CN111438684A - Knee joint power assisting system for converting human body dead weight into supporting force - Google Patents
Knee joint power assisting system for converting human body dead weight into supporting force Download PDFInfo
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- CN111438684A CN111438684A CN202010480479.9A CN202010480479A CN111438684A CN 111438684 A CN111438684 A CN 111438684A CN 202010480479 A CN202010480479 A CN 202010480479A CN 111438684 A CN111438684 A CN 111438684A
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- 210000000629 knee joint Anatomy 0.000 title claims abstract description 77
- 230000005484 gravity Effects 0.000 claims abstract description 62
- 238000006243 chemical reaction Methods 0.000 claims abstract description 40
- 230000033001 locomotion Effects 0.000 claims abstract description 21
- 210000000689 upper leg Anatomy 0.000 claims abstract description 20
- 210000001699 lower leg Anatomy 0.000 claims description 22
- 210000000544 articulatio talocruralis Anatomy 0.000 claims description 3
- 230000006835 compression Effects 0.000 claims description 3
- 238000007906 compression Methods 0.000 claims description 3
- 239000000463 material Substances 0.000 claims description 3
- 239000004753 textile Substances 0.000 claims description 3
- 206010060820 Joint injury Diseases 0.000 abstract description 2
- 210000003127 knee Anatomy 0.000 description 10
- 230000000694 effects Effects 0.000 description 3
- 210000002414 leg Anatomy 0.000 description 3
- 208000012659 Joint disease Diseases 0.000 description 2
- 238000005452 bending Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 230000037396 body weight Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000002829 reductive effect Effects 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 210000002683 foot Anatomy 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000000670 limiting effect Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000036961 partial effect Effects 0.000 description 1
- 230000002441 reversible effect Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 230000035882 stress Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1612—Programme controls characterised by the hand, wrist, grip control
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Evolutionary Computation (AREA)
- Artificial Intelligence (AREA)
- Physics & Mathematics (AREA)
- Fuzzy Systems (AREA)
- Mathematical Physics (AREA)
- Software Systems (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention relates to a knee joint assistance system for converting the self weight of a human body into supporting force, which comprises a thigh supporting module and a shank supporting module, wherein the thigh supporting module and the shank supporting module are connected through a knee joint gravity conversion module; especially for the old with knee joint injury and inconvenient movement, the utility model provides effective help for going up and down the slope, going up and down the stairs, squatting down, standing up and the like.
Description
Technical Field
The invention relates to a wearable knee joint power assisting system, belongs to the technical field of exoskeleton robots, and particularly relates to a knee joint power assisting system for converting the self weight of a human body into supporting force.
Background
With the continuous breakthrough of the technical field of robots, the exoskeleton is an important component in the field of robots, so that the breakthrough is achieved, and the applications in all aspects are gradually developed. The exoskeleton products of the people are successively introduced in America, Japan and the like, and a large amount of related technologies and experiences are accumulated in domestic scientific research institutes, but the market has few mature products for sale.
The knee joint motion auxiliary systems are divided into two main types, namely a passive knee joint power assisting system and an active knee joint power assisting system. The first type can find a small amount of products in the market, mainly uses a spring or an eccentric wheel to realize power assistance, but has unsatisfactory use effect, limited help to users and influence normal walking of the users; the second type intelligently identifies the motion posture of the human body, intelligently provides power for the knee joint, improves the knee strength of a user, but has limited use scenes because the technical complexity is extremely high and all action states and intentions of the user cannot be captured, and the second type is not commercially applied at present and mostly stays in a laboratory stage.
The passive knee joint has two main problems, the first problem is that normal walking is influenced after wearing, and the existing products use a spring or an eccentric wheel technology, so that resistance can be generated when a user steps on the leg, the user experience is poor, and the knee is very heavy. This can cause danger even in special cases, since it can affect normal motor behaviour; the second aspect is the supporting force, and since resistance is generated, the force of the spring cannot be too large, which also results in a low force of the assisting force.
With the coming of the national aging society, knee joint diseases are a common disease which troubles the old, the knee joint disease patients have difficulty in going out and seriously affect the quality of life, and a good knee joint exercise auxiliary system is expected by more and more old people. Therefore, a knee joint exercise assisting system with good user experience and convenience in wearing is urgently needed.
The defects and shortcomings of the prior art are as follows:
1. the existing intelligent exoskeleton system is far from insufficient in human motion posture recognition, so that the assistance effect is poor, and even danger is caused;
2. the active power-assisted system comprises heavy components such as a motor and a battery, so that the whole system is heavy and user experience is influenced;
3. the battery endurance is insufficient;
4. the intelligent power-assisted system driven by electric power is expensive and exceeds the normal consumption level;
5. the safety needs to be improved.
6. The conventional passive power assisting system is too simple and has poor effect of improving user experience;
disclosure of Invention
The invention aims to solve the technical problem of providing a knee joint power assisting system for converting the self weight of a human body into supporting force so as to overcome the defects in the prior art.
The technical scheme for solving the technical problems is as follows:
the knee joint power assisting system for converting the human body dead weight into the supporting force comprises a thigh supporting module and a shank supporting module, wherein the thigh supporting module and the shank supporting module are connected through a knee joint gravity converting module; the sole gravity sensing module comprises an upper end and a lower end, the upper end can form relative motion with the lower end when being pressed by the gravity of a human body, the sole gravity sensing module is connected with the knee joint gravity conversion module through a stay cable, and the relative motion is converted into the supporting force of the knee joint gravity conversion module through the stay cable;
further, the knee joint gravity conversion module comprises a linear gear rack, a gear set and a main gear, wherein the linear gear rack is directly connected with a guy cable, the linear gear rack is connected with the main gear through the gear set, and the main gear is connected with the thigh support module for providing a supporting force;
further, the linear gear rack is a die gear, and the suggested size of the gear set is 30 teeth per die;
furthermore, the knee joint gravity conversion module is connected with the knee joint gravity conversion module shell through a spring and used for providing torque for the knee joint;
further, the recommended magnitude of the torque of the spring is 20-50 newton meters;
further, the spring can be a tension spring, a torsion spring, a compression spring or a spring piece;
further, the relative movement distance between the upper end and the lower end of the sole gravity sensing module is recommended to be within 20 mm;
furthermore, the upper end of the sole gravity sensing module is connected with the shank supporting module through a spherical joint to form an ankle joint capable of flexibly moving;
furthermore, the thigh supporting module and the shank supporting module are made of elastic textile materials and are respectively fixed on the thigh and the shank in a fitting manner;
the invention has the beneficial effects that: the supporting force provided by the knee joint is transmitted to the ground through the crus supporting module and the sole module to provide support, so that the pressure of the knee joint is greatly reduced, and the comfort of a user is improved; especially for the old with knee joint injury and inconvenient movement, the utility model provides effective help for going up and down the slope, going up and down the stairs, squatting down, standing up and the like.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic diagram of the front structure of the gravity conversion module according to the present invention;
FIG. 3 is a schematic view of the reverse side of the gravity conversion module of the present invention;
the reference numerals are explained below:
1-sole gravity sensing module; 2-stay cord; 3-knee joint gravity conversion module; 4-a thigh support module; 5-a shank support module; 6. a spring; 7. a knee joint gravity conversion module housing; 31-a linear gear rack; a 32-gear set; 33-main gear;
Detailed Description
The principles and features of this invention are described below in conjunction with the following drawings, which are set forth by way of illustration only and are not intended to limit the scope of the invention.
As shown in fig. 1, the knee joint assistance system for converting the human body dead weight into the supporting force comprises a thigh supporting module 4 and a shank supporting module 5, wherein the thigh supporting module and the shank supporting module are connected through a knee joint gravity conversion module 3, the lower part of the shank supporting module is connected with a sole gravity sensing module 1, the upper end of the shank supporting module is connected with a knee joint gravity conversion module shell 7, and the lower end of the shank supporting module is connected with the sole gravity sensing module 1; the sole gravity sensing module comprises an upper end and a lower end, the upper end can form relative motion with the lower end when being pressed by the gravity of a human body, the sole gravity sensing module is connected with the knee joint gravity conversion module 3 through a guy cable 2, and the relative motion is converted into the supporting force of the knee joint gravity conversion module through the guy cable;
as shown in fig. 2-3, the knee joint gravity conversion module includes a linear gear rack 31, a gear set 32 and a main gear 33, wherein the linear gear rack 31 is directly connected to the guy cable 2, the linear gear rack 31 is connected to the main gear through the gear set, and the main gear is connected to the thigh support module for providing a supporting force;
during specific work, the human body weight G (kg) transmitted by the sole gravity sensing module is converted into downward pulling force of a linear gear rack in the knee joint gravity conversion module, the downward pulling force is transmitted to the gear sets on two sides, the radius of the gear is r, the gear sets on two sides are transmitted to the knee joint main gear in a transmission ratio of i, and if supporting force is provided for the thigh at the thigh L, the supporting force is F-G-r-i/L.
Assuming that the weight of a human body is 50kg, the gear sets on two sides adopt 1 model and 30 teeth, the transmission ratio is 1.5, and the supporting force is provided at the position of 20cm of the middle point of the thigh, the supporting force under the static condition is as follows: f50 × 0.015 × 1.5/0.2 × 5.625(kg), a supporting force of about 11% of its body weight; when a human body walks or goes downstairs, the sole of the foot has an acceleration relative to the ground, so that the impact force borne by the knee is far larger than the self weight, even more than twice of the self weight, and the F supporting force reaches more than 20% of the self weight.
Specifically, the linear gear rack is a die gear, and the size of the gear set is 30 teeth of a die;
furthermore, the knee joint gravity conversion module is connected with the knee joint gravity conversion module shell through a spring and used for providing torque for the knee joint;
the torque of the spring is 20-50N m;
wherein, the spring can be a tension spring, a torsion spring, a compression spring or a spring piece; when the gravity conversion module works to a limit value, relative rotation movement is formed between the knee joint gravity conversion module and the knee joint gravity conversion module shell, a spring is arranged between the knee joint gravity conversion module and the knee joint gravity conversion module shell, and the torque is continuously provided for the knee joint, so that the supporting force is provided. Different mounting modes can be adopted according to different types of the springs. The case provided by the invention adopts a tension spring; the knee joint gravity conversion module shell is used for installing and fixing the knee joint gravity conversion module, allowing the knee joint gravity conversion module and the shell to keep rotating, and keeping torque between the two modules by using a spring;
the specific working principle is described as follows:
when the knee is bent to 40-50 degrees, the sole gravity sensing module reaches the maximum value, the work is stopped, the stay cable is also stretched to the maximum position, at the moment, the linear gear rack stops moving due to the fact that the stay cable reaches the maximum position, the gear set of the knee joint gravity conversion module is in a locked state, and the knee joint gravity conversion module continues to rotate integrally along with the knee joint. At the moment, the knee joint gravity conversion module and the knee joint gravity conversion module shell form relative rotation movement, and the spring is fixed between the knee joint gravity conversion module and the shell to prevent the relative movement between the knee joint gravity conversion module and the shell, so that the knee is continuously provided with supporting force (10-20kg), and the latter half-period support of the subsequent knee bending is completed. The part of functions mainly correspond to scenes with wide-angle bending of knees, such as sitting, squatting and the like;
in order to keep the comfort of a user, the relative movement distance of the upper end and the lower end of the sole gravity sensing module is within 20 mm;
the upper end of the sole gravity sensing module is connected with the shank supporting module through a spherical joint to form an ankle joint capable of flexibly moving;
the thigh supporting module and the shank supporting module are made of elastic textile materials and are respectively fixed on the thigh and the shank in a fitting manner;
the knee assistance provided by the invention is divided into two sections, wherein the first section is within an angle of 50 degrees in front of the knee joint, and the self weight is converted into the supporting force to assist the knee; and in the second section, in the angle of 50 degrees at the back, the gear is locked and then uses the torque provided by the fixed spring to assist the knee.
The supporting force provided by the knee joint is transmitted to the ground through the crus supporting module and the sole module to provide support, so that the pressure of the knee joint is greatly reduced, and the comfort of a user is improved;
in order to ensure the experience of the user, the installation positions of the motion axes of the upper part and the lower part of the invention are consistent with the motion axis of the knee joint; the invention can provide single leg assistance of 11% of the weight of a user to the maximum extent, and can reach or even exceed the supporting force of 20% of the weight during exercise;
the invention has the beneficial effects that:
the method is safer: the invention can not generate any resistance when stepping down the legs, and does not influence the movement generated by stress reaction when the user is in danger, thereby being safer and more reliable;
the exercise capacity of the user is improved: the invention can greatly reduce the pressure on the knee joint, and the user can conveniently go upstairs and downstairs and walk on the flat ground, thereby greatly improving the movement capability of the user and improving the self-care ability of life;
travel for a long time: the invention has light weight and does not need to use a power supply, so the invention can be used for a long time without worrying about the problem of the power supply, and the travel is not limited;
the invention has simple structure, once the product is formed, the price is low, and the invention is more suitable for popularization and use;
when the electric driving device is used for electrically driving the human exoskeleton in the future, partial power can be provided, a power supply is saved, and the cruising ability can be improved.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (9)
1. Human dead weight converts knee joint helping hand system of holding power into, its characterized in that: the thigh supporting module and the crus supporting module are connected through a knee joint gravity conversion module, the upper end of the crus supporting module is connected with a knee joint gravity conversion module shell, and the lower end of the crus supporting module is connected with a sole gravity sensing module; the sole gravity sensing module comprises an upper end and a lower end, the upper end can form relative motion with the lower end when being pressed down by the gravity of a human body, the sole gravity sensing module is connected with the knee joint gravity conversion module through a stay cable, and the relative motion is converted into the supporting force of the knee joint gravity conversion module through the stay cable.
2. The knee joint assisting system for converting the self weight of the human body into the supporting force according to claim 1, characterized in that: the knee joint gravity conversion module comprises a linear gear rack, a gear set and a main gear, wherein the linear gear rack is directly connected with a guy cable, the linear gear rack is connected with the main gear through the gear set, and the main gear is connected with the thigh support module and used for providing supporting force.
3. The knee joint assisting system for converting the self weight of the human body into the supporting force according to claim 2, characterized in that: the linear gear rack is a die gear, and the size of the gear set is 30 teeth of a die.
4. The knee joint assisting system for converting the self weight of the human body into the supporting force according to claim 3, characterized in that: the knee joint gravity conversion module is connected with the knee joint gravity conversion module shell through a spring and used for providing torque for the knee joint.
5. The knee joint assisting system for converting the self weight of the human body into the supporting force according to claim 4, characterized in that: the torque of the spring is 20-50N.
6. The knee joint assisting system for converting the self weight of the human body into the supporting force according to claim 5, characterized in that: the spring may be a tension spring, a torsion spring, a compression spring or a leaf spring.
7. The knee joint assisting system for converting the self weight of the human body into the supporting force according to claim 6, characterized in that: the relative movement distance between the upper end of the sole gravity sensing module and the lower end of the sole gravity sensing module is within 20 mm.
8. The knee joint assisting system for converting the self weight of the human body into the supporting force according to claim 7, characterized in that: the upper end of the sole gravity sensing module is connected with the shank supporting module through a spherical joint to form an ankle joint capable of flexibly moving.
9. The knee joint assisting system for converting the self weight of the human body into the supporting force according to claim 8, characterized in that: the thigh supporting module and the shank supporting module are made of elastic textile materials and are respectively fixed on the thigh and the shank in a fitting mode.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010480479.9A CN111438684B (en) | 2020-06-03 | 2020-06-03 | Knee joint power assisting system capable of converting dead weight of human body into supporting force |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010480479.9A CN111438684B (en) | 2020-06-03 | 2020-06-03 | Knee joint power assisting system capable of converting dead weight of human body into supporting force |
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| CN111438684A true CN111438684A (en) | 2020-07-24 |
| CN111438684B CN111438684B (en) | 2024-10-01 |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106491317A (en) * | 2016-12-01 | 2017-03-15 | 北京理工大学 | A kind of wearable knee joint walk help equipment of self-driven self adaptation gait |
| CN107921631A (en) * | 2015-06-22 | 2018-04-17 | 马里兰大学巴尔的摩分校 | Adaptive assistance method and apparatus for providing economical, portable, deficit adjustment during a movement phase of a damaged ankle |
| CN110328654A (en) * | 2019-07-17 | 2019-10-15 | 军事科学院系统工程研究院军需工程技术研究所 | Passive type knee joint force aid system and method |
| CN110757433A (en) * | 2019-10-14 | 2020-02-07 | 电子科技大学 | Guyed knee joint power assisting device |
| CN212471491U (en) * | 2020-06-03 | 2021-02-05 | 上海迈伺通机器人科技有限责任公司 | Knee joint power assisting system for converting human body dead weight into supporting force |
-
2020
- 2020-06-03 CN CN202010480479.9A patent/CN111438684B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107921631A (en) * | 2015-06-22 | 2018-04-17 | 马里兰大学巴尔的摩分校 | Adaptive assistance method and apparatus for providing economical, portable, deficit adjustment during a movement phase of a damaged ankle |
| US20180160946A1 (en) * | 2015-06-22 | 2018-06-14 | University Of Maryland, Baltimore | Method and Apparatus for Providing Economical, Portable Deficit-Adjusted Adaptive Assistance During Movement Phases of an Impaired Ankle |
| CN106491317A (en) * | 2016-12-01 | 2017-03-15 | 北京理工大学 | A kind of wearable knee joint walk help equipment of self-driven self adaptation gait |
| CN110328654A (en) * | 2019-07-17 | 2019-10-15 | 军事科学院系统工程研究院军需工程技术研究所 | Passive type knee joint force aid system and method |
| CN110757433A (en) * | 2019-10-14 | 2020-02-07 | 电子科技大学 | Guyed knee joint power assisting device |
| CN212471491U (en) * | 2020-06-03 | 2021-02-05 | 上海迈伺通机器人科技有限责任公司 | Knee joint power assisting system for converting human body dead weight into supporting force |
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