CN112045658A

CN112045658A - Flexible lower limb exoskeleton multi-joint driving device and control method thereof

Info

Publication number: CN112045658A
Application number: CN202010724986.2A
Authority: CN
Inventors: 吴新宇; 曹武警; 陈春杰; 刘静帅; 方涛; 王大帅; 王卓; 张宇; 刘贻达
Original assignee: Shenzhen Institute of Advanced Technology of CAS
Current assignee: Shenzhen Institute of Advanced Technology of CAS
Priority date: 2020-07-24
Filing date: 2020-07-24
Publication date: 2020-12-08

Abstract

The application discloses flexible lower limb exoskeleton multi-joint driving device and control method thereof, the multi-joint driving device comprises: a joint binding piece for binding a joint of a human body; the driving component at least comprises a driving wire and is connected with the joint binding piece through the driving wire; and the controller is connected with the driving assembly and is used for controlling the driving assembly to contract the driving wire to pull the joint binding piece when detecting that the human body is in the first motion state or controlling the driving assembly to be powered off when detecting that the human body is in the second motion state so that the driving wire can be stretched by external force. In this way, extrusion or winding of the drive wire can be avoided.

Description

Flexible lower limb exoskeleton multi-joint driving device and control method thereof

Technical Field

The application relates to the technical field of human body assistance, in particular to a flexible lower limb exoskeleton multi-joint driving device and a control method thereof.

Background

For soldiers walking with a load for a long time, the joint driving device can help the soldiers to reduce energy consumption, improve the ability of the soldiers to carry out tasks while attaching, and play an important role in a single soldier combat system; for patients with lower limb dysfunction, the joint driving device can recover the limb function of the patients through task-type rehabilitation training, is commonly used for the lower limb function of stroke patients or walking assistance of old people, and has important significance in reconstructing the movement ability of the patients with lower limb dysfunction and improving the life quality of the old people.

Because joint drive arrangement drives with the help of the motor usually, in joint drive arrangement's in-service use, when the motor drives the drum and rotates the taut of realizing flexible rope and relax, the flexible rope extrudes or twines the condition when inevitably can appearing relaxing, consequently how to avoid joint reverse motion to lead to the flexible rope to extrude or twine the condition, become the problem that awaits a urgent need to solve.

Disclosure of Invention

In order to solve the above problems, the present application provides a flexible lower extremity exoskeleton multi-joint driving device and a control method thereof, which can avoid extrusion or winding of a driving wire.

In order to solve the technical problem, the application adopts a technical scheme that: there is provided a flexible lower extremity exoskeleton multi-joint drive apparatus, comprising: a joint binding piece for binding a joint of a human body; the driving component at least comprises a driving wire and is connected with the joint binding piece through the driving wire; and the controller is connected with the driving assembly and is used for controlling the driving assembly to contract the driving wire to pull the joint binding piece when detecting that the human body is in the first motion state or controlling the driving assembly to be powered off when detecting that the human body is in the second motion state so that the driving wire can be stretched by external force.

Wherein, drive assembly includes: the wire spool is used for arranging a driving wire; the electromagnetic clutch is sleeved with the wire spool; the motor is connected with the electromagnetic clutch and is used for driving the electromagnetic clutch to rotate; the controller is connected with the electromagnetic clutch and used for controlling the electromagnetic clutch to be electrified when the human body is detected to be in the first motion state so that the electromagnetic clutch adsorbs the wire spool, or controlling the electromagnetic clutch to be powered off when the human body is detected to be in the second motion state so that the electromagnetic clutch is separated from the wire spool.

Wherein, drive assembly still includes: the lengthened shaft is sleeved with the electromagnetic clutch; the screw is connected with the lengthened shaft and the output shaft of the motor; the first gasket is arranged between the screw and the lengthened shaft; and the second gasket is arranged between the lengthened shaft and the output shaft of the motor.

Wherein, articulated drive arrangement still includes: the trunk binding piece is connected with the driving assembly and is used for fixing the driving assembly on the trunk of the human body; the driving assembly further comprises a fixing seat, the fixing seat comprises a fixing portion and a connecting portion, the fixing portion comprises a through hole, the motor is fixed to the fixing portion, an output shaft of the motor penetrates through the through hole, and the connecting portion is used for being connected with the trunk binding piece.

The wire spool comprises a first wire groove and a second wire groove; the joint ligature comprises a first joint ligature and a second joint ligature; the driving wire comprises a first driving wire and a second driving wire, the first driving wire is arranged in the first wire slot and connected with the first joint binding piece, and the second driving wire is arranged in the second wire slot and connected with the second joint binding piece; and the winding diameters of the first wire groove and the second wire groove are different.

Wherein the first joint binding piece is a knee joint binding piece used for binding the knee joint of the human body; the second joint binding piece is an ankle joint binding piece and is used for binding the ankle joint of the human body; wherein the knee joint binding piece forms active stretching assistance for the flexion of the knee joint of the human body under the pulling action of the first driving wire; the ankle joint binding piece forms active stretching assisting force for plantarflexion of the ankle joint of the human body under the pulling action of the second driving wire.

Wherein the first joint binding piece is a knee joint binding piece used for binding the knee joint of the human body; the second joint binding piece is a hip joint binding piece and is used for binding the hip joint of the human body; wherein the knee joint binding piece forms active stretching assistance for the flexion of the knee joint of the human body under the pulling action of the first driving wire; the hip joint binding piece swings and bends the hip joint of the human body to form active stretching assistance under the pulling action of the second driving wire.

Wherein, the winding diameter of the first wire groove is three times of the winding diameter of the second wire groove.

The multi-joint driving device further comprises a sensor, and the sensor is used for detecting the motion state of the human body.

In order to solve the above technical problem, another technical solution adopted by the present application is: a control method of a flexible lower extremity exoskeleton multi-joint driving device is provided, which comprises the following steps: receiving a detection signal of the human motion state sent by a sensor; judging whether the human body is in a first motion state or a second motion state according to the detection signal; if the human body is judged to be in the first motion state, controlling the driving assembly to contract the driving wire so as to pull the joint binding piece; if the human body is judged to be in the second motion state, the driving assembly is controlled to be powered off, so that the driving wire can be stretched by external force.

The beneficial effects of the embodiment of the application are that: different from the prior art, the flexible lower limb exoskeleton multi-joint driving device comprises a joint binding piece, a driving assembly and a controller, wherein when the human body is detected to be in a first motion state, the driving assembly is controlled to contract the driving wire so as to pull the joint binding piece, so that active contraction assistance is formed on the joint of the human body; and when the human body is detected to be in the second motion state, controlling the driving assembly to be powered off so that the driving wire is freely stretched by the human body joint. In this way, on the one hand, the power assisting device can provide power assisting for the joint of the user; on the other hand, when the human body is in the second motion state, the driving wire can be stretched without the aid of active assistance of the driving assembly, and extrusion or winding of the driving wire caused by active wire feeding of the driving assembly is avoided.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts. Wherein:

FIG. 1 is a side view of one embodiment of a flexible lower extremity exoskeleton multi-joint drive apparatus provided herein;

fig. 2 is a wearing schematic view of an embodiment of the flexible lower extremity exoskeleton multi-joint driving device provided by the present application;

FIG. 3 is an exploded schematic view of the drive assembly provided herein;

FIG. 4 is a schematic diagram of a specific structure of a wire spool provided in the present application;

FIG. 5 is a side view of another embodiment of a flexible lower extremity exoskeleton multi-joint drive apparatus provided herein;

fig. 6 is a wearing schematic view of another embodiment of the flexible lower extremity exoskeleton multi-joint driving device provided by the present application;

fig. 7 is a schematic flow chart illustrating an embodiment of a method for controlling a multi-joint driving device for a flexible lower extremity exoskeleton provided by the present application;

FIG. 8 is a schematic structural diagram of an embodiment of a computer-readable storage medium provided in the present application.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. It is to be understood that the specific embodiments described herein are merely illustrative of the application and are not limiting of the application. It should be further noted that, for the convenience of description, only some of the structures related to the present application are shown in the drawings, not all of the structures. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.

The existing joint driving devices can be roughly divided into two types, wherein the structural framework of the first type of driving device is rigid and is only driven by a driving wire, the first type of driving device is crossed with the fit degree of joints of a human body, and the joints are required to be consistent with physiological joints of the human body, otherwise, the first type of driving device is easy to damage a wearing user; the driving device of the second type is flexibly bound, the driving is realized by driving the driving wire through pneumatic muscles or a motor, the mass of a pneumatic muscle driving system is overlarge, so that the driving device is large in energy consumption when in use, the endurance time is shortened, and when the driving motor drives the wire coil to rotate to realize the contraction and stretching of the driving wire, the condition that the driving wire is extruded or wound when the wire is paid off can be avoided. Based on this, the inventors of the present application propose the following examples:

referring to fig. 1, fig. 1 is a side view of an embodiment of a flexible lower extremity exoskeleton multi-joint drive apparatus 10 provided herein, the multi-joint drive apparatus 10 comprising a joint tie 11, a drive assembly 12 and a controller 13, wherein the joint tie 11 is used to tie up joints of a human body, including but not limited to knee joints, ankle joints, hip joints, etc.; the driving assembly 12 is connected with the joint binding 11, and particularly a driving wire 121 in the driving assembly 12 is connected with the joint binding 11 and used for providing upward driving force for the joint binding 11; the controller 13 is connected to the driving assembly 12 for controlling the driving assembly 12.

It is understood that, since the left and right legs have the same structure, the articulated driving apparatus 10 has two members for respectively assisting the movement of the left and right legs, and the following embodiments are described on one side:

with reference to fig. 2, fig. 2 is a schematic wearing diagram of an embodiment of the flexible lower extremity exoskeleton multi-joint driving device provided by the present application, in this embodiment, the joint tie 11 includes a first joint tie 111 and a second joint tie 112, wherein the first joint tie 111 is a knee joint tie for tying the knee joint of the human body, and the second joint tie 112 is an ankle joint tie, which may be a shoe-shaped sleeve, for tying the ankle joint of the human body.

Correspondingly, the drive wires 121 comprise a first drive wire 1211 and a second drive wire 1212, the first drive wire 1211 being connected to the first joint tie 111 and the second drive wire 1212 being connected to the second joint tie 112. At this time, the first joint tie 111 may actively pull the knee joint of the human body by the pulling action of the first driving wire 1211, and similarly, the second joint tie 112 may actively pull the ankle joint of the human body by the pulling action of the second driving wire 1212. Alternatively, the driving wire 121 may be one of a bowden cable, a steel wire, or a steel rod, and in this embodiment, the driving wire 121 is mainly a bowden cable.

Further, the multi-joint drive device 10 also includes a torso tie 14, the torso tie 14 being coupled to the drive assembly 12 for securing the drive assembly 12 to a torso of a person. Wherein, human trunk can include chest, belly, back and waist, and in this embodiment, trunk ligature 14 specifically can be waist ligature, and articulated drive arrangement 10 is fixed in human waist promptly for the length of drive wire 121 is unlikely to overlength, and influences drive assembly 12's drive effect.

Further, the multi-joint drive device 10 further includes a plurality of sensors 15 and a plurality of communication modules (not shown), the sensors 15 may be provided on the joint bindings 11, the communication modules are provided on the controller 13 and the sensors 15, respectively, and the controller 13 and the sensors 15 establish communication connection through the communication modules. Wherein, the sensor 15 is used for detecting the motion state of the human body, in this embodiment, the sensor 15 may be a three-axis acceleration sensor, since the multi-joint driving device 10 only assists the user to move, the user will actually exert force actively in the motion process, when the acceleration sensor detects that the joint binding piece 11 is ready to start moving due to the force exerted by the human body to the joint actively, the direction of the motion of the human joint at this time is obtained, and the corresponding direction signal is sent to the controller 13, and the controller 13 identifies the first motion state or the second motion state corresponding to the human body according to the direction signal, so as to control the driving component 12 according to the first motion state or the second motion state. Alternatively, the type of the sensor 15 is not limited thereto as long as the motion state of the human body can be detected.

Specifically, the controller 13, upon acquiring that the human body is in the first motion state, controls the driving assembly 12 to contract the driving wire 121 to pull the joint bind 11; or when the controller 13 acquires that the human body is in the second motion state, the driving assembly 12 is controlled to be powered off, so that the driving wire 121 can be stretched by external force, and at the moment, the driving wire 121 is not controlled by the driving assembly 12, and the human body actively applies force to the driving wire 121 to stretch outwards. That is, the human body requires assistance from the multi-joint drive 10 in the first motion state and no assistance in the second motion state.

In this embodiment, the first motion state is a motion state after the human body is switched from a standing state to a swinging state, and corresponds to a time period when the human knee joint is flexed or the human ankle joint is plantarflexed; the second motion state is the motion state of the next stage after the first motion state of the human body is finished, and corresponds to the time period of swinging and stretching of the knee joint of the human body or dorsiflexion of the ankle joint of the human body; at this time, the three-axis acceleration sensor obtains the acceleration data in the direction X, Y, Z by detecting, and the controller 13 can determine that the human body is in the first or second motion state according to the acceleration data.

It will be understood that the first and second motion states are opposite motion states under the driving action of the multi-joint driving device 10, and that a time period corresponding to the first motion state and a time period corresponding to the second motion state constitute a motion cycle T, it should be noted that the motion cycle T is the time that one multi-joint driving device 10 undergoes alternate power-on and power-off, and after the end of one motion cycle T, the driving assembly 12 and the sensor 15 of the other multi-joint driving device 10 begin to work to assist the joint of the other leg in moving, and the joint binding 11 is controlled in the same manner as described above, and undergoes another motion cycle T to complete another set of movements, such as knee bending and extension. That is, the two consecutive exercise cycles T are the exercise time of the whole lower limb, i.e. one gait exercise cycle.

Optionally, after the multi-joint driving device 10 starts to operate a gait movement cycle from the start, that is, when the joint motion in the second movement state in the second movement cycle T is completed, the next movement cycle T may be directly entered, and at this time, the controller 13 may periodically turn on or off according to the rule of starting the two movement cycles T without the detection of the sensor 15, so as to complete the active power-assisted wire winding and the non-resistance wire winding of the multi-joint. In other embodiments, the power on or off of the driving assembly 12 can be controlled directly according to the movement law of the joint during walking of the human body without the aid of the sensor 15 during starting, so as to actively contract or freely stretch the driving wire 121 to complete the joint assistance.

In a specific application scenario, when a user needs to assist with the multi-joint driving device 10, the multi-joint driving device 10 may be activated by an activation button (not shown) disposed on the device, and when the sensor 15 detects that the knee joint of the lower limb of the user has a flexion action or the ankle joint has a plantarflexion action, that is, when the device is in the first motion state, the sensor 15 sends a direction signal of the initial motion of the joint to the controller 13, the controller 13 controls the driving assembly 12 to be powered on, and controls the driving assembly 12 to pull the knee joint binding 11 and the ankle joint binding 11 through the driving wire 121, so as to assist the flexion or plantarflexion of the knee joint and the ankle joint and assist the user in moving; when the sensor 15 detects that the knee joint of the user has an extending action or the ankle joint has a dorsiflexion action, namely, the user is in the second motion state, the sensor 15 sends a motion direction signal to the controller 13, and the controller 13 controls the driving component 12 to be powered off, at the moment, as the knee joint extending action and the ankle joint dorsiflexion belong to the natural limb extending action, the human body can be completed without effort without the help of the driving component 12 so as to complete the joint assistance of a single leg in a motion period T; after the extension and dorsiflexion of the joint is complete, the other multi-joint drive assembly 10 is operated in the same manner until the other leg completes the assistance from the first motion state to the second motion state to complete a gait motion cycle.

By the mode, when the human body is in the second motion state, the driving wire 121 can be stretched without the aid of active assistance of the driving assembly 12, and extrusion or winding of the driving wire 121 caused by active wire feeding of the driving assembly 12 can be avoided.

Referring further to fig. 3, fig. 3 is an exploded schematic view of the driving assembly provided in the present application, and also illustrates a single-sided driving assembly 12, where the driving assembly 12 includes a wire spool 122, an electromagnetic clutch 123, a motor 124, an extension shaft 125, a screw 126, a first spacer 127, a second spacer 128, and a fixing seat 129. The wire spool 122 is used for providing the driving wire 121, sleeved on the electromagnetic clutch 123, and specifically externally sleeved on the electromagnetic clutch 123, and is used for implementing the function of the driving assembly 12 to contract the driving wire 121 in the above embodiments.

The electromagnetic clutch 123 is connected with the motor 124, specifically, the electromagnetic clutch 123 is sleeved on the extension shaft 125, the extension shaft 125 is connected and fixed with the output shaft of the motor 124 under the action of the screw 126, and in some embodiments, the extension shaft 125 may not be arranged and is directly connected with the electromagnetic clutch 123 by using the output shaft under the condition that the output shaft of the motor 124 is long enough; the electromagnetic clutch 123 is also electrically connected with the controller 13, the controller 13 is used for controlling the electromagnetic clutch 123 to be electrified when detecting that the human body is in a first motion state, so that the electromagnetic clutch 123 adsorbs the wire spool 122, and controlling the electromagnetic clutch 123 to be powered off when detecting that the human body is in a second motion state, so that the electromagnetic clutch 123 is separated from the wire spool 122; the motor 124 is used to drive the electromagnetic clutch 123 to rotate, further driving the wire spool 122 to rotate, so as to contract the driving wire 121 and pull the joint binding 11, wherein the motor 124 can be powered on all the time, or can be switched on or off according to the first or second motion state.

The first spacer 127 is disposed between the screw 126 and the elongated shaft 125, and the second spacer 128 is disposed between the elongated shaft 125 and the output shaft of the motor 124, so as to reduce the influence of vibration and stabilize the connection between the components.

Wherein, the fixing base 129 comprises a fixing portion 1291 and a connecting portion 1292, the fixing portion 1291 comprises a through hole, the motor 124 is fixed on the fixing portion 1291, and an output shaft of the motor 124 passes through the through hole for fixing the whole driving assembly 12 on the fixing base 129, so that the connecting portion 1292 is connected with the trunk tie-up 14, and the driving assembly 12 is hung on the human body.

Specifically, when the electromagnetic clutch 123 is energized, the coil of the electromagnetic clutch 123 generates magnetic force, and the armature is attracted by the magnetic force, so that the wire spool 122 sleeved outside the electromagnetic clutch 123 is integrated with the output shaft of the motor 124, and at this time, the wire spool 122 sleeved on the electromagnetic clutch 123 can rotate forward along with the rotation of the output shaft of the motor 124 or the extension shaft 125, so that the driving wire 121 in the wire spool 122 can be retracted, and thus, an active pulling force is formed on the first joint tie 111 and the second joint tie 112 to assist joint flexion or plantarflexion.

When the joint of the lower limb moves reversely, that is, in the second motion state, the controller 13 controls the electromagnetic clutch 123 to be powered off, the magnetic force disappears, under the acting force of a spring or self-gravity, the wire spool 122 externally sleeved on the electromagnetic clutch 123 is separated from the output shaft, the driving wire 121 is stretched outwards due to the active motion of the joint, at this time, the wire spool 122 is equal to a hollow pulley, and is driven by the driving wire 121 to rotate reversely, the active wire feeding of the motor 124 is not needed, and the extrusion or winding when the motor 124 actively feeds the wire is avoided.

Referring further to fig. 4, fig. 4 is a schematic diagram of a specific structure of the wire spool provided in the present application, in this embodiment, the wire spool 122 includes a first wire slot 1221 and a second wire slot 1222, the first wire slot 1221 and the second wire slot 1222 have different diameters, wherein one end of the first driving wire 121 is disposed in the first wire groove 1221 and the other end is connected to the first joint binding piece 111, one end of the second driving wire 121 is disposed in the second wire groove 1222 and the other end is connected to the second joint binding piece 112, and, because the flexion angles of the joints of the human body are different, for example, the flexion angle of the knee joint of the human body in the embodiment is about three times of the plantarflexion angle of the ankle joint, the diameter of the first wire slot 1221, corresponding to the connection with the knee joint ligature, is about three times the diameter of the second wire slot 1222, corresponding to the connection with the ankle joint ligature, therefore, the consistency of the multi-joint power-assisted movement of the lower limbs of the human body can be kept, and the knee joint flexion and the ankle joint plantarflexion can be completed simultaneously. The sizes of the diameters of the wire grooves corresponding to the multi-joint binding pieces are related to the range of motion of the lower limb joints, the larger the range of motion of the physiological joints is, the larger the diameter of the wire grooves is, specific limitation is not made, and the consistency of multi-joint power-assisted motion can be met.

Optionally, the wire spool 122 may further be provided with a third or fourth wire slot, etc. according to actual needs, which are stacked into a plurality of wire slots with different diameters, in this embodiment, only the first wire slot 1221 and the second wire slot 1222 are provided to correspond to the knee joint tie and the ankle joint tie.

In this embodiment, on the one hand, through the multislot design of wire reel 122, utilize a motor just can realize low limbs articulated motion linkage helping hand, need not to set up a plurality of wire reels 122 and cause control difficulty and weight increase scheduling problem, can improve helping hand efficiency. On the other hand, since the number of the motors 124 and the wire reels 122 does not need to be set too much, the mass of the articulated drive device 10 becomes light, so that the device has strong wearability and endurance.

In addition, the multi-joint driving device 10 is simple to process, light in weight, small in size and convenient to control, can be used for driving the multi-joint lower limb exoskeleton independently, and can also be directly combined with various unpowered rigid or flexible lower limb exoskeletons to provide lower limb multi-joint assistance for patients with lower limb weakness or people walking in the middle.

Different from the prior art, the multi-joint driving device 10 provided by the application comprises a joint tie-up 11, a driving assembly 12 and a controller 13, wherein when the human body is detected to be in a first motion state, the driving assembly 12 is controlled to contract the driving wire 121 so as to pull the joint tie-up 11, so that active contraction assistance is formed on the joint of the human body; when the human body is detected to be in the second motion state, the driving assembly 12 is controlled to be powered off, so that the driving wire 121 is freely stretched by the human body joint. In this way, on the one hand, the power assisting device can provide power assisting for the joint of the user; on the other hand, when the human body is in the second motion state, the driving wire 121 can be stretched without the aid of the active assistance of the driving assembly 12, so that the driving assembly 12 is prevented from actively feeding the wire to cause extrusion or winding of the driving wire 121.

Referring to fig. 5 and 6, fig. 5 is a side view of another embodiment of the flexible lower extremity exoskeleton multi-joint driving device provided by the present application, and fig. 6 is a wearing schematic view of another embodiment of the flexible lower extremity exoskeleton multi-joint driving device provided by the present application, and in this embodiment, one side of both the left and right legs is also taken as an example for description. The multi-joint driving device 20 includes a joint tie 21, a driving assembly 22, and a controller 23, wherein the joint tie 21 is used to tie a joint of a human body; the driving component 22 is connected with the joint binding 21, in particular, a driving wire 221 in the driving component 22 is connected with the joint binding 21; the controller 23 is connected to the driving assembly 22 for controlling the driving assembly 22.

It should be noted that the driving assembly 22 in the present embodiment and the driving assembly 22 in the previous embodiment belong to the same components, and the principle and the function thereof are the same, which is not described herein again.

In this embodiment, the joint tie 21 comprises a first joint tie 211 and a second joint tie 212, wherein the first joint tie 211 is a knee tie for tying the human knee joint and the second joint tie 212 is a hip tie for tying the human hip joint.

Correspondingly, the driving wire 221 includes a first driving wire 2211 and a second driving wire 2212, the first driving wire 2211 is connected to the first joint binding 211, the second driving wire 2212 is connected to the second joint binding 212, at this time, the first joint binding 211 can form active stretching assistance to the flexion of the knee joint of the human body under the pulling action of the first driving wire 2211, and the second joint binding 212 can form active stretching assistance to the hip joint of the human body under the pulling action of the second driving wire 2212.

Further, multi-joint drive device 20 also includes torso tie 24, torso tie 24 being connected to drive assembly 22 for securing drive assembly 22 to a person's torso, in this embodiment torso tie 24 may be a waist tie.

Further, the multi-joint driving device 20 further includes a pulley 25 provided on the trunk tie 24, and the second driving wire 2212 is connected to the second joint tie 212 by the pulley. Because the assisting direction of the second driving wire 2212 to the hip joint is different from the assisting direction of the first driving wire 2212 to the knee joint, the second driving wire 2212 needs to stretch the front side of the thigh to assist the hip joint, but the position of the driving assembly 22 is relatively fixed, therefore, the direction of the second driving wire 2212 can be changed by a pulley, so that the second driving wire 2212 can better assist the second joint binding piece 212, the pulley can be arranged at the other end of the trunk binding piece 24 relative to the driving assembly 22, and the specific position is based on the fact that the driving assembly 22 can conveniently realize stretching assisting.

Further, the multi-joint driving device 20 further includes a sensor 26 and a communication module (not shown), and the sensor 26 is provided on the joint bindings 21 for detecting the motion state of the human body and transmitting to the controller 23 through the communication module. The specific principle and method are the same as those of the foregoing embodiments, and will not be described herein.

In a specific application scenario, when a user needs to assist with the multi-joint driving device 20, the user can start the multi-joint driving device 20 through a start button (not shown) disposed on the device, and when the sensor 26 detects that the human body is in the first motion state, send a direction signal of the initial motion of the human body to the controller 23, and the controller 23 controls the driving assembly 22 to be powered on, so that the driving assembly 22 stretches the knee joint tie-up and the hip joint tie-up through the driving wire 221 to assist the flexion assistance of the knee joint and the hip joint and assist the user in moving; when the sensor 26 detects that the human body is in the second motion state, the motion direction signal is sent to the controller 23, the controller 23 controls the driving assembly 22 to be powered off, the knee joint and the hip joint stretch naturally, the driving wire 221 is not controlled by the driving assembly 22 at the moment, the joint assistance of a single leg in a motion period T is finally completed, and then the other multi-joint driving device 20 works to complete a gait motion period.

In this way, on the one hand, the power assisting device can provide power assisting for the joint of the user; on the other hand, when the human body is in the second motion state, the driving line 221 can be stretched without the aid of the active assistance of the driving assembly 22, so that the driving assembly 22 is prevented from actively feeding the line to extrude or wind the driving line 221.

Referring to fig. 7, fig. 7 is a schematic flowchart of an embodiment of a method for controlling a flexible lower extremity exoskeleton multi-joint driving device, which specifically includes the following steps:

s11: and acquiring a sensing signal.

The detection signal is obtained by acquiring acceleration data of the human body at the initial motion moment through the sensor, and the sensor further sends the acceleration data to the controller.

S12: and determining the motion state of the human body according to the sensing signal.

The sensing signal includes acceleration data of the sensor in the direction X, Y, Z, and the controller can determine the motion state of the human body according to the data, and in this embodiment, the motion state mainly refers to the motion state of the human body joint.

S13: when the human body is in a first motion state, the driving assembly is controlled to contract the driving wire so as to pull the joint binding piece.

Wherein, drive assembly's drive line connection joint ties up the piece, and joint ties up the piece and is used for tying up the human joint to under drive assembly's drive effect, carry out the helping hand to the joint.

S14: when the human body is in the second motion state, the driving assembly is controlled to be powered off, so that the driving wire can be stretched by external force.

When the driving assembly is powered off, the driving assembly does not act as the driving wire to actively assist, the driving wire is stretched freely by a human body, and the driving wire can be prevented from being extruded or wound.

Through such a mode, can provide the helping hand for user's joint, can also be when the human body is in the second motion state, with drive assembly outage, avoid drive assembly initiative send the line to cause the extrusion or the winding of drive wire.

Referring to fig. 8, fig. 8 is a schematic structural diagram of an embodiment of a computer-readable storage medium provided in the present application, a computer-readable storage medium 30 of the present embodiment is used for storing a computer program 31, and when the computer program 31 is executed by a processor, the computer program 31 is used to implement the following method steps:

receiving a detection signal of the human motion state sent by a sensor; judging whether the human body is in a first motion state or a second motion state according to the detection signal; if the human body is judged to be in the first motion state, controlling the driving assembly to contract the driving wire so as to pull the joint binding piece; if the human body is judged to be in the second motion state, the driving assembly is controlled to be powered off, so that the driving wire can be stretched by external force.

It should be noted that the method steps executed by the computer program 31 of the present embodiment are based on the above-described method embodiments, and the implementation principle and steps are similar.

Embodiments of the present application may be implemented in software functional units and may be stored in a computer readable storage medium when sold or used as a stand-alone product. Based on such understanding, the technical solution of the present application may be substantially implemented or contributed by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, a network device, or the like) or a processor (processor) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.

In the description of the present specification, the term "connected" is to be understood broadly, for example, "connected" may be a fixed connection, a detachable connection, or an integral connection; may be directly connected or indirectly connected through an intermediate. The above-mentioned meaning belonging to the present application can be understood by those of ordinary skill in the art as the case may be.

In the description of the present application, the description of the terms "one embodiment," "another embodiment," and the like, means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The above description is only for the purpose of illustrating embodiments of the present application and is not intended to limit the scope of the present application, and all modifications of equivalent structures and equivalent processes, which are made by the contents of the specification and the drawings of the present application or are directly or indirectly applied to other related technical fields, are also included in the scope of the present application.

Claims

1. A flexible lower extremity exoskeleton multi-joint drive, said multi-joint drive comprising:

a joint binding piece for binding a joint of a human body;

a driving component which at least comprises a driving wire and is connected with the joint binding piece through the driving wire;

and the controller is connected with the driving assembly and is used for controlling the driving assembly to contract the driving wire to pull the joint binding piece when detecting that the human body is in the first motion state or controlling the driving assembly to be powered off when detecting that the human body is in the second motion state, so that the driving wire can be stretched by external force.

2. The multi-joint drive of claim 1,

the drive assembly includes:

a wire spool for disposing the driving wire;

the wire spool is sleeved on the electromagnetic clutch;

the motor is connected with the electromagnetic clutch and is used for driving the electromagnetic clutch to rotate;

the controller is connected with the electromagnetic clutch and used for controlling the electromagnetic clutch to be powered on when the human body is detected to be in a first motion state, so that the electromagnetic clutch adsorbs the wire spool, or controlling the electromagnetic clutch to be powered off when the human body is detected to be in a second motion state, so that the electromagnetic clutch is separated from the wire spool.

3. The multi-joint drive of claim 2,

the drive assembly further includes:

the electromagnetic clutch is sleeved on the lengthened shaft;

the screw is connected with the lengthened shaft and the output shaft of the motor;

a first spacer disposed between the screw and the elongated shaft;

and the second gasket is arranged between the lengthened shaft and the output shaft of the motor.

4. The multi-joint drive of claim 3,

the multi-joint driving device further includes:

the trunk binding piece is connected with the driving assembly and is used for fixing the driving assembly on the trunk of the human body;

the driving assembly further comprises a fixing seat, the fixing seat comprises a fixing portion and a connecting portion, the fixing portion comprises a through hole, the motor is fixed to the fixing portion, an output shaft of the motor penetrates through the through hole, and the connecting portion is used for being connected with the trunk binding piece.

5. The multi-joint drive of claim 2,

the wire spool comprises a first wire groove and a second wire groove;

the joint ligature comprising a first joint ligature and a second joint ligature;

the driving wire comprises a first driving wire and a second driving wire, the first driving wire is arranged in the first wire groove and connected with the first joint binding piece, and the second driving wire is arranged in the second wire groove and connected with the second joint binding piece;

and the winding diameters of the first wire groove and the second wire groove are different.

6. Multi-joint drive according to claim 5,

the first joint binding piece is a knee joint binding piece and is used for binding the knee joint of the human body;

the second joint binding piece is an ankle joint binding piece and is used for binding the ankle joint of the human body;

the knee joint binding piece forms active stretching assistance for the flexion of the knee joint of the human body under the pulling action of the first driving wire; the ankle joint binding piece forms active stretching assisting force for plantarflexion of the ankle joint of the human body under the pulling action of the second driving wire.

7. Multi-joint drive according to claim 5,

the second joint binding piece is a hip joint binding piece and is used for binding the hip joint of the human body;

the knee joint binding piece forms active stretching assistance for the flexion of the knee joint of the human body under the pulling action of the first driving wire; the hip joint binding piece swings and bends the hip joint of the human body to form active stretching assistance under the pulling action of the second driving wire.

8. Multi-joint drive according to claim 5,

the winding diameter of the first wire groove is three times of the winding diameter of the second wire groove.

9. The multi-joint drive of claim 1,

the multi-joint driving device further comprises a sensor for detecting the motion state of the human body.

10. A control method for a flexible lower extremity exoskeleton multi-joint drive device, the control method being applied to the multi-joint drive device as claimed in any one of claims 1 to 9, the control method comprising:

acquiring a sensing signal;

determining the motion state of the human body according to the sensing signal;

when the human body is in a first motion state, controlling the driving assembly to contract the driving wire so as to pull the joint binding piece;

when the human body is in a second motion state, the driving assembly is controlled to be powered off, so that the driving wire can be stretched by external force.