CN111228089A - Wearable telescopic lower limb exoskeleton power assisting device and method - Google Patents
Wearable telescopic lower limb exoskeleton power assisting device and method Download PDFInfo
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- CN111228089A CN111228089A CN202010177846.8A CN202010177846A CN111228089A CN 111228089 A CN111228089 A CN 111228089A CN 202010177846 A CN202010177846 A CN 202010177846A CN 111228089 A CN111228089 A CN 111228089A
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- 210000003141 lower extremity Anatomy 0.000 title claims abstract description 36
- 238000000034 method Methods 0.000 title claims abstract description 9
- 230000007246 mechanism Effects 0.000 claims abstract description 77
- 210000001624 hip Anatomy 0.000 claims abstract description 59
- 210000000689 upper leg Anatomy 0.000 claims abstract description 57
- 210000002683 foot Anatomy 0.000 claims abstract description 20
- 210000000629 knee joint Anatomy 0.000 claims abstract description 19
- 210000004394 hip joint Anatomy 0.000 claims abstract description 16
- 235000004443 Ricinus communis Nutrition 0.000 claims abstract description 3
- 240000000528 Ricinus communis Species 0.000 claims abstract description 3
- 238000011065 in-situ storage Methods 0.000 claims abstract description 3
- 238000010521 absorption reaction Methods 0.000 claims description 12
- 230000035939 shock Effects 0.000 claims description 12
- 210000002414 leg Anatomy 0.000 claims description 7
- 230000009471 action Effects 0.000 claims description 5
- 210000003127 knee Anatomy 0.000 claims 1
- 208000012661 Dyskinesia Diseases 0.000 abstract description 7
- 210000003423 ankle Anatomy 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000037237 body shape Effects 0.000 description 2
- 238000011084 recovery Methods 0.000 description 2
- 238000003860 storage Methods 0.000 description 2
- 241001166076 Diapheromera femorata Species 0.000 description 1
- 206010039203 Road traffic accident Diseases 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 244000309466 calf Species 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000003028 elevating effect Effects 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 210000003414 extremity Anatomy 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 230000035790 physiological processes and functions Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000011282 treatment Methods 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H3/04—Wheeled walking aids for patients or disabled persons
-
- 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
- A61H1/0255—Both knee and hip of a patient, e.g. in supine or sitting position, the feet being moved together in a plane substantially parallel to the body-symmetrical plane
- A61H1/0262—Walking movement; Appliances for aiding disabled persons to walk
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H2003/005—Appliances for aiding patients or disabled persons to walk about with knee, leg or stump rests
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H2003/007—Appliances for aiding patients or disabled persons to walk about secured to the patient, e.g. with belts
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H3/04—Wheeled walking aids for patients or disabled persons
- A61H2003/046—Wheeled walking aids for patients or disabled persons with braking means
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/165—Wearable interfaces
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1657—Movement of interface, i.e. force application means
- A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot
-
- 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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- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a wearable telescopic lower limb exoskeleton power assisting device and a wearable telescopic lower limb exoskeleton power assisting method.A waist lifting mechanism consisting of a guide rail and a guide rail clamp is fixed on an external balancing stand, a thigh fixing mechanism and a shank fixing mechanism are respectively connected through a joint disc type motor, the thigh fixing mechanism is connected to a waist telescopic rod of the waist lifting mechanism, and a foot plate fixing mechanism is connected to the bottom of the shank fixing mechanism; a user is connected with a power supply control mechanism through a mobile phone APP to control the hip joint disc type motor and the knee joint disc type motor to act simultaneously, so that thighs and shanks of the user are driven to rotate, and movement is achieved; the in-situ fixation, turning and braking are realized through the castors; the waist lifting mechanism is lifted along the guide rail by controlling the guide rail clamp by a user, so that the standing and squatting are realized. The invention can solve the problem that people with lower limb dyskinesia move independently, combines the balance keeping mechanism with the standing and squatting mechanism, and is suitable for the related people with different body types.
Description
Technical Field
The invention designs a wearable telescopic lower limb exoskeleton power assisting device and method which can play supporting, power assisting and protecting roles under the condition that a person needs to move, aiming at the lower limb dyskinesia crowd.
Background
At present, the aging of the population has become a non-negligible social problem in many countries of the world. The decline of the physiological function of the old, the increase of patients with serious lower limb diseases and traffic accidents and the recovery of normal walking ability are good expectations of the patients with lower limb dyskinesia. Clinical medicine has shown that, in addition to the necessary medical treatments, scientific and correct rehabilitation training is also very effective in the recovery of limb functions. At present, no lower limb exoskeleton power assisting device combining a balance keeping device with a standing and squatting mechanism exists in the market, and the lower limb exoskeleton power assisting device is high in cost and low in compatibility.
The existing lower limb exoskeleton devices comprise the following types:
1) walking stick type
The device has more types and small volume, so the device is very popular in use. But the device assists balance and has poor support protection for people.
2) Column type
The device has good support and protection performance to people. However, the equipment is large in size, high in cost, poor in moving flexibility and not easy to wear.
3) Back-wearing type
The device has small volume, light weight and good portability. However, the equipment cannot be adjusted in a telescopic mode, is poor in wearing compatibility, cannot be suitable for patients with lower limb dyskinesia of various body types, is free of a balance keeping device, and is poor in balance.
Therefore, a wearable telescopic lower limb exoskeleton power-assisted mechanical device which is small in size, low in cost, good in stability, convenient, safe and reliable is needed to be provided.
Disclosure of Invention
In order to solve the problems, the invention provides a wearable telescopic lower limb exoskeleton power assisting device which can play supporting, power assisting and protecting roles under the condition that people with lower limb dyskinesia need to move.
The technical problem to be solved by the invention is realized by the following technical scheme:
the invention discloses a wearable telescopic lower limb exoskeleton power assisting device which comprises an external balance frame, a waist lifting mechanism, a thigh fixing mechanism, a shank fixing mechanism, a foot plate fixing mechanism, trundles and a power supply control mechanism, wherein the waist lifting mechanism is arranged on the external balance frame; a waist lifting mechanism consisting of a guide rail and a guide rail clamp is fixed on the external balancing stand, a thigh fixing mechanism is connected to a waist telescopic rod of the waist lifting mechanism through a hip joint disc type motor, a shank fixing mechanism is connected to the lower part of the thigh fixing mechanism through a knee joint disc type motor, and a foot plate fixing mechanism is connected to the bottom of the shank fixing mechanism;
a user is connected with a power supply control mechanism through a mobile phone APP to control the hip joint disc type motor and the knee joint disc type motor to act simultaneously, so that thighs and shanks of the user are driven to rotate, and movement is achieved; the in-situ fixation, turning and braking are realized through the castors; the waist lifting mechanism is lifted along the guide rail by controlling the guide rail clamp by a user, so that the standing and squatting are realized.
With respect to the above technical solutions, the present invention has a further preferable solution:
preferably, the external balancing stand is a frame structure with an opening at the front, the waist fixing mechanism is fixed inside the rear frame of the external balancing stand, and the power supply control mechanism is installed at the rear end of the external balancing stand.
Preferably, the waist lifting mechanism comprises a guide rail fixing rear plate, a pair of guide rails is fixed on the guide rail fixing rear plate, a sliding block and a guide rail clamp are arranged on the guide rails, the waist connecting plate is connected to the sliding block, and the waist connecting plate is controlled to move up and down along the sliding block through the guide rail clamp.
Preferably, a pair of waist telescopic rods are respectively connected to two ends of the waist connecting plate, and hip joint disc type motors are respectively connected to the end parts of the pair of waist telescopic rods.
Preferably, the thigh fixing mechanism comprises a pair of thigh inner rods and a pair of thigh outer rods which are mutually sleeved, the pair of thigh inner rods are respectively connected to the hip joint disc type motor, and the pair of thigh outer rods are connected to the knee joint disc type motor.
Preferably, the shank fixing mechanism comprises a pair of shank inner rods and a shank outer rod which are mutually sleeved, the pair of shank inner rods are respectively connected to the knee joint disc type motor, and the shank outer rod is connected to the foot plate fixing mechanism.
Preferably, the pair of thigh outer rods are respectively connected with a thigh strap plate, the pair of shank outer rods are connected with a shank strap plate, and the thigh outer rods and the shank strap plates are fastened through elastic straps.
Preferably, the inclination between the hip joint disc type motor and the knee joint disc type motor is 15-20 degrees; the lower leg fixing mechanism and the knee joint disc type motor are kept on the same vertical line.
Preferably, the bottom of the external balancing stand is connected with four caster connecting plates, two caster connecting plates on the front side are connected with the cushioning universal wheel, and two caster connecting plates on the rear side are connected with the cushioning directional wheel; the cushioning universal wheel and the cushioning directional wheel are provided with a cushioning spring and a braking plate.
Correspondingly, the invention also provides a walking method of the device, which comprises the following steps:
1) a user adjusts the thigh outer rod and the thigh inner rod, the shank outer rod and the shank inner rod, the left waist telescopic rod and the right waist telescopic rod, wears the body into the thigh strap plate and the shank strap plate, and fixes the body on the waist fixing connecting plate;
2) a user steps on brake pedals at the rear sides of the cushioning directional wheels at the two sides of the front end by feet, and fixes the lower limb exoskeleton power-assisted mechanical device in place;
3) the user uses the elastic bandage to fix the leg on the thigh bandage plate and the shank bandage plate respectively;
4) a user is connected with a power supply control mechanism through a mobile phone APP, and the hip joint disc type motor and the knee joint disc type motor are controlled to simultaneously act to generate torque so as to drive thighs and shanks of the user to rotate and realize forward movement and backward movement;
5) the user realizes turning through the cushioning directional wheel and realizes stability through a cushioning spring on the cushioning directional wheel;
6) a user rotates the guide rail clamp, and the guide rail clamp is matched with the guide rail through the sliding block to carry out standing and squatting actions;
7) after the standing and squatting actions are finished, the user reversely rotates the handle of the guide rail clamp to lock the guide rail clamp and carries out other movements again.
The invention has the beneficial effects that:
(1) the flexibility of the leg loop bar and the waist loop bar ensures that the wearable lower limb exoskeleton power-assisted mechanical device can be suitable for people with different body types.
(2) The external balancing stand can ensure that the crowd with lower limb dyskinesia needs to move, plays roles of supporting, assisting and protecting, and improves the balance of the user in the using process, thereby greatly enhancing the moving capability of the crowd, and being safe and reliable.
(3) The wearable lower limb exoskeleton power-assisted mechanical device is simple in design, convenient and fast to wear, man-machine integrated, low in cost and easy to assemble.
(4) The waist lifting mechanism consisting of the guide rails and the guide rail clamp can meet the requirement that a user can not only move forwards and backwards in the wearing process, but also squat and stand up, and the flexibility is better.
(5) The rehabilitation training mode can provide exercise rehabilitation training for the people with lower limb dyskinesia and slow down muscle attenuation. Has the characteristics of practicality, convenience, small volume, low cost and the like.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the principles of the invention:
FIG. 1 is a front view of the structure of the present invention;
FIG. 2 is a top view of the present invention;
FIG. 3 is a side view of the present invention;
FIG. 4 is a perspective view of the lower extremity exoskeleton of the present invention;
FIG. 5 is a schematic view of the waist lift mechanism of the present invention;
FIG. 6 is a schematic view of a cushioning mechanism of the present invention;
fig. 7 is a schematic view of the leg telescoping mechanism of the present invention.
In the figure: 1-a shock absorption universal wheel; 2-external gimbal; 3-a caster connecting plate; 4-left footplate; 5-power control box; 6-a guide rail clamp; 7-waist connecting plate; 8-hip joint disc type motor; 9-knee joint disc motor; 10-thigh outer bar; 11-thigh inner rod; 12-a cushioning orientation wheel; 13-a storage battery; 14-shank; 15-shank outer bar; 16-calf strap plate; 17-right waist telescopic rod; 18-thigh strap plate; 19-ankle web plate; 20-a guide rail; 21-right foot plate; 22-left lumbar extension rod; 23-a slide block; 24-a slider oil nozzle; 25-socket cap screw a; 26-cylindrical head screw b; 27-cylindrical head screw c; 28-cylindrical head screw d; 29-brake plate; 30-a cushioning spring; 31-guide rail fixing back plate; 32-socket cap screw e; 33-rail clamp handle; 34-elastic bandage.
Detailed Description
The present invention will now be described in detail with reference to the drawings and specific embodiments, wherein the exemplary embodiments and descriptions of the present invention are provided to explain the present invention without limiting the invention thereto.
Referring to fig. 1 to 7, the invention provides a wearable telescopic lower extremity exoskeleton power assisting device, which comprises an external balance frame 2, a waist lifting mechanism, a thigh fixing mechanism, a shank fixing mechanism, a foot plate fixing mechanism, casters and a power supply control mechanism; wherein, the external balancing stand 2 is a frame structure with an opening at the front part, and the waist fixing mechanism is fixed inside the rear frame of the external balancing stand 2. As shown in fig. 5, the waist lifting mechanism includes a guide rail fixing back plate 31 fixed on the back frame of the external balancing stand 2, a pair of guide rails 20 are fixed on the inward plate surface of the guide rail fixing back plate 31, a sliding block 23 and a guide rail clamp 6 are arranged on the guide rails 20, the waist connecting plate 7 is connected to the sliding block 23, and a guide rail clamp handle 33 is arranged on the outer side of the guide rail clamp 6, as shown in fig. 3; a slider oiling nozzle 24 is also provided on the slider 23. The waist connecting plate 7 is controlled to move up and down along the sliding block 23 by the guide rail clamp 6; be connected with left waist telescopic link 22 and right waist telescopic link 17 through cap screw c27 respectively at the inside recess both ends of waist connecting plate 7, according to the different size condition, loosen the screw position of adjustment in waist connecting plate 7 recess with cap screw c27 to be applicable to the condition that different sizes have different waists and width, improve the compatibility of device. Wherein, the end parts of the left waist telescopic rod 22 and the right waist telescopic rod 17 are respectively connected with a hip joint disc type motor 8.
Thigh fixed establishment connects on waist elevating system's left waist telescopic link 22 and right waist telescopic link 17, and wherein, thigh fixed establishment includes pole 11 and a pair of thigh outer rod 10 in a pair of thigh of interconnect, and the outer pole 10 of thigh is installed in the pole 11 outside in the thigh, and pole 11 nestification is inside thigh outer rod 10 in the thigh, realizes scalability, satisfies in the different long circumstances of leg of different sizes. The tops of a pair of thigh inner rods 11 are respectively connected to the hip joint disc type motor 8, and the bottoms of a pair of thigh outer rods 10 are connected to the knee joint disc type motor 9; the inner sides of the pair of thigh outer bars 10 are respectively connected with thigh strap plates 18, and elastic straps 34 are arranged above and below the thigh strap plates 18.
As shown in fig. 7, the shank fixing mechanism is connected to the lower part of the thigh fixing mechanism, the shank fixing mechanism comprises a pair of shank inner rods 14 and shank outer rods 15, the shank inner rods 14 are sleeved in the shank outer rods 15 and are connected through cylindrical head screws a 25; the tops of the pair of shank inner rods 14 are respectively connected to the knee joint disc type motor 9, the pair of shank outer rods 15 are connected with shank strap plates 16 through cylindrical head screws e32, and the shank strap plates 16 are fastened through elastic straps 34; the bottoms of the pair of shank outer rods 15 are horizontally connected with the foot plate fixing mechanism through a pair of L-shaped plates, the vertical parts of the L-shaped plates are connected with the shank outer rods 15 through cylindrical head screws b26, and the horizontal parts of the L-shaped plates are connected with the foot plate fixing mechanism through cylindrical head screws d 28.
As shown in fig. 2, the hip-joint disc motor 8 connected to the ends of a pair of waist telescopic rods is inclined at an angle of 15-20 degrees relative to the knee-joint disc motor 9 so as to be matched with a waist lifting mechanism when the thighs are telescopic. Meanwhile, the lower leg fixing mechanism is kept on the same vertical line with the knee joint disc type motor 9.
The foot plate fixing mechanism comprises an ankle connecting plate 19 and a pair of foot plates (a left foot plate 4 and a right foot plate 21), the ankle connecting plate 19 is fixedly connected to two sides of the shank outer rod 15, and the left foot plate 4 and the right foot plate 21 are horizontally connected with the ankle connecting plate 19.
The bottom of external balancing stand 2 links to each other with four truckle connecting plates 3, and two truckle connecting plates 3 of front side link to each other with bradyseism universal wheel 1, and two truckle connecting plates 3 of rear side link to each other with bradyseism directive wheel 12, make the device realize the function of turning. As shown in fig. 6, a pair of connecting brackets are connected to the caster connecting plate 3, the connecting brackets are provided with shock absorption springs 30, the connecting brackets are connected to the shock absorption universal wheels 1 or the shock absorption directional wheels 12 through pin shafts, and the pin shafts are connected to brake plates 29. The cushioning spring 30 is installed on one side of the cushioning universal wheel 1 and the cushioning directional wheel 12, so that the smoothness of the device can be improved when the device moves and spans small obstacles, and the comfort of a user is improved.
The power supply control mechanism is arranged outside the rear frame of the external balancing stand 2 and comprises a storage battery 13 and a power supply control box 5, a controller connected with a mobile phone of a user is arranged in the power supply control box 5, and the power supply control box 5 is arranged at the rear end of the external balancing stand 2.
Before use:
fig. 1 and 3 show that a user adjusts the thigh outer rod 10 and the thigh inner rod 11, the shank outer rod 15 and the shank inner rod 14, and the left waist telescopic rod 22 and the right waist telescopic rod 17 according to the body shape of the user with the help of a worker, so that the user can be compatible with the body shape and the comfort of the user is improved. After the adjustment is completed, a user can wear the device independently, and the user can tread down the brake pedal 29 at the rear side of the cushioning universal wheels 1 at the two sides of the front end by feet to fix the lower limb exoskeleton assistance mechanical device in place; after this step is completed, the user fits the leg to the thigh strap panel 18 and calf strap panel 16 and secures the leg to the strap panels using the elastic straps 34.
When moving:
fig. 6 and 7 show that a user can control the wearable lower extremity exoskeleton assisting mechanical device through a mobile phone APP. When a user sends a preset command, the hip joint disc type motor 8 and the knee joint disc type motor 9 start to act simultaneously to generate torque, so that thighs and shanks of the user are driven to rotate, and the functions of advancing and retreating are achieved. Under the effect of the bradyseism universal wheel 1 of outside gimbal 2 front end both sides, the user can realize the function of turning. When a user uses the device to cross small obstacles, the shock absorption spring 30 arranged on one side of the shock absorption universal wheel 1 and the shock absorption directional wheel 12 can improve the stability of the device and the comfort level of the user in the whole using process.
Standing and squatting:
fig. 5 illustrates the user's standing and squatting action. After the user rotates the guide clamp handle 33 to loosen the guide clamp, the user can stand up and squat under the combination of the slide block 23 and the guide 20, and after the standing up is completed, the user reversely rotates the guide clamp handle 33 to lock the guide clamp 6 and perform other movements again.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention.
Claims (10)
1. A wearable telescopic lower limb exoskeleton power assisting device is characterized by comprising an external balancing stand (2), a waist lifting mechanism, a thigh fixing mechanism, a shank fixing mechanism, a foot plate fixing mechanism, trundles and a power supply control mechanism; a waist lifting mechanism consisting of a guide rail and a guide rail clamp is fixed on the external balancing frame (2), a thigh fixing mechanism is connected to a waist telescopic rod of the waist lifting mechanism through a hip joint disc type motor (8), a shank fixing mechanism is connected to the lower part of the thigh fixing mechanism through a knee joint disc type motor (9), and a foot plate fixing mechanism is connected to the bottom of the shank fixing mechanism;
a user is connected with a power supply control mechanism through a mobile phone APP to control a hip joint disc type motor (8) and a knee joint disc type motor (9) to act simultaneously, so that thighs and shanks of the user are driven to rotate, and movement is achieved; the in-situ fixation, turning and braking are realized through the castors; the waist lifting mechanism is lifted along the guide rail by controlling the guide rail clamp by a user, so that the standing and squatting are realized.
2. A wearable telescopic lower extremity exoskeleton power assisting device according to claim 1, wherein the external balancing stand (2) is a frame structure with an opening front part, the waist fixing mechanism is fixed inside the rear frame of the external balancing stand (2), and the power supply control mechanism is installed at the rear end of the external balancing stand (2).
3. The wearable telescopic lower extremity exoskeleton assisting device according to claim 1, wherein the waist lifting mechanism comprises a guide rail fixing rear plate (31), a pair of guide rails (20) are fixed on the guide rail fixing rear plate (31), a slide block (23) and a guide rail clamp (6) are arranged on the guide rails (20), the waist connecting plate (7) is connected to the slide block (23), and the guide rail clamp (6) is used for controlling the waist connecting plate (7) to move up and down along the slide block (23).
4. The wearable telescopic lower extremity exoskeleton power assisting device according to claim 3, wherein a pair of waist telescopic rods are respectively connected to two ends of the waist connecting plate (7), and hip joint disc type motors (8) are respectively connected to the ends of the pair of waist telescopic rods.
5. The wearable telescopic lower extremity exoskeleton power assisting device according to claim 1, wherein the thigh fixing mechanism comprises a pair of thigh inner rods (11) and a pair of thigh outer rods (10) which are sleeved with each other, the pair of thigh inner rods (11) are respectively connected to the hip joint disc motor (8), and the pair of thigh outer rods (10) are connected to the knee joint disc motor (9).
6. The wearable telescopic lower extremity exoskeleton power assisting device according to claim 5, wherein the lower leg fixing mechanism comprises a pair of lower leg inner rods (14) and a pair of lower leg outer rods (15) which are sleeved with each other, the pair of lower leg inner rods (14) are respectively connected to the knee joint disc type motor (9), and the lower leg outer rods (15) are connected to the foot plate fixing mechanism.
7. A wearable telescopic lower extremity exoskeleton power assisting device according to claim 6, wherein a pair of thigh outer rods (10) are respectively connected with thigh strap plates (18), a pair of shank outer rods (15) are respectively connected with shank strap plates (16), and the thigh outer rods (10) and the shank strap plates (16) are fastened through elastic bands (34).
8. A wearable telescopic lower extremity exoskeleton assistance device according to claim 7, where the inclination between the hip cup motor (8) and the knee cup motor (9) is 15-20 °; the lower leg fixing mechanism and the knee joint disc type motor (9) are kept on the same vertical line.
9. The wearable telescopic lower extremity exoskeleton power assisting device according to claim 1, wherein the bottom of the external balance frame (2) is connected with four caster connecting plates (3), the two caster connecting plates (3) on the front side are connected with the shock absorption universal wheel (1), and the two caster connecting plates (3) on the rear side are connected with the shock absorption directional wheel (12); the cushioning universal wheel (1) and the cushioning directional wheel (12) are provided with a cushioning spring (30) and a brake plate (29).
10. A walking method of the apparatus according to any one of claims 1 to 9, comprising the steps of:
1) a user adjusts the thigh outer rod and the thigh inner rod, the shank outer rod and the shank inner rod, the left waist telescopic rod and the right waist telescopic rod, wears the body into the thigh strap plate (18) and the shank strap plate (16), and puts the body on the fixed waist connecting plate (7);
2) a user steps on the brake pedal at the rear side of the cushioning directional wheels (12) at the two sides of the front end by feet, and fixes the lower limb exoskeleton assistance mechanical device in place;
3) the user uses the elastic bandage to fix the leg on the thigh strap plate (18) and the shank strap plate (16) respectively;
4) a user is connected with a power supply control mechanism through a mobile phone APP, and the hip joint disc type motor (8) and the knee joint disc type motor (9) are controlled to simultaneously act to generate torque to drive the thigh and the shank of the user to rotate so as to realize forward and backward movement;
5) the user realizes turning through the shock absorption directional wheel (12), and the stability is realized through a shock absorption spring on the shock absorption directional wheel;
6) a user rotates the guide rail clamp, and the guide rail clamp is matched with the guide rail through the sliding block to carry out standing and squatting actions;
7) after the standing and squatting actions are finished, the user reversely rotates the handle of the guide rail clamp to lock the guide rail clamp and carries out other movements again.
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| CN202010177846.8A CN111228089B (en) | 2020-03-13 | 2020-03-13 | Wearable telescopic lower limb exoskeleton assisting device |
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| CN202010177846.8A CN111228089B (en) | 2020-03-13 | 2020-03-13 | Wearable telescopic lower limb exoskeleton assisting device |
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| CN111228089A true CN111228089A (en) | 2020-06-05 |
| CN111228089B CN111228089B (en) | 2024-02-09 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112057297A (en) * | 2020-09-21 | 2020-12-11 | 广东甲子科技有限公司 | Lightweight long-endurance lower limb walking-aid exoskeleton robot |
| CN112587385A (en) * | 2021-01-05 | 2021-04-02 | 石家庄熙美科技有限公司 | Special equipment for leg recovery walking |
| CN112894775A (en) * | 2021-02-05 | 2021-06-04 | 李传江 | Reinforcement type lower limb assistance exoskeleton capable of enhancing load bearing capacity and endurance of human body |
| CN112932908A (en) * | 2021-01-25 | 2021-06-11 | 陈荣栋 | Prevent falling and be convenient for orthopedics of removal uses rehabilitation training device |
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| CN103622796A (en) * | 2013-12-17 | 2014-03-12 | 哈尔滨工程大学 | Wearable lower limb rehabilitation training device |
| KR20170111279A (en) * | 2016-03-25 | 2017-10-12 | 에이치엠에이치 주식회사 | Robot for assisting user to walk with lower body exoskeleton |
| CN110141467A (en) * | 2019-06-18 | 2019-08-20 | 赵欣 | A kind of wheeled healing robot of lower limb exoskeleton and its application method |
| CN212395340U (en) * | 2020-03-13 | 2021-01-26 | 西安文理学院 | Wearable telescopic lower limb exoskeleton power assisting device |
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| CN112057297A (en) * | 2020-09-21 | 2020-12-11 | 广东甲子科技有限公司 | Lightweight long-endurance lower limb walking-aid exoskeleton robot |
| CN112587385A (en) * | 2021-01-05 | 2021-04-02 | 石家庄熙美科技有限公司 | Special equipment for leg recovery walking |
| CN112932908A (en) * | 2021-01-25 | 2021-06-11 | 陈荣栋 | Prevent falling and be convenient for orthopedics of removal uses rehabilitation training device |
| CN112894775A (en) * | 2021-02-05 | 2021-06-04 | 李传江 | Reinforcement type lower limb assistance exoskeleton capable of enhancing load bearing capacity and endurance of human body |
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| Publication number | Publication date |
|---|---|
| CN111228089B (en) | 2024-02-09 |
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