole thigh rigid connecting rod is prolonged; conversely, when the knob is rotated clockwise, the thigh rigid link shortens, thereby effecting length adjustment of the thigh rigid link.
2. A rigid-soft integrated lower extremity exoskeleton as set forth in claim 1, wherein: and a flexible non-telescopic layer is arranged on the abutting surface between the two layers of air bags and used for limiting the elongation and deformation of the hip joint pneumatic soft driver, the knee joint pneumatic soft driver and the ankle joint pneumatic soft driver.
3. A rigid-soft integrated lower extremity exoskeleton as set forth in claim 1, wherein: the pneumatic interfaces of the hip joint pneumatic soft driver, the knee joint pneumatic soft driver and the ankle joint pneumatic soft driver are respectively fixed on the waist rigid connecting rod, the thigh rigid connecting rod and the shank rigid connecting rod and are used for being connected with an external air source in an inserting mode.
4. A rigid-soft integrated lower extremity exoskeleton according to any one of claims 1 to 3, wherein: quick connectors are arranged at the end parts of the rigid connecting rods, and are used for connecting and separating the rigid connecting rods and the corresponding pneumatic soft drivers of the joints.
5. The rigid-soft integrated lower extremity exoskeleton of claim 4, wherein: the quick connector is a steel ball ferrule type quick connector arranged at the end part of each rigid connecting rod, and the quick connection and the quick separation between each rigid connecting rod and each soft driver are realized through the sliding of ferrules.
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| CN111281631B (en) * | 2020-03-06 | 2021-09-14 | 西北工业大学 | Medical auxiliary instrument for adjusting force line of lower limbs of human body |
| CN111687820B (en) * | 2020-05-12 | 2022-11-08 | 天津大学 | Rigidity-variable exoskeleton structure based on positive pressure friction principle |
| CN112618280B (en) * | 2020-12-01 | 2022-06-14 | 上海交通大学 | Soft body driving structure of lower limb rehabilitation robot |
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