CN111714337A - Exoskeleton old-person assisting device capable of assisting walking and sitting - Google Patents
Exoskeleton old-person assisting device capable of assisting walking and sitting Download PDFInfo
- Publication number
- CN111714337A CN111714337A CN202010624820.3A CN202010624820A CN111714337A CN 111714337 A CN111714337 A CN 111714337A CN 202010624820 A CN202010624820 A CN 202010624820A CN 111714337 A CN111714337 A CN 111714337A
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- Prior art keywords
- waist
- steering engine
- shank
- support frame
- thigh
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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
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
- A61G7/10—Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
- A61G7/10—Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto
- A61G7/1073—Parts, details or accessories
- A61G7/1082—Rests specially adapted for
- A61G7/109—Lower body, e.g. pelvis, buttocks
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
- A61G7/10—Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto
- A61G7/1073—Parts, details or accessories
- A61G7/1082—Rests specially adapted for
- A61G7/1096—Knee, upper or lower leg
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
- A61G7/10—Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto
- A61G7/1013—Lifting of patients by
-
- 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
- A61H2203/00—Additional characteristics concerning the patient
- A61H2203/04—Position of the patient
- A61H2203/0406—Standing on the feet
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Nursing (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses an exoskeleton old-people assisting device capable of assisting walking and sitting, which comprises a waist holder, wherein the upper end of a waist supporting plate is fixed at two sides of the waist holder, a control module is used for controlling the action of a steering engine, the control module is arranged on the waist holder, the lower end of the waist supporting plate is hinged with a thigh supporting frame, the steering engine is used for controlling a thigh supporting plate to rotate relative to the waist supporting plate, the thigh supporting frame is hinged with a shank supporting frame, the thigh supporting frame is connected with the shank supporting frame through a slide bar, a slide groove is arranged on a thigh supporting rod, one end of the slide bar is hinged on the shank supporting frame, the other end of the slide bar is arranged in the slide groove in a sliding manner, the shank supporting frame is hinged with a foot jacket, a leg bandage is used for matching with the thigh supporting, and the safety and comfort of the old are improved through the control module.
Description
Technical Field
The invention relates to human body auxiliary supporting equipment, in particular to an exoskeleton appliance.
Background
Along with the gradual ageing of the population in China, the health of old people is more and more concerned about, and the old people need the helping hand when walking, need sit down to have a rest when tired, for alleviateing old people's burden among the prior art, some booster unit have been designed for the old people. For example, honda has designed a walking aid which can better assist the old to walk through a mechanical device worn on the hip, but has other problems, such as certain requirements on the temperature and humidity of the working environment, unsuitability for all the old, and the like. Accordingly, there is a need for improvements in prior art aging aids.
Disclosure of Invention
The invention aims to provide an exoskeleton old people assisting device capable of assisting walking and sitting, which can help old people walk and sit down and improve the safety and comfort of the old people through a control module.
The purpose of the invention is realized as follows: an exoskeleton old-person assisting device capable of assisting walking and sitting is characterized by comprising a waist holder, a control module, a waist supporting plate, a steering engine, thigh supporting frames, leg binding bands, sliding rods, a shank supporting plate, foot jackets and a hip elastic connecting band, wherein the upper end of the waist supporting plate is fixed on two sides of the waist holder, the control module is used for controlling the action of the steering engine, the control module is installed on the waist holder, the lower end of the waist supporting plate is hinged with the shank supporting plate, the steering engine is used for controlling the rotation of the shank supporting plate relative to the waist supporting plate, the shank supporting frame is hinged with the shank supporting frame, the thigh supporting frame is connected with the shank supporting frame through the sliding rods, a sliding groove is formed in the shank supporting rod, one end of the sliding rod is hinged on the shank supporting frame, the shank support frame is hinged to the foot outer sleeve, the leg binding bands are used for being matched with the thigh support frame and the shank support frame to fix two legs of an old person, and the hip elastic connecting band is connected with the thigh support frame.
As a further limitation of the invention, the steering engine is fixed on a steering engine mounting frame, the steering engine mounting frame is mounted on one side of the thigh supporting frame, and a rotating shaft of the steering engine penetrates through the thigh supporting frame and the waist supporting plate and is used as a hinged shaft of the thigh supporting frame and the waist supporting plate.
As a further limitation of the invention, a linkage disc is fixed at the end part of a rotating shaft of the steering engine, a notch is formed in the periphery of the linkage disc, a linkage rod matched with the notch in the linkage disc is installed on the thigh support frame, the linkage rod is slidably arranged on the inner side of the thigh support frame, and an operation block used for controlling the linkage rod to slide is arranged on the outer side of the thigh support frame.
As a further limitation of the invention, a rotating disc is fixed at the end of the rotating shaft, a round hole matched with the rotating disc is formed in the waist supporting plate, the rotating disc is rotatably arranged in the round hole, and the linkage disc is fixed on the end face of the rotating disc.
As a further limitation of the invention, a pressure sensor is arranged in the foot outer sleeve, the pressure sensor is used for detecting pressure data during wearing and sending the pressure data to the control module, and the control module is further in data communication with the steering engine to control the steering engine to work.
Compared with the prior art, the invention has the beneficial effects that: the thigh support frame and the hip elastic connecting band can better ensure the safety of the old when sitting down, and the thigh support frame and the shank support frame are fixed on the outer side of the legs of the old, so that the interference risk of the legs of the old and the leg protection frame is reduced when the old wears the old-assisting device to walk.
Drawings
Fig. 1 is a schematic perspective view of an embodiment of the present invention.
Fig. 2 is a left side view of an embodiment of the present invention.
Fig. 3 is a schematic view of a linkage rod, a linkage disc and a thigh support frame connection structure according to an embodiment of the invention.
Fig. 4 is a partial enlarged view of fig. 3 taken along the line a-a.
FIG. 5 is a bottom view of a partial foot structure according to an embodiment of the invention.
Fig. 6 is a schematic structural view of the embodiment of the invention in an assisted sitting state.
Fig. 7 is a schematic structural view of the embodiment of the invention in an assisted walking state.
In the figure: the device comprises a waist retainer 1, a control module 2, a waist supporting plate 3, a sliding groove 31, an operation block 4, a steering engine mounting rack 5, a steering engine 6, a rotating shaft 61, thigh supporting frames 7, leg binding bands 8, a sliding rod 9, calf supporting frames 10, foot outer sleeves 11, a hip elastic connecting band 12, a linkage rod 13, a linkage disk 14, a pressure sensor 15 and a rotary disk 16.
Detailed Description
Fig. 1-5 show an exoskeleton old-people assisting device capable of assisting walking and sitting, comprising a waist holder 1, a control module 2 arranged at the rear part of the waist holder 1, waist supporting plates 3 at two sides, thigh supporting frames 7 and shank supporting frames arranged at the outer sides of a human body, operation blocks 4 arranged on the two waist supporting plates 3, a steering engine mounting frame 5 and a steering engine 6, wherein leg binding bands 8, sliding rods 9, a hip elastic connecting band 12, a linkage rod 13 and a linkage disk 14 are arranged on the thigh supporting frames 7, a foot outer sleeve 11 is connected to a small-back supporting frame 10, a pressure sensor 15 is arranged in the foot outer sleeve 11, the control module 2 is connected with the waist holder 1 through bolts, the waist supporting plates 3 are hinged with the thigh supporting frames 7, the thigh supporting frames 7 are hinged with the shank supporting frames, the sliding rods 9 move in sliding grooves 31 of, The safety is improved, the shank support frames are hinged to the foot outer sleeves 11, the leg binding bands 8 fix two legs of the old, the hip elastic connecting band 12 is connected with the two shank support frames 7, the operating block 4 and the linkage rod 13 move in the sliding groove 31 of the waist support plate 3, the steering engine 6 is fixed on the steering engine mounting frame 5, the steering engine mounting frame 5 is mounted on the outer side of the shank support frames 7, a rotating shaft 61 of the steering engine 6 penetrates through the steering engine mounting frame 5, the shank support frames 7 and the waist support plate 3 are arranged and serve as hinged shafts of the shank support frames 7 and the waist support; the end portion of a rotating shaft 61 of the steering engine 6 is fixed with a rotating disc 16, a round hole matched with the rotating disc 16 is formed in the waist supporting plate 3, the rotating disc 16 is rotatably arranged in the round hole, a linkage disc 14 is fixed on the end face of the rotating disc 16 through screws, notches are formed in the periphery of the linkage disc 14, a linkage rod 13 matched with the notches in the linkage disc is installed on the thigh supporting frame 7, the linkage rod 13 can slide on the inner side of the thigh supporting frame 7, and an operation block 4 used for controlling the linkage rod 13 to slide is arranged on the outer side of the thigh supporting frame 7.
In this embodiment, as shown in fig. 3, the thigh supporting frame 7 is connected to the linkage disc 14, the operating block 4 is connected to the linkage rod 13 and moves in the sliding slot 31 of the waist supporting plate 3, so that the relative rotation between the thigh supporting frame 7 and the waist supporting plate 3 can be controlled by the linkage disc 14 controlled by the operating block 4 and the linkage rod 13: when the operation block 4 is positioned at the upper part of the sliding groove 31, the linkage rod 13 is not contacted with the linkage disk 14, and the old can walk by means of self-power; when the operation block 4 is positioned at the lower part of the sliding groove 31, the linkage rod 13 is in contact with the linkage disk 14 and is locked, the steering engine 6 assists the old to walk by rotating, and the operation block 4 is manually controlled.
As shown in fig. 5, a pressure sensor 15 is installed at the bottom of the foot casing 11, and can read out a corresponding pressure value according to the force applied to the foot casing and transmit the data to the control module 2.
In the embodiment, the hinge joint is realized by adopting a bolt hinge joint, so that the assembly and disassembly are convenient under the condition of ensuring the strength, and the mass production is also convenient; the thigh support frame 7, the shank support frame and other protection frames are made of aluminum alloy with high strength, so that the material quality is reduced, and the burden of the old is reduced.
Preferably, in the embodiment, in order to reduce interference and increase activity space, the thigh support 7 and the shank support are arranged on two sides of the leg of the old.
The control module 2 is configured to perform the following steps:
when wearing for the first time, old man's wearing equipment is independently walked, needs to remove operation block 4 to the upper end this moment, and gangbar 13 and linkage disk 14 contactless, steering wheel 6 do not play the helping hand effect, and the old man walks through self strength. The characteristic information of walking of the old is input through the pressure sensor 15, and the motion states of all structures of the old, such as the walking state that the left foot is stepped forward, the walking state that the right foot is stepped forward, the standing state, the sitting and standing state and the like, are calculated through a Kalman filtering algorithm.
When the walking chair is in a walking state, the operation block 4 needs to be moved to the lower end, the linkage rod 13 and the linkage disc 14 are locked, and the steering engine 6 can help the old to walk. The data of the pressure sensor 15 on the left foot and the right foot are transmitted to the control module 2 in real time, and the control module 2 further controls the rotation of the steering engines 6 on the left side and the right side. When the data of the pressure sensors 15 of the left foot and the right foot accord with the walking state that the left foot strides forwards, the left steering engine 6 is controlled to rotate; when the data of the pressure sensors 15 of the left foot and the right foot accord with the walking state that the right foot strides forwards, the steering engine 6 on the right side is controlled to rotate; when the data of the pressure sensors 15 of the left and right feet correspond to the standing and sitting states, the aging aid becomes the standing and sitting states.
When the device is in a standing state or a sitting state, the steering engine 6 stops rotating and monitors the data of the pressure sensors 15 in real time, and when the data of the pressure sensors 15 of the left foot and the right foot accord with the standing state or the sitting state, the aging-assisting device is in a walking state.
The singlechip in the control module 2 stores data such as step length, step frequency and the like of a user into the singlechip, and in the next walking process, the control module 2 can further optimize the working mode of the device according to the data processing and analysis so as to improve the walking stability and comfort.
The using method of the invention comprises the following steps:
when the old man wears the device that helps old man, put into the fender bracket with two legs, the foot is put into foot overcoat 11, and the waist is fixed in waist holder 1, then ties up shank bandage 8, and waist, shank and foot are fixed with waist holder 1, thigh and shank support frame and foot overcoat 11 respectively this moment, open control module 2 and steering wheel 6, and control module 2 prepares work, and steering wheel 6 is located initial condition.
When the old man dresses the device walking for the first time, with operation block 4 removal to the upper end, steering wheel 6 is out of work, by the walking of old man's dependence self strength wearing equipment, pressure sensor 15 is in with data output to control module 2, each state of shank when control module 2 is walked according to the periodic variation of data when the old man is walked, calculates the rotation direction and the moment size of corresponding steering wheel 6 simultaneously to help the old man walk.
When the old man dresses the device walking once more, remove the lower extreme with operation piece 4, gangbar 13 and the locking of linkage disk 14, the helping hand mode is: the control module 2 can judge the walking state of the old people in real time according to the data information of the old people for the first time, and controls the steering engine 6 to rotate to help the old people to walk; meanwhile, the pressure sensor 15 collects numerical information of pressure in real time and transmits the numerical information to the control module 2, so that calculation and judgment of the control module 2 are facilitated, the adaptability of rotation of the steering engine 6 and walking of the old is improved, the data volume of the control module 2 is increased, and the walking of the old is facilitated better in follow-up process.
When the old man needs to sit down, the operation block 4 is moved to the lower end, the sliding rod 9 slides in the sliding groove 31 of the thigh support frame 77, the hinged part of the thigh support frame 7 and the shank support frame rotates, and the steering engine 6 is locked at a certain angle to help the old man sit down.
When the old man sits down, the helping hand mode does: thigh support frame 7, buttock elastic connection belt 12, slide bar 9 and shank support frame support old man's buttock and shank jointly, and slide bar 9 slides to the upper portion of thigh support frame 7's spout 31, and slide bar 9 department forms the triangular supports, and steering wheel 6 locks a certain angle, and both have improved the security of using jointly.
When the old people are standing up from a sitting posture, the sliding rod 9 slides in the sliding groove 31 of the thigh supporting frame 7 until the old people stand up, and meanwhile, the pressure sensor 15 collects pressure data to make preparations for the old people to walk.
The invention has the advantages that: waist holder 1, thigh support frame 7, shank support frame, foot overcoat 11, shank bandage 8 and buttock elastic connection area 12 have better fixedly to the health of old man, can let the old man sit down and stand freely, safely, and control module 2 carries out the analysis and calculation according to pressure sensor 15's data to control steering wheel 6's rotation, reach the purpose that helps old man's walking, through the locking of steering wheel 6 and the corresponding motion state of slide bar 9 control, realize sitting the safety of process of standing. The control module 2 analyzes the walking characteristics of the old according to the periodic data input during the first walking, and then calculates the optimal working state of the steering engine 6 for helping the old to walk. In addition, through repetitious usage, the control module 2 optimizes the working mode aiming at the old according to more and more data, and the adaptability of the device and the old is greatly improved.
The present invention is not limited to the above-mentioned embodiments, and based on the technical solutions disclosed in the present invention, those skilled in the art can make some substitutions and modifications to some technical features without creative efforts according to the disclosed technical contents, and these substitutions and modifications are all within the protection scope of the present invention.
Claims (5)
1. An exoskeleton old-person assisting device capable of assisting walking and sitting is characterized by comprising a waist holder, a control module, a waist supporting plate, a steering engine, thigh supporting frames, leg binding bands, sliding rods, a shank supporting plate, foot jackets and a hip elastic connecting band, wherein the upper end of the waist supporting plate is fixed on two sides of the waist holder, the control module is used for controlling the action of the steering engine, the control module is installed on the waist holder, the lower end of the waist supporting plate is hinged with the shank supporting plate, the steering engine is used for controlling the rotation of the shank supporting plate relative to the waist supporting plate, the shank supporting frame is hinged with the shank supporting frame, the thigh supporting frame is connected with the shank supporting frame through the sliding rods, a sliding groove is formed in the shank supporting rod, one end of the sliding rod is hinged on the shank supporting frame, the shank support frame is hinged to the foot outer sleeve, the leg binding bands are used for being matched with the thigh support frame and the shank support frame to fix two legs of an old person, and the hip elastic connecting band is connected with the thigh support frame.
2. The exoskeleton of claim 1, wherein the steering engine is fixed on a steering engine mounting rack, the steering engine mounting rack is mounted on one side of the thigh support frame, and a rotating shaft of the steering engine penetrates through the thigh support frame and the waist support plate and serves as a hinged shaft of the thigh support frame and the waist support plate.
3. The exoskeleton of claim 2 is capable of assisting walking and sitting and standing, wherein a linkage disc is fixed to the end of a rotating shaft of the steering engine, a notch is formed in the periphery of the linkage disc, a linkage rod matched with the notch in the linkage disc is installed on the thigh support frame, the linkage rod is slidably arranged on the inner side of the thigh support frame, and an operation block for controlling the linkage rod to slide is arranged on the outer side of the thigh support frame.
4. The exoskeleton of claim 3, wherein a turntable is fixed to the end of the shaft, a circular hole matched with the turntable is formed in the waist support plate, the turntable is rotatably disposed in the circular hole, and the linkage plate is fixed to the end face of the turntable.
5. The exoskeleton of any one of claims 1 to 4, wherein a pressure sensor is arranged in the foot coat, the pressure sensor is used for detecting pressure data when the exoskeleton is worn and sending the pressure data to the control module, and the control module is further in data communication with a steering engine to control the steering engine to work.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010624820.3A CN111714337A (en) | 2020-07-02 | 2020-07-02 | Exoskeleton old-person assisting device capable of assisting walking and sitting |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010624820.3A CN111714337A (en) | 2020-07-02 | 2020-07-02 | Exoskeleton old-person assisting device capable of assisting walking and sitting |
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| CN111714337A true CN111714337A (en) | 2020-09-29 |
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| CN202010624820.3A Pending CN111714337A (en) | 2020-07-02 | 2020-07-02 | Exoskeleton old-person assisting device capable of assisting walking and sitting |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112515922A (en) * | 2020-12-03 | 2021-03-19 | 浙江海洋大学 | Exoskeleton equipment for assisting old people in walking |
| CN113509328A (en) * | 2021-07-13 | 2021-10-19 | 杭州太希智能科技有限公司 | Multi-posture rehabilitation quadruped robot adaptable to various complex pavements |
| CN114053095A (en) * | 2021-11-17 | 2022-02-18 | 扬州大学 | Lower limb exoskeleton device, system for controlling device action and control method thereof |
| CN114159277A (en) * | 2021-11-11 | 2022-03-11 | 北京印刷学院 | Walking assisting device |
| CN114404232A (en) * | 2022-01-19 | 2022-04-29 | 合肥工业大学 | Auxiliary system for lower limb rehabilitation walking aid |
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| CN112515922A (en) * | 2020-12-03 | 2021-03-19 | 浙江海洋大学 | Exoskeleton equipment for assisting old people in walking |
| CN113509328A (en) * | 2021-07-13 | 2021-10-19 | 杭州太希智能科技有限公司 | Multi-posture rehabilitation quadruped robot adaptable to various complex pavements |
| CN114159277A (en) * | 2021-11-11 | 2022-03-11 | 北京印刷学院 | Walking assisting device |
| CN114053095A (en) * | 2021-11-17 | 2022-02-18 | 扬州大学 | Lower limb exoskeleton device, system for controlling device action and control method thereof |
| CN114053095B (en) * | 2021-11-17 | 2024-03-22 | 扬州大学 | Lower limb exoskeleton device, system for controlling action of device and control method of system |
| CN114404232A (en) * | 2022-01-19 | 2022-04-29 | 合肥工业大学 | Auxiliary system for lower limb rehabilitation walking aid |
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