CN113367941A - Rigid knee joint exoskeleton - Google Patents
Rigid knee joint exoskeleton Download PDFInfo
- Publication number
- CN113367941A CN113367941A CN202110679474.3A CN202110679474A CN113367941A CN 113367941 A CN113367941 A CN 113367941A CN 202110679474 A CN202110679474 A CN 202110679474A CN 113367941 A CN113367941 A CN 113367941A
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- Prior art keywords
- shank
- support
- thigh
- bowden cable
- guide wheel
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Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H2003/005—Appliances for aiding patients or disabled persons to walk about with knee, leg or stump rests
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H2003/007—Appliances for aiding patients or disabled persons to walk about secured to the patient, e.g. with belts
-
- 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
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
-
- 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
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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
- 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
- A61H2205/102—Knee
Abstract
A rigid knee joint exoskeleton comprises an exoskeleton rigid frame and a patellar support; the exoskeleton rigid frame comprises a thigh part, a shank part and two sets of knee joint dislocation compensation mechanisms; the thigh part comprises a thigh bandage, two thigh brackets and two sets of Bowden cable guide wheel assemblies; the shank part comprises a shank binding band, two shank supports and two sets of shank support traction mechanisms; the two sets of bowden cable guide wheel assemblies are respectively fixedly connected with the two thigh supports, and a shank binding belt and two shank support traction mechanisms which are oppositely arranged are arranged between the two shank supports; the bowden cable guide wheel assembly is connected with the corresponding synchronous mechanism through a patellar support bound at the knee part of a human body so as to realize the deflection motion and the translation motion of the crus support relative to the thigh support. The invention can reduce the uncomfortable feeling of wearing and enhance the strain capacity of the leg.
Description
Technical Field
The invention relates to a knee joint exoskeleton, in particular to a rigid knee joint exoskeleton. Belongs to the field of walking auxiliary devices.
Background
The knee joint is one of the most complex joints of the human body, and the exoskeleton of the knee joint has great application prospects in the aspects of rehabilitation, human body capacity enhancement and the like. At present, a large number of knee osteoarthritis patients exist, the metabolic energy consumption during walking can be reduced through the knee exoskeleton, the burden of the knee joint of a human body during walking is relieved, and the pathological gait can be corrected under the support of a specific auxiliary strategy.
The existing active rigid knee joint exoskeleton mainly adopts a hinge structure to simulate a knee joint or adopts a connecting rod, wherein the connecting rod mechanism can relieve the alignment problem of biological joint shafts and exoskeleton joint shafts in kinematics, but the alignment problem of the joint shafts in dynamics is difficult to solve, great discomfort can be brought to a human body after long-time wearing, knees are abraded, the weight is heavy, the wearing is not very convenient, and the heavy machine weight can increase the burden of the human body on the contrary.
Disclosure of Invention
The invention provides a rigid knee joint exoskeleton for overcoming the prior art. The exoskeleton design dislocation compensation mechanism enables the knee joint biological joints and the exoskeleton joints to be aligned, discomfort is reduced, the power source is driven by a rope, more accurate assistance can be applied, the exoskeleton is an active rigid knee joint exoskeleton which can assist in reducing muscle force and reducing metabolic energy consumption during walking.
A rigid knee joint exoskeleton comprises an exoskeleton rigid frame and a patellar support; the exoskeleton rigid frame comprises a thigh part, a shank part and two sets of knee joint dislocation compensation mechanisms;
the thigh part comprises a thigh bandage, two thigh brackets and two sets of Bowden cable guide wheel assemblies;
the shank part comprises a shank binding band, two shank supports and two sets of shank support traction mechanisms;
a thigh binding belt is arranged between the two thigh supports, the two sets of bowden cable guide wheel assemblies are respectively and fixedly connected with the two thigh supports, and a shank binding belt and two sets of shank support traction mechanisms which are oppositely arranged are arranged between the two shank supports; the bowden cable guide wheel assembly is connected with the corresponding calf support traction mechanism through a patellar support bound at the knee part of a human body so as to realize the deflection motion and the translation motion of the calf support relative to the thigh support.
Compared with the prior art, the invention has the beneficial effects that:
the existing rigid knee joint exoskeleton has the problem that the biological joint axis and the exoskeleton joint axis are not aligned, and when the exoskeleton is assisted, the auxiliary moment action point and the biological moment action point are far away, so that the wearer feels uncomfortable due to heavy weight and inconvenient wearing. The invention has the following beneficial effects:
the misalignment compensation mechanism used in the invention can solve the alignment problem of the knee joint axis and the exoskeleton joint axis, and reduce the uncomfortable feeling and the wear to the knee when the exoskeleton is worn. When the exoskeleton is not assisted, the exoskeleton can change according to the state change of the knee, and the movement of the knee is not limited. When the knee joint support is assisted, the bowden cable can provide the deflection rotation and translation motion of the lower leg support under the tension of the bowden cable, so that the flexion and extension angles of the knee joint are influenced, and the degree of freedom of the knee joint can not be deprived.
The exoskeleton is easy and convenient to wear and high in adaptability to a human body, the wearing of the exoskeleton becomes simple and convenient due to the thigh and shank straps, and the time response capability of the exoskeleton to legs of different people with different dimensions is enhanced.
The technical scheme of the invention is further explained by combining the drawings and the embodiment:
drawings
FIG. 1 is a schematic perspective view of the exoskeleton rigid frame of the invention;
FIG. 2 is a schematic structural diagram of a knee joint dislocation compensation mechanism;
FIG. 3 is a schematic structural view of a Bowden cable guide wheel assembly;
FIG. 4 is a schematic structural view of a lower leg support traction mechanism;
FIG. 5 is a schematic view of the interconnection of the Bowden cable guide wheel assembly, the patella brace, and the calf brace traction mechanism of the present invention;
FIG. 6 is a schematic view of the interaction relationship between the knee joint dislocation compensation mechanism and the lower leg;
FIG. 7 is a view showing an initial state of bending knees by pulling a lower leg support by a bowden cable at the rear side of the thigh;
FIG. 8 is a view showing the rear side of the thigh after the bowden cable pulls the lower leg support to bend the knee;
FIG. 9 is a view showing an initial state that a bowden cable at the front side of a thigh pulls a lower leg support to extend a knee;
FIG. 10 is a view showing the rear side of the thigh after the bowden cable has pulled the lower leg support to extend the knee.
Detailed Description
Referring to fig. 1 and 5, a rigid knee exoskeleton comprises an exoskeleton rigid frame 34 and a patellar support 33;
the exoskeleton rigid frame 34 comprises a thigh part A, a shank part B and two sets of knee joint dislocation compensation mechanisms C;
thigh section a contains thigh strap a12, two thigh brackets a13, and two sets of bowden cable guide wheel assemblies a 0;
the lower leg part B comprises a lower leg bandage B30, two lower leg supports B24 and two sets of lower leg support traction mechanisms B0;
a thigh binding belt A12 is arranged between the two thigh supports A13, the two sets of Bowden cable guide wheel assemblies A0 are respectively fixedly connected with the two thigh supports 13, and a shank binding belt 30 and two sets of shank support traction mechanisms B0 which are oppositely arranged are arranged between the two shank supports 24; the shank support B24 can rotate relative to the shank binding band B30, the thigh support A13 corresponding to the shank support B24 one by one is connected with the shank support B24 through a knee joint dislocation compensation mechanism C, the shank support B24 can rotate relative to the thigh support A13, and the Bowden cable guide wheel assembly A0 is connected with the corresponding shank support traction mechanism B0 through the patellar support 33 bound at the knee part of a human body, so that the deflection motion and the translation motion of the shank support B24 relative to the thigh support A13 are realized.
From a kinematic analysis, looking at the relative motion of the knee joint femur and tibia only, the motion can be considered as the relative motion of the thigh and calf, as shown in fig. 6. Considering the thigh as a base (absolutely still), the calf moves relative to the thigh. The high pair of ellipses is used for simulating the knee joint, and the exoskeleton and the knee joint are considered as a closed kinematic chain. The whole mechanism has 2 degrees of freedom on a sagittal plane, and the rotation and translation motion degrees of the lower leg support B24 are two degrees of freedom, so that when no assistance is provided, the lower leg can swing freely, the shin bone is a motive power piece, and any knee joint angle corresponds to a position and an angle of a high pair, so that the distance of the guide rail slide block C32 and the angle of the lower leg support B24 are determined, and the structure can not 'deprive' the degree of freedom of the knee under the assistance of the pulling force of the Bowden cable. The exoskeleton rigid frame 34 uses carbon fiber plates and aluminum alloy workpieces as main raw materials, is low in cost and weight, and provides rigidity required by the structure.
The embodiment can reduce the muscle force by adding assistance, reduce the metabolic energy consumption during walking and correct the sick gait on the basis of a specific assistance strategy. Structurally, the knee joint dislocation compensation mechanism of the embodiment is used for aligning the knee joint biological joints and the exoskeleton joints, discomfort is reduced, and more accurate assistance can be applied due to the fact that the power source is driven by the Bowden cable.
Further, as shown in fig. 2, each knee joint dislocation compensation mechanism C comprises a safety stopper C15, a bracket connection block C16, a lower leg shaft C17, a lower leg bracket extension C18, a guide rail C31, a guide rail slider C32 and two guide rail stoppers C14;
a guide rail C31 and two guide rail limit blocks C14 are installed on a thigh bracket A13, a guide rail C31 is transversely arranged along the swing direction of a shank, guide rail limit blocks C14 are arranged at two ends of a guide rail C31, a guide rail slider C32 is slidably arranged on the guide rail C31, a safety limit block C15 is fixedly connected with a guide rail slider C32, a bracket connecting block C16 is fixedly connected with a safety limit block C15, a shank shaft C17 is rotatably arranged on a bracket connecting block C16 and is vertical to the guide rail C31, a shank bracket extending piece C18 is installed on the shank shaft C17, and the shank bracket extending piece C18 is fixedly connected with a corresponding shank bracket B24.
The calf axis C17 is simple and non-interfering, and the knee joint dislocation compensation mechanism C is symmetrically distributed on the inner side and the outer side of the knee. The safety limiting block 15 plays a role in protecting the over-extension of the lower leg. Preferably, the safety stopper C15 is provided with a stopper extending outward from the front of the thigh to limit the forward swing of the lower leg support extension C18.
When the knee joint is not assisted, the shank can swing freely, the human shin bone is a prime mover, any knee joint angle corresponds to a position and an angle of a high pair, the distance of the guide rail slide block C32 and the angle of the shank support B24 are further determined, and the knee joint cannot be 'deprived' of the degree of freedom of the knee under the assistance of the pulling force of the Bowden cable. The human thigh and the thigh support A13 connected with the human thigh are set as a base (fixed), the structure of the knee joint is represented by a high pair, and the knee joint and the exoskeleton rigid frame are taken as a complete kinematic chain. The degree of freedom of the whole knee joint dislocation mechanism is 2, and the driving Bowden cable guide wheel assembly A0 can provide two degrees of freedom for the deflection rotation of the lower leg support B24 and the translation sliding of the guide rail slide block C32.
Preferably, as shown in fig. 3, each set of bowden cable guide wheel assembly a0 comprises a bowden cable guide wheel shaft a01, a bowden cable guide wheel a02, a guide wheel bracket a03, a bowden sheath fixing support a04, a bowden sheath connecting block a05, a thigh side frame limiting plate a06 and a thigh side frame a 07;
the thigh side frame A07 is arranged on two thigh support frames A13, a guide wheel support frame A03 and a Bowden cable fixing support frame A04 are arranged on the thigh side frame A07, the Bowden cable fixing support frame A04 is positioned above a guide wheel support frame A03, a Bowden cable guide wheel shaft A01 is arranged on the guide wheel support frame A03, a Bowden cable guide wheel A02 is rotatably arranged on the Bowden cable guide wheel shaft A01, thigh side frame limiting sheets A06 are arranged on two sides of the thigh side frame A07, one end of the Bowden cable A08 is connected with an external driving source, the Bowden cable A08 is lapped behind the Bowden cable guide wheel A02 and a guide wheel on a patellar support frame 33 bound at the knee position of a human body, and the other end of the Bowden cable A08 is connected with a calf support frame traction mechanism B0. When the knee brace traction mechanism is used, an external motor can be used as the external driving source, the motor is connected with the Bowden cable, and the motor spans over the guide wheel of the patella brace 33 to the calf brace traction mechanism B0 through the Bowden sheath connecting block A05 of the thigh. To assist flexion and extension of the knee joint, the flexion and extension of the knee is assisted with the bionic concept of simulating the contraction of the quadriceps femoris and popliteal hamstring muscles with the pulling of a cord. The degree of freedom of the whole knee joint dislocation mechanism is 2, the driving Bowden cable can provide two degrees of freedom for the deflection rotation of the lower leg support B24 and the translational sliding of the guide rail sliding block C32, and as shown in the figures 7-10, when the Bowden cable on the front side of the thigh is tightened, knee extension assistance is provided; when the rear rope is tightened, knee bending assistance is provided. The knee extension assisting moment is applied to the supporting phase to assist the user in extending the knee, thereby alleviating the gait morbidity and preventing the knee joint from kneeling down due to over-flexion. The patella brace 33 extends the moment of the bowden cable force.
As shown in FIG. 4, each set of shank support traction mechanism B0 comprises a shank side auxiliary shaft B025 and a shank limit sleeve B026; a shank side auxiliary shaft B025 connected with the two shank brackets B24 is arranged between the two shank brackets B24, a shank limit sleeve B026 is rotatably arranged on the shank side auxiliary shaft B025, and a Bowden cable is connected with the shank limit sleeve B026. The shank support traction mechanism B0 is convenient for connecting the shank support B24 to realize the relative rotation of the shank support B24 relative to the thigh support A13 on the one hand, and is also convenient for arranging a tension sensor to assist in realizing flexion and extension movements on the other hand. The shank binding band B30 is fixedly arranged on the shank support connecting block 23, a connecting shaft B024 is arranged on the shank support connecting block 23, the shank support B24 can be rotationally arranged on the connecting shaft B024, and the two opposite shank supports B24 are connected through a shank auxiliary fixing support B029.
As shown in fig. 4, the tension sensor base 27 is rotatably arranged on a lower leg limit sleeve B026, a tension sensor 28 is arranged on the lower leg limit sleeve B026, and the Bowden cable is connected with the tension sensor 28. The tension sensor 28 is used for measuring the Bowden cable tension on the front thigh side and the rear thigh side so as to realize the auxiliary knee joint flexion and extension movement, and the positions of the tension sensor base 27 and the tension sensor 28 are limited through the shank limiting sleeve.
Furthermore, the end of the lower leg support B24 is snapped into a snap groove of the lower leg support extension C18 and the two are fixed together. With this arrangement, the rotation of the lower leg link B24 due to the bolt connection is restricted.
The present invention is not limited to the above embodiments, and those skilled in the art can make various changes and modifications without departing from the scope of the invention.
Claims (7)
1. A rigid knee exoskeleton, comprising: comprises an exoskeleton rigid frame (34) and a patellar support (33); the exoskeleton rigid frame (34) comprises a thigh part (A), a shank part (B) and two sets of knee joint dislocation compensation mechanisms (C);
the thigh part (A) comprises a thigh strap (A12), two thigh brackets (A13) and two sets of Bowden cable guide wheel assemblies (A0);
the small leg part (B) comprises a lower leg binding band (B30), two lower leg supports (B24) and two sets of lower leg support traction mechanisms (B0);
a thigh binding belt (A12) is arranged between the two thigh supports (A13), the two sets of Bowden cable guide wheel assemblies (A0) are respectively fixedly connected with the two thigh supports (13), and a shank binding belt (30) and two sets of shank support traction mechanisms (B0) which are oppositely arranged are arranged between the two shank supports (24); the shank support (B24) can rotate relative to the shank binding belt (B30), the thigh support (A13) which corresponds to each other one by one is connected with the shank support (B24) through the knee joint dislocation compensation mechanism (C), the shank support (B24) can rotate relative to the thigh support (A13), and the Bowden cable guide wheel assembly (A0) is connected with the corresponding shank support traction mechanism (B0) through the patellar support (33) which is bound at the knee part of a human body, so that the deflection motion and the translation motion of the shank support (B24) relative to the thigh support (A13) are realized.
2. The rigid knee exoskeleton of claim 1, wherein: each knee joint dislocation compensation mechanism (C) comprises a safety limiting block (C15), a bracket connecting block (C16), a shank shaft (C17), a shank bracket extending piece (C18), a guide rail (C31), a guide rail sliding block (C32) and two guide rail limiting blocks (C14);
a guide rail (C31) and two guide rail limit blocks (C14) are installed on a thigh support (A13), the guide rail (C31) is transversely arranged along the swing direction of a shank, the guide rail limit blocks (C14) are arranged at two ends of the guide rail (C31), a guide rail slider (C32) is slidably arranged on the guide rail (C31), a safety limit block (C15) is fixedly connected with a guide rail slider (C32), a support connecting block (C16) is fixedly connected with a safety limit block (C15), a shank shaft (C17) is rotatably arranged on a support connecting block (C16) and is vertical to the guide rail (C31), a shank support extending piece (C18) is installed on the shank shaft (C17), and the shank support extending piece (C18) is fixedly connected with a corresponding shank support (B24).
3. The rigid knee exoskeleton of claim 2, wherein: each set of Bowden cable guide wheel assembly (A0) comprises a Bowden cable guide wheel shaft (A01), a Bowden cable guide wheel (A02), a guide wheel bracket (A03), a Bowden sheath fixing support (A04), a Bowden sheath connecting block (A05), a thigh side frame limiting plate (A06) and a thigh side frame (A07);
a thigh side frame (A07) is arranged on two thigh supports (A13), a guide wheel support (A03) and a Bowden cable fixing support (A04) are arranged on the thigh side frame (A07), the Bowden cable fixing support (A04) is positioned above the guide wheel support (A03), a Bowden cable guide wheel shaft (A01) is arranged on the guide wheel support (A03), a Bowden cable guide wheel (A02) is rotatably arranged on the Bowden cable guide wheel shaft (A01), thigh side frame limiting plates (A06) are arranged on two sides of the thigh side frame (A07), one end of the Bowden cable (A08) is connected with an external driving source, the Bowden cable (A08) is lapped behind the Bowden cable guide wheel (A02) and a guide wheel on a patellar support (33) bound on a knee part of a human body, and the other end of the Bowden cable (A08) is connected with a shank support traction mechanism (B0).
4. The rigid knee exoskeleton of claim 3, wherein: each set of shank support traction mechanism (B0) comprises a shank side auxiliary shaft (B025) and a shank limit sleeve (B026);
a shank side auxiliary shaft (B025) connected with the two shank brackets (B24) is arranged between the two shank brackets (B24), a shank limit sleeve (B026) is rotatably arranged on the shank side auxiliary shaft (B025), and a Bowden cable (A080) is connected with the shank limit sleeve (B026).
5. The rigid knee exoskeleton of claim 4, wherein: the tension sensor base (27) is rotatably arranged on the shank limiting sleeve (B026), the shank limiting sleeve (B026) is provided with the tension sensor (28), and the Bowden cable is connected with the tension sensor (28).
6. A rigid knee exoskeleton as claimed in claim 2, 3 or 4 wherein: the safety limiting block (C15) is positioned at the front part of the thigh and extends outwards to form a limiting rod for limiting the forward swing of the lower leg support extending piece (C18).
7. The rigid knee exoskeleton of claim 6, wherein: the end part of the lower leg support (B24) is clamped in the clamping groove of the lower leg support extension piece (C18) and the two are fixedly connected together.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110679474.3A CN113367941A (en) | 2021-06-18 | 2021-06-18 | Rigid knee joint exoskeleton |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110679474.3A CN113367941A (en) | 2021-06-18 | 2021-06-18 | Rigid knee joint exoskeleton |
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| CN113367941A true CN113367941A (en) | 2021-09-10 |
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| CN202110679474.3A Pending CN113367941A (en) | 2021-06-18 | 2021-06-18 | Rigid knee joint exoskeleton |
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