CN113440372B - Flexibly-driven knee joint exoskeleton - Google Patents
Flexibly-driven knee joint exoskeleton Download PDFInfo
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- CN113440372B CN113440372B CN202110412548.7A CN202110412548A CN113440372B CN 113440372 B CN113440372 B CN 113440372B CN 202110412548 A CN202110412548 A CN 202110412548A CN 113440372 B CN113440372 B CN 113440372B
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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
- A61H1/024—Knee
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F5/00—Orthopaedic methods or devices for non-surgical treatment of bones or joints; Nursing devices; Anti-rape devices
- A61F5/01—Orthopaedic devices, e.g. splints, casts or braces
- A61F5/0102—Orthopaedic devices, e.g. splints, casts or braces specially adapted for correcting deformities of the limbs or for supporting them; Ortheses, e.g. with articulations
- A61F5/0104—Orthopaedic devices, e.g. splints, casts or braces specially adapted for correcting deformities of the limbs or for supporting them; Ortheses, e.g. with articulations without articulation
- A61F5/0106—Orthopaedic devices, e.g. splints, casts or braces specially adapted for correcting deformities of the limbs or for supporting them; Ortheses, e.g. with articulations without articulation for the knees
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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
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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
- A61H2201/14—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
- 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
- A61H2201/1657—Movement of interface, i.e. force application means
- A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot
-
- 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
- A61H2201/50—Control means thereof
-
- 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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- 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
The invention discloses a flexibly driven knee joint exoskeleton, and belongs to the technical field of robots. The knee joint exoskeleton comprises an exoskeleton body, a series elastic driver and parallel springs. The exoskeleton body comprises an output rod, a transmission connecting rod and a multi-link mechanism. The multi-link mechanism comprises an exoskeleton thigh link, a long crank, a short crank and a connecting rod piece, and forms a knee instantaneous center fitting four-bar mechanism. The components are mutually connected through a knee crown shaft to form a revolute pair. The exoskeleton thigh link is connected with the series elastic driver. The parallel springs are arranged on the front side and the rear side of the exoskeleton thigh connecting rod in a form of simulating cruciate ligaments. The motor in the series elastic driver provides torque, and the torque is transmitted to the output rod, the transmission connecting rod and the multi-link mechanism through the output shaft to drive the instant center fitting four-bar mechanism to start moving, and simultaneously performs bending action with the human knee joint to assist the human knee joint to move. The invention reduces the required torque of the motor and has stable force output.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a flexibly-driven knee joint exoskeleton which can be applied to lower limb rehabilitation training and lower limb assisted walking.
Background
Cardiovascular and cerebrovascular diseases, apoplexy, hemiplegia and the like are common symptoms of old people, and are easy to cause the problems of inconvenient movement, bedridden incapability and the like. The lower limb exoskeleton robot is a wearable mechanical device and can be used for helping the old and the disabled or medical assistance. In national defense and military, the lower limb exoskeleton robot can obviously improve the combat capability of soldiers, can provide the functions of load support, motion function enhancement and the like for the soldiers in a complex terrain environment, and obviously reduces physical consumption and body damage risks. Therefore, the robot has great significance for the research of the lower limb exoskeleton robot.
According to the physiological anatomy of the knee joint of a human body, the instantaneous rotating center of the knee joint shows a J-shaped change trend along with the gradual bending of the lower leg in the motion process. In order to simplify the mechanism design, most of the existing lower limb exoskeleton robots are often regarded as a pure fixed rotating shaft revolute pair, so that the rotating centers of the knee joints of the human and the machine are not coincident, the human and the machine are not matched, the comfort and the control accuracy of a wearer are affected, and even the gait is deformed.
Disclosure of Invention
The invention provides a flexibly driven knee joint exoskeleton which is in accordance with human knee joint physiology, and aims to overcome the problem that the rotation centers of human and machine knee joints in the prior art are not coincident.
The invention relates to a flexible driving knee joint exoskeleton, which comprises an exoskeleton body, parallel springs and a series elastic driver. The exoskeleton body comprises an output rod, a transmission connecting rod and a multi-link mechanism. The multi-link mechanism comprises an exoskeleton thigh link, a long crank, a short crank and a connecting rod piece.
The front end of the output rod is connected with a series elastic driver. The back end of the output rod is designed with a knee crown-shaped shaft hole which is correspondingly connected with the knee crown-shaped shaft hole designed at the upper end of the transmission connecting rod to form an auxiliary.
The connecting rod piece is of an L-shaped structure consisting of a large arm and a small arm, the upper end of the large arm is provided with a knee crown-shaped shaft hole, and the knee crown-shaped shaft hole at the lower end of the transmission connecting rod are correspondingly connected to form a revolute pair. Two knee crown-shaped shaft holes are arranged on the small arm and respectively correspond to the knee crown-shaped shaft holes at the lower ends of the long crank and the short crank to form a revolute pair.
The upper part of the exoskeleton thigh connecting rod is connected with a human body thigh; the lower part is provided with two knee crown-shaped shaft holes which are respectively and correspondingly connected with the knee crown-shaped shaft holes at the upper ends of the long crank and the short crank to form a revolute pair;
the parallel springs are arranged between the lower part of the exoskeleton thigh connecting rod and the connecting rod piece and are two springs positioned on the front side and the rear side of the exoskeleton thigh connecting rod. The upper ends of the two springs are respectively connected with the front side and the rear side of the exoskeleton thigh connecting rod; the lower end of the front side spring downwardly bypasses the bottom of the exoskeleton thigh connecting rod along the front side of the exoskeleton thigh connecting rod and is connected with the rear end of the middle small arm of the connecting rod piece; the lower end of the rear side spring downwardly bypasses the bottom of the exoskeleton thigh connecting rod along the rear side surface of the exoskeleton thigh connecting rod and is connected with the front end of the middle and small arm of the connecting rod piece; the front side spring and the rear side spring form a cross structure between the lower part of the thigh connecting rod of the exoskeleton and the connecting rod piece;
the series elastic driver is fixedly installed between the exoskeleton thigh connecting rod and comprises a motor, a harmonic reducer installed on a motor shaft, an output shaft installed on the output end of the harmonic reducer and an elastic element installed between the harmonic reducer and the output shaft; the output shaft is fixedly connected with the front end of the output rod.
When the flexibly driven knee joint exoskeleton works, the motor provides torque for the exoskeleton, the torque is transmitted to the output rod through the output shaft, the output rod drives the transmission connecting rod to drive the instantaneous center fitting four-rod mechanism to start to move through a revolute pair formed by the transmission connecting rod and the multi-link mechanism, the instantaneous center fitting four-rod mechanism ensures that the exoskeleton is coincided with the center of the human knee joint, and the exoskeleton body and the human knee joint perform bending action simultaneously to assist the motion of the human knee joint.
The invention has the advantages that:
(1) the flexibly driven knee joint exoskeleton has the advantages that the driving mode of the flexibly driven knee joint exoskeleton is selected to be connected with the elastic driver in series, and the flexibly driven knee joint exoskeleton is low in impedance, high in energy density, stable in force output, high in force control precision and capable of buffering external impact load;
(2) according to the flexibly driven knee joint exoskeleton, the multi-link mechanism can be used for fitting the instantaneous rotation center of the knee joint in the actual gait of a human body, so that the physiology of the knee joint of the human body is met;
(3) according to the flexibly driven knee joint exoskeleton, the transmission connecting rod can change the speed-motor torque relationship, so that the motor torque or speed requirement is reduced;
(4) the flexibly driven knee joint exoskeleton adopts the parallel springs to reduce the required torque of the motor and simultaneously plays a role in stabilizing the joint.
Drawings
Fig. 1 is a general structural schematic diagram of a flexible driving knee exoskeleton of the invention.
Fig. 2 is a sectional schematic view of a series elastic driver for flexibly driving the exoskeleton of the knee joint.
In the figure:
1-1, output rod 1-2, transmission connecting rod 1-3, knee crown shaft 1-4, connecting rod piece
1-5 long crank 1-6 short crank 1-7 parallel spring 1-8 exoskeleton thigh link
1-9, series elastic driver 2-1, bearing 2-2, motor shell 2-3, elastic element
2-4. harmonic reducer 2-5. encoder 2-6. motor shaft 2-7. motor
2-8 of output end cover 2-9 of flange seat 2-10 of output shaft
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples.
The invention discloses a flexible driving knee joint exoskeleton, which comprises an exoskeleton body, parallel springs 1-7 and series elastic drivers 1-9 as shown in figure 1.
The exoskeleton body part comprises an output rod 1-1, a transmission connecting rod 1-2 and a multi-link mechanism which are connected with each other through a knee crown shaft 1-3 to form revolute pair connection, and the axes of the revolute pairs are parallel. The multi-link mechanism comprises exoskeleton thigh links 1-8, long cranks 1-5, short cranks 1-6 and connecting rods 1-4, and all the parts form revolute pair connection through a knee crown shaft to form a knee instantaneous center fitting four-bar mechanism.
The specific connection mode of the exoskeleton body is as follows:
screw holes are arranged at the front end of the output rod 1-1 at equal angular intervals in the circumferential direction and are used for connecting the series elastic drivers 1-9 through bolts. The back end of the output rod 1-1 is provided with a knee crown-shaped shaft hole which corresponds to the knee crown-shaped shaft hole arranged at the upper end of the transmission connecting rod 1-2 and is connected through the knee crown-shaped shaft 1-3 to form a revolute pair.
The connecting rod piece 1-4 is an L-shaped structural rod piece consisting of a large arm and a small arm, the upper end of the large arm is provided with a knee crown-shaped shaft hole which corresponds to the knee crown-shaped shaft hole arranged at the lower end of the transmission connecting rod 1-2, and the knee crown-shaped shaft hole are connected through the knee crown-shaped shaft 1-3 to form a revolute pair. Two knee crown-shaped shaft holes are designed at the front and rear positions of the lower end small arm of the connecting rod piece 1-4 and respectively correspond to the knee crown-shaped shaft holes designed at the lower ends of the long crank 1-5 and the short crank 1-6, and the knee crown-shaped shaft holes are connected through the knee crown-shaped shaft 1-3 to form a revolute pair.
The exoskeleton thigh links 1-8 are provided with an upper part and a lower part; the upper part and the lower part are coaxially arranged at the upper end and the lower end of the series elastic driver 1-9; and wherein the upper portion is connected to a leg of the human body; two knee crown-shaped shaft holes are designed at the front and rear positions of the lower end of the lower part and respectively correspond to the knee crown-shaped shaft holes designed at the upper ends of the long crank 1-5 and the short crank 1-6, and the two knee crown-shaped shaft holes are connected through the knee crown-shaped shaft 1-3 to form a revolute pair; therefore, a knee instantaneous center fitting four-bar mechanism is formed through the connection mode among the lower parts of the exoskeleton thigh connecting rods 1-8, the long cranks 1-5, the short cranks 1-6 and the connecting rod pieces 1-4, and the instantaneous center of the exoskeleton is coincided with the center of the knee joint of the human body. Meanwhile, the end faces of the lower parts of the exoskeleton thigh connecting rods 1 to 8 are also provided with connectors for connecting shanks of a human body.
The parallel springs 1-7 are arranged between the lower parts of the exoskeleton thigh connecting rods 1-8 and the connecting rod pieces 1-4, comprise two springs and are arranged on the front side and the rear side of the exoskeleton thigh connecting rods 1-8 in a form of simulating cruciate ligaments; the upper ends of the two springs are respectively hung on bosses designed on the front side and the rear side of the exoskeleton thigh connecting rods 1-8; the lower ends of the two springs are provided with traction sections of slender structures for connecting with the connecting rod pieces 1-4, and the specific mode is as follows: the traction section at the lower end of the front side spring downwards bypasses the bottoms of the exoskeleton thigh links 1 to 8 along the front side surfaces of the exoskeleton thigh links 1 to 8 and is connected with the rear ends of the middle small arms of the connecting rod pieces 1 to 4. The lower end traction section of the rear side spring downwardly bypasses the bottoms of the exoskeleton thigh connecting rods 1 to 8 along the rear side surfaces of the exoskeleton thigh connecting rods 1 to 8 and is connected with the front ends of the middle and small arms of the connecting rod pieces 1 to 4; the traction sections of the front side spring and the rear side spring form a cross structure between the thigh connecting rod 1-8 and the connecting rod piece 1-4 of the exoskeleton to play a role in stabilizing joints. The traction sections at the lower ends of the front side spring and the rear side spring respectively pass through holes in guide tables designed on the front side and the rear side of the exoskeleton thigh connecting rods 1-8, and the guide tables guide tail lines of the parallel springs.
The structure of the series elastic driver 1-9 is shown in figure 2, the series elastic driver 1-9 comprises a motor 2-7, a harmonic reducer 2-4 connected with a motor shaft 2-6, a motor shell 2-2 for clamping the motor, an elastic element 2-3, an output shaft 2-10, a bearing 2-1 matched with the output shaft, a flange seat 2-9 for pressing the bearing, an output end cover 2-8 and an encoder 2-5 arranged at one end of the motor and used for measuring the position and the speed of the motor. The harmonic reducer 2-4 is connected with the output shaft 2-10 through the elastic element 2-3. The output shaft 2-10 is fixedly connected with a screw hole on the front end of an output rod 1-1 of the exoskeleton body part through a bolt.
The wearing and working modes of the flexibly driven knee joint exoskeleton are as follows:
1. wearing mode
The whole body is arranged at the outer side of the legs of the human body, the upper parts of the exoskeleton thigh connecting rods 1-8 are relatively fixed with the thighs of the human body, the thigh orthosis can be worn at the thighs of the human body, and the corresponding holes in the upper parts of the thigh orthosis and the exoskeleton thigh connecting rods 1-8 are fixed through bolts. The lower parts of the exoskeleton thigh connecting rods 1 to 8 are fixed with the human shank, and the exoskeleton thigh connecting rods can be fixed on the human shank through the holes on the connecting pieces at the lower parts of the exoskeleton thigh connecting rods 1 to 8 and the binding bands passing through the holes.
2. Working mode
The series elastic drivers 1-9 are connected with the output rods 1-1 of the exoskeleton body and the exoskeleton thigh links 1-8 of the multi-link mechanism, and transmit controllable torque of the internal motors 2-7 to the exoskeleton body part, so that the exoskeleton body is driven to move, and the movement of the knee joint of a human body is assisted. In the process, the elastic element 2-3 can accurately control the output force of the tail end by measuring the deformation of the elastic element, can buffer external impact load and plays a role in protecting the motor 2-7 and the speed reducer; meanwhile, the parallel springs 1-7 are connected with the multi-link mechanism of the exoskeleton body, so that the required torque of the motors 2-7 of the serial elastic driver part is reduced, and the torque change conditions are as follows:
since the range of knee moments is roughly [ -0.3,0.6] Nm x W (where W is the body weight) when walking normally on level ground, the knee exoskeleton should provide equivalent moments accordingly. The torque provided by the exoskeleton is equal to the sum of the torque provided by the parallel springs 1-7 and the output torque of the motor, and the required motor torque is adjusted from [ -0.3,0.6] Nm W to [ -0.45,0.45] Nm W through the parallel springs 1-7 designed in the invention, namely the peak torque is reduced from 0.6Nm W to 0.45Nm W.
In the flexibly driven knee joint exoskeleton, the speed-moment relation of the exoskeleton can be changed by adjusting the size parameters of the transmission connecting rod, and the specific mode is as follows: the inverse kinematics model of the four-bar mechanism is fitted by combining the output rod, the transmission connecting rod and the instant center, the maximum joint torque of the human knee joint changing along with the bending and stretching angle is actually measured as the input quantity, the target function is established, the output torque of the motor under different bending and stretching angles is relatively minimum, the optimal solution of the target function is obtained, and therefore the size parameters of the output rod and the transmission connecting rod in the exoskeleton body part are reversely solved, and the purpose of changing the speed-torque relation is achieved.
Claims (5)
1. A flexible drive knee exoskeleton characterized by: the exoskeleton comprises an exoskeleton body, parallel springs and a series elastic driver; the exoskeleton body comprises an output rod, a transmission connecting rod and a multi-link mechanism, wherein the multi-link mechanism comprises an exoskeleton thigh connecting rod, a long crank, a short crank and a connecting rod piece;
the front end of the output rod is connected with a serial elastic driver, the rear end of the output rod is provided with a knee crown-shaped shaft hole, and the knee crown-shaped shaft hole which are arranged at the upper end of the transmission connecting rod are correspondingly connected to form a revolute pair;
the connecting rod piece is of an L-shaped structure consisting of a large arm and a small arm, the upper end of the large arm is provided with a knee crown-shaped shaft hole, and the knee crown-shaped shaft hole is correspondingly connected with the knee crown-shaped shaft hole at the lower end of the transmission connecting rod to form a revolute pair; two knee crown-shaped shaft holes are arranged on the small arm and respectively correspond to the knee crown-shaped shaft holes at the lower ends of the long crank and the short crank to form a revolute pair;
the upper part of the exoskeleton thigh connecting rod is connected with a human body thigh; the lower part is provided with two knee crown-shaped shaft holes which are respectively and correspondingly connected with the knee crown-shaped shaft holes at the upper ends of the long crank and the short crank to form a revolute pair;
the parallel springs are two springs positioned on the front side and the rear side of the exoskeleton thigh connecting rod, and the traction section of the parallel spring is arranged between the lower part of the exoskeleton thigh connecting rod and the connecting rod piece; the upper ends of the two springs are respectively connected with the front side and the rear side of the exoskeleton thigh connecting rod, and the lower ends of the two springs are respectively provided with a traction section; the lower end traction section of the front side spring downwardly bypasses the bottom of the exoskeleton thigh connecting rod along the front side surface of the exoskeleton thigh connecting rod and is connected with the rear end of the middle small arm of the connecting rod piece; the lower end traction section of the rear side spring downwardly bypasses the bottom of the exoskeleton thigh connecting rod along the rear side surface of the exoskeleton thigh connecting rod and is connected with the front end of the middle and small arm in the connecting rod piece; the front side spring and the rear side spring form a cross structure between the lower part of the thigh connecting rod of the exoskeleton and the connecting rod piece;
the series elastic driver is fixedly installed between the exoskeleton thigh connecting rod and comprises a motor, a harmonic reducer installed on a motor shaft, an output shaft installed on the output end of the harmonic reducer and an elastic element installed between the harmonic reducer and the output shaft; the output shaft is fixedly connected with the front end of the output rod.
2. The flexible drive knee joint exoskeleton of claim 1, wherein: the upper part and the lower part of the exoskeleton thigh connecting rod are designed into split structures and are coaxially arranged at the upper end and the lower end of the series elastic driver.
3. The flexible drive knee exoskeleton of claim 1, wherein: the lower end traction sections of the two springs respectively penetrate through guide table through holes in the front side and the rear side of the exoskeleton thigh connecting rod.
4. The flexible drive knee exoskeleton of claim 1, wherein: the motor provides torque for the exoskeleton, the torque is transmitted to the output rod through the output shaft, the output rod drives the transmission connecting rod to drive the knee instant center fitting four-bar mechanism formed by the exoskeleton thigh connecting rod, the long crank, the short crank and the connecting rod to start to move through a revolute pair formed by the transmission connecting rod and the multi-link mechanism, the center coincidence of the exoskeleton and the human knee joint is ensured, the exoskeleton body and the human knee joint perform bending action simultaneously, and the aim of assisting the human knee joint to move is achieved.
5. The flexible drive knee exoskeleton of claim 1, wherein: the size parameter of the transmission connecting rod is adjusted to change the speed-moment relation of the exoskeleton, and the specific mode is as follows: the inverse kinematics model of the four-bar mechanism is fitted by combining the output rods, the transmission connecting rods and the instant centers, the maximum joint torque of the knee joint of the human body changing along with the bending and stretching angles is actually measured and used as input quantity, a target function is established, the output torque of the motor under different bending and stretching angles is relatively minimum, the optimal solution of the target function is obtained, and therefore the size parameters of the output rods and the transmission connecting rods in the exoskeleton body part are reversely solved, and the purpose of changing the speed-torque relation is achieved.
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| CN202110412548.7A CN113440372B (en) | 2021-04-16 | 2021-04-16 | Flexibly-driven knee joint exoskeleton |
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| CN202110412548.7A CN113440372B (en) | 2021-04-16 | 2021-04-16 | Flexibly-driven knee joint exoskeleton |
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| CN113440372A CN113440372A (en) | 2021-09-28 |
| CN113440372B true CN113440372B (en) | 2022-05-24 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114872014B (en) * | 2022-04-07 | 2023-06-20 | 中国科学院深圳先进技术研究院 | Speech control's joint robot and speech control's joint robot system |
| CN114888778A (en) * | 2022-04-24 | 2022-08-12 | 河北工业大学 | Compatible lower limb exoskeleton robot |
| CN115158508B (en) * | 2022-07-27 | 2023-10-17 | 西交利物浦大学 | Variable-rigidity foot-imitating machine and robot |
| CN115302489A (en) * | 2022-08-31 | 2022-11-08 | 安徽工程大学 | Instantaneous center adjustable variable-rigidity flexible knee joint exoskeleton |
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| CH583550A5 (en) * | 1973-08-24 | 1977-01-14 | Menschik Alfred | |
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| CN107811805B (en) * | 2017-11-16 | 2020-02-21 | 上海理工大学 | Wearable lower limb exoskeleton rehabilitation robot |
| CN109199799A (en) * | 2018-09-18 | 2019-01-15 | 内蒙古工业大学 | A kind of knee joint exoskeleton mechanism based on connecting rod driving |
| CN109528453B (en) * | 2018-10-23 | 2021-06-15 | 哈尔滨工业大学 | Lower limb exoskeleton heterogeneous knee joint based on parallel elastomers |
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| CN110063877A (en) * | 2019-03-04 | 2019-07-30 | 上海理工大学 | Drive rear-mounted lower limb exoskeleton robot |
| CN112318487B (en) * | 2020-10-21 | 2021-10-15 | 江南大学 | Passive lower limb assistance exoskeleton based on gravitational potential energy locking |
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2021
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