CN113208868A - Lower limb exoskeleton based on transverse walking - Google Patents
Lower limb exoskeleton based on transverse walking Download PDFInfo
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- CN113208868A CN113208868A CN202110322082.1A CN202110322082A CN113208868A CN 113208868 A CN113208868 A CN 113208868A CN 202110322082 A CN202110322082 A CN 202110322082A CN 113208868 A CN113208868 A CN 113208868A
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- 210000003141 lower extremity Anatomy 0.000 title claims abstract description 102
- 230000027455 binding Effects 0.000 claims abstract description 100
- 238000009739 binding Methods 0.000 claims abstract description 100
- 230000013011 mating Effects 0.000 claims description 4
- 210000002414 leg Anatomy 0.000 description 91
- 210000001624 hip Anatomy 0.000 description 64
- 230000004064 dysfunction Effects 0.000 description 38
- 210000004394 hip joint Anatomy 0.000 description 8
- 230000005484 gravity Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- 230000000694 effects Effects 0.000 description 4
- 230000005021 gait Effects 0.000 description 4
- 230000008602 contraction Effects 0.000 description 3
- 238000000926 separation method Methods 0.000 description 3
- 208000023178 Musculoskeletal disease Diseases 0.000 description 2
- 210000003205 muscle Anatomy 0.000 description 2
- 206010019468 Hemiplegia Diseases 0.000 description 1
- 230000008094 contradictory effect Effects 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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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
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
- A61H1/0255—Both knee and hip of a patient, e.g. in supine or sitting position, the feet being moved together in a plane substantially parallel to the body-symmetrical plane
- A61H1/0262—Walking movement; Appliances for aiding disabled persons to walk
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/164—Feet or leg, e.g. pedal
- A61H2201/1642—Holding means therefor
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/165—Wearable interfaces
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/10—Leg
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- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Rehabilitation Tools (AREA)
Abstract
The application discloses lower limbs ectoskeleton based on transversely walking includes: a binding assembly comprising a waist binding, a left leg binding and a right leg binding; the power assembly comprises a left telescopic piece and a right telescopic piece, the fixed end of the left telescopic piece is rotatably connected with the left end of the waist binding piece, the telescopic end is rotatably connected with the left leg binding piece, and the left telescopic piece rotates in the left-right direction relative to the waist binding piece and the left leg binding piece; the stiff end of right side extensible member rotates the right-hand member of connecting waist ligature, and the flexible end of right side extensible member rotates and connects in right leg ligature, and right side extensible member is relative waist ligature and right leg ligature and is controlling the direction rotation. The lateral walking assistance is realized by the lateral walking-based lower limb exoskeleton.
Description
Technical Field
The application belongs to the technical field of robots, and particularly relates to a lower limb exoskeleton based on transverse walking.
Background
At present, the lower limb dysfunction is the most common sequelae of patients with hemiplegia, and the patients with lower limb dysfunction have good prospects in recovering normal walking. At present, only lower limb exoskeletons walking in the forward direction exist, specifically, a lower limb dysfunction patient is assisted in the forward direction, so that assisted training of the lower limb dysfunction patient in the forward direction is realized, and the problem of assisting walking of the lower limb dysfunction patient in the left-right direction cannot be solved.
Disclosure of Invention
The application mainly provides a lower limb exoskeleton based on transverse walking to solve the problem that a patient with lower limb dysfunction in the prior art cannot walk in the left-right direction in an auxiliary manner.
In order to solve the technical problem, the application adopts a technical scheme that: a lateral walking-based lower extremity exoskeleton comprising:
a binding assembly comprising a waist binding, a left leg binding and a right leg binding;
the power assembly comprises a left telescopic piece and a right telescopic piece, the fixed end of the left telescopic piece is rotatably connected with the left end of the waist binding piece, the telescopic end is rotatably connected with the left leg binding piece, and the left telescopic piece rotates in the left-right direction relative to the waist binding piece and the left leg binding piece; the stiff end of right side extensible member rotates the connection the right-hand member of waist ligature, the flexible end of right side extensible member rotate connect in right side leg ligature, right side extensible member is relative waist ligature with right side leg ligature is in the left and right sides direction rotates.
According to an embodiment that the application provides, power component still includes clutch and connecting axle, connecting axle one end is passed through the clutch is connected waist ties up the piece, and the other end rotates to be connected in the extensible member.
According to an embodiment that this application provided, the clutch includes engaged state and disengagement state, works as when the clutch is in engaged state, the connecting axle can be relative waist ligature rotates in the front and back direction, and then drives the shank ligature relatively waist ligature is in the fore-and-aft direction swing.
According to an embodiment provided by the application, when the clutch is in the separation state, one end of the connecting shaft is opposite to the waist binding piece, so that the connecting shaft is limited to be opposite to the waist binding piece, the waist binding piece rotates in the front-back direction, and the leg binding piece can be opposite to the waist binding piece and swings in the left-right direction.
According to an embodiment that the application provides, power component still includes the fitting piece, fitting piece one end is rotated and is connected the connecting axle is kept away from clutch one end, and the other end is rotated and is connected the extensible member is used for the increase the shank ties up the piece relatively waist ties up the piece and is in the wobbling range of swing of fore-and-aft direction.
In accordance with an embodiment provided herein, the leg strap includes a first leg strap, a second leg strap, and a leg connector, the first leg strap being connected to the second leg strap through the leg connector.
According to one embodiment, the lower extremity exoskeleton comprises a first training state and a second training state, wherein in the first training state, the left expansion piece and the right expansion piece cooperate to provide assistance for a user to walk in the left-right direction;
in the second training state, the left telescoping piece and the right telescoping piece cooperate to provide resistance to the user walking in the left-right direction.
According to an embodiment that this application provided, left extensible member and/or right extensible member is linear electric motor second training state, linear electric motor is used for the dynamic control the resistance of user's horizontal walking.
According to an embodiment provided by the application, the lower limb exoskeleton further comprises a control assembly, wherein the control assembly is electrically connected with the left extensible member and/or the right extensible member and is used for controlling the left extensible member and/or the right extensible member to perform telescopic movement.
According to an embodiment provided herein, the lateral walking based lower extremity exoskeleton further comprises a walking state identification assembly comprising a sensor disposed at the waist and/or leg straps;
the control assembly is electrically connected with the sensor and used for controlling the telescopic piece to perform telescopic motion according to signals of the sensor so that the leg binding piece connected with the telescopic piece can swing in the left-right direction relative to the waist binding piece.
The lower limb exoskeleton based on transverse walking utilizes the left telescopic piece to connect the waist binding piece and the left leg binding piece, so that the left telescopic piece rotates in the left-right direction relative to the waist binding piece and the left leg binding piece; utilize right extensible member to connect waist ligature and right leg ligature to make the relative waist ligature of right extensible member and right leg ligature rotate in the left right direction, and then drive the relative waist ligature of left side ligature or right leg ligature and swing in the left right direction, realize that horizontal walking is supplementary.
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, it is obvious that the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without inventive efforts, wherein:
FIG. 1 is a schematic illustration of the effect of the application on the lateral walking based lower extremity exoskeleton;
FIG. 2 is a schematic diagram of the overall configuration of the lower extremity exoskeleton of FIG. 1 based on lateral walking;
FIG. 3 is a schematic diagram of a partially exploded configuration of the lower extremity exoskeleton of FIG. 1 based on lateral walking;
FIG. 4 is a schematic diagram of a lateral walking based lower extremity exoskeleton left lateral walking gait as provided herein;
fig. 5 is a schematic diagram of a lateral walking based lower extremity exoskeleton gait to the right as provided by 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, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. 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.
It should be noted that if directional indications (such as up, down, left, right, front, and back … …) are referred to in the embodiments of the present application, the directional indications are only used to explain the relative positional relationship between the components, the movement situation, and the like in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indications are changed accordingly.
In addition, if there is a description of "first", "second", etc. in the embodiments of the present application, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present application.
Referring to fig. 1-3, fig. 1 is a schematic view illustrating a wearing effect of a lower extremity exoskeleton based on transverse walking provided by the present application, fig. 2 is a schematic view illustrating an overall structure of the lower extremity exoskeleton based on transverse walking shown in fig. 1, and fig. 3 is a schematic view illustrating a partial explosion structure of the lower extremity exoskeleton based on transverse walking shown in fig. 1. The lower limb exoskeleton 10 based on transverse walking is suitable for patients with lower limb dysfunction and provides transverse walking assistance or rehabilitation training for the patients with lower limb dysfunction.
The lower extremity exoskeleton 10 based on lateral walking of the present embodiment includes a cinching assembly 100 and a power assembly 200.
Wherein the harness assembly 100 comprises a waist harness 11 and a leg harness 12. Specifically, the leg ligature 12 includes a left leg ligature 121 and a right leg ligature 122. The waist binding 11 is for binding to the waist of a patient with lower limb dysfunction. The leg attachment 12 is intended to be attached to the leg of a patient with lower limb dysfunction.
When the lower extremity exoskeleton 10 is used, it is considered that the sizes of the waist and the legs of the patients with lower extremity dysfunction are different. For this reason, the waist and leg straps 11, 12 of the present embodiment are configured to be adjustable, which facilitates dynamic adjustment of the user according to the actual size of the waist and legs, thereby securing the lower extremity exoskeleton 10 based on walking in the transverse direction. In addition, the fitting degree of the lower limb exoskeleton 10 and the user based on transverse walking is increased, and the transverse walking of the user is facilitated.
Further, power assembly 200 includes a telescoping member 21. Specifically, the telescopic member 21 includes a left telescopic member 211 and a right telescopic member 212.
Wherein, the fixed end of the left extensible member 211 is rotatably connected to the left end of the waist binding 11, and the extensible end of the left extensible member 211 is rotatably connected to the left leg binding 121. When the lower extremity exoskeleton 10 based on transverse walking is used, the left expansion piece 211 rotates in the left-right direction relative to the waist binding 11 and the left leg binding 121, and then drives the left leg binding 121 to swing in the left-right direction. The fixed end of the right expansion piece 212 is rotatably connected to the right end of the waist ligature 11, and the expansion end of the right expansion piece 212 is rotatably connected to the right leg ligature 122. When the lower extremity exoskeleton 10 based on transverse walking is used, the right expansion piece 212 rotates in the left-right direction with respect to the waist ligature 11 and the right leg ligature 122, thereby driving the right leg ligature 122 to swing in the left-right direction. It should be noted that the left-right direction described in this embodiment is the lateral walking direction.
In the above scheme, the lower extremity exoskeleton 10 based on transverse walking provided by the present application utilizes the left extensible member 211 to connect the waist binding 11 and the left leg binding 121, so that the left extensible member 211 rotates in the left-right direction relative to the waist binding 11 and the left leg binding 121, and further drives the left leg binding 121 to swing in the left-right direction; connect waist ligature 11 and right leg ligature 122 through right extensible member 212 to make the relative waist ligature 11 of right extensible member 212 and right leg ligature 122 rotate in left right direction, and then drive right leg ligature 122 in left right direction swing, realized that horizontal walking is supplementary.
In order to separate the transverse walking and the longitudinal walking, the lower extremity exoskeleton 10 based on the transverse walking is prevented from interfering with each other when the transverse walking or the longitudinal walking is carried out. The present embodiment introduces the clutch 22, and utilizes the working condition of the clutch 22 in different states to restrict the degree of freedom of the expansion piece 21, thereby swinging the leg cuff 12 in the horizontal direction or the front-rear direction with respect to the waist cuff 11.
Among them, the power assembly 200 of the present embodiment includes the clutch 22 and the connecting shaft 23. One end of the connecting shaft 23 is connected to the waist binding 11 via a clutch 22, and the other end is rotatably connected to the extensible member 21.
In a particular embodiment, the clutch 22 includes a left clutch 221 and a right clutch (not shown). The connecting shaft 23 includes a left connecting shaft 231 and a right connecting shaft (not shown). One end of the left connecting shaft 231 is connected to the left end of the waist binding 11 through the left clutch 221, and the other end is rotatably connected to the left extensible member 211. One end of the right connecting shaft is connected with the right end of the waist binding 11 through a right clutch, and the other end is rotatably connected with a right telescopic piece 212.
Specifically, the clutch 22 includes an engaged state and a disengaged state. When the lower extremity exoskeleton 10 based on transverse walking is used, if the clutch 22 is in the engaged state, the clutch 22 works to drive the connecting shaft 23 to rotate around the rotating shaft of the connecting shaft 23, so that the connecting shaft 23 can rotate in the front-back direction relative to the waist binding 11, and the leg binding 12 is driven to swing in the front-back direction relative to the waist binding 11.
If the clutch 22 is in the disengaged state, the clutch 22 stops operating, and the connecting shaft 23 connected to the clutch 22 is in the non-rotational state, so that one end of the connecting shaft 23 close to the clutch 22 is fixed relative to the waist binding 11, thereby restricting the rotation of the connecting shaft 23 relative to the waist binding 11 in the front-rear direction, and further enabling the leg binding 12 to swing in the left-right direction relative to the waist binding 11 under the telescopic motion of the telescopic member 21.
In a particular embodiment, the clutch 22 may be a micro-field clutch 22.
Further, the connecting axis 23 of the present embodiment is a sagittal plane connecting axis 23. The fixed end of the telescopic member 21 is rotatably connected with a sagittal plane connecting shaft 23. When the lower extremity exoskeleton 10 is used for walking in the transverse direction, if the clutch 22 is in the engaged state, the sagittal plane connecting shaft 23 rotates, and the leg bindings 12 are driven to swing in the front-back direction. At this time, the leg bindings 12 do not have the assisting force in the left-right direction, so that the user can walk passively freely in the front-rear direction. If the clutch 22 is in the disengaged state and the sagittal connecting shaft 23 stops working, the degree of freedom of the expansion piece 21 in swinging in the front-rear direction is restricted by the structure of the sagittal connecting shaft 23 itself, so that the leg bindings 12 can be swung in the left-right direction with the aid of the expansion piece 21. In consideration of the problems of the mechanism of the lower extremity exoskeleton 10 and the walking stride of the lower extremity with the dysfunction due to the transverse walking, the rotation range of the clutch 22 for driving the connecting shaft 23 to rotate is limited.
Considering that the connecting shaft 23 is rotatably connected to the extensible member 21 at the end away from the clutch 22 and the leg bindings 12 are connected to the extensible end thereof, when the clutch 22 is in the engaged state, if the connecting shaft 23 is simply used to drive the extensible member 21 and the leg bindings 12 connected to the extensible member 21, the resistance of the leg bindings 12 to swing in the front-rear direction will be increased. Namely, the resistance of the lower limb dysfunction patient to walking freely in the front and back directions is increased.
For this purpose, the present embodiment introduces a fitting 24, and the fitting 24 is rotatably connected to the connecting shaft 23 at one end away from the clutch 22 and to the fixed end of the telescopic member 21 at the other end. In the engaged state of the clutch 22, the connecting shaft 23 is rotated by the rotation of the clutch 22, thereby rotating the mating member 24, and further swinging the extensible member 21 rotatably connected to the mating member 24 in the front-rear direction. Since the fitting 24 is the frontal surface fitting 24, inertia can be used to increase the swing range of the leg binding 12 rotatably connected to the extensible member 21 in the front-rear direction with respect to the waist binding 11 when the connecting shaft 23 drives the frontal surface fitting 24 to rotate in the front-rear direction.
In order to firmly bind the lower limb exoskeleton 10 based on transverse walking on a patient with lower limb dysfunction, the phenomena of sliding of the lower limb exoskeleton 10 based on transverse walking and the like caused by unstable binding are avoided. The lateral walking based lower extremity exoskeleton 10 of the present embodiment utilizes leg bindings 12 to securely attach the lateral walking based lower extremity exoskeleton 10 to a patient with lower extremity dysfunction. In particular, the left leg strap 121 comprises a first leg strap 1211, a second leg strap 1212 and a leg connection member 1213. The first leg ligature 1211 is connected to the second leg ligature 1212 by a leg connecting member 1213. Since the left leg binding 121 and the right leg binding 122 are symmetrical in structure, the present embodiment does not repeat the description of the specific structure of the right leg binding 122 to the right leg of the lower limb functional patient.
Considering the difference of the training states required by the lower limb dysfunction patients for transverse walking rehabilitation at different periods, if the same training state is adopted to train the lower limb dysfunction patients, the rehabilitation effect of the lower limb dysfunction patients is reduced. Therefore, the lower limb exoskeleton 10 based on transverse walking of the embodiment adopts different training states in different periods to promote the active rehabilitation effect of the lower limb dysfunction patient.
Specifically, the lower extremity exoskeleton 10 of the present embodiment based on lateral walking includes a first training state and a second training state.
The first training state is designed aiming at the insufficient abduction and adduction muscles of the hip joint of the lower limb dysfunction patient during the balance training initial stage and the transverse walking exercise of the lower limb dysfunction patient. In the first training state, the left and right expanders 211 and 212 cooperate with the waist and leg straps 11 and 12 to provide assistance to abduction and adduction, respectively, of the hip joint to assist the lateral walking of the lower limb dysfunction patient.
The second training state is designed for training abduction and adduction muscles of hip joints of patients with lower limb dysfunction at the final stage of balance training of the patients with lower limb dysfunction. In the second training position, left and right expanders 211 and 212 cooperate with waist and leg straps 11 and 12 to provide controlled resistance to abduction and adduction, respectively, of the hip joint to encourage lower limb dysfunction patients to walk laterally against the resistance.
In this embodiment, the left telescopic member 211 and/or the right telescopic member 212 are linear motors.
Referring to fig. 4 and 5, fig. 4 is a schematic diagram of a lateral walking based gait for the lower extremity exoskeleton of the present application from the left to the right, and fig. 5 is a schematic diagram of a lateral walking based gait for the lower extremity exoskeleton of the present application from the right to the left. Next, how the lower extremity exoskeleton 10, which is based on walking in the lateral direction, assists the lower extremity with a dysfunction patient in the first training state will be described in a practical example. For example, the lower extremity exoskeleton 10 based on lateral walking assists the lower extremity with lateral walking left and right.
See also fig. 4,. In practical application, when the lower limb exoskeleton 10 based on transverse walking assists a lower limb dysfunction patient to transversely walk to the left side, the left expansion piece 211 contracts to drive the left leg binding 121 to swing to the left side and move to the right foot supporting state. The right telescoping member 212 extends to provide assistance in shifting the body's center of gravity to a bipedal stance. The left telescoping member 211 is extended to the left leg support position. Left telescoping member 211 extends to provide assistance to maintain the body's center of gravity. The right telescoping member 212 extends to drive the right leg to swing to the left.
With reference to fig. 5, in practical applications, when the lower extremity exoskeleton 10 based on transverse walking assists the lower extremity with dysfunction to walk transversely to the right side, the right extensible member 212 is retracted to drive the right leg tie 122 to swing to the right side, and then the right leg tie is moved to the left foot supporting state. The left extension member 211 is extended to provide an assistance force for shifting the center of gravity of the body to a two-legged standing state. The right telescoping member 212 is extended to a right leg support position. Right telescoping member 212 extends providing assistance to maintain the body's center of gravity. The left expansion piece 211 is extended to drive the left leg to swing to the right.
It should be noted that the lower extremity exoskeleton 10 based on transverse walking assists the stretching of the stretching member 21 during the left or right transverse walking of the lower extremity patients with dysfunction and the lower extremity exoskeleton 10 based on transverse walking provides the opposite of the stretching member 21 during the left or right transverse walking of the lower extremity patients with dysfunction. Therefore, for the practical application of the lower limb exoskeleton 10 based on transverse walking to provide resistance to transverse walking left or right for the lower limb dysfunction patient, reference may be made to the lower limb exoskeleton 10 based on transverse walking to assist the lower limb dysfunction patient to transversely walk left or right, and the detailed description is not repeated here.
The lower extremity exoskeleton 10 based on transverse walking of the present embodiment further comprises a control assembly (not shown) electrically connected to the left expansion piece 211 and/or the right expansion piece 212 for controlling the expansion and contraction of the left expansion piece 211 and/or the right expansion piece 212. In the first training state, the control assembly may control the left and right expanders 211 and 212 to provide assistance to abduction and adduction, respectively, of the hip joint in cooperation with the waist and leg bindings 11 and 12. In the second training state, the control assembly may control the left and right expanders 211 and 212 to provide adjustable resistance to abduction and adduction of the hip joint, respectively, in cooperation with the waist and leg bindings 11 and 12.
In particular embodiments, the control assembly may be self-operated by a lower limb dysfunction patient or relative, caregiver, or the like. Of course, control may be achieved in other ways. For example, the lower extremity exoskeleton 10 based on transverse walking of the present embodiment may also comprise a walking state recognition assembly 300, wherein the walking state recognition assembly 300 comprises a sensor 31 disposed at the waist strap 11 and/or the leg strap 12, and the control assembly is electrically connected to the sensor 31. Accordingly, the control unit may control the expansion piece 21 to perform the expansion and contraction motion according to the signal of the sensor 31 so that the leg bind 12 connected to the expansion piece 21 can swing in the left and right directions with respect to the waist bind 11.
It should be noted that the sensor 31 provided on the waist binding 11 may be used to sense the center of gravity of the lower limb dysfunction patient. For example, when the sensor 31 provided on the waist harness 11 senses that the lower limb dysfunction patient needs to perform the body center of gravity transfer, the control unit receives the signal transmitted from the sensor 31 and controls the extension and contraction member 21 to extend according to the signal, so as to improve the assisting force for transferring the body center of gravity.
The sensors 31 provided on the leg bindings 12 can be used to identify the walking state of a patient with lower limb dysfunction. Wherein, the walking state comprises transverse walking or longitudinal walking. For example, when the sensor 31 provided on the leg-binding 12 recognizes that the lower limb dysfunction patient is about to perform the lateral walking exercise, the control unit receives the signal and controls the clutch 22 to be in the disengaged state according to the signal, so as to conveniently control the extensible member 21 to drive the lower limb dysfunction patient to perform the lateral walking exercise.
The lower extremity exoskeleton 10 based on transverse walking of the present embodiment utilizes the left expansion piece 211 to connect the waist binding 11 and the left leg binding 121, so that the left expansion piece 211 rotates in the left-right direction with respect to the waist binding 11 and the left leg binding 121, and further the left leg binding 121 swings in the left-right direction with respect to the waist binding 11; the right expansion piece 212 is used to connect the waist binding 11 and the right leg binding 122, so that the right expansion piece 212 rotates in the left-right direction with respect to the waist binding 11 and the right leg binding 122, and the right leg binding 122 swings in the left-right direction with respect to the waist binding 11, thereby realizing the lateral walking assistance; the clutch 22 is used for rotating relative to the waist binding 11 in the front and back direction in the joint state so as to drive the leg binding 12 to swing relative to the waist binding 11 in the front and back direction, and the clutch 22 stops working in the separation state so as to limit the connecting shaft 23 to rotate relative to the waist binding 11 in the front and back direction, so that the leg binding 12 can swing relative to the waist binding 11 in the left and right direction, and the separation and free switching of transverse walking and longitudinal walking are realized; the connecting shaft 23 and the extensible member 21 are connected to the two ends of the fitting member 24, so that the resistance of the leg binding 12 swinging in the front-rear direction is prevented from being increased if the connecting shaft 23 is used to drive the extensible member 21 and the leg binding 12 connected with the extensible member 21 when the clutch 22 is in the engaged state; in a first training state, the left extensible part 211 and the right extensible part 212 are matched with the waist binding piece 11 and the leg binding piece 12 to respectively provide assistance for abduction and adduction of hip joints so as to assist a patient with lower limb dysfunction to walk transversely; in the second state, left and right expanders 211 and 212 cooperate with waist and leg straps 11 and 12 to provide controlled resistance to abduction and adduction, respectively, of the hip joint to encourage lower limb dysfunction patients to walk laterally against the resistance.
The above description is only an example 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, or which are directly or indirectly applied to other related technical fields, are intended to be included within the scope of the present application.
Claims (10)
1. A lateral walking-based lower extremity exoskeleton comprising:
a binding assembly comprising a waist binding, a left leg binding and a right leg binding;
the power assembly comprises a left telescopic piece and a right telescopic piece, the fixed end of the left telescopic piece is rotatably connected with the left end of the waist binding piece, the telescopic end is rotatably connected with the left leg binding piece, and the left telescopic piece rotates in the left-right direction relative to the waist binding piece and the left leg binding piece; the stiff end of right side extensible member rotates the connection the right-hand member of waist ligature, the flexible end of right side extensible member rotate connect in right side leg ligature, right side extensible member is relative waist ligature with right side leg ligature is in the left and right sides direction rotates.
2. The lateral walking-based lower extremity exoskeleton of claim 1 wherein said power assembly further comprises a clutch and a connecting shaft, said connecting shaft being connected at one end to said waist attachment via said clutch and at the other end to a telescopic member.
3. The lower extremity exoskeleton of claim 2 wherein said clutch includes an engaged state and a disengaged state, and wherein said connection shaft is capable of rotating in a fore-and-aft direction relative to said waist strap when said clutch is in said engaged state, thereby causing said leg straps to swing in said fore-and-aft direction relative to said waist strap.
4. The lower extremity exoskeleton of claim 3 wherein when said clutch is disengaged, one end of said link shaft is fixed relative to said waist strap for limiting rotation of said link shaft relative to said waist strap in said fore-and-aft direction, thereby enabling said leg straps to swing in said left-and-right direction relative to said waist strap.
5. The lower extremity exoskeleton of claim 4 wherein said power assembly further comprises a mating member, said mating member being pivotally connected at one end to said connecting shaft remote from said clutch and at the other end to said expansion member for increasing the range of said leg straps to swing in said fore-and-aft direction relative to said waist straps.
6. The lateral walking based lower extremity exoskeleton of claim 4 wherein said leg straps include a first leg strap, a second leg strap and a leg connector, said first leg strap being connected to said second leg strap through said leg connector.
7. The lateral walking based lower extremity exoskeleton of claim 1 wherein said lateral walking based lower extremity exoskeleton comprises a first training state in which said left and right telescoping members cooperate to provide assistance to a user walking in said left-right direction;
in the second training state, the left telescoping piece and the right telescoping piece cooperate to provide resistance to the user walking in the left-right direction.
8. The lower extremity exoskeleton of claim 7 wherein said left and/or right expansion members are linear motors, and wherein said linear motors are configured to dynamically adjust the resistance of said user to walking laterally during said second training state.
9. The lateral walking based lower extremity exoskeleton of claim 7 further comprising a control assembly electrically connected to said left and/or right telescoping member for controlling said left and/or right telescoping member to perform telescopic motion.
10. The lateral walking-based lower extremity exoskeleton of claim 9 further comprising a walking state identification assembly comprising sensors disposed at said waist and/or leg straps;
the control assembly is electrically connected with the sensor and used for controlling the telescopic piece to perform telescopic motion according to signals of the sensor so that the leg binding piece connected with the telescopic piece can swing in the left-right direction relative to the waist binding piece.
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| CN202110322082.1A CN113208868B (en) | 2021-03-25 | 2021-03-25 | Lower limb exoskeleton based on transverse walking |
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| CN202110322082.1A CN113208868B (en) | 2021-03-25 | 2021-03-25 | Lower limb exoskeleton based on transverse walking |
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| CN113208868B (en) | 2022-03-25 |
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