CN111728798A - Exoskeleton appliance assisting human body in supporting and helping people sit up - Google Patents
Exoskeleton appliance assisting human body in supporting and helping people sit up Download PDFInfo
- Publication number
- CN111728798A CN111728798A CN202010595736.3A CN202010595736A CN111728798A CN 111728798 A CN111728798 A CN 111728798A CN 202010595736 A CN202010595736 A CN 202010595736A CN 111728798 A CN111728798 A CN 111728798A
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- China
- Prior art keywords
- thigh
- component
- shank
- assembly
- lower leg
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 210000000689 upper leg Anatomy 0.000 claims abstract description 75
- 230000000712 assembly Effects 0.000 claims 1
- 238000000429 assembly Methods 0.000 claims 1
- 238000009423 ventilation Methods 0.000 claims 1
- 238000004519 manufacturing process Methods 0.000 description 5
- 229910000838 Al alloy Inorganic materials 0.000 description 2
- 230000009471 action Effects 0.000 description 2
- 239000000956 alloy Substances 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 229910000851 Alloy steel Inorganic materials 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000035699 permeability Effects 0.000 description 1
- 230000000284 resting effect Effects 0.000 description 1
Images
Classifications
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47C—CHAIRS; SOFAS; BEDS
- A47C9/00—Stools for specified purposes
- A47C9/02—Office stools not provided for in main groups A47C1/00, A47C3/00 or A47C7/00; Workshop stools
- A47C9/025—Stools for standing or leaning against, e.g. in a semi-standing or half-seated position
-
- 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
- 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
- A61G7/1049—Attachment, suspending or supporting means for patients
-
- 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
Landscapes
- Health & Medical Sciences (AREA)
- Nursing (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses an exoskeleton appliance for assisting human body support and helping sitting up, which comprises a waist component, a thigh component, a shank component and a support component, wherein the waist component is connected with the thigh component; the supporting assembly comprises a thigh fixing plate fixed at the rear part of the thigh assembly and a shank fixing plate fixed at the rear part of the shank assembly, the bottom of the thigh fixing plate is hinged with a sliding bar rod, the sliding bar rod is arranged in a sliding rail in a sliding mode, the sliding bar rod extends into the sliding rail from the upper end of the sliding rail and slides in a telescopic mode in the sliding rail, a ground supporting rod is further fixed in the sliding rail, the upper end of the sliding rail is connected with the thigh fixing plate through a supporting rod, two ends of the supporting rod are respectively hinged to the upper end of the sliding rail and the bottom of the thigh fixing plate, the sliding rail is further connected with the shank fixing plate through a connecting rod, and two ends of the connecting rod are.
Description
Technical Field
The invention relates to human body auxiliary supporting equipment, in particular to an exoskeleton appliance.
Background
At present, no mature research result exists for the project at home and abroad, and most of the developed products are too expensive due to the cost or are still in the trial stage. Since japan is a developed country in which aging is serious, the quality of life of the elderly is important. The research on the exoskeleton-type assistive device for the aged is also carried out in japan first, but until now, no exoskeleton-type assistive device for the aged can be invented in japan, which is suitable for practical use and can be mass-produced.
The problems of the existing related products are as follows: 1, the structure is complex; 2, the operation is inconvenient; 3, the power device is heavy; 4, limited torque and power, which increases the difficulty of the wearer's movements; 5 the appearance is not beautiful; 6 the mechanical interface design of the exoskeleton does not meet the comfort of the wearer, limits wearing time, etc. The most representative Lokomat company has only 100 global sales, and the high cost and the complex structure and operation process bring great difficulty to practical popularization.
Disclosure of Invention
The invention aims to provide an exoskeleton appliance which assists the support of a human body and can help a user to sit up, and the exoskeleton appliance is simple in structure, easy to produce and manufacture, low in cost and convenient to use.
The purpose of the invention is realized as follows: an exoskeleton appliance for assisting in supporting a person and assisting in sitting up comprises a waist assembly, a thigh assembly, a shank assembly and a support assembly; the waist component is used for binding the waist, the thigh component is used for binding the thigh, and the shank component is used for binding the shank; the waist component is hinged to the upper end of the thigh component, the lower end of the thigh component is hinged to the upper end of the shank component, and the support component is connected to the rear portions of the thigh component and the shank component;
the supporting component comprises a thigh fixing plate fixed at the rear part of the thigh component and a shank fixing plate fixed at the rear part of the shank component, the bottom of the thigh fixing plate is hinged with a slide bar rod, the slide bar rod is arranged in a slide rail in a sliding mode, the slide bar rod extends into the slide rail from the upper end of the slide rail and slides in a telescopic mode, a ground supporting rod is further fixed in the slide rail, the upper end of the slide rail is connected with the thigh fixing plate through a supporting rod, the two ends of the supporting rod are hinged to the upper end of the slide rail and the bottom of the thigh fixing plate respectively, the slide rail is connected with the shank fixing plate through a connecting rod, and the two ends of the.
Compared with the prior art, the invention has the beneficial effects that: the exoskeleton walking assisting device is simple in structure, easy to produce and manufacture, low in cost and convenient to use, and can realize most functions of the exoskeleton walking assisting device on the market, and on the basis, the practicability and the innovativeness of the whole device are greatly improved; meanwhile, the invention has the advantages of convenient disassembly and assembly, easy carrying, small occupied space and portability in traveling.
In order to enable the thigh assembly to be more convenient and reliable in wrapping and binding, the thigh assembly comprises two pairs of thigh connecting rods, the rear portions of each pair of thigh connecting rods are connected through an arc-shaped thigh supporting plate and used for supporting the thigh, the front portions of each pair of thigh connecting rods are connected through a thigh binding band and used for being matched with the thigh supporting plate to bind the thigh, and the thigh assembly is hinged with the waist assembly and the shank assembly through thigh supporting rods respectively.
In order to enable the shank assembly to be wrapped and bound more conveniently and reliably, the shank assembly comprises two pairs of shank connecting rods, the rear parts of each pair of shank connecting rods are connected through an arc shank supporting plate, the front parts of each pair of shank connecting rods are connected through shank binding bands and used for being matched with the shank supporting plate to bind the shank, and the shank assembly is hinged with the thigh assembly through a shank supporting rod.
In order to enable the waist binding of the waist binding device to be more convenient and reliable, the waist component comprises an arc-shaped waist supporting plate, waist connecting rods are fixed on two sides of the waist supporting plate, and the waist connecting rods are hinged with the thigh components.
In order to make the waist more comfortable and the air permeability better, a plurality of air holes are formed in the back of the waist supporting plate.
As a further limitation of the invention, the bottom of the lower leg assembly is hinged to the foot securing plate. Make the binding with the human body more reliable through the fixed plate of design foot.
In order to make the support rod have wider application environment and more reliable support, the bottom of the ground supporting rod is connected with a ball head, and the bottom surface of the ball head is processed into a plane.
As a further limitation of the invention, a spring is further arranged in the slide rail, and two ends of the spring respectively abut against two ends of the ground supporting rod and two ends of the slide bar rod. The design of the spring enables the invention to realize the reset function, and the elastic action of the spring can enhance the sitting action to buffer and improve the comfort.
Drawings
Fig. 1 is a schematic view of the whole structure of the invention when standing and walking.
Fig. 2 is a schematic view of the overall structure of the present invention when sitting down.
Fig. 3 is a partial detail structure diagram of the sitting-up assisting device of the invention.
Fig. 4 is a partial structure view of the support rod ball head in the invention.
In the figure: 1 waist supporting plate, 2 waist connecting rods, 3 hinges, 4 thigh connecting rods, 5 thigh straps, 6 hinges, 7 shank connecting rods, 8 shank straps, 9 hinges, 10 foot fixing plates, 11 thigh supporting plates, 12 thigh fixing plates, 13 supporting rods, 14 sliding bar rods, 15 sliding rails, 16 springs, 17 ground supporting rods, 18 connecting rods and 19 shank supporting plates.
Detailed Description
The present invention is further illustrated by the following specific examples.
An exoskeleton device for assisting human body support and helping sitting up as shown in fig. 1 comprises a waist support plate 1, a waist connecting rod 2, a hinge 3, a thigh connecting rod 4, a thigh bandage 5, a hinge 6, a shank connecting rod 7, a shank bandage 8, a hinge 9, a foot fixing plate 10, a thigh support plate 11, a thigh fixing plate 12, a support rod 13, a slide bar rod 14, a slide rail 15, a spring 16, a ground supporting rod 17, a connecting rod 18 and a shank support plate 19.
In this embodiment, the user firstly fixes the human body and the device together through the thigh bandage 5, the shank bandage 8 and the waist support plate 1, and the waist support plate 1 is provided with a plurality of air holes, so that the comfort of the wearer is improved. The whole device transmits the self-gravity of the upper body of the human body to the waist supporting plate 1, the waist supporting plate 1 is supported by the foot connecting rods 2, the thigh connecting rods 4, the shank connecting rods 7 and the foot fixing plates 10, and the weight of the upper body part of the human body is supported in an auxiliary mode through the exoskeleton connecting piece to assist the human body to stand.
In this embodiment, the device is deployed as in figure 2, the user can sit down with the device providing additional support.
In this embodiment, the sitting-up auxiliary supporting device is foldable, and the mechanism consisting of the thigh fixing plate 12, the supporting rod 13 and the sliding bar 14 can be unfolded to form a triangle when the human body sits down, so as to improve the stability of the device. The slide bar 14 slides in the slide rail 15, the retraction and the expansion of the device can be realized, the spring 16 is in a compressed state when a human body is in a sitting state, the device is locked at the moment, the slide bar 14 cannot slide, the spring 16 is in an original length state and can be freely stretched and compressed within a certain range during walking, the resistance is small, and the slide bar 14 can slide up and down in a small amplitude. When a user needs to sit down, the user only needs to bend the thigh slightly to compress the spring to expand the device, when the user needs to stand up, the spring can slowly recover to the original length, and meanwhile, the pressure of the spring is used for helping the user to stand up. The whole device can be used for sitting up at any time. The supporting mode has the advantages of stable structure, lower manufacturing cost and simpler manufacturing process, and is suitable for mass production.
In this embodiment, the sitting-up auxiliary supporting device is a multi-rod foldable detachable structure, a plurality of hinges are adopted for connection, so that the sitting-up auxiliary supporting device is convenient to assemble and disassemble, and the main body is of an alloy steel structure for enhancing the structural strength.
In this embodiment, the sitting-up auxiliary supporting means is placed at the rear of the human body to prevent interference with normal walking.
In summary, the invention combines the advantages of the traditional power assisting device, adopts the rod and the hinge to transmit the gravity of the upper body of the human body to the supporting plates of the feet in the aspect of body supporting, reduces the burden of the human body and can meet the design requirement. The aluminum alloy material is adopted to greatly reduce the equipment quality and improve the portability. Meanwhile, a plurality of supporting modes are designed, and the reliability and the practicability of the device in the actual use process are improved. The supporting device for assisting walking can be folded and detached, and can realize sitting and resting at any time and any place.
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 (8)
1. An exoskeleton appliance for assisting in supporting a person and assisting in sitting up, comprising a waist assembly, a thigh assembly, a shank assembly and a support assembly; the waist component is used for binding the waist, the thigh component is used for binding the thigh, and the shank component is used for binding the shank; the waist component is hinged to the upper end of the thigh component, the lower end of the thigh component is hinged to the upper end of the shank component, and the support component is connected to the rear portions of the thigh component and the shank component;
the supporting component comprises a thigh fixing plate fixed at the rear part of the thigh component and a shank fixing plate fixed at the rear part of the shank component, the bottom of the thigh fixing plate is hinged with a slide bar rod, the slide bar rod is arranged in a slide rail in a sliding mode, the slide bar rod extends into the slide rail from the upper end of the slide rail and slides in a telescopic mode, a ground supporting rod is further fixed in the slide rail, the upper end of the slide rail is connected with the thigh fixing plate through a supporting rod, the two ends of the supporting rod are hinged to the upper end of the slide rail and the bottom of the thigh fixing plate respectively, the slide rail is connected with the shank fixing plate through a connecting rod, and the two ends of the.
2. An exoskeleton device as claimed in claim 1 wherein the thigh assembly comprises two pairs of thigh links, the rear portion of each pair of thigh links being connected via an arcuate thigh support plate to support a thigh, the front portion of each pair of thigh links being connected via a thigh strap to cooperate with the thigh support plate to bind the thigh, the thigh assembly being hinged to the waist and lower leg assemblies via thigh support rods.
3. An exoskeleton device as claimed in claim 1 or claim 2 wherein the lower leg assembly comprises two pairs of lower leg links, the rear of each pair of lower leg links being connected by an arcuate lower leg support plate and the front of each pair of lower leg links being connected by a lower leg strap for engaging the lower leg support plate to bind the lower leg, the lower leg assembly being hinged to the upper leg assembly by a lower leg support rod.
4. An exoskeleton device as claimed in claim 1 or claim 2 wherein the lumbar assembly comprises an arcuate lumbar support plate to which lumbar connecting rods are fixed on either side of the lumbar support plate, the lumbar connecting rods being hinged to the thigh assembly.
5. The exoskeleton device as claimed in claim 4 wherein the back of the lumbar support plate is formed with a plurality of ventilation holes.
6. An exoskeleton device as claimed in claim 1 or claim 2 wherein the lower leg assembly is hinged at its base to a foot fixing plate.
7. An exoskeleton device as claimed in claim 1 or claim 2 wherein the said ground supporting bar is connected at its bottom to a ball head, the bottom of which is made planar.
8. An exoskeleton device as claimed in claim 1 or claim 2 wherein a spring is provided in the track, and the ends of the spring are respectively abutted against the ends of the ground support bar and the slide bar.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010595736.3A CN111728798B (en) | 2020-06-28 | 2020-06-28 | Exoskeleton appliance assisting human body in supporting and helping people sit up |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010595736.3A CN111728798B (en) | 2020-06-28 | 2020-06-28 | Exoskeleton appliance assisting human body in supporting and helping people sit up |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111728798A true CN111728798A (en) | 2020-10-02 |
| CN111728798B CN111728798B (en) | 2021-08-06 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010595736.3A Active CN111728798B (en) | 2020-06-28 | 2020-06-28 | Exoskeleton appliance assisting human body in supporting and helping people sit up |
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| Country | Link |
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| CN (1) | CN111728798B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112957205A (en) * | 2021-04-02 | 2021-06-15 | 北京成珑巨灵贸易有限公司 | Novel leg support |
| CN115024947A (en) * | 2022-08-09 | 2022-09-09 | 南昌大学 | Multifunctional lower limb exoskeleton |
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| CN106420203A (en) * | 2016-11-29 | 2017-02-22 | 天津大学 | Foldable exoskeleton wheelchair integrated motion assisted robot |
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| CN108582042A (en) * | 2018-05-07 | 2018-09-28 | 河北工业大学 | One kind is unpowered to help seat pedipulator |
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| CN109304706A (en) * | 2018-12-05 | 2019-02-05 | 大连交通大学 | Flexible lower limb exoskeleton with support performance of squatting |
| CN109702715A (en) * | 2018-12-06 | 2019-05-03 | 西安交通大学 | A kind of mechanical ectoskeleton seat |
| CN208914117U (en) * | 2018-08-29 | 2019-05-31 | 扬州大学 | A kind of multi-function robot |
| CN111278398A (en) * | 2017-08-29 | 2020-06-12 | 漫游机械人技术公司 | Semi-supervised intent recognition system and method |
-
2020
- 2020-06-28 CN CN202010595736.3A patent/CN111728798B/en active Active
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2012044621A1 (en) * | 2010-09-27 | 2012-04-05 | Vanderbilt University | Movement assistance device |
| CN206525824U (en) * | 2016-11-11 | 2017-09-29 | 扬州大学 | A kind of curved surface bed structure based on ergonomics |
| CN106420203A (en) * | 2016-11-29 | 2017-02-22 | 天津大学 | Foldable exoskeleton wheelchair integrated motion assisted robot |
| CN106377394B (en) * | 2016-12-02 | 2018-12-04 | 华中科技大学 | A kind of wearable ectoskeleton seat unit of measurable human body lower limbs sitting posture |
| CN111278398A (en) * | 2017-08-29 | 2020-06-12 | 漫游机械人技术公司 | Semi-supervised intent recognition system and method |
| CN107913136A (en) * | 2017-12-19 | 2018-04-17 | 刘坤 | Intelligence goes to the toilet and rehabilitation training multifunctional wheelchair |
| CN108582042A (en) * | 2018-05-07 | 2018-09-28 | 河北工业大学 | One kind is unpowered to help seat pedipulator |
| CN108670733A (en) * | 2018-06-13 | 2018-10-19 | 苏州拓品微信息科技有限公司 | A kind of shank separate type wearing ectoskeleton seat unit |
| CN208914117U (en) * | 2018-08-29 | 2019-05-31 | 扬州大学 | A kind of multi-function robot |
| CN109304706A (en) * | 2018-12-05 | 2019-02-05 | 大连交通大学 | Flexible lower limb exoskeleton with support performance of squatting |
| CN109702715A (en) * | 2018-12-06 | 2019-05-03 | 西安交通大学 | A kind of mechanical ectoskeleton seat |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112957205A (en) * | 2021-04-02 | 2021-06-15 | 北京成珑巨灵贸易有限公司 | Novel leg support |
| CN115024947A (en) * | 2022-08-09 | 2022-09-09 | 南昌大学 | Multifunctional lower limb exoskeleton |
| CN115024947B (en) * | 2022-08-09 | 2022-11-08 | 南昌大学 | Multifunctional lower limb exoskeleton |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111728798B (en) | 2021-08-06 |
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